空回微抬改成一条厂家 MoveL，并按实测抬高降回。默认 Z50 会在还差约 0.5mm 时就报到位，微升降改用 ZFine 和到位等级 1。合到 0 时固件常报 grip=1，手指已在合拢端就继续顺时针，避免最后一转永远不发。快转样条按峰速不超过 0.90 rad/s 排程，避免时间到了还差几十度。

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

scripts/lib/flexiv_movel_ipc.py

@@ -18,15 +18,34 @@ 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 (
+def format_request(
+    seq: int, x: float, y: float, z: float, keep_z: bool, vel: float,
+    zone: str = "", toler: int = -1,
+) -> str:
+    """一行请求。不带 ``zone`` 时仍是 6 个数，插孔和粗定位保持厂家默认到位。
+
+    微升降要带过渡区和到位等级。厂家默认 ``Z50``（50 mm）加等级 3，
+    几毫米的直线会在还差约 0.5 mm 时就报到位。合法的最细过渡区是 ``ZFine``，
+    最严且仍会检查到位的等级是 1（0 表示不检查）。
+    """
+    if bool(zone) != (int(toler) >= 0):
+        raise ValueError("MoveL 过渡区和到位等级必须一起给")
+    if zone and (zone != "ZFine" or int(toler) != 1):
+        raise ValueError(f"MoveL 微升降只接受 ZFine 和到位等级 1，收到 {zone} {toler}")
+    line = (
         f"{int(seq)} {float(x):.6f} {float(y):.6f} {float(z):.6f} "
-        f"{1 if keep_z else 0} {float(vel):.4f}\n"
+        f"{1 if keep_z else 0} {float(vel):.4f}"
     )
+    if zone:
+        line += f" {zone} {int(toler)}"
+    return line + "\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)
+def write_request(
+    seq: int, x: float, y: float, z: float, keep_z: bool, vel: float,
+    zone: str = "", toler: int = -1,
+) -> None:
+    text = format_request(seq, x, y, z, keep_z, vel, zone, toler)
     tmp = REQ.with_name(REQ.name + ".tmp")
     tmp.write_text(text, encoding="utf-8")
     tmp.replace(REQ)