How to set initial angle/position of a joint?

asked 2021-01-19 15:48:25 -0500

cheng-kevin gravatar image

updated 2021-01-20 13:35:38 -0500

I noticed that the joint->initial_position was being deprecated in SDF1.8, and we were referred to use state instead. https://github.com/osrf/sdformat/issu...

However I also noticed that state->joint->angle did not work either, we checked the source code and it seems the functionality is commented out.

This code block for loading the joint positions are commented out: ModelState.cc#L90

And also here: Model.cc#L1378

Is there any plans to restore this functionality? or could you offer an alternative method to set the initial angle of a joint inside the SDF (not using plugins) ?

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