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set_model_configuration

Hi,

I'm devasted. I try now for days to set a initial cfg for a robot.

I tried the following :

  1. rosservice call /gazebo/pause_physics
  2. rosservice call /gazebo/setmodelconfiguration '{modelname: iiwa, jointnames:['iiwajoint1','iiwajoint2','iiwajoint3','iiwajoint4','iiwajoint5','iiwajoint6','iiwajoint7'], joint_positions: [1.5,1.5,1.5,1.5,1.5,1.5,1.5]}'

the robot is now in the position I asked for, but when I turn on physics again...

  1. rosservice call /gazebo/unpause_physics

the robot returns immediately to its initial position. That behaviour applies of course to a python workflow as well.

Does anybody have ideas how this can be repaired ?

Asked by mikeda on 2019-03-05 09:41:04 UTC

Comments

Is the robot able to move after you unpause the simulation or is it crashed?

Asked by kumpakri on 2019-03-06 07:51:57 UTC

Hi, after unpausing the Robot it is able to move...

Asked by mikeda on 2019-04-11 08:08:35 UTC

@mikeda @kumpakri did you manage to solve this issue?

Asked by wongrufus on 2020-09-02 20:38:47 UTC

Answers