Hi John,

Sorry I'm now at home and I don't have access to my code, so I don't have
the exact lines I wrote.

Anyway I filled the message with the following:
model_name = "arm_and_hand"
test_urdf_param_name = "robot_description" (which is the parameter under
which the urdf is loaded)

joint_names = ["ElbowJSwing"]
joint_positions = [1.5]

You can have a look at the urdf here:
http://bazaar.launchpad.net/~shadowrobot/sr-ros-interface/trunk/view/head:/shadow_robot/sr_hand/model/robots/arm_and_hand_motor.urdf

Cheers,

Ugo

On Fri, May 6, 2011 at 7:22 PM, John Hsu <johnhsu@willowgarage.com> wrote:

> Hi Ugo,
> can you show how the service message is filled out and the shadow urdf?
> thanks,
> John
> On May 6, 2011 9:43 AM, "Ugo Cupcic" <ugo@shadowrobot.com> wrote:
> > Hi,
> >
> > I'm trying to use the /gazebo/set_model_configuration service to set a
> > starting pause for my arm (as suggested here:
> > http://answers.ros.org/question/857/set-revolute-joint-start-angle).
> >
> > I'm getting the following error:
> > gazebo_model canonical body[world] is not the root link[shadowarm_base]!
> >
> > When I spawn my model, I'm specifying world as the reference_frame
> though.
> > (rosrun gazebo spawn_model -urdf -param robot_description -model
> > arm_and_hand -reference_frame world)
> >
> > Any help greatly appreciated.
> >
> > Cheers,
> >
> > Ugo
> >
> > --
> > Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com
> > Software Engineer | 251 Liverpool Road |
> > need a Hand? | London N1 1LX | +44 20 7700 2487
> > http://www.shadowrobot.com/hand/ @shadowrobot
>
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>


-- 
Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com
Software Engineer | 251 Liverpool Road |
need a Hand? | London N1 1LX | +44 20 7700 2487
http://www.shadowrobot.com/hand/ @shadowrobot