Hey, i have caculated the inertia matrices for my gazebo model with Solidworks. The purple inertia boxes have a similiar size as the model links with its original masses.

Following the instoructions of Gazebo( http://gazebosim.org/tutorials?tut=inertia&cat=build_robot ), the purple boxes should only have the approximate model size at the mass of 1.

However, this is probably due to meshlab, which does not include the original mass, but only sets volume = mass. Now I'm a little confused, shouldn't the calculated values from solidworks be the more accurate?

Thanks for your help in advance. Best regards Eddy