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>
67 lines
2.9 KiB
YAML
67 lines
2.9 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: 26
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# 2026-10-16 重新示教 26 点（旧 21 点在 poses/backup/）；A5 11×8，tool10120938
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waypoint_positions: [
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# pose 0
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-0.211261, -0.571428, 0.247301, 1.552793, -0.119748, 0.614676, -0.023410,
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# pose 1
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-0.169531, -0.647538, 0.404777, 1.568624, -0.268686, 0.700171, 0.395947,
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# pose 2
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-0.759204, -0.846289, 0.735872, 1.387307, -0.539553, 0.576374, -0.060241,
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# pose 3
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-0.925104, -1.394748, 1.532423, 0.826872, -0.686369, -0.074315, -0.145523,
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# pose 4
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-1.004515, -1.491910, 1.596406, 1.245659, -0.864236, 0.212990, 0.460589,
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# pose 5
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-0.373052, -1.441561, 1.624783, 0.325602, -1.361228, -0.404116, 0.511430,
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# pose 6
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-0.281212, -1.452318, 1.627866, 0.517637, -1.412135, -0.420614, 0.217023,
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# pose 7
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-0.184868, -1.473244, 1.670229, 0.827772, -1.522330, -0.529014, -0.212158,
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# pose 8
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-0.246577, -1.532828, 1.679171, 1.204498, -1.697638, -0.607779, -0.517785,
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# pose 9
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-0.463435, -1.549157, 1.650964, 1.948746, -1.841124, -0.638016, -0.842437,
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# pose 10
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-1.573539, -0.359801, 1.261534, 2.423352, -0.405671, 1.620875, -0.045014,
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# pose 11
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-1.549088, -0.710364, 1.347227, 2.111776, -0.606133, 1.116345, -0.567788,
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# pose 12
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-1.512218, -0.983202, 1.445454, 1.808168, -0.602205, 0.699420, -0.803771,
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# pose 13
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-1.023248, -1.342205, 1.465909, 1.092911, -0.843418, 0.099672, 1.287399,
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# pose 14
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-0.870257, -1.473283, 1.657987, 0.831271, -1.034030, -0.144608, 1.263203,
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# pose 15
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-0.384368, -1.417984, 1.403442, 2.075614, -1.952106, -0.394139, 1.022592,
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# pose 16
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-0.320712, -1.513967, 1.508547, 1.652983, -1.854378, -0.409816, 1.024834,
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# pose 17
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-0.046066, -1.630857, 1.639221, 1.105078, -1.971509, -0.601654, 1.076452,
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# pose 18
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-0.183628, -1.588663, 1.989621, 0.918793, -1.873979, -0.629910, 0.092012,
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# pose 19
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-1.300709, -1.159500, 1.611790, 1.761984, -0.963027, 0.391619, -0.468980,
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# pose 20
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-0.750548, -1.221231, 1.566283, 1.128755, -1.163176, -0.102841, 0.958420,
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# pose 21
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-0.874185, -1.297230, 1.655940, 1.303348, -1.334815, -0.047425, 2.047690,
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# pose 22
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-0.671314, -1.510973, 1.813908, 1.235398, -1.778996, -0.462958, 2.899902,
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# pose 23
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-0.710795, -1.522124, 1.653705, 1.316372, -1.574330, 0.086268, 1.453877,
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# pose 24
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-0.533642, -1.545775, 1.837151, 1.467081, -1.463448, -0.161183, 0.387563,
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# pose 25
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-0.850451, -1.523689, 1.982673, 1.082314, -1.771622, -0.354609, 0.583659,
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]
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