added ruff test

2026-09-27 19:20:43 +08:00
parent bcab2790bf
commit fa2703968e
178 changed files with 3277 additions and 1034 deletions
@@ -61,6 +61,30 @@ which can put the face on the far side of the body from the default camera. The
 axis is drawn with depth testing **off** for that reason — it is a reference line,
 and hiding it behind the body it is meant to align with is the opposite of useful.

+## Running the pose on the machine
+
+Three buttons, and where each one lives is deliberate:
+
+| Button | Where | What it does |
+| --- | --- | --- |
+| **执行动作** Execute | this screen, next to 播放动作 | Sends the selected point's solved pose to the platform: **yaw, then pitch, then table X/Y**. The press axis **z is not commanded** — pressing is P7, with contact detection and press depth, neither of which exists here, so a move to the contact height would be a press with none of its guards. |
+| **停止** Stop | here *and* the strip's 全部停止 | The same command. Two access points, one implementation: during a move the operator's eyes are on this pane, and an emergency stop has to be where they are. |
+| **回初始位** Return to zero | the axis rail, on every tab | Every drive to 0 — press axis first, then the stages, then the table. A machine-level action, wanted after work in any tab, so it is not repeated inside one. |
+
+**移动前确认** decides whether the moving buttons ask first. The prompt lists the steps
+with their numbers and the drive each one uses, and says what is *not* being moved.
+
+The order is the model's own: the kinematics composes `R_pitch · R_yaw`, so yaw acts on
+the body first and the machine yaws first — every intermediate pose is one the preview
+drew. Table X/Y last, because the translation is what the rotations are resolved
+against.
+
+Each drive is commanded on its own and the next goes out only once the previous has
+arrived, which is what keeps the move interruptible; a step that stops short, times out
+or alarms aborts the rest rather than finishing a sequence nobody has verified. What is
+checked *before* the first axis moves — the mapping, the P0 limits, the rotary
+calibration — is in `../README.md` under **Safety model**.
+
 The chain the solver and the drawing share is, in order: **mount** (sensor axes into
 table axes) → **setup** (the mounting pose above) → **stages** (the solved yaw and
 pitch, about the table origin) → **table** (the XY slide). A point of the sensor is