ML[ 0 ] 6.168856232
ML[ 1 ] 4.4270615312
ML[ 2 ] 4.853438359
ML[ 3 ] 2.9710300235
ML[ 4 ] 6.939963261
ML[ 5 ] 0.1165732391
ML[ 6 ] 1.1884120094

MR[ 0 ] 6.168856232
MR[ 1 ] 4.4270615312
MR[ 2 ] 4.853438359
MR[ 3 ] 2.9710300235
MR[ 4 ] 6.939963261
MR[ 5 ] 0.1165732391
MR[ 6 ] 1.1884120094

PL[ 0 ] [-0.00131572, 0.10287, -0.0089916] # arm roll 
PL[ 1 ] [-0.00028448, 0.0077978, 0.037084] # arm pitch
PL[ 2 ] [-0.041402, 0.1016, -0.0074168] # upper arm  ---
PL[ 3 ] [0.033782, 0.0154432, 0.026162]  # elbow
PL[ 4 ] [-0.00122682, 0.17653, 0.0003556] # forearm   ---
PL[ 5 ] [-0.004064, 1.52908e-07, -0.00092202] # wrist pitch
PL[ 6 ] [0.067564, -0.0253746, -0.00090932] # wrist yaw

PR[ 0 ] [-0.00131572, -0.10287, 0.0089916]
PR[ 1 ] [-0.00028448, 0.0077978, 0.037084]
PR[ 2 ] [-0.041402, -0.1016, 0.0074168]
PR[ 3 ] [0.033782, 0.0154432, 0.026162]
PR[ 4 ] [-0.00122682, -0.17653, -0.0003556]
PR[ 5 ] [-0.004064, 1.52908e-07, -0.00092202]
PR[ 6 ] [0.067564, 0.0253746, 0.00090932]

IL[ 0 ] [0.0634150128, -0.0003950635, 0.00012683, 0.0198585269, -0.0060195977, 0.0671900643]
IL[ 1 ] [0.0251962741, -5.2382497887e-05, 2.17138622526e-05, 0.02701064, 0.001512947, 0.0113836825]
IL[ 2 ] [0.04214011, 0.0065843922, 0.0013754064, 0.016007389, -0.00339462, 0.0462370652]
IL[ 3 ] [0.0105350275, -0.001188117, 0.0031605083, 0.0120274897, 0.0016417085, 0.0088377175]
IL[ 4 ] [0.0403842721, 0.0005208986, -0.0001691457, 0.0125249771, -0.0002446467, 0.0395063532]
IL[ 5 ] [5.765e-05, 4.3603308297e-11, 1.75876431453e-06, 1.69438359087e-05, 5.4430975458e-08, 4.4188587603e-05]
IL[ 6 ] [0.001992876, 0.000101546, 0.0001024239, 0.0030141884, 0.0003716524, 0.0044481227]

IR[ 0 ] [0.0634150128, 0.0003950635, -0.00012683, 0.0198585269, -0.0060195977, 0.0671900643]
IR[ 1 ] [0.0251962741, -5.2382497887e-05, 2.17138622526e-05, 0.02701064, 0.001512947, 0.0113836825]
IR[ 2 ] [0.04214011, -0.0065843922, -0.0013754064, 0.016007389, -0.00339462, 0.0462370652]
IR[ 3 ] [0.0105350275, -0.001188117, 0.0031605083, 0.0120274897, 0.0016417085, 0.0088377175]
IR[ 4 ] [0.0403842721, -0.0005208986, 0.0001691457, 0.0125249771, -0.0002446467, 0.0395063532]
IR[ 5 ] [5.765e-05, 4.3603308297e-11, 1.75876431453e-06, 1.69438359087e-05, 5.4430975458e-08, 4.4188587603e-05]
IR[ 6 ] [0.001992876, -0.000101546, -0.0001024239, 0.0030141884, 0.0003716524, 0.0044481227]
 
Left[ 0 ]
    <inertial>
        <origin xyz=" -0.00131572   0.10287   -0.0089916 " rpy="0 0 0"/>
        <mass value=" 6.168856232 "/>
        <inertia ixx=" 0.0634150128 "  ixy=" -0.0003950635 "  ixz=" 0.00012683 "  iyy=" 0.0198585269 "  iyz=" -0.0060195977 "  izz=" 0.0671900643 "/>
    </inertial>
 
Left[ 1 ]
    <inertial>
        <origin xyz=" -0.00028448   0.0077978   0.037084 " rpy="0 0 0"/>
        <mass value=" 4.4270615312 "/>
        <inertia ixx=" 0.0251962741 "  ixy=" -5.2382497887e-05 "  ixz=" 2.17138622526e-05 "  iyy=" 0.02701064 "  iyz=" 0.001512947 "  izz=" 0.0113836825 "/>
    </inertial>
 
Left[ 2 ]
    <inertial>
        <origin xyz=" -0.041402   0.1016   -0.0074168 " rpy="0 0 0"/>
        <mass value=" 4.853438359 "/>
        <inertia ixx=" 0.04214011 "  ixy=" 0.0065843922 "  ixz=" 0.0013754064 "  iyy=" 0.016007389 "  iyz=" -0.00339462 "  izz=" 0.0462370652 "/>
    </inertial>
 
