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CalculateWeight[linkage, gvec] function calculates the the weight vector to links based on the mass property definition. The weight vector is inserted into the $LDForces record of linkage. Weight vector is calculated as m*gVec, where m is the mass of the link and gVec is the gravity vector. Weight vector is acting at the center of mass of the link. The function returns the resulted LinkageData record. |

CalculateWeight[linkage] function calculates the the weight vector to all links assuming that the gravity vector is {0,-9.81,0} . |

CalculateWeight[linkage, lName, gvec] function calculates weight vector for lName link using gvec gravity vector. |

CalculateWeight[linkage, {lNames}, gvec] function calculates weight vector for {lNames} links using gvec gravity vector. |