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>

config/site.example.yaml

@@ -770,6 +770,8 @@ hole_detect:
     align_speed: 0.014       # 对准段笛卡尔速度 [m/s]（原0.03，放缓防冲）
     move_speed: 0.022        # 升降/粗居中段速度 [m/s]（原0.05，放缓防震规）
     hole_visual_only: true
+    # 本分支实验：true=悬停拍一次并走完到孔，下降后再补 XY；main 保存点应保持 false。
+    hole_keypoint_once: true
     final_gap_mm: 2.0        # 对准后贴面轻降目标：规尖悬在孔面上方这么高 [mm]（不接触）
     observe_gap_mm: 15.0     # --no-descent 时的观测下降：只降到离面这么高 [mm]，
                              # 方便看规尖偏没偏。必须 ≥ final_gap_mm。

config/site.yaml

@@ -758,6 +758,9 @@ hole_detect:
     move_speed: 0.022        # 升降/粗居中段速度 [m/s]（原0.05，放缓防震规）
     # 对小孔关键点：只用像素射线交到 workpiece_surface_z_m，不读深度图。
     hole_visual_only: true
+    # 本分支实验（exp/hole-keypoint-once）：true=悬停拍一次，框心→k1 一次走完
+    # （40mm 上限），下降后再补交平面漂的 XY。main 保存点是 false（多走多拍）。
+    hole_keypoint_once: true
     final_gap_mm: 2.0        # 对准后贴面轻降目标：规尖悬在孔面上方这么高 [mm]（不接触）
     observe_gap_mm: 15.0     # --no-descent 时的观测下降：只降到离面这么高 [mm]，
                              # 方便看规尖偏没偏。必须 ≥ final_gap_mm。

docs/HANDBOOK.md

@@ -72,7 +72,7 @@ bash ~/ros2/scripts/run_all.sh --arm 89 --init-z 0.35 --hover-z 0.34
 一阶段默认 **D405 实时推理**，D435 待命。YOLO-pose 这一路不关。连续
 `D405_MISS_BEFORE_D435_S`（0.5 s）没有 conf≥`perception.wrist_handoff_conf`（0.5）
 的目标，才用顶视 D435 **拍一张**，把点用眼在手外 T 变到基座（不再乘法兰）。
-这一段运动是厂家 `MoveL`：脚本先停真机控制栈（感知不停），XY 对准该点，
+这一段运动是厂家 `MoveL`（SDK `vel` 0.3 m/s、`acc` 1.5 m/s²）：脚本先停真机控制栈（感知不停），XY 对准该点，
 工具尖高度保持当前，再冷启动 `run_real.sh --no-stop`。冷启动回来之后才开始计
 `servo.d435_handback_sec`（3 s）。赶路和杀栈期间不下发 D405。
 停稳之后改回 D405，跟踪点是工件框的矩形中心，不追 k0。
@@ -80,7 +80,10 @@ bash ~/ros2/scripts/run_all.sh --arm 89 --init-z 0.35 --hover-z 0.34
 会让工具尖进入工件、或超出工作盒的值直接拒绝，不会改成另一个高度再往下走。
 不写则一阶段锁高仍按 site，对孔悬停仍是 `hole_hover_z_m`（89 为 0.320）。
 框心对准连续 `servo.wrist_align_sec`（0.5 s）→ `/visual_servo/locked`。
-二阶段粗居中工件框，再多拍 k1/k2 闭环对准，轻降后在观测高度补一次 XY。
+本分支（`exp/hole-keypoint-once`）二阶段是**单次精拍**：悬停拍一次 k1/k2，
+把框心到目标孔一次走完（步长上限 40mm，不再截成 12mm），先降到观察高约 15mm 再交孔，斜线一步把 XY 补偿（≤3mm）和剩余 Z 收到贴面。轻降接触门控是 `final_gap+4mm`。
+`hole_detect.stage2.hole_keypoint_once: true`。看 `/tmp/stage2_result.json` 的 `snaps`。
+`main` 保存点仍是多走多拍。
 孔坐标把关键点像素交到 `workpiece_surface_z_m`，不读深度图。下臂停在
 `tool10120938` 的 TCP 长度（0.2245 m）加上 `final_gap_mm` 之上，不按旧 tool1 的 0.223 m。
 只测 D435 这一段位移时加 `--d435-only`：不交 D405、不进二阶段，并且要求先停 `run_real.sh`。

docs/HOLE_DETECT.md

@@ -99,8 +99,15 @@ bash ~/ros2/scripts/run_all.sh --arm 89 --depth 6 --pitch 1.0
 ## 二阶段一次性拍照定位（stage2，与一阶段跟踪分开跑）
 
 先悬停垂直朝下 → 拍一张照 → `detect_best_1.onnx` 框工件 → Hough 解 k1/k2 孔心 →
-深度（孔外工作面中值）+ 内参 + 手眼换算基座坐标 → 移动**规尖**到目标孔正上方 →
+像素射线交到 `workpiece_surface_z_m`（不读深度图）+ 内参 + 手眼换算基座坐标 →
-复拍验证（≤`align_max_iters` 次，收敛判据 `align_tol_m`）→ 锁定保持。
+移动**规尖**到目标孔正上方。
+
+本分支 `hole_keypoint_once: true`：悬停拍一次，把框心到 k1 的半孔距（约 30mm）
+一次走完（不再用多走多拍的 12mm 封顶），走后核验只记账。轻降先到观察高约 15mm
+（单步 20mm，约 3 步），再交孔测补偿，斜线一步把 XY（≤3mm）和剩余 Z 收到 `final_gap_mm`。
+规尖沿用悬停冻结值，不在近距重测。两孔间距掉出 50–70mm 或要补超过 8mm 则不动、
+也不贴面。轻降力接触门控是 `final_gap_mm + 4mm`（贴面 2mm 时 = 6mm）。看
+`/tmp/stage2_result.json` 的 `snaps[]`。`main` 保存点是多走多拍闭环。
 
 > **对的是"规尖"，不是"法兰轴线"**（2026-10-08 定稿）。通止规夹在爪里，相对法兰轴线
 > 可以整体偏出若干毫米；旧写法把**法兰**对到孔上，规尖就偏着压在孔沿上，轻降一压

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(
+        prim = {
-            "MoveL",
-            {
             "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)

src/arm_application/arm_application/overhead_oneshot.py

@@ -28,6 +28,8 @@ from arm_application.path_profile import (  # 伺服和测试从本模块再导
     D435_NEAR_CRUISE_MPS,
     D435_NEAR_HOP_MAX_M,
     D435_NEAR_LEFTOVER_M,
+    D435_VENDOR_MOVEL_ACC_MPS2,
+    D435_VENDOR_MOVEL_VEL_MPS,
     D435_VERT_TILT_RAD,
     D435_SETTLE_S,
     FROZEN_J_HOP_MAX_M,
@@ -301,7 +303,7 @@ def oneshot_concat_hold_ori(q0, J, segments, *, R=None):
 
 
 def oneshot_full_cruise_mps(leftover_m: float, far_cruise_mps: float) -> float:
-    """整段巡航：工件上方 30 mm/s；远处封顶 ``D435_FULL_CRUISE_MPS``，不许再弹到 80。"""
+    """整段巡航：工件上方 45 mm/s；远处封顶 ``D435_FULL_CRUISE_MPS``，不许再弹到远处 hop 上限。"""
     far = max(1e-4, float(far_cruise_mps))
     if float(leftover_m) <= D435_NEAR_LEFTOVER_M:
         return min(D435_NEAR_CRUISE_MPS, far)
@@ -509,6 +511,80 @@ def pixel_on_base_plane(
     return np.asarray(point, dtype=float).reshape(3)
 
 
+def cam_xy_bias_axes(T_cam_to_base: np.ndarray):
+    """基座水平面上两个单位向量：``(视线前方, 画面右)``。
+
+    视线 = 相机 +Z 投到基座 XY（前倾 30° 时的交平面敏感轴）；
+    画面右 = 相机 +X 投到基座 XY（立体基线 / 图像 u 方向）。
+    水平投影退化时返回 None，不许拿 (0,0) 当轴。
+    """
+    T = np.asarray(T_cam_to_base, dtype=float).reshape(4, 4)
+    look = T[:3, :3] @ np.array([0.0, 0.0, 1.0], dtype=float)
+    right = T[:3, :3] @ np.array([1.0, 0.0, 0.0], dtype=float)
+    look_xy = np.asarray(look[:2], dtype=float)
+    right_xy = np.asarray(right[:2], dtype=float)
+    n_l = float(np.linalg.norm(look_xy))
+    n_r = float(np.linalg.norm(right_xy))
+    if n_l < 1e-6 or n_r < 1e-6:
+        return None
+    return look_xy / n_l, right_xy / n_r
+
+
+# 单次精拍这一步必须能走完「框心 → k1」。两孔间距约 60mm，半距 30mm。
+# 多走多拍的 12mm 封顶在这里会把一半孔距留下（2026-10-13 真机：指令 29mm 只走 12mm）。
+ONESHOT_ALIGN_CAP_M = 0.040
+# 下降后补 XY：一跳上限。2026-10-13 两跳合计 4.3mm 把近距检测带崩。
+ONCE_TRIM_MAX_STEP_M = 0.003
+ONCE_TRIM_REFUSE_M = 0.008
+HOLE_PAIR_TRIM_MIN_M = 0.050
+HOLE_PAIR_TRIM_MAX_M = 0.070
+# 悬停 → 观察高（约 15mm）单步上限。左臂间隙约 58mm，20mm × 3 步走完。
+# 观察高 → 贴面不再走这段，改斜线一步（XY 补偿 + 剩余 Z）。
+ONCE_APPROACH_STEP_M = 0.020
+
+
+def oneshot_align_step_m(err_m: float) -> float:
+    """单次精拍允许的步长 [m]。不超过半孔距余量；超过 cap 才截断。"""
+    e = abs(float(err_m))
+    cap = float(ONESHOT_ALIGN_CAP_M)
+    if e <= cap:
+        return e
+    return cap
+
+
+def hole_pair_span_m(p0, p1) -> float:
+    """两孔基座 XY 间距 [m]。"""
+    a = np.asarray(p0, dtype=float).reshape(-1)
+    b = np.asarray(p1, dtype=float).reshape(-1)
+    return float(np.hypot(float(a[0]) - float(b[0]), float(a[1]) - float(b[1])))
+
+
+def hole_pair_span_ok(span_m: float) -> bool:
+    """下降后补孔用的间距窗。真机 k1/k2 约 60mm；45mm 是近距检测漂了。"""
+    s = float(span_m)
+    return HOLE_PAIR_TRIM_MIN_M <= s <= HOLE_PAIR_TRIM_MAX_M
+
+
+def flange_z_for_gap_m(tip_len_m: float, surface_z_m: float, gap_m: float) -> float:
+    """规尖离面 ``gap_m`` 时的法兰 Z [m]。与轻降几何同一条式子。"""
+    return float(tip_len_m) + float(surface_z_m) + float(gap_m)
+
+
+def decompose_base_xy(delta_xy, T_cam_to_base: np.ndarray):
+    """把基座 XY 残差拆成沿视线 / 沿画面右 [m]。投影退化返回 None。"""
+    axes = cam_xy_bias_axes(T_cam_to_base)
+    if axes is None:
+        return None
+    look_xy, right_xy = axes
+    d = np.asarray(delta_xy, dtype=float).reshape(2)
+    return {
+        "along_look_m": float(np.dot(d, look_xy)),
+        "along_right_m": float(np.dot(d, right_xy)),
+        "look_xy": [float(look_xy[0]), float(look_xy[1])],
+        "right_xy": [float(right_xy[0]), float(right_xy[1])],
+    }
+
+
 def px_to_cam(
     u: float, v: float, z: float, fx: float, fy: float, cx: float, cy: float
 ) -> np.ndarray:

