旋转操作加速版本

2026-10-20 09:18:24 +08:00
parent 55acdb638d
commit e80edd7b5e
164 changed files with 39439 additions and 32292 deletions
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+# 手眼标定示教的关节位姿（7 关节 × N）。由 calibrate + waypoints 共用。
+#
+# 在这里编辑，或者：
+#   bash ~/ros2/scripts/run_handeye.sh teach
+#   bash ~/ros2/scripts/run_handeye.sh merge
+#
+# /** 这样任意节点名都能收到这些参数。
+
+/**:
+  ros__parameters:
+    num_poses: 21
+    # 2026-09-02 通过 handeye_teach 示教（RDK 自由驱动）
+    waypoint_positions: [
+      # 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,
+    ]
@@ -0,0 +1,60 @@
+# 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）。
+#
+#   bash ~/ros2/scripts/run_handeye.sh --arm 89 teach --mode eye_to_hand --points 12
+#   bash ~/ros2/scripts/run_handeye.sh --arm 89 merge --mode eye_to_hand
+
+/**:
+  ros__parameters:
+    num_poses: 24
+    waypoint_positions: [
+      # pose 0
+      -1.241563, -0.359631, 0.346153, 2.172565, -0.179027, 0.929920, -0.778876,
+      # pose 1
+      -1.388832, -0.554698, 0.416075, 1.897617, -0.358341, 0.827495, -0.762302,
+      # pose 2
+      -1.436048, -0.573046, 0.461762, 1.870967, -0.387696, 0.813090, -0.762917,
+      # pose 3
+      -1.614491, -0.519365, 0.693991, 2.156193, -0.499113, 0.968762, 0.073287,
+      # pose 4
+      -2.020087, -0.869088, 1.059166, 2.155478, -1.198473, 0.740567, 0.478840,
+      # pose 5
+      -2.082145, -1.122210, 1.203011, 1.950272, -1.269847, 0.434138, -0.641975,
+      # pose 6
+      -1.983153, -0.886082, 0.999329, 2.324821, -1.272773, 0.754127, 0.313613,
+      # pose 7
+      -2.021479, -0.886609, 1.055679, 2.337716, -1.282773, 0.669319, -0.028355,
+      # pose 8
+      -2.022792, -0.947211, 1.118194, 2.127275, -1.211995, 0.527528, -0.169900,
+      # pose 9
+      -2.004766, -1.065820, 1.183799, 1.901084, -1.217488, 0.380285, -0.312733,
+      # pose 10
+      -1.942863, -1.219617, 1.256733, 1.653113, -1.222302, 0.261818, -0.420706,
+      # pose 11
+      -2.039558, -1.082441, 1.189833, 1.996967, -1.241252, 0.521591, 0.526563,
+      # pose 12
+      -2.098074, -1.006236, 1.538183, 2.118382, -0.737422, 0.019903, 0.648802,
+      # pose 13
+      -2.039609, -1.159222, 1.488501, 1.908579, -1.168793, -0.140451, 0.034889,
+      # pose 14
+      -1.880783, -1.104601, 1.579382, 2.036427, -0.665049, 0.254105, 1.518504,
+      # pose 15
+      -2.015530, -1.535468, 1.711220, 1.836908, -1.707450, -0.400234, -0.708683,
+      # pose 16
+      -1.997672, -1.626362, 1.529443, 2.200206, -1.291013, 0.398664, 1.954208,
+      # pose 17
+      -1.981875, -1.620651, 1.545443, 2.373140, -1.167365, 0.396487, 2.012547,
+      # pose 18
+      -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,
+    ]