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>

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。
 # =============================================================================
 
 """

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(

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()

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]]:

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

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)

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:-}"

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:="${ROBOT_SN}" "$@"