左臂换成 tool10120938 后，手眼仍按旧 tool1 和 8×11 板求解，顶视迁臂又按短跳 rest-to-rest，真机上要么整体偏一截，要么中途弹射启停。
眼在手上改用该 TCP 做 AX=XB，再折回相机→法兰；A5 内角点改为 11×8，09-04 / 10-09 旧结果留在 backup。一阶段 D435 迁臂改成一条 FollowJointTrajectory（余弦加减速，近处降速，XY 进门槛后再单独收垂直），跟踪锁高与悬停齐平，避免倾斜相机下先降一截把孔位重投影偏掉。--no-descent 只降到离面 15 mm；跳过三阶段时触觉 USB 打不开不再空等几分钟。 Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
arm_dev
@@ -8,31 +8,49 @@
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/**:
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ros__parameters:
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num_poses: 12
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num_poses: 21
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# 2026-09-02 通过 handeye_teach 示教（RDK 自由驱动）
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waypoint_positions: [
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# 位姿 0
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-0.751865, -0.769544, 0.713051, 1.140021, -0.189690, 0.133294, -0.342184,
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# 位姿 1
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-0.541318, -0.867448, 0.864868, 1.233428, -0.348623, 0.146046, -0.249719,
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# 位姿 2
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-0.343594, -0.948720, 0.848287, 1.273279, -0.954339, 0.019624, 0.071314,
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# 位姿 3
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-0.379884, -1.002193, 1.166394, 1.579194, -1.097644, -0.115142, -0.347640,
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# 位姿 4
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-0.694826, -0.943610, 0.820178, 0.963907, -0.427763, 0.165888, -0.761562,
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# 位姿 5
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-0.964023, -1.025531, 1.013898, 1.032490, -0.167151, 0.017429, -0.566073,
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# 位姿 6
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-0.812664, -0.984951, 1.072695, 1.473414, -0.772970, 0.267382, 0.401278,
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# 位姿 7
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-0.967527, -1.067191, 1.101680, 1.434183, -0.915388, 0.259486, 0.205330,
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# 位姿 8
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-0.451483, -1.257408, 0.895481, 0.806594, -0.652401, -0.221453, 0.184234,
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# 位姿 9
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-0.981877, -1.415295, 1.339004, 1.131348, -0.863194, 0.170952, 1.615403,
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# 位姿 10
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-0.967163, -1.377051, 1.337671, 1.399175, -1.241886, 0.284547, 1.927756,
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# 位姿 11
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-0.575271, -1.141574, 1.121935, 1.502172, -1.452029, 0.088544, 2.200019,
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# pose 0
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-0.928421, -1.237477, 1.528823, 1.526334, -1.230146, 0.098562, 0.538531,
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# pose 1
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-0.970203, -1.315554, 1.553230, 1.669383, -1.407869, 0.125907, 0.578173,
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# pose 2
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-0.967819, -1.525572, 1.706057, 1.357062, -1.211051, 0.023232, 0.193541,
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# pose 3
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-1.065106, -1.624218, 1.793644, 1.279402, -1.120929, 0.019151, 0.139658,
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# pose 4
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-0.386279, -1.551838, 1.563578, 1.552444, -1.775337, -0.341974, 0.957445,
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# pose 5
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-0.227779, -1.219414, 1.026882, 0.828801, -0.916809, -0.166985, 0.034154,
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# pose 6
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-0.324968, -1.273082, 1.092344, 0.723132, -0.922095, -0.206413, 0.152082,
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# pose 7
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-0.421966, -1.309101, 1.143065, 0.606456, -0.906673, -0.219282, 0.237953,
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# pose 8
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-0.851598, -1.260600, 1.302895, 1.127033, -0.969809, 0.032856, 0.642673,
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# pose 9
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-0.951418, -0.550124, 0.848598, 2.139787, -1.025778, 1.184418, 0.598394,
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# pose 10
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-0.834498, -0.635767, 0.970038, 2.058410, -1.035138, 1.032040, 0.738619,
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# pose 11
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-0.519528, -0.883321, 1.135035, 1.830274, -1.100901, 0.234065, -0.069068,
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# pose 12
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-0.347358, -1.081426, 1.192233, 1.514557, -1.244594, -0.116668, -0.564362,
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# pose 13
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-0.364832, -1.102689, 1.224844, 1.520320, -1.265760, -0.136855, -0.582459,
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# pose 14
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-1.130796, -1.316186, 1.711089, 1.821409, -1.278003, 0.010885, -1.337210,
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# pose 15
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-0.732222, -1.376363, 1.812339, 1.293854, -1.410826, -0.226771, -0.217230,
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# pose 16
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-0.885017, -1.493416, 1.894070, 1.379021, -1.520015, -0.257115, 1.025331,
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# pose 17
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-0.911769, -1.532695, 1.944123, 1.427787, -1.560513, -0.267425, 1.004398,
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# pose 18
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-1.436271, -1.768595, 1.559397, 2.244717, -2.057112, 0.341785, 0.749883,
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# pose 19
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-1.511828, -1.759337, 1.620075, 2.131574, -1.946595, 0.328227, 0.584657,
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# pose 20
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-1.180482, -1.643241, 1.865851, 1.597699, -1.464982, 0.097605, -0.217780,
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]
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@@ -1,4 +1,4 @@
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# 眼在手外示教关节（7 关节 × N）。板装在法兰上，顶置 D435 看它。
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# 眼在手外示教关节（7 关节 × N）。板夹在 tool10120938 上，顶置 D435 看它。
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#
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# 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）。
