Hi Nicos,

I got the inertial tensor directly from the model osim file. I was wondering if the inertial tensor is in the lab frame or the body's local frame.

Thanks,
Shabnam

Hi,

I am trying to the same. I got each segments inertia from the .osim file which apparently it's with respect to the segement's com. Do you know how can I get it with respect to whole body cenetr of mass? or in the global frame?

I really appreciate your help.

Thanks!
Shabnam