Set Gravity
SUMMARY
Set Gravity configures the gravity vector used by the robot controller's dynamics model. The default vector corresponds to a standard upright mounting. Update this setting when the robot is mounted at a non-standard orientation, such as wall-mounted or inverted.
SUPPORTED ROBOTS
This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.
The Skill
robot.set_gravity(direction=[0.0, 0.0, 9.82])The Code
Example: Set Gravity for Upright Mounting
Set the gravity vector to the standard upright configuration.
from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots
robot_ip = "192.168.1.2" # replace with your robot's IP
robot = universal_robots.UniversalRobotsUR10E()
# Connect
robot.connect(ip=robot_ip)
gravity = [0.0, 0.0, 9.82]
robot.set_gravity(gravity)
logger.success(f"Gravity direction set to {gravity} m/s².")
# Disconnect
robot.disconnect()The Explanation of the Code
set_gravity updates the gravity vector used in the controller's dynamics and torque computations, including gravity compensation in the joints. The direction is specified as a 3-element vector [gx, gy, gz] in base-frame coordinates [m/s²]. For a standard floor-mounted upright robot, the vector is [0.0, 0.0, 9.82]. For a ceiling-mounted (inverted) robot, use [0.0, 0.0, -9.82]. Returns True on success.
How to Tune the Parameters
| Parameter | Type | Default | Description |
|---|---|---|---|
direction | list[float] | — | 3-element gravity vector [gx, gy, gz] in the robot base frame [m/s²]. |
Return Value
| Type | Description |
|---|---|
bool | True if the gravity direction was accepted by the controller, False otherwise. |
Where to Use the Skill
- Non-standard mounting — Configure gravity for wall, ceiling, or tilted robot bases
- Mobile platforms — Update gravity when the robot is mounted on a platform whose orientation changes
When Not to Use the Skill
Do not use Set Gravity when:
- The robot is floor-mounted in the standard upright orientation — the default gravity vector is already correct