Question for Inertia properties set up in Mujoco XML file

[gaolongsen]

Hello everyone; I would like to ask about the Mujoco XML file. In the model file with XML format, we have properties that define the size, position, mass, and rotation information of the IOM. I know the best way to get the right information is from Solidworks. But now something wrong happened with my laptop's solid works so I have to add the properties by hand to the model we designed. My question is for the diaginertia part, is there any good online calculator or method to calculus about that to change the size of IOM? I need to be very careful about this and cannot randomly change to adjust the size of the IOM. That makes me feel so confused. Thanks for everyone's time!