sign of the moment of inertia in the description of the KUKA LWR dynamics in KDL

Hello,

I am using the KUKA LWR kinematics and dynamics description that can be
found in the KDL source code here:
orocos_kinematics_dynamics/orocos_kdl/models/kukaLWR_DHnew.cpp

and I am surprised to see that some of the  moments of inertia of the
segments (joint 2 and 4 associated segments) are negative. By definition
these terms should be positive. Can someone tell me more about the reason
for these negative signs ? Also, how were these (I mean all of them, not
just the negative ones) values identified/obtained ?

Thanks in advance for your help,
Best
Vincent

--
Vincent Padois
http://pages.isir.upmc.fr/~padois/website

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