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These answers all provide good information. I just want to point out that you should be taking the values for the moment of inertia from the block that specifies the 'moment of inertia taken at the center of mass aligned with the output coordinate system'. And then make sure your output coordinate system matches the link origin. That is, you can insert a reference coordinate system in SolidWorks where the visual and collision origins are set. If this weren't the base_link, you would place the output coordinate system at the origin location of the joint connecting the link to its parent link.