Ability to save and reload model with initial configuration (joint angles)

[osrf-migration]

Original report (archived issue) by John Hsu (Bitbucket: hsu, GitHub: hsu).

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Allow user to specify model pose and joint angles for a robot on simulation start up.

[osrf-migration]

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

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• changed assignee_account_id from "557058:f3968cd3-4910-4384-8349-482a6c7889ec" to "557058:095b1e12-74ed-4e20-b44f-2f0745b616e0"
• changed assignee from "hsu (Bitbucket: hsu, GitHub: hsu)" to "nkoenig (Bitbucket: nkoenig, GitHub: nkoenig)"

[osrf-migration]

Original comment by Adam Crane (Bitbucket: acrane1970).

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Being able to set initial pose in a config file would be the minimum. Being able to interactively pose the robot in Gazebo and saving the results in the world file would be very desirable.

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• changed state from "new" to "on hold"

Until 2.0

[osrf-migration]

Original comment by Ian Chen (Bitbucket: Ian Chen, GitHub: iche033).

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• changed state from "on hold" to "open"

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• set version to "all"

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• changed state from "open" to "new"

[EricCousineau-TRI]

@hsu @nkoenig Any chance this is more related to //world/state rather than something like a default configuration like what //joint/axis/initial_position may have been intended for? (#1072, gazebosim/sdformat#253)

\cc @traversaro

[ahtsan]

Is there any follow up on this issue? Is it going to be supported in //world/state?