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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. It is recommended to limit the value betwen 0.05-1.0

    • 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