注释与提示信息全面中文化：源码 66 个 .py + 脚本/配置 45 个文件

背景：现场读代码的人只读中文。此前代码里的 docstring 是英文、行内注释是中文，一半英文一半中文反而更难看懂 —— 新手打开一个 .py 不知道这个模块为什么存在。范围（本仓库自己的代码，厂商上游不动） src/arm_application/** 37 个文件：servo_node / perception_node / handeye_* / dh_pgea / yolo_detector / kalman_filter / goto_ee_plane / dual_gripper … src/arm_interfaces/** 11 个文件：paths / manifest / loader / config_guard / errors … src/arm_control/** 5 个文件 src/arm_bringup/** 3 个 launch scripts/** 6 个 .py + 29 个 .sh（scripts/ 是"唯一操作入口"，用户屏幕上看到的就是这些提示，所以提示信息也一并中文化） config/ handeye/ devices/ src/arm_*/config/ 17 个 .yaml/.xml/.xacro/.cfg 口径（写进 docs/FRAMEWORK_RULES.md 新增的 R6.5，作为长期约束）注释、docstring、print/日志/异常里给人看的句子 = 中文；标识符、API 名、话题名、参数名、字段名、命令名 = 保留英文原文（用 `` `` 包起来）；单位、十六进制、协议报文、CRC 值、命令示例 = 原样保留； src/flexiv_*/ = 厂商上游代码，不许改也不许翻译（R4.4）。翻译保原意与原有详细程度：那些"为什么不能用另一种做法""踩过什么坑"的说明全部完整保留 —— 它们才是这份代码里最贵的部分。新增 scripts/check_text_only.py：只改文字时的自证工具人工 review 靠不住（115 个文件、3000 多行 diff）。这个脚本把改动前后的源码解析成语法树，删掉 docstring、抹平字符串常量、把 f-string 只留"插值了几次 + 插值是什么"，再比对：完全相同 = 改动范围内没有逻辑变化。留了一个口子：f-string 的插值按内容排序后再比 —— 因为中文语序常常要和英文反着来（f"on {port} read {idx} failed" → f"在 {port} 上读 {idx} 失败"），只换显示顺序不该判失败；但多插一个、少插一个、换掉被插入的表达式，立刻会报出来。本次 66 个 .py 全部通过该闸门。验收改动的 66 个 .py：scripts/check_text_only.py 全部通过（零逻辑变化） 45 个非 .py 文件：去注释后与 HEAD 逐字节相同（零配置变化） docstring 总数：没有一个文件减少（不存在"翻译时顺手删了说明"）单测：arm_application 233 / arm_driver_flexiv 69 / arm_interfaces 46 / arm_kinematics 24 / arm_sim_gazebo 236 = 608 passed，与改动前一致全部 .sh：bash -n 通过；并额外实际执行了 --help 验证（见下一个提交： bash -n 对 CRLF 脚本会漏报，只有真跑才暴露） Co-authored-by: Cursor <cursoragent@cursor.com>
2026-09-23 17:40:55 +08:00
parent d78e66ce98
commit 72353f3773
115 changed files with 1758 additions and 1573 deletions
@@ -34,6 +34,21 @@ alwaysApply: true
 - 把"降级跳过"写成"通过"。
 - 在中文路径下 `colcon build`。
 - 提交信息只写"改了什么"而不写"为什么"（中文，附实测验收数据）。
 - 在 `src/arm_*/**`、`scripts/**` 里写英文注释 / docstring / 提示信息（R6.5）。
  注释和给人看的句子**一律中文**；标识符、话题名、字段名、命令名**保留英文原文**
  （写在中文句子里时用 `` `` 包起来）。`src/flexiv_*/` 是厂商上游代码，不许翻译（R4.4）。
 ## 只改文字时，必须自证没碰逻辑
 翻译注释、补文档这类"纯文本"改动最容易出事（漏掉 f-string 插值、顺手改个变量名），
 而且人工 review 看不出来。提交前跑：
 ```bash
 python3 scripts/check_text_only.py
 ```
 它比对语法树（删 docstring + 抹平字符串常量 + f-string 只留插值），
 不一致就报出来。基准是 `git HEAD`，所以要在提交前跑。
 ## 出问题先查症状表
@@ -1,22 +1,22 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <!--
-  FastDDS profile for visual-servo hard paths (Ubuntu 22.04 / Humble default RMW).
+  visual-servo 硬实时路径用的 FastDDS 配置（Ubuntu 22.04 / Humble 默认 RMW）。
-  Use:
+  用法：
    export FASTRTPS_DEFAULT_PROFILES_FILE=~/ros2/config/fastdds_visual_servo.xml
    export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
-  Goals:
+  目标：
-  - Prefer UDP unicast for low-latency control topics
+    - 低延迟的控制话题优先使用 UDP 单播
-  - Shrink discovery / participant lease so late joiners do not stall 100 Hz
+    - 缩短发现 / 参与者租约，避免后加入的节点把 100 Hz 卡住
-  - Keep history shallow so subscribers never chase a backlog
+    - 保持较浅的历史队列，让订阅者永远不必去追积压的旧数据
 -->
 <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
  <transport_descriptors>
    <transport_descriptor>
      <transport_id>udp_transport</transport_id>
      <type>UDPv4</type>
-      <!-- Avoid shared-memory backlog stalls between heavy perception and servo -->
+      <!-- 避免繁重的感知与伺服之间因共享内存积压而卡顿 -->
      <maxMessageSize>65500</maxMessageSize>
    </transport_descriptor>
  </transport_descriptors>
@@ -29,7 +29,7 @@
      <useBuiltinTransports>false</useBuiltinTransports>
      <builtin>
        <discovery_config>
-          <!-- Faster discovery; reduce lease so dead peers drop quickly -->
+          <!-- 加快发现；缩短租约，让已经死掉的节点尽快被剔除 -->
          <leaseDuration>
            <sec>10</sec>
            <nanosec>0</nanosec>
@@ -50,7 +50,7 @@
    </rtps>
  </participant>
-  <!-- Perception image topics: BEST_EFFORT + KEEP_LAST (drop old frames) -->
+  <!-- 感知图像话题：BEST_EFFORT + KEEP_LAST（丢弃旧帧） -->
  <data_reader profile_name="sensor_best_effort">
    <qos>
      <reliability>
@@ -66,7 +66,7 @@
    </qos>
  </data_reader>
-  <!-- /visual_servo/cmd_vel: always only the newest Twist -->
+  <!-- /visual_servo/cmd_vel：永远只保留最新的 Twist -->
  <data_writer profile_name="cmd_vel_latest">
    <qos>
      <reliability>
@@ -351,6 +351,22 @@ ROS 构建对非 ASCII 路径会出各种问题。工作目录保持 ASCII（推
 格式：`<阶段号> <一句话结果>` + 正文说明"问题是什么、为什么这么改、怎么验证的"。
 修静默失效时，把"症状"写进去 —— 那是后来人搜索时唯一能匹配上的东西。
 ### R6.5 注释、docstring、提示信息一律用中文
 现场操作的人读中文。所以本仓库（`src/arm_*/**`、`scripts/**`）里：
 - **注释、docstring、`print`/日志/异常里给人看的句子 = 中文**
 - **标识符、API 名、话题名、参数名、字段名、文件名、命令名 = 保留英文原文**，
  写在中文句子里时用双反引号包起来，例如 ``SITE_ROS2_ROOT``、``devices/<kind>/<brand>/``
 - 单位、十六进制、协议报文、CRC 值、寄存器地址、命令示例**原样保留**
 **例外：`src/flexiv_*/` 是厂商上游代码，不许改、也不许翻译**（见 R4.4）。
 只改文本的提交，必须能自证"没碰到逻辑"。做法：把新旧两份源码都解析成 AST，
 删掉 docstring、把字符串常量抹平、把 f-string 只留"插值了几次 + 插值是什么"，
 再比对 —— 必须完全相同。这条检查会抓出"顺手改名""顺手调整语句顺序""漏掉一个
 f-string 插值"这类问题；而"为了中文语序把两个插值换个显示顺序"属于允许的改动。
 ---
 ## 7. 改动前的检查清单
@@ -1,8 +1,8 @@
-# Hand-eye auto calibration config.
+# 手眼自动标定配置。
 #
-# Workspace: ~/ros2
+# 工作空间：~/ros2
 #
-# Teach poses, then solve (prefer the wrapper):
+# 先示教位姿，再求解（推荐用封装脚本）：
 #   bash ~/ros2/scripts/run_handeye.sh teach
 #   bash ~/ros2/scripts/run_handeye.sh merge
 #   bash ~/ros2/scripts/run_handeye.sh calibrate
@@ -33,7 +33,7 @@ handeye_calibrate:
    start_index: 0
    min_poses: 5
-    # Camera on flange (eye-in-hand): D405
+    # 相机装在法兰上（eye-in-hand）：D405
    camera_source: "d405"            # d405 | d435 | manual
    camera_serial: ""
    camera_namespace: ""
@@ -1,38 +1,38 @@
-# Hand-eye taught joint poses (7 joints × N). Shared by calibrate + waypoints.
+# 手眼标定示教的关节位姿（7 关节 × N）。由 calibrate + waypoints 共用。
 #
-# Edit here, or:
+# 在这里编辑，或者：
 #   bash ~/ros2/scripts/run_handeye.sh teach
 #   bash ~/ros2/scripts/run_handeye.sh merge
 #
-# /** so any node name receives these params.
+# /** 这样任意节点名都能收到这些参数。
 /**:
  ros__parameters:
    num_poses: 12
-    # Taught 2026-09-02 via handeye_teach (RDK free-drive)
+    # 2026-09-02 通过 handeye_teach 示教（RDK 自由驱动）
    waypoint_positions: [
-      # pose 0
+      # 位姿 0
      -0.751865, -0.769544, 0.713051, 1.140021, -0.189690, 0.133294, -0.342184,
-      # pose 1
+      # 位姿 1
      -0.541318, -0.867448, 0.864868, 1.233428, -0.348623, 0.146046, -0.249719,
-      # pose 2
+      # 位姿 2
      -0.343594, -0.948720, 0.848287, 1.273279, -0.954339, 0.019624, 0.071314,
-      # pose 3
+      # 位姿 3
      -0.379884, -1.002193, 1.166394, 1.579194, -1.097644, -0.115142, -0.347640,
-      # pose 4
+      # 位姿 4
      -0.694826, -0.943610, 0.820178, 0.963907, -0.427763, 0.165888, -0.761562,
-      # pose 5
+      # 位姿 5
      -0.964023, -1.025531, 1.013898, 1.032490, -0.167151, 0.017429, -0.566073,
-      # pose 6
+      # 位姿 6
      -0.812664, -0.984951, 1.072695, 1.473414, -0.772970, 0.267382, 0.401278,
-      # pose 7
+      # 位姿 7
      -0.967527, -1.067191, 1.101680, 1.434183, -0.915388, 0.259486, 0.205330,
-      # pose 8
+      # 位姿 8
      -0.451483, -1.257408, 0.895481, 0.806594, -0.652401, -0.221453, 0.184234,
-      # pose 9
+      # 位姿 9
      -0.981877, -1.415295, 1.339004, 1.131348, -0.863194, 0.170952, 1.615403,
-      # pose 10
+      # 位姿 10
      -0.967163, -1.377051, 1.337671, 1.399175, -1.241886, 0.284547, 1.927756,
-      # pose 11
+      # 位姿 11
      -0.575271, -1.141574, 1.121935, 1.502172, -1.452029, 0.088544, 2.200019,
    ]
@@ -1,36 +1,36 @@
-# Right arm 91 taught joints for hand-eye.
+# 右臂 91 手眼标定示教的关节位姿。
-# Fill with:
+# 用以下命令填充：
 #   bash ~/ros2/scripts/run_handeye.sh --arm 91 teach
 #   bash ~/ros2/scripts/run_handeye.sh --arm 91 merge
 #
-# Do not reuse 89's waypoint_positions.
+# 不要复用 89 的 waypoint_positions。
 /**:
  ros__parameters:
    num_poses: 12
    waypoint_positions: [
-      # pose 0
+      # 位姿 0
      0.387144, -0.514770, -0.072695, 1.399918, 0.326501, 0.308501, -0.298212,
-      # pose 1
+      # 位姿 1
      0.459205, -0.747691, 0.042380, 0.908430, 0.436933, -0.099413, -0.398336,
-      # pose 2
+      # 位姿 2
      0.113162, -0.929267, -0.132969, 0.776759, 0.579499, -0.081271, -0.588715,
-      # pose 3
+      # 位姿 3
      0.823056, -1.181803, -0.157161, 0.344860, 0.073450, -0.436449, -0.333484,
-      # pose 4
+      # 位姿 4
      0.561660, 0.126479, -0.217063, 2.400061, 1.116363, 1.205544, -0.955972,
-      # pose 5
+      # 位姿 5
      0.749011, 0.058548, -0.125615, 1.951037, 0.399065, 0.388437, -1.057397,
-      # pose 6
+      # 位姿 6
      0.707611, -0.557010, -0.302672, 1.263980, 0.333093, 0.208229, -0.938372,
-      # pose 7
+      # 位姿 7
      0.197846, -0.400530, 0.263064, 1.879643, 0.062586, 1.133715, -0.791285,
-      # pose 8
+      # 位姿 8
      0.804027, -0.518162, 0.353947, 1.985246, -0.941195, 0.481238, -1.551113,
-      # pose 9
+      # 位姿 9
      0.296161, -0.030159, 0.317117, 2.335652, 1.072158, 1.524893, -0.591372,
-      # pose 10
+      # 位姿 10
      0.346492, -0.906418, -0.118014, 0.810448, 0.420788, -0.122104, -0.197859,
-      # pose 11
+      # 位姿 11
      1.031802, -0.422436, -0.640939, 1.656629, 0.375163, 0.470365, -0.328041,
    ]
@@ -1,5 +1,5 @@
-# Left arm 89 eye-in-hand. Do not use for 91.
+# 左臂 89 eye-in-hand. 不要用于 91。
-# Hand-eye result
+# 手眼标定结果
 # mode: eye_in_hand
 # camera_source: d405
 # views: 12
@@ -1,7 +1,7 @@
-# Hand-eye interactive waypoint tour (preview + Free Drive confirm).
+# 手眼标定交互式路点巡回（预览 + 自由驱动确认）。
-# Poses: sibling handeye_poses.yaml
+# 位姿来源：同目录的 handeye_poses.yaml
 #
-# Run:
+# 运行：
 #   bash ~/ros2/scripts/run_handeye.sh waypoints
 handeye_waypoints:
@@ -27,6 +27,15 @@
  - 注意 `run_sim.sh` 不是 Gazebo，它走 mock 驱动（假数据 + RViz），永远不会产生接触力
 **环境：** `env.sh` · `build_all.sh`  
 **RDK：** `test_rdk_python.sh` · `rdk_switch_tool.sh` · `rdk_drag_bridge.py`  
 **改注释/写文档后自检：** `python3 scripts/check_text_only.py`
  - 用途：证明这次改动**只动了文字**（注释、docstring、提示信息），没碰逻辑。
    它把改动前后的源码解析成语法树，删掉 docstring、抹平字符串常量后比对；
    "翻译 f-string 时漏掉一个 `{}` 插值""顺手改了个变量名"这类问题会被抓出来。
  - `python3 scripts/check_text_only.py` 查所有改过的 `.py`；也可以直接跟文件名。
    基准是 `git HEAD`，所以要在**提交之前**跑。老手滑手滑的代价比跑一条命令高得多。
  - 规矩写在 [docs/FRAMEWORK_RULES.md](../docs/FRAMEWORK_RULES.md) 的 R6.5。
    一句话：**注释/docstring/提示信息用中文；标识符、话题名、字段名保留英文**
    （但 `src/flexiv_*/` 是厂商上游代码，不许翻译，见 R4.4）。
 **搁置未用：** `fetch_isaac_flexiv.sh`（拉 Flexiv 的 Isaac Sim / RDK 源码到 `thirdparty/`；Isaac 路线目前搁置，Gazebo 是选定平台）
 `lib/parse_arm_args.sh` 解析 `--arm 89|91`。  
@@ -1,5 +1,5 @@
 #!/usr/bin/env bash
-# Build entire workspace: arm stack + flexiv real drivers
+# 构建整个工作区：机械臂栈 + Flexiv 真机驱动
 set -eo pipefail
 ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
@@ -1,5 +1,5 @@
 #!/usr/bin/env bash
-# Build Flexiv RDK v1.x into ~/flexiv_install (required for real robot / flexiv_hardware).
+# 把 Flexiv RDK v1.x 构建安装到 ~/flexiv_install（真机 / `flexiv_hardware` 必需）。
 set -euo pipefail
 ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
 RDK="${ROOT}/src/flexiv_rdk"
@@ -11,7 +11,7 @@ if [[ ! -d "$RDK" ]]; then
 fi
 echo "Building RDK thirdparty deps into $PREFIX ..."
-# Prefer system /opt/ros if present; else conda env already has compilers
+# 有系统 /opt/ros 就优先用它；否则 conda 环境里已经有编译器
 if [[ -f /opt/ros/humble/setup.bash ]]; then
  # shellcheck disable=SC1091
  source /opt/ros/humble/setup.bash
@@ -1,5 +1,5 @@
 #!/usr/bin/env bash
-# Build Flexiv hardware packages for real robot (after RDK installed to ~/flexiv_install)
+# 构建真机用的 Flexiv 硬件包（前提：RDK 已装到 ~/flexiv_install）
 set -eo pipefail
 ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
@@ -1,5 +1,5 @@
 #!/usr/bin/env bash
-# Check PC ↔ Flexiv robot network (addresses from site.yaml)
+# 检查 PC ↔ Flexiv 机器人网络（地址取自 site.yaml）
 set -euo pipefail
 ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
@@ -0,0 +1,170 @@
 #!/usr/bin/env python3
 """纯文本改动的安全闸门：证明一次改动**只动了文字**，没碰逻辑。
 =============================================================================
 为什么需要这个工具
 =============================================================================
 "把英文注释翻成中文""补一批说明文档"这类改动，看起来零风险，其实经常出事：
 改注释的人手滑动了变量名、顺手调了语句顺序、翻译 f-string 时漏掉一个 ``{}`` 插值。
 这些都不会报错，只在某天变成一句"结果怎么不对了"。
 人工 review 靠不住（几十个文件、几千行 diff，没人真的逐行看）。
 所以这里用 AST 做机器判据：**把两份源码解析成语法树，抹掉所有文字，再比对。**
 抹掉规则：
  1. 删掉所有 docstring
  2. 所有字符串常量换成同一个占位符
  3. f-string 只保留"插值了几次、插值的是什么表达式"，
     字面量部分整段丢掉、插值按内容排序
 第 3 条是为中文语序专门留的口子。英文 ``f"on {port} read {idx} failed"``
 翻成 ``f"在 {port} 上读 {idx} 失败"`` 只是把两个插值的**显示顺序**换了，
 语义没变，不该判失败。但只要有人**多插一个、少插一个、或换掉被插入的表达式**，
 这里立刻报出来。
 =============================================================================
 用法
 =============================================================================
    python3 scripts/check_text_only.py                # 检查所有改过的 .py
    python3 scripts/check_text_only.py <文件> [...]    # 只检查指定文件
    python3 scripts/check_text_only.py --staged       # 只检查已 git add 的
 比较基准固定为 ``git HEAD``（也就是"上一次提交"），所以要用在**提交之前**。
 退出码 0 = 改动范围内没有逻辑变化；非 0 = 有文件动了不该动的东西（会打印差异）。
 =============================================================================
 """
 from __future__ import annotations
 import argparse
 import ast
 import difflib
 import subprocess
 import sys
 from pathlib import Path
 REPO_ROOT = Path(__file__).resolve().parents[1]
 # 被抹平后的字符串统一长这样。用控制字符是为了保证它不会和真实内容撞车。
 PLACEHOLDER = "\0STR\0"
 class _Normalize(ast.NodeTransformer):
    """把语法树里的"文字"全部抹掉，只留下结构与标识符。"""
    def _strip_docstring(self, node):
        """删掉模块 / 类 / 函数的第一个字符串表达式（docstring）。"""
        self.generic_visit(node)
        body = getattr(node, "body", None)
        if body and isinstance(body[0], ast.Expr) and isinstance(body[0].value, ast.Constant) \
                and isinstance(body[0].value.value, str):
            node.body = body[1:]
        return node
    visit_Module = _strip_docstring
    visit_FunctionDef = _strip_docstring
    visit_AsyncFunctionDef = _strip_docstring
    visit_ClassDef = _strip_docstring
    def visit_Constant(self, node: ast.Constant):
        if isinstance(node.value, str):
            return ast.copy_location(ast.Constant(value=PLACEHOLDER), node)
        return node
    def visit_JoinedStr(self, node: ast.JoinedStr):
        """f-string：只留插值，不留字面量；插值按内容排序（见模块 docstring）。"""
        self.generic_visit(node)
        parts = [ast.dump(v) for v in node.values if isinstance(v, ast.FormattedValue)]
        return ast.copy_location(
            ast.Constant(value="FSTR[" + "|".join(sorted(parts)) + "]"), node)
 def normalize(source: str) -> str:
    """源码 -> 抹掉文字后的规范化结构字符串。"""
    return ast.dump(_Normalize().visit(ast.parse(source)))
 def _git(*args: str) -> subprocess.CompletedProcess:
    return subprocess.run(["git", *args], capture_output=True, text=True, cwd=REPO_ROOT)
 def head_source(path: str) -> str | None:
    """取该文件在 HEAD 里的内容；返回 None 表示 HEAD 里没有它（新文件）。"""
    r = _git("show", f"HEAD:{path}")
    return r.stdout if r.returncode == 0 else None
 def changed_python_files() -> list[str]:
    r = _git("diff", "--name-only", "HEAD")
    return [p for p in r.stdout.split() if p.endswith(".py")]
 def staged_python_files() -> list[str]:
    r = _git("diff", "--cached", "--name-only")
    return [p for p in r.stdout.split() if p.endswith(".py")]
 def first_diff(old: str, new: str) -> str:
    """给出一段人能看懂的差异上下文。"""
    matcher = difflib.SequenceMatcher(None, old, new, autojunk=False)
    for tag, i1, i2, j1, j2 in matcher.get_opcodes():
        if tag != "equal":
            return (f"    结构差异类型: {tag}\n"
                    f"      改前: ...{old[max(0, i1 - 70):i2 + 70]}...\n"
                    f"      改后: ...{new[max(0, j1 - 70):j2 + 70]}...")
    return "    （未找到差异片段——理论上不该走到这里）"
 def main() -> int:
    ap = argparse.ArgumentParser(
        description="证明一次改动只动了注释/字符串，没有改逻辑",
    )
    ap.add_argument("paths", nargs="*", help="要检查的文件；留空 = 所有改过的 .py")
    ap.add_argument("--staged", action="store_true", help="只检查已 git add 的文件")
    args = ap.parse_args()
    paths = args.paths or (staged_python_files() if args.staged else changed_python_files())
    if not paths:
        print("没有需要检查的 .py 文件（工作区是干净的？）。")
        return 0
    ok, problems, skipped = 0, [], []
    for path in paths:
        disk = REPO_ROOT / path
        if not disk.is_file():
            skipped.append((path, "工作区里不存在（被删除了？）"))
            continue
        old = head_source(path)
        if old is None:
            skipped.append((path, "HEAD 里没有它（新增文件），没有基准可比"))
            continue
        try:
            same = normalize(old) == normalize(disk.read_text(encoding="utf-8"))
        except SyntaxError as exc:
            problems.append((path, f"    语法错误，先修好再看：{exc}"))
            continue
        if same:
            ok += 1
        else:
            problems.append((path, first_diff(normalize(old),
                                              normalize(disk.read_text(encoding="utf-8")))))
    print(f"通过（只改了文字）: {ok}")
    for path, why in skipped:
        print(f"跳过 {path} —— {why}")
    if problems:
        print(f"\n!! 有 {len(problems)} 个文件动了文字之外的东西：")
        for path, why in problems:
            print(f"  {path}")
            print(why)
        print("\n注意：如果差异只出现在 f-string 的插值顺序上，那是允许的（见脚本说明）。")
        return 1
    print("\n闸门通过：改动范围内没有逻辑变化。")
    return 0
 if __name__ == "__main__":
    sys.exit(main())
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-"""Convert Flexiv Elements .traj (text) -> arm_application YAML waypoints."""
+"""把 Flexiv Elements 的 .traj（文本）转换成 arm_application 的 YAML 路点。"""
 from __future__ import annotations
@@ -12,7 +12,7 @@ from typing import Any
 def parse_flexiv_traj(text: str) -> list[dict[str, Any]]:
-    """Parse Elements Studio scatter-point .traj file."""
+    """解析 Elements Studio 导出的散点 .traj 文件。"""
    blocks = re.split(r'pattern_params\s*\{', text)[1:]
    waypoints: list[dict[str, Any]] = []
    for block in blocks:
@@ -35,7 +35,7 @@ def parse_flexiv_traj(text: str) -> list[dict[str, Any]]:
 def assign_times(waypoints: list[dict[str, Any]], min_seg: float = 3.0) -> None:
-    """Cumulative time_from_start from joint-space segment length."""
+    """按关节空间的段长累加出 time_from_start。"""
    t = 0.0
    prev = None
    for wp in waypoints:
@@ -44,7 +44,7 @@ def assign_times(waypoints: list[dict[str, Any]], min_seg: float = 3.0) -> None:
            t += min_seg
        else:
            delta = max(abs(a - b) for a, b in zip(pos, prev))
-            # ~4 s per radian max joint move, floored at min_seg
+            # 关节最大运动量每弧度约 4 秒，且不低于 min_seg
            t += max(min_seg, delta * 4.0)
        wp['time'] = round(t, 2)
        prev = pos
@@ -65,17 +65,17 @@ def to_yaml(
    pos_line = ', '.join(f'{v:.6f}' for v in flat)
    time_line = ', '.join(str(t) for t in times)
    names = ', '.join(f'  # {wp.get("name", "")}' if i == 0 else '' for i, wp in enumerate(waypoints))
-    _ = names  # names kept in comments below
+    _ = names  # 名称保留在下面的注释里
    lines = [
-        '# Auto-converted from Flexiv Elements .traj (joints: deg -> rad)',
+        '# 由 Flexiv Elements .traj 自动转换而来（关节角：度 -> 弧度）',
-        '# ROS params: flat waypoint_positions + waypoint_times (no nested dicts)',
+        '# ROS 参数：扁平的 waypoint_positions + waypoint_times（不使用嵌套字典）',
-        '# Edit velocity_scale / loop_count as needed (no rebuild).',
+        '# 按需修改 velocity_scale / loop_count（无需重新编译）。',
        'run_joint_trajectory:',
        '  ros__parameters:',
        f'    joint_prefix: "{joint_prefix}"',
        '    joint_names: [joint1, joint2, joint3, joint4, joint5, joint6, joint7]',
        f'    velocity_scale: {velocity_scale}',
-        '    loop_count: 1                # 1=once, 0=forever, N=repeat N',
+        '    loop_count: 1                # 1=执行一次，0=无限循环，N=重复 N 次',
        '    pause_between_loops: 0.5',
        f'    waypoint_times: [{time_line}]',
        '    waypoint_positions: [',
@@ -89,16 +89,16 @@ def to_yaml(
 def main() -> int:
    ap = argparse.ArgumentParser(description=__doc__)
-    ap.add_argument('input', type=Path, help='Flexiv Elements .traj file')
+    ap.add_argument('input', type=Path, help='Flexiv Elements 的 .traj 文件')
-    ap.add_argument('-o', '--output', type=Path, help='Output YAML path')
+    ap.add_argument('-o', '--output', type=Path, help='输出的 YAML 路径')
-    ap.add_argument('--prefix', default='Rizon4-063989_', help='Joint name prefix (site SN + _)')
+    ap.add_argument('--prefix', default='Rizon4-063989_', help='关节名前缀（现场 SN + _）')
-    ap.add_argument('--min-seg', type=float, default=3.0, help='Min seconds per segment')
+    ap.add_argument('--min-seg', type=float, default=3.0, help='每段的最小秒数')
    args = ap.parse_args()
    text = args.input.read_text(encoding='utf-8')
    wps = parse_flexiv_traj(text)
    if not wps:
-        print('ERROR: no waypoints parsed', file=sys.stderr)
+        print('错误：没有解析到任何路点', file=sys.stderr)
        return 1
    assign_times(wps, min_seg=args.min_seg)
    yaml_text = to_yaml(wps, joint_prefix=args.prefix)
@@ -107,7 +107,7 @@ def main() -> int:
    if out:
        out.parent.mkdir(parents=True, exist_ok=True)
        out.write_text(yaml_text, encoding='utf-8')
-        print(f'Wrote {len(wps)} waypoints -> {out}')
+        print(f'已写入 {len(wps)} 个路点 -> {out}')
    else:
        print(yaml_text)
    return 0
@@ -1,6 +1,6 @@
 #!/usr/bin/env bash
-# Convert Flexiv Elements .traj → arm_application YAML (standard entry for all trajectories).
+# 把 Flexiv Elements 的 .traj 转成 `arm_application` 的 YAML（所有轨迹的统一入口）。
-# Usage:
+# 用法：
 #   ./scripts/convert_traj.sh ~/文档/my_task.traj
 #   ./scripts/convert_traj.sh ~/文档/my_task.traj -o /path/to/out.yaml
 #   ./scripts/convert_traj.sh ~/文档/my_task.traj --min-seg 2.5 --no-copy
@@ -1,6 +1,6 @@
 #!/usr/bin/env bash
-# Source this workspace environment (conda + ROS + flexiv libs).
+# 加载本工作区环境（conda + ROS + flexiv 库）。
-# Usage: source scripts/env.sh
+# 用法：source scripts/env.sh
 ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
 if [[ -f /opt/ros/humble/setup.bash ]]; then
@@ -33,7 +33,7 @@ fi
 # shellcheck disable=SC1091
 source "${ROOT}/install/setup.bash"
 export LD_LIBRARY_PATH="${HOME}/flexiv_install/lib:${LD_LIBRARY_PATH:-}"
-# Pip TensorRT (tensorrt-cu12) — needed to load YOLO .engine
+# pip 版 TensorRT（tensorrt-cu12）—— 加载 YOLO `.engine` 需要它
 _TRT_SITE="${CONDA_PREFIX:-${HOME}/anaconda3/envs/ros_flexiv}/lib/python3.11/site-packages"
 for _d in "${_TRT_SITE}/tensorrt" "${_TRT_SITE}/tensorrt_libs" "${_TRT_SITE}/nvidia/tensorrt/lib"; do
  if [[ -d "${_d}" ]]; then
@@ -44,6 +44,6 @@ unset _d _TRT_SITE
 export YOLO_AUTOINSTALL=false
 export ROS2_WS="${ROOT}"
-# Master site config → SITE_* (YOLO weights, camera, robot SN, …)
+# 主站点配置 → `SITE_*`（YOLO 权重、相机、机器人 SN……）
 # shellcheck disable=SC1091
 source "${ROOT}/scripts/lib/load_site_config.sh" 2>/dev/null || true
@@ -1,5 +1,5 @@
 #!/usr/bin/env bash
-# Clone official Flexiv ROS 2 stack for Rizon (RDK v1.x → humble-v1 branch).
+# 克隆 Flexiv 官方 ROS 2 栈（Rizon 用，RDK v1.x → humble-v1 分支）。
 set -euo pipefail
 ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
@@ -9,7 +9,7 @@ BRANCH="${FLEXIV_ROS2_BRANCH:-humble-v1}"
 mkdir -p "${SRC}"
 cd "${SRC}"
-# Always ensure official URDF package is present (meshes + xacro)
+# 无论如何都要保证官方 URDF 包存在（mesh + xacro）
 if [[ ! -d flexiv_description ]]; then
  echo "Fetching flexiv_description (${BRANCH})..."
  if ! git clone --depth 1 -b "${BRANCH}" https://github.com/flexivrobotics/flexiv_description.git; then
@@ -58,7 +58,7 @@ if ! command -v vcs >/dev/null 2>&1; then
  exit 1
 fi
-# Prefer local Flexiv_Rizon4 RDK (avoids GitHub clone when present)
+# 优先用本地 Flexiv_Rizon4 里的 RDK（有本地副本时就不去 GitHub 克隆）
 LOCAL_FLEXIV="${LOCAL_FLEXIV:-$HOME/文档/Flexiv_Rizon4}"
 if [[ -d "${LOCAL_FLEXIV}/flexiv_rdk" ]]; then
  echo "Using local RDK: ${LOCAL_FLEXIV}/flexiv_rdk"
@@ -73,7 +73,7 @@ else
  fi
 fi
-# Always import remaining deps from repos (description already handled; skip-existing)
+# 其余依赖一律从 .repos 导入（description 已单独处理；skip-existing 跳过已有）
 vcs import "${SRC}" < "${REPOS_FILE}" --recursive --skip-existing || true
 cat <<EOF
@@ -1,5 +1,5 @@
 #!/usr/bin/env bash
-# Clone Flexiv Isaac Sim integration repos into thirdparty/
+# 把 Flexiv Isaac Sim 集成仓库克隆到 thirdparty/
 set -euo pipefail
 ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
@@ -23,7 +23,7 @@ clone_or_update https://github.com/flexivrobotics/flexiv_sim_plugin.git flexiv_s
 clone_or_update https://github.com/flexivrobotics/isaac_sim_ws.git isaac_sim_ws
 clone_or_update https://github.com/flexivrobotics/flexiv_description.git flexiv_description
-# Optional: RDK sources next to sim (if not already under src/)
+# 可选：在仿真目录旁放一份 RDK 源码（如果 src/ 下还没有）
 if [[ ! -d "${ROOT}/src/flexiv_rdk" ]]; then
  clone_or_update https://github.com/flexivrobotics/flexiv_rdk.git flexiv_rdk
 fi
@@ -15,7 +15,7 @@ source "${ROOT}/scripts/lib/load_site_config.sh" 2>/dev/null || true
 PC_IP_PRIMARY="${SITE_PC_IP:-192.168.2.10}"
 PC_ADDRS=("192.168.2.10/24" "192.168.100.10/24")
 ROBOT_IPS=("${SITE_ROBOT_IP:-192.168.2.100}")
-# Catalog extras (second arm)
+# catalog 里的额外项（第二条臂）
 if [[ -n "${SITE_ROBOT_CATALOG:-}" ]]; then
  :
 fi
@@ -132,7 +132,7 @@ for ip in 192.168.2.100 192.168.101.1 192.168.2.101 "${SITE_ROBOT_IP:-}"; do
  [[ -z "$ip" ]] && continue
  ping_one "$ip" && ok=1 || true
 done
-# unique
+# 去重
 echo
 if ping -c 1 -W 1 "${SITE_ROBOT_IP:-192.168.2.100}" >/dev/null 2>&1; then
  echo "OK — 当前臂 ${SITE_ROBOT_SN:-} @ ${SITE_ROBOT_IP} 可达。RDK 用 SN 连接。"
@@ -88,7 +88,7 @@ REGEX_REPLACEMENTS: list[tuple[str, str]] = [
 def render(site_text: str) -> str:
-    """Turn the live config text into the anonymised template text."""
+    """把现场配置文本转换成匿名化后的模板文本。"""
    out = site_text
    for old, new in LITERAL_REPLACEMENTS:
        out = out.replace(old, new)
@@ -1,10 +1,10 @@
 #!/usr/bin/env bash
-# Move Rizon4 to a named pose (default: home) and FORCE stop.
+# 把 Rizon4 移动到指定命名的位姿（默认：home）并强制停止。
 #
-# Critical: visual_servo.launch / servo_node must be killed first, otherwise
+# 关键：必须先杀掉 visual_servo.launch / servo_node，否则
-# they keep streaming JointTrajectory and the arm never settles.
+# 它们会一直发 JointTrajectory，机械臂永远稳定不下来。
 #
-# Usage:
+# 用法：
 #   bash ~/ros2/scripts/go_home.sh
 #   bash ~/ros2/scripts/go_home.sh --pose ready --speed 0.3
@@ -39,7 +39,7 @@ while [[ $# -gt 0 ]]; do
    --pose) POSE="${2:?}"; shift 2 ;;
    --speed) SPEED="${2:?}"; shift 2 ;;
    --keep-servo) KEEP_SERVO=1; shift ;;
-    --stop-track) shift ;; # legacy
+    --stop-track) shift ;; # 历史遗留
    -h|--help) usage; exit 0 ;;
    *) echo "Unknown: $1" >&2; usage >&2; exit 1 ;;
  esac
@@ -56,10 +56,10 @@ SPEED="${SPEED:-${SITE_GO_HOME_SPEED:-0.25}}"
 kill_streamers() {
  echo "=== killing visual-servo streamers ==="
-  # Prefer disable control before kill (if node still up)
+  # 能先禁用控制就禁用（如果节点还活着），再动手 kill
  ros2 param set /servo_node enable_control false >/dev/null 2>&1 || true
-  # Kill launch parent first, then executables (SIGTERM then SIGKILL)
+  # 先杀 launch 父进程，再杀可执行文件（先 SIGTERM 再 SIGKILL）
  local patterns=(
    'visual_servo.launch.py'
    '/lib/arm_application/servo_node'
@@ -115,7 +115,7 @@ n.destroy_node(); rclpy.shutdown()
 PY
 }
-# Strong settle via controller ACTION (not topic — matches JTC reliably)
+# 用控制器的 ACTION 做强力稳定（不走话题 —— 这样能可靠地匹配 JTC）
 settle_hold_action() {
  local pose="$1"
  python3 - "$pose" <<'PY'
@@ -160,7 +160,7 @@ def spin_until(pred, timeout=3.0):
 spin_until(lambda: js_box[0] is not None, 3.0)
-# Two-point: current -> target (or target hold), BOTH with zero velocity
+# 两点轨迹：当前位姿 -> 目标位姿（或保持在目标位姿），两点速度都为零
 q_now = list(target)
 if js_box[0] is not None:
    m = dict(zip(js_box[0].name, js_box[0].position))
@@ -172,14 +172,14 @@ if js_box[0] is not None:
 def send_hold(q, T=0.40):
    traj = JointTrajectory()
    traj.joint_names = list(JOINTS)
-    # start
+    # 起点
    p0 = JointTrajectoryPoint()
    p0.positions = [float(v) for v in q]
    p0.velocities = [0.0] * 7
    p0.accelerations = [0.0] * 7
    p0.time_from_start.sec = 0
    p0.time_from_start.nanosec = 50_000_000
-    # end same pose, still zero vel (pin)
+    # 终点是同一姿势，速度仍为零（钉住）
    p1 = JointTrajectoryPoint()
    p1.positions = [float(v) for v in q]
    p1.velocities = [0.0] * 7
@@ -203,11 +203,11 @@ def send_hold(q, T=0.40):
    spin_until(lambda: rfut.done(), T + 3.0)
    return True
-# 1) snap toward named pose with zero end vel
+# 1) 先朝命名位姿快速靠拢，末端速度为零
 print(f"  action hold → {name} (zero vel)")
 send_hold(target, T=0.60)
 time.sleep(0.4)
-# 2–4) re-pin measured pose several times (align JTC open-loop cmd to encoder)
+# 2–4) 反复把实测位姿重新钉住（让 JTC 的开环指令与编码器读数对齐）
 for i in range(3):
    spin_until(lambda: js_box[0] is not None, 1.0)
    if js_box[0] is None:
@@ -218,7 +218,7 @@ for i in range(3):
    send_hold(q_pin, T=0.45)
    time.sleep(0.25)
-# Wait until |qd| small
+# 等到 |qd| 足够小
 print("  waiting for joints to stop ...")
 t0 = time.monotonic()
 while time.monotonic() - t0 < 5.0:
@@ -270,7 +270,7 @@ sleep "${WAIT_SEC}"
 echo "=== settle (action, vel=0) ==="
 settle_hold_action "${POSE}"
-# Final check: servo must still be dead
+# 最后确认：servo 必须仍然是死的
 if pgrep -f '/lib/arm_application/servo_node' >/dev/null 2>&1; then
  echo "WARNING: servo_node came back — killing again"
  kill_streamers
@@ -1,6 +1,6 @@
 #!/usr/bin/env bash
-# Offline-friendly Flexiv RDK v1.9.1 install for ROS (humble-v1 / flexiv_hardware).
+# 面向离线场景的 Flexiv RDK v1.9.1 安装脚本（供 ROS 的 humble-v1 / `flexiv_hardware` 使用）。
-# CMakeLists already supports FLEXIV_RDK_OFFLINE_LIB / vendor/rdk_libs/.
+# CMakeLists 已经支持 `FLEXIV_RDK_OFFLINE_LIB` / `vendor/rdk_libs/`。
 set -euo pipefail
 ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
@@ -11,7 +11,7 @@ EXPECTED_HASH="$(tr -d '[:space:]' < "${RDK_SRC}/lib/${LIB_NAME}.sha256")"
 VENDOR_LIB="${ROOT}/vendor/rdk_libs/${LIB_NAME}"
 JOBS="${JOBS:-$(nproc)}"
-# Prefer conda ros_flexiv toolchain (cmake/g++ often only there)
+# 优先用 conda 的 ros_flexiv 工具链（cmake/g++ 往往只在那里有）
 if ! command -v cmake >/dev/null 2>&1; then
  # shellcheck disable=SC1091
  source "${HOME}/anaconda3/etc/profile.d/conda.sh" 2>/dev/null \
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
-"""Load ~/ros2/config/site.yaml and print bash export lines or JSON.
+"""读取 ``~/ros2/config/site.yaml``，打印 bash 的 export 行或 JSON。
-Usage:
+用法:
  eval "$(python3 ~/ros2/scripts/lib/export_site_env.py)"
  python3 ~/ros2/scripts/lib/export_site_env.py --json
  python3 ~/ros2/scripts/lib/export_site_env.py --print
@@ -35,18 +35,18 @@ def site_path() -> Path:
 def load_site(path: Path | None = None) -> dict:
    path = path or site_path()
    if not path.is_file():
-        raise FileNotFoundError(f"site config not found: {path}")
+        raise FileNotFoundError(f"找不到 site 配置: {path}")
    text = path.read_text(encoding="utf-8")
    if yaml is None:
-        raise RuntimeError("PyYAML required: pip/conda install pyyaml")
+        raise RuntimeError("需要 PyYAML：pip/conda install pyyaml")
    data = yaml.safe_load(text) or {}
    if not isinstance(data, dict):
-        raise ValueError(f"invalid site.yaml: {path}")
+        raise ValueError(f"无效的 site.yaml: {path}")
    return data
 def list_robots(data: dict) -> list[dict]:
-    """Catalog entries from robot.robots (list or SN-keyed map)."""
+    """从 robot.robots 取清单条目（列表或按 SN 索引的映射）。"""
    raw = (data.get("robot") or {}).get("robots") or []
    out: list[dict] = []
    if isinstance(raw, dict):
@@ -90,7 +90,7 @@ def _deep_merge(base: dict, overlay: dict) -> dict:
 def normalize_robot_sn(data: dict, want: str) -> str:
-    """Map 89/91/left/right/label → full Flexiv SN."""
+    """把 89/91/left/right/label 映射成完整的 Flexiv SN。"""
    w = (want or "").strip()
    if not w:
        return w
@@ -109,7 +109,7 @@ def normalize_robot_sn(data: dict, want: str) -> str:
 def resolve_robot(data: dict, sn: str | None = None) -> dict:
-    """Active arm: ROBOT_SN env overrides robot.sn; catalog fills ip/iface/frames."""
+    """当前生效的机械臂：环境变量 ``ROBOT_SN`` 覆盖 robot.sn；清单补齐 ip/iface/frames。"""
    robot = dict(data.get("robot") or {})
    catalog = list_robots(data)
    want = normalize_robot_sn(
@@ -146,7 +146,7 @@ def resolve_robot(data: dict, sn: str | None = None) -> dict:
 def apply_active_arm(data: dict, sn: str | None = None) -> tuple[dict, dict]:
-    """Merge robots[] camera/gripper/paths/servo onto site defaults for the active SN."""
+    """把 robots[] 里的 camera/gripper/paths/servo 合并到当前 SN 对应的 site 默认值上。"""
    robot = resolve_robot(data, sn)
    merged = dict(data)
    for key in _ARM_SECTION_KEYS:
@@ -157,14 +157,14 @@ def apply_active_arm(data: dict, sn: str | None = None) -> tuple[dict, dict]:
 def camera_ns(data: dict) -> str:
-    """Topic namespace for the active wrist camera (d405_left / d405_right)."""
+    """当前腕部相机（d405_left / d405_right）的话题命名空间。"""
    cam = data.get("camera") or {}
    name = str(cam.get("name") or "d405").strip().strip("/")
    return name or "d405"
 def camera_frames(data: dict) -> tuple[str, str, str]:
-    """(namespace, optical_frame, depth_topic) for the active arm."""
+    """当前机械臂的（命名空间, 光学坐标系, 深度话题）。"""
    ns = camera_ns(data)
    yolo = data.get("yolo") or {}
    frame = str(yolo.get("camera_frame") or "").strip()
@@ -177,7 +177,7 @@ def camera_frames(data: dict) -> tuple[str, str, str]:
 def flatten(data: dict) -> dict:
-    """Flat SITE_* env map for bash scripts."""
+    """供 bash 脚本使用的扁平 ``SITE_*`` 环境变量映射。"""
    data, robot = apply_active_arm(data)
    paths = data.get("paths") or {}
    cam = data.get("camera") or {}
@@ -341,7 +341,7 @@ def flatten(data: dict) -> dict:
 def gripper_overrides(data: dict) -> dict:
-    """ROS parameter dict for dh_pgea_node (DH Modbus, not Flexiv gripper)."""
