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>
2026-10-12 15:04:23 +08:00
parent 7d22f777c8
commit b903161113
45 changed files with 3555 additions and 405 deletions
@@ -8,31 +8,49 @@

 /**:
  ros__parameters:
-    num_poses: 12
+    num_poses: 21
    # 2026-09-02 通过 handeye_teach 示教（RDK 自由驱动）
    waypoint_positions: [
-      # 位姿 0
-      -0.751865, -0.769544, 0.713051, 1.140021, -0.189690, 0.133294, -0.342184,
-      # 位姿 1
-      -0.541318, -0.867448, 0.864868, 1.233428, -0.348623, 0.146046, -0.249719,
-      # 位姿 2
-      -0.343594, -0.948720, 0.848287, 1.273279, -0.954339, 0.019624, 0.071314,
-      # 位姿 3
-      -0.379884, -1.002193, 1.166394, 1.579194, -1.097644, -0.115142, -0.347640,
-      # 位姿 4
-      -0.694826, -0.943610, 0.820178, 0.963907, -0.427763, 0.165888, -0.761562,
-      # 位姿 5
-      -0.964023, -1.025531, 1.013898, 1.032490, -0.167151, 0.017429, -0.566073,
-      # 位姿 6
-      -0.812664, -0.984951, 1.072695, 1.473414, -0.772970, 0.267382, 0.401278,
-      # 位姿 7
-      -0.967527, -1.067191, 1.101680, 1.434183, -0.915388, 0.259486, 0.205330,
-      # 位姿 8
-      -0.451483, -1.257408, 0.895481, 0.806594, -0.652401, -0.221453, 0.184234,
-      # 位姿 9
-      -0.981877, -1.415295, 1.339004, 1.131348, -0.863194, 0.170952, 1.615403,
-      # 位姿 10
-      -0.967163, -1.377051, 1.337671, 1.399175, -1.241886, 0.284547, 1.927756,
-      # 位姿 11
-      -0.575271, -1.141574, 1.121935, 1.502172, -1.452029, 0.088544, 2.200019,
+      # 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,
    ]