Change Gazebo Default Robot pose

edit

Dear Community,

my UR10 robot in gazebo starts in a very bad initial orientation which makes it really hard to plan out of. Therefore i want to change the initaial configuration.

i start the simulation using the launchfile:

<launch>

  <arg name="limited" default="true" doc="limit the joints"/>
  <arg name="pipeline" default="pilz_industrial_motion_planner" /> <!-- ompl for normal operation and pilz_industrial_motion_planner for the industrial-->


  <!--bring up ur10 robot in gazebo-->
  <include file="$(find ur_gazebo)/launch/ur10_bringup.launch"/>
    <!--No 'limited' in ur10 bringup arg name="limited" value="$(arg limited)"/-->
  <!--/include-->

  <!--delay, not necessary-->
  <node pkg="timed_roslaunch" type="timed_roslaunch.sh" args="3 $(find ur10_moveit_config)/launch/ur10_moveit_planning_execution_sim.launch pipeline:=$(arg pipeline)" name="timed_roslaunch" output="screen" />

  <!--run configuration package for moveit motion planning-->
  <!--include file="$(find ur10_moveit_config)/launch/ur10_moveit_planning_execution_sim.launch"/-->

  <!--A dome shape trajectory moving around the part to be recorded-->
  <!--node name="move_node" pkg="fmp_move_traj" type="move_dome.py" output="screen"/-->

  <!--An action for dataset recording-->
  <!--node name="pipelime_node" pkg="fmp_pipelime_dataset" type="fmp_pipelime_dataset_server.py" output="screen"/-->

</launch>

i suspect this means i must modify the ur10_bringup.launch. Which looks like: <launch>