# Mass [kg] float64 m # Center of mass [m] geometry_msgs/Vector3 com # Inertia Tensor [kg-m^2] # | ixx ixy ixz | # I = | ixy iyy iyz | # | ixz iyz izz | float64 ixx float64 ixy float64 ixz float64 iyy float64 iyz float64 izz
