Drive the semi-truck to a weigh station. These are located in some highway rest areas and some trucking companies also have them.
Get out of the truck once it is on the weigh station scale, if you do not your weight will be taken into account too.
Record the weight of the truck, this will be given to you in pounds.
Convert the weight of the truck in pounds to grams or kilograms. One pound is equal to 453.59237 grams or 0.45359237 kilograms. Multiply the weight of the truck in pounds by either 453.59237 to get the mass in grams or by 0.45359237 to get the mass in kilograms.