左臂换成 tool10120938 后，手眼仍按旧 tool1 和 8×11 板求解，顶视迁臂又按短跳 rest-to-rest，真机上要么整体偏一截，要么中途弹射启停。

眼在手上改用该 TCP 做 AX=XB，再折回相机→法兰；A5 内角点改为 11×8，09-04 / 10-09 旧结果留在 backup。一阶段 D435 迁臂改成一条 FollowJointTrajectory（余弦加减速，近处降速，XY 进门槛后再单独收垂直），跟踪锁高与悬停齐平，避免倾斜相机下先降一截把孔位重投影偏掉。--no-descent 只降到离面 15 mm；跳过三阶段时触觉 USB 打不开不再空等几分钟。

Co-authored-by: Cursor <cursoragent@cursor.com>

handeye/README.md

@@ -65,8 +65,8 @@ handeye/
 
 | 模式 | 物理板 | 内角点（列 × 行） | 方格边长 | `site.yaml` 里的位置 |
 |------|--------|-------------------|----------|----------------------|
-| `eye_in_hand` | A5（腕部相机看台面） | 8 × 11 | 15 mm (`0.015`) | `handeye.boards.eye_in_hand` |
-| `eye_to_hand` | A4（板装在法兰上） | 11 × 8 | 20 mm (`0.020`) | `handeye.boards.eye_to_hand` |
+| `eye_in_hand` | A5（腕部相机看台面） | 11 × 8 | 15 mm (`0.015`) | `handeye.boards.eye_in_hand` |
+| `eye_to_hand` | A4（板夹在 `tool10120938` 上） | 11 × 8 | 20 mm (`0.020`) | `handeye.boards.eye_to_hand` |
 
 权威只有 `config/site.yaml` 的 `handeye.boards.<模式>`。`run_handeye.sh` 按
 `--mode` 取对应那一组，用 `-p` 传给节点。`handeye/calibrate.yaml` 和节点默认值
@@ -74,8 +74,8 @@ handeye/
 尺寸去标（那会让结果系统性偏，还不报错）。
 
 怎么看内角点：把棋盘当成一张网格，**数内部的黑白交叉点**，
-是「方格数 − 1」。A5 板上画了 9×12 个格子 → 内角点 8×11；
-A4 板上画了 12×9 个格子 → 内角点 11×8。列/行顺序不用纠结，检测端两种顺序都会试。
+是「方格数 − 1」。A5 板上画了 12×9 个格子 → 内角点 11×8；
+A4 板上画了 12×9 个格子 → 内角点 11×8（方格 20 mm）。列/行顺序不用纠结，检测端两种顺序都会试。
 
 > ⚠️ **历史上这里出过问题**：曾经三处分别写着 `9×6/0.025`、`11×16/0.011`、
 > `8×11/0.015`，谁生效取决于覆盖顺序。后来又把两块板合成一组键，于是标眼在手外

handeye/calibrate.yaml

@@ -49,11 +49,11 @@ handeye_calibrate:
     camera_dist: [0.0, 0.0, 0.0, 0.0, 0.0]
 
     # 板尺寸的权威在 site.yaml → handeye.boards.<模式>。
-    # 这里只写眼在手上那块板的兜底（A5 / 8×11 / 15mm）；run_handeye.sh 会按
+    # 这里只写眼在手上那块板的兜底（A5 / 11×8 / 15mm）；run_handeye.sh 会按
     # --mode 用 -p 覆盖成对应模式的值。没配过的模式会被脚本当场拦下，
     # 不会静默用这份兜底去标另一块板。
-    board_cols: 8
-    board_rows: 11
+    board_cols: 11
+    board_rows: 8
     square_size_m: 0.015
 
