====== Waist + DWL ======
--- mass ---
2.55485

--- COM ---
-0.013245
0.00058051
0.0719568

--- Inertia ---
0.00773126 -9.327e-05 0.000141837 
-9.327e-05 0.00997082 -0.000118436 
0.000141837 -0.000118436 0.00388911 

====== RHipmot + RThighUpLeg + RThighLowLeg ======
--- mass ---
3.61731

--- COM ---
0.000739959
-0.0476521
-0.100464

--- Inertia ---
0.0271576 3.52594e-05 0.000132356 
3.52594e-05 0.0265146 -0.00144774 
0.000132356 -0.00144774 0.00298617 

====== RLowLeg + RFootmot ======
--- mass ---
2.13974

--- COM ---
0.00192208
-0.0038132
-0.125144

--- Inertia ---
0.010726 2.21971e-05 -7.47347e-05 
2.21971e-05 0.0107086 0.000761197 
-7.47347e-05 0.000761197 0.00161252 

====== RFoot ======
--- mass ---
0.489756

--- COM ---
0.01
0
-0.095

--- Inertia ---
0.00033467 0 0 
0 0.00080402 0 
0 0 0.0011 

====== LHipmot + LThighUpLeg + LThighLowLeg ======
--- mass ---
3.61731

--- COM ---
0.000739959
0.0476521
-0.100464

--- Inertia ---
0.0271576 -2.80405e-05 0.000132356 
-2.80405e-05 0.0265146 0.0015218 
0.000132356 0.0015218 0.00298617 

====== LLowLeg + LFootmot ======
--- mass ---
2.13974

--- COM ---
0.00192208
0.0038132
-0.125144

--- Inertia ---
0.010726 -3.33531e-06 -7.47347e-05 
-3.33531e-06 0.0107086 -0.000238516 
-7.47347e-05 -0.000238516 0.00161252 

====== LFoot ======
--- mass ---
0.489756

--- COM ---
0.01
0
-0.095

--- Inertia ---
0.00033467 0 0 
0 0.00080402 0 
0 0 0.0011 

====== DWS + DWYTorso ======
--- mass ---
6.90761

--- COM ---
-0.032983
-0.000754861
0.154622

--- Inertia ---
0.0438747 0.000178445 0.00240963 
0.000178445 0.0402919 -0.000643229 
0.00240963 -0.000643229 0.0266284 

====== RShp + RShr + RShy + RElb ======
--- mass ---
3.02396

--- COM ---
0.00161196
-0.0675862
-0.0737184

--- Inertia ---
0.0199566 0.000107891 5.85641e-05 
0.000107891 0.019132 -0.00161024 
0.000246536 -0.00161024 0.00303321 

====== LShp + LShr + LShy + LElb ======
--- mass ---
3.02396

--- COM ---
0.00161196
0.0675862
-0.0737184

--- Inertia ---
0.0199566 0.000148786 5.85641e-05 
0.000149674 0.019132 0.00214378 
0.000246536 0.0021437 0.00303321 