src/arm_application/arm_application/path_profile.py

@@ -11,10 +11,15 @@ from typing import Optional, Tuple
 
 import numpy as np
 
-# 整段同一巡航：site ``v_slow_xy`` × 本系数。1.0 → 80 mm/s（二阶段对孔同档上限）。
+# 整段同一巡航：site ``v_slow_xy`` × 本系数。1.5 → 120 mm/s（远处 hop 上限）。
-D435_MOVE_SPEED_SCALE = 1.0
+D435_MOVE_SPEED_SCALE = 1.5
+# D435 厂家 MoveL：SDK ``vel`` [m/s]、``acc`` [m/s²]。
+# 厂家示例自由空间 0.6 / 近接触 0.2；本档 0.3 和 1.5，短行程也能爬到巡航。
+# 只改 vel、不给 acc 时，短 hop 仍被默认加速度卡住，肉眼看不出。
+D435_VENDOR_MOVEL_VEL_MPS = 0.3
+D435_VENDOR_MOVEL_ACC_MPS2 = 1.5
 # 缺路程时的兜底加速度。真机 hop 用 ``trap_acc_for_hop``，和二阶段同一条刹车。
-D435_MOVE_ACC_MPS2 = 0.125
+D435_MOVE_ACC_MPS2 = 0.1875
 # action 走完后再停这么久，才重测 TF。二阶段 ``_goto`` 的 settle_s。
 D435_SETTLE_S = 0.25
 # 冻结雅可比一次只信这么远。二阶段 ``_plan_and_send`` 默认 ``max_seg`` 同源。
@@ -23,7 +28,7 @@ FROZEN_J_HOP_MAX_M = 0.08
 # 剩差进入这一带 = 工件上方。真机最后一跳 37–75 mm @ 80 mm/s 会晃并偏转。
 D435_NEAR_LEFTOVER_M = 0.08
 D435_NEAR_HOP_MAX_M = 0.015
-D435_NEAR_CRUISE_MPS = 0.030
+D435_NEAR_CRUISE_MPS = 0.045
 # 法兰倾角超过这个才单独收垂直。和 XY 捆在同一跳会把腕部漏成 Y 过冲。
 D435_VERT_TILT_RAD = 0.015
 D435_MID_LEFTOVER_M = 0.15
@@ -33,10 +38,11 @@ D435_ARC_SAGITTA_FRAC = 0.12
 D435_ARC_SAGITTA_MAX_M = 0.05
 # 整段一次走完。起步必须够长：40 mm 就爬到 80 mm/s 是真机那下弹射
 # （头尾速度本来就是 0，不是初速度；平移也不下发角速度）。
-# 峰值加速度 a_max = π v² / (4 d_acc)；100 mm @ 60 mm/s → 约 0.028 m/s²。
+# 峰值加速度 a_max = π v² / (4 d_acc)；150 mm @ 90 mm/s → 约 0.042 m/s²。
-D435_FULL_ACC_M = 0.100
+# 巡航相对原 60 mm/s 加 50%；加减速路程同比加长，起步时间差不多。
-D435_FULL_DEC_M = 0.080
+D435_FULL_ACC_M = 0.150
-D435_FULL_CRUISE_MPS = 0.060
+D435_FULL_DEC_M = 0.120
+D435_FULL_CRUISE_MPS = 0.090
 
 
 def hybrid_cruise_vxy(

src/arm_application/arm_application/servo_node.py

@@ -52,6 +52,8 @@ from arm_application.handeye_lib import cam_point_to_base, cam_to_base_T
 from arm_application.overhead_oneshot import (
     D435_NEAR_CRUISE_MPS,
     D435_SETTLE_S,
+    D435_VENDOR_MOVEL_ACC_MPS2,
+    D435_VENDOR_MOVEL_VEL_MPS,
     StillLock,
     at_lock_height,
     d405_commands_arm,
@@ -1545,8 +1547,9 @@ class ServoNode(TolerantNode):
     def _d435_vendor_movel(self) -> bool:
         """D435 这一点：停真机栈 → 厂家 MoveL → 冷启动控制栈。
 
-        流畅度先不优化。杀栈再拉起大约多几秒，但 RDK 独占，D405 的点
+        线速度 / 加速度走 ``D435_VENDOR_MOVEL_VEL_MPS``、``D435_VENDOR_MOVEL_ACC_MPS2``，
-        在整段 busy 期间都不会下发。停稳计时从冷启动回来之后才开始。
+        交给 SDK 的 ``vel`` / ``acc``。杀栈再拉起大约多几秒，RDK 独占，
+        D405 的点在整段 busy 期间都不会下发。停稳计时从冷启动回来之后才开始。
         """
         with self._lock:
             goal = None if self._p_feat_base is None else np.asarray(
@@ -1570,10 +1573,14 @@ class ServoNode(TolerantNode):
             "--arm",
             arm,
             "--vel",
-            "0.05",
+            f"{float(D435_VENDOR_MOVEL_VEL_MPS):.3f}",
+            "--acc",
+            f"{float(D435_VENDOR_MOVEL_ACC_MPS2):.3f}",
         ]
         self.get_logger().info(
             f"D435 厂家 MoveL XY=({goal[0]:.3f},{goal[1]:.3f}) "
+            f"vel={D435_VENDOR_MOVEL_VEL_MPS*1000:.0f}mm/s "
+            f"acc={D435_VENDOR_MOVEL_ACC_MPS2:.1f}m/s² "
             "—— 先停控制栈，MoveL 后再冷启动；期间不下发 D405"
         )
         t0 = time.monotonic()

src/arm_application/arm_application/stage2_locate_node.py

@@ -8,10 +8,10 @@
   2. hover       — 闭环升到/降到 robots[].servo.hole_hover_z_m（悬停锁高）
   3. coarse      — 拍照，工件（pose 模型给框；k1/k2 用关键点）粗移到 bbox 中心上方
   4. fine        — 拍照，two_stage（YOLO+HoughCircles）解 k1/k2 孔心像素
-  5. align       — 深度（孔外工作面中值，防孔底拉偏）+ 内参 + 手眼 + TF
+  5. align       — 像素射线交工件面 + 内参 + 手眼，把规尖移到目标孔正上方。
-                   算出孔在基座系 XY，把夹爪/通止规轴线移到目标孔正上方，
+                   ``hole_keypoint_once`` 时只走一次，核验拍只记账；
-                   复拍验证，迭代到 align_tol_m
+                   否则复拍迭代到 align_tol_m
-  6. hold        — 锁定关节，发布 /stage2/result(JSON) + /stage2/overlay
+  6. hold        — 锁定关节，发布 /stage2/result(JSON) + /tmp/stage2_result.json
 
 高度调试（不动 XY、不拍照定位）：
   bash ~/ros2/scripts/run_stage2_locate.sh --arm 89 --hover-only
@@ -51,7 +51,17 @@ from arm_application.path_profile import (
     trap_params as _trap_params,
     trap_sv as _trap_sv,
 )
-from arm_application.overhead_oneshot import pixel_on_base_plane
+from arm_application.overhead_oneshot import (
+    ONCE_APPROACH_STEP_M,
+    ONCE_TRIM_MAX_STEP_M,
+    ONCE_TRIM_REFUSE_M,
+    decompose_base_xy,
+    flange_z_for_gap_m,
+    hole_pair_span_m,
+    hole_pair_span_ok,
+    oneshot_align_step_m,
+    pixel_on_base_plane,
+)
 from arm_application.handeye_realsense import resolve_realsense_topics
 from arm_application.gauge_boot import perception_source_of
 from arm_application.gauge_fsm import drag_verdict, resolve_hover_z, wrench_all_zero
@@ -60,18 +70,24 @@ from arm_application.hole_detector import config_from_site, weights_from_site
 from arm_application.site_io import deep_merge, load_site_dict
 from arm_application.ros_node import TolerantNode
 
-def contact_armed_gap_m(observe_gap_m: float) -> float:
+def contact_armed_gap_m(observe_gap_m: float, final_gap_m: float = 0.002) -> float:
     """轻降力接触门槛对应的几何间隙。离面更远时腕部力会漂几牛，不能当碰到。
 
-    2026-10-13：悬停 0.42 往下到法兰 0.384 时 ΔFz=+2.87N 超过 2.5N，
+    2026-10-13 远场：法兰 0.384、间隙 138mm、ΔFz=+2.87N。
-    几何间隙仍约 138mm。立刻停再交给三阶段抬到 hover+50mm，插孔没做。
+    2026-10-13 近场仍假：间隙 9.5mm、ΔFz=+2.77N，尖几何上还在面上约 1cm，
+    碰不到板。观察间隙 15mm 会把这一档武装起来，所以门控只收到
+    ``final_gap_m + 4mm``（贴面 2mm 时 = 6mm）。``observe_gap_m`` 仍从调用方
+    传入，避免两处签名分叉，但不放宽门控。
     """
-    return max(float(observe_gap_m), 0.020) + 0.005
+    _ = observe_gap_m
+    return float(final_gap_m) + 0.004
 
 
-def contact_armed_by_gap(gap_m: float, observe_gap_m: float) -> bool:
+def contact_armed_by_gap(
+    gap_m: float, observe_gap_m: float, final_gap_m: float = 0.002
+) -> bool:
     """当前几何间隙够近，才许把腕部力突变当成碰到工件。"""
-    return float(gap_m) <= contact_armed_gap_m(observe_gap_m)
+    return float(gap_m) <= contact_armed_gap_m(observe_gap_m, final_gap_m)
 
