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Hi,

this:

j2_controller->SetJointPosition(j2name,angle);

should be:

j2_controller->SetJointPosition(this->model->GetJoint("my_joint"), angle);


You could also try it like this:

this->model->GetJoint("my_joint")->SetAngle(0, angle_in_rad);

or:

this->model->SetJointPosition("my_joint", angle_in_rad);


I did not have time to test it, but if it doesn't work let me know.

Cheers, Andrei