+    """供 dh_pgea_node 使用的 ROS 参数字典（DH Modbus，不是 Flexiv 夹爪）。"""
    data, _robot = apply_active_arm(data)
    g = data.get("gripper") or {}
    return {
@@ -362,7 +362,7 @@ def gripper_overrides(data: dict) -> dict:
 def perception_overrides(data: dict) -> dict:
-    """ROS parameter dict for perception_node."""
+    """供 perception_node 使用的 ROS 参数字典。"""
    data, _robot = apply_active_arm(data)
    paths = data.get("paths") or {}
    yolo = data.get("yolo") or {}
@@ -415,7 +415,7 @@ def perception_overrides(data: dict) -> dict:
 def servo_overrides(data: dict) -> dict:
-    """ROS parameter dict for servo_node."""
+    """供 servo_node 使用的 ROS 参数字典。"""
    data, robot = apply_active_arm(data)
    paths = data.get("paths") or {}
    yolo = data.get("yolo") or {}
@@ -431,7 +431,7 @@ def servo_overrides(data: dict) -> dict:
        "arm_label": str(robot.get("label") or robot.get("arm") or ""),
        "z_ref_m": float(servo.get("z_ref_m") or yolo.get("z_ref_m") or 0.40),
    }
-    # Pass through remaining servo keys that match node params
+    # 透传其余与节点参数同名的 servo 键
    keys = [
        "control_hz", "watchdog_timeout_sec", "lost_timeout_sec", "stale_hold_sec",
        "max_extrapolate_sec", "predict_enable", "predict_sec",
@@ -460,7 +460,7 @@ def main() -> int:
    ap.add_argument("--json", action="store_true")
    ap.add_argument("--print", action="store_true", dest="do_print")
    ap.add_argument("--config", default="")
-    ap.add_argument("--sn", "--arm", dest="sn", default="", help="89|91|left|right|full SN")
+    ap.add_argument("--sn", "--arm", dest="sn", default="", help="89|91|left|right|完整 SN")
    args = ap.parse_args()
    if args.sn:
        os.environ["ROBOT_SN"] = str(args.sn)
@@ -471,35 +471,35 @@ def main() -> int:
        print(json.dumps({"site": data, "env": flat}, ensure_ascii=False, indent=2))
        return 0
    if args.do_print:
-        print(f"site config: {path}")
+        print(f"site 配置: {path}")
        print(
-            f"  robot SN     : {flat['SITE_ROBOT_SN']}"
+            f"  机械臂 SN    : {flat['SITE_ROBOT_SN']}"
            f"{('  (' + flat['SITE_ROBOT_LABEL'] + ')') if flat.get('SITE_ROBOT_LABEL') else ''}"
            f"  arm={flat.get('SITE_ROBOT_ARM') or '?'}"
        )
-        print(f"  catalog      : {flat.get('SITE_ROBOT_CATALOG') or '(none)'}")
+        print(f"  清单         : {flat.get('SITE_ROBOT_CATALOG') or '（无）'}")
-        print(f"  robot IP     : {flat['SITE_ROBOT_IP']}  pc={flat['SITE_PC_IP']}  iface={flat.get('SITE_NET_IFACE') or '?'}")
+        print(f"  机械臂 IP    : {flat['SITE_ROBOT_IP']}  pc={flat['SITE_PC_IP']}  iface={flat.get('SITE_NET_IFACE') or '?'}")
-        print(f"  frames       : prefix={flat['SITE_JOINT_PREFIX']}  ee={flat['SITE_EE_FRAME']}")
+        print(f"  坐标系       : prefix={flat['SITE_JOINT_PREFIX']}  ee={flat['SITE_EE_FRAME']}")
-        print(f"  tool name    : {flat.get('SITE_ROBOT_TOOL_NAME') or '(keep current)'}")
+        print(f"  工具名       : {flat.get('SITE_ROBOT_TOOL_NAME') or '（保持当前）'}")
        catalog_sns = [str(r.get("sn") or "") for r in list_robots(data)]
        if catalog_sns and flat["SITE_ROBOT_SN"] not in catalog_sns:
            print(
-                f"  WARNING: robot.sn {flat['SITE_ROBOT_SN']!r} is not in robots[]",
+                f"  警告：robot.sn {flat['SITE_ROBOT_SN']!r} 不在 robots[] 里",
                file=sys.stderr,
            )
-        print(f"  yolo weights : {flat['SITE_YOLO_WEIGHTS']}")
+        print(f"  YOLO 权重    : {flat['SITE_YOLO_WEIGHTS']}")
-        print(f"  resolved     : {flat['SITE_YOLO_WEIGHTS_RESOLVED']}")
+        print(f"  解析后       : {flat['SITE_YOLO_WEIGHTS_RESOLVED']}")
-        print(f"  handeye      : {flat['SITE_HANDEYE_FILE']}")
+        print(f"  手眼         : {flat['SITE_HANDEYE_FILE']}")
-        print(f"  handeye wp   : {flat['SITE_HANDEYE_WAYPOINTS']}")
+        print(f"  手眼路点     : {flat['SITE_HANDEYE_WAYPOINTS']}")
-        print(f"  handeye dir  : {flat['SITE_HANDEYE_WORKDIR']}")
+        print(f"  手眼目录     : {flat['SITE_HANDEYE_WORKDIR']}")
-        print(f"  named poses  : {flat.get('SITE_NAMED_POSES_FILE')}")
+        print(f"  命名位姿     : {flat.get('SITE_NAMED_POSES_FILE')}")
        print(
-            "  board        : "
+            "  标定板       : "
            f"{flat['SITE_HANDEYE_BOARD_COLS']}x{flat['SITE_HANDEYE_BOARD_ROWS']} "
-            f"inner, square={flat['SITE_HANDEYE_SQUARE_M']} m"
+            f"内角点, square={flat['SITE_HANDEYE_SQUARE_M']} m"
        )
        print(
-            f"  camera       : serial={flat['SITE_CAM_SERIAL'] or '(empty)'}  "
+            f"  相机         : serial={flat['SITE_CAM_SERIAL'] or '（空）'}  "
            f"{flat['SITE_CAM_WIDTH']}x{flat['SITE_CAM_HEIGHT']}@{flat['SITE_CAM_FPS']}  "
            f"ae={flat.get('SITE_CAM_AUTO_EXPOSURE')} "
            f"exp={flat.get('SITE_CAM_EXPOSURE_US')}us "
@@ -507,26 +507,26 @@ def main() -> int:
            f"ae_limit={flat.get('SITE_CAM_AE_LIMIT_US')}us emitter={flat.get('SITE_CAM_EMITTER')}"
        )
        print(
-            f"  catalog cam  : leftD405={flat.get('SITE_D405_LEFT_SERIAL')}  "
+            f"  清单相机     : leftD405={flat.get('SITE_D405_LEFT_SERIAL')}  "
            f"rightD405={flat.get('SITE_D405_RIGHT_SERIAL')}  "
            f"D435={flat.get('SITE_D435_SERIAL')}"
        )
        print(
-            f"  gripper      : {flat.get('SITE_GRIP_MODEL')}  port={flat.get('SITE_GRIP_PORT')}"
+            f"  夹爪         : {flat.get('SITE_GRIP_MODEL')}  port={flat.get('SITE_GRIP_PORT')}"
        )
        print(
            f"  hole_detect  : backend={flat.get('SITE_HOLE_BACKEND')}  "
            f"weights={flat.get('SITE_HOLE_WEIGHTS')}"
        )
        print(
-            f"  tactile      : backend={flat.get('SITE_TACTILE_BACKEND')}  "
+            f"  触觉         : backend={flat.get('SITE_TACTILE_BACKEND')}  "
            f"L={flat.get('SITE_TACTILE_LEFT')} R={flat.get('SITE_TACTILE_RIGHT')}  "
            f"cfg={flat.get('SITE_TACTILE_CONFIG')}"
        )
        print(f"  go_home      : pose={flat['SITE_GO_HOME_POSE']} speed={flat['SITE_GO_HOME_SPEED']}")
        he_path = Path(flat["SITE_HANDEYE_FILE"]).expanduser()
        if not he_path.is_file():
-            print(f"  WARNING: hand-eye file missing: {he_path}", file=sys.stderr)
+            print(f"  警告：手眼文件缺失: {he_path}", file=sys.stderr)
        else:
            try:
                he_data = yaml.safe_load(he_path.read_text(encoding="utf-8")) or {}
@@ -536,28 +536,28 @@ def main() -> int:
                he_data.get("uncalibrated") or "T_4x4" not in he_data
            ):
                print(
-                    f"  WARNING: {he_path.name} is not calibrated for this arm "
+                    f"  警告：{he_path.name} 没有针对该机械臂标定 "
                    f"(run_handeye.sh teach/calibrate --arm {flat.get('SITE_ROBOT_ARM') or '91'})",
                    file=sys.stderr,
                )
        if "063991" in flat["SITE_ROBOT_SN"] and flat.get("SITE_CAM_SERIAL") == flat.get("SITE_D405_LEFT_SERIAL"):
            print(
-                "  WARNING: 91 is using the LEFT wrist D405 serial — check robots[].camera.serial",
+                "  警告：91 用的是左腕 D405 的序列号 — 请检查 robots[].camera.serial",
                file=sys.stderr,
            )
        if "RGI" in str(flat.get("SITE_GRIP_MODEL") or ""):
            print(
-                "  NOTE: 本臂是 RGI。CLI: bash ~/ros2/scripts/run_gripper.sh --arm 91 --cli open|rotate",
+                "  提示：本臂是 RGI。CLI: bash ~/ros2/scripts/run_gripper.sh --arm 91 --cli open|rotate",
                file=sys.stderr,
            )
        w = Path(flat["SITE_YOLO_WEIGHTS"]).expanduser()
        if not w.is_file():
-            print(f"  WARNING: weights file missing: {w}", file=sys.stderr)
+            print(f"  警告：权重文件缺失: {w}", file=sys.stderr)
            return 2
        return 0
-    # bash exports
+    # bash 导出
    for k, v in flat.items():
-        # escape for eval
+        # 为 eval 转义
        vv = str(v).replace("'", "'\"'\"'")
        print(f"export {k}='{vv}'")
    return 0
@@ -1,6 +1,6 @@
 #!/usr/bin/env bash
-# Load ~/ros2/config/site.yaml into SITE_* environment variables.
+# 把 ~/ros2/config/site.yaml 加载成 `SITE_*` 环境变量。
-# Usage (from other scripts):
+# 用法（在其它脚本里）：
 #   source "${ROOT}/scripts/lib/load_site_config.sh"
 _SITE_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
@@ -13,7 +13,7 @@ else
  # shellcheck disable=SC1090
  eval "$(python3 "${_SITE_EXPORTER}" --config "${_SITE_FILE}")"
  export SITE_CONFIG="${_SITE_FILE}"
-  # Resolve 89/91/left/right aliases to the full Flexiv SN for RDK.
+  # 把 89/91/left/right 别名解析成完整的 Flexiv SN，供 RDK 使用。
  if [[ -n "${SITE_ROBOT_SN:-}" ]]; then
    export ROBOT_SN="${SITE_ROBOT_SN}"
  fi
@@ -1,12 +1,12 @@
 #!/usr/bin/env bash
-# Parse --sn / --arm from argv. Must be sourced BEFORE load_site_config.sh
+# 从 argv 里解析 --sn / --arm。必须在 `load_site_config.sh` 之前 source，
-# so ROBOT_SN is visible to export_site_env.py.
+# 这样 `ROBOT_SN` 才能被 export_site_env.py 看到。
 #
 #   source "${ROOT}/scripts/lib/parse_arm_args.sh"
 #   parse_arm_args "$@"
 #   set -- "${PARSE_ARM_REST[@]}"
 #
-# Aliases (89|91|left|right) are resolved in export_site_env.py.
+# 别名（89|91|left|right）在 export_site_env.py 里解析。
 parse_arm_args() {
  PARSE_ARM_REST=()
@@ -1,5 +1,5 @@
 #!/usr/bin/env bash
-# List plugged RealSense cameras (serials used in site.yaml).
+# 列出已插上的 RealSense 相机（序列号在 site.yaml 里使用）。
 set -eo pipefail
 python3 - <<'PY'
 import pyrealsense2 as rs
@@ -73,7 +73,7 @@ def format_positions_block(poses: list[list[float]], indent: str = "    ") -> st
 def merge(yaml_path: Path, poses: list[list[float]]) -> None:
    text = yaml_path.read_text(encoding="utf-8").replace("\r\n", "\n").replace("\r", "\n")
-    # Detect indent of waypoint_positions (2 or 4 spaces typical)
+    # 探测 waypoint_positions 的缩进（通常 2 空格或 4 空格）
    m_ind = re.search(r"^([ \t]*)waypoint_positions:\s*\[", text, re.MULTILINE)
    indent = m_ind.group(1) if m_ind else "    "
    block = format_positions_block(poses, indent=indent)
@@ -82,7 +82,7 @@ def merge(yaml_path: Path, poses: list[list[float]]) -> None:
        rf"{re.escape(indent)}waypoint_positions:\s*\[[\s\S]*?{re.escape(indent)}\]",
        re.MULTILINE,
    )
-    # Also match a one-line empty list: waypoint_positions: []
+    # 也要匹配"单行空列表"的写法：waypoint_positions: []
    one_line = re.compile(
        rf"{re.escape(indent)}waypoint_positions:\s*\[\s*\]",
        re.MULTILINE,
@@ -94,7 +94,7 @@ def merge(yaml_path: Path, poses: list[list[float]]) -> None:
    else:
        raise RuntimeError("waypoint_positions block not found in YAML")
-    # Keep num_poses in sync when present
+    # 顺手把 num_poses 同步成实际点数（如果原本就有这个键）
    n = len(poses)
    if re.search(r"^\s*num_poses:\s*\d+", new_text, re.MULTILINE):
        new_text = re.sub(
@@ -105,7 +105,7 @@ def merge(yaml_path: Path, poses: list[list[float]]) -> None:
            flags=re.MULTILINE,
        )
    else:
-        # Insert num_poses just before waypoint_positions
+        # 原本没有 num_poses，就插在 waypoint_positions 前面
        new_text = new_text.replace(
            block,
            f"{indent}num_poses: {n}\n{block}",
@@ -105,13 +105,13 @@ class SoftDrag:
                        robot.SetJointImpedance(g, soft)
                        log(f'SetJointImpedance {g} K={soft}')
                    except Exception as exc:
-                        log(f'SetJointImpedance group {g}: {exc}')
+                        log(f'SetJointImpedance 组 {g}: {exc}')
            else:
                n = max(7, len(self.latest_q))
                try:
                    robot.SetJointImpedance([35.0] * n, [0.7] * n)
                except Exception as exc:
-                    log(f'SetJointImpedance flat: {exc}')
+                    log(f'SetJointImpedance flat（不分组）: {exc}')
        self._stop.clear()
        self._thread = threading.Thread(target=self._loop, name='soft-drag', daemon=True)
@@ -144,9 +144,9 @@ class SoftDrag:
                        n = len(q)
                        robot.SendJointPosition(q, [0.0] * n, [1.5] * n, [2.0] * n)
            except Exception as exc:
-                log(f'soft loop: {exc}')
+                log(f'soft 循环: {exc}')
                time.sleep(0.15)
-            # ~20 Hz — keep lock released most of the time
+            # 约 20 Hz —— 大部分时间让锁保持释放状态
            for _ in range(10):
                if self._stop.is_set():
                    return
@@ -158,7 +158,7 @@ class SoftDrag:
        if th is not None:
            th.join(timeout=4.0)
            if th.is_alive():
-                log('soft loop still alive after join (will idle anyway)')
+                log('join 之后 soft 循环仍然存活（无论如何都会切到 IDLE）')
            self._thread = None
@@ -168,7 +168,7 @@ def _ensure_operational(robot) -> Optional[str]:
 def _idle_async(robot, lock: threading.Lock, flexivrdk, timeout: float = 4.0) -> bool:
-    """Switch to IDLE without blocking the stdin loop forever."""
+    """切到 IDLE，同时避免把 stdin 循环永久阻塞住。"""
    done = threading.Event()
    def run() -> None:
@@ -193,7 +193,7 @@ def _idle_async(robot, lock: threading.Lock, flexivrdk, timeout: float = 4.0) ->
    threading.Thread(target=run, name='idle', daemon=True).start()
    ok = done.wait(timeout)
    if not ok:
-        log('IDLE/Stop timed out — stdin loop continues')
+        log('IDLE/Stop 超时 —— stdin 循环继续运行')
    return ok
@@ -213,7 +213,7 @@ def main() -> int:
        try:
            msg = json.loads(line)
        except Exception as exc:  # noqa: BLE001
-            reply({'ok': False, 'error': f'bad json: {exc}'})
+            reply({'ok': False, 'error': f'JSON 解析失败: {exc}'})
            continue
        cmd = str(msg.get('cmd', '')).strip()
@@ -233,17 +233,17 @@ def main() -> int:
                for args in attempts:
                    try:
                        robot = flexivrdk.Robot(*args)
-                        log(f'connected {sn} args={args!r}')
+                        log(f'已连接 {sn} args={args!r}')
                        last_err = None
                        break
                    except TypeError:
                        continue
                    except Exception as exc:
                        last_err = exc
-                        log(f'connect {args!r}: {exc}')
+                        log(f'连接 {args!r}: {exc}')
                        robot = None
                if robot is None:
-                    reply({'ok': False, 'error': str(last_err or 'connect failed')})
+                    reply({'ok': False, 'error': str(last_err or '连接失败')})
                    continue
                err = _ensure_operational(robot)
                if err:
@@ -256,7 +256,7 @@ def main() -> int:
            elif cmd == 'drag_on':
                if robot is None:
-                    reply({'ok': False, 'error': 'not connected'})
+                    reply({'ok': False, 'error': '尚未连接'})
                    continue
                err = _ensure_operational(robot)
                if err:
@@ -274,7 +274,7 @@ def main() -> int:
                        reply({'ok': True, 'drag': True, 'mode': 'floating', 'primitive': name})
                        continue
                    except Exception as exc:
-                        log(f'Floating failed, fallback soft: {exc}')
+                        log(f'Floating 失败，退回 soft 模式: {exc}')
                try:
                    if soft is not None:
@@ -284,18 +284,18 @@ def main() -> int:
                    if soft.latest_q:
                        cached_q = list(soft.latest_q)
                    drag_on = True
-                    log('soft drag ON')
+                    log('软拖拽已开启')
                    reply({
                        'ok': True,
                        'drag': True,
                        'mode': 'soft',
-                        'hint': 'Push the arm gently; low joint impedance. Enter=photo (s=hold).',
+                        'hint': '轻推机械臂即可，关节阻抗已调低。Enter=拍照（s=保持）。',
                    })
                except Exception as exc:
-                    reply({'ok': False, 'error': f'soft drag failed: {exc}'})
+                    reply({'ok': False, 'error': f'软拖拽失败: {exc}'})
            elif cmd == 'drag_off':
-                log('drag_off requested')
+                log('收到 drag_off 请求')
                if soft is not None:
                    if soft.latest_q:
                        cached_q = list(soft.latest_q)
@@ -304,7 +304,7 @@ def main() -> int:
                if robot is not None:
                    _idle_async(robot, rlock, flexivrdk, timeout=4.0)
                drag_on = False
-                log('drag_off done')
+                log('drag_off 已完成')
                reply({'ok': True, 'drag': False, 'q': cached_q})
            elif cmd == 'joints':
@@ -314,14 +314,14 @@ def main() -> int:
                elif len(cached_q) >= 7:
                    q = list(cached_q)
                if q is None or len(q) < 7:
-                    reply({'ok': False, 'error': 'no joint cache'})
+                    reply({'ok': False, 'error': '没有关节缓存'})
                    continue
                cached_q = q
                reply({'ok': True, 'q': q, 'drag': drag_on})
            elif cmd == 'enable':
                if robot is None:
-                    reply({'ok': False, 'error': '尚未 connect'})
+                    reply({'ok': False, 'error': '尚未连接'})
                    continue
                err = ensure_operational(robot)
                reply({
@@ -332,7 +332,7 @@ def main() -> int:
            elif cmd == 'clear_fault':
                if robot is None:
-                    reply({'ok': False, 'error': '尚未 connect'})
+                    reply({'ok': False, 'error': '尚未连接'})
                    continue
                err = rdk_clear_fault(robot)
                if err:
@@ -349,7 +349,7 @@ def main() -> int:
            elif cmd == 'switch_tool':
                if robot is None:
-                    reply({'ok': False, 'error': '尚未 connect'})
+                    reply({'ok': False, 'error': '尚未连接'})
                    continue
                want = str(msg.get('name', '')).strip()
@@ -428,9 +428,9 @@ def main() -> int:
                return 0
            else:
-                reply({'ok': False, 'error': f'unknown cmd {cmd}'})
+                reply({'ok': False, 'error': f'未知命令 {cmd}'})
        except Exception as exc:  # noqa: BLE001
-            log(f'cmd={cmd} error: {exc}')
+            log(f'cmd={cmd} 出错: {exc}')
            reply({'ok': False, 'error': str(exc)})
    return 0
@@ -1,10 +1,10 @@
 #!/usr/bin/env python3
-"""Control Studio device GripperDahuan / GripperDahuanModbus via Flexiv RDK.
+"""通过 Flexiv RDK 控制 Studio 设备 GripperDahuan / GripperDahuanModbus。
-Must run under RDK Python (rdk_py310). Uses a *lite* RDK instance so it can
+必须在 RDK 的 Python（rdk_py310）下运行。使用 *lite*（轻量）RDK 实例，
-share the robot with run_real.sh (ros2_control holds the normal RDK).
+以便和 run_real.sh 共用机器人（常规 RDK 被 ros2_control 占用）。
-The controller talks RS485 itself (its own /dev/ttyUSB0), not the IPC serial.
+控制器自己走 RS485（用自带的 /dev/ttyUSB0），不走工控机的串口。
  /home/cc/rdk_py310/bin/python ~/ros2/scripts/rdk_gripper.py --list
  /home/cc/rdk_py310/bin/python ~/ros2/scripts/rdk_gripper.py status
@@ -65,28 +65,28 @@ def _move(grip, params, width: float, vel: float, force: float) -> None:
    vmax = float(params.max_vel)
    if vmax <= 0:
        vmax = 0.05
-    # Move velocity cannot be 0 (RDK).
+    # 移动速度不能为 0（RDK 限制）。
    vel = _clamp(vel, max(vmin, 1e-4), vmax)
    force = _clamp(force, float(params.min_force), float(params.max_force))
    width = _clamp(width, float(params.min_width), float(params.max_width))
-    print(f"Move width={width:.4f} m  vel={vel:.4f} m/s  force={force:.1f} N")
+    print(f"移动 width={width:.4f} m  vel={vel:.4f} m/s  force={force:.1f} N")
    grip.Move(width, vel, force)
 def main() -> int:
-    ap = argparse.ArgumentParser(description="Flexiv RDK gripper (GripperDahuanModbus)")
+    ap = argparse.ArgumentParser(description="Flexiv RDK 夹爪（GripperDahuanModbus）")
    ap.add_argument("--sn", default="")
    ap.add_argument("--iface", default="")
-    ap.add_argument("--device", default="", help="Studio Device name")
+    ap.add_argument("--device", default="", help="Studio 设备名")
-    ap.add_argument("--force-n", type=float, default=0.0, help="force limit [N]; 0=mid")
+    ap.add_argument("--force-n", type=float, default=0.0, help="力上限 [N]；0=取中值")
-    ap.add_argument("--vel", type=float, default=0.0, help="speed [m/s]; 0=half max")
+    ap.add_argument("--vel", type=float, default=0.0, help="速度 [m/s]；0=最大速度的一半")
    ap.add_argument(
        "cmd",
        nargs="?",
        default="status",
        choices=["list", "status", "init", "open", "close", "pos", "enable"],
    )
-    ap.add_argument("value", nargs="?", default="", help="pos: meters or 0–1000")
+    ap.add_argument("value", nargs="?", default="", help="pos: 米，或 0–1000")
    args = ap.parse_args()
    sys.path.insert(0, str(ROOT / "scripts" / "lib"))
@@ -99,18 +99,18 @@ def main() -> int:
    iface = (args.iface or robot_cfg.get("iface") or "").strip()
    device = (args.device or g.get("device_name") or "GripperDahuanModbus").strip()
    if not sn:
-        print("ERROR: robot SN missing", file=sys.stderr)
+        print("错误：没拿到机械臂序列号（SN）", file=sys.stderr)
        return 2
    import flexivrdk
-    print(f"=== RDK lite gripper  SN={sn}  device={device}  iface={iface or 'auto'} ===")
+    print(f"=== RDK lite 夹爪  SN={sn}  device={device}  iface={iface or 'auto'} ===")
    robot = connect_lite(sn, iface)
    dev = flexivrdk.Device(robot)
    names = list(dev.list() or [])
    if args.cmd == "list":
-        print("Studio devices:")
+        print("Studio 设备列表:")
        for n in names:
            try:
                en = dev.enabled(n)
@@ -123,7 +123,7 @@ def main() -> int:
    if device not in names:
        print(
-            f"ERROR: device {device!r} not in Studio pool.\n  available: {', '.join(names)}",
+            f"错误：设备 {device!r} 不在 Studio 设备池里。\n  可用: {', '.join(names)}",
            file=sys.stderr,
        )
        return 1
@@ -133,7 +133,7 @@ def main() -> int:
    )
    if not dev.connected(device):
        print(
-            "WARN: connected=False — 控制器自己的 /dev/ttyUSB0 没接到爪。\n"
+            "警告：connected=False —— 控制器自己的 /dev/ttyUSB0 没接到夹爪。\n"
            "  USB–RS485 要插 Flexiv 机箱 USB（不是工控机），A/B + 24V 到 PGEA。\n"
            "  或用法兰工具口 485（腕部白绿+/绿-）。"
        )
@@ -142,14 +142,14 @@ def main() -> int:
    if args.cmd in ("enable", "status", "init", "open", "close", "pos"):
        try:
            grip.Enable(device)
-            print(f"Enable [{device}] OK")
+            print(f"使能 [{device}] 成功")
        except Exception as exc:
-            print(f"ERROR: Enable failed: {exc}", file=sys.stderr)
+            print(f"错误：使能失败: {exc}", file=sys.stderr)
            return 1
    params = grip.params()
-    print("  params:", _fmt_params(params))
+    print("  参数:", _fmt_params(params))
-    print("  states:", _fmt_states(grip.states()))
+    print("  状态:", _fmt_states(grip.states()))
    force = float(args.force_n or g.get("force_n") or 0.0)
    if force <= 0:
@@ -164,27 +164,27 @@ def main() -> int:
        return 0
    if args.cmd == "init":
-        print("Init (fingers home, ~10 s) …")
+        print("初始化（手指回零，约 10 秒）…")
        grip.Init()
        time.sleep(2.0)
-        print("  states:", _fmt_states(grip.states()))
+        print("  状态:", _fmt_states(grip.states()))
        return 0
    if args.cmd == "open":
        _move(grip, params, float(params.max_width), vel, force)
        time.sleep(0.4)
-        print("  states:", _fmt_states(grip.states()))
+        print("  状态:", _fmt_states(grip.states()))
        return 0
    if args.cmd == "close":
        _move(grip, params, float(params.min_width), vel, force)
        time.sleep(0.4)
-        print("  states:", _fmt_states(grip.states()))
+        print("  状态:", _fmt_states(grip.states()))
        return 0
    if args.cmd == "pos":
        if args.value == "":
-            print("usage: pos <meters|0-1000>", file=sys.stderr)
+            print("用法: pos <米|0-1000>", file=sys.stderr)
            return 2
        raw = float(args.value)
        if raw > 1.5:
@@ -194,7 +194,7 @@ def main() -> int:
            width = raw
        _move(grip, params, width, vel, force)
        time.sleep(0.4)
-        print("  states:", _fmt_states(grip.states()))
+        print("  状态:", _fmt_states(grip.states()))
        return 0
    return 0
@@ -203,5 +203,5 @@ if __name__ == "__main__":
    try:
        raise SystemExit(main())
    except Exception as exc:
-        print(f"ERROR: {exc}", file=sys.stderr)
+        print(f"错误：{exc}", file=sys.stderr)
        raise SystemExit(1)
@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
-"""Switch the Flexiv active tool (TCP + payload) to a Studio-configured name.
+"""把 Flexiv 当前工具（TCP + 负载）切换成 Studio 里配置好的名字。
-Must run under RDK Python (rdk_py310). Robot must be IDLE; stop run_real.sh first
+必须在 RDK 的 Python（rdk_py310）下运行。机器人必须处于 IDLE；如果
-if ros2_control already owns the RDK connection.
+ros2_control 已经占住了 RDK 连接，请先停掉 run_real.sh。
  /home/cc/rdk_py310/bin/python ~/ros2/scripts/rdk_switch_tool.py --list
  /home/cc/rdk_py310/bin/python ~/ros2/scripts/rdk_switch_tool.py --name Flange
@@ -17,7 +17,7 @@ import time
 def _single_arm_groups(robot):
-    """RDK 1.9 Tool API is single-arm (no JointGroup). Older builds use groups."""
+    """RDK 1.9 的 Tool API 是单臂的（没有 JointGroup）。老版本用 groups。"""
    info = robot.info()
    groups = getattr(info, "single_arm_groups", None) or {}
    if isinstance(groups, dict):
@@ -33,7 +33,7 @@ def _single_arm_groups(robot):
            return [flexivrdk.JointGroup.ARM_1]
    except Exception:
        pass
-    return [None]  # sentinel: call Tool.name()/Switch() without a group
+    return [None]  # 哨兵：调用 Tool.name()/Switch() 时不带 group
 def _tool_name(tool, group):
@@ -57,7 +57,7 @@ def _tool_switch(tool, group, target: str) -> None:
 def _group_name(group) -> str:
    if group is None:
-        return "arm"
+        return "单臂"
    try:
        import flexivrdk
@@ -91,7 +91,7 @@ def _ensure_idle(robot, mode) -> None:
        time.sleep(0.25)
    if not robot.operational():
        raise RuntimeError(
-            "robot not operational — AUTO Remote + Enable, release E-stop"
+            "机器人未处于 operational 状态 —— 请在示教器切 AUTO Remote 并使能，松开急停"
        )
    robot.SwitchMode(mode.IDLE)
@@ -108,13 +108,13 @@ def _resolve_name(tool, want: str) -> str:
    if hit:
        return hit
    raise SystemExit(
-        "tool %r not found in Studio pool.\n  available: %s"
+        "工具 %r 不在 Studio 工具池里。\n  可选: %s"
-        % (want, ", ".join(names) or "(empty)")
+        % (want, ", ".join(names) or "（空）")
    )
 def _iface_ipv4s(name: str) -> list:
-    """FastDDS whitelist wants IPv4 addresses, not NIC names like enp4s0."""
+    """FastDDS 白名单要的是 IPv4 地址，而不是 enp4s0 这类网卡名。"""
    import socket
    import fcntl
    import struct
@@ -147,7 +147,7 @@ def _iface_ipv4s(name: str) -> list:
                addrs.append(cidr.split("/")[0])
    except Exception:
        pass
-    # unique, keep order
+    # 去重，保持原有顺序
    seen = set()
    uniq = []
    for a in addrs:
@@ -170,7 +170,7 @@ def _rdk_whitelist(iface: str) -> list[list[str]]:
        robot_lan = [a for a in _iface_ipv4s(iface) if a.startswith("192.168.2.")]
        if robot_lan:
            lists.append(robot_lan)
-    # unique
+    # 去重
    seen: set[tuple[str, ...]] = set()
    out: list[list[str]] = []
    for item in lists:
@@ -185,7 +185,7 @@ def connect_rdk(sn: str, iface: str = ""):
    import flexivrdk
    for listen in _rdk_whitelist(iface):
-        print("RDK whitelist:", ", ".join(listen))
+        print("RDK 白名单:", ", ".join(listen))
        for args in ((sn, listen), (sn, listen, True), (sn, listen, True, False)):
            try:
                return flexivrdk.Robot(*args)
@@ -194,51 +194,51 @@ def connect_rdk(sn: str, iface: str = ""):
            except RuntimeError as exc:
                msg = str(exc)
                if "whitelist" in msg.lower() or "filtered out" in msg.lower():
-                    print("  whitelist rejected, try next")
+                    print("  白名单被拒，试下一个")
                    break
                if "Failed to connect" in msg or "failed to connect" in msg.lower():
-                    print("  search timeout with this whitelist")
+                    print("  用这个白名单搜索超时")
                    break
                raise
-    print("retry without iface filter")
+    print("不带 iface 过滤再试一次")
    return flexivrdk.Robot(sn)
 def main() -> int:
-    ap = argparse.ArgumentParser(description="Switch Flexiv Studio tool / TCP")
+    ap = argparse.ArgumentParser(description="切换 Flexiv Studio 工具 / TCP")
-    ap.add_argument("--sn", default="", help="robot serial (default: site.yaml)")
+    ap.add_argument("--sn", default="", help="机械臂序列号（默认取 site.yaml）")
-    ap.add_argument("--iface", default="", help="NIC whitelist for RDK (e.g. enp4s0)")
+    ap.add_argument("--iface", default="", help="RDK 用的网卡白名单（如 enp4s0）")
    ap.add_argument(
        "--name",
        default="",
-        help="Studio tool name (Flange = no tool). Empty = site.yaml robot.tool_name",
+        help="Studio 工具名（Flange = 不装工具）。留空 = 用 site.yaml 的 robot.tool_name",
    )
-    ap.add_argument("--list", action="store_true", help="list tools and exit")
+    ap.add_argument("--list", action="store_true", help="列出工具后退出")
    args = ap.parse_args()
    sn = (args.sn or "").strip()
    want = (args.name or "").strip()
    if not sn:
-        print("ERROR: --sn is required (run via run_real.sh / rdk_switch_tool.sh)", file=sys.stderr)
+        print("错误：必须提供 --sn（请通过 run_real.sh / rdk_switch_tool.sh 运行）", file=sys.stderr)
        return 2
    import flexivrdk
    mode = flexivrdk.Mode
    iface = (args.iface or "").strip()
-    print(f"=== RDK tool  SN={sn}  iface={iface or 'auto'} ===")
+    print(f"=== RDK 工具  SN={sn}  iface={iface or 'auto'} ===")
    robot = None
    try:
        robot = connect_rdk(sn, iface)
        if robot.fault():
-            print("fault present, ClearFault ...")
+            print("检测到故障，正在 ClearFault ...")
            if not robot.ClearFault():
-                print("ERROR: fault cannot be cleared", file=sys.stderr)
+                print("错误：故障无法清除", file=sys.stderr)
                return 1
        tool = flexivrdk.Tool(robot)
        names = list(tool.list() or [])
        groups = _single_arm_groups(robot)
-        print("Studio tools:", ", ".join(names) or "(none)")
+        print("Studio 工具:", ", ".join(names) or "（无）")
        for g in groups:
            cur = _tool_name(tool, g)
            extra = ""
@@ -246,23 +246,23 @@ def main() -> int:
                extra = "  " + _fmt_params(_tool_params(tool, g))
            except Exception:
                pass
-            print(f"  active [{_group_name(g)}]: {cur}{extra}")
+            print(f"  当前 [{_group_name(g)}]: {cur}{extra}")
        if args.list:
            return 0
        if not want:
-            print("tool_name empty — keep current (set robot.tool_name in site.yaml to switch)")
+            print("tool_name 为空 —— 保持当前工具（要切换请在 site.yaml 里设置 robot.tool_name）")
-            print("RDK OK")
+            print("RDK 正常")
            return 0
        target = _resolve_name(tool, want)
        already = all(_tool_name(tool, g) == target for g in groups)
        if already:
-            print(f"already on [{target}]")
+            print(f"已经处于 [{target}]")
-            print("RDK OK")
+            print("RDK 正常")
            return 0
-        print(f"switching → [{target}] (requires IDLE)")
+        print(f"正在切换到 → [{target}]（需要 IDLE）")
        _ensure_idle(robot, mode)
        for g in groups:
            _tool_switch(tool, g, target)
@@ -273,16 +273,16 @@ def main() -> int:
                extra = "  " + _fmt_params(_tool_params(tool, g))
            except Exception:
                pass
-            print(f"  now [{_group_name(g)}]: {cur}{extra}")
+            print(f"  现在 [{_group_name(g)}]: {cur}{extra}")
            if cur != target:
-                print(f"ERROR: switch failed, still {cur!r}", file=sys.stderr)
+                print(f"错误：切换失败，当前仍是 {cur!r}", file=sys.stderr)
                return 1
-        print("RDK OK")
+        print("RDK 正常")
        return 0
    except Exception as exc:
-        print(f"ERROR: {exc}", file=sys.stderr)
+        print(f"错误：{exc}", file=sys.stderr)
-        print("  Stop run_real.sh first (RDK is exclusive).", file=sys.stderr)
+        print("  请先停掉 run_real.sh（RDK 是独占的）。", file=sys.stderr)
-        print("  Pendant: AUTO Remote + Enable Ethernet/RDK.", file=sys.stderr)
+        print("  示教器：切 AUTO Remote，并使能 Ethernet/RDK。", file=sys.stderr)
        return 1
    finally:
        robot = None
@@ -1,11 +1,11 @@
 #!/usr/bin/env bash
-# Switch / list Flexiv Studio tools via RDK (reads name from site.yaml).
+# 通过 RDK 切换 / 列出 Flexiv Studio 工具（工具名从 site.yaml 读取）。
 #
-#   bash ~/ros2/scripts/rdk_switch_tool.sh            # switch to robot.tool_name
+#   bash ~/ros2/scripts/rdk_switch_tool.sh            # 切换到 robot.tool_name
-#   bash ~/ros2/scripts/rdk_switch_tool.sh --list     # print Studio tool pool
+#   bash ~/ros2/scripts/rdk_switch_tool.sh --list     # 打印 Studio 工具池
 #   bash ~/ros2/scripts/rdk_switch_tool.sh --name Flange
 #
-# Stop run_real.sh first — RDK allows only one client.
+# 先停掉 `run_real.sh` —— RDK 只允许一个客户端。
 set -eo pipefail
 ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
@@ -1,17 +1,17 @@
 #!/usr/bin/env bash
-# Terminal: D405 via official pyrealsense2 SDK — color + depth + stereo IR topics.
+# 终端方式运行 D405：走官方 pyrealsense2 SDK —— 发布彩色 + 深度 + 双目 IR 话题。
-# With --preview the Qt window runs in a SEPARATE viewer process (realsense_view)
+# 带 --preview 时，Qt 窗口跑在**独立的**查看器进程（`realsense_view`）里，
-# so painting never slows the camera stream. Closing the window ≠ stop camera.
+# 这样绘制界面永远不会拖慢相机数据流。关掉窗口 ≠ 停止相机。
-# Do NOT start view_realsense_depth.sh at the same time (USB is exclusive).
+# 不要同时启动 `view_realsense_depth.sh`（USB 是独占的）。
 #
-# Usage:
+# 用法：
 #   bash ~/ros2/scripts/run_camera_d405.sh
 #   bash ~/ros2/scripts/run_camera_d405.sh --preview
 #   bash ~/ros2/scripts/run_camera_d405.sh --arm 91 --preview
 set -eo pipefail
 ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
-PREVIEW=-1   # -1 = use site; 0/1 = force
+PREVIEW=-1   # -1 = 沿用 site；0/1 = 强制
 HIGH_FPS=0
 # shellcheck disable=SC1091
@@ -143,8 +143,8 @@ fi
 echo "=== next: bash ~/ros2/scripts/run_visual_servo_rt.sh --arm ${SITE_ROBOT_ARM:-89} [--control] ==="
 if [[ "${DO_PREVIEW}" == "1" ]]; then
-  # Camera publishes only; the Qt viewer runs in its own process so painting
+  # 相机进程只负责发布；Qt 查看器跑在自己的进程里，所以界面绘制
-  # can never starve the capture loop (shared GIL cost ~70 ms/frame before).
+  # 永远不会把采集循环饿死（以前共用 GIL 时每帧要花约 70 ms）。
  pkill -f 'lib/arm_application/realsense_view' 2>/dev/null || true
  ros2 run arm_application realsense_color_pub "${CAM_ARGS[@]}" -p show_preview:=false &
  CAM_PID=$!
@@ -1,5 +1,5 @@
 #!/usr/bin/env bash
-# Overhead D435 between the two arms (eye-to-hand). Does not open either D405.
+# 两臂之间的顶置 D435（`eye-to-hand`，相机固定在外）。不会打开任何一个 D405。
 #
 #   bash ~/ros2/scripts/run_camera_d435.sh --preview
 #
@@ -1,5 +1,5 @@
 #!/usr/bin/env bash
-# View URDF only (joint_state_publisher_gui + RViz)
+# 只看 URDF（joint_state_publisher_gui + RViz）
 set -euo pipefail
 ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
 # shellcheck disable=SC1091
@@ -1,8 +1,8 @@
 #!/usr/bin/env bash
-# Both DH grippers (left PGEA + right RGI) as one ROS 2 node.
+# 把两个 DH 夹爪（左 PGEA + 右 RGI）作为同一个 ROS 2 节点启动。
 #   bash ~/ros2/scripts/run_dual_gripper.sh
-# Topics: /dual_gripper_driver/left|right/{command,status}
+# 话题：/dual_gripper_driver/left|right/{command,status}
-# Services: /dual_gripper_driver/left|right/execute  (arm_msgs/srv/GripperExecute)
+# 服务：/dual_gripper_driver/left|right/execute  (arm_msgs/srv/GripperExecute)
 set -eo pipefail
 ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
@@ -1,8 +1,8 @@
 #!/usr/bin/env bash
-# DH grippers on the IPC (Modbus RTU). Not Flexiv Studio / RDK.
+# 工控机上的 DH 夹爪（Modbus RTU）。不是 Flexiv Studio / RDK 那一套。
 #
-# Left 89  PGEA parallel  /dev/ttyUSB0
+# 左臂 89  PGEA 平行夹爪  /dev/ttyUSB0
-# Right 91 RGI rotary     /dev/ttyUSB1
+# 右臂 91  RGI 旋转夹爪   /dev/ttyUSB1
 #
 #   bash ~/ros2/scripts/run_gripper.sh --arm 89 --cli probe
 #   bash ~/ros2/scripts/run_gripper.sh --arm 89 --cli init
@@ -13,9 +13,9 @@
 #   bash ~/ros2/scripts/run_gripper.sh --arm 91 --cli close
 #   bash ~/ros2/scripts/run_gripper.sh --arm 91 --cli rotate 90
 #   bash ~/ros2/scripts/run_gripper.sh --arm 91 --cli revolutions 2
-#   bash ~/ros2/scripts/run_gripper.sh --arm 89          # ROS node PGEA
+#   bash ~/ros2/scripts/run_gripper.sh --arm 89          # ROS 节点 PGEA
-#   bash ~/ros2/scripts/run_gripper.sh --arm 91          # ROS node RGI
+#   bash ~/ros2/scripts/run_gripper.sh --arm 91          # ROS 节点 RGI
-#   bash ~/ros2/scripts/run_dual_gripper.sh              # both ROS nodes
+#   bash ~/ros2/scripts/run_dual_gripper.sh              # 两个 ROS 节点都起
 set -eo pipefail
 ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
@@ -1,14 +1,14 @@
 #!/usr/bin/env bash
-# Hand-eye calibration helpers.
+# 手眼标定辅助脚本。
-# Scripts: ~/ros2/scripts/run_handeye.sh
+# 脚本：~/ros2/scripts/run_handeye.sh
-# Config & results: ~/ros2/handeye/            ← 见 handeye/README.md
+# 配置与结果：~/ros2/handeye/            ← 见 handeye/README.md
 #   poses/<臂号>_<模式>.yaml     采点（输入）
 #   results/<臂号>_<模式>.yaml   标定结果（输出）
 #   calibrate.yaml               板尺寸 / 运动 / 稳定性参数
 #   tmp/                         临时产物
-# Site overrides: ~/ros2/config/site.yaml → handeye:
+# 站点覆盖项：~/ros2/config/site.yaml → handeye:
 #
-# Usage:
+# 用法：
 #   bash ~/ros2/scripts/run_handeye.sh calibrate
 #   bash ~/ros2/scripts/run_handeye.sh waypoints
 #   bash ~/ros2/scripts/run_handeye.sh teach          # RDK 软拖拽（推荐）
@@ -61,7 +61,7 @@ source "${ROOT}/scripts/env.sh"
 # shellcheck disable=SC1091
 source "${ROOT}/scripts/lib/load_site_config.sh"
-# Prefer package source tree (editable); fall back to install share
+# 优先用包的源码树（editable 模式）；退而用 install 里的 share
 APP_CFG="${ROOT}/src/arm_application/config"
 if [[ ! -d "${APP_CFG}" ]]; then
  APP_CFG="$(ros2 pkg prefix arm_application 2>/dev/null)/share/arm_application/config" || true
@@ -1,13 +1,13 @@
 #!/usr/bin/env bash
-# Hole detection on the current-arm wrist D405. Detect only — no insert motion.
