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What I found out that if you do not provide Inertial, you get the error. Try adding following within <link></link> , then the error will be gone.

  <inertial>
      <mass value="${mass}" />
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>