mass: the mass of the object
inertia matrix (output): the inertia matrix (9 values), expressed relative to the center of mass. The returned matrix is relative to the orientational frame of transformation (see further below).
centerOfMass (output): the position of the center of mass, relative to the specified transformation (see next item).
: the transformation matrix (12 values) relative to which we want the data. Can be nullptr, in which case the returned data is relative to the absolute reference frame. See here
to see how matrix transformations are specified in CoppeliaSim.