arm_dev
7af9e3d4b6
搜孔开局会抬到悬高再落回 hole_hover_z_m，螺纹还没咬合臂就离开孔口。没有接触传感器，到位只认 final_gap 算出的法兰高度，贴面后停在这个 Z。09:25 厂家 MoveL 切回 NRT_JOINT_POSITION 的第一拍把整段关节差算成 1.686 rad/s，前瞻再推 0.07 rad，光心从 5 mm 冲到 276 mm 后急停。切回后钉住结束瞬间的关节角并清零速度，JTC 还指着出发前的关节时不放行。 Co-authored-by: Cursor <cursoragent@cursor.com>
45 lines
1.9 KiB
YAML
45 lines
1.9 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: 16
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waypoint_positions: [
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# pose 0
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-0.850450, -1.523690, 1.982676, 1.082314, -1.771616, -0.354603, 0.583665,
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# pose 1
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-2.098137, -0.606148, 1.213612, 2.290328, -0.795715, 0.618633, 0.213293,
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# pose 2
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-2.115870, -0.711154, 1.204674, 2.128285, -0.937034, 0.514766, -0.356714,
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# pose 3
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-2.017820, -0.798105, 1.516945, 2.002096, -0.392371, -0.035888, 0.657789,
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# pose 4
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-2.021874, -0.805058, 1.533201, 2.001407, -0.399671, -0.045924, 0.653138,
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# pose 5
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-2.135665, -1.020864, 1.346306, 2.334297, -1.268378, 0.406336, 0.897832,
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# pose 6
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-1.793944, -1.143422, 1.244557, 1.942177, -1.315611, 0.473616, 1.619695,
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# pose 7
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-2.075950, -1.215149, 1.322761, 2.142359, -1.372597, 0.398777, 1.008202,
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# pose 8
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-2.153500, -1.215892, 1.345656, 2.306931, -1.412319, 0.415145, 0.997235,
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# pose 9
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-2.127777, -1.256654, 1.370562, 2.009440, -1.369584, 0.219094, -0.132912,
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# pose 10
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-2.138686, -1.270867, 1.591854, 2.150744, -0.898729, 0.079835, 0.840791,
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# pose 11
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-2.063605, -1.300562, 1.582835, 2.080463, -0.904827, 0.243915, 1.110180,
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# pose 12
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-1.867772, -1.316320, 1.376713, 1.888199, -1.274029, 0.284609, 1.405712,
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# pose 13
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-1.829092, -1.355347, 1.315742, 1.808403, -1.413826, 0.338349, 1.459711,
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# pose 14
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-2.192461, -1.374082, 1.330037, 2.154137, -1.528020, 0.279283, 0.657702,
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# pose 15
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-2.137444, -1.468886, 1.525289, 2.348419, -1.025385, 1.011855, 1.148855,
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]
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