Hi Sebastian,<br>Right now there is no direct interface to set joint angles for a model simulated in gazebo.  Will controlling joint angles by applying forces to the joint/bodies or using a mechanism controller suffice or are you looking for ways to set joint states directly and bypass the physics?  <br>

John<br><br><br><div class="gmail_quote">On Mon, Jun 21, 2010 at 12:44 PM, Sebastian Castro <span dir="ltr">&lt;<a href="mailto:sac77@cornell.edu" target="_blank">sac77@cornell.edu</a>&gt;</span> wrote:<br>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">Hi all,<div><br></div><div>The <a href="http://ros.org" target="_blank">ros.org</a> tutorials on URDF files show how to create a link/joint structure, but there is never any mention of how to change the joint angles of a joint once spawned in Gazebo. Is there a particular method that can be used to publish this? Thanks!<br clear="all">



<br>-- <br>Sebastian Castro<br>Mechanical &amp; Aerospace Engineering<br>Cornell University, Class of 2010<br>
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