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Start gazebo paused, then have spawn_model unpause gazebo.

<include file="(find gazebo_ros)/launch/empty_world.launch">
   ...
   <arg name="paused" value="true">
</include>

<node name="arm_base_spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model schunk_lwa4p_and_base 
    -J schunk_lwa4p_and_base::J_foldingSupport 0.075 
    ...
    -unpause 
    ..."/>

If this does not work, you can make your own version of "spawn_model", where you can pause gazebo, set the configuration, reset your joint controller, then unpause gazebo.

Some links I found helpful:

https://github.com/ros-simulation/gazebo_ros_pkgs/issues/93 https://github.com/ros-simulation/gazebo_ros_pkgs/blob/kinetic-devel/gazebo_ros/scripts/spawn_model