setPayload sets a payload used for effort compensation
This method provides a way to dynamically specify a payload
that gets used to calculate efforts to compensate for
gravitational effects and joint accelerations.
Specifying a payload has no effect on any other
The 'Mass' argument (required) specifies the payload mass
The 'CoM' argument (parameter) specifies the distance from
the output to the center of mass of the payload. If left
unspecified, the default assumes that the payload is
located at the output of the end effector.
mass = 1; % [kg]
com = [1 0 0]; % 1 [m] in x
kin.setPayload(mass, 'CoM', com);