Dear all,

I'm using Stage 3.0.1. I wrote my own simulator by using by using the “libstage” C++ library. That is, I do not control Stage devices through Player. I'm only working with a Stage world-file and don't have a Player cfg-file. This is described in the manual as one of three ways to use Stage. 

I like to simulate a robot (or a movable object) which behaviors like a hospital bed. That is, I have one solid block with two steerable axes. The bed can rotate around both axes, if you know what I mean. The Position model lets the robot rotate around the steering axis so I need something else. How can I modify my model such I get a robot with two steerable axis? Have someone done such things before? If so, please send me an example of this.