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克隆下来必须带上正在用的视觉权重和本机 site.yaml，否则感知只能指到一台机器上的路径，别人起不来。

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顶视迁臂改走厂家 MoveL，D405 框心对准后再对孔；夹爪停在 caught 时 open 不再把相同目标当成已经张开，init 会真的回零。

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
arm_dev
2026-10-12 17:08:43 +08:00
parent b903161113
commit f882c4309c
187 changed files with 22898 additions and 104 deletions
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handeye/results/sim_eye_in_hand.yaml
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# 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: 2026-09-28T14:05:19+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]