What Coordinate System are the Moment of Inertia represented in?

Technical Questions
1

Hello,

for a dynamic model of the UR10e I found the Moment of Inertia in urcontrol.conf file as mentioned in moment-of-inertia-ur3-ur5-ur10 . Unfortunately this documet does not say in which coordinate system or units these Moments of Inertia are represented in.

My guess:

  1. Based on rough estimations, [kgm^2] for the units of the moment of inertia would make sense.
  2. The orientation of the used coordinate systems are identical with the ones used in DH parameters for calculation of kinematics and dynamics
  3. The origin of the used coordinate system lies in the center of gravity of the corresponding link.

Can someone confirm or clarify this?

Thanks a lot!