     settle_sec: 0.4

handeye/poses/89_eye_in_hand.yaml

@@ -8,31 +8,49 @@
 
 /**:
   ros__parameters:
-    num_poses: 12
+    num_poses: 21
     # 2026-09-02 通过 handeye_teach 示教（RDK 自由驱动）
     waypoint_positions: [
-      # 位姿 0
-      -0.751865, -0.769544, 0.713051, 1.140021, -0.189690, 0.133294, -0.342184,
-      # 位姿 1
-      -0.541318, -0.867448, 0.864868, 1.233428, -0.348623, 0.146046, -0.249719,
-      # 位姿 2
-      -0.343594, -0.948720, 0.848287, 1.273279, -0.954339, 0.019624, 0.071314,
-      # 位姿 3
-      -0.379884, -1.002193, 1.166394, 1.579194, -1.097644, -0.115142, -0.347640,
-      # 位姿 4
-      -0.694826, -0.943610, 0.820178, 0.963907, -0.427763, 0.165888, -0.761562,
-      # 位姿 5
-      -0.964023, -1.025531, 1.013898, 1.032490, -0.167151, 0.017429, -0.566073,
-      # 位姿 6
-      -0.812664, -0.984951, 1.072695, 1.473414, -0.772970, 0.267382, 0.401278,
-      # 位姿 7
-      -0.967527, -1.067191, 1.101680, 1.434183, -0.915388, 0.259486, 0.205330,
-      # 位姿 8
-      -0.451483, -1.257408, 0.895481, 0.806594, -0.652401, -0.221453, 0.184234,
-      # 位姿 9
-      -0.981877, -1.415295, 1.339004, 1.131348, -0.863194, 0.170952, 1.615403,
-      # 位姿 10
-      -0.967163, -1.377051, 1.337671, 1.399175, -1.241886, 0.284547, 1.927756,
-      # 位姿 11
-      -0.575271, -1.141574, 1.121935, 1.502172, -1.452029, 0.088544, 2.200019,
+      # pose 0
+      -0.928421, -1.237477, 1.528823, 1.526334, -1.230146, 0.098562, 0.538531,
+      # pose 1
+      -0.970203, -1.315554, 1.553230, 1.669383, -1.407869, 0.125907, 0.578173,
+      # pose 2
+      -0.967819, -1.525572, 1.706057, 1.357062, -1.211051, 0.023232, 0.193541,
+      # pose 3
+      -1.065106, -1.624218, 1.793644, 1.279402, -1.120929, 0.019151, 0.139658,
+      # pose 4
+      -0.386279, -1.551838, 1.563578, 1.552444, -1.775337, -0.341974, 0.957445,
+      # pose 5
+      -0.227779, -1.219414, 1.026882, 0.828801, -0.916809, -0.166985, 0.034154,
+      # pose 6
+      -0.324968, -1.273082, 1.092344, 0.723132, -0.922095, -0.206413, 0.152082,
+      # pose 7
+      -0.421966, -1.309101, 1.143065, 0.606456, -0.906673, -0.219282, 0.237953,
+      # pose 8
+      -0.851598, -1.260600, 1.302895, 1.127033, -0.969809, 0.032856, 0.642673,
+      # pose 9
+      -0.951418, -0.550124, 0.848598, 2.139787, -1.025778, 1.184418, 0.598394,
+      # pose 10
+      -0.834498, -0.635767, 0.970038, 2.058410, -1.035138, 1.032040, 0.738619,
+      # pose 11
+      -0.519528, -0.883321, 1.135035, 1.830274, -1.100901, 0.234065, -0.069068,
+      # pose 12
+      -0.347358, -1.081426, 1.192233, 1.514557, -1.244594, -0.116668, -0.564362,
+      # pose 13
+      -0.364832, -1.102689, 1.224844, 1.520320, -1.265760, -0.136855, -0.582459,
+      # pose 14
+      -1.130796, -1.316186, 1.711089, 1.821409, -1.278003, 0.010885, -1.337210,
+      # pose 15
+      -0.732222, -1.376363, 1.812339, 1.293854, -1.410826, -0.226771, -0.217230,
+      # pose 16
+      -0.885017, -1.493416, 1.894070, 1.379021, -1.520015, -0.257115, 1.025331,
+      # pose 17
+      -0.911769, -1.532695, 1.944123, 1.427787, -1.560513, -0.267425, 1.004398,
+      # pose 18
+      -1.436271, -1.768595, 1.559397, 2.244717, -2.057112, 0.341785, 0.749883,
+      # pose 19
+      -1.511828, -1.759337, 1.620075, 2.131574, -1.946595, 0.328227, 0.584657,
+      # pose 20
+      -1.180482, -1.643241, 1.865851, 1.597699, -1.464982, 0.097605, -0.217780,
     ]

