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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。

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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>
This commit is contained in:
arm_dev
2026-10-12 15:04:23 +08:00
parent 7d22f777c8
commit b903161113
45 changed files with 3555 additions and 405 deletions
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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: 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
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# 【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
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@@ -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
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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]