P3a：手眼标定集中到 handeye/，修复三套板尺寸矛盾与从未生效的稳定性参数

新建 handeye/ 专用文件夹（用户要求：专用文件夹 + 使用说明） - handeye/README.md：从小白视角讲清楚两种模式怎么选、板尺寸怎么量、完整流程、出问题先看哪里。以前这些知识散在 docs/ 和代码注释里。 - 结构：calibrate.yaml（参数）/ poses/（采点输入）/ results/（结果输出）/ tmp/（临时，不进 git） - 文件用 git mv 迁移，历史保留命名约定改为 <臂号>_<模式>.yaml - 如 89_eye_in_hand.yaml、91_eye_to_hand.yaml - 臂号 = Flexiv 序列号后两位；模式 = eye_in_hand | eye_to_hand - 换模式 = 改 site.yaml 里 paths.handeye_file 一行，不动代码 - 迁移只需改 site.yaml（4 个 launch + servo_node 都经 paths 读取，一行没改）修复：三套互相矛盾的标定板尺寸（真实 bug）同一个"板子多大"分散在三处，且值各不相同： handeye_calibrate.py 默认 9x6 / 0.025 handeye/calibrate.yaml 11x16 / 0.011 site.yaml + 结果文件头 8x11 / 0.015 ← 实测的真实板子谁生效取决于覆盖顺序。症状是"标定流程跑得很顺、不报错，但结果明显不对"，极难排查。已全部统一为 8x11 / 0.015，README 里写明换板必须三处同改。修复：site.yaml 里五项稳定性配置从未生效 run_handeye.sh 一直在传 settle_qd_max / settle_stable_sec / settle_timeout_sec / pin_holds / pin_hold_sec，但 handeye_calibrate.py 从未声明这些参数 —— ROS 2 会静默忽略未声明的覆盖参数，所以"等机械臂停稳再拍照"这件事其实没实现，实际只有一次固定 settle_sec。现已声明并实现： - _wait_settled()：用关节速度 |qd|_max 判定"真的停了"，比固定 sleep 可靠（负载/姿态不同刹车距离差别很大；等太短会在臂还动时拍照导致角点抖动） - _pin_hold()：静止后再保持几拍，抑制到位后的微小回弹新增：自动标定进度条一条可视化进度条（[ 4/12] [████░░░░] 33.3%），无人值守的长流程能一眼看出还剩多久。清理重复文件（内容逐字节比对确认后删除） - config/handeye_result.yaml 与 _89 逐字节相同 → 删 - config/handeye_poses.yaml 与 _89 逐字节相同 → 删迁移后 src/arm_application/config/ 下已无 handeye 文件。测试：224 passed（原 198，新增 26）新增 src/arm_application/test/test_handeye_lib.py —— 手眼模块此前零测试。关键用例是合成数据往返：用人为设定的 X_true 反推出每个视图的 (gripper→base, target→cam)，再让求解器还原。坐标链方向/求逆/转置只要有一处写错就必然失败。 - 真值恢复（旋转+平移，atol 1e-6） - 单独验证平移精确（旋转对而平移错是最易漏的一类 bug） - 结果必须是 det=+1 的正交阵（排除镜像解） - 退化输入（全同位姿）不得悄悄给出"看起来能用"的结果 - 稳定性判据：窗口未满不判稳、丢帧后重新计数、抖动超阈不判稳 - 写盘再读回不漂移
2026-09-23 11:46:03 +08:00
parent 52c108de07
commit a3a589b9e3
18 changed files with 735 additions and 85 deletions
@@ -0,0 +1,38 @@
+# Hand-eye taught joint poses (7 joints × N). Shared by calibrate + waypoints.
+#
+# Edit here, or:
+#   bash ~/ros2/scripts/run_handeye.sh teach
+#   bash ~/ros2/scripts/run_handeye.sh merge
+#
+# /** so any node name receives these params.
+
+/**:
+  ros__parameters:
+    num_poses: 12
+    # Taught 2026-09-02 via handeye_teach (RDK free-drive)
+    waypoint_positions: [
+      # pose 0
+      -0.751865, -0.769544, 0.713051, 1.140021, -0.189690, 0.133294, -0.342184,
+      # pose 1
+      -0.541318, -0.867448, 0.864868, 1.233428, -0.348623, 0.146046, -0.249719,
+      # pose 2
+      -0.343594, -0.948720, 0.848287, 1.273279, -0.954339, 0.019624, 0.071314,
+      # pose 3
+      -0.379884, -1.002193, 1.166394, 1.579194, -1.097644, -0.115142, -0.347640,
+      # pose 4
+      -0.694826, -0.943610, 0.820178, 0.963907, -0.427763, 0.165888, -0.761562,
+      # pose 5
+      -0.964023, -1.025531, 1.013898, 1.032490, -0.167151, 0.017429, -0.566073,
+      # pose 6
+      -0.812664, -0.984951, 1.072695, 1.473414, -0.772970, 0.267382, 0.401278,
+      # pose 7
+      -0.967527, -1.067191, 1.101680, 1.434183, -0.915388, 0.259486, 0.205330,
+      # pose 8
+      -0.451483, -1.257408, 0.895481, 0.806594, -0.652401, -0.221453, 0.184234,
+      # pose 9
+      -0.981877, -1.415295, 1.339004, 1.131348, -0.863194, 0.170952, 1.615403,
+      # pose 10
+      -0.967163, -1.377051, 1.337671, 1.399175, -1.241886, 0.284547, 1.927756,
+      # pose 11
+      -0.575271, -1.141574, 1.121935, 1.502172, -1.452029, 0.088544, 2.200019,
+    ]
@@ -0,0 +1,36 @@
+# Right arm 91 (Rizon4-063991) taught joints for hand-eye.
+# Fill with:
+#   bash ~/ros2/scripts/run_handeye.sh --arm 91 teach
+#   bash ~/ros2/scripts/run_handeye.sh --arm 91 merge
+#
+# Do not reuse 89's waypoint_positions.
+
+/**:
+  ros__parameters:
+    num_poses: 12
+    waypoint_positions: [
+      # pose 0
+      0.387144, -0.514770, -0.072695, 1.399918, 0.326501, 0.308501, -0.298212,
+      # pose 1
+      0.459205, -0.747691, 0.042380, 0.908430, 0.436933, -0.099413, -0.398336,
+      # pose 2
+      0.113162, -0.929267, -0.132969, 0.776759, 0.579499, -0.081271, -0.588715,
+      # pose 3
+      0.823056, -1.181803, -0.157161, 0.344860, 0.073450, -0.436449, -0.333484,
+      # pose 4
+      0.561660, 0.126479, -0.217063, 2.400061, 1.116363, 1.205544, -0.955972,
+      # pose 5
+      0.749011, 0.058548, -0.125615, 1.951037, 0.399065, 0.388437, -1.057397,
+      # pose 6
+      0.707611, -0.557010, -0.302672, 1.263980, 0.333093, 0.208229, -0.938372,
+      # pose 7
+      0.197846, -0.400530, 0.263064, 1.879643, 0.062586, 1.133715, -0.791285,
+      # pose 8
+      0.804027, -0.518162, 0.353947, 1.985246, -0.941195, 0.481238, -1.551113,
+      # pose 9
+      0.296161, -0.030159, 0.317117, 2.335652, 1.072158, 1.524893, -0.591372,
+      # pose 10
+      0.346492, -0.906418, -0.118014, 0.810448, 0.420788, -0.122104, -0.197859,
+      # pose 11
+      1.031802, -0.422436, -0.640939, 1.656629, 0.375163, 0.470365, -0.328041,
+    ]