Left[ 3 ]
    <inertial>
        <origin xyz=" 0.033782   0.0154432   0.026162 " rpy="0 0 0"/>
        <mass value=" 2.9710300235 "/>
        <inertia ixx=" 0.0105350275 "  ixy=" -0.001188117 "  ixz=" 0.0031605083 "  iyy=" 0.0120274897 "  iyz=" 0.0016417085 "  izz=" 0.0088377175 "/>
    </inertial>
 
Left[ 4 ]
    <inertial>
        <origin xyz=" -0.00122682   0.17653   0.0003556 " rpy="0 0 0"/>
        <mass value=" 6.939963261 "/>
        <inertia ixx=" 0.0403842721 "  ixy=" 0.0005208986 "  ixz=" -0.0001691457 "  iyy=" 0.0125249771 "  iyz=" -0.0002446467 "  izz=" 0.0395063532 "/>
    </inertial>
 
Left[ 5 ]
    <inertial>
        <origin xyz=" -0.004064   1.52908e-07   -0.00092202 " rpy="0 0 0"/>
        <mass value=" 0.1165732391 "/>
        <inertia ixx=" 5.765e-05 "  ixy=" 4.3603308297e-11 "  ixz=" 1.75876431453e-06 "  iyy=" 1.69438359087e-05 "  iyz=" 5.4430975458e-08 "  izz=" 4.4188587603e-05 "/>
    </inertial>
 
Left[ 6 ]
    <inertial>
        <origin xyz=" 0.067564   -0.0253746   -0.00090932 " rpy="0 0 0"/>
        <mass value=" 1.1884120094 "/>
        <inertia ixx=" 0.001992876 "  ixy=" 0.000101546 "  ixz=" 0.0001024239 "  iyy=" 0.0030141884 "  iyz=" 0.0003716524 "  izz=" 0.0044481227 "/>
    </inertial>
 
Right[ 0 ]
    <inertial>
        <origin xyz=" -0.00131572   -0.10287   0.0089916 " rpy="0 0 0"/>
        <mass value=" 6.168856232 "/>
        <inertia ixx=" 0.0634150128 "  ixy=" 0.0003950635 "  ixz=" -0.00012683 "  iyy=" 0.0198585269 "  iyz=" -0.0060195977 "  izz=" 0.0671900643 "/>
    </inertial>
 
Right[ 1 ]
    <inertial>
        <origin xyz=" -0.00028448   0.0077978   0.037084 " rpy="0 0 0"/>
        <mass value=" 4.4270615312 "/>
        <inertia ixx=" 0.0251962741 "  ixy=" -5.2382497887e-05 "  ixz=" 2.17138622526e-05 "  iyy=" 0.02701064 "  iyz=" 0.001512947 "  izz=" 0.0113836825 "/>
    </inertial>
 
Right[ 2 ]
    <inertial>
        <origin xyz=" -0.041402   -0.1016   0.0074168 " rpy="0 0 0"/>
        <mass value=" 4.853438359 "/>
        <inertia ixx=" 0.04214011 "  ixy=" -0.0065843922 "  ixz=" -0.0013754064 "  iyy=" 0.016007389 "  iyz=" -0.00339462 "  izz=" 0.0462370652 "/>
    </inertial>
 
Right[ 3 ]
    <inertial>
        <origin xyz=" 0.033782   0.0154432   0.026162 " rpy="0 0 0"/>
        <mass value=" 2.9710300235 "/>
        <inertia ixx=" 0.0105350275 "  ixy=" -0.001188117 "  ixz=" 0.0031605083 "  iyy=" 0.0120274897 "  iyz=" 0.0016417085 "  izz=" 0.0088377175 "/>
    </inertial>
 
Right[ 4 ]
    <inertial>
        <origin xyz=" -0.00122682   -0.17653   -0.0003556 " rpy="0 0 0"/>
        <mass value=" 6.939963261 "/>
        <inertia ixx=" 0.0403842721 "  ixy=" -0.0005208986 "  ixz=" 0.0001691457 "  iyy=" 0.0125249771 "  iyz=" -0.0002446467 "  izz=" 0.0395063532 "/>
    </inertial>
 
Right[ 5 ]
    <inertial>
        <origin xyz=" -0.004064   1.52908e-07   -0.00092202 " rpy="0 0 0"/>
        <mass value=" 0.1165732391 "/>
        <inertia ixx=" 5.765e-05 "  ixy=" 4.3603308297e-11 "  ixz=" 1.75876431453e-06 "  iyy=" 1.69438359087e-05 "  iyz=" 5.4430975458e-08 "  izz=" 4.4188587603e-05 "/>
    </inertial>
 
Right[ 6 ]
    <inertial>
        <origin xyz=" 0.067564   0.0253746   0.00090932 " rpy="0 0 0"/>
        <mass value=" 1.1884120094 "/>
        <inertia ixx=" 0.001992876 "  ixy=" -0.000101546 "  ixz=" -0.0001024239 "  iyy=" 0.0030141884 "  iyz=" 0.0003716524 "  izz=" 0.0044481227 "/>
    </inertial>
 
