
# take 7 sample (right) [2026/7/22]
Translation
	x: -0.126242
	y: -0.278732
	z: 0.028434
Rotation
	x: -0.269349
	y: 0.198442
	z: -0.067060
	w: 0.939987 

# take 22 sample (right) [2026/7/23/11:47]
Translation
	x: -0.104964
	y: -0.056226
	z: -0.047317
Rotation
	x: -0.177868
	y: 0.014144
	z: -0.219336
	w: 0.959195

# take 10 sample (right) [2026/7/24/10:11]
Translation
	x: 0.001832
	y: 0.032907
	z: 0.055089
Rotation
	x: -0.864255
	y: -0.019141
	z: 0.020319
	w: 0.502278

# take 11 sample (right) [2026/7/24/10:19]
Translation
	x: -0.000466
	y: 0.035173
	z: 0.051596
Rotation
	x: -0.864109
	y: -0.012568
	z: 0.024048
	w: 0.502573

# take 8 sample (right) [2026/7/24/10:47]
Translation
	x: 0.000062
	y: 0.048767
	z: 0.059081
Rotation
	x: -0.869265
	y: 0.026346
	z: 0.011416
	w: 0.493511

parameters:
  name: eih_calib
  calibration_type: eye_in_hand
  robot_base_frame: AGV_link
  robot_effector_frame: right_hand_palm_link
  tracking_base_frame: teleimager_right_camera_optical_frame
  tracking_marker_frame: aruco_marker_frame
  freehand_robot_movement: true
  move_group_namespace: /
  move_group: manipulator
transform:
  translation:
    x: 0.0006246649702200728
    y: 0.04640201863961733
    z: 0.05831479127171338
  rotation:
    x: -0.8701157973868319
    y: 0.02740955719524313
    z: 0.011926567067207532
    w: 0.4919400088529395

# take ? sample (right) [2026/7/30/11:02]
parameters:
  name: eih_calib
  calibration_type: eye_in_hand
  robot_base_frame: AGV_link
  robot_effector_frame: right_hand_palm_link
  tracking_base_frame: teleimager_right_camera_optical_frame
  tracking_marker_frame: aruco_marker_frame
  freehand_robot_movement: true
  move_group_namespace: /
  move_group: manipulator
transform:
  translation:
    x: 0.001168305317127069
    y: 0.05809007392188547
    z: 0.050396575416718006
  rotation:
    x: -0.8695453312869986
    y: 0.008024617768578046
    z: 0.008264622168879628
    w: 0.4937187644469852

# take 16 sample (right) [2026/7/30/16:25]
parameters:
  name: eih_calib
  calibration_type: eye_in_hand
  robot_base_frame: AGV_link
  robot_effector_frame: right_hand_palm_link
  tracking_base_frame: teleimager_right_camera_optical_frame
  tracking_marker_frame: aruco_marker_frame
  freehand_robot_movement: true
  move_group_namespace: /
  move_group: manipulator
transform:
  translation:
    x: 0.0007906291515322656
    y: 0.0668331936668621
    z: 0.052029705827259666
  rotation:
    x: -0.8724551467195084
    y: 0.012779820810483178
    z: 0.009630971463860398
    w: 0.48843212172353595

# take 11 sample (right) [2026/8/3/15:57] 目前最好
parameters:
  name: eih_calib
  calibration_type: eye_in_hand
  robot_base_frame: LZ_ot_Link
  robot_effector_frame: right_hand_palm_link
  tracking_base_frame: teleimager_right_camera_optical_frame
  tracking_marker_frame: aruco_marker_frame
  freehand_robot_movement: true
  move_group_namespace: /
  move_group: manipulator
transform:
  translation:
    x: -9.655255555718934e-05
    y: 0.061623674092604525
    z: 0.0479936889474313
  rotation:
    x: -0.8708240291670626
    y: 0.005903468440191517
    z: 0.0016771967194096498
    w: 0.49155655452529873




# 期望值： x=0，palm到camera的距离大致在0.06-0.08之间