Initial import of ORISYS arm workstation

handeye/results/89_d435_eye_to_hand.yaml

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+# 手眼标定结果
+# mode: eye_to_hand
+# camera_source: d435
+# views: 24
+# utc: 2026-10-12T05:20:30.137123+00:00
+# board: 11x8 square_m=0.02
+# gripper_tool: tool10120938
+# T_4x4 = cam→基座（AX=XB 的手是 TCP，不折到法兰）
+# 旧结果备份在 results/backup/
+gripper_tool: tool10120938
+T_flange_to_tool:
+  - [1.00000000, 0.00000000, 0.00000000, -0.00050000]
+  - [0.00000000, 1.00000000, 0.00000000, 0.00670000]
+  - [0.00000000, 0.00000000, 1.00000000, 0.22450000]
+  - [0.00000000, 0.00000000, 0.00000000, 1.00000000]
+# T_cam_to_base (eye_to_hand)
+translation_m: [0.37094529, -0.52805928, 0.73745585]
+T_4x4:
+  - [-0.00990083, 0.99909706, -0.04131632, 0.37094529]
+  - [0.99991380, 0.01024832, 0.00820703, -0.52805928]
+  - [0.00862304, -0.04123150, -0.99911241, 0.73745585]
+  - [0.00000000, 0.00000000, 0.00000000, 1.00000000]

handeye/results/89_eye_in_hand.yaml

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+# 手眼标定结果
+# mode: eye_in_hand
+# camera_source: d405_left
+# views: 21
+# utc: 2026-10-12T03:29:51.243487+00:00
+# board: 11x8 square_m=0.015
+# gripper_tool: tool10120938
+# T_4x4 = cam→法兰（AX=XB 在 TCP 上解，再左乘 T_flange_to_tool）
+# T_cam_to_tool 是原始求解；旧的法兰/tool1 备份在 results/backup/
+# 2026-10-12 第一次写出的 T_4x4 乘序反了（tz≈-296 mm），已按同一份 T_cam_to_tool 重折。
+gripper_tool: tool10120938
+T_flange_to_tool:
+  - [1.00000000, 0.00000000, 0.00000000, -0.00050000]
+  - [0.00000000, 1.00000000, 0.00000000, 0.00670000]
+  - [0.00000000, 0.00000000, 1.00000000, 0.22450000]
+  - [0.00000000, 0.00000000, 0.00000000, 1.00000000]
+T_cam_to_tool:
+  - [-0.03435184, -0.86951953, 0.49270249, -0.05961995]
+  - [0.99932767, -0.03620511, 0.00577974, -0.01523625]
+  - [0.01281276, 0.49256977, 0.87017863, -0.09761517]
+  - [0.00000000, 0.00000000, 0.00000000, 1.00000000]
+# T_cam_to_flange (eye_in_hand，由工具 TCP 折算)
+translation_m: [-0.06011995, -0.00853625, 0.12688483]
+T_4x4:
+  - [-0.03435184, -0.86951953, 0.49270249, -0.06011995]
+  - [0.99932767, -0.03620511, 0.00577974, -0.00853625]
+  - [0.01281276, 0.49256977, 0.87017863, 0.12688483]
+  - [0.00000000, 0.00000000, 0.00000000, 1.00000000]

handeye/results/91_eye_in_hand.yaml

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+# Hand-eye result
+# mode: eye_in_hand
+# camera_source: d405
+# views: 11
+# utc: 2026-09-15T08:44:59.380472+00:00
+# board: 8x11 square_m=0.015
+# T_cam_to_gripper (eye_in_hand)
+translation_m: [-0.06856274, -0.00768546, 0.13773073]
+T_4x4:
+  - [0.00611182, -0.87098536, 0.49127096, -0.06856274]
+  - [0.99997742, 0.00395004, -0.00543744, -0.00768546]
+  - [0.00279539, 0.49129310, 0.87098983, 0.13773073]
+  - [0.00000000, 0.00000000, 0.00000000, 1.00000000]

