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>
2026-10-19 11:30:49 +08:00
parent 8c4dccccb1
commit 7af9e3d4b6
103 changed files with 5594 additions and 2498 deletions
@@ -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,
    ]