Set the direction of the acceleration experienced by the robot. When the robot mounting is fixed, this corresponds to an accleration of g away from the earth’s centre.

>>> set_gravity([0, 9.82*sin(theta), 9.82*cos(theta)])

will set the acceleration for a robot that is rotated "theta" radians around the x-axis of the robot base coordinate system

Parameters

d: 3D vector, describing the direction of the gravity, relative to the base of the robot.

Example command: set_gravity[(0,9.82,0)]

• Example Parameters:
  • d is vector with a direction of y (direction of the robot cable) and a magnitude of 9.82 m/s^2 (1g).