void SetModelConfiguration::set_model_configuration()
{
  set_model_configuration_client_ =
    this->create_client<gazebo_msgs::srv::SetModelConfiguration>("/gazebo/set_model_configuration");

  if (set_model_configuration_client_->service_is_ready())
  {
    auto srv = std::make_shared<gazebo_msgs::srv::SetModelConfiguration::Request>();

    srv->model_name = std::string("<>");
    srv->urdf_param_name = std::string("robot_description");
    std::map<std::string, double> joint_map = {
      {"<>", 0.0}, {"<>", 1.56}, {"<>", -3.0},
      {"<>", 0.0}, {"<>", 1.56}, {"<>", -3.0},
      {"<>", 0.0}, {"<>", 1.56}, {"<>", -3.0},
      {"<>", 0.0}, {"<>", 1.56}, {"<>", -3.0},
    };
  for (auto & it : joint_map)
    {
      srv->joint_names.push_back(it.first);
      srv->joint_positions.push_back(it.second);
    }

    auto setmodel_future_ = set_model_configuration_client_->async_send_request(srv);
  }
  else
    RCLCPP_WARN(
      get_logger(),
      "[SetSimulationConfiguration]: not calling service using a callback, service not ready!");
}

// <> : Enter the respective arguments, this example is for a 12DOF robot.