Inertial

The inertial properties of the link.

Mandatory children

• Origin: The pose of the inertial reference frame, relative to the link reference frame. The origin of the inertial reference frame needs to be at the center of gravity.

  • Var: smtk_transform
  • Type: Input
  • Default: 0 0 0 0 0 0 1
  • Values info: x y z qx qy qz qw

• Mass: The mass of the link. Masses of objects that interact with each other should have similar values and around 1.0. If the masses differ too much, the physics simulation can become unstable. To make the link static, set the mass to 0.0. A link with zero mass will not be affected by gravity, but will still collide with other dynamic objects in the workspace.

  • Var: smtk_float
  • Type: Constant
  • Default: 1

• Inertia: The 3x3 rotational inertia matrix, represented in the inertia frame. It is only used when the link does not have a collision shape. Otherwise, it is automatically calculated by the physics engine. Because the rotational inertia matrix is symmetric, only 6 above-diagonal elements of this matrix are specified here. Note that for limitations in the physics engine, only the diagonal elements of the matrix (ixx, iyy and izz) will be used.

  • Var: smtk_vector6
  • Type: Constant
  • Default: 1 0 0 1 0 1
  • Values info: ixx ixy ixz iyy iyz izz

Optional child

• Disable calculate local inertia: Disables the default calculation of the inertia vector from the collision shapes and instead uses the value provided in the inertia vector.
  • Var: smtk_bool
  • Type: Constant
  • Default: false
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