Assign a specific screwdriver type for use as gripper.

[yck011522]

We have longer arm screwdrivers that we can use grippers.

This is likely to be 1 out of 4 screwdrivers and this has a different type name.

A user (I) need to pick which screwdriver (on which joint) is acting as the gripper (held by the robot) and also pick the orientation of the long arm. This is probably two separate functions within the Grasp Pose menu:

"Gripper Type" will let the user choose the long arm gripper, or the short one. This will set the beam_attribute gripper_id and gripper_type. A new beam_attribute tool_as_gripper_joint_id is needed

Regarding the automatically computed assign_tool_id_to_beam_joints, if it encounter a SCREWED_WITHOUT_GRIPPER beam. It will first assign the requested tool (described by beam_attribute gripper_id and gripper_type), to the joint indicated in tool_as_gripper_joint_id. It will then set the joint_attribute 'tool_idandtool_type`.

[yck011522]

Users should be able to change

• beam attribute grasping_joint_id_preference [joint_ids on that beam]
• joint attribute tool_orientation_frame_index [0 or 1]