adding a pre-configured pose and updating the dimensions for planning…

… with external elements (#40)

elite_moveit/config/ec66.srdf

@@ -42,6 +42,14 @@
         <joint name="joint5" value="-4.6169"/>
         <joint name="joint6" value="-1.4233"/>
     </group_state>
+    <group_state name="pre-sine" group="arm">
+        <joint name="joint1" value="0"/>
+        <joint name="joint2" value="-1.5448"/>
+        <joint name="joint3" value="1.57"/>
+        <joint name="joint4" value="-1.57"/>
+        <joint name="joint5" value="1.848"/>
+        <joint name="joint6" value="0.5712"/>
+    </group_state>
     <!--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. -->
     <disable_collisions link1="base_link" link2="link1" reason="Adjacent"/>
     <disable_collisions link1="base_link" link2="link2" reason="Never"/>

neo_arm_tutorial/src/plan_with_external_elements.cpp

@@ -43,13 +43,13 @@ int main(int argc, char** argv)
 
   /* A default pose */
   geometry_msgs::msg::Pose pose;
-  pose.position.z = 0.03;
+  pose.position.z = 0.04;
   pose.orientation.w = 1.0;
 
   shape_msgs::msg::SolidPrimitive primitive;
   primitive.type = primitive.CYLINDER;
   primitive.dimensions.resize(2);
-  primitive.dimensions[0] = 0.042;
+  primitive.dimensions[0] = 0.05;
   primitive.dimensions[1] = 0.08;
 
   attached_object.object.primitives.push_back(primitive);