 
 # 一次 hop 之后实测关节变化小于这个值，就认为「臂根本没跟随指令」。
@@ -250,6 +266,11 @@ class Stage2Locate(TolerantNode):
         self.surface_z_m = _surface_z
         # 对小孔只用关键点像素和已知工件面，不读深度图。缺了就按旧的深度路径。
         self.hole_visual_only = _as_bool(stage2.get("hole_visual_only"), False)
+        # 本分支实验：悬停拍一次 k1/k2，走一次，复拍只记账不改 XY。
+        # 键必须接线——写了 true 却仍多走多拍，等于没做实验。
+        self.hole_keypoint_once = _as_bool(stage2.get("hole_keypoint_once"), False)
+        self._ws_clipped = False
+        self._hole_snaps: List[Dict[str, Any]] = []
         if self.hover_z_user_set and (_tool_len <= 0.0 or _surface_z <= 0.0):
             self._hover_refused = (
                 "写了 --hover-z，但工具长度或工件面未知，无法确认尖端在面之上，拒绝执行"
@@ -393,9 +414,15 @@ class Stage2Locate(TolerantNode):
             f"  weights={self._weights}\n"
             f"  image={self.image_topic} depth={self.depth_topic}\n"
             f"  target={self.target_hole} (k1={self.k1_label})  tol={self.align_tol*1000:.1f}mm  "
-            f"hover_only={self.hover_only}  hole_visual_only={self.hole_visual_only}\n"
+            f"hover_only={self.hover_only}  hole_visual_only={self.hole_visual_only}  "
+            f"hole_keypoint_once={self.hole_keypoint_once}\n"
             f"  工具长={self.tool_tip_below_flange_m:.4f}m（法兰到尖，下臂不得低于面+间隙）"
         )
+        if self.hole_keypoint_once:
+            self.get_logger().warn(
+                "对孔方案=单次精拍（实验分支）。拍一次→走一次，复拍和下降后只记账不改 XY。"
+                "残差以核验拍为准，不许用 hop 到位冒充。看 /tmp/stage2_result.json 的 snaps。"
+            )
 
     # ==================== 状态/运动原语（闭环 hop，同 goto_ee_plane） ====================
 
@@ -574,7 +601,8 @@ class Stage2Locate(TolerantNode):
         lo = self.ws_min + 0.005
         hi = self.ws_max - 0.005
         clamped = np.clip(np.asarray(target, dtype=float).reshape(3), lo, hi)
-        if not np.allclose(clamped, target, atol=1e-6):
+        self._ws_clipped = bool(not np.allclose(clamped, target, atol=1e-6))
+        if self._ws_clipped:
             self.get_logger().warn(
                 f"目标超出工作盒，已截断: ({target[0]:.3f},{target[1]:.3f},{target[2]:.3f}) → "
                 f"({clamped[0]:.3f},{clamped[1]:.3f},{clamped[2]:.3f})"
@@ -1595,7 +1623,7 @@ class Stage2Locate(TolerantNode):
             return None
         return float(np.median(depth[ring]))
 
-    def _descend_above_hole(self, q, Tee):
+    def _descend_above_hole(self, q, Tee, *, target_gap_m=None, step_m=None):
         """对准后柔顺轻降，把规尖悬在孔面上方 final_gap_m（不接触）。
 
         **下降量只由几何决定**（这条是 2026-10-08 真机修出来的）::
@@ -1622,11 +1650,21 @@ class Stage2Locate(TolerantNode):
           2. 腕部 FT 接触检测：``force.z`` 相对悬空基线突变 ⇒ 立即停 + 回退 1mm；
           3. 任一步 ``_goto`` 没走到位（多半是碰到东西/被挡）⇒ 停止，保持当前高度。
         """
-        # final_descent_enable：降到贴面 final_gap（约 2mm）。
+        # final_descent_enable：多走多拍降到贴面 final_gap（约 2mm）。
-        # 关掉时（--no-descent）仍做**观测下降**，停在 observe_gap（约 15mm），
+        # 关掉时（--no-descent）仍做**观测下降**，停在 observe_gap（约 15mm）。
-        # 让人能看出规尖偏没偏，又不把 φ6 规压到 φ7 孔沿上。
+        # 单次精拍由调用方传入 target_gap_m=观察高，贴面由随后斜线一步完成。
-        target_gap = self.final_gap_m if self.final_descent_enable else self.observe_gap_m
+        if target_gap_m is None:
-        kind = "贴面轻降" if self.final_descent_enable else "观测下降"
+            target_gap = (
+                self.final_gap_m if self.final_descent_enable else self.observe_gap_m
+            )
+        else:
+            target_gap = float(target_gap_m)
+        step_cap = 0.004 if step_m is None else float(step_m)
+        kind = (
+            "贴面轻降"
+            if target_gap <= float(self.final_gap_m) + 1e-6
+            else "观测下降"
+        )
         self._state("descend_above_hole")
         tip_len = float(self.tool_tip_below_flange_m)
         surf = float(self.surface_z_m)
@@ -1709,7 +1747,25 @@ class Stage2Locate(TolerantNode):
             gap_now = float(Tee[2, 3]) - tip_len - surf
             if (
                 base_fz is not None
-                and contact_armed_by_gap(gap_now, self.observe_gap_m)
+                and self._contact_detected(base_fz)
+                and not contact_armed_by_gap(
+                    gap_now, self.observe_gap_m, self.final_gap_m
+                )
+            ):
+                if not getattr(self, "_ft_gap_disarmed_logged", False):
+                    self._ft_gap_disarmed_logged = True
+                    armed_m = contact_armed_gap_m(
+                        self.observe_gap_m, self.final_gap_m
+                    )
+                    self.get_logger().info(
+                        f"  ΔFz 超门槛但间隙 {gap_now * 1000:.1f}mm > 接触门控 "
+                        f"{armed_m * 1000:.1f}mm，不当作碰到"
+                    )
+            if (
+                base_fz is not None
+                and contact_armed_by_gap(
+                    gap_now, self.observe_gap_m, self.final_gap_m
+                )
                 and self._contact_detected(base_fz)
             ):
                 self.get_logger().warn("腕部力突变（规尖触到工件），立即停止并回退 1mm（安全优先）")
@@ -1726,7 +1782,7 @@ class Stage2Locate(TolerantNode):
             remaining = (float(Tee[2, 3]) - tip_len - surf) - target_gap
             if remaining <= 1e-4:
                 break
-            step = min(remaining, 0.004)  # 每步 ≤4mm，很慢很柔
+            step = min(remaining, step_cap)  # 贴面默认 ≤4mm；观察高 20mm，见 step_m
             p = Tee[:3, 3].copy()
             target = np.array([p[0], p[1], p[2] - step])
             ok, q, Tee = self._goto(
@@ -1750,6 +1806,404 @@ class Stage2Locate(TolerantNode):
         )
         return True, q, Tee
 
