Position of the center of mass of a robot having multiple links

Omniverse Isaac Sim
1

Dear team,

I am working with a robot in Isaac Sim and this robot has multiple links in it. I am able to check the mass and inertia values of the various links of the robot in Isaac Sim using the “Inspect Physics” utility but I want to find out the position of the center of mass of the whole robot as well as the position of center of mass of each link. I have seen this post regarding the topic saying that a similar feature will be available in future: Center of mass of a robot composed of multiple rigid bodies. Is it available yet?

Any help will be much appreciated.

Thanks.

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@rgasoto

4

Hello, and welcome to the Dev forum!

That feature is still under development. I’ll bump the request count. Thanks!

2 Likes
5

Thank you very much for the quick response.

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