handeye/results/backup/89_d435_eye_to_hand_20261009.yaml

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+# 备份：不要当现行结果用。
+# 原文件：handeye/results/89_d435_eye_to_hand.yaml
+# 备份原因：2026-10-12 起左臂 89 眼在手外改按 Studio 工具 tool10120938
+# 的 TCP 做 AX=XB（板夹在该工具上）。本份是 2026-10-09、18 视角、
+# A4 11×8 / 20 mm 的结果，当时激活工具未经这次对齐。
+# T_4x4 仍是 cam→基座。现行结果仍写回 89_d435_eye_to_hand.yaml。
+# 手眼标定结果
+# mode: eye_to_hand
+# camera_source: d435
+# views: 18
+# utc: 2026-10-09T02:56:24.621687+00:00
+# board: 11x8 square_m=0.02
+# T_cam_to_base (eye_to_hand)
+translation_m: [0.37495201, -0.52156937, 0.72589194]
+T_4x4:
+  - [-0.04575158, 0.99819969, -0.03878355, 0.37495201]
+  - [0.99893621, 0.04594039, 0.00399073, -0.52156937]
+  - [0.00576527, -0.03855971, -0.99923967, 0.72589194]
+  - [0.00000000, 0.00000000, 0.00000000, 1.00000000]

handeye/results/backup/89_eye_in_hand_flange_tool1_20260904.yaml

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+# 备份：不要当现行结果用。
+# 原文件：handeye/results/89_eye_in_hand.yaml
+# 备份原因：2026-10-12 起左臂 89 眼在手上改按 Studio 工具 tool10120938 求解。
+# 本份是 2026-09-04 那次标定：AX=XB 的 gripper 按当时激活的 tool1 / 法兰口径，
+# 板为内角点 8×11、方格 15 mm。T_4x4 当时标注为 T_cam_to_gripper。
+# 现行结果仍写回 89_eye_in_hand.yaml；要比对旧外参请打开本文件。
+# 左臂 89 eye-in-hand. 不要用于 91。
+# 手眼标定结果
+# mode: eye_in_hand
+# camera_source: d405
+# views: 12
+# utc: 2026-09-04T10:15:27.480727+00:00
+# board: 8x11 square_m=0.015
+# T_cam_to_gripper (eye_in_hand)
+translation_m: [-0.06085181, -0.00864320, 0.12364093]
+T_4x4:
+  - [0.01784499, -0.86878381, 0.49486994, -0.06085181]
+  - [0.99977570, 0.02115147, 0.00108124, -0.00864320]
+  - [-0.01140659, 0.49473964, 0.86896638, 0.12364093]
+  - [0.00000000, 0.00000000, 0.00000000, 1.00000000]

handeye/results/sim_d435_eye_to_hand.yaml

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+# 仿真手眼真值 —— **自动生成，不要手改**
+# mode: eye_to_hand
+# 来源: Gazebo/URDF 的 TF 真值 `sim_base_link` ← `sim_d435_color_optical_frame`（仿真不需要标定）
+# 生成: 2026-09-28T14:05:19+0800  生成器: scripts/gen_sim_handeye.py
+# 仿真台：手外相机固定在工位/世界上（不随臂动）
+translation_m: [-0.45000000, 0.00000000, 1.35000000]
+T_4x4:
+  - [-0.00000236, -0.76604704, 0.64278451, -0.45000000]
+  - [-1.00000000, 0.00000000, -0.00000367, 0.00000000]
+  - [0.00000281, -0.64278451, -0.76604704, 1.35000000]
+  - [0.00000000, 0.00000000, 0.00000000, 1.00000000]

handeye/results/sim_eye_in_hand.yaml

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+# 仿真手眼真值 —— **自动生成，不要手改**
+# mode: eye_in_hand
+# 来源: Gazebo/URDF 的 TF 真值 `sim_flange` ← `sim_d405_color_optical_frame`（仿真不需要标定）
+# 生成: 2026-09-28T14:05:19+0800  生成器: scripts/gen_sim_handeye.py
+# 仿真台：腕部相机装在法兰上，位姿来自 URDF
+translation_m: [0.00000000, -0.06000000, 0.05000000]
+T_4x4:
+  - [0.00000000, 1.00000000, -0.00000000, 0.00000000]
+  - [-1.00000000, 0.00000000, -0.00000367, -0.06000000]
+  - [-0.00000367, 0.00000000, 1.00000000, 0.05000000]
+  - [0.00000000, 0.00000000, 0.00000000, 1.00000000]