Initial import of ORISYS arm workstation

2026-10-16 17:27:30 +08:00
commit 2b74c50ba8
745 changed files with 1199101 additions and 0 deletions
@@ -0,0 +1,56 @@
+# 手眼标定示教的关节位姿（7 关节 × N）。由 calibrate + waypoints 共用。
+#
+# 在这里编辑，或者：
+#   bash ~/ros2/scripts/run_handeye.sh teach
+#   bash ~/ros2/scripts/run_handeye.sh merge
+#
+# /** 这样任意节点名都能收到这些参数。
+
+/**:
+  ros__parameters:
+    num_poses: 21
+    # 2026-09-02 通过 handeye_teach 示教（RDK 自由驱动）
+    waypoint_positions: [
+      # pose 0
+      -0.928421, -1.237477, 1.528823, 1.526334, -1.230146, 0.098562, 0.538531,
+      # pose 1
+      -0.970203, -1.315554, 1.553230, 1.669383, -1.407869, 0.125907, 0.578173,
+      # pose 2
+      -0.967819, -1.525572, 1.706057, 1.357062, -1.211051, 0.023232, 0.193541,
+      # pose 3
+      -1.065106, -1.624218, 1.793644, 1.279402, -1.120929, 0.019151, 0.139658,
+      # pose 4
+      -0.386279, -1.551838, 1.563578, 1.552444, -1.775337, -0.341974, 0.957445,
+      # pose 5
+      -0.227779, -1.219414, 1.026882, 0.828801, -0.916809, -0.166985, 0.034154,
+      # pose 6
+      -0.324968, -1.273082, 1.092344, 0.723132, -0.922095, -0.206413, 0.152082,
+      # pose 7
+      -0.421966, -1.309101, 1.143065, 0.606456, -0.906673, -0.219282, 0.237953,
+      # pose 8
+      -0.851598, -1.260600, 1.302895, 1.127033, -0.969809, 0.032856, 0.642673,
+      # pose 9
+      -0.951418, -0.550124, 0.848598, 2.139787, -1.025778, 1.184418, 0.598394,
+      # pose 10
+      -0.834498, -0.635767, 0.970038, 2.058410, -1.035138, 1.032040, 0.738619,
+      # pose 11
+      -0.519528, -0.883321, 1.135035, 1.830274, -1.100901, 0.234065, -0.069068,
+      # pose 12
+      -0.347358, -1.081426, 1.192233, 1.514557, -1.244594, -0.116668, -0.564362,
+      # pose 13
+      -0.364832, -1.102689, 1.224844, 1.520320, -1.265760, -0.136855, -0.582459,
+      # pose 14
+      -1.130796, -1.316186, 1.711089, 1.821409, -1.278003, 0.010885, -1.337210,
+      # pose 15
+      -0.732222, -1.376363, 1.812339, 1.293854, -1.410826, -0.226771, -0.217230,
+      # pose 16
+      -0.885017, -1.493416, 1.894070, 1.379021, -1.520015, -0.257115, 1.025331,
+      # pose 17
+      -0.911769, -1.532695, 1.944123, 1.427787, -1.560513, -0.267425, 1.004398,
+      # pose 18
+      -1.436271, -1.768595, 1.559397, 2.244717, -2.057112, 0.341785, 0.749883,
+      # pose 19
+      -1.511828, -1.759337, 1.620075, 2.131574, -1.946595, 0.328227, 0.584657,
+      # pose 20
+      -1.180482, -1.643241, 1.865851, 1.597699, -1.464982, 0.097605, -0.217780,
+    ]
@@ -0,0 +1,54 @@
+# 眼在手外示教关节（7 关节 × N）。板夹在 tool10120938 上，顶置 D435 看它。
+#
+# 由 teach → merge 写入，不要手抄眼在手上那份（两种模式的姿态完全不同）。
+#
+#   bash ~/ros2/scripts/run_handeye.sh --arm 89 teach --mode eye_to_hand --points 12
+#   bash ~/ros2/scripts/run_handeye.sh --arm 89 merge --mode eye_to_hand
+
+/**:
+  ros__parameters:
+    num_poses: 21
+    waypoint_positions: [
+      # pose 0
+      -0.798667, -0.611079, 0.054912, 2.246988, 0.049199, 1.389219, 0.196135,
+      # pose 1
+      -0.787304, -0.531383, 0.240108, 2.183440, 0.367026, 1.370311, 0.472489,
+      # pose 2
+      -1.615896, -0.687070, 1.187600, 2.243693, -0.162789, 1.650045, 1.026121,
