From 7af9e3d4b64c07194a6b55303cab883d15c61e89 Mon Sep 17 00:00:00 2001
From: arm_dev <dev@example.com>
Date: Mon, 19 Oct 2026 11:30:49 +0800
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搜孔开局会抬到悬高再落回 hole_hover_z_m，螺纹还没咬合臂就离开孔口。没有接触传感器，到位只认 final_gap 算出的法兰高度，贴面后停在这个 Z。09:25 厂家 MoveL 切回 NRT_JOINT_POSITION 的第一拍把整段关节差算成 1.686 rad/s，前瞻再推 0.07 rad，光心从 5 mm 冲到 276 mm 后急停。切回后钉住结束瞬间的关节角并清零速度，JTC 还指着出发前的关节时不放行。

Co-authored-by: Cursor <cursoragent@cursor.com>
---
 config/site.example.yaml                      |   94 +-
 config/site.yaml                              |   81 +-
 docs/HANDBOOK.md                              |   28 +-
 docs/HOLE_DETECT.md                           |   29 +-
 handeye/poses/89_eye_in_hand.yaml             |   56 +-
 handeye/poses/89_eye_to_hand.yaml             |   44 +-
 handeye/results/89_d435_eye_to_hand.yaml      |   18 +-
 handeye/results/89_eye_in_hand.yaml           |   25 +-
 .../lib/arm_application/assembly_pipeline     |    8 +-
 .../lib/arm_application/demo_named_poses      |    8 +-
 .../lib/arm_application/dh_pgea               |    8 +-
 .../lib/arm_application/dh_pgea_cli           |    8 +-
 .../lib/arm_application/dual_gripper          |    8 +-
 .../lib/arm_application/dual_gripper_cli      |    8 +-
 .../lib/arm_application/gauge_assembly        |    8 +-
 .../lib/arm_application/goto_ee_plane         |    8 +-
 .../lib/arm_application/handeye_calibrate     |    8 +-
 .../lib/arm_application/handeye_teach         |    8 +-
 .../lib/arm_application/handeye_waypoints     |    8 +-
 .../lib/arm_application/hole_detect           |    8 +-
 .../lib/arm_application/move_to_pose_client   |    8 +-
 .../lib/arm_application/perception_node       |    8 +-
 .../lib/arm_application/realsense_color_pub   |    8 +-
 .../lib/arm_application/realsense_view        |    8 +-
 .../lib/arm_application/run_joint_trajectory  |    8 +-
 .../lib/arm_application/servo_node            |    8 +-
 .../lib/arm_application/stage2_locate         |    8 +-
 .../lib/arm_application/stage3_search         |    8 +-
 .../lib/arm_application/tactile               |    8 +-
 .../lib/arm_application/tactile_cli           |    8 +-
 .../site-packages/arm_application/dh_pgea.py  |   63 +-
 .../arm_application/handeye_calibrate.py      |    4 +-
 .../arm_application/handeye_teach.py          |   21 +-
 .../arm_application/operator_app.py           | 2136 ++++++++++++++---
 .../arm_application/operator_arm_mesh.py      |  339 +++
 .../arm_application/operator_arm_state.py     |  595 +++++
 .../arm_application/operator_camera_view.py   |  651 ++++-
 .../arm_application/operator_console.py       |  406 +++-
 .../arm_application/operator_gripper_mesh.py  |  138 ++
 .../arm_application/operator_gripper_state.py |  436 ++++
 .../arm_application/operator_handeye_board.py |   91 +
 .../arm_application/operator_teach.py         |  118 +-
 .../arm_application/overhead_oneshot.py       |   30 +-
 .../arm_application/perception_node.py        |   20 +-
 .../arm_application/pipeline_node.py          |   71 +-
 .../arm_application/realsense_color_pub.py    |  134 +-
 .../arm_application/servo_node.py             |   82 +-
 .../site-packages/arm_application/site_io.py  |   76 +-
 .../arm_application/stage2_locate_node.py     |   58 +-
 .../arm_application/stage3_search_node.py     |    3 +-
 .../arm_application/config/perception.yaml    |    2 +-
 .../share/arm_application/package.ps1         |    1 -
 .../colcon-core/packages/arm_application      |    2 +-
 .../flexiv_dual_hardware_interface.hpp        |  140 +-
 .../flexiv_hardware_interface.hpp             |  157 +-
 .../flexiv_hardware/visibility_control.h      |   36 +-
 .../flexiv_hardware/lib/libflexiv_hardware.so |  Bin 1595352 -> 57 bytes
 .../flexiv_hardware                           |    2 +-
 .../package_run_dependencies/flexiv_hardware  |    2 +-
 .../resource_index/packages/flexiv_hardware   |    1 +
 .../parent_prefix_path/flexiv_hardware        |    2 +-
 ...ent_cmake_export_dependencies-extras.cmake |   95 +-
 ...ke_export_include_directories-extras.cmake |   17 +-
 .../ament_cmake_export_libraries-extras.cmake |  142 +-
 .../cmake/flexiv_hardwareConfig-version.cmake |   15 +-
 .../cmake/flexiv_hardwareConfig.cmake         |   43 +-
 .../environment/ament_prefix_path.dsv         |    2 +-
 .../environment/ament_prefix_path.sh          |    5 +-
 .../flexiv_hardware/environment/path.dsv      |    2 +-
 .../share/flexiv_hardware/environment/path.sh |    6 +-
 .../flexiv_hardware_interface_plugin.xml      |   21 +-
 .../share/flexiv_hardware/local_setup.bash    |   47 +-
 .../share/flexiv_hardware/local_setup.dsv     |    3 +-
 .../share/flexiv_hardware/local_setup.sh      |  185 +-
 .../share/flexiv_hardware/local_setup.zsh     |   60 +-
 .../share/flexiv_hardware/package.xml         |   26 +-
 install/setup.bash                            |   15 +-
 install/setup.zsh                             |   15 +-
 scripts/gen_site_example.py                   |    4 +-
 scripts/lib/export_site_env.py                |   10 +-
 scripts/rdk_drag_bridge.py                    |  123 -
 scripts/rdk_release_movel.py                  |    4 +-
 scripts/run_all.sh                            |   20 +-
 scripts/run_camera_d405.sh                    |    8 +-
 scripts/run_camera_d435.sh                    |    2 -
 scripts/run_real.sh                           |   15 +-
 .../arm_application/handeye_calibrate.py      |    4 +-
 .../arm_application/handeye_teach.py          |   21 +-
 .../arm_application/overhead_oneshot.py       |   30 +-
 .../arm_application/perception_node.py        |   20 +-
 .../arm_application/pipeline_node.py          |   83 +-
 .../arm_application/servo_node.py             |   82 +-
 .../arm_application/site_io.py                |  150 +-
 .../arm_application/stage2_locate_node.py     |   58 +-
 .../arm_application/stage3_search_node.py     |    3 +-
 src/arm_application/config/perception.yaml    |    2 +-
 src/arm_application/launch/pipeline.launch.py |    2 +-
 .../test/test_overhead_oneshot.py             |  109 +-
 .../test/test_overhead_track.py               |    2 +-
 .../test/test_pipeline_stage1_diag.py         |   60 +-
 .../test/test_stage2_coarse_guard.py          |   24 +-
 .../flexiv_hardware_interface.hpp             |   15 +-
 .../src/flexiv_hardware_interface.cpp         |  174 +-
 103 files changed, 5594 insertions(+), 2498 deletions(-)
 create mode 100644 install/arm_application/lib/python3.11/site-packages/arm_application/operator_arm_mesh.py
 create mode 100644 install/arm_application/lib/python3.11/site-packages/arm_application/operator_arm_state.py
 create mode 100644 install/arm_application/lib/python3.11/site-packages/arm_application/operator_gripper_mesh.py
 create mode 100644 install/arm_application/lib/python3.11/site-packages/arm_application/operator_gripper_state.py
 create mode 100644 install/arm_application/lib/python3.11/site-packages/arm_application/operator_handeye_board.py
 mode change 100644 => 120000 install/flexiv_hardware/include/flexiv_hardware/flexiv_dual_hardware_interface.hpp
 mode change 100644 => 120000 install/flexiv_hardware/include/flexiv_hardware/flexiv_hardware_interface.hpp
 mode change 100644 => 120000 install/flexiv_hardware/include/flexiv_hardware/visibility_control.h
 mode change 100755 => 120000 install/flexiv_hardware/lib/libflexiv_hardware.so
 mode change 100644 => 120000 install/flexiv_hardware/share/ament_index/resource_index/hardware_interface__pluginlib__plugin/flexiv_hardware
 mode change 100644 => 120000 install/flexiv_hardware/share/ament_index/resource_index/package_run_dependencies/flexiv_hardware
 mode change 100644 => 120000 install/flexiv_hardware/share/ament_index/resource_index/packages/flexiv_hardware
 mode change 100644 => 120000 install/flexiv_hardware/share/ament_index/resource_index/parent_prefix_path/flexiv_hardware
 mode change 100644 => 120000 install/flexiv_hardware/share/flexiv_hardware/cmake/ament_cmake_export_dependencies-extras.cmake
 mode change 100644 => 120000 install/flexiv_hardware/share/flexiv_hardware/cmake/ament_cmake_export_include_directories-extras.cmake
 mode change 100644 => 120000 install/flexiv_hardware/share/flexiv_hardware/cmake/ament_cmake_export_libraries-extras.cmake
 mode change 100644 => 120000 install/flexiv_hardware/share/flexiv_hardware/cmake/flexiv_hardwareConfig-version.cmake
 mode change 100644 => 120000 install/flexiv_hardware/share/flexiv_hardware/cmake/flexiv_hardwareConfig.cmake
 mode change 100644 => 120000 install/flexiv_hardware/share/flexiv_hardware/environment/ament_prefix_path.dsv
 mode change 100644 => 120000 install/flexiv_hardware/share/flexiv_hardware/environment/ament_prefix_path.sh
 mode change 100644 => 120000 install/flexiv_hardware/share/flexiv_hardware/environment/path.dsv
 mode change 100644 => 120000 install/flexiv_hardware/share/flexiv_hardware/environment/path.sh
 mode change 100644 => 120000 install/flexiv_hardware/share/flexiv_hardware/flexiv_hardware_interface_plugin.xml
 mode change 100644 => 120000 install/flexiv_hardware/share/flexiv_hardware/local_setup.bash
 mode change 100644 => 120000 install/flexiv_hardware/share/flexiv_hardware/local_setup.dsv
 mode change 100644 => 120000 install/flexiv_hardware/share/flexiv_hardware/local_setup.sh
 mode change 100644 => 120000 install/flexiv_hardware/share/flexiv_hardware/local_setup.zsh
 mode change 100644 => 120000 install/flexiv_hardware/share/flexiv_hardware/package.xml

diff --git a/config/site.example.yaml b/config/site.example.yaml
index 116f291..23a87d0 100644
--- a/config/site.example.yaml
+++ b/config/site.example.yaml
@@ -10,8 +10,8 @@
 # 用法：复制本文件为 config/site.yaml，然后把所有 <占位符> 换成现场实际值。
 #       现场值包括：机械臂 SN / IP、相机序列号、夹爪串口、传感器 USB 路径。
 #
-# 说明：仓库里的文件用相对仓库根的路径（例如 models/yolo/...）。
-#       不要改回某个用户的绝对家目录，换台电脑就会找不到文件。
+# 说明：site.yaml 里的路径出现 /home/USER 是因为生成时匿名化了用户名；
+#       部署时请改成实际用户的 home 目录。
 # =============================================================================
 
 # =============================================================================
@@ -61,17 +61,15 @@ robot:
         #     （status 里的 init=need_init 只说明"绝对位置标定没做"，不影响夹持）
         # 想让开机必初始化（无人值守的上电流程）就显式改 true，并确认爪里是空的。
         auto_init: false
-      named_poses_file: "src/arm_control/config/named_poses_89.yaml"
+      named_poses_file: "/home/USER/ros2/src/arm_control/config/named_poses_89.yaml"
       paths:
-        handeye_file: "handeye/results/89_eye_in_hand.yaml"
-        handeye_waypoints: "handeye/poses/89_eye_in_hand.yaml"
-        handeye_workdir: "handeye/tmp/89"
+        handeye_file: "/home/USER/ros2/handeye/results/89_eye_in_hand.yaml"
+        handeye_waypoints: "/home/USER/ros2/handeye/poses/89_eye_in_hand.yaml"
+        handeye_workdir: "/home/USER/ros2/handeye/tmp/89"
       handeye:
         # Studio tcp_location（法兰系，米 + qwxyz）。与 rdk Tool.params 必须一致。
-        # 眼在手上：AX=XB 的手是这份 TCP，再折成 cam→法兰写 T_4x4。
-        # 眼在手外：AX=XB 的手同样是这份 TCP（板夹在工具上）；T_4x4 仍是 cam→基座，不折。
         gripper_tool: "tool10120938"
-        gripper_tcp_xyz: [-0.0005, 0.0067, 0.2245]
+        gripper_tcp_xyz: [0.000537, -0.000264, 0.226587]
         gripper_tcp_qwxyz: [1.0, 0.0, 0.0, 0.0]
       # 左臂跟踪高度（只在 --arm 89 时生效，改 91 的 servo 不影响这里）
       # 锚点 `&servo_left`：下面的"仿真台"条目直接引用它 —— 仿真建的就是左臂，
@@ -179,9 +177,8 @@ robot:
         #   落在本文件下方注释记录的合理区间 0.204~0.233 内。
         #   复核：python3 scripts/sense_tool_length.py --sn Rizon4-XXXXXX
         #         python3 scripts/lib/real_geometry_check.py --sn Rizon4-XXXXXX
-        # 2026-10-12：下臂安全距离改按 Studio 工具 tool10120938 的 TCP +Z。
-        # 上面 0.223 是旧 tool1（夹爪 TCP 0.147 + 规露出 0.076），这把工具不再用。
-        tool_tip_below_flange_m: 0.2245
+        # 下臂安全距离按 tool10120938 的 TCP +Z，不再用旧 tool1 的 0.223。
+        tool_tip_below_flange_m: 0.226587
     # >>> 仿真那台臂（Gazebo）也登记成 robots[] 里的一台 <<<
     # 为什么必须登记：应用是按"当前臂"的名字去查 frame / joint / 相机话题的
     #（`sim_env.sh` 注释里说的"仿真与真机共用同一套 site.yaml"）。仿真的 TF 与关节
@@ -211,7 +208,7 @@ robot:
         # 为什么必须给文件而不能留空：visual_servo 的 servo_node 需要
         # T_flange_cam 矩阵做像素→笛卡尔换算；留空它就直接拒绝启动
         #（"手眼标定结果缺失"），S04 跟踪起不来。
-        handeye_file: "handeye/results/sim_eye_in_hand.yaml"
+        handeye_file: "/home/USER/ros2/handeye/results/sim_eye_in_hand.yaml"
       # 运动参数：**大部分**与 89 共用（锚点），但**高度类**必须按仿真台的几何改写。
       #
       # 为什么不能直接共用：真机是"机械臂装在台面同一高度"，所以"法兰相对基座"
@@ -305,11 +302,11 @@ robot:
         port: "/dev/ttyUSB1"
         stroke_mm: 30.0
         auto_init: false
-      named_poses_file: "src/arm_control/config/named_poses_91.yaml"
+      named_poses_file: "/home/USER/ros2/src/arm_control/config/named_poses_91.yaml"
       paths:
-        handeye_file: "handeye/results/91_eye_in_hand.yaml"
-        handeye_waypoints: "handeye/poses/91_eye_in_hand.yaml"
-        handeye_workdir: "handeye/tmp/91"
+        handeye_file: "/home/USER/ros2/handeye/results/91_eye_in_hand.yaml"
+        handeye_waypoints: "/home/USER/ros2/handeye/poses/91_eye_in_hand.yaml"
+        handeye_workdir: "/home/USER/ros2/handeye/tmp/91"
       # >>> 右臂跟踪高度：只改这里，89 仍用上面那段 <<<
       # 法兰 Z；RGI 比平行爪高，通常要比 89 略抬一点。改完重启：
       #   bash ~/ros2/scripts/run_visual_servo_rt.sh --arm 91 --control
@@ -330,7 +327,7 @@ robot:
 
 paths:
   # >>> YOLO 权重（标准放法，不必改代码）<<<
-  #   1) 把 .onnx / .pt 放到 models/yolo/
+  #   1) 把 .onnx / .pt 放到 /home/USER/ros2/models/yolo/
   #   2) 这一行改成那个绝对路径（写 .onnx 即可；TensorRT 会找同名 .engine）
   #   3) backend=tensorrt 时必须先导出引擎（只需做一次）：
   #        bash ~/ros2/scripts/weights.sh convert <源文件> --name <名字> --group yolo
@@ -344,18 +341,18 @@ paths:
   #    ultralytics 解不了 pose 的 TensorRT engine，运行时走
   #    arm_application/pose_detector.py 的自解码（见该模块头）。
   #    仍然用 .engine（实测 ~2.6 ms/帧；onnx 只有 CPU provider，约 27 ms）。
-  yolo_weights: "models/yolo/gongjian0929.onnx"
+  yolo_weights: "/home/USER/ros2/models/yolo/gongjian0929.onnx"
   # 换模型：把 models/yolo/ 下别的 .onnx / .pt 绝对路径填进来即可。
   # 未在用的模型已移出仓库（体积大且干扰 `weights.sh list`），要恢复见 models/README.md。
   # 入孔模型（backend=yolo 时把孔当框）。two_stage 用下面的工件权重。
   # pose 模型两处共用同一份 —— 它既能框工件，又直接给 k1/k2 关键点。
   # 查悬空引用：bash ~/ros2/scripts/weights.sh doctor
-  hole_weights: "models/yolo/gongjian0929.onnx"
+  hole_weights: "/home/USER/ros2/models/yolo/gongjian0929.onnx"
   # 下面是缺省（未匹配到 robots[] 时）。真机以 robots[].paths 为准：89 / 91 各一份。
-  handeye_file: "handeye/results/89_eye_in_hand.yaml"
-  handeye_waypoints: "handeye/poses/89_eye_in_hand.yaml"
-  handeye_calibrate: "handeye/calibrate.yaml"
-  handeye_workdir: "handeye/tmp/89"
+  handeye_file: "/home/USER/ros2/handeye/results/89_eye_in_hand.yaml"
+  handeye_waypoints: "/home/USER/ros2/handeye/poses/89_eye_in_hand.yaml"
+  handeye_calibrate: "/home/USER/ros2/handeye/calibrate.yaml"
+  handeye_workdir: "/home/USER/ros2/handeye/tmp/89"
   # 空=默认 DDS(SHM)；勿强制 UDP-only，否则相机预览收不到 /workpiece/detection
   fastdds_profile: ""
 
@@ -595,9 +592,8 @@ servo:
   lock_hold_sec: 0.7        # 旧死区驻留（混合模式不再用它进二阶段）
   # 混合模式必填。交回 D405 的等待不再用它，见 d435_handback_sec。
   lock_still_sec: 3.0
-  # 进程内 MoveL 到位后，法兰 XY 连续停稳这么久才交回 D405。
-  # 旧 3s 是杀栈冷启动的垫时间；不杀栈后只留机械停稳。晃了把数加大，不许再杀栈。
-  d435_handback_sec: 0.5
+  # 厂家 MoveL 结束后，法兰连续这么久没再动，才打开 D405 框心。
+  d435_handback_sec: 2.0
   # 框心对准并且法兰停稳这么久，才精拍一次小孔关键点、进对孔。实时点到此为止。
   wrist_align_sec: 0.5
   lock_still_move_m: 0.015   # 15 mm；超过就重计时，避免"晃一下刚好满 3 秒"
@@ -679,10 +675,10 @@ gripper:
 hole_detect:
   backend: "two_stage"   # two_stage | yolo | hough
   # backend=yolo 时用。
-  weights: "models/yolo/gongjian0929.onnx"
+  weights: "/home/USER/ros2/models/yolo/gongjian0929.onnx"
   # 二阶段工件检测权重。pose 模型既框工件、又直接给 k1/k2 关键点，
   # 所以和上面的跟踪权重是同一份。
-  workpiece_weights: "models/yolo/gongjian0929.onnx"
+  workpiece_weights: "/home/USER/ros2/models/yolo/gongjian0929.onnx"
   # pose 关键点优先：检测器给了 k1/k2 就直接用，不用再找圆。
   # 关键点不可信（低于 keypoint_min_conf / 两点几乎重合）时自动回落到
   # 亮环 + Hough 那套老路径。
@@ -690,7 +686,7 @@ hole_detect:
   keypoint_min_conf: 0.30
   keypoint_min_dist_px: 15.0
   keypoint_hole_radius_px: 12.0   # 关键点没有半径；反投影时按这个半径取孔周深度环
-  config: "src/arm_application/config/hole_detect.yaml"
+  config: "/home/USER/ros2/src/arm_application/config/hole_detect.yaml"
   conf: 0.25
   iou: 0.7
   imgsz: 640
@@ -768,26 +764,22 @@ hole_detect:
     # bbox=(0,142,97,222) 反投影出盒外的 (0.280,-0.747)（偏差 211.5mm），旧逻辑
     # **不判误检、只把目标截断到盒边**，臂照样横移 56mm 离开工件 ⇒ 精定位再也
     # 看不到 k1/k2 ⇒ exit=4。判据改成"盒外/偏移过大 ⇒ 判误检、原地不动"。
-    coarse_max_offset_m: 0.12   # 目标离夹爪轴线超过此值就不像粗居中量 [m]
+    coarse_max_offset_m: 0.08   # 目标离夹爪轴线超过此值就不像粗居中量 [m]；0.12 放行了 2026-10-16 的 110mm 回撤
     coarse_border_px: 2         # bbox 贴边（被画面切）即弃用 [px]；见 _bbox_on_border
     # —— 柔顺运动（夹爪持规，防急加速/急停/过冲把规震脱）：速度放慢 + 平滑刹车 ——
     align_speed: 0.014       # 对准段笛卡尔速度 [m/s]（原0.03，放缓防冲）
     move_speed: 0.022        # 升降/粗居中段速度 [m/s]（原0.05，放缓防震规）
-    # 对小孔关键点：只用像素射线交到 workpiece_surface_z_m，不读深度图。
     hole_visual_only: true
-    # 本分支实验（exp/hole-keypoint-once）：true=悬停拍一次，框心→k1 一次走完
-    # （40mm 上限）。main 保存点是 false（多走多拍）。
+    # 本分支实验：true=悬停拍一次并走完到孔；main 保存点应保持 false。
     hole_keypoint_once: true
-    # true=悬停走完后一条厂家 MoveL 贴面（不补拍）。对照 37b85aa 改回 false。
+    # true=悬停走完后一条厂家 MoveL 贴面。对照观察高补交时改 false。
     hole_once_lock_xy_descend: true
-    # 贴面相对悬停：沿 -look 走 k×剩余下降 [m/m]。0=笛卡尔锁 XY 只降 Z。
-    # 0.018 在框心改平面交点后两条链路都 +1.3mm X 过补，插不进。
+    # 0=笛卡尔锁 XY 只降 Z。k>0 才沿 -look 加前馈。
     once_ff_look_per_m: 0.0
-    final_gap_mm: 2.0        # 对准后贴面目标：规尖离面 [mm]（不接触）。笛卡尔锁 XY
-                             # 时法兰 Z = 工具长 + 工件面 + 本值。CLI --final-gap 覆盖。
+    final_gap_mm: 2.0        # 对准后贴面目标：规尖离面 [mm]。CLI --final-gap 覆盖。
     observe_gap_mm: 15.0     # --no-descent 时的观测下降：只降到离面这么高 [mm]，
                              # 方便看规尖偏没偏。必须 ≥ final_gap_mm。
-                             # 左臂89：悬停间隙约 73.5mm（0.320−0.2245−0.022）⇒ 观测下降约 58mm。
+                             # 左臂89：悬停间隙约 75mm（0.320−0.223−0.022）⇒ 大约下降 60mm。
     final_descent_speed: 0.005  # 最后轻降速度 [m/s]（很慢，柔顺）
     # ✅ 2026-10-08 定稿：下降量**只由几何决定**（法兰 FK − 工具长 − 工件面 − final_gap），
     #   深度读数只做交叉核对、不再参与任何决策。两段真机事故方向相反、都指向这条：
@@ -800,7 +792,7 @@ hole_detect:
     #     ⇒ 读数往**小**错一次就永远到不了目标。
     #   同一套读数两个方向各错一次、幅度 150mm 量级、随位姿乱跳 —— 它对"能降多少"
     #   和"该不该停"都没有发言权。现在它只在偏差 >10mm 时喊一句"深度测距与几何不符"。
-    # 现行几何：悬停 0.320 − 工具长 0.2245 − 工件面 0.022 = 73.5mm 间隙 ⇒ 降 71.5mm 到 2mm。
+    # 现行几何：悬停 0.320 − 工具长 0.223 − 工件面 0.022 = 75mm 间隙 ⇒ 降 73mm 到 2mm。
     #   三道**物理/几何**保险：descent_budget_m（配置上限）+ 腕部 FT 接触检测（停+退 1mm）
     #   + 任一步 _goto 走不到位就停。
     #   缺几何（工具长/工件面没配）时**拒绝下降**并报错（保持悬停），绝不拿测距去赌。
@@ -812,9 +804,11 @@ hole_detect:
     max_depth_m: 0.60
     linger_sec: 8.0          # 完成后继续发布结果/叠图的时长
 
-  # ===== 旋转装配仍读这里的力阈值（stage3_search_node）=====
-  # 搜孔轻压已取消：不带 --screw 的入口会直接拒绝，整体流程也不再进入这一步。
-  # bash ~/ros2/scripts/run_stage3_search.sh --arm 89 --screw
+  # ===== 三阶段柔顺搜孔（stage3_search_node，Orisys 触觉 + 力闭环螺旋）=====
+  # 前置：二阶段已完成，臂悬停在目标孔上方。先 run_tactile.sh --cli 看力读数量级再调阈值。
+  # bash ~/ros2/scripts/run_stage3_search.sh --arm 89                # 搜孔+落座
+  # bash ~/ros2/scripts/run_stage3_search.sh --arm 89 --depth 0      # 只搜孔定心不插入
+  # bash ~/ros2/scripts/run_stage3_search.sh --arm 89 --depth 6 --pitch 1.0  # 螺纹规旋入
   stage3:
     # —— 力阈值全是「相对静止均值的增量」（Orisys 读数是形变任意单位且基线会漂移，
     #    节点启动时自动测 1.2s 静止均值 μ0/方差 σ0，看日志「触觉基线/派生阈值」两行）——
@@ -841,12 +835,9 @@ hole_detect:
     drop_frames: 2           # 跌落需持续的帧数（防毛刺）
     center_scan: false       # 入孔后十字微扫；默认关（0.8mm 扫会把已入孔的规刮偏）
     center_scan_mm: 0.3
-    insert_depth_mm: 0.0     # 默认只搜孔+轻压，不拧入。旋转装配不读这项
+    insert_depth_mm: 0.0     # 默认只搜孔+轻压，不拧入；拧入阶段再用 --depth
     insert_retry: 3
-    screw_pitch_mm: 0.0      # 搜孔轻压不旋。旋转装配不读这项
-    # 控制页「旋转装配」单独用。数值就是手册里的 M6 旋入：深度 6 mm、螺距 1.0 mm/圈。
-    screw_stage_depth_mm: 6.0
-    screw_stage_pitch_mm: 1.0
+    screw_pitch_mm: 0.0      # 螺纹通止规螺距：>0 右旋 / <0 左旋 / 0=不旋（光面规）
     search_speed: 0.03       # 搜孔笛卡尔速度 [m/s]
     settle_sec: 0.25         # 每个微步后的静止时间
     tactile_timeout_s: 3.0   # 触觉话题断流多久中止
@@ -1102,7 +1093,7 @@ tactile:
   # 传感器型号。必须与 devices/sensors/orisys/models/ 下的子目录名一致。
   model: "dd03"
   # 型号配置随 SDK 一起放：devices/sensors/orisys/models/<型号>/config.json
-  config_file: "devices/sensors/orisys/models/dd03/config.json"
+  config_file: "/home/USER/ros2/devices/sensors/orisys/models/dd03/config.json"
   # 用 by-path 稳定路径（插哪个 USB 口就认哪个口，不受 video 编号漂移影响）。
   # 当前：3.4.1=左指 3.4.2=右指；若左右反了，互换两行即可。
   left_video: "/dev/v4l/by-path/pci-0000:00:14.0-usb-0:X.Y.Z:1.0-video-index0"
@@ -1129,8 +1120,7 @@ go_home:
 
 network:
   # 2026-09-29 改线：两台臂 → 交换机 → USB-C 千兆网卡（ASIX AX88179）
-  #   MAC 6c:1f:f7:d0:6f:17。内核名会在 eth0 和 enxXXXXXXXXXXXX 之间变，
-  #   NetworkManager 按 MAC 绑定，不按名字。
+  #   MAC 6c:1f:f7:d0:6f:17。内核现在叫 eth0（不再用 enxXXXXXXXXXXXX）。
   #   本机 <PC_IP>  ↔  <左臂SN>(左89)=.101  /  <右臂SN>(右91)=.100
   #   NM 配置名 robot-usb-lan（静态 .10/24，不当默认路由）。
   # 说明：enp4s0 仍是办公网（192.168.1.x）；两台臂已不在 enp4s0 上。
diff --git a/config/site.yaml b/config/site.yaml
index 1a84117..4942fa3 100644
--- a/config/site.yaml
+++ b/config/site.yaml
@@ -23,7 +23,7 @@ robot:
       # 本臂装了 Orisys 视触觉（只有左臂有）。脚本靠这一项决定要不要拉触觉服务，
       # 而不是靠"SN 等于某个具体值"这种写死的判断（换台臂就会失效）。
       tactile: true
-      # 2026-10-12 示教的工具 TCP（tool + 1012 + 0938）。眼在手上 AX=XB 用这份 TCP。
+      # 2026-10-16 下午 RDK 重读 Studio tool10120938（用户再次更新 TCP）。
       tool_name: "tool10120938"
       camera:
         name: d405_left          # 话题 /d405_left/... 与 91 分开
@@ -45,17 +45,17 @@ robot:
         #     （status 里的 init=need_init 只说明"绝对位置标定没做"，不影响夹持）
         # 想让开机必初始化（无人值守的上电流程）就显式改 true，并确认爪里是空的。
         auto_init: false
-      named_poses_file: "src/arm_control/config/named_poses_89.yaml"
+      named_poses_file: "/home/cc/ros2/src/arm_control/config/named_poses_89.yaml"
       paths:
-        handeye_file: "handeye/results/89_eye_in_hand.yaml"
-        handeye_waypoints: "handeye/poses/89_eye_in_hand.yaml"
-        handeye_workdir: "handeye/tmp/89"
+        handeye_file: "/home/cc/ros2/handeye/results/89_eye_in_hand.yaml"
+        handeye_waypoints: "/home/cc/ros2/handeye/poses/89_eye_in_hand.yaml"
+        handeye_workdir: "/home/cc/ros2/handeye/tmp/89"
       handeye:
         # Studio tcp_location（法兰系，米 + qwxyz）。与 rdk Tool.params 必须一致。
         # 眼在手上：AX=XB 的手是这份 TCP，再折成 cam→法兰写 T_4x4。
         # 眼在手外：AX=XB 的手同样是这份 TCP（板夹在工具上）；T_4x4 仍是 cam→基座，不折。
         gripper_tool: "tool10120938"
-        gripper_tcp_xyz: [-0.0005, 0.0067, 0.2245]
+        gripper_tcp_xyz: [0.000537, -0.000264, 0.226587]
         gripper_tcp_qwxyz: [1.0, 0.0, 0.0, 0.0]
       # 左臂跟踪高度（只在 --arm 89 时生效，改 91 的 servo 不影响这里）
       # 锚点 `&servo_left`：下面的"仿真台"条目直接引用它 —— 仿真建的就是左臂，
@@ -163,9 +163,11 @@ robot:
         #   落在本文件下方注释记录的合理区间 0.204~0.233 内。
         #   复核：python3 scripts/sense_tool_length.py --sn Rizon4-063989
         #         python3 scripts/lib/real_geometry_check.py --sn Rizon4-063989
-        # 2026-10-12：下臂安全距离改按 Studio 工具 tool10120938 的 TCP +Z。
-        # 上面 0.223 是旧 tool1（夹爪 TCP 0.147 + 规露出 0.076），这把工具不再用。
-        tool_tip_below_flange_m: 0.2245
+        # 2026-10-16 下午：RDK Tool.params("tool10120938").tcp_location
+        #   [x,y,z,qw,qx,qy,qz] = [0.000537, -0.000264, 0.226587, 1, 0, 0, 0]
+        #   示教器拟合误差：平均 0.58 / 最大 0.99 / 最小 0.29 mm。
+        # 下臂安全距离用 TCP +Z。上午 0.226274；再往前 0.2245 是 10-12；0.223 是 tool1。
+        tool_tip_below_flange_m: 0.226587
     # >>> 仿真那台臂（Gazebo）也登记成 robots[] 里的一台 <<<
     # 为什么必须登记：应用是按"当前臂"的名字去查 frame / joint / 相机话题的
     #（`sim_env.sh` 注释里说的"仿真与真机共用同一套 site.yaml"）。仿真的 TF 与关节
@@ -195,7 +197,7 @@ robot:
         # 为什么必须给文件而不能留空：visual_servo 的 servo_node 需要
         # T_flange_cam 矩阵做像素→笛卡尔换算；留空它就直接拒绝启动
         #（"手眼标定结果缺失"），S04 跟踪起不来。
-        handeye_file: "handeye/results/sim_eye_in_hand.yaml"
+        handeye_file: "/home/cc/ros2/handeye/results/sim_eye_in_hand.yaml"
       # 运动参数：**大部分**与 89 共用（锚点），但**高度类**必须按仿真台的几何改写。
       #
       # 为什么不能直接共用：真机是"机械臂装在台面同一高度"，所以"法兰相对基座"
@@ -289,11 +291,11 @@ robot:
         port: "/dev/ttyUSB1"
         stroke_mm: 30.0
         auto_init: false
-      named_poses_file: "src/arm_control/config/named_poses_91.yaml"
+      named_poses_file: "/home/cc/ros2/src/arm_control/config/named_poses_91.yaml"
       paths:
-        handeye_file: "handeye/results/91_eye_in_hand.yaml"
-        handeye_waypoints: "handeye/poses/91_eye_in_hand.yaml"
-        handeye_workdir: "handeye/tmp/91"
+        handeye_file: "/home/cc/ros2/handeye/results/91_eye_in_hand.yaml"
+        handeye_waypoints: "/home/cc/ros2/handeye/poses/91_eye_in_hand.yaml"
+        handeye_workdir: "/home/cc/ros2/handeye/tmp/91"
       # >>> 右臂跟踪高度：只改这里，89 仍用上面那段 <<<
       # 法兰 Z；RGI 比平行爪高，通常要比 89 略抬一点。改完重启：
       #   bash ~/ros2/scripts/run_visual_servo_rt.sh --arm 91 --control
@@ -314,7 +316,7 @@ robot:
 
 paths:
   # >>> YOLO 权重（标准放法，不必改代码）<<<
-  #   1) 把 .onnx / .pt 放到 models/yolo/
+  #   1) 把 .onnx / .pt 放到 /home/cc/ros2/models/yolo/
   #   2) 这一行改成那个绝对路径（写 .onnx 即可；TensorRT 会找同名 .engine）
   #   3) backend=tensorrt 时必须先导出引擎（只需做一次）：
   #        bash ~/ros2/scripts/weights.sh convert <源文件> --name <名字> --group yolo
@@ -328,18 +330,18 @@ paths:
   #    ultralytics 解不了 pose 的 TensorRT engine，运行时走
   #    arm_application/pose_detector.py 的自解码（见该模块头）。
   #    仍然用 .engine（实测 ~2.6 ms/帧；onnx 只有 CPU provider，约 27 ms）。
-  yolo_weights: "models/yolo/gongjian0929.onnx"
+  yolo_weights: "/home/cc/ros2/models/yolo/gongjian0929.onnx"
   # 换模型：把 models/yolo/ 下别的 .onnx / .pt 绝对路径填进来即可。
   # 未在用的模型已移出仓库（体积大且干扰 `weights.sh list`），要恢复见 models/README.md。
   # 入孔模型（backend=yolo 时把孔当框）。two_stage 用下面的工件权重。
   # pose 模型两处共用同一份 —— 它既能框工件，又直接给 k1/k2 关键点。
   # 查悬空引用：bash ~/ros2/scripts/weights.sh doctor
-  hole_weights: "models/yolo/gongjian0929.onnx"
+  hole_weights: "/home/cc/ros2/models/yolo/gongjian0929.onnx"
   # 下面是缺省（未匹配到 robots[] 时）。真机以 robots[].paths 为准：89 / 91 各一份。
-  handeye_file: "handeye/results/89_eye_in_hand.yaml"
-  handeye_waypoints: "handeye/poses/89_eye_in_hand.yaml"
-  handeye_calibrate: "handeye/calibrate.yaml"
-  handeye_workdir: "handeye/tmp/89"
+  handeye_file: "/home/cc/ros2/handeye/results/89_eye_in_hand.yaml"
+  handeye_waypoints: "/home/cc/ros2/handeye/poses/89_eye_in_hand.yaml"
+  handeye_calibrate: "/home/cc/ros2/handeye/calibrate.yaml"
+  handeye_workdir: "/home/cc/ros2/handeye/tmp/89"
   # 空=默认 DDS(SHM)；勿强制 UDP-only，否则相机预览收不到 /workpiece/detection
   fastdds_profile: ""
 
@@ -579,9 +581,8 @@ servo:
   lock_hold_sec: 0.7        # 旧死区驻留（混合模式不再用它进二阶段）
   # 混合模式必填。交回 D405 的等待不再用它，见 d435_handback_sec。
   lock_still_sec: 3.0
-  # 进程内 MoveL 到位后，法兰 XY 连续停稳这么久才交回 D405。
-  # 旧 3s 是杀栈冷启动的垫时间；不杀栈后只留机械停稳。晃了把数加大，不许再杀栈。
-  d435_handback_sec: 0.5
+  # 厂家 MoveL 结束后，法兰连续这么久没再动，才打开 D405 框心。
+  d435_handback_sec: 2.0
   # 框心对准并且法兰停稳这么久，才精拍一次小孔关键点、进对孔。实时点到此为止。
   wrist_align_sec: 0.5
   lock_still_move_m: 0.015   # 15 mm；超过就重计时，避免"晃一下刚好满 3 秒"
@@ -663,10 +664,10 @@ gripper:
 hole_detect:
   backend: "two_stage"   # two_stage | yolo | hough
   # backend=yolo 时用。
-  weights: "models/yolo/gongjian0929.onnx"
+  weights: "/home/cc/ros2/models/yolo/gongjian0929.onnx"
   # 二阶段工件检测权重。pose 模型既框工件、又直接给 k1/k2 关键点，
   # 所以和上面的跟踪权重是同一份。
-  workpiece_weights: "models/yolo/gongjian0929.onnx"
+  workpiece_weights: "/home/cc/ros2/models/yolo/gongjian0929.onnx"
   # pose 关键点优先：检测器给了 k1/k2 就直接用，不用再找圆。
   # 关键点不可信（低于 keypoint_min_conf / 两点几乎重合）时自动回落到
   # 亮环 + Hough 那套老路径。
@@ -674,7 +675,7 @@ hole_detect:
   keypoint_min_conf: 0.30
   keypoint_min_dist_px: 15.0
   keypoint_hole_radius_px: 12.0   # 关键点没有半径；反投影时按这个半径取孔周深度环
-  config: "src/arm_application/config/hole_detect.yaml"
+  config: "/home/cc/ros2/src/arm_application/config/hole_detect.yaml"
   conf: 0.25
   iou: 0.7
   imgsz: 640
@@ -752,7 +753,7 @@ hole_detect:
     # bbox=(0,142,97,222) 反投影出盒外的 (0.280,-0.747)（偏差 211.5mm），旧逻辑
     # **不判误检、只把目标截断到盒边**，臂照样横移 56mm 离开工件 ⇒ 精定位再也
     # 看不到 k1/k2 ⇒ exit=4。判据改成"盒外/偏移过大 ⇒ 判误检、原地不动"。
-    coarse_max_offset_m: 0.12   # 目标离夹爪轴线超过此值就不像粗居中量 [m]
+    coarse_max_offset_m: 0.08   # 目标离夹爪轴线超过此值就不像粗居中量 [m]；0.12 放行了 2026-10-16 的 110mm 回撤
     coarse_border_px: 2         # bbox 贴边（被画面切）即弃用 [px]；见 _bbox_on_border
     # —— 柔顺运动（夹爪持规，防急加速/急停/过冲把规震脱）：速度放慢 + 平滑刹车 ——
     align_speed: 0.014       # 对准段笛卡尔速度 [m/s]（原0.03，放缓防冲）
@@ -771,7 +772,7 @@ hole_detect:
                              # 时法兰 Z = 工具长 + 工件面 + 本值。CLI --final-gap 覆盖。
     observe_gap_mm: 15.0     # --no-descent 时的观测下降：只降到离面这么高 [mm]，
                              # 方便看规尖偏没偏。必须 ≥ final_gap_mm。
-                             # 左臂89：悬停间隙约 73.5mm（0.320−0.2245−0.022）⇒ 观测下降约 58mm。
+                             # 左臂89：悬停间隙约 71.4mm（0.320−0.226587−0.022）⇒ 观测下降约 56.4mm。
     final_descent_speed: 0.005  # 最后轻降速度 [m/s]（很慢，柔顺）
     # ✅ 2026-10-08 定稿：下降量**只由几何决定**（法兰 FK − 工具长 − 工件面 − final_gap），
     #   深度读数只做交叉核对、不再参与任何决策。两段真机事故方向相反、都指向这条：
@@ -784,7 +785,7 @@ hole_detect:
     #     ⇒ 读数往**小**错一次就永远到不了目标。
     #   同一套读数两个方向各错一次、幅度 150mm 量级、随位姿乱跳 —— 它对"能降多少"
     #   和"该不该停"都没有发言权。现在它只在偏差 >10mm 时喊一句"深度测距与几何不符"。
-    # 现行几何：悬停 0.320 − 工具长 0.2245 − 工件面 0.022 = 73.5mm 间隙 ⇒ 降 71.5mm 到 2mm。
+    # 现行几何：悬停 0.320 − 工具长 0.226587 − 工件面 0.022 = 71.4mm 间隙 ⇒ 降 69.4mm 到 2mm。
     #   三道**物理/几何**保险：descent_budget_m（配置上限）+ 腕部 FT 接触检测（停+退 1mm）
     #   + 任一步 _goto 走不到位就停。
     #   缺几何（工具长/工件面没配）时**拒绝下降**并报错（保持悬停），绝不拿测距去赌。
@@ -796,9 +797,11 @@ hole_detect:
     max_depth_m: 0.60
     linger_sec: 8.0          # 完成后继续发布结果/叠图的时长
 
-  # ===== 旋转装配仍读这里的力阈值（stage3_search_node）=====
-  # 搜孔轻压已取消：不带 --screw 的入口会直接拒绝，整体流程也不再进入这一步。
-  # bash ~/ros2/scripts/run_stage3_search.sh --arm 89 --screw
+  # ===== 三阶段柔顺搜孔（stage3_search_node，Orisys 触觉 + 力闭环螺旋）=====
+  # 前置：二阶段已完成，臂悬停在目标孔上方。先 run_tactile.sh --cli 看力读数量级再调阈值。
+  # bash ~/ros2/scripts/run_stage3_search.sh --arm 89                # 搜孔+落座
+  # bash ~/ros2/scripts/run_stage3_search.sh --arm 89 --depth 0      # 只搜孔定心不插入
+  # bash ~/ros2/scripts/run_stage3_search.sh --arm 89 --depth 6 --pitch 1.0  # 螺纹规旋入
   stage3:
     # —— 力阈值全是「相对静止均值的增量」（Orisys 读数是形变任意单位且基线会漂移，
     #    节点启动时自动测 1.2s 静止均值 μ0/方差 σ0，看日志「触觉基线/派生阈值」两行）——
@@ -825,12 +828,9 @@ hole_detect:
     drop_frames: 2           # 跌落需持续的帧数（防毛刺）
     center_scan: false       # 入孔后十字微扫；默认关（0.8mm 扫会把已入孔的规刮偏）
     center_scan_mm: 0.3
-    insert_depth_mm: 0.0     # 默认只搜孔+轻压，不拧入。旋转装配不读这项
+    insert_depth_mm: 0.0     # 默认只搜孔+轻压，不拧入；拧入阶段再用 --depth
     insert_retry: 3
-    screw_pitch_mm: 0.0      # 搜孔轻压不旋。旋转装配不读这项
-    # 控制页「旋转装配」单独用。数值就是手册里的 M6 旋入：深度 6 mm、螺距 1.0 mm/圈。
-    screw_stage_depth_mm: 6.0
-    screw_stage_pitch_mm: 1.0
+    screw_pitch_mm: 0.0      # 螺纹通止规螺距：>0 右旋 / <0 左旋 / 0=不旋（光面规）
     search_speed: 0.03       # 搜孔笛卡尔速度 [m/s]
     settle_sec: 0.25         # 每个微步后的静止时间
     tactile_timeout_s: 3.0   # 触觉话题断流多久中止
@@ -1086,7 +1086,7 @@ tactile:
   # 传感器型号。必须与 devices/sensors/orisys/models/ 下的子目录名一致。
   model: "dd03"
   # 型号配置随 SDK 一起放：devices/sensors/orisys/models/<型号>/config.json
-  config_file: "devices/sensors/orisys/models/dd03/config.json"
+  config_file: "/home/cc/ros2/devices/sensors/orisys/models/dd03/config.json"
   # 用 by-path 稳定路径（插哪个 USB 口就认哪个口，不受 video 编号漂移影响）。
   # 当前：3.4.1=左指 3.4.2=右指；若左右反了，互换两行即可。
   left_video: "/dev/v4l/by-path/pci-0000:00:14.0-usb-0:3.4.1:1.0-video-index0"
@@ -1113,8 +1113,7 @@ go_home:
 
 network:
   # 2026-09-29 改线：两台臂 → 交换机 → USB-C 千兆网卡（ASIX AX88179）
-  #   MAC 6c:1f:f7:d0:6f:17。内核名会在 eth0 和 enx6c1ff7d06f17 之间变，
-  #   NetworkManager 按 MAC 绑定，不按名字。
+  #   MAC 6c:1f:f7:d0:6f:17。内核现在叫 eth0（不再用 enx6c1ff7d06f17）。
   #   本机 192.168.2.10  ↔  063989(左89)=.101  /  063991(右91)=.100
   #   NM 配置名 robot-usb-lan（静态 .10/24，不当默认路由）。
   # 说明：enp4s0 仍是办公网（192.168.1.x）；两台臂已不在 enp4s0 上。
diff --git a/docs/HANDBOOK.md b/docs/HANDBOOK.md
index ab2832b..1440686 100644
--- a/docs/HANDBOOK.md
+++ b/docs/HANDBOOK.md
@@ -34,7 +34,7 @@
 
 ### 1.3 一次完整任务分几步
 
-代码里跟踪和对孔串成一条命令。搜孔轻压已取消，`run_all.sh` 不会再进入那一步，也不能用参数打开。旋入是单独的 `run_stage3_search.sh --screw`。
+代码里用 **stage1 / stage2 / stage3** 三段串起来，一条命令跑完：
 
 ```
 run_all.sh
@@ -46,13 +46,18 @@ run_all.sh
   │                  YOLO 找工件外框 → Hough 找左右两个孔心 →
   │                  深度 + 内参 + 手眼 → 换算出孔的基座坐标 →
   │                  移动夹爪轴线到目标孔正上方 → 复拍验证 → 锁定
+  │
+  └─ stage3_search   柔顺搜孔：力闭环下的螺旋搜索，直到规的尖端"掉进"孔里，
+                     再十字微扫定心，最后在力限内下压（可选按螺距旋入）
 ```
 
-跟踪和对孔在同一个进程里交接。盯日志：
+三段之间**在同一个进程里交接**，所以相机、触觉、手眼 TF 只初始化一次。
+盯日志就能知道跑到哪了 —— 三行关键输出：
 
 ```
 [pipeline] === stage1_track ===      → 在等跟踪锁定
 [pipeline] === stage2_locate ===     → 在拍照对孔
+[pipeline] === stage3_search ===     → 触面 → ★ 入孔 → 轻压到位
 ```
 
 日常入口（三个终端，**必须同一个 `--arm`**）：
@@ -60,7 +65,7 @@ run_all.sh
 ```bash
 bash ~/ros2/scripts/run_real.sh --arm 89                    # T1 控制栈，一直开着
 bash ~/ros2/scripts/run_camera_d405.sh --arm 89 --preview   # T2 相机预览，一直开着
-bash ~/ros2/scripts/run_all.sh --arm 89                     # T3 跟踪 + 对孔（不含搜孔、不含旋入）
+bash ~/ros2/scripts/run_all.sh --arm 89                     # T3 三段串联（默认不拧入）
 bash ~/ros2/scripts/run_all.sh --arm 89 --init-z 0.35 --hover-z 0.34
 ```
 
@@ -68,15 +73,15 @@ bash ~/ros2/scripts/run_all.sh --arm 89 --init-z 0.35 --hover-z 0.34
 `D405_MISS_BEFORE_D435_S`（0.5 s）没有 conf≥`perception.wrist_handoff_conf`（0.5）
 的目标，才用顶视 D435 **拍一张**，把点用眼在手外 T 变到基座（不再乘法兰）。
 这一段运动是进程内厂家 `MoveL`（不杀 `run_real.sh`）：当前厂家 `tcp_pose` 加
-ROS 相对 XY，`keep_z`。硬件在 MoveL 期间不灌关节指令。到位后法兰 XY 连续停稳
-`servo.d435_handback_sec`（0.5 s）才交回 D405。赶路期间不下发 D405（两套控制互抢会晃）。
-停稳之后改回 D405，跟踪点是工件框的矩形中心，不追 k0。
+ROS 相对 XY，`keep_z`。硬件在 MoveL 期间不灌关节指令。D435 这一点变到基座系后，只下发厂家 `MoveL`。赶路期间 D405 推理开着，
+控制点截断。法兰连续停稳 `servo.d435_handback_sec`（2 s）后才打开 D405，
+追工件框的矩形中心。框心对准并停稳后才精拍 k1/k2、下臂。
 启动高度用 `--init-z`（法兰 Z，米），对孔悬停用 `--hover-z`。两个都是法兰高度。
 下臂贴面用 `--final-gap`（规尖离面，毫米；site 默认 `final_gap_mm` 2）。笛卡尔锁 XY
 时只改 Z：法兰 = 工具长 + 工件面 + 间隙。不能和 `--no-descent` 一起写。
 会让工具尖进入工件、或超出工作盒的值直接拒绝，不会改成另一个高度再往下走。
 不写则一阶段锁高仍按 site，对孔悬停仍是 `hole_hover_z_m`（89 为 0.320）。
-框心对准连续 `servo.wrist_align_sec`（0.5 s）→ `/visual_servo/locked`。
+框心对准连续 `servo.wrist_align_sec`（0.5 s）才 `/visual_servo/locked`，然后才精拍下臂。
 本分支（`exp/hole-keypoint-once`）二阶段是**单次精拍**：悬停拍一次 k1/k2，
 把框心到目标孔一次走完（步长上限 40mm）。现行实验 `hole_once_lock_xy_descend: true`：
 走完后不补拍，一条厂家 MoveL 收到贴面。`once_ff_look_per_m: 0` 时 MoveL 只降 Z
@@ -84,7 +89,8 @@ ROS 相对 XY，`keep_z`。硬件在 MoveL 期间不灌关节指令。到位后
 不是 ROS 绝对坐标。保存点 `37b85aa` 是观察高 15mm 再斜线补 XY。看 `/tmp/stage2_result.json`。
 `main` 保存点仍是多走多拍。
 孔坐标把关键点像素交到 `workpiece_surface_z_m`，不读深度图。下臂停在
-`tool10120938` 的 TCP 长度（0.2245 m）加上 `final_gap_mm` 之上，不按旧 tool1 的 0.223 m。
+`tool10120938` 的 TCP 长度（0.226587 m，2026-10-16 下午 RDK 重读）加上 `final_gap_mm` 之上，不按旧 tool1 的 0.223 m。
+贴面之后就停在这个法兰高度，不抬回 `hole_hover_z_m`。没有接触传感器，到位只认 `final_gap_mm`，不另设一个 Z。
 只测 D435 这一段位移时加 `--d435-only`：不交 D405、不进二阶段，并且要求先停 `run_real.sh`。
 
 ```bash
@@ -107,8 +113,8 @@ bash ~/ros2/scripts/run_visual_servo_rt.sh --arm 89 --control
 
 | 能力 | 状态 | 怎么自己确认 |
 |------|------|--------------|
-| 跟踪 → 对孔 | ✅ 真机跑通过。搜孔轻压已取消，这条命令不再下压搜孔 | `run_all.sh --arm 89` |
-| 按螺距旋入（螺纹规） | ✅ 单独阶段。不带 `--screw` 的旧搜孔命令会直接拒绝 | `run_stage3_search.sh --arm 89 --screw` |
+| 三段串联（跟踪 → 对孔 → 搜孔轻压） | ✅ 真机跑通 | `run_all.sh --arm 89` |
+| 按螺距旋入（螺纹规） | ✅ 有参数，`--depth`/`--pitch` 控制 | `run_stage3_search.sh --arm 89 --depth 6 --pitch 1.0` |
 | Orisys 双指触觉（法向 + 两路切向） | ⚠️ 能读，但**轴向映射尚未实测确认** | 见 [`TACTILE.md`](TACTILE.md) |
 | Orisys 的深度图 / 力矢量图 | ⚠️ 消息结构与话题已在，真机值待确认 | 同上 |
 | D435 手外相机（一阶段一次性 + S03） | ⚠️ 89 已按 `tool10120938` 重标（24 视角，10-09 旧结果在 `results/backup/`）；S03 粗定位真机未对过 | `handeye/results/89_d435_eye_to_hand.yaml` |
@@ -505,7 +511,7 @@ bash scripts/run_unit_tests.sh -k gauge              # 只跑名字带 gauge 的
 | **89 / 91** | 左臂 / 右臂的现场编号，**各有独立的手眼、相机、夹爪、锁高，禁止混用** |
 | **法兰** | 机械臂末端安装面；手眼 `T_4x4` 仍是相机→法兰。左臂 89 现行按 Studio `tool10120938` 的 TCP 求解，再折回法兰 |
 | **eye-in-hand / eye-to-hand** | 相机装在手上 / 装在手上之外（D405 在手上，D435 在外部） |
-| **stage1/2** | 跟踪 / 对孔，见 1.3。搜孔轻压已取消 |
+| **stage1/2/3** | 跟踪 / 对孔 / 搜孔，见 1.3 |
 | **S03 / S04 / S07 / S08** | 整体装配任务书里的阶段编号（S03 粗定位、S04 跟踪、S07 柔顺下压、S08 夹爪旋转循环）。代码里对应的是 stage1/2/3 的拆分实现，**没有一一对应**，别硬套 |
 | **基线** | 触觉静止时的读数均值。力的语义是"相对基线的增量"，不是绝对牛顿值 |
 | **R1.1 / M1 …** | [`FRAMEWORK_RULES.md`](FRAMEWORK_RULES.md) 里的规则编号，文档和提交信息里直接引用 |
diff --git a/docs/HOLE_DETECT.md b/docs/HOLE_DETECT.md
index 5c984a3..fba4c2a 100644
--- a/docs/HOLE_DETECT.md
+++ b/docs/HOLE_DETECT.md
@@ -57,7 +57,8 @@ hole_detect:
 
 ## 三阶段串联（推荐日常入口）
 
-一条命令跑完：**视觉跟踪锁定 → 拍照对孔**。搜孔轻压已取消，这条命令不再下压，也不能用参数重新打开。旋入是后面的单独命令。
+一条命令跑完：**视觉跟踪锁定 → 拍照对孔 → 搜孔并轻轻按压**。默认**不拧入**
+（拧入是后面单独阶段）。三个阶段在同一个节点里交接，相机 / 触觉 / 手眼 TF 只起一次。
 
 ```bash
 # 终端 1 —— 控制栈（一直开着）
@@ -66,12 +67,12 @@ bash ~/ros2/scripts/run_real.sh --arm 89
 # 终端 2 —— 相机预览（一直开着，看跟踪画面）
 bash ~/ros2/scripts/run_camera_d405.sh --arm 89 --preview
 
-# 终端 3 —— 跟踪 + 对孔（到这里停，不搜孔）
-bash ~/ros2/scripts/run_all.sh --arm 89                  # 跟踪 + 对孔
+# 终端 3 —— 串联（搜到孔后轻压保持，不拧）
+bash ~/ros2/scripts/run_all.sh --arm 89                  # 跟踪 + 对孔 + 搜孔轻压
 bash ~/ros2/scripts/run_all.sh --arm 89 --hole k2        # 换 k2
 bash ~/ros2/scripts/run_all.sh --arm 89 --skip-stage1    # 臂已在工件上方，跳过跟踪
-# 旋入不写在这条命令里：
-bash ~/ros2/scripts/run_stage3_search.sh --arm 89 --screw
+# 若这一次就要拧入（一般留给后续阶段）：
+bash ~/ros2/scripts/run_all.sh --arm 89 --depth 6 --pitch 1.0
 ```
 
 `run_pipeline.sh` 是 `run_all.sh` 的别名。
@@ -84,9 +85,9 @@ bash ~/ros2/scripts/run_stage3_search.sh --arm 89 --screw
 1. `[pipeline] === stage1_track ===` → 等跟踪锁定
 2. `一阶段已锁定 — 停跟踪、钉住当前关节，直接进二阶段`
 3. `[pipeline] === stage2_locate ===` → 降到孔悬停高，拍照对准
-对孔结束后臂停在当前高度。搜孔轻压不再接着跑。
+4. `[pipeline] === stage3_search ===` → `触面` → `★ 入孔` → `轻压到位`（不拧入）
 
-急停：终端 3 Ctrl-C。失败时臂保持当前位姿，看
+急停：终端 3 Ctrl-C。搜孔中会先抬 5mm。失败时臂保持当前位姿，看
 `/tmp/pipeline_stage1.log`、`/tmp/stage2_result.json`、`/tmp/stage3_result.json`。
 
 高度接口：`robots[89].servo.ee_z_m`（跟踪锁高）、
@@ -148,10 +149,7 @@ bash ~/ros2/scripts/run_all.sh --arm 89 --final-gap 8            # 锁 XY，规
 | `/stage2/result` | `std_msgs/String` JSON：k1/k2 基座坐标、残差、悬停高 |
 | `/stage2/overlay` | `sensor_msgs/Image` 标注图（同时落盘 /tmp/stage2_overlay.png） |
 
-## 旋转装配（原三阶段节点；搜孔轻压入口已取消）
-
-不带 `--screw` 时 `run_stage3_search.sh` 直接退出，不会触面，也不会螺旋搜孔。
-下面是这个节点在旋入时仍会走的力控步骤，不是一条还能单独打开的搜孔命令。
+## 三阶段柔顺搜孔（stage3，Orisys 触觉 + 力闭环螺旋）
 
 前置：二阶段刚跑完（臂悬停在目标孔上方、垂直朝下、夹持通止规）。流程：
 
@@ -169,9 +167,12 @@ bash ~/ros2/scripts/run_all.sh --arm 89 --final-gap 8            # 锁 XY，规
 7. **hold** — 锁定关节，发布结果
 
