\documentclass{article}
\usepackage{icomma}
\mathchardef\digitmathcomma"702C
\makeatletter
\def\sm@rtcomma{%
\ifx\@let@token\@sptoken \mathcomma\else
\ifx\@let@token\space \mathcomma\else
\digitmathcomma\fi\fi }
\makeatother
\begin{document}
$1,0 2{,}0 3, 0$
$ \mathsf{1,0 2, 0 f,\,g}$
$ \mathbf{1,0 2, 0 f,\,g}$
\end{document}