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I think your robot is very small , your may have used millmeter, gram, second unit in sw. sw2urdf plugin exports all the units is mks unit, as a ressult if the model is very small or say the intertia tensor values are very small than as i've seen the plugin calculated them as zero since the vale is very small. u can use evalute->mass property to calulate those values and than convert it to mks units and than put it manually while exporting to urdf.