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  Step 1: Extract Robot Parameters from URDF Your URDF describes the robot's geometry, mass, inertia, joints, and visuals—perfect to retrieve needed physical parameters for SRBD. How to extract key parameters: Import your URDF into a robotics framework to read kinematics and inertial properties, e.g., using MATLAB Robotics Toolbox ( importrobot ), Python with  urdfpy  or  ROS  tools. MATLAB Example for loading URDF and extracting mass & inertia: matlab robot = importrobot ( 'your_robot.urdf' ) ; bodyNames = { robot . Bodies . Name } ; for i = 1 : length ( robot . Bodies ) body = robot . Bodies { i } ; fprintf ( 'Body %s has mass %.3f\n' , body . Name , body . Mass ) ; disp ( 'Inertia tensor (about body frame origin):' ) ; disp ( body . Inertia ) ; end What to extract: Total mass (m) : sum of all body masses or use trunk mass if legs are negligible. Inertia tensor (I) of the trunk : combine all body inertias referred to the...