arm_dev
b903161113
眼在手上改用该 TCP 做 AX=XB，再折回相机→法兰；A5 内角点改为 11×8，09-04 / 10-09 旧结果留在 backup。一阶段 D435 迁臂改成一条 FollowJointTrajectory（余弦加减速，近处降速，XY 进门槛后再单独收垂直），跟踪锁高与悬停齐平，避免倾斜相机下先降一截把孔位重投影偏掉。--no-descent 只降到离面 15 mm；跳过三阶段时触觉 USB 打不开不再空等几分钟。 Co-authored-by: Cursor <cursoragent@cursor.com>
57 lines
2.4 KiB
YAML
57 lines
2.4 KiB
YAML
# 手眼标定示教的关节位姿（7 关节 × N）。由 calibrate + waypoints 共用。
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#
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# 在这里编辑，或者：
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# bash ~/ros2/scripts/run_handeye.sh teach
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# bash ~/ros2/scripts/run_handeye.sh merge
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#
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# /** 这样任意节点名都能收到这些参数。
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/**:
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ros__parameters:
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num_poses: 21
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# 2026-09-02 通过 handeye_teach 示教（RDK 自由驱动）
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waypoint_positions: [
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# pose 0
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-0.928421, -1.237477, 1.528823, 1.526334, -1.230146, 0.098562, 0.538531,
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# pose 1
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-0.970203, -1.315554, 1.553230, 1.669383, -1.407869, 0.125907, 0.578173,
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# pose 2
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-0.967819, -1.525572, 1.706057, 1.357062, -1.211051, 0.023232, 0.193541,
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# pose 3
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-1.065106, -1.624218, 1.793644, 1.279402, -1.120929, 0.019151, 0.139658,
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# pose 4
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-0.386279, -1.551838, 1.563578, 1.552444, -1.775337, -0.341974, 0.957445,
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# pose 5
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-0.227779, -1.219414, 1.026882, 0.828801, -0.916809, -0.166985, 0.034154,
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# pose 6
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-0.324968, -1.273082, 1.092344, 0.723132, -0.922095, -0.206413, 0.152082,
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# pose 7
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-0.421966, -1.309101, 1.143065, 0.606456, -0.906673, -0.219282, 0.237953,
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# pose 8
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-0.851598, -1.260600, 1.302895, 1.127033, -0.969809, 0.032856, 0.642673,
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# pose 9
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-0.951418, -0.550124, 0.848598, 2.139787, -1.025778, 1.184418, 0.598394,
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# pose 10
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-0.834498, -0.635767, 0.970038, 2.058410, -1.035138, 1.032040, 0.738619,
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# pose 11
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-0.519528, -0.883321, 1.135035, 1.830274, -1.100901, 0.234065, -0.069068,
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# pose 12
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-0.347358, -1.081426, 1.192233, 1.514557, -1.244594, -0.116668, -0.564362,
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# pose 13
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-0.364832, -1.102689, 1.224844, 1.520320, -1.265760, -0.136855, -0.582459,
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# pose 14
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-1.130796, -1.316186, 1.711089, 1.821409, -1.278003, 0.010885, -1.337210,
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# pose 15
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-0.732222, -1.376363, 1.812339, 1.293854, -1.410826, -0.226771, -0.217230,
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# pose 16
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-0.885017, -1.493416, 1.894070, 1.379021, -1.520015, -0.257115, 1.025331,
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# pose 17
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-0.911769, -1.532695, 1.944123, 1.427787, -1.560513, -0.267425, 1.004398,
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# pose 18
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-1.436271, -1.768595, 1.559397, 2.244717, -2.057112, 0.341785, 0.749883,
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# pose 19
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-1.511828, -1.759337, 1.620075, 2.131574, -1.946595, 0.328227, 0.584657,
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# pose 20
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-1.180482, -1.643241, 1.865851, 1.597699, -1.464982, 0.097605, -0.217780,
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]
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