主界面一屏要同时看臂、夹爪、相机和触觉，按钮再被拉高就会叠到画面上。相机按原分辨率走回调取最新帧，场景一动不再等红外齐帧把彩色丢掉。模型和相机都留在工位窗口里，启动默认不再弹 RViz。

验收：test_listed_arms 与 test_camera_preview 共 20 项通过。D435 1280×720 发布约 29 帧/秒。

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

scripts/lib/rdk_status.py

@@ -117,10 +117,48 @@ def classify_state(
     )
 
 
-def _probe(sn: str, iface: str, enable: bool) -> Dict[str, object]:
-    """连一次机器人并读状态。返回给 classify_state 的关键字参数。"""
-    import flexivrdk  # 延迟导入：让本模块在没有 flexivrdk 的环境里也能被单测导入
+def pack_status(state: Dict[str, object]) -> Dict[str, object]:
+    """把探针结果收成给界面的 JSON。
 
+    ``q`` 不能传进 ``classify_state``：那个函数只认使能字段。
+    曾经用 ``classify_state(**state)``，关节角一读到就抛 TypeError，
+    JSON 根本没打出来，界面就永远停在“还没连上”。
+    """
+    fields = dict(state)
+    q = fields.pop("q", None)
+    level, summary, actions = classify_state(**fields)  # type: ignore[arg-type]
+    payload: Dict[str, object] = {
+        **fields,
+        "level": level,
+        "summary": summary,
+        "actions": actions,
+    }
+    if isinstance(q, list) and len(q) == 7:
+        payload["q"] = q
+    return payload
+
+
+def _open_robot(sn: str, iface: str, pc_ip: str):
+    """按 IPv4 白名单连机器人。网卡名不能直接交给 RDK。"""
+    import flexivrdk
+    from rdk_helpers import rdk_whitelist_lists
+
+    # 空名单才退回不指定网卡。指定了 eth0 这种名字时，FastDDS 会把真地址滤掉，
+    # 表现是 ping 得通、这里一直搜到超时。
+    candidates = rdk_whitelist_lists(iface, pc_ip) or [[]]
+    last = ""
+    for listen in candidates:
+        try:
+            if listen:
+                return flexivrdk.Robot(sn, list(listen), True, False), ""
+            return flexivrdk.Robot(sn), ""
+        except Exception as exc:  # noqa: BLE001
+            last = str(exc)
+    return None, last or "连不上 RDK"
+
+
+def _probe(sn: str, iface: str, enable: bool, pc_ip: str = "") -> Dict[str, object]:
+    """连一次机器人并读状态。返回给 classify_state 的关键字参数，另加关节角 ``q``。"""
     out: Dict[str, object] = {
         "connected": False,
         "operational": False,
@@ -130,13 +168,9 @@ def _probe(sn: str, iface: str, enable: bool) -> Dict[str, object]:
         "estop_released": True,
         "error": "",
     }
-    try:
-        if iface:
-            robot = flexivrdk.Robot(sn, [iface], True, False)
-        else:
-            robot = flexivrdk.Robot(sn)
-    except Exception as exc:  # noqa: BLE001
-        out["error"] = str(exc)
+    robot, error = _open_robot(sn, iface, pc_ip)
+    if robot is None:
+        out["error"] = error
         return out
 
     out["connected"] = True
@@ -157,6 +191,13 @@ def _probe(sn: str, iface: str, enable: bool) -> Dict[str, object]:
     out["op_status"] = str(_safe(robot.operational_status, ""))
     out["fault"] = bool(_safe(robot.fault, False))
     out["estop_released"] = bool(_safe(robot.estop_released, True))
+    # 只读关节角，给界面画姿态。读不到就空着，绝不在这里 Enable。
+    try:
+        q = [float(v) for v in list(robot.states().q)[:7]]
+    except Exception:  # noqa: BLE001
+        q = []
+    if len(q) == 7 and all(v == v for v in q):
+        out["q"] = q
     return out
 
 
@@ -164,18 +205,20 @@ def main(argv: Optional[Sequence[str]] = None) -> int:
     ap = argparse.ArgumentParser(description="读一次机械臂状态并给结论")
     ap.add_argument("--sn", required=True)
     ap.add_argument("--iface", default="")
+    ap.add_argument("--pc-ip", default="", help="本机机器人网卡的 IPv4，用来做 RDK 白名单")
     ap.add_argument("--enable", action="store_true", help="顺手尝试 Enable（会真的使能）")
     ap.add_argument("--out", default="", help="把 KEY=VALUE 写到这个文件")
     ap.add_argument("--json", action="store_true", help="把结果打到 stdout（JSON）")
     args = ap.parse_args(argv)
 
-    state = _probe(args.sn, args.iface, args.enable)
-    level, summary, actions = classify_state(**state)  # type: ignore[arg-type]
-    payload = {**state, "level": level, "summary": summary, "actions": actions}
+    state = _probe(args.sn, args.iface, args.enable, args.pc_ip)
+    payload = pack_status(state)
+    level = str(payload["level"])
+    actions = list(payload["actions"])
 
     if args.out:
         lines = [f"{k}={v}" for k, v in payload.items() if k != "actions"]
-        lines.append("actions=" + " | ".join(actions))
+        lines.append("actions=" + " | ".join(str(item) for item in actions))
         Path(args.out).write_text("\n".join(lines) + "\n", encoding="utf-8")
     if args.json:
         print(json.dumps(payload, ensure_ascii=False, indent=2))