arm_dev
7d22f777c8
现场 site.yaml、权重和编译产物仍不入库；模板只留占位符。 Co-authored-by: Cursor <cursoragent@cursor.com>
51 lines
2.2 KiB
YAML
51 lines
2.2 KiB
YAML
# 眼在手外示教关节（7 关节 × N）。板装在法兰上，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: 19
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waypoint_positions: [
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# pose 0
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-1.045969, -0.575935, 0.132913, 2.251024, -0.297265, 1.274437, -0.219817,
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# pose 1
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-1.221272, -0.582225, 0.269777, 2.060852, -0.180051, 1.157081, -0.070498,
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# pose 2
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-1.222672, -0.605722, 0.273858, 2.111021, -0.181634, 1.193047, -0.059758,
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# pose 3
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-1.219127, -0.576923, 0.281368, 2.310613, -0.162188, 1.339573, -0.026065,
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# pose 4
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-1.100853, -0.552692, 0.291246, 2.473326, -0.116403, 1.504852, 0.051283,
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# pose 5
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-1.022050, -0.394038, 0.375788, 2.311711, -0.503617, 1.217768, 1.268088,
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# pose 6
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-1.180556, -0.574370, 0.471095, 2.055400, -0.490664, 1.086456, 1.216527,
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# pose 7
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-2.039707, -0.492556, 1.462952, 2.222064, -0.329990, 0.209789, 0.523258,
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# pose 8
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-1.959748, -0.554596, 1.469405, 2.293419, -0.165008, 0.422761, 0.844081,
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# pose 9
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-1.666347, -0.747468, 1.236192, 2.176000, -0.303646, 0.773895, 1.279040,
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# pose 10
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-1.689100, -0.879982, 1.168013, 2.057620, -0.424417, 0.752234, 1.241290,
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# pose 11
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-1.691875, -0.889908, 1.154014, 2.062930, -0.549154, 0.850985, 1.257704,
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# pose 12
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-1.715420, -0.986765, 1.125361, 1.948461, -0.638012, 0.809355, 1.173290,
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# pose 13
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-1.729057, -1.004106, 1.126932, 1.961482, -0.727920, 0.900058, 1.188069,
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# pose 14
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-2.034166, -0.748356, 1.234076, 2.252718, -1.542249, 0.093972, 0.640260,
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# pose 15
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-2.155450, -0.769613, 1.249491, 2.275528, -1.648348, 0.073256, 0.495109,
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# pose 16
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-1.959788, -0.979802, 1.271261, 2.222882, -1.560991, 0.057204, 0.296625,
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# pose 17
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-1.933247, -0.398944, 1.211885, 2.312756, -0.424981, 0.358678, 0.347203,
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# pose 18
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-1.944530, -0.399220, 1.244635, 2.293245, -0.423596, 0.317991, 0.358565,
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]
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