Intertia origin in URDF import

[michalpelka]

URDF allows changing the origin of the rigid body using affine transformation (translation and rotation). Currently, this is not applied during URDF import.

Describe the solution you'd like I would like to have inertia applied correctly. It will need some research on PhysX gem, PhysX, and rigid body theory. Test impact of the link transformation.

Describe alternatives you've considered It seems that a simple matrix equation can be applied to rotate the inertia matrix, but it needs deeper research.

Additional context https://physics.stackexchange.com/questions/637421/inertia-tensor-of-rotated-object