贴面后不再抬回悬高；MoveL 切回关节后不再把整段位移当前进速度。

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>

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,
     ]

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,
     ]

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]

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]