+      # pose 3
+      -1.787431, -0.668004, 1.408195, 2.025431, -0.064718, 0.565415, 1.324635,
+      # pose 4
+      -2.024343, -0.863793, 1.349640, 2.359469, -0.720629, 0.084467, 0.821412,
+      # pose 5
+      -1.884100, -1.117584, 1.183093, 2.127937, -1.258013, 0.151934, 0.985555,
+      # pose 6
+      -1.866465, -1.194137, 1.143263, 1.872811, -1.320028, 0.280719, 0.777663,
+      # pose 7
+      -1.729402, -1.139685, 1.127574, 1.913544, -1.329630, -0.194162, 1.383834,
+      # pose 8
+      -1.611937, -1.158158, 1.064049, 1.918313, -1.480676, -0.392994, 1.833894,
+      # pose 9
+      -2.252978, -1.387014, 1.686186, 2.101298, -1.333349, -0.111994, 0.036817,
+      # pose 10
+      -2.179722, -1.297659, 1.497171, 2.167675, -1.272158, 0.100548, 0.673603,
+      # pose 11
+      -1.921897, -1.543024, 1.000863, 1.897273, -1.455972, 1.437388, -0.140968,
+      # pose 12
+      -1.884059, -1.063347, 1.439248, 2.253200, -1.164963, -0.423306, 0.907197,
+      # pose 13
+      -1.987022, -1.235459, 1.354108, 2.370862, -1.354044, 0.065378, 0.923079,
+      # pose 14
+      -1.770869, -1.333861, 1.241996, 1.800723, -1.395819, -0.255590, 1.389660,
+      # pose 15
+      -1.761759, -1.369860, 1.213137, 1.791639, -1.467956, -0.170537, 1.473557,
+      # pose 16
+      -1.504294, -1.346227, 1.206550, 1.660186, -1.320782, -0.393676, 1.657215,
+      # pose 17
+      -1.846546, -1.476930, 0.946255, 1.910615, -2.435429, 1.535168, 2.151544,
+      # pose 18
+      -1.700067, -1.452760, 0.909035, 1.758222, -2.103930, 1.445249, 2.174743,
+      # pose 19
+      -2.173713, -0.983647, 1.399849, 2.384939, -1.379509, -0.216471, 0.253561,
+      # pose 20
+      -2.160187, -0.967904, 1.376288, 2.451713, -1.393524, -0.212278, 0.473606,
+    ]
@@ -0,0 +1,36 @@
+# 右臂 91 手眼标定示教的关节位姿。
+# 用以下命令填充：
+#   bash ~/ros2/scripts/run_handeye.sh --arm 91 teach
+#   bash ~/ros2/scripts/run_handeye.sh --arm 91 merge
+#
+# 不要复用 89 的 waypoint_positions。
+
+/**:
+  ros__parameters:
+    num_poses: 12
+    waypoint_positions: [
+      # 位姿 0
+      0.387144, -0.514770, -0.072695, 1.399918, 0.326501, 0.308501, -0.298212,
+      # 位姿 1
+      0.459205, -0.747691, 0.042380, 0.908430, 0.436933, -0.099413, -0.398336,
+      # 位姿 2
+      0.113162, -0.929267, -0.132969, 0.776759, 0.579499, -0.081271, -0.588715,
+      # 位姿 3
+      0.823056, -1.181803, -0.157161, 0.344860, 0.073450, -0.436449, -0.333484,
+      # 位姿 4
+      0.561660, 0.126479, -0.217063, 2.400061, 1.116363, 1.205544, -0.955972,
+      # 位姿 5
+      0.749011, 0.058548, -0.125615, 1.951037, 0.399065, 0.388437, -1.057397,
+      # 位姿 6
+      0.707611, -0.557010, -0.302672, 1.263980, 0.333093, 0.208229, -0.938372,
+      # 位姿 7
+      0.197846, -0.400530, 0.263064, 1.879643, 0.062586, 1.133715, -0.791285,
+      # 位姿 8
+      0.804027, -0.518162, 0.353947, 1.985246, -0.941195, 0.481238, -1.551113,
+      # 位姿 9
+      0.296161, -0.030159, 0.317117, 2.335652, 1.072158, 1.524893, -0.591372,
+      # 位姿 10
+      0.346492, -0.906418, -0.118014, 0.810448, 0.420788, -0.122104, -0.197859,
+      # 位姿 11
+      1.031802, -0.422436, -0.640939, 1.656629, 0.375163, 0.470365, -0.328041,
+    ]