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
@@ -1,4 +1,4 @@
-# 眼在手外示教关节（7 关节 × N）。板装在法兰上，顶置 D435 看它。
+# 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）。
 #
@@ -7,44 +7,54 @@

 /**:
  ros__parameters:
-    num_poses: 19
+    num_poses: 24
    waypoint_positions: [
      # pose 0
-      -1.045969, -0.575935, 0.132913, 2.251024, -0.297265, 1.274437, -0.219817,
+      -1.241563, -0.359631, 0.346153, 2.172565, -0.179027, 0.929920, -0.778876,
      # pose 1
-      -1.221272, -0.582225, 0.269777, 2.060852, -0.180051, 1.157081, -0.070498,
+      -1.388832, -0.554698, 0.416075, 1.897617, -0.358341, 0.827495, -0.762302,
      # pose 2
-      -1.222672, -0.605722, 0.273858, 2.111021, -0.181634, 1.193047, -0.059758,
+      -1.436048, -0.573046, 0.461762, 1.870967, -0.387696, 0.813090, -0.762917,
      # pose 3
-      -1.219127, -0.576923, 0.281368, 2.310613, -0.162188, 1.339573, -0.026065,
+      -1.614491, -0.519365, 0.693991, 2.156193, -0.499113, 0.968762, 0.073287,
      # pose 4
-      -1.100853, -0.552692, 0.291246, 2.473326, -0.116403, 1.504852, 0.051283,
+      -2.020087, -0.869088, 1.059166, 2.155478, -1.198473, 0.740567, 0.478840,
      # pose 5
-      -1.022050, -0.394038, 0.375788, 2.311711, -0.503617, 1.217768, 1.268088,
+      -2.082145, -1.122210, 1.203011, 1.950272, -1.269847, 0.434138, -0.641975,
      # pose 6
-      -1.180556, -0.574370, 0.471095, 2.055400, -0.490664, 1.086456, 1.216527,
+      -1.983153, -0.886082, 0.999329, 2.324821, -1.272773, 0.754127, 0.313613,
      # pose 7
-      -2.039707, -0.492556, 1.462952, 2.222064, -0.329990, 0.209789, 0.523258,
+      -2.021479, -0.886609, 1.055679, 2.337716, -1.282773, 0.669319, -0.028355,
      # pose 8
-      -1.959748, -0.554596, 1.469405, 2.293419, -0.165008, 0.422761, 0.844081,
+      -2.022792, -0.947211, 1.118194, 2.127275, -1.211995, 0.527528, -0.169900,
      # pose 9
-      -1.666347, -0.747468, 1.236192, 2.176000, -0.303646, 0.773895, 1.279040,
+      -2.004766, -1.065820, 1.183799, 1.901084, -1.217488, 0.380285, -0.312733,
      # pose 10
-      -1.689100, -0.879982, 1.168013, 2.057620, -0.424417, 0.752234, 1.241290,
+      -1.942863, -1.219617, 1.256733, 1.653113, -1.222302, 0.261818, -0.420706,
      # pose 11
-      -1.691875, -0.889908, 1.154014, 2.062930, -0.549154, 0.850985, 1.257704,
+      -2.039558, -1.082441, 1.189833, 1.996967, -1.241252, 0.521591, 0.526563,
      # pose 12
-      -1.715420, -0.986765, 1.125361, 1.948461, -0.638012, 0.809355, 1.173290,
+      -2.098074, -1.006236, 1.538183, 2.118382, -0.737422, 0.019903, 0.648802,
      # pose 13
-      -1.729057, -1.004106, 1.126932, 1.961482, -0.727920, 0.900058, 1.188069,
+      -2.039609, -1.159222, 1.488501, 1.908579, -1.168793, -0.140451, 0.034889,
      # pose 14
-      -2.034166, -0.748356, 1.234076, 2.252718, -1.542249, 0.093972, 0.640260,
+      -1.880783, -1.104601, 1.579382, 2.036427, -0.665049, 0.254105, 1.518504,
      # pose 15
-      -2.155450, -0.769613, 1.249491, 2.275528, -1.648348, 0.073256, 0.495109,
+      -2.015530, -1.535468, 1.711220, 1.836908, -1.707450, -0.400234, -0.708683,
      # pose 16
-      -1.959788, -0.979802, 1.271261, 2.222882, -1.560991, 0.057204, 0.296625,
+      -1.997672, -1.626362, 1.529443, 2.200206, -1.291013, 0.398664, 1.954208,
      # pose 17
-      -1.933247, -0.398944, 1.211885, 2.312756, -0.424981, 0.358678, 0.347203,
+      -1.981875, -1.620651, 1.545443, 2.373140, -1.167365, 0.396487, 2.012547,
      # pose 18
-      -1.944530, -0.399220, 1.244635, 2.293245, -0.423596, 0.317991, 0.358565,
+      -2.179415, -1.511968, 1.578832, 2.401706, -1.326480, -0.051353, 1.137181,
+      # pose 19
+      -2.173463, -1.530413, 1.575534, 2.173673, -1.289673, -0.090117, 0.867214,
+      # 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,
    ]