I would like to know how to precisely get the Inertia Matrix value in chapter3 #4

[doanvanthong]

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[doanvanthong]

Opened mesh /home/vanthong/chapter3_ws/src/robot_description/meshes/robot_base.stl in 59 msec
All files opened in 2158 msec
Mesh Bounding Box Size 0.650000 0.200000 0.400000
Mesh Bounding Box Diag 0.788987
Mesh Bounding Box min -0.325000 -0.050000 -0.200000
Mesh Bounding Box max 0.325000 0.150000 0.200000
Mesh Surface Area is 0.929249
Mesh Total Len of 454 Edges is 72.690445 Avg Len 0.160111
Mesh Total Len of 454 Edges is 72.690445 Avg Len 0.160111 (including faux edges))
Thin shell (faces) barycenter: -0.012075 0.055283 0.000000
Vertices barycenter -0.077065 0.042229 -0.000000
Mesh is not 'watertight', no information on volume, barycenter and inertia tensor.
Principal axes are :
| 0.109390 -0.000000 0.993999 |
| 0.993999 0.000000 -0.109390 |
| 0.000000 -1.000000 -0.000000 |

i open .stl file erro , i dont no how in book can calculator ixx,ixy,ixz... and more