把当前控制栈收成一份可克隆的源码：腕部看不见时用顶视一次定到基座，二阶段对孔和手外标定跟着进同一份树。

现场 site.yaml、权重和编译产物仍不入库；模板只留占位符。

Co-authored-by: Cursor <cursoragent@cursor.com>

scripts/run_visual_servo_rt.sh

@@ -8,6 +8,11 @@
 # --control 从当前位姿直接开始跟踪（不抬升，也不回 home）。
 # 89/91 手眼与相机各自独立：必须与 run_real.sh 同一 --arm。
 #
+# 跟踪相机由 site.yaml 的 perception.track_camera 决定：
+#   wrist    腕部 D405 主跟踪；画面内无 conf≥wrist_handoff_conf 则 D435 一次性定 K0
+#            —— 需要同时开 run_camera_d405.sh 与 run_camera_d435.sh
+#   overhead 整段只用顶置 D435（实验）—— 另开 run_camera_d435.sh
+#
 # 切换 YOLO 权重：改 site.yaml 里的 paths.yolo_weights
 
 set -eo pipefail
@@ -71,13 +76,37 @@ else
   echo "=== launch perception + servo (observe only, no arm motion) ==="
 fi
 EE="${SITE_EE_FRAME:?SITE_EE_FRAME 为空 —— site.yaml 的 robot.robots[] 里需要该臂的 SN}"
-HANDEYE="${SITE_HANDEYE_FILE:-${ROOT}/src/arm_application/config/handeye_result.yaml}"
-echo "    arm=${SITE_ROBOT_SN} ${SITE_ROBOT_LABEL:-}  handeye=${HANDEYE}"
-echo "    weights=${SITE_YOLO_WEIGHTS}  camera=${SITE_CAM_NAME:-}  control=${CONTROL}"
+TRACK="${SITE_TRACK_CAMERA:-wrist}"
+HANDEYE="${SITE_TRACK_HANDEYE_FILE:-${SITE_HANDEYE_FILE:-}}"
+CAM_FRAME="${SITE_TRACK_CAMERA_FRAME:-${SITE_CAMERA_FRAME:-}}"
+CAM_NAME="${SITE_TRACK_CAM_NAME:-${SITE_CAM_NAME:-}}"
+if [[ -z "${HANDEYE}" ]]; then
+  echo "ERROR: 跟踪用手眼文件为空（SITE_TRACK_HANDEYE_FILE / SITE_HANDEYE_FILE）" >&2
+  exit 2
+fi
+if [[ ! -f "${HANDEYE}" ]]; then
+  echo "ERROR: 跟踪用手眼文件不存在：${HANDEYE}" >&2
+  if [[ "${TRACK}" == "overhead" ]]; then
+    echo "  先：bash ~/ros2/scripts/run_handeye.sh --arm ${SITE_ROBOT_ARM:-89} calibrate --mode eye_to_hand" >&2
+  else
+    echo "  先：bash ~/ros2/scripts/run_handeye.sh --arm ${SITE_ROBOT_ARM:-89} calibrate" >&2
+  fi
+  exit 2
+fi
+echo "    arm=${SITE_ROBOT_SN} ${SITE_ROBOT_LABEL:-}  track=${TRACK}  camera=${CAM_NAME}"
+echo "    handeye=${HANDEYE}  frame=${CAM_FRAME}  control=${CONTROL}"
+if [[ "${TRACK}" == "overhead" ]]; then
+  echo "=== 整段顶视：D435 追踪，D405 不参与一阶段 ==="
+  echo "    相机请开：bash ~/ros2/scripts/run_camera_d435.sh --preview"
+else
+  echo "=== 本脚本不弹预览窗。工件框画在 D405 那个查看器上 ==="
+  echo "    bash ~/ros2/scripts/run_camera_d405.sh --arm ${SITE_ROBOT_ARM:-89} --preview"
+  echo "    bash ~/ros2/scripts/run_camera_d435.sh --preview   # 顶视可开，绿框仍在 D405 窗"
+fi
 LAUNCH_ARGS=(
   enable_control:="${CONTROL}"
   handeye_file:="${HANDEYE}"
   ee_frame:="${EE}"
-  camera_frame:="${SITE_CAMERA_FRAME:-d405_color_optical_frame}"
+  camera_frame:="${CAM_FRAME}"
 )
 exec ros2 launch arm_application visual_servo.launch.py "${LAUNCH_ARGS[@]}"