orisys/ros_contorl
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

仿真手眼真值改为不跟踪：它是从 URDF/TF 推导的生成物，不是标定结果

Browse Source 
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 <cursoragent@cursor.com>
This commit is contained in:
arm_dev
2026-09-24 14:53:39 +08:00
parent b0fc5d7194
commit 1b4d6168d9
3 changed files with 7 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files
handeye/results/sim_eye_in_hand.yaml
-11
View File
@@ -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]