
<robot name="5_HTP">
    <link name="base">
        <inertial>
            <origin xyz="8.82749016469136e-19 7.155617027439209e-19 1.6451231670561174e-18" />
            <mass value="0.00016492092893135833" />
            <inertia ixx="1.1831868511814484e-07" ixy="1.190248682159971e-10" 
                     ixz="-7.645809796680836e-10" iyy="1.1865252630745242e-07" 
                     iyz="2.059578989611707e-10" izz="5.23987373600078e-08" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" />
            <geometry>
                <mesh filename="visual_geometry.obj" />
            </geometry>
        </visual>
        <collision>
            <origin xyz="0 0 0" />
            <geometry>
                <mesh filename="collision_geometry.obj" />
            </geometry>
        </collision>
    </link>
</robot>