+# 用当前臂腕部 D405 做孔检测。只检测 —— 不做插入动作。
 #
 #   bash ~/ros2/scripts/run_camera_d405.sh --arm 89 --preview
 #   bash ~/ros2/scripts/run_hole_detect.sh --arm 89 --preview
 #
-# backend from site.yaml hole_detect.backend:
+# 后端取自 site.yaml 的 hole_detect.backend:
-#   two_stage  YOLO workpiece bbox + HoughCircles (camera_test hole_detect.py)
+#   two_stage  YOLO 工件 bbox + HoughCircles（camera_test 的 hole_detect.py）
-#   yolo       YOLO boxes treated as holes
+#   yolo       把 YOLO 框直接当作孔
-#   hough      full-image HoughCircles
+#   hough      整图 HoughCircles
 set -eo pipefail
 ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
@@ -1,6 +1,6 @@
 #!/usr/bin/env bash
-# Real Rizon4 bringup — sets RDK runtime libs + launches stack backend:=real
+# 真机 Rizon4 启动入口 —— 设置 RDK 运行时库，然后以 backend:=real 启动整栈
-# Note: no `set -u` — conda/RoboStack hooks reference unset vars (CONDA_BUILD, COLCON_TRACE)
+# 注意：这里不加 `set -u` —— conda/RoboStack 的钩子会引用未绑定的变量（CONDA_BUILD、COLCON_TRACE）
 #
 #   bash ~/ros2/scripts/run_real.sh
 #   bash ~/ros2/scripts/run_real.sh --arm 91
@@ -31,10 +31,10 @@ source "${ROOT}/install/setup.bash"
 # shellcheck disable=SC1091
 source "${ROOT}/scripts/lib/load_site_config.sh"
-# flexiv_hardware must load spdlog/RBDyn from flexiv_install (not conda fmt v11)
+# `flexiv_hardware` 必须从 flexiv_install 加载 spdlog/RBDyn（不能用 conda 的 fmt v11）
 export LD_LIBRARY_PATH="${FLEXIV_PREFIX}/lib:${LD_LIBRARY_PATH:-}"
-# SITE_ROBOT_SN is the resolved Flexiv serial (89/91 aliases already mapped).
+# `SITE_ROBOT_SN` 是解析后的 Flexiv 序列号（89/91 别名已经映射好了）。
 ROBOT_SN="${SITE_ROBOT_SN:-${ROBOT_SN:-Rizon4-063989}}"
 ROBOT_IP="${ROBOT_IP:-${SITE_ROBOT_IP:-192.168.100.1}}"
 NET_IFACE="${SITE_NET_IFACE:-}"
@@ -1,5 +1,5 @@
 #!/usr/bin/env bash
-# Quick-start: mock arm + RViz
+# 快速启动：mock 机械臂 + RViz
 set -euo pipefail
 ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
 # shellcheck disable=SC1091
@@ -1,8 +1,8 @@
 #!/usr/bin/env bash
-# Orisys visuo-tactile (finger cameras, not D405). Config: site.yaml tactile:
+# Orisys 视触觉（指端相机，不是 D405）。配置：site.yaml 的 tactile:
 #
 #   bash ~/ros2/scripts/run_tactile.sh --cli
-#   bash ~/ros2/scripts/run_tactile.sh          # ROS node /tactile/left|right/status
+#   bash ~/ros2/scripts/run_tactile.sh          # ROS 节点 /tactile/left|right/status
 set -eo pipefail
 ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
@@ -1,14 +1,14 @@
 #!/usr/bin/env bash
-# Real-time visual servo (reads ALL tunables from ~/ros2/config/site.yaml).
+# 实时视觉伺服（所有可调参数全部从 ~/ros2/config/site.yaml 读取）。
 #
 #   bash ~/ros2/scripts/run_visual_servo_rt.sh
 #   bash ~/ros2/scripts/run_visual_servo_rt.sh --control
 #   bash ~/ros2/scripts/run_visual_servo_rt.sh --arm 91 --control
 #
-# --control starts tracking from the current pose (no lift, no return-to-home).
+# --control 从当前位姿直接开始跟踪（不抬升，也不回 home）。
 # 89/91 手眼与相机各自独立：必须与 run_real.sh 同一 --arm。
 #
-# Switch YOLO weights: edit paths.yolo_weights in site.yaml
+# 切换 YOLO 权重：改 site.yaml 里的 paths.yolo_weights
 set -eo pipefail
 ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
@@ -42,9 +42,9 @@ fi
 if [[ "${CONTROL}" == true ]]; then
  echo "=== waiting for rizon_arm_controller ACTIVE (T1: run_real.sh --arm ${SITE_ROBOT_ARM:-?}) ==="
-  # NOTE: action-list can show zombie entries from a crashed ros2_control,
+  # 注意：action-list 可能显示出崩溃过的 ros2_control 留下的僵尸条目，
-  # and `ros2 control` CLI is broken in this env (xmlrpc Fault). A raw
+  # 而且这个环境里的 `ros2 control` CLI 是坏的（xmlrpc Fault）。直接发
-  # service call only answers when the controller manager is actually alive.
+  # 服务请求只有控制器管理器真的活着时才会应答。
  ready=false
  for _i in $(seq 1 40); do
    if timeout 5 ros2 service call /controller_manager/list_controllers \
@@ -1,5 +1,5 @@
 #!/usr/bin/env bash
-# Show / validate the master site config.
+# 显示 / 校验主站点配置。
 #   bash ~/ros2/scripts/show_site_config.sh
 #   SITE_CONFIG=/path/to/other.yaml bash ~/ros2/scripts/show_site_config.sh
@@ -1,5 +1,5 @@
 #!/usr/bin/env bash
-# Smoke-test Flexiv RDK Python against site robot (no ROS / no GitHub).
+# 针对站点机器人对 Flexiv RDK Python 做冒烟测试（不需要 ROS / 不访问 GitHub）。
 set -euo pipefail
 ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
 # shellcheck disable=SC1091
@@ -1,6 +1,6 @@
 #!/usr/bin/env bash
-# Wire local Flexiv trees under ~/文档/Flexiv_Rizon4 into this workspace.
+# 把 ~/文档/Flexiv_Rizon4 下的本地 Flexiv 代码树接入本工作区。
-# Avoids re-cloning RDK / sim plugin from GitHub.
+# 免得再从 GitHub 重新克隆 RDK / 仿真插件。
 set -euo pipefail
 ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
@@ -30,7 +30,7 @@ if [[ -d "${LOCAL_FLEXIV}/flexiv_sim_plugin" ]]; then
  echo "Linked thirdparty/flexiv_sim_plugin -> ${LOCAL_FLEXIV}/flexiv_sim_plugin"
 fi
-# humble-v1 ROS hardware needs RDK 1.9.x (kept separately if present)
+# humble-v1 的 ROS 硬件需要 RDK 1.9.x（如果存在，会单独保留一份）
 if [[ -d "${SRC}/flexiv_rdk.bak.1787646725" ]]; then
  ln -sfn "${SRC}/flexiv_rdk.bak.1787646725" "${SRC}/flexiv_rdk_v1"
  touch "${SRC}/flexiv_rdk.bak.1787646725/COLCON_IGNORE"
@@ -1,32 +1,32 @@
-"""arm_application — field nodes for Flexiv Rizon + D405 + DH grippers.
+"""arm_application —— Flexiv Rizon + D405 + DH 夹爪的现场节点包。
-Public ROS executables (see setup.py console_scripts)
+对外可直接运行的 ROS 程序（见 ``setup.py`` 的 ``console_scripts``）
----------------------------------------------------
+------------------------------------------------------------------
-Camera:      realsense_color_pub
+相机：      realsense_color_pub
-Perception:  perception_node
+感知：      perception_node
-Servo:       servo_node
+伺服：      servo_node
-Hand-eye:    handeye_teach, handeye_waypoints, handeye_calibrate
+手眼：      handeye_teach、handeye_waypoints、handeye_calibrate
-Gripper:     dh_pgea, dh_pgea_cli, dual_gripper, dual_gripper_cli
+夹爪：      dh_pgea、dh_pgea_cli、dual_gripper、dual_gripper_cli
-Hole detect: hole_detect
+入孔检测：  hole_detect
-Tactile:     tactile, tactile_cli
+触觉：      tactile、tactile_cli
-Helpers:     goto_ee_plane, demo_named_poses, run_joint_trajectory
+辅助：      goto_ee_plane、demo_named_poses、run_joint_trajectory
-Reusable Python modules (import from your own nodes)
+可复用的 Python 模块（可以在你自己的节点里 import）
----------------------------------------------------
+------------------------------------------------------------------
-yolo_detector     YOLO / TensorRT inference + pick_best
+``yolo_detector``     YOLO / TensorRT 推理 + ``pick_best`` 挑最优框
-box_tracker       pixel-space constant-velocity box coast
+``box_tracker``       像素平面内的匀速模型框预测（丢帧时"滑行"用）
-plane_feature     stereo plane centroid inside a YOLO box
+``plane_feature``     在 YOLO 框内取立体平面的质心
-dh_pgea           official Modbus RTU client for DH PGEA
+``dh_pgea``           大寰 PGEA 的官方 Modbus RTU 客户端
-dh_official       DH Modbus client used by dual_gripper
+``dh_official``       ``dual_gripper`` 用的 DH Modbus 客户端
-dual_gripper      PGEA left + RGI right
+``dual_gripper``      左 PGEA + 右 RGI
-hole_detector     yolo / hough / two_stage hole centers
+``hole_detector``     yolo / hough / two_stage 三种孔心检测
-orisys_tactile    Orisys visuo-tactile adapter
+``orisys_tactile``    Orisys 视触觉适配器
-geom_ik           Rizon geometric Jacobian / DLS / hand-eye load
+``geom_ik``           Rizon 几何雅可比 / DLS / 手眼加载
-handeye_lib       chessboard + OpenCV calibrateHandEye
+``handeye_lib``       棋盘格 + OpenCV ``calibrateHandEye``
-handeye_realsense topic / serial helpers for D405
+``handeye_realsense`` D405 的话题 / 序列号辅助
-pid_controller    PID with integral separation
+``pid_controller``    带积分分离的 PID
-kalman_filter     3D constant-velocity KF
+``kalman_filter``     三维匀速模型卡尔曼滤波
-Operators should use ``scripts/*.sh`` and ``config/site.yaml``, not these
+现场操作请走 ``scripts/*.sh`` 和 ``config/site.yaml``，不要直接 import 这些模块。
-imports. See ``docs/INTERFACES.md``.
+接口契约见 ``docs/INTERFACES.md``。
 """
@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
-"""Constant-velocity tracker for a YOLO xyxy box (pixel space).
+"""针对 YOLO ``xyxy`` 框（像素坐标系）的匀速跟踪器。
-Used so fast workpiece motion does not drop the lock: the next-frame gate
+用于避免工件快速运动时丢失锁定：下一帧的闸门使用*预测*框，
-is the *predicted* box, and brief YOLO misses coast the overlay.
+短暂的 YOLO 漏检则由惯性滑行（coast）维持叠加显示。
 """
 from __future__ import annotations
@@ -38,7 +38,7 @@ class BoxTracker:
        self.v_lpf = float(np.clip(v_lpf, 0.05, 1.0))
        self.max_dt = float(max_dt)
        self.xyxy: Optional[np.ndarray] = None
-        self.v = np.zeros(2, dtype=float)  # center px/s
+        self.v = np.zeros(2, dtype=float)  # 中心点 px/s
        self.t: Optional[float] = None
    def reset(self) -> None:
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-"""Demo: cycle named poses via /set_named_pose (works for any backend)."""
+"""演示：通过 ``/set_named_pose`` 循环切换命名位姿（对任何后端都适用）。"""
 from __future__ import annotations
@@ -31,10 +31,10 @@ class DemoNamedPoses(Node):
    def run(self) -> int:
        if not self._cli.wait_for_service(timeout_sec=15.0):
-            self.get_logger().error('/set_named_pose not available')
+            self.get_logger().error('``/set_named_pose`` 服务不可用')
            return 1
        for loop in range(max(self.loops, 1)):
-            self.get_logger().info(f'loop {loop + 1}/{self.loops}')
+            self.get_logger().info(f'第 {loop + 1}/{self.loops} 轮')
            for pose in self.poses:
                req = SetNamedPose.Request()
                req.pose_name = pose
@@ -45,17 +45,17 @@ class DemoNamedPoses(Node):
                while rclpy.ok() and not fut.done():
                    rclpy.spin_once(self, timeout_sec=0.05)
                    if time.monotonic() > deadline:
-                        self.get_logger().error(f'timeout on {pose}')
+                        self.get_logger().error(f'{pose} 调用超时')
                        return 2
                res = fut.result()
                if res is None or not res.success:
                    self.get_logger().error(
-                        f'{pose} failed: {res.message if res else "no response"}'
+                        f'{pose} 执行失败：{res.message if res else "无响应"}'
                    )
                    return 3
-                self.get_logger().info(f'{pose}: {res.message}')
+                self.get_logger().info(f'{pose}：{res.message}')
                time.sleep(self.dwell_sec)
-        self.get_logger().info('demo done')
+        self.get_logger().info('演示结束')
        return 0
@@ -20,34 +20,34 @@ from typing import Iterable
 # =============================================================================
-# DH-Robotics Modbus register map
+# DH-Robotics Modbus 寄存器映射
 # =============================================================================
-# Basic control registers (holding registers, function code 03/06/10)
+# 基础控制寄存器（保持寄存器，功能码 03/06/10）
-REG_INIT = 0x0100                 # 0x01 initialize, 0xA5 fully initialize
+REG_INIT = 0x0100                 # 0x01 初始化，0xA5 完全初始化
-REG_FORCE = 0x0101                # gripper closing force, 20~100 %
+REG_FORCE = 0x0101                # 夹爪闭合力，20~100 %
-REG_POSITION = 0x0103             # finger reference position, 0~1000 per-mille
+REG_POSITION = 0x0103             # 手指参考位置，0~1000 千分比
-REG_SPEED = 0x0104                # finger open/close speed, 1~100 %
+REG_SPEED = 0x0104                # 手指开合速度，1~100 %
-# RGI rotation control registers
+# RGI 旋转控制寄存器
-REG_ROTATION_ANGLE = 0x0105       # target rotation angle, signed degree value
+REG_ROTATION_ANGLE = 0x0105       # 目标旋转角度，有符号角度值
-REG_ROTATION_SPEED = 0x0107       # rotation speed, 1~100 %
+REG_ROTATION_SPEED = 0x0107       # 旋转速度，1~100 %
-REG_ROTATION_FORCE = 0x0108       # rotation force/torque, 20~100 %
+REG_ROTATION_FORCE = 0x0108       # 旋转力/力矩，20~100 %
-# Feedback registers
+# 反馈寄存器
-REG_INIT_STATE = 0x0200           # 0 uninitialized, 1 initialized, 2 initializing
+REG_INIT_STATE = 0x0200           # 0 未初始化，1 已初始化，2 初始化中
-REG_GRIPPER_STATE = 0x0201        # 0 moving, 1 reached, 2 object caught, 3 object dropped
+REG_GRIPPER_STATE = 0x0201        # 0 运动中，1 已到位，2 已夹到物体，3 物体掉落
-REG_CURRENT_POSITION = 0x0202     # current finger position, per-mille
+REG_CURRENT_POSITION = 0x0202     # 当前手指位置，千分比
-REG_ROTATION_ANGLE_FB = 0x0208    # current rotation angle, signed degree value
+REG_ROTATION_ANGLE_FB = 0x0208    # 当前旋转角度，有符号角度值
-REG_ROTATION_INIT_STATE = 0x020A  # 0 uninitialized, 1 initialized, 2 initializing
+REG_ROTATION_INIT_STATE = 0x020A  # 0 未初始化，1 已初始化，2 初始化中
-REG_ROTATION_STATE = 0x020B       # 0 moving, 1 reached, 2 blocking, 3 had been blocked
+REG_ROTATION_STATE = 0x020B       # 0 运动中，1 已到位，2 受阻，3 曾经受阻
-# Configuration registers
+# 配置寄存器
-REG_SAVE_PARAMS = 0x0300          # write 1 to save all parameters to flash
+REG_SAVE_PARAMS = 0x0300          # 写入 1 可把所有参数保存到 flash
 class DHModbusError(RuntimeError):
-    """DH Modbus communication or protocol error."""
+    """DH Modbus 通信或协议错误。"""
 def _clamp_int(value: float | int, lo: int, hi: int) -> int:
@@ -55,9 +55,9 @@ def _clamp_int(value: float | int, lo: int, hi: int) -> int:
 def _encode_signed(value: float | int) -> int:
-    """Encode signed degree value as DH one's-complement register value.
+    """把有符号角度值编码为 DH 的反码（one's complement）寄存器值。
-    RGI manual example: +360 -> 0x0168, -360 -> 0xFE97.
+    RGI 手册示例：+360 -> 0x0168，-360 -> 0xFE97。
    """
    value = _clamp_int(value, -32767, 32767)
    if value >= 0:
@@ -66,7 +66,7 @@ def _encode_signed(value: float | int) -> int:
 def _decode_signed(raw: int) -> int:
-    """Decode DH one's-complement register value to signed integer."""
+    """把 DH 的反码（one's complement）寄存器值解码为有符号整数。"""
    raw = int(raw) & 0xFFFF
    if raw & 0x8000:
        mag = (~raw) & 0x7FFF
@@ -75,7 +75,7 @@ def _decode_signed(raw: int) -> int:
 class DHModbusClient:
-    """Minimal thread-safe Modbus RTU client for DH-Robotics grippers."""
+    """面向 DH-Robotics 夹爪的最小线程安全 Modbus RTU 客户端。"""
    def __init__(
        self,
@@ -91,7 +91,7 @@ class DHModbusClient:
        try:
            import minimalmodbus
            import serial
-        except ImportError as exc:  # pragma: no cover - depends on runtime env
+        except ImportError as exc:  # pragma: no cover - 取决于运行时环境
            raise DHModbusError(
                "缺少 minimalmodbus/pyserial。请先安装：pip install minimalmodbus pyserial"
            ) from exc
@@ -124,7 +124,7 @@ class DHModbusClient:
                pass
    # ------------------------------------------------------------------
-    # Low-level register access
+    # 底层寄存器读写
    # ------------------------------------------------------------------
    def write_register(self, address: int, value: int) -> None:
        value = _clamp_int(value, 0, 0xFFFF)
@@ -170,10 +170,10 @@ class DHModbusClient:
        return _decode_signed(self.read_register(address))
    # ------------------------------------------------------------------
-    # Common PGE/PGEA/RGI control
+    # PGE/PGEA/RGI 通用控制
    # ------------------------------------------------------------------
    def initialize(self, *, full: bool = False, rotation: bool = False, timeout: float = 10.0) -> None:
-        """Initialize/homing the gripper and wait until ready."""
+        """初始化/回零夹爪，并等待其就绪。"""
        self.write_register(REG_INIT, 0xA5 if full else 0x01)
        start = time.monotonic()
        while time.monotonic() - start < timeout:
@@ -229,11 +229,11 @@ class DHModbusClient:
        return self.read_register(REG_INIT_STATE)
    def hold_current_position(self) -> None:
-        """Best-effort stop/hold for DH grippers without a dedicated stop register."""
+        """在没有专用停止寄存器的 DH 夹爪上尽力停止/保持。"""
        self.set_position_per_mille(self.get_position_per_mille())
    # ------------------------------------------------------------------
-    # RGI rotation control
+    # RGI 旋转控制
    # ------------------------------------------------------------------
    def set_rotation_speed_pct(self, speed_pct: float | int) -> int:
        value = _clamp_int(speed_pct, 1, 100)
@@ -263,7 +263,7 @@ class DHModbusClient:
        return self.read_register(REG_ROTATION_STATE)
    def hold_current_rotation(self) -> None:
-        """Stop rotation by re-commanding the current feedback angle."""
+        """重新下发当前反馈角度来停止旋转。"""
        self.write_register(REG_ROTATION_ANGLE, self.get_rotation_angle_raw())
    def hold_current_all(self) -> None:
@@ -1,21 +1,21 @@
 #!/usr/bin/env python3
-"""DH Robotics PGE / PGEA Modbus RTU client.
+"""DH Robotics PGE / PGEA Modbus RTU 客户端。
-Port of the official C++ driver:
+移植自官方 C++ 驱动：
  DH-Robotics/dh_gripper_ros  →  DH_Modbus_Gripper
-  (factory maps model names containing ``PGE`` / ``PGEA`` onto this class)
+  （工厂会按型号名里是否包含 ``PGE`` / ``PGEA`` 映射到本类）
-Flexiv RDK ``Gripper`` cannot drive this claw: it is not a Studio Device.
+Flexiv RDK 的 ``Gripper`` 驱动不了这个夹爪：它不是 Studio Device。
-Talk RS485 (USB–UART) with the same registers the DH ROS driver uses.
+改用 RS485（USB–UART）通信，寄存器与 DH 的 ROS 驱动完全一致。
-Registers (holding, FC03 read / FC06 write, CRC-16/Modbus LE):
+寄存器（保持寄存器，FC03 读 / FC06 写，CRC-16/Modbus 小端）：
-  0x0100  init write 0xA5
+  0x0100  初始化，写 0xA5
-  0x0101  force 20–100 %
+  0x0101  力 20–100 %
-  0x0103  position 0–1000 ‰
+  0x0103  位置 0–1000 ‰
-  0x0104  speed 1–100 %
+  0x0104  速度 1–100 %
-  0x0200  init state  0=need  1=done  2=doing
+  0x0200  初始化状态  0=需要  1=完成  2=进行中
-  0x0201  grip state  0=moving  1=arrived  2=caught  3=dropped
+  0x0201  夹持状态  0=运动中  1=已到位  2=已夹住  3=已掉落
-  0x0202  current position
+  0x0202  当前位置
 """
 from __future__ import annotations
@@ -31,11 +31,11 @@ try:
    import serial
 except ImportError as exc:  # pragma: no cover
    raise SystemExit(
-        "pyserial missing. In conda ros_flexiv:  pip install pyserial"
+        "缺少 pyserial。在 conda 环境 ros_flexiv 里执行：pip install pyserial"
    ) from exc
-# Official CRC-16/Modbus (same table as dh_modbus_gripper.cpp).
+# 官方 CRC-16/Modbus（与 dh_modbus_gripper.cpp 使用同一张表）。
 _CRC_TABLE = (
    0x0000, 0xC0C1, 0xC181, 0x0140, 0xC301, 0x03C0, 0x0280, 0xC241,
    0xC601, 0x06C0, 0x0780, 0xC741, 0x0500, 0xC5C1, 0xC481, 0x0440,
@@ -105,7 +105,7 @@ INIT_STATE_NAME = {
 def crc16_modbus(data: bytes) -> int:
-    """Official DH CRC16 (Modbus, little-endian on the wire)."""
+    """官方 DH CRC16（Modbus，线路上按小端发送）。"""
    crc = 0xFFFF
    for byte in data:
        crc = (crc >> 8) ^ _CRC_TABLE[(crc ^ byte) & 0xFF]
@@ -176,7 +176,7 @@ WIRING_HINT = (
 class DhPgeaGripper:
-    """Thread-safe Modbus RTU client for PGE / PGEA (official register map)."""
+    """面向 PGE / PGEA 的线程安全 Modbus RTU 客户端（官方寄存器映射）。"""
    def __init__(
        self,
@@ -196,7 +196,7 @@ class DhPgeaGripper:
        if mode in ("", "off", "none", "false", "0"):
            mode = ""
        if mode not in ("", "tx", "tx_inv"):
-            raise DhPgeaError(f"rs485_rts must be '', tx, or tx_inv, got {rs485_rts!r}")
+            raise DhPgeaError(f"rs485_rts 只能是 ''、tx 或 tx_inv，实际为 {rs485_rts!r}")
        self.rs485_rts = mode
        self._ser: Optional[serial.Serial] = None
        self._lock = threading.Lock()
@@ -220,8 +220,8 @@ class DhPgeaGripper:
            )
        except Exception as exc:
            raise DhPgeaError(
-                f"cannot open {self.port}: {exc}. "
+                f"无法打开 {self.port}：{exc}。"
-                "Need 24 V DC + RS485, and user in group dialout."
+                "需要 24 V DC 供电 + RS485 接线，且当前用户在 dialout 组内。"
            ) from exc
        try:
            self._ser.dtr = True
@@ -248,7 +248,7 @@ class DhPgeaGripper:
        self.close()
    def write_register(self, index: int, value: int, retries: int = 3) -> bool:
-        """FC06 write, wait for echo (official WriteRegisterFunc)."""
+        """FC06 写，等待回显（对应官方 WriteRegisterFunc）。"""
        frame = _frame(self.slave_id, 0x06, index, int(value) & 0xFFFF)
        with self._lock:
            for _ in range(max(1, retries)):
@@ -258,7 +258,7 @@ class DhPgeaGripper:
        return False
    def read_register(self, index: int, retries: int = 8) -> int:
-        """FC03 read one holding register (official ReadRegisterFunc)."""
+        """FC03 读一个保持寄存器（对应官方 ReadRegisterFunc）。"""
        req = _frame(self.slave_id, 0x03, index, 1)
        last: Optional[bytes] = None
        with self._lock:
@@ -275,13 +275,13 @@ class DhPgeaGripper:
                return (rsp[3] << 8) | (rsp[4] & 0xFF)
        hint = f" last={last.hex() if last else '(empty)'}"
        raise DhPgeaError(
-            f"Modbus read 0x{index:04X} failed on {self.port} "
+            f"在 {self.port} 上 Modbus 读 0x{index:04X} 失败 "
-            f"(no valid reply{hint}). baud={self.baudrate} slave={self.slave_id} "
+            f"（无有效应答{hint}）。baud={self.baudrate} slave={self.slave_id} "
            f"rts={self.rs485_rts or 'off'}"
        )
    def probe(self) -> int:
-        """One short read of init-state. Raises if the claw is silent."""
+        """短读一次初始化状态。夹爪无应答时会抛异常。"""
        return self.read_register(REG_INIT_STATE, retries=2)
    def _set_tx(self, tx: bool) -> None:
@@ -297,7 +297,7 @@ class DhPgeaGripper:
    def _transact(self, frame: bytes, expect: int) -> Optional[bytes]:
        if self._ser is None or not self._ser.is_open:
-            raise DhPgeaError("serial not open")
+            raise DhPgeaError("串口未打开")
        bit_s = 10.0 / max(1, self.baudrate)
        self._set_tx(True)
        if self.rs485_rts:
@@ -320,12 +320,12 @@ class DhPgeaGripper:
        return self.write_register(REG_INIT, INIT_CMD)
    def initialize(self, timeout_s: float = 20.0, poll_s: float = 0.2) -> bool:
-        """Write 0xA5 then wait until init state == finished (official bringup)."""
+        """写 0xA5，然后等到初始化状态 == 完成（对应官方上电流程）。"""
        state = self.get_init_state()
        if state == S_INIT_FINISHED:
            return True
        if not self.initialization():
-            raise DhPgeaError("init write 0x0100=0xA5 failed (no Modbus echo)")
+            raise DhPgeaError("初始化写 0x0100=0xA5 失败（无 Modbus 回显）")
        deadline = time.monotonic() + float(timeout_s)
        while time.monotonic() < deadline:
            state = self.get_init_state()
@@ -333,8 +333,8 @@ class DhPgeaGripper:
                return True
            time.sleep(poll_s)
        raise DhPgeaError(
-            f"init timeout after {timeout_s:.0f}s (state={state}). "
+            f"初始化在 {timeout_s:.0f}s 后超时（state={state}）。"
-            "Fingers should home once on first power-up."
+            "首次上电时手指本应先回零一次。"
        )
    def set_target_force(self, force_pct: int) -> bool:
@@ -427,11 +427,11 @@ class DhPgeaGripper:
 def _selfcheck_crc() -> None:
-    """Official short-manual example: set position 500."""
+    """官方简短手册示例：设置位置 500。"""
    frame = _frame(1, 0x06, 0x0103, 500)
    expect = bytes([0x01, 0x06, 0x01, 0x03, 0x01, 0xF4, 0x78, 0x21])
    if frame != expect:
-        raise AssertionError(f"CRC mismatch: {frame.hex()} != {expect.hex()}")
+        raise AssertionError(f"CRC 不匹配：{frame.hex()} != {expect.hex()}")
 def _site_defaults() -> dict:
@@ -465,11 +465,11 @@ def _site_defaults() -> dict:
 def _scan_bus(port: str) -> int:
-    """Try baud × slave × RTS until one combination answers."""
+    """遍历波特率 × 从站号 × RTS，直到某个组合有应答。"""
    bauds = (115200, 57600, 38400, 19200, 9600)
    slaves = (1, 2, 3)
    rts_modes = ("", "tx", "tx_inv")
-    print(f"scan {port}  (stop the ROS node first — port is exclusive)")
+    print(f"扫描 {port}（请先停掉 ROS 节点 —— 该串口是独占的）")
    for baud in bauds:
        for slave in slaves:
            for rts in rts_modes:
@@ -492,7 +492,7 @@ def _scan_bus(port: str) -> int:
                    print(f"  miss {label}")
                finally:
                    g.close()
-    print("no reply on any combination.", file=sys.stderr)
+    print("所有组合都无应答。", file=sys.stderr)
    print(WIRING_HINT, file=sys.stderr)
    return 1
@@ -500,24 +500,24 @@ def _scan_bus(port: str) -> int:
 def _cli(argv: Optional[list[str]] = None) -> int:
    site = _site_defaults()
    ap = argparse.ArgumentParser(
-        description="DH PGEA Modbus CLI (official register map, not Flexiv RDK)"
+        description="DH PGEA Modbus 命令行工具（官方寄存器映射，不用 Flexiv RDK）"
    )
    ap.add_argument("--port", default=site["port"])
    ap.add_argument("--baud", type=int, default=site["baudrate"])
    ap.add_argument("--slave", type=int, default=site["slave_id"])
    ap.add_argument("--force", type=int, default=site["force"])
    ap.add_argument("--speed", type=int, default=site["speed"])
-    ap.add_argument("--rts", default=site.get("rs485_rts") or "", help="RS485 DE: empty | tx | tx_inv")
+    ap.add_argument("--rts", default=site.get("rs485_rts") or "", help="RS485 DE：空 | tx | tx_inv")
    ap.add_argument(
        "cmd",
        choices=["probe", "init", "status", "open", "close", "pos", "selfcheck", "scan"],
    )
-    ap.add_argument("value", nargs="?", default="", help="position 0–1000 for 'pos'")
+    ap.add_argument("value", nargs="?", default="", help="'pos' 命令的位置，0–1000")
    args = ap.parse_args(argv)
    if args.cmd == "selfcheck":
        _selfcheck_crc()
-        print("CRC self-check OK (01 06 01 03 01 F4 78 21)")
+        print("CRC 自检通过（01 06 01 03 01 F4 78 21）")
        return 0
    if args.cmd == "scan":
        return _scan_bus(args.port)
@@ -532,7 +532,7 @@ def _cli(argv: Optional[list[str]] = None) -> int:
    try:
        grip.open()
    except DhPgeaError as exc:
-        print(f"ERROR: {exc}", file=sys.stderr)
+        print(f"错误：{exc}", file=sys.stderr)
        return 1
    try:
@@ -541,7 +541,7 @@ def _cli(argv: Optional[list[str]] = None) -> int:
            print(st.summary())
            return 0
        if args.cmd == "init":
-            print("initializing (fingers home)…")
+            print("正在初始化（手指回零）…")
            grip.initialize()
            print(grip.get_run_states().summary())
            return 0
@@ -550,25 +550,25 @@ def _cli(argv: Optional[list[str]] = None) -> int:
            return 0
        if args.cmd == "open":
            if not grip.open_jaw(args.force, args.speed):
-                raise DhPgeaError("open write failed")
+                raise DhPgeaError("张开写入失败")
            print(grip.wait_settle(1000).summary())
            return 0
        if args.cmd == "close":
            if not grip.close_jaw(args.force, args.speed):
-                raise DhPgeaError("close write failed")
+                raise DhPgeaError("闭合写入失败")
            print(grip.wait_settle(0).summary())
            return 0
        if args.cmd == "pos":
            if args.value == "":
-                print("usage: pos <0-1000>", file=sys.stderr)
+                print("用法：pos <0-1000>", file=sys.stderr)
                return 2
            pos = int(float(args.value))
            if not grip.move(pos, args.force, args.speed):
-                raise DhPgeaError("position write failed")
+                raise DhPgeaError("位置写入失败")
            print(grip.wait_settle(pos).summary())
            return 0
    except DhPgeaError as exc:
-        print(f"ERROR: {exc}", file=sys.stderr)
+        print(f"错误：{exc}", file=sys.stderr)
        print(WIRING_HINT, file=sys.stderr)
        return 1
    finally:
@@ -1,18 +1,18 @@
 #!/usr/bin/env python3
-"""ROS 2 node for DH PGEA (official Modbus RTU, not Flexiv gripper).
+"""DH PGEA 的 ROS 2 节点（官方 Modbus RTU，不用 Flexiv 夹爪）。
-Topics (layout matches DH-Robotics/dh_gripper_ros):
+话题（布局与 DH-Robotics/dh_gripper_ros 一致）：
  /gripper/ctrl     std_msgs/Float32MultiArray
                    data: [initialize, position, force, speed]
-                    initialize>0.5 → write 0xA5; else set force/speed/position
+                    initialize>0.5 → 写 0xA5；否则设置力/速度/位置
  /gripper/states   std_msgs/Float32MultiArray
                    data: [initialized, grip_state, position, target_pos, target_force]
  /gripper/joint_states  sensor_msgs/JointState
-Services (std_srvs/Trigger):
+服务（std_srvs/Trigger）：
  /gripper/initialize  /gripper/open  /gripper/close
-Do not set Flexiv bringup load_gripper:=true — that is Flexiv-GN01 only.
+不要设置 Flexiv bringup 的 load_gripper:=true —— 那只是 Flexiv-GN01 用的。
 """
 from __future__ import annotations
@@ -36,7 +36,7 @@ from arm_application.dh_pgea import (
 def _param_as_str(node: Node, name: str, default: str = "") -> str:
-    """String param that also accepts numeric CLI overrides (e.g. SN 26610799)."""
+    """字符串参数，同时允许命令行用数字覆盖（例如 SN 26610799）。"""
    node.declare_parameter(name, default, ParameterDescriptor(dynamic_typing=True))
    val = node.get_parameter(name).value
    if val is None or val == "":
@@ -105,7 +105,7 @@ class DhPgeaNode(Node):
        self.get_logger().info(
            f"DH {self._model} SN={self._sn or '?'}  "
            f"{self._port} @{self._baud} slave={self._slave} rts={self._rts or 'off'}  "
-            f"(official Modbus RTU; Flexiv RDK gripper API unused)"
+            f"（官方 Modbus RTU；未使用 Flexiv RDK 夹爪 API）"
        )
        try:
            self._grip.open()
@@ -121,14 +121,14 @@ class DhPgeaNode(Node):
            self.get_logger().error(str(exc))
            for line in WIRING_HINT.splitlines():
                self.get_logger().error(line)
-            self.get_logger().error("will keep retrying; open/close will fail until the bus answers")
+            self.get_logger().error("会持续重试；在总线恢复应答前 open/close 都会失败")
        if self._auto_init and self._online:
            try:
                self._grip.initialize()
-                self.get_logger().info("gripper initialized")
+                self.get_logger().info("夹爪已初始化")
            except DhPgeaError as exc:
-                self.get_logger().error(f"auto_init failed: {exc}")
+                self.get_logger().error(f"auto_init 失败：{exc}")
                self._online = False
        period = 1.0 / max(1.0, hz)
@@ -150,7 +150,7 @@ class DhPgeaNode(Node):
            if speed is not None:
                self._speed = s
            if not self._grip.move(int(position), f, s):
-                raise DhPgeaError("move write failed")
+                raise DhPgeaError("移动写入失败")
        return f"pos={int(position)} force={f}% speed={s}%"
    def _on_ctrl(self, msg: Float32MultiArray) -> None:
@@ -158,7 +158,7 @@ class DhPgeaNode(Node):
        try:
            if initialize > 0.5:
                self._grip.initialize()
-                self.get_logger().info("initialize via /gripper/ctrl")
+                self.get_logger().info("通过 /gripper/ctrl 触发初始化")
                return
            f = int(force) if force > 0 else self._force
            s = int(speed) if speed > 0 else self._speed
@@ -210,7 +210,7 @@ class DhPgeaNode(Node):
            self._state = st
            if not self._online:
                self._online = True
-                self.get_logger().info("gripper bus recovered")
+                self.get_logger().info("夹爪总线已恢复")
        except DhPgeaError as exc:
            self._online = False
            self.get_logger().warn(str(exc), throttle_duration_sec=5.0)
@@ -227,7 +227,7 @@ class DhPgeaNode(Node):
        js = JointState()
        js.header.stamp = self.get_clock().now().to_msg()
        js.name = ["gripper_finger1_joint"]
-        # Official ROS driver maps 0–1000 → ~0–0.637 rad; we publish mm as well.
+        # 官方 ROS 驱动把 0–1000 映射到约 0–0.637 rad；我们这里也发布 mm。
        js.position = [float(st.width_mm) * 0.001]
        js.effort = [float(st.target_force)]
        self._pub_js.publish(js)
@@ -750,7 +750,7 @@ def load_dual_arm_gripper_config(path: str | Path) -> DualArmGripperConfig:
 def load_from_site(data: dict) -> DualArmGripperConfig:
-    """Build DualArmGripperConfig from ~/ros2/config/site.yaml."""
+    """从 ``~/ros2/config/site.yaml`` 构建 ``DualArmGripperConfig``。"""
    robots = list((data.get("robot") or {}).get("robots") or [])
    left = next((r for r in robots if str(r.get("arm") or "").lower() == "left"), {})
    right = next((r for r in robots if str(r.get("arm") or "").lower() == "right"), {})
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-"""CLI for DH PGEA (left) and RGI (right). Loads ports from site.yaml."""
+"""DH PGEA（左臂）与 RGI（右臂）的命令行工具。从 site.yaml 读取串口。"""
 from __future__ import annotations
@@ -39,67 +39,67 @@ def _normalize_arm(raw: str) -> str:
        return "right"
    if t in ("both", "dual", "all"):
        return "both"
-    raise SystemExit(f"unknown --arm {raw!r} (use 89|91|left|right|both)")
+    raise SystemExit(f"未知的 --arm {raw!r}（可用 89|91|left|right|both）")
 def test_parallel(manager: DualArmGripperManager, args: argparse.Namespace) -> None:
    gripper = manager.left
-    print(f"=== PGEA parallel ({gripper.cfg.port}) ===")
+    print(f"=== PGEA 平行夹爪（{gripper.cfg.port}）===")
    gripper.connect()
-    _print_status("connected", gripper.get_status())
+    _print_status("已连接", gripper.get_status())
    if args.test in ("init", "probe", "all"):
        if args.test != "probe":
            gripper.initialize(full=args.init_full)
-            _print_status("init", gripper.get_status())
+            _print_status("初始化", gripper.get_status())
    if args.test in ("open", "all"):
-        _print_status("open", gripper.open(force=args.force, speed=args.speed))
+        _print_status("张开", gripper.open(force=args.force, speed=args.speed))
    if args.test in ("close", "all"):
-        _print_status("close", gripper.close(force=args.force, speed=args.speed))
+        _print_status("闭合", gripper.close(force=args.force, speed=args.speed))
    if args.test in ("move", "pos") and args.pos is not None:
-        _print_status("move", gripper.move_to(args.pos, force=args.force, speed=args.speed))
+        _print_status("移动", gripper.move_to(args.pos, force=args.force, speed=args.speed))
    if args.test in ("status", "probe"):
-        _print_status("status", gripper.get_status())
+        _print_status("状态", gripper.get_status())
 def test_rotary(manager: DualArmGripperManager, args: argparse.Namespace) -> None:
    gripper = manager.right
-    print(f"=== RGI rotary ({gripper.cfg.port}) ===")
+    print(f"=== RGI 旋转夹爪（{gripper.cfg.port}）===")
    gripper.connect()
-    _print_status("connected", gripper.get_status())
+    _print_status("已连接", gripper.get_status())
    if args.test in ("init", "all"):
        gripper.initialize(full=args.init_full)
-        _print_status("init", gripper.get_status())
+        _print_status("初始化", gripper.get_status())
    if args.test in ("open", "all"):
-        _print_status("open", gripper.open_fingers(force=args.force, speed=args.speed))
+        _print_status("张开", gripper.open_fingers(force=args.force, speed=args.speed))
    if args.test in ("close", "all"):
-        _print_status("close", gripper.close_fingers(force=args.force, speed=args.speed))
+        _print_status("闭合", gripper.close_fingers(force=args.force, speed=args.speed))
    if args.test in ("move", "pos") and args.pos is not None:
-        _print_status("fingers", gripper.move_fingers(int(args.pos), force=args.force, speed=args.speed))
+        _print_status("手指", gripper.move_fingers(int(args.pos), force=args.force, speed=args.speed))
    if args.test in ("rotate", "rotate_to", "all"):
        if args.revolutions is not None:
            _print_status(
-                "revolutions",
+                "圈数",
                gripper.rotate_revolutions(args.revolutions, speed=args.speed, torque=args.force),
            )
        else:
            angle = args.angle if args.angle is not None else 90.0
-            _print_status("rotate", gripper.rotate_to(angle, speed=args.speed, torque=args.force))
+            _print_status("旋转", gripper.rotate_to(angle, speed=args.speed, torque=args.force))
    if args.test == "rotate_by":
        delta = args.angle if args.angle is not None else 45.0
-        _print_status("rotate_by", gripper.rotate_by(delta, speed=args.speed, torque=args.force))
+        _print_status("相对旋转", gripper.rotate_by(delta, speed=args.speed, torque=args.force))
    if args.test in ("status", "probe"):
-        _print_status("status", gripper.get_status())
+        _print_status("状态", gripper.get_status())
 def main() -> int:
-    parser = argparse.ArgumentParser(description="DH PGEA / RGI CLI (site.yaml ports)")
+    parser = argparse.ArgumentParser(description="DH PGEA / RGI 命令行工具（串口来自 site.yaml）")
    parser.add_argument("--arm", default=os.environ.get("ROBOT_ARM") or os.environ.get("ROBOT_SN") or "89")
    parser.add_argument(
        "--test",
        default="status",
        help="probe|init|open|close|move|pos|rotate|rotate_by|status",
    )
-    parser.add_argument("--pos", type=float, default=None, help="PGEA mm or RGI finger 0-1000")
+    parser.add_argument("--pos", type=float, default=None, help="PGEA 为 mm；RGI 为手指 0-1000")
    parser.add_argument("--angle", type=float, default=None)
    parser.add_argument("--revolutions", type=float, default=None)
    parser.add_argument("--speed", type=int, default=25)
@@ -110,7 +110,7 @@ def main() -> int:
    site = Path(args.site).expanduser() if args.site else _site_path()
    if not site.is_file():
-        print(f"ERROR: site.yaml missing: {site}", file=sys.stderr)
+        print(f"错误：site.yaml 缺失：{site}", file=sys.stderr)
        return 1
    data = yaml.safe_load(site.read_text(encoding="utf-8")) or {}
    manager = DualArmGripperManager(load_from_site(data))
@@ -126,11 +126,11 @@ def main() -> int:
            test_parallel(manager, args)
            test_rotary(manager, args)
    except KeyboardInterrupt:
-        print("interrupt — stop")
+        print("收到中断 —— 停止")
        manager.emergency_stop()
        return 130
    except Exception as exc:
-        print(f"ERROR: {exc}", file=sys.stderr)
+        print(f"错误：{exc}", file=sys.stderr)
        return 1
    finally:
        manager.disconnect_all()
@@ -1,4 +1,4 @@
-"""ROS 2 dual DH gripper node (PGEA left + RGI right). Uses arm_msgs, not Flexiv RDK."""
+"""ROS 2 双臂 DH 夹爪节点（左臂 PGEA + 右臂 RGI）。使用 arm_msgs，而非 Flexiv RDK。"""
 from __future__ import annotations
@@ -61,7 +61,7 @@ class DualGripperNode(Node):
            site = _site_path()
            data = yaml.safe_load(site.read_text(encoding="utf-8")) or {}
            self._manager = DualArmGripperManager(load_from_site(data))
-            self.get_logger().info(f"gripper config from site.yaml: {site}")
+            self.get_logger().info(f"夹爪配置来自 site.yaml：{site}")
        self._connect_errors: dict[str, str] = {}
        if _as_bool(self.get_parameter("auto_connect").value, True):
@@ -112,12 +112,12 @@ class DualGripperNode(Node):
                continue
            try:
                gripper.connect()
-                self.get_logger().info(f"{side} gripper connected: {gripper.cfg.port}")
+                self.get_logger().info(f"{side} 夹爪已连接：{gripper.cfg.port}")
            except Exception as exc:
                self._connect_errors[side] = str(exc)
-                self.get_logger().error(f"{side} gripper connect failed: {exc}")
+                self.get_logger().error(f"{side} 夹爪连接失败：{exc}")
        if self._connect_errors and not _as_bool(self.get_parameter("allow_offline").value, True):
-            raise RuntimeError(f"gripper connect failed: {self._connect_errors}")
+            raise RuntimeError(f"夹爪连接失败：{self._connect_errors}")
    def _gripper(self, side: str):
        return self._manager.left if side == "left" else self._manager.right
@@ -245,14 +245,14 @@ class DualGripperNode(Node):
        status = gripper.get_status()
        status.state = GripperState.ERROR
-        status.error_msg = f"unsupported command {command!r} (side={side})"
+        status.error_msg = f"不支持的命令 {command!r}（side={side}）"
        return status
    def _on_command(self, side: str, msg: GripperCommandMsg) -> None:
        with self._locks[side]:
            status = self._execute(side, msg)
        if status.state == GripperState.ERROR:
-            self.get_logger().warn(f"{side} command {msg.command!r} failed: {status.error_msg}")
+            self.get_logger().warn(f"{side} 命令 {msg.command!r} 失败：{status.error_msg}")
    def _on_execute(self, side: str, request: GripperExecute.Request, response: GripperExecute.Response):
        with self._locks[side]:
@@ -1,12 +1,12 @@
 #!/usr/bin/env python3
-"""Startup return-to-initial before perception/servo starts.
