# Mass [kg]
float64 m

# Center of mass [m]
geometry_msgs/Vector3 com

# Inertia Tensor [kg-m^2]
#     | ixx ixy ixz |
# I = | ixy iyy iyz |
#     | ixz iyz izz |
float64 ixx
float64 ixy
float64 ixz
float64 iyy
float64 iyz
float64 izz