# Move PR2 joints in Gazebo (no ROS)

**URL:** <https://discourse.openrobotics.org/t/move-pr2-joints-in-gazebo-no-ros/47440>\
**Category:** Gazebo Help\
**Created:** [February 7, 2019, 12:14am UTC](https://discourse.openrobotics.org/t/move-pr2-joints-in-gazebo-no-ros/47440 "2019-02-07T00:14:31Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![Tao\_Xu](https://avatars.discourse-cdn.com/v4/letter/t/e0b2c6/32.png) [@Tao\_Xu](https://discourse.openrobotics.org/u/Tao_Xu)\
**Post date:** [February 7, 2019, 12:14am UTC](https://discourse.openrobotics.org/t/move-pr2-joints-in-gazebo-no-ros/47440/1 "2019-02-07T00:14:31Z")

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I have gazebo 10 installed on Ubuntu 16, did not install ROS as we plan to apply Reinforcement Learning policy in the simulated environment.

When I applied force/efforts on any joints in the PR2, none of them move. But the same merchanism of joint.SetForce works for R2 and Pioneer2DX, I looked at PR2 simulator code in ROS, in the end, it seems also call joint.SetForce.

I am really confused, anyone knows how I could get PR2 moving in Gazebo only environment??

Thanks