+    def _stamp_bias(
+        self,
+        rec: Dict[str, Any],
+        *,
+        tgt_b: np.ndarray,
+        gxy: np.ndarray,
+        tag: str,
+    ) -> Dict[str, Any]:
+        """把基座残差拆成视线 / 画面右，写入记录。投影退化时键仍在、值为 None。"""
+        rec = dict(rec)
+        rec["tag"] = tag
+        rec["scheme"] = "keypoint_once" if self.hole_keypoint_once else "multi_snap"
+        rec["cam_frame"] = self.cam_frame
+        rec["image_topic"] = self.image_topic
+        err_vec = np.array(
+            [float(tgt_b[0]) - float(gxy[0]), float(tgt_b[1]) - float(gxy[1])],
+            dtype=float,
+        )
+        rec["err_xy_m"] = [round(float(err_vec[0]), 5), round(float(err_vec[1]), 5)]
+        rec["workspace_clipped"] = bool(self._ws_clipped)
+        T_cam = self._lookup(self.base_frame, self.cam_frame)
+        rec["along_look_mm"] = None
+        rec["along_right_mm"] = None
+        rec["look_xy"] = None
+        rec["right_xy"] = None
+        rec["cam_origin_base_m"] = None
+        if T_cam is None:
+            self.get_logger().warn(f"{tag}：没有 cam TF，残差分解缺轴")
+            return rec
+        rec["cam_origin_base_m"] = [
+            round(float(T_cam[0, 3]), 5),
+            round(float(T_cam[1, 3]), 5),
+            round(float(T_cam[2, 3]), 5),
+        ]
+        decomp = decompose_base_xy(err_vec, T_cam)
+        if decomp is None:
+            self.get_logger().warn(f"{tag}：光轴水平投影退化，残差分解缺轴")
+            return rec
+        rec["along_look_mm"] = round(float(decomp["along_look_m"]) * 1000.0, 2)
+        rec["along_right_mm"] = round(float(decomp["along_right_m"]) * 1000.0, 2)
+        rec["look_xy"] = [round(float(v), 5) for v in decomp["look_xy"]]
+        rec["right_xy"] = [round(float(v), 5) for v in decomp["right_xy"]]
+        self.get_logger().info(
+            f"[{tag}] 残差分解 视线={rec['along_look_mm']:+.2f}mm "
+            f"画面右={rec['along_right_mm']:+.2f}mm  "
+            f"ΔXY=({err_vec[0]*1000:+.2f},{err_vec[1]*1000:+.2f})mm\n"
+            f"        画面右为正：孔在规的画面右侧（目视就是规偏左）。"
+            f"视线为正：孔在光轴水平投影前方（工件面写低 / 交深了会往这偏）。"
+        )
+        return rec
+
+    def _observe_holes(self, q, Tee, final: Dict[str, Any], *, tag: str):
+        """核验拍：只记账，不改 XY。拍不到就保持原 final，并标明没复测。"""
+        try:
+            _bgr, _depth_m, _intr, res = self._snap_holes(skip_center_gate=True)
+        except Exception as exc:  # noqa: BLE001
+            self.get_logger().error(f"{tag}失败，残差仍是开环指令值：{exc}")
+            final = dict(final)
+            final["residual_remeasured"] = False
+            return q, Tee, final
+        if not res.get("status"):
+            self.get_logger().error(
+                f"{tag}丢孔（{res.get('msg')}），残差仍是开环指令值，不是 hop 到位"
+            )
+            final = dict(final)
+            final["residual_remeasured"] = False
+            return q, Tee, final
+        hb = res.get("hole_base")
+        z_wp = float(res.get("z_wp") or 0.0)
+        if hb is None or len(hb) != 2 or z_wp <= 0.0:
+            self.get_logger().error(f"{tag}没有孔的基座坐标，残差未复测")
+            final = dict(final)
+            final["residual_remeasured"] = False
+            return q, Tee, final
+        left_b = np.asarray(hb[0], dtype=float)
+        right_b = np.asarray(hb[1], dtype=float)
+        k1_b, k2_b = (left_b, right_b) if self.k1_label == "left" else (right_b, left_b)
+        tgt_b = k1_b if self.target_hole == "k1" else k2_b
+        Tee_now = self._lookup(self.base_frame, self.ee_frame)
+        if Tee_now is not None:
+            Tee = Tee_now
+        pts = res.get("hole_points") or []
+        if self._tip_off is not None:
+            gxy = np.array(
+                [float(Tee[0, 3]) + float(self._tip_off[0]),
+                 float(Tee[1, 3]) + float(self._tip_off[1])]
+            )
+            tip_src = "视觉规尖(开环本步)"
+        else:
+            gxy = self._gauge_xy(Tee)
+            tip_src = "法兰+偏置"
+        err = float(np.hypot(float(tgt_b[0]) - gxy[0], float(tgt_b[1]) - gxy[1]))
+        rec = {
+            "ok": err <= self.align_tol,
+            "arm": self.prefix.rstrip("_"),
+            "target_hole": self.target_hole,
+            "k1_base_m": [round(float(v), 5) for v in k1_b],
+            "k2_base_m": [round(float(v), 5) for v in k2_b],
+            "k1_px": (
+                [round(float(pts[0][0]), 1), round(float(pts[0][1]), 1)]
+                if len(pts) >= 2 else None
+            ),
+            "k2_px": (
+                [round(float(pts[1][0]), 1), round(float(pts[1][1]), 1)]
+                if len(pts) >= 2 else None
+            ),
+            "workpiece_surface_z_m": round(z_wp, 4),
+            "gauge_xy_m": [round(float(gxy[0]), 5), round(float(gxy[1]), 5)],
+            "gauge_source": tip_src,
+            "tip_offset_m": (
+                [round(float(self._tip_off[0]), 5), round(float(self._tip_off[1]), 5)]
+                if self._tip_off is not None else None
+            ),
+            "residual_mm": round(err * 1000.0, 2),
+            "hover_z_m": round(float(Tee[2, 3]), 4),
+            "residual_remeasured": True,
+            "align_trusted": self._tip_off is not None,
+        }
+        rec = self._stamp_bias(rec, tgt_b=tgt_b, gxy=gxy, tag=tag)
+        snaps = list(final.get("snaps") or [])
+        snaps.append({k: rec[k] for k in (
+            "tag", "residual_mm", "err_xy_m", "along_look_mm", "along_right_mm",
+            "k1_base_m", "k2_base_m", "k1_px", "k2_px", "gauge_xy_m",
+            "gauge_source", "tip_offset_m", "hover_z_m", "workspace_clipped",
+        ) if k in rec})
+        merged = dict(final)
+        merged.update(rec)
+        merged["snaps"] = snaps
+        merged["ok"] = bool(rec["ok"] and rec["align_trusted"])
+        draw = res.get("draw_img")
+        if draw is None:
+            draw = _bgr
+        if draw is not None:
+            self._publish_overlay(draw)
+        self._publish_result(merged)
+        self.get_logger().info(
+            f"[{tag}] k1=({k1_b[0]:.4f},{k1_b[1]:.4f}) "
+            f"工具=({gxy[0]:.4f},{gxy[1]:.4f})[{tip_src}] "
+            f"复测残差={err*1000:.2f}mm（此拍不改 XY）"
+        )
+        return q, Tee, merged
+
+    def _oneshot_align_move(self, q, Tee, tgt_b, gxy, err):
+        """单次精拍只走这一步。返回 (q, Tee, 是否走了)。"""
+        if err <= self.align_tol:
+            self.get_logger().info(
+                f"单次精拍开环残差 {err*1000:.2f}mm 已在容差内，这一步不横移"
+            )
+            return q, Tee, False
+        raw = np.array([float(tgt_b[0]) - float(gxy[0]), float(tgt_b[1]) - float(gxy[1])])
+        n_raw = float(np.linalg.norm(raw))
+        max_step = oneshot_align_step_m(n_raw)
+        step = raw
+        if n_raw > max_step + 1e-9:
+            step = raw * (max_step / n_raw)
+            self.get_logger().warn(
+                f"  单次精拍步长 {n_raw*1000:.1f}mm 超过 "
+                f"{max_step*1000:.0f}mm（不像框心到 k1 的半孔距），截断。"
+                "截断后下降补 XY 也补不完，会留下厘米级残差"
+            )
+        else:
+            self.get_logger().info(
+                f"  单次精拍这一步走完 {n_raw*1000:.1f}mm（框心到目标孔，不再用 12mm 封顶）"
+            )
+        move = np.array([
+            float(Tee[0, 3]) + float(step[0]),
+            float(Tee[1, 3]) + float(step[1]),
+            self.hover_z,
+        ])
+        hop_tol = 0.00022 if err < 0.003 else max(0.0003, min(0.0005, 0.25 * err))
+        hop_v = self.align_speed if err > 0.005 else min(self.align_speed, 0.016)
+        self._state("align_move_once")
+        ok, q, Tee = self._goto(
+            q, Tee, move, verticalize=True,
+            tol_m=hop_tol, tol_tilt=self.vert_tol_rad * 2.0,
+            tag="align_once", v=hop_v,
+            max_hops=8, settle_s=max(0.35, self.settle_sec),
+            min_dur=0.35, strict_xy=True,
+        )
+        self._pin(q)
+        if not ok:
+            self.get_logger().warn(
+                "单次精拍这一步没走到位；残差以随后核验拍为准，不把 hop 容差当对上"
+            )
+        return q, Tee, True
+
+    def _trim_xy_keep_hover_tip(self, q, Tee, final: Dict[str, Any], z_target_m=None):
+        """观察高重交孔，规尖沿用悬停冻住的偏移。只许一跳、XY ≤3mm。
+
+        2026-10-13 真机两遍：走后核验 0.4~0.7mm，降后交平面漂 4~5mm；观测高度
+        深度把夹爪当尖，两拍差 8~36mm，重测守卫把该补的 4mm 也拒掉了。悬停规尖
+        只有 0.1mm 量级，沿用它，只补孔 XY。没有冻住的偏移就不许用法兰凑。
+
+        同日第二次：两跳合计 +4.3mm X 把近距检测带崩（k1 像素 446→403，间距
+        60→45mm，残差 2.6→14.8mm），流水线还把走之前的 2.61mm 当终值。所以
+        只许一跳、步长 ≤3mm；超过 8mm 根本不动。
+
+        ``z_target_m`` 有值时这一跳同时收到贴面法兰高（观察高测补偿，斜线一步
+        贴面）。贴面复拍只记账：近了画面更容易漂，不按近距那一拍撤回观察高的解。
+        """
+        if self._tip_off is None:
+            self.get_logger().error(
+                "下降后补 XY 需要悬停冻住的规尖偏移；没有就不许用法兰凑，保持原地"
+            )
+            return q, Tee, final
+        off = np.asarray(self._tip_off, dtype=float).reshape(2)
+        final_in = final
+        z_hold = float(Tee[2, 3])
+
+        def _measure(src: Dict[str, Any], tag: str):
+            nonlocal Tee
+            try:
+                _bgr, _depth_m, _intr, res = self._snap_holes(skip_center_gate=True)
+            except Exception as exc:  # noqa: BLE001
+                self.get_logger().warn(f"{tag}复拍失败，保持原地：{exc}")
+                return None
+            if not res.get("status"):
+                self.get_logger().warn(f"{tag}丢孔（{res.get('msg')}），不再改 XY")
+                return None
+            hb = res.get("hole_base")
+            z_wp = float(res.get("z_wp") or 0.0)
+            if hb is None or len(hb) != 2 or z_wp <= 0.0:
+                self.get_logger().warn(f"{tag}没有孔的基座坐标，不再改 XY")
+                return None
+            left_b = np.asarray(hb[0], dtype=float)
+            right_b = np.asarray(hb[1], dtype=float)
+            k1_b, k2_b = (
+                (left_b, right_b) if self.k1_label == "left" else (right_b, left_b)
+            )
+            tgt = k1_b if self.target_hole == "k1" else k2_b
+            Tee_now = self._lookup(self.base_frame, self.ee_frame)
+            if Tee_now is not None:
+                Tee = Tee_now
+            gxy = np.array(
+                [float(Tee[0, 3]) + float(off[0]), float(Tee[1, 3]) + float(off[1])]
+            )
+            raw = np.array([float(tgt[0]) - gxy[0], float(tgt[1]) - gxy[1]])
+            err = float(np.linalg.norm(raw))
+            pair = hole_pair_span_m(k1_b, k2_b)
+            rec = dict(src)
+            rec["residual_mm"] = round(err * 1000.0, 2)
+            rec["tip_offset_m"] = [round(float(off[0]), 5), round(float(off[1]), 5)]
+            rec["gauge_xy_m"] = [round(float(gxy[0]), 5), round(float(gxy[1]), 5)]
+            rec["gauge_source"] = "视觉规尖(悬停冻结，下降后只重交孔)"
+            rec["k1_base_m"] = [round(float(v), 5) for v in k1_b]
+            rec["k2_base_m"] = [round(float(v), 5) for v in k2_b]
+            rec["hover_z_m"] = round(float(Tee[2, 3]), 4)
+            rec["pair_span_mm"] = round(pair * 1000.0, 2)
+            rec["residual_remeasured"] = True
+            rec["align_trusted"] = True
+            rec = self._stamp_bias(rec, tgt_b=tgt, gxy=gxy, tag=tag)
+            snaps = list(src.get("snaps") or [])
+            snaps.append({
+                "tag": rec.get("tag"),
+                "residual_mm": rec.get("residual_mm"),
+                "err_xy_m": rec.get("err_xy_m"),
+                "along_look_mm": rec.get("along_look_mm"),
+                "along_right_mm": rec.get("along_right_mm"),
+                "k1_base_m": rec.get("k1_base_m"),
+                "gauge_xy_m": rec.get("gauge_xy_m"),
+                "gauge_source": rec.get("gauge_source"),
+                "tip_offset_m": rec.get("tip_offset_m"),
+                "hover_z_m": rec.get("hover_z_m"),
+                "pair_span_mm": rec.get("pair_span_mm"),
+            })
+            rec["snaps"] = snaps
+            rec["ok"] = err <= self.align_tol
+            rec["trim_reverted"] = False
+            self._publish_result(rec)
+            self.get_logger().info(
+                f"[{tag}] 工具=({gxy[0]:.4f},{gxy[1]:.4f})"
+                f"[悬停冻结] 残差={err * 1000:.2f}mm 间距={pair * 1000:.1f}mm —— 不重测规尖"
+            )
+            return rec, err, raw, pair
+
+        def _revert(xy_flange) -> None:
+            nonlocal q, Tee
+            back = np.array([float(xy_flange[0]), float(xy_flange[1]), z_hold])
+            okb, q, Tee = self._goto(
+                q, Tee, back, verticalize=True,
+                tol_m=0.0004, tol_tilt=self.vert_tol_rad * 2.0,
+                tag="trim_xy_revert", v=min(float(self.align_speed), 0.010),
+                max_hops=4, settle_s=0.30, strict_xy=True,
+            )
+            self._pin(q)
+            if not okb:
+                self.get_logger().error("下降后补孔撤回没走到，位置以当前 FK 为准")
+
+        if not rclpy.ok():
+            return q, Tee, final_in
+        measured = _measure(final_in, "下降后补孔 0")
+        if measured is None:
+            return q, Tee, final_in
+        rec, err, raw, pair = measured
+        z_goal = z_hold
+        blend_z = False
+        if z_target_m is not None:
+            z_goal = min(z_hold, float(z_target_m))
+            blend_z = (z_hold - z_goal) > 0.0005
+        if not hole_pair_span_ok(pair):
+            self.get_logger().error(
+                f"下降后两孔间距 {pair * 1000:.1f}mm 不在 50–70mm，检测漂了，不动"
+            )
+            return q, Tee, final_in
+        if err > ONCE_TRIM_REFUSE_M:
+            self.get_logger().error(
+                f"下降后要对 {err * 1000:.1f}mm，超过 {ONCE_TRIM_REFUSE_M * 1000:.0f}mm "
+                "—— 不像交平面漂移，停在原地"
+            )
+            return q, Tee, final_in
+        need_xy = err > self.align_tol
+        if (not need_xy) and (not blend_z):
+            self.get_logger().info(
+                f"下降后 XY 已在容差内（{err * 1000:.2f}mm），高度保持 {z_hold:.4f}"
+            )
+            return q, Tee, rec
+        step = np.zeros(2, dtype=float) if not need_xy else np.asarray(raw, dtype=float)
+        if need_xy and err > ONCE_TRIM_MAX_STEP_M:
+            step = raw * (ONCE_TRIM_MAX_STEP_M / err)
+        xy_before = np.array([float(Tee[0, 3]), float(Tee[1, 3])])
+        move = np.array([
+            float(Tee[0, 3]) + float(step[0]),
+            float(Tee[1, 3]) + float(step[1]),
+            z_goal,
+        ])
+        hop_tag = "trim_blend_to_final" if blend_z else "trim_xy_keep_tip"
+        hop_v = (
+            min(float(getattr(self, "final_descent_speed", 0.005) or 0.005), 0.008)
+            if blend_z
+            else min(float(self.align_speed), 0.010)
+        )
+        if blend_z:
+            self.get_logger().info(
+                f"观察高斜线贴面 Δxy=({step[0] * 1000:+.1f},{step[1] * 1000:+.1f})mm "
+                f"Δz={(z_goal - z_hold) * 1000:+.1f}mm → 法兰 Z {z_goal:.4f}"
+            )
+        ok, q, Tee = self._goto(
+            q, Tee, move, verticalize=True,
+            tol_m=0.0004, tol_tilt=self.vert_tol_rad * 2.0,
+            tag=hop_tag, v=hop_v,
+            max_hops=4, settle_s=0.30, strict_xy=True,
+        )
+        self._pin(q)
+        if not ok:
+            self.get_logger().warn("下降后 XY 修正没走到，停；残差以走前重测为准")
+            return q, Tee, rec
+        if abs(float(Tee[2, 3]) - z_goal) > 0.002:
+            self.get_logger().error(
+                f"下降后修正把高度从 {z_hold:.4f} 带到了 {float(Tee[2, 3]):.4f}"
+                f"（目标 {z_goal:.4f}），撤回"
+            )
+            _revert(xy_before)
+            rec["trim_reverted"] = True
+            rec["ok"] = err <= self.align_tol
+            return q, Tee, rec
+        after = _measure(rec, "下降后补孔核验")
+        if blend_z:
+            if after is None or (not hole_pair_span_ok(after[3])) or after[1] > ONCE_TRIM_REFUSE_M:
+                self.get_logger().warn(
+                    "贴面复拍不可信，斜线位姿保留（补偿按观察高那一拍）"
+                )
+                rec["close_snap_untrusted"] = True
+                rec["hover_z_m"] = round(float(Tee[2, 3]), 4)
+                rec["ok"] = err <= self.align_tol
+                self._publish_result(rec)
+                return q, Tee, rec
+            rec2, err2, _raw2, _pair2 = after
+            rec2["ok"] = err2 <= self.align_tol
+            rec2["trim_reverted"] = False
+            rec2["close_snap_untrusted"] = False
+            self._publish_result(rec2)
+            return q, Tee, rec2
+        if after is None:
+            self.get_logger().error("下降后补孔走完复拍失败，撤回这一跳")
+            _revert(xy_before)
+            rec["trim_reverted"] = True
+            rec["ok"] = err <= self.align_tol
+            return q, Tee, rec
+        rec2, err2, _raw2, pair2 = after
+        worse_pair = (not hole_pair_span_ok(pair2)) or (pair2 < pair - 0.002)
+        worse_res = err2 > err + 1e-6
+        if worse_pair or worse_res:
+            self.get_logger().error(
+                f"下降后补了 {float(np.linalg.norm(step)) * 1000:.1f}mm 后变差"
+                f"（残差 {err * 1000:.2f}→{err2 * 1000:.2f}mm，"
+                f"间距 {pair * 1000:.1f}→{pair2 * 1000:.1f}mm），撤回这一跳"
+            )
+            _revert(xy_before)
+            rec["trim_reverted"] = True
+            rec["ok"] = err <= self.align_tol
+            rec["snaps"] = rec2.get("snaps") or rec.get("snaps")
+            self._publish_result(rec)
+            return q, Tee, rec
+        rec2["ok"] = err2 <= self.align_tol
+        rec2["trim_reverted"] = False
+        self._publish_result(rec2)
+        return q, Tee, rec2
+
     def _trim_xy_after_descent(self, q, Tee, final: Dict[str, Any]):
         """下降之后、保持当前高度，用这一高度的规尖和孔再对一次 XY。
 
