Feature summary

Short introduction to the feature and why it should be implemented
Would like to get real time state of the robot payload mass, cog and inertia matrix so that i can better control the robot.
Also for the set payload service from the Hardware Interface is it possible to include the inertia matrix?

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Related issues

Links to related issues internal or external to this repo

Tasks

To complete this issue involves

• Implement the feature
• Make documentation
• Make Unit test
• Make example
• Test on real hardware