body_link0:
  origin:
    xyz: 0.0 0.0 0.0
    rpy: 0.0 0.0 0.0
  mass: 13.89
  inertia:
    xx: 1.653
    xy: 0.0
    xz: 0.0
    yy: 1.653
    yz: 0.0
    zz: 0.051