+"""感知/伺服启动前的开机回初始位流程。
-Sequence:
+流程：
-  [A] if the flange is below servo.safe_z_m, lift it STRAIGHT UP first
+  [A] 若法兰低于 ``servo.safe_z_m``，先让它竖直上升（闭环 Z 小步跳），
-      (closed-loop Z hops) so the home move can't sweep walls/fixtures;
+      以免回 home 时扫到墙面/工装；
-  [B] call /set_named_pose (Flexiv named pose, default "home") — the arm
+  [B] 调用 ``/set_named_pose``（Flexiv 命名位姿，默认 "home"）—— 由 Flexiv
-      returns to the Flexiv initial pose with Flexiv's own planner;
+      自己的规划器把机械臂送回 Flexiv 初始位姿；
-  [C] hold (pin) so the servo takes over from a clean, stationary pose.
+  [C] 保持（pin）住，让伺服从一个干净、静止的位姿接手。
 """
 from __future__ import annotations
@@ -49,13 +49,13 @@ def _load_ee_cfg() -> dict:
        "base": str(robot.get("base_frame") or "Rizon4-063989_base_link"),
        "ee": str(robot.get("ee_frame") or "Rizon4-063989_flange"),
        "z": ee_z,
-        # Lift straight up to this Z before the home move (avoid hitting
+        # 回 home 前先竖直升到这个 Z（避免撞到墙面/工装）；
-        # walls/fixtures); then return to the Flexiv named initial pose.
+        # 然后再回到 Flexiv 的命名初始位姿。
        "safe_z": float(servo.get("safe_z_m") or max(0.40, ee_z + 0.10)),
        "home_pose": str(servo.get("home_pose_name") or "home"),
        "home_speed": float(servo.get("home_pose_speed") or 0.30),
        "v_z": float(servo.get("v_max_z") or 0.04),
-        # only used by the (currently unused) verticalize planner path
+        # 仅用于（目前未使用的）verticalize 规划路径
        "kp": float(servo.get("ee_hold_kp") or 2.0),
        "w_max": float(servo.get("ee_w_max") or 0.50),
    }
@@ -170,7 +170,7 @@ class GotoEePlane(Node):
            self._spin(0.05)
        handle = fut.result() if fut.done() else None
        if handle is None or not handle.accepted:
-            print("  ERROR: JTC rejected the height trajectory", flush=True)
+            print("  错误：JTC 拒绝了抬升轨迹", flush=True)
            return False
        res = handle.get_result_async()
        t0 = time.monotonic()
@@ -183,13 +183,13 @@ class GotoEePlane(Node):
                if Tee is not None:
                    p = Tee[:3, 3]
                    print(
-                        f"  moving  ee=({p[0]:.3f},{p[1]:.3f},{p[2]:.3f})  "
+                        f"  运动中  ee=({p[0]:.3f},{p[1]:.3f},{p[2]:.3f})  "
                        f"z_err={(self.cfg['z'] - p[2]) * 1000:+.0f}mm",
                        flush=True,
                    )
                last = now
        if not res.done():
-            print("  WARN: JTC result timeout — checking TF anyway", flush=True)
+            print("  警告：JTC 结果超时 —— 仍然继续检查 TF", flush=True)
            return False
        return True
@@ -203,25 +203,24 @@ class GotoEePlane(Node):
        max_seg: float = 0.08,
        v: float = 0.05,
    ) -> bool:
-        """Plan and execute ONE short cartesian segment (≤ max_seg) toward
+        """规划并执行一段朝向 target 的短笛卡尔位移（≤ max_seg）。
-        target. Long moves are handled by the caller in closed-loop hops,
+        长距离移动由调用方以闭环小步跳的方式完成，因为雅可比是在当前位姿
-        because the Jacobian is frozen at the current pose — over >10 cm the
+        处冻结的 —— 超过 10 cm 后线性化误差会让一次性规划严重偏离目标。"""
        linearization error makes single-shot plans land far off target."""
        p = Tee[:3, 3].copy()
        R = Tee[:3, :3]
        dp, ang, _ = self._target_err(p, R, target, verticalize)
        dist = float(np.linalg.norm(dp))
-        if dist > max_seg:  # clamp this hop; caller loops with fresh TF
+        if dist > max_seg:  # 限制本次小步跳的长度；调用方会用最新的 TF 循环执行
            dp = dp * (max_seg / dist)
            dist = max_seg
        print(
-            f"  plan {tag} Δxyz=({dp[0]*1000:+.0f},{dp[1]*1000:+.0f},{dp[2]*1000:+.0f})mm  "
+            f"  规划 {tag} Δxyz=({dp[0]*1000:+.0f},{dp[1]*1000:+.0f},{dp[2]*1000:+.0f})mm  "
-            f"tilt={ang * 180 / np.pi:.1f}deg",
+            f"倾角={ang * 180 / np.pi:.1f}deg",
            flush=True,
        )
        J = self._jacobian(p)
        if J is None:
-            print("ERROR: missing link TF for Jacobian", flush=True)
+            print("错误：缺少用于雅可比的 link TF", flush=True)
            return False
        q = q0.copy()
@@ -253,14 +252,14 @@ class GotoEePlane(Node):
        planned = dist - float(np.linalg.norm(remain))
        if len(waypoints) < 2 or planned < 0.4 * dist:
            print(
-                f"  WARN {tag}: planner stalled "
+                f"  警告 {tag}：规划器停滞 "
-                f"(planned {planned*1000:.0f}/{dist*1000:.0f}mm) — skip hop",
+                f"（已规划 {planned*1000:.0f}/{dist*1000:.0f}mm）—— 跳过本次小步跳",
                flush=True,
            )
            return False
-        # joint-excursion sanity gate: refuse wild plans
+        # 关节偏移量的合理性闸门：拒绝过于夸张的规划
        if float(np.max(np.abs(waypoints[-1] - q0))) > 1.0:
-            print(f"  ERROR {tag}: joint excursion >1 rad — abort hop", flush=True)
+            print(f"  错误 {tag}：关节偏移 >1 rad —— 放弃本次小步跳", flush=True)
            return False
        duration = max(1.6, dist / max(min(v, 0.06), 1e-3))
@@ -278,10 +277,10 @@ class GotoEePlane(Node):
            )
            qdot = np.clip(qdot, -0.40, 0.40)
            traj.points.append(_pt(qi, qdot, t))
-        # force zero velocity at the last point
+        # 强制最后一个点的速度为零
        traj.points[-1].velocities = [0.0] * 7
        print(
-            f"  send JTC action {tag} {n} steps  T={duration:.1f}s",
+            f"  发送 JTC action {tag}，{n} 步  T={duration:.1f}s",
            flush=True,
        )
        return self._send_action(traj, wait_s=duration + 6.0)
@@ -298,9 +297,8 @@ class GotoEePlane(Node):
        v: float,
        max_hops: int = 8,
    ) -> Tuple[bool, np.ndarray, np.ndarray]:
-        """Closed-loop point-to-point: plan ≤8 cm hop → execute → re-measure
+        """闭环点到点：规划 ≤8 cm 的小步跳 → 执行 → 重新测量 TF → 重复，
-        TF → repeat, until within tolerance. Robust to Jacobian linearization
+        直到落在容差内。这样对长距离下的雅可比线性化误差更鲁棒。"""
        error over long distances."""
        for hop in range(max_hops):
            p = Tee[:3, 3]
            dp, ang, _ = self._target_err(p, Tee[:3, :3], target, verticalize)
@@ -308,8 +306,8 @@ class GotoEePlane(Node):
            if dist < tol_m and ((not verticalize) or ang < tol_tilt):
                return True, q, Tee
            print(
-                f"  {tag} hop{hop + 1}  remain={dist*1000:.0f}mm  "
+                f"  {tag} 第 {hop + 1} 跳  remain={dist*1000:.0f}mm  "
-                f"tilt={ang * 180 / np.pi:.1f}deg",
+                f"倾角={ang * 180 / np.pi:.1f}deg",
                flush=True,
            )
            if not self._plan_and_send(q, Tee, target, verticalize, tag, v=v):
@@ -319,7 +317,7 @@ class GotoEePlane(Node):
                self._spin(0.05)
            q2, Tee2 = self._wait_state(2.0)
            if q2 is None or Tee2 is None:
-                print("ERROR: lost state during move", flush=True)
+                print("错误：移动过程中丢失状态", flush=True)
                return False, q, Tee
            q, Tee = q2, Tee2
        p = Tee[:3, 3]
@@ -340,10 +338,10 @@ class GotoEePlane(Node):
        self._send_action(traj, wait_s=3.0)
    def _named_pose(self, name: str, speed: float) -> bool:
-        """Call Flexiv /set_named_pose and wait until the arm is stationary."""
+        """调用 Flexiv 的 ``/set_named_pose``，并等待机械臂静止。"""
        cli = self.create_client(SetNamedPose, "/set_named_pose")
        if not cli.wait_for_server(timeout_sec=8.0):
-            print("ERROR: /set_named_pose unavailable — start run_real.sh", flush=True)
+            print("错误：``/set_named_pose`` 不可用 —— 请启动 run_real.sh", flush=True)
            return False
        req = SetNamedPose.Request()
        req.pose_name = name
@@ -355,16 +353,16 @@ class GotoEePlane(Node):
        while not fut.done() and time.monotonic() - t0 < 90.0:
            self._spin(0.1)
        if not fut.done():
-            print("ERROR: set_named_pose timeout", flush=True)
+            print("错误：set_named_pose 超时", flush=True)
            return False
        resp = fut.result()
        print(
-            f"  [B] resp success={resp.success}  msg={resp.message}",
+            f"  [B] 响应 success={resp.success}  msg={resp.message}",
            flush=True,
        )
        if not resp.success:
            return False
-        # wait until the flange stops moving (Δp < 1 mm over ~0.8 s)
+        # 等待法兰停止运动（约 0.8 s 内 Δp < 1 mm）
        last = None
        still = 0.0
        t0 = time.monotonic()
@@ -380,57 +378,57 @@ class GotoEePlane(Node):
                else:
                    still = 0.0
                last = p.copy()
-        print("  WARN: still-moving wait timeout — continue anyway", flush=True)
+        print("  警告：等待静止超时 —— 仍然继续", flush=True)
        return True
    def run(self, timeout_s: float = 25.0) -> int:
        cfg = self.cfg
        q, Tee = self._wait_state(4.0)
        if q is None or Tee is None:
-            print("ERROR: no joint_states / TF — start run_real.sh", flush=True)
+            print("错误：没有 joint_states / TF —— 请启动 run_real.sh", flush=True)
            return 2
        if not self._cli.wait_for_server(timeout_sec=8.0):
-            print("ERROR: JTC action unavailable — start run_real.sh", flush=True)
+            print("错误：JTC action 不可用 —— 请启动 run_real.sh", flush=True)
            return 3
        p = Tee[:3, 3]
        safe_z = float(cfg["safe_z"])
        print(
-            f"=== return to Flexiv initial pose '{cfg['home_pose']}'  "
+            f"=== 回到 Flexiv 初始位姿 '{cfg['home_pose']}'  "
            f"safe_z={safe_z*1000:.0f}mm ===",
            flush=True,
        )
        print(
-            f"  now ee=({p[0]:.3f},{p[1]:.3f},{p[2]:.3f})",
+            f"  当前 ee=({p[0]:.3f},{p[1]:.3f},{p[2]:.3f})",
            flush=True,
        )
-        # --- Phase A: pure-Z lift to the safe height before the home move ---
+        # --- 阶段 A：回 home 前先沿纯 Z 方向升到安全高度 ---
        if p[2] < safe_z - 0.01:
            lift_tgt = np.array([p[0], p[1], safe_z], dtype=float)
-            print(f"  [A] lift Z {p[2]*1000:.0f} → {safe_z*1000:.0f}mm", flush=True)
+            print(f"  [A] 抬升 Z {p[2]*1000:.0f} → {safe_z*1000:.0f}mm", flush=True)
            ok, q, Tee = self._goto(
                q, Tee, lift_tgt, False, 0.010, 0.0, "[A]lift", v=0.05
            )
            if not ok:
-                print("ERROR: lift phase failed — pin here", flush=True)
+                print("错误：抬升阶段失败 —— 就地 pin 住", flush=True)
                self._pin(q)
                return 4
-        # --- Phase B: Flexiv named pose → real initial pose, good posture ---
+        # --- 阶段 B：Flexiv 命名位姿 → 真正的初始位姿，姿态良好 ---
        if not self._named_pose(cfg["home_pose"], cfg["home_speed"]):
-            print("ERROR: named-pose return failed — pin here", flush=True)
+            print("错误：回命名位姿失败 —— 就地 pin 住", flush=True)
            self._pin(q)
            return 4
-        # --- Phase C: hold so the servo takes over from a stationary pose ---
+        # --- 阶段 C：保持住，让伺服从一个静止位姿接手 ---
        q, Tee = self._wait_state(2.0)
        if q is not None:
            self._pin(q)
        if Tee is not None:
            p = Tee[:3, 3]
            print(
-                f"  at initial pose  ee=({p[0]:.3f},{p[1]:.3f},{p[2]:.3f})",
+                f"  已到初始位姿  ee=({p[0]:.3f},{p[1]:.3f},{p[2]:.3f})",
                flush=True,
            )
        return 0
@@ -1,14 +1,14 @@
 #!/usr/bin/env python3
-"""Full hand-eye pipeline: move -> stabilize chessboard -> capture -> solve -> cleanup.
+"""完整手眼标定流水线：移动 → 棋盘稳定判定 → 采集 → 求解 → 清理。
-Supports eye_in_hand / eye_to_hand.
+支持 eye_in_hand / eye_to_hand。
-Camera intrinsics priority:
+相机内参优先级：
-  1) ROS CameraInfo topic (if publishing)
+  1) ROS 的 CameraInfo 话题（若正在发布）
-  2) RealSense D405/D435 EEPROM via pyrealsense2 (camera_source)
+  2) 通过 pyrealsense2 读取 RealSense D405/D435 的 EEPROM（camera_source）
-  3) Manual camera_fx/fy/cx/cy in YAML
+  3) YAML 中手写的 camera_fx/fy/cx/cy
-Chessboard size (board_cols / board_rows / square_size_m) is user-configurable.
+棋盘尺寸（board_cols / board_rows / square_size_m）可由用户配置。
 """
 from __future__ import annotations
@@ -68,7 +68,7 @@ def _image_to_bgr(msg: Image) -> np.ndarray:
        img = data.reshape(h, w, 4)
        bgr = img[:, :, :3]
        return bgr[:, :, ::-1].copy() if enc == 'rgba8' else bgr
-    raise RuntimeError(f'Unsupported image encoding: {msg.encoding!r}')
+    raise RuntimeError(f'不支持的图像编码：{msg.encoding!r}')
 def _camera_info_to_intrinsics(msg: CameraInfo) -> CameraIntrinsics:
@@ -93,7 +93,7 @@ class HandeyeCalibrate(Node):
        self.declare_parameter('waypoint_positions', [0.0] * (12 * 7))
        self.declare_parameter('min_poses', 5)
-        # Camera: manual | d405 | d435
+        # 相机来源：manual | d405 | d435
        self.declare_parameter('camera_source', 'manual')
        self.declare_parameter('camera_serial', '')
        self.declare_parameter('camera_namespace', '')
@@ -107,12 +107,12 @@ class HandeyeCalibrate(Node):
        self.declare_parameter('camera_cy', 0.0)
        self.declare_parameter('camera_dist', [0.0, 0.0, 0.0, 0.0, 0.0])
-        # Chessboard (customizable)
+        # 棋盘（可自定义）
        # 默认值必须与 site.yaml 的 handeye.board_* 及结果文件头里的实际板子一致。
        # 真实使用的板：内角点 8x11，方格 15mm（见 handeye/results/*.yaml 的头部注释）。
        # 这里原先写的是 9x6 / 0.025（另一张早期的板），一旦 site.yaml 漏配就会被
        # 静默启用 —— 症状是"标定能顺利跑完，但结果明显不对"，极难排查。
-        self.declare_parameter('board_cols', 8)  # inner corners
+        self.declare_parameter('board_cols', 8)  # 内角点
        self.declare_parameter('board_rows', 11)
        self.declare_parameter('square_size_m', 0.015)
@@ -205,18 +205,18 @@ class HandeyeCalibrate(Node):
        if not img_topic:
            self.get_logger().error(
-                'image_topic empty. Set camera_source:=d405|d435 or fill image_topic.'
+                'image_topic 为空。请设置 camera_source:=d405|d435，或填写 image_topic。'
            )
        else:
            self.create_subscription(
                Image, img_topic, self._on_image, qos_profile_sensor_data
            )
-            self.get_logger().info(f'Subscribed image: {img_topic} (BEST_EFFORT)')
+            self.get_logger().info(f'已订阅图像：{img_topic}（BEST_EFFORT）')
        if info_topic:
            self.create_subscription(
                CameraInfo, info_topic, self._on_info, qos_profile_sensor_data
            )
-            self.get_logger().info(f'Subscribed camera_info: {info_topic} (BEST_EFFORT)')
+            self.get_logger().info(f'已订阅 camera_info：{info_topic}（BEST_EFFORT）')
    def _on_js(self, msg: JointState) -> None:
        self._latest_js = msg
@@ -230,20 +230,20 @@ class HandeyeCalibrate(Node):
    def run(self) -> int:
        if self.mode not in ('eye_in_hand', 'eye_to_hand'):
            self.get_logger().error(
-                f'Unknown mode={self.mode!r}; use eye_in_hand or eye_to_hand'
+                f'未知的 mode={self.mode!r}；请使用 eye_in_hand 或 eye_to_hand'
            )
            return 1
        poses = self._load_poses()
        if len(poses) < self.min_poses:
            self.get_logger().error(
-                f'Only {len(poses)} filled poses (need >= {self.min_poses}). '
+                f'只有 {len(poses)} 个已填写位姿（需要 >= {self.min_poses}）。'
-                'Teach with: bash ~/ros2/scripts/run_handeye.sh teach && merge.'
+                '示教命令：bash ~/ros2/scripts/run_handeye.sh teach && merge。'
            )
            return 1
        if self.start_index >= len(poses):
            self.get_logger().error(
-                f'start_index {self.start_index} >= filled poses {len(poses)}'
+                f'start_index {self.start_index} >= 已填写位姿数 {len(poses)}'
            )
            return 1
@@ -252,8 +252,8 @@ class HandeyeCalibrate(Node):
        if not self._client.wait_for_server(timeout_sec=15.0):
            self.get_logger().error(
-                f'Action [{self.action_name}] unavailable. '
+                f'Action [{self.action_name}] 不可用。'
-                'Start: bash ~/ros2/scripts/run_real.sh'
+                '请启动：bash ~/ros2/scripts/run_real.sh'
            )
            return 2
@@ -262,11 +262,11 @@ class HandeyeCalibrate(Node):
        eye_to_hand = self.mode == 'eye_to_hand'
        self.get_logger().info(
-            f'Hand-eye [{self.mode}] camera_source={self.camera_source}: '
+            f'手眼标定 [{self.mode}] camera_source={self.camera_source}：'
-            f'{len(poses)} poses, board={self.board.cols}x{self.board.rows} '
+            f'{len(poses)} 个位姿，棋盘={self.board.cols}x{self.board.rows} '
-            f'square={self.board.square_size}m, v={self.velocity_scale}'
+            f'方格={self.board.square_size}m，v={self.velocity_scale}'
        )
-        self.get_logger().warn('Clear workspace; E-Stop ready. Ctrl+C aborts.')
+        self.get_logger().warn('清理工作空间；确认急停就绪。Ctrl+C 可中止。')
        Rg: List[np.ndarray] = []
        tg: List[np.ndarray] = []
@@ -277,17 +277,17 @@ class HandeyeCalibrate(Node):
        try:
            for i in range(self.start_index, len(poses)):
                q = poses[i]
-                self._log_progress(i, len(poses), 'moving...')
+                self._log_progress(i, len(poses), '移动中...')
                code = self._move_one(q, self.move_time_sec)
                if code != 0:
                    return code
                if not self._verify_joints(q, tol=0.08):
                    self.get_logger().error(
-                        f'[{i + 1}] arm did not reach target joints '
+                        f'[{i + 1}] 机械臂未到达目标关节位置 '
-                        '(controller reported OK but joints unchanged). '
+                        '（控制器报告成功，但关节没有变化）。'
-                        'Restart run_real.sh; pendant AUTO Remote; clear fault. '
+                        '请重启 run_real.sh；示教器切 AUTO Remote；清除故障。'
-                        'Do NOT trust this calibration.'
+                        '不要相信这次标定结果。'
                    )
                    return 10
@@ -301,16 +301,16 @@ class HandeyeCalibrate(Node):
                ok, std, corners, pattern, bgr = self._wait_stable()
                if not ok or corners is None or bgr is None:
-                    msg = f'[{i + 1}] chessboard not stable (std={std:.3f})'
+                    msg = f'[{i + 1}] 棋盘不稳定（std={std:.3f}）'
                    if self.skip_unstable:
-                        self.get_logger().warn(f'{msg} — skip')
+                        self.get_logger().warn(f'{msg} —— 跳过')
                        continue
-                    self.get_logger().error(f'{msg}. Abort.')
+                    self.get_logger().error(f'{msg}。中止。')
                    return 7
                ee = self._read_ee_pose()
                if ee is None:
-                    self.get_logger().error('Failed to read ee_pose')
+                    self.get_logger().error('读取 ee_pose 失败')
                    return 8
                assert self._intrinsics is not None
@@ -349,20 +349,20 @@ class HandeyeCalibrate(Node):
                    }
                )
                self.get_logger().info(
-                    f'[{i + 1}/{len(poses)}] CAPTURED '
+                    f'[{i + 1}/{len(poses)}] 已采集 '
                    f'(corner_std={std:.3f}px) -> {img_path.name}'
                )
        except KeyboardInterrupt:
-            self.get_logger().info('Interrupted')
+            self.get_logger().info('已中断')
            return 0
        if len(Rg) < self.min_poses:
            self.get_logger().error(
-                f'Only {len(Rg)} captures; need >= {self.min_poses} to solve'
+                f'只采集到 {len(Rg)} 次；求解至少需要 {self.min_poses} 次'
            )
            return 9
-        self.get_logger().info(f'Solving hand-eye with {len(Rg)} views...')
+        self.get_logger().info(f'用 {len(Rg)} 个视角求解手眼标定...')
        R, t = calibrate_hand_eye(Rg, tg, Rc, tc, eye_to_hand=eye_to_hand)
        name = (
            'T_cam_to_base (eye_to_hand)'
@@ -371,7 +371,7 @@ class HandeyeCalibrate(Node):
        )
        yaml_txt = format_transform_yaml(R, t, name)
        header = (
-            f'# Hand-eye result\n'
+            f'# 手眼标定结果\n'
            f'# mode: {self.mode}\n'
            f'# camera_source: {self.camera_source}\n'
            f'# views: {len(Rg)}\n'
@@ -385,17 +385,17 @@ class HandeyeCalibrate(Node):
            json.dumps(meta, indent=2), encoding='utf-8'
        )
-        self.get_logger().info('======== Hand-eye result ========')
+        self.get_logger().info('======== 手眼标定结果 ========')
        for line in (header + yaml_txt).strip().splitlines():
            self.get_logger().info(line)
-        self.get_logger().info(f'Saved -> {self.result_file}')
+        self.get_logger().info(f'已保存 -> {self.result_file}')
        if self.cleanup_images:
            if self.images_dir.exists():
                shutil.rmtree(self.images_dir, ignore_errors=True)
-            self.get_logger().info('Calibration images deleted')
+            self.get_logger().info('标定图像已删除')
        else:
-            self.get_logger().info(f'Images kept in {self.images_dir}')
+            self.get_logger().info(f'图像保留在 {self.images_dir}')
        return 0
    def _load_poses(self) -> List[List[float]]:
@@ -407,8 +407,8 @@ class HandeyeCalibrate(Node):
        need = n_cfg * n_j
        if len(flat) < need:
            self.get_logger().warn(
-                f'waypoint_positions length {len(flat)} < num_poses*{n_j}={need}; '
+                f'waypoint_positions 长度 {len(flat)} < num_poses*{n_j}={need}；'
-                'padding with zeros'
+                '用零补齐'
            )
            flat = flat + [0.0] * (need - len(flat))
        poses: List[List[float]] = []
@@ -417,7 +417,7 @@ class HandeyeCalibrate(Node):
            if is_pose_filled(q):
                poses.append(q)
            else:
-                self.get_logger().warn(f'Pose slot {i} empty (all-zero) — skipped')
+                self.get_logger().warn(f'位姿槽 {i} 为空（全零）—— 已跳过')
        return poses
    def _resolve_intrinsics(self) -> bool:
@@ -430,7 +430,7 @@ class HandeyeCalibrate(Node):
            self._intrinsics = _camera_info_to_intrinsics(self._latest_info)
            K = self._intrinsics.K
            self.get_logger().info(
-                f'Intrinsics from CameraInfo ({self._info_topic}): '
+                f'内参来自 CameraInfo（{self._info_topic}）：'
                f'fx={K[0, 0]:.2f} fy={K[1, 1]:.2f} cx={K[0, 2]:.2f} cy={K[1, 2]:.2f}'
            )
            return True
@@ -445,19 +445,19 @@ class HandeyeCalibrate(Node):
                    height=self.rs_height,
                )
            except Exception as exc:  # noqa: BLE001
-                self.get_logger().error(f'RealSense intrinsics query failed: {exc}')
+                self.get_logger().error(f'RealSense 内参查询失败：{exc}')
            else:
                self._intrinsics = CameraIntrinsics(K=intr.as_K(), dist=intr.as_dist())
                self.get_logger().info(
-                    f'Intrinsics from RealSense {intr.model.upper()} '
+                    f'内参来自 RealSense {intr.model.upper()} '
-                    f'serial={intr.serial} {intr.width}x{intr.height}: '
+                    f'serial={intr.serial} {intr.width}x{intr.height}：'
                    f'fx={intr.fx:.2f} fy={intr.fy:.2f} '
                    f'cx={intr.cx:.2f} cy={intr.cy:.2f}'
                )
                if (intr.width, intr.height) != (self.rs_width, self.rs_height):
                    self.get_logger().warn(
-                        f'Requested {self.rs_width}x{self.rs_height}, '
+                        f'请求 {self.rs_width}x{self.rs_height}，'
-                        f'got {intr.width}x{intr.height} (closest profile)'
+                        f'实际得到 {intr.width}x{intr.height}（最接近的 profile）'
                    )
                return True
@@ -468,8 +468,8 @@ class HandeyeCalibrate(Node):
        cy = float(self.get_parameter('camera_cy').value)
        if fx <= 0 or fy <= 0:
            self.get_logger().error(
-                'No intrinsics. Set camera_source:=d405|d435, '
+                '没有内参。请设置 camera_source:=d405|d435，'
-                'or provide camera_info_topic, or fill camera_fx/fy/cx/cy.'
+                '或提供 camera_info_topic，或填写 camera_fx/fy/cx/cy。'
            )
            return False
        dist = np.array(
@@ -478,7 +478,7 @@ class HandeyeCalibrate(Node):
        K = np.array([[fx, 0.0, cx], [0.0, fy, cy], [0.0, 0.0, 1.0]], dtype=float)
        self._intrinsics = CameraIntrinsics(K=K, dist=dist)
        self.get_logger().info(
-            f'Intrinsics from YAML: fx={fx:.2f} fy={fy:.2f} cx={cx:.2f} cy={cy:.2f}'
+            f'内参来自 YAML：fx={fx:.2f} fy={fy:.2f} cx={cx:.2f} cy={cy:.2f}'
        )
        return True
@@ -561,7 +561,7 @@ class HandeyeCalibrate(Node):
            try:
                bgr = _image_to_bgr(self._latest_image)
            except Exception as exc:  # noqa: BLE001
-                self.get_logger().error(f'Image convert failed: {exc}')
+                self.get_logger().error(f'图像转换失败：{exc}')
                return False, last_std, None, None, None
            detected = detect_chessboard(bgr, self.board)
            corners = detected[0] if detected is not None else None
@@ -574,9 +574,9 @@ class HandeyeCalibrate(Node):
                last_bgr = bgr
            now = time.monotonic()
            if now - last_log > 1.0:
-                seen = 'yes' if corners is not None else 'NO'
+                seen = '有' if corners is not None else '无'
                self.get_logger().info(
-                    f'  board={seen}  corner_std='
+                    f'  棋盘={seen}  角点标准差='
                    f'{std if std < 1e8 else float("nan"):.3f}px'
                )
                last_log = now
@@ -586,7 +586,12 @@ class HandeyeCalibrate(Node):
    def _verify_joints(self, target: List[float], tol: float = 0.08) -> bool:
-        """Confirm joint_states reached target (detect fake trajectory success)."""
+        """确认 ``joint_states`` 真的走到了目标位置。
        用来识破"假的成功"：有些执行接口会立刻返回成功，但关节其实没动
        （或只动了一半）。这里在 2 秒内轮询关节角，逐轴比对容差 ``tol``（弧度），
        只有全部落在容差内才算真到位。
        """
        deadline = time.monotonic() + 2.0
        while rclpy.ok() and time.monotonic() < deadline:
            rclpy.spin_once(self, timeout_sec=0.05)
@@ -602,10 +607,10 @@ class HandeyeCalibrate(Node):
                continue
            err = float(np.sqrt(np.mean([(a - b) ** 2 for a, b in zip(actual, target)])))
            self.get_logger().info(
-                f'  joint RMSE vs target: {err:.4f} rad (tol={tol})'
+                f'  关节相对目标的 RMSE：{err:.4f} rad（tol={tol}）'
            )
            return err <= tol
-        self.get_logger().error('No joint_states while verifying motion')
+        self.get_logger().error('校验运动时没有 joint_states')
        return False
    def _move_one(self, positions: List[float], duration: float) -> int:
@@ -617,18 +622,18 @@ class HandeyeCalibrate(Node):
        goal.time_from_start = [float(duration)]
        send = self._client.send_goal_async(goal)
-        if not self._wait_future(send, 10.0, 'send goal'):
+        if not self._wait_future(send, 10.0, '发送目标'):
            return 3
        handle = send.result()
        if handle is None or not handle.accepted:
-            self.get_logger().error('Goal rejected')
+            self.get_logger().error('目标被拒绝')
            return 4
        res_fut = handle.get_result_async()
-        if not self._wait_future(res_fut, max(60.0, duration * 3.0), 'result'):
+        if not self._wait_future(res_fut, max(60.0, duration * 3.0), '结果'):
            return 5
        result = res_fut.result().result
        if not result.success:
-            self.get_logger().error(f'Move failed: {result.message}')
+            self.get_logger().error(f'移动失败：{result.message}')
            return 6
        return 0
@@ -637,7 +642,7 @@ class HandeyeCalibrate(Node):
        while rclpy.ok() and not fut.done():
            rclpy.spin_once(self, timeout_sec=0.05)
            if time.monotonic() > deadline:
-                self.get_logger().error(f'Timeout waiting for {label}')
+                self.get_logger().error(f'等待 {label} 超时')
                return False
        return fut.done()
@@ -656,7 +661,7 @@ class HandeyeCalibrate(Node):
        import cv2
        if not cv2.imwrite(str(path), bgr):
-            raise RuntimeError(f'cv2.imwrite failed: {path}')
+            raise RuntimeError(f'cv2.imwrite 失败：{path}')
 def main(args=None) -> None:
@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
-"""Hand-eye helpers: chessboard stabilize + AX=XB solve.
+"""手眼标定辅助工具：棋盘稳定判定 + AX=XB 求解。
-Uses ``cv2.calibrateHandEye`` when present; otherwise Tsai-Lenz (NumPy).
+有 ``cv2.calibrateHandEye`` 时用它，否则用 Tsai-Lenz（NumPy 实现）。
-Chessboard detection always needs OpenCV.
+棋盘检测始终依赖 OpenCV。
 """
 from __future__ import annotations
@@ -21,9 +21,9 @@ except Exception:  # noqa: BLE001
@dataclass
 class BoardConfig:
-    cols: int  # inner corners (width)
+    cols: int  # 内角点数（宽）
-    rows: int  # inner corners (height)
+    rows: int  # 内角点数（高）
-    square_size: float  # meters
+    square_size: float  # 米
@dataclass
@@ -78,9 +78,9 @@ def board_object_points(cfg: BoardConfig) -> np.ndarray:
 def detect_chessboard(
    image_bgr: np.ndarray, cfg: BoardConfig
 ) -> Optional[Tuple[np.ndarray, Tuple[int, int]]]:
-    """Return (corners, pattern_size) or None. pattern is (cols, rows) used."""
+    """返回 (角点, pattern_size) 或 None。pattern 为实际使用的 (cols, rows)。"""
    if cv2 is None:
-        raise RuntimeError('OpenCV (cv2) is required for chessboard detection')
+        raise RuntimeError('棋盘检测需要 OpenCV（cv2）')
    gray = cv2.cvtColor(image_bgr, cv2.COLOR_BGR2GRAY)
    pattern = (int(cfg.cols), int(cfg.rows))
    flags = cv2.CALIB_CB_ADAPTIVE_THRESH | cv2.CALIB_CB_NORMALIZE_IMAGE
@@ -105,7 +105,7 @@ def solve_board_pose(
    pattern: Optional[Tuple[int, int]] = None,
 ) -> Tuple[np.ndarray, np.ndarray]:
    if cv2 is None:
-        raise RuntimeError('OpenCV (cv2) is required for solvePnP')
+        raise RuntimeError('solvePnP 需要 OpenCV（cv2）')
    if pattern is None:
        pattern = (cfg.cols, cfg.rows)
    board = BoardConfig(pattern[0], pattern[1], cfg.square_size)
@@ -114,7 +114,7 @@ def solve_board_pose(
        obj, corners, cam.K, cam.dist, flags=cv2.SOLVEPNP_ITERATIVE
    )
    if not ok:
-        raise RuntimeError('solvePnP failed')
+        raise RuntimeError('solvePnP 失败')
    R, _ = cv2.Rodrigues(rvec)
    return R.astype(float), np.asarray(tvec, dtype=float).reshape(3, 1)
@@ -172,10 +172,10 @@ def calibrate_hand_eye_tsai(
    R_target2cam: List[np.ndarray],
    t_target2cam: List[np.ndarray],
 ) -> Tuple[np.ndarray, np.ndarray]:
-    """Tsai-Lenz. Returns R_cam2gripper, t_cam2gripper."""
+    """Tsai-Lenz 方法。返回 R_cam2gripper、t_cam2gripper。"""
    n = len(R_gripper2base)
    if n < 3:
-        raise ValueError('Need >= 3 poses')
+        raise ValueError('至少需要 3 个位姿')
    Hg = [Rt_to_T(R, t) for R, t in zip(R_gripper2base, t_gripper2base)]
    Hc = [Rt_to_T(R, t) for R, t in zip(R_target2cam, t_target2cam)]
@@ -220,8 +220,8 @@ def calibrate_hand_eye(
    eye_to_hand: bool = False,
 ) -> Tuple[np.ndarray, np.ndarray]:
    """
-    eye_in_hand  -> X = cam -> gripper (mounted on flange)
+    eye_in_hand  -> X = cam -> gripper（相机装在法兰上）
-    eye_to_hand  -> X = cam -> base   (fixed camera)
+    eye_to_hand  -> X = cam -> base（相机固定安装）
    """
    Rg = list(R_gripper2base)
    tg = list(t_gripper2base)
@@ -240,7 +240,7 @@ def calibrate_hand_eye(
            )
            return np.asarray(R, float), np.asarray(t, float).reshape(3, 1)
        except Exception:
-            pass  # fall back to NumPy Tsai
+            pass  # 退回 NumPy 版 Tsai
    return calibrate_hand_eye_tsai(Rg, tg, R_target2cam, t_target2cam)
@@ -257,7 +257,7 @@ def format_transform_yaml(R: np.ndarray, t: np.ndarray, name: str) -> str:
 def is_pose_filled(joints: Sequence[float]) -> bool:
-    """False if all zeros / NaN placeholder."""
+    """若全为零 / NaN 占位则返回 False。"""
    arr = np.asarray(joints, dtype=float)
    if arr.size != 7:
        return False
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-"""Query RealSense (D405 / D435) factory color intrinsics via pyrealsense2."""
+"""通过 pyrealsense2 查询 RealSense（D405 / D435）的出厂彩色内参。"""
 from __future__ import annotations
@@ -19,7 +19,7 @@ class RealsenseIntrinsics:
    fy: float
    cx: float
    cy: float
-    dist: List[float]  # OpenCV order, length 5
+    dist: List[float]  # OpenCV 顺序，长度 5
    def as_K(self) -> np.ndarray:
        return np.array(
@@ -32,7 +32,7 @@ class RealsenseIntrinsics:
        return np.array(d[:5], dtype=float).reshape(-1, 1)
-# Default ROS topic namespaces when camera_source is d405/d435.
+# camera_source 为 d405/d435 时的默认 ROS 话题命名空间。
 REALSENSE_TOPIC_DEFAULTS = {
    'd405': {
        'image_topic': '/d405/color/image_raw',
@@ -55,13 +55,13 @@ def _norm_model(model: str) -> str:
 def list_realsense_devices() -> List[Tuple[str, str]]:
-    """Return [(name, serial), ...]."""
+    """返回 [(name, serial), ...]。"""
    try:
        import pyrealsense2 as rs
    except Exception as exc:  # noqa: BLE001
        raise RuntimeError(
-            'pyrealsense2 not installed. '
+            '未安装 pyrealsense2。'
-            'Install in ros_flexiv: pip/conda install pyrealsense2'
+            '请在 ros_flexiv 环境中安装：pip/conda install pyrealsense2'
        ) from exc
    out: List[Tuple[str, str]] = []
    for d in rs.context().devices:
@@ -79,27 +79,27 @@ def query_realsense_color_intrinsics(
    height: int = 720,
 ) -> RealsenseIntrinsics:
    """
-    Read on-device color intrinsics for D405/D435 at the given resolution.
+    在给定分辨率下读取 D405/D435 设备上的彩色内参。
-    Does not start a streaming pipeline (uses profile metadata).
+    不会启动流管道（只读取 profile 元数据）。
    """
    try:
        import pyrealsense2 as rs
    except Exception as exc:  # noqa: BLE001
        raise RuntimeError(
-            'pyrealsense2 not installed. '
+            '未安装 pyrealsense2。'
-            'Install in ros_flexiv: pip/conda install pyrealsense2'
+            '请在 ros_flexiv 环境中安装：pip/conda install pyrealsense2'
        ) from exc
    want = _norm_model(model)
    if want not in ('d405', 'd435'):
-        raise ValueError(f'Unsupported model {model!r}; use d405 or d435')
+        raise ValueError(f'不支持的型号 {model!r}；请使用 d405 或 d435')
    hint = want.upper()  # D405 / D435
    serial = (serial or '').strip()
    devices = list(rs.context().devices)
    if not devices:
-        raise RuntimeError('No RealSense device connected')
+        raise RuntimeError('未连接任何 RealSense 设备')
    chosen = None
    for d in devices:
@@ -119,14 +119,14 @@ def query_realsense_color_intrinsics(
            for d in devices
        )
        raise RuntimeError(
-            f'No RealSense matching model={want!r} serial={serial!r}. '
+            f'没有匹配 model={want!r} serial={serial!r} 的 RealSense。'
-            f'Connected: {avail or "none"}'
+            f'已连接的设备：{avail or "无"}'
        )
    name = chosen.get_info(rs.camera_info.name)
    sn = chosen.get_info(rs.camera_info.serial_number)
-    best = None  # (score, width, height, fx, fy, cx, cy, coeffs)
+    best = None  # (评分, width, height, fx, fy, cx, cy, 畸变系数)
    for s in chosen.sensors:
        for p in s.profiles:
            if p.stream_type() != rs.stream.color:
@@ -155,7 +155,7 @@ def query_realsense_color_intrinsics(
                best = cand
    if best is None:
-        raise RuntimeError(f'No color stream profile on {name} ({sn})')
+        raise RuntimeError(f'{name} ({sn}) 上没有彩色流 profile')
    _, w, h, fx, fy, cx, cy, coeffs = best
    while len(coeffs) < 5:
@@ -174,7 +174,7 @@ def query_realsense_color_intrinsics(
 def is_realsense_source(name: str) -> bool:
-    """True for d405 / d435 and namespaced aliases (d405_left, d405_right)."""
+    """对 d405 / d435 及带命名空间的别名（d405_left、d405_right）返回 True。"""
    return _norm_model(name or "") in ("d405", "d435")
@@ -185,9 +185,9 @@ def resolve_realsense_topics(
    image_topic: str = '',
    camera_info_topic: str = '',
 ) -> Tuple[str, str]:
-    """Fill default image/camera_info topics for d405/d435 if empty.
+    """为空时，为 d405/d435 填充默认的 image/camera_info 话题。
-    ``model`` may be a topic namespace such as ``d405_left`` / ``d405_right``.
+    ``model`` 可以是 ``d405_left`` / ``d405_right`` 这类话题命名空间。
    """
    ns = (camera_namespace or model or 'd405').strip().strip('/')
    img = (image_topic or '').strip()
@@ -210,7 +210,7 @@ def apply_realsense_exposure(
    gain: float | None = None,
    log=None,
 ) -> list[str]:
-    """Cap AE / kill projector. Wrist D405 overexposure is usually long AE + emitter."""
+    """限制自动曝光 / 关闭投影器。腕部 D405 过曝通常是自动曝光过长 + 发射器导致。"""
    import pyrealsense2 as rs
    notes: list[str] = []
@@ -230,7 +230,7 @@ def apply_realsense_exposure(
        laser_opt = getattr(rs.option, "laser_power", None)
        if laser_opt is not None and not emitter_enabled:
            _set(sensor, laser_opt, float(laser_power))
-        # Must disable AE *before* writing exposure; D405 firmware ignores exposure while AE is on.
+        # 必须在写曝光*之前*关闭自动曝光；D405 固件在自动曝光开启时会忽略曝光设置。
        if _set(sensor, rs.option.enable_auto_exposure, 1.0 if auto_exposure else 0.0):
            notes.append(f"ae={int(bool(auto_exposure))}")
        pri = getattr(rs.option, "auto_exposure_priority", None)
@@ -247,5 +247,5 @@ def apply_realsense_exposure(
            if gain is not None and _set(sensor, rs.option.gain, float(gain)):
                notes.append(f"gain={gain}")
    if log and notes:
-        log("RealSense exposure: " + ", ".join(dict.fromkeys(notes)))
+        log("RealSense 曝光设置：" + ", ".join(dict.fromkeys(notes)))
    return notes
@@ -1,26 +1,26 @@
 #!/usr/bin/env python3
-"""Hand-eye teach: live preview + Free Drive + Enter to photo/record joints.
+"""手眼示教：实时预览 + Free Drive + 按 Enter 拍照/记录关节。
-Two backends
+两种后端
 ------------
-ros (default, stack running):
+ros（默认，整套栈正在运行）：
-  - Joints from /get_arm_state
+  - 关节来自 ``/get_arm_state``
-  - Drag: teach pendant Free Drive + hold enable
+  - 拖拽：示教器 Free Drive + 按住使能键
-  Keep: bash ~/ros2/scripts/run_real.sh
+  需保持：bash ~/ros2/scripts/run_real.sh
-rdk (software Free Drive):
+rdk（软件 Free Drive）：
-  - Stop run_real.sh first (RDK exclusive)
+  - 先停掉 run_real.sh（RDK 独占）
-  - Press 'd' to enable FloatingJoint drag via RDK
+  - 按 'd' 通过 RDK 启用 FloatingJoint 拖拽
-  - Joints from RDK robot.states
+  - 关节来自 RDK 的 robot.states
  source ~/ros2/scripts/env.sh
  ros2 run arm_application handeye_teach --ros-args -p backend:=rdk
-UI keys (preview window)
+界面按键（预览窗口）
-  Enter / Space  photo + record joints
+  Enter / Space  拍照 + 记录关节
-  d             enable Free Drive (rdk) / show pendant tip (ros)
+  d             启用 Free Drive（rdk）/ 显示示教器提示（ros）
-  s             stop Free Drive (rdk) / hold
+  s             停止 Free Drive（rdk）/ 保持
-  q / Esc       finish
+  q / Esc       结束
 """
 from __future__ import annotations
@@ -40,21 +40,21 @@ from rclpy.node import Node
 HELP = """
 ================================================
- Hand-eye TEACH: preview -> drag -> photo+pose
+ 手眼示教 TEACH：预览 -> 拖拽 -> 拍照+位姿
 ================================================
- Window keys:
+ 窗口按键：
-   Enter / Space  = take photo + save joints
+   Enter / Space  = 拍照 + 保存关节
-   d              = Free Drive ON
+   d              = 开启 Free Drive
-   s              = Free Drive OFF / hold
+   s              = 关闭 Free Drive / 保持
-   q / Esc        = finish
+   q / Esc        = 结束
- Tip: make board clear & fill ~30-70% of image
+ 提示：让棋盘清晰，并占到画面的约 30-70%
- Prefer 8-12 poses with varied angles
+ 建议采 8-12 个角度有变化的位姿
 ================================================
 """
 def _setup_matplotlib_font():
-    """Avoid Chinese mojibake: prefer CJK font if present."""
