UrdfInertial

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

struct UrdfInertial

Inertial properties of a URDF link.

Contains the mass, center of mass location, and inertia tensor for a link. The origin represents the pose of the inertial reference frame relative to the link reference frame, with the origin at the center of gravity.

Public Members

Transform origin

Pose of the inertial reference frame relative to link frame.

The origin must be at the center of gravity.

float mass = 0.0f

Mass of the link in kilograms.

UrdfInertia inertia

Inertia tensor components for the link.

bool hasOrigin = false

Whether the origin was explicitly defined in the URDF.

bool hasMass = false

Whether the mass was explicitly defined in the URDF.

bool hasInertia = false

Whether the inertia was explicitly defined in the URDF.