Hi Andy,<div>Please take a look at <a href="http://www.ros.org/wiki/gazebo">gazebo ROS API</a> and check under diamondback, there is a service call:<div>gazebo/set_model_configuration</div><div>service which might be what you&#39;re looking for?</div>

<div>John<br><br><div class="gmail_quote">On Fri, Jan 28, 2011 at 12:31 PM, Andy Somerville <span dir="ltr">&lt;<a href="mailto:andy.somerville@resquared.com">andy.somerville@resquared.com</a>&gt;</span> wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">

Hi all,<br>
<br>
<br>
I&#39;m trying to start up my robot model in Gazebo with a certain start<br>
pose for all of the joints. Changing the pose in the URDF changes the<br>
reference frame of the joints which is counter to what I want to do.<br>
<br>
Is there a (preferred/correct) way to pose the joints without either<br>
changing their reference frames or, applying wrenches to them and<br>
moving them into place?<br>
<br>
My only thought was to perhaps try set_link_state, but it doesn&#39;t<br>
really make sense as using that would require gazebo to do inverse<br>
kinematics to make it work.<br>
<br>
Any thoughts?<br>
<br>
<br>
     Andy<br>
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</blockquote></div><br></div></div>