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.
40 lines
757 B
YAML
40 lines
757 B
YAML
python3-fastapi:
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ubuntu:
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pip:
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packages: ["fastapi>=0.100.0"]
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python3-uvicorn:
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ubuntu:
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pip:
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packages: ["uvicorn[standard]"]
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python3-multipart:
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ubuntu:
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pip:
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packages: [python-multipart]
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python3-fastmcp:
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ubuntu:
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pip:
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packages: [fastmcp]
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# TCP gizmo / MoveIt Servo (ROS 2 Jazzy).
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moveit_servo:
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ubuntu: [ros-jazzy-moveit-servo]
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rclcpp_action:
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ubuntu: [ros-jazzy-rclcpp-action]
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control_msgs:
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ubuntu: [ros-jazzy-control-msgs]
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trajectory_msgs:
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ubuntu: [ros-jazzy-trajectory-msgs]
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action_msgs:
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ubuntu: [ros-jazzy-action-msgs]
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rcl_interfaces:
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ubuntu: [ros-jazzy-rcl-interfaces]
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tf2_eigen:
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ubuntu: [ros-jazzy-tf2-eigen]
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python3-numpy:
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ubuntu: [python3-numpy]
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python3-scipy:
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ubuntu: [python3-scipy]
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