Set the initial joint state of fetch robotic arm

[ge79puv]

Hi, I find that sometimes the initial joint angel of the fetch robot is essential for the task execution, because the motion planning is based on the end effector. Hence, I want to set the angel (or maybe position?) of the robotic arm of fetch. Could you tell me how can I set that? Aditionally, I find that in the omnigibson.examples.simulator.sim_save_load_example, I cannot change the position of the robotic arm by pulling it. Could you tell me if there is any easy way to achieve that?