How to set initial pose to UR5 in Gazebo

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Hello,

I have a simulation with an UR5 in Gazebo. How can I say, that the robot should start in a given pose?

I tried what was answered in How do I set the inital pose of a robot in gazebo? , just like this:

<!-- push robot_description to factory and spawn robot in gazebo -->
     <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model"
         args="-urdf -param robot_description
         -model robot
         -z 0.0
         -shoulder_lift_joint 0 1.57 0"
         respawn="false" output="screen" />

There should be a -J label just like:

<!-- push robot_description to factory and spawn robot in gazebo -->
     <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model"
         args="-urdf -param robot_description
         -model robot
         -z 0.0
         -J shoulder_lift_joint 1.57"
         respawn="false" output="screen" />

This didn't work for me. I have ROS Indigo. Regarding to spawn_model -J initial joint positions not working #93, the -J-argument does not work in Indigo.

Do you have any suggestions?

Best regards,

J_Schaefer