From d64e1c24c82d43e62be7742754088c158a8acc9f Mon Sep 17 00:00:00 2001
From: Matt Spencer <matthew@thespencers.me.uk>
Date: Thu, 30 Apr 2026 12:56:56 +0000
Subject: [PATCH] reposition lidar and add tooling to devcontainer

---
 .devcontainer/devcontainer.json                 | 3 ++-
 .vscode/settings.json                           | 3 ++-
 robot/src/raspbot_v2/urdf/raspbot_v2.urdf.xacro | 2 +-
 3 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 255c54a..c367e7e 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -19,7 +19,8 @@
                 "donjayamanne.python-extension-pack",
                 "eamodio.gitlens",
                 "ms-iot.vscode-ros",
-                "anthropic.claude-code"
+                "anthropic.claude-code",
+                "Ranch-Hand-Robotics.urdf-editor"
             ]
         }
     },
diff --git a/.vscode/settings.json b/.vscode/settings.json
index fba2659..cb9a17b 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -5,5 +5,6 @@
   "ROS2.distro": "kilted",
   "python.autoComplete.extraPaths": [
     "/opt/ros/kilted/lib/python3.12/site-packages"
-  ]
+  ],
+  "github.copilot.chat.codeGeneration.useInstructionFiles": true
 }
diff --git a/robot/src/raspbot_v2/urdf/raspbot_v2.urdf.xacro b/robot/src/raspbot_v2/urdf/raspbot_v2.urdf.xacro
index 4dd7066..a0c7367 100644
--- a/robot/src/raspbot_v2/urdf/raspbot_v2.urdf.xacro
+++ b/robot/src/raspbot_v2/urdf/raspbot_v2.urdf.xacro
@@ -64,7 +64,7 @@
     <parent link="base_link"/>
     <child  link="laser"/>
     <!-- Adjust x/y/z: x=forward, y=left, z=up from base_link centre -->
-    <origin xyz="0.0 0.0 0.07" rpy="0 0 0"/>
+    <origin xyz="-0.03 0.0 0.09" rpy="0 0 0"/>
   </joint>
 
   <!-- ── Ultrasonic sensor ──────────────────────────────────────── -->