arm_dev
6edb8d39ab
在开始'设备契约层 + 目录重构 + 通止规装配'改造之前，先钉住当前可运行状态， 使后续任何删除/重构都可回退。 本基线包含： - 现有 ROS 2 工作区全部源码（arm_application / arm_control / arm_bringup 等） - 官方 flexiv_ros2 栈（含 flexiv_hardware / flexiv_controllers 等符号链接） - 设备契约层 src/arm_interfaces（新增，46 项单测通过） - devices/ 设备选型与品牌清单（新增） - scripts/gen_site_example.py 与由它生成的 config/site.example.yaml 按 .gitignore 排除：build/ / install/ / log/ / config/site.yaml / 模型权重二进制。
39 lines
1.5 KiB
YAML
39 lines
1.5 KiB
YAML
# Legacy alias of 89 taught joints. Prefer handeye_poses_89.yaml / _91.yaml.
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#
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# Edit here, or:
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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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# /** so any node name receives these params.
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/**:
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ros__parameters:
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num_poses: 12
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# Taught 2026-09-02 via handeye_teach (RDK free-drive)
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waypoint_positions: [
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# pose 0
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-0.751865, -0.769544, 0.713051, 1.140021, -0.189690, 0.133294, -0.342184,
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# pose 1
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-0.541318, -0.867448, 0.864868, 1.233428, -0.348623, 0.146046, -0.249719,
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# pose 2
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-0.343594, -0.948720, 0.848287, 1.273279, -0.954339, 0.019624, 0.071314,
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# pose 3
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-0.379884, -1.002193, 1.166394, 1.579194, -1.097644, -0.115142, -0.347640,
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# pose 4
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-0.694826, -0.943610, 0.820178, 0.963907, -0.427763, 0.165888, -0.761562,
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# pose 5
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-0.964023, -1.025531, 1.013898, 1.032490, -0.167151, 0.017429, -0.566073,
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# pose 6
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-0.812664, -0.984951, 1.072695, 1.473414, -0.772970, 0.267382, 0.401278,
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# pose 7
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-0.967527, -1.067191, 1.101680, 1.434183, -0.915388, 0.259486, 0.205330,
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# pose 8
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-0.451483, -1.257408, 0.895481, 0.806594, -0.652401, -0.221453, 0.184234,
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# pose 9
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-0.981877, -1.415295, 1.339004, 1.131348, -0.863194, 0.170952, 1.615403,
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# pose 10
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-0.967163, -1.377051, 1.337671, 1.399175, -1.241886, 0.284547, 1.927756,
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# pose 11
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-0.575271, -1.141574, 1.121935, 1.502172, -1.452029, 0.088544, 2.200019,
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]
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