How can I obtain the inertia matrix automatically calculated by Webots when inertiaMatrix is empty?

[DylanYang-Official]

Recently, I have been conducting experiments using the DJI Mavic2 PRO robot in Webots. As I need to add an MPC controller, I require its inertia matrix. I noticed that its inertia matrix has not been set, yet it can fly normally. After consulting the manual, I learned that Webots can automatically calculate the inertia matrix of the robot when it is not set. So, how can I obtain the automatically calculated matrix by Webots?

[ShuffleWire]

Maybe this can partially help :

You can get the inertia matrix of the body of the drone by clicking on it's main node Robot "Mavic 2 PRO" and then in the Mass tab you can find the inertia matrix "Excluding descendant" (which is most of the mass I suppose)

[DylanYang-Official]

THANK YOU !!!!!