# 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: 16
    waypoint_positions: [
      # pose 0
      -0.850450, -1.523690, 1.982676, 1.082314, -1.771616, -0.354603, 0.583665,
      # pose 1
      -2.098137, -0.606148, 1.213612, 2.290328, -0.795715, 0.618633, 0.213293,
      # pose 2
      -2.115870, -0.711154, 1.204674, 2.128285, -0.937034, 0.514766, -0.356714,
      # pose 3
      -2.017820, -0.798105, 1.516945, 2.002096, -0.392371, -0.035888, 0.657789,
      # pose 4
      -2.021874, -0.805058, 1.533201, 2.001407, -0.399671, -0.045924, 0.653138,
      # pose 5
      -2.135665, -1.020864, 1.346306, 2.334297, -1.268378, 0.406336, 0.897832,
      # pose 6
      -1.793944, -1.143422, 1.244557, 1.942177, -1.315611, 0.473616, 1.619695,
      # pose 7
      -2.075950, -1.215149, 1.322761, 2.142359, -1.372597, 0.398777, 1.008202,
      # pose 8
      -2.153500, -1.215892, 1.345656, 2.306931, -1.412319, 0.415145, 0.997235,
      # pose 9
      -2.127777, -1.256654, 1.370562, 2.009440, -1.369584, 0.219094, -0.132912,
      # pose 10
      -2.138686, -1.270867, 1.591854, 2.150744, -0.898729, 0.079835, 0.840791,
      # pose 11
      -2.063605, -1.300562, 1.582835, 2.080463, -0.904827, 0.243915, 1.110180,
      # pose 12
      -1.867772, -1.316320, 1.376713, 1.888199, -1.274029, 0.284609, 1.405712,
      # pose 13
      -1.829092, -1.355347, 1.315742, 1.808403, -1.413826, 0.338349, 1.459711,
      # pose 14
      -2.192461, -1.374082, 1.330037, 2.154137, -1.528020, 0.279283, 0.657702,
      # pose 15
      -2.137444, -1.468886, 1.525289, 2.348419, -1.025385, 1.011855, 1.148855,
    ]