 ```bash
-# 前置：T1 run_real.sh --arm 89；对孔已完成（臂保持不动）
-# 不带 --screw 会直接退出，不会搜孔。
-bash ~/ros2/scripts/run_stage3_search.sh --arm 89 --screw
+# 前置：T1 run_real.sh --arm 89；二阶段已完成（臂保持不动）
+bash ~/ros2/scripts/run_stage3_search.sh --arm 89                 # 搜孔+落座
+bash ~/ros2/scripts/run_stage3_search.sh --arm 89 --depth 0      # 只搜孔定心，不插入
+bash ~/ros2/scripts/run_stage3_search.sh --arm 89 --depth 6 --pitch 1.0  # M6 螺纹规旋入
+bash ~/ros2/scripts/run_stage3_search.sh --arm 89 --r-max 5      # 临时改搜索半径
+bash ~/ros2/scripts/run_stage3_search.sh --arm 89 --resnap       # 搜前用 D405 复拍对准一次
 ```
 
 **力阈值是「相对静止均值的增量」，不用标定牛顿**：Orisys 读数是形变任意单位且
diff --git a/handeye/poses/89_eye_in_hand.yaml b/handeye/poses/89_eye_in_hand.yaml
index c4642b3..67b189b 100644
--- a/handeye/poses/89_eye_in_hand.yaml
+++ b/handeye/poses/89_eye_in_hand.yaml
@@ -8,49 +8,59 @@
 
 /**:
   ros__parameters:
-    num_poses: 21
-    # 2026-09-02 通过 handeye_teach 示教（RDK 自由驱动）
+    num_poses: 26
+    # 2026-10-16 重新示教 26 点（旧 21 点在 poses/backup/）；A5 11×8，tool10120938
     waypoint_positions: [
       # pose 0
-      -0.928421, -1.237477, 1.528823, 1.526334, -1.230146, 0.098562, 0.538531,
+      -0.211261, -0.571428, 0.247301, 1.552793, -0.119748, 0.614676, -0.023410,
       # pose 1
-      -0.970203, -1.315554, 1.553230, 1.669383, -1.407869, 0.125907, 0.578173,
+      -0.169531, -0.647538, 0.404777, 1.568624, -0.268686, 0.700171, 0.395947,
       # pose 2
-      -0.967819, -1.525572, 1.706057, 1.357062, -1.211051, 0.023232, 0.193541,
+      -0.759204, -0.846289, 0.735872, 1.387307, -0.539553, 0.576374, -0.060241,
       # pose 3
-      -1.065106, -1.624218, 1.793644, 1.279402, -1.120929, 0.019151, 0.139658,
+      -0.925104, -1.394748, 1.532423, 0.826872, -0.686369, -0.074315, -0.145523,
       # pose 4
-      -0.386279, -1.551838, 1.563578, 1.552444, -1.775337, -0.341974, 0.957445,
+      -1.004515, -1.491910, 1.596406, 1.245659, -0.864236, 0.212990, 0.460589,
       # pose 5
-      -0.227779, -1.219414, 1.026882, 0.828801, -0.916809, -0.166985, 0.034154,
+      -0.373052, -1.441561, 1.624783, 0.325602, -1.361228, -0.404116, 0.511430,
       # pose 6
-      -0.324968, -1.273082, 1.092344, 0.723132, -0.922095, -0.206413, 0.152082,
+      -0.281212, -1.452318, 1.627866, 0.517637, -1.412135, -0.420614, 0.217023,
       # pose 7
-      -0.421966, -1.309101, 1.143065, 0.606456, -0.906673, -0.219282, 0.237953,
+      -0.184868, -1.473244, 1.670229, 0.827772, -1.522330, -0.529014, -0.212158,
       # pose 8
-      -0.851598, -1.260600, 1.302895, 1.127033, -0.969809, 0.032856, 0.642673,
+      -0.246577, -1.532828, 1.679171, 1.204498, -1.697638, -0.607779, -0.517785,
       # pose 9
-      -0.951418, -0.550124, 0.848598, 2.139787, -1.025778, 1.184418, 0.598394,
+      -0.463435, -1.549157, 1.650964, 1.948746, -1.841124, -0.638016, -0.842437,
       # pose 10
-      -0.834498, -0.635767, 0.970038, 2.058410, -1.035138, 1.032040, 0.738619,
+      -1.573539, -0.359801, 1.261534, 2.423352, -0.405671, 1.620875, -0.045014,
       # pose 11
-      -0.519528, -0.883321, 1.135035, 1.830274, -1.100901, 0.234065, -0.069068,
+      -1.549088, -0.710364, 1.347227, 2.111776, -0.606133, 1.116345, -0.567788,
       # pose 12
-      -0.347358, -1.081426, 1.192233, 1.514557, -1.244594, -0.116668, -0.564362,
+      -1.512218, -0.983202, 1.445454, 1.808168, -0.602205, 0.699420, -0.803771,
       # pose 13
-      -0.364832, -1.102689, 1.224844, 1.520320, -1.265760, -0.136855, -0.582459,
+      -1.023248, -1.342205, 1.465909, 1.092911, -0.843418, 0.099672, 1.287399,
       # pose 14
-      -1.130796, -1.316186, 1.711089, 1.821409, -1.278003, 0.010885, -1.337210,
+      -0.870257, -1.473283, 1.657987, 0.831271, -1.034030, -0.144608, 1.263203,
       # pose 15
-      -0.732222, -1.376363, 1.812339, 1.293854, -1.410826, -0.226771, -0.217230,
+      -0.384368, -1.417984, 1.403442, 2.075614, -1.952106, -0.394139, 1.022592,
       # pose 16
-      -0.885017, -1.493416, 1.894070, 1.379021, -1.520015, -0.257115, 1.025331,
+      -0.320712, -1.513967, 1.508547, 1.652983, -1.854378, -0.409816, 1.024834,
       # pose 17
-      -0.911769, -1.532695, 1.944123, 1.427787, -1.560513, -0.267425, 1.004398,
+      -0.046066, -1.630857, 1.639221, 1.105078, -1.971509, -0.601654, 1.076452,
       # pose 18
-      -1.436271, -1.768595, 1.559397, 2.244717, -2.057112, 0.341785, 0.749883,
+      -0.183628, -1.588663, 1.989621, 0.918793, -1.873979, -0.629910, 0.092012,
       # pose 19
-      -1.511828, -1.759337, 1.620075, 2.131574, -1.946595, 0.328227, 0.584657,
+      -1.300709, -1.159500, 1.611790, 1.761984, -0.963027, 0.391619, -0.468980,
       # pose 20
-      -1.180482, -1.643241, 1.865851, 1.597699, -1.464982, 0.097605, -0.217780,
+      -0.750548, -1.221231, 1.566283, 1.128755, -1.163176, -0.102841, 0.958420,
+      # pose 21
+      -0.874185, -1.297230, 1.655940, 1.303348, -1.334815, -0.047425, 2.047690,
+      # pose 22
+      -0.671314, -1.510973, 1.813908, 1.235398, -1.778996, -0.462958, 2.899902,
+      # pose 23
+      -0.710795, -1.522124, 1.653705, 1.316372, -1.574330, 0.086268, 1.453877,
+      # pose 24
+      -0.533642, -1.545775, 1.837151, 1.467081, -1.463448, -0.161183, 0.387563,
+      # pose 25
+      -0.850451, -1.523689, 1.982673, 1.082314, -1.771622, -0.354609, 0.583659,
     ]
diff --git a/handeye/poses/89_eye_to_hand.yaml b/handeye/poses/89_eye_to_hand.yaml
index 7620bbd..2ef7485 100644
--- a/handeye/poses/89_eye_to_hand.yaml
+++ b/handeye/poses/89_eye_to_hand.yaml
@@ -7,48 +7,38 @@
 
 /**:
   ros__parameters:
-    num_poses: 21
+    num_poses: 16
     waypoint_positions: [
       # pose 0
-      -0.798667, -0.611079, 0.054912, 2.246988, 0.049199, 1.389219, 0.196135,
+      -0.850450, -1.523690, 1.982676, 1.082314, -1.771616, -0.354603, 0.583665,
       # pose 1
-      -0.787304, -0.531383, 0.240108, 2.183440, 0.367026, 1.370311, 0.472489,
+      -2.098137, -0.606148, 1.213612, 2.290328, -0.795715, 0.618633, 0.213293,
       # pose 2
-      -1.615896, -0.687070, 1.187600, 2.243693, -0.162789, 1.650045, 1.026121,
+      -2.115870, -0.711154, 1.204674, 2.128285, -0.937034, 0.514766, -0.356714,
       # pose 3
-      -1.787431, -0.668004, 1.408195, 2.025431, -0.064718, 0.565415, 1.324635,
+      -2.017820, -0.798105, 1.516945, 2.002096, -0.392371, -0.035888, 0.657789,
       # pose 4
-      -2.024343, -0.863793, 1.349640, 2.359469, -0.720629, 0.084467, 0.821412,
+      -2.021874, -0.805058, 1.533201, 2.001407, -0.399671, -0.045924, 0.653138,
       # pose 5
-      -1.884100, -1.117584, 1.183093, 2.127937, -1.258013, 0.151934, 0.985555,
+      -2.135665, -1.020864, 1.346306, 2.334297, -1.268378, 0.406336, 0.897832,
       # pose 6
-      -1.866465, -1.194137, 1.143263, 1.872811, -1.320028, 0.280719, 0.777663,
+      -1.793944, -1.143422, 1.244557, 1.942177, -1.315611, 0.473616, 1.619695,
       # pose 7
-      -1.729402, -1.139685, 1.127574, 1.913544, -1.329630, -0.194162, 1.383834,
+      -2.075950, -1.215149, 1.322761, 2.142359, -1.372597, 0.398777, 1.008202,
       # pose 8
-      -1.611937, -1.158158, 1.064049, 1.918313, -1.480676, -0.392994, 1.833894,
+      -2.153500, -1.215892, 1.345656, 2.306931, -1.412319, 0.415145, 0.997235,
       # pose 9
-      -2.252978, -1.387014, 1.686186, 2.101298, -1.333349, -0.111994, 0.036817,
+      -2.127777, -1.256654, 1.370562, 2.009440, -1.369584, 0.219094, -0.132912,
       # pose 10
-      -2.179722, -1.297659, 1.497171, 2.167675, -1.272158, 0.100548, 0.673603,
+      -2.138686, -1.270867, 1.591854, 2.150744, -0.898729, 0.079835, 0.840791,
       # pose 11
-      -1.921897, -1.543024, 1.000863, 1.897273, -1.455972, 1.437388, -0.140968,
+      -2.063605, -1.300562, 1.582835, 2.080463, -0.904827, 0.243915, 1.110180,
       # pose 12
-      -1.884059, -1.063347, 1.439248, 2.253200, -1.164963, -0.423306, 0.907197,
+      -1.867772, -1.316320, 1.376713, 1.888199, -1.274029, 0.284609, 1.405712,
       # pose 13
-      -1.987022, -1.235459, 1.354108, 2.370862, -1.354044, 0.065378, 0.923079,
+      -1.829092, -1.355347, 1.315742, 1.808403, -1.413826, 0.338349, 1.459711,
       # pose 14
-      -1.770869, -1.333861, 1.241996, 1.800723, -1.395819, -0.255590, 1.389660,
+      -2.192461, -1.374082, 1.330037, 2.154137, -1.528020, 0.279283, 0.657702,
       # pose 15
-      -1.761759, -1.369860, 1.213137, 1.791639, -1.467956, -0.170537, 1.473557,
-      # pose 16
-      -1.504294, -1.346227, 1.206550, 1.660186, -1.320782, -0.393676, 1.657215,
-      # pose 17
-      -1.846546, -1.476930, 0.946255, 1.910615, -2.435429, 1.535168, 2.151544,
-      # pose 18
-      -1.700067, -1.452760, 0.909035, 1.758222, -2.103930, 1.445249, 2.174743,
-      # pose 19
-      -2.173713, -0.983647, 1.399849, 2.384939, -1.379509, -0.216471, 0.253561,
-      # pose 20
-      -2.160187, -0.967904, 1.376288, 2.451713, -1.393524, -0.212278, 0.473606,
+      -2.137444, -1.468886, 1.525289, 2.348419, -1.025385, 1.011855, 1.148855,
     ]
diff --git a/handeye/results/89_d435_eye_to_hand.yaml b/handeye/results/89_d435_eye_to_hand.yaml
index 8039d08..f58c7a3 100644
--- a/handeye/results/89_d435_eye_to_hand.yaml
+++ b/handeye/results/89_d435_eye_to_hand.yaml
@@ -1,22 +1,22 @@
 # 手眼标定结果
 # mode: eye_to_hand
 # camera_source: d435
-# views: 24
-# utc: 2026-10-12T05:20:30.137123+00:00
+# views: 15
+# utc: 2026-10-16T03:02:49.214344+00:00
 # board: 11x8 square_m=0.02
 # gripper_tool: tool10120938
 # T_4x4 = cam→基座（AX=XB 的手是 TCP，不折到法兰）
 # 旧结果备份在 results/backup/
 gripper_tool: tool10120938
 T_flange_to_tool:
-  - [1.00000000, 0.00000000, 0.00000000, -0.00050000]
-  - [0.00000000, 1.00000000, 0.00000000, 0.00670000]
-  - [0.00000000, 0.00000000, 1.00000000, 0.22450000]
+  - [1.00000000, 0.00000000, 0.00000000, 0.00075900]
+  - [0.00000000, 1.00000000, 0.00000000, -0.00008800]
+  - [0.00000000, 0.00000000, 1.00000000, 0.22627400]
   - [0.00000000, 0.00000000, 0.00000000, 1.00000000]
 # T_cam_to_base (eye_to_hand)
-translation_m: [0.37094529, -0.52805928, 0.73745585]
+translation_m: [0.38078822, -0.52208142, 0.70359964]
 T_4x4:
-  - [-0.00990083, 0.99909706, -0.04131632, 0.37094529]
-  - [0.99991380, 0.01024832, 0.00820703, -0.52805928]
-  - [0.00862304, -0.04123150, -0.99911241, 0.73745585]
+  - [-0.03086969, 0.99833255, -0.04877684, 0.38078822]
+  - [0.99951823, 0.03067553, -0.00472440, -0.52208142]
+  - [-0.00322027, -0.04889918, -0.99879853, 0.70359964]
   - [0.00000000, 0.00000000, 0.00000000, 1.00000000]
diff --git a/handeye/results/89_eye_in_hand.yaml b/handeye/results/89_eye_in_hand.yaml
index 9cfa770..fd4f670 100644
--- a/handeye/results/89_eye_in_hand.yaml
+++ b/handeye/results/89_eye_in_hand.yaml
@@ -1,28 +1,27 @@
 # 手眼标定结果
 # mode: eye_in_hand
 # camera_source: d405_left
-# views: 21
-# utc: 2026-10-12T03:29:51.243487+00:00
+# views: 25
+# utc: 2026-10-16T02:29:07.572249+00:00
 # board: 11x8 square_m=0.015
 # gripper_tool: tool10120938
 # T_4x4 = cam→法兰（AX=XB 在 TCP 上解，再左乘 T_flange_to_tool）
 # T_cam_to_tool 是原始求解；旧的法兰/tool1 备份在 results/backup/
-# 2026-10-12 第一次写出的 T_4x4 乘序反了（tz≈-296 mm），已按同一份 T_cam_to_tool 重折。
 gripper_tool: tool10120938
 T_flange_to_tool:
-  - [1.00000000, 0.00000000, 0.00000000, -0.00050000]
-  - [0.00000000, 1.00000000, 0.00000000, 0.00670000]
-  - [0.00000000, 0.00000000, 1.00000000, 0.22450000]
+  - [1.00000000, 0.00000000, 0.00000000, 0.00075900]
+  - [0.00000000, 1.00000000, 0.00000000, -0.00008800]
+  - [0.00000000, 0.00000000, 1.00000000, 0.22627400]
   - [0.00000000, 0.00000000, 0.00000000, 1.00000000]
 T_cam_to_tool:
-  - [-0.03435184, -0.86951953, 0.49270249, -0.05961995]
-  - [0.99932767, -0.03620511, 0.00577974, -0.01523625]
-  - [0.01281276, 0.49256977, 0.87017863, -0.09761517]
+  - [0.01117708, -0.86715374, 0.49791511, -0.06192365]
+  - [0.99992647, 0.01203574, -0.00148504, -0.00762539]
+  - [-0.00470501, 0.49789509, 0.86722450, -0.09779711]
   - [0.00000000, 0.00000000, 0.00000000, 1.00000000]
 # T_cam_to_flange (eye_in_hand，由工具 TCP 折算)
-translation_m: [-0.06011995, -0.00853625, 0.12688483]
+translation_m: [-0.06116465, -0.00771339, 0.12847689]
 T_4x4:
-  - [-0.03435184, -0.86951953, 0.49270249, -0.06011995]
-  - [0.99932767, -0.03620511, 0.00577974, -0.00853625]
-  - [0.01281276, 0.49256977, 0.87017863, 0.12688483]
+  - [0.01117708, -0.86715374, 0.49791511, -0.06116465]
+  - [0.99992647, 0.01203574, -0.00148504, -0.00771339]
+  - [-0.00470501, 0.49789509, 0.86722450, 0.12847689]
   - [0.00000000, 0.00000000, 0.00000000, 1.00000000]
diff --git a/install/arm_application/lib/arm_application/assembly_pipeline b/install/arm_application/lib/arm_application/assembly_pipeline
index 0b324dd..83e04c4 100755
--- a/install/arm_application/lib/arm_application/assembly_pipeline
+++ b/install/arm_application/lib/arm_application/assembly_pipeline
@@ -1,10 +1,10 @@
-#!/usr/bin/env python3
-# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application','console_scripts','assembly_pipeline'
+#!/home/cc/anaconda3/envs/ros_flexiv/bin/python3.11
+# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application==0.1.0','console_scripts','assembly_pipeline'
 import re
 import sys
 
 # for compatibility with easy_install; see #2198
-__requires__ = 'arm-application'
+__requires__ = 'arm-application==0.1.0'
 
 try:
     from importlib.metadata import distribution
@@ -30,4 +30,4 @@ globals().setdefault('load_entry_point', importlib_load_entry_point)
 
 if __name__ == '__main__':
     sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
-    sys.exit(load_entry_point('arm-application', 'console_scripts', 'assembly_pipeline')())
+    sys.exit(load_entry_point('arm-application==0.1.0', 'console_scripts', 'assembly_pipeline')())
diff --git a/install/arm_application/lib/arm_application/demo_named_poses b/install/arm_application/lib/arm_application/demo_named_poses
index f7c52f6..7c827cb 100755
--- a/install/arm_application/lib/arm_application/demo_named_poses
+++ b/install/arm_application/lib/arm_application/demo_named_poses
@@ -1,10 +1,10 @@
-#!/usr/bin/env python3
-# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application','console_scripts','demo_named_poses'
+#!/home/cc/anaconda3/envs/ros_flexiv/bin/python3.11
+# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application==0.1.0','console_scripts','demo_named_poses'
 import re
 import sys
 
 # for compatibility with easy_install; see #2198
-__requires__ = 'arm-application'
+__requires__ = 'arm-application==0.1.0'
 
 try:
     from importlib.metadata import distribution
@@ -30,4 +30,4 @@ globals().setdefault('load_entry_point', importlib_load_entry_point)
 
 if __name__ == '__main__':
     sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
-    sys.exit(load_entry_point('arm-application', 'console_scripts', 'demo_named_poses')())
+    sys.exit(load_entry_point('arm-application==0.1.0', 'console_scripts', 'demo_named_poses')())
diff --git a/install/arm_application/lib/arm_application/dh_pgea b/install/arm_application/lib/arm_application/dh_pgea
index cd342cb..ca6dd44 100755
--- a/install/arm_application/lib/arm_application/dh_pgea
+++ b/install/arm_application/lib/arm_application/dh_pgea
@@ -1,10 +1,10 @@
-#!/usr/bin/env python3
-# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application','console_scripts','dh_pgea'
+#!/home/cc/anaconda3/envs/ros_flexiv/bin/python3.11
+# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application==0.1.0','console_scripts','dh_pgea'
 import re
 import sys
 
 # for compatibility with easy_install; see #2198
-__requires__ = 'arm-application'
+__requires__ = 'arm-application==0.1.0'
 
 try:
     from importlib.metadata import distribution
@@ -30,4 +30,4 @@ globals().setdefault('load_entry_point', importlib_load_entry_point)
 
 if __name__ == '__main__':
     sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
-    sys.exit(load_entry_point('arm-application', 'console_scripts', 'dh_pgea')())
+    sys.exit(load_entry_point('arm-application==0.1.0', 'console_scripts', 'dh_pgea')())
diff --git a/install/arm_application/lib/arm_application/dh_pgea_cli b/install/arm_application/lib/arm_application/dh_pgea_cli
index d7cfa18..81ecdd2 100755
--- a/install/arm_application/lib/arm_application/dh_pgea_cli
+++ b/install/arm_application/lib/arm_application/dh_pgea_cli
@@ -1,10 +1,10 @@
-#!/usr/bin/env python3
-# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application','console_scripts','dh_pgea_cli'
+#!/home/cc/anaconda3/envs/ros_flexiv/bin/python3.11
+# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application==0.1.0','console_scripts','dh_pgea_cli'
 import re
 import sys
 
 # for compatibility with easy_install; see #2198
-__requires__ = 'arm-application'
+__requires__ = 'arm-application==0.1.0'
 
 try:
     from importlib.metadata import distribution
@@ -30,4 +30,4 @@ globals().setdefault('load_entry_point', importlib_load_entry_point)
 
 if __name__ == '__main__':
     sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
-    sys.exit(load_entry_point('arm-application', 'console_scripts', 'dh_pgea_cli')())
+    sys.exit(load_entry_point('arm-application==0.1.0', 'console_scripts', 'dh_pgea_cli')())
diff --git a/install/arm_application/lib/arm_application/dual_gripper b/install/arm_application/lib/arm_application/dual_gripper
index fbbbaf9..bf6c529 100755
--- a/install/arm_application/lib/arm_application/dual_gripper
+++ b/install/arm_application/lib/arm_application/dual_gripper
@@ -1,10 +1,10 @@
-#!/usr/bin/env python3
-# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application','console_scripts','dual_gripper'
+#!/home/cc/anaconda3/envs/ros_flexiv/bin/python3.11
+# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application==0.1.0','console_scripts','dual_gripper'
 import re
 import sys
 
 # for compatibility with easy_install; see #2198
-__requires__ = 'arm-application'
+__requires__ = 'arm-application==0.1.0'
 
 try:
     from importlib.metadata import distribution
@@ -30,4 +30,4 @@ globals().setdefault('load_entry_point', importlib_load_entry_point)
 
 if __name__ == '__main__':
     sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
-    sys.exit(load_entry_point('arm-application', 'console_scripts', 'dual_gripper')())
+    sys.exit(load_entry_point('arm-application==0.1.0', 'console_scripts', 'dual_gripper')())
diff --git a/install/arm_application/lib/arm_application/dual_gripper_cli b/install/arm_application/lib/arm_application/dual_gripper_cli
index 2189632..1a713e1 100755
--- a/install/arm_application/lib/arm_application/dual_gripper_cli
+++ b/install/arm_application/lib/arm_application/dual_gripper_cli
@@ -1,10 +1,10 @@
-#!/usr/bin/env python3
-# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application','console_scripts','dual_gripper_cli'
+#!/home/cc/anaconda3/envs/ros_flexiv/bin/python3.11
+# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application==0.1.0','console_scripts','dual_gripper_cli'
 import re
 import sys
 
 # for compatibility with easy_install; see #2198
-__requires__ = 'arm-application'
+__requires__ = 'arm-application==0.1.0'
 
 try:
     from importlib.metadata import distribution
@@ -30,4 +30,4 @@ globals().setdefault('load_entry_point', importlib_load_entry_point)
 
 if __name__ == '__main__':
     sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
-    sys.exit(load_entry_point('arm-application', 'console_scripts', 'dual_gripper_cli')())
+    sys.exit(load_entry_point('arm-application==0.1.0', 'console_scripts', 'dual_gripper_cli')())
diff --git a/install/arm_application/lib/arm_application/gauge_assembly b/install/arm_application/lib/arm_application/gauge_assembly
index cdeb1f2..5270ad3 100755
--- a/install/arm_application/lib/arm_application/gauge_assembly
+++ b/install/arm_application/lib/arm_application/gauge_assembly
@@ -1,10 +1,10 @@
-#!/usr/bin/env python3
-# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application','console_scripts','gauge_assembly'
+#!/home/cc/anaconda3/envs/ros_flexiv/bin/python3.11
+# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application==0.1.0','console_scripts','gauge_assembly'
 import re
 import sys
 
 # for compatibility with easy_install; see #2198
-__requires__ = 'arm-application'
+__requires__ = 'arm-application==0.1.0'
 
 try:
     from importlib.metadata import distribution
@@ -30,4 +30,4 @@ globals().setdefault('load_entry_point', importlib_load_entry_point)
 
 if __name__ == '__main__':
     sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
-    sys.exit(load_entry_point('arm-application', 'console_scripts', 'gauge_assembly')())
+    sys.exit(load_entry_point('arm-application==0.1.0', 'console_scripts', 'gauge_assembly')())
diff --git a/install/arm_application/lib/arm_application/goto_ee_plane b/install/arm_application/lib/arm_application/goto_ee_plane
index 6cd4bbe..9b2bf55 100755
--- a/install/arm_application/lib/arm_application/goto_ee_plane
+++ b/install/arm_application/lib/arm_application/goto_ee_plane
@@ -1,10 +1,10 @@
-#!/usr/bin/env python3
-# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application','console_scripts','goto_ee_plane'
+#!/home/cc/anaconda3/envs/ros_flexiv/bin/python3.11
+# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application==0.1.0','console_scripts','goto_ee_plane'
 import re
 import sys
 
 # for compatibility with easy_install; see #2198
-__requires__ = 'arm-application'
+__requires__ = 'arm-application==0.1.0'
 
 try:
     from importlib.metadata import distribution
@@ -30,4 +30,4 @@ globals().setdefault('load_entry_point', importlib_load_entry_point)
 
 if __name__ == '__main__':
     sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
-    sys.exit(load_entry_point('arm-application', 'console_scripts', 'goto_ee_plane')())
+    sys.exit(load_entry_point('arm-application==0.1.0', 'console_scripts', 'goto_ee_plane')())
diff --git a/install/arm_application/lib/arm_application/handeye_calibrate b/install/arm_application/lib/arm_application/handeye_calibrate
index e089854..05964cc 100755
--- a/install/arm_application/lib/arm_application/handeye_calibrate
+++ b/install/arm_application/lib/arm_application/handeye_calibrate
@@ -1,10 +1,10 @@
-#!/usr/bin/env python3
-# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application','console_scripts','handeye_calibrate'
+#!/home/cc/anaconda3/envs/ros_flexiv/bin/python3.11
+# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application==0.1.0','console_scripts','handeye_calibrate'
 import re
 import sys
 
 # for compatibility with easy_install; see #2198
-__requires__ = 'arm-application'
+__requires__ = 'arm-application==0.1.0'
 
 try:
     from importlib.metadata import distribution
@@ -30,4 +30,4 @@ globals().setdefault('load_entry_point', importlib_load_entry_point)
 
 if __name__ == '__main__':
     sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
-    sys.exit(load_entry_point('arm-application', 'console_scripts', 'handeye_calibrate')())
+    sys.exit(load_entry_point('arm-application==0.1.0', 'console_scripts', 'handeye_calibrate')())
diff --git a/install/arm_application/lib/arm_application/handeye_teach b/install/arm_application/lib/arm_application/handeye_teach
index 3ff575f..cb30156 100755
--- a/install/arm_application/lib/arm_application/handeye_teach
+++ b/install/arm_application/lib/arm_application/handeye_teach
@@ -1,10 +1,10 @@
-#!/usr/bin/env python3
-# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application','console_scripts','handeye_teach'
+#!/home/cc/anaconda3/envs/ros_flexiv/bin/python3.11
+# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application==0.1.0','console_scripts','handeye_teach'
 import re
 import sys
 
 # for compatibility with easy_install; see #2198
-__requires__ = 'arm-application'
+__requires__ = 'arm-application==0.1.0'
 
 try:
     from importlib.metadata import distribution
@@ -30,4 +30,4 @@ globals().setdefault('load_entry_point', importlib_load_entry_point)
 
 if __name__ == '__main__':
     sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
-    sys.exit(load_entry_point('arm-application', 'console_scripts', 'handeye_teach')())
+    sys.exit(load_entry_point('arm-application==0.1.0', 'console_scripts', 'handeye_teach')())
diff --git a/install/arm_application/lib/arm_application/handeye_waypoints b/install/arm_application/lib/arm_application/handeye_waypoints
index 89dbb86..461792e 100755
--- a/install/arm_application/lib/arm_application/handeye_waypoints
+++ b/install/arm_application/lib/arm_application/handeye_waypoints
@@ -1,10 +1,10 @@
-#!/usr/bin/env python3
-# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application','console_scripts','handeye_waypoints'
+#!/home/cc/anaconda3/envs/ros_flexiv/bin/python3.11
+# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application==0.1.0','console_scripts','handeye_waypoints'
 import re
 import sys
 
 # for compatibility with easy_install; see #2198
-__requires__ = 'arm-application'
+__requires__ = 'arm-application==0.1.0'
 
 try:
     from importlib.metadata import distribution
@@ -30,4 +30,4 @@ globals().setdefault('load_entry_point', importlib_load_entry_point)
 
 if __name__ == '__main__':
     sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
-    sys.exit(load_entry_point('arm-application', 'console_scripts', 'handeye_waypoints')())
+    sys.exit(load_entry_point('arm-application==0.1.0', 'console_scripts', 'handeye_waypoints')())
diff --git a/install/arm_application/lib/arm_application/hole_detect b/install/arm_application/lib/arm_application/hole_detect
index c68accd..f2b2bc9 100755
--- a/install/arm_application/lib/arm_application/hole_detect
+++ b/install/arm_application/lib/arm_application/hole_detect
@@ -1,10 +1,10 @@
-#!/usr/bin/env python3
-# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application','console_scripts','hole_detect'
+#!/home/cc/anaconda3/envs/ros_flexiv/bin/python3.11
+# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application==0.1.0','console_scripts','hole_detect'
 import re
 import sys
 
 # for compatibility with easy_install; see #2198
-__requires__ = 'arm-application'
+__requires__ = 'arm-application==0.1.0'
 
 try:
     from importlib.metadata import distribution
@@ -30,4 +30,4 @@ globals().setdefault('load_entry_point', importlib_load_entry_point)
 
 if __name__ == '__main__':
     sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
-    sys.exit(load_entry_point('arm-application', 'console_scripts', 'hole_detect')())
+    sys.exit(load_entry_point('arm-application==0.1.0', 'console_scripts', 'hole_detect')())
diff --git a/install/arm_application/lib/arm_application/move_to_pose_client b/install/arm_application/lib/arm_application/move_to_pose_client
index 1ce10d4..73cf946 100755
--- a/install/arm_application/lib/arm_application/move_to_pose_client
+++ b/install/arm_application/lib/arm_application/move_to_pose_client
@@ -1,10 +1,10 @@
-#!/usr/bin/env python3
-# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application','console_scripts','move_to_pose_client'
+#!/home/cc/anaconda3/envs/ros_flexiv/bin/python3.11
+# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application==0.1.0','console_scripts','move_to_pose_client'
 import re
 import sys
 
 # for compatibility with easy_install; see #2198
-__requires__ = 'arm-application'
+__requires__ = 'arm-application==0.1.0'
 
 try:
     from importlib.metadata import distribution
@@ -30,4 +30,4 @@ globals().setdefault('load_entry_point', importlib_load_entry_point)
 
 if __name__ == '__main__':
     sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
-    sys.exit(load_entry_point('arm-application', 'console_scripts', 'move_to_pose_client')())
+    sys.exit(load_entry_point('arm-application==0.1.0', 'console_scripts', 'move_to_pose_client')())
diff --git a/install/arm_application/lib/arm_application/perception_node b/install/arm_application/lib/arm_application/perception_node
index d1e25ad..8679a28 100755
--- a/install/arm_application/lib/arm_application/perception_node
+++ b/install/arm_application/lib/arm_application/perception_node
@@ -1,10 +1,10 @@
-#!/usr/bin/env python3
-# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application','console_scripts','perception_node'
+#!/home/cc/anaconda3/envs/ros_flexiv/bin/python3.11
+# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application==0.1.0','console_scripts','perception_node'
 import re
 import sys
 
 # for compatibility with easy_install; see #2198
-__requires__ = 'arm-application'
+__requires__ = 'arm-application==0.1.0'
 
 try:
     from importlib.metadata import distribution
@@ -30,4 +30,4 @@ globals().setdefault('load_entry_point', importlib_load_entry_point)
 
 if __name__ == '__main__':
     sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
-    sys.exit(load_entry_point('arm-application', 'console_scripts', 'perception_node')())
+    sys.exit(load_entry_point('arm-application==0.1.0', 'console_scripts', 'perception_node')())
diff --git a/install/arm_application/lib/arm_application/realsense_color_pub b/install/arm_application/lib/arm_application/realsense_color_pub
index c640e0c..1453e5a 100755
--- a/install/arm_application/lib/arm_application/realsense_color_pub
+++ b/install/arm_application/lib/arm_application/realsense_color_pub
@@ -1,10 +1,10 @@
-#!/usr/bin/env python3
-# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application','console_scripts','realsense_color_pub'
+#!/home/cc/anaconda3/envs/ros_flexiv/bin/python3.11
+# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application==0.1.0','console_scripts','realsense_color_pub'
 import re
 import sys
 
 # for compatibility with easy_install; see #2198
-__requires__ = 'arm-application'
+__requires__ = 'arm-application==0.1.0'
 
 try:
     from importlib.metadata import distribution
@@ -30,4 +30,4 @@ globals().setdefault('load_entry_point', importlib_load_entry_point)
 
 if __name__ == '__main__':
     sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
-    sys.exit(load_entry_point('arm-application', 'console_scripts', 'realsense_color_pub')())
+    sys.exit(load_entry_point('arm-application==0.1.0', 'console_scripts', 'realsense_color_pub')())
diff --git a/install/arm_application/lib/arm_application/realsense_view b/install/arm_application/lib/arm_application/realsense_view
index 83717c6..48049cf 100755
--- a/install/arm_application/lib/arm_application/realsense_view
+++ b/install/arm_application/lib/arm_application/realsense_view
@@ -1,10 +1,10 @@
-#!/usr/bin/env python3
-# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application','console_scripts','realsense_view'
+#!/home/cc/anaconda3/envs/ros_flexiv/bin/python3.11
+# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application==0.1.0','console_scripts','realsense_view'
 import re
 import sys
 
 # for compatibility with easy_install; see #2198
-__requires__ = 'arm-application'
+__requires__ = 'arm-application==0.1.0'
 
 try:
     from importlib.metadata import distribution
@@ -30,4 +30,4 @@ globals().setdefault('load_entry_point', importlib_load_entry_point)
 
 if __name__ == '__main__':
     sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
-    sys.exit(load_entry_point('arm-application', 'console_scripts', 'realsense_view')())
+    sys.exit(load_entry_point('arm-application==0.1.0', 'console_scripts', 'realsense_view')())
diff --git a/install/arm_application/lib/arm_application/run_joint_trajectory b/install/arm_application/lib/arm_application/run_joint_trajectory
index 442cb60..19b0f14 100755
--- a/install/arm_application/lib/arm_application/run_joint_trajectory
+++ b/install/arm_application/lib/arm_application/run_joint_trajectory
@@ -1,10 +1,10 @@
-#!/usr/bin/env python3
-# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application','console_scripts','run_joint_trajectory'
+#!/home/cc/anaconda3/envs/ros_flexiv/bin/python3.11
+# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application==0.1.0','console_scripts','run_joint_trajectory'
 import re
 import sys
 
 # for compatibility with easy_install; see #2198
-__requires__ = 'arm-application'
+__requires__ = 'arm-application==0.1.0'
 
 try:
     from importlib.metadata import distribution
@@ -30,4 +30,4 @@ globals().setdefault('load_entry_point', importlib_load_entry_point)
 
 if __name__ == '__main__':
     sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
-    sys.exit(load_entry_point('arm-application', 'console_scripts', 'run_joint_trajectory')())
+    sys.exit(load_entry_point('arm-application==0.1.0', 'console_scripts', 'run_joint_trajectory')())
diff --git a/install/arm_application/lib/arm_application/servo_node b/install/arm_application/lib/arm_application/servo_node
index 55b7cc0..66bfece 100755
--- a/install/arm_application/lib/arm_application/servo_node
+++ b/install/arm_application/lib/arm_application/servo_node
@@ -1,10 +1,10 @@
-#!/usr/bin/env python3
-# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application','console_scripts','servo_node'
+#!/home/cc/anaconda3/envs/ros_flexiv/bin/python3.11
+# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application==0.1.0','console_scripts','servo_node'
 import re
 import sys
 
 # for compatibility with easy_install; see #2198
-__requires__ = 'arm-application'
+__requires__ = 'arm-application==0.1.0'
 
 try:
     from importlib.metadata import distribution
@@ -30,4 +30,4 @@ globals().setdefault('load_entry_point', importlib_load_entry_point)
 
 if __name__ == '__main__':
     sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
-    sys.exit(load_entry_point('arm-application', 'console_scripts', 'servo_node')())
+    sys.exit(load_entry_point('arm-application==0.1.0', 'console_scripts', 'servo_node')())
diff --git a/install/arm_application/lib/arm_application/stage2_locate b/install/arm_application/lib/arm_application/stage2_locate
index 29e1b3f..56a842a 100755
--- a/install/arm_application/lib/arm_application/stage2_locate
+++ b/install/arm_application/lib/arm_application/stage2_locate
@@ -1,10 +1,10 @@
-#!/usr/bin/env python3
-# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application','console_scripts','stage2_locate'
+#!/home/cc/anaconda3/envs/ros_flexiv/bin/python3.11
+# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application==0.1.0','console_scripts','stage2_locate'
 import re
 import sys
 
 # for compatibility with easy_install; see #2198
-__requires__ = 'arm-application'
+__requires__ = 'arm-application==0.1.0'
 
 try:
     from importlib.metadata import distribution
@@ -30,4 +30,4 @@ globals().setdefault('load_entry_point', importlib_load_entry_point)
 
 if __name__ == '__main__':
     sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
-    sys.exit(load_entry_point('arm-application', 'console_scripts', 'stage2_locate')())
+    sys.exit(load_entry_point('arm-application==0.1.0', 'console_scripts', 'stage2_locate')())
diff --git a/install/arm_application/lib/arm_application/stage3_search b/install/arm_application/lib/arm_application/stage3_search
index e08aa2d..f1a3a02 100755
--- a/install/arm_application/lib/arm_application/stage3_search
+++ b/install/arm_application/lib/arm_application/stage3_search
@@ -1,10 +1,10 @@
-#!/usr/bin/env python3
-# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application','console_scripts','stage3_search'
+#!/home/cc/anaconda3/envs/ros_flexiv/bin/python3.11
+# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application==0.1.0','console_scripts','stage3_search'
 import re
 import sys
 
 # for compatibility with easy_install; see #2198
-__requires__ = 'arm-application'
+__requires__ = 'arm-application==0.1.0'
 
 try:
     from importlib.metadata import distribution
@@ -30,4 +30,4 @@ globals().setdefault('load_entry_point', importlib_load_entry_point)
 
 if __name__ == '__main__':
     sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
-    sys.exit(load_entry_point('arm-application', 'console_scripts', 'stage3_search')())
+    sys.exit(load_entry_point('arm-application==0.1.0', 'console_scripts', 'stage3_search')())
diff --git a/install/arm_application/lib/arm_application/tactile b/install/arm_application/lib/arm_application/tactile
index 3f600f9..952fc9f 100755
--- a/install/arm_application/lib/arm_application/tactile
+++ b/install/arm_application/lib/arm_application/tactile
@@ -1,10 +1,10 @@
-#!/usr/bin/env python3
-# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application','console_scripts','tactile'
+#!/home/cc/anaconda3/envs/ros_flexiv/bin/python3.11
+# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application==0.1.0','console_scripts','tactile'
 import re
 import sys
 
 # for compatibility with easy_install; see #2198
-__requires__ = 'arm-application'
+__requires__ = 'arm-application==0.1.0'
 
 try:
     from importlib.metadata import distribution
@@ -30,4 +30,4 @@ globals().setdefault('load_entry_point', importlib_load_entry_point)
 
 if __name__ == '__main__':
     sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
-    sys.exit(load_entry_point('arm-application', 'console_scripts', 'tactile')())
+    sys.exit(load_entry_point('arm-application==0.1.0', 'console_scripts', 'tactile')())
diff --git a/install/arm_application/lib/arm_application/tactile_cli b/install/arm_application/lib/arm_application/tactile_cli
index 85e500c..570ae0f 100755
--- a/install/arm_application/lib/arm_application/tactile_cli
+++ b/install/arm_application/lib/arm_application/tactile_cli
@@ -1,10 +1,10 @@
-#!/usr/bin/env python3
-# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application','console_scripts','tactile_cli'
+#!/home/cc/anaconda3/envs/ros_flexiv/bin/python3.11
+# EASY-INSTALL-ENTRY-SCRIPT: 'arm-application==0.1.0','console_scripts','tactile_cli'
 import re
 import sys
 
 # for compatibility with easy_install; see #2198
-__requires__ = 'arm-application'
+__requires__ = 'arm-application==0.1.0'
 
 try:
     from importlib.metadata import distribution
@@ -30,4 +30,4 @@ globals().setdefault('load_entry_point', importlib_load_entry_point)
 
 if __name__ == '__main__':
     sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
-    sys.exit(load_entry_point('arm-application', 'console_scripts', 'tactile_cli')())
+    sys.exit(load_entry_point('arm-application==0.1.0', 'console_scripts', 'tactile_cli')())
diff --git a/install/arm_application/lib/python3.11/site-packages/arm_application/dh_pgea.py b/install/arm_application/lib/python3.11/site-packages/arm_application/dh_pgea.py
index 3cfbbbf..117d46a 100644
--- a/install/arm_application/lib/python3.11/site-packages/arm_application/dh_pgea.py
+++ b/install/arm_application/lib/python3.11/site-packages/arm_application/dh_pgea.py
@@ -213,6 +213,34 @@ WIRING_HINT = (
 )
 
 
+def open_failure_text(port: str, exc: BaseException) -> str:
+    """串口打不开时把「被占用」和「没应答」分开。
+
+    独占锁失败（errno 11）以前和真没上电写成同一句「需要 24 V DC」，
+    界面上看起来像缺自动上电，实际是别的进程还握着这个口。
+    """
+    text = str(exc).lower()
+    errno = getattr(exc, "errno", None)
+    busy = errno in (11, 16) or any(
+        token in text
+        for token in (
+            "temporarily unavailable",
+            "device or resource busy",
+            "could not exclusively lock",
+            "resource busy",
+        )
+    )
+    if busy:
+        return (
+            f"无法独占打开 {port}：{exc}。"
+            "串口已被别的进程占用（夹爪驱动或状态读取）。"
+        )
+    return (
+        f"无法打开 {port}：{exc}。"
+        "需要 24 V DC 供电 + RS485 接线，且当前用户在 dialout 组内。"
+    )
+
+
 class DhPgeaGripper:
     """面向 PGE / PGEA 的线程安全 Modbus RTU 客户端（官方寄存器映射）。"""
 
@@ -257,10 +285,7 @@ class DhPgeaGripper:
                 exclusive=True,
             )
         except Exception as exc:
-            raise DhPgeaError(
-                f"无法打开 {self.port}：{exc}。"
-                "需要 24 V DC 供电 + RS485 接线，且当前用户在 dialout 组内。"
-            ) from exc
+            raise DhPgeaError(open_failure_text(self.port, exc)) from exc
         try:
             self._ser.dtr = True
         except Exception:
@@ -562,6 +587,36 @@ def _scan_bus(port: str) -> int:
     return 1
 
 
+def ctrl_values(
+    cmd: str,
+    value: str = "",
+    force: int = 50,
+    speed: int = 50,
+) -> Optional[tuple[float, float, float, float]]:
+    """节点已经占着串口时，改发 ``/gripper/ctrl`` 的四个数。
+
+    顺序是初始化、位置千分比、力度、速度。``probe`` / ``status`` 只读，返回 None。
+    """
+    name = str(cmd or "").strip().lower()
+    if name in ("probe", "status"):
+        return None
+    if name == "init":
+        return (1.0, 0.0, float(force), float(speed))
+    if name == "open":
+        pos = 1000
+    elif name == "close":
+        pos = 0
+    elif name in ("pos", "move"):
+        if str(value).strip() == "":
+            raise ValueError("pos 需要 0–1000")
+        pos = int(round(float(value)))
+        if pos < 0 or pos > 1000:
+            raise ValueError("位置只接受 0–1000")
+    else:
+        raise ValueError(f"节点在线时不支持 {name}")
+    return (0.0, float(pos), float(force), float(speed))
+
+
 def _cli(argv: Optional[list[str]] = None) -> int:
     site = _site_defaults()
     ap = argparse.ArgumentParser(
diff --git a/install/arm_application/lib/python3.11/site-packages/arm_application/handeye_calibrate.py b/install/arm_application/lib/python3.11/site-packages/arm_application/handeye_calibrate.py
index a04c653..e7e827d 100644
--- a/install/arm_application/lib/python3.11/site-packages/arm_application/handeye_calibrate.py
+++ b/install/arm_application/lib/python3.11/site-packages/arm_application/handeye_calibrate.py
@@ -137,9 +137,7 @@ class HandeyeCalibrate(TolerantNode):
         self.declare_parameter('pin_hold_sec', 0.45)        # 每拍多长
         self.declare_parameter('skip_unstable_poses', True)
 
-        from arm_application.site_io import ros2_root
-
-        self.declare_parameter('output_dir', str(ros2_root() / 'handeye' / 'tmp'))
+        self.declare_parameter('output_dir', '/home/cc/ros2/handeye/tmp')
         self.declare_parameter('result_file', '')
         self.declare_parameter('cleanup_images', True)
         # 眼在手上：AX=XB 的 gripper 用 Studio 工具 TCP，再折成 cam→法兰写 T_4x4。
diff --git a/install/arm_application/lib/python3.11/site-packages/arm_application/handeye_teach.py b/install/arm_application/lib/python3.11/site-packages/arm_application/handeye_teach.py
index c657a18..a78b0fc 100644
--- a/install/arm_application/lib/python3.11/site-packages/arm_application/handeye_teach.py
+++ b/install/arm_application/lib/python3.11/site-packages/arm_application/handeye_teach.py
@@ -108,12 +108,10 @@ class RdkBridge:
         self.robot_sn = robot_sn
         self._last_q: Optional[List[float]] = None
         self._io = threading.Lock()
-        from arm_application.site_io import ros2_root
-
-        py = os.environ.get('RDK_PYTHON', '').strip() or str(
-            Path.home() / 'rdk_py310' / 'bin' / 'python'
-        )
-        bridge = ros2_root() / 'scripts' / 'rdk_drag_bridge.py'
+        py = os.environ.get('RDK_PYTHON', '/home/cc/rdk_py310/bin/python')
+        bridge = Path.home() / 'ros2' / 'scripts' / 'rdk_drag_bridge.py'
+        if not bridge.is_file():
+            bridge = Path('/home/cc/ros2/scripts/rdk_drag_bridge.py')
         if not bridge.is_file():
             raise FileNotFoundError(f'找不到 rdk_drag_bridge.py：{bridge}')
 
@@ -222,13 +220,6 @@ class RdkBridge:
                 return self._last_q
         return self._last_q
 
-    def move_joints(self, joints: List[float], speed: float = 0.15) -> dict:
-        """按关节阻抗把臂缓慢送到已记录的 7 个关节角。speed 单位 rad/s。"""
-        return self._ask(
-            {'cmd': 'move_joints', 'q': [float(v) for v in joints[:7]], 'speed': float(speed)},
-            timeout=180.0,
-        )
-
     def close(self) -> None:
         try:
             self._ask({'cmd': 'quit'}, timeout=3.0)
@@ -248,9 +239,7 @@ class RdkBridge:
 class HandeyeTeach(TolerantNode):
     def __init__(self) -> None:
         super().__init__('handeye_teach')
-        from arm_application.site_io import ros2_root
-
-        self.declare_parameter('output_dir', str(ros2_root() / 'handeye' / 'tmp'))
+        self.declare_parameter('output_dir', '/home/cc/ros2/handeye/tmp')
         self.declare_parameter('width', 1280)
         self.declare_parameter('height', 720)
         self.declare_parameter('fps', 15)
diff --git a/install/arm_application/lib/python3.11/site-packages/arm_application/operator_app.py b/install/arm_application/lib/python3.11/site-packages/arm_application/operator_app.py
index 2c38a27..0e93ba1 100644
--- a/install/arm_application/lib/python3.11/site-packages/arm_application/operator_app.py
+++ b/install/arm_application/lib/python3.11/site-packages/arm_application/operator_app.py
@@ -11,39 +11,69 @@ import sys
 import threading
 from pathlib import Path
 
-from PySide6.QtCore import Qt, QSize, QThread, QTimer, Signal
-from PySide6.QtGui import QColor, QFont, QPainter, QPen, QPixmap
+from PySide6.QtCore import QPoint, QRect, QRectF, QSize, Qt, QThread, QTimer, Signal
+from PySide6.QtGui import (
+    QBrush,
+    QColor,
+    QFont,
+    QFontMetrics,
+    QIcon,
+    QImage,
+    QMatrix3x3,
+    QPainter,
+    QPainterPath,
+    QPen,
+    QPixmap,
+    QPolygon,
+    QSurfaceFormat,
+    QVector3D,
+)
+from PySide6.QtOpenGL import QOpenGLBuffer, QOpenGLShader, QOpenGLShaderProgram, QOpenGLVertexArrayObject
+from PySide6.QtOpenGLWidgets import QOpenGLWidget
 from PySide6.QtWidgets import (
     QApplication,
+    QCheckBox,
     QDoubleSpinBox,
+    QSpinBox,
     QFrame,
     QGridLayout,
     QHBoxLayout,
     QLabel,
+    QLayout,
     QLineEdit,
     QListWidget,
     QListWidgetItem,
     QMainWindow,
-    QMessageBox,
     QPlainTextEdit,
     QPushButton,
     QScrollArea,
     QSizePolicy,
     QSlider,
+    QStyle,
+    QStyleOptionButton,
     QStackedWidget,
     QVBoxLayout,
     QWidget,
 )
 
+from arm_application.site_io import arm_short_id, listed_arms, load_site_dict
 from arm_application.operator_console import (
     _poll_tactile,
     catalog,
+    command_blocked_message,
+    command_lane,
     run_action,
+    stop_started,
     run_gripper_tune,
     status,
 )
+from arm_application import operator_arm_mesh as arm_mesh
+from arm_application import operator_gripper_mesh as gripper_mesh
+from arm_application import operator_arm_state as arm_state
+from arm_application import operator_gripper_state as grip_state
 from arm_application import operator_teach as teach
 from arm_application import operator_camera_view as camera_view
+from arm_application.operator_handeye_board import BoardWatch
 from arm_application import operator_tactile_view as tactile_view
 
 _LOGO = Path(__file__).resolve().parent / "operator_console_logo.png"
@@ -83,14 +113,21 @@ class ValueTune(QWidget):
         decimals: int = 0,
         slider_low: float | None = None,
         slider_high: float | None = None,
+        compact: bool = False,
     ) -> None:
         super().__init__()
         self._scale = 10 ** decimals
         self._guard = False
         row = QHBoxLayout(self)
         row.setContentsMargins(0, 0, 0, 0)
+        row.setSpacing(4)
         label = QLabel(title)
-        label.setFixedWidth(88)
+        label.setFixedWidth(36 if compact else 88)
+        label.setAlignment(
+            Qt.AlignmentFlag.AlignRight | Qt.AlignmentFlag.AlignVCenter
+            if compact
+            else Qt.AlignmentFlag.AlignLeft | Qt.AlignmentFlag.AlignVCenter
+        )
         self.slider = QSlider(Qt.Orientation.Horizontal)
         slo = low if slider_low is None else slider_low
         shi = high if slider_high is None else slider_high
@@ -105,8 +142,10 @@ class ValueTune(QWidget):
         self.spin.valueChanged.connect(self._from_spin)
         row.addWidget(label)
         row.addWidget(self.slider, 1)
-        self.spin.setFixedWidth(120)
+        self.spin.setFixedWidth(72 if compact else 120)
         row.addWidget(self.spin)
+        if compact:
+            self.setMaximumHeight(28)
 
     def _clamp_slider(self, value: float) -> int:
         raw = int(round(value * self._scale))
@@ -133,62 +172,212 @@ class ValueTune(QWidget):
         self.spin.setValue(value)
 
 
-class FrameLabel(QLabel):
-    """预览框。尺寸不跟图像走，否则每贴一帧标签就更大，画面会慢慢放大。"""
+class _PictureRow(QWidget):
+    """并排画面的高度跟格子宽度走，按 16:9 把画面铺满。
 
-    def __init__(self, text: str) -> None:
+    彩色是 848×480 和 1280×720，都接近 16:9。格子若被纵向拉高，
+    画面上下会留一条黑边，那块空白本该给触觉。
+    """
+
+    def __init__(self, columns: int) -> None:
+        super().__init__()
+        self._columns = max(1, columns)
+        self._lock = False
+        policy = QSizePolicy(QSizePolicy.Policy.Expanding, QSizePolicy.Policy.Preferred)
+        policy.setHeightForWidth(True)
+        self.setSizePolicy(policy)
+        self.setMinimumHeight(96)
+
+    def hasHeightForWidth(self) -> bool:  # noqa: N802
+        return True
+
+    def heightForWidth(self, width: int) -> int:  # noqa: N802
+        gap = 6 * max(0, self._columns - 1)
+        cell = max(1, (max(1, width) - gap) // self._columns)
+        return max(96, int(round(cell * 9 / 16)))
+
+    def resizeEvent(self, event) -> None:  # noqa: N802
+        super().resizeEvent(event)
+        if self._lock or self.width() < 40:
+            return
+        want = self.heightForWidth(self.width())
+        if abs(self.minimumHeight() - want) <= 1 and abs(self.maximumHeight() - want) <= 1:
+            return
+        self._lock = True
+        self.setMinimumHeight(want)
+        self.setMaximumHeight(want)
+        self._lock = False
+
+
+class FrameLabel(QLabel):
+    """预览框。尺寸不跟图像走，否则每贴一帧标签就更大，画面会慢慢放大。
+
+    画面自己画。不调用 ``setPixmap``：那一下会 ``updateGeometry``，
+    六路画面每帧都把整页布局重算一遍，窗口就卡。
+    """
+
+    def __init__(self, text: str, *, compact: bool = False) -> None:
         super().__init__(text)
+        self._compact = compact
         self.setAlignment(Qt.AlignmentFlag.AlignCenter)
-        self.setMinimumSize(320, 200)
+        self.setMinimumSize(96, 64) if compact else self.setMinimumSize(320, 200)
         self.setSizePolicy(QSizePolicy.Policy.Expanding, QSizePolicy.Policy.Expanding)
         self.setObjectName("shot")
         self._source = QPixmap()
+        self._scaled = QPixmap()
         self._token = 0
         self._drawn = QSize()
         self._busy = False
+        self._badge_title = ""
+        self._badge_detail = ""
 
     def sizeHint(self) -> QSize:
-        return QSize(480, 270)
+        return QSize(200, 112) if self._compact else QSize(480, 270)
 
     def minimumSizeHint(self) -> QSize:
-        return QSize(320, 200)
+        return QSize(96, 64) if self._compact else QSize(320, 200)
+
+    def setText(self, text: str) -> None:  # noqa: N802
+        self._source = QPixmap()
+        self._scaled = QPixmap()
+        self._token = 0
+        self._drawn = QSize()
+        super().setText(text)
+
+    def set_badge(self, title: str, detail: str = "") -> None:
+        """画在画面底部的名字和分辨率、帧率。文字变了才重画。"""
+        title = str(title or "")
+        detail = str(detail or "")
+        if title == self._badge_title and detail == self._badge_detail:
+            return
+        self._badge_title = title
+        self._badge_detail = detail
+        self.update()
 
     def show_jpeg(self, blob: bytes) -> None:
         token = id(blob)
-        if token != self._token:
-            pix = QPixmap()
-            if not pix.loadFromData(blob, "JPG"):
-                return
-            self._source = pix
-            self._token = token
-            self._drawn = QSize()
+        if token == self._token and not self._source.isNull():
+            self._draw(False)
+            return
+        pix = QPixmap()
+        if not pix.loadFromData(blob, "JPG"):
+            return
+        self._source = pix
+        self._token = token
+        self._drawn = QSize()
         self._draw(False)
 
-    def resizeEvent(self, event) -> None:
+    def show_rgb(self, blob: bytes, width: int, height: int) -> None:
+        """贴一块已经缩好的 RGB。不再在界面线程里解 JPEG。"""
+        token = id(blob)
+        if token == self._token and not self._source.isNull():
+            self._draw(False)
+            return
+        if width < 2 or height < 2 or len(blob) < width * height * 3:
+            return
+        image = QImage(blob, width, height, width * 3, QImage.Format.Format_RGB888).copy()
+        if image.isNull():
+            return
+        self._source = QPixmap.fromImage(image)
+        self._token = token
+        self._drawn = QSize()
+        self._draw(False)
+
+    def resizeEvent(self, event) -> None:  # noqa: N802
         super().resizeEvent(event)
         self._drawn = QSize()
         self._draw(True)
 
-    def _draw(self, smooth: bool) -> None:
+    def paintEvent(self, event) -> None:  # noqa: N802
+        if self._scaled.isNull():
+            super().paintEvent(event)
+            if self._badge_title or self._badge_detail:
+                painter = QPainter(self)
+                self._clip_round(painter)
+                self._paint_badge(painter)
+                painter.end()
+            return
+        painter = QPainter(self)
+        self._clip_round(painter)
+        painter.fillRect(self.rect(), QColor("#090c11"))
+        pix = self._scaled
+        frame = self._picture_rect()
+        painter.drawPixmap(
+            frame.x() + (frame.width() - pix.width()) // 2,
+            frame.y() + (frame.height() - pix.height()) // 2,
+            pix,
+        )
+        self._paint_badge(painter)
+        painter.end()
+
+    def _clip_round(self, painter: QPainter) -> None:
+        painter.setRenderHint(QPainter.RenderHint.Antialiasing)
+        path = QPainterPath()
+        path.addRoundedRect(QRectF(self.rect()), 10, 10)
+        painter.setClipPath(path)
+
+    def _paint_badge(self, painter: QPainter) -> None:
+        if not self._badge_title and not self._badge_detail:
+            return
+        bar = self._caption_h()
+        top = max(0, self.height() - bar)
+        painter.fillRect(0, top, self.width(), bar, QColor("#0c1016"))
+        font = QFont(painter.font())
+        font.setPixelSize(12)
+        painter.setFont(font)
+        painter.setPen(QColor("#f4f7fb"))
+        detail = self._badge_detail
+        if detail:
+            title_w = max(0, self.width() // 2 - 14)
+            detail_w = max(0, self.width() // 2 - 14)
+        else:
+            title_w = max(0, self.width() - 16)
+            detail_w = 0
+        title = QFontMetrics(font).elidedText(self._badge_title, Qt.TextElideMode.ElideRight, title_w)
+        painter.drawText(
+            8, top, title_w, bar,
+            int(Qt.AlignmentFlag.AlignVCenter | Qt.AlignmentFlag.AlignLeft),
+            title,
+        )
+        if detail_w:
+            detail_font = QFont("DejaVu Sans Mono")
+            detail_font.setPixelSize(11)
+            painter.setFont(detail_font)
+            painter.setPen(QColor("#d5deea"))
+            shown = QFontMetrics(detail_font).elidedText(detail, Qt.TextElideMode.ElideLeft, detail_w)
+            painter.drawText(
+                self.width() // 2, top, detail_w, bar,
+                int(Qt.AlignmentFlag.AlignVCenter | Qt.AlignmentFlag.AlignRight),
+                shown,
+            )
+
+    def _caption_h(self) -> int:
+        return 24 if (self._badge_title or self._badge_detail) else 0
+
+    def _picture_rect(self) -> QRect:
+        """画面停在标题条上面。标题条是实底，图像不再从字下面透出来。"""
+        bar = self._caption_h()
+        return QRect(0, 0, max(1, self.width()), max(1, self.height() - bar))
+
+    def _draw(self, _smooth: bool) -> None:
         if self._busy or self._source.isNull():
             return
-        size = self.contentsRect().size()
+        size = self._picture_rect().size()
         if size.width() < 8 or size.height() < 8 or size == self._drawn:
             return
         self._busy = True
         try:
-            mode = (
-                Qt.TransformationMode.SmoothTransformation
-                if smooth
-                else Qt.TransformationMode.FastTransformation
-            )
-            self.setPixmap(self._source.scaled(
+            # 缩放用平滑。快缩放会把原图重新弄糊，帧率并不靠它省出来。
+            mode = Qt.TransformationMode.SmoothTransformation
+            self._scaled = self._source.scaled(
                 size,
                 Qt.AspectRatioMode.KeepAspectRatio,
                 mode,
-            ))
-            self.setText("")
+            )
             self._drawn = QSize(size)
+            if self.text():
+                super().setText("")
+            self.update()
         finally:
             self._busy = False
 
@@ -273,21 +462,753 @@ def _title(text: str) -> QLabel:
     return label
 
 
+def _section(text: str) -> QWidget:
+    """一小节的标题。左侧一条色标，用来把相机、触觉、操作分开。"""
+    row = QWidget()
+    row.setFixedHeight(36)
+    lay = QHBoxLayout(row)
+    lay.setContentsMargins(0, 0, 0, 0)
+    lay.setSpacing(6)
+    lay.setAlignment(Qt.AlignmentFlag.AlignVCenter)
+    mark = QFrame()
+    mark.setObjectName("sectionMark")
+    mark.setFixedSize(3, 12)
+    lay.addWidget(mark)
+    label = QLabel(text)
+    label.setObjectName("section")
+    lay.addWidget(label)
+    lay.addStretch(1)
+    return row
+
+
+def _segment_box() -> QWidget:
+    """一对开关。外框固定高度，里面两颗按钮不再各自被拉成一条。"""
+    box = QWidget()
+    box.setObjectName("switch")
+    box.setFixedHeight(36)
+    box.setSizePolicy(QSizePolicy.Policy.Fixed, QSizePolicy.Policy.Fixed)
+    lay = QHBoxLayout(box)
+    lay.setContentsMargins(3, 3, 3, 3)
+    lay.setSpacing(2)
+    return box
+
+
+def _segment_button(button: QPushButton) -> None:
+    button.setObjectName("seg")
+    button.setFixedHeight(30)
+    button.setMinimumWidth(52)
+    button.setSizePolicy(QSizePolicy.Policy.Fixed, QSizePolicy.Policy.Fixed)
+    button.setCursor(Qt.CursorShape.PointingHandCursor)
+
+
 def _btn(text: str, danger: bool = False) -> QPushButton:
     button = QPushButton(text)
     button.setObjectName("danger" if danger else "action")
+    button.setCursor(Qt.CursorShape.PointingHandCursor)
     return button
 
 
+def _fit_text(label: QLabel) -> QLabel:
+    """长状态文字不能把窗口撑得比屏幕宽，否则标题栏拖不动。"""
+    label.setMinimumWidth(0)
+    label.setSizePolicy(QSizePolicy.Policy.Ignored, QSizePolicy.Policy.Preferred)
+    return label
+
+
+def _action_icon(name: str) -> QPixmap:
+    """操作键上的图案。自己画，不靠系统图标主题，也比一个符号字清楚。"""
+    pix = QPixmap(64, 64)
+    pix.setDevicePixelRatio(2.0)
+    pix.fill(Qt.GlobalColor.transparent)
+    painter = QPainter(pix)
+    painter.setRenderHint(QPainter.RenderHint.Antialiasing)
+    ink = QColor("#e8eef6")
+    accent = QColor("#8eb7ff")
+    painter.setPen(QPen(ink, 1.8, Qt.PenStyle.SolidLine, Qt.PenCapStyle.RoundCap, Qt.PenJoinStyle.RoundJoin))
+    painter.setBrush(Qt.BrushStyle.NoBrush)
+    if name in ("real_up",):
+        painter.drawEllipse(QRectF(7, 7, 18, 18))
+        painter.setPen(QPen(accent, 2.2, Qt.PenStyle.SolidLine, Qt.PenCapStyle.RoundCap))
+        painter.drawLine(16, 8, 16, 16)
+    elif name in ("camera_d405", "camera_d435"):
+        painter.setBrush(QColor(94, 168, 255, 56))
+        painter.drawRoundedRect(QRectF(4, 10, 24, 14), 3, 3)
+        painter.setBrush(QColor("#10141b"))
+        painter.drawEllipse(QRectF(11, 12, 10, 10))
+        painter.setBrush(accent)
+        painter.drawEllipse(QRectF(14.2, 15.2, 3.6, 3.6))
+        painter.setBrush(Qt.BrushStyle.NoBrush)
+        painter.setPen(QPen(ink, 1.6, Qt.PenStyle.SolidLine, Qt.PenCapStyle.RoundCap, Qt.PenJoinStyle.RoundJoin))
+        if name == "camera_d435":
+            painter.drawLine(10, 24, 8, 28)
+            painter.drawLine(22, 24, 24, 28)
+            painter.drawLine(8, 28, 24, 28)
+        else:
+            painter.drawRoundedRect(QRectF(12, 6, 8, 4), 1.2, 1.2)
+    elif name == "tactile_up":
+        painter.setBrush(QColor(94, 168, 255, 56))
+        painter.drawRoundedRect(QRectF(10, 4, 12, 18), 6, 6)
+        painter.setBrush(accent)
+        painter.setPen(Qt.PenStyle.NoPen)
+        for row in (9, 15):
+            for col in (13, 18):
+                painter.drawEllipse(QRectF(col, row, 2.4, 2.4))
+        painter.setPen(QPen(ink, 1.6, Qt.PenStyle.SolidLine, Qt.PenCapStyle.RoundCap))
+        painter.setBrush(Qt.BrushStyle.NoBrush)
+        painter.drawLine(12, 22, 12, 28)
+        painter.drawLine(20, 22, 20, 28)
+        painter.drawLine(10, 28, 22, 28)
+    elif name in ("gripper_up", "gripper_open", "gripper_close", "gripper_probe", "gripper_rotate"):
+        painter.drawRoundedRect(QRectF(6, 13, 20, 6), 1.5, 1.5)
+        left = 8 if name != "gripper_open" else 5
+        right = 20 if name != "gripper_open" else 23
+        if name == "gripper_close":
+            left, right = 12, 16
+        painter.setBrush(QColor(94, 168, 255, 80))
+        painter.drawRoundedRect(QRectF(left, 6, 4, 16), 1.2, 1.2)
+        painter.drawRoundedRect(QRectF(right, 6, 4, 16), 1.2, 1.2)
+        painter.setBrush(Qt.BrushStyle.NoBrush)
+        if name == "gripper_probe":
+            painter.setPen(QPen(accent, 1.6, Qt.PenStyle.SolidLine, Qt.PenCapStyle.RoundCap))
+            painter.drawArc(QRectF(18, 18, 10, 10), 40 * 16, 220 * 16)
+        elif name == "gripper_rotate":
+            painter.setPen(QPen(accent, 1.8, Qt.PenStyle.SolidLine, Qt.PenCapStyle.RoundCap))
+            painter.drawArc(QRectF(8, 20, 16, 10), 20 * 16, 200 * 16)
+            painter.drawLine(22, 24, 25, 22)
+            painter.drawLine(22, 24, 24, 27)
+    elif name == "pipeline":
+        painter.setBrush(accent)
+        painter.setPen(Qt.PenStyle.NoPen)
+        path = QPainterPath()
+        path.moveTo(11, 7)
+        path.lineTo(24, 16)
+        path.lineTo(11, 25)
+        path.closeSubpath()
+        painter.drawPath(path)
+    elif name == "stage_track":
+        painter.drawEllipse(QRectF(6, 6, 20, 20))
+        painter.drawLine(16, 4, 16, 10)
+        painter.drawLine(16, 22, 16, 28)
+        painter.drawLine(4, 16, 10, 16)
+        painter.drawLine(22, 16, 28, 16)
+        painter.setBrush(accent)
+        painter.setPen(Qt.PenStyle.NoPen)
+        painter.drawEllipse(QRectF(14, 14, 4, 4))
+    elif name == "stage_locate":
+        painter.drawEllipse(QRectF(5, 5, 22, 22))
+        painter.drawEllipse(QRectF(10, 10, 12, 12))
+        painter.setBrush(accent)
+        painter.setPen(Qt.PenStyle.NoPen)
+        painter.drawEllipse(QRectF(14, 14, 4, 4))
