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
@@ -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,
    ]