diff --git a/vrep/cuboid-inertial-parameters/cuboid_inertial_parameters.m b/vrep/cuboid-inertial-parameters/cuboid_inertial_parameters.m
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+% Example of getting the inertial parameters of a cuboid on CoppeliaSim.
+%
+% Usage:
+%       1) Open scene "cuboid_inertial_parameters.ttt" on V-REP.
+%           Available at: https://osf.io/9gy7e
+%       2) Run this file.
+
+% (C) Copyright 2011-2024 DQ Robotics Developers
+% 
+% This file is part of DQ Robotics.
+% 
+%     DQ Robotics is free software: you can redistribute it and/or modify
+%     it under the terms of the GNU Lesser General Public License as published by
+%     the Free Software Foundation, either version 3 of the License, or
+%     (at your option) any later version.
+% 
+%     DQ Robotics is distributed in the hope that it will be useful,
+%     but WITHOUT ANY WARRANTY; without even the implied warranty of
+%     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+%     GNU Lesser General Public License for more details.
+% 
+%     You should have received a copy of the GNU Lesser General Public License
+%     along with DQ Robotics.  If not, see <http://www.gnu.org/licenses/>.
+%
+% DQ Robotics website: dqrobotics.github.io
+%
+% Contributors to this file:
+%     1.  Frederico Fernandes Afonso Silva (frederico.silva@ieee.org)
+%        - Responsible for the original implementation.
+
+close all
+clear class
+clear all %#ok
+clc
+
+%% V-REP setup
+% Create a DQ_VrepInterface object and start communication with V-REP
+vi = DQ_VrepInterface();
+
+% Finish any previous V-REP communication
+vi.stop_simulation();
+vi.disconnect_all();
+
+% Start a new connection
+vi.connect('127.0.0.1',19997);
+disp('Communication established!')
+
+% Start simulation otherwise child scripts cannot be called
+vi.set_synchronous(true);
+vi.start_simulation();
+disp('Simulation started!')
+
+vi.trigger_next_simulation_step();
+vi.wait_for_simulation_step_to_end();
+
+%% Get the Cuboid's inertial parameters with respect to its shape frame
+disp('Cuboid`s inertial parameters with respect to its shape frame:')
+disp(' ')
+
+% Get the Cuboid's handle
+handle = vi.get_handle('Cuboid');
+
+% Get the Cuboid's mass
+mass_in_sf = vi.get_mass(handle);
+formatSpec = 'mass = %f\n';
+fprintf(formatSpec, mass_in_sf);
+disp(' ')
+
+% Get the Cuboid's inertia matrix
+inertia_matrix_in_sf = vi.get_inertia_matrix(handle);
+disp('inertia matrix =')
+disp(inertia_matrix_in_sf)
+
+% Get the Cuboid's center of mass
+center_of_mass_in_sf = vi.get_center_of_mass(handle);
+disp('center of mass =')
+disp(center_of_mass_in_sf)
+disp(' ')
+
+%% Get the Cuboid's inertial parameters with respect to the absolute reference frame
+disp('--------------------------------------------------------------')
+disp(' ')
+
+% Get the absolute reference frame's name
+ref_name = vi.ABSOLUTE_FRAME;
+
+formatSpec = 'Cuboid`s inertial parameters with respect to %s:\n';
+fprintf(formatSpec, ref_name);
+
+% Get the Cuboid's inertia matrix
+inertia_matrix_in_rf = vi.get_inertia_matrix(handle, ref_name);
+disp('inertia matrix =')
+disp(inertia_matrix_in_rf)
+
+% Get the Cuboid's center of mass
+center_of_mass_in_rf = vi.get_center_of_mass(handle, ref_name);
+disp('center of mass =')
+disp(center_of_mass_in_rf)
+disp(' ')
+
+%% Finishes V-REP communication
+vi.stop_simulation();
+disp('Simulation finished!')
+vi.disconnect_all();
+disp('Communication finished!')
\ No newline at end of file