Initial import of ORISYS arm workstation

2026-10-16 17:27:30 +08:00
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+# 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,
+    ]