diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
index eb6bd5cd7..d9757db66 100644
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
@@ -296,9 +296,7 @@ void ConvertURDF2BulletInternal(
          */
         if (mass)
         {
-            if (!(flags & CUF_USE_URDF_INERTIA) && (localInertiaDiagonal[0] == 0.0 ||
-													localInertiaDiagonal[1] == 0.0 ||
-													localInertiaDiagonal[2] == 0.0))
+            if (!(flags & CUF_USE_URDF_INERTIA))
             {
                 compoundShape->calculateLocalInertia(mass, localInertiaDiagonal);
                 btAssert(localInertiaDiagonal[0] < 1e10);