link0: origin: x: -0.0009483362816297526 y: 0.0001580207020448382 z: 0.03076860287587199 roll: 0.0 pitch: 0.0 yaw: 0.0 mass: 1.1432284943239561 inertia: xx: 0.001128 xy: -4.0e-06 xz: -3.3e-05 yy: 0.000962 yz: -7.0e-06 zz: 0.00147 link1: origin: x: 0.0011467657911800769 y: 3.319987657026362e-05 z: 0.05395284380736254 roll: 0.0 pitch: 0.0 yaw: 0.0 mass: 1.1416684646202298 inertia: xx: 0.001567 xy: -1.0e-06 xz: -2.9e-05 yy: 0.001273 yz: 1e-06 zz: 0.001016 link2: origin: x: 0.00839629182351943 y: -2.0145102027597523e-08 z: 0.03256649300522363 roll: 0.0 pitch: 0.0 yaw: 0.0 mass: 0.2775092746011571 inertia: xx: 0.000359 xy: 1e-06 xz: -0.000109 yy: 0.000376 yz: 1e-06 zz: 0.000232 link3: origin: x: -0.002104752099628911 y: 0.0005549085042607548 z: 0.09047470545721961 roll: 0.0 pitch: 0.0 yaw: 0.0 mass: 1.073863338202347 inertia: xx: 0.004372 xy: 1e-06 xz: 1.1e-05 yy: 0.004319 yz: -3.6e-05 zz: 0.000661 link4: origin: x: -0.0029006831074562967 y: -0.03030575826634669 z: 0.06339637422196209 roll: 0.0 pitch: 0.0 yaw: 0.0 mass: 0.6348534566833373 inertia: xx: 0.000623 xy: -1.0e-06 xz: -1.9e-05 yy: 0.000511 yz: 3.8e-05 zz: 0.000334 link5: origin: x: -0.003049665024221911 y: 0.0008866902457326625 z: 0.043079803024980934 roll: 0.0 pitch: 0.0 yaw: 0.0 mass: 0.6156588026168502 inertia: xx: 0.000423 xy: -8.0e-06 xz: 6.0e-06 yy: 0.000445 yz: -6.0e-06 zz: 0.000324 link6: origin: x: -0.037136587005447405 y: 0.00033230528343419053 z: -9.498374522309838e-05 roll: 0.0 pitch: 0.0 yaw: 0.0 mass: 0.475202773187987 inertia: xx: 0.000143 xy: 1e-06 xz: 1e-06 yy: 0.000157 yz: 1e-06 zz: 0.000159 link7: origin: x: 6.875510271106056e-05 y: 0.01266175250761268 z: 0.06951945409987448 roll: 0.0 pitch: 0.0 yaw: 0.0 mass: 0.4659771327380578 inertia: xx: 0.000639 xy: 1e-06 xz: 1e-06 yy: 0.000497 yz: 8.9e-05 zz: 0.000342