# 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: 26
    # 2026-10-16 重新示教 26 点（旧 21 点在 poses/backup/）；A5 11×8，tool10120938
    waypoint_positions: [
      # pose 0
      -0.211261, -0.571428, 0.247301, 1.552793, -0.119748, 0.614676, -0.023410,
      # pose 1
      -0.169531, -0.647538, 0.404777, 1.568624, -0.268686, 0.700171, 0.395947,
      # pose 2
      -0.759204, -0.846289, 0.735872, 1.387307, -0.539553, 0.576374, -0.060241,
      # pose 3
      -0.925104, -1.394748, 1.532423, 0.826872, -0.686369, -0.074315, -0.145523,
      # pose 4
      -1.004515, -1.491910, 1.596406, 1.245659, -0.864236, 0.212990, 0.460589,
      # pose 5
      -0.373052, -1.441561, 1.624783, 0.325602, -1.361228, -0.404116, 0.511430,
      # pose 6
      -0.281212, -1.452318, 1.627866, 0.517637, -1.412135, -0.420614, 0.217023,
      # pose 7
      -0.184868, -1.473244, 1.670229, 0.827772, -1.522330, -0.529014, -0.212158,
      # pose 8
      -0.246577, -1.532828, 1.679171, 1.204498, -1.697638, -0.607779, -0.517785,
      # pose 9
      -0.463435, -1.549157, 1.650964, 1.948746, -1.841124, -0.638016, -0.842437,
      # pose 10
      -1.573539, -0.359801, 1.261534, 2.423352, -0.405671, 1.620875, -0.045014,
      # pose 11
      -1.549088, -0.710364, 1.347227, 2.111776, -0.606133, 1.116345, -0.567788,
      # pose 12
      -1.512218, -0.983202, 1.445454, 1.808168, -0.602205, 0.699420, -0.803771,
      # pose 13
      -1.023248, -1.342205, 1.465909, 1.092911, -0.843418, 0.099672, 1.287399,
      # pose 14
      -0.870257, -1.473283, 1.657987, 0.831271, -1.034030, -0.144608, 1.263203,
      # pose 15
      -0.384368, -1.417984, 1.403442, 2.075614, -1.952106, -0.394139, 1.022592,
      # pose 16
      -0.320712, -1.513967, 1.508547, 1.652983, -1.854378, -0.409816, 1.024834,
      # pose 17
      -0.046066, -1.630857, 1.639221, 1.105078, -1.971509, -0.601654, 1.076452,
      # pose 18
      -0.183628, -1.588663, 1.989621, 0.918793, -1.873979, -0.629910, 0.092012,
      # pose 19
      -1.300709, -1.159500, 1.611790, 1.761984, -0.963027, 0.391619, -0.468980,
      # pose 20
      -0.750548, -1.221231, 1.566283, 1.128755, -1.163176, -0.102841, 0.958420,
      # pose 21
      -0.874185, -1.297230, 1.655940, 1.303348, -1.334815, -0.047425, 2.047690,
      # pose 22
      -0.671314, -1.510973, 1.813908, 1.235398, -1.778996, -0.462958, 2.899902,
      # pose 23
      -0.710795, -1.522124, 1.653705, 1.316372, -1.574330, 0.086268, 1.453877,
      # pose 24
      -0.533642, -1.545775, 1.837151, 1.467081, -1.463448, -0.161183, 0.387563,
      # pose 25
      -0.850451, -1.523689, 1.982673, 1.082314, -1.771622, -0.354609, 0.583659,
    ]