Add a native Webots marker for setting the active tool's TCP position and
orientation. Dragging edits the preview; releasing the mouse submits one
complete, checked joint trajectory with configured TCP speed limits.
Unreachable targets reset the marker to the current TCP.
Preserve coordinate, joint, and control-file commands through motion
reservations and a controller action proxy. Give the gizmo lowest priority
and finish its committed trajectory before dispatching queued regular
commands, including waits longer than the former two-second service timeout.
Place the patron TCP at its working end, 55.2 mm along local Z, and use the
flange TCP when no tool is attached. Add digital_twin.tcp_gizmo configuration,
ROS interfaces, launch integration, and regression coverage.
Document operation, configuration, tool attachment, speed limits, and
troubleshooting in both Russian and English.
Validation: 42 Python tests and 8 C++ tests passed. Webots regressions covered
one action per release, translation and rotation with and without a tool,
unreachable targets, and ordinary commands waiting for gizmo completion.
- Updated iiwa7.srdf to streamline group and end effector definitions, removing unnecessary joint specifications.
- Enhanced setting.yaml to include active tool configuration.
- Removed deprecated gripper URDF and Xacro files, consolidating tool definitions into tools.yaml.
- Introduced tool_manager.py for dynamic tool management, allowing for easy updates to active tools and collision settings.
- Created tool_active.xacro to reflect the currently active tool in the robot's URDF.
- Added comprehensive collision management for the new tool configurations.
Даниил Грабарь