悬停走完后常数前馈会往 +X 过补约 1.3mm、插不进，贴面改成笛卡尔锁 XY、只降 Z 的厂家 MoveL；D435 交回也不再杀栈，只等法兰停稳 0.5 秒。

Co-authored-by: Cursor <cursoragent@cursor.com>
2026-10-15 10:23:52 +08:00
parent 37b85aa09b
commit 5c7966d8cd
16 changed files with 1024 additions and 117 deletions
@@ -7,54 +7,48 @@

 /**:
  ros__parameters:
-    num_poses: 24
+    num_poses: 21
    waypoint_positions: [
      # pose 0
-      -1.241563, -0.359631, 0.346153, 2.172565, -0.179027, 0.929920, -0.778876,
+      -0.798667, -0.611079, 0.054912, 2.246988, 0.049199, 1.389219, 0.196135,
      # pose 1
-      -1.388832, -0.554698, 0.416075, 1.897617, -0.358341, 0.827495, -0.762302,
+      -0.787304, -0.531383, 0.240108, 2.183440, 0.367026, 1.370311, 0.472489,
      # pose 2
-      -1.436048, -0.573046, 0.461762, 1.870967, -0.387696, 0.813090, -0.762917,
+      -1.615896, -0.687070, 1.187600, 2.243693, -0.162789, 1.650045, 1.026121,
      # pose 3
-      -1.614491, -0.519365, 0.693991, 2.156193, -0.499113, 0.968762, 0.073287,
+      -1.787431, -0.668004, 1.408195, 2.025431, -0.064718, 0.565415, 1.324635,
      # pose 4
-      -2.020087, -0.869088, 1.059166, 2.155478, -1.198473, 0.740567, 0.478840,
+      -2.024343, -0.863793, 1.349640, 2.359469, -0.720629, 0.084467, 0.821412,
      # pose 5
-      -2.082145, -1.122210, 1.203011, 1.950272, -1.269847, 0.434138, -0.641975,
+      -1.884100, -1.117584, 1.183093, 2.127937, -1.258013, 0.151934, 0.985555,
      # pose 6
-      -1.983153, -0.886082, 0.999329, 2.324821, -1.272773, 0.754127, 0.313613,
+      -1.866465, -1.194137, 1.143263, 1.872811, -1.320028, 0.280719, 0.777663,
      # pose 7
-      -2.021479, -0.886609, 1.055679, 2.337716, -1.282773, 0.669319, -0.028355,
+      -1.729402, -1.139685, 1.127574, 1.913544, -1.329630, -0.194162, 1.383834,
      # pose 8
-      -2.022792, -0.947211, 1.118194, 2.127275, -1.211995, 0.527528, -0.169900,
+      -1.611937, -1.158158, 1.064049, 1.918313, -1.480676, -0.392994, 1.833894,
      # pose 9
-      -2.004766, -1.065820, 1.183799, 1.901084, -1.217488, 0.380285, -0.312733,
+      -2.252978, -1.387014, 1.686186, 2.101298, -1.333349, -0.111994, 0.036817,
      # pose 10
-      -1.942863, -1.219617, 1.256733, 1.653113, -1.222302, 0.261818, -0.420706,
+      -2.179722, -1.297659, 1.497171, 2.167675, -1.272158, 0.100548, 0.673603,
      # pose 11
-      -2.039558, -1.082441, 1.189833, 1.996967, -1.241252, 0.521591, 0.526563,
+      -1.921897, -1.543024, 1.000863, 1.897273, -1.455972, 1.437388, -0.140968,
      # pose 12
-      -2.098074, -1.006236, 1.538183, 2.118382, -0.737422, 0.019903, 0.648802,
+      -1.884059, -1.063347, 1.439248, 2.253200, -1.164963, -0.423306, 0.907197,
      # pose 13
-      -2.039609, -1.159222, 1.488501, 1.908579, -1.168793, -0.140451, 0.034889,
+      -1.987022, -1.235459, 1.354108, 2.370862, -1.354044, 0.065378, 0.923079,
      # pose 14
-      -1.880783, -1.104601, 1.579382, 2.036427, -0.665049, 0.254105, 1.518504,
+      -1.770869, -1.333861, 1.241996, 1.800723, -1.395819, -0.255590, 1.389660,
      # pose 15
-      -2.015530, -1.535468, 1.711220, 1.836908, -1.707450, -0.400234, -0.708683,
+      -1.761759, -1.369860, 1.213137, 1.791639, -1.467956, -0.170537, 1.473557,
      # pose 16
-      -1.997672, -1.626362, 1.529443, 2.200206, -1.291013, 0.398664, 1.954208,
+      -1.504294, -1.346227, 1.206550, 1.660186, -1.320782, -0.393676, 1.657215,
      # pose 17
-      -1.981875, -1.620651, 1.545443, 2.373140, -1.167365, 0.396487, 2.012547,
+      -1.846546, -1.476930, 0.946255, 1.910615, -2.435429, 1.535168, 2.151544,
      # pose 18
-      -2.179415, -1.511968, 1.578832, 2.401706, -1.326480, -0.051353, 1.137181,
+      -1.700067, -1.452760, 0.909035, 1.758222, -2.103930, 1.445249, 2.174743,
      # pose 19
-      -2.173463, -1.530413, 1.575534, 2.173673, -1.289673, -0.090117, 0.867214,
+      -2.173713, -0.983647, 1.399849, 2.384939, -1.379509, -0.216471, 0.253561,
      # pose 20
-      -2.096314, -1.569352, 1.579820, 1.942057, -1.458598, -0.057003, 0.572953,
-      # pose 21
-      -2.129376, -1.566787, 1.903585, 1.962858, -1.454137, -0.335990, -0.148441,
-      # pose 22
-      -2.020280, -1.527165, 1.887130, 1.728957, -1.491867, -0.370585, -0.277940,
-      # pose 23
-      -2.140817, -1.607357, 1.617236, 2.153850, -1.571057, -0.147540, 0.770535,
+      -2.160187, -0.967904, 1.376288, 2.451713, -1.393524, -0.212278, 0.473606,
    ]