+    """避免中文乱码：优先选用存在的中日韩（CJK）字体。"""
    import matplotlib
    matplotlib.use('QtAgg')
@@ -77,7 +77,7 @@ def _setup_matplotlib_font():
            chosen = name
            break
    if chosen is None:
-        # try by file path
+        # 按文件路径再试一次
        for path in (
            '/usr/share/fonts/opentype/noto/NotoSansCJK-Regular.ttc',
            '/usr/share/fonts/opentype/noto/NotoSansCJK-Medium.ttc',
@@ -104,7 +104,7 @@ def _param_as_str(node: Node, name: str, default: str = '') -> str:
 class RdkBridge:
-    """Talk to Flexiv RDK via rdk_py310 subprocess (Python 3.10 ABI)."""
+    """通过 rdk_py310 子进程（Python 3.10 ABI）与 Flexiv RDK 通信。"""
    def __init__(self, robot_sn: str, logger=None) -> None:
        import json
@@ -120,9 +120,9 @@ class RdkBridge:
        if not bridge.is_file():
            bridge = Path('/home/cc/ros2/scripts/rdk_drag_bridge.py')
        if not bridge.is_file():
-            raise FileNotFoundError(f'rdk_drag_bridge.py not found: {bridge}')
+            raise FileNotFoundError(f'找不到 rdk_drag_bridge.py：{bridge}')
-        # Only Flexiv libs — do not inherit conda LD_LIBRARY_PATH (can hang RDK).
+        # 只保留 Flexiv 的库 —— 不要继承 conda 的 LD_LIBRARY_PATH（会让 RDK 卡死）。
        flexiv_lib = os.path.expanduser('~/flexiv_install/lib')
        env = {
            'HOME': os.environ.get('HOME', ''),
@@ -130,9 +130,9 @@ class RdkBridge:
            'LD_LIBRARY_PATH': flexiv_lib,
            'LANG': 'C.UTF-8',
        }
-        # Do NOT inherit conda PYTHONPATH.
+        # 不要继承 conda 的 PYTHONPATH。
-        # IMPORTANT: do not use PIPE for stderr — RDK logs fill the pipe and
+        # 重要：stderr 不能用 PIPE —— RDK 日志会填满管道并让桥接进程死锁
-        # deadlock the bridge (stdout never replies). Log to a file instead.
+        # （stdout 永远不返回）。改成写入日志文件。
        log_path = Path('/tmp/rdk_drag_bridge.log')
        self._err_file = open(log_path, 'w', encoding='utf-8')
        self._proc = subprocess.Popen(
@@ -145,14 +145,14 @@ class RdkBridge:
            env=env,
        )
        if logger:
-            logger.info(f'RDK bridge started; log → {log_path}')
+            logger.info(f'RDK 桥接已启动；日志 → {log_path}')
        pong = self._ask({'cmd': 'ping'}, timeout=8.0)
        if not pong.get('ok'):
            raise RuntimeError(
-                f'RDK bridge ping failed: {pong}. See {log_path}'
+                f'RDK 桥接 ping 失败：{pong}。参见 {log_path}'
            )
        if logger:
-            logger.info('RDK bridge ping OK, connecting to robot...')
+            logger.info('RDK 桥接 ping 正常，正在连接机器人...')
        conn = self._ask(
            {
                'cmd': 'connect',
@@ -163,11 +163,11 @@ class RdkBridge:
        )
        if not conn.get('ok'):
            raise RuntimeError(
-                f'RDK connect failed: {conn.get("error")}. '
+                f'RDK 连接失败：{conn.get("error")}。'
-                f'Stop run_real.sh first; AUTO Remote + clear fault. See {log_path}'
+                f'请先停掉 run_real.sh；切 AUTO Remote 并清除故障。参见 {log_path}'
            )
        if logger:
-            logger.info(f'RDK bridge OK (py={pong.get("py")}) sn={robot_sn}')
+            logger.info(f'RDK 桥接就绪（py={pong.get("py")}）sn={robot_sn}')
        q0 = conn.get('q') or []
        if len(q0) >= 7:
            self._last_q = [float(v) for v in q0[:7]]
@@ -175,9 +175,9 @@ class RdkBridge:
    def _ask(self, msg: dict, timeout: float = 10.0) -> dict:
        import select
-        # One in-flight command: camera/GUI must never share this pipe.
+        # 同一时刻只允许一条在途命令：相机/GUI 绝不能共用这个管道。
        if not self._io.acquire(timeout=max(timeout, 0.2)):
-            return {'ok': False, 'error': 'bridge busy'}
+            return {'ok': False, 'error': '桥接忙'}
        try:
            assert self._proc.stdin and self._proc.stdout
            self._proc.stdin.write(self._json.dumps(msg) + '\n')
@@ -188,7 +188,7 @@ class RdkBridge:
                    tip = '/tmp/rdk_drag_bridge.log'
                    return {
                        'ok': False,
-                        'error': f'bridge exited rc={self._proc.returncode}; see {tip}',
+                        'error': f'桥接已退出 rc={self._proc.returncode}；参见 {tip}',
                    }
                ready, _, _ = select.select([self._proc.stdout], [], [], 0.05)
                if not ready:
@@ -202,8 +202,8 @@ class RdkBridge:
                try:
                    return self._json.loads(line)
                except Exception as exc:  # noqa: BLE001
-                    return {'ok': False, 'error': f'bad reply: {exc} {line!r}'}
+                    return {'ok': False, 'error': f'应答异常：{exc} {line!r}'}
-            return {'ok': False, 'error': 'bridge timeout'}
+            return {'ok': False, 'error': '桥接超时'}
        finally:
            self._io.release()
@@ -296,14 +296,14 @@ class HandeyeTeach(Node):
        self._start_gui()
        print(HELP)
        if self.backend == 'rdk':
-            print('[backend=rdk] Press d = soft-drag (works in AUTO Remote, no Floating license)')
+            print('[backend=rdk] 按 d = 软拖拽（在 AUTO Remote 下可用，无需 Floating 许可）')
-            print('              run_real.sh must be STOPPED.')
+            print('              run_real.sh 必须已停止。')
            print('              拖着就能按 Enter 拍照，不必先按 s')
        else:
-            print('[backend=ros] Drag with pendant Free Drive + hold enable.')
+            print('[backend=ros] 用示教器 Free Drive + 按住使能键来拖拽。')
-            print('             Or stop run_real.sh and use: -p backend:=rdk')
+            print('             或停掉 run_real.sh 后改用：-p backend:=rdk')
        if font:
-            self.get_logger().info(f'UI font: {font}')
+            self.get_logger().info(f'界面字体：{font}')
        self.create_timer(1.0 / max(1, self._fps), self._tick)
    def _init_ros_state(self) -> None:
@@ -312,15 +312,15 @@ class HandeyeTeach(Node):
        self._get_state = self.create_client(GetArmState, 'get_arm_state')
        if not self._get_state.wait_for_service(timeout_sec=10.0):
            raise RuntimeError(
-                'get_arm_state unavailable. Start run_real.sh, '
+                'get_arm_state 不可用。请启动 run_real.sh，'
-                'or use: -p backend:=rdk (after stopping the stack)'
+                '或改用：-p backend:=rdk（需先停掉整套栈）'
            )
    def _init_rdk(self) -> None:
-        self.get_logger().info(f'Connecting RDK bridge to {self.robot_sn} ...')
+        self.get_logger().info(f'正在把 RDK 桥接连到 {self.robot_sn} ...')
        self._rdk = RdkBridge(self.robot_sn, logger=self.get_logger())
-        self._robot = True  # marker: rdk backend ready
+        self._robot = True  # 标记：RDK 后端已就绪
-        self.get_logger().info('RDK connected. Press d for Free Drive.')
+        self.get_logger().info('RDK 已连接。按 d 启用 Free Drive。')
    def _start_camera(self) -> None:
        import pyrealsense2 as rs
@@ -342,7 +342,7 @@ class HandeyeTeach(Node):
                cfg.enable_stream(rs.stream.color, ww, hh, rs.format.bgr8, ff)
                profile = pipe.start(cfg)
                self._fps = ff
-                self.get_logger().info(f'Camera {ww}x{hh}@{ff}Hz')
+                self.get_logger().info(f'相机 {ww}x{hh}@{ff}Hz')
                break
            except Exception as exc:  # noqa: BLE001
                last_err = exc
@@ -353,7 +353,7 @@ class HandeyeTeach(Node):
                pipe = rs.pipeline()
        if profile is None:
            raise RuntimeError(
-                f'Cannot open D405 — stop realsense_color_pub first. ({last_err})'
+                f'无法打开 D405 —— 请先停掉 realsense_color_pub。（{last_err}）'
            )
        self._pipe = pipe
        try:
@@ -371,7 +371,7 @@ class HandeyeTeach(Node):
                log=self.get_logger().info,
            )
        except Exception as exc:  # noqa: BLE001
-            self.get_logger().warn(f'exposure apply: {exc}')
+            self.get_logger().warn(f'曝光设置应用失败：{exc}')
        self._cam_thread = threading.Thread(target=self._cam_loop, name='d405', daemon=True)
        self._cam_thread.start()
@@ -395,7 +395,7 @@ class HandeyeTeach(Node):
        self._plt = plt
        self._fig, self._ax = plt.subplots(1, 1, figsize=(11, 7))
        self._fig.canvas.manager.set_window_title(
-            'handeye_teach | Enter=photo  d=drag  s=stop  q=quit'
+            'handeye_teach | Enter=拍照  d=拖拽  s=停止  q=退出'
        )
        self._im = None
        self._status = self._ax.text(
@@ -415,21 +415,21 @@ class HandeyeTeach(Node):
        plt.show(block=False)
    def _status_text(self) -> str:
-        drag = 'DRAG ON' if self._drag_on else 'drag off'
+        drag = '拖拽开启' if self._drag_on else '拖拽关闭'
        if self.backend == 'rdk':
-            tip = 'd=soft-drag  s=hold'
+            tip = 'd=软拖拽  s=保持'
        else:
-            tip = 'Pendant FreeDrive+Enable'
+            tip = '示教器 FreeDrive+使能'
        return (
-            f'captured:{len(self._captures)}  [{drag}]  '
+            f'已采集:{len(self._captures)}  [{drag}]  '
-            f'{tip}  |  Enter=photo  q=quit'
+            f'{tip}  |  Enter=拍照  q=退出'
        )
    def _on_key(self, event) -> None:
        key = (event.key or '').lower()
        if key in ('q', 'escape'):
            self._quit = True
-            self.get_logger().info('Quit requested')
+            self.get_logger().info('收到退出请求')
            return
        if self._cmd_pending:
            return
@@ -446,7 +446,7 @@ class HandeyeTeach(Node):
            elif key == 's':
                self._disable_drag()
        except Exception as exc:  # noqa: BLE001
-            self.get_logger().error(f'key {key}: {exc}')
+            self.get_logger().error(f'按键 {key}：{exc}')
        finally:
            self._cmd_pending = False
@@ -454,34 +454,34 @@ class HandeyeTeach(Node):
        if self.backend != 'rdk':
            self._drag_on = True
            self.get_logger().warn(
-                'ROS backend: use teach pendant Free Drive + hold enable button. '
+                'ROS 后端：请用示教器的 Free Drive + 按住使能键。'
-                'For software drag: stop run_real.sh, then '
+                '想用软件拖拽：先停掉 run_real.sh，然后执行 '
                'ros2 run arm_application handeye_teach --ros-args -p backend:=rdk'
            )
            self._status.set_text(self._status_text())
            return
-        self.get_logger().info('starting soft-drag (preview stays live) ...')
+        self.get_logger().info('正在启动软拖拽（预览保持实时刷新）...')
-        # soft = joint impedance drag under AUTO Remote (no Floating license)
+        # soft = AUTO Remote 模式下的关节阻抗拖拽（不需要 Floating 许可）
        res = self._rdk.drag_on(self.drag_primitive, mode='soft')
        if res.get('ok'):
            self._drag_on = True
            self.get_logger().info(
-                f'Drag ON mode={res.get("mode")} — push the arm, Enter=photo (s=hold optional)'
+                f'拖拽已开启 mode={res.get("mode")} —— 推着机械臂走，Enter=拍照（s=保持，可选）'
            )
            if res.get('hint'):
                self.get_logger().info(str(res.get('hint')))
        else:
            self._drag_on = False
-            self.get_logger().error(f'Drag failed: {res.get("error")}')
+            self.get_logger().error(f'拖拽失败：{res.get("error")}')
-        # status text is refreshed by _tick on the GUI thread
+        # 状态文字由 GUI 线程里的 _tick 刷新
    def _disable_drag(self) -> None:
        if self.backend == 'rdk' and getattr(self, '_rdk', None) is not None:
            res = self._rdk.drag_off()
            if not res.get('ok'):
-                self.get_logger().warn(f'Stop drag: {res.get("error")}')
+                self.get_logger().warn(f'停止拖拽：{res.get("error")}')
        self._drag_on = False
-        self.get_logger().info('Free Drive OFF / hold')
+        self.get_logger().info('Free Drive 已关闭 / 保持')
    def _tick(self) -> None:
        if self._quit:
@@ -510,7 +510,7 @@ class HandeyeTeach(Node):
        if self.backend == 'rdk' and getattr(self, '_rdk', None) is not None:
            q = self._rdk.joints()
            if q is None:
-                self.get_logger().error('RDK joints failed')
+                self.get_logger().error('读取 RDK 关节失败')
            return q
        from arm_msgs.srv import GetArmState
@@ -532,11 +532,11 @@ class HandeyeTeach(Node):
            with self._frame_lock:
                bgr = None if self._latest_bgr is None else self._latest_bgr.copy()
            if bgr is None:
-                self.get_logger().warn('No camera frame yet')
+                self.get_logger().warn('还没有相机帧')
                return
            q = self._read_joints()
            if q is None:
-                self.get_logger().error('Failed to read joints')
+                self.get_logger().error('读取关节失败')
                return
            idx = len(self._captures)
@@ -569,7 +569,7 @@ class HandeyeTeach(Node):
            if target > 0:
                if n < target:
                    self.get_logger().info(
-                        f'[{n}/{target}] saved photo+joints  —— 还差 {target - n} 个点'
+                        f'[{n}/{target}] 已保存照片+关节  —— 还差 {target - n} 个点'
                    )
                elif n == target:
                    self.get_logger().info(
@@ -579,18 +579,18 @@ class HandeyeTeach(Node):
                    )
                else:
                    self.get_logger().info(
-                        f'[{n}/{target}] saved photo+joints  —— 已超出目标 '
+                        f'[{n}/{target}] 已保存照片+关节  —— 已超出目标 '
                        f'{n - target} 个点（会用全部点求解）'
                    )
            else:
-                self.get_logger().info(f'[{n}] saved photo+joints')
+                self.get_logger().info(f'[{n}] 已保存照片+关节')
            self._write_yaml_snippet()
        finally:
            self._busy = False
    def _write_yaml_snippet(self) -> None:
        lines = [
-            '# Paste into handeye_calibrate.yaml -> waypoint_positions',
+            '# 粘贴到 handeye_calibrate.yaml -> waypoint_positions',
            f'# num_poses: {len(self._captures)}',
            'waypoint_positions: [',
        ]
@@ -612,17 +612,17 @@ class HandeyeTeach(Node):
            except Exception:
                pass
        n = len(self._captures)
-        print('\n========== TEACH DONE ==========')
+        print('\n========== 示教完成 ==========')
-        print(f'poses: {n}')
+        print(f'位姿: {n}')
-        print(f'joints: {self.poses_file}')
+        print(f'关节: {self.poses_file}')
        print(f'yaml:   {self.yaml_file}')
-        print(f'images: {self.images_dir}')
+        print(f'图像: {self.images_dir}')
        if n >= 1:
-            print('\n--- paste into handeye_calibrate.yaml ---\n')
+            print('\n--- 粘贴到 handeye_calibrate.yaml ---\n')
            print(self.yaml_file.read_text(encoding='utf-8'))
-            print('Also set num_poses:', n)
+            print('同时设置 num_poses:', n)
        if n < 5:
-            self.get_logger().warn(f'Only {n} poses; need >=5 (prefer 8-12).')
+            self.get_logger().warn(f'只有 {n} 个位姿；至少需要 5 个（建议 8-12 个）。')
 def main(args=None) -> None:
@@ -1,17 +1,16 @@
 #!/usr/bin/env python3
-"""Hand-eye calibration waypoint runner.
+"""手眼标定路点执行器。
-Moves to each joint waypoint one-by-one, waits for arrival, then dwells so a
+逐个移动到每个关节路点，等到位后停留一段时间，
-camera (or operator) can capture a calibration image.
+让相机（或操作者）采集一张标定图像。
 capture_mode:
-  auto      — dwell_sec then next pose
+  auto      — 停留 dwell_sec 后进入下一个位姿
-  keypress  — terminal Enter to continue
+  keypress  — 在终端按 Enter 继续
-  preview   — OpenCV live camera + Enter/Space confirm (recommended for teaching)
+  preview   — OpenCV 实时相机 + Enter/Space 确认（示教时推荐）
-During ``preview`` mode, use the teach pendant **Free Drive** to drag-adjust
+处于 ``preview`` 模式时，可在预览窗口打开期间用示教器的 **Free Drive**
-while the preview window is open (ros2_control keeps AUTO Remote; drag is
+拖拽微调（ros2_control 保持 AUTO Remote；拖拽经由示教器，而非 RDK）。
 via pendant, not RDK).
 """
 from __future__ import annotations
@@ -106,7 +105,7 @@ def _image_to_bgr(msg: Image) -> np.ndarray:
        img = data.reshape(h, w, 4)
        bgr = img[:, :, :3]
        return bgr[:, :, ::-1].copy() if enc == 'rgba8' else bgr
-    raise RuntimeError(f'Unsupported image encoding: {msg.encoding!r}')
+    raise RuntimeError(f'不支持的图像编码：{msg.encoding!r}')
 class HandeyeWaypoints(Node):
@@ -165,14 +164,14 @@ class HandeyeWaypoints(Node):
        self._cv_gui = _cv_gui_available() and self.preview_window
        if self.capture_mode == 'preview' and not self._cv_gui:
            self.get_logger().warn(
-                'OpenCV has no GUI (headless). Preview on /handeye/preview_image; '
+                'OpenCV 没有 GUI（无头环境）。请在 /handeye/preview_image 上预览，'
-                'confirm with Enter in this terminal.'
+                '在本终端按 Enter 确认。'
            )
        if self.image_topic and self.capture_mode == 'preview':
            self.create_subscription(
                Image, self.image_topic, self._on_image, qos_profile_sensor_data
            )
-            self.get_logger().info(f'Preview image: {self.image_topic}')
+            self.get_logger().info(f'预览图像：{self.image_topic}')
    def _on_image(self, msg: Image) -> None:
        try:
@@ -183,10 +182,10 @@ class HandeyeWaypoints(Node):
    def run(self) -> int:
        if self.capture_mode == 'preview':
            if cv2 is None:
-                self.get_logger().error('preview mode needs OpenCV (cv2)')
+                self.get_logger().error('preview 模式需要 OpenCV（cv2）')
                return 1
            if not self.image_topic:
-                self.get_logger().error('preview mode needs image_topic or camera_source')
+                self.get_logger().error('preview 模式需要 image_topic 或 camera_source')
                return 1
        times = list(self.get_parameter('waypoint_times').value)
@@ -194,23 +193,23 @@ class HandeyeWaypoints(Node):
        n_j = len(self.joint_names)
        n_pts = len(times)
        if n_pts < 1:
-            self.get_logger().error('waypoint_times is empty')
+            self.get_logger().error('waypoint_times 为空')
            return 1
        if len(positions) != n_pts * n_j:
            self.get_logger().error(
-                f'waypoint_positions length {len(positions)} != {n_pts}*{n_j}'
+                f'waypoint_positions 长度 {len(positions)} != {n_pts}*{n_j}'
            )
            return 1
        if self.start_index >= n_pts:
            self.get_logger().error(
-                f'start_index {self.start_index} >= num waypoints {n_pts}'
+                f'start_index {self.start_index} >= 路点总数 {n_pts}'
            )
            return 1
        if not self._client.wait_for_server(timeout_sec=15.0):
            self.get_logger().error(
-                f'Action [{self.action_name}] not available. '
+                f'Action [{self.action_name}] 不可用。'
-                'Start stack first: bash scripts/run_real.sh'
+                '请先启动整套栈：bash scripts/run_real.sh'
            )
            return 2
@@ -226,18 +225,18 @@ class HandeyeWaypoints(Node):
                + [f'target_{n}' for n in self.joint_names]
                + [f'measured_{n}' for n in self.joint_names]
            )
-            self.get_logger().info(f'Logging captures → {path}')
+            self.get_logger().info(f'正在记录采集数据 → {path}')
        if self.capture_mode == 'preview':
            print(PREVIEW_HELP_GUI if self._cv_gui else PREVIEW_HELP_HEADLESS)
        self.get_logger().info(
-            f'Hand-eye: {n_pts} poses, start={self.start_index}, '
+            f'手眼标定：{n_pts} 个位姿，start={self.start_index}，'
-            f'v_scale={self.velocity_scale}, dwell={self.dwell_sec}s, '
+            f'v_scale={self.velocity_scale}，dwell={self.dwell_sec}s，'
            f'mode={self.capture_mode}'
        )
        self.get_logger().warn(
-            'Clear workspace; keep board in FOV. Ctrl+C aborts.'
+            '清理工作空间；让棋盘保持在视野内。Ctrl+C 可中止。'
        )
        win = 'handeye_preview'
@@ -246,7 +245,7 @@ class HandeyeWaypoints(Node):
                q = positions[i * n_j : (i + 1) * n_j]
                move_t = max(1.0, float(times[i]))
                self.get_logger().info(
-                    f'[{i + 1}/{n_pts}] moving (~{move_t:.1f}s)...'
+                    f'[{i + 1}/{n_pts}] 移动中（约 {move_t:.1f}s）...'
                )
                code = self._move_one(q, move_t)
                if code != 0:
@@ -264,10 +263,10 @@ class HandeyeWaypoints(Node):
                    csv_file.flush()
                if not self._wait_capture(i, n_pts):
-                    self.get_logger().info('Aborted by user')
+                    self.get_logger().info('用户已中止')
                    return 0
-                # After confirm in preview mode, save taught joints
+                # 在 preview 模式下确认后，保存示教关节
                if self.capture_mode == 'preview':
                    taught = self._read_joints()
                    if taught:
@@ -281,10 +280,10 @@ class HandeyeWaypoints(Node):
                except Exception:  # noqa: BLE001
                    pass
-        self.get_logger().info('Hand-eye waypoint sequence done')
+        self.get_logger().info('手眼标定路点序列执行完毕')
        if self.append_poses_file and self.capture_mode == 'preview':
            self.get_logger().info(
-                f'Taught poses saved → {self.append_poses_file}'
+                f'示教位姿已保存 → {self.append_poses_file}'
            )
        return 0
@@ -299,7 +298,7 @@ class HandeyeWaypoints(Node):
        with path.open('a', encoding='utf-8') as f:
            f.write(f'# pose {index}\n')
            f.write(line + '\n')
-        self.get_logger().info(f'Saved pose {index} → {path}')
+        self.get_logger().info(f'已保存位姿 {index} → {path}')
    def _move_one(self, positions: List[float], duration: float) -> int:
        goal = FollowJointTrajectory.Goal()
@@ -310,19 +309,19 @@ class HandeyeWaypoints(Node):
        goal.time_from_start = [float(duration)]
        send = self._client.send_goal_async(goal)
-        if not self._wait_future(send, 10.0, 'send goal'):
+        if not self._wait_future(send, 10.0, '发送目标'):
            return 3
        handle = send.result()
        if handle is None or not handle.accepted:
-            self.get_logger().error('Goal rejected')
+            self.get_logger().error('目标被拒绝')
            return 4
        res_fut = handle.get_result_async()
-        if not self._wait_future(res_fut, max(60.0, duration * 3.0), 'result'):
+        if not self._wait_future(res_fut, max(60.0, duration * 3.0), '结果'):
            return 5
        result = res_fut.result().result
        if not result.success:
-            self.get_logger().error(f'Move failed: {result.message}')
+            self.get_logger().error(f'移动失败：{result.message}')
            return 6
        return 0
@@ -331,7 +330,7 @@ class HandeyeWaypoints(Node):
        while rclpy.ok() and not fut.done():
            rclpy.spin_once(self, timeout_sec=0.05)
            if time.monotonic() > deadline:
-                self.get_logger().error(f'Timeout waiting for {label}')
+                self.get_logger().error(f'等待 {label} 超时')
                return False
        return fut.done()
@@ -359,11 +358,11 @@ class HandeyeWaypoints(Node):
        q_str = ', '.join(f'{v:.4f}' for v in (measured or target))
        if self.capture_mode == 'preview':
            self.get_logger().info(
-                f'[{index + 1}/{n_pts}] ARRIVED — Free Drive adjust, then Enter/Space'
+                f'[{index + 1}/{n_pts}] 已到位 —— 用 Free Drive 调整，然后按 Enter/Space'
            )
        else:
            self.get_logger().info(
-                f'[{index + 1}/{n_pts}] ARRIVED — CAPTURE NOW  q=[{q_str}]'
+                f'[{index + 1}/{n_pts}] 已到位 —— 现在采集  q=[{q_str}]'
            )
    def _wait_capture(self, index: int, n_pts: int) -> bool:
@@ -372,7 +371,7 @@ class HandeyeWaypoints(Node):
        if self.capture_mode in ('key', 'keypress', 'manual'):
            self.get_logger().info(
-                'Press Enter after capturing (q+Enter to quit)...'
+                '采集完成后按 Enter（q+Enter 退出）...'
            )
            for _ in range(5):
                rclpy.spin_once(self, timeout_sec=0.05)
@@ -394,7 +393,7 @@ class HandeyeWaypoints(Node):
            return vis
        cv2.putText(
            vis,
-            f'Pose {index + 1}/{n_pts}',
+            f'位姿 {index + 1}/{n_pts}',
            (12, 28),
            cv2.FONT_HERSHEY_SIMPLEX,
            0.7,
@@ -403,7 +402,7 @@ class HandeyeWaypoints(Node):
        )
        cv2.putText(
            vis,
-            'Free Drive drag | Enter=next q=quit',
+            'Free Drive 拖拽 | Enter=下一个 q=退出',
            (12, 56),
            cv2.FONT_HERSHEY_SIMPLEX,
            0.6,
@@ -420,7 +419,7 @@ class HandeyeWaypoints(Node):
        msg.encoding = 'bgr8'
        msg.is_bigendian = 0
        msg.step = msg.width * 3
-        msg.data = array.array('B', bgr.tobytes())  # fast path; bytes costs ~40 ms
+        msg.data = array.array('B', bgr.tobytes())  # 快速路径；用 bytes 会多花约 40 ms
        self._preview_pub.publish(msg)
    def _wait_preview(self, index: int, n_pts: int) -> bool:
@@ -444,8 +443,8 @@ class HandeyeWaypoints(Node):
                confirmed.set()
        self.get_logger().info(
-            f'[{index + 1}/{n_pts}] Adjust with Free Drive, then press Enter '
+            f'[{index + 1}/{n_pts}] 用 Free Drive 调整，然后按 Enter '
-            '(q+Enter to quit)'
+            '（q+Enter 退出）'
        )
        reader = threading.Thread(target=_stdin_reader, daemon=True)
        reader.start()
@@ -464,7 +463,7 @@ class HandeyeWaypoints(Node):
            if bgr is None:
                if not no_frame_warn:
                    self.get_logger().warn(
-                        f'Waiting for {self.image_topic} ...',
+                        f'正在等待 {self.image_topic} ...',
                        throttle_duration_sec=3.0,
                    )
                    no_frame_warn = True
@@ -485,7 +484,7 @@ class HandeyeWaypoints(Node):
            if bgr is None:
                if not no_frame_warn:
                    self.get_logger().warn(
-                        f'Waiting for {self.image_topic} ...',
+                        f'正在等待 {self.image_topic} ...',
                        throttle_duration_sec=3.0,
                    )
                    no_frame_warn = True
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-"""Hole detection on the current-arm D405 color topic. Detect-only (no insert motion)."""
+"""在当前机械臂的 D405 彩色话题上做入孔检测。只检测，不做插入动作。"""
 from __future__ import annotations
@@ -60,7 +60,10 @@ _HOLE_SITE_SKIP = {"weights", "workpiece_weights", "config"}
 def config_from_site(data: dict[str, Any] | None = None) -> dict[str, Any]:
-    """Package yaml defaults, then overlay site.yaml hole_detect: (operator source of truth)."""
+    """先取包内 yaml 默认值，再用 ``site.yaml`` 的 ``hole_detect:`` 覆盖。
    以 ``site.yaml`` 为准（operator 的唯一数据源）；``data`` 参数用于测试时直接喂字典。
    """
    from arm_application.site_io import deep_merge, load_site_dict, ros2_root
    site = data if data is not None else load_site_dict()
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-"""Constant-velocity Kalman filter for a 3D point (camera frame)."""
+"""三维点的匀速模型卡尔曼滤波（坐标系为相机系）。"""
 from __future__ import annotations
@@ -9,7 +9,7 @@ import numpy as np
 class KalmanFilter3D:
-    """State ``[x, y, z, vx, vy, vz]``. Measurement is position only."""
+    """状态量为 ``[x, y, z, vx, vy, vz]``；观测只有位置，没有速度。"""
    def __init__(
        self,
@@ -43,7 +43,11 @@ class KalmanFilter3D:
        return self.x[3:].copy()
    def advance(self, t: float) -> None:
-        """Predict the state forward to time ``t`` (seconds, monotonic)."""
+        """把状态预测到时刻 ``t``（秒，必须单调递增）。
        超过 0.5 秒的空档按"目标可能已经跑掉"处理：位置不动、速度清零，
        否则旧速度会把位置外推得很离谱。
        """
        if not self.initialized or self._t is None:
            self._t = t
            return
@@ -51,7 +55,7 @@ class KalmanFilter3D:
        if dt <= 1e-6:
            return
        if dt > 0.5:
-            # Long gap — keep position, zero velocity.
+            # 空档太长——位置保持不动，速度清零。
            self.x[3:] = 0.0
            self._t = t
            return
@@ -59,7 +63,7 @@ class KalmanFilter3D:
        self._t = t
    def update(self, z: np.ndarray) -> None:
-        """Measurement update with a 3D position."""
+        """用一次三维位置观测做量测更新。"""
        z = np.asarray(z, dtype=float).reshape(3)
        if not self.initialized:
            self.reset(z)
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
-"""Example client for arm_msgs/action/MoveToPose (Cartesian goal).
+"""``arm_msgs/action/MoveToPose``（笛卡尔目标）的示例客户端。
-Wire this to MoveIt or your IK solver action server when available.
+等你有了 MoveIt 或自己的 IK 求解 action server 后，把它接上去即可。
 """
 from __future__ import annotations
@@ -24,8 +24,8 @@ class MoveToPoseClient(Node):
    def send(self, x: float, y: float, z: float) -> None:
        if not self._client.wait_for_server(timeout_sec=5.0):
            self.get_logger().error(
-                'move_to_pose action not available. '
+                'move_to_pose action 不可用。'
-                'Start a Cartesian planner (e.g. MoveIt) that implements it.'
+                '请启动一个实现了它的笛卡尔规划器（例如 MoveIt）。'
            )
            return
@@ -36,18 +36,18 @@ class MoveToPoseClient(Node):
        goal.target_pose.pose.position.x = x
        goal.target_pose.pose.position.y = y
        goal.target_pose.pose.position.z = z
-        # Identity orientation
+        # 单位姿态（不旋转）
        goal.target_pose.pose.orientation.w = 1.0
        goal.velocity_scale = 0.3
        goal.acceleration_scale = 0.3
        goal.avoid_collisions = True
-        self.get_logger().info(f'Sending Cartesian goal: ({x:.3f}, {y:.3f}, {z:.3f})')
+        self.get_logger().info(f'发送笛卡尔目标：({x:.3f}, {y:.3f}, {z:.3f})')
        future = self._client.send_goal_async(goal)
        rclpy.spin_until_future_complete(self, future)
        handle = future.result()
        if handle is None or not handle.accepted:
-            self.get_logger().error('Goal rejected')
+            self.get_logger().error('目标被拒绝')
            return
        result_future = handle.get_result_async()
@@ -59,7 +59,7 @@ class MoveToPoseClient(Node):
 def main(args=None) -> None:
    rclpy.init(args=args)
    node = MoveToPoseClient()
-    # Default demo pose; override via CLI: x y z
+    # 默认演示位姿；可通过命令行覆盖：x y z
    vals = [0.35, 0.0, 0.35]
    if len(sys.argv) >= 4:
        vals = [float(sys.argv[1]), float(sys.argv[2]), float(sys.argv[3])]
@@ -1,4 +1,4 @@
-"""Orisys visuo-tactile adapter. SDK is pip-installed; site.yaml holds device ids."""
+"""Orisys 视触觉适配器。SDK 通过 pip 安装；设备 id 存放在 ``site.yaml`` 里。"""
 from __future__ import annotations
@@ -185,8 +185,8 @@ class OrisysTactile(TactileInterface):
            import orisys
        except ImportError as exc:
            raise RuntimeError(
-                "orisys SDK missing. pip install -e /path/to/orisys-sdk  "
+                "缺少 orisys SDK。请执行 pip install -e /path/to/orisys-sdk  "
-                "(git.orisys-tech.cn/orisys/test). Config still comes from site.yaml tactile."
+                "（git.orisys-tech.cn/orisys/test）。配置依旧从 ``site.yaml`` 的 ``tactile`` 段读取。"
            ) from exc
        self._sensors = []
@@ -1,13 +1,13 @@
 #!/usr/bin/env python3
-"""perception_node — YOLO + depth + KF (own process).
+"""perception_node —— YOLO + 深度 + 卡尔曼滤波（独立进程）。
-Hard rules:
+硬性规则：
- Image callbacks ONLY store latest frames (never run YOLO in the callback)
+- 图像回调**只**存最新帧（绝不在回调里跑 YOLO）
- YOLO runs on a dedicated worker thread so MutuallyExclusive I/O is never blocked
+- YOLO 跑在专门的工作线程上，保证 ``MutuallyExclusive`` 的 I/O 回调永远不会被阻塞
- SensorDataQoS BEST_EFFORT keep_last(5)
+- 用 ``SensorDataQoS`` ``BEST_EFFORT`` ``keep_last(5)``
- Publish filtered 3D as geometry_msgs/PointStamped (no Services)
+- 滤波后的三维点用 ``geometry_msgs/PointStamped`` 发布（不用 Service）
- Dynamic object TF at vision rate only
+- 动态物体 TF 只在视觉帧率下发布
- High-confidence detections always reacquire (no freeze on fast motion)
+- 高置信度检测始终重新捕获（快速运动时不会冻结）
 """
 from __future__ import annotations
@@ -50,7 +50,7 @@ from arm_application.yolo_detector import (
 def _bgr_copy(msg: Image) -> np.ndarray:
-    """BGR uint8 owned by caller (safe for async YOLO; ROS may drop the msg)."""
+    """返回调用方持有的 BGR uint8 数组（对异步 YOLO 安全；ROS 可能把原消息丢掉）。"""
    h, w = int(msg.height), int(msg.width)
    enc = (msg.encoding or "").lower()
    buf = np.frombuffer(msg.data, dtype=np.uint8)
@@ -58,7 +58,7 @@ def _bgr_copy(msg: Image) -> np.ndarray:
        return buf.reshape(h, w, 3).copy()
    if enc == "rgb8":
        return buf.reshape(h, w, 3)[:, :, ::-1].copy()
-    raise RuntimeError(f"Unsupported encoding {msg.encoding!r}")
+    raise RuntimeError(f"不支持的编码 {msg.encoding!r}")
 class PerceptionNode(Node):
@@ -66,7 +66,7 @@ class PerceptionNode(Node):
        super().__init__("perception_node")
        tid = threading.get_ident()
        self.get_logger().warn(
-            f"perception_node started pid={os.getpid()} thread_id={tid}"
+            f"perception_node 已启动 pid={os.getpid()} thread_id={tid}"
        )
        self.declare_parameter("camera_source", "d405")
@@ -86,30 +86,30 @@ class PerceptionNode(Node):
        self.declare_parameter("jump_z_m", 0.20)
        self.declare_parameter("min_depth_m", 0.04)
        self.declare_parameter("max_depth_m", 0.55)
-        self.declare_parameter("work_z_max_m", 0.50)  # above this = hole/background
+        self.declare_parameter("work_z_max_m", 0.50)  # 高于此值 = 孔 / 背景
        self.declare_parameter("object_frame", "tracked_object")
        self.declare_parameter("camera_frame", "d405_color_optical_frame")
        self.declare_parameter("kf_q_pos", 2.0e-3)
        self.declare_parameter("kf_q_vel", 5.0e-2)
        self.declare_parameter("kf_r_pos", 8.0e-4)
-        self.declare_parameter("meas_blend", 0.65)  # 1=raw meas, 0=pure KF
+        self.declare_parameter("meas_blend", 0.65)  # 1 = 原始测量值，0 = 纯卡尔曼滤波
        self.declare_parameter("half_precision", True)
        self.declare_parameter("backend", "auto")  # auto|torch|tensorrt
-        self.declare_parameter("mp_infer", True)  # YOLO in a spawn() process
+        self.declare_parameter("mp_infer", True)  # YOLO 跑在 spawn() 子进程里
-        # Adaptive Z LPF: alpha_z = clamp(z_alpha_min + |vel_z|*z_alpha_gain, min, max)
+        # 自适应 Z 低通滤波：alpha_z = clamp(z_alpha_min + |vel_z|*z_alpha_gain, min, max)
        self.declare_parameter("z_alpha_min", 0.10)
        self.declare_parameter("z_alpha_max", 0.60)
        self.declare_parameter("z_alpha_gain", 2.0)
-        # Faster YOLO: downscale before infer; boxes scaled back to full res
+        # 加速 YOLO：推理前先降采样；检测框再缩放回全分辨率
        self.declare_parameter("infer_max_width", 0)
-        # Box EMA (1=raw YOLO every frame — tight follow; lower = smoother/lag)
+        # 检测框 EMA（1 = 每帧都用原始 YOLO —— 紧跟目标；更低 = 更平滑但滞后）
        self.declare_parameter("box_ema_alpha", 0.85)
-        # Brief YOLO misses: keep last box on preview; clear only after N frames
+        # YOLO 短暂漏检：预览里保留上一个框；只有连续 N 帧都漏检才清除
        self.declare_parameter("miss_clear_frames", 12)
        self.declare_parameter("overlay_hold_on_miss", True)
        self.declare_parameter("hold_point_on_miss", True)
        self.declare_parameter("miss_hold_point_frames", 2)
-        # plane = stereo surface centroid (recommended); box = YOLO box center
+        # plane = 立体表面质心（推荐）；box = YOLO 检测框中心
        self.declare_parameter("feature_mode", "plane")
        self.declare_parameter("plane_inlier_m", 0.008)
        self.declare_parameter("plane_band_m", 0.06)
@@ -170,7 +170,7 @@ class PerceptionNode(Node):
        self._stop = threading.Event()
        self._wake = threading.Event()
-        # I/O group: only lightweight store-latest (never YOLO)
+        # I/O 回调组：只做轻量的“存最新帧”（绝不跑 YOLO）
        self._io_cbg = MutuallyExclusiveCallbackGroup()
        self._wake_cbg = MutuallyExclusiveCallbackGroup()
@@ -195,7 +195,7 @@ class PerceptionNode(Node):
        self._yolo_proc: Optional[YoloInferProcess] = None
        if self.mp_infer:
            self._yolo_proc = YoloInferProcess(yolo_cfg)
-            self.detector = self._yolo_proc  # duck-typed infer()
+            self.detector = self._yolo_proc  # 鸭子类型，只要求有 infer()
            imgsz = self._yolo_proc.imgsz
            self.get_logger().info(
                f"YOLO worker pid={self._yolo_proc._p.pid} weights={self._yolo_proc.weights_path}"
@@ -221,7 +221,7 @@ class PerceptionNode(Node):
            try:
                self.detector.warmup(half=self._yolo_half)
            except Exception as exc:  # noqa: BLE001
-                self.get_logger().warn(f"YOLO warmup failed: {exc}")
+                self.get_logger().warn(f"YOLO 预热失败：{exc}")
            imgsz = self.detector.imgsz
        image_qos = QoSProfile(
@@ -256,8 +256,8 @@ class PerceptionNode(Node):
            depth_topic = f"/{cam_ns}/aligned_depth_to_color/image_raw"
        if not img_topic:
            raise RuntimeError(
-                f"image_topic empty (camera_source={cam_src!r} ns={ns!r}); "
+                f"image_topic 为空（camera_source={cam_src!r} ns={ns!r}）；"
-                "use d405 / d405_left / d405_right"
+                "请使用 d405 / d405_left / d405_right"
            )
        self.get_logger().info(
            f"perception image={img_topic} depth={depth_topic} info={info_topic or '-'}"
@@ -283,7 +283,7 @@ class PerceptionNode(Node):
        self._point_pub = self.create_publisher(
            PointStamped, "visual_servo/filtered_point", point_qos
        )
-        # Reliable + keep_last(5): camera preview tolerates brief DDS gaps
+        # RELIABLE + keep_last(5)：相机预览能容忍短暂的 DDS 丢包间隙
        det_qos = QoSProfile(
            history=HistoryPolicy.KEEP_LAST,
            depth=5,
@@ -298,7 +298,7 @@ class PerceptionNode(Node):
        self._worker.start()
        self.get_logger().info(
-            f"perception ready vision≤{vision_hz:.0f}Hz imgsz={imgsz} "
+            f"perception 就绪 vision≤{vision_hz:.0f}Hz imgsz={imgsz} "
            f"infer_max_w={self.infer_max_width} mp={int(self.mp_infer)} "
            f"backend={self.backend_name} half={self._yolo_half} "
            f"feature={self.feature_mode} image={img_topic}"
@@ -328,8 +328,8 @@ class PerceptionNode(Node):
            w = float(msg.width)
            self._fx = 654.8 if w >= 1200 else 393.9 * (w / 640.0)
            self._fy = 654.0 if w >= 1200 else 393.4 * (float(msg.height) / 480.0)
-        # Do NOT pickle the image into the YOLO queue here — that stalls the
+        # 千万不要在这里把图像 pickle 进 YOLO 队列 —— 那会卡住相机回调，
-        # camera callback and looks like inference freeze. Infer thread submits.
+        # 看起来就像是推理冻结。由推理线程负责提交。
        self._wake.set()
    def _on_info(self, msg: CameraInfo) -> None:
@@ -349,7 +349,7 @@ class PerceptionNode(Node):
        self._wake.set()
    def _submit_latest(self) -> None:
-        """Copy the newest camera frame and hand it to the GPU process."""
+        """复制最新的相机帧，交给 GPU 进程。"""
        msg = self._latest_image
        seq = int(self._frame_seq)
        if msg is None or seq <= self._submitted_seq:
@@ -361,38 +361,37 @@ class PerceptionNode(Node):
            self.detector.submit(small, seq)
            self._submitted_seq = seq
        except Exception as exc:  # noqa: BLE001
-            self.get_logger().warn(f"yolo submit: {exc}", throttle_duration_sec=2.0)
+            self.get_logger().warn(f"yolo 提交失败：{exc}", throttle_duration_sec=2.0)
    def _restart_yolo(self, why: str) -> None:
-        """Self-heal a hung/dead GPU worker (engine reload takes a few sec)."""
+        """自愈：重启卡死 / 挂掉的 GPU 工作进程（重新加载 engine 需要几秒）。"""
        now = time.monotonic()
        if now - self._last_restart_t < 5.0:
            return
        if not hasattr(self.detector, "restart"):
            return
        self._last_restart_t = now
-        self.get_logger().error(f"YOLO worker {why} — restarting (box coasts)")
+        self.get_logger().error(f"YOLO 工作进程 {why} —— 正在重启（检测框靠惯性滑行）")
        try:
            self.detector.restart()
            self._submitted_seq = -1
            self._last_gpu_t = time.monotonic()
-            self.get_logger().info("YOLO worker restarted")
+            self.get_logger().info("YOLO 工作进程已重启")
        except Exception as exc:  # noqa: BLE001
-            self.get_logger().error(f"YOLO restart failed: {exc}")
+            self.get_logger().error(f"YOLO 重启失败：{exc}")
    def _infer_loop(self) -> None:
-        """Submit latest frame, collect GPU result, then stereo.
+        """提交最新帧，收集 GPU 结果，再做立体匹配。
-        GPU must never wait on stereo: the worker drops old results if we are
+        GPU 绝不能等立体匹配：如果我们短暂正忙，工作进程会直接丢掉旧结果。
-        briefly busy. We also submit *before* waiting so the next infer is
+        我们还会**先**提交再去等，这样下一次推理已经排进队列了。
        already queued.
