把现场确认能用的对孔方案落成保存点：小孔只用视觉关键点交到工件面、多走多拍闭环；D435 走到点后杀栈冷启动再停稳 3 秒才交 D405，避免赶路时带臂晃。

Co-authored-by: Cursor <cursoragent@cursor.com>

scripts/lib/export_site_env.py

@@ -903,6 +903,7 @@ def servo_overrides(data: dict) -> dict:
         "ee_hold_kp", "ee_w_max",
         "lock_hold_sec",
         "lock_still_sec",
+        "d435_handback_sec",
         "wrist_align_sec",
         "lock_still_move_m",
         "a_max", "max_qdot", "damping",
@@ -934,8 +935,13 @@ def servo_overrides(data: dict) -> dict:
         out["overhead_hold_s"] = float(oh["oneshot_hold_s"])
         if "lock_still_sec" not in servo:
             raise RuntimeError(
-                "servo.lock_still_sec 必须显式写"
-                "（D435 到位后法兰停稳多久才交回 D405）。不许用代码默认 3。"
+                "servo.lock_still_sec 必须显式写。"
+                "不许用代码默认秒数。"
+            )
+        if "d435_handback_sec" not in servo:
+            raise RuntimeError(
+                "servo.d435_handback_sec 必须显式写"
+                "（厂家 MoveL 到位后，再确认多久才交回 D405）。不许用代码默认秒数。"
             )
         if "wrist_align_sec" not in servo:
             raise RuntimeError(
@@ -948,6 +954,7 @@ def servo_overrides(data: dict) -> dict:
                 "（静止判据的法兰 XY 位移上限）。不许用代码默认 15mm。"
             )
         out["lock_still_sec"] = float(servo["lock_still_sec"])
+        out["d435_handback_sec"] = float(servo["d435_handback_sec"])
         out["wrist_align_sec"] = float(servo["wrist_align_sec"])
         out["lock_still_move_m"] = float(servo["lock_still_move_m"])
         out["overhead_k0_topic"] = "visual_servo/overhead_k0"

scripts/lib/flexiv_movel_ipc.py

@@ -0,0 +1,66 @@
+"""伺服和 flexiv_hardware 之间的 MoveL 交接。
+
+两边不在一个进程里，硬件接口也没有自己的 ROS 节点。用三个文件：
+
+* ``/tmp/flexiv_movel_req``  一行 ``seq x y z keep_z vel``
+* ``/tmp/flexiv_movel_ack``  硬件接住请求后立刻写序号
+* ``/tmp/flexiv_movel_done`` 一行 ``seq ok`` 或 ``seq fail 原因``
+
+先写临时文件再改名，避免对面读到半行。
+"""
+
+from __future__ import annotations
+
+from pathlib import Path
+
+REQ = Path("/tmp/flexiv_movel_req")
+ACK = Path("/tmp/flexiv_movel_ack")
+DONE = Path("/tmp/flexiv_movel_done")
+
+
+def format_request(seq: int, x: float, y: float, z: float, keep_z: bool, vel: float) -> str:
+    return (
+        f"{int(seq)} {float(x):.6f} {float(y):.6f} {float(z):.6f} "
+        f"{1 if keep_z else 0} {float(vel):.4f}\n"
+    )
+
+
+def write_request(seq: int, x: float, y: float, z: float, keep_z: bool, vel: float) -> None:
+    text = format_request(seq, x, y, z, keep_z, vel)
+    tmp = REQ.with_name(REQ.name + ".tmp")
+    tmp.write_text(text, encoding="utf-8")
+    tmp.replace(REQ)
+
+
+def parse_done(text: str):
+    """返回 ``(seq, ok, detail)``。行不完整时返回 None。"""
+    parts = text.strip().split(maxsplit=2)
+    if len(parts) < 2:
+        return None
+    try:
+        seq = int(parts[0])
+    except ValueError:
+        return None
+    if parts[1] not in ("ok", "fail"):
+        return None
+    detail = parts[2] if len(parts) > 2 else ""
+    return seq, parts[1] == "ok", detail
+
+
+def read_done():
+    try:
+        text = DONE.read_text(encoding="utf-8")
+    except OSError:
+        return None
+    return parse_done(text)
+
+
+def read_ack() -> int:
+    try:
+        text = ACK.read_text(encoding="utf-8").strip()
+    except OSError:
+        return -1
+    try:
+        return int(text.split()[0])
+    except (ValueError, IndexError):
+        return -1