# 手眼标定结果
# mode: eye_in_hand
# camera_source: d405_left
# views: 25
# utc: 2026-10-16T02:29:07.572249+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/
gripper_tool: tool10120938
T_flange_to_tool:
  - [1.00000000, 0.00000000, 0.00000000, 0.00075900]
  - [0.00000000, 1.00000000, 0.00000000, -0.00008800]
  - [0.00000000, 0.00000000, 1.00000000, 0.22627400]
  - [0.00000000, 0.00000000, 0.00000000, 1.00000000]
T_cam_to_tool:
  - [0.01117708, -0.86715374, 0.49791511, -0.06192365]
  - [0.99992647, 0.01203574, -0.00148504, -0.00762539]
  - [-0.00470501, 0.49789509, 0.86722450, -0.09779711]
  - [0.00000000, 0.00000000, 0.00000000, 1.00000000]
# T_cam_to_flange (eye_in_hand，由工具 TCP 折算)
translation_m: [-0.06116465, -0.00771339, 0.12847689]
T_4x4:
  - [0.01117708, -0.86715374, 0.49791511, -0.06116465]
  - [0.99992647, 0.01203574, -0.00148504, -0.00771339]
  - [-0.00470501, 0.49789509, 0.86722450, 0.12847689]
  - [0.00000000, 0.00000000, 0.00000000, 1.00000000]