# 手眼标定结果
# mode: eye_in_hand
# 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]