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Changing the relative pose of a link in simulation

Hello,

I'd like to write a plugin that could change the relative position of a link to its parent. For now I can get the pointer of the link and use "SetRelativePose()" or "UpdateParameters()" to change the relative position. However, right after the position shift, the link immediately shifts back to its original position. I'd like it to stay. It's kinda like the changing the geometry of the model without relaunching the simulation or respawn the entire model. But so far I haven't been able to find a way to do it. Can anyone help?

Changing the relative pose of a link in simulation

Hello,

I'd like to write a plugin that could change the relative position of a link to its parent. For now I can get the pointer of the link and use "SetRelativePose()" or "UpdateParameters()" to change the relative position. However, right after the position shift, the link immediately shifts back to its original position. I'd like it to stay. It's kinda like the changing the geometry of the model without relaunching the simulation or respawn the entire model. But so far I haven't been able to find a way to do it. Can anyone help?