+    elif name == "stage_screw":
+        painter.setPen(QPen(ink, 1.8, Qt.PenStyle.SolidLine, Qt.PenCapStyle.RoundCap))
+        painter.drawArc(QRectF(6, 6, 20, 20), 40 * 16, 280 * 16)
+        painter.setPen(QPen(accent, 1.8, Qt.PenStyle.SolidLine, Qt.PenCapStyle.RoundCap))
+        painter.drawLine(23, 8, 26, 6)
+        painter.drawLine(23, 8, 20, 5)
+        painter.setPen(QPen(ink, 1.6, Qt.PenStyle.SolidLine, Qt.PenCapStyle.RoundCap))
+        painter.drawLine(16, 12, 16, 20)
+    elif name in ("reset_home", "nav_main"):
+        path = QPainterPath()
+        path.moveTo(16, 5)
+        path.lineTo(27, 14)
+        path.lineTo(24, 14)
+        path.lineTo(24, 26)
+        path.lineTo(8, 26)
+        path.lineTo(8, 14)
+        path.lineTo(5, 14)
+        path.closeSubpath()
+        painter.setBrush(QColor(94, 168, 255, 56))
+        painter.drawPath(path)
+        painter.setBrush(accent)
+        painter.drawRect(QRectF(13, 18, 6, 8))
+    elif name == "nav_eye":
+        painter.drawEllipse(QRectF(4, 10, 24, 12))
+        painter.setBrush(accent)
+        painter.drawEllipse(QRectF(12, 12, 8, 8))
+        painter.setBrush(QColor("#10141b"))
+        painter.drawEllipse(QRectF(14.5, 14.5, 3, 3))
+    elif name == "nav_pen":
+        painter.drawLine(8, 24, 20, 8)
+        painter.setPen(QPen(accent, 1.8, Qt.PenStyle.SolidLine, Qt.PenCapStyle.RoundCap))
+        painter.drawLine(20, 8, 24, 6)
+        painter.setPen(QPen(ink, 1.8, Qt.PenStyle.SolidLine, Qt.PenCapStyle.RoundCap))
+        painter.drawLine(6, 26, 12, 22)
+    elif name == "gauge_dry":
+        painter.drawRoundedRect(QRectF(6, 6, 20, 20), 3, 3)
+        painter.setBrush(accent)
+        painter.setPen(Qt.PenStyle.NoPen)
+        path = QPainterPath()
+        path.moveTo(13, 11)
+        path.lineTo(21, 16)
+        path.lineTo(13, 21)
+        path.closeSubpath()
+        painter.drawPath(path)
+    elif name == "gauge_run":
+        painter.setBrush(accent)
+        painter.setPen(Qt.PenStyle.NoPen)
+        painter.drawRoundedRect(QRectF(6, 6, 20, 20), 4, 4)
+        painter.setBrush(QColor("#10141b"))
+        path = QPainterPath()
+        path.moveTo(13, 11)
+        path.lineTo(21, 16)
+        path.lineTo(13, 21)
+        path.closeSubpath()
+        painter.drawPath(path)
+    else:
+        painter.drawEllipse(QRectF(8, 8, 16, 16))
+    painter.end()
+    return pix
+
+
+class CommandButton(QPushButton):
+    """操作键。背景自己画成圆角矩形，图标和文字都落在这块矩形里面。
+
+    ``bar`` 用在相机、触觉那一行：图标在左、字在右，高度跟旁边的开关一样。
+    操作区用上下排，避免和系统按钮样式叠出两层边、再把邻居挤变形。
+    """
+
+    def __init__(self, text: str, kind: str, mark: str, *, bar: bool = False) -> None:
+        super().__init__(text)
+        self._bar = bar
+        self._pix = _action_icon(mark)
+        self.setIcon(QIcon(self._pix))
+        self.setObjectName(kind)
+        self.setCursor(Qt.CursorShape.PointingHandCursor)
+        self.setMinimumWidth(0)
+        self.setFixedHeight(36 if bar else 60)
+        self.setSizePolicy(
+            QSizePolicy.Policy.Expanding if not bar else QSizePolicy.Policy.Preferred,
+            QSizePolicy.Policy.Fixed,
+        )
+
+    def sizeHint(self) -> QSize:
+        if self._bar:
+            width = QFontMetrics(self.font()).horizontalAdvance(self.text()) + 46
+            return QSize(max(96, width), 36)
+        return QSize(108, 60)
+
+    def minimumSizeHint(self) -> QSize:
+        return QSize(88 if self._bar else 96, self.height())
+
+    def paintEvent(self, _event) -> None:  # noqa: N802
+        painter = QPainter(self)
+        painter.setRenderHint(QPainter.RenderHint.Antialiasing)
+        option = QStyleOptionButton()
+        self.initStyleOption(option)
+        rect = QRectF(self.rect()).adjusted(0.5, 0.5, -0.5, -0.5)
+        path = QPainterPath()
+        path.addRoundedRect(rect, 8, 8)
+        painter.setClipPath(path)
+        hover = bool(option.state & QStyle.StateFlag.State_MouseOver)
+        down = bool(option.state & QStyle.StateFlag.State_Sunken)
+        kind = self.objectName()
+        if kind == "primary":
+            fill = QColor("#2460ad" if hover else "#1d4f91")
+            border = QColor("#6ea2ea")
+            ink = QColor("#f4f7fb")
+        elif kind == "danger":
+            fill = QColor("#3a1c20" if hover else "#241416")
+            border = QColor("#c46a6a" if hover else "#8a4a4a")
+            ink = QColor("#f6d5d5")
+        else:
+            fill = QColor("#263041" if hover else "#1c2430")
+            border = QColor("#5c6b82" if hover else "#3d4b60")
+            ink = QColor("#e7ebf2")
+        if down:
+            fill = fill.darker(115)
+        painter.fillPath(path, fill)
+        painter.setPen(QPen(border, 1))
+        painter.setBrush(Qt.BrushStyle.NoBrush)
+        painter.drawPath(path)
+        font = QFont(self.font())
+        if self._bar:
+            icon_box = QRect(8, (self.height() - 18) // 2, 18, 18)
+            painter.drawPixmap(icon_box, self._pix)
+            font.setPixelSize(13)
+            text_rect = QRect(32, 0, max(0, self.width() - 40), self.height())
+            align = Qt.AlignmentFlag.AlignVCenter | Qt.AlignmentFlag.AlignLeft
+        else:
+            icon_box = QRect((self.width() - 22) // 2, 6, 22, 22)
+            painter.drawPixmap(icon_box, self._pix)
+            font.setPixelSize(12)
+            text_rect = QRect(6, 32, max(0, self.width() - 12), 22)
+            align = Qt.AlignmentFlag.AlignHCenter | Qt.AlignmentFlag.AlignVCenter
+        painter.setFont(font)
+        painter.setPen(ink)
+        shown = QFontMetrics(font).elidedText(
+            self.text(), Qt.TextElideMode.ElideRight, text_rect.width(),
+        )
+        painter.drawText(text_rect, int(align), shown)
+        painter.end()
+
+
+# Qt 的 QOpenGLFunctions 只带函数，不带这些枚举。数值是 OpenGL 规范里的固定值。
+_GL_TRIANGLES = 0x0004
+_GL_DEPTH_BUFFER_BIT = 0x00000100
+_GL_CULL_FACE = 0x0B44
+_GL_DEPTH_TEST = 0x0B71
+_GL_FLOAT = 0x1406
+_GL_COLOR_BUFFER_BIT = 0x00004000
+_AXIS_X = QColor("#e24b4b")
+_AXIS_Y = QColor("#3dbe6a")
+_AXIS_Z = QColor("#4c86d4")
+# 打开界面时的观察角。双击只回到这里，不改关节。
+_VIEW_YAW = 0.9
+_VIEW_PITCH = -0.35
+
+
+_MESH_VERT = """
+#version 330 core
+layout(location = 0) in vec3 a_pos;
+layout(location = 1) in vec3 a_color;
+uniform mat3 u_rot;
+uniform vec3 u_center;
+uniform float u_sx;
+uniform float u_sy;
+uniform float u_radius;
+out vec3 v_color;
+void main() {
+    vec3 p = u_rot * (a_pos - u_center);
+    gl_Position = vec4(p.x * u_sx, p.z * u_sy, p.y / (u_radius * 2.0), 1.0);
+    v_color = a_color;
+}
+"""
+
+_MESH_FRAG = """
+#version 330 core
+in vec3 v_color;
+uniform float u_tint;
+out vec4 frag_color;
+void main() {
+    frag_color = vec4(v_color * u_tint, 1.0);
+}
+"""
+
+
+class MeshView(QOpenGLWidget):
+    """三角网格。左键拖拽绕模型转视角，三角面交给显卡画。"""
+
+    def __init__(self, min_w: int, min_h: int) -> None:
+        super().__init__()
+        fmt = QSurfaceFormat()
+        fmt.setRenderableType(QSurfaceFormat.RenderableType.OpenGL)
+        fmt.setVersion(3, 3)
+        fmt.setProfile(QSurfaceFormat.OpenGLContextProfile.CoreProfile)
+        fmt.setSamples(4)
+        fmt.setDepthBufferSize(24)
+        self.setFormat(fmt)
+        self._tris: list = []
+        self._note = ""
+        self._live = False
+        self._yaw = _VIEW_YAW
+        self._pitch = _VIEW_PITCH
+        self._press: QPoint | None = None
+        self._cache_key: tuple | None = None
+        self._batch: list[tuple[QColor, QPolygon]] = []
+        self._gen = 0
+        self._sig: tuple | None = None
+        self._gl_blob = b""
+        self._gl_count = 0
+        self._gl_center = (0.0, 0.0, 0.0)
+        self._gl_radius = 1.0
+        self._gl_dirty = False
+        self._gl_program: QOpenGLShaderProgram | None = None
+        self._gl_buffer: QOpenGLBuffer | None = None
+        self._gl_vao: QOpenGLVertexArrayObject | None = None
+        self._frames: list = []
+        self._thin_caption = False
+        self.setMinimumSize(min_w, min_h)
+        self.setSizePolicy(QSizePolicy.Policy.Expanding, QSizePolicy.Policy.Expanding)
+        self.setCursor(Qt.CursorShape.OpenHandCursor)
+
+    def set_mesh(self, triangles: list, note: str, live: bool) -> None:
+        live = bool(live)
+        sig = (len(triangles), note, live)
+        if triangles:
+            sig = sig + (triangles[0][0], triangles[-1][0])
+        if sig == self._sig:
+            return
+        self._sig = sig
+        self._tris = triangles
+        self._note = note
+        self._live = live
+        self._gen += 1
+        self._gl_count = 0
+        self.update()
+
+    def set_gl_mesh(
+        self,
+        blob: bytes,
+        count: int,
+        center: tuple[float, float, float],
+        radius: float,
+        note: str,
+        live: bool,
+    ) -> None:
+        """大网格走显卡顶点缓冲。拖视角不再在 CPU 上重算每个三角。"""
+        self._gl_blob = blob
+        self._gl_count = count
+        self._gl_center = center
+        self._gl_radius = radius
+        self._gl_dirty = True
+        self._tris = []
+        self._batch = []
+        self._note = note
+        self._live = bool(live)
+        self._sig = None
+        self.update()
+
+    def initializeGL(self) -> None:  # noqa: N802
+        program = QOpenGLShaderProgram(self)
+        ok = program.addShaderFromSourceCode(QOpenGLShader.ShaderTypeBit.Vertex, _MESH_VERT)
+        ok = program.addShaderFromSourceCode(QOpenGLShader.ShaderTypeBit.Fragment, _MESH_FRAG) and ok
+        program.bindAttributeLocation("a_pos", 0)
+        program.bindAttributeLocation("a_color", 1)
+        ok = program.link() and ok
+        if not ok:
+            self._note = "显卡着色器没链上，网格画不出来。"
+            self._gl_program = None
+            return
+        self._gl_program = program
+        self._gl_loc = {
+            name: program.uniformLocation(name.encode())
+            for name in ("u_rot", "u_center", "u_sx", "u_sy", "u_radius", "u_tint")
+        }
+        buffer = QOpenGLBuffer(QOpenGLBuffer.Type.VertexBuffer)
+        buffer.create()
+        self._gl_buffer = buffer
+        vao = QOpenGLVertexArrayObject(self)
+        vao.create()
+        self._gl_vao = vao
+
+    def mousePressEvent(self, event) -> None:  # noqa: N802
+        if event.button() == Qt.MouseButton.LeftButton:
+            self._press = event.position().toPoint()
+            self.setCursor(Qt.CursorShape.ClosedHandCursor)
+            event.accept()
+            return
+        super().mousePressEvent(event)
+
+    def mouseMoveEvent(self, event) -> None:  # noqa: N802
+        if self._press is None:
+            super().mouseMoveEvent(event)
+            return
+        now = event.position().toPoint()
+        self._yaw += (now.x() - self._press.x()) * 0.012
+        self._pitch = max(-1.35, min(1.35, self._pitch + (now.y() - self._press.y()) * 0.010))
+        self._press = now
+        self.update()
+        event.accept()
+
+    def mouseReleaseEvent(self, event) -> None:  # noqa: N802
+        self._press = None
+        self.setCursor(Qt.CursorShape.OpenHandCursor)
+        self.update()
+        event.accept()
+
+    def paintGL(self) -> None:  # noqa: N802
+        if self._gl_count and self._gl_program is not None and self._gl_buffer is not None:
+            self._paint_gpu()
+            return
+        # 夹爪面少，仍用画笔。机械臂不走这里。
+        key = (self.width(), self.height(), round(self._yaw, 3), round(self._pitch, 3), self._gen)
+        if key != self._cache_key:
+            self._batch = self._project()
+            self._cache_key = key
+        painter = QPainter(self)
+        painter.setRenderHint(QPainter.RenderHint.Antialiasing)
+        painter.fillRect(self.rect(), QColor("#0c0e12"))
+        if not self._batch and not self._tris:
+            painter.setPen(QColor("#8b929d"))
+            painter.drawText(self.rect(), int(Qt.AlignmentFlag.AlignCenter), self._note or "没有网格")
+            painter.end()
+            return
+        painter.setPen(Qt.PenStyle.NoPen)
+        for color, poly in self._batch:
+            painter.setBrush(QBrush(color))
+            painter.drawPolygon(poly)
+        self._paint_caption(painter)
+        painter.end()
+
+    def _caption(self) -> str:
+        return "左键拖拽改视角。 " + self._note
+
+    def _paint_gpu(self) -> None:
+        """一次画出全部三角。视角只改 uniform，不把面片搬回 CPU。"""
+        painter = QPainter(self)
+        painter.beginNativePainting()
+        functions = self.context().functions()
+        functions.glClearColor(12 / 255, 14 / 255, 18 / 255, 1.0)
+        functions.glClear(_GL_COLOR_BUFFER_BIT | _GL_DEPTH_BUFFER_BIT)
+        functions.glEnable(_GL_DEPTH_TEST)
+        functions.glDisable(_GL_CULL_FACE)
+        program = self._gl_program
+        buffer = self._gl_buffer
+        vao = self._gl_vao
+        assert program is not None and buffer is not None and vao is not None
+        vao.bind()
+        program.bind()
+        buffer.bind()
+        if self._gl_dirty:
+            buffer.allocate(self._gl_blob, len(self._gl_blob))
+            self._gl_dirty = False
+        program.setAttributeBuffer(0, _GL_FLOAT, 0, 3, 24)
+        program.setAttributeBuffer(1, _GL_FLOAT, 12, 3, 24)
+        program.enableAttributeArray(0)
+        program.enableAttributeArray(1)
+        rot = arm_mesh.view_rotation(self._yaw, self._pitch)
+        # QMatrix3x3 按行读入。GLSL 再按列使用，和 view_rotation 的行向量乘法一致。
+        flat = [rot[row][col] for row in range(3) for col in range(3)]
+        loc = self._gl_loc
+        program.setUniformValue(loc["u_rot"], QMatrix3x3(flat))
+        cx, cy, cz = self._gl_center
+        program.setUniformValue(loc["u_center"], QVector3D(cx, cy, cz))
+        width = max(self.width(), 1)
+        height = max(self.height(), 1)
+        sx, sy = arm_mesh.view_scale(self._gl_radius, width, height)
+        program.setUniformValue1f(loc["u_sx"], sx)
+        program.setUniformValue1f(loc["u_sy"], sy)
+        program.setUniformValue1f(loc["u_radius"], self._gl_radius)
+        program.setUniformValue1f(loc["u_tint"], 1.0 if self._live else 0.55)
+        functions.glDrawArrays(_GL_TRIANGLES, 0, self._gl_count)
+        buffer.release()
+        program.release()
+        vao.release()
+        painter.endNativePainting()
+        self._paint_ground(painter)
+        self._paint_frames(painter)
+        self._paint_caption(painter)
+        painter.end()
+
+    def _caption_band(self) -> int:
+        if self._thin_caption:
+            return 16
+        return 14 if self.height() < 160 else 60
+
+    def _paint_caption(self, painter: QPainter) -> None:
+        band = self._caption_band()
+        if band <= 16:
+            rect = QRect(6, self.height() - 16, self.width() - 12, 14)
+        else:
+            rect = QRect(12, self.height() - 72, self.width() - 24, 60)
+        painter.setPen(QColor("#8b929d"))
+        painter.drawText(
+            rect,
+            int(Qt.AlignmentFlag.AlignLeft | Qt.AlignmentFlag.AlignBottom | Qt.TextFlag.TextWordWrap),
+            self._caption(),
+        )
+
+    def _paint_ground(self, painter: QPainter) -> None:
+        """地平面格子。只在机械臂仿真上画，线数固定，不跟模型一起重算。"""
+        if not self._frames or self.width() < 8 or self.height() < 8:
+            return
+        pen = QPen(QColor("#3a4150"))
+        pen.setWidth(1)
+        painter.setPen(pen)
+        width = self.width()
+        height = self.height()
+        for start, end in arm_mesh.ground_grid():
+            x0, y0 = arm_mesh.screen_point(
+                start, self._yaw, self._pitch, self._gl_center, self._gl_radius, width, height,
+            )
+            x1, y1 = arm_mesh.screen_point(
+                end, self._yaw, self._pitch, self._gl_center, self._gl_radius, width, height,
+            )
+            painter.drawLine(int(x0), int(y0), int(x1), int(y1))
+
+    def _paint_frames(self, painter: QPainter) -> None:
+        """坐标系画在地面格子上面。轴长 0.15 m，和模型同一套米制。"""
+        if not self._frames or self.width() < 8 or self.height() < 8:
+            return
+        length = 0.15
+        width = self.width()
+        height = self.height()
+        for frame in self._frames:
+            origin = frame["pos"]
+            rot = frame["rot"]
+            ox, oy = arm_mesh.screen_point(
+                origin, self._yaw, self._pitch, self._gl_center, self._gl_radius, width, height,
+            )
+            for axis, color in enumerate((_AXIS_X, _AXIS_Y, _AXIS_Z)):
+                tip = arm_mesh.axis_tip(origin, rot, axis, length)
+                tx, ty = arm_mesh.screen_point(
+                    tip, self._yaw, self._pitch, self._gl_center, self._gl_radius, width, height,
+                )
+                pen = QPen(color)
+                pen.setWidth(3)
+                painter.setPen(pen)
+                painter.drawLine(int(ox), int(oy), int(tx), int(ty))
+            painter.setPen(QColor("#e7ebf0"))
+            painter.drawText(int(ox) + 8, int(oy) - 8, frame["name"])
+
+    def _project(self) -> list[tuple[QColor, QPolygon]]:
+        triangles = self._tris
+        if not triangles or self.width() < 8 or self.height() < 8:
+            return []
+        rot = arm_mesh.view_rotation(self._yaw, self._pitch)
+        projected = []
+        for item in triangles:
+            a, b, c = item[0], item[1], item[2]
+            shade = float(item[3])
+            rgb = item[4] if len(item) > 4 else (0.75, 0.76, 0.78)
+            pts = [arm_mesh._apply(rot, p) for p in (a, b, c)]
+            screen = [(p[0], -p[2]) for p in pts]
+            depth = pts[0][1] + pts[1][1] + pts[2][1]
+            projected.append((depth, shade, rgb, screen))
+        projected.sort(key=lambda row: row[0], reverse=True)
+        xs = [p[0] for _d, _s, _c, pts in projected for p in pts]
+        ys = [p[1] for _d, _s, _c, pts in projected for p in pts]
+        span = max(max(xs) - min(xs), max(ys) - min(ys), 1e-4)
+        band = self._caption_band()
+        scale = min(self.width() - 20, max(8, self.height() - band - 8)) / span
+        cx = (min(xs) + max(xs)) / 2
+        cy = (min(ys) + max(ys)) / 2
+        origin_y = (self.height() - band) / 2
+        tint = 1.0 if self._live else 0.55
+        batch = []
+        for _depth, shade, rgb, pts in projected:
+            light = (0.55 + 0.45 * max(0.0, min(1.0, shade))) * tint
+            color = QColor(
+                int(max(0, min(255, rgb[0] * 255 * light))),
+                int(max(0, min(255, rgb[1] * 255 * light))),
+                int(max(0, min(255, rgb[2] * 255 * light))),
+            )
+            poly = QPolygon([
+                QPoint(
+                    int(self.width() / 2 + (point[0] - cx) * scale),
+                    int(origin_y + (point[1] - cy) * scale),
+                )
+                for point in pts
+            ])
+            batch.append((color, poly))
+        return batch
+
+
+class ArmSketch(MeshView):
+    """用非夕 Rizon4 的外壳网格画当前姿态。没有关节角时摆在零位，并标明。
+
+    双击把观察角放回打开界面时的角度。关节仍是实时的，真机不动。
+    """
+
+    def __init__(self) -> None:
+        super().__init__(240, 180)
+        self._workpiece = None
+        self._pose_key = None
+
+    def _caption(self) -> str:
+        return "左键拖拽改视角。双击把视角复位。 " + self._note
+
+    def mouseDoubleClickEvent(self, event) -> None:  # noqa: N802
+        if event.button() != Qt.MouseButton.LeftButton:
+            return
+        self._yaw = _VIEW_YAW
+        self._pitch = _VIEW_PITCH
+        self._press = None
+        self.update()
+        event.accept()
+
+    def set_pose(self, q: list | None, live: bool, workpiece: tuple | None = None) -> None:
+        self._workpiece = workpiece
+        if isinstance(q, list) and len(q) >= 7:
+            joints = [round(float(v), 3) for v in q[:7]]
+            draw_live = bool(live)
+        else:
+            joints = [0.0] * 7
+            draw_live = False
+        try:
+            pose_key = (tuple(joints), draw_live, _workpiece_key(workpiece))
+            if pose_key == self._pose_key:
+                return
+            self._pose_key = pose_key
+            blob, count, center, radius = arm_mesh.posed_gl(joints)
+            self._frames = arm_state.display_frames(joints, workpiece)
+        except Exception as exc:  # noqa: BLE001 —— 网格缺失时把原因画出来，不退回另一套模型
+            self._pose_key = None
+            self._frames = []
+            self.set_mesh([], f"厂家网格读失败：{exc}", False)
+            return
+        names = "、".join(item["name"] for item in self._frames)
+        if not draw_live:
+            note = f"非夕 Rizon4 外壳，零位。还没有关节角，这不是当前姿态。坐标系：{names}。"
+        else:
+            note = f"非夕 Rizon4 外壳，按实时关节角摆放。白壳和灰蓝关节是厂家材质。坐标系：{names}。"
+        self.set_gl_mesh(blob, count, center, radius, note, draw_live)
+
+
+def _workpiece_key(workpiece: tuple | None) -> tuple | None:
+    if workpiece is None:
+        return None
+    rot, pos = workpiece
+    return (
+        tuple(round(float(v), 5) for row in rot for v in row),
+        tuple(round(float(v), 5) for v in pos),
+    )
+
+
+def _workpieces_by_arm(site: dict) -> dict[str, tuple | None]:
+    """每台真机臂的工件系。没配完整坐标系就是 None，法兰继续画在法兰上。"""
+    found: dict[str, tuple | None] = {}
+    robots = ((site or {}).get("robot") or {}).get("robots") or []
+    for robot in robots:
+        if not isinstance(robot, dict):
+            continue
+        sn = str(robot.get("sn") or "")
+        if sn.lower() == "sim":
+            continue
+        arm_no = arm_short_id(sn)
+        if arm_no:
+            found[arm_no] = arm_state.workpiece_frame(robot)
+    return found
+
+
+class GripperSketch(MeshView):
+    """按尺寸图画大寰夹爪。开口和旋转跟寄存器走。"""
+
+    def __init__(self, min_w: int = 360, min_h: int = 280) -> None:
+        super().__init__(min_w, min_h)
+        self._thin_caption = True
+
+    def _caption(self) -> str:
+        return "拖拽改视角"
+
+    def set_pose(
+        self,
+        permille: float | None,
+        rotation_deg: float | None,
+        rotary: bool,
+        live: bool,
+        stroke_mm: float | None = None,
+    ) -> None:
+        if isinstance(permille, (int, float)):
+            permille = round(float(permille))
+        if isinstance(rotation_deg, (int, float)):
+            rotation_deg = round(float(rotation_deg), 1)
+        pose_key = (bool(rotary), permille, rotation_deg, bool(live), stroke_mm)
+        if pose_key == getattr(self, "_pose_key", None):
+            return
+        self._pose_key = pose_key
+        triangles, note = gripper_mesh.triangles(bool(rotary), permille, rotation_deg, stroke_mm)
+        if live and permille is not None:
+            note = f"开口 {float(permille):.0f}‰  " + note
+            if rotary and isinstance(rotation_deg, (int, float)):
+                note = f"转角 {float(rotation_deg):.1f}°  " + note
+        self.set_mesh(triangles, note, bool(live) and permille is not None)
+
+
 class StationApp(QMainWindow):
     def __init__(self) -> None:
         super().__init__()
         self.setWindowTitle("ORISYS 通止规工位")
         self.resize(1440, 900)
-        self._arm = "89"
+        site = load_site_dict()
+        self._catalog = listed_arms(site)
+        self._workpieces = _workpieces_by_arm(site)
+        self._board = BoardWatch()
+        self._arm = self._catalog[0]["id"] if self._catalog else ""
         self._mode = "eye_in_hand"
         self._snap: dict = {}
-        self._job: _Job | None = None
+        self._jobs: dict[str, _Job] = {}
         self._teach_sig: tuple | None = None
         self._pages: dict[str, QWidget] = {}
         self._nav: list[tuple[str, QPushButton]] = []
@@ -297,7 +1218,8 @@ class StationApp(QMainWindow):
         self._timer.start(800)
         self._images = QTimer(self)
         self._images.timeout.connect(self._paint_images)
-        self._images.start(200)
+        # 和相机预览同一档：大约 20 帧，推理框才跟得上画面。
+        self._images.start(16)
         self._stack.currentChanged.connect(lambda _index: self._paint_images())
         self._refresh()
 
@@ -307,93 +1229,105 @@ class StationApp(QMainWindow):
         layout = QHBoxLayout(root)
         layout.setContentsMargins(0, 0, 0, 0)
         layout.setSpacing(0)
+        # 子控件的最小宽度不许写进窗口。否则一串长状态会把窗口撑过屏幕，最大化后拖不动。
+        layout.setSizeConstraint(QLayout.SizeConstraint.SetNoConstraint)
         layout.addWidget(self._sidebar())
         right = QVBoxLayout()
         right.setContentsMargins(0, 0, 0, 0)
         right.setSpacing(0)
         right.addWidget(self._header())
         self._stack = QStackedWidget()
-        for key, _label in (
-            ("overview", "总览"),
-            ("tactile", "视触觉"),
-            ("handeye", "手眼"),
-            ("camera", "相机"),
-            ("gripper", "夹爪"),
-            ("control", "控制"),
-            ("teach", "示教"),
-            ("assembly", "装配"),
-            ("operate", "操作"),
-        ):
-            page = getattr(self, f"_page_{key}")()
+        handeye = self._page_handeye()
+        self._he_out.setFixedHeight(72)
+        built = (
+            ("main", self._page_overview()),
+            ("handeye", self._with_back(handeye, "手眼")),
+            ("teach", self._with_back(self._scroll(self._page_teach()), "示教")),
+        )
+        for key, page in built:
             self._pages[key] = page
             self._stack.addWidget(page)
         right.addWidget(self._stack, 1)
         self._detail = QPlainTextEdit()
+        self._detail.setObjectName("log")
         self._detail.setReadOnly(True)
-        self._detail.setFixedHeight(120)
+        self._detail.setFixedHeight(56)
         self._detail.setPlaceholderText("命令输出显示在这里")
         right.addWidget(self._detail)
         holder = QWidget()
         holder.setLayout(right)
         layout.addWidget(holder, 1)
-        self._show_page("overview")
+        self._show_page("main")
+        self.setMinimumSize(1100, 680)
+
+    def _with_back(self, inner: QWidget, title: str) -> QWidget:
+        page = QWidget()
+        lay = QVBoxLayout(page)
+        lay.setContentsMargins(12, 8, 12, 8)
+        bar = QHBoxLayout()
+        back = _btn("←  返回主界面")
+        back.clicked.connect(lambda: self._show_page("main"))
+        bar.addWidget(back)
+        bar.addWidget(_title(title))
+        bar.addStretch(1)
+        lay.addLayout(bar)
+        lay.addWidget(inner, 1)
+        return page
 
     def _sidebar(self) -> QWidget:
         bar = QWidget()
         bar.setObjectName("side")
-        bar.setFixedWidth(220)
+        bar.setFixedWidth(120)
         lay = QVBoxLayout(bar)
+        lay.setContentsMargins(10, 12, 10, 12)
+        lay.setSpacing(6)
         logo = QLabel()
         if _LOGO.is_file():
             pix = QPixmap(str(_LOGO))
-            logo.setPixmap(pix.scaledToWidth(180, Qt.TransformationMode.SmoothTransformation))
+            logo.setPixmap(pix.scaledToWidth(88, Qt.TransformationMode.SmoothTransformation))
         logo.setAlignment(Qt.AlignmentFlag.AlignCenter)
         lay.addWidget(logo)
-        station = QLabel("通止规工位")
-        station.setObjectName("sideNote")
-        station.setAlignment(Qt.AlignmentFlag.AlignCenter)
-        lay.addWidget(station)
+        brand = QLabel("通止规工位")
+        brand.setObjectName("brand")
+        brand.setAlignment(Qt.AlignmentFlag.AlignCenter)
+        lay.addWidget(brand)
         items = (
-            ("overview", "总览", "设备与流程"),
-            ("tactile", "视触觉", "切向、热成像、曲线"),
-            ("handeye", "手眼", "眼在手上 / 手外"),
-            ("camera", "相机", "D405 与 D435"),
-            ("gripper", "夹爪", "位置、力度、速度"),
-            ("control", "控制", "分步、整体、复位"),
-            ("teach", "示教", "软拖拽记点"),
-            ("assembly", "装配", "S00 到 S11"),
-            ("operate", "操作", "启动与确认"),
+            ("main", "主界面", "nav_main"),
+            ("handeye", "手眼", "nav_eye"),
+            ("teach", "示教", "nav_pen"),
         )
-        for key, name, hint in items:
-            button = QPushButton(f"{name}\n{hint}")
+        for key, name, mark in items:
+            button = QPushButton(name)
+            button.setIcon(QIcon(_action_icon(mark)))
+            button.setIconSize(QSize(18, 18))
             button.setObjectName("nav")
+            button.setFixedHeight(36)
             button.clicked.connect(lambda _checked=False, k=key: self._show_page(k))
             self._nav.append((key, button))
             lay.addWidget(button)
         lay.addStretch(1)
-        note = QLabel("读的是本机 USB、进程和话题。动臂、张合夹爪都要再确认一次。")
-        note.setWordWrap(True)
-        note.setObjectName("sideNote")
-        lay.addWidget(note)
         return bar
 
     def _header(self) -> QWidget:
         bar = QWidget()
         bar.setObjectName("head")
-        bar.setFixedHeight(64)
+        bar.setFixedHeight(52)
         lay = QHBoxLayout(bar)
-        self._arm_line = QLabel("左臂 89")
+        first = next((row for row in self._catalog if row["id"] == self._arm), None)
+        self._arm_line = QLabel(first["label"] if first else "没有机械臂")
         self._arm_line.setObjectName("armLine")
         lay.addWidget(self._arm_line)
         lay.addStretch(1)
         self._chips = QLabel("")
         self._chips.setObjectName("chips")
-        lay.addWidget(self._chips)
+        _fit_text(self._chips)
+        lay.addWidget(self._chips, 1)
         self._arm_buttons: dict[str, QPushButton] = {}
-        for arm, text in (("89", "左臂89"), ("91", "右臂91")):
-            button = _btn(text)
-            button.clicked.connect(lambda _checked=False, a=arm: self._set_arm(a))
-            self._arm_buttons[arm] = button
+        for row in self._catalog:
+            button = _btn(row["label"])
+            button.setObjectName("seg")
+            button.clicked.connect(lambda _checked=False, a=row["id"]: self._set_arm(a))
+            self._arm_buttons[row["id"]] = button
             lay.addWidget(button)
         self._clock = QLabel("--:--:--")
         self._clock.setObjectName("clock")
@@ -408,53 +1342,429 @@ class StationApp(QMainWindow):
         return area
 
     def _page_overview(self) -> QWidget:
+        """主界面。状态、仿真、相机、触觉和操作键都在这一屏，不放滚动区。"""
+        page = QWidget()
+        root = QHBoxLayout(page)
+        root.setContentsMargins(8, 6, 8, 6)
+        root.setSpacing(8)
+        root.addWidget(self._main_arm_column(), 2)
+        root.addWidget(self._main_work_column(), 5)
+        return page
+
+    def _main_arm_column(self) -> QWidget:
         page = QWidget()
         lay = QVBoxLayout(page)
-        self._lead = QLabel("")
-        self._lead.setObjectName("lead")
-        self._lead.setWordWrap(True)
-        lay.addWidget(self._lead)
-        grid = QGridLayout()
-        self._usb_labels: list[tuple[QLabel, QLabel, QLabel]] = []
-        for index, name in enumerate(("腕部 D405", "手外 D435", "视触觉", "夹爪串口")):
+        lay.setContentsMargins(0, 0, 0, 0)
+        lay.setSpacing(6)
+        self._arm_banner = _fit_text(QLabel(""))
+        self._arm_banner.setObjectName("warn")
+        self._arm_banner.setFixedHeight(22)
+        lay.addWidget(self._arm_banner)
+        usb = QHBoxLayout()
+        usb.setSpacing(6)
+        self._usb_labels: list[tuple[QLabel, QLabel]] = []
+        for name in ("腕部", "手外", "触觉", "串口"):
             card = _card()
+            card.setFixedHeight(48)
             box = QVBoxLayout(card)
-            box.addWidget(_title(name))
+            box.setContentsMargins(8, 4, 8, 4)
+            box.setSpacing(0)
+            title = _title(name)
+            title.setAlignment(Qt.AlignmentFlag.AlignCenter)
+            box.addWidget(title)
             count = QLabel("—")
-            count.setObjectName("stat")
+            count.setObjectName("count")
+            count.setAlignment(Qt.AlignmentFlag.AlignCenter)
             flag = QLabel("")
-            detail = QLabel("")
-            detail.setObjectName("muted")
-            detail.setWordWrap(True)
-            box.addWidget(count)
-            box.addWidget(flag)
-            box.addWidget(detail)
-            grid.addWidget(card, index // 2, index % 2)
-            self._usb_labels.append((count, flag, detail))
-        self._mini = [QLabel("左指 —"), QLabel("右指 —")]
-        for index, label in enumerate(self._mini):
-            label.setObjectName("muted")
-            label.setWordWrap(True)
+            flag.setAlignment(Qt.AlignmentFlag.AlignCenter)
+            line = QHBoxLayout()
+            line.setSpacing(4)
+            line.addStretch(1)
+            line.addWidget(count)
+            line.addWidget(flag)
+            line.addStretch(1)
+            box.addLayout(line)
+            usb.addWidget(card, 1)
+            self._usb_labels.append((count, flag))
+        lay.addLayout(usb)
+        self._arm_prompt = _fit_text(QLabel(""))
+        self._arm_prompt.setObjectName("warn")
+        self._arm_prompt.setFixedHeight(22)
+        self._arm_prompt.setVisible(False)
+        lay.addWidget(self._arm_prompt)
+        self._arm_sketch = ArmSketch()
+        lay.addWidget(self._arm_sketch, 1)
+        cards = QHBoxLayout()
+        cards.setSpacing(6)
+        self._arm_cards: dict[str, QLabel] = {}
+        for key, title in (
+            ("enable", "使能"),
+            ("mode", "模式"),
+            ("fault", "故障"),
+            ("source", "数据"),
+        ):
             card = _card()
+            card.setFixedHeight(48)
             box = QVBoxLayout(card)
-            box.addWidget(_title("左指" if index == 0 else "右指"))
+            box.setContentsMargins(6, 4, 6, 4)
+            box.setSpacing(0)
+            cap = _title(title)
+            cap.setAlignment(Qt.AlignmentFlag.AlignCenter)
+            box.addWidget(cap)
+            label = _fit_text(QLabel("—"))
+            label.setObjectName("count")
+            label.setAlignment(Qt.AlignmentFlag.AlignCenter)
             box.addWidget(label)
-            grid.addWidget(card, index, 2)
-        lay.addLayout(grid)
-        flow = QHBoxLayout()
+            self._arm_cards[key] = label
+            cards.addWidget(card, 1)
+        lay.addLayout(cards)
+        self._arm_joints = _fit_text(QLabel(""))
+        self._arm_joints.setObjectName("muted")
+        self._arm_joints.setAlignment(Qt.AlignmentFlag.AlignCenter)
+        self._arm_joints.setFixedHeight(22)
+        lay.addWidget(self._arm_joints)
+        lay.addWidget(self._grip_panel())
+        return page
+
+    def _grip_panel(self) -> QWidget:
+        """主界面上的夹爪仿真和下发。状态只留一行，滑条上下对齐。"""
+        panel = _card()
+        lay = QVBoxLayout(panel)
+        lay.setContentsMargins(8, 6, 8, 8)
+        lay.setSpacing(6)
+        head = QHBoxLayout()
+        head.setSpacing(8)
+        head.addWidget(_section("夹爪"))
+        self._grip_summary = _fit_text(QLabel("还没读到"))
+        self._grip_summary.setObjectName("warn")
+        self._grip_summary.setAlignment(Qt.AlignmentFlag.AlignRight | Qt.AlignmentFlag.AlignVCenter)
+        head.addWidget(self._grip_summary, 1)
+        lay.addLayout(head)
+        self._grip_sketch = GripperSketch(160, 96)
+        self._grip_sketch.setFixedHeight(128)
+        self._grip_sketch.setSizePolicy(QSizePolicy.Policy.Expanding, QSizePolicy.Policy.Fixed)
+        lay.addWidget(self._grip_sketch)
+        self._pos = ValueTune("位置", 0, 1000, 500, compact=True)
+        self._force = ValueTune("力度", 20, 100, 33, compact=True)
+        self._speed = ValueTune("速度", 1, 100, 25, compact=True)
+        for widget in (self._pos, self._force, self._speed):
+            lay.addWidget(widget)
+        row = QHBoxLayout()
+        row.setSpacing(6)
+        apply_btn = _btn("按此夹持", True)
+        open_btn = _btn("张开", True)
+        close_btn = _btn("闭合", True)
+        apply_btn.clicked.connect(lambda: self._grip_move("pos"))
+        open_btn.clicked.connect(lambda: self._grip_preset(1000))
+        close_btn.clicked.connect(lambda: self._grip_preset(0))
+        for button in (apply_btn, open_btn, close_btn):
+            button.setFixedHeight(36)
+            button.setMinimumWidth(0)
+            button.setSizePolicy(QSizePolicy.Policy.Expanding, QSizePolicy.Policy.Fixed)
+            row.addWidget(button, 1)
+        lay.addLayout(row)
+
+        self._rotary = QWidget()
+        rot = QVBoxLayout(self._rotary)
+        rot.setContentsMargins(0, 0, 0, 0)
+        rot.setSpacing(4)
+        rot.addWidget(_section("旋转"))
+        self._angle = ValueTune(
+            "绝对角", -32767, 32767, 0, step=0.1, decimals=1,
+            slider_low=-3600, slider_high=3600, compact=True,
+        )
+        self._delta = ValueTune(
+            "相对角", -32767, 32767, 15, step=0.1, decimals=1,
+            slider_low=-720, slider_high=720, compact=True,
+        )
+        self._turns = ValueTune(
+            "圈数", -50, 50, 0.25, step=0.01, decimals=2,
+            slider_low=-10, slider_high=10, compact=True,
+        )
+        self._rot_speed = ValueTune("转速", 1, 100, 25, compact=True)
+        self._torque = ValueTune("力矩", 20, 100, 33, compact=True)
+        for widget in (self._angle, self._delta, self._turns, self._rot_speed, self._torque):
+            rot.addWidget(widget)
+        rot_grid = QGridLayout()
+        rot_grid.setSpacing(6)
+        for index, (title, kind) in enumerate((
+            ("转到绝对角", "rotate"),
+            ("相对转动", "rotate_by"),
+            ("按圈数转", "revolutions"),
+            ("旋转回零", "rotate_home"),
+        )):
+            button = _btn(title, True)
+            button.setFixedHeight(36)
+            button.setMinimumWidth(0)
+            button.setSizePolicy(QSizePolicy.Policy.Expanding, QSizePolicy.Policy.Fixed)
+            button.clicked.connect(lambda _checked=False, k=kind: self._grip_move(k))
+            rot_grid.addWidget(button, index // 2, index % 2)
+        rot.addLayout(rot_grid)
+        self._rotary.setVisible(False)
+        lay.addWidget(self._rotary)
+        return panel
+
+    def _main_work_column(self) -> QWidget:
+        page = QWidget()
+        lay = QVBoxLayout(page)
+        lay.setContentsMargins(0, 0, 0, 0)
+        lay.setSpacing(6)
+        cam_bar = QHBoxLayout()
+        cam_bar.setSpacing(6)
+        cam_bar.addWidget(_section("相机"))
+        source = _segment_box()
+        self._real_mode = QPushButton("真机")
+        self._sim_mode = QPushButton("仿真")
+        self._cam_source = "real"
+        for button, sim in ((self._real_mode, False), (self._sim_mode, True)):
+            _segment_button(button)
+            button.clicked.connect(lambda _checked=False, use_sim=sim: self._set_source(use_sim))
+            source.layout().addWidget(button)
+        self._real_mode.setProperty("active", True)
+        cam_bar.addWidget(source)
+        switch = _segment_box()
+        self._color_mode = QPushButton("彩色")
+        self._depth_mode = QPushButton("深度")
+        self._depth_on = False
+        for button, on in ((self._color_mode, False), (self._depth_mode, True)):
+            _segment_button(button)
+            button.clicked.connect(lambda _checked=False, depth=on: self._set_depth(depth))
+            switch.layout().addWidget(button)
+        self._color_mode.setProperty("active", True)
+        cam_bar.addWidget(switch)
+        for action in ("camera_d405", "camera_d435"):
+            button = self._node_button(action, bar=True)
+            cam_bar.addWidget(button)
+        cam_bar.addStretch(1)
+        self._infer_line = _fit_text(QLabel("腕部没有框    手外没有框"))
+        self._infer_line.setObjectName("ok")
+        self._infer_line.setAlignment(Qt.AlignmentFlag.AlignRight | Qt.AlignmentFlag.AlignVCenter)
+        cam_bar.addWidget(self._infer_line)
+        lay.addLayout(cam_bar)
+        self._cam_note = _fit_text(QLabel(""))
+        self._cam_note.setObjectName("warn")
+        self._cam_note.setFixedHeight(22)
+        self._cam_note.setVisible(False)
+        lay.addWidget(self._cam_note)
+        self._cam_pic: dict[str, FrameLabel] = {}
+        cams = camera_view.targets()
+        self._slot_role = {cam["id"]: cam["role"] for cam in cams}
+        sim_rows = camera_view.sim_targets()
+        self._sim_id = {item["role"]: item["id"] for item in sim_rows}
+        self._sim_title = {
+            item["role"]: {"color": item["label"], "depth": f"{item['label']} 深度"}
+            for item in sim_rows
+        }
+        colors = QHBoxLayout()
+        colors.setSpacing(6)
+        colors.setContentsMargins(0, 0, 0, 0)
+        self._cam_title: dict[str, str] = {}
+        for cam in cams:
+            shot = FrameLabel("", compact=True)
+            shot.set_badge(cam["label"], "等待画面")
+            self._cam_pic[f"{cam['id']}_color"] = shot
+            self._cam_pic[f"{cam['id']}_depth"] = shot
+            self._cam_title[f"{cam['id']}_color"] = cam["label"]
+            self._cam_title[f"{cam['id']}_depth"] = f"{cam['label']} 深度"
+            colors.addWidget(shot, 1)
+        color_box = _PictureRow(len(cams) or 1)
+        color_box.setLayout(colors)
+        self._color_box = color_box
+        lay.addWidget(color_box, 0)
+        tac_bar = QHBoxLayout()
+        tac_bar.setSpacing(6)
+        tac_bar.addWidget(_section("视触觉"))
+        see = _btn("开始成像")
+        hide = _btn("停止成像")
+        for button in (see, hide):
+            button.setFixedHeight(36)
+        see.clicked.connect(lambda: self._run("tactile_view_on", False))
+        hide.clicked.connect(lambda: self._run("tactile_view_off", False))
+        tac_bar.addWidget(see)
+        tac_bar.addWidget(hide)
+        tac_bar.addWidget(self._node_button("tactile_up", bar=True))
+        tac_bar.addStretch(1)
+        lay.addLayout(tac_bar)
+        self._view_note = _fit_text(QLabel(""))
+        self._view_note.setObjectName("warn")
+        self._view_note.setFixedHeight(22)
+        self._view_note.setVisible(False)
+        lay.addWidget(self._view_note)
+        self._charts: dict[str, ForceChart] = {}
+        self._pic: dict[str, FrameLabel] = {}
+        self._mini = []
+        pics = QGridLayout()
+        pics.setSpacing(6)
+        pics.setContentsMargins(0, 0, 0, 0)
+        for side_index, (side, name) in enumerate((("left", "左指"), ("right", "右指"))):
+            head = QLabel(name)
+            head.setObjectName("finger")
+            head.setAlignment(Qt.AlignmentFlag.AlignCenter)
+            head.setFixedHeight(22)
+            pics.addWidget(head, 0, side_index * 2, 1, 2)
+            for kind_index, (kind, caption) in enumerate((("shear", "切向"), ("thermal", "热像"))):
+                column = side_index * 2 + kind_index
+                shot = FrameLabel("", compact=True)
+                shot.set_badge(caption, "")
+                self._pic[f"{side}_{kind}"] = shot
+                pics.addWidget(shot, 1, column)
+            force = _fit_text(QLabel("—"))
+            force.setObjectName("muted")
+            force.setFixedHeight(22)
+            force.setAlignment(Qt.AlignmentFlag.AlignCenter)
+            self._mini.append(force)
+            pics.addWidget(force, 2, side_index * 2, 1, 2)
+        for column in range(4):
+            pics.setColumnStretch(column, 1)
+        pics.setRowStretch(1, 1)
+        pics.setRowMinimumHeight(0, 22)
+        pics.setRowMinimumHeight(2, 22)
+        tac_box = QWidget()
+        tac_box.setLayout(pics)
+        tac_box.setMinimumHeight(160)
+        tac_box.setSizePolicy(QSizePolicy.Policy.Expanding, QSizePolicy.Policy.Expanding)
+        self._tac_box = tac_box
+        lay.addWidget(tac_box, 1)
         self._flow_labels: list[QLabel] = []
-        for name in ("跟踪", "对孔", "搜孔轻压"):
+        flow = QHBoxLayout()
+        flow.setSpacing(6)
+        for index, name in enumerate(("跟踪", "对孔", "旋转装配"), start=1):
+            label = _fit_text(QLabel(f"{index}  {name}"))
+            label.setObjectName("step")
+            label.setAlignment(Qt.AlignmentFlag.AlignCenter)
+            label.setFixedHeight(34)
+            self._flow_labels.append(label)
+            flow.addWidget(label, 1)
+        lay.addLayout(flow)
+        ops = _card()
+        ops_lay = QVBoxLayout(ops)
+        ops_lay.setContentsMargins(8, 6, 8, 8)
+        ops_lay.setSpacing(6)
+        head = QHBoxLayout()
+        head.setSpacing(6)
+        head.addWidget(_section("操作"))
+        head.addStretch(1)
+        stop = _btn("停止命令", True)
+        stop.setFixedHeight(36)
+        stop.clicked.connect(lambda: self._start(stop_started, "stop"))
+        head.addWidget(stop)
+        ops_lay.addLayout(head)
+        grid = QGridLayout()
+        grid.setSpacing(6)
+        actions = (
+            "real_up", "gripper_up", "gripper_probe", "gripper_open",
+            "gripper_close", "gripper_rotate", "pipeline", "stage_track",
+            "stage_locate", "stage_screw", "reset_home", "gauge_dry",
+            "gauge_run",
+        )
+        for index, action in enumerate(actions):
+            grid.addWidget(self._node_button(action), index // 4, index % 4)
+        for column in range(4):
+            grid.setColumnStretch(column, 1)
+        ops_lay.addLayout(grid)
+        lay.addWidget(ops)
+        return page
+
+    def _node_button(self, action: str, *, bar: bool = False) -> QPushButton:
+        spec = self._spec(action) or {}
+        if action == "pipeline":
+            kind = "primary"
+        elif spec.get("moves"):
+            kind = "danger"
+        else:
+            kind = "node"
+        button = CommandButton(str(spec.get("title") or action), kind, action, bar=bar)
+        button.clicked.connect(lambda _checked=False, a=action: self._ask(a))
+        return button
+
+    def _set_depth(self, on: bool) -> None:
+        """彩色和深度共用同一排画面，点过去就换，不往下再展开一排。"""
+        self._depth_on = bool(on)
+        for button, active in ((self._color_mode, not on), (self._depth_mode, on)):
+            button.setProperty("active", active)
+            button.style().unpolish(button)
+            button.style().polish(button)
+        suffix = "depth" if on else "color"
+        seen: set[int] = set()
+        for key, label in self._cam_pic.items():
+            if not key.endswith("_" + suffix) or id(label) in seen:
+                continue
+            seen.add(id(label))
+            _view_key, title = self._view_key(key)
+            label.setText("")
+            label.set_badge(title or self._cam_title.get(key, ""), "等待画面")
+        self._sync_camera_watch()
+        self._paint_images()
+
+    def _set_source(self, sim: bool) -> None:
+        """真机和仿真共用这一排画面。仿真图像也进这里，不另开窗口。"""
+        self._cam_source = "sim" if sim else "real"
+        for button, active in ((self._real_mode, not sim), (self._sim_mode, sim)):
+            button.setProperty("active", active)
+            button.style().unpolish(button)
+            button.style().polish(button)
+        self._set_depth(self._depth_on)
+
+    def _view_key(self, real_key: str) -> tuple[str, str]:
+        """这一格现在该订哪路话题，以及画面上写的名字。"""
+        suffix = "_depth" if real_key.endswith("_depth") else "_color"
+        real_id = real_key[: -len(suffix)]
+        role = self._slot_role.get(real_id, "")
+        if self._cam_source == "sim":
+            sim_id = self._sim_id.get(role)
+            if sim_id:
+                kind = "depth" if suffix == "_depth" else "color"
+                return f"{sim_id}{suffix}", self._sim_title.get(role, {}).get(kind, "")
+        return real_key, self._cam_title.get(real_key, "")
+
+    def _page_arm(self) -> QWidget:
+        page = QWidget()
+        lay = QVBoxLayout(page)
+        self._arm_lead = QLabel(
+            "只读机械臂状态，不会在这里自动使能。Remote 只能在示教器上开。"
+        )
+        self._arm_lead.setObjectName("lead")
+        self._arm_lead.setWordWrap(True)
+        lay.addWidget(self._arm_lead)
+        self._arm_prompt = QLabel(arm_state.REMOTE_PROMPT)
+        self._arm_prompt.setObjectName("warn")
+        self._arm_prompt.setWordWrap(True)
+        lay.addWidget(self._arm_prompt)
+        grid = QGridLayout()
+        self._arm_cards: dict[str, QLabel] = {}
+        for index, (key, title) in enumerate((
+            ("enable", "使能"),
+            ("mode", "模式"),
+            ("fault", "故障 / 急停"),
+            ("source", "数据从哪来"),
+        )):
             card = _card()
             box = QVBoxLayout(card)
-            box.addWidget(_title(name))
-            label = QLabel("")
-            label.setObjectName("muted")
+            box.addWidget(_title(title))
+            label = QLabel("—")
+            label.setObjectName("stat" if key == "enable" else "muted")
             label.setWordWrap(True)
             box.addWidget(label)
-            self._flow_labels.append(label)
-            flow.addWidget(card)
-        lay.addLayout(flow)
-        lay.addStretch(1)
+            self._arm_cards[key] = label
+            grid.addWidget(card, 0, index)
+        lay.addLayout(grid)
+        body = QHBoxLayout()
+        self._arm_sketch = ArmSketch()
+        body.addWidget(self._arm_sketch, 1)
+        side = QVBoxLayout()
+        self._arm_summary = QLabel("")
+        self._arm_summary.setWordWrap(True)
+        self._arm_summary.setObjectName("muted")
+        side.addWidget(self._arm_summary)
+        self._arm_joints = QLabel("")
+        self._arm_joints.setWordWrap(True)
+        self._arm_joints.setObjectName("muted")
+        side.addWidget(self._arm_joints)
+        side.addStretch(1)
+        holder = QWidget()
+        holder.setLayout(side)
+        body.addWidget(holder, 1)
+        lay.addLayout(body, 1)
         return page
 
     def _page_tactile(self) -> QWidget:
@@ -523,9 +1833,10 @@ class StationApp(QMainWindow):
         page = QWidget()
         lay = QVBoxLayout(page)
         lead = QLabel(
-            "眼在手上用腕部 D405 和 A5 板，结果是相机到法兰。"
-            "眼在手外用顶置 D435 和 A4 板，结果是相机到基座。两份文件不能混用。"
-            "示教和求解会动臂。"
+            "眼在手上用腕部相机和 A5 板，结果是相机到法兰。"
+            "眼在手外用手外相机和 A4 板，结果是相机到基座。两份文件不能混用。"
+            "先在这一页看画面，棋盘约占 30%–70% 再采点。示教时相机会被采点程序独占，"
+            "求解前要重新拉起这路相机。示教和求解会动臂。"
         )
         lead.setWordWrap(True)
         lead.setObjectName("lead")
@@ -539,13 +1850,46 @@ class StationApp(QMainWindow):
             row.addWidget(button)
         row.addStretch(1)
         lay.addLayout(row)
+        body = QHBoxLayout()
+        preview = _card()
+        preview_box = QVBoxLayout(preview)
+        preview_box.addWidget(_title("当前相机"))
+        self._he_shot = FrameLabel("预览没开")
+        self._he_shot.setMinimumHeight(280)
+        preview_box.addWidget(self._he_shot, 1)
+        self._he_board = QLabel("还没有画面")
+        self._he_board.setWordWrap(True)
+        self._he_board.setObjectName("muted")
+        preview_box.addWidget(self._he_board)
+        body.addWidget(preview, 1)
+        info = _card()
+        info_box = QVBoxLayout(info)
         self._he_body = QLabel("")
         self._he_body.setWordWrap(True)
         self._he_body.setTextInteractionFlags(Qt.TextInteractionFlag.TextSelectableByMouse)
-        card = _card()
-        box = QVBoxLayout(card)
-        box.addWidget(self._he_body)
-        lay.addWidget(card)
+        info_box.addWidget(self._he_body)
+        info_box.addStretch(1)
+        body.addWidget(info, 1)
+        lay.addLayout(body, 1)
+        tools = QHBoxLayout()
+        open_cam = _btn("拉起这路相机")
+        open_cam.clicked.connect(self._handeye_camera)
+        see = _btn("看画面")
+        see.clicked.connect(self._handeye_preview_on)
+        hide = _btn("关掉画面")
+        hide.clicked.connect(self._handeye_preview_off)
+        tools.addWidget(open_cam)
+        tools.addWidget(see)
+        tools.addWidget(hide)
+        tools.addWidget(QLabel("目标点数"))
+        self._he_points = QSpinBox()
+        self._he_points.setRange(4, 30)
+        self._he_points.setValue(12)
+        tools.addWidget(self._he_points)
+        self._he_append = QCheckBox("接着上次的点")
+        tools.addWidget(self._he_append)
+        tools.addStretch(1)
+        lay.addLayout(tools)
         actions = QHBoxLayout()
         for action, danger in (
             ("handeye_show", False),
@@ -555,14 +1899,18 @@ class StationApp(QMainWindow):
         ):
             spec = self._spec(action)
             button = _btn(spec["title"] if spec else action, danger)
-            button.clicked.connect(lambda _checked=False, a=action: self._ask(a))
+            if action == "handeye_teach":
+                button.clicked.connect(self._handeye_teach)
+            else:
+                button.clicked.connect(lambda _checked=False, a=action: self._ask(a))
             actions.addWidget(button)
         actions.addStretch(1)
         lay.addLayout(actions)
         self._he_out = QPlainTextEdit()
         self._he_out.setReadOnly(True)
-        self._he_out.setPlaceholderText("查看配置后，脚本输出显示在这里。")
-        lay.addWidget(self._he_out, 1)
+        self._he_out.setPlaceholderText("查看配置、合并和求解的输出显示在这里。")
+        self._he_out.setFixedHeight(140)
+        lay.addWidget(self._he_out)
         return page
 
     def _page_camera(self) -> QWidget:
@@ -603,94 +1951,19 @@ class StationApp(QMainWindow):
             lay.addWidget(card, 1)
         return self._scroll(page)
 
-    def _page_gripper(self) -> QWidget:
-        page = QWidget()
-        lay = QVBoxLayout(page)
-        self._grip_lead = QLabel("")
-        self._grip_lead.setWordWrap(True)
-        self._grip_lead.setObjectName("lead")
-        lay.addWidget(self._grip_lead)
-        tools = QHBoxLayout()
-        for action in ("gripper_probe", "gripper_up"):
-            spec = self._spec(action)
-            button = _btn(spec["title"] if spec else action, False)
-            button.clicked.connect(lambda _checked=False, a=action: self._ask(a))
-            tools.addWidget(button)
-        tools.addStretch(1)
-        lay.addLayout(tools)
-
-        hold = _card()
-        box = QVBoxLayout(hold)
-        box.addWidget(_title("夹持"))
-        note = QLabel("位置 0 是合拢，1000 是张开，单位是千分比。力度最低 20%。滑条和数字框是同一个值。")
-        note.setObjectName("muted")
-        note.setWordWrap(True)
-        box.addWidget(note)
-        self._pos = ValueTune("位置", 0, 1000, 500)
-        self._force = ValueTune("力度 %", 20, 100, 33)
-        self._speed = ValueTune("速度 %", 1, 100, 25)
-        box.addWidget(self._pos)
-        box.addWidget(self._force)
-        box.addWidget(self._speed)
-        row = QHBoxLayout()
-        apply_btn = _btn("按此夹持", True)
-        open_btn = _btn("张开", True)
-        close_btn = _btn("闭合", True)
-        apply_btn.clicked.connect(lambda: self._grip_move("pos"))
-        open_btn.clicked.connect(lambda: self._grip_preset(1000))
-        close_btn.clicked.connect(lambda: self._grip_preset(0))
-        row.addWidget(apply_btn)
-        row.addWidget(open_btn)
-        row.addWidget(close_btn)
-        row.addStretch(1)
-        box.addLayout(row)
-        lay.addWidget(hold)
-
-        self._rotary = _card()
-        rot = QVBoxLayout(self._rotary)
-        rot.addWidget(_title("旋转"))
-        rot_note = QLabel(
-            "绝对角和相对角可以打到 ±32767°。滑条只覆盖常用段，数字框是完整范围。"
-            "圈数可以到小数。力矩和旋转速度跟上面的夹持力度、速度是分开的。"
-        )
-        rot_note.setObjectName("muted")
-        rot_note.setWordWrap(True)
-        rot.addWidget(rot_note)
-        self._angle = ValueTune("绝对角 °", -32767, 32767, 0, step=0.1, decimals=1, slider_low=-3600, slider_high=3600)
-        self._delta = ValueTune("相对角 °", -32767, 32767, 15, step=0.1, decimals=1, slider_low=-720, slider_high=720)
-        self._turns = ValueTune("圈数", -50, 50, 0.25, step=0.01, decimals=2, slider_low=-10, slider_high=10)
-        self._rot_speed = ValueTune("转速 %", 1, 100, 25)
-        self._torque = ValueTune("力矩 %", 20, 100, 33)
-        for widget in (self._angle, self._delta, self._turns, self._rot_speed, self._torque):
-            rot.addWidget(widget)
-        rot_row = QHBoxLayout()
-        for title, kind in (
-            ("转到绝对角", "rotate"),
-            ("相对转动", "rotate_by"),
-            ("按圈数转", "revolutions"),
-            ("旋转回零", "rotate_home"),
-        ):
-            button = _btn(title, True)
-            button.clicked.connect(lambda _checked=False, k=kind: self._grip_move(k))
-            rot_row.addWidget(button)
-        rot_row.addStretch(1)
-        rot.addLayout(rot_row)
-        lay.addWidget(self._rotary)
-        lay.addStretch(1)
-        return self._scroll(page)
-
     def _page_control(self) -> QWidget:
         page = QWidget()
         lay = QVBoxLayout(page)
         lead = QLabel(
-            "分步是单独拉起跟踪、对孔或搜孔。整体是三段一次跑完。"
-            "复位先停跟踪，再回到命名位姿 home，前提是控制栈已经起来。都会动臂。"
+            "分步是单独拉起跟踪、对孔或旋转装配。搜孔轻压已取消，整体只跑跟踪和对孔。"
+            "旋转装配按现场配置里的拧入深度和螺距走。复位先停跟踪，再回到命名位姿 home，"
+            "前提是控制栈已经起来。都会动臂。"
         )
         lead.setWordWrap(True)
         lead.setObjectName("lead")
         lay.addWidget(lead)
         groups = (
-            ("分步测试", ("stage_track", "stage_locate", "stage_search")),
+            ("分步测试", ("stage_track", "stage_locate", "stage_screw")),
             ("整体测试", ("pipeline",)),
             ("复位", ("reset_home",)),
         )
@@ -708,14 +1981,14 @@ class StationApp(QMainWindow):
                 button.clicked.connect(lambda _checked=False, a=action: self._ask(a))
                 box.addWidget(button)
             lay.addWidget(card)
-        lay.addStretch(1)
-        return self._scroll(page)
+        return page
 
     def _page_teach(self) -> QWidget:
         page = QWidget()
         lay = QVBoxLayout(page)
         lead = QLabel(
-            "软拖拽占用 RDK，要先停掉控制栈。记录的是当时的 7 个关节角，单位弧度。"
+            "软拖拽会先停下关节轨迹控制器，关掉后再恢复，不再另开一条去抢位置环。"
+            "记录的是当时的 7 个关节角，单位弧度。"
             "回到点位会先关掉拖拽，再按下面的关节速度走过去。和 home 复位不是同一条路。"
         )
         lead.setWordWrap(True)
@@ -760,8 +2033,7 @@ class StationApp(QMainWindow):
         back.addStretch(1)
         list_box.addLayout(back)
         lay.addWidget(listed)
-        lay.addStretch(1)
-        return self._scroll(page)
+        return page
 
     def _page_assembly(self) -> QWidget:
         page = QWidget()
@@ -789,9 +2061,21 @@ class StationApp(QMainWindow):
         row.addWidget(real)
         row.addStretch(1)
         lay.addLayout(row)
-        lay.addStretch(1)
         return page
 
+    def _page_job(self) -> QWidget:
+        page = QWidget()
+        lay = QVBoxLayout(page)
+        for title, builder in (
+            ("示教", self._page_teach),
+            ("装配", self._page_assembly),
+            ("控制", self._page_control),
+            ("操作", self._page_operate),
+        ):
+            lay.addWidget(_title(title))
+            lay.addWidget(builder())
+        return self._scroll(page)
+
     def _page_operate(self) -> QWidget:
         page = QWidget()
         lay = QVBoxLayout(page)
@@ -802,7 +2086,7 @@ class StationApp(QMainWindow):
         skip = {
             "gripper_open", "gripper_close", "gripper_rotate", "gripper_probe",
             "handeye_show", "handeye_teach", "handeye_merge", "handeye_calibrate",
-            "pipeline", "stage_track", "stage_locate", "stage_search", "reset_home",
+            "pipeline", "stage_track", "stage_locate", "stage_screw", "reset_home",
         }
         shown = [spec for spec in catalog()["actions"] if spec["id"] not in skip]
         for index, spec in enumerate(shown):
@@ -813,13 +2097,12 @@ class StationApp(QMainWindow):
             blurb.setWordWrap(True)
             blurb.setObjectName("muted")
             box.addWidget(blurb)
-            button = _btn("确认后执行" if spec.get("moves") else "执行", bool(spec.get("moves")))
+            button = _btn("执行", bool(spec.get("moves")))
             button.clicked.connect(lambda _checked=False, a=spec["id"]: self._ask(a))
             box.addWidget(button)
             grid.addWidget(card, index // 3, index % 3)
         lay.addLayout(grid)
-        lay.addStretch(1)
-        return self._scroll(page)
+        return page
 
     def _show_page(self, key: str) -> None:
         self._stack.setCurrentWidget(self._pages[key])
@@ -827,6 +2110,27 @@ class StationApp(QMainWindow):
             button.setProperty("active", name == key)
             button.style().unpolish(button)
             button.style().polish(button)
+        self._sync_camera_watch()
+
+    def _sync_camera_watch(self) -> None:
+        """只有正在看的那一页才处理图像。别的页上相机回调直接丢掉。"""
+        page = self._stack.currentWidget()
+        if page is self._pages.get("main"):
+            suffix = "_depth" if self._depth_on else "_color"
+            keys = set()
+            seen: set[int] = set()
+            for key, label in self._cam_pic.items():
+                if not key.endswith(suffix) or id(label) in seen:
+                    continue
+                seen.add(id(label))
+                keys.add(self._view_key(key)[0])
+            camera_view.watch(keys, set())
+        elif page is self._pages.get("handeye"):
+            name = str(self._handeye_card().get("preview_camera") or "")
+            keys = {f"{name}_color"} if name else set()
+            camera_view.watch(set(), keys)
+        else:
+            camera_view.watch(set(), set())
 
     def _set_arm(self, arm: str) -> None:
         self._arm = arm
@@ -840,35 +2144,6 @@ class StationApp(QMainWindow):
     def _spec(self, action: str) -> dict | None:
         return next((item for item in catalog()["actions"] if item["id"] == action), None)
 
-    def _cmd(self, action: str) -> str:
-        spec = self._spec(action)
-        if not spec:
-            return action
-        args = " ".join(part.replace("{arm}", self._arm).replace("{mode}", self._mode) for part in spec.get("args") or [])
-        script = {
-            "real_up": "run_real.sh",
-            "camera_d405": "run_camera_d405.sh",
-            "camera_d435": "run_camera_d435.sh",
-            "tactile_up": "run_tactile.sh",
-            "gripper_up": "run_gripper.sh",
-            "gripper_probe": "run_gripper.sh",
-            "gripper_open": "run_gripper.sh",
-            "gripper_close": "run_gripper.sh",
-            "gripper_rotate": "run_gripper.sh",
-            "pipeline": "run_all.sh",
-            "stage_track": "run_visual_servo_rt.sh",
-            "stage_locate": "run_stage2_locate.sh",
-            "stage_search": "run_stage3_search.sh",
