Moving a bit around with where the inertia parameters are determined. Would probably be optimal to review this implementation some time to use the computed inertial values. However, that is a bit more work and this should work for now in most of the cases.
Moving a bit around with where the inertia parameters are determined. Would probably be optimal to review this implementation some time to use the computed inertial values. However, that is a bit more work and this should work for now in most of the cases.