Body (or Torso)
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Mass = 22.22268345 kilograms

Center of mass: ( meters )
X = 0.00281061

Y = 0.33493699

Z = 0.00319347

Principal axes of inertia and principal moments of inertia: ( kilograms * square meters ) Taken at the center of mass.
Ix = (0.00070046, 0.99983654, 0.01806682) 
Px = 0.71977094

Iy = (0.03700520, 0.01802854, 0.99915243) 
Py = 1.19184042

Iz = (0.99931483, 0.00136843, 0.03698652) 
Pz = 1.60484185

Moments of inertia: ( kilograms * square meters ) Taken at the center of mass and aligned with the output coordinate system.
Lxx = 1.60427586 
Lxy = 0.00089539 
Lxz = 0.01525904

Lyx = 0.00089539 
Lyy = 0.71992603 
Lyz = 0.00854831

Lzx = 0.01525904 
Lzy = 0.00854831 
Lzz = 1.19225132

Moments of inertia: ( kilograms * square meters ) Taken at the output coordinate system.
Ixx = 4.09750513 
Ixy = 0.02002455 
Ixz = 0.01505958

Iyx = 0.02002455 
Iyy = 0.72032821 
Iyz = 0.01522136

Izx = 0.01505958 
Izy = 0.01522136 
Izz = 3.68542951
