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The only solution I have found is to start gazebo paused and then use spawn_model's -unpause option to unpause it. This apparently delays some functions of Gazebo such that controllers absorb the specified joint positions instead of starting at zero.

I found this solution here: https://answers.ros.org/question/216420/initial-joint-angles/ This is very hacky, and it would be great if there was a more elegant solution. Does anyone have any idea how to improve this?