把存储的 yaw 上限归一到 ±180

yaw 台转 ±180，实测点的第二组精确解落在 118° 之外：旧文件里的 ±90 会让求解器把位姿算成可达、运动守卫却拒绝这段 yaw，操作员看到的就是“到不了”。加载时把求解器与守卫两种写法的 yaw 上限一起归一，pitch 包络此前已按同一理由处理。

apps/autocal/tests/test_pose_move.py

@@ -238,6 +238,23 @@ def test_the_guard_names_an_unknown_direction():
     assert refusal is not None and "roll" in refusal.message
 
 
+def test_the_guard_allows_the_yaw_the_solver_calls_reachable():
+    """One bench fact, two spellings: the guard must not refuse what the solver solved.
+
+    A measured point's second exact solution sits past 118° of yaw — inside the ±180
+    the trunnion turns, outside the ±90 note this bench was once configured with. The
+    solver's envelope and the guard's limit therefore have to be the same number.
+    """
+    service = make_service()
+
+    assert service.limit_for("yaw") == 180.0
+    assert service.limit_for("pitch") == 90.0
+    assert service.check_axes_move({"yaw": 118.681}) is None
+
+    past = service.check_axes_move({"yaw": 180.0 + 0.1})
+    assert past is not None, "a yaw past the trunnion's travel was allowed"
+
+
 # ------------------------------------------------------------------------ mover