The link's mass, position of its center of mass, its central inertia properties, and optionally its fluid added mass. Set to true if you want automatic computation for the moments of inertia (ixx, iyy, izz) and products of inertia(ixy, iyz, ixz). Default value is false. The mass of the link. Mass Density of the collision geometry. This is used to determine mass and inertia values during automatic calculation. This density value would be overwritten by the density value in collision. Default is the density of water 1000 kg/m^3. Parent tag to hold user-defined custom params for mesh inertia calculator The elements used under this would be overwritten by the elements in auto_inertia_params in collision. This pose (translation, rotation) describes the position and orientation of the link's center-of-mass-frame C relative to the link-frame L. The first three components (x y z) specify the position vector from Lo (the link-frame origin) to Co (the link's center of mass) as `x L̂x + y L̂y + z L̂ᴢ`, where L̂x, L̂y, L̂ᴢ are link-frame L's orthogonal unit vectors. The subsequent values characterize C's orientation relative to link-frame L as a sequence of Euler rotations (r p y) documented in http://sdformat.org/tutorials?tut=specify_pose, or as a quaternion (x y z w), where w is the scalar component. 'euler_rpy' by default. Supported rotation formats are 'euler_rpy', Euler angles representation in roll, pitch, yaw. The pose is expected to have 6 values. 'quat_xyzw', Quaternion representation in x, y, z, w. The pose is expected to have 7 values. Whether or not the euler angles are in degrees, otherwise they will be interpreted as radians by default. This link's moments of inertia ixx, iyy, izz and products of inertia ixy, ixz, iyz about Co (the link's center of mass) for the unit vectors Ĉx, Ĉy, Ĉᴢ fixed in the center-of-mass-frame C. Note: the orientation of Ĉx, Ĉy, Ĉᴢ relative to L̂x, L̂y, L̂ᴢ is specified by the `pose` tag. To avoid compatibility issues associated with the negative sign convention for product of inertia, align Ĉx, Ĉy, Ĉᴢ with principal inertia directions so that all the products of inertia are zero. For more information about this sign convention, see the following MathWorks documentation for working with CAD tools: https://www.mathworks.com/help/releases/R2021b/physmod/sm/ug/specify-custom-inertia.html#mw_b043ec69-835b-4ca9-8769-af2e6f1b190c The link's moment of inertia about Co (the link's center of mass) for Ĉx. The link's product of inertia about Co (the link's center of mass) for Ĉx and Ĉy, where the product of inertia convention -m x y (not +m x y) is used. If Ĉx or Ĉy is a principal inertia direction, ixy = 0. The link's product of inertia about Co (the link's center of mass) for Ĉx and Ĉz, where the product of inertia convention -m x z (not +m x z) is used. If Ĉx or Ĉz is a principal inertia direction, ixz = 0. The link's moment of inertia about Co (the link's center of mass) for Ĉy. The link's product of inertia about Co (the link's center of mass) for Ĉy and Ĉz, where the product of inertia convention -m y z (not +m y z) is used. If Ĉy or Ĉz is a principal inertia direction, iyz = 0. The link's moment of inertia about Co (the link's center of mass) for Ĉz. This link's fluid added mass matrix about the link's origin. This matrix represents the inertia of the fluid that is dislocated when the body moves. Added mass should be zero if the density of the surrounding fluid is negligible with respect to the body's density. The 6x6 matrix is symmetric, therefore only 21 unique elements can be set. The elements of the matrix follow the [x, y, z, p, q, r] notation, where [x, y, z] correspond to translation and [p, q, r] to rotation (i.e. roll, pitch, yaw). Added mass in the X axis due to linear acceleration in the X axis, in kg. Added mass in the X axis due to linear acceleration in the Y axis, and vice-versa, in kg. Added mass in the X axis due to linear acceleration in the Z axis, and vice-versa, in kg. Added mass in the X axis due to angular acceleration about the X axis, and vice-versa, in kg * m. Added mass in the X axis due to angular acceleration about the Y axis, and vice-versa, in kg * m. Added mass in the X axis due to angular acceleration about the Z axis, and vice-versa, in kg * m. Added mass in the Y axis due to linear acceleration in the Y axis, in kg. Added mass in the Y axis due to linear acceleration in the Z axis, and vice-versa, in kg. Added mass in the Y axis due to angular acceleration about the X axis, and vice-versa, in kg * m. Added mass in the Y axis due to angular acceleration about the Y axis, and vice-versa, in kg * m. Added mass in the Y axis due to angular acceleration about the Z axis, and vice-versa, in kg * m. Added mass in the Z axis due to linear acceleration in the Z axis, in kg. Added mass in the Z axis due to angular acceleration about the X axis, and vice-versa, in kg * m. Added mass in the Z axis due to angular acceleration about the Y axis, and vice-versa, in kg * m. Added mass in the Z axis due to angular acceleration about the Z axis, and vice-versa, in kg * m. Added mass moment about the X axis due to angular acceleration about the X axis, in kg * m^2. Added mass moment about the X axis due to angular acceleration about the Y axis, and vice-versa, in kg * m^2. Added mass moment about the X axis due to angular acceleration about the Z axis, and vice-versa, in kg * m^2. Added mass moment about the Y axis due to angular acceleration about the Y axis, in kg * m^2. Added mass moment about the Y axis due to angular acceleration about the Z axis, and vice-versa, in kg * m^2. Added mass moment about the Z axis due to angular acceleration about the Z axis, in kg * m^2.