diff --git a/examples/worlds/auto_inertia_pendulum.sdf b/examples/worlds/auto_inertia_pendulum.sdf
new file mode 100644
index 00000000000..3b9cef933e2
--- /dev/null
+++ b/examples/worlds/auto_inertia_pendulum.sdf
@@ -0,0 +1,367 @@
+
+
+
+
+
+ 0.001
+ 1.0
+
+
+
+
+
+
+
+
+
+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+ true
+
+
+
+
+ 0 0 1
+ 100 100
+
+
+
+
+
+
+ 0 0 1
+ 100 100
+
+
+
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+
+
+
+
+
+
+
+
+ -0.188749 0 0.75813399999999997 -0.13567899999999999 0 1.5708
+ 256.42500000000001
+
+ 154.202
+ 0
+ 0
+ 152.286
+ 0
+ 28.8249
+
+
+
+ 0 0 0.01 0 0 0
+
+
+ 0.8
+ 0.02
+
+
+
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+
+
+
+ -0.275 0 1.1 0 0 0
+
+
+ 0.2 0.2 2.2
+
+
+
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+
+
+
+ 0 0 0.01 0 0 0
+
+
+ 0.8
+ 0.02
+
+
+
+
+ -0.275 0 1.1 0 0 0
+
+
+ 0.2 0.2 2.2
+
+
+
+
+
+
+
+ 0 0 2.1 -1.5708 0 0
+ 0
+
+
+ -0.05 0 0 0 1.5708 0
+
+
+ 0.1
+ 0.3
+
+
+
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+
+
+
+ 0 0 1.0 0 1.5708 0
+
+
+ 0.1
+ 0.2
+
+
+
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+
+
+
+ 0 0 0.5 0 0 0
+
+
+ 0.1
+ 0.9
+
+
+
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+
+
+
+ 8000
+ -0.05 0 0 0 1.5708 0
+
+
+ 0.1
+ 0.3
+
+
+
+
+ 1000
+ 0 0 1.0 0 1.5708 0
+
+
+ 0.1
+ 0.3
+
+
+
+
+ 1000
+ 0 0 0.5 0 0 0
+
+
+ 0.1
+ 0.9
+
+
+
+
+
+
+
+ base
+ upper_link
+
+ 1.0 0 0
+
+
+
+
+
+ 0 3 0 0 0 0
+
+
+ -0.188749 0 0.75813399999999997 -0.13567899999999999 0 1.5708
+ 256.42500000000001
+
+ 154.202
+ 0
+ 0
+ 152.286
+ 0
+ 28.8249
+
+
+
+ 0 0 0.01 0 0 0
+
+
+ 0.8
+ 0.02
+
+
+
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+
+
+
+ -0.275 0 1.1 0 0 0
+
+
+ 0.2 0.2 2.2
+
+
+
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+
+
+
+ 0 0 0.01 0 0 0
+
+
+ 0.8
+ 0.02
+
+
+
+
+ -0.275 0 1.1 0 0 0
+
+
+ 0.2 0.2 2.2
+
+
+
+
+
+
+
+ 0 0 2.1 -1.5708 0 0
+ 0
+
+
+ -0.05 0 0 0 1.5708 0
+
+
+ 0.1
+ 0.3
+
+
+
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+
+
+
+ 0 0 1.0 0 1.5708 0
+
+
+ 0.1
+ 0.2
+
+
+
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+
+
+
+ 0 0 0.5 0 0 0
+
+
+ 0.1
+ 0.9
+
+
+
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+
+
+
+ 100
+ -0.05 0 0 0 1.5708 0
+
+
+ 0.1
+ 0.3
+
+
+
+
+ 10000
+ 0 0 1.0 0 1.5708 0
+
+
+ 0.1
+ 0.3
+
+
+
+
+ 100
+ 0 0 0.5 0 0 0
+
+
+ 0.1
+ 0.9
+
+
+
+
+
+
+
+ base
+ upper_link
+
+ 1.0 0 0
+
+
+
+
+
+
diff --git a/examples/worlds/auto_inertia_rolling_shapes.sdf b/examples/worlds/auto_inertia_rolling_shapes.sdf
new file mode 100644
index 00000000000..dbf777fb03d
--- /dev/null
+++ b/examples/worlds/auto_inertia_rolling_shapes.sdf
@@ -0,0 +1,187 @@
+
+
+
+
+
+ 0.001
+ 1.0
+
+
+
+
+
+
+
+
+
+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+ true
+ 0 0 3 0 -0.52 0
+
+
+
+
+ 0 0 1
+ 100 100
+
+
+
+
+
+
+ 0 0 1
+ 100 100
+
+
+
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+
+
+
+
+
+
+ true
+ 0 0 0 0 0 0
+
+
+
+
+ 0 0 1
+ 100 100
+
+
+
+
+
+
+ 0 0 1
+ 100 100
+
+
+
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+
+
+
+
+
+
+ 0 0 3.6 1.57079632679 0 0
+
+
+
+ 7810.0
+
+
+ 0.5
+ 1.0
+
+
+
+
+
+
+
+ 0.5
+ 1.0
+
+
+
+ 1 0 0 1
+ 1 0 0 1
+ 1 0 0 1
+
+
+
+
+
+
+ hollow_cylinder
+ 0 -1.5 3.6 1.57079632679 0 0
+ https://fuel.gazebosim.org/1.0/jasmeetsingh/models/Hollow Cylinder
+
+
+