        """
        while not self._stop.is_set():
            self._submit_latest()
            try:
                got = self.detector.wait_result(timeout=0.030)
            except Exception as exc:  # noqa: BLE001
-                self.get_logger().error(f"infer: {exc}", throttle_duration_sec=2.0)
+                self.get_logger().error(f"推理：{exc}", throttle_duration_sec=2.0)
                if not getattr(self.detector, "alive", True):
                    self._restart_yolo("died")
                time.sleep(0.02)
@@ -402,13 +401,13 @@ class PerceptionNode(Node):
                silent = (now - self._last_gpu_t) if self._last_gpu_t else 0.0
                if self._last_gpu_t is not None and silent > 0.25:
                    self.get_logger().warn(
-                        f"YOLO silent {silent*1000:.0f}ms "
+                        f"YOLO 静默 {silent*1000:.0f}ms "
-                        f"(worker={'up' if getattr(self.detector, 'alive', True) else 'DEAD'})",
+                        f"(worker={'存活' if getattr(self.detector, 'alive', True) else '已死'})",
                        throttle_duration_sec=1.0,
                    )
                outstanding = self._submitted_seq > self._done_seq
                if outstanding and self._last_gpu_t is not None and silent > 2.0:
-                    self._restart_yolo(f"hung {silent:.1f}s")
+                    self._restart_yolo(f"卡死 {silent:.1f}s")
                    continue
                if (
                    self._last_yolo_t is not None
@@ -429,7 +428,7 @@ class PerceptionNode(Node):
            try:
                self._apply_detections(dets, scale, t_img)
            except Exception as exc:  # noqa: BLE001
-                self.get_logger().error(f"apply: {exc}", throttle_duration_sec=2.0)
+                self.get_logger().error(f"应用检测结果出错：{exc}", throttle_duration_sec=2.0)
            self._done_seq = int(seq)
            self._submit_latest()
            dt_ms = (time.monotonic() - t0) * 1000.0
@@ -457,13 +456,13 @@ class PerceptionNode(Node):
    def _depth_in_box(self, xyxy) -> tuple:
        msg = self._latest_depth
        if msg is None:
-            return None, "no depth"
+            return None, "无深度"
        if not self._depth_fresh(msg):
-            return None, "stale depth"
+            return None, "深度过期"
        enc = (msg.encoding or "").lower()
        buf = self._decode_depth_m(msg)
        if buf is None:
-            return None, "bad depth"
+            return None, "深度无效"
        h, w = buf.shape
        x1, y1, x2, y2 = [float(v) for v in xyxy]
        img = self._latest_image
@@ -471,7 +470,7 @@ class PerceptionNode(Node):
            sx, sy = w / float(img.width), h / float(img.height)
            x1, y1, x2, y2 = x1 * sx, y1 * sy, x2 * sx, y2 * sy
        bw, bh = max(8.0, x2 - x1), max(8.0, y2 - y1)
-        # Inner ROI — avoid box edges; still keep enough pixels on a holey workpiece
+        # 内部 ROI —— 避开检测框边缘；但对有孔的工件仍要保留足够像素
        ix0 = int(np.clip(x1 + 0.20 * bw, 0, w - 1))
        iy0 = int(np.clip(y1 + 0.20 * bh, 0, h - 1))
        ix1 = int(np.clip(x2 - 0.20 * bw, ix0 + 2, w))
@@ -491,7 +490,7 @@ class PerceptionNode(Node):
            scale = 1.0
        vals = meters[np.isfinite(meters) & (meters > self.min_depth) & (meters < self.max_depth)]
        if vals.size < 8:
-            # Inner ROI is often holes; retry the full box.
+            # 内部 ROI 经常落在孔上；改用整个检测框重试。
            y0 = int(np.clip(y1, 0, h - 1))
            x0 = int(np.clip(x1, 0, w - 1))
            y1b = int(np.clip(y2, y0 + 2, h))
@@ -509,8 +508,8 @@ class PerceptionNode(Node):
            if vals.size < 8:
                med_m = float(np.median(meters)) if meters.size else 0.0
                return None, f"ok={vals.size} scale={scale} med={med_m:.3f}"
-        # Near-surface: holes / table / far background must NOT pull Z out.
+        # 只取近表面：孔 / 桌面 / 远处背景绝不能把 Z 拉偏。
-        # Take closest 40%, then keep a 6 cm band around the 10th percentile.
+        # 先取最近的 40%，再围绕第 10 百分位保留一个 6 cm 的带宽。
        vals = np.sort(vals)
        n_near = max(8, int(0.40 * vals.size))
        near = vals[:n_near]
@@ -524,7 +523,7 @@ class PerceptionNode(Node):
        return z, f"ok={vals.size} near={band.size}"
    def _adaptive_filter_z(self, z_raw: float, now: float) -> float:
-        """Item 4: adaptive LPF on depth — quiet when still, responsive when moving."""
+        """第 4 项：对深度做自适应低通滤波 —— 静止时更稳，运动时更灵敏。"""
        if self._z_filt is None or self._z_filt_t is None:
            self._z_filt = float(z_raw)
            self._z_filt_t = now
@@ -563,7 +562,7 @@ class PerceptionNode(Node):
        )
    def _publish_detection_clear(self) -> None:
-        """Empty detection → preview clears green box (must NOT reuse last xyxy)."""
+        """空检测 → 预览清掉绿框（绝不能复用上一次的 xyxy）。"""
        self._last_det_payload = None
        msg = Float32MultiArray()
        msg.data = []
@@ -589,7 +588,7 @@ class PerceptionNode(Node):
        self._det_pub.publish(msg)
    def _prepare_infer(self, bgr: np.ndarray) -> tuple:
-        """Optional downscale for YOLO; return (infer_bgr, scale) full = infer * scale."""
+        """可选的 YOLO 降采样；返回 (infer_bgr, scale)，全分辨率 = 推理图 * scale。"""
        max_w = self.infer_max_width
        h, w = bgr.shape[:2]
        if max_w <= 0 or w <= max_w:
@@ -612,7 +611,7 @@ class PerceptionNode(Node):
        return (int(msg.width), int(msg.height))
    def _coast_box(self, note: str) -> bool:
-        """Keep the green box moving with last velocity; do not drive 3D."""
+        """让绿框按上一次的速度继续移动；不要用它驱动三维。"""
        now = time.monotonic()
        pred = self._box_trk.predict(now, self._img_wh())
        if pred is None and self._last_raw_xyxy is not None:
@@ -626,7 +625,7 @@ class PerceptionNode(Node):
        self._publish_detection_box(
            pred, float(self._last_box_conf), float(self._last_box_cls), uv, z
        )
-        self.get_logger().info(f"box coast {note}", throttle_duration_sec=0.5)
+        self.get_logger().info(f"检测框惯滑 {note}", throttle_duration_sec=0.5)
        return True
    def _clear_track(self) -> None:
@@ -640,7 +639,7 @@ class PerceptionNode(Node):
        self._publish_detection_clear()
    def _apply_detections(self, dets, scale: float, t_img: float) -> None:
-        """Match YOLO, publish a *now*-predicted box, then stereo on that box."""
+        """匹配 YOLO 结果，发布按当前时刻预测的检测框，再在该框上做立体匹配。"""
        if scale != 1.0:
            for d in dets:
                d.xyxy = d.xyxy * scale
@@ -665,7 +664,7 @@ class PerceptionNode(Node):
                self._clear_track()
                self._last_yolo_t = None
                self.get_logger().info(
-                    "detection miss — cleared overlay",
+                    "检测漏检 —— 已清除叠加显示",
                    throttle_duration_sec=1.0,
                )
            else:
@@ -691,7 +690,7 @@ class PerceptionNode(Node):
        self._last_box_conf = float(best.conf)
        self._last_box_cls = float(best.cls_id)
        self._box_trk.update(xyxy_raw, t_img)
-        # Compensate infer delay: draw where the part is *now*, not where YOLO saw it
+        # 补偿推理延迟：画工件**当前**所在的位置，而不是 YOLO 看到它时的位置
        xyxy = self._box_trk.predict(now, self._img_wh())
        if xyxy is None:
            xyxy = xyxy_raw
@@ -705,8 +704,8 @@ class PerceptionNode(Node):
            xyxy, float(best.conf), float(best.cls_id), box_uv, z_preview
        )
-        # Hover target = stereo 3D on the workpiece inside the box (not a ray
+        # 悬停目标 = 检测框内工件表面的立体三维点（不是穿过孔 / 桌面的射线，
-        # through a hole / table, and not z_ref). Red dot = that 3D point.
+        # 也不是 z_ref）。红点 = 该三维点。
        feat = None
        p_cam: Optional[np.ndarray] = None
        note = "box"
@@ -727,13 +726,13 @@ class PerceptionNode(Node):
        z_ok = z_meas is not None
        z, note = self._metric_z(z_meas, note)
        if z is None:
-            # Never had usable depth (target beyond D405 range / not in the work
+            # 从未拿到过可用深度（目标超出 D405 量程 / 不在工作区内 / 相机安装或
-            # area / camera mount or handeye off). Do NOT publish a z_ref point —
+            # 手眼标定有问题）。不要发布 z_ref 点 —— 那会在幻影位置上假装锁定夹爪。
-            # that would fake-lock the gripper over a phantom. Hold instead.
+            # 此时应保持不动。
            self.get_logger().warn(
-                f"target has NO usable depth ({note}) — NOT tracking. "
+                f"目标没有可用深度（{note}）—— 不跟踪。"
-                f"Put the workpiece in view at {self.min_depth:.2f}-{self.work_z_max:.2f} m "
+                f"请把工件放到相机视野内 {self.min_depth:.2f}-{self.work_z_max:.2f} m 处，"
-                "from the camera, or check camera mount / handeye calibration.",
+                "或检查相机安装 / 手眼标定。",
                throttle_duration_sec=1.0,
            )
            return
@@ -754,7 +753,7 @@ class PerceptionNode(Node):
                if dpx > self.jump_px or (z_ok and dz > self.jump_z_m):
                    self.kf.reset(p_cam, now)
                    self.get_logger().info(
-                        f"reacquire conf={best.conf:.2f} dpx={dpx:.0f}",
+                        f"重新捕获 conf={best.conf:.2f} dpx={dpx:.0f}",
                        throttle_duration_sec=0.5,
                    )
                else:
@@ -765,7 +764,7 @@ class PerceptionNode(Node):
            kf_p = self.kf.position
            blend = self.meas_blend
            filt = blend * p_cam + (1.0 - blend) * kf_p
-            # Keep XY scale honest even if KF still has an old far-Z
+            # 即使卡尔曼里还残留着旧的远距离 Z，也要保证 XY 的尺度真实
            z_use = float(np.clip(filt[2], self.min_depth, self.work_z_max))
            if abs(z_use - float(p_cam[2])) > 0.04:
                filt = p_cam.copy()
@@ -775,14 +774,14 @@ class PerceptionNode(Node):
        self._publish_point(filt, stamp)
        self.get_logger().info(
-            f"track {self.feature_mode} conf={best.conf:.2f} uv=({uv[0]:.0f},{uv[1]:.0f}) "
+            f"跟踪 {self.feature_mode} conf={best.conf:.2f} uv=({uv[0]:.0f},{uv[1]:.0f}) "
            f"z={filt[2]:.3f} z_ok={int(z_ok)} {note}",
            throttle_duration_sec=0.4,
        )
    def _depth_fresh(self, msg: Image) -> bool:
-        """Reject stale depth — on a fast-moving part, old depth at the current
+        """拒绝过期的深度 —— 对快速运动的工件，当前检测框处的旧深度会读到背景
-        box reads the background (table at ~2.4 m) and poisons the 3D point."""
+        （约 2.4 m 处的桌面），从而污染三维点。"""
        try:
            t = rclpy.time.Time.from_msg(msg.header.stamp)
            age = (self.get_clock().now() - t).nanoseconds * 1e-9
@@ -816,7 +815,7 @@ class PerceptionNode(Node):
                band_m=self.plane_band_m,
            )
        except Exception as exc:  # noqa: BLE001
-            self.get_logger().warn(f"inner3d feature: {exc}", throttle_duration_sec=2.0)
+            self.get_logger().warn(f"inner3d 特征计算失败：{exc}", throttle_duration_sec=2.0)
            return None
    def _plane_center(self, xyxy):
@@ -846,13 +845,13 @@ class PerceptionNode(Node):
                band_m=self.plane_band_m,
            )
        except Exception as exc:  # noqa: BLE001
-            self.get_logger().warn(f"plane feature: {exc}", throttle_duration_sec=2.0)
+            self.get_logger().warn(f"平面特征计算失败：{exc}", throttle_duration_sec=2.0)
            return None
    def _metric_z(self, z_meas: Optional[float], note: str) -> tuple:
-        """Z used for pixel→metre. Never use hole/floor depth (inflates XY error).
+        """用于像素→米的 Z。绝不能用孔 / 地面的深度（会放大 XY 误差）。
-        Returns (None, note) when this target NEVER had usable depth — publishing
+        当这个目标**从未**有过可用深度时返回 (None, note) —— 那种情况下发布
-        a z_ref point then would fake-lock the servo onto a phantom XY."""
+        z_ref 点会让伺服假锁到一个幻影 XY 上。"""
        z_ref = max(0.12, float(self.z_ref))
        if z_meas is not None and self.min_depth <= z_meas <= self.work_z_max:
            self._last_good_z = float(z_meas)
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-"""PID with integral clamp, derivative-on-measurement, and integral separation."""
+"""PID 控制器，带积分限幅、微分作用于测量值（derivative-on-measurement）以及积分分离。"""
 from __future__ import annotations
@@ -7,10 +7,10 @@ from typing import Optional
 class PidController:
-    """``u = Kp e + Ki ∫e + Kd (−dmeas/dt)``, then saturate.
+    """``u = Kp e + Ki ∫e + Kd (−dmeas/dt)``，然后再做饱和限幅。
-    Integral separation: when ``|error| > i_sep_thresh``, integral is forced to 0
+    积分分离：当 ``|error| > i_sep_thresh`` 时，积分被强制置 0 且不再累积
-    and does not accumulate (P+D only for fast chase / less overshoot).
+    （只用 P+D，以便快速追赶 / 减少超调）。
    """
    def __init__(
@@ -50,7 +50,7 @@ class PidController:
            dterm = -(x - self._meas_prev) / dt
        self._meas_prev = x
-        # Integral separation — large error: clear I, do not accumulate
+        # 积分分离 —— 误差较大：清空 I，不再累积
        if self.i_sep_thresh > 0.0 and abs(err) > self.i_sep_thresh:
            self._i = 0.0
        else:
@@ -1,10 +1,9 @@
 #!/usr/bin/env python3
-"""Stereo plane Z at the YOLO box center.
+"""在 YOLO 检测框中心处求立体平面的 Z。
-The hover target is the box-center ray intersected with the fitted near
+悬停目标是「检测框中心射线」与「拟合出的近平面」的交点。这样既能留在检测结果上，
-plane. That stays on the detection, with metric Z (30° camera: wrong Z
+又带有真实的米制 Z（30° 相机下，Z 错了会把 base 系的 XY 也带偏）。不使用点云均值
-would shift base XY). The cloud-mean centroid is not used — holes / table
+质心 —— 孔 / 桌面的内点会把它从绿框上拉走。
 inliers pull it off the green box.
 """
 from __future__ import annotations
@@ -17,9 +16,9 @@ import numpy as np
@dataclass
 class PlaneFeature:
-    uv: np.ndarray  # (2,) color-pixel coords of the 3D centroid
+    uv: np.ndarray  # (2,) 三维质心对应的彩色像素坐标
-    z: float  # camera-frame Z of the 3D centroid
+    z: float  # 三维质心在相机坐标系下的 Z
-    xyz: np.ndarray  # (3,) stereo-cloud centroid in camera frame
+    xyz: np.ndarray  # (3,) 相机坐标系下的立体点云质心
    n_inliers: int
    note: str
@@ -128,10 +127,10 @@ def workpiece_xyz_in_box(
    inner: float = 0.40,
    band_m: float = 0.06,
 ) -> Optional[PlaneFeature]:
-    """Physical workpiece point: median 3D of the near surface in the inner box.
+    """工件上的实体点：内层检测框里近表面深度的三维中位数。
-    Not a monocular ray (holes punch through to the table) and not the
+    不是单目射线（孔会穿透到桌面），也不是整个 ROI 的点云均值
-    whole-ROI cloud mean (table / one-sided depth pulls it off the part).
+    （桌面 / 单侧深度会把它从工件上拉走）。
    """
    meters, _ = _depth_meters(depth_buf, encoding)
    if meters.ndim != 2:
@@ -212,7 +211,7 @@ def geometric_center_on_plane(
    inlier_m: float = 0.008,
    band_m: float = 0.06,
 ) -> Optional[PlaneFeature]:
-    """Box-center point on the fitted near plane, or None."""
+    """拟合出的近平面上、位于检测框中心的点，拿不到则返回 None。"""
    meters, _ = _depth_meters(depth_buf, encoding)
    if meters.ndim != 2:
        return None
@@ -224,7 +223,7 @@ def geometric_center_on_plane(
    if dw != img_w or dh != img_h:
        sx, sy = dw / max(float(img_w), 1.0), dh / max(float(img_h), 1.0)
        x1, y1, x2, y2 = x1 * sx, y1 * sy, x2 * sx, y2 * sy
-        # Keep uv in color pixels: work in depth pixels then scale back.
+        # uv 保持用彩色像素坐标：先在深度像素下计算，再缩放回来。
        scale_u, scale_v = 1.0 / sx, 1.0 / sy
    else:
        scale_u = scale_v = 1.0
@@ -246,7 +245,7 @@ def geometric_center_on_plane(
    yy, xx = np.nonzero(near)
    zs = roi[yy, xx]
-    # Color-equivalent pixel for back-projection (aligned depth uses color K).
+    # 反投影用的彩色等效像素（对齐后的深度使用的是彩色内参 K）。
    us = (xx + x0) * scale_u
    vs = (yy + y0) * scale_v
    pts = np.stack(
@@ -1,18 +1,18 @@
 #!/usr/bin/env python3
-"""Publish RealSense color stream to ROS topics (no realsense2_camera apt pkg).
+"""把 RealSense 彩色流发布到 ROS 话题（不依赖 realsense2_camera 的 apt 包）。
-Use when ``ros-humble-realsense2-camera`` is not installed but ``pyrealsense2`` works.
+当你没装 ``ros-humble-realsense2-camera``、但 ``pyrealsense2`` 能正常工作时用它。
-Default topics (camera_name=d405):
+默认话题（camera_name=d405）：
  /d405/color/image_raw
  /d405/color/camera_info
-  /d405/aligned_depth_to_color/image_raw   (16UC1 mm, if enable_depth)
+  /d405/aligned_depth_to_color/image_raw   (16UC1 mm，需开启 enable_depth)
-Performance notes
+性能说明
-----------------
+--------
-* Publishes from the capture thread (no timer lag).
+* 在采集线程里直接发布（没有定时器带来的延迟）。
-* Uses SensorDataQoS (BEST_EFFORT, depth=1) so slow subscribers drop old frames.
+* 使用 SensorDataQoS（BEST_EFFORT，depth=1），这样慢的订阅者会主动丢旧帧。
-* Optional SDK preview: ``-p show_preview:=true`` (Intel sample path: pipeline → numpy → window).
+* 可选的 SDK 预览：``-p show_preview:=true``（沿用 Intel 示例的链路：pipeline → numpy → 窗口）。
 """
 from __future__ import annotations
@@ -34,7 +34,7 @@ from std_msgs.msg import Float32MultiArray
 def _param_as_str(node: Node, name: str, default: str = '') -> str:
-    """String param that also accepts numeric CLI overrides (e.g. serial numbers)."""
+    """字符串参数，同时兼容命令行传数字的情况（例如序列号）。"""
    node.declare_parameter(
        name, default, ParameterDescriptor(dynamic_typing=True)
    )
@@ -82,7 +82,7 @@ def _site_yaml_path() -> Path:
 class RealsenseColorPub(Node):
    def __init__(self) -> None:
        super().__init__('realsense_color_pub')
-        self.declare_parameter('camera_name', 'd405')  # topic namespace
+        self.declare_parameter('camera_name', 'd405')  # 话题命名空间
        self._name = str(self.get_parameter('camera_name').value).strip().strip('/')
        self._serial = _param_as_str(self, 'camera_serial', '')
        self.declare_parameter('width', 1280)
@@ -94,8 +94,8 @@ class RealsenseColorPub(Node):
        self.declare_parameter('enable_depth', True)
        self.declare_parameter('enable_infra', True)
        self.declare_parameter('preview_stereo', True)
-        # Render the Qt preview only every Nth frame — publishing stays at full
+        # Qt 预览每 N 帧才渲染一次 —— 发布始终保持满帧率；
-        # rate; the CPU colorizer + 4-pane paint must not slow the stream.
+        # CPU 上色 + 四窗格绘制绝不能拖慢数据流。
        self.declare_parameter('preview_decimation', 2)
        self.declare_parameter('auto_exposure', True)
        self.declare_parameter('ae_limit_us', 3000.0)
@@ -122,7 +122,7 @@ class RealsenseColorPub(Node):
        self._laser_power = float(self.get_parameter('laser_power').value)
        self._exposure_us = float(self.get_parameter('exposure_us').value)
        self._gain = float(self.get_parameter('gain').value)
-        # FPS meter: hardware frame numbers vs actually published (loop rate)
+        # FPS 表：硬件帧号对比实际发布帧数（循环速率）
        self._fps_t0 = 0.0
        self._fps_pub_color = 0
        self._fps_pub_depth = 0
@@ -132,7 +132,7 @@ class RealsenseColorPub(Node):
        self._t_align = 0.0
        self._t_pub = 0.0
-        qos = qos_profile_sensor_data  # BEST_EFFORT, keep last 1
+        qos = qos_profile_sensor_data  # BEST_EFFORT，只保留最后 1 帧
        base = f'/{self._name}/color'
        self._img_pub = self.create_publisher(
            Image, f'{base}/image_raw', qos
@@ -143,8 +143,8 @@ class RealsenseColorPub(Node):
        self._depth_pub = self.create_publisher(
            Image, f'/{self._name}/aligned_depth_to_color/image_raw', qos
        )
-        # IR streams are published too so the preview can live in a separate
+        # IR 流也会一起发布，这样预览可以放在独立的查看器进程里
-        # viewer process (Qt must not share the GIL with the capture loop).
+        # （Qt 不能和采集循环共享 GIL）。
        self._ir1_pub = None
        self._ir2_pub = None
        if self._enable_infra_param and self._preview_stereo:
@@ -163,8 +163,8 @@ class RealsenseColorPub(Node):
        self._infra_mode = 'none'
        self._colorizer = None
        self._logged_depth = False
-        # Device depth scale → multiply raw uint16 by this to get true mm.
+        # 设备深度尺度 → 用原始 uint16 乘上它才是真实的 mm。
-        # D405 = 0.1 mm/unit, D435 = 1.0 mm/unit. Read from the sensor at startup.
+        # D405 = 0.1 mm/单位，D435 = 1.0 mm/单位。启动时从传感器读取。
        self._depth_to_mm = 1.0
        self._running = True
        self._thread: Optional[threading.Thread] = None
@@ -205,13 +205,13 @@ class RealsenseColorPub(Node):
                    det_qos,
                )
            self.get_logger().info(
-                'SDK preview ON — COLOR|DEPTH|IR-L|IR-R in this process '
+                'SDK 预览已开启 —— 本进程内显示 COLOR|DEPTH|IR-L|IR-R '
-                f'(hold {self._overlay_hold_sec:.1f}s). Close window ≠ stop camera.'
+                f'（保留 {self._overlay_hold_sec:.1f}s）。关窗口 ≠ 停相机。'
            )
        self._start_pipeline()
    def _pick_device(self, devices, rs):
-        """Prefer configured serial, then D405 by name (this PC also has a D435)."""
+        """优先用配置的序列号，其次按名字选 D405（这台机器上还接了 D435）。"""
        hint = (self._name or 'd405').lower()
        if self._serial:
            for d in devices:
@@ -222,7 +222,7 @@ class RealsenseColorPub(Node):
                for d in devices
            )
            raise RuntimeError(
-                f'Serial {self._serial!r} not found. Connected: {avail}'
+                f'找不到序列号 {self._serial!r}。当前已连接：{avail}'
            )
        for d in devices:
            name = str(d.get_info(rs.camera_info.name) or '').lower()
@@ -231,7 +231,7 @@ class RealsenseColorPub(Node):
        return devices[0]
    def _reload_site_preview(self, stream_w: int = 0, stream_h: int = 0) -> None:
-        """Pick up overlay_hold_sec (and warn if width/height changed) without restart."""
+        """不重启就能读到新的 overlay_hold_sec（宽高变了则给出警告）。"""
        path = self._site_yaml
        if not path.is_file():
            return
@@ -248,7 +248,7 @@ class RealsenseColorPub(Node):
            data = yaml.safe_load(path.read_text(encoding="utf-8")) or {}
            cam = data.get("camera") or {}
        except Exception as exc:  # noqa: BLE001
-            self.get_logger().warn(f"site.yaml reload failed: {exc}")
+            self.get_logger().warn(f"site.yaml 重新加载失败：{exc}")
            return
        if "overlay_hold_sec" in cam:
            hold = max(0.0, float(cam.get("overlay_hold_sec") or 0.0))
@@ -264,14 +264,14 @@ class RealsenseColorPub(Node):
        if (want_w, want_h) != (live_w, live_h) and not self._site_wh_warned:
            self._site_wh_warned = True
            self.get_logger().warn(
-                f"preview stream is {live_w}x{live_h}, site.yaml camera is "
+                f"预览流是 {live_w}x{live_h}，而 site.yaml 里的 camera 是 "
-                f"{want_w}x{want_h} — restart: bash ~/ros2/scripts/run_camera_d405.sh --preview"
+                f"{want_w}x{want_h} —— 请重启：bash ~/ros2/scripts/run_camera_d405.sh --preview"
            )
        elif (want_w, want_h) == (live_w, live_h):
            self._site_wh_warned = False
    def _on_det(self, msg: Float32MultiArray) -> None:
-        # Empty payload = perception miss → clear green box immediately
+        # 空负载 = 感知漏检 → 立刻清掉绿框
        if not msg.data or len(msg.data) < 8:
            self._overlay = None
            self._overlay_stamp = 0.0
@@ -295,8 +295,8 @@ class RealsenseColorPub(Node):
        img.encoding = 'bgr8'
        img.is_bigendian = 0
        img.step = w * 3
-        # array.array('B', ...) hits the setter's fast path — plain bytes gets
+        # array.array('B', ...) 会走 setter 的快路径 —— 直接传 bytes 会触发
-        # an element-wise debug check that costs ~40 ms per frame here.
+        # 逐元素的 debug 检查，在这里每帧要多花约 40 ms。
        img.data = array.array('B', np.ascontiguousarray(bgr).tobytes())
        self._img_pub.publish(img)
@@ -324,7 +324,7 @@ class RealsenseColorPub(Node):
            if not self._logged_depth:
                self._logged_depth = True
                self.get_logger().info(
-                    f'first aligned depth {dw}x{dh} → '
+                    f'首个对齐深度 {dw}x{dh} → '
                    f'/{self._name}/aligned_depth_to_color/image_raw'
                )
@@ -333,10 +333,10 @@ class RealsenseColorPub(Node):
            import pyrealsense2 as rs
        except Exception as exc:  # noqa: BLE001
            raise RuntimeError(
-                'pyrealsense2 not available. conda activate ros_flexiv'
+                'pyrealsense2 不可用。请执行 conda activate ros_flexiv'
            ) from exc
-        # After killing a previous publisher, USB may take 1–3s to re-enumerate.
+        # 杀掉上一个发布进程后，USB 需要 1–3s 才能重新枚举。
        ctx = rs.context()
        devices = []
        for attempt in range(8):
@@ -347,9 +347,9 @@ class RealsenseColorPub(Node):
            ctx = rs.context()
        if not devices:
            raise RuntimeError(
-                'No RealSense connected (USB empty after retries). '
+                '没有连接 RealSense（多次重试后 USB 仍为空）。'
-                'Plug D405 into THIS machine on a USB3 (blue) port, unplug/replug, '
+                '请把 D405 插到**本机**的 USB3（蓝色）口，拔插一次，'
-                'and close realsense-viewer / the 192.168.0.108 capture site if it holds the camera.'
+                '并关闭 realsense-viewer / 192.168.0.108 上占用该相机的采集端。'
            )
        found = self._pick_device(devices, rs)
@@ -375,8 +375,8 @@ class RealsenseColorPub(Node):
        )
        if usb2:
            self.get_logger().warn(
-                f'{cam_name} is on USB {usb_desc} — keeping depth/IR at '
+                f'{cam_name} 接在 USB {usb_desc} 上 —— 深度/IR 将保持 '
-                '640x480@15. Plug D405 into a USB3 (blue) port for 848@30.'
+                '640x480@15。把 D405 插到 USB3（蓝色）口可获得 848@30。'
            )
            self._width, self._height, self._fps = 640, 480, 15
@@ -399,7 +399,7 @@ class RealsenseColorPub(Node):
            ]
            if usb2:
                candidates = [(640, 480, 15), (640, 480, 5), (424, 240, 15)]
-        # Drop firmware junk (848@90 etc.) that ioctl-fails and wedges USB.
+        # 丢弃固件里的垃圾模式（848@90 之类），它们会 ioctl 失败并卡死 USB。
        seen = set()
        trimmed = []
        for item in candidates:
@@ -425,8 +425,8 @@ class RealsenseColorPub(Node):
        have_depth = False
        have_infra = False
-        # USB3: try real IR-L+IR-R first (same stereo AE). Color+IR-L often
+        # USB3：先尝试真正的 IR-L+IR-R（共享立体自动曝光）。彩色+IR-L 在 D405 上
-        # fails on D405 — then IR-R + color-as-left (different look, not AE).
+        # 经常失败 —— 那就退回 IR-R + 把彩色当左目（观感不同，且不共享自动曝光）。
        def _modes():
            if want_depth and want_infra and not usb2:
                yield True, 'both'
@@ -461,25 +461,25 @@ class RealsenseColorPub(Node):
                    self._infra_mode = infra_mode
                    if (w, h, fps) != want:
                        self.get_logger().warn(
-                            f'Requested {want[0]}x{want[1]}@{want[2]}Hz '
+                            f'请求 {want[0]}x{want[1]}@{want[2]}Hz '
-                            f'→ using {w}x{h}@{fps}Hz'
+                            f'→ 改用 {w}x{h}@{fps}Hz'
                        )
                    if want_depth and not with_depth:
                        self.get_logger().warn(
-                            f'{w}x{h}@{fps}Hz color+depth failed — color only'
+                            f'{w}x{h}@{fps}Hz 彩色+深度失败 —— 只用彩色'
                        )
                    elif want_infra and infra_mode == 'none':
                        self.get_logger().warn(
-                            f'{w}x{h}@{fps}Hz stereo IR failed — color+depth preview'
+                            f'{w}x{h}@{fps}Hz 立体 IR 失败 —— 改用彩色+深度预览'
                        )
                    elif infra_mode == 'both':
                        self.get_logger().info(
-                            f'{w}x{h}@{fps}Hz stereo IR-L+IR-R (shared AE) + depth'
+                            f'{w}x{h}@{fps}Hz 立体 IR-L+IR-R（共享自动曝光）+ 深度'
                        )
                    elif infra_mode == 'right':
                        self.get_logger().info(
-                            f'{w}x{h}@{fps}Hz IR-L=color gray, IR-R=raw IR '
+                            f'{w}x{h}@{fps}Hz IR-L=彩色灰度，IR-R=原始 IR '
-                            '(looks brighter/darker — not two AE loops)'
+                            '（明暗不同 —— 这不是两路自动曝光）'
                        )
                    self._width, self._height, self._fps = w, h, fps
                    self._last_ok = (w, h, fps)
@@ -487,7 +487,7 @@ class RealsenseColorPub(Node):
                except Exception as exc:  # noqa: BLE001
                    last_err = exc
                    kind = f'color+depth+IR-{infra_mode}' if with_depth else 'color'
-                    self.get_logger().warn(f'{w}x{h}@{fps}Hz {kind} failed: {exc}')
+                    self.get_logger().warn(f'{w}x{h}@{fps}Hz {kind} 失败：{exc}')
                    profile = None
                    have_depth = False
                    have_infra = False
@@ -501,7 +501,7 @@ class RealsenseColorPub(Node):
                break
        if profile is None:
            raise RuntimeError(
-                f'No supported color profile for D405. Last error: {last_err}'
+                f'D405 没有可用的彩色配置。最后的错误：{last_err}'
            )
        self._pipe = pipe
@@ -509,18 +509,18 @@ class RealsenseColorPub(Node):
        self._have_depth = have_depth
        self._have_infra = have_infra
        self._logged_depth = False
-        # Publish depth in TRUE millimetres. D405 raw units are 0.1 mm (D435 1 mm);
+        # 深度按**真实毫米**发布。D405 的原始单位是 0.1 mm（D435 是 1 mm）；
-        # downstream (perception/servo) assumes mm, so normalise by the device scale.
+        # 下游（感知/伺服）都按 mm 处理，所以要按设备尺度归一化。
        self._depth_to_mm = 1.0
        if have_depth:
            try:
                ds = float(profile.get_device().first_depth_sensor().get_depth_scale())
-                self._depth_to_mm = ds * 1000.0  # m/unit → mm/unit
+                self._depth_to_mm = ds * 1000.0  # m/单位 → mm/单位
                self.get_logger().info(
-                    f'depth scale {ds * 1000.0:.4f} mm/unit → publishing true mm'
+                    f'深度尺度 {ds * 1000.0:.4f} mm/单位 → 按真实 mm 发布'
                )
            except Exception as exc:  # noqa: BLE001
-                self.get_logger().warn(f'depth scale read failed, assume mm: {exc}')
+                self.get_logger().warn(f'读取深度尺度失败，按 mm 处理：{exc}')
                self._depth_to_mm = 1.0
        self._align = rs.align(rs.stream.color) if have_depth else None
        self._colorizer = None
@@ -546,11 +546,11 @@ class RealsenseColorPub(Node):
                log=self.get_logger().info,
            )
            apply_realsense_exposure(profile.get_device(), **kwargs)
-            # Firmware often resets AE on the first frames; stamp it again.
+            # 固件经常会在最初几帧重置自动曝光；所以再设置一次。
            _time.sleep(0.25)
            apply_realsense_exposure(profile.get_device(), **kwargs)
        except Exception as exc:  # noqa: BLE001
-            self.get_logger().warn(f'exposure apply: {exc}')
+            self.get_logger().warn(f'应用曝光参数失败：{exc}')
        if self._preview is not None:
            if self._infra_mode == 'both':
                self._preview.set_pane_titles(
@@ -575,8 +575,8 @@ class RealsenseColorPub(Node):
            dist = list(intr.coeffs[:5]) if intr.coeffs else [0.0] * 5
        except Exception as exc:  # noqa: BLE001
            self.get_logger().warn(
-                f'get_intrinsics failed ({exc}); using D405 defaults for '
+                f'get_intrinsics 失败（{exc}）；改用 D405 的默认内参，'
-                f'{self._width}x{self._height}'
+                f'分辨率 {self._width}x{self._height}'
            )
            w, h = float(self._width), float(self._height)
            if w >= 1200:
@@ -595,10 +595,10 @@ class RealsenseColorPub(Node):
        depth_txt = (
            f' + aligned depth /{self._name}/aligned_depth_to_color/image_raw'
            if have_depth
-            else ' (color only)'
+            else ' （仅彩色）'
        )
        if have_infra:
-            depth_txt += ' + IR-L/IR-R preview'
+            depth_txt += ' + IR-L/IR-R 预览'
        self.get_logger().info(
            f'{model} serial={sn} USB={usb_desc} → /{self._name}/color/image_raw '
            f'{self._width}x{self._height}@{self._fps}Hz '
@@ -611,30 +611,30 @@ class RealsenseColorPub(Node):
            self._thread.start()
    def _enable_color_ae_fast(self, profile, rs) -> None:
-        """Color auto-exposure that prefers short exposure (less motion blur)."""
+        """彩色自动曝光，优先用短曝光（减少运动模糊）。"""
        try:
            sensor = profile.get_device().first_color_sensor()
        except Exception as exc:  # noqa: BLE001
-            self.get_logger().warn(f'color AE: no color sensor ({exc})')
+            self.get_logger().warn(f'彩色 AE：没有彩色传感器（{exc}）')
            return
        try:
            if sensor.supports(rs.option.enable_auto_exposure):
                sensor.set_option(rs.option.enable_auto_exposure, 1.0)
            if sensor.supports(rs.option.auto_exposure_priority):
-                # 0 = keep FPS, shorten exposure when the scene is bright enough
+                # 0 = 保住帧率，场景够亮时缩短曝光时间
                sensor.set_option(rs.option.auto_exposure_priority, 0.0)
            limit = getattr(rs.option, "auto_exposure_limit", None)
            if limit is not None and sensor.supports(limit):
                try:
-                    sensor.set_option(limit, 5000.0)  # µs; less motion blur at 30 Hz
+                    sensor.set_option(limit, 5000.0)  # µs；30 Hz 下减少运动模糊
                except Exception:
                    pass
-            self.get_logger().info('color auto-exposure ON (prefer FPS / less blur)')
+            self.get_logger().info('彩色自动曝光已开启（优先帧率 / 减少模糊）')
        except Exception as exc:  # noqa: BLE001
-            self.get_logger().warn(f'color AE: {exc}')
+            self.get_logger().warn(f'彩色 AE：{exc}')
    def _enable_stereo_ae(self, profile, rs) -> None:
-        """One auto-exposure for both IR imagers (stereo module)."""
+        """两路 IR 成像器共用一路自动曝光（立体模块）。"""
        try:
            sensor = profile.get_device().first_depth_sensor()
            if sensor.supports(rs.option.enable_auto_exposure):
@@ -642,15 +642,15 @@ class RealsenseColorPub(Node):
            limit = getattr(rs.option, "auto_exposure_limit", None)
            if limit is not None and sensor.supports(limit):
                try:
-                    # Cap IR exposure well under the 33 ms frame period so a
+                    # 把 IR 曝光上限压到远低于 33 ms 的帧周期，这样光线暗的场景
-                    # dim scene cannot silently drop the stream below 30 Hz.
+                    # 也不会悄悄把数据流掉到 30 Hz 以下。
                    sensor.set_option(limit, 20000.0)
-                    self.get_logger().info('stereo IR exposure limit 20ms')
+                    self.get_logger().info('立体 IR 曝光上限 20ms')
                except Exception:
                    pass
-            self.get_logger().info('stereo IR auto-exposure ON (shared L/R)')
+            self.get_logger().info('立体 IR 自动曝光已开启（左右共享）')
        except Exception as exc:  # noqa: BLE001
-            self.get_logger().warn(f'stereo AE: {exc}')
+            self.get_logger().warn(f'立体 AE：{exc}')
    def _colorize_depth(self, depth_frame, depth_u16: np.ndarray) -> np.ndarray:
        if self._colorizer is not None:
@@ -695,7 +695,7 @@ class RealsenseColorPub(Node):
            return self._pipe is not None
        except Exception as exc:  # noqa: BLE001
            self.get_logger().error(
-                f'reconnect failed: {exc}. Unplug/replug USB3, slack the cable.',
+                f'重连失败：{exc}。请拔插 USB3，并给线缆留点余量。',
                throttle_duration_sec=5.0,
            )
            return False
@@ -738,15 +738,15 @@ class RealsenseColorPub(Node):
                if dropped or misses >= 4:
                    usb = getattr(self, '_usb_desc', '?')
                    self.get_logger().error(
-                        f'Camera stream lost (USB={usb}): {text[:120]}. '
+                        f'相机数据流中断（USB={usb}）：{text[:120]}。'
-                        'Reconnecting — slack the USB cable so the arm does not yank it.'
+                        '正在重连 —— 请给 USB 线缆留点余量，别让机械臂把它拽掉。'
                    )
                    got = False
                    misses = 0
                    self._reconnect()
                    continue
                if misses == 1:
-                    self.get_logger().warn(f'wait_for_frames: {exc}')
+                    self.get_logger().warn(f'wait_for_frames：{exc}')
                continue
            if not color:
                misses += 1
@@ -756,14 +756,14 @@ class RealsenseColorPub(Node):
            depth = frames.get_depth_frame()
            depth_u16 = np.asanyarray(depth.get_data()) if depth else None
            if depth_u16 is not None and self._depth_to_mm != 1.0:
-                # raw device units → true mm (D405 raw is 0.1 mm/unit)
+                # 原始设备单位 → 真实 mm（D405 原始为 0.1 mm/单位）
                depth_u16 = np.clip(
                    depth_u16.astype(np.float32) * self._depth_to_mm, 0, 65535
                ).astype(np.uint16)
            self._frame_i += 1
            self._fps_meter(color, depth, depth_u16)
-            # Preview work (CPU colorizer, IR copies, 4-pane paint) only every
+            # 预览相关的工作（CPU 上色、IR 拷贝、四窗格绘制）每 N 帧才做一次
-            # Nth frame — it must not slow down publishing.
+            # —— 它绝不能拖慢发布。
            do_push = (
                self._preview is not None
                and (self._frame_i % self._preview_every) == 0
@@ -776,13 +776,13 @@ class RealsenseColorPub(Node):
                    depth_bgr = self._colorize_depth(depth, depth_u16)
                ir_l_img = np.asanyarray(ir_l.get_data()).copy() if ir_l else None
                ir_r_img = np.asanyarray(ir_r.get_data()).copy() if ir_r else None
-                # Only substitute color-gray when the raw left IR stream is unavailable.
+                # 只有在拿不到原始左目 IR 流时，才用彩色灰度来顶替。
                if ir_l_img is None and self._infra_mode != 'both':
                    ir_l_img = np.mean(bgr, axis=2).astype(np.uint8)
            if not got:
                got = True
                sw, sh = int(bgr.shape[1]), int(bgr.shape[0])
-                self.get_logger().info(f'first frame {sw}x{sh}')
+                self.get_logger().info(f'首帧 {sw}x{sh}')
                if self._preview is not None:
                    self._preview.set_pane_titles(
                        f"COLOR  {sw}x{sh}",
@@ -809,7 +809,7 @@ class RealsenseColorPub(Node):
                        self._overlay is None or age > hold
                    ):
                        self._preview.set_status(
-                            'NO box — check perception_node / conf'
+                            '没有框 —— 检查 perception_node / conf'
                        )
                    else:
                        self._preview.set_status('')
@@ -817,15 +817,15 @@ class RealsenseColorPub(Node):
                        bgr.copy(), depth_bgr, ir_l_img, ir_r_img
                    )
            except Exception as exc:  # noqa: BLE001
-                # Context may be shutting down
+                # 上下文可能正在关闭
                if not self._running:
                    break
                self.get_logger().warn(
-                    f'publish failed: {exc}', throttle_duration_sec=2.0
+                    f'发布失败：{exc}', throttle_duration_sec=2.0
                )
    def _publish_ir(self, frame, pub) -> None:
-        """Raw IR imager as mono8 for the external viewer process."""
+        """把原始 IR 成像器以 mono8 发布，供外部查看器进程使用。"""
        arr = np.asanyarray(frame.get_data())
        h, w = int(arr.shape[0]), int(arr.shape[1])
        msg = Image()
@@ -840,8 +840,8 @@ class RealsenseColorPub(Node):
        pub.publish(msg)
    def _fps_meter(self, color, depth, depth_u16) -> None:
-        """Log published vs hardware frame rate — separates loop slowness
+        """记录发布帧率与硬件帧率 —— 用来区分循环太慢
-        (preview/CPU) from SDK-side drops (AE long exposure / USB)."""
+        （预览/CPU）和 SDK 侧掉帧（自动曝光长曝光 / USB）。"""
        now = time.monotonic()
        try:
            fn_c = int(color.get_frame_number())
@@ -886,13 +886,13 @@ def main(args=None) -> None:
        preview = getattr(node, '_preview', None)
        if preview is not None:
            app = node._qt_app
-            # Closing the window must NOT stop the camera — track needs the stream.
+            # 关闭窗口绝不能停掉相机 —— 跟踪需要这条数据流。
            while rclpy.ok() and node._running:
                rclpy.spin_once(node, timeout_sec=0.01)
                app.processEvents()
                if node._preview is not None and not node._preview.isVisible():
                    node.get_logger().warn(
-                        'Preview closed — camera keeps publishing'
+                        '预览已关闭 —— 相机继续发布'
                    )
                    node._preview = None
        else:
@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
-"""RealSense SDK preview: fixed 2x2 Qt panes (color / depth / IR-L / IR-R).
+"""RealSense SDK 预览：固定的 2x2 Qt 窗格（彩色 / 深度 / IR-L / IR-R）。
-Stitching four streams into one pixmap looked like a single camera view when
+把四路画面拼成一张 pixmap 时，一旦缺了深度 / IR 看起来就像单相机视图。
-depth/IR were missing. Each stream now has its own labeled pane.
+现在每路画面都有自己带标题的独立窗格。
 """
 from __future__ import annotations
@@ -221,15 +221,15 @@ class SdkPreviewWindow(QMainWindow):
            return
        color = self._draw_overlay(color, ov, status)
        labs = self._img_labels
-        self._set_pane(labs[0], color, "NO COLOR")
+        self._set_pane(labs[0], color, "无彩色")
-        self._set_pane(labs[1], depth, "NO DEPTH")
+        self._set_pane(labs[1], depth, "无深度")
-        self._set_pane(labs[2], ir_l, "NO IR-L")
+        self._set_pane(labs[2], ir_l, "无 IR-L")
-        self._set_pane(labs[3], ir_r, "NO IR-R")
+        self._set_pane(labs[3], ir_r, "无 IR-R")
 def ensure_app() -> "QApplication":
    if QApplication is None:
-        raise RuntimeError("PySide6 not available for RealSense preview window")
+        raise RuntimeError("RealSense 预览窗口缺少 PySide6，无法创建")
    app = QApplication.instance()
    if app is None:
        app = QApplication([])
@@ -1,11 +1,10 @@
 #!/usr/bin/env python3
-"""realsense_view — D405 4-pane preview (COLOR|DEPTH|IR-L|IR-R), own process.