handeye/poses/89_eye_to_hand.yaml

@@ -1,4 +1,4 @@
-# 眼在手外示教关节（7 关节 × N）。板装在法兰上，顶置 D435 看它。
+# 眼在手外示教关节（7 关节 × N）。板夹在 tool10120938 上，顶置 D435 看它。
 #
 # 由 teach → merge 写入，不要手抄眼在手上那份（两种模式的姿态完全不同）。
 #
@@ -7,44 +7,54 @@
 
 /**:
   ros__parameters:
-    num_poses: 19
+    num_poses: 24
     waypoint_positions: [
       # pose 0
-      -1.045969, -0.575935, 0.132913, 2.251024, -0.297265, 1.274437, -0.219817,
+      -1.241563, -0.359631, 0.346153, 2.172565, -0.179027, 0.929920, -0.778876,
       # pose 1
-      -1.221272, -0.582225, 0.269777, 2.060852, -0.180051, 1.157081, -0.070498,
+      -1.388832, -0.554698, 0.416075, 1.897617, -0.358341, 0.827495, -0.762302,
       # pose 2
-      -1.222672, -0.605722, 0.273858, 2.111021, -0.181634, 1.193047, -0.059758,
+      -1.436048, -0.573046, 0.461762, 1.870967, -0.387696, 0.813090, -0.762917,
       # pose 3
-      -1.219127, -0.576923, 0.281368, 2.310613, -0.162188, 1.339573, -0.026065,
+      -1.614491, -0.519365, 0.693991, 2.156193, -0.499113, 0.968762, 0.073287,
       # pose 4
-      -1.100853, -0.552692, 0.291246, 2.473326, -0.116403, 1.504852, 0.051283,
+      -2.020087, -0.869088, 1.059166, 2.155478, -1.198473, 0.740567, 0.478840,
       # pose 5
-      -1.022050, -0.394038, 0.375788, 2.311711, -0.503617, 1.217768, 1.268088,
+      -2.082145, -1.122210, 1.203011, 1.950272, -1.269847, 0.434138, -0.641975,
       # pose 6
-      -1.180556, -0.574370, 0.471095, 2.055400, -0.490664, 1.086456, 1.216527,
+      -1.983153, -0.886082, 0.999329, 2.324821, -1.272773, 0.754127, 0.313613,
       # pose 7
-      -2.039707, -0.492556, 1.462952, 2.222064, -0.329990, 0.209789, 0.523258,
+      -2.021479, -0.886609, 1.055679, 2.337716, -1.282773, 0.669319, -0.028355,
       # pose 8
-      -1.959748, -0.554596, 1.469405, 2.293419, -0.165008, 0.422761, 0.844081,
+      -2.022792, -0.947211, 1.118194, 2.127275, -1.211995, 0.527528, -0.169900,
       # pose 9
-      -1.666347, -0.747468, 1.236192, 2.176000, -0.303646, 0.773895, 1.279040,
+      -2.004766, -1.065820, 1.183799, 1.901084, -1.217488, 0.380285, -0.312733,
       # pose 10
-      -1.689100, -0.879982, 1.168013, 2.057620, -0.424417, 0.752234, 1.241290,
+      -1.942863, -1.219617, 1.256733, 1.653113, -1.222302, 0.261818, -0.420706,
       # pose 11
-      -1.691875, -0.889908, 1.154014, 2.062930, -0.549154, 0.850985, 1.257704,
+      -2.039558, -1.082441, 1.189833, 1.996967, -1.241252, 0.521591, 0.526563,
       # pose 12
-      -1.715420, -0.986765, 1.125361, 1.948461, -0.638012, 0.809355, 1.173290,
