From 1b4d6168d9647c05c844b4ffe9f5b7ed5ba47210 Mon Sep 17 00:00:00 2001 From: arm_dev Date: Thu, 24 Sep 2026 14:53:39 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BB=BF=E7=9C=9F=E6=89=8B=E7=9C=BC=E7=9C=9F?= =?UTF-8?q?=E5=80=BC=E6=94=B9=E4=B8=BA=E4=B8=8D=E8=B7=9F=E8=B8=AA=EF=BC=9A?= =?UTF-8?q?=E5=AE=83=E6=98=AF=E4=BB=8E=20URDF/TF=20=E6=8E=A8=E5=AF=BC?= =?UTF-8?q?=E7=9A=84=E7=94=9F=E6=88=90=E7=89=A9=EF=BC=8C=E4=B8=8D=E6=98=AF?= =?UTF-8?q?=E6=A0=87=E5=AE=9A=E7=BB=93=E6=9E=9C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 文件里有一行"生成时间"，run_gauge_assembly.sh --sim 每次重生成 → 每跑一次就脏一次仓库，让人分不清"这次改动是代码改的还是只是跑了一遍"。 区别对待（这条界线以后照此办）： - handeye/results/89_/91_*.yaml **要跟踪**：真机实测标定数据，必须留档 - handeye/results/sim_*.yaml **不跟踪**：由 gen_sim_handeye.py 从 URDF/TF 真值导出（仿真不需要标定），仿真启动时自动重生成 Co-authored-by: Cursor --- .gitignore | 7 +++++++ handeye/results/sim_d435_eye_to_hand.yaml | 11 ----------- handeye/results/sim_eye_in_hand.yaml | 11 ----------- 3 files changed, 7 insertions(+), 22 deletions(-) delete mode 100644 handeye/results/sim_d435_eye_to_hand.yaml delete mode 100644 handeye/results/sim_eye_in_hand.yaml diff --git a/.gitignore b/.gitignore index 71658f2..a3bf20a 100644 --- a/.gitignore +++ b/.gitignore @@ -58,3 +58,10 @@ vendor/ # 手眼标定的临时产物（采点图、taught_poses.txt、captures.json） handeye/tmp/* !handeye/tmp/.gitkeep + +# 仿真手眼真值：**生成物**，不是标定结果 —— 由 scripts/gen_sim_handeye.py 从 +# URDF/TF 真值导出，run_gauge_assembly.sh --sim 每次自动重生成。 +# 不跟踪的理由：内容里有一行生成时间，每跑一次就脏一次仓库，让人分不清 +# "这次改动是代码改的还是只是跑了一遍"。真机标定结果（89_/91_*.yaml）**要跟踪**， +# 那是需要留档的实测数据，不是推导出来的。 +handeye/results/sim_*.yaml diff --git a/handeye/results/sim_d435_eye_to_hand.yaml b/handeye/results/sim_d435_eye_to_hand.yaml deleted file mode 100644 index 55af98d..0000000 --- a/handeye/results/sim_d435_eye_to_hand.yaml +++ /dev/null @@ -1,11 +0,0 @@ -# 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: 2026-09-24T13:10:21+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] diff --git a/handeye/results/sim_eye_in_hand.yaml b/handeye/results/sim_eye_in_hand.yaml deleted file mode 100644 index 65ee22e..0000000 --- a/handeye/results/sim_eye_in_hand.yaml +++ /dev/null @@ -1,11 +0,0 @@ -# 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: 2026-09-24T13:10:21+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]