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

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.



Hello, and welcome to the Dev forum!

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

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Thank you very much for the quick response.