Why a center of mass option has orientation?

Omniverse Isaac Sim
1

Isaac Sim Version

[v] 4.2.0

Related Issues

I found “get_coms” function/API in “rigid_prim_view”.
When I called self._physics_view.get_coms(), I get seven dimension data.
By the way, I wonder that why center of mass has orientation?
And How its orientation affect simulation.

2

This is from Physx Docs

A dynamic actor needs mass properties: the mass, moment of inertia, and the center of mass frame which specifies the position of the actor’s center of mass and its principal inertia axes.