Change gravity

[sduminy]

Hey,
I would like to change the gravity in TSID, to turn it to 0.
In Pinocchio, I would do that with model.gravity = pinocchio.Motion.Zero(). Yet I don't have a direct access to the pinocchio model in the TSID robot wrapper (robot.model() gives me access, I believe, to a copy of the pinocchio model).

What do you think is the best way to change the gravity in TSID? Should I add a setter function in TSID, e.g. setGravity(const Motion & g), and wrap it in python?

Thanks for your advices.

[andreadelprete]

Yes, I would add it in the robot wrapper, which contains the Pinocchio model.

[andreadelprete]

Since there was no update about this for 20 days I consider the issue solved.