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1 | initial version |

Those calculators don't seem to be correct, or at least they don't give the type of values that Gazebo expects.

What seems to work better is this, as found in some demos:

`ixx = mass *(y*y+z*z)/12 iyy = mass *(x*x+z*z)/12 izz = mass *(x*x+z*z)/12`

2 | No.2 Revision |

Those calculators don't seem to be correct, or at least they don't give the type of values that Gazebo expects.

What seems to work better is this, as found in some demos:

`ixx = mass *(y*y+z*z)/12 iyy = mass *(x*x+z*z)/12 izz = mass`

~~*(x*x+z*z)/12~~*(x*x+y*y)/12

3 | No.3 Revision |

Those calculators don't seem to be correct, or at least they don't give the type of values that Gazebo expects.

What seems to work better is this, as found in some ~~demos:~~demos (for a bounding box):

`ixx = mass *(y*y+z*z)/12 iyy = mass *(x*x+z*z)/12 izz = mass *(x*x+y*y)/12`

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