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glinde is right but the link is invalid. I have found another link of a related source file. Read this: ElevatorPlugin.cc. Try to use SetForce() method. Hope it helps.

glinde @glinde is right but the link is invalid. I have found another link of a related source file. Read this: ElevatorPlugin.cc. Try to use SetForce() method. Hope it helps.helps. BTW, Gazebo source file is a good reference for studying Gazebo.