Definition of the inertia tensor

asked 2019-11-20 03:54:23 -0600

felixcra gravatar image

Consider the following two definitions of the Inertia tensor

Definition 1: image description

Definition 2: image description

Which of these two definitions, if any, does apply for the URDF specification for the link element here: http://wiki.ros.org/urdf/XML/link

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Definition 1 is most commonly used one, but, I'm very much interested for the ros-experts to leave here an answer.

pmuthu2s gravatar imagepmuthu2s ( 2019-11-26 06:49:39 -0600 )edit