simtk.org

Hi,
Are the moments of inertia defined with respect to the center of mass, or the body's frame of reference? I.e., if the body's frame is at P_o and the CM position is located at x_CM from P_o, is the inertia specified with respect to the body's center of mass, or with respect to the body's frame?

http://wiki.simtk.org/opensim/FrontPage ... Frames.jpg

Thanks!
adila

Hi Adila,

The moments of inertia are defined wrt the center of mass rather than the geometry origin.

Best regards,
-Ayman

Hi Ayman,
Got it - thanks!
adila

Hi Ayman,
I've got a related question: in which coordinate system (i.e. axis orientation) are the inertial properties defined? global axis or body specific axis? (important when body-coordinate system is oriented differently)
Thank You!
Marco