text: """This script creates gazebo inertia xml code when it is supplied with the joint mass,
  inertia and center of mass."""
  
  # Make script python3 compatible
  from __future__ import print_function
  
  
  def print_xml(i, s, m, v, com, d):
      """Create gazebo xml code for the given joint properties"""
      # Convert joint properties to xml code
      # NOTE: https://www.physicsforums.com/threads/how-does-the-moment-of-inertia-scale.703101/ # noqa: E501
      v = v / s ** 3
      com = [x / s for x in com]
      for key in d.keys():
          d[key] = d[key] / s ** 5 * m / v
      print("link_{}".format(i))
      print("<inertial>")
      print('  <mass value="{}" />'.format(m))
      print('  <origin xyz="{} {} {}" rpy="0 0 0" />'.format(com[0], com[1], com[2]))
      print(
          '  <inertia ixx="{ixx}" ixy="{ixy}" ixz="{ixz}" iyy="{iyy}" iyz="{iyz}" izz="{izz}" />'.format(  # noqa: E501
              **d
          )
      )
      print("</inertial>")
      print()
      return True
  
  
  if __name__ == "__main__":
      s = 10
  
      # link_0
      m = 2.92
      v = 2.441565
      com = (-0.255660, -0.000288, 0.573320)
      d = {
          "ixx": 0.654063,
          "ixy": -0.001306,
          "ixz": -0.105360,
          "iyy": 0.911640,
          "iyz": 0.000905,
          "izz": 0.855848,
      }
      print_xml(0, s, m, v, com, d)
  
      # link_1
      m = 2.74
      v = 2.293251
      com = (0, -0.324958, -0.675818)
      d = {
          "ixx": 1.510005,
          "ixy": 0,
          "ixz": 0,
          "iyy": 1.331894,
          "iyz": 0.391346,
          "izz": 0.519489,
      }
      print_xml(1, s, m, v, com, d)
  
      # link_2
      m = 2.74
      v = 2.312302
      com = (0, -0.686100, 0.322285)
      d = {
          "ixx": 1.543134,
          "ixy": 0,
          "ixz": 0,
          "iyy": 0.524368,
          "iyz": -0.399036,
          "izz": 1.363029,
      }
      print_xml(2, s, m, v, com, d)
  
      # link_3
      m = 2.38
      v = 2.020883
      com = (0.469893, 0.316374, -0.317040)
      d = {
          "ixx": 0.654984,
          "ixy": -0.210996,
          "ixz": -0.282030,
          "iyy": 0.839862,
          "iyz": -0.184933,
          "izz": 0.689243,
      }
      print_xml(3, s, m, v, com, d)
  
      # link_4
      m = 2.38
      v = 2.005719
      com = (-0.360446, 0.336853, 0.318820)
      d = {
          "ixx": 0.673908,
          "ixy": 0.292511,
          "ixz": -0.203288,
          "iyy": 0.695589,
          "iyz": 0.198696,
          "izz": 0.863934,
      }
      print_xml(4, s, m, v, com, d)
  
      # link_5
      m = 2.74
      v = 2.275315
      com = (0, 0.610427, -1.041760)
      d = {
          "ixx": 2.522060,
          "ixy": 0.000054,
          "ixz": -0.000873,
          "iyy": 2.397824,
          "iyz": -0.644108,
          "izz": 0.368812,
      }
      print_xml(5, s, m, v, com, d)
  
      # link_6
      m = 1.55
      v = 1.303586
      com = (0.510509, 0.091080, 0.106343)
      d = {
          "ixx": 0.255113,
          "ixy": -0.036776,
          "ixz": 0.052922,
          "iyy": 0.340177,
          "iyz": 0.010973,
          "izz": 0.469488,
      }
      print_xml(6, s, m, v, com, d)
  
      # link_7
      m = 0.54
      v = 0.454402
      com = (0.109695, 0.107965, 0.650411)
      d = {
          "ixx": 0.074797,
          "ixy": -0.010299,
          "ixz": 0.003355,
          "iyy": 0.074724,
          "iyz": -0.007858,
          "izz": 0.060392,
      }
      print_xml(7, s, m, v, com, d)
  
      # hand
      m = 0.73
      v = 0.487946
      com = (0, 0.015244, 0.275912)
      d = {
          "ixx": 0.186195,
          "ixy": 0,
          "ixz": 0,
          "iyy": 0.026739,
          "iyz": 0,
          "izz": 0.171368,
      }
      print_xml(10, s, m, v, com, d)
  
      # left_finger
      m = 0.1
      v = 0.011221
      com = (0, 0.145644, 0.227941)
      d = {
          "ixx": 0.000338,
          "ixy": 0,
          "ixz": 0,
          "iyy": 0.000332,
          "iyz": 0,
          "izz": 0.000078,
      }
      print_xml(11, s, m, v, com, d)
  
      # right_finger
      m = 0.1
      v = 0.011221
      com = (0, 0.145644, 0.227941)
      d = {
          "ixx": 0.000338,
          "ixy": 0,
          "ixz": 0,
          "iyy": 0.000332,
          "iyz": 0,
          "izz": 0.000078,
      }
      print_xml(12, s, m, v, com, d)
  