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You need the inertial
tag to properly load a model in Gazebo (but not for rivz, that's why you are able to visulaize the urdf with rviz), there is typos in your code : instead of inertial
you wrote inertia
. Also the cylinder_inertia
or box_inertial_matrix
don't exist, check the wiki to see the elements inside the inertial tag.