-            "reset_home": "go_home.sh",
-            "gauge_dry": "run_gauge_assembly.sh",
-            "gauge_run": "run_gauge_assembly.sh",
-            "handeye_show": "run_handeye.sh",
-            "handeye_teach": "run_handeye.sh",
-            "handeye_merge": "run_handeye.sh",
-            "handeye_calibrate": "run_handeye.sh",
-        }.get(action, "")
-        return f"bash scripts/{script} {args}".strip()
-
     def _grip_preset(self, pos: int) -> None:
         self._pos.set_value(pos)
         self._grip_move("pos")
@@ -885,22 +2160,13 @@ class StationApp(QMainWindow):
             "torque": self._torque.value(),
         }
         send_kind = "rotate" if kind == "rotate_home" else kind
-        if send_kind != "pos" and self._arm != "91":
-            self.statusBar().showMessage("旋转只对右臂", 4000)
-            return
-        if send_kind == "pos":
-            text = f"位置 {numbers['pos']:.0f}    力度 {numbers['force']:.0f}%    速度 {numbers['speed']:.0f}%"
-        elif send_kind == "rotate":
-            text = f"绝对角 {numbers['angle']:.1f}°    力矩 {numbers['torque']:.0f}%    转速 {numbers['rot_speed']:.0f}%"
-        elif send_kind == "rotate_by":
-            text = f"相对 {numbers['delta']:.1f}°    力矩 {numbers['torque']:.0f}%    转速 {numbers['rot_speed']:.0f}%"
-        else:
-            text = f"{numbers['revolutions']:.2f} 圈    力矩 {numbers['torque']:.0f}%    转速 {numbers['rot_speed']:.0f}%"
-        if not self._confirm("夹爪动作", f"臂 {self._arm}。{text}\n夹爪会动。", ""):
+        current = next((row for row in self._catalog if row["id"] == self._arm), None)
+        if send_kind != "pos" and not (current and current.get("rotary")):
+            self.statusBar().showMessage("这台夹爪没有旋转轴", 4000)
             return
         captured = dict(numbers)
         arm = self._arm
-        self._start(lambda: run_gripper_tune(arm, send_kind, captured))
+        self._start(lambda: run_gripper_tune(arm, send_kind, captured), "grip")
 
     def _selected_point(self) -> str:
         item = self._teach_list.currentItem()
@@ -913,16 +2179,14 @@ class StationApp(QMainWindow):
         if not sn:
             self.statusBar().showMessage("这台臂没有序列号", 4000)
             return
-        if not self._confirm("开启软拖拽", f"臂 {self._arm}。会占用 RDK，控制栈必须先停掉。臂可以被手推动。", ""):
-            return
-        self._start(lambda: teach.drag_on(sn))
+        self._start(lambda: teach.drag_on(sn), "teach")
 
     def _teach_off(self) -> None:
         sn = self._sn()
         if not sn:
             self.statusBar().showMessage("这台臂没有序列号", 4000)
             return
-        self._start(lambda: teach.drag_off(sn))
+        self._start(lambda: teach.drag_off(sn), "teach")
 
     def _teach_record(self) -> None:
         sn = self._sn()
@@ -931,7 +2195,7 @@ class StationApp(QMainWindow):
             self.statusBar().showMessage("这台臂没有序列号", 4000)
             return
         arm = self._arm
-        self._start(lambda: teach.record(sn, arm, name))
+        self._start(lambda: teach.record(sn, arm, name), "teach")
 
     def _teach_delete(self) -> None:
         name = self._selected_point()
@@ -940,7 +2204,7 @@ class StationApp(QMainWindow):
             return
         arm = self._arm
         self._teach_sig = None
-        self._start(lambda: teach.delete_point(arm, name))
+        self._start(lambda: teach.delete_point(arm, name), "teach")
 
     def _teach_goto(self) -> None:
         sn = self._sn()
@@ -949,48 +2213,54 @@ class StationApp(QMainWindow):
         if not sn or not name:
             self.statusBar().showMessage("先选臂和点位", 3000)
             return
-        if not self._confirm(
-            "回到示教点",
-            f"臂 {self._arm} 回到 {name}。关节速度 {speed:.2f} rad/s。会先关拖拽再动臂。",
-            "",
-        ):
-            return
         arm = self._arm
-        self._start(lambda: teach.goto(sn, arm, name, speed))
+        self._start(lambda: teach.goto(sn, arm, name, speed), "teach")
 
     def _sn(self) -> str:
         arms = (self._snap or {}).get("arms") or []
         current = next((arm for arm in arms if arm.get("id") == self._arm), None)
         return str((current or {}).get("sn") or "")
 
-    def _confirm(self, title: str, text: str, command: str) -> bool:
-        box = QMessageBox(self)
-        box.setWindowTitle(title)
-        box.setText(text)
-        if command:
-            box.setInformativeText(command)
-        box.setStandardButtons(QMessageBox.StandardButton.Yes | QMessageBox.StandardButton.No)
-        box.button(QMessageBox.StandardButton.Yes).setText("确认执行")
-        box.button(QMessageBox.StandardButton.No).setText("取消")
-        return box.exec() == QMessageBox.StandardButton.Yes
+    def _handeye_card(self) -> dict:
+        return ((self._snap.get("handeye") or {}).get(self._arm) or {}).get(self._mode) or {}
+
+    def _handeye_camera(self) -> None:
+        action = "camera_d405" if self._mode == "eye_in_hand" else "camera_d435"
+        self._ask(action)
+        self.statusBar().showMessage(camera_view.start(), 4000)
+
+    def _handeye_preview_on(self) -> None:
+        self.statusBar().showMessage(camera_view.start(), 4000)
+
+    def _handeye_preview_off(self) -> None:
+        camera_view.stop()
+        self._he_shot.setText("预览没开")
+        self._he_board.setText("画面已关")
+
+    def _handeye_teach(self) -> None:
+        spec = self._spec("handeye_teach")
+        confirm = bool(spec and spec.get("moves"))
+        arm, mode = self._arm, self._mode
+        extras = {"points": self._he_points.value(), "append": self._he_append.isChecked()}
+        self._start(lambda: run_action("handeye_teach", arm, confirm, mode, extras), "teach")
 
     def _ask(self, action: str) -> None:
+        """点下去就下发。动臂仍带 confirm，后台才肯执行，界面不再弹窗。"""
         spec = self._spec(action)
-        confirm = False
-        if spec and spec.get("moves"):
-            if not self._confirm(spec["title"], f"{spec['blurb']}\n当前臂 {self._arm}。", self._cmd(action)):
-                return
-            confirm = True
+        confirm = bool(spec and spec.get("moves"))
         arm, mode = self._arm, self._mode
-        self._start(lambda: run_action(action, arm, confirm, mode))
+        self._start(lambda: run_action(action, arm, confirm, mode), command_lane(action))
 
-    def _start(self, fn) -> None:
-        if self._job is not None and self._job.isRunning():
-            self.statusBar().showMessage("上一个命令还没返回", 3000)
+    def _start(self, fn, lane: str) -> None:
+        running = {name for name, job in self._jobs.items() if job.isRunning()}
+        blocked = command_blocked_message(running, lane)
+        if blocked:
+            self.statusBar().showMessage(blocked, 3000)
             return
-        self._job = _Job(fn)
-        self._job.finished_ok.connect(self._ran)
-        self._job.start()
+        job = _Job(fn)
+        self._jobs[lane] = job
+        job.finished_ok.connect(self._ran)
+        job.start()
 
     def _ran(self, result: dict) -> None:
         text = result.get("message") or ("已发出" if result.get("ok") else "失败")
@@ -1017,74 +2287,120 @@ class StationApp(QMainWindow):
             button.style().unpolish(button)
             button.style().polish(button)
         chips = []
+        live = (self._snap.get("arm_live") or {}).get(self._arm) or {}
+        chips.append("已使能" if live.get("enabled") else "未使能")
+        grip = (self._snap.get("gripper_live") or {}).get(self._arm) or {}
+        if grip.get("connected") and grip.get("permille") is not None:
+            chips.append(f"夹爪 {grip['permille']:.0f}‰")
+        else:
+            chips.append("夹爪未连接")
         for service in self._snap.get("services") or []:
             chips.append(f"{service['label']} {'在跑' if service['up'] else '未开'}")
         self._chips.setText("    ".join(chips))
         self._fill_overview(current)
+        self._fill_arm(live)
         self._fill_tactile()
         self._fill_handeye()
         self._fill_camera()
-        self._fill_gripper()
+        self._sync_camera_watch()
+        self._fill_gripper(grip)
         self._fill_teach()
-        self._op_lead.setText(f"当前臂 {self._arm}。红色按钮会动设备，先确认再执行。")
 
     def _fill_overview(self, current: dict | None) -> None:
-        if current:
-            tactile = "本臂有视触觉" if current.get("tactile") else "本臂无视触觉"
-            self._lead.setText(
-                f"{current.get('label')}  ·  {current.get('sn') or ''}  ·  相机 {current.get('camera') or '—'}  ·  "
-                f"夹爪 {current.get('gripper') or '—'}  ·  {tactile}"
-            )
+        del current
+        live = (self._snap.get("arm_live") or {}).get(self._arm) or {}
+        enable_word = "已使能" if live.get("enabled") else "未使能"
+        self._arm_banner.setText(f"{enable_word}  {live.get('summary') or ''}".strip())
+        self._arm_banner.setObjectName("ok" if live.get("enabled") and not live.get("prompt_hot") else "warn")
+        self._arm_banner.style().unpolish(self._arm_banner)
+        self._arm_banner.style().polish(self._arm_banner)
         usb = list(self._snap.get("usb") or [])
         ports = self._snap.get("grippers") or []
         usb.append({"id": "tty", "items": [{"port": name, "speed": ""} for name in ports], "expect": 1})
-        for (count, flag, detail), dev in zip(self._usb_labels, usb):
+        for (count, flag), dev in zip(self._usb_labels, usb):
             items = dev.get("items") or []
             if dev.get("id") == "tty":
                 count.setText(str(len(items)))
                 ok = len(items) > 0
             else:
-                count.setText(f"{len(items)} / {dev.get('expect')}")
+                count.setText(f"{len(items)}/{dev.get('expect')}")
                 ok = len(items) >= int(dev.get("expect") or 0)
-            flag.setText("齐" if ok else ("缺一" if items else "缺失"))
-            detail.setText("\n".join(
-                f"{item['port']}  ·  {item['speed']} Mbps" if item.get("speed") else item["port"]
-                for item in items
-            ) or "未检测到")
+            flag.setText("齐" if ok else "缺")
+            flag.setObjectName("ok" if ok else "warn")
+            flag.style().unpolish(flag)
+            flag.style().polish(flag)
         tactile = self._snap.get("tactile") or {}
         for label, side, name in ((self._mini[0], "left", "左指"), (self._mini[1], "right", "右指")):
             row = tactile.get(side) or {}
             label.setText(self._force_line(row))
         pipe = next((s for s in self._snap.get("services") or [] if s["id"] == "pipeline"), None)
-        texts = (
-            "D405 看住工件，锁住悬停",
-            "拍照找孔，移到孔上方",
-            "力闭环入孔，再轻压",
+        running = bool(pipe and pipe.get("up"))
+        for index, (label, name) in enumerate(
+            zip(self._flow_labels, ("跟踪", "对孔", "旋转装配")), start=1
+        ):
+            label.setText(f"{index}   {name}")
+            label.setProperty("on", running)
+            label.style().unpolish(label)
+            label.style().polish(label)
+
+    def _fill_arm(self, live: dict) -> None:
+        enabled = bool(live.get("enabled"))
+        self._arm_cards["enable"].setText("已使能" if enabled else "未使能")
+        self._arm_cards["mode"].setText(str(live.get("mode") or "—"))
+        fault = live.get("fault")
+        estop = live.get("estop_released")
+        if estop is False:
+            fault_text = "急停"
+        elif fault:
+            fault_text = "有故障"
+        elif fault is False:
+            fault_text = "正常"
+        else:
+            fault_text = "—"
+        self._arm_cards["fault"].setText(fault_text)
+        source = str(live.get("source") or "—")
+        if source.startswith("RDK"):
+            source = "RDK"
+        elif source == "拖拽桥":
+            source = "拖拽"
+        self._arm_cards["source"].setText(source)
+        hot = bool(live.get("prompt_hot", True))
+        prompt = str(live.get("prompt") or "")
+        sentence = prompt.split("。")[0]
+        self._arm_prompt.setVisible(hot and bool(sentence))
+        self._arm_prompt.setText(f"{sentence}。" if sentence else "")
+        q = live.get("q")
+        if isinstance(q, list) and len(q) >= 7:
+            degrees = "  ".join(
+                f"J{i + 1} {v * 180.0 / 3.141592653589793:.0f}°" for i, v in enumerate(q[:7])
+            )
+        else:
+            degrees = "零位"
+        self._arm_joints.setText(degrees)
+        self._arm_sketch.set_pose(
+            q if isinstance(q, list) else None,
+            bool(live.get("pose_live")),
+            self._workpieces.get(self._arm),
         )
-        state = "进程在跑，具体阶段看终端日志。" if pipe and pipe.get("up") else "流程未启动。"
-        for label, text in zip(self._flow_labels, texts):
-            label.setText(f"{text}\n{state}")
 
     def _force_line(self, row: dict) -> str:
         def num(key: str) -> str:
             value = row.get(key)
             return f"{value:.1f}" if isinstance(value, (int, float)) else "—"
-        return f"法向 {num('fnormal')}    切向 X {num('fshearx')}    切向 Y {num('fsheary')}    {num('fps')} fps"
+        return f"法向 {num('fnormal')}    切向 {num('fshearx')} / {num('fsheary')}"
 
     def _fill_tactile(self) -> None:
         view = self._snap.get("view") or {}
-        self._view_note.setText(
-            view.get("error")
-            or view.get("note")
-            or ("成像已开，等第一帧。" if view.get("on") else "成像没开。点开始成像后这里出切向力和热成像。")
-        )
+        err = str(view.get("error") or "")
+        self._view_note.setVisible(bool(err))
+        self._view_note.setText(err)
         history = self._snap.get("history") or {}
         for side, chart in self._charts.items():
             chart.set_samples(history.get(side))
 
     def _paint_images(self) -> None:
         current = self._stack.currentWidget()
-        if current is self._pages.get("tactile"):
+        if current is self._pages.get("main"):
             view = tactile_view.state()
             frames = view.get("frames") or {} if view.get("on") else {}
             for side in ("left", "right"):
@@ -1095,15 +2411,35 @@ class StationApp(QMainWindow):
                     blob = tactile_view.frame(side, kind)
                     if blob:
                         label.show_jpeg(blob)
-        if current is self._pages.get("camera"):
-            frames = camera_view.state().get("frames") or {}
+            shots = camera_view.previews()
+            meta = camera_view.preview_meta()
+            suffix = "_depth" if self._depth_on else "_color"
+            seen: set[int] = set()
             for key, label in self._cam_pic.items():
-                if not frames.get(key):
+                if not key.endswith(suffix) or id(label) in seen:
                     continue
-                name, _, kind = key.rpartition("_")
-                blob = camera_view.frame(name, kind)
-                if blob:
-                    label.show_jpeg(blob)
+                seen.add(id(label))
+                view_key, title = self._view_key(key)
+                info = meta.get(view_key)
+                if not title:
+                    title = self._cam_title.get(key, "")
+                if info and info[2] >= 1.0:
+                    detail = f"{info[0]}×{info[1]}   {info[2]:.0f} 帧/秒"
+                elif info and info[0] > 0:
+                    detail = f"{info[0]}×{info[1]}"
+                else:
+                    detail = "等待画面"
+                label.set_badge(title, detail)
+                item = shots.get(view_key)
+                if not item:
+                    continue
+                blob, width, height = item
+                label.show_rgb(blob, width, height)
+            infer = camera_view.inference_status()
+            if infer != self._infer_line.text():
+                self._infer_line.setText(infer)
+        if current is self._pages.get("handeye"):
+            self._paint_handeye()
 
     def _fill_handeye(self) -> None:
         for mode, button in self._mode_buttons.items():
@@ -1119,40 +2455,71 @@ class StationApp(QMainWindow):
             mm = "—"
         name = "眼在手上" if self._mode == "eye_in_hand" else "眼在手外"
         poses = "没有位姿文件" if card.get("poses") is None else f"{card.get('poses')} 个"
+        target = self._he_points.value()
+        preview = card.get("preview_label") or "相机"
+        cam_id = card.get("preview_camera") or "—"
         self._he_body.setText(
             f"{name}    {'有结果' if card.get('exists') else '还没有结果文件'}\n"
-            f"{card.get('meaning') or ''}\n"
+            f"{card.get('meaning') or '还没有求解结果'}\n"
+            f"预览  {preview}  {cam_id}\n"
             f"文件  {card.get('file') or '—'}\n"
             f"视角  {card.get('views') or '—'}    时间  {card.get('utc') or '—'}\n"
-            f"相机  {card.get('camera') or '—'}    工具  {card.get('tool') or '—'}\n"
+            f"结果里的相机  {card.get('camera') or '—'}    工具  {card.get('tool') or '—'}\n"
             f"平移 X / Y / Z    {mm}\n"
-            f"示教点  {poses}\n"
+            f"已有示教点  {poses}    这次目标 {target} 个\n"
             f"板  {board.get('cols') or '—'}×{board.get('rows') or '—'}    "
-            f"方格  {board.get('square_m') if board.get('square_m') is not None else '—'} m"
+            f"方格  {board.get('square_m') if board.get('square_m') is not None else '—'} m\n"
+            "顺序：看画面 → 停控制栈后采点 → 合并 → 再开控制栈和相机 → 求解"
         )
+        if not camera_view.state().get("on"):
+            self._he_board.setText("预览没开。点「看画面」。相机节点没起来时再点「拉起这路相机」。")
+
+    def _paint_handeye(self) -> None:
+        if not camera_view.state().get("on"):
+            return
+        card = self._handeye_card()
+        name = str(card.get("preview_camera") or "")
+        blob = camera_view.frame(name, "color") if name else None
+        if not blob:
+            if not camera_view.state().get("on"):
+                self._he_board.setText("预览没开。点「看画面」。相机节点没起来时再点「拉起这路相机」。")
+            else:
+                self._he_board.setText(f"还没有 {card.get('preview_label') or '这路相机'} 的彩色帧")
+            return
+        cols = int((card.get("board") or {}).get("cols") or 0)
+        rows = int((card.get("board") or {}).get("rows") or 0)
+        self._board.submit(id(blob), blob, cols, rows)
+        drawn, text, token = self._board.latest()
+        if drawn and token == id(blob):
+            self._he_shot.show_jpeg(drawn)
+            self._he_board.setText(text)
+        else:
+            self._he_shot.show_jpeg(blob)
+            self._he_board.setText(text or "正在找棋盘")
 
     def _fill_camera(self) -> None:
         view = camera_view.state()
-        usb = {item["id"]: item for item in self._snap.get("usb") or []}
-        bits = []
-        for key, name in (("d405", "腕部"), ("d435", "手外")):
-            dev = usb.get(key) or {"items": []}
-            bits.append(f"{name} {len(dev.get('items') or [])} 台")
-        err = view.get("error") or ""
-        ready = "、".join(key for key, ok in (view.get("frames") or {}).items() if ok) or "还没有帧"
-        self._cam_note.setText(f"{'  '.join(bits)}。画面：{ready}。{err}")
+        err = str(view.get("error") or "")
+        self._cam_note.setVisible(bool(err))
+        if err != self._cam_note.text():
+            self._cam_note.setText(err)
 
-    def _fill_gripper(self) -> None:
-        ports = "  ".join(self._snap.get("grippers") or []) or "没有 ttyUSB"
-        self._rotary.setVisible(self._arm == "91")
-        if self._arm == "91":
-            self._grip_lead.setText(
-                f"当前是右臂旋转爪。串口 {ports}。位置、力度、速度以及转角都会按数字下发。夹爪节点占着串口时，命令行会失败。"
-            )
-        else:
-            self._grip_lead.setText(
-                f"当前是左臂平行爪。串口 {ports}。位置 0–1000，力度、速度按滑条下发。探测只读状态。"
-            )
+    def _fill_gripper(self, live: dict) -> None:
+        current = next((row for row in self._catalog if row["id"] == self._arm), None)
+        rotary = bool(current and current.get("rotary"))
+        self._rotary.setVisible(rotary)
+        connected = bool(live.get("connected"))
+        self._grip_summary.setText(live.get("summary") or "没连上")
+        self._grip_summary.setObjectName("ok" if connected else "warn")
+        self._grip_summary.style().unpolish(self._grip_summary)
+        self._grip_summary.style().polish(self._grip_summary)
+        self._grip_sketch.set_pose(
+            live.get("permille"),
+            live.get("rotation_deg"),
+            bool(live.get("rotary")),
+            bool(live.get("pose_live")),
+            live.get("stroke_mm"),
+        )
 
     def _fill_teach(self) -> None:
         listed = teach.list_points(self._arm)
@@ -1177,42 +2544,85 @@ def main() -> None:
     atexit.register(camera_view.stop)
     atexit.register(teach.close)
     threading.Thread(target=_poll_tactile, daemon=True, name="tactile-poll").start()
+    arm_state.start()
+    grip_state.start()
     camera_view.start()
+    QApplication.setAttribute(Qt.ApplicationAttribute.AA_ShareOpenGLContexts)
+    QApplication.setAttribute(Qt.ApplicationAttribute.AA_UseDesktopOpenGL)
     app = QApplication(sys.argv)
     app.setFont(QFont("Noto Sans SC", 11))
     app.setStyleSheet(_STYLE)
     window = StationApp()
-    window.showMaximized()
+    screen = app.primaryScreen()
+    if screen is not None:
+        avail = screen.availableGeometry()
+        window.resize(min(1600, avail.width()), min(960, avail.height()))
+    # 不用最大化。桌面如果还记着上次的最大化，晚一拍取消，标题栏才能拖。
+    window.showNormal()
+    QTimer.singleShot(300, window.showNormal)
     sys.exit(app.exec())
 
 
 _STYLE = """
-QMainWindow, QWidget { background: #070708; color: #f3f4f6; }
-QWidget#side, QWidget#head { background: #0b0c0e; }
-QWidget#side { border-right: 1px solid #2a2e36; }
-QWidget#head { border-bottom: 1px solid #2a2e36; }
-QLabel#sideNote, QLabel#lead, QLabel#muted, QLabel#chips, QLabel#clock { color: #8b929d; }
-QLabel#armLine { font-size: 16px; }
-QLabel#cardTitle { color: #9aa3b2; letter-spacing: 1px; }
-QLabel#stat { font-size: 28px; }
-QLabel#shot { background: #0c0e12; border: 1px solid #243044; border-radius: 8px; color: #8b929d; }
-QFrame#card { background: #101216; border: 1px solid #2a2e36; border-radius: 12px; }
+QMainWindow, QWidget { background: #0c0f14; color: #e7ebf2; }
+QWidget#side { background: #10141b; border-right: 1px solid #2a3240; }
+QWidget#head { background: #10141b; border-bottom: 1px solid #2a3240; }
+QLabel#brand { color: #8b95a7; font-size: 11px; letter-spacing: 1px; }
+QLabel#sideNote, QLabel#lead, QLabel#muted, QLabel#chips, QLabel#clock { color: #8b95a7; }
+QLabel#clock { padding: 0 8px; }
+QLabel#warn { color: #e2b657; }
+QLabel#ok { color: #7dcea0; }
+QLabel#armLine { font-size: 16px; font-weight: 600; color: #f4f7fb; }
+QLabel#count { color: #f4f7fb; font-weight: 600; }
+QLabel#cardTitle { color: #8b95a7; font-size: 11px; }
+QLabel#section { color: #d5dbe6; font-weight: 600; }
+QLabel#finger { color: #f4f7fb; font-weight: 600; background: transparent; }
+QFrame#sectionMark { background: #5b9bff; border: none; border-radius: 1px; }
+QLabel#step {
+  background: #151a22; color: #9aa3b2; border: 1px solid #2a3240;
+  border-radius: 8px; padding: 2px 8px;
+}
+QLabel#step[on="true"] { background: #15263c; color: #d6e6ff; border-color: #2f5f99; }
+QLabel#shot { background: #090c11; border: 1px solid #243044; border-radius: 10px; color: #8b95a7; }
+QFrame#card { background: #161b24; border: 1px solid #2c3544; border-radius: 12px; }
 QPushButton {
-  background: #171a20; color: #f3f4f6; border: 1px solid #2a2e36;
-  border-radius: 8px; padding: 8px 12px; text-align: left;
+  background: #1a1f27; color: #e7ebf2; border: 1px solid #313844;
+  border-radius: 8px; padding: 0px 12px; font-size: 13px; text-align: left;
 }
-QPushButton#nav { text-align: left; background: transparent; border: 1px solid transparent; }
-QPushButton#nav[active="true"], QPushButton[active="true"] { background: #12315d; border-color: #1a4580; }
-QPushButton#danger { background: #6e2a2a; border-color: #8a3a3a; }
+QWidget#switch { background: #12171f; border: 1px solid #2c3544; border-radius: 8px; }
+QPushButton:hover { background: #222833; border-color: #4a5568; }
+QPushButton#nav {
+  text-align: left; background: transparent; border: none; border-radius: 8px;
+  padding: 0px 8px; color: #b7c0cc; font-size: 13px;
+}
+QPushButton#nav:hover { background: #1a2030; }
+QPushButton#nav[active="true"] {
+  background: #182438; color: #f4f7fb; border-left: 3px solid #5b9bff;
+}
+QPushButton#node, QPushButton#danger, QPushButton#primary, QPushButton#action { text-align: center; padding: 0; }
+QPushButton#node { background: #1c222c; border-color: #3a4558; }
+QPushButton#seg {
+  text-align: center; padding: 0 12px; border: none; border-radius: 6px;
+  background: transparent; min-width: 0; min-height: 0;
+}
+QPushButton#seg[active="true"] { background: #1d4f91; color: #f4f7fb; }
+QPushButton#primary { background: #1d4f91; border-color: #3d7ed4; color: #f4f7fb; font-weight: 600; }
+QPushButton#primary:hover { background: #2460ad; }
+QPushButton#danger { background: #241416; border: 1px solid #6e3a3a; color: #f0d0d0; }
+QPushButton#danger:hover { background: #3a1c20; border-color: #a05050; }
 QPlainTextEdit, QLineEdit, QListWidget, QDoubleSpinBox {
-  background: #0c0e12; color: #f3f4f6; border: 1px solid #2a2e36; border-radius: 8px; padding: 4px 8px;
+  background: #10141a; color: #e7ebf2; border: 1px solid #2a3240; border-radius: 8px; padding: 4px 8px;
 }
-QSlider::groove:horizontal { height: 6px; background: #2a2e36; border-radius: 3px; }
+QPlainTextEdit#log {
+  background: #10141a; color: #b7c0cc; border: none; border-top: 1px solid #2a3240; border-radius: 0;
+}
+QDoubleSpinBox:focus, QLineEdit:focus { border-color: #3d7ed4; }
+QSlider::groove:horizontal { height: 4px; background: #2a3240; border-radius: 2px; }
 QSlider::handle:horizontal {
-  width: 16px; margin: -6px 0; background: #4c86d4; border-radius: 8px;
+  width: 14px; margin: -6px 0; background: #5b9bff; border-radius: 7px;
 }
-QScrollArea { background: transparent; }
-QMessageBox { background: #12141a; }
+QScrollArea { background: transparent; border: none; }
+QStatusBar { background: #10141b; color: #8b95a7; }
 """
 
 
diff --git a/install/arm_application/lib/python3.11/site-packages/arm_application/operator_arm_mesh.py b/install/arm_application/lib/python3.11/site-packages/arm_application/operator_arm_mesh.py
new file mode 100644
index 0000000..20a7634
--- /dev/null
+++ b/install/arm_application/lib/python3.11/site-packages/arm_application/operator_arm_mesh.py
@@ -0,0 +1,339 @@
+"""用非夕给的 Rizon4 外壳网格摆出当前姿态。
+
+网格和安装位姿来自 ``flexiv_description`` 的 ``visual_parameters.yaml``
+与 ``meshes/Rizon4/visual/*.obj``，不另画一套简图。面数按固定步长抽稀，
+只为了界面里能转得动，几何仍是厂家的。
+"""
+
+from __future__ import annotations
+
+import math
+from pathlib import Path
+
+import numpy as np
+import yaml
+
+from arm_application.operator_arm_state import link_frames
+from arm_application.site_io import ros2_root
+
+# 单个连杆原始面数大约 5000。再按 700 抽稀会在壳上留出三角洞，
+# 白壳和灰蓝关节分不出来。这里保留全部面。
+_FACES_PER_LINK = 8000
+_MODELS: dict[str, list[tuple[list[tuple[float, float, float]], tuple]]] | None = None
+
+
+def posed_triangles(q: list[float]) -> list[tuple]:
+    """返回基座系下的三角面 ``(a, b, c, 明暗, rgb)``。
+
+    ``rgb`` 来自同目录 ``.mtl`` 的 ``Kd``。外壳是白的，关节壳体是灰蓝，
+    这是厂家导出的两种材质，不是另涂的颜色。
+    """
+    world, shade, rgb = _posed_arrays(q)
+    return [
+        (
+            (float(world[i, 0, 0]), float(world[i, 0, 1]), float(world[i, 0, 2])),
+            (float(world[i, 1, 0]), float(world[i, 1, 1]), float(world[i, 1, 2])),
+            (float(world[i, 2, 0]), float(world[i, 2, 1]), float(world[i, 2, 2])),
+            float(shade[i]),
+            (float(rgb[i, 0]), float(rgb[i, 1]), float(rgb[i, 2])),
+        )
+        for i in range(shade.shape[0])
+    ]
+
+
+def posed_gl(q: list[float]) -> tuple[bytes, int, tuple[float, float, float], float]:
+    """给显卡的一份网格：交错 ``xyzrgb``、顶点数、中心、半径。
+
+    拖视角只改观察矩阵，不再把四万个面在界面线程里重投影。
+    """
+    world, shade, rgb = _posed_arrays(q)
+    light = (0.55 + 0.45 * shade)[:, None]
+    colored = (rgb * light).astype(np.float32)
+    pos = world.reshape(-1, 3).astype(np.float32)
+    col = np.repeat(colored, 3, axis=0)
+    center = pos.mean(axis=0)
+    radius = float(np.linalg.norm(pos - center, axis=1).max())
+    packed = np.concatenate([pos, col], axis=1).astype(np.float32, copy=False)
+    return (
+        packed.tobytes(),
+        int(pos.shape[0]),
+        (float(center[0]), float(center[1]), float(center[2])),
+        max(radius, 1e-4),
+    )
+
+
+def _posed_arrays(q: list[float]):
+    """每个连杆做一次矩阵乘法，不再对每个顶点走 Python 循环。"""
+    frames = link_frames(q)
+    worlds: list[np.ndarray] = []
+    shades: list[np.ndarray] = []
+    colors: list[np.ndarray] = []
+    for link, parts in _models().items():
+        frame = frames.get(link)
+        if frame is None:
+            continue
+        rot = np.asarray(frame[0], dtype=np.float64)
+        origin = np.asarray(frame[1], dtype=np.float64)
+        for part in parts:
+            local = np.einsum("ij,fvj->fvi", part["erot"], part["verts"]) + part["epos"]
+            world = np.einsum("ij,fvj->fvi", rot, local) + origin
+            ab = world[:, 1] - world[:, 0]
+            ac = world[:, 2] - world[:, 0]
+            normal = np.cross(ab, ac)
+            norm = np.linalg.norm(normal, axis=1)
+            norm = np.where(norm > 0.0, norm, 1.0)
+            facing = np.abs(normal[:, 0] + normal[:, 1]) / (norm * math.sqrt(2.0))
+            worlds.append(world)
+            shades.append(0.28 + 0.72 * facing)
+            colors.append(part["rgb"])
+    if not worlds:
+        empty = np.zeros((0, 3, 3), dtype=np.float64)
+        return empty, np.zeros((0,), dtype=np.float64), np.zeros((0, 3), dtype=np.float64)
+    return np.concatenate(worlds), np.concatenate(shades), np.concatenate(colors)
+
+
+def view_rotation(yaw: float, pitch: float):
+    """先绕竖直轴转，再俯仰。拖拽视角用这一份，不在界面里另写一套。"""
+    return _mul(_rx(pitch), _rz(yaw))
+
+
+def view_scale(radius: float, width: int, height: int) -> tuple[float, float]:
+    """和着色器里的 ``u_sx`` / ``u_sy`` 同一套缩放。宽屏时横向再缩一档。"""
+    fit = 0.85 / max(float(radius), 1e-4)
+    width = max(int(width), 1)
+    height = max(int(height), 1)
+    if width >= height:
+        return fit * height / width, fit
+    return fit, fit * width / height
+
+
+def screen_point(
+    point: tuple[float, float, float],
+    yaw: float,
+    pitch: float,
+    center: tuple[float, float, float],
+    radius: float,
+    width: int,
+    height: int,
+) -> tuple[float, float]:
+    """基座系的点投到控件像素。纵向和着色器里的 ``p.z`` 是同一套，+Z 朝画面上方。"""
+    shifted = (
+        float(point[0]) - float(center[0]),
+        float(point[1]) - float(center[1]),
+        float(point[2]) - float(center[2]),
+    )
+    viewed = _apply(view_rotation(yaw, pitch), shifted)
+    sx, sy = view_scale(radius, width, height)
+    ndc_x = viewed[0] * sx
+    # 着色器写的是 ``p.z * u_sy``。OpenGL 的 y 朝上，这里再换成 Qt 的像素 y。
+    ndc_y = viewed[2] * sy
+    width = max(int(width), 1)
+    height = max(int(height), 1)
+    return (ndc_x * 0.5 + 0.5) * width, (1.0 - (ndc_y * 0.5 + 0.5)) * height
+
+
+def ground_grid(extent: float = 1.0, step: float = 0.25) -> list[tuple[tuple[float, float, float], tuple[float, float, float]]]:
+    """地平面格子，z = 0，单位米。以前这张格子在 RViz 里，现在画在工位仿真上。"""
+    if step <= 0 or extent <= 0:
+        raise ValueError("地平面格子的间距和范围都要大于 0")
+    count = int(round(extent / step))
+    lines = []
+    for index in range(-count, count + 1):
+        coord = index * step
+        lines.append(((-extent, coord, 0.0), (extent, coord, 0.0)))
+        lines.append(((coord, -extent, 0.0), (coord, extent, 0.0)))
+    return lines
+
+
+def axis_tip(
+    origin: tuple[float, float, float],
+    rot: tuple,
+    axis: int,
+    length: float,
+) -> tuple[float, float, float]:
+    """坐标系某一轴的端点。``rot`` 把连杆坐标变到基座坐标，列向量就是三根轴。"""
+    basis = ((1.0, 0.0, 0.0), (0.0, 1.0, 0.0), (0.0, 0.0, 1.0))[axis]
+    direction = _apply(rot, basis)
+    return (
+        origin[0] + direction[0] * length,
+        origin[1] + direction[1] * length,
+        origin[2] + direction[2] * length,
+    )
+
+
+def _place(rot, origin, erot, epos, vertex):
+    local = _add(epos, _apply(erot, vertex))
+    return _add(origin, _apply(rot, local))
+
+
+def _shade(a, b, c) -> float:
+    ux, uy, uz = b[0] - a[0], b[1] - a[1], b[2] - a[2]
+    vx, vy, vz = c[0] - a[0], c[1] - a[1], c[2] - a[2]
+    nx = uy * vz - uz * vy
+    ny = uz * vx - ux * vz
+    nz = ux * vy - uy * vx
+    norm = math.sqrt(nx * nx + ny * ny + nz * nz) or 1.0
+    facing = abs(nx + ny) / (norm * math.sqrt(2.0))
+    return 0.28 + 0.72 * facing
+
+
+def _models() -> dict[str, list]:
+    global _MODELS
+    if _MODELS is not None:
+        return _MODELS
+    root = _description_root()
+    visual = yaml.safe_load((root / "config/Rizon4/visual_parameters.yaml").read_text(encoding="utf-8"))
+    params = (visual or {}).get("visual_parameters") or {}
+    loaded: dict[str, list] = {}
+    for link, spec in params.items():
+        shell = ((spec or {}).get("visual") or {})
+        parts = []
+        for kind in ("shell", "ring"):
+            item = shell.get(kind)
+            if not isinstance(item, dict):
+                continue
+            mesh = item.get("mesh") or {}
+            path = root / str(mesh.get("path") or "")
+            if not path.is_file():
+                continue
+            scale = _scale(mesh.get("scale"))
+            origin = item.get("origin") or {}
+            erot = _rpy(
+                float(origin.get("roll") or 0.0),
+                float(origin.get("pitch") or 0.0),
+                float(origin.get("yaw") or 0.0),
+            )
+            epos = (
+                float(origin.get("x") or 0.0),
+                float(origin.get("y") or 0.0),
+                float(origin.get("z") or 0.0),
+            )
+            parts.append(_part_arrays(_load_obj(path, scale, _materials(path)), erot, epos))
+        if parts:
+            loaded[str(link)] = parts
+    if "base_link" not in loaded or "link7" not in loaded:
+        raise FileNotFoundError(f"Rizon4 外壳网格不完整：{root}")
+    _MODELS = loaded
+    return loaded
+
+
+def _part_arrays(faces: list[tuple], erot, epos) -> dict:
+    """把一个零件收成数组，姿态更新时整块相乘。"""
+    if not faces:
+        verts = np.zeros((0, 3, 3), dtype=np.float64)
+        rgb = np.zeros((0, 3), dtype=np.float64)
+    else:
+        verts = np.asarray([[a, b, c] for a, b, c, _color in faces], dtype=np.float64)
+        rgb = np.asarray([color for _a, _b, _c, color in faces], dtype=np.float64)
+    return {
+        "verts": verts,
+        "rgb": rgb,
+        "erot": np.asarray(erot, dtype=np.float64),
+        "epos": np.asarray(epos, dtype=np.float64),
+    }
+
+
+def _description_root() -> Path:
+    root = ros2_root()
+    candidates = (
+        root / "src/flexiv_description",
+        root / "install/flexiv_description/share/flexiv_description",
+    )
+    for item in candidates:
+        if (item / "config/Rizon4/visual_parameters.yaml").is_file():
+            return item
+    raise FileNotFoundError("找不到 flexiv_description 的 Rizon4 外观")
+
+
+def _materials(path: Path) -> dict[str, tuple[float, float, float]]:
+    mtl = path.with_suffix(".mtl")
+    colors: dict[str, tuple[float, float, float]] = {}
+    name = ""
+    if not mtl.is_file():
+        return colors
+    for line in mtl.read_text(encoding="utf-8", errors="replace").splitlines():
+        if line.startswith("newmtl "):
+            name = line.split(None, 1)[1].strip()
+        elif name and line.startswith("Kd "):
+            parts = line.split()
+            if len(parts) >= 4:
+                colors[name] = (float(parts[1]), float(parts[2]), float(parts[3]))
+    return colors
+
+
+def _load_obj(path: Path, scale: tuple[float, float, float], materials: dict) -> list[tuple]:
+    fallback = (0.75, 0.76, 0.78)
+    rgb = fallback
+    vertices: list[tuple[float, float, float]] = []
+    faces: list[tuple[int, int, int, tuple]] = []
+    for line in path.read_text(encoding="utf-8", errors="replace").splitlines():
+        if line.startswith("usemtl "):
+            rgb = materials.get(line.split(None, 1)[1].strip(), fallback)
+        elif line.startswith("v "):
+            _v, x, y, z, *_rest = line.split()
+            vertices.append((float(x) * scale[0], float(y) * scale[1], float(z) * scale[2]))
+        elif line.startswith("f "):
+            idx = []
+            for token in line.split()[1:]:
+                raw = token.split("/")[0]
+                if not raw:
+                    continue
+                number = int(raw)
+                idx.append(number - 1 if number > 0 else number)
+            for offset in range(1, len(idx) - 1):
+                faces.append((idx[0], idx[offset], idx[offset + 1], rgb))
+    if not faces or not vertices:
+        return []
+    step = max(1, len(faces) // _FACES_PER_LINK)
+    chosen = faces[::step]
+    out = []
+    count = len(vertices)
+    for ia, ib, ic, color in chosen:
+        if not (0 <= ia < count and 0 <= ib < count and 0 <= ic < count):
+            continue
+        out.append((vertices[ia], vertices[ib], vertices[ic], color))
+    return out
+
+
+def _scale(raw) -> tuple[float, float, float]:
+    if raw is None:
+        return (1.0, 1.0, 1.0)
+    if isinstance(raw, (int, float)):
+        value = float(raw)
+        return (value, value, value)
+    text = str(raw).replace(",", " ").split()
+    nums = [float(item) for item in text[:3]]
+    while len(nums) < 3:
+        nums.append(nums[-1] if nums else 1.0)
+    return (nums[0], nums[1], nums[2])
+
+
+def _rpy(roll: float, pitch: float, yaw: float):
+    return _mul(_mul(_rz(yaw), _ry(pitch)), _rx(roll))
+
+
+def _rx(angle: float):
+    c, s = math.cos(angle), math.sin(angle)
+    return ((1.0, 0.0, 0.0), (0.0, c, -s), (0.0, s, c))
+
+
+def _ry(angle: float):
+    c, s = math.cos(angle), math.sin(angle)
+    return ((c, 0.0, s), (0.0, 1.0, 0.0), (-s, 0.0, c))
+
+
+def _rz(angle: float):
+    c, s = math.cos(angle), math.sin(angle)
+    return ((c, -s, 0.0), (s, c, 0.0), (0.0, 0.0, 1.0))
+
+
+def _mul(a, b):
+    return tuple(tuple(sum(a[i][k] * b[k][j] for k in range(3)) for j in range(3)) for i in range(3))
+
+
+def _apply(rot, vec):
+    return tuple(sum(rot[i][k] * vec[k] for k in range(3)) for i in range(3))
+
+
+def _add(a, b):
+    return (a[0] + b[0], a[1] + b[1], a[2] + b[2])
diff --git a/install/arm_application/lib/python3.11/site-packages/arm_application/operator_arm_state.py b/install/arm_application/lib/python3.11/site-packages/arm_application/operator_arm_state.py
new file mode 100644
index 0000000..d91bd37
--- /dev/null
+++ b/install/arm_application/lib/python3.11/site-packages/arm_application/operator_arm_state.py
@@ -0,0 +1,595 @@
+"""工位界面用的机械臂状态：只读使能 / Remote，并用关节角画出姿态。
+
+不会调用 Enable，也不会在控制栈或拖拽桥已经占着 RDK 时再连一次。
+``robot.mode()`` 看不出 Manual，必须看 ``operational_status``。
+示教器上的 Auto（Remote）没有远程切换接口，这里只负责把这句话摆在界面上。
+"""
+
+from __future__ import annotations
+
+import json
+import math
+import os
+import re
+import subprocess
+import threading
+import time
+from pathlib import Path
+from typing import Any
+
+import yaml
+
+from arm_application.site_io import listed_arms, ros2_root
+
+# 和 scripts/lib/rdk_status.py 的 MANUAL_HINT 同一件事，界面上始终可见。
+REMOTE_PROMPT = (
+    "请在示教器上打开 Auto（Remote）。"
+    "RDK 没有远程拨这个开关的接口，必须人到现场拨。"
+)
+
+_AXES = (
+    (0.0, 0.0, 1.0),
+    (0.0, 1.0, 0.0),
+    (0.0, 0.0, 1.0),
+    (0.0, 1.0, 0.0),
+    (0.0, 0.0, 1.0),
+    (0.0, 1.0, 0.0),
+    (0.0, 0.0, 1.0),
+)
+_JOINTS = tuple(f"joint{i}" for i in range(1, 8))
+_LOCK = threading.Lock()
+_CACHE: dict[str, dict] = {}
+_STOP = False
+_STARTED = False
+_HOLD = 0
+_HOLD_LOCK = threading.Lock()
+
+
+def _empty(arm: str) -> dict:
+    return {
+        "arm": arm,
+        "level": "warn",
+        "enabled": False,
+        "summary": "还没读到这台臂的状态",
+        "prompt": REMOTE_PROMPT,
+        "prompt_hot": True,
+        "mode": "",
+        "op_status": "",
+        "fault": None,
+        "estop_released": None,
+        "q": None,
+        "points": [],
+        "source": "",
+        "stack_up": False,
+        "stamp": 0.0,
+    }
+
+
+def snapshot(arm: str) -> dict:
+    with _LOCK:
+        row = _CACHE.get(arm)
+        return dict(row) if row else _empty(arm)
+
+
+def present(
+    arm: str,
+    *,
+    stack_up: bool,
+    bridge_up: bool,
+    probe: dict | None,
+    joints: list[float] | None,
+    error: str = "",
+) -> dict:
+    """把一次读数收成界面直接能画的字典。纯函数，不连机器人。"""
+    probe = probe or {}
+    q = _seven(joints) or _seven(probe.get("q"))
+    op_status = str(probe.get("op_status") or "")
+    mode = str(probe.get("mode") or "")
+    manual = "MANUAL" in op_status.upper()
+    if stack_up and q is not None:
+        enabled = True
+        level = "ok"
+        summary = "控制栈在发关节角，这台臂已经接上。"
+        if probe.get("_shared_stack"):
+            summary = "控制栈在发关节角，但看不出是 89 还是 91，两台显示的是同一份。"
+        source = "控制栈 /joint_states"
+    elif stack_up:
+        enabled = False
+        level = "fail"
+        summary = "控制栈在跑，但没有关节数据。通常是还没使能，一直在等 operational。"
+        source = "控制栈"
+    elif bridge_up and not probe:
+        enabled = False
+        level = "warn"
+        summary = "软拖拽桥占着 RDK，界面不再另开一条连接。"
+        source = "拖拽桥"
+        q = None
+    elif probe.get("connected"):
+        enabled = bool(probe.get("operational"))
+        level = str(probe.get("level") or ("ok" if enabled else "fail"))
+        summary = str(probe.get("summary") or ("已使能" if enabled else "未使能"))
+        source = "RDK 直读（未使能，只查询）"
+    else:
+        enabled = False
+        level = "fail" if error else "warn"
+        summary = error or str(probe.get("summary") or probe.get("error") or "还没连上 RDK")
+        source = "RDK 直读" if probe else ""
+    hot = (not enabled) or manual
+    return {
+        "arm": arm,
+        "level": level,
+        "enabled": enabled,
+        "summary": summary,
+        "prompt": REMOTE_PROMPT,
+        "prompt_hot": hot,
+        "mode": mode,
+        "op_status": op_status,
+        "fault": probe.get("fault") if probe else None,
+        "estop_released": probe.get("estop_released") if probe else None,
+        "q": q,
+        "points": fk_points(q) if q else fk_points([0.0] * 7),
+        "pose_live": q is not None,
+        "source": source,
+        "stack_up": stack_up,
+        "stamp": time.time(),
+    }
+
+
+def link_frames(q: list[float]) -> dict[str, tuple]:
+    """各连杆坐标系，和 ``rizon_arm.xacro`` 的关节顺序一致。
+
+    返回 ``base_link`` 与 ``link1``…``link7``。每个值是 ``(旋转, 原点)``，
+    旋转把连杆坐标变到基座坐标。厂家网格就画在这些坐标系里。
+    """
+    kin = _kinematics()
+    rot = ((1.0, 0.0, 0.0), (0.0, 1.0, 0.0), (0.0, 0.0, 1.0))
+    pos = (0.0, 0.0, 0.0)
+    frames: dict[str, tuple] = {"base_link": (rot, pos)}
+    for index, angle in enumerate(q[:7]):
+        spec = kin[_JOINTS[index]]
+        pos = _add(pos, _apply(rot, (spec["x"], spec["y"], spec["z"])))
+        rot = _mul(rot, _rpy(spec["roll"], spec["pitch"], spec["yaw"]))
+        rot = _mul(rot, _axis_rot(_AXES[index], float(angle)))
+        frames[f"link{index + 1}"] = (rot, pos)
+    return frames
+
+
+def fk_points(q: list[float]) -> list[tuple[float, float, float]]:
+    """按 Rizon4 的 default_kinematics 做正运动学，返回基座到法兰的点（米）。
+
+    关节轴与 ``rizon_arm.xacro`` 一致：1/3/5/7 绕 z，2/4/6 绕 y。
+    URDF 顺序是先平移（父坐标系），再 rpy，再绕关节轴转 q。
+    """
+    frames = link_frames(q)
+    points = [frames["base_link"][1]]
+    points.extend(frames[f"link{index}"][1] for index in range(1, 8))
+    _rot, pos = _flange_pose(frames)
+    points.append(pos)
+    return points
+
+
+def display_frames(q: list[float], workpiece: tuple | None = None) -> list[dict]:
+    """界面要画的坐标系，都在基座系里。
+
+    第一套是基座。第二套默认是法兰（旋转与 ``link7`` 相同，原点再加
+    ``link7_to_flange``）。传入工件系时，第二套改画在工件上，不再画法兰。
+    """
+    frames = link_frames(q)
+    base_rot, base_pos = frames["base_link"]
+    shown = [{"name": "基座", "rot": base_rot, "pos": base_pos}]
+    if workpiece is None:
+        rot, pos = _flange_pose(frames)
+        shown.append({"name": "法兰", "rot": rot, "pos": pos})
+        return shown
+    rot, pos = workpiece
+    if not isinstance(rot, tuple) or len(rot) != 3 or not isinstance(pos, tuple) or len(pos) != 3:
+        raise ValueError("工件坐标系要有旋转和原点")
+    shown.append({"name": "工件", "rot": rot, "pos": pos})
+    return shown
+
+
+def workpiece_frame(robot: dict | None) -> tuple | None:
+    """有完整工件系时返回 ``(旋转, 原点)``。没有就返回 None。
+
+    ``workpiece_surface_z_m`` 只是上表面高度，没有原点的 XY，也没有朝向，
+    不能当成坐标系。配了 ``gauge_assembly.workpiece_frame`` 却缺 ``xyz`` 或
+    ``rpy`` 时直接报错，不用单位阵把缺的朝向补上。
+    ``xyz`` 单位米，``rpy`` 单位弧度，都写在基座系，旋转顺序与连杆 ``rpy`` 相同。
+    """
+    if not isinstance(robot, dict):
+        return None
+    gauge = robot.get("gauge_assembly")
+    if not isinstance(gauge, dict) or "workpiece_frame" not in gauge:
+        return None
+    raw = gauge.get("workpiece_frame")
+    if not isinstance(raw, dict):
+        raise ValueError("工件坐标系要写成 xyz 和 rpy，各三个数")
+    xyz = raw.get("xyz")
+    rpy = raw.get("rpy")
+    if not _three_floats(xyz) or not _three_floats(rpy):
+        raise ValueError("工件坐标系要有 xyz 和 rpy，各三个数，单位是米和弧度，写在基座系里")
+    return _rpy(float(rpy[0]), float(rpy[1]), float(rpy[2])), (
+        float(xyz[0]), float(xyz[1]), float(xyz[2]),
+    )
+
+
+def _flange_pose(frames: dict) -> tuple:
+    """法兰位姿。旋转就是 ``link7`` 的旋转，平移来自 ``link7_to_flange``。"""
+    rot, pos = frames["link7"]
+    flange = _kinematics()["link7_to_flange"]
+    pos = _add(pos, _apply(rot, (float(flange["x"]), float(flange["y"]), float(flange["z"]))))
+    return rot, pos
+
+
+def _three_floats(raw: Any) -> bool:
+    if not isinstance(raw, (list, tuple)) or len(raw) != 3:
+        return False
+    return all(isinstance(item, (int, float)) and not isinstance(item, bool) for item in raw)
+
+
+def stack_running() -> bool:
+    return _stack_arm() is not None or _alive("ros2_control_node")
+
+
+def control_holds_rdk() -> bool:
+    """有控制命令在用 RDK 时，状态轮询必须让开。"""
+    with _HOLD_LOCK:
+        return _HOLD > 0
+
+
+def release_for_control() -> None:
+    """停掉正在读状态的 RDK 子进程，把机器人交给控制命令。"""
+    with _HOLD_LOCK:
+        global _HOLD
+        _HOLD += 1
+    _stop_status_probes()
+    deadline = time.time() + 3.0
+    while time.time() < deadline and _status_probe_running():
+        time.sleep(0.05)
+
+
+def resume_after_control() -> None:
+    with _HOLD_LOCK:
+        global _HOLD
+        _HOLD = max(0, _HOLD - 1)
+
+
+def hold_until_idle(pid: int, *, until_stack: bool = False) -> None:
+    """后台脚本还在时继续占着 RDK。进程退出，或控制栈已经起来，就放开。"""
+    def _watch() -> None:
+        while True:
+            if until_stack and stack_running():
+                break
+            if not _pid_alive(pid):
+                break
+            time.sleep(0.3)
+        resume_after_control()
+
+    threading.Thread(target=_watch, daemon=True, name="arm-rdk-hold").start()
+
+
+def motion_blocked(action: str, *, stack_up: bool, op_status: str) -> str:
+    """控制栈没起来时，动臂按钮给一句能执行的原因，而不是把脚本挂在那儿。"""
+    needs_stack = {
+        "pipeline", "stage_track", "stage_locate", "stage_screw",
+        "reset_home", "gauge_run", "handeye_calibrate",
+    }
+    if action not in needs_stack or stack_up:
+        return ""
+    manual = "MANUAL" in str(op_status or "").upper()
+    tail = "示教器现在是 Manual，要先拨到 Auto（Remote）。" if manual else ""
+    return f"控制栈没起来，这个动作动不了臂。{tail}请先在操作页执行「上电控制栈」。"
+
+
+def start() -> None:
+    global _STARTED
+    with _LOCK:
+        if _STARTED:
+            return
+        _STARTED = True
+    threading.Thread(target=_loop, daemon=True, name="arm-state").start()
+
+
+def retain_pose(fresh: dict, previous: dict | None, *, now: float | None = None, hold_s: float = 15.0) -> dict:
+    """这一拍没读到关节角时，短时间沿用上一拍，避免模型被打回零位。
+
+    超过 ``hold_s`` 仍没有新读数就放开，界面回到“没连上”，不把过期姿态一直当成当前。
+    """
+    if fresh.get("q") is not None or not previous or previous.get("q") is None:
+        return fresh
+    moment = time.time() if now is None else now
+    if moment - float(previous.get("stamp") or 0.0) > hold_s:
+        return fresh
+    kept = dict(fresh)
+    kept["q"] = list(previous["q"])
+    kept["points"] = list(previous.get("points") or [])
+    kept["pose_live"] = True
+    note = "关节角沿用上次读数。"
+    summary = str(kept.get("summary") or "")
+    if note not in summary:
+        kept["summary"] = f"{summary} {note}".strip()
+    return kept
+
+
+def _loop() -> None:
+    while not _STOP:
+        if control_holds_rdk():
+            time.sleep(0.2)
+            continue
+        try:
+            arms = _arms()
+            if not arms:
+                time.sleep(2.0)
+                continue
+            stack_arm = _stack_arm()
+            stack_up = stack_arm is not None or _alive("ros2_control_node")
+            bridge_up = _alive("rdk_drag_bridge.py")
+            joints = _read_joints() if stack_up else None
+            if stack_up:
+                targets = [row for row in arms if stack_arm is None or row["id"] == stack_arm]
+                if not targets:
+                    targets = arms
+                shared = stack_arm is None
+                for row in targets:
+                    fresh = present(
+                        row["id"],
+                        stack_up=True,
+                        bridge_up=bridge_up,
+                        probe={"_shared_stack": True} if shared else None,
+                        joints=joints,
+                    )
+                    _store(retain_pose(fresh, snapshot(row["id"])))
+            else:
+                for row in arms:
+                    probe: dict | None = None
+                    error = ""
+                    if control_holds_rdk():
+                        break
+                    if not bridge_up:
+                        probe, error = _probe(row["sn"], row["iface"], row["pc_ip"])
+                    fresh = present(
+                        row["id"],
+                        stack_up=False,
+                        bridge_up=bridge_up,
+                        probe=probe,
+                        joints=None,
+                        error=error,
+                    )
+                    _store(retain_pose(fresh, snapshot(row["id"])))
+        except Exception as exc:  # noqa: BLE001 —— 读状态失败不能把界面线程打死
+            for row in _arms():
+                _store(present(
+                    row["id"], stack_up=False, bridge_up=False, probe=None, joints=None, error=str(exc),
+                ))
+        time.sleep(4.0)
+
+
+def _stop_status_probes() -> None:
+    try:
+        subprocess.run(
+            ["pkill", "-f", "scripts/lib/rdk_status.py"],
+            capture_output=True, text=True, timeout=2,
+        )
+    except (OSError, subprocess.TimeoutExpired):
+        return
+
+
+def _status_probe_running() -> bool:
+    return "rdk_status.py" in _pgrep("scripts/lib/rdk_status.py")
+
+
+def _pid_alive(pid: int) -> bool:
+    if pid <= 0:
+        return False
+    try:
+        os.kill(pid, 0)
+    except OSError:
+        return False
+    return True
+
+
+def _store(row: dict) -> None:
+    with _LOCK:
+        _CACHE[str(row.get("arm") or "")] = row
+
+
+def _arms() -> list[dict]:
+    path = ros2_root() / "config" / "site.yaml"
+    if not path.is_file():
+        return []
+    data = yaml.safe_load(path.read_text(encoding="utf-8")) or {}
+    return [
+        {"id": row["id"], "sn": row["sn"], "iface": row["iface"], "pc_ip": row["pc_ip"]}
+        for row in listed_arms(data)
+    ]
+
+
+def _stack_arm() -> str | None:
+    text = _pgrep("run_real.sh")
+    ids = {row["id"] for row in _arms()}
+    for match in re.finditer(r"--arm(?:=|\s+)(\S+)", text):
+        token = match.group(1)
+        if token in ids:
+            return token
+    return None
+
+
+def _alive(pattern: str) -> bool:
+    return bool(_pgrep(pattern).strip())
+
+
+def _pgrep(pattern: str) -> str:
+    try:
+        proc = subprocess.run(
+            ["pgrep", "-af", pattern],
+            capture_output=True, text=True, timeout=2,
+        )
+    except (OSError, subprocess.TimeoutExpired):
+        return ""
+    lines = []
+    for line in proc.stdout.splitlines():
+        if "pgrep" in line:
+            continue
+        lines.append(line)
+    return "\n".join(lines)
+
+
+def _read_joints() -> list[float] | None:
+    try:
+        proc = subprocess.run(
+            ["timeout", "4", "ros2", "topic", "echo", "/joint_states", "--once"],
+            capture_output=True, text=True, timeout=6,
+        )
+    except (OSError, subprocess.TimeoutExpired):
+        return None
+    return _parse_joint_echo(proc.stdout)
+
+
+def _parse_joint_echo(text: str) -> list[float] | None:
+    for chunk in text.split("---"):
+        if "position:" not in chunk:
+            continue
+        try:
+            data = yaml.safe_load(chunk)
+        except yaml.YAMLError:
+            continue
+        if not isinstance(data, dict):
+            continue
+        names = list(data.get("name") or [])
+        pos = list(data.get("position") or [])
+        if names and len(names) == len(pos):
+            by = {str(name): float(value) for name, value in zip(names, pos)}
+            q = []
+            for joint in _JOINTS:
+                key = next((name for name in by if name == joint or name.endswith(joint)), None)
+                if key is None:
+                    q = []
+                    break
+                q.append(by[key])
+            if len(q) == 7:
+                return q
+        if len(pos) >= 7:
+            try:
+                return [float(v) for v in pos[:7]]
+            except (TypeError, ValueError):
+                return None
+    return None
+
+
+def _probe(sn: str, iface: str, pc_ip: str = "") -> tuple[dict | None, str]:
+    python = os.environ.get("RDK_PYTHON", "").strip() or str(Path.home() / "rdk_py310" / "bin" / "python")
+    script = ros2_root() / "scripts" / "lib" / "rdk_status.py"
+    if not Path(python).is_file() or not script.is_file():
+        return None, "找不到 RDK 解释器或 rdk_status.py，无法读使能状态"
+    cmd = _probe_cmd(python, script, sn, iface, pc_ip)
+    try:
+        proc = subprocess.run(cmd, capture_output=True, text=True, timeout=8)
+    except subprocess.TimeoutExpired:
+        return None, "读 RDK 超时。若控制栈没开，检查网线，并确认示教器已开 Remote。"
+    except OSError as exc:
+        return None, f"读 RDK 失败：{exc}"
+    payload = _json_object(proc.stdout) or _json_object(proc.stderr)
+    if not payload:
+        tail = (proc.stdout + proc.stderr).strip()[-240:]
+        return None, tail or "RDK 没有返回状态"
+    return payload, ""
+
+
+def _probe_cmd(python: str, script: Path, sn: str, iface: str, pc_ip: str) -> list[str]:
+    """RDK 白名单要本机 IPv4。只传网卡名 ``eth0`` 时，内核改名叫 enx… 就永远连不上。"""
+    cmd = [python, str(script), "--sn", sn, "--json"]
+    if iface:
+        cmd += ["--iface", iface]
+    if pc_ip:
+        cmd += ["--pc-ip", pc_ip]
+    return cmd
+
+
+def _json_object(text: str) -> dict:
+    decoder = json.JSONDecoder()
+    for index, char in enumerate(text):
+        if char != "{":
+            continue
+        try:
+            data, _end = decoder.raw_decode(text[index:])
+        except json.JSONDecodeError:
+            continue
+        if isinstance(data, dict) and "connected" in data:
+            return data
+    return {}
+
+
+_KIN: dict[str, dict[str, float]] | None = None
+
+
+def _kinematics() -> dict[str, dict[str, float]]:
+    global _KIN
+    if _KIN is not None:
+        return _KIN
+    root = ros2_root()
+    candidates = (
+        root / "src/flexiv_description/config/Rizon4/default_kinematics.yaml",
+        root / "install/flexiv_description/share/flexiv_description/config/Rizon4/default_kinematics.yaml",
+    )
+    path = next((item for item in candidates if item.is_file()), None)
+    if path is None:
+        raise FileNotFoundError("找不到 Rizon4 default_kinematics.yaml")
+    data = yaml.safe_load(path.read_text(encoding="utf-8")) or {}
+    kin = data.get("kinematics") or {}
+    _KIN = kin
+    return kin
+
+
+def _rpy(roll: float, pitch: float, yaw: float) -> tuple:
+    return _mul(_mul(_rz(yaw), _ry(pitch)), _rx(roll))
+
+
+def _rx(angle: float) -> tuple:
+    c, s = math.cos(angle), math.sin(angle)
+    return ((1.0, 0.0, 0.0), (0.0, c, -s), (0.0, s, c))
+
+
+def _ry(angle: float) -> tuple:
+    c, s = math.cos(angle), math.sin(angle)
+    return ((c, 0.0, s), (0.0, 1.0, 0.0), (-s, 0.0, c))
+
+
+def _rz(angle: float) -> tuple:
+    c, s = math.cos(angle), math.sin(angle)
+    return ((c, -s, 0.0), (s, c, 0.0), (0.0, 0.0, 1.0))
+
+
+def _axis_rot(axis: tuple[float, float, float], angle: float) -> tuple:
+    x, y, z = axis
+    if abs(z) > 0.5:
+        return _rz(angle if z > 0 else -angle)
+    if abs(y) > 0.5:
+        return _ry(angle if y > 0 else -angle)
+    return _rx(angle if x > 0 else -angle)
+
+
+def _mul(a: tuple, b: tuple) -> tuple:
+    return tuple(
+        tuple(sum(a[i][k] * b[k][j] for k in range(3)) for j in range(3))
+        for i in range(3)
+    )
+
+
+def _apply(rot: tuple, vec: tuple[float, float, float]) -> tuple[float, float, float]:
+    return tuple(sum(rot[i][k] * vec[k] for k in range(3)) for i in range(3))  # type: ignore[return-value]
+
+
+def _add(a: tuple[float, float, float], b: tuple[float, float, float]) -> tuple[float, float, float]:
+    return (a[0] + b[0], a[1] + b[1], a[2] + b[2])
+
+
+def _seven(raw: Any) -> list[float] | None:
+    if not isinstance(raw, list) or len(raw) < 7:
+        return None
+    try:
+        q = [float(v) for v in raw[:7]]
+    except (TypeError, ValueError):
+        return None
+    if any(v != v or abs(v) > 12.6 for v in q):
+        return None
+    return q
diff --git a/install/arm_application/lib/python3.11/site-packages/arm_application/operator_camera_view.py b/install/arm_application/lib/python3.11/site-packages/arm_application/operator_camera_view.py
index da4744e..217a4ed 100644
--- a/install/arm_application/lib/python3.11/site-packages/arm_application/operator_camera_view.py
+++ b/install/arm_application/lib/python3.11/site-packages/arm_application/operator_camera_view.py
@@ -1,6 +1,12 @@
 """工位程序里的相机预览。
 
 只订彩色和已对齐深度，不订左右红外。画面留在本进程，不另开查看器窗口。
+
+回调里先丢掉当前页没在看的流。彩色按相机原分辨率收进来，不按时钟抽帧，
+也不在收图的线程里做颜色转换。另一条线只画最新的一张，所以帧率跟相机走，
+848 和 1280 都不会为了帧率被缩成 480。深度是伪彩色，仍然抽稀，
+而且没打开深度时不订阅，避免大图挤占彩色。
+手眼页要 JPEG 时也按原分辨率编码，只编正在看的那一路。
 """
 
 from __future__ import annotations
@@ -11,33 +17,121 @@ import time
 
 import numpy as np
 
+# 彩色上限。D405 是 848×480，D435 是 1280×720，都不超过它，所以不会被缩小。
+_COLOR_WIDTH = 1280
+# 深度上色不是要看的画质。全幅每帧上色会把刷新占满，所以这一路仍抽稀。
+_DEPTH_WIDTH = 480
+# 手眼只在正在看的那一页编码，宽度跟彩色预览一样，不另缩一档。
+_JPEG_WIDTH = 1280
+# 只留给还在用 ``accept_frame`` 的调用。彩色实况不再用它抽帧：
+# 相机大约 30 帧，再按这个间隔丢一次，画面会掉到十几帧。
+_INTERVAL = 1.0 / 30.0
+_DET_HOLD_S = 1.5
+
 _LOCK = threading.Lock()
 _STOP = threading.Event()
 _THREAD: threading.Thread | None = None
 _JPEG: dict[str, bytes] = {}
+_PREVIEW: dict[str, tuple[bytes, int, int]] = {}
+_PREVIEW_WANT: set[str] = set()
+_JPEG_WANT: set[str] = set()
+_NEXT: dict[str, float] = {}
+_DET: dict[str, tuple[float, list[float]]] = {}
+# 没画框的预览。检测一到就在这张上重画，不必等下一帧相机。
+_CLEAN: dict[str, dict] = {}
+# 每路最近一秒的到达时刻，用来算帧率。值是 (宽, 高, 帧/秒)，宽高是相机原图。
+_META: dict[str, tuple[int, int, float]] = {}
+_STAMPS: dict[str, list[float]] = {}
+# 每路最新原图。收图线程只往这里放，画图线程只取最新的一张。
+_RAW: dict[str, dict] = {}
+_SLOTS: dict[str, list] = {}
+_SLOT_AT: dict[str, int] = {}
+_PAINTED: dict[str, int] = {}
+_WAKE = threading.Event()
+_PAINT_THREAD: threading.Thread | None = None
 _STATE = {"on": False, "error": "", "frames": {}, "stamp": 0.0}
 
 
-def targets() -> list[dict]:
-    """真机腕部相机和手外相机。仿真相机不进预览。"""
-    from arm_application.operator_console import _arms, _site
-    from arm_application.site_io import overhead_camera
+def preview_targets(site: dict) -> list[dict]:
+    """主界面只要左臂腕部相机和共用的手外相机。
+
+    右臂腕部不进这一屏。仿真相机名字以 ``sim`` 开头，也不进。
+    推理框的角色仍是 ``wrist`` / ``overhead``，跟话题对得上。
+    """
+    from arm_application.site_io import listed_arms, overhead_camera
 
     found: list[dict] = []
     seen: set[str] = set()
-    for arm in _arms():
-        name = str(arm.get("camera") or "").strip().strip("/")
-        if not name or name.startswith("sim") or name in seen:
-            continue
+    left = next((row for row in listed_arms(site) if row.get("side") == "left"), None)
+    name = str((left or {}).get("camera") or "").strip().strip("/")
+    if name and not name.startswith("sim"):
+        cams = site.get("cameras") if isinstance(site.get("cameras"), dict) else {}
+        cfg = cams.get(name) if isinstance(cams, dict) and isinstance(cams.get(name), dict) else {}
+        tag = str((cfg or {}).get("model") or "D405").strip().upper() or "D405"
         seen.add(name)
-        found.append({"id": name, "label": f"{arm.get('label') or name} 腕部"})
-    cam, _others = overhead_camera(_site(), None)
-    name = str((cam or {}).get("name") or "").strip().strip("/")
-    if name and not name.startswith("sim") and name not in seen:
-        found.append({"id": name, "label": str((cam or {}).get("label") or "手外相机")})
+        found.append({"id": name, "label": f"左腕 {tag}", "role": "wrist"})
+    cam, _others = overhead_camera(site or {}, None)
+    oname = str((cam or {}).get("name") or "").strip().strip("/")
+    if oname and not oname.startswith("sim") and oname not in seen:
+        tag = str((cam or {}).get("model") or "D435").strip().upper() or "D435"
+        found.append({"id": oname, "label": f"手外 {tag}", "role": "overhead"})
     return found
 
 
+def sim_preview_targets(site: dict) -> list[dict]:
+    """仿真腕部和仿真手外。画面进主界面，不另开 Gazebo 的相机窗。"""
+    from arm_application.site_io import overhead_camera
+
+    found: list[dict] = []
+    robots = ((site or {}).get("robot") or {}).get("robots") or []
+    cams = site.get("cameras") if isinstance(site.get("cameras"), dict) else {}
+    for robot in robots:
+        if not isinstance(robot, dict):
+            continue
+        if str(robot.get("sn") or "").strip().lower() != "sim":
+            continue
+        cam = robot.get("camera") if isinstance(robot.get("camera"), dict) else {}
