Update Inertia.msg documentation to clarify inertia reference frame #313
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asymingt
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…the center of mass Signed-off-by: Andrew Symington <simmers@intrinsic.ai>
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fujitatomoya
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Jan 26, 2026
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this should clarify and avoid incorrect dynamics calculations in simulations or controllers.
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Fixes #306 by updating
Inertia.msgto explicitly state that the inertia tensor is expressed about the center of mass.