Total Robot Mass, Inertia, Center of Gravity in Gazebo

asked 2021-10-20 17:49:46 -0600

ben_i2020 gravatar image

Hi there,

I was wondering if there is an already a function call in Gazebo to return the total mass, inertia, center of gravity of the full robot assembly? I understand there are functions call for "Link" but that only, but not for the full robot comprising of several links.

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