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Simulate weight for tests in Gazebo

I'm trying to develop a robot that move heavy materials with one arm. To test if he is able to move the material, plan to use two parameters, weight and dimensions of the material. The idea is to create a plugin of the robot model with this capability, but do not know how to set these parameters in the Gazebo using SDF. To test the weight he tries to slightly raise the material and calculates the weight. For the dimensions it uses sensors to scan the object. Can anyone help me? Thanks.