Hi Andy,
Please take a look at gazebo ROS API <http://www.ros.org/wiki/gazebo> and
check under diamondback, there is a service call:
gazebo/set_model_configuration
service which might be what you're looking for?
John

On Fri, Jan 28, 2011 at 12:31 PM, Andy Somerville <
andy.somerville@resquared.com> wrote:

> Hi all,
>
>
> I'm trying to start up my robot model in Gazebo with a certain start
> pose for all of the joints. Changing the pose in the URDF changes the
> reference frame of the joints which is counter to what I want to do.
>
> Is there a (preferred/correct) way to pose the joints without either
> changing their reference frames or, applying wrenches to them and
> moving them into place?
>
> My only thought was to perhaps try set_link_state, but it doesn't
> really make sense as using that would require gazebo to do inverse
> kinematics to make it work.
>
> Any thoughts?
>
>
>     Andy
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