# Hand-eye calibration poses — eye-in-hand, Zivid checkerboard flat at workspace CENTER (top-down scene).
# Collected 2026-07-21. Joint order: [shoulder_pan, shoulder_lift, elbow, wrist_1, wrist_2, wrist_3], degrees.
#
# Diversity target (why: a good hand-eye solve needs varied CAMERA orientation, not just position):
# - tilt the wrist so the camera views the flat board obliquely, ±20-30° in several directions
# - wide wrist_3 (roll) range across poses
# - vary standoff height ±10-15cm (stay in focus range)
# - orbit the board — approach from different sides
# - EVERY pose: whole board in FOV + detected (verify in Zivid Studio)
# Aim for 15-20 poses. The calibration is only valid over the volume you sample.
poses:
- [41.71, -83.83, -66.23, -120.35, -272.04, -226.94] # cal_00
- [30.84, -106.04, -39.56, -132.03, -267.22, -238.17] # cal_01
- [26.54, -120.01, -24.81, -137.09, -265.82, -242.82] # cal_02
- [46.43, -116.01, -40.15, -133.52, -268.39, -221.88] # cal_03
- [59.40, -110.50, -42.17, -135.23, -273.59, -205.56] # cal_04
- [9.59, -80.36, -79.28, -114.76, -253.53, -257.16] # cal_05
- [40.37, -57.31, -78.54, -123.09, -268.72, -215.28] # cal_06
- [14.03, -47.09, -108.43, -95.01, -254.60, -233.38] # cal_07
- [73.15, -52.95, -86.60, -122.30, -278.93, -144.09] # cal_08
- [125.18, -56.12, -78.33, -147.66, -284.79, -134.59] # cal_09
- [150.57, -64.99, -84.31, -152.97, -280.29, -108.37] # cal_10
- [81.37, -61.95, -90.90, -118.78, -286.66, -170.63] # cal_11
- [93.27, -87.70, -68.71, -137.44, -290.16, -168.79] # cal_12
- [92.22, -106.61, -52.82, -146.82, -290.40, -169.59] # cal_13
- [75.62, -108.59, -46.44, -138.87, -287.67, -189.58] # cal_14
- [55.87, -83.05, -71.14, -118.93, -280.26, -216.09] # cal_15
- [55.93, -78.00, -75.41, -118.24, -272.01, -146.05] # cal_16
- [52.41, -84.74, -59.52, -127.23, -267.08, -149.53] # cal_17
- [40.70, -75.82, -68.43, -121.07, -269.26, -223.81] # cal_18
- [54.68, -47.10, -104.26, -95.64, -278.05, -224.87] # cal_19