@@ -1759,9 +2213,24 @@ class Stage2Locate(TolerantNode):
         只动了 0.2mm。画面里针在孔的上方一截，主要是 15mm 间隙的透视，横着的
         那 2mm 才是要补的。
 
-        只用本高度新量的规尖，不沿用悬停时冻住的偏移。总修正超过 8mm 就不动
+        多走多拍：只用本高度新量的规尖，不沿用悬停时冻住的偏移。总修正超过 8mm
-        —— 那一档是夹爪/杆身，不是针。量不到规尖也不动，悬停对准的结果留着。
+        就不动 —— 那一档是夹爪/杆身，不是针。量不到规尖也不动，悬停对准的结果留着。
+        单次精拍：观测高度深度会把夹爪当尖（2026-10-13 两拍差 8~36mm），改走
+        ``_trim_xy_keep_hover_tip``。
         """
+        if getattr(self, "hole_keypoint_once", False):
+            # 打桩测试把 stub 当 self 传入未绑定方法，必须点到类上的实现。
+            z_target = None
+            if bool(getattr(self, "final_descent_enable", False)):
+                tip = float(getattr(self, "tool_tip_below_flange_m", 0.0) or 0.0)
+                surf = float(getattr(self, "surface_z_m", 0.0) or 0.0)
+                if tip > 0.0 and surf > 0.0:
+                    z_target = flange_z_for_gap_m(
+                        tip, surf, getattr(self, "final_gap_m", 0.002)
+                    )
+            return Stage2Locate._trim_xy_keep_hover_tip(
+                self, q, Tee, final, z_target_m=z_target
+            )
         if not self.tip_vision:
             return q, Tee, final
         final_in = final
@@ -2306,11 +2775,26 @@ class Stage2Locate(TolerantNode):
                 if off is not None and tlen is not None:
                     self._tip_samp.append((off, tlen))
                     self._refresh_tip_offset()
+                    if self.hole_keypoint_once and self._tip_off is None:
+                        self._tip_off = np.asarray(off, dtype=float).reshape(2)
+                        self._tip_len_m = float(tlen)
+                        self.get_logger().warn(
+                            f"单次精拍凑不满 tip_calib_n={self.tip_calib_n}，本帧规尖偏移 "
+                            f"({off[0]*1000:+.1f},{off[1]*1000:+.1f})mm 仅用于这一步，未冻结"
+                        )
                     tip_src = (
                         f"视觉规尖(校准中 n={len(self._tip_samp)} {why})"
-                        if self._tip_off is None
+                        if (self._tip_off is None or (
+                            self.hole_keypoint_once and len(self._tip_samp) < self.tip_calib_n
+                        ))
                         else "视觉规尖(已冻结)"
                     )
+                    if self.hole_keypoint_once and self._tip_off is not None:
+                        tip_src = (
+                            "视觉规尖(已冻结)"
+                            if len(self._tip_samp) >= self.tip_calib_n
+                            else "视觉规尖(单次精拍·本帧)"
+                        )
                 else:
                     self.get_logger().warn(f"  规尖视觉量取失败：{why}")
             elif self._tip_off is not None:
@@ -2349,7 +2833,28 @@ class Stage2Locate(TolerantNode):
                 "hover_z_m": round(float(Tee[2, 3]), 4),
                 "iter": it,
                 "snap_frames": int(res.get("snap_frames") or 1),
+                "residual_remeasured": False,
             }
+            final = self._stamp_bias(final, tgt_b=tgt_b, gxy=gxy, tag=f"fine {it}")
+            snap0 = {
+                "tag": final.get("tag"),
+                "residual_mm": final.get("residual_mm"),
+                "err_xy_m": final.get("err_xy_m"),
+                "along_look_mm": final.get("along_look_mm"),
+                "along_right_mm": final.get("along_right_mm"),
+                "k1_base_m": final.get("k1_base_m"),
+                "k2_base_m": final.get("k2_base_m"),
+                "k1_px": final.get("k1_px"),
+                "k2_px": final.get("k2_px"),
+                "gauge_xy_m": final.get("gauge_xy_m"),
+                "gauge_source": final.get("gauge_source"),
+                "tip_offset_m": final.get("tip_offset_m"),
+                "hover_z_m": final.get("hover_z_m"),
+                "workspace_clipped": final.get("workspace_clipped"),
+            }
+            snaps = list(final.get("snaps") or [])
+            snaps.append(snap0)
+            final["snaps"] = snaps
             self.get_logger().info(
                 f"[fine {it}] k1=({k1_b[0]:.4f},{k1_b[1]:.4f}) k2=({k2_b[0]:.4f},{k2_b[1]:.4f}) "
                 f"zL={z_left*1000:.0f} zR={z_right*1000:.0f}mm "
@@ -2415,6 +2920,34 @@ class Stage2Locate(TolerantNode):
             self._publish_overlay(draw)
             self._publish_result(final)
 
+            if self.hole_keypoint_once:
+                commanded_mm = round(err * 1000.0, 2)
+                if self._tip_off is None and self.tip_vision:
+                    self.get_logger().error(
+                        "单次精拍没量到规尖，这一步对的是法兰。align_trusted=false，"
+                        "仍走一次并下降，方便目视；不把法兰对上说成成功"
+                    )
+                    final["ok"] = False
+                    final["align_trusted"] = False
+                    final["fail_reason"] = "未量到规尖偏移，工具位置退化为法兰轴线"
+                q, Tee, _moved = self._oneshot_align_move(q, Tee, tgt_b, gxy, err)
+                q, Tee, final = self._observe_holes(
+                    q, Tee, final, tag="走后核验"
+                )
+                final["commanded_residual_mm"] = commanded_mm
+                if not final.get("residual_remeasured"):
+                    self.get_logger().error(
+                        f"走后核验没复测到。开环指令残差 {commanded_mm:.2f}mm，"
+                        "不是 hop 到位，不把这次当对准成功"
+                    )
+                    final["ok"] = False
+                self._state("aligned")
+                self.get_logger().info(
+                    f"单次精拍悬停走完：指令 {commanded_mm:.2f}mm → "
+                    f"复测 {final.get('residual_mm')}mm；下降后还要补交平面漂的那几毫米"
+                )
+                break
+
             if err <= self.align_tol:
                 if self.tip_vision and self._tip_off is None:
                     # 容差达标了，但这一拍的"工具位置"其实是**法兰**（退路了）——
@@ -2503,10 +3036,27 @@ class Stage2Locate(TolerantNode):
         # ---- 4.5) 柔顺轻降到孔面上方 1-2mm（不接触）----
         # 下降量由**几何**决定（法兰 FK − 工具长 − 工件面 − final_gap），深度读数只
         # 做交叉核对，见 _descend_above_hole 的说明。
+        if self.hole_keypoint_once:
+            # 先降到观察高（约 15mm）再交孔；贴面由补孔斜线一步完成，不再 4mm 切到 2mm。
+            okd, q, Tee = self._descend_above_hole(
+                q, Tee,
+                target_gap_m=self.observe_gap_m,
+                step_m=ONCE_APPROACH_STEP_M,
+            )
+        else:
             okd, q, Tee = self._descend_above_hole(q, Tee)
         if not okd:
             self.get_logger().warn("轻降未完全到位，保持当前高度（安全优先）")
-        else:
+        if self.hole_keypoint_once:
+            # 悬停那一拍的基座 XY 不能带到观测高：前倾 30°，降 50mm 交点会漂约 4mm。
+            # 核验记账后补 XY；规尖沿用悬停冻结值，不在观测高度重测。
+            q, Tee, final = self._observe_holes(q, Tee, final, tag="降后核验")
+            q, Tee, final = self._trim_xy_after_descent(q, Tee, final)
+            tip_len = float(self.tool_tip_below_flange_m)
+            surf = float(self.surface_z_m)
+            if tip_len > 0.0 and surf > 0.0:
+                self.descent_final_gap_m = float(Tee[2, 3]) - tip_len - surf
+        elif okd:
             # 悬停残差在下降 60mm 之后会变大约 2mm（相机 30°，同一孔两个高度
             # 反投影对不齐）。在观测高度重测规尖，只补 XY。
             q, Tee, final = self._trim_xy_after_descent(q, Tee, final)

