function Glist = SpatialInertia(G)
% *** CHAPTER x: DYNAMICS OF OPEN CHAINS ***
% Takes G: A list of inertia,
% Returns Glist: Spatial inertia matrices Gi of the links

n = size(G,1);
Glist = zeros(6,6,n);
for i = 1:n
    Glist(:,:,i) =  diag(G(i,1:6));
end