Inertia Matrix in Isaac Sim

I have a robot model in URDF which contains Inertia Matrix of every rigid body link. The Inertia Matrix contains ixx,iyy,izz,ixy and ixz. But I can’t find the parameter about Inertia Matrix. I can just find parameter named Diagonal Inertia and Principal Axes.
How can I set up Inertia Matrix? Or how can I translate Inertia Matrix into Diagonal Inertia and Principal Axes?

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