悬停一次走完后下降会漂几毫米，这一保存点把观察高补交、接触门控和厂家 MoveL 接到能插进去的状态，后面好对照锁 XY 纯 Z。

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

scripts/rdk_goto_xyz.py

@@ -133,6 +133,7 @@ def main() -> int:
     parser = argparse.ArgumentParser(description="RDK MoveL：工具尖走到世界系的一个点")
     parser.add_argument("--xyz", nargs=3, type=float, metavar=("X", "Y", "Z"), help="目标点，米，机器人世界系")
     parser.add_argument("--vel", type=float, default=0.05, help="TCP 线速度 m/s，默认 0.05")
+    parser.add_argument("--acc", type=float, default=None, help="TCP 加速度 m/s²，交给 SDK acc；不给则用厂家默认")
     parser.add_argument("--max-step-m", type=float, default=0.40, help="离当前点超过这么多米就拒绝，除非 --go")
     parser.add_argument("--go", action="store_true", help="允许超过 --max-step-m")
     parser.add_argument(
@@ -168,7 +169,11 @@ def main() -> int:
             target_xyz[2] = float(pose[2])
         dist = math.dist(pose[:3], target_xyz)
         print(f"目标 xyz=({target_xyz[0]:.4f}, {target_xyz[1]:.4f}, {target_xyz[2]:.4f}) m")
-        print(f"直线距离 {dist * 1000:.0f} mm    速度 {args.vel:.3f} m/s    姿态保持当前")
+        acc_txt = "厂家默认" if args.acc is None else f"{float(args.acc):.3f} m/s²"
+        print(
+            f"直线距离 {dist * 1000:.0f} mm    速度 {args.vel:.3f} m/s"
+            f"    加速度 {acc_txt}    姿态保持当前"
+        )
         if dist > args.max_step_m and not args.go:
             print(f"超过 {args.max_step_m * 1000:.0f} mm，拒绝。确认无误后加 --go。")
             return 2
@@ -177,17 +182,17 @@ def main() -> int:
         print(f"MoveL 欧拉角 deg xyz=({euler_deg[0]:.2f}, {euler_deg[1]:.2f}, {euler_deg[2]:.2f})")
 
         robot.SwitchMode(flexivrdk.Mode.NRT_PRIMITIVE_EXECUTION)
-        robot.ExecutePrimitive(
-            "MoveL",
-            {
-                "target": flexivrdk.Coord(
-                    target_xyz,
-                    euler_deg,
-                    ["WORLD", "WORLD_ORIGIN"],
-                ),
-                "vel": float(args.vel),
-            },
-        )
+        prim = {
+            "target": flexivrdk.Coord(
+                target_xyz,
+                euler_deg,
+                ["WORLD", "WORLD_ORIGIN"],
+            ),
+            "vel": float(args.vel),
+        }
+        if args.acc is not None:
+            prim["acc"] = float(args.acc)
+        robot.ExecutePrimitive("MoveL", prim)
         print("MoveL 已下发，等 reachedTarget …")
         t0 = time.monotonic()
         while True:

scripts/rdk_release_movel.py

@@ -122,7 +122,8 @@ def main() -> int:
     ap = argparse.ArgumentParser()
     ap.add_argument("--xyz", nargs=3, type=float, required=True, metavar=("X", "Y", "Z"))
     ap.add_argument("--arm", default=os.environ.get("SITE_ROBOT_ARM", "89"))
-    ap.add_argument("--vel", type=float, default=0.05)
+    ap.add_argument("--vel", type=float, default=0.3, help="TCP 线速度 m/s，交给 SDK vel")
+    ap.add_argument("--acc", type=float, default=1.5, help="TCP 加速度 m/s²，交给 SDK acc")
     args = ap.parse_args()
 
     held = _control_pids()
@@ -144,6 +145,7 @@ def main() -> int:
         "--xyz", f"{x}", f"{y}", f"{z}",
         "--keep-z", "--go",
         "--vel", f"{float(args.vel)}",
+        "--acc", f"{float(args.acc)}",
     ]
     print("厂家 MoveL：XY 对准 D435 这一点，工具尖高度保持当前")
     got = subprocess.run(movel, check=False)