Parameter definition

[LerchD]

Hey, thanks for providing this very useful tool.
I was not 100% sure, how to interprete your description of the barycentric parameters:
"L is the link inertia tensor computed about the link frame; l is the link first moment of inertia; m is the link mass. These are the so-called barycentric parameters, with respect to which the dynamic model is linear."

Am I right, that small l is the [x,y,z] vector from the i-th link frame origin to the i-th link center of mass in terms of the i-th link frame?

[cdsousa]

Not completely right, the lowercase-L is the first moment of inerita.
To phrase it correctly: The small l is the [x,y,z] vector from the i-th link frame origin to the i-th link center of mass in terms of the i-th link frame" times the mass of that link.