src/arm_application/test/test_overhead_oneshot.py

@@ -31,6 +31,8 @@ from arm_application.overhead_oneshot import (
     map_uv_to_depth,
     D405_MISS_BEFORE_D435_S,
     D435_MOVE_SPEED_SCALE,
+    D435_VENDOR_MOVEL_ACC_MPS2,
+    D435_VENDOR_MOVEL_VEL_MPS,
     D435_NEAR_CRUISE_MPS,
     D435_NEAR_HOP_MAX_M,
     D435_NEAR_LEFTOVER_M,
@@ -52,6 +54,15 @@ from arm_application.overhead_oneshot import (
     oneshot_shot_timed_out,
     oneshot_next_hop_m,
     oneshot_should_submit,
+    cam_xy_bias_axes,
+    decompose_base_xy,
+    hole_pair_span_m,
+    hole_pair_span_ok,
+    oneshot_align_step_m,
+    flange_z_for_gap_m,
+    ONCE_APPROACH_STEP_M,
+    ONCE_TRIM_MAX_STEP_M,
+    ONCE_TRIM_REFUSE_M,
     pixel_on_base_plane,
     select_oneshot_det,
     trap_acc_for_hop,
@@ -151,7 +162,7 @@ class TestHandoff:
         assert "d435_commanding" in perc
 
     def test_after_d435_wrist_tracks_box_center_then_hole_without_depth(self):
-        """交回 D405 追框心；二阶段多拍 k1/k2 闭环，孔坐标只交到工件面。"""
+        """交回 D405 追框心；本分支单次精拍 k1/k2，孔坐标只交到工件面。"""
         perc = (
             __import__("pathlib").Path(__file__).resolve().parents[1]
             / "arm_application" / "perception_node.py"
@@ -168,7 +179,36 @@ class TestHandoff:
         assert "align_max_iters" in stage2
         assert "像素交工件面" in stage2
         assert "det_depth = None if self.hole_visual_only else med_depth" in stage2
-        assert "hole_keypoint_once" not in stage2
+        assert 'self.hole_keypoint_once = _as_bool(stage2.get("hole_keypoint_once")' in stage2
+        obs = stage2[stage2.find("def _observe_holes"): stage2.find("def _oneshot_align_move")]
+        assert "_goto(" not in obs, "核验拍不许改 XY"
+        assert "residual_remeasured" in obs
+        desc = stage2[stage2.find("okd, q, Tee = self._descend_above_hole"):]
+        desc = desc[:1800]
+        assert "if self.hole_keypoint_once:" in desc
+        assert 'tag="降后核验"' in desc
+        assert "_trim_xy_after_descent" in desc
+        assert "target_gap_m=self.observe_gap_m" in desc
+        assert "ONCE_APPROACH_STEP_M" in desc
+        keep = stage2[
+            stage2.find("def _trim_xy_keep_hover_tip"): stage2.find("def _trim_xy_after_descent")
+        ]
+        assert "_tip_offset_from_depth" not in keep, "单次精拍下降后不许重测规尖"
+        assert "悬停冻结" in keep
+        assert "ONCE_TRIM_MAX_STEP_M" in keep
+        assert "hole_pair_span_ok" in keep
+        assert "range(3)" not in keep, "下降后补孔不许再连跳三次"
+        assert "撤回" in keep
+        assert "trim_blend_to_final" in keep
+        assert "斜线贴面" in keep
+        once_fn = stage2[stage2.find("def _oneshot_align_move"): stage2.find("def _trim_xy_keep_hover_tip")]
+        assert "oneshot_align_step_m(" in once_fn
+        assert "0.012 if n_raw > 0.025" not in once_fn
+        assert "from arm_application.overhead_oneshot import decompose_base_xy" in stage2 or (
+            "oneshot_align_step_m" in stage2 and "decompose_base_xy" in stage2
+        )
+        assert "def decompose_base_xy(" not in stage2
+        assert "def oneshot_align_step_m(" not in stage2
         servo = (
             __import__("pathlib").Path(__file__).resolve().parents[1]
             / "arm_application" / "servo_node.py"
@@ -196,6 +236,21 @@ class TestHandoff:
         assert abs(euler[1]) == pytest.approx(0.0, abs=1e-6)
         assert abs(euler[2]) == pytest.approx(0.0, abs=1e-6)
         assert "rdk_release_movel.py" in servo
+        movel = servo[servo.find("def _d435_vendor_movel"): servo.find("def _d435_oneshot_holds_locked")]
+        assert "D435_VENDOR_MOVEL_VEL_MPS" in movel
+        assert "D435_VENDOR_MOVEL_ACC_MPS2" in movel
+        assert '"--acc"' in movel
+        assert '"0.05"' not in movel
+        assert D435_VENDOR_MOVEL_VEL_MPS == pytest.approx(0.3)
+        assert D435_VENDOR_MOVEL_ACC_MPS2 == pytest.approx(1.5)
+        rel = (
+            __import__("pathlib").Path(__file__).resolve().parents[3]
+            / "scripts" / "rdk_release_movel.py"
+        ).read_text(encoding="utf-8")
+        assert f"default={D435_VENDOR_MOVEL_VEL_MPS}" in rel
+        assert f"default={D435_VENDOR_MOVEL_ACC_MPS2}" in rel
+        assert '"--acc"' in rel
+        assert 'prim["acc"]' in goto
         assert "d435_handback_sec" in servo
         assert "still_sec=max(0.0, self.d435_handback_sec)" in servo
         assert "wrist_align_sec" in servo
@@ -276,8 +331,10 @@ class TestHandoff:
 
     def test_whole_path_uses_one_cruise_and_an_arc(self):
         """远处仍 80 mm/s。近处必须另降一档。路径是圆弧，不是对着终点做 P。"""
-        assert D435_MOVE_SPEED_SCALE == 1.0
+        assert D435_MOVE_SPEED_SCALE == pytest.approx(1.5)
-        assert hybrid_cruise_vxy(0.08) == pytest.approx(0.08)
+        assert D435_VENDOR_MOVEL_VEL_MPS == pytest.approx(0.3)
+        assert D435_VENDOR_MOVEL_ACC_MPS2 == pytest.approx(1.5)
+        assert hybrid_cruise_vxy(0.08) == pytest.approx(0.12)
         hop_far, v_far = oneshot_hop_limits(0.20, 0.08)
         hop_mid, v_mid = oneshot_hop_limits(0.12, 0.08)
         hop_near, v_near = oneshot_hop_limits(0.074, 0.08)
@@ -405,7 +462,8 @@ class TestHandoff:
         hop_max, cruise = oneshot_hop_limits(leftover, 0.08)
         assert leftover <= D435_NEAR_LEFTOVER_M
         assert hop_max == pytest.approx(0.015)
-        assert cruise == pytest.approx(0.030)
+        assert cruise == pytest.approx(D435_NEAR_CRUISE_MPS)
+        assert cruise == pytest.approx(0.045)
         assert float(np.linalg.norm(dp)) == pytest.approx(0.015, abs=1e-9)
         assert abs(float(dp[2])) < 1e-9
         assert oneshot_needs_verticalize(0.03, 0.010, 0.015) is True
@@ -443,8 +501,8 @@ class TestHandoff:
         assert near[0][1] == "xy"
         assert float(np.linalg.norm(near[0][0])) == pytest.approx(0.037, abs=1e-9)
         assert abs(float(near[0][0][2])) < 1e-9
-        assert oneshot_full_cruise_mps(0.20, 0.08) == pytest.approx(D435_FULL_CRUISE_MPS)
+        assert oneshot_full_cruise_mps(0.20, 0.12) == pytest.approx(D435_FULL_CRUISE_MPS)
-        assert oneshot_full_cruise_mps(0.20, 0.08) < 0.08
+        assert oneshot_full_cruise_mps(0.20, 0.12) < 0.12
         assert oneshot_full_cruise_mps(0.05, 0.08) == pytest.approx(D435_NEAR_CRUISE_MPS)
         chopped = oneshot_cartesian_dp(
             [0.65, -0.11, 0.320], [0.58, -0.50], 0.320, gate_m=gate
@@ -452,16 +510,18 @@ class TestHandoff:
         assert float(np.linalg.norm(chopped)) == pytest.approx(FROZEN_J_HOP_MAX_M)
 
