Даниил Грабарь
3a5bc28bba
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.
21 lines
205 B
Plaintext
21 lines
205 B
Plaintext
# Generated MkDocs site and PDF output
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doc/lwc-doc/site/
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log/
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/install/
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/build/
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.vscode/
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.idea/
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venv/
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.venv/
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.claude/
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.agents/
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.codex/
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__pycache__/
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.pytest_cache/
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*.egg-info
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**.FCBak
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CLAUDE.md
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AGENTS.md |