Set initial joint positions in gazebo.launch.

diff --git a/miitzhand_bringup/launch/gazebo.launch b/miitzhand_bringup/launch/gazebo.launch
index 655ad1a..ef177f2 100644 (file)
--- a/miitzhand_bringup/launch/gazebo.launch
+++ b/miitzhand_bringup/launch/gazebo.launch
@@ -19,7 +19,9 @@
         
         <!-- Spawn the robot model -->
         <node name="miitzhand_spawner" pkg="gazebo_ros" type="spawn_model" output="screen" 
-              args="-urdf -param robot_description -model miitzhand" />
+              args="-urdf -param robot_description -model miitzhand
+               -J thum_j1 0 -J thumb_j2 -1.5708 -J index_j1 -1.5708
+               -J middle_j1 -1.5708 -J ring_j1 -1.5708 -J little_j1 -1.5708" />
       
         <!-- Controllers Settings-->
         <rosparam command="load" file="$(find miitzhand_bringup)/config/miitzhand.yaml" />