     def test_smooth_path_is_rest_to_rest_and_slows_at_the_end(self):
-        """300 mm @ 60 mm/s：头尾速度 0，起步 ≥3 s，峰值加速度必须低于旧的弹射档。"""
+        """300 mm @ 60 mm/s 的加减速形状：头尾速度 0，起步 ≥3 s，低于旧弹射档。"""
-        assert D435_FULL_ACC_M == pytest.approx(0.100)
+        assert D435_FULL_ACC_M == pytest.approx(0.150)
-        assert D435_FULL_DEC_M == pytest.approx(0.080)
+        assert D435_FULL_DEC_M == pytest.approx(0.120)
-        assert D435_FULL_CRUISE_MPS == pytest.approx(0.060)
+        assert D435_FULL_CRUISE_MPS == pytest.approx(0.090)
         a_now = cosine_peak_acc(D435_FULL_CRUISE_MPS, D435_FULL_ACC_M)
         a_old = cosine_peak_acc(0.08, 0.040)
         assert a_old > 0.12
-        assert a_now < 0.035
+        assert a_now < 0.055
-        assert a_now < 0.30 * a_old
+        assert a_now < 0.45 * a_old
-        T, v_peak, t_acc, t_cruise, d_acc, d_dec = smooth_path_params(0.30, 0.06)
+        T, v_peak, t_acc, t_cruise, d_acc, d_dec = smooth_path_params(
+            0.30, 0.06, d_acc=0.100, d_dec=0.080
+        )
         assert v_peak == pytest.approx(0.06)
         assert d_acc == pytest.approx(0.100)
         assert d_dec == pytest.approx(0.080)
@@ -492,7 +552,9 @@ class TestHandoff:
         q0 = np.zeros(7)
         q1 = np.zeros(7)
         q1[0] = 0.3
-        sched, T_move, vp = smooth_joint_schedule([q0, q1], 0.30, 0.06)
+        sched, T_move, vp = smooth_joint_schedule(
+            [q0, q1], 0.30, 0.06, d_acc=0.100, d_dec=0.080
+        )
         assert T_move == pytest.approx(T, abs=1e-6)
         assert vp == pytest.approx(0.06)
         assert float(np.linalg.norm(sched[0][1])) == pytest.approx(0.0, abs=1e-9)
@@ -709,3 +771,68 @@ class TestStillLock:
         p = np.array([0.50, -0.12])
         assert s.update(p, 0.0, tracking_ok=False) is False
         assert s.update(p, 10.0, tracking_ok=False) is False
+
+
+class TestHoleBiasAxes:
+    def test_look_along_x_right_along_y(self):
+        """相机朝 +X、画面右为 +Y：残差必须拆到这两轴，不许混。"""
+        T = np.eye(4)
+        # 列 = 相机轴在基座：X=+Y，Y=−Z，Z=+X
+        T[:3, :3] = np.array([
+            [0.0, 0.0, 1.0],
+            [1.0, 0.0, 0.0],
+            [0.0, -1.0, 0.0],
+        ], dtype=float)
+        axes = cam_xy_bias_axes(T)
+        assert axes is not None
+        look, right = axes
+        np.testing.assert_allclose(look, [1.0, 0.0], atol=1e-9)
+        np.testing.assert_allclose(right, [0.0, 1.0], atol=1e-9)
+        d = decompose_base_xy([0.010, 0.006], T)
+        assert d is not None
+        assert d["along_look_m"] == pytest.approx(0.010, abs=1e-9)
+        assert d["along_right_m"] == pytest.approx(0.006, abs=1e-9)
+
+    def test_straight_down_has_no_look_axis(self):
+        """光轴竖直朝下时水平投影退化，必须返回 None，不许用 (0,0) 硬拆。"""
+        T = np.eye(4)
+        T[1, 1] = -1.0
+        T[2, 2] = -1.0
+        assert cam_xy_bias_axes(T) is None
+        assert decompose_base_xy([0.01, 0.0], T) is None
+
+    def test_site_wires_keypoint_once_on_this_branch(self):
+        """本分支 site 必须打开单次精拍，否则实验跑的还是多走多拍。"""
+        from pathlib import Path
+
+        import yaml
+
+        site = yaml.safe_load(
+            (Path(__file__).resolve().parents[3] / "config" / "site.yaml").read_text(
+                encoding="utf-8"
+            )
+        )
+        st2 = (site.get("hole_detect") or {}).get("stage2") or {}
+        assert st2.get("hole_keypoint_once") is True
+        assert st2.get("hole_visual_only") is True
+
+    def test_oneshot_step_covers_half_hole_pair(self):
+        """框心到 k1 约 29mm：必须整步走完，不许再截成 12mm。"""
+        assert oneshot_align_step_m(0.02894) == pytest.approx(0.02894)
+        assert oneshot_align_step_m(0.012) == pytest.approx(0.012)
+        assert oneshot_align_step_m(0.050) == pytest.approx(0.040)
+        assert oneshot_align_step_m(0.050) > 0.012 + 1e-9
+
+    def test_once_trim_pair_window_and_step_cap(self):
+        """下降后补孔：60mm 间距可走；45mm 是检测漂了。一跳上限 3mm。"""
+        assert ONCE_TRIM_MAX_STEP_M == pytest.approx(0.003)
+        assert ONCE_TRIM_REFUSE_M == pytest.approx(0.008)
+        assert hole_pair_span_m([0.50, -0.10], [0.50, -0.16]) == pytest.approx(0.060)
+        assert hole_pair_span_ok(0.060) is True
+        assert hole_pair_span_ok(0.050) is True
+        assert hole_pair_span_ok(0.070) is True
+        assert hole_pair_span_ok(0.045) is False
+        assert hole_pair_span_ok(0.080) is False
+        assert ONCE_APPROACH_STEP_M == pytest.approx(0.020)
+        assert flange_z_for_gap_m(0.223, 0.022, 0.002) == pytest.approx(0.247)
+        assert flange_z_for_gap_m(0.223, 0.022, 0.015) == pytest.approx(0.260)

src/arm_application/test/test_stage2_descent_clamp.py

@@ -37,6 +37,7 @@ from typing import Any, List, Optional
 
 import numpy as np
 
+from arm_application.overhead_oneshot import ONCE_APPROACH_STEP_M
 from arm_application.stage2_locate_node import (
     Stage2Locate,
     contact_armed_by_gap,
@@ -265,23 +266,71 @@ def test_zero_tool_length_refuses_to_descend():
 def test_ft_contact_stops_and_backs_off():
     """腕部力突变必须立即停并回退 —— 这是与测距无关的**物理**兜底。
 
-    只有几何间隙已经贴近工件才认接触。两步（8mm）时还离面 45mm，力门槛不算。
+    力从第 8 步（间隙约 21mm）就超门槛，但门控是 ``final_gap+4mm``（6mm）。
+    21mm / 10mm 这一档必须继续降；进到 6mm 才许停，且不许把 2mm 目标走完。
     """
     st = _StubStage2(contact_after_steps=8)
     ok, Tee, st = _run(st)
 
     assert ok is True, "接触后停住即算安全收工"
     assert any("腕部力突变" in m for m in st.logs), "碰到工件却没喊"
-    # 进到接触门控之后才停，不许把整段预算走完
+    assert any("不当作碰到" in m for m in st.logs), "21mm 间隙时力超了也要明说不当成碰到"
-    assert sum(st.steps_mm) < _BUDGET * 1000 - 5.0, "力突变后还在继续降"
+    assert sum(st.steps_mm) > 32.0, "力从 21mm 间隙就热，必须穿过 10mm 假接触区"
-    # 回退 1mm：最终位置应高于"最后一步的下发目标"
+    assert sum(st.steps_mm) < _BUDGET * 1000 - 1.0, "力突变后还在继续降到 2mm"
     assert Tee[2, 3] > _HOVER_Z - _BUDGET, "回退没生效"
 
 
 def test_contact_not_armed_while_still_high_above_the_part():
-    """2026-10-13：法兰 0.384、间隙 138mm、ΔFz=+2.87N 不算碰到。"""
+    """远场 138mm 和近场 10mm / ΔFz≈3N 都不算碰到；6mm 才武装。"""
     assert contact_armed_by_gap(0.1375, 0.015) is False
-    assert contact_armed_by_gap(0.020, 0.015) is True
+    assert contact_armed_by_gap(0.020, 0.015) is False
+    assert contact_armed_by_gap(0.010, 0.015) is False
+    assert contact_armed_by_gap(0.0095, 0.015) is False
+    assert contact_armed_by_gap(0.006, 0.015) is True
+    assert contact_armed_by_gap(0.005, 0.015) is True
+
+
+def test_oneshot_approach_stops_at_observe_gap_with_larger_steps():
+    """单次精拍第一段只降到 15mm，步长 20mm（约 3 步），不许 4mm 切到 2mm。"""
+    import rclpy
+
+    if not rclpy.ok():
+        rclpy.init()
+    st = _StubStage2()
+    Tee0 = np.eye(4)
+    Tee0[2, 3] = _HOVER_Z
+    ok, _q, Tee = Stage2Locate._descend_above_hole(  # type: ignore[arg-type]
+        st, np.zeros(7), Tee0, target_gap_m=0.015, step_m=ONCE_APPROACH_STEP_M
+    )
+    assert ok is True
+    gap = float(Tee[2, 3]) - _TOOL_LEN - _SURFACE_Z
+    assert abs(gap - 0.015) < 0.001, f"应停在观察高 15mm，实际 {gap * 1000:.1f}mm"
+    assert max(st.steps_mm) <= ONCE_APPROACH_STEP_M * 1000 + 1e-6
+    assert len(st.steps_mm) <= 3
+    assert abs(sum(st.steps_mm) - (_GAP0 - 0.015) * 1000) < 1.5
+
+
+def test_oneshot_approach_does_not_treat_force_as_contact():
+    """观察高 15mm 仍在接触门控之外，力再热也不许当碰到。"""
+
+    class _AlwaysHot(_StubStage2):
+        def _contact_detected(self, _base_fz: float) -> bool:
+            return True
+
+    import rclpy
+
+    if not rclpy.ok():
+        rclpy.init()
+    st = _AlwaysHot()
+    Tee0 = np.eye(4)
+    Tee0[2, 3] = _HOVER_Z
+    ok, _q, Tee = Stage2Locate._descend_above_hole(  # type: ignore[arg-type]
+        st, np.zeros(7), Tee0, target_gap_m=0.015, step_m=ONCE_APPROACH_STEP_M
+    )
+    assert ok is True
+    gap = float(Tee[2, 3]) - _TOOL_LEN - _SURFACE_Z
+    assert abs(gap - 0.015) < 0.001
+    assert not any("腕部力突变" in m for m in st.logs)
 
 
 def test_ft_drift_far_from_surface_does_not_stop_on_the_first_step():
@@ -293,7 +342,8 @@ def test_ft_drift_far_from_surface_does_not_stop_on_the_first_step():
 
     ok, _Tee, st = _run(_AlwaysHot())
     assert ok is True
-    assert sum(st.steps_mm) >= 28.0, "离面 53mm 时力超门槛也不该第一步就停"
+    assert sum(st.steps_mm) >= 40.0, "离面 53mm 时力超门槛也不该第一步就停"
+    assert any("不当作碰到" in m for m in st.logs)
     assert any("腕部力突变" in m for m in st.logs)
 
