UrdfInertia

Fully qualified name: isaacsim::asset::importer::urdf::UrdfInertia

struct UrdfInertia

Inertia tensor components for a rigid body.

Represents the 3x3 inertia tensor in matrix form with the six unique components (since the tensor is symmetric). Used to define the mass distribution properties of a link for dynamics computation.

Public Members

float ixx = 0.0f

Moment of inertia about x-axis (Ixx component).

float ixy = 0.0f

Product of inertia xy (Ixy component).

float ixz = 0.0f

Product of inertia xz (Ixz component).

float iyy = 0.0f

Moment of inertia about y-axis (Iyy component).

float iyz = 0.0f

Product of inertia yz (Iyz component).

float izz = 0.0f

Moment of inertia about z-axis (Izz component).