+ 0 1.5 3.6 0 0 0
+
+
+
+ 1000
+
+
+ 0.5
+
+
+
+
+
+
+
+ 0.5
+
+
+
+ 0 0 1 1
+ 0 0 1 1
+ 0 0 1 1
+
+
+
+
+
+
+ 0 3.3 3.6 1.57079632679 0 0
+
+
+
+ 2710
+
+
+ 0.5
+ 0.7
+
+
+
+
+
+
+ 0.5
+ 0.7
+
+
+
+ 0 1 1 1
+ 0 1 1 1
+ 0 1 1 1
+
+
+
+
+
+
diff --git a/tutorials.md.in b/tutorials.md.in
index 10ace242e84..0c6f51aab37 100644
--- a/tutorials.md.in
+++ b/tutorials.md.in
@@ -53,6 +53,7 @@ Gazebo @GZ_DESIGNATION_CAP@ library and how to use the library effectively.
* \subpage spherical_coordinates "Spherical coordinates": Working with latitude and longitude
* \subpage underwater_vehicles "Underwater Vehicles": Understand how to simulate underwater vehicles.
* \subpage logicalaudiosensor "Logical Audio Sensor": Using the LogicalAudioSensor system to mimic logical audio emission and detection in simulation.
+* \subpage auto_inertia_calculation "Automatic Inertia Calculation": Automatically compute inertia values(mass, mass matrix, center of mass) for SDFormat links.
## Advanced users
diff --git a/tutorials/auto_inertia_calculation.md b/tutorials/auto_inertia_calculation.md
new file mode 100644
index 00000000000..e9f1322ccd3
--- /dev/null
+++ b/tutorials/auto_inertia_calculation.md
@@ -0,0 +1,166 @@
+\page auto_inertia_calculation Automatic Inertia Calculation for Links
+
+## Automatic Inertia Calculation for SDFormat Links
+
+This feature enables automatic calculation for the Moments of Inertia, Mass, and
+Inertial Pose (Center of Mass pose) of a link described using SDFormat. The following
+geometry types are currently supported for this feature:
+ * Box
+ * Capsule
+ * Cylinder
+ * Ellipsoid
+ * Sphere
+ * Mesh
+
+Using this feature, a user can easily set up an accurate simulation with physically
+plausible inertial values for a link. This also removes the dependency on manual calculations
+or 3rd-party mesh processing software which can help lower the barrier of entry for beginners.
+
+This tutorial will focus on how this feature can be enabled and how the
+inertia values for a link can be configured. Some limitations and recommendations
+would also be discussed along the way that would allow users to more mindfully utilize this feature.
+
+## Basic Overview
+
+This feature introduced a new `auto` attribute for the `` tag which can be set
+ to enable or disable the automatic calculations. It'll be set to false by default.
+
+```xml
+
+```
+
+In case, `auto` is set to true, the constituent **collision geometries** of the link are
+considered for the calculations. The `` tag can be used to specify
+the mass density value of the collision in kg/m^3. The density of water (1000 kg/m^3) is
+utilized as the default value:
+
+```xml
+
+ 2710.0
+
+
+ 1 1 1
+
+
+
+```
+
+In case of multiple collision geometries in a link, a user is free to provide different
+density values for each and the inertia values from each would be aggregated to calculate
+the final inertia of the link. However, if there are no collisions present,
+an `ELEMENT_MISSING` error would be thrown.
+
+It is **important** to note here that if `auto` is set to `true` and the user has
+still provided values through the ``, `` and `` tags, they
+would be **overwritten** by the automatically computed values.
+
+> **Note:** Use SDF Spec version 1.11 or greater to utilize the new tags and attributes of this feature.
