Inertial¶

class urdfpy.Inertial(mass, inertia, origin=None)[source]¶

The inertial properties of a link.

Parameters:	mass (float) – The mass of the link in kilograms. inertia ((3,3) float) – The 3x3 symmetric rotational inertia matrix. origin ((4,4) float, optional) – The pose of the inertials relative to the link frame. Defaults to identity if not specified.

Attributes Summary

`inertia`	The 3x3 symmetric rotational inertia matrix.
`mass`	The mass of the link in kilograms.
`origin`	The pose of the inertials relative to the link frame.

Attributes Documentation

inertia¶

The 3x3 symmetric rotational inertia matrix.

Type:	(3,3) float

mass¶

The mass of the link in kilograms.

Type:	float

origin¶

The pose of the inertials relative to the link frame.

Type:	(4,4) float