+"""realsense_view —— D405 四窗格预览（COLOR|DEPTH|IR-L|IR-R），独立进程运行。
-The camera node (``realsense_color_pub``) only publishes topics. All Qt work
+相机节点（``realsense_color_pub``）只负责发布话题。所有 Qt 工作都放在这里，
-runs here so painting can never starve the camera capture loop (Python GIL
+这样绘制永远不会拖垮相机采集循环（两者同进程时，Python 的 GIL 会让 ``publish``
-made ``publish`` wall-time jump from 1 ms to ~70 ms when they shared a
+的墙钟耗时从 1 ms 跳到约 70 ms）。关闭窗口只是隐藏预览；Ctrl+C 才停止查看器
-process). Closing the window only hides the preview; Ctrl+C stops the viewer
+（相机仍在持续发布）。
 (the camera keeps publishing).
 """
 from __future__ import annotations
@@ -31,7 +30,7 @@ from arm_application.realsense_color_pub import _site_yaml_path
 def _colorize_depth_u16(d: np.ndarray) -> np.ndarray:
-    """Fast numpy JET colorize for the preview pane (no SDK colorizer)."""
+    """为预览窗格做快速 numpy JET 上色（不使用 SDK 的 colorizer）。"""
    vis = np.zeros((d.shape[0], d.shape[1], 3), dtype=np.uint8)
    valid = d > 0
    if not valid.any():
@@ -79,7 +78,7 @@ class RealsenseView(Node):
        self._stage2_stamp = 0.0
        self._site_yaml = _site_yaml_path()
        self._site_mtime = 0.0
-        # RX rate meter — visible stutter diagnosis (transport vs paint)
+        # RX 速率表 —— 用来直观诊断卡顿（是传输问题还是绘制问题）
        self._rx_color = 0
        self._rx_depth = 0
        self._rx_ir = 0
@@ -115,7 +114,7 @@ class RealsenseView(Node):
        self._qt_app = ensure_app()
        hud = self._hud or self._name
        self._preview = SdkPreviewWindow(
-            title=f'{hud}  /{self._name}  COLOR|DEPTH|IR  (viewer)'
+            title=f'{hud}  /{self._name}  COLOR|DEPTH|IR  （查看器）'
        )
        self._preview.set_pane_titles(
            'COLOR', 'DEPTH', 'IR-L  (左红外)', 'IR-R  (右红外)'
@@ -124,11 +123,11 @@ class RealsenseView(Node):
        hz = max(5.0, min(30.0, float(self.get_parameter('view_hz').value)))
        self.create_timer(1.0 / hz, self._push)
        self.get_logger().info(
-            f'viewer ON — subscribing /{self._name}/color|depth|infra1|infra2 '
+            f'查看器已启动 —— 订阅 /{self._name}/color|depth|infra1|infra2 '
-            f'(hold {self._hold:.2f}s). Close window = hide only.'
+            f'（保留 {self._hold:.2f}s）。关闭窗口 = 仅隐藏。'
        )
-    # Callbacks only store the newest message; conversion happens in _push.
+    # 回调只存最新消息；转换在 _push 里做。
    def _on_color(self, msg: Image) -> None:
        self._color = msg
        self._rx_color += 1
@@ -184,7 +183,7 @@ class RealsenseView(Node):
            data = yaml.safe_load(path.read_text(encoding="utf-8")) or {}
            cam = data.get("camera") or {}
        except Exception as exc:  # noqa: BLE001
-            self.get_logger().warn(f"site.yaml reload failed: {exc}")
+            self.get_logger().warn(f"site.yaml 重新加载失败：{exc}")
            return
        if "overlay_hold_sec" in cam:
            hold = max(0.0, float(cam.get("overlay_hold_sec") or 0.0))
@@ -216,7 +215,7 @@ class RealsenseView(Node):
        elif now - self._rx_t0 >= 5.0:
            dt = now - self._rx_t0
            self.get_logger().info(
-                f'viewer rx color={self._rx_color / dt:.1f}/s '
+                f'查看器接收 color={self._rx_color / dt:.1f}/s '
                f'depth={self._rx_depth / dt:.1f}/s ir={self._rx_ir / dt:.1f}/s'
            )
            self._rx_t0 = now
@@ -228,7 +227,7 @@ class RealsenseView(Node):
            self._overlay = None
            self._preview.set_overlay(None)
        if self._overlay is None or age > self._hold:
-            miss = 'NO box — check perception_node / conf'
+            miss = '没有框 —— 检查 perception_node / conf'
            self._preview.set_status(f'{self._hud}  {miss}' if self._hud else miss)
        else:
            self._preview.set_status(self._hud)
@@ -244,7 +243,7 @@ class RealsenseView(Node):
                int(self._depth.height), int(self._depth.width)
            )
            depth_bgr = _colorize_depth_u16(d)
-        # Mono→BGR here (executor thread) so the Qt paint thread stays cheap.
+        # 在这里（执行器线程）做 Mono→BGR，让 Qt 绘制线程保持轻量。
        ir1 = None if self._ir1 is None else _mono_to_bgr(self._mono(self._ir1))
        ir2 = None if self._ir2 is None else _mono_to_bgr(self._mono(self._ir2))
        self._preview.push_views(color, depth_bgr, ir1, ir2)
@@ -254,8 +253,8 @@ def main(args=None) -> None:
    rclpy.init(args=args)
    node = RealsenseView()
    app = node._qt_app
-    # ROS callbacks (image deserialization, depth colorize, push) run on
+    # ROS 回调（图像反序列化、深度上色、推送）跑在执行器线程上；
-    # executor threads; the main thread only paints Qt — no shared GIL bursts.
+    # 主线程只负责绘制 Qt —— 不会有共享的 GIL 突发。
    executor = MultiThreadedExecutor(num_threads=3)
    executor.add_node(node)
    spin_t = threading.Thread(target=executor.spin, daemon=True)
@@ -265,7 +264,7 @@ def main(args=None) -> None:
            app.processEvents()
            time.sleep(0.005)
            if node._preview is not None and not node._preview.isVisible():
-                node.get_logger().warn('Preview closed — viewer idles (camera keeps publishing)')
+                node.get_logger().warn('预览已关闭 —— 查看器挂起（相机仍在发布）')
                node._preview = None
    except KeyboardInterrupt:
        pass
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-"""Send a multi-point joint trajectory via /follow_joint_trajectory (real + mock)."""
+"""通过 ``/follow_joint_trajectory`` 发送多点关节轨迹（真机 + mock 都适用）。"""
 from __future__ import annotations
@@ -16,7 +16,7 @@ DEFAULT_JOINTS = [
    'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', 'joint7',
 ]
 NUM_JOINTS = 7
-# flat positions (3 pts x 7 joints) + times — ROS params do not support dict lists
+# 扁平化存放的位置（3 个点 x 7 个关节）+ 时间 —— ROS 参数不支持列表套字典
 DEFAULT_TIMES = [3.0, 6.0, 9.0]
 DEFAULT_POSITIONS = [
    0.0, -0.698, 0.0, 1.57, 0.0, 0.698, 0.0,
@@ -34,7 +34,7 @@ class RunJointTrajectory(Node):
        self.declare_parameter('action_name', 'follow_joint_trajectory')
        self.declare_parameter('waypoint_times', DEFAULT_TIMES)
        self.declare_parameter('waypoint_positions', DEFAULT_POSITIONS)
-        # 1 = run once (default); 0 = loop until Ctrl+C; N = repeat N times
+        # 1 = 只跑一次（默认）；0 = 循环直到 Ctrl+C；N = 重复 N 次
        self.declare_parameter('loop_count', 1)
        self.declare_parameter('pause_between_loops', 0.5)
@@ -52,8 +52,8 @@ class RunJointTrajectory(Node):
    def run(self) -> int:
        if not self._client.wait_for_server(timeout_sec=15.0):
            self.get_logger().error(
-                f'Action [{self._action_name}] not available. '
+                f'Action [{self._action_name}] 不可用。'
-                'Start real stack first: bash scripts/run_real.sh'
+                '请先启动真机栈：bash scripts/run_real.sh'
            )
            return 1
@@ -62,12 +62,12 @@ class RunJointTrajectory(Node):
        n_j = len(self.joint_names)
        n_pts = len(times)
        if n_pts < 1:
-            self.get_logger().error('waypoint_times is empty')
+            self.get_logger().error('waypoint_times 为空')
            return 1
        if len(positions) != n_pts * n_j:
            self.get_logger().error(
-                f'waypoint_positions length {len(positions)} != '
+                f'waypoint_positions 长度 {len(positions)} != '
-                f'{n_pts} points x {n_j} joints = {n_pts * n_j}'
+                f'{n_pts} 个点 x {n_j} 个关节 = {n_pts * n_j}'
            )
            return 1
@@ -83,35 +83,35 @@ class RunJointTrajectory(Node):
        duration = goal.time_from_start[-1]
        if loop_count == 0:
            self.get_logger().info(
-                f'Loop mode: {goal.num_points} points, ~{duration:.1f}s/cycle '
+                f'循环模式：{goal.num_points} 个点，约 {duration:.1f}s/圈 '
-                f'(Ctrl+C to stop)'
+                f'（Ctrl+C 停止）'
            )
        elif loop_count > 1:
            self.get_logger().info(
-                f'Loop mode: {loop_count} cycles, {goal.num_points} points, '
+                f'循环模式：{loop_count} 圈，{goal.num_points} 个点，'
-                f'~{duration:.1f}s/cycle'
+                f'约 {duration:.1f}s/圈'
            )
        else:
            self.get_logger().info(
-                f'Sending {goal.num_points} points, v_scale={goal.velocity_scale}, '
+                f'发送 {goal.num_points} 个点，v_scale={goal.velocity_scale}，'
-                f'duration={duration:.1f}s'
+                f'时长={duration:.1f}s'
            )
        iteration = 0
        while rclpy.ok():
            iteration += 1
            if loop_count > 1:
-                self.get_logger().info(f'Cycle {iteration}/{loop_count}')
+                self.get_logger().info(f'第 {iteration}/{loop_count} 圈')
            code = self._send_once(goal, duration)
            if code != 0:
                return code
            if loop_count == 1:
-                self.get_logger().info('Done: OK')
+                self.get_logger().info('完成：OK')
                return 0
            if loop_count > 1 and iteration >= loop_count:
-                self.get_logger().info(f'Done: completed {loop_count} cycles')
+                self.get_logger().info(f'完成：已跑完 {loop_count} 圈')
                return 0
            if pause > 0:
                time.sleep(pause)
@@ -122,11 +122,11 @@ class RunJointTrajectory(Node):
        while rclpy.ok() and not send.done():
            rclpy.spin_once(self, timeout_sec=0.05)
            if time.monotonic() > deadline:
-                self.get_logger().error('Timed out sending goal')
+                self.get_logger().error('发送目标超时')
                return 2
        handle = send.result()
        if handle is None or not handle.accepted:
-            self.get_logger().error('Goal rejected')
+            self.get_logger().error('目标被拒绝')
            return 3
        res_fut = handle.get_result_async()
@@ -138,18 +138,18 @@ class RunJointTrajectory(Node):
            if now >= next_log:
                left = max(0.0, deadline - now)
                self.get_logger().info(
-                    f'Executing trajectory (~{duration:.0f}s planned), '
+                    f'正在执行轨迹（计划约 {duration:.0f}s），'
-                    f'waiting for robot... ({left:.0f}s timeout left)'
+                    f'等待机器人……（剩余超时 {left:.0f}s）'
                )
                next_log = now + 10.0
            if now > deadline:
-                self.get_logger().error('Timed out waiting for result')
+                self.get_logger().error('等待结果超时')
                return 4
        result = res_fut.result().result
        if not result.success:
-            self.get_logger().error(f'Failed: {result.message}')
+            self.get_logger().error(f'失败：{result.message}')
            return 5
-        self.get_logger().info(f'Cycle finished: {result.message or "OK"}')
+        self.get_logger().info(f'本圈结束：{result.message or "OK"}')
        return 0
@@ -1,13 +1,13 @@
 #!/usr/bin/env python3
-"""servo_node — 100 Hz Twist PBVS (own process, no YOLO).
+"""servo_node —— 100 Hz 的 Twist 视觉伺服（PBVS，独立进程，不跑 YOLO）。
-Hard rules:
+硬性规则：
- MultiThreadedExecutor + Reentrant ControlCallbackGroup for 100 Hz timer
+- 用 ``MultiThreadedExecutor`` + ``Reentrant`` 的 ``ControlCallbackGroup`` 驱动 100 Hz 定时器
- Subscribe PointStamped only (no Service)
+- 只订阅 ``PointStamped``（不用 Service）
- cmd_vel: SystemDefaults + keep_last(1) so driver always sees latest
+- ``cmd_vel`` 用 ``SystemDefaults`` + ``keep_last(1)``，保证驱动器总能看到最新指令
- Watchdog: lost target → freeze extrapolate, zero vel, clear I, zero traj
+- 看门狗：目标丢失 → 冻结外推、速度置零、清 I、轨迹置零
- Latency compensation only while target is fresh
+- 只有在目标数据新鲜时才做延迟补偿
- Never sendTransform in the 100 Hz loop
+- 绝不在 100 Hz 循环里调用 ``sendTransform``
 """
 from __future__ import annotations
@@ -59,7 +59,7 @@ class ServoNode(Node):
        super().__init__("servo_node")
        tid = threading.get_ident()
        self.get_logger().warn(
-            f"servo_node started pid={os.getpid()} thread_id={tid}"
+            f"servo_node 已启动 pid={os.getpid()} thread_id={tid}"
        )
        self.declare_parameter("joint_prefix", "Rizon4-063989_")
@@ -87,9 +87,9 @@ class ServoNode(Node):
        self.declare_parameter("predict_v_max", 0.35)
        self.declare_parameter("predict_jump_m", 0.08)
-        # --- Watchdog (lost target hard stop) ---
+        # --- 看门狗（丢失目标即硬停） ---
        self.declare_parameter("watchdog_timeout_sec", 1.2)
-        self.declare_parameter("stale_hold_sec", 0.28)  # freeze XY before watchdog trip
+        self.declare_parameter("stale_hold_sec", 0.28)  # 触发看门狗前先冻结 XY
        # --- PID ---
        self.declare_parameter("kp_xy", 2.00)
@@ -100,7 +100,7 @@ class ServoNode(Node):
        self.declare_parameter("kd_z", 0.45)
        self.declare_parameter("i_limit_xy", 0.03)
        self.declare_parameter("i_limit_z", 0.025)
-        # Integral separation thresholds
+        # 积分分离阈值
        self.declare_parameter("i_sep_pos_m", 0.005)
        self.declare_parameter("i_sep_ang_rad", 0.02)
@@ -109,27 +109,27 @@ class ServoNode(Node):
        self.declare_parameter("v_max_xy", 0.06)
        self.declare_parameter("v_max_z", 0.04)
        self.declare_parameter("a_max", 0.45)
-        self.declare_parameter("lost_timeout_sec", 1.2)  # alias / stamp-age backup
+        self.declare_parameter("lost_timeout_sec", 1.2)  # 别名 / 用时间戳年龄兜底
-        self.declare_parameter("e_xy_clip_m", 0.080)  # never treat error as >8 cm
+        self.declare_parameter("e_xy_clip_m", 0.080)  # 误差绝不按大于 8 cm 处理
-        # --- Velocity LPF (smooth 100Hz → traj) ---
+        # --- 速度低通滤波（把 100Hz 平滑成轨迹） ---
        self.declare_parameter("vel_lpf_alpha", 0.40)
        self.declare_parameter("wz_lpf_alpha", 0.40)
-        # --- JTC dq sliding window ---
+        # --- JTC 的 dq 滑动窗口 ---
        self.declare_parameter("dq_window_size", 5)
        self.declare_parameter("min_ee_z_m", 0.20)
        self.declare_parameter("workspace_xyz_min", [0.15, -0.50, 0.18])
        self.declare_parameter("workspace_xyz_max", [0.80, 0.50, 0.60])
-        # Base-frame EE hold (flange). Z/XY in metres, editable via site.yaml.
+        # base 系下的末端保持（法兰）。Z/XY 单位为米，可通过 site.yaml 修改。
        self.declare_parameter("ee_x_m", 0.25)
        self.declare_parameter("ee_y_m", 0.00)
        self.declare_parameter("ee_z_m", 0.25)
        self.declare_parameter("ee_hold_xy", False)
        self.declare_parameter("ee_vertical_down", True)
-        # hover = flange/gripper-center XY on the 3D feature (any lock height).
+        # hover = 让法兰/夹爪中心 XY 停在三维特征点上（任意锁定高度都可）。
-        # lookat = image center. hover_offset_ee_xy_m is flange-XY to jaw center.
+        # lookat = 对准图像中心。hover_offset_ee_xy_m 是法兰 XY 到爪中心的偏移。
        self.declare_parameter("xy_track", "hover")
        self.declare_parameter("hover_offset_ee_xy_m", [0.0, 0.0])
        self.declare_parameter("arm_label", "")
@@ -144,14 +144,14 @@ class ServoNode(Node):
        self.declare_parameter("camera_fy", 390.0)
        self.declare_parameter("camera_cx", 320.0)
        self.declare_parameter("camera_cy", 240.0)
-        # Seek: at lock height with no valid target, scan the work area so the
+        # Seek：到达锁定高度却没有有效目标时，扫描工作区域，让 eye-in-hand
-        # eye-in-hand camera can find the workpiece on its own (自适应找工件).
+        # 相机自己去找到工件（自适应找工件）。
        self.declare_parameter("seek_enabled", True)
        self.declare_parameter("seek_radius_max_m", 0.16)
        self.declare_parameter("seek_speed_mps", 0.05)
        self.declare_parameter("seek_timeout_sec", 45.0)
-        # Hover integral: breaks the ~4mm joint-command deadband that otherwise
+        # 悬停积分：用来突破约 4mm 的关节指令死区，否则 XY 收敛到最后几毫米
-        # stalls the last few mm of XY convergence onto the workpiece.
+        # 时就会停滞、贴不到工件上。
        self.declare_parameter("ki_hover", 0.8)
        # 串联用：XY 入死区 + Z 到锁高持续这么久 → /visual_servo/locked=True
        self.declare_parameter("lock_hold_sec", 2.0)
@@ -253,7 +253,7 @@ class ServoNode(Node):
            f"HANDEYE yaml={he_path} "
            f"cam_in_flange=({t_he[0]*1000:.1f},{t_he[1]*1000:.1f},{t_he[2]*1000:.1f})mm "
            f"optical_vs_flangeZ={self._cam_tilt_deg:.1f}deg "
-            f"— hover uses this T, not TF lookup"
+            f"— 悬停使用这个 T，而不是用 TF 查询"
        )
        self.pid_x = PidController(
@@ -287,12 +287,12 @@ class ServoNode(Node):
        self._lock = threading.Lock()
        self._p_meas = np.zeros(3, dtype=float)
        self._stamp_sec = -1.0
-        self._last_seen_time = -1.0  # monotonic, updated on every PointStamped
+        self._last_seen_time = -1.0  # 单调时钟，每次收到 PointStamped 都会更新
        self._have_target = False
        self._target_lost_flag = True
        self._v_raw = np.zeros(3, dtype=float)
-        self._v_filt = np.zeros(3, dtype=float)  # LPF linear (cam)
+        self._v_filt = np.zeros(3, dtype=float)  # 线速度低通（相机系）
-        self._wz_filt = 0.0  # reserved angular z LPF
+        self._wz_filt = 0.0  # 预留的角速度 z 低通
        self._wz_raw = 0.0
        self._zeroed = True
        self._last_js: Optional[JointState] = None
@@ -305,14 +305,14 @@ class ServoNode(Node):
        self._p_feat_base: Optional[np.ndarray] = None
        self._he_cmp_done = False
        self._feat_kf = KalmanFilter3D(q_pos=2.0e-3, q_vel=1.5e-1, r_pos=4.0e-4)
-        # XY hover only after flange Z is on the lock plane (fresh depth).
+        # 只有当法兰 Z 已经落到锁定平面上（深度新鲜）才开启 XY 悬停。
        self._xy_armed = bool(self.ee_z_m <= 0.0)
-        # Seek (search) state: scan for the workpiece when at lock_z with no target.
+        # Seek（搜索）状态：在锁定高度且没有目标时扫描工件。
        self._seek_t0 = 0.0
        self._seek_theta = 0.0
        self._seek_origin = (0.0, 0.0)
        self._seek_warned = False
-        self._hover_ixy = np.zeros(2, dtype=float)  # hover integral (anti-deadband)
+        self._hover_ixy = np.zeros(2, dtype=float)  # 悬停积分（抗死区）
        point_topic = str(self.get_parameter("point_topic").value)
        point_qos = QoSProfile(
@@ -363,10 +363,10 @@ class ServoNode(Node):
            callback_group=self._control_cbg,
        )
-        mode = "CONTROL ON" if self.enable_control else "cmd_vel only"
+        mode = "控制已开启" if self.enable_control else "仅 cmd_vel"
        arm = self.arm_label or self.ee_frame
        self.get_logger().info(
-            f"servo ready [{arm}] [{mode}] {control_hz:.0f}Hz watchdog={self.watchdog_timeout:.2f}s "
+            f"伺服就绪 [{arm}] [{mode}] {control_hz:.0f}Hz watchdog={self.watchdog_timeout:.2f}s "
            f"vel_lpf_α={self.vel_lpf_alpha:.2f} dq_win={self.dq_window_size} "
            f"lock_z={self.ee_z_m:.3f}m (site servo.ee_z_m) "
            f"xy_track={self.xy_track} cam_tilt={self._cam_tilt_deg:.1f}° "
@@ -381,7 +381,7 @@ class ServoNode(Node):
        self._last_js = msg
    def _on_point(self, msg: PointStamped) -> None:
-        """Fresh vision measurement — arm the watchdog and clear lost flag."""
+        """新的视觉测量 —— 给看门狗“上弦”并清除丢失标志。"""
        p_cam = np.array(
            [float(msg.point.x), float(msg.point.y), float(msg.point.z)], dtype=float
        )
@@ -417,7 +417,7 @@ class ServoNode(Node):
            self._last_seen_time = now_m
            self._have_target = True
            self._target_lost_flag = False
-            self._seek_t0 = 0.0  # target acquired — reset seek for next time
+            self._seek_t0 = 0.0  # 已捕获目标 —— 重置 seek，供下次使用
            self._seek_warned = False
            if msg.header.frame_id:
                self.camera_frame = msg.header.frame_id
@@ -432,12 +432,12 @@ class ServoNode(Node):
        if was_lost:
            self._reacq_mono = time.monotonic()
            self.get_logger().info(
-                "target reacquired — resume servo",
+                "已重新捕获目标 —— 继续伺服",
                throttle_duration_sec=0.5,
            )
    def _reset_motion_state(self) -> None:
-        """Hard stop internals: I=0, filt vel=0, dq window clear."""
+        """硬停内部状态：I=0、滤波速度=0、dq 窗口清空。"""
        self.pid_x.reset()
        self.pid_y.reset()
        self.pid_z.reset()
@@ -455,9 +455,9 @@ class ServoNode(Node):
        self._twist_pub.publish(tw)
    def _watchdog_trip(self, reason: str) -> None:
-        """Priority-1 hard stop: no extrapolate, zero cmd, zero traj delta."""
+        """优先级 1 的硬停：不外推、指令置零、轨迹增量为零。"""
        if not self._target_lost_flag:
-            self.get_logger().warn(f"WATCHDOG STOP: {reason}")
+            self.get_logger().warn(f"看门狗急停：{reason}")
        self._target_lost_flag = True
        self._reset_motion_state()
        self._zeroed = True
@@ -475,7 +475,7 @@ class ServoNode(Node):
        if self._ctrl_count >= int(round(1.0 / self._ctrl_dt)):
            elapsed = (now_msg - self._ctrl_t0).nanoseconds * 1e-9
            hz = self._ctrl_count / max(elapsed, 1e-6)
-            self.get_logger().info(f"cmd_vel rate ~{hz:.1f} Hz", throttle_duration_sec=1.0)
+            self.get_logger().info(f"cmd_vel 速率约 {hz:.1f} Hz", throttle_duration_sec=1.0)
            self._ctrl_count = 0
            self._ctrl_t0 = now_msg
@@ -486,9 +486,9 @@ class ServoNode(Node):
            p_meas = self._p_meas.copy()
            lost = self._target_lost_flag
-        # ----- Startup: descend to lock height FIRST, even before any detection.
+        # ----- 启动阶段：**先**下降到锁定高度，甚至在任何检测到来之前。
-        # have=False only until the first PointStamped ever arrives, so this is
+        # 在第一个 PointStamped 到达之前 have 一直是 False，所以这是一个纯启动
-        # a pure startup phase: Z-only descent, XY pinned, vertical-down.
+        # 阶段：只动 Z 下降，XY 锁死，姿态朝下。
        if (
            self.enable_control
            and self.ee_z_m > 0.0
@@ -497,22 +497,21 @@ class ServoNode(Node):
        ):
            T_ee0 = self._lookup_T(self.base_frame, self.ee_frame)
            if T_ee0 is None:
-                return  # TF not ready yet — wait, do not hold-trip
+                return  # TF 还没就绪 —— 等待，不要触发保持急停
            self._update_xy_arm(float(T_ee0[2, 3]))
            if not self._xy_armed:
                self.get_logger().info(
-                    f"startup descend to lock_z {self.ee_z_m:.3f}m "
+                    f"启动下降至 lock_z {self.ee_z_m:.3f}m "
-                    f"now={T_ee0[2, 3]:.3f}m (no target yet, XY pinned)",
+                    f"当前={T_ee0[2, 3]:.3f}m（还没有目标，XY 锁死）",
                    throttle_duration_sec=1.0,
                )
-                self._target_lost_flag = False  # allow execute during blind descent
+                self._target_lost_flag = False  # 盲降期间允许执行
                self._execute_twist(np.zeros(3, dtype=float), p_cam=None, hold_xy=True)
            self._lock_feedback(False)
            return
-        # ----- Seek: at lock height but no valid target yet. The eye-in-hand
+        # ----- Seek：已在锁定高度但还没有有效目标。eye-in-hand 相机只能看到
-        # camera only sees a small patch, so scan the work area (drift to the
+        # 一小块区域，所以扫描工作区（先漂到标称工作 XY，再向外螺旋）直到工件进入视野。
        # nominal work XY, then spiral out) until the workpiece enters view.
        if (
            self.enable_control
            and self.seek_enabled
@@ -522,53 +521,53 @@ class ServoNode(Node):
        ):
            T_ee0 = self._lookup_T(self.base_frame, self.ee_frame)
            if T_ee0 is None:
-                return  # TF not ready — wait, do not hold-trip
+                return  # TF 还没就绪 —— 等待，不要触发保持急停
            v_seek = self._seek_velocity(T_ee0[:3, 3])
            if v_seek is None:
-                # timed out — give up searching, hold in place
+                # 超时了 —— 放弃搜索，原地保持
                if not self._seek_warned:
                    self._seek_warned = True
                    self.get_logger().warn(
-                        f"seek timeout {self.seek_timeout:.0f}s — workpiece not found. "
+                        f"seek 超时 {self.seek_timeout:.0f}s —— 没找到工件。"
-                        "Hold position. Put the workpiece on the table in view, or widen "
+                        "保持当前位置。请把工件放到桌面视野内，或调大 "
-                        "seek_radius_max_m / check camera mount & handeye."
+                        "seek_radius_max_m / 检查相机安装与手眼标定。"
                    )
                self._lock_feedback(False)
                self._pub_zero_twist()
                self._send_hold()
                return
            self.get_logger().info(
-                f"seek workpiece… ee_xy=({T_ee0[0,3]:.3f},{T_ee0[1,3]:.3f}) "
+                f"寻找工件…… ee_xy=({T_ee0[0,3]:.3f},{T_ee0[1,3]:.3f}) "
                f"v=({v_seek[0]:+.3f},{v_seek[1]:+.3f})",
                throttle_duration_sec=1.0,
            )
-            self._target_lost_flag = False  # allow execute during seek
+            self._target_lost_flag = False  # seek 期间允许执行
            self._execute_twist(
                np.zeros(3, dtype=float), p_cam=None, v_base_override=v_seek
            )
            self._lock_feedback(False)
            return
-        # ----- Item 1: Watchdog (receive-time) — freeze ALL motion if stale -----
+        # ----- 第 1 项：看门狗（按接收时间）—— 数据过期就冻结所有运动 -----
        if (not have) or last_seen < 0.0:
            self._lock_feedback(False)
-            self._watchdog_trip("no PointStamped yet")
+            self._watchdog_trip("还没有收到 PointStamped")
            return
        seen_age = now_mono - last_seen
        stamp_age = now_sec - stamp if stamp >= 0.0 else 1e9
        if seen_age > self.watchdog_timeout or stamp_age > self.lost_timeout:
            self._watchdog_trip(
-                f"target lost seen_age={seen_age:.3f}s stamp_age={stamp_age:.3f}s"
+                f"目标丢失 seen_age={seen_age:.3f}s stamp_age={stamp_age:.3f}s"
            )
            self._lock_feedback(False)
            return
-        # Frozen box / USB stall: pin joints, do not keep driving last error.
+        # 检测框冻结 / USB 卡住：锁住关节，不要继续按上一个误差驱动。
        stale = max(0.15, float(self.stale_hold_sec))
        if seen_age > stale or stamp_age > stale:
            self.get_logger().info(
-                f"stale hold seen_age={seen_age:.2f}s — not tracking a frozen box",
+                f"过期保持 seen_age={seen_age:.2f}s —— 不跟踪冻结的检测框",
                throttle_duration_sec=1.0,
            )
            self._v_raw[:] = 0.0
@@ -580,13 +579,13 @@ class ServoNode(Node):
            return
        if lost:
-            # Should have been cleared on _on_point; belt-and-suspenders
+            # 本应在 _on_point 里清掉；这里再加一道保险
            self._lock_feedback(False)
            self._pub_zero_twist()
            return
-        # Hover uses the vision 3D point as-is. Do not add cmd_vel (wrong frame)
+        # Hover 直接使用视觉三维点。不要把 cmd_vel（坐标系不对）
-        # onto p_cam — that walks the target off the workpiece.
+        # 叠加到 p_cam 上 —— 那样会把目标从工件上带跑。
        p = p_meas.copy()
        if self.xy_track == "lookat":
            dt_lat = float(np.clip(stamp_age, 0.0, self.max_extrap))
@@ -618,7 +617,7 @@ class ServoNode(Node):
            ex *= s
            ey *= s
            r_xy = clip_xy
-        # Camera-depth Z is unused when holding flange height in base frame
+        # 在 base 系里保持法兰高度时，相机深度 Z 就不再使用
        z_dead = True if self.ee_z_m > 0.0 else (abs(ez) <= self.deadzone_z_m)
        if xy_dead:
            ex = ey = 0.0
@@ -628,7 +627,7 @@ class ServoNode(Node):
            ez = 0.0
            self.pid_z.reset()
-        # ----- Item 2: PID with integral separation (inside PidController) -----
+        # ----- 第 2 项：带积分分离的 PID（分离逻辑在 PidController 内部） -----
        v_des = np.array(
            [
                0.0 if self.ee_hold_xy else self.pid_x.update(ex, float(p[0]), dt),
@@ -644,7 +643,7 @@ class ServoNode(Node):
        v_des[:2] = _saturate_vec(v_des[:2].copy(), self.v_max_xy)
        v_des[2] = float(np.clip(v_des[2], -self.v_max_z, self.v_max_z))
-        # Base-plane mode: never command camera +Z (that dives into the part)
+        # base 平面模式：绝不指令相机 +Z（那会直接扎进工件里）
        if self.ee_z_m > 0.0:
            v_des[2] = 0.0
        else:
@@ -661,7 +660,7 @@ class ServoNode(Node):
                if z_meas < (self.z_min_m - 0.02):
                    v_des[2] = min(v_des[2], -0.03)
-        # Accel limit on raw desire, then LPF
+        # 先对原始期望速度做加速度限制，再做低通滤波
        dv = v_des - self._v_raw
        n_dv = float(np.linalg.norm(dv))
        dv_max = self.a_max * dt
@@ -669,10 +668,10 @@ class ServoNode(Node):
            dv *= dv_max / n_dv
        self._v_raw = self._v_raw + dv
-        # ----- Item 3: first-order LPF on linear (+ reserved wz) -----
+        # ----- 第 3 项：对线速度做一阶低通（+ 预留的 wz） -----
        a = self.vel_lpf_alpha
        self._v_filt = a * self._v_raw + (1.0 - a) * self._v_filt
-        # Angular reserved (PBVS currently linear-only); still filter for API completeness
+        # 角速度目前预留（PBVS 当前只做线速度）；仍做滤波以保持接口完整
        self._wz_raw = 0.0
        aw = self.wz_lpf_alpha
        self._wz_filt = aw * self._wz_raw + (1.0 - aw) * self._wz_filt
@@ -706,11 +705,11 @@ class ServoNode(Node):
        if xy_dead and z_dead:
            self._lock_feedback(True)  # 串联信号：活目标 + 死区驻留 = 收敛
            self.get_logger().info(
-                f"deadzone hold |e_xy|={r_xy_raw*1000:.1f}mm ez={ez*1000:.1f}mm",
+                f"死区保持 |e_xy|={r_xy_raw*1000:.1f}mm ez={ez*1000:.1f}mm",
                throttle_duration_sec=1.0,
            )
            if self.enable_control:
-                # Still pin height / vertical-down if slightly off, else freeze
+                # 若高度 / 垂直朝下稍有偏差仍要修正，否则彻底冻结
                if need_base:
                    self._execute_twist(np.zeros(3, dtype=float), p_cam=p, hold_xy=True)
                elif not self._zeroed:
@@ -728,7 +727,7 @@ class ServoNode(Node):
                f" feat=({look[1][0]:.3f},{look[1][1]:.3f})"
            )
        self.get_logger().info(
-            f"twist cam v=({v_cam[0]:+.3f},{v_cam[1]:+.3f},{v_cam[2]:+.3f}) "
+            f"twist 相机系 v=({v_cam[0]:+.3f},{v_cam[1]:+.3f},{v_cam[2]:+.3f}) "
            f"|e_xy|={r_xy_raw*1000:.0f}mm ez={ez*1000:.0f}mm age={stamp_age*1000:.0f}ms"
            f"{extra}",
            throttle_duration_sec=0.5,
@@ -739,14 +738,14 @@ class ServoNode(Node):
            self._execute_twist(v_cam, p_cam=p)
    def _e_stop(self, reason: str) -> None:
-        self.get_logger().warn(f"E-STOP: {reason}")
+        self.get_logger().warn(f"急停：{reason}")
        self._watchdog_trip(reason)
    def _R_cam_to_base(self, T_ee: np.ndarray) -> np.ndarray:
        return (T_ee @ self._T_ee_cam())[:3, :3]
    def _T_ee_cam(self) -> np.ndarray:
-        # Always the calibrated yaml. TF is only for RViz / a sanity print.
+        # 始终使用标定出的 yaml。TF 只用于 RViz / 打印做核对。
        return np.array(self.T_cam_to_gripper, dtype=float)
    def _log_handeye_tf_vs_yaml(self) -> None:
@@ -754,7 +753,7 @@ class ServoNode(Node):
        T_tf = self._lookup_T(self.ee_frame, self.handeye_child)
        if T_tf is None:
            self.get_logger().warn(
-                "HANDEYE TF lookup failed (ok) — servo uses yaml "
+                "HANDEYE TF 查询失败（无妨）—— 伺服使用 yaml "
                f"t=({t_yaml[0]*1000:.1f},{t_yaml[1]*1000:.1f},{t_yaml[2]*1000:.1f})mm"
            )
            return
@@ -767,8 +766,8 @@ class ServoNode(Node):
        )
        if d > 0.015:
            self.get_logger().error(
-                "HANDEYE TF ≠ yaml by >15mm — duplicate parent on camera frame? "
+                "HANDEYE TF 与 yaml 的偏差 >15mm —— 相机坐标系上挂了重复的父节点？ "
-                "Servo still uses yaml."
+                "伺服仍然使用 yaml。"
            )
    def _intersect_z(
@@ -789,11 +788,11 @@ class ServoNode(Node):
    def _lookat_vs_feature(
        self, T_ee: np.ndarray, p_cam: np.ndarray
    ) -> Optional[tuple]:
-        """Base XY error that centers the feature in the image.
+        """让特征点居中到图像里所需的 base 系 XY 误差。
-        30° eye-in-hand: image center is the optical-axis hit on the work
+        30° 的 eye-in-hand 安装：图像中心是光轴打到工作平面上的点，
-        plane, not the flange XY. Translating the flange in XY at fixed
+        而不是法兰的 XY。在固定高度 / 姿态下平移法兰 XY，会把该 look-at 点
-        height/attitude moves that look-at 1:1.
+        按 1:1 一起带走。
        """
        T_bc = T_ee @ self._T_ee_cam()
        R = T_bc[:3, :3]
@@ -812,7 +811,7 @@ class ServoNode(Node):
        return err, p_feat, p_look
    def _feature_in_base(self, T_ee: np.ndarray, p_cam: np.ndarray) -> np.ndarray:
-        """Workpiece 3D point (camera frame) → base XYZ. Keep XYZ consistent."""
+        """工件三维点（相机系）→ base 系 XYZ。保持 XYZ 一致。"""
        T_bc = T_ee @ self._T_ee_cam()
        ph = np.array(
            [float(p_cam[0]), float(p_cam[1]), float(p_cam[2]), 1.0], dtype=float
@@ -822,11 +821,11 @@ class ServoNode(Node):
    def _hover_vs_feature(
        self, T_ee: np.ndarray, p_cam: np.ndarray
    ) -> Optional[tuple]:
-        """Park flange (and coaxial gripper center) XY on the workpiece XY in base.
+        """把法兰（以及同轴的夹爪中心）的 XY 停在 base 系里的工件 XY 上。
-        hover_offset_ee_xy_m shifts the tracked point in the flange frame
+        hover_offset_ee_xy_m 会在法兰坐标系里平移被跟踪点
-        (jaw center if it is not on the flange origin). RGI is coaxial: leave [0,0].
+        （当爪中心不在法兰原点时用它）。RGI 是同轴的：保持 [0,0] 即可。
-        Must NOT re-multiply a stale p_cam by the live T_ee.
+        绝不能拿实时的 T_ee 去重复乘一个过期的 p_cam。
        """
        p_ee = np.asarray(T_ee[:3, 3], dtype=float)
        off = self.hover_offset_ee_xy
@@ -887,7 +886,7 @@ class ServoNode(Node):
            return None
    def _xy_deadzone(self, r_xy: float, *, update: bool = True) -> bool:
-        """Hysteresis: enter at deadzone_m, leave at 1.6× so noise does not chatter."""
+        """滞回：在 deadzone_m 处进入，在 1.6 倍处退出，避免噪声来回抖。"""
        enter = max(0.002, float(self.deadzone_m))
        leave = enter * 1.6
        if self._xy_in_dead:
@@ -925,7 +924,7 @@ class ServoNode(Node):
            self._lock_since = None
    def _w_align_flange_down(self, R_ee: np.ndarray) -> np.ndarray:
-        """Angular vel in base to put flange +Z along world −Z (tool down)."""
+        """base 系下的角速度，用来把法兰 +Z 转到世界 −Z 方向（工具朝下）。"""
        z_now = np.asarray(R_ee, dtype=float).reshape(3, 3)[:, 2]
        z_des = np.array([0.0, 0.0, -1.0], dtype=float)
        c = float(np.clip(np.dot(z_now, z_des), -1.0, 1.0))
@@ -942,7 +941,7 @@ class ServoNode(Node):
        return axis * mag
    def _shape_xy_vel(self, v_des_xy: np.ndarray, dt: float) -> np.ndarray:
-        """Slew-rate + LPF on the hover command that actually moves the arm."""
+        """真正驱动机械臂的那条悬停指令，外加变化率限制 + 低通滤波。"""
        v_des = np.asarray(v_des_xy, dtype=float).reshape(2)
        prev = self._v_xy_cmd
        dv = v_des - prev
@@ -961,7 +960,7 @@ class ServoNode(Node):
        return out
    def _update_xy_arm(self, ee_z: float) -> bool:
-        """XY hover only after flange is on lock_z (real depth, adaptive hover)."""
+        """只有当法兰到达 lock_z（真实深度、自适应悬停）后才做 XY 悬停。"""
        if self.ee_z_m <= 0.0:
            self._xy_armed = True
            return True
@@ -977,8 +976,8 @@ class ServoNode(Node):
                self.pid_x.reset()
                self.pid_y.reset()
                self.get_logger().warn(
-                    f"lock-z ready ee_z={z:.3f}m (want {self.ee_z_m:.3f}, no climb) "
+                    f"lock-z 就绪 ee_z={z:.3f}m（期望 {self.ee_z_m:.3f}，不再回抬） "
-                    "— start XY hover on live handeye"
+                    "—— 在实时 handeye 上开始 XY 悬停"
                )
            return True
        err = abs(z - float(self.ee_z_m))
@@ -991,8 +990,8 @@ class ServoNode(Node):
                self.pid_x.reset()
                self.pid_y.reset()
                self.get_logger().warn(
-                    f"lock-z reached ee_z={z:.3f}m (want {self.ee_z_m:.3f}) "
+                    f"已到达 lock-z ee_z={z:.3f}m（期望 {self.ee_z_m:.3f}）"
-                    "— start XY hover on live handeye"
+                    " —— 在实时 handeye 上开始 XY 悬停"
                )
        elif err > gate + 0.05:
            self._xy_armed = False
@@ -1000,20 +999,19 @@ class ServoNode(Node):
            self._feat_kf.initialized = False
            self._v_xy_cmd[:] = 0.0
            self.get_logger().info(
-                f"left lock-z band ee_z={z:.3f}m — XY hold, re-descend",
+                f"已离开 lock-z 区间 ee_z={z:.3f}m —— XY 保持，重新下降",
                throttle_duration_sec=1.0,
            )
        return self._xy_armed
    def _seek_velocity(self, p_ee: np.ndarray) -> Optional[np.ndarray]:
-        """Base-frame XY velocity to scan for the workpiece: spiral outward around
+        """base 系下的 XY 速度，用来扫描寻找工件：以「机械臂到达锁定高度时的位置」
-        the point where the arm reached lock height, so the eye-in-hand camera
+        为中心向外螺旋，让 eye-in-hand 相机扫过桌面。超时后返回 None（由调用方保持）。"""
        sweeps the table. Returns None when the seek has timed out (caller holds)."""
        now = time.monotonic()
        if self._seek_t0 <= 0.0:
            self._seek_t0 = now
            self._seek_theta = 0.0
-            self._seek_origin = (float(p_ee[0]), float(p_ee[1]))  # search near descent XY
+            self._seek_origin = (float(p_ee[0]), float(p_ee[1]))  # 在下降点附近搜索 XY
        if (now - self._seek_t0) > self.seek_timeout:
            return None
        ox, oy = self._seek_origin
@@ -1037,7 +1035,7 @@ class ServoNode(Node):
    def _clip_workspace_vel(
        self, p_ee: np.ndarray, v_base: np.ndarray, T: float
    ) -> np.ndarray:
-        """Keep commands inside the box; if already outside, allow recovery in."""
+        """把指令限制在盒子里；如果本来就在盒子外，允许它往回恢复。"""
        v = np.asarray(v_base, dtype=float).copy()
        dt = max(float(T), 1e-3)
        for i in range(3):
@@ -1063,7 +1061,7 @@ class ServoNode(Node):
        hold_xy: bool = False,
        v_base_override: Optional[np.ndarray] = None,
    ) -> None:
-        # Hard freeze if watchdog already tripped mid-cycle
+        # 如果看门狗在本周期中途已经触发，就硬冻结
        if self._target_lost_flag:
            self._dq_hist.clear()
            return
@@ -1078,7 +1076,7 @@ class ServoNode(Node):
        T_ee = self._lookup_T(self.base_frame, self.ee_frame)
        if q is None or T_ee is None:
            self.get_logger().warn(
-                "execute skip: missing joint_states or TF base→ee",
+                "execute 跳过：缺少 joint_states 或 base→ee 的 TF",
                throttle_duration_sec=1.0,
            )
            return
@@ -1097,8 +1095,8 @@ class ServoNode(Node):
        if self._reacq_mono > 0.0 and (now_m - self._reacq_mono) < 0.12:
            v_xy *= 0.85
-        # hover: park flange XY on the 3D feature at any lock height.
+        # hover：在任意锁定高度上把法兰 XY 停在三维特征点上。
-        # lookat: drive optical-axis hit (image center) onto the feature.
+        # lookat：把光轴命中点（图像中心）驱到特征点上。
        xy_ok = self._update_xy_arm(float(p_ee[2]))
        if (
            xy_ok
@@ -1120,11 +1118,11 @@ class ServoNode(Node):
                    v_base[1] = 0.0
                    self._hover_ixy[:] = 0.0
                else:
-                    # Taper near the deadzone so P-control does not bang-bang.
+                    # 在死区附近做渐变，避免 P 控制来回 bang-bang。
                    enter = max(0.002, float(self.deadzone_m))
                    taper = float(np.clip((nerr - enter) / max(enter, 1e-3), 0.0, 1.0))
-                    # Integral (anti-windup ±4cm) breaks the joint-command deadband
+                    # 积分项（抗积分饱和 ±4cm）用来突破关节指令死区，
-                    # that otherwise stalls the last few mm of XY convergence.
