arm_dev
b903161113
眼在手上改用该 TCP 做 AX=XB，再折回相机→法兰；A5 内角点改为 11×8，09-04 / 10-09 旧结果留在 backup。一阶段 D435 迁臂改成一条 FollowJointTrajectory（余弦加减速，近处降速，XY 进门槛后再单独收垂直），跟踪锁高与悬停齐平，避免倾斜相机下先降一截把孔位重投影偏掉。--no-descent 只降到离面 15 mm；跳过三阶段时触觉 USB 打不开不再空等几分钟。 Co-authored-by: Cursor <cursoragent@cursor.com>
61 lines
2.7 KiB
YAML
61 lines
2.7 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: 24
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waypoint_positions: [
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# pose 0
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-1.241563, -0.359631, 0.346153, 2.172565, -0.179027, 0.929920, -0.778876,
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# pose 1
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-1.388832, -0.554698, 0.416075, 1.897617, -0.358341, 0.827495, -0.762302,
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# pose 2
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-1.436048, -0.573046, 0.461762, 1.870967, -0.387696, 0.813090, -0.762917,
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# pose 3
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-1.614491, -0.519365, 0.693991, 2.156193, -0.499113, 0.968762, 0.073287,
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# pose 4
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-2.020087, -0.869088, 1.059166, 2.155478, -1.198473, 0.740567, 0.478840,
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# pose 5
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-2.082145, -1.122210, 1.203011, 1.950272, -1.269847, 0.434138, -0.641975,
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# pose 6
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-1.983153, -0.886082, 0.999329, 2.324821, -1.272773, 0.754127, 0.313613,
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# pose 7
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-2.021479, -0.886609, 1.055679, 2.337716, -1.282773, 0.669319, -0.028355,
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# pose 8
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-2.022792, -0.947211, 1.118194, 2.127275, -1.211995, 0.527528, -0.169900,
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# pose 9
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-2.004766, -1.065820, 1.183799, 1.901084, -1.217488, 0.380285, -0.312733,
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# pose 10
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-1.942863, -1.219617, 1.256733, 1.653113, -1.222302, 0.261818, -0.420706,
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# pose 11
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-2.039558, -1.082441, 1.189833, 1.996967, -1.241252, 0.521591, 0.526563,
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# pose 12
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-2.098074, -1.006236, 1.538183, 2.118382, -0.737422, 0.019903, 0.648802,
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# pose 13
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-2.039609, -1.159222, 1.488501, 1.908579, -1.168793, -0.140451, 0.034889,
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# pose 14
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-1.880783, -1.104601, 1.579382, 2.036427, -0.665049, 0.254105, 1.518504,
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# pose 15
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-2.015530, -1.535468, 1.711220, 1.836908, -1.707450, -0.400234, -0.708683,
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# pose 16
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-1.997672, -1.626362, 1.529443, 2.200206, -1.291013, 0.398664, 1.954208,
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# pose 17
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-1.981875, -1.620651, 1.545443, 2.373140, -1.167365, 0.396487, 2.012547,
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# pose 18
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-2.179415, -1.511968, 1.578832, 2.401706, -1.326480, -0.051353, 1.137181,
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# pose 19
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-2.173463, -1.530413, 1.575534, 2.173673, -1.289673, -0.090117, 0.867214,
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# pose 20
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-2.096314, -1.569352, 1.579820, 1.942057, -1.458598, -0.057003, 0.572953,
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# pose 21
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-2.129376, -1.566787, 1.903585, 1.962858, -1.454137, -0.335990, -0.148441,
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# pose 22
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-2.020280, -1.527165, 1.887130, 1.728957, -1.491867, -0.370585, -0.277940,
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# pose 23
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-2.140817, -1.607357, 1.617236, 2.153850, -1.571057, -0.147540, 0.770535,
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]
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