[huxiaoyi-ovo]

Summary

Partially addresses #729 by correcting the WX200 model's arm/gripper kinematic split and default tool pose.

• Separate the five arm joints from the gripper's three joints using the existing gripper_link_name interface.
• Align the default tool pose with the URDF's ee_gripper_link frame.
• Replace the invalid qr configuration and update qz to match the arm's five DOFs.
• Add regression tests for joint counts, end-effector linkage, tool-frame consistency, and joint-limit compliance.

This change is intentionally limited to WX200. The remaining Interbotix models can be addressed separately under #729.

Validation

Full CI completed successfully: 19 successful jobs, 0 failures, with one unrelated Dependabot job skipped.

Verified across Linux, macOS, and Windows, including Python 3.10–3.14, core tests, coverage, and documentation build.

CI: https://github.com/huxiaoyi-ovo/robotics-toolbox-python/actions/runs/38212915312

Fork validation PR: huxiaoyi-ovo#3

[codacy-production]

Up to standards ✅

🟢 Issues 0 issues

Results:
0 new issues

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🟢 Metrics 0 complexity · -2 duplication

Metric	Results
Complexity	0
Duplication	-2

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[codecov]

Codecov Report

❌ Patch coverage is 0% with 4 lines in your changes missing coverage. Please review.
✅ Project coverage is 0.00%. Comparing base (4a93c88) to head (a1b3831).

Files with missing lines	Patch %	Lines
src/roboticstoolbox/models/URDF/wx200.py	0.00%	4 Missing ⚠️

Additional details and impacted files

@@          Coverage Diff          @@
##            main    #739   +/-   ##
=====================================
  Coverage   0.00%   0.00%           
=====================================
  Files        144     144           
  Lines      14819   14821    +2     
=====================================
- Misses     14819   14821    +2     

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[petercorke]

Thank you for this, and for the tests. The WX200 changes match the URDF. I'm pausing changes that touch grippers while we decide how they should be modeled, see #884, so I won't merge this now. I'll leave it open as a record and come back to it afterwards. You're welcome to join the discussion in #884, your experience with these models would help.