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Here is an example of how to do it from a launch file:
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model"
args="-urdf -model mbot -param robot_description -x 0.5 -y 0.5 -z 0.01
-J left_arm_joint0 0.0
-J left_arm_joint1 1.18
-J left_arm_joint2 0.12
-J left_arm_joint3 0.92
-J left_arm_joint4 0.24
-J left_arm_joint5 0.63
-J left_arm_joint6 0.44" />