MJCFInertial

Fully qualified name: isaacsim::asset::importer::mjcf::MJCFInertial

class MJCFInertial

Inertial properties of a body in the MJCF model.

Defines the mass distribution and inertial properties of a rigid body. Contains mass, center of mass position, and moment of inertia tensor information needed for dynamics computation.

Public Functions

inline MJCFInertial()

Public Members

float mass

Total mass of the body.

Vec3 pos

Position of the center of mass relative to the body frame.

Vec3 diaginertia

Diagonal elements of the inertia tensor.

Quat principalAxes

Principal axes orientation as a quaternion.

bool hasFullInertia

Whether the full inertia tensor is specified.