diff --git a/Trace/handeye_calibration b/Trace/handeye_calibration
deleted file mode 100644
index 087b682..0000000
--- a/Trace/handeye_calibration
+++ /dev/null
@@ -1,97 +0,0 @@
-import numpy as np
-
-rotation = R_matrix()#张啸给我的值填这里
-
-def flip_coefficient_if_positive(coefficient):
-    # 检查 coefficient[2] 是否大于0
-    if coefficient[2] > 0:
-        # 取反所有分量
-        coefficient = [-x for x in coefficient]
-        print("翻转：\n")
-
-    return coefficient
-
-def vec2ola(coefficient):#首先是相机到法兰的转换，之后是法兰到新坐标系的转换（新坐标系就是与Z轴与法向量一致的坐标系)
-    #如果不转换坐标轴，
-    coefficient_raw = flip_coefficient_if_positive(coefficient)
-    coefficient = coefficient_raw.reshape(-1)
-    curZ = np.array(coefficient)# 定义 Z 方向的向量
-    # print(curZ)
-
-    curX = np.array([1, 1, 0],dtype=np.float64)# 定义初始 X 方向的向量
-    curX /= np.linalg.norm(curX)  # 归一化 X 向量
-
-    curY = np.cross(curZ, curX)# 计算 Y 方向的向量
-    curY /= np.linalg.norm(curY)  # 归一化 Y 向量
-
-    curX = np.cross(curY, curZ)# 重新计算 X 方向的向量
-    curX /= np.linalg.norm(curX)  # 归一化 X 向量
-
-    # 创建旋转矩阵
-    rotM = np.array([
-        [curX[0], curY[0], curZ[0]],
-        [curX[1], curY[1], curZ[1]],
-        [curX[2], curY[2], curZ[2]]
-    ])
-
-    # 打印旋转矩阵
-    # print("Rotation Matrix:")
-    # print(rotM)
-
-    # 计算欧拉角（XYZ顺序）并转换为度
-    r = R.from_matrix(rotM)
-    euler_angles = r.as_euler('xyz', degrees=True)#或者是zxy
-
-    # print("Euler Angles (degrees):")
-    # print(euler_angles)
-    return euler_angles
-
-#张啸给我的xyzuvw
-def R_matrix(x,y,z,u,v,w):
-    rx = np.radians(u)
-    ry = np.radians(v)
-    rz = np.radians(w)
-    # 定义绕 X, Y, Z 轴的旋转矩阵
-    R_x = np.array([
-        [1, 0, 0],
-        [0, np.cos(rx), -np.sin(rx)],
-        [0, np.sin(rx), np.cos(rx)]
-    ])
-
-    R_y = np.array([
-        [np.cos(ry), 0, np.sin(ry)],
-        [0, 1, 0],
-        [-np.sin(ry), 0, np.cos(ry)]
-    ])
-
-    R_z = np.array([
-        [np.cos(rz), -np.sin(rz), 0],
-        [np.sin(rz), np.cos(rz), 0],
-        [0, 0, 1]
-    ])
-    R = R_z @ R_y @ R_x
-    T = np.array([x, y, z])
-
-    # 构建齐次变换矩阵
-    transformation_matrix = np.eye(4)
-    transformation_matrix[:3, :3] = R
-    transformation_matrix[:3, 3] = T
-
-    return transformation_matrix
-
-
-# 黄老师给我的xyz和法向量
-def getPosition(x,y,z,a,b,c):
-    target = np.asarray([x, y, z,1])
-    camera2robot = np.loadtxt('D:\BaiduNetdiskDownload\机械臂\GRCNN\\real\cam_pose.txt', delimiter=' ')
-    robot2base = rotation
-    camera2base = robot2base @ camera2robot
-    target_position = np.dot(camera2base, target)
-
-    rpy = vec2ola(a, b, c)
-    r, p, y = rpy[0], rpy[1], rpy[2]  # r表示u,p表示v，y表示w
-    target_angle_raw = np.asarray([r, p, y])
