# Hand-eye auto calibration config.
#
# Workspace: ~/ros2
#
# Teach poses, then solve (prefer the wrapper):
#   bash ~/ros2/scripts/run_handeye.sh teach
#   bash ~/ros2/scripts/run_handeye.sh merge
#   bash ~/ros2/scripts/run_handeye.sh calibrate

handeye_calibrate:
  ros__parameters:
    mode: "eye_in_hand"

    joint_prefix: "Rizon4-063989_"
    joint_names: [joint1, joint2, joint3, joint4, joint5, joint6, joint7]
    velocity_scale: 0.10
    action_name: "follow_joint_trajectory"
    move_time_sec: 4.0
    start_index: 0
    min_poses: 5

    # Camera on flange (eye-in-hand): D405
    camera_source: "d405"            # d405 | d435 | manual
    camera_serial: ""
    camera_namespace: ""
    realsense_width: 1280
    realsense_height: 720
    image_topic: ""
    camera_info_topic: ""

    camera_fx: 0.0
    camera_fy: 0.0
    camera_cx: 0.0
    camera_cy: 0.0
    camera_dist: [0.0, 0.0, 0.0, 0.0, 0.0]

    # 真实使用的标定板：内角点 8x11，方格 15mm。
    # 依据是 handeye/results/*.yaml 头部记录的实测板子，以及 site.yaml 的 handeye.board_*。
    # 这里原先写的是 11x16 / 0.011（另一张早期用过的板）—— 三处配置曾互相矛盾，
    # 谁生效取决于覆盖顺序，因此存在"标定跑完但结果不对"的风险。
    board_cols: 8
    board_rows: 11
    square_size_m: 0.015

    settle_sec: 0.4
    stable_window: 8
    stable_pixel_std: 0.45
    stable_timeout_sec: 25.0

    # 临时产物（采点图、taught_poses.txt、captures.json）落在 handeye/tmp/ 下。
    # 注意 handeye/tmp/ 不进 git。
    output_dir: "/home/cc/ros2/handeye/tmp"
    # 留空 = 由 run_handeye.sh 按"设备ID + 模式"给出路径，
    # 即 handeye/results/<臂号>_<模式>.yaml（如 89_eye_in_hand.yaml）。
    result_file: ""
    cleanup_images: true

    num_poses: 13
    # Taught 2026-08-28 via handeye_teach (backend:=rdk)
    waypoint_positions: [
      # pose 0
      -1.107107, -0.744489, 0.982447, 1.856279, -0.735517, 0.946910, -0.118163,
      # pose 1
      -0.982764, -1.163516, 1.128527, 1.406787, -0.502416, 0.571857, 0.224024,
      # pose 2
      -1.012149, -1.180698, 1.184095, 1.390763, -0.559587, 0.407246, 0.249883,
      # pose 3
      -0.984199, -1.175286, 1.175012, 1.397197, -0.796608, 0.459682, 0.247304,
      # pose 4
      -0.982355, -1.196864, 1.076502, 1.590187, -1.106339, 0.636800, 0.481410,
      # pose 5
      -1.121428, -1.173892, 1.152070, 1.762215, -1.147604, 0.641314, 0.434178,
      # pose 6
      -1.121716, -1.174258, 1.203286, 1.643879, -1.200144, 0.459669, 0.315685,
      # pose 7
      -1.100360, -1.337467, 1.235742, 1.377341, -1.211692, 0.569701, 0.220985,
      # pose 8
      -1.160070, -1.473164, 1.364572, 1.369112, -0.784077, 0.489467, 0.378945,
      # pose 9
      -0.575560, -1.470411, 1.348577, 0.982228, -1.163608, -0.208091, 0.410659,
      # pose 10
      -0.716065, -1.411332, 1.272539, 1.753754, -1.856130, -0.098214, 0.341287,
      # pose 11
      -0.870910, -1.412227, 1.243149, 1.900543, -1.886769, 0.153908, -0.399394,
      # pose 12
      -0.656925, -1.412314, 1.216671, 1.820324, -1.850224, -0.103640, -0.399964,
    ]