Hello.
I'd like to find some documentation about the inertia matrix in Gazebo/ROS (this topic is located in between).
Here is the ROS wiki page:
http://wiki.ros.org/urdf/Tutorials/Adding%20Physical%20and%20Collision%20Properties%20to%20a%20URDF%20Model
Basically, what I do not understand, is that the inertia matrix could not be independent from the mass. How a discrepancy between a dummy inertia matrix and the real inertia matrix could impact the simulation?
Thanks in advance for any doc that could help me to understand this part of the robot models.
