Hi Ziad,
It is nice to see that you are working on a new control method !
There is a simple way to get the center of mass and the inertia matrix that you need:
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Follow the links to the the 3D mechanical parts of Reachy that have been shared in this post: 3D CAD models release!
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When you can see Reachy’s parts in Onshape, you can click on the
icon on the right side of the toolbar at the bottom of the interface. -
There, you can click on the part that you’re interested in and have access to what you need:
I hope this is clear and will help you!
Augustin.