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After comparing masses with a Roberval balance, children discover in this video how to measure in grams and kilograms. In particular, it is described how to measure using Roberval's balance and weights (making sure the balance is balanced). Several exercises reinforce this concept. I have also included exercises to help children realize what a gram and a kilogram are. This way, they realize that the gram is a unit of measurement that is used for light objects and the kilogram for heavier objects. I quickly touch on the ton without dwelling on it so as not to overload.