Cameron, You'd probably get more help by posting a question on http://answers.ros.org, or asking the gazebo mailing list directly: https://kforge.ros.org/mailman/listinfo/gazebo-list -j On Wed, Jul 18, 2012 at 7:26 AM, wrote: > Hi, > I am using gazebo_msgs/SetModelConfiguration.srv to move a PR2 arm through > a path in Gazebo. For the past few months, it has worked fine, but > recently (within the last week or two), I have run into some unexpected > behavior. When I try to set the position of one arm, the PR2 seems to try > to go back to an initial state (both arms get reset) before moving to my > specified position. Specifying the joint configurations of both arms in a > service call seems to solve this problem. In either case, each time I call > the service, the PR2 also seems to shift around like it is in collision > with something. When I try to move an arm through a path in small steps, > the shifting is more prominent, and the robot eventually just falls > through the floor. Does anyone have an idea of what could be happening? > > I am turning off the controllers before making the service call, so that > shouldn't be the problem. > > Here is the code I am using: > set_model_config_client = > rospy.ServiceProxy("/gazebo/set_model_configuration", > SetModelConfiguration) > req = SetModelConfigurationRequest() > req.model_name = "pr2" > req.urdf_param_name = "robot_description" > req.joint_names = rospy.get_param("/%s/joints" % ("r_arm_controller")) > req.joint_positions = angles > rospy.wait_for_service("/gazebo/set_model_configuration") > res = set_model_config_client(req) > > *angles is the list of joint angles specifying the position of the right arm > > Thank you, > Cameron > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users -- Jonathan Bohren PhD Student Dynamical Systems and Control Laboratory Laboratory for Computational Sensing and Robotics The Johns Hopkins University (707) 520-4736 jbo@jhu.edu