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.
29 lines
944 B
Python
29 lines
944 B
Python
from setuptools import find_packages, setup
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package_name = 'iiwa_utils'
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setup(
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name=package_name,
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version='2026.5.31',
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packages=find_packages(exclude=['test']),
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data_files=[
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('share/ament_index/resource_index/packages',
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['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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],
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install_requires=['setuptools'],
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tests_require=['pytest'],
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zip_safe=True,
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maintainer='daniel',
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maintainer_email='grabardm@ml-dev.ru',
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description='cobot system utilities: configuration loading, object and camera spawning in Webots, geometric data conversion, test motion sequences',
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license='Apache-2.0',
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entry_points={
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'console_scripts': [
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"object_spawner = iiwa_utils.object_spawner:main",
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"camera_spawner = iiwa_utils.camera_spawner:main",
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"tcp_gizmo_spawner = iiwa_utils.tcp_gizmo_spawner:main",
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],
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},
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)
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