# 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: 12
    # 2026-09-02 通过 handeye_teach 示教（RDK 自由驱动）
    waypoint_positions: [
      # 位姿 0
      -0.751865, -0.769544, 0.713051, 1.140021, -0.189690, 0.133294, -0.342184,
      # 位姿 1
      -0.541318, -0.867448, 0.864868, 1.233428, -0.348623, 0.146046, -0.249719,
      # 位姿 2
      -0.343594, -0.948720, 0.848287, 1.273279, -0.954339, 0.019624, 0.071314,
      # 位姿 3
      -0.379884, -1.002193, 1.166394, 1.579194, -1.097644, -0.115142, -0.347640,
      # 位姿 4
      -0.694826, -0.943610, 0.820178, 0.963907, -0.427763, 0.165888, -0.761562,
      # 位姿 5
      -0.964023, -1.025531, 1.013898, 1.032490, -0.167151, 0.017429, -0.566073,
      # 位姿 6
      -0.812664, -0.984951, 1.072695, 1.473414, -0.772970, 0.267382, 0.401278,
      # 位姿 7
      -0.967527, -1.067191, 1.101680, 1.434183, -0.915388, 0.259486, 0.205330,
      # 位姿 8
      -0.451483, -1.257408, 0.895481, 0.806594, -0.652401, -0.221453, 0.184234,
      # 位姿 9
      -0.981877, -1.415295, 1.339004, 1.131348, -0.863194, 0.170952, 1.615403,
      # 位姿 10
      -0.967163, -1.377051, 1.337671, 1.399175, -1.241886, 0.284547, 1.927756,
      # 位姿 11
      -0.575271, -1.141574, 1.121935, 1.502172, -1.452029, 0.088544, 2.200019,
    ]