-    target_angle = np.dot(camera2robot[0:3, 0:3], target_angle_raw)
-    print(target_position, target_angle)
-
-    return target_position,target_angle
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diff --git a/Trace/handeye_calibration.py b/Trace/handeye_calibration.py
new file mode 100644
index 0000000..2253259
--- /dev/null
+++ b/Trace/handeye_calibration.py
@@ -0,0 +1,80 @@
+import numpy as np
+from scipy.spatial.transform import Rotation as R
+
+def vec2rpy(normal):#首先是相机到法兰的转换，之后是法兰到新坐标系的转换（新坐标系就是与Z轴与法向量一致的坐标系)
+    # 将法向量作为机械臂末端执行器的新X轴
+    x_axis = normal / np.linalg.norm(normal)  # 归一化
+
+    # 选择一个合适的Y轴方向，尽量避免与X轴共线
+    if abs(x_axis[2]) != 1:
+        y_axis = np.array([0, 1, 0])
+    else:
+        y_axis = np.array([0, 0, 1])
+
+    y_axis = y_axis - np.dot(y_axis, x_axis) * x_axis  # 投影到垂直于x轴的平面
+    y_axis = y_axis / np.linalg.norm(y_axis)
+
+    # 计算Z轴方向，确保它与X轴和Y轴正交
+    z_axis = np.cross(x_axis, y_axis)
+
+    # 构造旋转矩阵
+    rotation_matrix = np.vstack([x_axis, y_axis, z_axis]).T
+
+    # 将旋转矩阵转换为RPY（roll, pitch, yaw）
+    rpy = R.from_matrix(rotation_matrix).as_euler('xyz', degrees=True)
+
+    return rpy
+
+#张啸给我的xyzuvw
+def R_matrix(x,y,z,u,v,w):
+    rx = np.radians(u)
+    ry = np.radians(v)
+    rz = np.radians(w)
+    # 定义绕 X, Y, Z 轴的旋转矩阵
+    R_x = np.array([
+        [1, 0, 0],
+        [0, np.cos(rx), -np.sin(rx)],
+        [0, np.sin(rx), np.cos(rx)]
+    ])
+
+    R_y = np.array([
+        [np.cos(ry), 0, np.sin(ry)],
+        [0, 1, 0],
+        [-np.sin(ry), 0, np.cos(ry)]
+    ])
+
+    R_z = np.array([
+        [np.cos(rz), -np.sin(rz), 0],
+        [np.sin(rz), np.cos(rz), 0],
+        [0, 0, 1]
+    ])
+    R = R_z @ R_y @ R_x
+    T = np.array([x, y, z])
+
+    # 构建齐次变换矩阵
+    transformation_matrix = np.eye(4)
+    transformation_matrix[:3, :3] = R
+    transformation_matrix[:3, 3] = T
+
+    return transformation_matrix
+
+rotation = R_matrix(559.365,0.704,731.196,179.996,66.369,179.996)#张啸给我的值填这里
+
+# 黄老师给我的xyz和法向量
+def getPosition(x,y,z,a,b,c):
+    target = np.asarray([x, y, z,1])
+    camera2robot = np.loadtxt('D:\BaiduNetdiskDownload\机械臂\GRCNN\\real\cam_pose.txt', delimiter=' ')
+    robot2base = rotation
+    camera2base = robot2base @ camera2robot
+    target_position = np.dot(camera2base, target)
+
+    angle = np.asarray([a,b,c])
+    noraml = camera2base[:3, :3]@angle
+    noraml_base = vec2rpy(noraml)
+
+    print(target_position, noraml_base)
+
+    return target_position,noraml_base
+
+if __name__ =="__main__":
+    getPosition(-96.09919,56.339145,444.640084,-0.09619,-0.45399, 0.88579)
\ No newline at end of file