+      -2.098074, -1.006236, 1.538183, 2.118382, -0.737422, 0.019903, 0.648802,
       # pose 13
-      -1.729057, -1.004106, 1.126932, 1.961482, -0.727920, 0.900058, 1.188069,
+      -2.039609, -1.159222, 1.488501, 1.908579, -1.168793, -0.140451, 0.034889,
       # pose 14
-      -2.034166, -0.748356, 1.234076, 2.252718, -1.542249, 0.093972, 0.640260,
+      -1.880783, -1.104601, 1.579382, 2.036427, -0.665049, 0.254105, 1.518504,
       # pose 15
-      -2.155450, -0.769613, 1.249491, 2.275528, -1.648348, 0.073256, 0.495109,
+      -2.015530, -1.535468, 1.711220, 1.836908, -1.707450, -0.400234, -0.708683,
       # pose 16
-      -1.959788, -0.979802, 1.271261, 2.222882, -1.560991, 0.057204, 0.296625,
+      -1.997672, -1.626362, 1.529443, 2.200206, -1.291013, 0.398664, 1.954208,
       # pose 17
-      -1.933247, -0.398944, 1.211885, 2.312756, -0.424981, 0.358678, 0.347203,
+      -1.981875, -1.620651, 1.545443, 2.373140, -1.167365, 0.396487, 2.012547,
       # pose 18
-      -1.944530, -0.399220, 1.244635, 2.293245, -0.423596, 0.317991, 0.358565,
+      -2.179415, -1.511968, 1.578832, 2.401706, -1.326480, -0.051353, 1.137181,
+      # pose 19
+      -2.173463, -1.530413, 1.575534, 2.173673, -1.289673, -0.090117, 0.867214,
+      # pose 20
+      -2.096314, -1.569352, 1.579820, 1.942057, -1.458598, -0.057003, 0.572953,
+      # pose 21
+      -2.129376, -1.566787, 1.903585, 1.962858, -1.454137, -0.335990, -0.148441,
+      # pose 22
+      -2.020280, -1.527165, 1.887130, 1.728957, -1.491867, -0.370585, -0.277940,
+      # pose 23
+      -2.140817, -1.607357, 1.617236, 2.153850, -1.571057, -0.147540, 0.770535,
     ]

handeye/results/89_d435_eye_to_hand.yaml

@@ -1,13 +1,22 @@
 # 手眼标定结果
 # mode: eye_to_hand
 # camera_source: d435
-# views: 18
-# utc: 2026-10-09T02:56:24.621687+00:00
+# views: 24
+# utc: 2026-10-12T05:20:30.137123+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]
+# 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.bak_20260904_ee-was-tool1.yaml

@@ -0,0 +1,18 @@
+# 【备份】2026-10-12 从 89_eye_in_hand.yaml 挪出。
+# 这是 2026-09-04 那份：AX=XB 的 gripper 用的是 GetArmState.ee_pose
+# （当时激活工具是 tool1，不是法兰，也不是后来的 tool10120938）。
+# 棋盘当时按 8x11 / 15mm 写。新标定不要覆盖本文件。
+# 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/89_eye_in_hand.yaml

@@ -1,14 +1,28 @@
-# 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]
+# 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/backup/89_d435_eye_to_hand_20261009.yaml

@@ -0,0 +1,19 @@
+# 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

@@ -0,0 +1,20 @@
+# 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]