How to set the center of mass of a prismatic joint?

Hi! How can I set the Center of mass of a link with a prismatic joint? Is my code correct?

%SCARA 
a1=0.2;
a2=0.25;
d3=0.2;
dhparams = [a1   	0	 0   	0  
            a2      pi   0      0
            0       0    d3      0
            0       0    0      0];


robot_reale = rigidBodyTree('DataFormat','row');

.....

body3 = rigidBody('body3');


jnt3 = rigidBodyJoint('jnt3','prismatic');
setFixedTransform(jnt3,dhparams(3,:),'dh');
body3.Joint = jnt3;

body3.Mass = 5;
body3.CenterOfMass = [0 0 d3/2];
body3.Inertia = [0.05 0.001 0.005 0 0 0];


addBody(robot_reale,body3,'body2')

Answer 1

[Yiping Liu]

The center of mass is a property on the rigidBody object and is not related to what type of joint this rigid body has.