config.json

{
    "documentId": "41654e89e61a392d020b728c",
    "outputFormat": "urdf",
    "drawFrames": false,
    "drawCollisions": true,
    "mergeSTLs": "visual",
    "simplifySTLs": true,
    "maxSTLSize": 3,
    "useScads": true,

    "jointMaxEffort": 10,
    "jointMaxVelocity": 6,

    "dynamics": {
        "mx106": {
            "mass": 0.158,
            "com": [0.00014278, -0.019618, 0.0025457],
            "inertia": [
                0.00007869, -0.00000084, 0.00000049,
                -0.00000084, 0.00004097, -0.00000914,
                0.00000049, -0.00000914, 0.00006136
            ]
        },

        "mx64": {
            "mass": 0.1295,
            "com": [0.0001583, -0.017024, 0.00167],
            "inertia": [
                0.0000564576, -0.0000006523, 0.0000006470,
                -0.0000006523, 0.0000293257, -0.0000058929,
                0.0000006470, -0.0000058929, 0.0000451118
            ]
        }
    }
}