+        name = str((cam or {}).get("name") or "").strip().strip("/")
+        if not name:
+            continue
+        cfg = cams.get(name) if isinstance(cams, dict) and isinstance(cams.get(name), dict) else {}
+        tag = str((cfg or {}).get("model") or "D405").strip().upper() or "D405"
+        found.append({"id": name, "label": f"仿真左腕 {tag}", "role": "wrist", "source": "sim"})
+        break
+    overhead, _others = overhead_camera(site or {}, {"arm": "sim"})
+    oname = str((overhead or {}).get("name") or "").strip().strip("/")
+    if oname.startswith("sim"):
+        tag = str((overhead or {}).get("model") or "D435").strip().upper() or "D435"
+        found.append({"id": oname, "label": f"仿真手外 {tag}", "role": "overhead", "source": "sim"})
+    return found
+
+
+def stream_targets(site: dict | None = None) -> list[dict]:
+    """真机和仿真都订上。主界面切换看哪一组，没在看的那组回调里直接丢掉。"""
+    if site is None:
+        from arm_application.operator_console import _site
+
+        site = _site()
+    real = preview_targets(site)
+    for item in real:
+        item["source"] = "real"
+    seen = {item["id"] for item in real}
+    return real + [item for item in sim_preview_targets(site) if item["id"] not in seen]
+
+
+def targets() -> list[dict]:
+    """当前站点的主界面真机相机。规则在 ``preview_targets``。"""
+    from arm_application.operator_console import _site
+
+    return preview_targets(_site())
+
+
+def sim_targets() -> list[dict]:
+    from arm_application.operator_console import _site
+
+    return sim_preview_targets(_site())
+
+
 def state() -> dict:
     with _LOCK:
         return {
@@ -53,141 +147,492 @@ def frame(name: str, kind: str) -> bytes | None:
         return _JPEG.get(f"{name}_{kind}")
 
 
+def previews() -> dict[str, tuple[bytes, int, int]]:
+    """当前预览。值是 ``(rgb888, 宽, 高)``，同一帧反复取到的是同一块字节。"""
+    with _LOCK:
+        return dict(_PREVIEW)
+
+
+def preview_meta() -> dict[str, tuple[int, int, float]]:
+    """每路相机原图的宽、高，以及最近一秒的帧率。还没来帧就是空。"""
+    with _LOCK:
+        return dict(_META)
+
+
+def _mark_rate(key: str, width: int, height: int) -> None:
+    """记下这一帧的原图尺寸，并用最近一秒的到达间隔算帧率。"""
+    now = time.monotonic()
+    with _LOCK:
+        stamps = _STAMPS.setdefault(key, [])
+        stamps.append(now)
+        cut = now - 1.0
+        while len(stamps) > 1 and stamps[0] < cut:
+            stamps.pop(0)
+        if len(stamps) >= 2 and stamps[-1] > stamps[0]:
+            fps = (len(stamps) - 1) / (stamps[-1] - stamps[0])
+        else:
+            fps = 0.0
+        _META[key] = (int(width), int(height), float(fps))
+
+
+def watch(preview: set[str], jpeg: set[str] | None = None) -> None:
+    """当前页要哪几路。没点名的流在回调里直接丢掉，不拷图像。
+
+    ``preview`` 走原分辨率 RGB，``jpeg`` 走手眼用的 JPEG。两边都空着就只保持订阅。
+    """
+    global _PREVIEW_WANT, _JPEG_WANT
+    jpeg = set(jpeg or ())
+    preview = set(preview)
+    with _LOCK:
+        if preview == _PREVIEW_WANT and jpeg == _JPEG_WANT:
+            return
+        _PREVIEW_WANT = preview
+        _JPEG_WANT = jpeg
+        for key in preview | jpeg:
+            _NEXT.pop(key, None)
+
+
+def wants(key: str) -> tuple[bool, bool]:
+    """返回 ``(要预览, 要 JPEG)``。"""
+    with _LOCK:
+        return key in _PREVIEW_WANT, key in _JPEG_WANT
+
+
+def offer_color(key: str, image: np.ndarray, *, bgr: bool, role: str) -> None:
+    """收一帧彩色原图。没人看就丢掉。有人看就整幅留下，不按时钟抽帧。"""
+    preview, jpeg = wants(key)
+    if not preview and not jpeg:
+        return
+    if image.ndim != 3 or image.shape[2] != 3 or image.shape[0] < 1 or image.shape[1] < 1:
+        return
+    _offer(key, image, bgr=bgr, role=role, kind="color")
+
+
+def offer_depth(key: str, image: np.ndarray) -> None:
+    """收一帧深度原图。伪彩色仍在画图线程里做，不堵收图。"""
+    preview, _jpeg = wants(key)
+    if not preview:
+        return
+    if image.ndim != 2 or image.shape[0] < 1 or image.shape[1] < 1:
+        return
+    _offer(key, image, bgr=False, role="", kind="depth")
+
+
+def _offer(key: str, image: np.ndarray, *, bgr: bool, role: str, kind: str) -> None:
+    height, width = int(image.shape[0]), int(image.shape[1])
+    with _LOCK:
+        slots = _SLOTS.setdefault(key, [None, None])
+        index = _SLOT_AT.get(key, 0)
+        slot = slots[index]
+        if slot is None or slot.shape != image.shape or slot.dtype != image.dtype:
+            slot = np.empty(image.shape, dtype=image.dtype)
+            slots[index] = slot
+        np.copyto(slot, image)
+        seq = int(_RAW.get(key, {}).get("seq", 0)) + 1
+        _RAW[key] = {
+            "seq": seq,
+            "frame": slot,
+            "bgr": bool(bgr),
+            "role": role,
+            "kind": kind,
+            "w": width,
+            "h": height,
+        }
+        _SLOT_AT[key] = 1 - index
+    _mark_rate(key, width, height)
+    _WAKE.set()
+
+
+def publish_latest() -> None:
+    """把各路还没画的最新原图做成预览。中间帧直接跳过，避免越画越落后。"""
+    with _LOCK:
+        jobs = []
+        for key, item in _RAW.items():
+            if _PAINTED.get(key) == item["seq"]:
+                continue
+            jobs.append((
+                key,
+                int(item["seq"]),
+                np.array(item["frame"], copy=True),
+                bool(item["bgr"]),
+                str(item["role"]),
+                str(item["kind"]),
+                int(item["w"]),
+                int(item["h"]),
+            ))
+    for key, seq, frame, bgr, role, kind, width, height in jobs:
+        try:
+            preview, jpeg = wants(key)
+            if kind == "depth":
+                if preview:
+                    colored = depth_preview(frame)
+                    _store(key, colored, preview=colored, jpeg=False)
+            elif preview or jpeg:
+                limit = _JPEG_WIDTH if jpeg else _COLOR_WIDTH
+                rgb = rgb_preview(frame, bgr=bgr, limit=limit)
+                shown = rgb
+                if preview and int(rgb.shape[1]) > _COLOR_WIDTH:
+                    shown = rgb_preview(rgb, bgr=False, limit=_COLOR_WIDTH)
+                if preview:
+                    _remember_clean(key, shown, role, width, height)
+                    shown = _overlay_detection(shown, role, width, height)
+                _store(key, rgb, preview=shown if preview else None, jpeg=jpeg)
+        except Exception as exc:  # noqa: BLE001 —— 坏的一帧留在状态里，下一帧继续
+            with _LOCK:
+                _STATE["error"] = str(exc)
+        finally:
+            with _LOCK:
+                if _PAINTED.get(key, 0) < seq:
+                    _PAINTED[key] = seq
+
+
+def _paint_loop() -> None:
+    while not _STOP.is_set():
+        _WAKE.wait(0.005)
+        _WAKE.clear()
+        if _STOP.is_set():
+            return
+        try:
+            publish_latest()
+        except Exception as exc:  # noqa: BLE001 —— 画图线程不能因为一帧坏掉就退出
+            with _LOCK:
+                _STATE["error"] = str(exc)
+
+
+def accept_frame(key: str) -> bool:
+    """这一帧要不要做进预览。没人看，或者距上一帧不到间隔，都返回 False。
+
+    彩色实况不再走这里。固定间隔会把相机自己的帧率再砍掉一截。
+    """
+    now = time.monotonic()
+    with _LOCK:
+        if key not in _PREVIEW_WANT and key not in _JPEG_WANT:
+            return False
+        if now < _NEXT.get(key, 0.0):
+            return False
+        _NEXT[key] = now + _INTERVAL
+        return True
+
+
 def _close_external_viewers() -> None:
     """关掉独立的四窗格查看器。它会把左右红外挂出来，本程序不再用它。"""
     subprocess.run(["pkill", "-f", "lib/arm_application/realsense_view"], check=False)
     subprocess.run(["pkill", "-f", "arm_application.realsense_view"], check=False)
 
 
-def _jpeg(img: np.ndarray) -> bytes | None:
+def paint_detection(
+    rgb: np.ndarray,
+    xyxy: list[float] | tuple,
+    src_width: int,
+    src_height: int,
+) -> np.ndarray:
+    """把推理结果画到相机预览上：绿框、画面中心、跟踪红点、置信度和距离。
+
+    ``xyxy`` 前四项是原图像素的框。够长时第 5 项是置信度，第 7、8 项是跟踪点，
+    第 9 项是距离（米）。空框原样返回。
+    """
     import cv2
 
-    if img.size == 0:
+    if rgb.ndim != 3 or src_width <= 0 or src_height <= 0 or len(xyxy) < 4:
+        return rgb
+    scale_x = rgb.shape[1] / float(src_width)
+    scale_y = rgb.shape[0] / float(src_height)
+    x1 = int(round(float(xyxy[0]) * scale_x))
+    y1 = int(round(float(xyxy[1]) * scale_y))
+    x2 = int(round(float(xyxy[2]) * scale_x))
+    y2 = int(round(float(xyxy[3]) * scale_y))
+    height, width = rgb.shape[:2]
+    x1 = max(0, min(width - 1, x1))
+    x2 = max(0, min(width - 1, x2))
+    y1 = max(0, min(height - 1, y1))
+    y2 = max(0, min(height - 1, y2))
+    if x2 <= x1 or y2 <= y1:
+        return rgb
+    out = np.array(rgb, copy=True)
+    thick = max(2, width // 180)
+    cv2.rectangle(out, (x1, y1), (x2, y2), (80, 220, 120), thick)
+    cv2.drawMarker(
+        out,
+        (width // 2, height // 2),
+        (255, 220, 60),
+        cv2.MARKER_CROSS,
+        max(8, width // 24),
+        1,
+    )
+    if len(xyxy) >= 8:
+        px = int(round(float(xyxy[6]) * scale_x))
+        py = int(round(float(xyxy[7]) * scale_y))
+        px = max(0, min(width - 1, px))
+        py = max(0, min(height - 1, py))
+        cv2.circle(out, (px, py), max(3, width // 80), (255, 48, 48), -1)
+    if len(xyxy) >= 5:
+        conf = float(xyxy[4])
+        dist = f"  z={float(xyxy[8]):.3f}m" if len(xyxy) >= 9 else ""
+        cv2.putText(
+            out,
+            f"{conf:.2f}{dist}",
+            (x1, max(14, y1 - 6)),
+            cv2.FONT_HERSHEY_SIMPLEX,
+            0.45,
+            (80, 220, 120),
+            1,
+            cv2.LINE_AA,
+        )
+    return out
+
+
+def inference_status() -> str:
+    """腕部和手外最近一次推理框。超过保持时间就当没有。"""
+    now = time.monotonic()
+    with _LOCK:
+        items = dict(_DET)
+    parts = []
+    for role, title in (("wrist", "腕部"), ("overhead", "手外")):
+        item = items.get(role)
+        if item is None or now - item[0] > _DET_HOLD_S or len(item[1]) < 5:
+            parts.append(f"{title} 没有框")
+            continue
+        parts.append(f"{title} 置信 {float(item[1][4]):.2f}")
+    return "推理  " + "    ".join(parts)
+
+
+def _remember_detection(role: str, data: list[float]) -> None:
+    with _LOCK:
+        if len(data) < 4:
+            _DET.pop(role, None)
+        else:
+            _DET[role] = (time.monotonic(), data)
+    _stamp_role(role)
+
+
+def _remember_clean(key: str, rgb: np.ndarray, role: str, src_w: int, src_h: int) -> None:
+    with _LOCK:
+        _CLEAN[key] = {
+            "rgb": np.array(rgb, copy=True),
+            "role": role,
+            "src_w": int(src_w),
+            "src_h": int(src_h),
+        }
+
+
+def _overlay_detection(rgb: np.ndarray, role: str, src_width: int, src_height: int) -> np.ndarray:
+    now = time.monotonic()
+    with _LOCK:
+        item = _DET.get(role)
+    if item is None or now - item[0] > _DET_HOLD_S or len(item[1]) < 4:
+        return rgb
+    return paint_detection(rgb, item[1], src_width, src_height)
+
+
+def _stamp_role(role: str) -> None:
+    """检测更新后，把框画回这一路相机已经在显示的画面上。"""
+    now = time.monotonic()
+    with _LOCK:
+        frames = [(key, dict(meta)) for key, meta in _CLEAN.items() if meta.get("role") == role]
+        item = _DET.get(role)
+    fresh = item is not None and now - item[0] <= _DET_HOLD_S and len(item[1]) >= 4
+    for key, meta in frames:
+        shown = meta["rgb"]
+        if fresh:
+            shown = paint_detection(shown, item[1], meta["src_w"], meta["src_h"])
+        with _LOCK:
+            _PREVIEW[key] = (np.ascontiguousarray(shown).tobytes(), int(shown.shape[1]), int(shown.shape[0]))
+            _STATE["frames"][key] = True
+            _STATE["stamp"] = time.time()
+
+
+def rgb_preview(image: np.ndarray, *, bgr: bool, limit: int = _COLOR_WIDTH) -> np.ndarray:
+    """缩成宽不超过 ``limit`` 的 RGB。返回的数组自己持有内存，不跟调用方共用缓冲。"""
+    import cv2
+
+    if image.ndim != 3 or image.shape[2] != 3 or image.shape[0] < 1 or image.shape[1] < 1:
+        raise ValueError("彩色预览要的是高×宽×3")
+    view = image
+    width = int(view.shape[1])
+    if width > limit:
+        height = max(1, int(round(int(view.shape[0]) * limit / float(width))))
+        view = cv2.resize(view, (limit, height), interpolation=cv2.INTER_AREA)
+    if bgr:
+        return cv2.cvtColor(view, cv2.COLOR_BGR2RGB)
+    if not view.flags["OWNDATA"] or not view.flags["C_CONTIGUOUS"]:
+        return np.ascontiguousarray(view)
+    return view
+
+
+def depth_preview(depth: np.ndarray, limit: int = _DEPTH_WIDTH) -> np.ndarray:
+    """uint16 深度画成 RGB。百分位只在抽稀后的样本上算，无效像素保持黑色。"""
+    import cv2
+
+    if depth.ndim != 2 or depth.shape[0] < 1 or depth.shape[1] < 1:
+        raise ValueError("深度预览要的是高×宽")
+    step = max(1, int(depth.shape[1]) // limit)
+    small = depth[::step, ::step]
+    valid = small > 0
+    gray = np.zeros(small.shape, np.uint8)
+    if bool(valid.any()):
+        sample = small[valid]
+        if sample.size > 8000:
+            sample = sample[:: max(1, sample.size // 8000)]
+        lo, hi = np.percentile(sample.astype(np.float32, copy=False), [5, 95])
+        hi = max(float(hi), float(lo) + 1.0)
+        norm = np.clip((small.astype(np.float32) - float(lo)) / (hi - float(lo)), 0.0, 1.0)
+        gray = (norm * 255.0).astype(np.uint8)
+        gray[~valid] = 0
+    colored = cv2.applyColorMap(gray, cv2.COLORMAP_JET)
+    colored[~valid] = 0
+    return rgb_preview(colored, bgr=True, limit=limit)
+
+
+def _jpeg_bgr(rgb: np.ndarray) -> bytes | None:
+    import cv2
+
+    if rgb.size == 0:
         return None
-    view = img
-    if view.shape[1] > 640:
-        scale = 640.0 / float(view.shape[1])
-        view = cv2.resize(view, (640, max(1, int(view.shape[0] * scale))))
-    ok, buf = cv2.imencode(".jpg", view, [int(cv2.IMWRITE_JPEG_QUALITY), 70])
+    ok, buf = cv2.imencode(
+        ".jpg",
+        cv2.cvtColor(rgb, cv2.COLOR_RGB2BGR),
+        [int(cv2.IMWRITE_JPEG_QUALITY), 70],
+    )
     if not ok:
         return None
     return buf.tobytes()
 
 
-def _depth_bgr(depth: np.ndarray) -> np.ndarray:
-    import cv2
-
-    vis = np.zeros((depth.shape[0], depth.shape[1], 3), np.uint8)
-    valid = depth > 0
-    if not bool(valid.any()):
-        return vis
-    values = depth.astype(np.float32)
-    lo, hi = np.percentile(values[valid], [5, 95])
-    hi = max(float(hi), float(lo) + 1.0)
-    gray = (np.clip((values - lo) / (hi - lo), 0.0, 1.0) * 255.0).astype(np.uint8)
-    gray[~valid] = 0
-    colored = cv2.applyColorMap(gray, cv2.COLORMAP_JET)
-    colored[~valid] = 0
-    return colored
+def _as_array(data, dtype, count: int) -> np.ndarray:
+    """优先直接看消息缓冲。缓冲不支持时才拷一份。"""
+    try:
+        arr = np.frombuffer(data, dtype=dtype, count=count)
+    except (TypeError, BufferError, ValueError):
+        arr = np.frombuffer(bytes(data), dtype=dtype, count=count)
+    if arr.size < count:
+        raise ValueError("图像字节数不够")
+    return arr
 
 
-def _color_array(msg) -> np.ndarray | None:
+def _color_view(msg) -> np.ndarray | None:
     if msg.encoding not in ("bgr8", "rgb8") or msg.height <= 0 or msg.width <= 0:
         return None
-    arr = np.frombuffer(bytes(msg.data), dtype=np.uint8)
     need = int(msg.height) * int(msg.width) * 3
-    if arr.size < need:
-        return None
-    arr = arr[:need].reshape(int(msg.height), int(msg.width), 3)
-    if msg.encoding == "rgb8":
-        arr = arr[:, :, ::-1]
-    return np.ascontiguousarray(arr)
+    arr = _as_array(msg.data, np.uint8, need)
+    return arr.reshape(int(msg.height), int(msg.width), 3)
 
 
-def _depth_array(msg) -> np.ndarray | None:
+def _depth_view(msg) -> np.ndarray | None:
     if msg.encoding not in ("16UC1", "mono16") or msg.height <= 0 or msg.width <= 0:
         return None
-    arr = np.frombuffer(bytes(msg.data), dtype=np.uint16)
     need = int(msg.height) * int(msg.width)
-    if arr.size < need:
-        return None
-    return np.ascontiguousarray(arr[:need].reshape(int(msg.height), int(msg.width)))
+    arr = _as_array(msg.data, np.uint16, need)
+    return arr.reshape(int(msg.height), int(msg.width))
+
+
+def _store(key: str, rgb: np.ndarray, *, preview: np.ndarray | None, jpeg: bool) -> None:
+    encoded = _jpeg_bgr(rgb) if jpeg else None
+    with _LOCK:
+        if preview is not None:
+            _PREVIEW[key] = (preview.tobytes(), int(preview.shape[1]), int(preview.shape[0]))
+        if encoded:
+            _JPEG[key] = encoded
+        if preview is not None or encoded:
+            _STATE["frames"][key] = True
+            _STATE["stamp"] = time.time()
+            _STATE["error"] = ""
 
 
 def _loop(cams: list[dict]) -> None:
     import rclpy
     from rclpy.node import Node
-    from rclpy.qos import qos_profile_sensor_data
+    from rclpy.qos import HistoryPolicy, QoSProfile, ReliabilityPolicy, qos_profile_sensor_data
     from sensor_msgs.msg import Image
-
-    latest: dict[str, np.ndarray] = {}
-    lock = threading.Lock()
+    from std_msgs.msg import Float32MultiArray
 
     class _Node(Node):
         def __init__(self) -> None:
             super().__init__("operator_camera_view")
+            det_qos = QoSProfile(
+                history=HistoryPolicy.KEEP_LAST,
+                depth=5,
+                reliability=ReliabilityPolicy.RELIABLE,
+            )
+            self.create_subscription(
+                Float32MultiArray, "workpiece/detection", self._det("wrist"), det_qos
+            )
+            self.create_subscription(
+                Float32MultiArray,
+                "workpiece/detection_overhead",
+                self._det("overhead"),
+                det_qos,
+            )
+            self._depth_subs: dict[str, object] = {}
             for cam in cams:
                 name = cam["id"]
+                role = str(cam.get("role") or "wrist")
                 self.create_subscription(
                     Image,
                     f"/{name}/color/image_raw",
-                    self._color(name),
-                    qos_profile_sensor_data,
-                )
-                self.create_subscription(
-                    Image,
-                    f"/{name}/aligned_depth_to_color/image_raw",
-                    self._depth(name),
+                    self._color(name, role),
                     qos_profile_sensor_data,
                 )
 
-        def _color(self, name: str):
+        def sync_depth(self) -> None:
+            """深度没打开就不订。订上之后每一帧都会整幅拷进进程，彩色帧率会被拖下去。"""
+            with _LOCK:
+                want = {
+                    cam["id"]
+                    for cam in cams
+                    if f"{cam['id']}_depth" in _PREVIEW_WANT
+                }
+            for cam in cams:
+                name = cam["id"]
+                if name in want and name not in self._depth_subs:
+                    self._depth_subs[name] = self.create_subscription(
+                        Image,
+                        f"/{name}/aligned_depth_to_color/image_raw",
+                        self._depth(name),
+                        qos_profile_sensor_data,
+                    )
+                elif name not in want and name in self._depth_subs:
+                    self.destroy_subscription(self._depth_subs.pop(name))
+
+        def _det(self, role: str):
+            def _cb(msg: Float32MultiArray) -> None:
+                _remember_detection(role, [float(v) for v in msg.data])
+            return _cb
+
+        def _color(self, name: str, role: str):
+            key = f"{name}_color"
+
             def _cb(msg: Image) -> None:
-                arr = _color_array(msg)
-                if arr is None:
-                    return
-                with lock:
-                    latest[f"{name}_color"] = arr
+                # 这里只留最新原图。颜色转换和画框放到画图线程，避免把后面的帧堵住。
+                try:
+                    view = _color_view(msg)
+                    if view is None:
+                        return
+                    offer_color(key, view, bgr=(msg.encoding == "bgr8"), role=role)
+                except Exception as exc:  # noqa: BLE001 —— 坏的一帧留在状态里，订阅不停
+                    with _LOCK:
+                        _STATE["error"] = str(exc)
             return _cb
 
         def _depth(self, name: str):
+            key = f"{name}_depth"
+
             def _cb(msg: Image) -> None:
-                arr = _depth_array(msg)
-                if arr is None:
-                    return
-                with lock:
-                    latest[f"{name}_depth"] = arr
+                try:
+                    view = _depth_view(msg)
+                    if view is None:
+                        return
+                    offer_depth(key, view)
+                except Exception as exc:  # noqa: BLE001 —— 坏的一帧留在状态里，订阅不停
+                    with _LOCK:
+                        _STATE["error"] = str(exc)
             return _cb
 
     rclpy.init()
     node = _Node()
-    next_encode = 0.0
     try:
         while not _STOP.is_set():
-            rclpy.spin_once(node, timeout_sec=0.05)
-            now = time.monotonic()
-            if now < next_encode:
-                continue
-            next_encode = now + 0.12
-            with lock:
-                snap = dict(latest)
-                latest.clear()
-            frames = {}
-            blobs = {}
-            for key, arr in snap.items():
-                name, _, kind = key.rpartition("_")
-                img = _depth_bgr(arr) if kind == "depth" else arr
-                blob = _jpeg(img)
-                if not blob:
-                    continue
-                blobs[key] = blob
-                frames[key] = True
-            if blobs:
-                with _LOCK:
-                    _JPEG.update(blobs)
-                    _STATE["frames"].update(frames)
-                    _STATE["stamp"] = time.time()
-                    _STATE["error"] = ""
+            node.sync_depth()
+            rclpy.spin_once(node, timeout_sec=0.01)
     except Exception as exc:
         with _LOCK:
             _STATE["error"] = str(exc)
@@ -200,8 +645,8 @@ def _loop(cams: list[dict]) -> None:
 
 
 def start() -> str:
-    global _THREAD
-    cams = targets()
+    global _THREAD, _PAINT_THREAD
+    cams = stream_targets()
     if not cams:
         with _LOCK:
             _STATE["error"] = "site 里没有可预览的真机相机"
@@ -213,14 +658,18 @@ def start() -> str:
         _STATE["on"] = True
         _STATE["error"] = ""
     _STOP.clear()
+    _WAKE.clear()
     _THREAD = threading.Thread(target=_loop, args=(cams,), daemon=True, name="cam-view")
     _THREAD.start()
+    _PAINT_THREAD = threading.Thread(target=_paint_loop, daemon=True, name="cam-paint")
+    _PAINT_THREAD.start()
     names = "、".join(cam["label"] for cam in cams)
-    return f"预览订了 {names} 的彩色和深度，不含左右红外。"
+    return f"预览订了 {names} 的彩色原图，深度点开才订，不含左右红外。"
 
 
 def stop() -> None:
     _STOP.set()
-    thread = _THREAD
-    if thread is not None:
-        thread.join(timeout=1.5)
+    _WAKE.set()
+    for thread in (_THREAD, _PAINT_THREAD):
+        if thread is not None:
+            thread.join(timeout=1.5)
diff --git a/install/arm_application/lib/python3.11/site-packages/arm_application/operator_console.py b/install/arm_application/lib/python3.11/site-packages/arm_application/operator_console.py
index 7aed4c1..e83c1bc 100644
--- a/install/arm_application/lib/python3.11/site-packages/arm_application/operator_console.py
+++ b/install/arm_application/lib/python3.11/site-packages/arm_application/operator_console.py
@@ -12,6 +12,7 @@ from __future__ import annotations
 import json
 import os
 import re
+import signal
 import subprocess
 import threading
 import time
@@ -23,7 +24,7 @@ from urllib.parse import urlparse
 import yaml
 
 from arm_application import operator_tactile_view as tactile_view
-from arm_application.site_io import eye_to_hand_result_name, overhead_camera
+from arm_application.site_io import eye_to_hand_result_name, listed_arms, overhead_camera, usb_expectations
 
 HOST = "127.0.0.1"
 PORT = 8766
@@ -36,11 +37,60 @@ else:
     ROOT = Path.home() / "ros2"
 
 LOG_DIR = Path("/tmp/orisys_console")
+
+# 动臂和软拖拽都要这台臂，不能一边下发位置一边再开拖拽。
+# 相机、夹爪、触觉不碰这条，也不该排在它后面等。
+_ROBOT_LANES = frozenset({"arm", "teach"})
+_ARM_ACTIONS = frozenset({
+    "pipeline", "stage_track", "stage_locate", "stage_screw",
+    "reset_home", "gauge_run", "real_up", "handeye_calibrate",
+})
+_LANE_WAIT = {
+    "grip": "夹爪上一条还没到位",
+    "camera": "相机命令还没返回",
+    "tactile": "触觉命令还没返回",
+    "arm": "这台臂上一条运动还没结束",
+    "teach": "软拖拽还没返回",
+}
+
+
+def command_lane(action: str) -> str:
+    """每类命令一条通道。同一条还没返回才拒绝，不让相机去等夹爪。"""
+    if action == "stop_commands":
+        return "stop"
+    if action in ("camera_d405", "camera_d435"):
+        return "camera"
+    if action.startswith("tactile"):
+        return "tactile"
+    if action.startswith("gripper"):
+        return "grip"
+    if action == "handeye_teach":
+        return "teach"
+    if action in _ARM_ACTIONS:
+        return "arm"
+    return action
+
+
+def command_blocked_message(running: set[str], lane: str) -> str:
+    """这条通道，或同一台臂上的另一条运动，还没结束时返回要显示的句子。"""
+    if lane == "stop":
+        return ""
+    if lane in running:
+        return _LANE_WAIT.get(lane, "这一条命令还没返回")
+    if lane in _ROBOT_LANES:
+        other = next((name for name in _ROBOT_LANES if name != lane and name in running), "")
+        if other == "arm":
+            return "这台臂还在动，软拖拽先不开"
+        if other == "teach":
+            return "软拖拽占着这台臂，运动先不开"
+    return ""
 ASSETS = Path(__file__).resolve().parent
 _LOCK = threading.Lock()
 _TACTILE = {"left": {}, "right": {}, "stamp": 0.0}
 _HIST = {"left": deque(maxlen=360), "right": deque(maxlen=360)}
 _PROCS: dict[str, int] = {}
+_LIVE: dict[str, subprocess.Popen] = {}
+_PROC_LOCK = threading.Lock()
 
 
 def _push_force(side: str, sample: dict) -> None:
@@ -76,29 +126,26 @@ def _site() -> dict:
 
 
 def _arms() -> list[dict]:
-    robots = (_site().get("robot") or {}).get("robots") or []
-    out = []
-    for robot in robots:
-        if not isinstance(robot, dict):
-            continue
-        sn = str(robot.get("sn") or "")
-        arm_no = "89" if sn.endswith("063989") else "91" if sn.endswith("063991") else ""
-        if not arm_no:
-            continue
-        out.append({
-            "id": arm_no,
-            "label": str(robot.get("label") or f"臂{arm_no}"),
-            "sn": sn,
-            "tactile": bool(robot.get("tactile")),
-            "camera": str((robot.get("camera") or {}).get("name") or ""),
-            "gripper": str((robot.get("gripper") or {}).get("model") or ""),
-        })
-    return out or [
-        {"id": "89", "label": "左臂89", "sn": "", "tactile": True, "camera": "d405_left", "gripper": ""},
-        {"id": "91", "label": "右臂91", "sn": "", "tactile": False, "camera": "d405_right", "gripper": ""},
+    """真机臂来自 site.yaml。没有清单就空着，不补本机的 89/91。"""
+    return [
+        {
+            "id": row["id"],
+            "label": row["label"],
+            "sn": row["sn"],
+            "tactile": row["tactile"],
+            "camera": row["camera"],
+            "gripper": row["gripper"],
+            "rotary": row["rotary"],
+        }
+        for row in listed_arms(_site())
     ]
 
 
+def _default_arm() -> str:
+    rows = _arms()
+    return str(rows[0]["id"]) if rows else ""
+
+
 def _usb() -> list[dict]:
     found = {"d405": [], "d435": [], "orisys": []}
     want = {
@@ -119,10 +166,11 @@ def _usb() -> list[dict]:
             continue
         speed = (dev / "speed").read_text().strip() if (dev / "speed").is_file() else "?"
         found[key].append({"port": dev.name, "speed": speed})
+    expect = usb_expectations(_site())
     return [
-        {"id": "d405", "label": "腕部 D405", "expect": 2, "items": found["d405"]},
-        {"id": "d435", "label": "手外 D435", "expect": 1, "items": found["d435"]},
-        {"id": "orisys", "label": "视触觉", "expect": 2, "items": found["orisys"]},
+        {"id": "d405", "label": "腕部 D405", "expect": expect["d405"], "items": found["d405"]},
+        {"id": "d435", "label": "手外 D435", "expect": expect["d435"], "items": found["d435"]},
+        {"id": "orisys", "label": "视触觉", "expect": expect["orisys"], "items": found["orisys"]},
     ]
 
 
@@ -214,13 +262,16 @@ def _poll_tactile() -> None:
 
 
 def _robot(arm: str) -> dict:
+    from arm_application.site_io import arm_short_id
+
     robots = (_site().get("robot") or {}).get("robots") or []
     for robot in robots:
         if not isinstance(robot, dict):
             continue
         sn = str(robot.get("sn") or "")
-        short = "89" if sn.endswith("063989") else "91" if sn.endswith("063991") else ""
-        if short == arm:
+        if sn.lower() == "sim":
+            continue
+        if arm_short_id(sn) == arm:
             return robot
     return {}
 
@@ -305,12 +356,30 @@ def _handeye(arm: str) -> dict:
         or shared.get("handeye_waypoints_eye_to_hand")
         or (ROOT / "handeye" / "poses" / f"{arm}_eye_to_hand.yaml")
     ))
+    wrist = _result_card(wrist_file, wrist_pose, boards.get("eye_in_hand") or {})
+    wrist_name = ""
+    if isinstance(robot.get("camera"), dict):
+        wrist_name = str(robot["camera"].get("name") or "").strip().strip("/")
+    wrist["preview_camera"] = wrist_name
+    wrist["preview_label"] = "腕部相机"
+    outside = _result_card(e2h_file, e2h_pose, boards.get("eye_to_hand") or {})
+    outside["preview_camera"] = cam_name.strip().strip("/")
+    outside["preview_label"] = "手外相机"
     return {
-        "eye_in_hand": _result_card(wrist_file, wrist_pose, boards.get("eye_in_hand") or {}),
-        "eye_to_hand": _result_card(e2h_file, e2h_pose, boards.get("eye_to_hand") or {}),
+        "eye_in_hand": wrist,
+        "eye_to_hand": outside,
     }
 
 
+def _by_arm(reader) -> dict:
+    return {row["id"]: reader(row["id"]) for row in _arms()}
+
+
+def _gripper_live() -> dict:
+    from arm_application.operator_gripper_state import snapshot as grip_snapshot
+    return _by_arm(grip_snapshot)
+
+
 def status() -> dict:
     with _LOCK:
         tactile = {
@@ -322,20 +391,23 @@ def status() -> dict:
             "left": list(_HIST["left"]),
             "right": list(_HIST["right"]),
         }
+    from arm_application.operator_arm_state import snapshot as arm_snapshot
     return {
         "arms": _arms(),
+        "arm_live": _by_arm(arm_snapshot),
+        "gripper_live": _gripper_live(),
         "usb": _usb(),
         "services": _services(),
         "grippers": _grippers(),
         "tactile": tactile,
         "history": history,
         "view": tactile_view.state(),
-        "handeye": {"89": _handeye("89"), "91": _handeye("91")},
+        "handeye": _by_arm(_handeye),
         "now": time.time(),
     }
 
 
-# 会动真机的动作必须 confirm。argv 里的 {arm} 只接受 89 或 91。
+# 会动真机的动作必须 confirm。臂号必须是 site.yaml 里某台真机的末两位。
 _ACTIONS = {
     "real_up": {
         "title": "上电控制栈",
@@ -377,21 +449,21 @@ _ACTIONS = {
         "script": "run_gripper.sh",
         "args": ["--arm", "{arm}", "--cli", "probe"],
         "moves": False,
-        "blurb": "读夹爪是否在线，不动手指。",
+        "blurb": "读夹爪是否在线，不动手指。驱动没在跑时先拉起，不回零。",
     },
     "gripper_open": {
         "title": "夹爪张开",
         "script": "run_gripper.sh",
         "args": ["--arm", "{arm}", "--cli", "open"],
         "moves": True,
-        "blurb": "张开当前臂夹爪。",
+        "blurb": "张开当前臂夹爪。驱动没在跑时先拉起，不回零。",
     },
     "gripper_close": {
         "title": "夹爪闭合",
         "script": "run_gripper.sh",
         "args": ["--arm", "{arm}", "--cli", "close"],
         "moves": True,
-        "blurb": "闭合当前臂夹爪。",
+        "blurb": "闭合当前臂夹爪。驱动没在跑时先拉起，不回零。",
     },
     "gripper_rotate": {
         "title": "右爪转 90°",
@@ -401,11 +473,11 @@ _ACTIONS = {
         "blurb": "右臂旋转爪转到 90°。左臂平行爪没有这一轴。",
     },
     "pipeline": {
-        "title": "整体三段",
+        "title": "跟踪并对孔",
         "script": "run_all.sh",
         "args": ["--arm", "{arm}"],
         "moves": True,
-        "blurb": "跟踪、对孔、搜孔轻压一次跑完。会动臂。",
+        "blurb": "跟踪和对孔一次跑完。搜孔轻压已取消，这一步不含旋入。会动臂。",
     },
     "stage_track": {
         "title": "只测跟踪",
@@ -421,12 +493,12 @@ _ACTIONS = {
         "moves": True,
         "blurb": "只跑二阶段：朝下、悬停、拍照、对准孔。会动臂。",
     },
-    "stage_search": {
-        "title": "只测搜孔",
+    "stage_screw": {
+        "title": "只测旋转装配",
         "script": "run_stage3_search.sh",
-        "args": ["--arm", "{arm}"],
+        "args": ["--arm", "{arm}", "--screw"],
         "moves": True,
-        "blurb": "只跑三阶段：触面、搜孔、轻压。会动臂。臂应已停在孔上方。",
+        "blurb": "按现场配置的拧入深度和螺距把螺纹规旋进去。会动臂。臂应已在孔口。",
     },
     "reset_home": {
         "title": "复位到 home",
@@ -462,9 +534,9 @@ _ACTIONS = {
     "handeye_teach": {
         "title": "示教采点",
         "script": "run_handeye.sh",
-        "args": ["--arm", "{arm}", "teach", "--mode", "{mode}", "--points", "12"],
+        "args": ["--arm", "{arm}", "teach", "--mode", "{mode}", "--points", "{points}"],
         "moves": True,
-        "blurb": "软拖拽示教，目标 12 个姿态。要先停控制栈，会动臂。",
+        "blurb": "软拖拽示教。点数和是否接着采由手眼页上的控件决定。要先停控制栈，会动臂。",
     },
     "handeye_merge": {
         "title": "合并示教点",
@@ -507,6 +579,63 @@ def catalog() -> dict:
     }
 
 
+def _remember(action: str, proc: subprocess.Popen) -> None:
+    with _PROC_LOCK:
+        _LIVE[action] = proc
+        _PROCS[action] = proc.pid
+
+
+def _forget(action: str) -> None:
+    with _PROC_LOCK:
+        _LIVE.pop(action, None)
+
+
+def _pid_alive(pid: int) -> bool:
+    if pid <= 0:
+        return False
+    try:
+        os.kill(pid, 0)
+    except OSError:
+        return False
+    return True
+
+
+def stop_started() -> dict:
+    """停掉本界面拉起的命令。只向登记过的进程组发信号，不扫全机。"""
+    with _PROC_LOCK:
+        items = list(_LIVE.items())
+    if not items:
+        return {"ok": True, "message": "没有正在跑的命令"}
+    names: list[str] = []
+    for action, proc in items:
+        pid = int(getattr(proc, "pid", 0) or 0)
+        if not _pid_alive(pid):
+            _forget(action)
+            continue
+        try:
+            os.killpg(os.getpgid(pid), signal.SIGTERM)
+        except ProcessLookupError:
+            _forget(action)
+            continue
+        except OSError as exc:
+            return {"ok": False, "message": f"停不了 {action}：{exc}"}
+        names.append(action)
+    time.sleep(0.3)
+    for action, proc in items:
+        pid = int(getattr(proc, "pid", 0) or 0)
+        if not _pid_alive(pid):
+            _forget(action)
+            continue
+        try:
+            os.killpg(os.getpgid(pid), signal.SIGKILL)
+        except OSError:
+            pass
+        _forget(action)
+    if not names:
+        return {"ok": True, "message": "没有正在跑的命令"}
+    return {"ok": True, "message": "已停止：" + "、".join(names)}
+
+
 def _stop_tactile() -> str:
     subprocess.run(["pkill", "-f", "lib/arm_application/tactile"], check=False)
     subprocess.run(["pkill", "-f", "arm_application/tactile_node.py"], check=False)
@@ -514,7 +643,39 @@ def _stop_tactile() -> str:
     return "已发送停止视触觉节点"
 
 
-def run_action(action: str, arm: str, confirm: bool, mode: str = "eye_in_hand") -> dict:
+def render_action_args(
+    template: list[str], arm: str, mode: str, extras: dict | None = None,
+) -> list[str]:
+    """把动作模板里的臂号、模式、点数换成这次界面上的值。"""
+    extra = extras or {}
+    needs_points = any("{points}" in str(token) for token in template)
+    points_text = ""
+    if needs_points:
+        try:
+            points = int(extra.get("points", 12))
+        except (TypeError, ValueError):
+            raise ValueError("目标点数不是整数") from None
+        if points < 4 or points > 30:
+            raise ValueError("目标点数只接受 4–30")
+        points_text = str(points)
+    repl = {"{arm}": arm, "{mode}": mode, "{points}": points_text}
+    out: list[str] = []
+    for token in template:
+        text = str(token)
+        for key, value in repl.items():
+            text = text.replace(key, value)
+        out.append(text)
+    if extra.get("append"):
+        if "teach" not in out:
+            raise ValueError("只有示教采点能接着采")
+        out.append("--append")
+    return out
+
+
+def run_action(
+    action: str, arm: str, confirm: bool, mode: str = "eye_in_hand",
+    extras: dict | None = None,
+) -> dict:
     if action == "tactile_down":
         tactile_view.stop()
         return {"ok": True, "message": _stop_tactile()}
@@ -528,8 +689,8 @@ def run_action(action: str, arm: str, confirm: bool, mode: str = "eye_in_hand")
     spec = _ACTIONS.get(action)
     if spec is None:
         return {"ok": False, "message": "没有这个动作"}
-    if arm not in ("89", "91"):
-        return {"ok": False, "message": "臂号只接受 89 或 91"}
+    if arm not in {row["id"] for row in _arms()}:
+        return {"ok": False, "message": f"臂号 {arm} 不在 site.yaml 里"}
     if mode not in ("eye_in_hand", "eye_to_hand"):
         return {"ok": False, "message": "手眼模式只接受 eye_in_hand 或 eye_to_hand"}
     if spec["moves"] and not confirm:
@@ -537,40 +698,86 @@ def run_action(action: str, arm: str, confirm: bool, mode: str = "eye_in_hand")
     script = ROOT / "scripts" / spec["script"]
     if not script.is_file():
         return {"ok": False, "message": f"找不到 {script}"}
-    args = [a.replace("{arm}", arm).replace("{mode}", mode) for a in spec["args"]]
+    from arm_application.operator_arm_state import (
+        hold_until_idle,
+        motion_blocked,
+        release_for_control,
+        resume_after_control,
+        snapshot as arm_snapshot,
+        stack_running,
+    )
+    blocked = motion_blocked(
+        action,
+        stack_up=stack_running(),
+        op_status=str((arm_snapshot(arm) or {}).get("op_status") or ""),
+    )
+    if blocked:
+        return {"ok": False, "message": blocked}
+    uses_rdk = action in {
+        "real_up", "handeye_teach", "pipeline", "stage_track", "stage_locate",
+        "stage_screw", "reset_home", "gauge_run", "handeye_calibrate",
+    }
+    if uses_rdk:
+        release_for_control()
+    from arm_application.operator_gripper_state import hold_serial
+    grip_port = action in {
+        "gripper_probe", "gripper_open", "gripper_close", "gripper_rotate", "gripper_up",
+    }
+    try:
+        args = render_action_args(list(spec["args"]), arm, mode, extras)
+    except ValueError as exc:
+        return {"ok": False, "message": str(exc)}
     LOG_DIR.mkdir(parents=True, exist_ok=True)
     log_path = LOG_DIR / f"{action}_{arm}.log"
     shown = " ".join(["bash", f"scripts/{spec['script']}", *args])
-    if spec.get("sync"):
-        try:
-            proc = subprocess.run(
+    try:
+        if spec.get("sync"):
+            proc = subprocess.Popen(
                 ["bash", str(script), *args],
                 cwd=str(ROOT),
-                capture_output=True,
+                stdout=subprocess.PIPE,
+                stderr=subprocess.STDOUT,
                 text=True,
-                timeout=float(spec.get("timeout") or 40),
+                start_new_session=True,
             )
-        except subprocess.TimeoutExpired:
-            return {"ok": False, "message": "命令超时还没返回", "detail": shown}
-        detail = ((proc.stdout or "") + (proc.stderr or "")).strip()
-        log_path.write_text(detail)
-        ok = proc.returncode == 0
-        return {
-            "ok": ok,
-            "message": shown if ok else f"退出码 {proc.returncode}",
-            "detail": detail[-4000:],
-            "log": str(log_path),
-        }
-    log_f = log_path.open("ab")
-    proc = subprocess.Popen(
-        ["bash", str(script), *args],
-        cwd=str(ROOT),
-        stdout=log_f,
-        stderr=subprocess.STDOUT,
-        start_new_session=True,
-    )
-    _PROCS[action] = proc.pid
-    return {"ok": True, "message": shown, "pid": proc.pid, "log": str(log_path)}
+            _remember(action, proc)
+            try:
+                detail, _ = proc.communicate(timeout=float(spec.get("timeout") or 40))
+            except subprocess.TimeoutExpired:
+                try:
+                    os.killpg(os.getpgid(proc.pid), signal.SIGKILL)
+                except OSError:
+                    pass
+                return {"ok": False, "message": "命令超时还没返回", "detail": shown}
+            finally:
+                _forget(action)
+            detail = (detail or "").strip()
+            log_path.write_text(detail)
+            ok = proc.returncode == 0
+            return {
+                "ok": ok,
+                "message": shown if ok else f"退出码 {proc.returncode}",
+                "detail": detail[-4000:],
+                "log": str(log_path),
+            }
+        log_f = log_path.open("ab")
+        proc = subprocess.Popen(
+            ["bash", str(script), *args],
+            cwd=str(ROOT),
+            stdout=log_f,
+            stderr=subprocess.STDOUT,
+            start_new_session=True,
+        )
+        _remember(action, proc)
+        if grip_port:
+            hold_serial(proc.pid)
+        if uses_rdk:
+            hold_until_idle(proc.pid, until_stack=(action == "real_up"))
+            uses_rdk = False
+        return {"ok": True, "message": shown, "pid": proc.pid, "log": str(log_path)}
+    finally:
+        if uses_rdk:
+            resume_after_control()
 
 
 def _bounded(name: str, raw, low: float, high: float) -> float:
@@ -585,12 +792,12 @@ def _bounded(name: str, raw, low: float, high: float) -> float:
 
 def run_gripper_tune(arm: str, kind: str, numbers: dict) -> dict:
     """按界面上的位置、力度、速度下发夹爪。右臂另有角度、圈数。"""
-    if arm not in ("89", "91"):
-        return {"ok": False, "message": "臂号只接受 89 或 91"}
+    if arm not in {row["id"] for row in _arms()}:
+        return {"ok": False, "message": f"臂号 {arm} 不在 site.yaml 里"}
     if kind not in ("pos", "rotate", "rotate_by", "revolutions"):
         return {"ok": False, "message": "没有这种夹爪调节"}
-    if kind != "pos" and arm != "91":
-        return {"ok": False, "message": "左臂平行爪没有旋转轴"}
+    if kind != "pos" and not any(row["id"] == arm and row.get("rotary") for row in _arms()):
+        return {"ok": False, "message": "这台夹爪没有旋转轴"}
     try:
         if kind == "pos":
             pos = int(round(_bounded("位置", numbers.get("pos"), 0, 1000)))
@@ -615,7 +822,17 @@ def run_gripper_tune(arm: str, kind: str, numbers: dict) -> dict:
                 summary = f"转 {turns:.3f} 圈  力矩 {force}%  速度 {speed}%"
     except ValueError as exc:
         return {"ok": False, "message": str(exc)}
+    from arm_application.operator_gripper_state import pause_serial, resume_serial
+
     script = ROOT / "scripts" / "run_gripper.sh"
+    pause_serial()
+    try:
+        return _run_gripper_argv(script, arm, force, speed, cli, summary)
+    finally:
+        resume_serial()
+
+
+def _run_gripper_argv(script, arm: str, force: int, speed: int, cli: list[str], summary: str) -> dict:
     argv = [
         "bash", str(script),
         "--arm", arm,
@@ -624,19 +841,40 @@ def run_gripper_tune(arm: str, kind: str, numbers: dict) -> dict:
         "--cli", *cli,
     ]
     shown = " ".join(argv)
+    proc = subprocess.Popen(
+        argv, cwd=str(ROOT), stdout=subprocess.PIPE, stderr=subprocess.STDOUT,
+        text=True, start_new_session=True,
+    )
+    _remember(f"gripper_{arm}", proc)
     try:
-        proc = subprocess.run(argv, cwd=str(ROOT), capture_output=True, text=True, timeout=90)
-    except subprocess.TimeoutExpired:
-        return {"ok": False, "message": "夹爪 90 秒还没到位", "detail": shown}
-    detail = ((proc.stdout or "") + (proc.stderr or "")).strip()
+        try:
+            detail, _ = proc.communicate(timeout=90)
+        except subprocess.TimeoutExpired:
+            try:
+                os.killpg(os.getpgid(proc.pid), signal.SIGKILL)
+            except OSError:
+                pass
+            return {"ok": False, "message": "夹爪 90 秒还没到位", "detail": shown}
+    finally:
+        _forget(f"gripper_{arm}")
+    detail = (detail or "").strip()
     ok = proc.returncode == 0
     return {
         "ok": ok,
-        "message": summary if ok else f"夹爪退出码 {proc.returncode}",
+        "message": summary if ok else _grip_failure_message(proc.returncode, detail),
         "detail": (summary + "\n" + shown + "\n" + detail)[-4000:],
     }
 
 
+def _grip_failure_message(code: int, detail: str) -> str:
+    """退出码旁边带上脚本打出来的原因，别只剩一个数字。"""
+    for line in reversed(detail.splitlines()):
+        text = line.strip()
+        if text.startswith("ERROR:") or text.startswith("无法"):
+            return text
+    return f"夹爪退出码 {code}"
+
+
 class Handler(BaseHTTPRequestHandler):
     def log_message(self, fmt: str, *args) -> None:
         return
@@ -700,12 +938,12 @@ class Handler(BaseHTTPRequestHandler):
             return
         if path == "/api/tactile/view":
             action = "tactile_view_on" if body.get("on") else "tactile_view_off"
-            result = run_action(action, "89", False)
+            result = run_action(action, _default_arm(), False)
             self._json(200 if result.get("ok") else 400, result)
             return
         result = run_action(
             str(body.get("action") or ""),
-            str(body.get("arm") or "89"),
+            str(body.get("arm") or _default_arm()),
             bool(body.get("confirm")),
             str(body.get("mode") or "eye_in_hand"),
         )
@@ -715,6 +953,10 @@ class Handler(BaseHTTPRequestHandler):
 def main() -> None:
     import atexit
     atexit.register(tactile_view.stop)
+    from arm_application.operator_arm_state import start as start_arm_state
+    from arm_application.operator_gripper_state import start as start_gripper_state
+    start_arm_state()
+    start_gripper_state()
     threading.Thread(target=_poll_tactile, daemon=True).start()
     server = ThreadingHTTPServer((HOST, PORT), Handler)
     print(f"Orisys 工位界面  http://{HOST}:{PORT}", flush=True)
diff --git a/install/arm_application/lib/python3.11/site-packages/arm_application/operator_gripper_mesh.py b/install/arm_application/lib/python3.11/site-packages/arm_application/operator_gripper_mesh.py
new file mode 100644
index 0000000..523abf5
--- /dev/null
+++ b/install/arm_application/lib/python3.11/site-packages/arm_application/operator_gripper_mesh.py
@@ -0,0 +1,138 @@
+"""大寰夹爪的一比一外形。
+
+左臂按下载包 ``PGEA-3D-Model-and-2D-Drawing-4`` 里的
+``PGEA-100-26-W-F`` 尺寸图。图签就是这个型号，总长 138、宽 55、厚 29，
+安装端抱闸约 20，主体 78，手指伸出约 40，闭合缝 1.2。
+现场装的是 ``PGEA-100-20-W``，这包里没有 100-20 的图，开口仍用
+``site.yaml`` 的 20 mm，不用图上的 26。
+
+同包另一张完整的带抱闸图是 ``PGEA-100-40-W-F``（手指更长，张开约 40.8）。
+右臂是 ``RGI-100-30``，这包里没有旋转爪的图，仍按手册外形。
+"""
+
+from __future__ import annotations
+
+import math
+
+# 米。来源见模块说明。长指向指尖，宽是开合方向，厚是图上的 29。
+PGEA_SIZE = (0.138, 0.055, 0.029)
+PGEA_STROKE_MM = 20.0
+PGEA_CLOSED_GAP_M = 0.0012
+PGEA_FINGER_M = 0.040
+RGI_SIZE = (0.158, 0.0755, 0.047)
+RGI_STROKE_MM = 30.0
+
+# 深色底上要能分开：银壳体、蓝抱闸、橙手指、绿导轨。
+# 手指以前是 0.10 的黑，乘上未连接时的 0.55 就沉进背景里。
+_BODY = (0.86, 0.88, 0.91)
+_BRAKE = (0.16, 0.42, 0.90)
+_FINGER = (0.95, 0.46, 0.10)
+_RAIL = (0.18, 0.78, 0.28)
+
+
+def triangles(
+    rotary: bool,
+    permille: float | None,
+    rotation_deg: float | None,
+    stroke_mm: float | None,
+) -> tuple[list[tuple], str]:
+    """返回 ``(三角面, 说明)``。三角面是 ``(a, b, c, 明暗占位, rgb)``，明暗由界面再乘。"""
+    if rotary:
+        length, width, thick = RGI_SIZE
+        stroke = (float(stroke_mm) if stroke_mm else RGI_STROKE_MM) / 1000.0
+        note = (
+            f"RGI-100-30  外形 {length*1000:.0f}×{width*1000:.1f}×{thick*1000:.0f} mm"
+            f"  行程 {stroke*1000:.0f} mm。这包图纸里没有旋转爪，外形仍按手册。"
+        )
+        body_end = 0.118
+        brake = None
+    else:
+        length, width, thick = PGEA_SIZE
+        stroke = (float(stroke_mm) if stroke_mm else PGEA_STROKE_MM) / 1000.0
+        note = (
+            f"PGEA-100-26-W-F 尺寸图  外形 {length*1000:.0f}×{width*1000:.0f}×{thick*1000:.0f} mm"
+            f"  现场行程 {stroke*1000:.0f} mm。包里没有 100-20 的图，开口不用图上的 26。"
+        )
+        body_end = length - PGEA_FINGER_M
+        brake = (0.0, 0.020)
+    gap = stroke * (0.5 if permille is None else max(0.0, min(1.0, float(permille) / 1000.0)))
+    if not rotary:
+        gap += PGEA_CLOSED_GAP_M
+    parts = _solid(length, width, thick, body_end, gap, brake, rotary)
+    if rotary and rotation_deg:
+        parts = _spin_fingers(parts, math.radians(float(rotation_deg)), body_end)
+    out = []
+    for a, b, c, rgb in parts:
+        out.append((a, b, c, _face_shade(a, b, c), rgb))
+    if permille is None:
+        note = "没有读数。下面是半开，不是当前开口。 " + note
+    return out, note
+
+
+def _solid(length, width, thick, body_end, gap, brake, rotary: bool):
+    hx, hy = thick / 2.0, width / 2.0
+    faces = []
+    z0 = 0.0
+    if brake is not None:
+        z0 = brake[1]
+        faces.extend(_box(0.0, brake[1], -hy, hy, -hx, hx, _BRAKE))
+    faces.extend(_box(z0, body_end, -hy, hy, -hx, hx, _BODY))
+    if rotary:
+        finger_t = min(0.010, hy * 0.4)
+        finger_h = thick * 0.72
+    else:
+        # 尺寸图端视图：指厚 6.5，指高 16，都落在 55×29 的外形里面。
+        finger_t = 0.0065
+        finger_h = 0.016
+        rail = 0.003
+        faces.extend(_box(z0, body_end, -hy * 0.62, -hy * 0.62 + rail, hx - rail, hx, _RAIL))
+        faces.extend(_box(z0, body_end, hy * 0.62 - rail, hy * 0.62, hx - rail, hx, _RAIL))
+    half = gap / 2.0
+    faces.extend(_box(body_end, length, -(half + finger_t), -half, -finger_h / 2, finger_h / 2, _FINGER))
+    faces.extend(_box(body_end, length, half, half + finger_t, -finger_h / 2, finger_h / 2, _FINGER))
+    return faces
+
+
+def _spin_fingers(parts, angle: float, body_end: float):
+    c, s = math.cos(angle), math.sin(angle)
+    spun = []
+    for a, b, c0, rgb in parts:
+        if a[0] >= body_end - 1e-6 and b[0] >= body_end - 1e-6 and c0[0] >= body_end - 1e-6:
+            a, b, c0 = (_rot_z(a, c, s), _rot_z(b, c, s), _rot_z(c0, c, s))
+        spun.append((a, b, c0, rgb))
+    return spun
+
+
+def _face_shade(a, b, c) -> float:
+    """顶面亮、底面暗。零件颜色已经分开，明暗再把面分出来。"""
+    ux, uy, uz = b[0] - a[0], b[1] - a[1], b[2] - a[2]
+    vx, vy, vz = c[0] - a[0], c[1] - a[1], c[2] - a[2]
+    nx = uy * vz - uz * vy
+    ny = uz * vx - ux * vz
+    nz = ux * vy - uy * vx
+    length = math.sqrt(nx * nx + ny * ny + nz * nz) or 1.0
+    dot = (nx * 0.15 + ny * -0.25 + nz * 0.95) / length
+    return 0.42 + 0.58 * max(0.0, min(1.0, dot))
+
+
+def _rot_z(point, c, s):
+    x, y, z = point
+    return (x, y * c - z * s, y * s + z * c)
+
+
+def _box(x0, x1, y0, y1, z0, z1, rgb) -> list[tuple]:
+    """轴向盒子。x 指向指尖，y 是开合方向，z 是厚度。"""
+    p = (
+        (x0, y0, z0), (x1, y0, z0), (x1, y1, z0), (x0, y1, z0),
+        (x0, y0, z1), (x1, y0, z1), (x1, y1, z1), (x0, y1, z1),
+    )
+    quads = (
+        (0, 1, 2, 3), (4, 7, 6, 5),
+        (0, 4, 5, 1), (3, 2, 6, 7),
+        (0, 3, 7, 4), (1, 5, 6, 2),
+    )
+    out = []
+    for a, b, c, d in quads:
+        out.append((p[a], p[b], p[c], rgb))
+        out.append((p[a], p[c], p[d], rgb))
+    return out
diff --git a/install/arm_application/lib/python3.11/site-packages/arm_application/operator_gripper_state.py b/install/arm_application/lib/python3.11/site-packages/arm_application/operator_gripper_state.py
new file mode 100644
index 0000000..b31d263
--- /dev/null
+++ b/install/arm_application/lib/python3.11/site-packages/arm_application/operator_gripper_state.py
@@ -0,0 +1,436 @@
+"""工位界面用的夹爪状态：只读开口和转角，并交给界面画出来。
+
+夹爪节点已经占着串口时，只订它发布的话题，不再自己打开串口。
+没有节点时才短连一次。连上之后只读寄存器，不写初始化，避免手指回零把工件松开。
+"""
+
+from __future__ import annotations
+
+import os
+import subprocess
+import threading
+import time
+from typing import Any
+
+import yaml
+
+from arm_application.site_io import listed_arms, ros2_root
+
+_GRIP = {0: "运动中", 1: "已到位", 2: "已夹住", 3: "已掉落"}
+_ROT = {0: "转动中", 1: "已到位", 2: "受阻", 3: "曾经受阻"}
+
+_LOCK = threading.Lock()
+_CACHE: dict[str, dict] = {}
+_STARTED = False
+_PORT_HOLD = 0
+_PORT_BUSY = 0
+_PORT_LOCK = threading.Lock()
+
+
+def snapshot(arm: str) -> dict:
+    with _LOCK:
+        row = _CACHE.get(arm)
+        return dict(row) if row else _empty(arm)
+
+
+def _empty(arm: str) -> dict:
+    row = next((item for item in _arms() if item["id"] == arm), None)
+    return present(
+        arm,
+        rotary=bool(row and row["rotary"]),
+        stroke_mm=float(row["stroke_mm"]) if row else 20.0,
+        reading=None,
+        error="还没读到夹爪",
+    )
+
+
+def present(
+    arm: str,
+    *,
+    rotary: bool,
+    stroke_mm: float,
+    reading: dict | None,
+    error: str = "",
+) -> dict:
+    """把一次读数收成界面能画的字典。不打开串口。"""
+    stroke = float(stroke_mm) if stroke_mm and stroke_mm > 0 else 20.0
+    row = reading or {}
+    permille = _unit(row.get("permille"), 0, 1000)
+    connected = bool(row.get("connected")) and permille is not None
+    opening = None if permille is None else permille / 1000.0 * stroke
+    rotation = _finite(row.get("rotation_deg")) if rotary else 0.0
+    grip_state = row.get("grip_state")
+    rot_state = row.get("rotation_state")
+    if not connected:
+        summary = error or str(row.get("error_msg") or "夹爪没连上")
+    else:
+        bits = [_GRIP.get(int(grip_state), "状态未知") if _finite(grip_state) is not None else "状态未知"]
+        bits.append(f"开口 {opening:.1f} mm" if opening is not None else "")
+        if rotary and rotation is not None:
+            bits.append(f"转角 {rotation:.1f}°")
+            if _finite(rot_state) is not None:
+                bits.append(_ROT.get(int(rot_state), ""))
+        summary = "  ".join(bit for bit in bits if bit)
+    return {
+        "arm": arm,
+        "rotary": rotary,
+        "connected": connected,
+        "initialized": bool(row.get("initialized")) if connected else False,
+        "permille": permille,
+        "opening_mm": opening,
+        "stroke_mm": stroke,
+        "rotation_deg": rotation if rotary else None,
+        "force": _finite(row.get("force")),
+        "speed": _finite(row.get("speed")),
+        "grip_state": int(grip_state) if _finite(grip_state) is not None else None,
+        "grip_text": _GRIP.get(int(grip_state), "—") if _finite(grip_state) is not None else "—",
+        "rotation_text": _ROT.get(int(rot_state), "—") if rotary and _finite(rot_state) is not None else "—",
+        "moving": bool(row.get("moving")) if connected else False,
+        "gripped": bool(row.get("gripped")) or (_finite(grip_state) == 2) if connected else False,
+        "summary": summary,
+        "error": "" if connected else (error or str(row.get("error_msg") or "")),
+        "source": str(row.get("source") or ""),
+        "pose_live": connected,
+        "stamp": time.time(),
+    }
+
+
+def retain_reading(
+    fresh: dict,
+    previous: dict | None,
+    *,
+    now: float | None = None,
+    hold_s: float = 15.0,
+) -> dict:
+    """这一拍没读到开口时，短时间沿用上一拍。
+
+    和机械臂同一件事：话题 echo 偶发超时会把刚读到的开口清成“没连上”，
+    模型和顶栏就停在那里。超过 ``hold_s`` 仍没有新读数才放开。
+    """
+    if fresh.get("connected") or not previous or not previous.get("connected"):
+        return fresh
+    moment = time.time() if now is None else now
+    if moment - float(previous.get("stamp") or 0.0) > hold_s:
+        return fresh
+    kept = dict(fresh)
+    for key in (
+        "connected", "initialized", "permille", "opening_mm", "stroke_mm",
+        "rotation_deg", "force", "speed", "grip_state", "grip_text",
+        "rotation_text", "moving", "gripped", "pose_live", "rotary", "source",
+    ):
+        if key in previous:
+            kept[key] = previous[key]
+    kept["summary"] = str(previous.get("summary") or fresh.get("summary") or "")
+    note = "沿用上次读数。"
+    if note not in kept["summary"]:
+        kept["summary"] = f"{kept['summary']} {note}".strip()
+    return kept
+
+
+def pause_serial() -> None:
+    """控制命令要自己开串口，或把驱动拉起来。先拦住状态线程，等它把口放开。
+
+    一次短读要过好几个寄存器，1.5 秒经常还没结束。提前返回会让新驱动
+    去抢还被占着的口，然后以「需要 24 V」失败。
+    """
+    global _PORT_HOLD
+    with _PORT_LOCK:
+        _PORT_HOLD += 1
+    deadline = time.time() + 6.0
+    while time.time() < deadline:
+        with _PORT_LOCK:
+            busy = _PORT_BUSY
+        if not busy:
+            return
+        time.sleep(0.05)
+
+
+def hold_serial(pid: int) -> None:
+    """后台夹爪脚本还活着时，状态线程不要去开串口。"""
+    pause_serial()
+
+    def _watch() -> None:
+        while pid > 0:
+            try:
+                os.kill(pid, 0)
+            except OSError:
+                break
+            time.sleep(0.2)
+        resume_serial()
+
+    threading.Thread(target=_watch, daemon=True, name="gripper-port-hold").start()
+
+
+def resume_serial() -> None:
+    global _PORT_HOLD
+    with _PORT_LOCK:
+        _PORT_HOLD = max(0, _PORT_HOLD - 1)
+
+
+def serial_paused() -> bool:
+    with _PORT_LOCK:
+        return _PORT_HOLD > 0
+
+
+def start() -> None:
+    global _STARTED
+    with _LOCK:
+        if _STARTED:
+            return
+        _STARTED = True
+    threading.Thread(target=_loop, daemon=True, name="gripper-state").start()
+
+
+def _loop() -> None:
+    while True:
+        try:
+            arms = _arms()
+            nodes = _nodes()
+            for arm in arms:
+                reading, error = _read_one(arm, nodes)
+                fresh = present(
+                    arm["id"],
+                    rotary=arm["rotary"],
+                    stroke_mm=arm["stroke_mm"],
+                    reading=reading,
+                    error=error,
+                )
+                _store(retain_reading(fresh, snapshot(arm["id"])))
+        except Exception as exc:  # noqa: BLE001 —— 读夹爪失败不能拖死界面
+            for row in _arms():
+                _store(present(
+                    row["id"], rotary=bool(row.get("rotary")), stroke_mm=float(row.get("stroke_mm") or 20.0),
+                    reading=None, error=str(exc),
+                ))
+        time.sleep(2.5)
+
+
+def _store(row: dict) -> None:
+    with _LOCK:
+        _CACHE[str(row.get("arm") or "")] = row
+
+
+def _arms() -> list[dict]:
+    path = ros2_root() / "config" / "site.yaml"
+    if not path.is_file():
+        return []
+    data = yaml.safe_load(path.read_text(encoding="utf-8")) or {}
+    shared = data.get("gripper") if isinstance(data.get("gripper"), dict) else {}
+    baud = int(shared.get("baud") or 115200)
+    slave = int(shared.get("slave_id") or 1)
+    rts = str(shared.get("rs485_rts") or "")
+    out = []
+    for row in listed_arms(data):
+        item = dict(row)
+        item["baud"] = baud
+        item["slave"] = slave
+        item["rts"] = rts
+        out.append(item)
+    return out
+
+
+def _nodes() -> dict[str, bool]:
+    text = _pgrep("dh_pgea_node|dual_gripper")
+    return {
+        "pgea": "dh_pgea_node" in text or "lib/arm_application/dh_pgea" in text,
+        "dual": "dual_gripper" in text,
+    }
+
+
+def _read_one(arm: dict, nodes: dict[str, bool]) -> tuple[dict | None, str]:
+    if nodes.get("dual") and arm.get("side") in ("left", "right"):
+        topic = f"/dual_gripper_driver/{arm['side']}/status"
+        parsed = _parse_status_echo(_echo(topic))
+        if parsed is not None:
+            parsed["source"] = f"话题 {topic}"
+            return parsed, ""
+        return None, "夹爪节点在跑，但这侧话题没有数据"
+    if not arm.get("rotary") and nodes.get("pgea"):
+        parsed = _parse_states_echo(_echo("/gripper/states"))
+        if parsed is not None:
+            parsed["source"] = "话题 /gripper/states"
+            return parsed, ""
+        return None, "平行爪节点在跑，但 /gripper/states 没有数据"
+    if not arm.get("port"):
+        return None, "site.yaml 里这台夹爪没有串口"
+    if serial_paused():
+        return None, "控制命令正在用串口"
+    return _read_serial(arm)
+
+
+def _read_serial(arm: dict) -> tuple[dict | None, str]:
+    """短连串口只读。auto_initialize 必须关掉，否则旋转爪一连上就会找零。"""
+    global _PORT_BUSY
+    if serial_paused():
+        return None, "控制命令正在用串口"
+    with _PORT_LOCK:
+        _PORT_BUSY += 1
+    try:
+        return _read_serial_open(arm)
+    finally:
+        with _PORT_LOCK:
+            _PORT_BUSY = max(0, _PORT_BUSY - 1)
+
+
+def _read_serial_open(arm: dict) -> tuple[dict | None, str]:
+    try:
+        if arm["rotary"]:
+            from arm_application.dual_gripper import RotaryGripper, RotaryGripperConfig
+            grip = RotaryGripper(RotaryGripperConfig(
+                port=arm["port"],
+                slave_id=int(arm["slave"]),
+                baudrate=int(arm["baud"]),
+                timeout=0.25,
+                auto_initialize=False,
+            ))
+            grip.connect()
+            try:
+                status = grip.get_status()
+            finally:
+                grip.disconnect()
+            if not status.connected:
+                return None, status.error_msg or "旋转爪没有应答"
+            return {
+                "connected": True,
+                "initialized": bool(status.initialized),
+                "permille": float(status.finger_position_per_mille),
+                "rotation_deg": float(status.rotation_deg),
+                "force": float(status.force),
+                "speed": float(status.velocity),
+                "grip_state": int(status.gripper_state),
+                "rotation_state": int(status.rotation_state),
+                "moving": bool(status.is_moving),
+                "gripped": bool(status.is_gripped),
+                "error_msg": status.error_msg or "",
+                "source": f"串口 {arm['port']} 只读",
+            }, ""
+        from arm_application.dh_pgea import DhPgeaError, DhPgeaGripper
+        grip = DhPgeaGripper(
+            port=arm["port"],
+            baudrate=int(arm["baud"]),
+            slave_id=int(arm["slave"]),
+            stroke_mm=float(arm["stroke_mm"]),
+            rs485_rts=str(arm["rts"]),
+        )
+        grip.open()
+        try:
+            state = grip.get_run_states(retries=1)
+        finally:
+            grip.close()
+        return {
+            "connected": True,
+            "initialized": bool(state.initialized),
+            "permille": float(state.position),
+            "rotation_deg": 0.0,
+            "force": float(state.target_force),
+            "speed": None,
+            "grip_state": int(state.grip_state),
+            "rotation_state": None,
+            "moving": int(state.grip_state) == 0,
+            "gripped": int(state.grip_state) == 2,
+            "error_msg": "",
+            "source": f"串口 {arm['port']} 只读",
+        }, ""
+    except Exception as exc:  # noqa: BLE001 —— 串口被节点占着、没上电，都要变成一句人话
+        text = str(exc).strip() or exc.__class__.__name__
