How correctly move joints by SetPosition() ?

Hi there. I am new in Gazebo, so I want time to time move joints in response to incoming signals from other software. It will be simple for me, if **joint::SetPosition()** works correctly, but I didn't find any implementation in source code and in docs. I'd tried implement it by myself through **SetVelocity()** together with **SetHighStop()** and **SetLowStop()**, but it doesn't work for me now. In ODE **SetPosition()** works correctly. I use gazebo 4.1, dart 4.3, without ROS. Have someone any ideas how correctly use **SetPosition()** or replace this method and save **SetPosition()** functionality? Best regards.