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2016-05-23 10:40:56 -0600 asked a question Missing documentation for sdf actor

http://sdformat.org/spec?ver=1.6&elem... does not explain how to use the tags and and what the two .dae files (moonwalk.dae and walk.dae) mentioned in the example on the right should contain(*). Additionally, the example does not work on gazebo7: it simply does not load the model, without displaying any warning/error message even in verbose mode.

(*) e.g. if i want a simple body (sphere) that moves around a fixed trajectory, should <skin> contain the sphere model? And <animation> ?.

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2016-02-12 12:10:51 -0600 asked a question destroy a dynamically created joint?

What is the right way to remove a joint created by: gazebo::physics::PhysicsEngine::CreateJoint ( const std::string & _type, ModelPtr _parent = ModelPtr() ) I cannot find an equivalent removeJoint method.

2016-02-12 12:08:01 -0600 asked a question bug in gazebo::physics::Model::GetJointCount ()

It seems to me that the value returned by gazebo::physics::Model::GetJointCount () is not updated when I create a new joint using the method: gazebo::physics::PhysicsEngine::CreateJoint ( const std::string & _type,ModelPtr _parent = ModelPtr() )

also method JointPtr gazebo::physics::Model::GetJoint ( const std::string & name ) fails to retrieve the dynamically created joint

2016-02-12 11:24:40 -0600 asked a question Change color of a link runtime

Hi, I'd like to change the color of a link runtime, i.e. accessing (via C++ API) to the material property of link1 in the following sdf:

    <model name ='sphere'>
        <pose>0 0 0 0 0 0</pose>
        <link name ='link1'>
          <pose>0 0 0 0 0 0</pose>
          <visual name ='visual'>
            <geometry>
                <sphere><radius>1</radius></sphere>
            </geometry>
            <material>
                <ambient>1 0 0 1</ambient>
                <diffuse>0 0 0 1</diffuse>
            </material>
          </visual>
        </link>
      </model>

Looking at the documentation (https://osrf-distributions.s3.amazona...) I was able to find several methods to access to other similar properties (e.g. gazebo::physics::Model::SetCollideMode) and also to the link (e.g. LinkPtr gazebo::physics::Model::GetLink) but nothing to access to visual and material properties. How can I do it?