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Add XLR preset #183

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Merged
codeflight1 merged 1 commit into from
Jul 31, 2026
Merged

Add XLR preset #183

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8 changes: 8 additions & 0 deletions src/Arm/arm_control/config/rover_urdf.srdf
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Original file line number Diff line number Diff line change
Expand Up @@ -116,6 +116,14 @@
<joint name="Joint_5" value="-0.9981280799037772"/>
<joint name="Joint_6" value="0.9525805072980369"/>
</group_state>
<group_state name="XLR" group="arm">
<joint name="Joint_1" value="0.7642728707215887"/>
<joint name="Joint_2" value="-0.4040763307765948"/>
<joint name="Joint_3" value="1.68382399045105"/>
<joint name="Joint_4" value="-0.09970875121256667"/>
<joint name="Joint_5" value="-0.7235171499648543"/>
<joint name="Joint_6" value="-0.2045246111526723"/>
</group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="EEF" parent_link="base_link" group="arm"/>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
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