+
+Here's an example snippet of a cylinder model that has automatic inertial calculations
+enabled and has a density of 1240 kg/m^3:
+
+```xml
+
+
+
+
+ 1240.0
+
+
+ 1
+ 2
+
+
+
+
+
+
+ 1
+ 2
+
+
+
+ 1.0 1.0 0.0 1.0
+ 1.0 1.0 0.0 1.0
+ 1.0 1.0 0.0 1.0
+
+
+
+
+```
+
+If you use the above snippet in an empty world and launch it with `gz-sim`, here's
+how it would look:
+
+
+
+## Links with Multiple Collisions & the Effect of Density
+
+To understand the inertia calculation in links with multiple collisions and the
+effect of setting different density values, you can launch the `auto_inertia_pendulum.sdf`
+example world using:
+
+```bash
+gz sim auto_inertia_pendulum.sdf
+```
+
+After the gz-sim window opens up, you can right click on both the models and enable
+the centre of mass visualization by selecting the `View > Center of Mass` option from
+the menu. Once you play the simulation it should look this:
+
+
+
+This example world has two structurally indentical models. The pendulum link of both
+the models contain 3 cylindrical collision geometries:
+ - One on the top which forms the joint (pivot)
+ - A longer cylinder in middle
+ - One at the end which forms the bob of the cylinder.
+
+Even, though they are identical, the center of mass for both are different
+as they use different density values for the different cylinder collisions. On one
+hand, the upper joint collision of the pendulum on the left has the highest density
+which causes the center of mass to shift closer to the axis. While on the other hand,
+the bob collision of the pendulum on the right has the highest density which causes
+the center of mass to shift towards the end of the pendulum.
+This difference in mass distribution about the axis of rotation results in a difference
+in the moment of inertia of the 2 setups and hence different angular velocities.
+
+## Mesh Inertia Calculation with Rolling Shapes Demo
+
+Let's try another example world, `auto_inertia_rolling_shapes.sdf`. This can be
+launched with `gz sim` using the following command:
+
+```bash
+gz sim auto_inertia_rolling_shapes.sdf
+```
+
+Once you launch and play the simulation, it should look something like this:
+
+
+
+Here the right most shapes is a hollow cylinder (yellow). This model is loaded from
+[Gazebo Fuel](https://app.gazebosim.org/jasmeetsingh/fuel/models/Hollow%20Cylinder)
+and is made using a collada mesh of a hollow cylinder. Apart from this, we can
+see there is a solid cylinder, a solid sphere and a solid capsule. All of these are
+made using the `` tag and have automatic inertia calculations enabled.
+Here, the moments of inertia for the hollow cylinder (which is a non-convex mesh shape) is
+calculated and from the simulation we can see that it reaches the bottom of the
+incline last. This is physically accurate as the mass distribution for the hollow
+cylinder is concentrated at a distance from the axis of rotation (which passes through
+the center of mass in this case).
+
+## Key Points on Mesh Inertia Calculator
+
+Here are some key points to consider when using automatic inertia calculation with 3D Meshes:
+ * Water-tight triangle meshes are required for the Mesh Inertia Calculator.
+ * Currently, the mesh inertia is calculated about the mesh origin. Since the link
+ inertia value needs to be about the Center of Mass, the mesh origin needs to be set
+ at the Center of Mass (Centroid). Functions to transform the inertia matrix to the mesh
+ centroid in case the mesh origin is set elsewhere are under development. Therefore, this
+ should hopefully be fixed in the future.
+ * Since the vertex data is used for inertia calculations, high vertex count would be
+ needed for near ideal values. However, it is recommended to use basic shapes with the
+ geometry tag (Box, Capsule, Cylinder, Ellipsoid and Sphere) as collision geometries get
+ a better overall simulation performance or RTF.
+ * Currently, the mesh inertia calculator does not work well with meshes having submeshes.
+ Therefore, they are not recommended for automatic computation.
diff --git a/tutorials/files/auto_inertia/auto_inertia_pendulum.gif b/tutorials/files/auto_inertia/auto_inertia_pendulum.gif
new file mode 100644
index 00000000000..b74d8e7a8f9
Binary files /dev/null and b/tutorials/files/auto_inertia/auto_inertia_pendulum.gif differ
diff --git a/tutorials/files/auto_inertia/cylinder_inertia_demo.gif b/tutorials/files/auto_inertia/cylinder_inertia_demo.gif
new file mode 100644
index 00000000000..3fd9eeef06e
Binary files /dev/null and b/tutorials/files/auto_inertia/cylinder_inertia_demo.gif differ
diff --git a/tutorials/files/auto_inertia/rolling_inertia_demo.gif b/tutorials/files/auto_inertia/rolling_inertia_demo.gif
new file mode 100644
index 00000000000..8246f950059
Binary files /dev/null and b/tutorials/files/auto_inertia/rolling_inertia_demo.gif differ