Analyse model properties

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Hello,

Due to a certain situation, I've been provided with a gazebo model made by a set of urdf files. Is there a way of analysing the physical properties of the model as one body? f.e mass and inertia for the whole robot. I don't have any reliable information other than the simulator itself and I'd need to parametrize an external model which requires this information.

Thanks in advance, take care!