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Yes, those inertia values are huge. To give you a sense of magnitude, these are the inertia values of a cylinder with a radius=0.45 meters and height=0.5 meters and a mass=14.1 Kilograms.

<inertial>
  <origin xyz="0 0 0.25" rpy="0 0 0" />
  <mass value="14.1" />
  <inertia  ixx="1.0075625" ixy="0" ixz="0"
            iyy="1.0075625" iyz="0"
            izz="1.427625" />
</inertial>

From the visual and collision fields, it's clear that the units of your mesh (body.stl) are in millimeters, so, you may want to scale it to meters before computing the inertia with meshlab.

Another option is to approximate the body to a simpler geometry (I normally use a cylinder) for which computing the inertia is straight forward: https://en.wikipedia.org/wiki/List_of_moments_of_inertia