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>

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

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

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
+arm_kinematics:arm_msgs:control_msgs:geometry_msgs:python3-serial:python3-yaml:rclpy:sensor_msgs:std_msgs:std_srvs:tf2_ros:trajectory_msgs