+        if "DhPgeaError" in exc.__class__.__name__ or "Permission" in text or "busy" in text.lower():
+            return None, text
+        return None, text
+
+
+def _echo(topic: str) -> str:
+    try:
+        proc = subprocess.run(
+            ["timeout", "3", "ros2", "topic", "echo", topic, "--once"],
+            capture_output=True, text=True, timeout=5,
+        )
+    except (OSError, subprocess.TimeoutExpired):
+        return ""
+    return proc.stdout
+
+
+def _parse_status_echo(text: str) -> dict | None:
+    for chunk in text.split("---"):
+        if "finger_position_per_mille:" not in chunk and "connected:" not in chunk:
+            continue
+        try:
+            data = yaml.safe_load(chunk)
+        except yaml.YAMLError:
+            continue
+        if not isinstance(data, dict) or "connected" not in data:
+            continue
+        return {
+            "connected": bool(data.get("connected")),
+            "initialized": bool(data.get("initialized")),
+            "permille": data.get("finger_position_per_mille"),
+            "rotation_deg": data.get("rotation_deg"),
+            "force": data.get("force"),
+            "speed": data.get("velocity"),
+            "grip_state": data.get("gripper_state"),
+            "rotation_state": data.get("rotation_state"),
+            "moving": bool(data.get("is_moving")),
+            "gripped": bool(data.get("is_gripped")),
+            "error_msg": str(data.get("error_msg") or ""),
+        }
+    return None
+
+
+def _parse_states_echo(text: str) -> dict | None:
+    for chunk in text.split("---"):
+        if "data:" not in chunk:
+            continue
+        try:
+            data = yaml.safe_load(chunk)
+        except yaml.YAMLError:
+            continue
+        if not isinstance(data, dict):
+            continue
+        raw = data.get("data")
+        if not isinstance(raw, list) or len(raw) < 5:
+            continue
+        try:
+            init, grip, pos, _target, force = (float(v) for v in raw[:5])
+        except (TypeError, ValueError):
+            continue
+        return {
+            "connected": True,
+            "initialized": init >= 0.5,
+            "permille": pos,
+            "rotation_deg": 0.0,
+            "force": force,
+            "speed": None,
+            "grip_state": int(grip),
+            "rotation_state": None,
+            "moving": int(grip) == 0,
+            "gripped": int(grip) == 2,
+            "error_msg": "",
+        }
+    return None
+
+
+def _pgrep(pattern: str) -> str:
+    try:
+        proc = subprocess.run(
+            ["pgrep", "-af", pattern],
+            capture_output=True, text=True, timeout=2,
+        )
+    except (OSError, subprocess.TimeoutExpired):
+        return ""
+    return "\n".join(line for line in proc.stdout.splitlines() if "pgrep" not in line)
+
+
+def _finite(raw: Any) -> float | None:
+    try:
+        value = float(raw)
+    except (TypeError, ValueError):
+        return None
+    if value != value:
+        return None
+    return value
+
+
+def _unit(raw: Any, low: float, high: float) -> float | None:
+    value = _finite(raw)
+    if value is None:
+        return None
+    return max(low, min(high, value))
diff --git a/install/arm_application/lib/python3.11/site-packages/arm_application/operator_handeye_board.py b/install/arm_application/lib/python3.11/site-packages/arm_application/operator_handeye_board.py
new file mode 100644
index 0000000..d7cb7f5
--- /dev/null
+++ b/install/arm_application/lib/python3.11/site-packages/arm_application/operator_handeye_board.py
@@ -0,0 +1,91 @@
+"""手眼页的棋盘预览。只在已有彩色画面上画角点，不打开相机，也不动臂。"""
+
+from __future__ import annotations
+
+import threading
+import time
+
+import numpy as np
+
+from arm_application.handeye_lib import BoardConfig, detect_chessboard
+
+
+def coverage_fraction(corners: np.ndarray, width: int, height: int) -> float:
+    """角点外接框占画面的比例。宽或高为 0 时返回 0。"""
+    if width <= 0 or height <= 0:
+        return 0.0
+    pts = np.asarray(corners, dtype=float).reshape(-1, 2)
+    if pts.size == 0:
+        return 0.0
+    area = float(pts[:, 0].max() - pts[:, 0].min()) * float(pts[:, 1].max() - pts[:, 1].min())
+    return area / float(width * height)
+
+
+def coverage_words(fraction: float) -> str:
+    """30%–70% 是示教时棋盘该占的画面。再小对不准，再大姿态拉不开。"""
+    if fraction < 0.30:
+        return "偏小，再靠近一点"
+    if fraction > 0.70:
+        return "偏大，再离远一点"
+    return "大小合适"
+
+
+def annotate_board(jpeg: bytes, cols: int, rows: int) -> tuple[bytes, str]:
+    """返回（可能画了角点的 JPEG，一行中文状态）。检测失败时 JPEG 原样返回。"""
+    import cv2
+
+    if cols <= 0 or rows <= 0:
+        return jpeg, "配置里没有这块板的内角点"
+    buf = np.frombuffer(jpeg, dtype=np.uint8)
+    image = cv2.imdecode(buf, cv2.IMREAD_COLOR)
+    if image is None:
+        return jpeg, "这一帧解不出来"
+    found = detect_chessboard(image, BoardConfig(int(cols), int(rows), 1.0))
+    if found is None:
+        return jpeg, "画面里没有这块板"
+    corners, pattern = found
+    drawn = image.copy()
+    cv2.drawChessboardCorners(drawn, pattern, corners, True)
+    fraction = coverage_fraction(corners, drawn.shape[1], drawn.shape[0])
+    ok, out = cv2.imencode(".jpg", drawn, [int(cv2.IMWRITE_JPEG_QUALITY), 70])
+    blob = out.tobytes() if ok else jpeg
+    percent = int(round(fraction * 100))
+    return blob, f"棋盘已找到，约占画面 {percent}%。{coverage_words(fraction)}"
+
+
+class BoardWatch:
+    """后台画角点。界面线程只提交最新一帧，检测再慢也不卡住窗口。"""
+
+    def __init__(self) -> None:
+        self._lock = threading.Lock()
+        self._pending: tuple | None = None
+        self._result = {"token": 0, "jpeg": b"", "text": ""}
+        self._stop = threading.Event()
+        self._thread = threading.Thread(target=self._loop, daemon=True, name="handeye-board")
+        self._thread.start()
+
+    def submit(self, token: int, jpeg: bytes, cols: int, rows: int) -> None:
+        with self._lock:
+            if self._result["token"] == token and not self._pending:
+                return
+            self._pending = (token, jpeg, int(cols), int(rows))
+
+    def latest(self) -> tuple[bytes, str, int]:
+        with self._lock:
+            return self._result["jpeg"], self._result["text"], int(self._result["token"])
+
+    def _loop(self) -> None:
+        while not self._stop.is_set():
+            with self._lock:
+                job = self._pending
+                self._pending = None
+            if job is None:
+                time.sleep(0.05)
+                continue
+            token, jpeg, cols, rows = job
+            try:
+                blob, text = annotate_board(jpeg, cols, rows)
+            except Exception as exc:  # noqa: BLE001 —— 检测失败不能拖死预览
+                blob, text = jpeg, f"棋盘检测失败：{exc}"
+            with self._lock:
+                self._result = {"token": token, "jpeg": blob, "text": text}
diff --git a/install/arm_application/lib/python3.11/site-packages/arm_application/operator_teach.py b/install/arm_application/lib/python3.11/site-packages/arm_application/operator_teach.py
index 6761ad8..98c2871 100644
--- a/install/arm_application/lib/python3.11/site-packages/arm_application/operator_teach.py
+++ b/install/arm_application/lib/python3.11/site-packages/arm_application/operator_teach.py
@@ -8,6 +8,8 @@
 
 from __future__ import annotations
 
+import re
+import subprocess
 import threading
 from datetime import datetime, timezone
 from pathlib import Path
@@ -17,13 +19,17 @@ import yaml
 _LOCK = threading.Lock()
 _BRIDGE = None
 _SN = ""
+_YIELDED = False
+_ARM_CONTROLLER = "rizon_arm_controller"
 
 
 def _file(arm: str) -> Path:
     from arm_application.operator_console import ROOT
+    from arm_application.site_io import listed_arms, load_site_dict
 
-    if arm not in ("89", "91"):
-        raise ValueError("臂号只接受 89 或 91")
+    known = {row["id"] for row in listed_arms(load_site_dict())}
+    if arm not in known:
+        raise ValueError(f"臂号 {arm} 不在 site.yaml 里")
     return ROOT / "handeye" / "tmp" / arm / "operator_teach.yaml"
 
 
@@ -36,9 +42,14 @@ def _bridge_for(sn: str):
         return _BRIDGE
     close()
     from arm_application.handeye_teach import RdkBridge
+    from arm_application.operator_arm_state import release_for_control, resume_after_control
 
-    _BRIDGE = RdkBridge(sn)
-    _SN = sn
+    release_for_control()
+    try:
+        _BRIDGE = RdkBridge(sn)
+        _SN = sn
+    finally:
+        resume_after_control()
     return _BRIDGE
 
 
@@ -55,19 +66,95 @@ def close() -> None:
         pass
 
 
+def _switch_arm_controller(activate: bool) -> str:
+    """停或恢复关节轨迹控制器。硬件还在，只是不再下发关节位置。
+
+    控制栈在 ``NRT_JOINT_POSITION`` 里持续 ``SendJointPosition``，
+    模式一旦被改走，写循环两秒内又切回去。软拖拽要低阻抗，必须先停这条控制器。
+    """
+    if activate:
+        payload = (
+            "{activate_controllers: ['%s'], deactivate_controllers: [], "
+            "strictness: 2, activate_asap: true, timeout: {sec: 3, nanosec: 0}}"
+            % _ARM_CONTROLLER
+        )
+    else:
+        payload = (
+            "{activate_controllers: [], deactivate_controllers: ['%s'], "
+            "strictness: 1, activate_asap: true, timeout: {sec: 3, nanosec: 0}}"
+            % _ARM_CONTROLLER
+        )
+    try:
+        proc = subprocess.run(
+            [
+                "ros2", "service", "call",
+                "/controller_manager/switch_controller",
+                "controller_manager_msgs/srv/SwitchController",
+                payload,
+            ],
+            capture_output=True,
+            text=True,
+            timeout=15,
+        )
+    except FileNotFoundError:
+        return "找不到 ros2，停不了关节轨迹控制器"
+    except subprocess.TimeoutExpired:
+        return "关节轨迹控制器没回来" if activate else "停关节轨迹控制器超时"
+    text = ((proc.stdout or "") + (proc.stderr or "")).strip()
+    if proc.returncode == 0 and re.search(r"ok\s*[:=]\s*true", text, re.IGNORECASE):
+        return ""
+    tail = text.splitlines()[-1] if text else f"退出码 {proc.returncode}"
+    verb = "恢复" if activate else "停下"
+    return f"没能{verb}关节轨迹控制器：{tail}"
+
+
+def _yield_position_stream() -> str:
+    """控制栈没起来就什么都不做。起来了就先把位置控制器让开。"""
+    global _YIELDED
+    from arm_application.operator_arm_state import stack_running
+
+    if not stack_running():
+        return ""
+    err = _switch_arm_controller(False)
+    if err:
+        return err + "。位置环还在推，软拖拽切不过去。"
+    _YIELDED = True
+    return ""
+
+
+def _restore_position_stream() -> str:
+    global _YIELDED
+    if not _YIELDED:
+        return ""
+    err = _switch_arm_controller(True)
+    _YIELDED = False
+    return err
+
+
 def drag_on(sn: str) -> dict:
     with _LOCK:
         try:
+            yielded = _yield_position_stream()
+            if yielded:
+                return {"ok": False, "message": yielded}
             bridge = _bridge_for(sn)
             result = bridge.drag_on(mode="soft")
         except Exception as exc:
-            return {"ok": False, "message": str(exc)}
-    if not result.get("ok"):
-        return {"ok": False, "message": str(result.get("error") or result)}
-    return {
-        "ok": True,
-        "message": "软拖拽已开启。轻推机械臂，再记点。这一步要先停掉控制栈。",
-    }
+            restore = _restore_position_stream()
+            message = str(exc)
+            if restore:
+                message = f"{message}；{restore}"
+            return {"ok": False, "message": message}
+        if not result.get("ok"):
+            restore = _restore_position_stream()
+            message = str(result.get("error") or result)
+            if restore:
+                message = f"{message}；{restore}"
+            return {"ok": False, "message": message}
+        note = "软拖拽已开启。轻推机械臂，再记点。"
+        if _YIELDED:
+            note += "关节轨迹控制器已停下，关掉拖拽后会回来。"
+        return {"ok": True, "message": note}
 
 
 def drag_off(sn: str) -> dict:
@@ -76,9 +163,16 @@ def drag_off(sn: str) -> dict:
             bridge = _bridge_for(sn)
             result = bridge.drag_off()
         except Exception as exc:
-            return {"ok": False, "message": str(exc)}
+            restore = _restore_position_stream()
+            message = str(exc)
+            if restore:
+                message = f"{message}；{restore}"
+            return {"ok": False, "message": message}
     if not result.get("ok"):
         return {"ok": False, "message": str(result.get("error") or result)}
+    restore = _restore_position_stream()
+    if restore:
+        return {"ok": False, "message": f"软拖拽已关闭，但{restore}"}
     return {"ok": True, "message": "软拖拽已关闭，臂保持当前位置。"}
 
 
diff --git a/install/arm_application/lib/python3.11/site-packages/arm_application/overhead_oneshot.py b/install/arm_application/lib/python3.11/site-packages/arm_application/overhead_oneshot.py
index fa1d3b1..e8863dd 100644
--- a/install/arm_application/lib/python3.11/site-packages/arm_application/overhead_oneshot.py
+++ b/install/arm_application/lib/python3.11/site-packages/arm_application/overhead_oneshot.py
@@ -45,6 +45,11 @@ from arm_application.path_profile import (  # 伺服和测试从本模块再导
 
 # 上一跳实际少走这么多，就认定冻结 J 在当前姿态走不动，不许按同一剩差再刷。
 D435_MIN_PROGRESS_FRAC = 0.40
+# SwitchMode 返回不等于已经进 primitive。连试仍失败必须让一阶段立刻中止，
+# 不许空等 150s 装成"还在粗定位"（2026-10-16 17:27）。
+D435_MOVEL_RETRY = 3
+D435_MOVEL_RETRY_S = 0.3
+D435_MOVEL_GAVE_UP = "厂家 MoveL 连试 3 次没走成"
 
 
 def best_det_conf(dets: Optional[Iterable]) -> Optional[float]:
@@ -154,16 +159,27 @@ def d405_commands_arm(
 ) -> bool:
     """D405 这一帧的点能不能下发给左臂。
 
-    推理一直开着。正在用 D435 那一个点时，进程内 MoveL 结束并且停稳之前不下发。
-    停稳用 ``d435_handback_sec`` 和 ``lock_still_move_m``。赶路时 XY 已经进 15 mm
-    也不算到位。不许在 MoveL 期间下发 D405（两套控制互抢会晃）。
-    ``move_only``：只测 D435 位移，D405 点一律不下发（到位之后也不交）。
+    推理从启动就开着。没有高置信度目标、或 D435 厂家 MoveL 还没结束、
+    法兰还没连续停稳时，这帧**不下发**（输出截断，不许拿去控臂）。
+    厂家移动结束并且法兰停稳（``settled``，时长是 ``d435_handback_sec``）
+    之后才放行，伺服用它追工件框的矩形中心。框心对准停稳后才进精拍下臂。
+    ``move_only``：只测 D435 位移，D405 点一律不下发。
     """
     if move_only:
         return False
-    if not using_d435:
-        return True
-    return bool(arrived) and bool(settled)
+    if using_d435:
+        return bool(arrived) and bool(settled)
+    return True
+
+
+def retract_goal_z(z_now: float, z_target: float) -> float:
+    """收臂目标 Z：已经高于目标就钉在当前高度，不许为了追 5 mm 往下补。
+
+    2026-10-16：贴面 MoveL 之后 JTC 还握着悬停关节，收臂 hop1 计划 +5 mm
+    实际抬了 18–25 mm；hop2 把「抬过头」当成误差 ``Δz=−13 mm`` 往回压，
+    看起来就是进孔再弹出。抬过了 = 成功。
+    """
+    return max(float(z_now), float(z_target))
 
 
 def oneshot_needs_verticalize(
diff --git a/install/arm_application/lib/python3.11/site-packages/arm_application/perception_node.py b/install/arm_application/lib/python3.11/site-packages/arm_application/perception_node.py
index cb94271..21510b1 100644
--- a/install/arm_application/lib/python3.11/site-packages/arm_application/perception_node.py
+++ b/install/arm_application/lib/python3.11/site-packages/arm_application/perception_node.py
@@ -105,7 +105,7 @@ class PerceptionNode(TolerantNode):
         self.declare_parameter("image_topic", "")
         self.declare_parameter("camera_info_topic", "")
         self.declare_parameter("depth_topic", "/d405/aligned_depth_to_color/image_raw")
-        self.declare_parameter("weights", "models/yolo/gongjian0929.onnx")
+        self.declare_parameter("weights", "/home/cc/ros2/models/yolo/gongjian0929.onnx")
         self.declare_parameter("conf", 0.10)
         self.declare_parameter("iou", 0.45)
         self.declare_parameter("imgsz", 640)
@@ -336,9 +336,7 @@ class PerceptionNode(TolerantNode):
             r_pos=float(self.get_parameter("kf_r_pos").value),
         )
 
-        from arm_application.site_io import resolve_repo_path
-
-        weights_raw = resolve_repo_path(str(self.get_parameter("weights").value))
+        weights_raw = str(self.get_parameter("weights").value)
         weights = str(resolve_weights(weights_raw, self.backend_name))
         yolo_cfg = {
             "weights": weights,
@@ -1141,8 +1139,8 @@ class PerceptionNode(TolerantNode):
             filt[2] = z_use
             self._last_filt = filt.copy()
 
-        if handoff:
-            # 画面里没有 conf≥门槛的目标：绿框可以留，三维点不许发 —— 伺服会拿去追。
+        if handoff or self._d435_commanding:
+            # 没有高置信度，或 D435 厂家移动还没交接：推理留着，控制点不许发。
             return
         self._publish_point(filt, stamp)
         self.get_logger().info(
@@ -1427,15 +1425,11 @@ class PerceptionNode(TolerantNode):
         self._z_locked = bool(msg.data)
 
     def _on_d435_commanding(self, msg: Bool) -> None:
-        """伺服还在执行 D435 那一个点时，不再提交下一张。
+        """伺服还在执行 D435 那一个点时，不再提交下一张，D405 控制点也不发。
 
-        这一段结束（到位并停稳）后清掉「已拍过」，漏检重新计 0.5 s。
+        这一轮已经拍过并走完。停稳后打开 D405 框心，不因交接瞬间漏检再 MoveL。
         """
-        commanding = bool(msg.data)
-        if self._d435_commanding and not commanding:
-            self._oneshot_shot = False
-            self._low_since = None
-        self._d435_commanding = commanding
+        self._d435_commanding = bool(msg.data)
 
     def _publish_overhead_k0(self, p_base: np.ndarray, is_k0: bool) -> None:
         pt = PointStamped()
diff --git a/install/arm_application/lib/python3.11/site-packages/arm_application/pipeline_node.py b/install/arm_application/lib/python3.11/site-packages/arm_application/pipeline_node.py
index fe4f9f8..a27c828 100644
--- a/install/arm_application/lib/python3.11/site-packages/arm_application/pipeline_node.py
+++ b/install/arm_application/lib/python3.11/site-packages/arm_application/pipeline_node.py
@@ -15,6 +15,7 @@ import os
 import signal
 import subprocess
 import time
+from pathlib import Path
 from typing import Optional
 
 import numpy as np
@@ -23,6 +24,7 @@ from geometry_msgs.msg import PointStamped
 from rclpy.qos import HistoryPolicy, QoSProfile, ReliabilityPolicy
 from std_msgs.msg import Bool, String
 
+from arm_application.overhead_oneshot import D435_MOVEL_GAVE_UP
 from arm_application.stage3_search_node import Stage3Search
 
 
@@ -70,6 +72,19 @@ def init_z_refusal(
     return ""
 
 
+def hold_at_insert_z(final, *, skip3: bool) -> bool:
+    """贴面已经按 ``final_gap_mm`` 停下时，不再进三阶段。
+
+    三阶段开局会抬到悬高上方测触觉，再落回 ``hole_hover_z_m``。
+    没有接触传感器。到位高度就是这次的贴面间隙，不另设一个 Z。
+    """
+    if skip3:
+        return True
+    if not isinstance(final, dict):
+        return False
+    return bool(final.get("insert_held"))
+
+
 def track_lock_z(hover_z: float, tool_len_m: float, surface_z_m: float) -> float:
     """一阶段锁高。
 
@@ -85,6 +100,20 @@ def track_lock_z(hover_z: float, tool_len_m: float, surface_z_m: float) -> float
     return hover + TRACK_CLEARANCE_M
 
 
+def stage1_log_fatal(log_path: str) -> str:
+    """一阶段日志里已经写明失败时，不许再空等锁定。空串 = 还没到这一步。"""
+    try:
+        text = Path(log_path).read_text(encoding="utf-8", errors="replace")
+    except OSError:
+        return ""
+    if D435_MOVEL_GAVE_UP in text:
+        return (
+            f"D435 {D435_MOVEL_GAVE_UP}（RDK 控制模式没切到 primitive），"
+            f"一阶段中止。不是视野/标定。看 {log_path}"
+        )
+    return ""
+
+
 def stage1_timeout_reason(points_seen: int, timeout_s: float, log_path: str) -> str:
     """一阶段超时了，到底是"感知没给点"还是"给了点但没收敛"。
 
@@ -99,6 +128,9 @@ def stage1_timeout_reason(points_seen: int, timeout_s: float, log_path: str) ->
     以前两种情况共用一句"没锁定（视野里没工件？）"，于是"perception_node
     因为缺依赖早退了"被读成"算法不收敛"，白查半天。
     """
+    fatal = stage1_log_fatal(log_path)
+    if fatal:
+        return fatal
     if points_seen <= 0:
         return (
             f"一阶段 {timeout_s:.0f}s 没锁定：**一个视觉目标点都没收到**"
@@ -308,6 +340,11 @@ class AssemblyPipeline(Stage3Search):
             self._spin(0.1)
             if self._locked:
                 break
+            fatal = stage1_log_fatal(log_path)
+            if fatal:
+                self._stop_stage1()
+                self.get_logger().error(fatal)
+                return 1
             if self._s1.poll() is not None:
                 self.get_logger().error(f"一阶段进程提前退出，看 {log_path}")
                 return 1
@@ -363,24 +400,42 @@ class AssemblyPipeline(Stage3Search):
                 if code != 0:
                     self.get_logger().error(f"二阶段失败 exit={code}，停在当前位姿")
                     return code
-                self.get_logger().info(
-                    f"二阶段 OK 残差 {final.get('residual_mm', -1)}mm"
-                    + (
-                        " — 跳过搜孔，停在观测高度（看规尖是否对中；进程退出后臂保持）"
-                        if skip3
-                        else " — 立刻下压搜孔并轻压（不拧入）"
+                stay = hold_at_insert_z(final, skip3=skip3)
+                if stay and final.get("insert_held"):
+                    self.get_logger().info(
+                        f"二阶段 OK 残差 {final.get('residual_mm', -1)}mm — "
+                        f"插孔停在法兰 Z={final.get('flange_z_m')}m，"
+                        f"规尖离面 {final.get('tip_gap_mm')}mm"
+                        f"（目标 {final.get('commanded_gap_mm')}mm，来自 final_gap_mm）。"
+                        "没有接触传感器，不另设 Z，不抬回悬高。"
+                    )
+                else:
+                    self.get_logger().info(
+                        f"二阶段 OK 残差 {final.get('residual_mm', -1)}mm"
+                        + (
+                            " — 跳过搜孔，停在观测高度（看规尖是否对中；进程退出后臂保持）"
+                            if skip3
+                            else " — 立刻下压搜孔并轻压（不拧入）"
+                        )
                     )
-                )
             else:
                 self._state("skip_stage2")
+                stay = hold_at_insert_z(final, skip3=skip3)
 
-            if skip3:
+            if stay:
                 self._state("skip_stage3")
                 if self.d435_move_only:
                     self.get_logger().info(
                         "D435 位移测试结束 —— 臂停在当前高度，不交 D405、不对孔；"
                         "15s 后本进程退出，臂保持不动"
                     )
+                elif isinstance(final, dict) and final.get("insert_held"):
+                    if q is not None:
+                        self._pin(q)
+                    self.get_logger().info(
+                        "插孔已停在贴面高度，不进搜孔、不抬回悬高。"
+                        "15s 后本进程退出，臂保持这个 Z。"
+                    )
                 else:
                     self.get_logger().info(
                         "跳过搜孔 —— 臂停在当前高度。请看规尖与孔是否对中；"
diff --git a/install/arm_application/lib/python3.11/site-packages/arm_application/realsense_color_pub.py b/install/arm_application/lib/python3.11/site-packages/arm_application/realsense_color_pub.py
index 1d8464a..c95b46a 100644
--- a/install/arm_application/lib/python3.11/site-packages/arm_application/realsense_color_pub.py
+++ b/install/arm_application/lib/python3.11/site-packages/arm_application/realsense_color_pub.py
@@ -176,6 +176,10 @@ class RealsenseColorPub(TolerantNode):
         self._overlay: Optional[list] = None
         self._overlay_stamp = 0.0
         self._capture_started = False
+        self._cap_lock = threading.Lock()
+        self._cap_event = threading.Event()
+        self._pending = None
+        self._last_frame_mono = 0.0
         self._usb_desc = ''
         self._last_ok = None
         self._site_yaml = _site_yaml_path()
@@ -309,23 +313,26 @@ class RealsenseColorPub(TolerantNode):
         self._info_pub.publish(info)
 
         if depth_u16 is not None:
-            dh, dw = int(depth_u16.shape[0]), int(depth_u16.shape[1])
-            dmsg = Image()
-            dmsg.header.stamp = stamp
-            dmsg.header.frame_id = self._frame_id
-            dmsg.height = dh
-            dmsg.width = dw
-            dmsg.encoding = '16UC1'
-            dmsg.is_bigendian = 0
-            dmsg.step = dw * 2
-            dmsg.data = array.array('B', np.ascontiguousarray(depth_u16).tobytes())
-            self._depth_pub.publish(dmsg)
-            if not self._logged_depth:
-                self._logged_depth = True
-                self.get_logger().info(
-                    f'首个对齐深度 {dw}x{dh} → '
-                    f'/{self._name}/aligned_depth_to_color/image_raw'
-                )
+            self._publish_depth(depth_u16, stamp)
+
+    def _publish_depth(self, depth_u16: np.ndarray, stamp=None) -> None:
+        dh, dw = int(depth_u16.shape[0]), int(depth_u16.shape[1])
+        dmsg = Image()
+        dmsg.header.stamp = stamp or self.get_clock().now().to_msg()
+        dmsg.header.frame_id = self._frame_id
+        dmsg.height = dh
+        dmsg.width = dw
+        dmsg.encoding = '16UC1'
+        dmsg.is_bigendian = 0
+        dmsg.step = dw * 2
+        dmsg.data = array.array('B', np.ascontiguousarray(depth_u16).tobytes())
+        self._depth_pub.publish(dmsg)
+        if not self._logged_depth:
+            self._logged_depth = True
+            self.get_logger().info(
+                f'首个对齐深度 {dw}x{dh} → '
+                f'/{self._name}/aligned_depth_to_color/image_raw'
+            )
 
     def _start_pipeline(self, reconnect: bool = False) -> None:
         try:
@@ -457,7 +464,9 @@ class RealsenseColorPub(TolerantNode):
                         trial.enable_stream(
                             rs.stream.infrared, 2, w, h, rs.format.y8, fps
                         )
-                    profile = pipe.start(trial)
+                    # 回调里只留最新一帧。wait_for_frames 会等彩色、深度、红外齐套，
+                    # 场景一动红外对不齐，彩色帧就在这里被丢掉。
+                    profile = pipe.start(trial, self._on_sdk_frame)
                     have_depth = with_depth
                     have_infra = infra_mode != 'none'
                     self._infra_mode = infra_mode
@@ -508,6 +517,13 @@ class RealsenseColorPub(TolerantNode):
 
         self._pipe = pipe
         self._profile = profile
+        try:
+            sensor = profile.get_device().first_color_sensor()
+            if sensor.supports(rs.option.frames_queue_size):
+                # 队列只留最新一张，避免越积越慢，动起来画面还停在旧帧。
+                sensor.set_option(rs.option.frames_queue_size, 1)
+        except Exception:  # noqa: BLE001
+            pass
         self._have_depth = have_depth
         self._have_infra = have_infra
         self._logged_depth = False
@@ -609,7 +625,7 @@ class RealsenseColorPub(TolerantNode):
 
         if not getattr(self, '_capture_started', False):
             self._capture_started = True
-            self._thread = threading.Thread(target=self._capture_loop, daemon=True)
+            self._thread = threading.Thread(target=self._publish_loop, daemon=True, name="rs-publish")
             self._thread.start()
 
     def _enable_color_ae_fast(self, profile, rs) -> None:
@@ -702,18 +718,60 @@ class RealsenseColorPub(TolerantNode):
             )
             return False
 
-    def _capture_loop(self) -> None:
+    def _on_sdk_frame(self, frame) -> None:
+        """SDK 回调。只拷走彩色并握住这一组帧，立刻返回。
+
+        对齐、深度换算和 ROS 发布若做在这个回调里，下一帧来不及取，
+        动起来时彩色帧号会跳。那些工作放到 ``_publish_loop``。
+        """
+        try:
+            frames = frame.as_frameset()
+            color = frames.get_color_frame()
+            if not color:
+                return
+            bgr = np.array(np.asanyarray(color.get_data()), copy=True)
+            frames.keep()
+            with self._cap_lock:
+                self._pending = (bgr, frames)
+            self._last_frame_mono = time.monotonic()
+            self._cap_event.set()
+        except Exception as exc:  # noqa: BLE001
+            try:
+                self.get_logger().warn(f'收帧：{exc}', throttle_duration_sec=2.0)
+            except Exception:  # noqa: BLE001
+                pass
+
+    def _publish_loop(self) -> None:
         got = False
-        misses = 0
         while self._running and rclpy.ok():
             if self._pipe is None:
                 if not self._reconnect():
                     time.sleep(2.0)
                 continue
+            if not self._cap_event.wait(0.2):
+                silent = self._last_frame_mono and time.monotonic() - self._last_frame_mono > 2.0
+                if silent:
+                    usb = getattr(self, '_usb_desc', '?')
+                    self.get_logger().error(
+                        f'相机超过 2 秒没有新帧（USB={usb}）。正在重连 —— '
+                        '请给 USB 线缆留点余量，别让机械臂把它拽掉。'
+                    )
+                    self._last_frame_mono = 0.0
+                    got = False
+                    self._reconnect()
+                continue
+            self._cap_event.clear()
+            with self._cap_lock:
+                item = self._pending
+                self._pending = None
+            if item is None:
+                continue
+            bgr, frames = item
             try:
-                t_wait0 = time.monotonic()
-                frames = self._pipe.wait_for_frames(timeout_ms=2000)
-                self._t_wait = time.monotonic() - t_wait0
+                t_pub = time.monotonic()
+                # 彩色先发出去。深度对齐再慢，也不能把这一帧彩色拖掉。
+                self._publish_frame(bgr, None)
+                self._t_pub = time.monotonic() - t_pub
                 ir_l = (
                     frames.get_infrared_frame(1)
                     if self._have_infra and self._infra_mode in ('both', 'left')
@@ -724,44 +782,45 @@ class RealsenseColorPub(TolerantNode):
                     if self._have_infra and self._infra_mode in ('both', 'right')
                     else None
                 )
+                aligned = frames
                 if self._align is not None:
                     t_al = time.monotonic()
-                    frames = self._align.process(frames)
+                    aligned = self._align.process(frames)
                     self._t_align = time.monotonic() - t_al
+                depth = aligned.get_depth_frame()
                 color = frames.get_color_frame()
             except Exception as exc:  # noqa: BLE001
-                misses += 1
                 text = str(exc)
                 dropped = (
                     'disconnect' in text.lower()
                     or 'ioctl' in text.lower()
                     or 'errno=5' in text.lower()
                 )
-                if dropped or misses >= 4:
+                if dropped:
                     usb = getattr(self, '_usb_desc', '?')
                     self.get_logger().error(
                         f'相机数据流中断（USB={usb}）：{text[:120]}。'
                         '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._last_frame_mono = 0.0
                     self._reconnect()
-                    continue
-                if misses == 1:
-                    self.get_logger().warn(f'wait_for_frames：{exc}')
+                else:
+                    self.get_logger().warn(f'整理帧：{exc}', throttle_duration_sec=2.0)
                 continue
-            if not color:
-                misses += 1
-                continue
-            misses = 0
-            bgr = np.asanyarray(color.get_data())
-            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:
                 # 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)
+            if depth_u16 is not None:
+                try:
+                    self._publish_depth(depth_u16)
+                except Exception as exc:  # noqa: BLE001
+                    if not self._running:
+                        break
+                    self.get_logger().warn(f'发布深度失败：{exc}', throttle_duration_sec=2.0)
             self._frame_i += 1
             self._fps_meter(color, depth, depth_u16)
             # 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
@@ -794,7 +853,6 @@ class RealsenseColorPub(TolerantNode):
                     )
             try:
                 t_pub = time.monotonic()
-                self._publish_frame(bgr, depth_u16)
                 if self._ir1_pub is not None and ir_l is not None:
                     self._publish_ir(ir_l, self._ir1_pub)
                 if self._ir2_pub is not None and ir_r is not None:
diff --git a/install/arm_application/lib/python3.11/site-packages/arm_application/servo_node.py b/install/arm_application/lib/python3.11/site-packages/arm_application/servo_node.py
index 848dbcd..10eb349 100644
--- a/install/arm_application/lib/python3.11/site-packages/arm_application/servo_node.py
+++ b/install/arm_application/lib/python3.11/site-packages/arm_application/servo_node.py
@@ -50,6 +50,9 @@ from arm_application.geom_ik import (
 )
 from arm_application.handeye_lib import cam_point_to_base, cam_to_base_T
 from arm_application.overhead_oneshot import (
+    D435_MOVEL_GAVE_UP,
+    D435_MOVEL_RETRY,
+    D435_MOVEL_RETRY_S,
     D435_NEAR_CRUISE_MPS,
     D435_SETTLE_S,
     D435_VENDOR_MOVEL_VEL_MPS,
@@ -126,7 +129,7 @@ class ServoNode(TolerantNode):
         self.declare_parameter("point_topic", "visual_servo/filtered_point")
         # 默认值只作兜底：真机运行一定由 launch 传入 site.yaml 的 paths.handeye_file。
         # 指向 /tmp 是历史遗留（标定临时产物），会让人误以为"标定结果在那里"。
-        self.declare_parameter("handeye_file", "handeye/results/89_eye_in_hand.yaml")
+        self.declare_parameter("handeye_file", "/home/cc/ros2/handeye/results/89_eye_in_hand.yaml")
         # eye_in_hand = cam→法兰；eye_to_hand = cam→基座。写错会把固定相机当腕部用。
         self.declare_parameter("handeye_mode", "eye_in_hand")
         self.declare_parameter("use_static_handeye_tf", False)
@@ -224,8 +227,7 @@ class ServoNode(TolerantNode):
         self.declare_parameter("lock_hold_sec", 2.0)
         # D405 跟住后法兰静止多久进二阶段。哨兵 -1 = 没从 site 接入。
         # lock_still_sec 仍须从 site 接上（缺了就报错）。
-        # 交回 D405：进程内 MoveL 到位后，再叠 d435_handback_sec（法兰 XY 停稳）。
-        # 旧杀栈冷启动曾把这 3s 垫在控制器重启后面；不杀栈后只留机械停稳。
+        # 厂家 MoveL 结束后，法兰连续停稳 d435_handback_sec 才打开 D405 框心。
         self.declare_parameter("lock_still_sec", -1.0)
         self.declare_parameter("d435_handback_sec", -1.0)
         self.declare_parameter("wrist_align_sec", -1.0)
@@ -329,7 +331,7 @@ class ServoNode(TolerantNode):
             and self.wrist_handoff_conf >= 0.0
             and self.overhead_hold_s >= 0.0
         )
-        # 框心对准进对孔用 wrist_align_sec。D435 交回只用 d435_handback_sec，两段不要合成一个数。
+        # 框心对准进精拍用 wrist_align_sec。D435 交接只用 d435_handback_sec，两段不要合成一个数。
         self._still = StillLock(
             still_sec=max(0.0, self.wrist_align_sec),
             still_move_m=max(0.0, self.lock_still_move_m),
@@ -342,6 +344,8 @@ class ServoNode(TolerantNode):
         self._d435_vendor_done = False
         self._d435_vendor_busy = False
         self._d435_vendor_failed = False
+        self._d435_vendor_tries = 0
+        self._d435_retry_after = 0.0
         self._d435_settled = False
         self._d435_exec_until = 0.0
         self._d435_pinned = False
@@ -374,10 +378,9 @@ class ServoNode(TolerantNode):
         self.ws_min = np.array([float(v) for v in ws_min[:3]], dtype=float)
         self.ws_max = np.array([float(v) for v in ws_max[:3]], dtype=float)
 
-        from arm_application.site_io import resolve_repo_path
-
-        handeye_path = resolve_repo_path(str(self.get_parameter("handeye_file").value))
-        self.T_cam_to_gripper = load_handeye_T(handeye_path)
+        self.T_cam_to_gripper = load_handeye_T(
+            str(self.get_parameter("handeye_file").value)
+        )
         self.handeye_mode = str(
             self.get_parameter("handeye_mode").value or "eye_in_hand"
         ).strip().lower()
@@ -400,7 +403,7 @@ class ServoNode(TolerantNode):
         t_he = np.asarray(self.T_cam_to_gripper[:3, 3], dtype=float)
         axis_z = float(np.clip(R_he[2, 2], -1.0, 1.0))
         self._cam_tilt_deg = float(np.degrees(np.arccos(axis_z)))
-        he_path = handeye_path
+        he_path = str(self.get_parameter("handeye_file").value)
         if self.handeye_mode == "eye_to_hand":
             self.get_logger().warn(
                 f"HANDEYE yaml={he_path} mode=eye_to_hand "
@@ -709,6 +712,8 @@ class ServoNode(TolerantNode):
             self._d435_vendor_done = False
             self._d435_vendor_busy = False
             self._d435_vendor_failed = False
+            self._d435_vendor_tries = 0
+            self._d435_retry_after = 0.0
             self._overhead_t = now_m
             self._last_seen_time = now_m
             self._stamp_sec = now_sec
@@ -732,6 +737,8 @@ class ServoNode(TolerantNode):
         self._d435_vendor_done = False
         self._d435_vendor_busy = False
         self._d435_vendor_failed = False
+        self._d435_vendor_tries = 0
+        self._d435_retry_after = 0.0
         self._publish_d435_commanding(True)
         self.get_logger().info(
             f"D435 一次性设定 feat_base=({p_base[0]:.3f},{p_base[1]:.3f},{p_base[2]:.3f}) "
@@ -759,9 +766,9 @@ class ServoNode(TolerantNode):
             settled=settled,
             move_only=self.d435_move_only,
         ):
-            # 推理服务不关。这一帧的点不下发给臂，目标仍是 D435 那一个点。
+            # 推理不关。没到「法兰停稳」之前，这帧不能进运动控制。
             self.get_logger().info(
-                "D435 位置还没到并且停稳，D405 这帧不下发",
+                "D405 输出已截断：D435 厂家移动还没结束或法兰还没停稳",
                 throttle_duration_sec=1.0,
             )
             return
@@ -1407,9 +1414,12 @@ class ServoNode(TolerantNode):
         return geometric_jacobian(link_R, link_p, p_ee, RIZON_LINK_AXES)
 
     def _d435_oneshot_holds_the_arm(self) -> bool:
-        """D435 到点平移：action 短跳，等结果再重测。D405 主跟踪仍走原来的伺服。"""
-        if self.d435_move_only and self._hybrid and self._track_source == "overhead" and self._d435_settled:
-            # 位移测完了：守着，不许掉进 D405 的 _execute_twist。hold 只在到位那一拍发一次。
+        """D435 粗定位只走厂家 MoveL。停稳后先钉住，等 D405 框心接上再放开。
+
+        这段不许再用流式伺服去追 D435 那个点。D405 点被 ``_on_point`` 接上后
+        跟踪源变成腕部，这里返回 False，框心才开始带臂。
+        """
+        if self._hybrid and self._track_source == "overhead" and self._d435_settled:
             return True
         if not (self._hybrid and self._track_source == "overhead" and not self._d435_settled):
             return False
@@ -1519,7 +1529,7 @@ class ServoNode(TolerantNode):
         """停或重新打开关节轨迹控制器。关节状态广播留着，硬件接口不下线。
 
         用节点里的客户端，不走 ``ros2 service call``：那条命令自己就要一两秒，
-        交回 D405 的预算会被它吃掉。
+        停稳锁定的预算会被它吃掉。
         """
         from controller_manager_msgs.srv import SwitchController
 
@@ -1659,18 +1669,32 @@ class ServoNode(TolerantNode):
         if self._d435_vendor_failed or self._d435_vendor_busy:
             return True
         if not self._d435_vendor_done:
-            # busy 先于调用置位：另一条控制回调不能再开一次 MoveL，也不能提前交回 D405。
+            if time.monotonic() < float(self._d435_retry_after):
+                return True
+            if int(self._d435_vendor_tries) >= int(D435_MOVEL_RETRY):
+                self._d435_vendor_failed = True
+                self.get_logger().error(
+                    f"{D435_MOVEL_GAVE_UP} —— 一阶段中止，D405 也不带臂"
+                )
+                return True
+            # busy 先于调用置位：另一条控制回调不能再开一次 MoveL，也不能提前锁定。
             self._d435_vendor_busy = True
             ok = self._d435_vendor_movel()
             self._d435_vendor_busy = False
             if not ok:
-                self._d435_vendor_failed = True
+                self._d435_vendor_tries = int(self._d435_vendor_tries) + 1
+                self._d435_retry_after = time.monotonic() + float(D435_MOVEL_RETRY_S)
                 self.get_logger().error(
-                    "厂家 MoveL 没走成 —— 停在原地，D405 的点继续不下发"
+                    f"厂家 MoveL 第{self._d435_vendor_tries}次没走成，"
+                    f"{D435_MOVEL_RETRY_S:.1f}s 后再试"
                 )
             else:
                 self._d435_vendor_done = True
                 self._arrive.reset()
+                # MoveL 切回关节后 JTC 还握着出发前的悬停。不钉住的话
+                # 硬件 3 s 窗口一过，臂会按悬停关节走回去（比交回 D405 的 10 cm 更远）。
+                self._send_hold()
+                self._d435_pinned = True
             return True
         return True
 
@@ -1729,7 +1753,7 @@ class ServoNode(TolerantNode):
         ):
             self._d435_pin_and_stop_hops(
                 f"D435 上一跳几乎没走近，剩差还是 {dist*1000:.0f}mm "
-                f"—— 钉住不再补刀，等停稳后交回 D405"
+                f"—— 钉住不再补刀，等停稳后锁定进二阶段"
             )
             return True
         if not at:
@@ -1836,7 +1860,7 @@ class ServoNode(TolerantNode):
         return True
 
     def _tick_d435_arrive(self) -> None:
-        """走到 D435 那个点，并且法兰按一阶段的静止判据停稳，才允许下发 D405。"""
+        """厂家 MoveL 已结束：看法兰还在不在动。连续停稳后才打开 D405 框心。"""
         if not self._hybrid:
             return
         if (
@@ -1858,11 +1882,15 @@ class ServoNode(TolerantNode):
             return
         xy = np.asarray(T[:2, 3], dtype=float)
         dist = float(np.hypot(float(xy[0]) - goal[0], float(xy[1]) - goal[1]))
-        arrived = dist <= float(self.lock_still_move_m) or self._d435_give_up
-        settled = self._arrive.update(
-            xy, time.monotonic(), tracking_ok=arrived
-        )
+        # 到位看法兰是否还在动，不看离视觉点还差几毫米。
+        settled = self._arrive.update(xy, time.monotonic(), tracking_ok=True)
         if not settled:
+            self.get_logger().info(
+                f"D435 厂家 MoveL 已结束，法兰还在动或未满 "
+                f"{self.d435_handback_sec:.1f}s（离点 {dist*1000:.0f}mm），"
+                "D405 输出仍截断",
+                throttle_duration_sec=1.0,
+            )
             return
         with self._lock:
             self._d435_settled = True
@@ -1885,10 +1913,12 @@ class ServoNode(TolerantNode):
                 self._lock_pub_t = now_m
                 self._lock_pub.publish(Bool(data=True))
             return
+        # 法兰已停稳：打开 D405。不在这里锁定；框心对准停稳后才精拍下臂。
         self._publish_d435_commanding(False)
         self.get_logger().info(
-            f"已到 D435 位置（还差 {dist*1000:.0f}mm）并停稳 "
-            f"{self.d435_handback_sec:.1f}s —— 改回下发 D405 框心"
+            f"法兰已连续停稳 {self.d435_handback_sec:.1f}s"
+            f"（离 D435 点 {dist*1000:.0f}mm）"
+            " —— 打开 D405 输出，追工件框矩形中心；对准后才精拍下臂"
         )
 
     def _tick_still_lock(self) -> None:
diff --git a/install/arm_application/lib/python3.11/site-packages/arm_application/site_io.py b/install/arm_application/lib/python3.11/site-packages/arm_application/site_io.py
index 8ddc507..9243123 100644
--- a/install/arm_application/lib/python3.11/site-packages/arm_application/site_io.py
+++ b/install/arm_application/lib/python3.11/site-packages/arm_application/site_io.py
@@ -10,83 +10,13 @@ import yaml
 
 
 def ros2_root() -> Path:
-    """仓库根目录。先看环境变量，再从本文件向上找 ``config/site.yaml``。
-
-    不能默认 ``~/ros2``：别人把仓库克隆到别的目录时，写死的家目录路径是空的，
-    启动会报文件不存在。
-    """
     for key in ("SITE_ROS2_ROOT", "ROS2_WS"):
         v = os.environ.get(key, "").strip()
         if v:
             return Path(v).expanduser()
-    here = Path(__file__).resolve()
-    for parent in here.parents:
-        if (parent / "config" / "site.yaml").is_file() and (parent / "scripts" / "env.sh").is_file():
-            return parent
     return Path.home() / "ros2"
 
 
-_PATH_KEYS = frozenset({
-    "named_poses_file",
-    "handeye_file",
-    "handeye_waypoints",
-    "handeye_workdir",
-    "handeye_calibrate",
-    "yolo_weights",
-    "hole_weights",
-    "weights",
-    "workpiece_weights",
-    "config_file",
-    "append_poses_file",
-})
-
-
-def resolve_repo_path(value: str, root: Path | None = None) -> str:
-    """仓库内的相对路径展开成绝对路径。已经是绝对路径的原样保留。"""
-    text = str(value or "").strip()
-    if not text:
-        return ""
-    path = Path(text).expanduser()
-    if path.is_absolute():
-        return str(path)
-    base = root or ros2_root()
-    return str((base / path).resolve())
-
-
-def _is_path_key(key: str) -> bool:
-    return (
-        key in _PATH_KEYS
-        or key.startswith("handeye_file")
-        or key.startswith("handeye_waypoints")
-        or key.endswith("_weights")
-        or key.endswith("_file")
-        or key.endswith("_workdir")
-    )
-
-
-def absolutize_site_paths(data: Any, root: Path | None = None) -> Any:
-    """把 site 里的仓库相对路径展开。只动路径字段，不动别的字符串。"""
-    base = root or ros2_root()
-    if isinstance(data, dict):
-        out: dict[Any, Any] = {}
-        for key, val in data.items():
-            name = str(key)
-            if isinstance(val, str) and _is_path_key(name):
-                out[key] = resolve_repo_path(val, base)
-            elif (
-                name == "config"
-                and isinstance(val, str)
-                and (val.endswith((".yaml", ".yml", ".json")) or "/" in val)
-            ):
-                out[key] = resolve_repo_path(val, base)
-            else:
-                out[key] = absolutize_site_paths(val, base)
-        return out
-    if isinstance(data, list):
-        return [absolutize_site_paths(item, base) for item in data]
-    return data
-
-
 def site_path() -> Path:
     env = os.environ.get("SITE_CONFIG", "").strip()
     if env:
@@ -99,11 +29,7 @@ def load_site_dict(path: str | Path | None = None) -> dict[str, Any]:
     if not p.is_file():
         return {}
     data = yaml.safe_load(p.read_text(encoding="utf-8")) or {}
-    if not isinstance(data, dict):
-        return {}
-    resolved = p.resolve()
-    root = resolved.parent.parent if resolved.parent.name == "config" else ros2_root()
-    return absolutize_site_paths(data, root)
+    return data if isinstance(data, dict) else {}
 
 
 def deep_merge(base: dict[str, Any], overlay: dict[str, Any]) -> dict[str, Any]:
diff --git a/install/arm_application/lib/python3.11/site-packages/arm_application/stage2_locate_node.py b/install/arm_application/lib/python3.11/site-packages/arm_application/stage2_locate_node.py
index 670bacb..a3575d2 100644
--- a/install/arm_application/lib/python3.11/site-packages/arm_application/stage2_locate_node.py
+++ b/install/arm_application/lib/python3.11/site-packages/arm_application/stage2_locate_node.py
@@ -69,6 +69,7 @@ from arm_application.overhead_oneshot import (
     once_ff_tcp_xyz,
     oneshot_align_step_m,
     pixel_on_base_plane,
+    retract_goal_z,
 )
 from arm_application.handeye_realsense import resolve_realsense_topics
 from arm_application.gauge_boot import perception_source_of
@@ -249,7 +250,7 @@ class Stage2Locate(TolerantNode):
         # _coarse_target_reject / _bbox_on_border 的注释）：粗居中的目的是把臂
         # 挪到工件正上方，**挪错比不挪危险得多** —— 一挪错精定位就再也看不到
         # k1/k2，而流程会把它当"孔检测失败"，现场根本想不到是粗居中把臂带走的。
-        self.coarse_max_offset_m = float(stage2.get("coarse_max_offset_m") or 0.12)
+        self.coarse_max_offset_m = float(stage2.get("coarse_max_offset_m") or 0.08)
         self.coarse_border_px = int(stage2.get("coarse_border_px") or 2)
         # 最后轻降到孔面上方 final_gap_mm（不接触）。启动参数 ≥0 覆盖 site。
         self._final_gap_refused = ""
@@ -901,10 +902,13 @@ class Stage2Locate(TolerantNode):
         min_dur: float = 1.6,
         hold_xy: bool = False,
         strict_xy: bool = False,
+        z_up_only: bool = False,
     ) -> Tuple[bool, np.ndarray, np.ndarray]:
         """闭环点到点：规划短 hop → 执行 → 重新看 TF → 重复，直到容差内。
 
         hold_xy=True：只收 Z/姿态（悬停降锁高），不把下降中漂出的 XY 再拽回去。
+        z_up_only=True：当前已经高于目标 Z 就停，不许为了追 5 mm 往下补
+        （贴面 MoveL 后收臂 hop1 抬过头、hop2 回压进孔，2026-10-16）。
         """
         target = self._clamp_ws(target)
         last_dist: Optional[float] = None
@@ -912,7 +916,14 @@ class Stage2Locate(TolerantNode):
         stall = 0
         for hop in range(max_hops):
             p = Tee[:3, 3]
-            goal = np.array([p[0], p[1], target[2]]) if hold_xy else target
+            z_tgt = float(target[2])
+            if z_up_only:
+                if float(p[2]) >= z_tgt - float(tol_m):
+                    return True, q, Tee
+                z_tgt = retract_goal_z(float(p[2]), z_tgt)
+            goal = np.array([p[0], p[1], z_tgt]) if hold_xy else np.array(
+                [target[0], target[1], z_tgt], dtype=float
+            )
             if hold_xy:
                 goal = self._clamp_ws(goal)
             dp = goal - p
@@ -1491,14 +1502,15 @@ class Stage2Locate(TolerantNode):
 
         1. 目标点落在 ``workspace_xyz_*`` 的 XY 之外（含 5mm 余量）—— 一阶段刚锁
            定时臂就在工件上方，工件**不该**在盒外；
-        2. 目标点离当前夹爪轴线超过 ``coarse_max_offset_m``（缺省 0.12m）—— 粗居中
-           是"把臂挪到工件正上方"，合理位移是厘米级；十几厘米只可能是坏读数。
+        2. 目标点离当前夹爪轴线超过 ``coarse_max_offset_m``（缺省 0.08m）—— 粗居中
+           是"把臂挪到工件正上方"，合理位移是厘米级；十几厘米只可能是坏读数
+           （2026-10-16 三次 110mm 回撤，0.12 放行了）。
 
         注意：判误检后**原地不动**，由精定位（直接量 k1/k2）继续。不动的代价只是
         "少挪一次"，而挪错的代价是精定位彻底看不到孔 —— 所以这里必须选不动。
         """
         if max_offset_m is None:
-            max_offset_m = float(getattr(self, "coarse_max_offset_m", 0.12))
+            max_offset_m = float(getattr(self, "coarse_max_offset_m", 0.08))
         p = np.asarray(p_base, dtype=float).reshape(3)
         if not np.all(np.isfinite(p[:2])):
             return "目标点非有限值（深度/三角化失败）"
@@ -2241,7 +2253,9 @@ class Stage2Locate(TolerantNode):
         )
         fl0 = (float(Tee[0, 3]), float(Tee[1, 3]), float(Tee[2, 3]))
         ok = self._vendor_movel_tcp(movel_xyz, ONCE_FF_MOVEL_VEL_MPS)
-        q2, Tee2 = self._wait_state(2.0)
+        # MoveL 刚切回关节模式：JTC 还握着贴面前的悬停关节。等 2 s 再钉
+        # 等于让 vmax=0.05 往悬停留 0.1 rad（2026-10-16 收臂实测多抬 13–20 mm）。
+        q2, Tee2 = self._wait_state(0.3)
         if q2 is not None and Tee2 is not None:
             q, Tee = q2, Tee2
         self._pin(q)
@@ -3392,14 +3406,36 @@ class Stage2Locate(TolerantNode):
         )
 
         # ---- 5) 锁定保持 ----
+        # 贴面之后就停在这个法兰 Z。没有接触传感器，到位只认 final_gap_mm
+        # （规尖离面）。三阶段开局会抬回悬高，这里标明已经插到位，流水线不再上抬。
+        if (
+            self.descent_final_gap_m is not None
+            and self.final_descent_enable
+            and not self.hover_only
+        ):
+            final = dict(final)
+            final["insert_held"] = True
+            final["flange_z_m"] = round(float(Tee[2, 3]), 4)
+            final["tip_gap_mm"] = round(float(self.descent_final_gap_m) * 1000.0, 2)
+            final["commanded_gap_mm"] = round(float(self.final_gap_m) * 1000.0, 2)
+            final["insert_z_source"] = "final_gap_mm"
         self._state("hold")
         q_fin = self._q()
         self._pin(q_fin if q_fin is not None else q)
-        self.get_logger().info(
-            f"=== 二阶段定位完成: {self.target_hole} 残差 {final.get('residual_mm', -1)}mm，"
-            f"规尖悬在孔面上方 ≈{gap_txt}mm（不接触）。"
-            f"结果: /stage2/result, /tmp/stage2_result.json ==="
-        )
+        if final.get("insert_held"):
+            self.get_logger().info(
+                f"=== 二阶段定位完成: {self.target_hole} 残差 {final.get('residual_mm', -1)}mm，"
+                f"法兰 Z={final.get('flange_z_m')}m，规尖离面 {gap_txt}mm"
+                f"（final_gap {self.final_gap_m * 1000:.1f}mm，无接触传感器）。"
+                "停在这一高度，不抬回悬高。"
+                f"结果: /stage2/result, /tmp/stage2_result.json ==="
+            )
+        else:
+            self.get_logger().info(
+                f"=== 二阶段定位完成: {self.target_hole} 残差 {final.get('residual_mm', -1)}mm，"
+                f"规尖悬在孔面上方 ≈{gap_txt}mm（不接触）。"
+                f"结果: /stage2/result, /tmp/stage2_result.json ==="
+            )
         return 0, q_fin if q_fin is not None else q, Tee, final
 
     def _linger_hold(self, final: Dict[str, Any], seconds: Optional[float] = None) -> None:
diff --git a/install/arm_application/lib/python3.11/site-packages/arm_application/stage3_search_node.py b/install/arm_application/lib/python3.11/site-packages/arm_application/stage3_search_node.py
index e6e9bbf..acf1a50 100644
--- a/install/arm_application/lib/python3.11/site-packages/arm_application/stage3_search_node.py
+++ b/install/arm_application/lib/python3.11/site-packages/arm_application/stage3_search_node.py
@@ -526,7 +526,8 @@ class Stage3Search(Stage2Locate):
             tgt[2] += dz_m
             self._goto(q, Tee, tgt, verticalize=True, tol_m=0.001,
                        tol_tilt=self.vert_tol_rad * 3.0, tag="retract",
-                       v=0.03, max_hops=3, settle_s=0.2, min_dur=0.6)
+                       v=0.03, max_hops=2, settle_s=0.2, min_dur=0.6,
+                       hold_xy=True, z_up_only=True)
         except Exception:
             pass
 
diff --git a/install/arm_application/share/arm_application/config/perception.yaml b/install/arm_application/share/arm_application/config/perception.yaml
index c2411e9..5685bf9 100644
--- a/install/arm_application/share/arm_application/config/perception.yaml
+++ b/install/arm_application/share/arm_application/config/perception.yaml
@@ -12,7 +12,7 @@ perception_node:
     image_topic: ""
     camera_info_topic: ""
     depth_topic: "/d405/aligned_depth_to_color/image_raw"
-    weights: "models/yolo/gongjian0929.onnx"
+    weights: "/home/cc/ros2/models/yolo/gongjian0929.onnx"
     conf: 0.10
     iou: 0.45
     imgsz: 640
diff --git a/install/arm_application/share/arm_application/package.ps1 b/install/arm_application/share/arm_application/package.ps1
index c4a4018..44f3ad6 100644
--- a/install/arm_application/share/arm_application/package.ps1
+++ b/install/arm_application/share/arm_application/package.ps1
@@ -112,6 +112,5 @@ $env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.Ful
 
 colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/arm_application/hook/pythonpath.ps1"
 colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/arm_application/hook/ament_prefix_path.ps1"
-colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/../../build/arm_application/share/arm_application/hook/pythonpath_develop.ps1"
 
 Remove-Item Env:\COLCON_CURRENT_PREFIX
diff --git a/install/arm_application/share/colcon-core/packages/arm_application b/install/arm_application/share/colcon-core/packages/arm_application
index a46ab6f..f7f9267 100644
--- a/install/arm_application/share/colcon-core/packages/arm_application
+++ b/install/arm_application/share/colcon-core/packages/arm_application
@@ -1 +1 @@
-arm_kinematics:arm_msgs:geometry_msgs:python3-serial:python3-yaml:rclpy:sensor_msgs:std_msgs:std_srvs:tf2_ros:trajectory_msgs
\ No newline at end of file
+arm_kinematics:arm_msgs:control_msgs:geometry_msgs:python3-serial:python3-yaml:rclpy:sensor_msgs:std_msgs:std_srvs:tf2_ros:trajectory_msgs
\ No newline at end of file
diff --git a/install/flexiv_hardware/include/flexiv_hardware/flexiv_dual_hardware_interface.hpp b/install/flexiv_hardware/include/flexiv_hardware/flexiv_dual_hardware_interface.hpp
deleted file mode 100644
index 457aee2..0000000
--- a/install/flexiv_hardware/include/flexiv_hardware/flexiv_dual_hardware_interface.hpp
+++ /dev/null
@@ -1,139 +0,0 @@
-/**
- * @file flexiv_dual_hardware_interface.hpp
- * @brief Hardware interface to a pair of Flexiv robots for ROS 2 control.
- * @copyright Copyright (C) 2016-2025 Flexiv Ltd. All Rights Reserved.
- * @author Flexiv
- */
-
-#ifndef FLEXIV_HARDWARE__FLEXIV_DUAL_HARDWARE_INTERFACE_HPP_
-#define FLEXIV_HARDWARE__FLEXIV_DUAL_HARDWARE_INTERFACE_HPP_
-
-#include <memory>
-#include <string>
-#include <vector>
-#include <map>
-
-// ROS
-#include <rclcpp/clock.hpp>
-#include <rclcpp/duration.hpp>
-#include <rclcpp/macros.hpp>
-#include <rclcpp/logger.hpp>
-#include <rclcpp/time.hpp>
-#include <rclcpp_lifecycle/state.hpp>
-
-// ros2_control hardware_interface
-#include <hardware_interface/hardware_info.hpp>
-#include <hardware_interface/system_interface.hpp>
-#include <hardware_interface/types/hardware_interface_return_values.hpp>
-
-#include "flexiv_hardware/visibility_control.h"
-
-// Flexiv
-#include "flexiv/drdk/robot_pair.hpp"
-
-namespace flexiv_hardware {
-
-enum StoppingInterface
-{
-    NONE,
-    STOP_POSITION,
-    STOP_VELOCITY,
-    STOP_EFFORT
-};
-
-class FlexivDualHardwareInterface : public hardware_interface::SystemInterface
-{
-public:
-    RCLCPP_SHARED_PTR_DEFINITIONS(FlexivDualHardwareInterface)
-
-    FLEXIV_HARDWARE_PUBLIC
-    hardware_interface::CallbackReturn on_init(
-        const hardware_interface::HardwareInfo& info) override;
-
-    FLEXIV_HARDWARE_PUBLIC
-    std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
-
-    FLEXIV_HARDWARE_PUBLIC
-    std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
-
-    FLEXIV_HARDWARE_PUBLIC
-    hardware_interface::return_type prepare_command_mode_switch(
-        const std::vector<std::string>& start_interfaces,
-        const std::vector<std::string>& stop_interfaces) override;
-
-    FLEXIV_HARDWARE_PUBLIC
-    hardware_interface::return_type perform_command_mode_switch(
-        const std::vector<std::string>& start_interfaces,
-        const std::vector<std::string>& stop_interfaces) override;
-
-    FLEXIV_HARDWARE_PUBLIC
-    hardware_interface::CallbackReturn on_activate(
-        const rclcpp_lifecycle::State& previous_state) override;
-
-    FLEXIV_HARDWARE_PUBLIC
-    hardware_interface::CallbackReturn on_deactivate(
-        const rclcpp_lifecycle::State& previous_state) override;
-
-    FLEXIV_HARDWARE_PUBLIC
-    hardware_interface::return_type read(
-        const rclcpp::Time& time, const rclcpp::Duration& period) override;
-
-    FLEXIV_HARDWARE_PUBLIC
-    hardware_interface::return_type write(
-        const rclcpp::Time& time, const rclcpp::Duration& period) override;
-
-private:
-    // Flexiv DRDK
-    std::unique_ptr<flexiv::drdk::RobotPair> robot_pair_;
-
-    // RDK control mode for joint position and velocity interfaces
-    flexiv::rdk::Mode rdk_control_mode_;
-
-    // External axis type
-    std::string external_axis_type_ = "";
-
-    // Joint commands
-    std::vector<double> hw_commands_joint_positions_;
-    std::vector<double> hw_commands_joint_velocities_;
-    std::vector<double> hw_commands_joint_efforts_;
-
-    // Joint states
-    std::vector<double> hw_states_joint_positions_;
-    std::vector<double> hw_states_joint_velocities_;
-    std::vector<double> hw_states_joint_efforts_;
-
-    // Robot States
-    flexiv::rdk::RobotStates hw_flexiv_robot_states_left_;
-    flexiv::rdk::RobotStates hw_flexiv_robot_states_right_;
-    flexiv::rdk::RobotStates* hw_flexiv_robot_states_addr_left_ = &hw_flexiv_robot_states_left_;
-    flexiv::rdk::RobotStates* hw_flexiv_robot_states_addr_right_ = &hw_flexiv_robot_states_right_;
-
-    // GPIO commands and states
-    std::vector<double> hw_commands_gpio_out_;
-    std::vector<double> hw_states_gpio_in_;
-
-    // Current digital output map
-    std::map<unsigned int, bool> current_digital_outputs_left_;
-    std::map<unsigned int, bool> current_digital_outputs_right_;
-
-    // Joint mapping
-    struct JointMap
-    {
-        int robot_index; // 0: Left, 1: Right
-        int dof_index;   // Index in the robot's q vector
-    };
-    std::vector<JointMap> joint_map_;
-
-    static rclcpp::Logger getLogger();
-
-    // Control modes
-    bool controllers_initialized_;
-    std::vector<uint> stop_modes_;
-    std::vector<std::string> start_modes_;
-    bool position_controller_running_;
-    bool velocity_controller_running_;
-    bool torque_controller_running_;
-};
-
-} /* namespace flexiv_hardware */
-#endif /* FLEXIV_HARDWARE__FLEXIV_DUAL_HARDWARE_INTERFACE_HPP_ */
diff --git a/install/flexiv_hardware/include/flexiv_hardware/flexiv_dual_hardware_interface.hpp b/install/flexiv_hardware/include/flexiv_hardware/flexiv_dual_hardware_interface.hpp
new file mode 120000
index 0000000..c8349fb
--- /dev/null
+++ b/install/flexiv_hardware/include/flexiv_hardware/flexiv_dual_hardware_interface.hpp
@@ -0,0 +1 @@
+/home/cc/ros2/src/flexiv_hardware/include/flexiv_hardware/flexiv_dual_hardware_interface.hpp
\ No newline at end of file
diff --git a/install/flexiv_hardware/include/flexiv_hardware/flexiv_hardware_interface.hpp b/install/flexiv_hardware/include/flexiv_hardware/flexiv_hardware_interface.hpp
deleted file mode 100644
index adf1b7a..0000000
--- a/install/flexiv_hardware/include/flexiv_hardware/flexiv_hardware_interface.hpp
+++ /dev/null
@@ -1,156 +0,0 @@
-/**
- * @file flexiv_hardware_interface.hpp
- * @brief Hardware interface to Flexiv robots for ROS 2 control. Adapted from
- * ros2_control_demos/example_3/hardware/include/ros2_control_demo_example_3/rrbot_system_multi_interface.hpp
- * @copyright Copyright (C) 2016-2024 Flexiv Ltd. All Rights Reserved.
- * @author Flexiv
- */
-
-#ifndef FLEXIV_HARDWARE__FLEXIV_HARDWARE_INTERFACE_HPP_
-#define FLEXIV_HARDWARE__FLEXIV_HARDWARE_INTERFACE_HPP_
-
-#include <chrono>
-#include <memory>
-#include <string>
-#include <vector>
-
-// ROS
-#include <rclcpp/clock.hpp>
-#include <rclcpp/duration.hpp>
-#include <rclcpp/macros.hpp>
-#include <rclcpp/logger.hpp>
-#include <rclcpp/time.hpp>
-#include <rclcpp_lifecycle/state.hpp>
-
-// ros2_control hardware_interface
-#include <hardware_interface/hardware_info.hpp>
-#include <hardware_interface/system_interface.hpp>
-#include <hardware_interface/types/hardware_interface_return_values.hpp>
-
-#include "flexiv_hardware/visibility_control.h"
-
-// Flexiv
-#include "flexiv/rdk/robot.hpp"
-
-namespace flexiv_hardware {
-
-enum StoppingInterface
-{
-    NONE,
-    STOP_POSITION,
-    STOP_VELOCITY,
-    STOP_EFFORT
-};
-
-class FlexivHardwareInterface : public hardware_interface::SystemInterface
-{
-public:
-    RCLCPP_SHARED_PTR_DEFINITIONS(FlexivHardwareInterface)
-
-    FLEXIV_HARDWARE_PUBLIC
-    hardware_interface::CallbackReturn on_init(
-        const hardware_interface::HardwareInfo& info) override;
-
-    FLEXIV_HARDWARE_PUBLIC
-    std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
-
-    FLEXIV_HARDWARE_PUBLIC
-    std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
-
-    FLEXIV_HARDWARE_PUBLIC
-    hardware_interface::return_type prepare_command_mode_switch(
-        const std::vector<std::string>& start_interfaces,
-        const std::vector<std::string>& stop_interfaces) override;
-
-    FLEXIV_HARDWARE_PUBLIC
-    hardware_interface::return_type perform_command_mode_switch(
-        const std::vector<std::string>& start_interfaces,
-        const std::vector<std::string>& stop_interfaces) override;
-
-    FLEXIV_HARDWARE_PUBLIC
-    hardware_interface::CallbackReturn on_activate(
-        const rclcpp_lifecycle::State& previous_state) override;
-
-    FLEXIV_HARDWARE_PUBLIC
-    hardware_interface::CallbackReturn on_deactivate(
-        const rclcpp_lifecycle::State& previous_state) override;
-
-    FLEXIV_HARDWARE_PUBLIC
-    hardware_interface::return_type read(
-        const rclcpp::Time& time, const rclcpp::Duration& period) override;
-
-    FLEXIV_HARDWARE_PUBLIC
-    hardware_interface::return_type write(
-        const rclcpp::Time& time, const rclcpp::Duration& period) override;
-
-private:
-    // Flexiv RDK
-    std::unique_ptr<flexiv::rdk::Robot> robot_;
-
-    // RDK control mode for joint position and velocity interfaces
