# 手眼标定交互式路点巡回（预览 + 自由驱动确认）。
# 位姿来源：同目录的 handeye_poses.yaml
#
# 运行：
#   bash ~/ros2/scripts/run_handeye.sh waypoints

handeye_waypoints:
  ros__parameters:
    joint_prefix: "Rizon4-063989_"
    joint_names: [joint1, joint2, joint3, joint4, joint5, joint6, joint7]
    velocity_scale: 0.05
    action_name: "follow_joint_trajectory"
    dwell_sec: 2.5
    capture_mode: "preview"       # auto | keypress | preview
    start_index: 0
    log_csv: ""
    capture_topic: "handeye/capture"

    camera_source: "d405"
    camera_namespace: ""
    image_topic: ""
    preview_window: true
    append_poses_file: "handeye/tmp/taught_poses.txt"

    waypoint_times: [4.0, 4.0, 4.0, 4.0, 4.0, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.0, 4.0]