function GravityForce  = calculateGravityForce(thetaMea)
% Example:
% thetalist = [0;0;0;0;0;pi/2;0;0;0];
% calculateGravityForce([thetalist])

% code start
opt.robot_def = 'direct';
opt.KM_method = 'SCREW';
opt.Vel_method = 'Direct';
opt.LD_method = 'Direct';
opt.debug = true;
opt.robotName = 'R1000_DVT';
opt.reGenerate = false;
opt.Isreal = true;
zero_ = zeros(length(thetaMea),1);

robot = get_robot_R1000_DVT(zero_,zero_,zero_,opt);
robot = get_Kinematics_R1000_DVT(robot, opt);
GravityForce = getGravityForce(thetaMea, robot, opt);