mass: the new mass of the object
inertia matrix: the new inertia matrix or tensor (9 values), expressed relative to the center of mass. The matrix should be relative to the orientational frame of transformation (see further below).
centerOfMass: the new position of the center of mass, relative to the specified transformation (see next item).
: the transformation matrix (12 values) relative to which we specify the data. Can be NULL, in which case the data is relative to the absolute reference frame. See here
to see how matrix transformations are specified in V-REP.