Thanks for the info Yuri! 
I tried several scenarios but without success. My sip proxy has ipv4 and ipv6 address. The other nodes use ipv4. When there is a request for a ipv6 UAC/customer comming to the proxy the rtpengine/sipwise is rewriting the sdp with the correct ipv6 address of the proxy. So I am trying to get the ipv6 address of the proxy from the sdp (which is always the same ipv6 address) and the port (which is always different).
I've enabled 
modparam("rtpengine", "write_sdp_pv", "$avp(sdp)")
And I have in request section: 
rtpengine_manage($avp(rtpproxy_offer_flags));      
set_body("$avp(sdp)", "application/sdp");
xlog("L_INFO", "Request SDP $avp(sdp))\n");

And the problem is that I am always getting the ipv4 address and port but not the rewritten by the proxy ipv6 address and port.

Any idea?

Regards,
Pavel