Parameters

m: mass in kilograms

Deprecated: See set_target_payload to set mass, CoG and payload inertia matrix at the same time.

Set payload mass and reset payload inertia matrix

See also set_payload.

Sets the mass of the payload and leaves the center of gravity (CoG) unchanged.

Note: The force torque measurements are automatically zeroed when setting the payload. That ensures the readings are compensated for the payload. This is similar to the behavior of zero_ftsensor()

Warnings:

• This script is deprecated since SW 5.10.0 because of the risk of inconsistent payload parameters. Use the set_target_payload instead to set mass, CoG and inertia matrix.

• Using this script function to modify payload parameters will reset the payload inertia matrix.