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#
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@@ -7,44 +7,54 @@
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/**:
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ros__parameters:
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num_poses: 19
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num_poses: 24
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waypoint_positions: [
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# pose 0
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-1.045969, -0.575935, 0.132913, 2.251024, -0.297265, 1.274437, -0.219817,
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-1.241563, -0.359631, 0.346153, 2.172565, -0.179027, 0.929920, -0.778876,
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# pose 1
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-1.221272, -0.582225, 0.269777, 2.060852, -0.180051, 1.157081, -0.070498,
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-1.388832, -0.554698, 0.416075, 1.897617, -0.358341, 0.827495, -0.762302,
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# pose 2
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-1.222672, -0.605722, 0.273858, 2.111021, -0.181634, 1.193047, -0.059758,
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-1.436048, -0.573046, 0.461762, 1.870967, -0.387696, 0.813090, -0.762917,
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# pose 3
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-1.219127, -0.576923, 0.281368, 2.310613, -0.162188, 1.339573, -0.026065,
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-1.614491, -0.519365, 0.693991, 2.156193, -0.499113, 0.968762, 0.073287,
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# pose 4
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-1.100853, -0.552692, 0.291246, 2.473326, -0.116403, 1.504852, 0.051283,
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-2.020087, -0.869088, 1.059166, 2.155478, -1.198473, 0.740567, 0.478840,
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# pose 5
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-1.022050, -0.394038, 0.375788, 2.311711, -0.503617, 1.217768, 1.268088,
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-2.082145, -1.122210, 1.203011, 1.950272, -1.269847, 0.434138, -0.641975,
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# pose 6
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-1.180556, -0.574370, 0.471095, 2.055400, -0.490664, 1.086456, 1.216527,
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-1.983153, -0.886082, 0.999329, 2.324821, -1.272773, 0.754127, 0.313613,
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# pose 7
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-2.039707, -0.492556, 1.462952, 2.222064, -0.329990, 0.209789, 0.523258,
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-2.021479, -0.886609, 1.055679, 2.337716, -1.282773, 0.669319, -0.028355,
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# pose 8
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-1.959748, -0.554596, 1.469405, 2.293419, -0.165008, 0.422761, 0.844081,
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-2.022792, -0.947211, 1.118194, 2.127275, -1.211995, 0.527528, -0.169900,
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# pose 9
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-1.666347, -0.747468, 1.236192, 2.176000, -0.303646, 0.773895, 1.279040,
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-2.004766, -1.065820, 1.183799, 1.901084, -1.217488, 0.380285, -0.312733,
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# pose 10
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-1.689100, -0.879982, 1.168013, 2.057620, -0.424417, 0.752234, 1.241290,
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-1.942863, -1.219617, 1.256733, 1.653113, -1.222302, 0.261818, -0.420706,
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# pose 11
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-1.691875, -0.889908, 1.154014, 2.062930, -0.549154, 0.850985, 1.257704,
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-2.039558, -1.082441, 1.189833, 1.996967, -1.241252, 0.521591, 0.526563,
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# pose 12
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-1.715420, -0.986765, 1.125361, 1.948461, -0.638012, 0.809355, 1.173290,
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-2.098074, -1.006236, 1.538183, 2.118382, -0.737422, 0.019903, 0.648802,
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# pose 13
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-1.729057, -1.004106, 1.126932, 1.961482, -0.727920, 0.900058, 1.188069,
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-2.039609, -1.159222, 1.488501, 1.908579, -1.168793, -0.140451, 0.034889,
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# pose 14
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-2.034166, -0.748356, 1.234076, 2.252718, -1.542249, 0.093972, 0.640260,
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-1.880783, -1.104601, 1.579382, 2.036427, -0.665049, 0.254105, 1.518504,
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# pose 15
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-2.155450, -0.769613, 1.249491, 2.275528, -1.648348, 0.073256, 0.495109,
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-2.015530, -1.535468, 1.711220, 1.836908, -1.707450, -0.400234, -0.708683,
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# pose 16
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-1.959788, -0.979802, 1.271261, 2.222882, -1.560991, 0.057204, 0.296625,
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-1.997672, -1.626362, 1.529443, 2.200206, -1.291013, 0.398664, 1.954208,
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# pose 17
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-1.933247, -0.398944, 1.211885, 2.312756, -0.424981, 0.358678, 0.347203,
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-1.981875, -1.620651, 1.545443, 2.373140, -1.167365, 0.396487, 2.012547,
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# pose 18
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-1.944530, -0.399220, 1.244635, 2.293245, -0.423596, 0.317991, 0.358565,
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-2.179415, -1.511968, 1.578832, 2.401706, -1.326480, -0.051353, 1.137181,
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# pose 19
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-2.173463, -1.530413, 1.575534, 2.173673, -1.289673, -0.090117, 0.867214,
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# pose 20
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-2.096314, -1.569352, 1.579820, 1.942057, -1.458598, -0.057003, 0.572953,
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# pose 21
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-2.129376, -1.566787, 1.903585, 1.962858, -1.454137, -0.335990, -0.148441,
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# pose 22
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-2.020280, -1.527165, 1.887130, 1.728957, -1.491867, -0.370585, -0.277940,
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# pose 23
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-2.140817, -1.607357, 1.617236, 2.153850, -1.571057, -0.147540, 0.770535,
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]
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