arm_dev
e9da641160
子代理同步文档时发现 README 的"要提交/不要提交"清单漏了 handeye/，顺着一查发现
规则写的是"不要提交含序列号的文件、克隆后必须重新标定"，但仓库里
handeye/poses/ 与 handeye/results/ 一直是**被跟踪**的，而且
results/89_eye_in_hand.yaml 的文件头就写着 Rizon4-063989 —— 正是那个让
config/site.yaml 被排除的序列号，从另一个门漏了出来。规则与实际不符。
澄清后的规则（已写进 README）：按"配置 vs 资产"区分，而不是按"是否含序列号"
配置属于站点 → 不入库（config/site.yaml、handeye/tmp/）
标定成果属于资产 → 入库（handeye/poses/、handeye/results/）
理由是手眼标定要上真机示教十几分钟，是费真机时间换来的；入库才有一份可回滚的
备份。若按"含序列号就排除"一刀切，代价是误删后必须重新上真机采点。
同时把结果文件头里的完整序列号去掉（只留臂号 89/91）—— 臂号本来就唯一标识了
是哪台机器，完整 SN 是多余的暴露面。
另：handeye/README.md 补充"tmp 是按臂号分目录"的后果说明，并点出直接启节点
（绕过 run_handeye.sh）会退回共用的 handeye/tmp —— 那种情况下两条臂的采点会
互相覆盖，而症状表现为"标定结果突然变差"，很难联想到目录冲突。
Co-authored-by: Cursor <cursoragent@cursor.com>
37 lines
1.4 KiB
YAML
37 lines
1.4 KiB
YAML
# Right arm 91 taught joints for hand-eye.
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# Fill with:
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# bash ~/ros2/scripts/run_handeye.sh --arm 91 teach
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# bash ~/ros2/scripts/run_handeye.sh --arm 91 merge
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#
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# Do not reuse 89's waypoint_positions.
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/**:
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ros__parameters:
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num_poses: 12
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waypoint_positions: [
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# pose 0
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0.387144, -0.514770, -0.072695, 1.399918, 0.326501, 0.308501, -0.298212,
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# pose 1
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0.459205, -0.747691, 0.042380, 0.908430, 0.436933, -0.099413, -0.398336,
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# pose 2
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0.113162, -0.929267, -0.132969, 0.776759, 0.579499, -0.081271, -0.588715,
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# pose 3
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0.823056, -1.181803, -0.157161, 0.344860, 0.073450, -0.436449, -0.333484,
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# pose 4
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0.561660, 0.126479, -0.217063, 2.400061, 1.116363, 1.205544, -0.955972,
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# pose 5
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0.749011, 0.058548, -0.125615, 1.951037, 0.399065, 0.388437, -1.057397,
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# pose 6
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0.707611, -0.557010, -0.302672, 1.263980, 0.333093, 0.208229, -0.938372,
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# pose 7
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0.197846, -0.400530, 0.263064, 1.879643, 0.062586, 1.133715, -0.791285,
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# pose 8
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0.804027, -0.518162, 0.353947, 1.985246, -0.941195, 0.481238, -1.551113,
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# pose 9
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0.296161, -0.030159, 0.317117, 2.335652, 1.072158, 1.524893, -0.591372,
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# pose 10
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0.346492, -0.906418, -0.118014, 0.810448, 0.420788, -0.122104, -0.197859,
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# pose 11
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1.031802, -0.422436, -0.640939, 1.656629, 0.375163, 0.470365, -0.328041,
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]
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