sim.getShapeInertia

Retrieves the inertia information from a shape

list inertiaMatrix, list com = sim.getShapeInertia(int shapeHandle) float[9] inertiaMatrix, float[12] com = sim.getShapeInertia(int shapeHandle)

inertiaMatrix (output): inertia matrix (9 values), expressed relative to the shape's reference frame orientation. The matrix is symmetric
com (output): a transformation matrix [0 0 0 P0 0 0 0 P1 0 0 0 P2] indicating the center of mass, expressed relative to the shape's reference frame. The matrix does not contain any rotational part (only the positional values are relevant).