Dear Lorenzo,
I haven’t checked all of the off-diagonal inertia terms, but at least the diagonal entries of your inertia matrix, as well as the mass and center of mass, make sense to me.
Best regards,
Dear Lorenzo,
I haven’t checked all of the off-diagonal inertia terms, but at least the diagonal entries of your inertia matrix, as well as the mass and center of mass, make sense to me.
Best regards,