-    flexiv::rdk::Mode rdk_control_mode_;
-
-    // Joint commands
-    std::vector<double> hw_commands_joint_positions_;
-    std::vector<double> hw_commands_joint_velocities_;
-    std::vector<double> hw_commands_joint_efforts_;
-
-    // Joint states
-    std::vector<double> hw_states_joint_positions_;
-    std::vector<double> hw_states_joint_velocities_;
-    std::vector<double> hw_states_joint_efforts_;
-
-    // Robot States
-    flexiv::rdk::RobotStates hw_flexiv_robot_states_;
-    flexiv::rdk::RobotStates* hw_flexiv_robot_states_addr_ = &hw_flexiv_robot_states_;
-
-    // GPIO commands and states
-    std::vector<double> hw_commands_gpio_out_;
-    std::vector<double> hw_states_gpio_in_;
-
-    // Map from RDK joint index to ROS joint index
-    // RDK expects: [ext_axis_1, ..., ext_axis_N, arm_joint_1, ..., arm_joint_7]
-    std::vector<size_t> rdk_to_ros_map_;
-
-    // Current digital output map
-    std::map<unsigned int, bool> current_digital_outputs_;
-
-    static rclcpp::Logger getLogger();
-
-    // Control modes
-    bool controllers_initialized_;
-    std::vector<uint> stop_modes_;
-    std::vector<std::string> start_modes_;
-    bool position_controller_running_;
-    bool velocity_controller_running_;
-    bool torque_controller_running_;
-
-    // ===== 连接存活看门狗（2026-09-28 真机踩到）=====
-    //
-    // 现象：RDK 断连后 `operational()` 会**一直保持 true**，于是 read() 照跑却只
-    // 返回最后一帧缓存（关节状态永久冻结），write() 把命令发进虚空也不抛异常，
-    // 而 rizon_arm_controller 是本地插值、不校验反馈 —— 最终表现为
-    // **「控制器报 Goal reached/success、关节状态纹丝不动、臂一步没动」**。
-    //
-    // 实测：14:53:44 RDK 打印 "Disconnected from the robot, waiting for reconnection"，
-    // 此后 50 分钟里 /joint_states 的 robot_timestamp 推进量恒为 0，而 `op=1` 没变过。
-    // 根因是两台臂出厂 MAC 相同（88:88:88:88:87:88）在同一 L2 段抢转发，链路丢包 40~53%。
-    //
-    // 这里用 connected() + states().timestamp 双重判活：任一失效就返回 ERROR，
-    // 让 ros2_control 把栈停下来报错，而不是静默地"成功"。
-    int64_t last_state_stamp_ns_ = 0;   // 上一帧的机器人时间戳
-    int64_t last_state_change_ns_ = 0;  // 上一帧时间戳发生变化的本地时刻
-
-    // D435 粗定位的 MoveL 走已经连上的这份 RDK。write() 里一步一步推进，
-    // 不另开线程，也不在这段里往关节接口灌点。请求文件是 /tmp/flexiv_movel_req。
-    enum class VendorMovelPhase { kIdle, kRunning };
-    VendorMovelPhase vendor_movel_phase_ = VendorMovelPhase::kIdle;
-    long vendor_movel_seq_ = -1;
-    long vendor_movel_done_seq_ = -1;
-    std::chrono::steady_clock::time_point vendor_movel_deadline_ {};
-    bool poll_vendor_movel();
-    void finish_vendor_movel(long seq, bool ok, const std::string& detail);
-};
-
-} /* namespace flexiv_hardware */
-#endif /* FLEXIV_HARDWARE__FLEXIV_HARDWARE_INTERFACE_HPP_ */
diff --git a/install/flexiv_hardware/include/flexiv_hardware/flexiv_hardware_interface.hpp b/install/flexiv_hardware/include/flexiv_hardware/flexiv_hardware_interface.hpp
new file mode 120000
index 0000000..2ac643f
--- /dev/null
+++ b/install/flexiv_hardware/include/flexiv_hardware/flexiv_hardware_interface.hpp
@@ -0,0 +1 @@
+/home/cc/ros2/src/flexiv_hardware/include/flexiv_hardware/flexiv_hardware_interface.hpp
\ No newline at end of file
diff --git a/install/flexiv_hardware/include/flexiv_hardware/visibility_control.h b/install/flexiv_hardware/include/flexiv_hardware/visibility_control.h
deleted file mode 100644
index 2c26a9e..0000000
--- a/install/flexiv_hardware/include/flexiv_hardware/visibility_control.h
+++ /dev/null
@@ -1,35 +0,0 @@
-#ifndef FLEXIV_HARDWARE__VISIBILITY_CONTROL_H_
-#define FLEXIV_HARDWARE__VISIBILITY_CONTROL_H_
-
-// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
-//     https://gcc.gnu.org/wiki/Visibility
-
-#if defined _WIN32 || defined __CYGWIN__
-#ifdef __GNUC__
-#define FLEXIV_HARDWARE_EXPORT __attribute__((dllexport))
-#define FLEXIV_HARDWARE_IMPORT __attribute__((dllimport))
-#else
-#define FLEXIV_HARDWARE_EXPORT __declspec(dllexport)
-#define FLEXIV_HARDWARE_IMPORT __declspec(dllimport)
-#endif
-#ifdef FLEXIV_HARDWARE_BUILDING_DLL
-#define FLEXIV_HARDWARE_PUBLIC FLEXIV_HARDWARE_EXPORT
-#else
-#define FLEXIV_HARDWARE_PUBLIC FLEXIV_HARDWARE_IMPORT
-#endif
-#define FLEXIV_HARDWARE_PUBLIC_TYPE FLEXIV_HARDWARE_PUBLIC
-#define FLEXIV_HARDWARE_LOCAL
-#else
-#define FLEXIV_HARDWARE_EXPORT __attribute__((visibility("default")))
-#define FLEXIV_HARDWARE_IMPORT
-#if __GNUC__ >= 4
-#define FLEXIV_HARDWARE_PUBLIC __attribute__((visibility("default")))
-#define FLEXIV_HARDWARE_LOCAL __attribute__((visibility("hidden")))
-#else
-#define FLEXIV_HARDWARE_PUBLIC
-#define FLEXIV_HARDWARE_LOCAL
-#endif
-#define FLEXIV_HARDWARE_PUBLIC_TYPE
-#endif
-
-#endif // FLEXIV_HARDWARE__VISIBILITY_CONTROL_H_
diff --git a/install/flexiv_hardware/include/flexiv_hardware/visibility_control.h b/install/flexiv_hardware/include/flexiv_hardware/visibility_control.h
new file mode 120000
index 0000000..ee4aec6
--- /dev/null
+++ b/install/flexiv_hardware/include/flexiv_hardware/visibility_control.h
@@ -0,0 +1 @@
+/home/cc/ros2/src/flexiv_hardware/include/flexiv_hardware/visibility_control.h
\ No newline at end of file
diff --git a/install/flexiv_hardware/lib/libflexiv_hardware.so b/install/flexiv_hardware/lib/libflexiv_hardware.so
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diff --git a/install/flexiv_hardware/lib/libflexiv_hardware.so b/install/flexiv_hardware/lib/libflexiv_hardware.so
new file mode 120000
index 0000000..ae36ea3
--- /dev/null
+++ b/install/flexiv_hardware/lib/libflexiv_hardware.so
@@ -0,0 +1 @@
+/home/cc/ros2/build/flexiv_hardware/libflexiv_hardware.so
\ No newline at end of file
diff --git a/install/flexiv_hardware/share/ament_index/resource_index/hardware_interface__pluginlib__plugin/flexiv_hardware b/install/flexiv_hardware/share/ament_index/resource_index/hardware_interface__pluginlib__plugin/flexiv_hardware
deleted file mode 100644
index c130e64..0000000
--- a/install/flexiv_hardware/share/ament_index/resource_index/hardware_interface__pluginlib__plugin/flexiv_hardware
+++ /dev/null
@@ -1 +0,0 @@
-share/flexiv_hardware/flexiv_hardware_interface_plugin.xml
diff --git a/install/flexiv_hardware/share/ament_index/resource_index/hardware_interface__pluginlib__plugin/flexiv_hardware b/install/flexiv_hardware/share/ament_index/resource_index/hardware_interface__pluginlib__plugin/flexiv_hardware
new file mode 120000
index 0000000..aae224d
--- /dev/null
+++ b/install/flexiv_hardware/share/ament_index/resource_index/hardware_interface__pluginlib__plugin/flexiv_hardware
@@ -0,0 +1 @@
+/home/cc/ros2/build/flexiv_hardware/ament_cmake_index/share/ament_index/resource_index/hardware_interface__pluginlib__plugin/flexiv_hardware
\ No newline at end of file
diff --git a/install/flexiv_hardware/share/ament_index/resource_index/package_run_dependencies/flexiv_hardware b/install/flexiv_hardware/share/ament_index/resource_index/package_run_dependencies/flexiv_hardware
deleted file mode 100644
index edadeaa..0000000
--- a/install/flexiv_hardware/share/ament_index/resource_index/package_run_dependencies/flexiv_hardware
+++ /dev/null
@@ -1 +0,0 @@
-rclcpp;rclcpp_lifecycle;hardware_interface;pluginlib;ament_lint_auto;ament_lint_common;ament_cmake_gtest
\ No newline at end of file
diff --git a/install/flexiv_hardware/share/ament_index/resource_index/package_run_dependencies/flexiv_hardware b/install/flexiv_hardware/share/ament_index/resource_index/package_run_dependencies/flexiv_hardware
new file mode 120000
index 0000000..90bdfb8
--- /dev/null
+++ b/install/flexiv_hardware/share/ament_index/resource_index/package_run_dependencies/flexiv_hardware
@@ -0,0 +1 @@
+/home/cc/ros2/build/flexiv_hardware/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/flexiv_hardware
\ No newline at end of file
diff --git a/install/flexiv_hardware/share/ament_index/resource_index/packages/flexiv_hardware b/install/flexiv_hardware/share/ament_index/resource_index/packages/flexiv_hardware
deleted file mode 100644
index e69de29..0000000
diff --git a/install/flexiv_hardware/share/ament_index/resource_index/packages/flexiv_hardware b/install/flexiv_hardware/share/ament_index/resource_index/packages/flexiv_hardware
new file mode 120000
index 0000000..b455cdb
--- /dev/null
+++ b/install/flexiv_hardware/share/ament_index/resource_index/packages/flexiv_hardware
@@ -0,0 +1 @@
+/home/cc/ros2/build/flexiv_hardware/ament_cmake_index/share/ament_index/resource_index/packages/flexiv_hardware
\ No newline at end of file
diff --git a/install/flexiv_hardware/share/ament_index/resource_index/parent_prefix_path/flexiv_hardware b/install/flexiv_hardware/share/ament_index/resource_index/parent_prefix_path/flexiv_hardware
deleted file mode 100644
index 7f1a9c5..0000000
--- a/install/flexiv_hardware/share/ament_index/resource_index/parent_prefix_path/flexiv_hardware
+++ /dev/null
@@ -1 +0,0 @@
-/home/cc/ros2/install/gpio_controller:/home/cc/ros2/install/flexiv_bringup:/home/cc/ros2/install/flexiv_test_nodes:/home/cc/ros2/install/flexiv_robot_states_broadcaster:/home/cc/ros2/install/flexiv_gripper:/home/cc/ros2/install/flexiv_msgs:/home/cc/ros2/install/flexiv_moveit_config:/home/cc/ros2/install/flexiv_hardware:/home/cc/ros2/install/arm_sim_gazebo:/home/cc/ros2/install/arm_bringup:/home/cc/ros2/install/arm_moveit_config:/home/cc/ros2/install/arm_description:/home/cc/ros2/install/flexiv_description:/home/cc/ros2/install/arm_driver_flexiv:/home/cc/ros2/install/arm_control:/home/cc/ros2/install/arm_application:/home/cc/ros2/install/arm_msgs:/home/cc/ros2/install/arm_kinematics:/home/cc/ros2/install/arm_interfaces:/home/cc/anaconda3/envs/ros_flexiv
\ No newline at end of file
diff --git a/install/flexiv_hardware/share/ament_index/resource_index/parent_prefix_path/flexiv_hardware b/install/flexiv_hardware/share/ament_index/resource_index/parent_prefix_path/flexiv_hardware
new file mode 120000
index 0000000..aca5250
--- /dev/null
+++ b/install/flexiv_hardware/share/ament_index/resource_index/parent_prefix_path/flexiv_hardware
@@ -0,0 +1 @@
+/home/cc/ros2/build/flexiv_hardware/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/flexiv_hardware
\ No newline at end of file
diff --git a/install/flexiv_hardware/share/flexiv_hardware/cmake/ament_cmake_export_dependencies-extras.cmake b/install/flexiv_hardware/share/flexiv_hardware/cmake/ament_cmake_export_dependencies-extras.cmake
deleted file mode 100644
index 590bb2d..0000000
--- a/install/flexiv_hardware/share/flexiv_hardware/cmake/ament_cmake_export_dependencies-extras.cmake
+++ /dev/null
@@ -1,94 +0,0 @@
-# generated from ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in
-
-set(_exported_dependencies "hardware_interface;pluginlib;rclcpp;rclcpp_lifecycle")
-
-find_package(ament_cmake_libraries QUIET REQUIRED)
-
-# find_package() all dependencies
-# and append their DEFINITIONS INCLUDE_DIRS, LIBRARIES, and LINK_FLAGS
-# variables to flexiv_hardware_DEFINITIONS, flexiv_hardware_INCLUDE_DIRS,
-# flexiv_hardware_LIBRARIES, and flexiv_hardware_LINK_FLAGS.
-# Additionally collect the direct dependency names in
-# flexiv_hardware_DEPENDENCIES as well as the recursive dependency names
-# in flexiv_hardware_RECURSIVE_DEPENDENCIES.
-if(NOT _exported_dependencies STREQUAL "")
-  find_package(ament_cmake_core QUIET REQUIRED)
-  set(flexiv_hardware_DEPENDENCIES ${_exported_dependencies})
-  set(flexiv_hardware_RECURSIVE_DEPENDENCIES ${_exported_dependencies})
-  set(_libraries)
-  foreach(_dep ${_exported_dependencies})
-    if(NOT ${_dep}_FOUND)
-      find_package("${_dep}" QUIET REQUIRED)
-    endif()
-    # if a package provides modern CMake interface targets use them
-    # exclusively assuming the classic CMake variables only exist for
-    # backward compatibility
-    set(use_modern_cmake FALSE)
-    if(NOT "${${_dep}_TARGETS}" STREQUAL "")
-      foreach(_target ${${_dep}_TARGETS})
-        # only use actual targets
-        # in case a package uses this variable for other content
-        if(TARGET "${_target}")
-          get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES)
-          if(_include_dirs)
-            list_append_unique(flexiv_hardware_INCLUDE_DIRS "${_include_dirs}")
-          endif()
-
-          get_target_property(_imported_configurations ${_target} IMPORTED_CONFIGURATIONS)
-          if(_imported_configurations)
-            string(TOUPPER "${_imported_configurations}" _imported_configurations)
-            if(DEBUG_CONFIGURATIONS)
-              string(TOUPPER "${DEBUG_CONFIGURATIONS}" _debug_configurations_uppercase)
-            else()
-              set(_debug_configurations_uppercase "DEBUG")
-            endif()
-            foreach(_imported_config ${_imported_configurations})
-              get_target_property(_imported_implib ${_target} IMPORTED_IMPLIB_${_imported_config})
-              if(_imported_implib)
-                set(_imported_implib_config "optimized")
-                if(${_imported_config} IN_LIST _debug_configurations_uppercase)
-                  set(_imported_implib_config "debug")
-                endif()
-                list(APPEND _libraries ${_imported_implib_config} ${_imported_implib})
-              else()
-                get_target_property(_imported_location ${_target} IMPORTED_LOCATION_${_imported_config})
-                if(_imported_location)
-                  list(APPEND _libraries "${_imported_location}")
-                endif()
-              endif()
-            endforeach()
-          endif()
-
-          get_target_property(_link_libraries ${_target} INTERFACE_LINK_LIBRARIES)
-          if(_link_libraries)
-            list(APPEND _libraries "${_link_libraries}")
-          endif()
-          set(use_modern_cmake TRUE)
-        endif()
-      endforeach()
-    endif()
-    if(NOT use_modern_cmake)
-      if(${_dep}_DEFINITIONS)
-        list_append_unique(flexiv_hardware_DEFINITIONS "${${_dep}_DEFINITIONS}")
-      endif()
-      if(${_dep}_INCLUDE_DIRS)
-        list_append_unique(flexiv_hardware_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}")
-      endif()
-      if(${_dep}_LIBRARIES)
-        list(APPEND _libraries "${${_dep}_LIBRARIES}")
-      endif()
-      if(${_dep}_LINK_FLAGS)
-        list_append_unique(flexiv_hardware_LINK_FLAGS "${${_dep}_LINK_FLAGS}")
-      endif()
-      if(${_dep}_RECURSIVE_DEPENDENCIES)
-        list_append_unique(flexiv_hardware_RECURSIVE_DEPENDENCIES "${${_dep}_RECURSIVE_DEPENDENCIES}")
-      endif()
-    endif()
-    if(_libraries)
-      ament_libraries_deduplicate(_libraries "${_libraries}")
-      list(APPEND _libraries ${flexiv_hardware_LIBRARIES})
-      list(REMOVE_DUPLICATES _libraries)
-      set(flexiv_hardware_LIBRARIES ${_libraries})
-    endif()
-  endforeach()
-endif()
diff --git a/install/flexiv_hardware/share/flexiv_hardware/cmake/ament_cmake_export_dependencies-extras.cmake b/install/flexiv_hardware/share/flexiv_hardware/cmake/ament_cmake_export_dependencies-extras.cmake
new file mode 120000
index 0000000..beb4258
--- /dev/null
+++ b/install/flexiv_hardware/share/flexiv_hardware/cmake/ament_cmake_export_dependencies-extras.cmake
@@ -0,0 +1 @@
+/home/cc/ros2/build/flexiv_hardware/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake
\ No newline at end of file
diff --git a/install/flexiv_hardware/share/flexiv_hardware/cmake/ament_cmake_export_include_directories-extras.cmake b/install/flexiv_hardware/share/flexiv_hardware/cmake/ament_cmake_export_include_directories-extras.cmake
deleted file mode 100644
index 5805d6a..0000000
--- a/install/flexiv_hardware/share/flexiv_hardware/cmake/ament_cmake_export_include_directories-extras.cmake
+++ /dev/null
@@ -1,16 +0,0 @@
-# generated from ament_cmake_export_include_directories/cmake/ament_cmake_export_include_directories-extras.cmake.in
-
-set(_exported_include_dirs "${flexiv_hardware_DIR}/../../../include")
-
-# append include directories to flexiv_hardware_INCLUDE_DIRS
-# warn about not existing paths
-if(NOT _exported_include_dirs STREQUAL "")
-  find_package(ament_cmake_core QUIET REQUIRED)
-  foreach(_exported_include_dir ${_exported_include_dirs})
-    if(NOT IS_DIRECTORY "${_exported_include_dir}")
-      message(WARNING "Package 'flexiv_hardware' exports the include directory '${_exported_include_dir}' which doesn't exist")
-    endif()
-    normalize_path(_exported_include_dir "${_exported_include_dir}")
-    list(APPEND flexiv_hardware_INCLUDE_DIRS "${_exported_include_dir}")
-  endforeach()
-endif()
diff --git a/install/flexiv_hardware/share/flexiv_hardware/cmake/ament_cmake_export_include_directories-extras.cmake b/install/flexiv_hardware/share/flexiv_hardware/cmake/ament_cmake_export_include_directories-extras.cmake
new file mode 120000
index 0000000..34d19d0
--- /dev/null
+++ b/install/flexiv_hardware/share/flexiv_hardware/cmake/ament_cmake_export_include_directories-extras.cmake
@@ -0,0 +1 @@
+/home/cc/ros2/build/flexiv_hardware/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake
\ No newline at end of file
diff --git a/install/flexiv_hardware/share/flexiv_hardware/cmake/ament_cmake_export_libraries-extras.cmake b/install/flexiv_hardware/share/flexiv_hardware/cmake/ament_cmake_export_libraries-extras.cmake
deleted file mode 100644
index adfc567..0000000
--- a/install/flexiv_hardware/share/flexiv_hardware/cmake/ament_cmake_export_libraries-extras.cmake
+++ /dev/null
@@ -1,141 +0,0 @@
-# generated from ament_cmake_export_libraries/cmake/template/ament_cmake_export_libraries.cmake.in
-
-set(_exported_libraries "flexiv_hardware")
-set(_exported_library_names "")
-
-# populate flexiv_hardware_LIBRARIES
-if(NOT _exported_libraries STREQUAL "")
-  # loop over libraries, either target names or absolute paths
-  list(LENGTH _exported_libraries _length)
-  set(_i 0)
-  while(_i LESS _length)
-    list(GET _exported_libraries ${_i} _arg)
-
-    # pass linker flags along
-    if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]")
-      list(APPEND flexiv_hardware_LIBRARIES "${_arg}")
-      math(EXPR _i "${_i} + 1")
-      continue()
-    endif()
-
-    if("${_arg}" MATCHES "^(debug|optimized|general)$")
-      # remember build configuration keyword
-      # and get following library
-      set(_cfg "${_arg}")
-      math(EXPR _i "${_i} + 1")
-      if(_i EQUAL _length)
-        message(FATAL_ERROR "Package 'flexiv_hardware' passes the build configuration keyword '${_cfg}' as the last exported library")
-      endif()
-      list(GET _exported_libraries ${_i} _library)
-    else()
-      # the value is a library without a build configuration keyword
-      set(_cfg "")
-      set(_library "${_arg}")
-    endif()
-    math(EXPR _i "${_i} + 1")
-
-    if(NOT IS_ABSOLUTE "${_library}")
-      # search for library target relative to this CMake file
-      set(_lib "NOTFOUND")
-      find_library(
-        _lib NAMES "${_library}"
-        PATHS "${flexiv_hardware_DIR}/../../../lib"
-        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
-      )
-
-      if(NOT _lib)
-        # warn about not existing library and ignore it
-        message(FATAL_ERROR "Package 'flexiv_hardware' exports the library '${_library}' which couldn't be found")
-      elseif(NOT IS_ABSOLUTE "${_lib}")
-        # the found library must be an absolute path
-        message(FATAL_ERROR "Package 'flexiv_hardware' found the library '${_library}' at '${_lib}' which is not an absolute path")
-      elseif(NOT EXISTS "${_lib}")
-        # the found library must exist
-        message(FATAL_ERROR "Package 'flexiv_hardware' found the library '${_lib}' which doesn't exist")
-      else()
-        list(APPEND flexiv_hardware_LIBRARIES ${_cfg} "${_lib}")
-      endif()
-
-    else()
-      if(NOT EXISTS "${_library}")
-        # the found library must exist
-        message(WARNING "Package 'flexiv_hardware' exports the library '${_library}' which doesn't exist")
-      else()
-        list(APPEND flexiv_hardware_LIBRARIES ${_cfg} "${_library}")
-      endif()
-    endif()
-  endwhile()
-endif()
-
-# find_library() library names with optional LIBRARY_DIRS
-# and add the libraries to flexiv_hardware_LIBRARIES
-if(NOT _exported_library_names STREQUAL "")
-  # loop over library names
-  # but remember related build configuration keyword if available
-  list(LENGTH _exported_library_names _length)
-  set(_i 0)
-  while(_i LESS _length)
-    list(GET _exported_library_names ${_i} _arg)
-    # pass linker flags along
-    if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]")
-      list(APPEND flexiv_hardware_LIBRARIES "${_arg}")
-      math(EXPR _i "${_i} + 1")
-      continue()
-    endif()
-
-    if("${_arg}" MATCHES "^(debug|optimized|general)$")
-      # remember build configuration keyword
-      # and get following library name
-      set(_cfg "${_arg}")
-      math(EXPR _i "${_i} + 1")
-      if(_i EQUAL _length)
-        message(FATAL_ERROR "Package 'flexiv_hardware' passes the build configuration keyword '${_cfg}' as the last exported target")
-      endif()
-      list(GET _exported_library_names ${_i} _library)
-    else()
-      # the value is a library target without a build configuration keyword
-      set(_cfg "")
-      set(_library "${_arg}")
-    endif()
-    math(EXPR _i "${_i} + 1")
-
-    # extract optional LIBRARY_DIRS from library name
-    string(REPLACE ":" ";" _library_dirs "${_library}")
-    list(GET _library_dirs 0 _library_name)
-    list(REMOVE_AT _library_dirs 0)
-
-    set(_lib "NOTFOUND")
-    if(NOT _library_dirs)
-      # search for library in the common locations
-      find_library(
-        _lib
-        NAMES "${_library_name}"
-      )
-      if(NOT _lib)
-        # warn about not existing library and later ignore it
-        message(WARNING "Package 'flexiv_hardware' exports library '${_library_name}' which couldn't be found")
-      endif()
-    else()
-      # search for library in the specified directories
-      find_library(
-        _lib
-        NAMES "${_library_name}"
-        PATHS ${_library_dirs}
-        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
-      )
-      if(NOT _lib)
-        # warn about not existing library and later ignore it
-        message(WARNING
-          "Package 'flexiv_hardware' exports library '${_library_name}' with LIBRARY_DIRS '${_library_dirs}' which couldn't be found")
-      endif()
-    endif()
-    if(_lib)
-      list(APPEND flexiv_hardware_LIBRARIES ${_cfg} "${_lib}")
-    endif()
-  endwhile()
-endif()
-
-# TODO(dirk-thomas) deduplicate flexiv_hardware_LIBRARIES
-# while maintaining library order
-# as well as build configuration keywords
-# as well as linker flags
diff --git a/install/flexiv_hardware/share/flexiv_hardware/cmake/ament_cmake_export_libraries-extras.cmake b/install/flexiv_hardware/share/flexiv_hardware/cmake/ament_cmake_export_libraries-extras.cmake
new file mode 120000
index 0000000..3bbd45d
--- /dev/null
+++ b/install/flexiv_hardware/share/flexiv_hardware/cmake/ament_cmake_export_libraries-extras.cmake
@@ -0,0 +1 @@
+/home/cc/ros2/build/flexiv_hardware/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake
\ No newline at end of file
diff --git a/install/flexiv_hardware/share/flexiv_hardware/cmake/flexiv_hardwareConfig-version.cmake b/install/flexiv_hardware/share/flexiv_hardware/cmake/flexiv_hardwareConfig-version.cmake
deleted file mode 100644
index 137063e..0000000
--- a/install/flexiv_hardware/share/flexiv_hardware/cmake/flexiv_hardwareConfig-version.cmake
+++ /dev/null
@@ -1,14 +0,0 @@
-# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
-set(PACKAGE_VERSION "1.9.1")
-
-set(PACKAGE_VERSION_EXACT False)
-set(PACKAGE_VERSION_COMPATIBLE False)
-
-if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
-  set(PACKAGE_VERSION_EXACT True)
-  set(PACKAGE_VERSION_COMPATIBLE True)
-endif()
-
-if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
-  set(PACKAGE_VERSION_COMPATIBLE True)
-endif()
diff --git a/install/flexiv_hardware/share/flexiv_hardware/cmake/flexiv_hardwareConfig-version.cmake b/install/flexiv_hardware/share/flexiv_hardware/cmake/flexiv_hardwareConfig-version.cmake
new file mode 120000
index 0000000..0d1d7e2
--- /dev/null
+++ b/install/flexiv_hardware/share/flexiv_hardware/cmake/flexiv_hardwareConfig-version.cmake
@@ -0,0 +1 @@
+/home/cc/ros2/build/flexiv_hardware/ament_cmake_core/flexiv_hardwareConfig-version.cmake
\ No newline at end of file
diff --git a/install/flexiv_hardware/share/flexiv_hardware/cmake/flexiv_hardwareConfig.cmake b/install/flexiv_hardware/share/flexiv_hardware/cmake/flexiv_hardwareConfig.cmake
deleted file mode 100644
index 46b0346..0000000
--- a/install/flexiv_hardware/share/flexiv_hardware/cmake/flexiv_hardwareConfig.cmake
+++ /dev/null
@@ -1,42 +0,0 @@
-# generated from ament/cmake/core/templates/nameConfig.cmake.in
-
-# prevent multiple inclusion
-if(_flexiv_hardware_CONFIG_INCLUDED)
-  # ensure to keep the found flag the same
-  if(NOT DEFINED flexiv_hardware_FOUND)
-    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
-    set(flexiv_hardware_FOUND FALSE)
-  elseif(NOT flexiv_hardware_FOUND)
-    # use separate condition to avoid uninitialized variable warning
-    set(flexiv_hardware_FOUND FALSE)
-  endif()
-  return()
-endif()
-set(_flexiv_hardware_CONFIG_INCLUDED TRUE)
-
-# output package information
-if(NOT flexiv_hardware_FIND_QUIETLY)
-  message(STATUS "Found flexiv_hardware: 1.9.1 (${flexiv_hardware_DIR})")
-endif()
-
-# warn when using a deprecated package
-if(NOT "" STREQUAL "")
-  set(_msg "Package 'flexiv_hardware' is deprecated")
-  # append custom deprecation text if available
-  if(NOT "" STREQUAL "TRUE")
-    set(_msg "${_msg} ()")
-  endif()
-  # optionally quiet the deprecation message
-  if(NOT ${flexiv_hardware_DEPRECATED_QUIET})
-    message(DEPRECATION "${_msg}")
-  endif()
-endif()
-
-# flag package as ament-based to distinguish it after being find_package()-ed
-set(flexiv_hardware_FOUND_AMENT_PACKAGE TRUE)
-
-# include all config extra files
-set(_extras "ament_cmake_export_include_directories-extras.cmake;ament_cmake_export_libraries-extras.cmake;ament_cmake_export_dependencies-extras.cmake")
-foreach(_extra ${_extras})
-  include("${flexiv_hardware_DIR}/${_extra}")
-endforeach()
diff --git a/install/flexiv_hardware/share/flexiv_hardware/cmake/flexiv_hardwareConfig.cmake b/install/flexiv_hardware/share/flexiv_hardware/cmake/flexiv_hardwareConfig.cmake
new file mode 120000
index 0000000..55d4646
--- /dev/null
+++ b/install/flexiv_hardware/share/flexiv_hardware/cmake/flexiv_hardwareConfig.cmake
@@ -0,0 +1 @@
+/home/cc/ros2/build/flexiv_hardware/ament_cmake_core/flexiv_hardwareConfig.cmake
\ No newline at end of file
diff --git a/install/flexiv_hardware/share/flexiv_hardware/environment/ament_prefix_path.dsv b/install/flexiv_hardware/share/flexiv_hardware/environment/ament_prefix_path.dsv
deleted file mode 100644
index 79d4c95..0000000
--- a/install/flexiv_hardware/share/flexiv_hardware/environment/ament_prefix_path.dsv
+++ /dev/null
@@ -1 +0,0 @@
-prepend-non-duplicate;AMENT_PREFIX_PATH;
diff --git a/install/flexiv_hardware/share/flexiv_hardware/environment/ament_prefix_path.dsv b/install/flexiv_hardware/share/flexiv_hardware/environment/ament_prefix_path.dsv
new file mode 120000
index 0000000..55266c4
--- /dev/null
+++ b/install/flexiv_hardware/share/flexiv_hardware/environment/ament_prefix_path.dsv
@@ -0,0 +1 @@
+/home/cc/ros2/build/flexiv_hardware/ament_cmake_environment_hooks/ament_prefix_path.dsv
\ No newline at end of file
diff --git a/install/flexiv_hardware/share/flexiv_hardware/environment/ament_prefix_path.sh b/install/flexiv_hardware/share/flexiv_hardware/environment/ament_prefix_path.sh
deleted file mode 100644
index 02e441b..0000000
--- a/install/flexiv_hardware/share/flexiv_hardware/environment/ament_prefix_path.sh
+++ /dev/null
@@ -1,4 +0,0 @@
-# copied from
-# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
-
-ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"
diff --git a/install/flexiv_hardware/share/flexiv_hardware/environment/ament_prefix_path.sh b/install/flexiv_hardware/share/flexiv_hardware/environment/ament_prefix_path.sh
new file mode 120000
index 0000000..b13a2dc
--- /dev/null
+++ b/install/flexiv_hardware/share/flexiv_hardware/environment/ament_prefix_path.sh
@@ -0,0 +1 @@
+/home/cc/anaconda3/envs/ros_flexiv/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
\ No newline at end of file
diff --git a/install/flexiv_hardware/share/flexiv_hardware/environment/path.dsv b/install/flexiv_hardware/share/flexiv_hardware/environment/path.dsv
deleted file mode 100644
index b94426a..0000000
--- a/install/flexiv_hardware/share/flexiv_hardware/environment/path.dsv
+++ /dev/null
@@ -1 +0,0 @@
-prepend-non-duplicate-if-exists;PATH;bin
diff --git a/install/flexiv_hardware/share/flexiv_hardware/environment/path.dsv b/install/flexiv_hardware/share/flexiv_hardware/environment/path.dsv
new file mode 120000
index 0000000..eb39dff
--- /dev/null
+++ b/install/flexiv_hardware/share/flexiv_hardware/environment/path.dsv
@@ -0,0 +1 @@
+/home/cc/ros2/build/flexiv_hardware/ament_cmake_environment_hooks/path.dsv
\ No newline at end of file
diff --git a/install/flexiv_hardware/share/flexiv_hardware/environment/path.sh b/install/flexiv_hardware/share/flexiv_hardware/environment/path.sh
deleted file mode 100644
index e59b749..0000000
--- a/install/flexiv_hardware/share/flexiv_hardware/environment/path.sh
+++ /dev/null
@@ -1,5 +0,0 @@
-# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
-
-if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
-  ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
-fi
diff --git a/install/flexiv_hardware/share/flexiv_hardware/environment/path.sh b/install/flexiv_hardware/share/flexiv_hardware/environment/path.sh
new file mode 120000
index 0000000..5c7febb
--- /dev/null
+++ b/install/flexiv_hardware/share/flexiv_hardware/environment/path.sh
@@ -0,0 +1 @@
+/home/cc/anaconda3/envs/ros_flexiv/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh
\ No newline at end of file
diff --git a/install/flexiv_hardware/share/flexiv_hardware/flexiv_hardware_interface_plugin.xml b/install/flexiv_hardware/share/flexiv_hardware/flexiv_hardware_interface_plugin.xml
deleted file mode 100644
index 9fec610..0000000
--- a/install/flexiv_hardware/share/flexiv_hardware/flexiv_hardware_interface_plugin.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<library path="flexiv_hardware">
-    <class name="flexiv_hardware/FlexivHardwareInterface"
-           type="flexiv_hardware::FlexivHardwareInterface"
-           base_class_type="hardware_interface::SystemInterface">
-
-        <description>
-            ROS 2 Control Hardware interface for the Flexiv robots. This driver
-            uses Flexiv RDK. Position, Velocity and Effort interfaces are supported.
-        </description>
-    </class>
-    <class name="flexiv_hardware/FlexivDualHardwareInterface"
-           type="flexiv_hardware::FlexivDualHardwareInterface"
-           base_class_type="hardware_interface::SystemInterface">
-
-        <description>
-            ROS 2 Control Hardware interface for a pair of Flexiv robots. This driver
-            uses Flexiv DRDK. Position, Velocity and Effort interfaces are supported.
-        </description>
-    </class>
-</library>
diff --git a/install/flexiv_hardware/share/flexiv_hardware/flexiv_hardware_interface_plugin.xml b/install/flexiv_hardware/share/flexiv_hardware/flexiv_hardware_interface_plugin.xml
new file mode 120000
index 0000000..deb10b3
--- /dev/null
+++ b/install/flexiv_hardware/share/flexiv_hardware/flexiv_hardware_interface_plugin.xml
@@ -0,0 +1 @@
+/home/cc/ros2/src/flexiv_hardware/flexiv_hardware_interface_plugin.xml
\ No newline at end of file
diff --git a/install/flexiv_hardware/share/flexiv_hardware/local_setup.bash b/install/flexiv_hardware/share/flexiv_hardware/local_setup.bash
deleted file mode 100644
index 49782f2..0000000
--- a/install/flexiv_hardware/share/flexiv_hardware/local_setup.bash
+++ /dev/null
@@ -1,46 +0,0 @@
-# generated from ament_package/template/package_level/local_setup.bash.in
-
-# source local_setup.sh from same directory as this file
-_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
-# provide AMENT_CURRENT_PREFIX to shell script
-AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
-# store AMENT_CURRENT_PREFIX to restore it before each environment hook
-_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
-
-# trace output
-if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
-  echo "# . \"$_this_path/local_setup.sh\""
-fi
-. "$_this_path/local_setup.sh"
-unset _this_path
-
-# unset AMENT_ENVIRONMENT_HOOKS
-# if not appending to them for return
-if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
-  unset AMENT_ENVIRONMENT_HOOKS
-fi
-
-# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
-AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
-# list all environment hooks of this package
-
-# source all shell-specific environment hooks of this package
-# if not returning them
-if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
-  _package_local_setup_IFS=$IFS
-  IFS=":"
-  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
-    # restore AMENT_CURRENT_PREFIX for each environment hook
-    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
-    # restore IFS before sourcing other files
-    IFS=$_package_local_setup_IFS
-    . "$_hook"
-  done
-  unset _hook
-  IFS=$_package_local_setup_IFS
-  unset _package_local_setup_IFS
-  unset AMENT_ENVIRONMENT_HOOKS
-fi
-
-unset _package_local_setup_AMENT_CURRENT_PREFIX
-unset AMENT_CURRENT_PREFIX
diff --git a/install/flexiv_hardware/share/flexiv_hardware/local_setup.bash b/install/flexiv_hardware/share/flexiv_hardware/local_setup.bash
new file mode 120000
index 0000000..673cd47
--- /dev/null
+++ b/install/flexiv_hardware/share/flexiv_hardware/local_setup.bash
@@ -0,0 +1 @@
+/home/cc/ros2/build/flexiv_hardware/ament_cmake_environment_hooks/local_setup.bash
\ No newline at end of file
diff --git a/install/flexiv_hardware/share/flexiv_hardware/local_setup.dsv b/install/flexiv_hardware/share/flexiv_hardware/local_setup.dsv
deleted file mode 100644
index d4a37ec..0000000
--- a/install/flexiv_hardware/share/flexiv_hardware/local_setup.dsv
+++ /dev/null
@@ -1,2 +0,0 @@
-source;share/flexiv_hardware/environment/ament_prefix_path.sh
-source;share/flexiv_hardware/environment/path.sh
diff --git a/install/flexiv_hardware/share/flexiv_hardware/local_setup.dsv b/install/flexiv_hardware/share/flexiv_hardware/local_setup.dsv
new file mode 120000
index 0000000..49afd59
--- /dev/null
+++ b/install/flexiv_hardware/share/flexiv_hardware/local_setup.dsv
@@ -0,0 +1 @@
+/home/cc/ros2/build/flexiv_hardware/ament_cmake_environment_hooks/local_setup.dsv
\ No newline at end of file
diff --git a/install/flexiv_hardware/share/flexiv_hardware/local_setup.sh b/install/flexiv_hardware/share/flexiv_hardware/local_setup.sh
deleted file mode 100644
index 260497e..0000000
--- a/install/flexiv_hardware/share/flexiv_hardware/local_setup.sh
+++ /dev/null
@@ -1,184 +0,0 @@
-# generated from ament_package/template/package_level/local_setup.sh.in
-
-# since this file is sourced use either the provided AMENT_CURRENT_PREFIX
-# or fall back to the destination set at configure time
-: ${AMENT_CURRENT_PREFIX:="/home/cc/ros2/install/flexiv_hardware"}
-if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then
-  if [ -z "$COLCON_CURRENT_PREFIX" ]; then
-    echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \
-      "exist. Consider sourcing a different extension than '.sh'." 1>&2
-  else
-    AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
-  fi
-fi
-
-# function to append values to environment variables
-# using colons as separators and avoiding leading separators
-ament_append_value() {
-  # arguments
-  _listname="$1"
-  _value="$2"
-  #echo "listname $_listname"
-  #eval echo "list value \$$_listname"
-  #echo "value $_value"
-
-  # avoid leading separator
-  eval _values=\"\$$_listname\"
-  if [ -z "$_values" ]; then
-    eval export $_listname=\"$_value\"
-    #eval echo "set list \$$_listname"
-  else
-    # field separator must not be a colon
-    _ament_append_value_IFS=$IFS
-    unset IFS
-    eval export $_listname=\"\$$_listname:$_value\"
-    #eval echo "append list \$$_listname"
-    IFS=$_ament_append_value_IFS
-    unset _ament_append_value_IFS
-  fi
-  unset _values
-
-  unset _value
-  unset _listname
-}
-
-# function to append non-duplicate values to environment variables
-# using colons as separators and avoiding leading separators
-ament_append_unique_value() {
-  # arguments
-  _listname=$1
-  _value=$2
-  #echo "listname $_listname"
-  #eval echo "list value \$$_listname"
-  #echo "value $_value"
-
-  # check if the list contains the value
-  eval _values=\$$_listname
-  _duplicate=
-  _ament_append_unique_value_IFS=$IFS
-  IFS=":"
-  if [ "$AMENT_SHELL" = "zsh" ]; then
-    ament_zsh_to_array _values
-  fi
-  for _item in $_values; do
-    # ignore empty strings
-    if [ -z "$_item" ]; then
-      continue
-    fi
-    if [ $_item = $_value ]; then
-      _duplicate=1
-    fi
-  done
-  unset _item
-
-  # append only non-duplicates
-  if [ -z "$_duplicate" ]; then
-    # avoid leading separator
-    if [ -z "$_values" ]; then
-      eval $_listname=\"$_value\"
-      #eval echo "set list \$$_listname"
-    else
-      # field separator must not be a colon
-      unset IFS
-      eval $_listname=\"\$$_listname:$_value\"
-      #eval echo "append list \$$_listname"
-    fi
-  fi
-  IFS=$_ament_append_unique_value_IFS
-  unset _ament_append_unique_value_IFS
-  unset _duplicate
-  unset _values
-
-  unset _value
-  unset _listname
-}
-
-# function to prepend non-duplicate values to environment variables
-# using colons as separators and avoiding trailing separators
-ament_prepend_unique_value() {
-  # arguments
-  _listname="$1"
-  _value="$2"
-  #echo "listname $_listname"
-  #eval echo "list value \$$_listname"
-  #echo "value $_value"
-
-  # check if the list contains the value
-  eval _values=\"\$$_listname\"
-  _duplicate=
-  _ament_prepend_unique_value_IFS=$IFS
-  IFS=":"
-  if [ "$AMENT_SHELL" = "zsh" ]; then
-    ament_zsh_to_array _values
-  fi
-  for _item in $_values; do
-    # ignore empty strings
-    if [ -z "$_item" ]; then
-      continue
-    fi
-    if [ "$_item" = "$_value" ]; then
-      _duplicate=1
-    fi
-  done
-  unset _item
-
-  # prepend only non-duplicates
-  if [ -z "$_duplicate" ]; then
-    # avoid trailing separator
-    if [ -z "$_values" ]; then
-      eval export $_listname=\"$_value\"
-      #eval echo "set list \$$_listname"
-    else
-      # field separator must not be a colon
-      unset IFS
-      eval export $_listname=\"$_value:\$$_listname\"
-      #eval echo "prepend list \$$_listname"
-    fi
-  fi
-  IFS=$_ament_prepend_unique_value_IFS
-  unset _ament_prepend_unique_value_IFS
-  unset _duplicate
-  unset _values
-
-  unset _value
-  unset _listname
-}
-
-# unset AMENT_ENVIRONMENT_HOOKS
-# if not appending to them for return
-if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
-  unset AMENT_ENVIRONMENT_HOOKS
-fi
-
-# list all environment hooks of this package
-ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/flexiv_hardware/environment/ament_prefix_path.sh"
-ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/flexiv_hardware/environment/path.sh"
-
-# source all shell-specific environment hooks of this package
-# if not returning them
-if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
-  _package_local_setup_IFS=$IFS
-  IFS=":"
-  if [ "$AMENT_SHELL" = "zsh" ]; then
-    ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS
-  fi
-  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
-    if [ -f "$_hook" ]; then
-      # restore IFS before sourcing other files
-      IFS=$_package_local_setup_IFS
-      # trace output
-      if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
-        echo "# . \"$_hook\""
-      fi
-      . "$_hook"
-    fi
-  done
-  unset _hook
-  IFS=$_package_local_setup_IFS
-  unset _package_local_setup_IFS
-  unset AMENT_ENVIRONMENT_HOOKS
-fi
-
-# reset AMENT_CURRENT_PREFIX after each package
-# allowing to source multiple package-level setup files
-unset AMENT_CURRENT_PREFIX
diff --git a/install/flexiv_hardware/share/flexiv_hardware/local_setup.sh b/install/flexiv_hardware/share/flexiv_hardware/local_setup.sh
new file mode 120000
index 0000000..23657ac
--- /dev/null
+++ b/install/flexiv_hardware/share/flexiv_hardware/local_setup.sh
@@ -0,0 +1 @@
+/home/cc/ros2/build/flexiv_hardware/ament_cmake_environment_hooks/local_setup.sh
\ No newline at end of file
diff --git a/install/flexiv_hardware/share/flexiv_hardware/local_setup.zsh b/install/flexiv_hardware/share/flexiv_hardware/local_setup.zsh
deleted file mode 100644
index fe161be..0000000
--- a/install/flexiv_hardware/share/flexiv_hardware/local_setup.zsh
+++ /dev/null
@@ -1,59 +0,0 @@
-# generated from ament_package/template/package_level/local_setup.zsh.in
-
-AMENT_SHELL=zsh
-
-# source local_setup.sh from same directory as this file
-_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
-# provide AMENT_CURRENT_PREFIX to shell script
-AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
-# store AMENT_CURRENT_PREFIX to restore it before each environment hook
-_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
-
-# function to convert array-like strings into arrays
-# to wordaround SH_WORD_SPLIT not being set
-ament_zsh_to_array() {
-  local _listname=$1
-  local _dollar="$"
-  local _split="{="
-  local _to_array="(\"$_dollar$_split$_listname}\")"
-  eval $_listname=$_to_array
-}
-
-# trace output
-if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
-  echo "# . \"$_this_path/local_setup.sh\""
-fi
-# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
-. "$_this_path/local_setup.sh"
-unset _this_path
-
-# unset AMENT_ENVIRONMENT_HOOKS
-# if not appending to them for return
-if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
-  unset AMENT_ENVIRONMENT_HOOKS
-fi
-
-# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
-AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
-# list all environment hooks of this package
-
-# source all shell-specific environment hooks of this package
-# if not returning them
-if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
-  _package_local_setup_IFS=$IFS
-  IFS=":"
-  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
-    # restore AMENT_CURRENT_PREFIX for each environment hook
-    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
-    # restore IFS before sourcing other files
-    IFS=$_package_local_setup_IFS
-    . "$_hook"
-  done
-  unset _hook
-  IFS=$_package_local_setup_IFS
-  unset _package_local_setup_IFS
-  unset AMENT_ENVIRONMENT_HOOKS
-fi
-
-unset _package_local_setup_AMENT_CURRENT_PREFIX
-unset AMENT_CURRENT_PREFIX
diff --git a/install/flexiv_hardware/share/flexiv_hardware/local_setup.zsh b/install/flexiv_hardware/share/flexiv_hardware/local_setup.zsh
new file mode 120000
index 0000000..8c19084
--- /dev/null
+++ b/install/flexiv_hardware/share/flexiv_hardware/local_setup.zsh
@@ -0,0 +1 @@
+/home/cc/ros2/build/flexiv_hardware/ament_cmake_environment_hooks/local_setup.zsh
\ No newline at end of file
diff --git a/install/flexiv_hardware/share/flexiv_hardware/package.xml b/install/flexiv_hardware/share/flexiv_hardware/package.xml
deleted file mode 100644
index ebabe8d..0000000
--- a/install/flexiv_hardware/share/flexiv_hardware/package.xml
+++ /dev/null
@@ -1,25 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>flexiv_hardware</name>
-  <version>1.9.1</version>
-  <description>Hardware interfaces to Flexiv robots for ROS 2 control</description>
-  <maintainer email="munseng.phoon@flexiv.com">Mun Seng Phoon</maintainer>
-  <license>Apache 2.0</license>
-  <author email="munseng.phoon@flexiv.com">Mun Seng Phoon</author>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <depend>rclcpp</depend>
-  <depend>rclcpp_lifecycle</depend>
-  <depend>hardware_interface</depend>
-  <depend>pluginlib</depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-  <test_depend>ament_cmake_gtest</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/install/flexiv_hardware/share/flexiv_hardware/package.xml b/install/flexiv_hardware/share/flexiv_hardware/package.xml
new file mode 120000
index 0000000..adf94cf
--- /dev/null
+++ b/install/flexiv_hardware/share/flexiv_hardware/package.xml
@@ -0,0 +1 @@
+/home/cc/ros2/src/flexiv_hardware/package.xml
\ No newline at end of file
diff --git a/install/setup.bash b/install/setup.bash
index d3b480f..b2857a6 100644
--- a/install/setup.bash
+++ b/install/setup.bash
@@ -19,19 +19,8 @@ _colcon_prefix_chain_bash_source_script() {
 
 # source chained prefixes
 # setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
-# 不写死某一台机器的 conda。已激活的环境优先，否则找当前用户的 ros_flexiv。
-if [ -n "${CONDA_PREFIX:-}" ] && [ -f "${CONDA_PREFIX}/local_setup.bash" ]; then
-  COLCON_CURRENT_PREFIX="${CONDA_PREFIX}"
-elif [ -f "${HOME}/anaconda3/envs/ros_flexiv/local_setup.bash" ]; then
-  COLCON_CURRENT_PREFIX="${HOME}/anaconda3/envs/ros_flexiv"
-elif [ -f "${HOME}/miniconda3/envs/ros_flexiv/local_setup.bash" ]; then
-  COLCON_CURRENT_PREFIX="${HOME}/miniconda3/envs/ros_flexiv"
-else
-  COLCON_CURRENT_PREFIX=""
-fi
-if [ -n "${COLCON_CURRENT_PREFIX}" ]; then
-  _colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
-fi
+COLCON_CURRENT_PREFIX="/home/cc/anaconda3/envs/ros_flexiv"
+_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
 
 # source this prefix
 # setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
diff --git a/install/setup.zsh b/install/setup.zsh
index 9490adc..39dd846 100644
--- a/install/setup.zsh
+++ b/install/setup.zsh
@@ -19,19 +19,8 @@ _colcon_prefix_chain_zsh_source_script() {
 
 # source chained prefixes
 # setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
-# 不写死某一台机器的 conda。已激活的环境优先，否则找当前用户的 ros_flexiv。
-if [ -n "${CONDA_PREFIX:-}" ] && [ -f "${CONDA_PREFIX}/local_setup.zsh" ]; then
-  COLCON_CURRENT_PREFIX="${CONDA_PREFIX}"
-elif [ -f "${HOME}/anaconda3/envs/ros_flexiv/local_setup.zsh" ]; then
-  COLCON_CURRENT_PREFIX="${HOME}/anaconda3/envs/ros_flexiv"
-elif [ -f "${HOME}/miniconda3/envs/ros_flexiv/local_setup.zsh" ]; then
-  COLCON_CURRENT_PREFIX="${HOME}/miniconda3/envs/ros_flexiv"
-else
-  COLCON_CURRENT_PREFIX=""
-fi
-if [ -n "${COLCON_CURRENT_PREFIX}" ]; then
-  _colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
-fi
+COLCON_CURRENT_PREFIX="/home/cc/anaconda3/envs/ros_flexiv"
+_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
 
 # source this prefix
 # setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
diff --git a/scripts/gen_site_example.py b/scripts/gen_site_example.py
index 980682a..6852ebc 100644
--- a/scripts/gen_site_example.py
+++ b/scripts/gen_site_example.py
@@ -51,8 +51,8 @@ HEADER = """\
 # 用法：复制本文件为 config/site.yaml，然后把所有 <占位符> 换成现场实际值。
 #       现场值包括：机械臂 SN / IP、相机序列号、夹爪串口、传感器 USB 路径。
 #
-# 说明：仓库里的文件用相对仓库根的路径（例如 models/yolo/...）。
-#       不要改回某个用户的绝对家目录，换台电脑就会找不到文件。
+# 说明：site.yaml 里的路径出现 /home/USER 是因为生成时匿名化了用户名；
+#       部署时请改成实际用户的 home 目录。
 # =============================================================================
 
 """
diff --git a/scripts/lib/export_site_env.py b/scripts/lib/export_site_env.py
index e0485a1..c679ed3 100644
--- a/scripts/lib/export_site_env.py
+++ b/scripts/lib/export_site_env.py
@@ -42,13 +42,7 @@ def load_site(path: Path | None = None) -> dict:
     data = yaml.safe_load(text) or {}
     if not isinstance(data, dict):
         raise ValueError(f"无效的 site.yaml: {path}")
-    # 相对路径按仓库根展开。site.yaml 里不再写 /home/某用户/ros2。
-    src = str(_root() / "src" / "arm_application")
-    if src not in sys.path:
-        sys.path.insert(0, src)
-    from arm_application.site_io import absolutize_site_paths
-
-    return absolutize_site_paths(data, _root())
+    return data
 
 
 def list_robots(data: dict) -> list[dict]:
@@ -947,7 +941,7 @@ def servo_overrides(data: dict) -> dict:
         if "d435_handback_sec" not in servo:
             raise RuntimeError(
                 "servo.d435_handback_sec 必须显式写"
-                "（厂家 MoveL 到位后，再确认多久才交回 D405）。不许用代码默认秒数。"
+                "（厂家 MoveL 结束后，法兰停稳多久才打开 D405 框心）。不许用代码默认秒数。"
             )
         if "wrist_align_sec" not in servo:
             raise RuntimeError(
diff --git a/scripts/rdk_drag_bridge.py b/scripts/rdk_drag_bridge.py
index af19238..bde0e4e 100755
--- a/scripts/rdk_drag_bridge.py
+++ b/scripts/rdk_drag_bridge.py
@@ -33,7 +33,6 @@ RDK 的 FloatingJoint/FloatingCartesian 通常需要额外授权。
     {"cmd":"drag_on","mode":"soft"}               # soft | floating
     {"cmd":"drag_off"}
     {"cmd":"joints"}
-    {"cmd":"move_joints","q":[0,0,0,0,0,0,0],"speed":0.15}
     {"cmd":"quit"}
 
 每个命令的应答都是单行 JSON，含 ``ok`` 字段；失败时另有 ``error``。
@@ -170,69 +169,6 @@ def _ensure_operational(robot) -> Optional[str]:
     return ensure_operational(robot)
 
 
-def _restore_tracking_impedance(robot, flexivrdk) -> None:
-    """把关节阻抗从软拖拽拉回名义值，否则回放点位时臂跟不住指令。"""
-    try:
-        info = robot.info()
-        groups = dict(getattr(info, 'single_arm_groups', None) or {})
-    except Exception as exc:
-        log(f'读名义阻抗失败: {exc}')
-        groups = {}
-    if groups:
-        for group in groups:
-            try:
-                nominal = [float(v) for v in list(info.K_q_nom[group])]
-                robot.SetJointImpedance(group, nominal)
-                log(f'恢复阻抗 {group} K={nominal}')
-            except Exception as exc:
-                log(f'恢复阻抗 {group}: {exc}')
-        return
-    try:
-        robot.SetJointImpedance([350.0] * 7, [7.0] * 7)
-    except Exception as exc:
-        log(f'恢复阻抗: {exc}')
-
-
-def _send_joint_target(robot, flexivrdk, target: List[float], grouped: Optional[bool]) -> bool:
-    """下发 7 关节目标。返回是否走了分组接口。"""
-    if grouped is True:
-        _send_grouped_joint_target(robot, flexivrdk, target)
-        return True
-    try:
-        n = len(target)
-        robot.SendJointPosition(target, [0.0] * n, [1.5] * n, [2.0] * n)
-        return False
-    except Exception as exc:
-        if grouped is False:
-            raise
-        log(f'扁平关节指令失败，改分组: {exc}')
-        _send_grouped_joint_target(robot, flexivrdk, target)
-        return True
-
-
-def _send_grouped_joint_target(robot, flexivrdk, target: List[float]) -> None:
-    info = robot.info()
-    groups = dict(getattr(info, 'single_arm_groups', None) or {})
-    if not groups:
-        raise RuntimeError('没有分组，扁平关节指令也失败了')
-    states = robot.states()
-    cmds = {}
-    placed = False
-    for group in groups:
-        try:
-            current = [float(v) for v in list(states[group].q)]
-        except Exception:
-            current = list(target)
-        use = target if (not placed and len(current) == len(target)) else current
-        if use is target:
-            placed = True
-        n = len(use)
-        cmds[group] = flexivrdk.NrtJointPositionCmd(use, [0.0] * n, [1.5] * n, [2.0] * n)
-    if not placed:
-        raise RuntimeError('没有一组关节数和示教点一致，拒绝下发')
-    robot.SendJointPosition(cmds)
-
-
 def _idle_async(robot, lock: threading.Lock, flexivrdk, timeout: float = 4.0) -> bool:
     """切到 IDLE，同时避免把 stdin 循环永久阻塞住。"""
     done = threading.Event()
@@ -487,65 +423,6 @@ def main() -> int:
                     info['tool'] = ''
                 reply(info)
 
-            elif cmd == 'move_joints':
-                if robot is None:
-                    reply({'ok': False, 'error': '尚未连接'})
-                    continue
-                raw = msg.get('q')
-                if not isinstance(raw, list) or len(raw) < 7:
-                    reply({'ok': False, 'error': '需要 7 个关节角（弧度）'})
-                    continue
-                try:
-                    target = [float(v) for v in raw[:7]]
-                except (TypeError, ValueError):
-                    reply({'ok': False, 'error': '关节角不是数字'})
-                    continue
-                if any(v != v or abs(v) > 12.6 for v in target):
-                    reply({'ok': False, 'error': '关节角不是有限值，或超出约两圈'})
-                    continue
-                try:
-                    speed = float(msg.get('speed', 0.15))
-                except (TypeError, ValueError):
-                    speed = 0.15
-                speed = max(0.05, min(0.35, speed))
-                if soft is not None:
-                    soft.stop()
-                    soft = None
-                drag_on = False
-                err = _ensure_operational(robot)
-                if err:
-                    reply({'ok': False, 'error': err})
-                    continue
-                try:
-                    with rlock:
-                        robot.SwitchMode(flexivrdk.Mode.NRT_JOINT_IMPEDANCE)
-                        current = [float(v) for v in list(robot.states().q)[:7]]
-                        _restore_tracking_impedance(robot, flexivrdk)
-                    max_delta = max(abs(a - b) for a, b in zip(current, target))
-                    step_s = 0.05
-                    steps = max(1, int(max_delta / (speed * step_s)))
-                    if steps * step_s > 150.0:
-                        reply({
-                            'ok': False,
-                            'error': f'路程太长（{max_delta:.2f} rad），请先拖近一点再回放',
-                        })
-                        continue
-                    grouped: Optional[bool] = None
-                    for index in range(1, steps + 1):
-                        alpha = index / steps
-                        sample = [a + (b - a) * alpha for a, b in zip(current, target)]
-                        with rlock:
-                            grouped = _send_joint_target(robot, flexivrdk, sample, grouped)
-                        time.sleep(step_s)
-                    for _hold in range(8):
-                        with rlock:
-                            grouped = _send_joint_target(robot, flexivrdk, target, grouped)
-                        time.sleep(step_s)
-                    cached_q = list(target)
-                    reply({'ok': True, 'q': target, 'from': current, 'steps': steps, 'speed': speed})
-                except Exception as exc:
-                    reply({'ok': False, 'error': f'回点失败: {exc}'})
-
             elif cmd == 'quit':
                 if soft is not None:
                     soft.stop()
diff --git a/scripts/rdk_release_movel.py b/scripts/rdk_release_movel.py
index 5e5e46b..fb8ea56 100644
--- a/scripts/rdk_release_movel.py
+++ b/scripts/rdk_release_movel.py
@@ -23,9 +23,7 @@ sys.path.insert(0, str(ROOT / "scripts" / "lib"))
 
 from rdk_release import is_control_stack_cmd  # noqa: E402
 
-RDK_PYTHON = os.environ.get("RDK_PYTHON", "").strip() or str(
-    Path.home() / "rdk_py310" / "bin" / "python"
-)
+RDK_PYTHON = os.environ.get("RDK_PYTHON", "/home/cc/rdk_py310/bin/python")
 
 
 def _procs() -> list[tuple[int, str]]:
diff --git a/scripts/run_all.sh b/scripts/run_all.sh
index ef771a3..647484f 100755
--- a/scripts/run_all.sh
+++ b/scripts/run_all.sh
@@ -1,5 +1,5 @@
 #!/usr/bin/env bash
-# 跟踪 → 对孔。搜孔轻压已取消，本脚本不再进入那一步，也不能用参数打开。
+# 三阶段装配流程的完整入口：一阶段跟踪 → 二阶段对孔 → 三阶段搜孔轻压。
 #
 # 为什么要单独有这个脚本：
 #   pipeline.launch.py 只管两件事 —— 发布手眼静态 TF、起 assembly_pipeline 串联节点。
@@ -13,10 +13,10 @@
 #   4) exec pipeline.launch.py，把下面的 CLI 参数映射成它的 launch 参数
 #
 # 用法：
-#   bash ~/ros2/scripts/run_all.sh --arm 89                      # 跟踪 + 对孔
+#   bash ~/ros2/scripts/run_all.sh --arm 89                      # 全流程
 #   bash ~/ros2/scripts/run_all.sh --arm 89 --hole k2            # 指定对 k2 孔
 #   bash ~/ros2/scripts/run_all.sh --arm 89 --skip-stage1        # 臂已在工件上方，跳过跟踪
-#   旋入不在这里。用 run_stage3_search.sh --arm 89 --screw
+#   bash ~/ros2/scripts/run_all.sh --arm 89 --depth 6 --pitch 1.0
 #   bash ~/ros2/scripts/run_all.sh --arm 89 --camera-preview     # 相机带 Qt 预览窗
 #   bash ~/ros2/scripts/run_all.sh --arm 89 --no-camera          # 相机已在别处拉起了
 #   bash ~/ros2/scripts/run_all.sh --arm 89 --no-tactile         # 不起触觉服务
@@ -37,7 +37,7 @@ ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
 # ---- 默认值：全部沿用 site.yaml / launch 默认，CLI 只做覆盖 ----
 SKIP_STAGE1=false
 SKIP_STAGE2=false
-SKIP_STAGE3=true  # 搜孔已取消。--skip-stage3 仍然接受，但没有开关能把它重新打开。
+SKIP_STAGE3=false
 HOLE=""
 DEPTH=""
 PITCH=""
@@ -83,12 +83,6 @@ while [[ $# -gt 0 ]]; do
   esac
 done
 
-if [[ -n "${DEPTH}" || -n "${PITCH}" ]]; then
-  echo "ERROR: 搜孔轻压已取消，整体流程不再搜孔，也不在这里旋入。" >&2
-  echo "       旋入请用: bash ~/ros2/scripts/run_stage3_search.sh --arm ${SITE_ROBOT_ARM:-89} --screw" >&2
-  exit 1
-fi
-
 if [[ -n "${FINAL_GAP}" && "${NO_DESCENT}" == true ]]; then
   echo "ERROR: 同时写了 --final-gap 和 --no-descent，不知道听谁的。" >&2
   exit 1
@@ -145,9 +139,7 @@ if [[ "${D435_ONLY}" == true ]]; then
   fi
   echo "=== MoveL：XY 对准 K0，工具尖高度保持当前（K0 的 z 是工件表面）==="
   # --go：不按直线距离拦截。800 mm 是脚本自己的保护，不是机械臂限位。
-  # shellcheck disable=SC1091
-  source "${ROOT}/scripts/lib/dev_tools.sh"
-  exec "$(dev_rdk_python)" "${ROOT}/scripts/rdk_goto_xyz.py" \
+  exec /home/cc/rdk_py310/bin/python "${ROOT}/scripts/rdk_goto_xyz.py" \
     --xyz "${kx}" "${ky}" "${kz}" --keep-z --go --vel 0.05
 fi
 
@@ -247,7 +239,7 @@ fi
 # 每次 echo 吃满超时 × 60 次 ≈ 3 分钟，终端上没有任何新行（2026-10-09 真机）。
 _SKIP_TACTILE_REASON=""
 if [[ "${SKIP_STAGE3}" == true && "${WITH_TACTILE}" == true ]]; then
-  echo "=== 搜孔已取消：跟踪和对孔不用触觉，跳过拉起 ==="
+  echo "=== --skip-stage3：一/二阶段不用触觉，跳过拉起 ==="
   WITH_TACTILE=false
   _SKIP_TACTILE_REASON="stage3"
 fi
diff --git a/scripts/run_camera_d405.sh b/scripts/run_camera_d405.sh
index 829337c..4821e9a 100755
--- a/scripts/run_camera_d405.sh
+++ b/scripts/run_camera_d405.sh
@@ -31,8 +31,6 @@ done
 
 # shellcheck disable=SC1091
 source "${ROOT}/scripts/env.sh"
-# 用源码里的采集逻辑，不走 install 里那份旧的。install 的入口仍由 ros2 run 找到。
-export PYTHONPATH="${ROOT}/src/arm_application${PYTHONPATH:+:${PYTHONPATH}}"
 # shellcheck disable=SC1091
 source "${ROOT}/scripts/lib/load_site_config.sh"
 
@@ -129,14 +127,12 @@ DO_PREVIEW="${SITE_CAM_PREVIEW:-1}"
 if [[ "${PREVIEW}" -ge 0 ]]; then
   DO_PREVIEW="${PREVIEW}"
 fi
-# 程序界面只看彩色和深度。红外是旧的四窗格查看器才要的。
-# 彩色要等红外齐帧时，场景一动，整组帧对不齐，彩色就被丢掉。
-if [[ "${DO_PREVIEW}" == "1" && "${SITE_CAM_ENABLE_INFRA:-1}" == "1" ]]; then
+if [[ "${SITE_CAM_ENABLE_INFRA:-1}" == "1" ]]; then
   CAM_ARGS+=(-p enable_infra:=true)
 else
   CAM_ARGS+=(-p enable_infra:=false)
 fi
-if [[ "${DO_PREVIEW}" == "1" && "${SITE_CAM_PREVIEW_STEREO:-1}" == "1" ]]; then
+if [[ "${SITE_CAM_PREVIEW_STEREO:-1}" == "1" ]]; then
   CAM_ARGS+=(-p preview_stereo:=true)
 else
   CAM_ARGS+=(-p preview_stereo:=false)
diff --git a/scripts/run_camera_d435.sh b/scripts/run_camera_d435.sh
index 937a425..af6a5ca 100755
--- a/scripts/run_camera_d435.sh
+++ b/scripts/run_camera_d435.sh
@@ -17,8 +17,6 @@ while [[ $# -gt 0 ]]; do
 done
 # shellcheck disable=SC1091
 source "${ROOT}/scripts/env.sh"
-# 用源码里的采集逻辑，不走 install 里那份旧的。install 的入口仍由 ros2 run 找到。
-export PYTHONPATH="${ROOT}/src/arm_application${PYTHONPATH:+:${PYTHONPATH}}"
 # shellcheck disable=SC1091
 source "${ROOT}/scripts/lib/load_site_config.sh"
 SN="${SITE_D435_SERIAL:-}"
diff --git a/scripts/run_real.sh b/scripts/run_real.sh
index fc45245..1517e97 100755
--- a/scripts/run_real.sh
+++ b/scripts/run_real.sh
@@ -19,22 +19,15 @@ while [[ $# -gt 0 ]]; do
     --list|-l) LIST_ONLY=true; shift ;;
     -h|--help)
       sed -n '2,8p' "$0"
-      echo "  机械臂模型在工位程序里看，这里默认不开 RViz。"
-      echo "  其余参数传给 ros2 launch。要临时打开 RViz：use_rviz:=true"
+      echo "  Extra args are passed to ros2 launch (e.g. use_rviz:=false)."
       exit 0
       ;;
     *) break ;;
   esac
 done
 
-# shellcheck disable=SC1091
-source "${ROOT}/scripts/lib/dev_tools.sh"
-dev_source_conda
+source /home/cc/anaconda3/etc/profile.d/conda.sh
 conda activate ros_flexiv
-if [[ ! -f "${ROOT}/install/setup.bash" ]]; then
-  echo "ERROR: ${ROOT}/install/setup.bash 不存在。先在仓库根目录 colcon build，不要在中文路径下编。" >&2
-  exit 1
-fi
 # shellcheck disable=SC1091
 source "${ROOT}/install/setup.bash"
 # shellcheck disable=SC1091
@@ -51,7 +44,7 @@ export LD_LIBRARY_PATH="${FLEXIV_PREFIX}/lib:${LD_LIBRARY_PATH:-}"
 ROBOT_SN="${SITE_ROBOT_SN:?run_real.sh 需要已配置的机械臂 SN —— 见 scripts/lib/load_site_config.sh 的报错}"
 ROBOT_IP="${ROBOT_IP:-${SITE_ROBOT_IP:-192.168.100.1}}"
 NET_IFACE="${SITE_NET_IFACE:-}"
-RDK_PYTHON="$(dev_rdk_python)"
+RDK_PYTHON="${RDK_PYTHON:-/home/cc/rdk_py310/bin/python}"
 
 if [[ "${LIST_ONLY}" == true ]]; then
   python3 "${ROOT}/scripts/lib/export_site_env.py" --print
@@ -128,4 +121,4 @@ if ! "${RDK_PYTHON}" "${ROOT}/scripts/rdk_switch_tool.py" "${RDK_TOOL_ARGS[@]}";
   exit 1
 fi
 
-exec ros2 launch arm_bringup stack.launch.py backend:=real robot_sn:="${ROBOT_SN}" use_rviz:=false "$@"
+exec ros2 launch arm_bringup stack.launch.py backend:=real robot_sn:="${ROBOT_SN}" "$@"
diff --git a/src/arm_application/arm_application/handeye_calibrate.py b/src/arm_application/arm_application/handeye_calibrate.py
index a04c653..e7e827d 100644
--- a/src/arm_application/arm_application/handeye_calibrate.py
+++ b/src/arm_application/arm_application/handeye_calibrate.py
@@ -137,9 +137,7 @@ class HandeyeCalibrate(TolerantNode):
         self.declare_parameter('pin_hold_sec', 0.45)        # 每拍多长
         self.declare_parameter('skip_unstable_poses', True)
 
-        from arm_application.site_io import ros2_root
-
-        self.declare_parameter('output_dir', str(ros2_root() / 'handeye' / 'tmp'))
+        self.declare_parameter('output_dir', '/home/cc/ros2/handeye/tmp')
         self.declare_parameter('result_file', '')
         self.declare_parameter('cleanup_images', True)
         # 眼在手上：AX=XB 的 gripper 用 Studio 工具 TCP，再折成 cam→法兰写 T_4x4。
diff --git a/src/arm_application/arm_application/handeye_teach.py b/src/arm_application/arm_application/handeye_teach.py
index c657a18..a78b0fc 100644
--- a/src/arm_application/arm_application/handeye_teach.py
+++ b/src/arm_application/arm_application/handeye_teach.py
@@ -108,12 +108,10 @@ class RdkBridge:
         self.robot_sn = robot_sn
         self._last_q: Optional[List[float]] = None
         self._io = threading.Lock()
-        from arm_application.site_io import ros2_root
-
-        py = os.environ.get('RDK_PYTHON', '').strip() or str(
-            Path.home() / 'rdk_py310' / 'bin' / 'python'
-        )
-        bridge = ros2_root() / 'scripts' / 'rdk_drag_bridge.py'
+        py = os.environ.get('RDK_PYTHON', '/home/cc/rdk_py310/bin/python')
