blenderproc.python.types.InertialUtility module

All inertial objects are captured in this class.

class blenderproc.python.types.InertialUtility.Inertial(bpy_object)

Bases: Entity

Every instance of this class is an inertial object which is usually part of an URDFObject.

get_inertia()

Returns the inertia.

Return type:

ndarray

Returns:

The inertia matrix.

get_mass()

Returns the mass of the link.

Return type:

float

Returns:

The mass.

get_origin()

Returns the origin of the inertia.

Return type:

Matrix

Returns:

The pose relative to the link frame.

hide(hide_object=True)

Sets the visibility of the object.

Parameters:

hide_object (bool) – Determines whether the object should be hidden in rendering.

set_inertia(inertia)

Sets inertia value.

Parameters:

inertia (ndarray) – 3x3 symmetric rotational inertia matrix.

set_mass(mass)

Sets the mass.

Parameters:

mass (float) – Mass of the link in kilograms.

set_origin(origin)

Sets the origin and the world matrix of the inertia.

Parameters:

origin (Union[ndarray, Matrix]) – 4x4 matrix of the inertials relative to the link frame.