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gazebo simulation with payload

I am running ubuntu 16.04 and kinetic kame.

I am simulating a robotic arm with payload and want to apply payload in runtime. I used an external force instead of payload but the direction of the force is changed by rotating the robotic arm. For the payload, I would like to apply payload/force to the direction of the center of earth.

Could you give me some advice on it? Or it would be great if I could change mass of link in runtime like after 10 seconds since I run the simulation.

Appreciate it in advance.