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It looks like you are using URDF syntax inside SDF. You have:

<inertial>
<origin rpy="0 0 0" xyz="0.13606 0.00000 0.02002"/>
<mass value="0.14867"/>
<inertia ixx="0.00016"
          ixy="0.00000"
          ixz="0.00030"
          iyy="0.00113"
          iyz="0.00000"
          izz="0.00106"/>
</inertial>

Instead, it should be:

<inertial>
  <pose>0.13606 0.00000 0.02002 0 0 0</pose>
  <inertia>
    <ixx>0.00016</ixx>
    <ixy>0</ixy>
    <ixz>0.00030</ixz>
    <iyy>0.00113</iyy>
    <iyz>0</iyz>
    <izz>0.00106</izz>
  </inertia>
  <mass>0.14867</mass>
</inertial>

You can find out more about the SDF syntax here