# 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,
    ]