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// Get model
auto model = _world->ModelByName("model_name");
// Get pose
auto pose = model->WorldPose();

Checking the API documentation should help you in the future:

  • http://gazebosim.org/api/dev/classgazebo_1_1physics_1_1World.html
  • http://gazebosim.org/api/dev/classgazebo_1_1physics_1_1Model.html