Is the joint initial angle parsed in SDF 1.6?

[ahtsan]

For SDF 1.6, the initial_position is under joint/axis in the SDF specification but I don't see JointAxis.h and JointAxis.cc in the source code -- Does the initial_position of a joint ever get parsed? If so, where?

[azeey]

Which version of libsdformat do you have? I checked in libsdformat9 and it's there: https://github.com/ignitionrobotics/sdformat/blob/66a8c2157ebff8f2a831a60445823667297781e0/src/JointAxis.cc#L133

[ahtsan]

I'm using SDF 1.6, not sure which libsdformat. How do I check that?

[azeey]

You can find out what upstream application (eg. Gazebo) uses which version of libsdformat at http://sdformat.org/tutorials?tut=roadmap

I should also mention that initial_position is deprecated as of SDFormat 1.8 ( https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/683/page/1)