General Rigid Body

A general rigid body has its center of gravity (CG) located at a user-specified point and orientation defined in a specified frame, a fixed mass, and specified inertia tensor.

Keyword Arguments

param str name

Key to be used when referencing this body.

param str ref_point_key

Key of the point at which this body’s CG is located.

param str ref_frame_key

ey of the frame to which this body orientation is defined.

param numeric mass

Mass of this body.

param numeric ixx

Moment of inertia (MOI) of this body defined relative to its CG about the reference frame’s X-axis.

param numeric iyy

MOI of this body defined relative to its CG about the reference frame’s Y-axis.

param numeric izz

MOI of this body defined relative to its CG about the reference frame’s Z-axis.

param str ixy

Product of inertia (POI) of this body defined relative to its CG in the reference frame’s X- and Y-axes.

param str iyz

POI of this body defined relative to its CG in the reference frame’s Y- and Z-axes.

param str izx

POI of this body defined relative to its CG in the reference frame’s Z- and X-axes.

return str

Message about the created body