+                    # 否则 XY 收敛的最后几毫米就会停滞。
                    self._hover_ixy[0] = float(np.clip(
                        self._hover_ixy[0] + float(err[0]) * dt_use, -0.04, 0.04))
                    self._hover_ixy[1] = float(np.clip(
@@ -1149,8 +1147,8 @@ class ServoNode(Node):
            v_base[0] *= v_xy / nxy
            v_base[1] *= v_xy / nxy
-        # Hold flange XYZ in base (config, default ~250 mm). Visual XY is
+        # 在 base 系里保持法兰 XYZ（可配置，默认约 250 mm）。当 ee_hold_xy
-        # overwritten when ee_hold_xy is true.
+        # 为真时，视觉算出的 XY 会被覆盖。
        if self.ee_hold_xy:
            v_base[0] = float(np.clip(kp * (self.ee_x_m - p_ee[0]), -self.v_max_xy, self.v_max_xy))
            v_base[1] = float(np.clip(kp * (self.ee_y_m - p_ee[1]), -self.v_max_xy, self.v_max_xy))
@@ -1164,7 +1162,7 @@ class ServoNode(Node):
            self._v_xy_cmd[:] = 0.0
            if self.ee_z_m > 0.0:
                self.get_logger().info(
-                    f"descend to lock_z {self.ee_z_m:.3f}m  now={p_ee[2]:.3f}m  XY hold",
+                    f"下降至 lock_z {self.ee_z_m:.3f}m  当前={p_ee[2]:.3f}m  XY 保持",
                    throttle_duration_sec=1.0,
                )
        shaped = self._shape_xy_vel(v_base[:2], dt_use)
@@ -1189,7 +1187,7 @@ class ServoNode(Node):
        p_next = p_ee + v_base * T
        if self.ee_z_m > 0.0:
-            # Never command below the configured plane
+            # 绝不指令到配置平面以下
            floor = max(self.min_ee_z, self.ee_z_m - 0.02)
            if p_next[2] < floor and v_base[2] < 0.0:
                v_base[2] = 0.0
@@ -1205,7 +1203,7 @@ class ServoNode(Node):
            Tl = self._lookup_T(self.base_frame, fr)
            if Tl is None:
                self.get_logger().warn(
-                    f"execute skip: TF miss {fr}",
+                    f"execute 跳过：TF 缺 {fr}",
                    throttle_duration_sec=1.0,
                )
                return
@@ -1217,10 +1215,10 @@ class ServoNode(Node):
        )
        dq = qdot * T
-        # ----- Item 5: sliding-window average on joint displacement -----
+        # ----- 第 5 项：对关节位移做滑动窗口平均 -----
        self._dq_hist.append(dq.copy())
        dq_avg = np.mean(np.stack(list(self._dq_hist), axis=0), axis=0)
-        # Keep end-velocity consistent with averaged step
+        # 让末端速度与平均后的步长保持一致
        qdot_avg = dq_avg / T
        mag = float(np.max(np.abs(dq_avg)))
@@ -1281,7 +1279,7 @@ def main(args=None) -> None:
    except KeyboardInterrupt:
        pass
    finally:
-        node._e_stop("node shutdown")
+        node._e_stop("节点关闭")
        executor.shutdown()
        node.destroy_node()
        if rclpy.ok():
@@ -1,4 +1,4 @@
-"""Load ~/ros2/config/site.yaml from application nodes."""
+"""供应用节点加载 ``~/ros2/config/site.yaml``。"""
 from __future__ import annotations
@@ -149,8 +149,8 @@ class Stage2Locate(Node):
        self.declare_parameter("robot_sn", os.environ.get("SITE_ROBOT_SN") or "")
        self.declare_parameter("hover_only", False)
-        self.declare_parameter("target_hole", "")      # "" → site stage2.target_hole
+        self.declare_parameter("target_hole", "")      # 空字符串 → 用 site 的 stage2.target_hole
-        self.declare_parameter("hover_z_m", -1.0)      # >0 → 覆盖 site
+        self.declare_parameter("hover_z_m", -1.0)      # 大于 0 → 覆盖 site 里的值
        self.declare_parameter("preview", True)
        self.declare_parameter("action_name", "rizon_arm_controller/follow_joint_trajectory")
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-"""Orisys visuo-tactile CLI. Ports / config from site.yaml tactile:."""
+"""Orisys 视触觉命令行工具。端口 / 配置来自 ``site.yaml`` 的 ``tactile`` 段。"""
 from __future__ import annotations
@@ -12,7 +12,7 @@ from arm_application.site_io import load_site_dict, site_path
 def main() -> int:
-    parser = argparse.ArgumentParser(description="Orisys tactile CLI (site.yaml)")
+    parser = argparse.ArgumentParser(description="Orisys 触觉命令行工具（site.yaml）")
    parser.add_argument("--duration", type=float, default=10.0)
    parser.add_argument("--site", default="")
    args = parser.parse_args()
@@ -29,7 +29,7 @@ def main() -> int:
    try:
        tactile.connect()
    except Exception as exc:
-        print(f"ERROR: {exc}", file=sys.stderr)
+        print(f"错误：{exc}", file=sys.stderr)
        return 1
    t0 = time.time()
    n = 0
@@ -49,10 +49,10 @@ def main() -> int:
                )
            time.sleep(0.01)
    except KeyboardInterrupt:
-        print("interrupt")
+        print("已中断")
    finally:
        tactile.disconnect()
-    print(f"done frames={n}")
+    print(f"完成 frames={n}")
    return 0
@@ -1,4 +1,4 @@
-"""Tactile sample / command types. Backend (Orisys / mock) is swappable."""
+"""触觉采样 / 指令类型。后端（Orisys / mock）可替换。"""
 from __future__ import annotations
@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
-"""Ultralytics YOLO / TensorRT wrapper.
+"""Ultralytics YOLO / TensorRT 封装。
-Public: ``resolve_weights``, ``YoloDetector``, ``Detection``, ``pick_best``,
+对外接口：``resolve_weights``、``YoloDetector``、``Detection``、``pick_best``、
-``MpYoloDetector``. TensorRT loads the sibling ``.engine`` next to the
+``MpYoloDetector``。当 ``backend='tensorrt'`` 时，TensorRT 会加载与
-``.onnx`` / ``.pt`` path when ``backend='tensorrt'``.
+``.onnx`` / ``.pt`` 路径同级的 ``.engine`` 文件。
 类别名（标签）由 ``model_labels`` 统一提供：优先读权重旁边的
 ``<模型名>.labels.yaml``（用户可随时手改），其次读模型内嵌 metadata。
@@ -33,13 +33,13 @@ from .model_labels import (
 logger = logging.getLogger(__name__)
-# Sentinel: worker still on the previous frame — caller must NOT count a miss.
+# 哨兵值：worker 还停在上一次的那帧 —— 调用方不能把它算作漏检。
 INFER_BUSY = object()
@dataclass
 class Detection:
-    xyxy: np.ndarray  # (4,) float: x1,y1,x2,y2
+    xyxy: np.ndarray  # (4,) float：x1,y1,x2,y2
    conf: float
    cls_id: int
    cls_name: str
@@ -69,7 +69,7 @@ def _resolve_device(device: str) -> str:
 def resolve_weights(weights: Union[str, Path], backend: str = "auto") -> Path:
-    """Prefer TensorRT .engine next to the .pt when backend=auto/tensorrt."""
+    """当 backend=auto/tensorrt 时，优先使用与 .pt 同级的 TensorRT .engine。"""
    p = Path(weights).expanduser()
    b = (backend or "auto").strip().lower()
    engine = p.with_suffix(".engine")
@@ -78,13 +78,13 @@ def resolve_weights(weights: Union[str, Path], backend: str = "auto") -> Path:
        if engine.is_file():
            return engine
        raise FileNotFoundError(
-            f"TensorRT engine missing: {engine}. "
+            f"缺少 TensorRT engine：{engine}。"
-            f"Export: bash ~/ros2/scripts/weights.sh convert {p} --name {p.stem}"
+            f"导出命令：bash ~/ros2/scripts/weights.sh convert {p} --name {p.stem}"
        )
    if b == "onnx":
        if onnx.is_file():
            return onnx
-        raise FileNotFoundError(f"ONNX missing: {onnx}")
+        raise FileNotFoundError(f"缺少 ONNX 文件：{onnx}")
    if b in ("", "auto"):
        if engine.is_file():
            return engine
@@ -155,19 +155,19 @@ class YoloDetector:
            from ultralytics import YOLO
        except Exception as exc:  # noqa: BLE001
            raise RuntimeError(
-                "ultralytics not installed. In ros_flexiv: pip install ultralytics"
+                "未安装 ultralytics。在 ros_flexiv 环境里执行：pip install ultralytics"
            ) from exc
        path = Path(weights).expanduser()
        if not path.is_file():
            raise FileNotFoundError(
-                f"YOLO weights not found: {path}. "
+                f"找不到 YOLO 权重：{path}。"
-                f"Place your .pt at ~/ros2/models/yolo/workpiece.pt"
+                f"请把你的 .pt 放到 ~/ros2/models/yolo/workpiece.pt"
            )
        try:
            import torch
-            # Do not let PyTorch occupy all CPU cores (camera + ROS need them).
+            # 别让 PyTorch 占满所有 CPU 核心（相机 + ROS 都要用）。
            torch.set_num_threads(1)
            torch.set_num_interop_threads(1)
            if torch.cuda.is_available():
@@ -243,7 +243,7 @@ class YoloDetector:
        imgsz: int | None = None,
        **_kwargs,
    ) -> List[Detection]:
-        """Alias used by hole detectors (xyxy + conf)."""
+        """给孔检测器用的别名接口（xyxy + conf）。"""
        if conf is not None:
            self.conf = float(conf)
        if iou is not None:
@@ -302,7 +302,7 @@ class YoloDetector:
 def _yolo_worker_main(q_in, q_out, cfg: dict) -> None:
-    """Spawned process: GPU YOLO only. Never import rclpy here."""
+    """spawn 出来的子进程：只跑 GPU 上的 YOLO。这里绝不能 import rclpy。"""
    try:
        path = resolve_weights(cfg["weights"], cfg.get("backend") or "auto")
        det = YoloDetector(
@@ -321,7 +321,7 @@ def _yolo_worker_main(q_in, q_out, cfg: dict) -> None:
        item = q_in.get()
        if item is None:
            return
-        # Drain to the newest queued frame — never spend GPU on stale images.
+        # 一直排空到队列里最新的帧 —— 绝不把 GPU 浪费在过期图像上。
        try:
            while True:
                newer = q_in.get_nowait()
@@ -345,7 +345,7 @@ def _yolo_worker_main(q_in, q_out, cfg: dict) -> None:
 def _put_drop_old(q, item) -> None:
-    """Never block the GPU process on a full result queue."""
+    """绝不让 GPU 进程因为结果队列满了而阻塞。"""
    try:
        q.put_nowait(item)
        return
@@ -362,7 +362,7 @@ def _put_drop_old(q, item) -> None:
 class YoloInferProcess:
-    """YOLO in a spawn() child so ROS callbacks never share the PyTorch GIL."""
+    """把 YOLO 放进 spawn() 子进程，让 ROS 回调永远不用和 PyTorch 抢 GIL。"""
    def __init__(self, cfg: dict) -> None:
        self._cfg = dict(cfg)
@@ -371,9 +371,9 @@ class YoloInferProcess:
    def _start(self) -> None:
        ctx = mp.get_context("spawn")
-        # maxsize=2 + worker drains to newest: parent never has to drop frames
+        # maxsize=2 + worker 排空到最新：父进程永远不需要主动丢帧
-        # (Queue put_nowait/get_nowait races were the source of multi-second
+        # （之前 Queue put_nowait/get_nowait 的竞争，正是 worker 明明活着
-        # "silent" freezes with the worker alive).
+        # 却出现数秒“静默”冻结的根源）。
        self._q_in = ctx.Queue(maxsize=2)
        self._q_out = ctx.Queue(maxsize=4)
        self._p = ctx.Process(
@@ -386,12 +386,12 @@ class YoloInferProcess:
        msg = self._q_out.get(timeout=90.0)
        if not msg or msg[0] != "ready":
            err = msg[1] if msg and len(msg) > 1 else "worker failed"
-            raise RuntimeError(f"YOLO worker: {err}")
+            raise RuntimeError(f"YOLO 工作进程：{err}")
        self.weights_path = str(msg[1])
        self.imgsz = int(self._cfg.get("imgsz") or 416)
    def restart(self) -> None:
-        """Kill a hung/dead worker and spawn a fresh one (engine reload ~2-5 s)."""
+        """杀掉卡死 / 挂掉的 worker，再起一个新的（重新加载 engine 约 2-5 s）。"""
        self.close()
        self._start()
@@ -400,19 +400,19 @@ class YoloInferProcess:
        return bool(self._p is not None and self._p.is_alive())
    def submit(self, image_bgr: np.ndarray, seq: int = 0) -> None:
-        """Queue the newest frame. If the worker is busy, skip — it drains to
+        """把最新一帧排进队列。如果 worker 正忙就跳过 —— 它在每次推理后都会
-        the newest queued frame after every infer, so nothing stale runs."""
+        排空到队列里最新的帧，所以不会跑任何过期数据。"""
        if not self.alive:
-            raise RuntimeError("YOLO worker died")
+            raise RuntimeError("YOLO 工作进程已死亡")
        try:
            self._q_in.put((int(seq), image_bgr), timeout=0.010)
        except Exception:
            pass
    def wait_result(self, timeout: float = 0.045):
-        """Return ``(seq, list[Detection], gpu_ms)`` or ``None``."""
+        """返回 ``(seq, list[Detection], gpu_ms)`` 或 ``None``。"""
        if not self.alive:
-            raise RuntimeError("YOLO worker died")
+            raise RuntimeError("YOLO 工作进程已死亡")
        deadline = time.monotonic() + max(0.004, float(timeout))
        latest = None
        while time.monotonic() < deadline:
@@ -456,7 +456,7 @@ class YoloInferProcess:
        return seq, dets, gpu_ms
    def infer(self, image_bgr: np.ndarray, *, half: bool = False, seq: int = 0):
-        """Compat: submit + wait. Prefer submit/wait_result for pipelining."""
+        """兼容接口：提交 + 等待。要做流水线的话优先用 submit/wait_result。"""
        del half
        self.submit(image_bgr, seq)
        got = self.wait_result(timeout=0.08)
@@ -476,7 +476,7 @@ class YoloInferProcess:
            self._p.terminate()
            self._p.join(timeout=1.0)
        if self._p.is_alive():
-            self._p.kill()  # stuck in a CUDA call — SIGKILL
+            self._p.kill()  # 卡在 CUDA 调用里出不来 —— 直接 SIGKILL
            self._p.join(timeout=1.0)
        self._p = None
@@ -507,16 +507,16 @@ def pick_best(
    min_conf: float = 0.12,
    min_area: float = 4000.0,
 ) -> Optional[Detection]:
-    """Keep the current workpiece under fast motion.
+    """让当前工件在快速运动下也能被持续跟踪。
-    Match against a *predicted* previous box with a wide gate. If IoU fails
+    用一个较宽的匹配门限去和**预测出的**上一帧检测框做匹配。如果 IoU 不达标、
-    but YOLO still fired above min_conf, keep that detection — do not return
+    但 YOLO 仍以高于 min_conf 的置信度报出了目标，就保留该检测 —— 不要返回
-    None (that was the main source of dropouts while moving).
+    None（那正是运动过程中目标丢失的主要来源）。
-    Tiny boxes (logo / 通止规尖) are rejected so the arm does not lock on the mat.
+    过小的框（logo / 通止规尖）会被拒掉，避免机械臂锁到垫子上。
    """
    if not dets:
        return None
-    # Locked track may dip below min_conf while moving (blur). New locks cannot.
+    # 已锁定的跟踪在运动（模糊）时可能掉到 min_conf 以下；但新锁定不允许这样。
    floor = max(0.06, 0.50 * float(min_conf))
    usable = [d for d in dets if float(d.conf) >= floor and float(d.area) >= float(min_area)]
    if not usable:
@@ -553,7 +553,7 @@ def pick_best(
        return s
    best = max(usable, key=score_new)
-    # Fast move: keep a live YOLO even if it jumped far from the last box.
+    # 快速移动：即使 YOLO 报出的框离上一帧很远，也保留这个实时检测。
    need = max(float(min_conf), float(reacquire_conf))
    if float(best.conf) >= need:
        return best
@@ -1,5 +1,5 @@
-# Optional fallback for DualArmGripperManager(load_dual_arm_gripper_config(path)).
+# DualArmGripperManager(load_dual_arm_gripper_config(path)) 的可选兜底配置。
-# Daily use reads ~/ros2/config/site.yaml via load_from_site().
+# 日常使用通过 load_from_site() 读取 ~/ros2/config/site.yaml。
 left_arm:
  robot_sn: "Rizon4-063989"
  gripper_port: "/dev/ttyUSB0"
@@ -21,26 +21,26 @@ perception_node:
    min_conf: 0.12
    vision_hz: 20.0
    z_ref_m: 0.30
-    # Large gate + reacquire: fast motion must NOT freeze track
+    # 大跳变门限 + 重新捕获：快速运动绝不能把跟踪卡死
    jump_px: 280.0
    jump_z_m: 0.20
    min_depth_m: 0.05
    max_depth_m: 2.50
    object_frame: "tracked_object"
    camera_frame: "d405_color_optical_frame"
-    # Snappy KF + blend toward raw measurement
+    # 灵敏的 KF + 向原始观测融合
    kf_q_pos: 0.002
    kf_q_vel: 0.05
    kf_r_pos: 0.0008
    meas_blend: 0.65
-    # Faster infer + tight box follow
+    # 更快的推理 + 更紧的框跟随
    infer_max_width: 640
    box_ema_alpha: 0.85
    miss_clear_frames: 2
-    # Item 4 — adaptive Z depth LPF
+    # 第 4 项 — 自适应 Z 深度低通滤波
    z_alpha_min: 0.10
    z_alpha_max: 0.60
    z_alpha_gain: 2.0
-    feature_mode: "plane"  # stereo 3D centroid; box = monocular box-center ray
+    feature_mode: "plane"  # stereo 为 3D 质心；box = 单目框中心的射线
    plane_inlier_m: 0.008
    plane_band_m: 0.06
@@ -1,5 +1,5 @@
-# servo_node defaults. Launch overlays ~/ros2/config/site.yaml → servo:
+# servo_node 的默认值。launch 会用 ~/ros2/config/site.yaml 的 servo: 覆盖。
-# Do not edit this file for day-to-day tuning.
+# 日常调参不要改这个文件。
 servo_node:
  ros__parameters:
@@ -19,7 +19,7 @@ servo_node:
    enable_control: false
    max_extrapolate_sec: 0.08
-    # Item 1 — lost-target hard stop
+    # 第 1 项 — 丢失目标硬停
    watchdog_timeout_sec: 0.3
    lost_timeout_sec: 0.3
@@ -31,7 +31,7 @@ servo_node:
    kd_z: 0.45
    i_limit_xy: 0.03
    i_limit_z: 0.025
-    # Item 2 — integral separation
+    # 第 2 项 — 积分分离
    i_sep_pos_m: 0.005
    i_sep_ang_rad: 0.02
@@ -41,11 +41,11 @@ servo_node:
    v_max_z: 0.07
    a_max: 0.70
-    # Item 3 — velocity LPF
+    # 第 3 项 — 速度低通滤波
    vel_lpf_alpha: 0.40
    wz_lpf_alpha: 0.40
-    # Item 5 — dq sliding window
+    # 第 5 项 — dq 滑动窗口
    dq_window_size: 5
    min_ee_z_m: 0.20
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-"""Launch DH PGEA Modbus node. Config from ~/ros2/config/site.yaml gripper:."""
+"""启动 DH PGEA Modbus 节点。配置来自 ``~/ros2/config/site.yaml`` 的 ``gripper`` 段。"""
 from __future__ import annotations
@@ -44,8 +44,8 @@ def _setup(context, *args, **kwargs):
        ),
        LogInfo(
            msg=(
-                "[dh_pgea] Flexiv load_gripper stays false — this is DH Modbus, "
+                "[dh_pgea] Flexiv 的 load_gripper 保持 false —— 这里是 DH Modbus，"
-                "not a Flexiv Studio gripper."
+                "不是 Flexiv Studio 夹爪。"
            )
        ),
        Node(
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-"""Launch dual DH grippers. Ports come from site.yaml robots[].gripper."""
+"""启动双路 DH 夹爪。端口来自 ``site.yaml`` 的 ``robots[].gripper``。"""
 from __future__ import annotations
@@ -20,7 +20,7 @@ def generate_launch_description() -> LaunchDescription:
        [
            DeclareLaunchArgument("sides", default_value="left,right"),
            DeclareLaunchArgument("allow_offline", default_value="true"),
-            LogInfo(msg=f"[dual_gripper] site={site} (arm_msgs, IPC Modbus, not Flexiv gripper)"),
+            LogInfo(msg=f"[dual_gripper] site={site}（arm_msgs，IPC Modbus，不是 Flexiv 夹爪）"),
            Node(
                package="arm_application",
                executable="dual_gripper",
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-"""Launch hole_detect on the current-arm color topic."""
+"""在当前机械臂的彩色话题上启动 hole_detect。"""
 from __future__ import annotations
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
-"""Launch: perception_node + servo_node + static hand-eye TF.
+"""启动：perception_node + servo_node + 静态手眼 TF。
-All tunables come from ~/ros2/config/site.yaml (override via launch args if needed).
+所有可调参数都来自 ``~/ros2/config/site.yaml``（必要时可用 launch 参数覆盖）。
 """
 from __future__ import annotations
@@ -20,12 +20,12 @@ from launch_ros.actions import Node
 def _ws_root() -> Path:
-    # Prefer env from env.sh / load_site_config
+    # 优先使用 env.sh / load_site_config 提供的环境变量
    for key in ("ROS2_WS", "SITE_ROS2_ROOT"):
        v = os.environ.get(key, "").strip()
        if v:
            return Path(v)
-    # launch file lives in install/.../share/arm_application/launch or src/...
+    # launch 文件可能位于 install/.../share/arm_application/launch 或 src/...
    here = Path(__file__).resolve()
    for p in [here.parents[i] for i in range(2, 8)]:
        if (p / "config" / "site.yaml").is_file():
@@ -46,7 +46,7 @@ def _load_site():
    cfg = os.environ.get("SITE_CONFIG", "").strip()
    path = Path(cfg).expanduser() if cfg else site_path()
-    # site_path() uses script location; force workspace root file
+    # site_path() 依赖脚本所在位置；这里强制使用工作区根目录下的文件
    if not path.is_file():
        path = root / "config" / "site.yaml"
    data = load_site(path)
@@ -97,7 +97,7 @@ def _launch_setup(context, *args, **kwargs):
    share = Path(get_package_share_directory("arm_application"))
    site, site_path, perc_over, servo_over, robot = _load_site()
-    # Launch args override site when explicitly passed (non-empty / non-default handled below)
+    # launch 参数显式传入时覆盖 site 配置（空值 / 默认值的处理见下）
    handeye = LaunchConfiguration("handeye_file").perform(context).strip()
    site_he = str(servo_over.get("handeye_file") or (site.get("paths") or {}).get("handeye_file") or "")
    if not handeye or handeye in (
@@ -107,8 +107,8 @@ def _launch_setup(context, *args, **kwargs):
        handeye = site_he or handeye
    if not Path(handeye).is_file():
        raise FileNotFoundError(
-            f"hand-eye result missing: {handeye}. "
+            f"手眼标定结果缺失：{handeye}。"
-            "Re-run: bash ~/ros2/scripts/run_handeye.sh calibrate"
+            "请重新运行：bash ~/ros2/scripts/run_handeye.sh calibrate"
        )
    enable = LaunchConfiguration("enable_control").perform(context).lower() in (
@@ -197,8 +197,8 @@ def _launch_setup(context, *args, **kwargs):
        ),
        LogInfo(msg=f"[site] YOLO weights: {weights}"),
        LogInfo(
-            msg="nodes: perception_node (YOLO) | servo_node (100Hz) — "
+            msg="节点：perception_node（YOLO）| servo_node（100Hz）—— "
-            "separate processes, topic /visual_servo/filtered_point"
+            "各自独立进程，话题 /visual_servo/filtered_point"
        ),
    ]
    pub_tf = LaunchConfiguration("publish_handeye_tf").perform(context).lower() in (
@@ -206,7 +206,7 @@ def _launch_setup(context, *args, **kwargs):
    )
    if pub_tf:
        nodes.append(
-            LogInfo(msg=f"static hand-eye {ee_frame} → {cam_frame} t=[{tx:.3f},{ty:.3f},{tz:.3f}]")
+            LogInfo(msg=f"静态手眼 {ee_frame} → {cam_frame} t=[{tx:.3f},{ty:.3f},{tz:.3f}]")
        )
        nodes.append(static_tf)
    nodes.extend([perception, servo])
@@ -55,28 +55,28 @@ setup(
            'move_to_pose_client = arm_application.move_to_pose_client:main',
            'run_joint_trajectory = arm_application.run_joint_trajectory:main',
            'goto_ee_plane = arm_application.goto_ee_plane:main',
-            # Camera
+            # 相机
            'realsense_color_pub = arm_application.realsense_color_pub:main',
            'realsense_view = arm_application.realsense_view:main',
-            # Hand-eye
+            # 手眼标定
            'handeye_teach = arm_application.handeye_teach:main',
            'handeye_waypoints = arm_application.handeye_waypoints:main',
            'handeye_calibrate = arm_application.handeye_calibrate:main',
-            # Visual servo (current stack)
+            # 视觉伺服（当前主链路）
            'perception_node = arm_application.perception_node:main',
            'servo_node = arm_application.servo_node:main',
-            # Gripper
+            # 夹爪
            'dh_pgea = arm_application.dh_pgea_node:main',
            'dh_pgea_cli = arm_application.dh_pgea:main',
            'dual_gripper = arm_application.dual_gripper_node:main',
            'dual_gripper_cli = arm_application.dual_gripper_cli:main',
-            # Hole detect (no insert motion)
+            # 入孔检测（只检测，不做插入动作）
            'hole_detect = arm_application.hole_detect_node:main',
-            # Stage-2 one-shot hole localization (k1/k2) + gauge alignment
+            # 第二阶段：一次性孔定位（k1/k2）+ 对规
            'stage2_locate = arm_application.stage2_locate_node:main',
-            # Stage-3 compliant hole search (Orisys tactile spiral + insert)
+            # 第三阶段：柔顺找孔（Orisys 触觉螺旋 + 插入）
            'stage3_search = arm_application.stage3_search_node:main',
-            # Three-stage assembly pipeline (track → locate → search, one process)
+            # 三段式装配流水线（跟踪 → 定位 → 找孔，单进程）
            'assembly_pipeline = arm_application.pipeline_node:main',
            'tactile = arm_application.tactile_node:main',
            'tactile_cli = arm_application.tactile_cli:main',
@@ -1,12 +1,12 @@
-# Site defaults for Flexiv Rizon 4 (SN: Rizon4-063989)
+# Flexiv Rizon 4 的站点默认值（SN: Rizon4-063989）
 robot_sn: Rizon4-063989
 rizon_type: Rizon4
-# Flexiv Studio gripper (GN01) — keep false. DH PGEA uses run_gripper.sh.
+# Flexiv Studio 夹爪（GN01）—— 保持 false。DH PGEA 使用 run_gripper.sh。
 load_gripper: false
 use_fake_hardware: false
 start_rviz: true
-# Official Flexiv joint naming: Rizon4-063989_joint1 ... joint7
+# Flexiv 官方关节命名：Rizon4-063989_joint1 ... joint7
 joint_prefix: Rizon4-063989_
 base_frame: base_link
@@ -7,8 +7,8 @@ from ament_index_python.packages import get_package_share_directory, PackageNotF
 import os
-# Site robot — DH PGEA is a separate Modbus node (run_gripper.sh).
+# 现场机械臂 —— DH PGEA 是独立的 Modbus 节点（run_gripper.sh）。
-# Keep Flexiv load_gripper false (that flag is Flexiv-GN01 in Studio).
+# 保持 Flexiv 的 load_gripper 为 false（该开关在 Studio 里对应 Flexiv-GN01）。
 SITE_ROBOT_SN = os.environ.get('SITE_ROBOT_SN', 'Rizon4-063989')
@@ -21,7 +21,7 @@ def _launch_setup(context, *args, **kwargs):
    if not robot_sn:
        return [
-            LogInfo(msg=f'[arm_bringup] ERROR: robot_sn is required, e.g. robot_sn:={SITE_ROBOT_SN}')
+            LogInfo(msg=f'[arm_bringup] 错误：必须提供 robot_sn，例如 robot_sn:={SITE_ROBOT_SN}')
        ]
    try:
@@ -30,8 +30,8 @@ def _launch_setup(context, *args, **kwargs):
        return [
            LogInfo(
                msg=(
-                    '[arm_bringup] flexiv_bringup not found. '
+                    '[arm_bringup] 找不到 flexiv_bringup。'
-                    'Run scripts/fetch_flexiv.sh and build, or use sim.launch.py for mock.'
+                    '请运行 scripts/fetch_flexiv.sh 并编译，或改用 sim.launch.py 跑 mock。'
                )
            )
        ]
@@ -39,7 +39,7 @@ def _launch_setup(context, *args, **kwargs):
    return [
        LogInfo(
            msg=(
-                f'[arm_bringup] Starting Flexiv {rizon_type} ({robot_sn}), '
+                f'[arm_bringup] 启动 Flexiv {rizon_type}（{robot_sn}），'
                f'load_gripper={load_gripper}'
            )
        ),
@@ -61,16 +61,16 @@ def _launch_setup(context, *args, **kwargs):
 def generate_launch_description():
-    """Real Rizon4 bringup via official flexiv_bringup (RDK v1 / humble-v1)."""
+    """通过官方 flexiv_bringup 启动真机 Rizon4（RDK v1 / humble-v1）。"""
    return LaunchDescription([
        DeclareLaunchArgument(
            'robot_sn',
            default_value=SITE_ROBOT_SN,
-            description='Site robot serial number (no spaces)',
+            description='现场机械臂序列号（不能有空格）',
        ),
        DeclareLaunchArgument('rizon_type', default_value='Rizon4'),
        DeclareLaunchArgument('use_fake_hardware', default_value='false'),
-        # Flexiv-GN01 only. DH PGEA: bash ~/ros2/scripts/run_gripper.sh
+        # 仅适用于 Flexiv-GN01。DH PGEA 用: bash ~/ros2/scripts/run_gripper.sh
        DeclareLaunchArgument('load_gripper', default_value='false'),
        DeclareLaunchArgument('start_rviz', default_value='true'),
        OpaqueFunction(function=_launch_setup),
@@ -7,7 +7,7 @@ from launch_ros.substitutions import FindPackageShare
 def generate_launch_description():
-    """Offline mock bringup for Flexiv Rizon 4 (7-DOF), no real robot required."""
+    """Flexiv Rizon 4（7 自由度）的离线 mock 启动，无需真机。"""
    use_rviz = LaunchConfiguration('use_rviz')
    use_moveit = LaunchConfiguration('use_moveit')
    robot_sn = LaunchConfiguration('robot_sn')
@@ -39,7 +39,7 @@ def generate_launch_description():
        DeclareLaunchArgument(
            'robot_sn',
            default_value='Rizon4-063989',
-            description='Site SN; joints become Rizon4-063989_joint1..joint7',
+            description='现场 SN；关节名会变成 Rizon4-063989_joint1..joint7',
        ),
        mock,
        moveit,
@@ -1,6 +1,6 @@
-"""Unified stack launch: backend:=mock|moveit|real|isaac
+"""统一的功能栈启动：backend:=mock|moveit|real|isaac
-Application interfaces stay the same across backends:
+各后端下应用接口保持不变：
  /set_named_pose, /get_arm_state, /arm_status, /follow_joint_trajectory
 """
@@ -82,9 +82,9 @@ def _setup(context, *args, **kwargs):
        actions.append(
            LogInfo(
                msg=(
-                    '[arm_bringup] MoveIt on top of mock. '
+                    '[arm_bringup] 在 mock 之上叠加 MoveIt。'
-                    'Named poses still via /set_named_pose; '
+                    '命名位姿仍走 /set_named_pose；'
-                    'MoveIt plans execute through trajectory_bridge.'
+                    'MoveIt 的规划通过 trajectory_bridge 执行。'
                )
            )
        )
@@ -96,9 +96,9 @@ def _setup(context, *args, **kwargs):
            actions.append(
                LogInfo(
                    msg=(
-                        '[arm_bringup] flexiv_bringup missing. '
+                        '[arm_bringup] 缺少 flexiv_bringup。'
-                        'Run: ./scripts/fetch_flexiv.sh && rebuild. '
+                        '请运行: ./scripts/fetch_flexiv.sh && 重新编译。'
-                        'Falling back tip: use backend:=mock for now.'
+                        '临时退回建议：先用 backend:=mock。'
                    )
                )
            )
@@ -119,7 +119,7 @@ def _setup(context, *args, **kwargs):
                }.items(),
            )
        )
-        # Keep application services on top of real HW when possible
+        # 尽量把应用服务叠在真机之上
        actions.append(
            Node(
                package='arm_control',
@@ -167,9 +167,9 @@ def _setup(context, *args, **kwargs):
        actions.append(
            LogInfo(
                msg=(
-                    '[arm_bringup] REAL mode: flexiv_bringup + named_pose_server '
+                    '[arm_bringup] REAL 模式：flexiv_bringup + named_pose_server '
-                    '+ arm_status_node. '
+                    '+ arm_status_node。'
-                    'Ensure RDK is enabled and network reaches the robot.'
+                    '请确保 RDK 已使能，且网络能连到机械臂。'
                )
            )
        )
@@ -178,17 +178,17 @@ def _setup(context, *args, **kwargs):
        actions.append(
            LogInfo(
                msg=(
-                    '[arm_bringup] ISAAC mode: mock ROS stack is up for bridge testing. '
+                    '[arm_bringup] ISAAC 模式：已起 mock ROS 栈用于桥接测试。'
-                    'Start Isaac Sim + flexiv_sim_plugin separately '
+                    '请另行启动 Isaac Sim + flexiv_sim_plugin '
-                    '(see docs/INTERFACES.md). '
+                    '（见 docs/INTERFACES.md）。'
-                    'Sync joints via /joint_states or RDK bridge topics.'
+                    '通过 /joint_states 或 RDK 桥接话题同步关节。'
                )
            )
        )
    if backend not in ('mock', 'moveit', 'real', 'isaac'):
        actions.append(
-            LogInfo(msg=f'[arm_bringup] Unknown backend "{backend}". Use mock|moveit|real|isaac')
+            LogInfo(msg=f'[arm_bringup] 未知 backend "{backend}"。可用 mock|moveit|real|isaac')
        )
    return actions
@@ -1 +1 @@
-"""Package init for arm_control."""
+"""arm_control 的包初始化。"""
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-"""Publish ArmStatus + GetArmState from joint_states, TF, and Flexiv tcp_pose."""
+"""根据 joint_states、TF 与 Flexiv 的 tcp_pose 发布 ArmStatus，并提供 GetArmState 服务。"""
 from __future__ import annotations
@@ -43,7 +43,7 @@ class ArmStatusNode(Node):
        self.create_timer(1.0 / rate, self._tick)
        self.get_logger().info(
            f'ArmStatus: base={self.base_frame} ee={self.ee_frame} '
-            f'tcp_topic={self.tcp_pose_topic or "(none)"}'
+            f'tcp_topic={self.tcp_pose_topic or "（无）"}'
        )
    def _on_js(self, msg: JointState) -> None:
@@ -55,7 +55,7 @@ class ArmStatusNode(Node):
        self._last_tcp = msg
    def _ee(self) -> Optional[PoseStamped]:
-        # Prefer Flexiv-published TCP pose (reliable on real stack)
+        # 优先用 Flexiv 发布的 TCP 位姿（真机栈上更可靠）
        if self._last_tcp is not None:
            return self._last_tcp
        try:
@@ -101,7 +101,7 @@ class ArmStatusNode(Node):
            and abs(s.ee_pose.pose.position.y) < 1e-9
            and abs(s.ee_pose.pose.position.z) < 1e-9
        ):
-            response.message = 'ok (ee pose unavailable — check TF/tcp_pose)'
+            response.message = 'ok（末端位姿不可用 —— 请检查 TF/tcp_pose）'
        else:
            response.message = 'ok'
        return response
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-"""Service server: SetNamedPose -> FollowJointTrajectory (backend-agnostic)."""
+"""服务端：SetNamedPose -> FollowJointTrajectory（与底层后端无关）。"""
 from __future__ import annotations
@@ -65,18 +65,18 @@ class NamedPoseServer(Node):
            SetNamedPose, 'set_named_pose', self._on_set, callback_group=self._cb
        )
        self.get_logger().info(
-            f'Named poses {list(self.poses)} joints={self.joint_names}'
+            f'命名位姿 {list(self.poses)} joints={self.joint_names}'
        )
    def _on_set(self, request: SetNamedPose.Request, response: SetNamedPose.Response):
        name = request.pose_name
        if name not in self.poses:
            response.success = False
-            response.message = f'Unknown pose "{name}". Available: {list(self.poses)}'
+            response.message = f'未知位姿"{name}"。可用: {list(self.poses)}'
            return response
        if not self._client.wait_for_server(timeout_sec=3.0):
            response.success = False
-            response.message = 'follow_joint_trajectory action not available'
+            response.message = 'follow_joint_trajectory action 不可用'
            return response
        goal = FollowJointTrajectory.Goal()
@@ -87,30 +87,30 @@ class NamedPoseServer(Node):
        goal.time_from_start = [duration]
        goal.velocity_scale = float(request.velocity_scale)
-        self.get_logger().info(f'-> pose [{name}] T={duration:.2f}s')
+        self.get_logger().info(f'-> 位姿 [{name}] T={duration:.2f}s')
        send_fut = self._client.send_goal_async(goal)
        if not _wait_future(send_fut, 5.0):
            response.success = False
-            response.message = 'Timed out waiting for goal accept'
+            response.message = '等待目标被接受超时'
            return response
        handle = send_fut.result()
        if handle is None or not handle.accepted:
            response.success = False
-            response.message = 'Goal rejected'
+            response.message = '目标被拒绝'
            return response
        res_fut = handle.get_result_async()
        if not _wait_future(res_fut, 60.0):
            response.success = False
-            response.message = 'Timed out waiting for trajectory result'
+            response.message = '等待轨迹结果超时'
            return response
        wrapped = res_fut.result()
        if wrapped is None:
            response.success = False
-            response.message = 'Empty result'
+            response.message = '结果为空'
            return response
        result = wrapped.result
        response.success = bool(result.success)
-        response.message = result.message or f'Moved to {name}'
+        response.message = result.message or f'已移动到位姿 {name}'
        return response
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-"""Expose arm_msgs/FollowJointTrajectory for apps; drive flexiv JTC (control_msgs)."""
+"""对应用侧暴露 arm_msgs/FollowJointTrajectory；实际驱动 Flexiv JTC（control_msgs）。"""
 from __future__ import annotations
@@ -45,19 +45,19 @@ class RealTrajectoryAdapter(Node):
            cancel_callback=lambda _g: CancelResponse.ACCEPT,
            callback_group=self._cb,
        )
-        self.get_logger().info(f'Real adapter {arm} -> {ctrl}')
+        self.get_logger().info(f'真机适配器 {arm} -> {ctrl}')
    def _execute(self, goal_handle):
        result = ArmFJT.Result()
        req = goal_handle.request
        if not req.joint_names or req.num_points < 1:
            result.success = False
-            result.message = 'Invalid goal'
+            result.message = '目标非法'
            goal_handle.abort()
            return result
        if not self._ctrl.wait_for_server(timeout_sec=5.0):
            result.success = False
-            result.message = f'Controller action not available'
+            result.message = f'控制器 action 不可用'
            goal_handle.abort()
            return result
@@ -72,8 +72,8 @@ class RealTrajectoryAdapter(Node):
            pt = JointTrajectoryPoint()
            pt.positions = pos[idx : idx + n_j]
            idx += n_j
-            # Point-to-point named poses must end at rest — nonzero end vel
+            # 点到点的命名位姿必须在静止状态下结束 —— 末速度非零
-            # + open_loop JTC makes the arm coast / shake after arrival.
+            # 再叠加开环 JTC，会让机械臂到位后滑行/抖动。
            pt.velocities = [0.0] * n_j
            pt.accelerations = [0.0] * n_j
            sec = int(t)
@@ -86,13 +86,13 @@ class RealTrajectoryAdapter(Node):
        send = self._ctrl.send_goal_async(ctrl_goal)
        if not _wait(send, 5.0):
            result.success = False
-            result.message = 'Timed out sending to controller'
+            result.message = '发送给控制器超时'
            goal_handle.abort()
            return result
        handle = send.result()
        if handle is None or not handle.accepted:
            result.success = False
-            result.message = 'Controller rejected goal'
+            result.message = '控制器拒绝了目标'
            goal_handle.abort()
            return result
        traj_duration = 0.0
@@ -102,13 +102,13 @@ class RealTrajectoryAdapter(Node):
        res_fut = handle.get_result_async()
        if not _wait(res_fut, max(120.0, traj_duration * 3.0)):
            result.success = False
-            result.message = 'Timed out waiting for controller'
+            result.message = '等待控制器超时'
            goal_handle.abort()
            return result
        ctrl_res = res_fut.result().result
        ok = ctrl_res.error_code == CtrlFJT.Result.SUCCESSFUL
        result.success = ok
-        result.message = 'OK' if ok else f'controller error_code={ctrl_res.error_code}'
+        result.message = 'OK' if ok else f'控制器 error_code={ctrl_res.error_code}'
        if ok:
            goal_handle.succeed()
        else:
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-"""Bridge control_msgs/FollowJointTrajectory -> arm_msgs/FollowJointTrajectory."""
+"""把 control_msgs/FollowJointTrajectory 桥接到 arm_msgs/FollowJointTrajectory。"""
 from __future__ import annotations
@@ -44,7 +44,7 @@ class TrajectoryBridge(Node):
            cancel_callback=lambda _g: CancelResponse.ACCEPT,
            callback_group=self._cb,
        )
-        self.get_logger().info(f'Bridge {ctrl} -> {arm}')
+        self.get_logger().info(f'桥接 {ctrl} -> {arm}')
    def _execute(self, goal_handle):
        result = CtrlFJT.Result()
@@ -5,13 +5,13 @@ controller_manager:
    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster
-    # Name aligned with Flexiv official bringup
+    # 名字与 Flexiv 官方 bringup 对齐
    rizon_arm_controller:
      type: joint_trajectory_controller/JointTrajectoryController
 rizon_arm_controller:
  ros__parameters:
-    # Site robot Rizon4-063989 (official flexiv_description keeps hyphen)
+    # 站点机器人 Rizon4-063989（官方 flexiv_description 保留连字符）
    joints:
      - Rizon4-063989_joint1
      - Rizon4-063989_joint2
@@ -26,8 +26,8 @@ rizon_arm_controller:
      - position
      - velocity
    allow_partial_joints_goal: false
-    # Must be false: true interpolates from the last *command* (already at target
+    # 必须为 false：若为 true，会从最后一次 *命令* 开始插值（在硬件没动
-    # after a "success" with no hardware motion) so the arm never moves.
+    # 却报"成功"之后，命令已经落在目标点上），于是机械臂永远不动。
    open_loop_control: false
    constraints:
      stopped_velocity_tolerance: 0.05
@@ -1,5 +1,5 @@
-# Named poses — site robot Rizon4-063989 (7-DOF), radians
+# 命名位姿 — 站点机器人 Rizon4-063989（7 自由度），弧度
-# Joint base names match flexiv_description: joint1..joint7
+# 关节基础名与 flexiv_description 一致：joint1..joint7
 named_pose_server:
  ros__parameters:
    joint_prefix: "Rizon4-063989_"
@@ -1,5 +1,5 @@
-# Right arm 91 (Rizon4-063991) named poses (radians).
+# 右臂 91（Rizon4-063991）的命名位姿（弧度）。
-# Starting values match the generic home; teach cell-specific poses on 91.
+# 起始值与通用 home 一致；在 91 上示教该工位专用的位姿。
 named_pose_server:
  ros__parameters:
    joint_prefix: "Rizon4-063991_"
@@ -8,7 +8,7 @@ from launch_ros.actions import Node
 from launch_ros.parameter_descriptions import ParameterValue
 from launch_ros.substitutions import FindPackageShare
-# Site robot. Official flexiv_description keeps the hyphen in the SN prefix.
+# 现场机械臂。官方 flexiv_description 要求 SN 前缀里**保留连字符**。
 SITE_ROBOT_SN = os.environ.get('SITE_ROBOT_SN', 'Rizon4-063989')
 SITE_JOINT_PREFIX = os.environ.get('SITE_JOINT_PREFIX', f'{SITE_ROBOT_SN}_')
 SITE_NAMED_POSES = os.environ.get('SITE_NAMED_POSES_FILE', '').strip()
--- a/Show More
+++ b/Show More
`@@ -1,4 +1,4 @@`
	`"""Load ~/ros2/config/site.yaml from application nodes."""`	"""供应用节点加载 ``~/ros2/config/site.yaml``。"""

	`from __future__ import annotations`	`from __future__ import annotations`
`@@ -1,4 +1,4 @@`
	`"""Tactile sample / command types. Backend (Orisys / mock) is swappable."""`	`"""触觉采样 / 指令类型。后端（Orisys / mock）可替换。"""`

	`from __future__ import annotations`	`from __future__ import annotations`
`@@ -1 +1 @@`
	`"""Package init for arm_control."""`	`"""arm_control 的包初始化。"""`