arm_dev
55 lines
2.4 KiB
YAML
55 lines
2.4 KiB
YAML
# 眼在手外示教关节（7 关节 × N）。板夹在 tool10120938 上，顶置 D435 看它。
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#
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# 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）。
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#
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# bash ~/ros2/scripts/run_handeye.sh --arm 89 teach --mode eye_to_hand --points 12
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# bash ~/ros2/scripts/run_handeye.sh --arm 89 merge --mode eye_to_hand
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/**:
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ros__parameters:
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num_poses: 21
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waypoint_positions: [
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# pose 0
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-0.798667, -0.611079, 0.054912, 2.246988, 0.049199, 1.389219, 0.196135,
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# pose 1
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-0.787304, -0.531383, 0.240108, 2.183440, 0.367026, 1.370311, 0.472489,
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# pose 2
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-1.615896, -0.687070, 1.187600, 2.243693, -0.162789, 1.650045, 1.026121,
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# pose 3
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-1.787431, -0.668004, 1.408195, 2.025431, -0.064718, 0.565415, 1.324635,
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# pose 4
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-2.024343, -0.863793, 1.349640, 2.359469, -0.720629, 0.084467, 0.821412,
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# pose 5
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-1.884100, -1.117584, 1.183093, 2.127937, -1.258013, 0.151934, 0.985555,
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# pose 6
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-1.866465, -1.194137, 1.143263, 1.872811, -1.320028, 0.280719, 0.777663,
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# pose 7
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-1.729402, -1.139685, 1.127574, 1.913544, -1.329630, -0.194162, 1.383834,
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# pose 8
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-1.611937, -1.158158, 1.064049, 1.918313, -1.480676, -0.392994, 1.833894,
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# pose 9
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-2.252978, -1.387014, 1.686186, 2.101298, -1.333349, -0.111994, 0.036817,
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# pose 10
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-2.179722, -1.297659, 1.497171, 2.167675, -1.272158, 0.100548, 0.673603,
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# pose 11
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-1.921897, -1.543024, 1.000863, 1.897273, -1.455972, 1.437388, -0.140968,
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# pose 12
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-1.884059, -1.063347, 1.439248, 2.253200, -1.164963, -0.423306, 0.907197,
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# pose 13
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-1.987022, -1.235459, 1.354108, 2.370862, -1.354044, 0.065378, 0.923079,
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# pose 14
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-1.770869, -1.333861, 1.241996, 1.800723, -1.395819, -0.255590, 1.389660,
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# pose 15
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-1.761759, -1.369860, 1.213137, 1.791639, -1.467956, -0.170537, 1.473557,
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# pose 16
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-1.504294, -1.346227, 1.206550, 1.660186, -1.320782, -0.393676, 1.657215,
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# pose 17
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-1.846546, -1.476930, 0.946255, 1.910615, -2.435429, 1.535168, 2.151544,
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# pose 18
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-1.700067, -1.452760, 0.909035, 1.758222, -2.103930, 1.445249, 2.174743,
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# pose 19
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-2.173713, -0.983647, 1.399849, 2.384939, -1.379509, -0.216471, 0.253561,
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# pose 20
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-2.160187, -0.967904, 1.376288, 2.451713, -1.393524, -0.212278, 0.473606,
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]
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