Original report (archived issue) by Eloy Retamino (Bitbucket: Eloy Retamino).

The original report had attachments: model.sdf

Hi, I was trying to use the tag <initial_position> to set the initial value for a joint angle. Attached is a modified version of double_pendulum_with_base model setting the initial value of the upper_joint joint to pi/2. But it doesn’t have any effect. I changed sdf version in the file to 1.6, since this attribute seems to be new in this version.

Is it a bug or am I not using the tag correctly?

Thanks!