 

src/arm_application/test/test_stage2_tip_align.py

@@ -442,6 +442,7 @@ class _TrimStub:
     """下降后 XY 修正用到的成员。孔在基座里不动，规尖偏移是常数。"""
 
     tip_vision = True
+    hole_keypoint_once = False
     k1_label = "left"
     target_hole = "k1"
     align_tol = 0.00025
@@ -449,15 +450,27 @@ class _TrimStub:
     vert_tol_rad = 0.02
     base_frame = "world"
     ee_frame = "flange"
+    cam_frame = "cam"
+    image_topic = "/cam/color"
     _tip_off = np.array([0.01, 0.0])
     _tip_samp: list = []
     _tip_len_m = 0.22
+    _ws_clipped = False
+    final_descent_enable = False
+    tool_tip_below_flange_m = 0.223
+    surface_z_m = 0.022
+    final_gap_m = 0.002
+    final_descent_speed = 0.005
 
     def __init__(self, err_xy=(0.0026, -0.0004), tip=None) -> None:
         self.hole = np.array([0.50 + err_xy[0], -0.10 + err_xy[1], 0.022])
         self.tip = None if tip is False else np.array([0.0015, -0.0012])
         self.moves: list = []
+        self.tip_calls = 0
         self._logger = _StubLogger()
+        self.pair_dy = -0.060
+        self.hole_after_move = None
+        self.pair_dy_after_move = None
 
     def get_logger(self):
         return self._logger
@@ -469,17 +482,42 @@ class _TrimStub:
         return None
 
     def _snap_holes(self, *, skip_center_gate: bool):
+        hole = self.hole
+        pair_dy = self.pair_dy
+        if self.moves:
+            if self.hole_after_move is not None:
+                hole = self.hole_after_move
+            if self.pair_dy_after_move is not None:
+                pair_dy = self.pair_dy_after_move
         res = {
             "status": True,
-            "hole_base": [self.hole.tolist(), (self.hole + np.array([0.0, -0.060, 0.0])).tolist()],
+            "hole_base": [hole.tolist(), (hole + np.array([0.0, pair_dy, 0.0])).tolist()],
             "z_wp": 0.127,
         }
         return None, None, {}, res
 
     def _tip_offset_from_depth(self, *_a, **_kw):
+        self.tip_calls += 1
         if self.tip is None:
             return None, None, "没看到规"
-        return self.tip.copy(), 0.222, "px=(447,226)"
+        off = self.tip.copy()
+        if self.hole_keypoint_once:
+            off = off + np.array([0.018 * (self.tip_calls % 3), 0.0])
+        return off, 0.222, "px=(447,226)"
+
+    def _stamp_bias(self, rec, *, tgt_b, gxy, tag):
+        rec = dict(rec)
+        rec["tag"] = tag
+        rec["err_xy_m"] = [
+            round(float(tgt_b[0]) - float(gxy[0]), 5),
+            round(float(tgt_b[1]) - float(gxy[1]), 5),
+        ]
+        rec["along_look_mm"] = None
+        rec["along_right_mm"] = None
+        return rec
+
+    def _publish_result(self, _payload) -> None:
+        return None
 
     def _goto(self, _q, Tee, target, **_kw):
         Tee = np.array(Tee, float)
@@ -535,3 +573,170 @@ def test_trim_does_not_move_when_the_tip_is_missing():
     assert not st.moves
     assert abs(float(Tee[0, 3]) - 0.50) < 1e-9
     assert final["gauge_source"] == "视觉规尖(已冻结)"
+
+
+def test_once_trim_keeps_hover_tip_when_depth_jumps():
+    """单次精拍：沿用悬停规尖，只跳一次、步长 ≤3mm，剩下的不许再追。
+
+    2026-10-13：两跳合计 4.3mm 把近距检测带崩。5mm 交平面漂只许吃掉 3mm。
+    """
+    frozen = np.array([0.0001, -0.0003])
+    st = _TrimStub(err_xy=(0.0044, -0.0024))
+    st.hole_keypoint_once = True
+    st._tip_off = frozen.copy()
+    st.align_tol = 0.00025
+    _q, Tee, final = _trim(st)
+    assert st.tip_calls == 0, "单次精拍下降后不许再走深度重测规尖"
+    assert abs(float(Tee[2, 3]) - 0.260) < 1e-9, "下降后修正不许改高度"
+    assert len(st.moves) == 1, f"只许一跳，实际 {len(st.moves)} 跳"
+    hop = float(np.hypot(float(st.moves[0][0]) - 0.50, float(st.moves[0][1]) + 0.10))
+    assert hop <= 0.003 + 1e-9, f"一跳 {hop*1000:.2f}mm 超过 3mm"
+    gxy = np.array([float(Tee[0, 3]) + frozen[0], float(Tee[1, 3]) + frozen[1]])
+    err = float(np.hypot(gxy[0] - st.hole[0], gxy[1] - st.hole[1]))
+    assert 0.0015 <= err <= 0.0025, f"3mm 一跳后应剩约 2mm，实际 {err*1000:.2f}mm"
+    assert final["residual_mm"] == pytest.approx(err * 1000.0, abs=0.02)
+    assert "悬停冻结" in final["gauge_source"]
+    assert final["residual_remeasured"] is True
+    assert final.get("trim_reverted") is False
+
+
+def test_once_trim_refuses_without_frozen_tip():
+    """没有悬停冻住的规尖，不许用法兰或乱跳的深度尖去补。"""
+    st = _TrimStub(err_xy=(0.0044, 0.0))
+    st.hole_keypoint_once = True
+    st._tip_off = None
+    _q, Tee, final = _trim(st)
+    assert not st.moves
+    assert st.tip_calls == 0
+    assert abs(float(Tee[0, 3]) - 0.50) < 1e-9
+    assert any("冻住的规尖" in m for m in st._logger.msgs)
+
+
+def test_once_trim_refuses_a_centimeter_scale_hole_shift():
+    """孔 XY 要补到厘米，不是交平面那 4mm，必须停。"""
+    st = _TrimStub(err_xy=(0.014, 0.0))
+    st.hole_keypoint_once = True
+    st._tip_off = np.array([0.0001, -0.0003])
+    _q, Tee, final = _trim(st)
+    assert not st.moves
+    assert final["residual_mm"] == 0.22
+    assert any("不像交平面" in m for m in st._logger.msgs)
+
+
+def test_once_trim_reverts_when_pair_breaks():
+    """一跳后两孔间距从 60mm 掉到 45mm：检测漂了，必须撤回。"""
+    frozen = np.array([0.0001, -0.0003])
+    st = _TrimStub(err_xy=(0.0026, 0.0))
+    st.hole_keypoint_once = True
+    st._tip_off = frozen.copy()
+    st.pair_dy_after_move = -0.045
+    _q, Tee, final = _trim(st)
+    assert len(st.moves) == 2, "补完变差必须再走一跳撤回"
+    assert abs(float(Tee[0, 3]) - 0.50) < 1e-9
+    assert abs(float(Tee[1, 3]) + 0.10) < 1e-9
+    assert final.get("trim_reverted") is True
+    assert any("撤回" in m for m in st._logger.msgs)
+    gxy = np.array([float(Tee[0, 3]) + frozen[0], float(Tee[1, 3]) + frozen[1]])
+    err = float(np.hypot(gxy[0] - st.hole[0], gxy[1] - st.hole[1]))
+    assert abs(err - 0.0025) < 2e-4, "撤回后残差应回到走前那一档"
+    assert final["residual_mm"] == pytest.approx(err * 1000.0, abs=0.05)
+
+
+def test_once_trim_reverts_when_residual_worsens():
+    """一跳后残差变大：停并撤回，终值不许还是走前那份假装没动。"""
+    frozen = np.array([0.0001, -0.0003])
+    st = _TrimStub(err_xy=(0.0026, 0.0))
+    st.hole_keypoint_once = True
+    st._tip_off = frozen.copy()
+    st.hole_after_move = np.array([0.50 + 0.015, -0.10, 0.022])
+    _q, Tee, final = _trim(st)
+    assert len(st.moves) == 2
+    assert abs(float(Tee[0, 3]) - 0.50) < 1e-9
+    assert final.get("trim_reverted") is True
+    assert any("撤回" in m for m in st._logger.msgs)
+    assert final["residual_remeasured"] is True
+    assert float(final["residual_mm"]) < 5.0, "撤回后不许把 15mm 漂检测当终值"
+
+
+def _enable_blend(st: _TrimStub) -> None:
+    """观察高 15mm（法兰 0.260）斜线收到贴面 2mm（法兰 0.247）。"""
+    st.final_descent_enable = True
+    st.tool_tip_below_flange_m = 0.223
+    st.surface_z_m = 0.022
+    st.final_gap_m = 0.002
+    st.final_descent_speed = 0.005
+
+
+def test_once_trim_blend_drops_z_and_xy():
+    """观察高测到的残差和剩余 Z 合成一跳，不许再切 4mm 贴面。"""
+    frozen = np.array([0.0001, -0.0003])
+    st = _TrimStub(err_xy=(0.0044, -0.0024))
+    st.hole_keypoint_once = True
+    st._tip_off = frozen.copy()
+    st.align_tol = 0.00025
+    _enable_blend(st)
+    _q, Tee, final = _trim(st)
+    assert len(st.moves) == 1, f"斜线只许一跳，实际 {len(st.moves)}"
+    assert abs(float(Tee[2, 3]) - 0.247) < 1e-9, "必须收到贴面法兰高"
+    hop_xy = float(np.hypot(float(st.moves[0][0]) - 0.50, float(st.moves[0][1]) + 0.10))
+    assert hop_xy <= 0.003 + 1e-9
+    gxy = np.array([float(Tee[0, 3]) + frozen[0], float(Tee[1, 3]) + frozen[1]])
+    err = float(np.hypot(gxy[0] - st.hole[0], gxy[1] - st.hole[1]))
+    assert 0.0015 <= err <= 0.0025
+    assert final.get("trim_reverted") is False
+
+
+def test_once_trim_blend_z_only_when_xy_already_in_tol():
+    """观察高 XY 已在容差，斜线仍要收 Z，不许停在 15mm。"""
+    frozen = np.array([0.0001, -0.0003])
+    st = _TrimStub(err_xy=(0.0001, -0.0003))
+    st.hole_keypoint_once = True
+    st._tip_off = frozen.copy()
+    _enable_blend(st)
+    _q, Tee, final = _trim(st)
+    assert len(st.moves) == 1
+    assert abs(float(Tee[0, 3]) - 0.50) < 1e-9
+    assert abs(float(Tee[2, 3]) - 0.247) < 1e-9
+    assert final.get("trim_reverted") is False
+
+
+def test_once_trim_blend_refuses_pair_does_not_drop_z():
+    """观察高间距已经坏了，不许斜线贴面。"""
+    st = _TrimStub(err_xy=(0.004, 0.0))
+    st.hole_keypoint_once = True
+    st._tip_off = np.array([0.0001, -0.0003])
+    st.pair_dy = -0.045
+    _enable_blend(st)
+    _q, Tee, final = _trim(st)
+    assert not st.moves
+    assert abs(float(Tee[2, 3]) - 0.260) < 1e-9
+    assert final["residual_mm"] == 0.22
+
+
+def test_once_trim_blend_keeps_pose_when_close_snap_breaks():
+    """贴面复拍间距漂了：近距不可信，观察高算的斜线位姿必须留下。"""
+    frozen = np.array([0.0001, -0.0003])
+    st = _TrimStub(err_xy=(0.0026, 0.0))
+    st.hole_keypoint_once = True
+    st._tip_off = frozen.copy()
+    st.pair_dy_after_move = -0.045
+    _enable_blend(st)
+    _q, Tee, final = _trim(st)
+    assert len(st.moves) == 1, "贴面复拍漂了不许撤回观察高"
+    assert abs(float(Tee[2, 3]) - 0.247) < 1e-9
+    assert abs(float(Tee[0, 3]) - 0.50) > 1e-4, "XY 补偿被撤回了"
+    assert final.get("trim_reverted") is not True
+    assert final.get("close_snap_untrusted") is True
+
+
+def test_once_trim_refuses_when_pair_already_broken():
+    """第一拍间距已经 45mm，检测没立住，不许再动。"""
+    st = _TrimStub(err_xy=(0.004, 0.0))
+    st.hole_keypoint_once = True
+    st._tip_off = np.array([0.0001, -0.0003])
+    st.pair_dy = -0.045
+    _q, Tee, final = _trim(st)
+    assert not st.moves
+    assert abs(float(Tee[0, 3]) - 0.50) < 1e-9
+    assert final["residual_mm"] == 0.22
+    assert any("检测漂了" in m for m in st._logger.msgs)