加入Z轴运行控制，加快五轴运行速度

apps/autocal/tools/panel_check.py

@@ -539,13 +539,16 @@ def main() -> int:
             if solve is not None:
                 targets, held = solve
                 checker.that(
-                    "z" in held and "z" not in targets,
-                    f"execute does not hold the press axis back: "
+                    "z" in targets and not held,
+                    f"execute does not command the press axis: "
                     f"{sorted(targets)} held={held}",
                 )
-                plan = plan_pose_move(window.poller.service, targets, hold=held)
+                plan = plan_pose_move(
+                    window.poller.service, targets, hold=held, together=True
+                )
                 checker.that(
-                    [step.role for step in plan.steps] == ["yaw", "pitch", "x", "y"],
+                    [step.role for step in plan.steps]
+                    == ["yaw", "pitch", "x", "y", "z"],
                     f"the move order is {[step.role for step in plan.steps]}",
                 )
                 checker.that(
@@ -581,11 +584,11 @@ def main() -> int:
                     + " reached"
                 )
 
-                # Returning to the initial state, press axis first.
+                # All five axes back to zero together, including the press axis.
                 back = plan_return_to_initial(window.poller.service)
                 checker.that(
                     [step.role for step in back.steps]
-                    == ["z", "pitch", "yaw", "x", "y"],
+                    == ["yaw", "pitch", "x", "y", "z"],
                     f"the return order is {[step.role for step in back.steps]}",
                 )
                 result = window.mover.start(back)