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