+        bridge = Path.home() / 'ros2' / 'scripts' / 'rdk_drag_bridge.py'
+        if not bridge.is_file():
+            bridge = Path('/home/cc/ros2/scripts/rdk_drag_bridge.py')
         if not bridge.is_file():
             raise FileNotFoundError(f'找不到 rdk_drag_bridge.py：{bridge}')
 
@@ -222,13 +220,6 @@ class RdkBridge:
                 return self._last_q
         return self._last_q
 
-    def move_joints(self, joints: List[float], speed: float = 0.15) -> dict:
-        """按关节阻抗把臂缓慢送到已记录的 7 个关节角。speed 单位 rad/s。"""
-        return self._ask(
-            {'cmd': 'move_joints', 'q': [float(v) for v in joints[:7]], 'speed': float(speed)},
-            timeout=180.0,
-        )
-
     def close(self) -> None:
         try:
             self._ask({'cmd': 'quit'}, timeout=3.0)
@@ -248,9 +239,7 @@ class RdkBridge:
 class HandeyeTeach(TolerantNode):
     def __init__(self) -> None:
         super().__init__('handeye_teach')
-        from arm_application.site_io import ros2_root
-
-        self.declare_parameter('output_dir', str(ros2_root() / 'handeye' / 'tmp'))
+        self.declare_parameter('output_dir', '/home/cc/ros2/handeye/tmp')
         self.declare_parameter('width', 1280)
         self.declare_parameter('height', 720)
         self.declare_parameter('fps', 15)
diff --git a/src/arm_application/arm_application/overhead_oneshot.py b/src/arm_application/arm_application/overhead_oneshot.py
index fa1d3b1..e8863dd 100644
--- a/src/arm_application/arm_application/overhead_oneshot.py
+++ b/src/arm_application/arm_application/overhead_oneshot.py
@@ -45,6 +45,11 @@ from arm_application.path_profile import (  # 伺服和测试从本模块再导
 
 # 上一跳实际少走这么多，就认定冻结 J 在当前姿态走不动，不许按同一剩差再刷。
 D435_MIN_PROGRESS_FRAC = 0.40
+# SwitchMode 返回不等于已经进 primitive。连试仍失败必须让一阶段立刻中止，
+# 不许空等 150s 装成"还在粗定位"（2026-10-16 17:27）。
+D435_MOVEL_RETRY = 3
+D435_MOVEL_RETRY_S = 0.3
+D435_MOVEL_GAVE_UP = "厂家 MoveL 连试 3 次没走成"
 
 
 def best_det_conf(dets: Optional[Iterable]) -> Optional[float]:
@@ -154,16 +159,27 @@ def d405_commands_arm(
 ) -> bool:
     """D405 这一帧的点能不能下发给左臂。
 
-    推理一直开着。正在用 D435 那一个点时，进程内 MoveL 结束并且停稳之前不下发。
-    停稳用 ``d435_handback_sec`` 和 ``lock_still_move_m``。赶路时 XY 已经进 15 mm
-    也不算到位。不许在 MoveL 期间下发 D405（两套控制互抢会晃）。
-    ``move_only``：只测 D435 位移，D405 点一律不下发（到位之后也不交）。
+    推理从启动就开着。没有高置信度目标、或 D435 厂家 MoveL 还没结束、
+    法兰还没连续停稳时，这帧**不下发**（输出截断，不许拿去控臂）。
+    厂家移动结束并且法兰停稳（``settled``，时长是 ``d435_handback_sec``）
+    之后才放行，伺服用它追工件框的矩形中心。框心对准停稳后才进精拍下臂。
+    ``move_only``：只测 D435 位移，D405 点一律不下发。
     """
     if move_only:
         return False
-    if not using_d435:
-        return True
-    return bool(arrived) and bool(settled)
+    if using_d435:
+        return bool(arrived) and bool(settled)
+    return True
+
+
+def retract_goal_z(z_now: float, z_target: float) -> float:
+    """收臂目标 Z：已经高于目标就钉在当前高度，不许为了追 5 mm 往下补。
+
+    2026-10-16：贴面 MoveL 之后 JTC 还握着悬停关节，收臂 hop1 计划 +5 mm
+    实际抬了 18–25 mm；hop2 把「抬过头」当成误差 ``Δz=−13 mm`` 往回压，
+    看起来就是进孔再弹出。抬过了 = 成功。
+    """
+    return max(float(z_now), float(z_target))
 
 
 def oneshot_needs_verticalize(
diff --git a/src/arm_application/arm_application/perception_node.py b/src/arm_application/arm_application/perception_node.py
index cb94271..21510b1 100644
--- a/src/arm_application/arm_application/perception_node.py
+++ b/src/arm_application/arm_application/perception_node.py
@@ -105,7 +105,7 @@ class PerceptionNode(TolerantNode):
         self.declare_parameter("image_topic", "")
         self.declare_parameter("camera_info_topic", "")
         self.declare_parameter("depth_topic", "/d405/aligned_depth_to_color/image_raw")
-        self.declare_parameter("weights", "models/yolo/gongjian0929.onnx")
+        self.declare_parameter("weights", "/home/cc/ros2/models/yolo/gongjian0929.onnx")
         self.declare_parameter("conf", 0.10)
         self.declare_parameter("iou", 0.45)
         self.declare_parameter("imgsz", 640)
@@ -336,9 +336,7 @@ class PerceptionNode(TolerantNode):
             r_pos=float(self.get_parameter("kf_r_pos").value),
         )
 
-        from arm_application.site_io import resolve_repo_path
-
-        weights_raw = resolve_repo_path(str(self.get_parameter("weights").value))
+        weights_raw = str(self.get_parameter("weights").value)
         weights = str(resolve_weights(weights_raw, self.backend_name))
         yolo_cfg = {
             "weights": weights,
@@ -1141,8 +1139,8 @@ class PerceptionNode(TolerantNode):
             filt[2] = z_use
             self._last_filt = filt.copy()
 
-        if handoff:
-            # 画面里没有 conf≥门槛的目标：绿框可以留，三维点不许发 —— 伺服会拿去追。
+        if handoff or self._d435_commanding:
+            # 没有高置信度，或 D435 厂家移动还没交接：推理留着，控制点不许发。
             return
         self._publish_point(filt, stamp)
         self.get_logger().info(
@@ -1427,15 +1425,11 @@ class PerceptionNode(TolerantNode):
         self._z_locked = bool(msg.data)
 
     def _on_d435_commanding(self, msg: Bool) -> None:
-        """伺服还在执行 D435 那一个点时，不再提交下一张。
+        """伺服还在执行 D435 那一个点时，不再提交下一张，D405 控制点也不发。
 
-        这一段结束（到位并停稳）后清掉「已拍过」，漏检重新计 0.5 s。
+        这一轮已经拍过并走完。停稳后打开 D405 框心，不因交接瞬间漏检再 MoveL。
         """
-        commanding = bool(msg.data)
-        if self._d435_commanding and not commanding:
-            self._oneshot_shot = False
-            self._low_since = None
-        self._d435_commanding = commanding
+        self._d435_commanding = bool(msg.data)
 
     def _publish_overhead_k0(self, p_base: np.ndarray, is_k0: bool) -> None:
         pt = PointStamped()
diff --git a/src/arm_application/arm_application/pipeline_node.py b/src/arm_application/arm_application/pipeline_node.py
index fab29f0..a27c828 100644
--- a/src/arm_application/arm_application/pipeline_node.py
+++ b/src/arm_application/arm_application/pipeline_node.py
@@ -1,11 +1,11 @@
 #!/usr/bin/env python3
-"""跟踪锁定 → 孔定位。搜孔轻压已取消，本节点不再下压搜孔。
+"""三阶段串联：视觉跟踪锁定 → 孔定位 → 搜孔并轻轻按压（默认不拧入）。
 
 流畅性（相对 bash 杀进程再起节点）：
   - 相机 / 触觉 / 手眼 TF 全程只起一次
   - 一阶段锁定后 SIGTERM 跟踪节点，立刻 pin 当前关节，不回零、不抬臂
-  - 二阶段已垂直 / 已在悬停高则跳过对应动作；对准完就停，不再下压搜孔
-  - 旋入不在这个节点里
+  - 二阶段已垂直 / 已在悬停高则跳过对应动作；对准完立刻下压搜孔
+  - 找到孔位后力闭环轻压保持；拧入是后续阶段（--depth 才插入）
 """
 
 from __future__ import annotations
@@ -15,6 +15,7 @@ import os
 import signal
 import subprocess
 import time
+from pathlib import Path
 from typing import Optional
 
 import numpy as np
@@ -23,6 +24,7 @@ from geometry_msgs.msg import PointStamped
 from rclpy.qos import HistoryPolicy, QoSProfile, ReliabilityPolicy
 from std_msgs.msg import Bool, String
 
+from arm_application.overhead_oneshot import D435_MOVEL_GAVE_UP
 from arm_application.stage3_search_node import Stage3Search
 
 
@@ -70,6 +72,19 @@ def init_z_refusal(
     return ""
 
 
+def hold_at_insert_z(final, *, skip3: bool) -> bool:
+    """贴面已经按 ``final_gap_mm`` 停下时，不再进三阶段。
+
+    三阶段开局会抬到悬高上方测触觉，再落回 ``hole_hover_z_m``。
+    没有接触传感器。到位高度就是这次的贴面间隙，不另设一个 Z。
+    """
+    if skip3:
+        return True
+    if not isinstance(final, dict):
+        return False
+    return bool(final.get("insert_held"))
+
+
 def track_lock_z(hover_z: float, tool_len_m: float, surface_z_m: float) -> float:
     """一阶段锁高。
 
@@ -85,6 +100,20 @@ def track_lock_z(hover_z: float, tool_len_m: float, surface_z_m: float) -> float
     return hover + TRACK_CLEARANCE_M
 
 
+def stage1_log_fatal(log_path: str) -> str:
+    """一阶段日志里已经写明失败时，不许再空等锁定。空串 = 还没到这一步。"""
+    try:
+        text = Path(log_path).read_text(encoding="utf-8", errors="replace")
+    except OSError:
+        return ""
+    if D435_MOVEL_GAVE_UP in text:
+        return (
+            f"D435 {D435_MOVEL_GAVE_UP}（RDK 控制模式没切到 primitive），"
+            f"一阶段中止。不是视野/标定。看 {log_path}"
+        )
+    return ""
+
+
 def stage1_timeout_reason(points_seen: int, timeout_s: float, log_path: str) -> str:
     """一阶段超时了，到底是"感知没给点"还是"给了点但没收敛"。
 
@@ -99,6 +128,9 @@ def stage1_timeout_reason(points_seen: int, timeout_s: float, log_path: str) ->
     以前两种情况共用一句"没锁定（视野里没工件？）"，于是"perception_node
     因为缺依赖早退了"被读成"算法不收敛"，白查半天。
     """
+    fatal = stage1_log_fatal(log_path)
+    if fatal:
+        return fatal
     if points_seen <= 0:
         return (
             f"一阶段 {timeout_s:.0f}s 没锁定：**一个视觉目标点都没收到**"
@@ -125,7 +157,7 @@ class AssemblyPipeline(Stage3Search):
         super().__init__(node_name=node_name)
         self.declare_parameter("skip_stage1", False)
         self.declare_parameter("skip_stage2", False)
-        self.declare_parameter("skip_stage3", True)  # 搜孔轻压已取消，写成 false 也不再下压
+        self.declare_parameter("skip_stage3", False)  # 默认搜孔+轻压；拧入靠 --depth
         self.declare_parameter("d435_move_only", False)
         self.declare_parameter("init_z_m", -1.0)  # >0：启动后先到这个法兰高度
         self.declare_parameter("stage1_timeout_sec", 150.0)
@@ -308,6 +340,11 @@ class AssemblyPipeline(Stage3Search):
             self._spin(0.1)
             if self._locked:
                 break
+            fatal = stage1_log_fatal(log_path)
+            if fatal:
+                self._stop_stage1()
+                self.get_logger().error(fatal)
+                return 1
             if self._s1.poll() is not None:
                 self.get_logger().error(f"一阶段进程提前退出，看 {log_path}")
                 return 1
@@ -333,9 +370,7 @@ class AssemblyPipeline(Stage3Search):
     def run(self) -> int:
         skip1 = bool(self.get_parameter("skip_stage1").value)
         skip2 = bool(self.get_parameter("skip_stage2").value)
-        if not bool(self.get_parameter("skip_stage3").value):
-            self.get_logger().info("搜孔轻压已取消，忽略要求重新打开它的参数")
-        skip3 = True
+        skip3 = bool(self.get_parameter("skip_stage3").value)
         if self.d435_move_only:
             skip2 = True
             skip3 = True
@@ -365,23 +400,45 @@ class AssemblyPipeline(Stage3Search):
                 if code != 0:
                     self.get_logger().error(f"二阶段失败 exit={code}，停在当前位姿")
                     return code
-                self.get_logger().info(
-                    f"二阶段 OK 残差 {final.get('residual_mm', -1)}mm"
-                    " — 搜孔已取消，停在这里。旋入请另跑。"
-                )
+                stay = hold_at_insert_z(final, skip3=skip3)
+                if stay and final.get("insert_held"):
+                    self.get_logger().info(
+                        f"二阶段 OK 残差 {final.get('residual_mm', -1)}mm — "
+                        f"插孔停在法兰 Z={final.get('flange_z_m')}m，"
+                        f"规尖离面 {final.get('tip_gap_mm')}mm"
+                        f"（目标 {final.get('commanded_gap_mm')}mm，来自 final_gap_mm）。"
+                        "没有接触传感器，不另设 Z，不抬回悬高。"
+                    )
+                else:
+                    self.get_logger().info(
+                        f"二阶段 OK 残差 {final.get('residual_mm', -1)}mm"
+                        + (
+                            " — 跳过搜孔，停在观测高度（看规尖是否对中；进程退出后臂保持）"
+                            if skip3
+                            else " — 立刻下压搜孔并轻压（不拧入）"
+                        )
+                    )
             else:
                 self._state("skip_stage2")
+                stay = hold_at_insert_z(final, skip3=skip3)
 
-            if skip3:
+            if stay:
                 self._state("skip_stage3")
                 if self.d435_move_only:
                     self.get_logger().info(
                         "D435 位移测试结束 —— 臂停在当前高度，不交 D405、不对孔；"
                         "15s 后本进程退出，臂保持不动"
                     )
+                elif isinstance(final, dict) and final.get("insert_held"):
+                    if q is not None:
+                        self._pin(q)
+                    self.get_logger().info(
+                        "插孔已停在贴面高度，不进搜孔、不抬回悬高。"
+                        "15s 后本进程退出，臂保持这个 Z。"
+                    )
                 else:
                     self.get_logger().info(
-                        "搜孔已取消 —— 臂停在当前高度。"
+                        "跳过搜孔 —— 臂停在当前高度。请看规尖与孔是否对中；"
                         "15s 后本进程退出，臂保持不动"
                     )
                 if final:
diff --git a/src/arm_application/arm_application/servo_node.py b/src/arm_application/arm_application/servo_node.py
index 848dbcd..10eb349 100644
--- a/src/arm_application/arm_application/servo_node.py
+++ b/src/arm_application/arm_application/servo_node.py
@@ -50,6 +50,9 @@ from arm_application.geom_ik import (
 )
 from arm_application.handeye_lib import cam_point_to_base, cam_to_base_T
 from arm_application.overhead_oneshot import (
+    D435_MOVEL_GAVE_UP,
+    D435_MOVEL_RETRY,
+    D435_MOVEL_RETRY_S,
     D435_NEAR_CRUISE_MPS,
     D435_SETTLE_S,
     D435_VENDOR_MOVEL_VEL_MPS,
@@ -126,7 +129,7 @@ class ServoNode(TolerantNode):
         self.declare_parameter("point_topic", "visual_servo/filtered_point")
         # 默认值只作兜底：真机运行一定由 launch 传入 site.yaml 的 paths.handeye_file。
         # 指向 /tmp 是历史遗留（标定临时产物），会让人误以为"标定结果在那里"。
-        self.declare_parameter("handeye_file", "handeye/results/89_eye_in_hand.yaml")
+        self.declare_parameter("handeye_file", "/home/cc/ros2/handeye/results/89_eye_in_hand.yaml")
         # eye_in_hand = cam→法兰；eye_to_hand = cam→基座。写错会把固定相机当腕部用。
         self.declare_parameter("handeye_mode", "eye_in_hand")
         self.declare_parameter("use_static_handeye_tf", False)
@@ -224,8 +227,7 @@ class ServoNode(TolerantNode):
         self.declare_parameter("lock_hold_sec", 2.0)
         # D405 跟住后法兰静止多久进二阶段。哨兵 -1 = 没从 site 接入。
         # lock_still_sec 仍须从 site 接上（缺了就报错）。
-        # 交回 D405：进程内 MoveL 到位后，再叠 d435_handback_sec（法兰 XY 停稳）。
-        # 旧杀栈冷启动曾把这 3s 垫在控制器重启后面；不杀栈后只留机械停稳。
+        # 厂家 MoveL 结束后，法兰连续停稳 d435_handback_sec 才打开 D405 框心。
         self.declare_parameter("lock_still_sec", -1.0)
         self.declare_parameter("d435_handback_sec", -1.0)
         self.declare_parameter("wrist_align_sec", -1.0)
@@ -329,7 +331,7 @@ class ServoNode(TolerantNode):
             and self.wrist_handoff_conf >= 0.0
             and self.overhead_hold_s >= 0.0
         )
-        # 框心对准进对孔用 wrist_align_sec。D435 交回只用 d435_handback_sec，两段不要合成一个数。
+        # 框心对准进精拍用 wrist_align_sec。D435 交接只用 d435_handback_sec，两段不要合成一个数。
         self._still = StillLock(
             still_sec=max(0.0, self.wrist_align_sec),
             still_move_m=max(0.0, self.lock_still_move_m),
@@ -342,6 +344,8 @@ class ServoNode(TolerantNode):
         self._d435_vendor_done = False
         self._d435_vendor_busy = False
         self._d435_vendor_failed = False
+        self._d435_vendor_tries = 0
+        self._d435_retry_after = 0.0
         self._d435_settled = False
         self._d435_exec_until = 0.0
         self._d435_pinned = False
@@ -374,10 +378,9 @@ class ServoNode(TolerantNode):
         self.ws_min = np.array([float(v) for v in ws_min[:3]], dtype=float)
         self.ws_max = np.array([float(v) for v in ws_max[:3]], dtype=float)
 
-        from arm_application.site_io import resolve_repo_path
-
-        handeye_path = resolve_repo_path(str(self.get_parameter("handeye_file").value))
-        self.T_cam_to_gripper = load_handeye_T(handeye_path)
+        self.T_cam_to_gripper = load_handeye_T(
+            str(self.get_parameter("handeye_file").value)
+        )
         self.handeye_mode = str(
             self.get_parameter("handeye_mode").value or "eye_in_hand"
         ).strip().lower()
@@ -400,7 +403,7 @@ class ServoNode(TolerantNode):
         t_he = np.asarray(self.T_cam_to_gripper[:3, 3], dtype=float)
         axis_z = float(np.clip(R_he[2, 2], -1.0, 1.0))
         self._cam_tilt_deg = float(np.degrees(np.arccos(axis_z)))
-        he_path = handeye_path
+        he_path = str(self.get_parameter("handeye_file").value)
         if self.handeye_mode == "eye_to_hand":
             self.get_logger().warn(
                 f"HANDEYE yaml={he_path} mode=eye_to_hand "
@@ -709,6 +712,8 @@ class ServoNode(TolerantNode):
             self._d435_vendor_done = False
             self._d435_vendor_busy = False
             self._d435_vendor_failed = False
+            self._d435_vendor_tries = 0
+            self._d435_retry_after = 0.0
             self._overhead_t = now_m
             self._last_seen_time = now_m
             self._stamp_sec = now_sec
@@ -732,6 +737,8 @@ class ServoNode(TolerantNode):
         self._d435_vendor_done = False
         self._d435_vendor_busy = False
         self._d435_vendor_failed = False
+        self._d435_vendor_tries = 0
+        self._d435_retry_after = 0.0
         self._publish_d435_commanding(True)
         self.get_logger().info(
             f"D435 一次性设定 feat_base=({p_base[0]:.3f},{p_base[1]:.3f},{p_base[2]:.3f}) "
@@ -759,9 +766,9 @@ class ServoNode(TolerantNode):
             settled=settled,
             move_only=self.d435_move_only,
         ):
-            # 推理服务不关。这一帧的点不下发给臂，目标仍是 D435 那一个点。
+            # 推理不关。没到「法兰停稳」之前，这帧不能进运动控制。
             self.get_logger().info(
-                "D435 位置还没到并且停稳，D405 这帧不下发",
+                "D405 输出已截断：D435 厂家移动还没结束或法兰还没停稳",
                 throttle_duration_sec=1.0,
             )
             return
@@ -1407,9 +1414,12 @@ class ServoNode(TolerantNode):
         return geometric_jacobian(link_R, link_p, p_ee, RIZON_LINK_AXES)
 
     def _d435_oneshot_holds_the_arm(self) -> bool:
-        """D435 到点平移：action 短跳，等结果再重测。D405 主跟踪仍走原来的伺服。"""
-        if self.d435_move_only and self._hybrid and self._track_source == "overhead" and self._d435_settled:
-            # 位移测完了：守着，不许掉进 D405 的 _execute_twist。hold 只在到位那一拍发一次。
+        """D435 粗定位只走厂家 MoveL。停稳后先钉住，等 D405 框心接上再放开。
+
+        这段不许再用流式伺服去追 D435 那个点。D405 点被 ``_on_point`` 接上后
+        跟踪源变成腕部，这里返回 False，框心才开始带臂。
+        """
+        if self._hybrid and self._track_source == "overhead" and self._d435_settled:
             return True
         if not (self._hybrid and self._track_source == "overhead" and not self._d435_settled):
             return False
@@ -1519,7 +1529,7 @@ class ServoNode(TolerantNode):
         """停或重新打开关节轨迹控制器。关节状态广播留着，硬件接口不下线。
 
         用节点里的客户端，不走 ``ros2 service call``：那条命令自己就要一两秒，
-        交回 D405 的预算会被它吃掉。
+        停稳锁定的预算会被它吃掉。
         """
         from controller_manager_msgs.srv import SwitchController
 
@@ -1659,18 +1669,32 @@ class ServoNode(TolerantNode):
         if self._d435_vendor_failed or self._d435_vendor_busy:
             return True
         if not self._d435_vendor_done:
-            # busy 先于调用置位：另一条控制回调不能再开一次 MoveL，也不能提前交回 D405。
+            if time.monotonic() < float(self._d435_retry_after):
+                return True
+            if int(self._d435_vendor_tries) >= int(D435_MOVEL_RETRY):
+                self._d435_vendor_failed = True
+                self.get_logger().error(
+                    f"{D435_MOVEL_GAVE_UP} —— 一阶段中止，D405 也不带臂"
+                )
+                return True
+            # busy 先于调用置位：另一条控制回调不能再开一次 MoveL，也不能提前锁定。
             self._d435_vendor_busy = True
             ok = self._d435_vendor_movel()
             self._d435_vendor_busy = False
             if not ok:
-                self._d435_vendor_failed = True
+                self._d435_vendor_tries = int(self._d435_vendor_tries) + 1
+                self._d435_retry_after = time.monotonic() + float(D435_MOVEL_RETRY_S)
                 self.get_logger().error(
-                    "厂家 MoveL 没走成 —— 停在原地，D405 的点继续不下发"
+                    f"厂家 MoveL 第{self._d435_vendor_tries}次没走成，"
+                    f"{D435_MOVEL_RETRY_S:.1f}s 后再试"
                 )
             else:
                 self._d435_vendor_done = True
                 self._arrive.reset()
+                # MoveL 切回关节后 JTC 还握着出发前的悬停。不钉住的话
+                # 硬件 3 s 窗口一过，臂会按悬停关节走回去（比交回 D405 的 10 cm 更远）。
+                self._send_hold()
+                self._d435_pinned = True
             return True
         return True
 
@@ -1729,7 +1753,7 @@ class ServoNode(TolerantNode):
         ):
             self._d435_pin_and_stop_hops(
                 f"D435 上一跳几乎没走近，剩差还是 {dist*1000:.0f}mm "
-                f"—— 钉住不再补刀，等停稳后交回 D405"
+                f"—— 钉住不再补刀，等停稳后锁定进二阶段"
             )
             return True
         if not at:
@@ -1836,7 +1860,7 @@ class ServoNode(TolerantNode):
         return True
 
     def _tick_d435_arrive(self) -> None:
-        """走到 D435 那个点，并且法兰按一阶段的静止判据停稳，才允许下发 D405。"""
+        """厂家 MoveL 已结束：看法兰还在不在动。连续停稳后才打开 D405 框心。"""
         if not self._hybrid:
             return
         if (
@@ -1858,11 +1882,15 @@ class ServoNode(TolerantNode):
             return
         xy = np.asarray(T[:2, 3], dtype=float)
         dist = float(np.hypot(float(xy[0]) - goal[0], float(xy[1]) - goal[1]))
-        arrived = dist <= float(self.lock_still_move_m) or self._d435_give_up
-        settled = self._arrive.update(
-            xy, time.monotonic(), tracking_ok=arrived
-        )
+        # 到位看法兰是否还在动，不看离视觉点还差几毫米。
+        settled = self._arrive.update(xy, time.monotonic(), tracking_ok=True)
         if not settled:
+            self.get_logger().info(
+                f"D435 厂家 MoveL 已结束，法兰还在动或未满 "
+                f"{self.d435_handback_sec:.1f}s（离点 {dist*1000:.0f}mm），"
+                "D405 输出仍截断",
+                throttle_duration_sec=1.0,
+            )
             return
         with self._lock:
             self._d435_settled = True
@@ -1885,10 +1913,12 @@ class ServoNode(TolerantNode):
                 self._lock_pub_t = now_m
                 self._lock_pub.publish(Bool(data=True))
             return
+        # 法兰已停稳：打开 D405。不在这里锁定；框心对准停稳后才精拍下臂。
         self._publish_d435_commanding(False)
         self.get_logger().info(
-            f"已到 D435 位置（还差 {dist*1000:.0f}mm）并停稳 "
-            f"{self.d435_handback_sec:.1f}s —— 改回下发 D405 框心"
+            f"法兰已连续停稳 {self.d435_handback_sec:.1f}s"
+            f"（离 D435 点 {dist*1000:.0f}mm）"
+            " —— 打开 D405 输出，追工件框矩形中心；对准后才精拍下臂"
         )
 
     def _tick_still_lock(self) -> None:
diff --git a/src/arm_application/arm_application/site_io.py b/src/arm_application/arm_application/site_io.py
index c16cb57..9243123 100644
--- a/src/arm_application/arm_application/site_io.py
+++ b/src/arm_application/arm_application/site_io.py
@@ -10,83 +10,13 @@ import yaml
 
 
 def ros2_root() -> Path:
-    """仓库根目录。先看环境变量，再从本文件向上找 ``config/site.yaml``。
-
-    不能默认 ``~/ros2``：别人把仓库克隆到别的目录时，写死的家目录路径是空的，
-    启动会报文件不存在。
-    """
     for key in ("SITE_ROS2_ROOT", "ROS2_WS"):
         v = os.environ.get(key, "").strip()
         if v:
             return Path(v).expanduser()
-    here = Path(__file__).resolve()
-    for parent in here.parents:
-        if (parent / "config" / "site.yaml").is_file() and (parent / "scripts" / "env.sh").is_file():
-            return parent
     return Path.home() / "ros2"
 
 
-_PATH_KEYS = frozenset({
-    "named_poses_file",
-    "handeye_file",
-    "handeye_waypoints",
-    "handeye_workdir",
-    "handeye_calibrate",
-    "yolo_weights",
-    "hole_weights",
-    "weights",
-    "workpiece_weights",
-    "config_file",
-    "append_poses_file",
-})
-
-
-def resolve_repo_path(value: str, root: Path | None = None) -> str:
-    """仓库内的相对路径展开成绝对路径。已经是绝对路径的原样保留。"""
-    text = str(value or "").strip()
-    if not text:
-        return ""
-    path = Path(text).expanduser()
-    if path.is_absolute():
-        return str(path)
-    base = root or ros2_root()
-    return str((base / path).resolve())
-
-
-def _is_path_key(key: str) -> bool:
-    return (
-        key in _PATH_KEYS
-        or key.startswith("handeye_file")
-        or key.startswith("handeye_waypoints")
-        or key.endswith("_weights")
-        or key.endswith("_file")
-        or key.endswith("_workdir")
-    )
-
-
-def absolutize_site_paths(data: Any, root: Path | None = None) -> Any:
-    """把 site 里的仓库相对路径展开。只动路径字段，不动别的字符串。"""
-    base = root or ros2_root()
-    if isinstance(data, dict):
-        out: dict[Any, Any] = {}
-        for key, val in data.items():
-            name = str(key)
-            if isinstance(val, str) and _is_path_key(name):
-                out[key] = resolve_repo_path(val, base)
-            elif (
-                name == "config"
-                and isinstance(val, str)
-                and (val.endswith((".yaml", ".yml", ".json")) or "/" in val)
-            ):
-                out[key] = resolve_repo_path(val, base)
-            else:
-                out[key] = absolutize_site_paths(val, base)
-        return out
-    if isinstance(data, list):
-        return [absolutize_site_paths(item, base) for item in data]
-    return data
-
-
 def site_path() -> Path:
     env = os.environ.get("SITE_CONFIG", "").strip()
     if env:
@@ -94,90 +24,12 @@ def site_path() -> Path:
     return ros2_root() / "config" / "site.yaml"
 
 
-def arm_short_id(sn: str) -> str:
-    """序列号末两位就是臂号（``Rizon4-063989`` → ``89``）。
-
-    和 ``scripts/lib/export_site_env.arm_short_id`` 同一条规则。换一台臂
-    只改 ``site.yaml`` 的 SN，不要在界面里再写一张本机对照表。
-    """
-    tail = str(sn or "").strip().rsplit("-", 1)[-1]
-    return tail[-2:] if tail.isdigit() and len(tail) >= 2 else ""
-
-
-def listed_arms(data: dict[str, Any] | None) -> list[dict[str, Any]]:
-    """``robots[]`` 里的真机臂。``sn: sim`` 不进控制。
-
-    旋转爪只看夹爪型号里有没有 ``RGI``。右臂也可以是平行爪，不能靠臂号猜。
-    """
-    robots = ((data or {}).get("robot") or {}).get("robots") or []
-    out: list[dict[str, Any]] = []
-    seen: set[str] = set()
-    for robot in robots:
-        if not isinstance(robot, dict):
-            continue
-        sn = str(robot.get("sn") or "").strip()
-        if not sn or sn.lower() == "sim":
-            continue
-        arm_no = arm_short_id(sn)
-        if not arm_no:
-            continue
-        if arm_no in seen:
-            raise ValueError(f"两台臂的序列号末两位都是 {arm_no}，--arm 分不清")
-        seen.add(arm_no)
-        side = str(robot.get("arm") or "").strip().lower()
-        grip = robot.get("gripper") if isinstance(robot.get("gripper"), dict) else {}
-        model = str(grip.get("model") or "")
-        shared = (data or {}).get("gripper") if isinstance((data or {}).get("gripper"), dict) else {}
-        stroke = grip.get("stroke_mm")
-        if stroke is None:
-            stroke = shared.get("stroke_mm") or 20.0
-        out.append({
-            "id": arm_no,
-            "label": str(robot.get("label") or "").strip() or f"臂{arm_no}",
-            "sn": sn,
-            "side": side if side in ("left", "right") else "",
-            "tactile": bool(robot.get("tactile")),
-            "camera": str((robot.get("camera") or {}).get("name") or "") if isinstance(robot.get("camera"), dict) else "",
-            "gripper": model,
-            "rotary": "RGI" in model.upper(),
-            "iface": str(robot.get("iface") or ""),
-            "pc_ip": str(robot.get("pc_ip") or ""),
-            "port": str(grip.get("port") or ""),
-            "stroke_mm": float(stroke),
-        })
-    return out
-
-
-def usb_expectations(data: dict[str, Any] | None) -> dict[str, int]:
-    """设备页上「应有几台」跟 ``site.yaml`` 走，不写死本机的 2+1+2。"""
-    cameras = (data or {}).get("cameras") or {}
-    d405 = 0
-    d435 = 0
-    if isinstance(cameras, dict):
-        for key, val in cameras.items():
-            model = str((val or {}).get("model") or "") if isinstance(val, dict) else ""
-            token = f"{key} {model}".lower()
-            if "d405" in token:
-                d405 += 1
-            elif "d435" in token:
-                d435 += 1
-    tactile = (data or {}).get("tactile") or {}
-    orisys = 0
-    if isinstance(tactile, dict):
-        orisys = sum(1 for key in ("left_video", "right_video") if tactile.get(key) is not None)
-    return {"d405": d405, "d435": d435, "orisys": orisys}
-
-
 def load_site_dict(path: str | Path | None = None) -> dict[str, Any]:
     p = Path(path).expanduser() if path else site_path()
     if not p.is_file():
         return {}
     data = yaml.safe_load(p.read_text(encoding="utf-8")) or {}
-    if not isinstance(data, dict):
-        return {}
-    resolved = p.resolve()
-    root = resolved.parent.parent if resolved.parent.name == "config" else ros2_root()
-    return absolutize_site_paths(data, root)
+    return data if isinstance(data, dict) else {}
 
 
 def deep_merge(base: dict[str, Any], overlay: dict[str, Any]) -> dict[str, Any]:
diff --git a/src/arm_application/arm_application/stage2_locate_node.py b/src/arm_application/arm_application/stage2_locate_node.py
index 670bacb..a3575d2 100644
--- a/src/arm_application/arm_application/stage2_locate_node.py
+++ b/src/arm_application/arm_application/stage2_locate_node.py
@@ -69,6 +69,7 @@ from arm_application.overhead_oneshot import (
     once_ff_tcp_xyz,
     oneshot_align_step_m,
     pixel_on_base_plane,
+    retract_goal_z,
 )
 from arm_application.handeye_realsense import resolve_realsense_topics
 from arm_application.gauge_boot import perception_source_of
@@ -249,7 +250,7 @@ class Stage2Locate(TolerantNode):
         # _coarse_target_reject / _bbox_on_border 的注释）：粗居中的目的是把臂
         # 挪到工件正上方，**挪错比不挪危险得多** —— 一挪错精定位就再也看不到
         # k1/k2，而流程会把它当"孔检测失败"，现场根本想不到是粗居中把臂带走的。
-        self.coarse_max_offset_m = float(stage2.get("coarse_max_offset_m") or 0.12)
+        self.coarse_max_offset_m = float(stage2.get("coarse_max_offset_m") or 0.08)
         self.coarse_border_px = int(stage2.get("coarse_border_px") or 2)
         # 最后轻降到孔面上方 final_gap_mm（不接触）。启动参数 ≥0 覆盖 site。
         self._final_gap_refused = ""
@@ -901,10 +902,13 @@ class Stage2Locate(TolerantNode):
         min_dur: float = 1.6,
         hold_xy: bool = False,
         strict_xy: bool = False,
+        z_up_only: bool = False,
     ) -> Tuple[bool, np.ndarray, np.ndarray]:
         """闭环点到点：规划短 hop → 执行 → 重新看 TF → 重复，直到容差内。
 
         hold_xy=True：只收 Z/姿态（悬停降锁高），不把下降中漂出的 XY 再拽回去。
+        z_up_only=True：当前已经高于目标 Z 就停，不许为了追 5 mm 往下补
+        （贴面 MoveL 后收臂 hop1 抬过头、hop2 回压进孔，2026-10-16）。
         """
         target = self._clamp_ws(target)
         last_dist: Optional[float] = None
@@ -912,7 +916,14 @@ class Stage2Locate(TolerantNode):
         stall = 0
         for hop in range(max_hops):
             p = Tee[:3, 3]
-            goal = np.array([p[0], p[1], target[2]]) if hold_xy else target
+            z_tgt = float(target[2])
+            if z_up_only:
+                if float(p[2]) >= z_tgt - float(tol_m):
+                    return True, q, Tee
+                z_tgt = retract_goal_z(float(p[2]), z_tgt)
+            goal = np.array([p[0], p[1], z_tgt]) if hold_xy else np.array(
+                [target[0], target[1], z_tgt], dtype=float
+            )
             if hold_xy:
                 goal = self._clamp_ws(goal)
             dp = goal - p
@@ -1491,14 +1502,15 @@ class Stage2Locate(TolerantNode):
 
         1. 目标点落在 ``workspace_xyz_*`` 的 XY 之外（含 5mm 余量）—— 一阶段刚锁
            定时臂就在工件上方，工件**不该**在盒外；
-        2. 目标点离当前夹爪轴线超过 ``coarse_max_offset_m``（缺省 0.12m）—— 粗居中
-           是"把臂挪到工件正上方"，合理位移是厘米级；十几厘米只可能是坏读数。
+        2. 目标点离当前夹爪轴线超过 ``coarse_max_offset_m``（缺省 0.08m）—— 粗居中
+           是"把臂挪到工件正上方"，合理位移是厘米级；十几厘米只可能是坏读数
+           （2026-10-16 三次 110mm 回撤，0.12 放行了）。
 
         注意：判误检后**原地不动**，由精定位（直接量 k1/k2）继续。不动的代价只是
         "少挪一次"，而挪错的代价是精定位彻底看不到孔 —— 所以这里必须选不动。
         """
         if max_offset_m is None:
-            max_offset_m = float(getattr(self, "coarse_max_offset_m", 0.12))
+            max_offset_m = float(getattr(self, "coarse_max_offset_m", 0.08))
         p = np.asarray(p_base, dtype=float).reshape(3)
         if not np.all(np.isfinite(p[:2])):
             return "目标点非有限值（深度/三角化失败）"
@@ -2241,7 +2253,9 @@ class Stage2Locate(TolerantNode):
         )
         fl0 = (float(Tee[0, 3]), float(Tee[1, 3]), float(Tee[2, 3]))
         ok = self._vendor_movel_tcp(movel_xyz, ONCE_FF_MOVEL_VEL_MPS)
-        q2, Tee2 = self._wait_state(2.0)
+        # MoveL 刚切回关节模式：JTC 还握着贴面前的悬停关节。等 2 s 再钉
+        # 等于让 vmax=0.05 往悬停留 0.1 rad（2026-10-16 收臂实测多抬 13–20 mm）。
+        q2, Tee2 = self._wait_state(0.3)
         if q2 is not None and Tee2 is not None:
             q, Tee = q2, Tee2
         self._pin(q)
@@ -3392,14 +3406,36 @@ class Stage2Locate(TolerantNode):
         )
 
         # ---- 5) 锁定保持 ----
+        # 贴面之后就停在这个法兰 Z。没有接触传感器，到位只认 final_gap_mm
+        # （规尖离面）。三阶段开局会抬回悬高，这里标明已经插到位，流水线不再上抬。
+        if (
+            self.descent_final_gap_m is not None
+            and self.final_descent_enable
+            and not self.hover_only
+        ):
+            final = dict(final)
+            final["insert_held"] = True
+            final["flange_z_m"] = round(float(Tee[2, 3]), 4)
+            final["tip_gap_mm"] = round(float(self.descent_final_gap_m) * 1000.0, 2)
+            final["commanded_gap_mm"] = round(float(self.final_gap_m) * 1000.0, 2)
+            final["insert_z_source"] = "final_gap_mm"
         self._state("hold")
         q_fin = self._q()
         self._pin(q_fin if q_fin is not None else q)
-        self.get_logger().info(
-            f"=== 二阶段定位完成: {self.target_hole} 残差 {final.get('residual_mm', -1)}mm，"
-            f"规尖悬在孔面上方 ≈{gap_txt}mm（不接触）。"
-            f"结果: /stage2/result, /tmp/stage2_result.json ==="
-        )
+        if final.get("insert_held"):
+            self.get_logger().info(
+                f"=== 二阶段定位完成: {self.target_hole} 残差 {final.get('residual_mm', -1)}mm，"
+                f"法兰 Z={final.get('flange_z_m')}m，规尖离面 {gap_txt}mm"
+                f"（final_gap {self.final_gap_m * 1000:.1f}mm，无接触传感器）。"
+                "停在这一高度，不抬回悬高。"
+                f"结果: /stage2/result, /tmp/stage2_result.json ==="
+            )
+        else:
+            self.get_logger().info(
+                f"=== 二阶段定位完成: {self.target_hole} 残差 {final.get('residual_mm', -1)}mm，"
+                f"规尖悬在孔面上方 ≈{gap_txt}mm（不接触）。"
+                f"结果: /stage2/result, /tmp/stage2_result.json ==="
+            )
         return 0, q_fin if q_fin is not None else q, Tee, final
 
     def _linger_hold(self, final: Dict[str, Any], seconds: Optional[float] = None) -> None:
diff --git a/src/arm_application/arm_application/stage3_search_node.py b/src/arm_application/arm_application/stage3_search_node.py
index e6e9bbf..acf1a50 100644
--- a/src/arm_application/arm_application/stage3_search_node.py
+++ b/src/arm_application/arm_application/stage3_search_node.py
@@ -526,7 +526,8 @@ class Stage3Search(Stage2Locate):
             tgt[2] += dz_m
             self._goto(q, Tee, tgt, verticalize=True, tol_m=0.001,
                        tol_tilt=self.vert_tol_rad * 3.0, tag="retract",
-                       v=0.03, max_hops=3, settle_s=0.2, min_dur=0.6)
+                       v=0.03, max_hops=2, settle_s=0.2, min_dur=0.6,
+                       hold_xy=True, z_up_only=True)
         except Exception:
             pass
 
diff --git a/src/arm_application/config/perception.yaml b/src/arm_application/config/perception.yaml
index c2411e9..5685bf9 100644
--- a/src/arm_application/config/perception.yaml
+++ b/src/arm_application/config/perception.yaml
@@ -12,7 +12,7 @@ perception_node:
     image_topic: ""
     camera_info_topic: ""
     depth_topic: "/d405/aligned_depth_to_color/image_raw"
-    weights: "models/yolo/gongjian0929.onnx"
+    weights: "/home/cc/ros2/models/yolo/gongjian0929.onnx"
     conf: 0.10
     iou: 0.45
     imgsz: 640
diff --git a/src/arm_application/launch/pipeline.launch.py b/src/arm_application/launch/pipeline.launch.py
index fee00c6..ea18aff 100644
--- a/src/arm_application/launch/pipeline.launch.py
+++ b/src/arm_application/launch/pipeline.launch.py
@@ -159,7 +159,7 @@ def generate_launch_description() -> LaunchDescription:
         [
             DeclareLaunchArgument("skip_stage1", default_value="false"),
             DeclareLaunchArgument("skip_stage2", default_value="false"),
-            DeclareLaunchArgument("skip_stage3", default_value="true"),
+            DeclareLaunchArgument("skip_stage3", default_value="false"),
             DeclareLaunchArgument("target_hole", default_value=""),
             DeclareLaunchArgument("insert_depth_mm", default_value=""),
             DeclareLaunchArgument("screw_pitch_mm", default_value=""),
diff --git a/src/arm_application/test/test_overhead_oneshot.py b/src/arm_application/test/test_overhead_oneshot.py
index 5d18dc6..443ba2b 100644
--- a/src/arm_application/test/test_overhead_oneshot.py
+++ b/src/arm_application/test/test_overhead_oneshot.py
@@ -40,6 +40,7 @@ from arm_application.overhead_oneshot import (
     FROZEN_J_HOP_MAX_M,
     build_arc_xy_move,
     d405_commands_arm,
+    retract_goal_z,
     flange_down_w,
     hold_translation_vz,
     hybrid_cruise_vxy,
@@ -149,7 +150,7 @@ class TestHandoff:
         assert "伺服没接住" in perc
 
     def test_d405_points_stay_off_the_arm_until_arrived_and_settled(self):
-        """用着 D435 那个点时，到位并且停稳之前，D405 的点不下发。推理不在这里关。"""
+        """D435 厂家移动没结束、法兰没停稳：D405 不下发。两件都满足才追框心。"""
         assert d405_commands_arm(using_d435=False, arrived=False, settled=False) is True
         assert d405_commands_arm(using_d435=True, arrived=False, settled=False) is False
         assert d405_commands_arm(using_d435=True, arrived=True, settled=False) is False
@@ -169,7 +170,7 @@ class TestHandoff:
         assert "d435_commanding" in perc
 
     def test_after_d435_wrist_tracks_box_center_then_hole_without_depth(self):
-        """交回 D405 追框心；本分支单次精拍 k1/k2，孔坐标只交到工件面。"""
+        """交回 D405 追框矩形中心；框心对准后才精拍，孔坐标只交到工件面。"""
         perc = (
             __import__("pathlib").Path(__file__).resolve().parents[1]
             / "arm_application" / "perception_node.py"
@@ -344,7 +345,7 @@ class TestHandoff:
         assert is_control_stack_cmd("perception_node") is False
 
     def test_d435_move_only_never_hands_back_to_d405(self):
-        """只测位移：D405 点一律不下发，到位停稳也不交。默认路径仍会交回。"""
+        """只测位移：D405 点一律不下发。混合路径法兰停稳后才打开框心。"""
         assert d405_commands_arm(
             using_d435=False, arrived=True, settled=True, move_only=True
         ) is False
@@ -370,7 +371,8 @@ class TestHandoff:
         run_all = (ws / "scripts" / "run_all.sh").read_text(encoding="utf-8")
         assert "move_only=self.d435_move_only" in servo
         assert "不交 D405、不进二阶段" in servo
-        assert "改回下发 D405" in servo
+        assert "打开 D405 输出，追工件框矩形中心" in servo
+        assert "锁定进二阶段，D405 流式不再带臂" not in servo
         assert "self.d435_move_only" in perc
         assert "or wrist_needs_handoff(" in perc
         assert "d435_move_only:={str(self.d435_move_only).lower()}" in pipe
@@ -464,6 +466,21 @@ class TestHandoff:
         hold = src[src.index("def _d435_oneshot_holds_the_arm") : src.index("def _tick_d435_arrive")]
         assert 'self._track_source == "overhead"' in hold
         assert "not self._d435_settled" in hold
+        fn = src[
+            src.index("def _d435_oneshot_holds_the_arm") : src.index(
+                "def _d435_pin_and_stop_hops"
+            )
+        ]
+        assert "and self._d435_settled" in fn
+        assert "等 D405 框心接上" in fn
+        locked = src[
+            src.index("def _d435_oneshot_holds_locked") : src.index(
+                "def _d435_oneshot_holds_locked_joint"
+            )
+        ]
+        assert "self._d435_vendor_done = True" in locked
+        pin_at = locked.find("self._d435_vendor_done = True")
+        assert "_send_hold()" in locked[pin_at : pin_at + 500]
         assert "_publish_joint_schedule(" not in hold
         assert "oneshot_cartesian_dp(" not in hold
         assert "trap_joint_schedule(" not in hold
@@ -872,7 +889,7 @@ class TestHoleBiasAxes:
         assert st2.get("hole_once_lock_xy_descend") is True
         assert st2.get("once_ff_look_per_m") == pytest.approx(ONCE_FF_LOOK_PER_M)
         servo = (site.get("servo") or {})
-        assert servo.get("d435_handback_sec") == pytest.approx(0.5)
+        assert servo.get("d435_handback_sec") == pytest.approx(2.0)
 
     def test_oneshot_step_covers_half_hole_pair(self):
         """框心到 k1 约 29mm：必须整步走完，不许再截成 12mm。"""
@@ -976,3 +993,85 @@ class TestHoleBiasAxes:
         assert rel is not None
         np.testing.assert_allclose(rel, [0.580, -0.460, 0.0245], atol=1e-9)
         assert once_ff_movel_from_tcp([0.580, -0.460, 0.096], [0.00129, 0.0], 0.0) is None
+
+
+class TestRetractHold:
+    def test_retract_goal_z_never_goes_down(self):
+        """抬过头 = 成功。真机 hop1 +18 mm 后 hop2 不许用 −13 mm 往回压。"""
+        assert retract_goal_z(0.258, 0.258 + 0.005) == pytest.approx(0.263)
+        assert retract_goal_z(0.276, 0.258 + 0.005) == pytest.approx(0.276)
+        assert retract_goal_z(0.276, 0.263) >= 0.276 - 1e-12
+
+    def test_stage3_retract_is_z_up_only(self):
+        root = __import__("pathlib").Path(__file__).resolve().parents[1]
+        st3 = (root / "arm_application" / "stage3_search_node.py").read_text(
+            encoding="utf-8"
+        )
+        blk = st3[st3.find("def _retract") : st3.find("def _resnap_align")]
+        assert "z_up_only=True" in blk
+        assert "hold_xy=True" in blk
+        st2 = (root / "arm_application" / "stage2_locate_node.py").read_text(
+            encoding="utf-8"
+        )
+        assert "z_up_only: bool = False" in st2
+        assert "retract_goal_z(" in st2
+
+    def test_vendor_movel_hold_seeds_joint_commands(self):
+        """MoveL 切回关节模式后必须用当前角覆盖 JTC 悬停指令，否则收臂会先弹。"""
+        root = __import__("pathlib").Path(__file__).resolve().parents[3]
+        cpp = (
+            root / "src" / "flexiv_hardware" / "src" / "flexiv_hardware_interface.cpp"
+        ).read_text(encoding="utf-8")
+        hpp = (
+            root
+            / "src"
+            / "flexiv_hardware"
+            / "include"
+            / "flexiv_hardware"
+            / "flexiv_hardware_interface.hpp"
+        ).read_text(encoding="utf-8")
+        assert "hold_current_joint_commands" in cpp
+        assert "hold_current_joint_commands" in hpp
+        assert "vendor_movel_hold_commands_" in cpp
+        assert "kArming" in hpp
+        assert "NRT_PRIMITIVE_EXECUTION" in cpp
+        assert "切到 NRT_PRIMITIVE_EXECUTION 超时" in cpp
+        assert "robot_->states().q" in cpp
+        assert "milliseconds(500)" in cpp
+        assert "nrt_gate_settle" in cpp
+        assert "vendor_movel_hold_q_" in cpp
+        assert "kHoldReleaseRad = 0.020" in cpp
+        assert "vendor_movel_hold_until_" not in cpp
+        settle = cpp[cpp.find("void nrt_gate_settle") : cpp.find("void request_nrt_settle")]
+        assert "gate.v_filt.assign" in settle
+        assert "gate.parked = true" in settle
+        assert "gate.last_cmd = q" in settle
+        servo = (
+            __import__("pathlib").Path(__file__).resolve().parents[1]
+            / "arm_application"
+            / "servo_node.py"
+        ).read_text(encoding="utf-8")
+        assert "D435_MOVEL_GAVE_UP" in servo
+        assert "D435_MOVEL_RETRY" in servo
+        pipe = (
+            __import__("pathlib").Path(__file__).resolve().parents[1]
+            / "arm_application"
+            / "pipeline_node.py"
+        ).read_text(encoding="utf-8")
+        assert "stage1_log_fatal(" in pipe
+        assert "finish_vendor_movel" in cpp
+        fin = cpp[cpp.find("void FlexivHardwareInterface::finish_vendor_movel") :]
+        fin = fin[: fin.find("bool FlexivHardwareInterface::poll_vendor_movel")]
+        assert "hold_current_joint_commands()" in fin
+        wr = cpp[cpp.find("FlexivHardwareInterface::write") :]
+        wr = wr[: wr.find("if (position_controller_running_")]
+        assert "vendor_movel_hold_commands_" in wr
+        assert "vendor_movel_hold_q_" in wr
+        assert "hw_states_joint_positions_" not in wr
+        send = cpp[cpp.find("static NrtSendGate nrt_gate;") :]
+        send = send[: send.find("if (nrt_should_send")]
+        assert "nrt_gate_settle(nrt_gate, target_pos)" in send
+        i_pin = cpp.find("const bool pin_arrival")
+        look = cpp[i_pin : cpp.find("send_pos[i] = target_pos[i]", i_pin)]
+        assert "pin_arrival" in look
+        assert "near_rest = pin_arrival" in look
diff --git a/src/arm_application/test/test_overhead_track.py b/src/arm_application/test/test_overhead_track.py
index be72bba..091b3f0 100644
--- a/src/arm_application/test/test_overhead_track.py
+++ b/src/arm_application/test/test_overhead_track.py
@@ -238,7 +238,7 @@ class TestRealSiteBranchDefault:
         assert s["handeye_mode"] == "eye_in_hand"
         assert s["handeye_file"].endswith("89_eye_in_hand.yaml")
         assert s["lock_still_sec"] == pytest.approx(3.0)
-        assert s["d435_handback_sec"] == pytest.approx(0.5)
+        assert s["d435_handback_sec"] == pytest.approx(2.0)
         assert s["wrist_align_sec"] == pytest.approx(0.5)
         assert s["lock_still_move_m"] == pytest.approx(0.015)
         # 负向：跟踪外参不能被换成顶视文件
diff --git a/src/arm_application/test/test_pipeline_stage1_diag.py b/src/arm_application/test/test_pipeline_stage1_diag.py
index 720474c..624df10 100644
--- a/src/arm_application/test/test_pipeline_stage1_diag.py
+++ b/src/arm_application/test/test_pipeline_stage1_diag.py
@@ -11,13 +11,42 @@ ultralytics 早退了"被读成"算法不收敛"，白查半天。这里把这
 
 from __future__ import annotations
 
+from pathlib import Path
+
 import pytest
 
-from arm_application.pipeline_node import init_z_refusal, stage1_timeout_reason, track_lock_z
+from arm_application.overhead_oneshot import D435_MOVEL_GAVE_UP
+from arm_application.pipeline_node import (
+    hold_at_insert_z,
+    init_z_refusal,
+    stage1_log_fatal,
+    stage1_timeout_reason,
+    track_lock_z,
+)
 
 
-def test_zero_points_blames_perception_not_calibration():
-    msg = stage1_timeout_reason(0, 150.0, "/tmp/pipeline_stage1.log")
+def test_insert_hold_does_not_return_to_hover():
+    """贴面后停住。三阶段开局会抬回悬高；没有传感器，不另设一个 Z。"""
+    assert hold_at_insert_z({"insert_held": True}, skip3=False) is True
+    assert hold_at_insert_z({}, skip3=False) is False
+    assert hold_at_insert_z(None, skip3=False) is False
+    assert hold_at_insert_z({}, skip3=True) is True
+    src = (
+        Path(__file__).resolve().parents[1] / "arm_application" / "stage2_locate_node.py"
+    ).read_text(encoding="utf-8")
+    hold = src[src.find("# ---- 5) 锁定保持 ----") : src.find("def _linger_hold")]
+    assert 'final["insert_held"] = True' in hold
+    assert 'final["insert_z_source"] = "final_gap_mm"' in hold
+    pipe = (
+        Path(__file__).resolve().parents[1] / "arm_application" / "pipeline_node.py"
+    ).read_text(encoding="utf-8")
+    run = pipe[pipe.find("def run") :]
+    assert "hold_at_insert_z(" in run
+    assert "不抬回悬高" in run
+
+
+def test_zero_points_blames_perception_not_calibration(tmp_path: Path):
+    msg = stage1_timeout_reason(0, 150.0, str(tmp_path / "missing.log"))
     assert "一个视觉目标点都没收到" in msg
     # 必须逐后端给出对号入座的查法，否则人还是不知道下一步做什么
     assert "yolo" in msg and "truth" in msg and "external" in msg
@@ -27,8 +56,8 @@ def test_zero_points_blames_perception_not_calibration():
     assert "不是标定" in msg
 
 
-def test_points_seen_but_no_convergence_blames_geometry():
-    msg = stage1_timeout_reason(123, 150.0, "/tmp/pipeline_stage1.log")
+def test_points_seen_but_no_convergence_blames_geometry(tmp_path: Path):
+    msg = stage1_timeout_reason(123, 150.0, str(tmp_path / "missing.log"))
     assert "123" in msg
     assert "没收敛" in msg
     assert "手眼" in msg
@@ -36,10 +65,11 @@ def test_points_seen_but_no_convergence_blames_geometry():
     assert "ultralytics" not in msg
 
 
-def test_timeout_seconds_and_log_path_are_in_the_message():
-    msg = stage1_timeout_reason(0, 42.0, "/tmp/x.log")
+def test_timeout_seconds_and_log_path_are_in_the_message(tmp_path: Path):
+    log = str(tmp_path / "x.log")
+    msg = stage1_timeout_reason(0, 42.0, log)
     assert "42s" in msg
-    assert "/tmp/x.log" in msg
+    assert log in msg
 
 
 def test_real_arm_locks_track_height_at_hover():
@@ -78,6 +108,20 @@ def test_movel_ipc_roundtrip():
     assert parse_done("nope\n") is None
 
 
+def test_movel_gave_up_in_log_is_fatal_not_a_vision_timeout(tmp_path: Path):
+    """2026-10-16 17:27：MoveL 控制模式失败后空等 150s 被读成粗定位卡住。"""
+    p = tmp_path / "stage1.log"
+    p.write_text(f"foo\n{D435_MOVEL_GAVE_UP} —— 一阶段中止\n", encoding="utf-8")
+    why = stage1_log_fatal(str(p))
+    assert why
+    assert "控制模式" in why
+    assert "不是视野" in why
+    msg = stage1_timeout_reason(80, 150.0, str(p))
+    assert "控制模式" in msg
+    assert "没收敛" not in msg
+    assert stage1_log_fatal(str(tmp_path / "nope.log")) == ""
+
+
 def test_missing_geometry_does_not_pretend_the_hover_is_clear():
     """工具长或工件面缺失时必须抬升。缺数还锁在悬停高，等于没检查。"""
     assert track_lock_z(0.320, 0.0, 0.022) == pytest.approx(0.370)
diff --git a/src/arm_application/test/test_stage2_coarse_guard.py b/src/arm_application/test/test_stage2_coarse_guard.py
index d8f24c5..8f41e6f 100644
--- a/src/arm_application/test/test_stage2_coarse_guard.py
+++ b/src/arm_application/test/test_stage2_coarse_guard.py
@@ -229,9 +229,27 @@ def test_site_yaml_has_the_two_guard_keys():
     assert "coarse_max_offset_m" in stage2, "site.yaml 没接 coarse_max_offset_m"
     assert "coarse_border_px" in stage2, "site.yaml 没接 coarse_border_px"
     off = float(stage2["coarse_max_offset_m"])
-    # 必须小于真机那次出事的 211.5mm、又大于合理粗居中的厘米级位移
-    assert 0.03 < off < BAD_ERR_M, (
-        f"coarse_max_offset_m={off} 必须夹在'合理粗居中'与'那次 211.5mm'之间"
+    # 必须小于真机那次出事的 211.5mm、又大于合理粗居中的厘米级位移。
+    # 还要挡住 2026-10-16 的 110mm 回撤（0.12 放行了）。
+    assert 0.03 < off < 0.10, (
+        f"coarse_max_offset_m={off} 必须夹在'合理粗居中'与'110mm 回撤'之间"
+    )
+
+
+def test_d435_handoff_110mm_reverse_is_rejected():
+    """2026-10-16：D405 把法兰拉到 (0.569,-0.375)，工件仍在 (0.512,-0.469)。
+
+    110mm 必须挡住。旧上限 0.12 会放行 —— 这条是「改了阈值真能红」的负向。
+    """
+    gauge = np.array([0.569, -0.375])
+    workpiece = np.array([0.512, -0.469, 0.320])
+    err = float(np.hypot(workpiece[0] - gauge[0], workpiece[1] - gauge[1]))
+    assert 0.10 < err < 0.12, f"夹具前提变了：偏差是 {err*1000:.1f}mm 不是 ~110mm"
+    why = _reject(_Stub(max_offset_m=0.08), workpiece, gauge)
+    assert why is not None, "110mm 回撤漏过去了"
+    assert "上限" in why
+    assert _reject(_Stub(max_offset_m=0.12), workpiece, gauge) is None, (
+        "旧上限 0.12 必须放行这条，否则负向基线失真"
     )
 
 
diff --git a/src/flexiv_ros2/flexiv_hardware/include/flexiv_hardware/flexiv_hardware_interface.hpp b/src/flexiv_ros2/flexiv_hardware/include/flexiv_hardware/flexiv_hardware_interface.hpp
index adf1b7a..e8af21b 100644
--- a/src/flexiv_ros2/flexiv_hardware/include/flexiv_hardware/flexiv_hardware_interface.hpp
+++ b/src/flexiv_ros2/flexiv_hardware/include/flexiv_hardware/flexiv_hardware_interface.hpp
@@ -143,13 +143,26 @@ private:
 
     // D435 粗定位的 MoveL 走已经连上的这份 RDK。write() 里一步一步推进，
     // 不另开线程，也不在这段里往关节接口灌点。请求文件是 /tmp/flexiv_movel_req。
-    enum class VendorMovelPhase { kIdle, kRunning };
+    enum class VendorMovelPhase { kIdle, kArming, kRunning };
     VendorMovelPhase vendor_movel_phase_ = VendorMovelPhase::kIdle;
     long vendor_movel_seq_ = -1;
     long vendor_movel_done_seq_ = -1;
+    double vendor_movel_x_ = 0.0;
+    double vendor_movel_y_ = 0.0;
+    double vendor_movel_z_ = 0.0;
+    double vendor_movel_vel_ = 0.0;
+    int vendor_movel_keep_z_ = 0;
     std::chrono::steady_clock::time_point vendor_movel_deadline_ {};
+    std::chrono::steady_clock::time_point vendor_movel_arm_until_ {};
+    // MoveL 切回关节模式后 JTC 还握着贴面前的悬停关节。钉住的是结束
+    // 瞬间的关节角，直到 JTC 指令贴近它才放下。不许因“指令已被写成
+    // 状态”或超时放行，也不许把 MoveL 的关节差当成下一拍的速度。
+    bool vendor_movel_hold_commands_ = false;
+    std::chrono::steady_clock::time_point vendor_movel_hold_since_ {};
+    std::vector<double> vendor_movel_hold_q_;
     bool poll_vendor_movel();
     void finish_vendor_movel(long seq, bool ok, const std::string& detail);
+    void hold_current_joint_commands();
 };
 
 } /* namespace flexiv_hardware */
diff --git a/src/flexiv_ros2/flexiv_hardware/src/flexiv_hardware_interface.cpp b/src/flexiv_ros2/flexiv_hardware/src/flexiv_hardware_interface.cpp
index 7a648c7..d1e9545 100644
--- a/src/flexiv_ros2/flexiv_hardware/src/flexiv_hardware_interface.cpp
+++ b/src/flexiv_ros2/flexiv_hardware/src/flexiv_hardware_interface.cpp
@@ -191,6 +191,35 @@ bool nrt_should_send(NrtSendGate& gate, const std::vector<double>& target, doubl
     return true;
 }
 
+// MoveL 结束时 last_cmd 还是出发前的关节。下一拍若用
+// (到位角 - last_cmd) / dt 当速度，整段位移会变成一步速度，
+// 前瞻再沿同一方向推（2026-10-19 09:25：vcmd=1.686 rad/s，
+// 光心从 5mm 被推到 276mm 后急停）。锚到到位角并驻留，速度清零。
+struct NrtSettleRequest {
+    bool pending = false;
+    std::vector<double> q_rdk;
+};
+
+NrtSettleRequest nrt_settle_request;
+
+void nrt_gate_settle(NrtSendGate& gate, const std::vector<double>& q)
+{
+    gate.last_cmd = q;
+    gate.last_sent = q;
+    gate.prev_target = q;
+    gate.park_target = q;
+    gate.v_filt.assign(q.size(), 0.0);
+    gate.have_sent = true;
+    gate.parked = true;
+    gate.still_ticks = 0;
+}
+
+void request_nrt_settle(const std::vector<double>& q_rdk)
+{
+    nrt_settle_request.q_rdk = q_rdk;
+    nrt_settle_request.pending = true;
+}
+
 void fill_nrt_limits(std::vector<double>& max_vel, std::vector<double>& max_acc,
     double d_from_state, double cmd_speed)
 {
@@ -741,6 +770,29 @@ hardware_interface::return_type FlexivHardwareInterface::read(
     return hardware_interface::return_type::OK;
 }
 
+void FlexivHardwareInterface::hold_current_joint_commands()
+{
+    // 冻结 MoveL 结束瞬间的关节角。之后不许改去跟实时状态，
+    // 否则前瞻把臂推走时，钉住目标会跟着跑。
+    const auto q = robot_->states().q;
+    const size_t ncmd = hw_commands_joint_positions_.size();
+    vendor_movel_hold_q_.assign(ncmd, 0.0);
+    std::vector<double> q_rdk(robot_->info().DoF, 0.0);
+    for (size_t rdk_idx = 0; rdk_idx < robot_->info().DoF && rdk_idx < q.size();
+         ++rdk_idx) {
+        const size_t ros_idx = rdk_to_ros_map_[rdk_idx];
+        q_rdk[rdk_idx] = q[rdk_idx];
+        if (ros_idx < hw_states_joint_positions_.size() && ros_idx < ncmd) {
+            hw_states_joint_positions_[ros_idx] = q[rdk_idx];
+            hw_commands_joint_positions_[ros_idx] = q[rdk_idx];
+            vendor_movel_hold_q_[ros_idx] = q[rdk_idx];
+        }
+    }
+    request_nrt_settle(q_rdk);
+    vendor_movel_hold_commands_ = true;
+    vendor_movel_hold_since_ = std::chrono::steady_clock::now();
+}
+
 void FlexivHardwareInterface::finish_vendor_movel(
     long seq, bool ok, const std::string& detail)
 {
@@ -756,12 +808,62 @@ void FlexivHardwareInterface::finish_vendor_movel(
     }
     vendor_movel_done_seq_ = seq;
     vendor_movel_phase_ = VendorMovelPhase::kIdle;
+    hold_current_joint_commands();
 }
 
 bool FlexivHardwareInterface::poll_vendor_movel()
 {
     // 这一拍正在走 MoveL：只查 reachedTarget，不往关节接口灌点。
     // read() 仍每拍更新状态，时间戳看门狗不会把这段误判成断连。
+    if (vendor_movel_phase_ == VendorMovelPhase::kArming) {
+        // SwitchMode 返回了不等于已经进 primitive。2026-10-16 17:27
+        // 同一拍 ExecutePrimitive 报 "not in an applicable control mode"。
+        const auto now = std::chrono::steady_clock::now();
+        const auto mode = robot_->mode();
+        if (mode == flexiv::rdk::Mode::NRT_PRIMITIVE_EXECUTION) {
+            try {
+                const auto pose = robot_->states().tcp_pose;
+                double z = vendor_movel_z_;
+                if (vendor_movel_keep_z_ != 0) {
+                    z = pose[2];
+                }
+                const auto euler = movel_euler_deg(pose[3], pose[4], pose[5], pose[6]);
+                const flexiv::rdk::Coord target(
+                    std::array<double, 3> {vendor_movel_x_, vendor_movel_y_, z},
+                    euler,
+                    std::array<std::string, 2> {"WORLD", "WORLD_ORIGIN"});
+                robot_->ExecutePrimitive(
+                    "MoveL",
+                    {{"target", target}, {"vel", vendor_movel_vel_}},
+                    true);
+                vendor_movel_phase_ = VendorMovelPhase::kRunning;
+                vendor_movel_deadline_ = now + std::chrono::seconds(90);
+                RCLCPP_INFO(getLogger(),
+                    "厂家 MoveL 已下发 xyz=(%.3f, %.3f, %.3f) keep_z=%d vel=%.3f",
+                    vendor_movel_x_, vendor_movel_y_, z,
+                    vendor_movel_keep_z_, vendor_movel_vel_);
+            } catch (const std::exception& e) {
+                try {
+                    robot_->SwitchMode(rdk_control_mode_);
+                } catch (const std::exception&) {
+                }
+                finish_vendor_movel(vendor_movel_seq_, false, e.what());
+            }
+            return true;
+        }
+        if (now > vendor_movel_arm_until_) {
+            try {
+                robot_->SwitchMode(rdk_control_mode_);
+            } catch (const std::exception&) {
+            }
+            finish_vendor_movel(
+                vendor_movel_seq_, false,
+                "切到 NRT_PRIMITIVE_EXECUTION 超时，当前 mode="
+                    + std::to_string(static_cast<int>(mode)));
+            return true;
+        }
+        return true;
+    }
     if (vendor_movel_phase_ == VendorMovelPhase::kRunning) {
         try {
             if (std::chrono::steady_clock::now() > vendor_movel_deadline_) {
@@ -812,23 +914,22 @@ bool FlexivHardwareInterface::poll_vendor_movel()
         if (keep_z != 0) {
             z = pose[2];
         }
-        const auto euler = movel_euler_deg(pose[3], pose[4], pose[5], pose[6]);
         if (robot_->fault()) {
             robot_->ClearFault(3);
         }
-        robot_->SwitchMode(flexiv::rdk::Mode::NRT_PRIMITIVE_EXECUTION);
-        const flexiv::rdk::Coord target(
-            std::array<double, 3> {x, y, z},
-            euler,
-            std::array<std::string, 2> {"WORLD", "WORLD_ORIGIN"});
-        robot_->ExecutePrimitive(
-            "MoveL", {{"target", target}, {"vel", vel}}, true);
         vendor_movel_seq_ = seq;
-        vendor_movel_phase_ = VendorMovelPhase::kRunning;
-        vendor_movel_deadline_ = std::chrono::steady_clock::now() + std::chrono::seconds(90);
+        vendor_movel_x_ = x;
+        vendor_movel_y_ = y;
+        vendor_movel_z_ = z;
+        vendor_movel_vel_ = vel;
+        vendor_movel_keep_z_ = keep_z;
+        robot_->SwitchMode(flexiv::rdk::Mode::NRT_PRIMITIVE_EXECUTION);
+        vendor_movel_phase_ = VendorMovelPhase::kArming;
+        vendor_movel_arm_until_ = std::chrono::steady_clock::now()
+            + std::chrono::seconds(2);
         RCLCPP_INFO(getLogger(),
-            "厂家 MoveL 已下发 xyz=(%.3f, %.3f, %.3f) keep_z=%d vel=%.3f",
-            x, y, z, keep_z, vel);
+            "厂家 MoveL 切 primitive 中 xyz=(%.3f, %.3f, %.3f) keep_z=%d 当前 mode=%d",
+            x, y, z, keep_z, static_cast<int>(robot_->mode()));
     } catch (const std::exception& e) {
         try {
             robot_->SwitchMode(rdk_control_mode_);
@@ -853,6 +954,41 @@ hardware_interface::return_type FlexivHardwareInterface::write(
 
     std::vector<double> max_vel(robot_->info().DoF, kServoJointVelocity);
     std::vector<double> max_acc(robot_->info().DoF, kServoJointAcceleration);
+    static rclcpp::Clock steady_clock(RCL_STEADY_TIME);
+
+    if (vendor_movel_hold_commands_) {
+        const auto now_hold = std::chrono::steady_clock::now();
+        double d_ext = 0.0;
+        bool cmd_nan = vendor_movel_hold_q_.size()
+            != hw_commands_joint_positions_.size();
+        const size_t n = std::min(
+            hw_commands_joint_positions_.size(), vendor_movel_hold_q_.size());
+        for (size_t i = 0; i < n; ++i) {
+            const double c = hw_commands_joint_positions_[i];
+            if (c != c) {
+                cmd_nan = true;
+                continue;
+            }
+            // 比的是这一拍 JTC 写进来的指令和冻结角，不是我们自己覆盖后的值。
+            d_ext = std::max(d_ext, std::fabs(c - vendor_movel_hold_q_[i]));
+        }
+        const bool min_hold = now_hold
+            >= vendor_movel_hold_since_ + std::chrono::milliseconds(500);
+        // 出发前的悬停和到位角差远大于 0.02 rad。超时放行会把那段再发出去。
+        constexpr double kHoldReleaseRad = 0.020;
+        if (!cmd_nan && min_hold && d_ext < kHoldReleaseRad) {
+            vendor_movel_hold_commands_ = false;
+        } else {
+            for (size_t i = 0; i < n; ++i) {
+                hw_commands_joint_positions_[i] = vendor_movel_hold_q_[i];
+            }
+            if (now_hold > vendor_movel_hold_since_ + std::chrono::seconds(3)) {
+                RCLCPP_WARN_THROTTLE(getLogger(), steady_clock, 2000,
+                    "MoveL 后关节指令离到位角还差 %.3f rad，继续钉住到位角",
+                    d_ext);
+            }
+        }
+    }
 
     bool is_pos_nan = false;
     bool is_vel_nan = false;
@@ -869,8 +1005,6 @@ hardware_interface::return_type FlexivHardwareInterface::write(
         }
     }
 
-    static rclcpp::Clock steady_clock(RCL_STEADY_TIME);
-
     if (position_controller_running_ && !is_pos_nan) {
         if (robot_->mode() != rdk_control_mode_) {
             RCLCPP_WARN_THROTTLE(getLogger(), steady_clock, 2000,
@@ -924,6 +1058,12 @@ hardware_interface::return_type FlexivHardwareInterface::write(
                     std::fabs(target_pos[rdk_idx] - hw_states_joint_positions_[ros_idx]));
             }
             static NrtSendGate nrt_gate;
+            // 钉住期间每拍把速度门闩锚回当前下发角。last_cmd 若还是
+            // MoveL 之前的关节，这一拍的速度就是整段位移。
+            if (vendor_movel_hold_commands_ || nrt_settle_request.pending) {
+                nrt_gate_settle(nrt_gate, target_pos);
+                nrt_settle_request.pending = false;
+            }
             RCLCPP_INFO_THROTTLE(getLogger(), steady_clock, 2000,
                 "HW write running=%d nan=%d mode=%d want=%d op=%d busy=%d d_state=%.4f",
                 static_cast<int>(position_controller_running_), static_cast<int>(is_pos_nan),
@@ -954,8 +1094,10 @@ hardware_interface::return_type FlexivHardwareInterface::write(
                     }
                     constexpr double kLookahead = 0.14;
                     std::vector<double> send_pos = target_pos;
-                    // Near rest: do NOT add lookahead (it sustains micro-oscillation)
-                    const bool near_rest = (cmd_speed < 0.025 && d_from_state < 0.010);
+                    // 钉住到位角时不许前瞻。近静止也不加，否则会自己维持微振。
+                    const bool pin_arrival = vendor_movel_hold_commands_;
+                    const bool near_rest = pin_arrival
+                        || (cmd_speed < 0.025 && d_from_state < 0.010);
                     for (size_t i = 0; i < target_pos.size(); ++i) {
                         if (near_rest) {
                             send_pos[i] = target_pos[i];