工位操作改成桌面窗口：夹爪位置、力度、速度和旋转角可以调，阶段能分步或整体跑，并能软拖拽记点后回到该点。相机预览按窗口一次铺满，不再跟着每帧慢慢放大。

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

scripts/rdk_drag_bridge.py

@@ -33,6 +33,7 @@ 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``。
@@ -169,6 +170,69 @@ 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()
@@ -423,6 +487,65 @@ 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/run_console.sh

@@ -0,0 +1,17 @@
+#!/usr/bin/env bash
+# Orisys 通止规工位桌面程序（窗口，不是网页）。
+#
+#   bash ~/ros2/scripts/run_console.sh
+
+set -eo pipefail
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+# shellcheck disable=SC1091
+source "${ROOT}/scripts/env.sh"
+export PYTHONPATH="${ROOT}/src/arm_application${PYTHONPATH:+:${PYTHONPATH}}"
+if [[ -z "${DISPLAY:-}" && -S /tmp/.X11-unix/X1 ]]; then
+  export DISPLAY=:1
+fi
+if [[ -z "${XAUTHORITY:-}" && -r "/run/user/$(id -u)/gdm/Xauthority" ]]; then
+  export XAUTHORITY="/run/user/$(id -u)/gdm/Xauthority"
+fi
+exec python3 -m arm_application.operator_app

scripts/run_gripper.sh

@@ -12,7 +12,9 @@
 #   bash ~/ros2/scripts/run_gripper.sh --arm 91 --cli open
 #   bash ~/ros2/scripts/run_gripper.sh --arm 91 --cli close
 #   bash ~/ros2/scripts/run_gripper.sh --arm 91 --cli rotate 90
+#   bash ~/ros2/scripts/run_gripper.sh --arm 91 --force 40 --speed 20 --cli rotate_by -15
 #   bash ~/ros2/scripts/run_gripper.sh --arm 91 --cli revolutions 2
+#   --force / --speed 写在 --cli 前面，覆盖 site.yaml 里的力度和速度。
 #   bash ~/ros2/scripts/run_gripper.sh --arm 89          # ROS 节点 PGEA
 #   bash ~/ros2/scripts/run_gripper.sh --arm 91          # ROS 节点 RGI
 #   bash ~/ros2/scripts/run_dual_gripper.sh              # 两个 ROS 节点都起
@@ -21,6 +23,8 @@ set -eo pipefail
 ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
 CLI=()
 DUAL=0
+GRIP_FORCE=""
+GRIP_SPEED=""
 
 # shellcheck disable=SC1091
 source "${ROOT}/scripts/lib/parse_arm_args.sh"
@@ -29,6 +33,8 @@ set -- "${PARSE_ARM_REST[@]}"
 
 while [[ $# -gt 0 ]]; do
   case "$1" in
+    --force) GRIP_FORCE="${2:?}"; shift 2 ;;
+    --speed) GRIP_SPEED="${2:?}"; shift 2 ;;
     --cli) shift; CLI=("$@"); break ;;
     --dual) DUAL=1; shift ;;
     -h|--help) sed -n '2,24p' "$0"; exit 0 ;;
@@ -70,11 +76,17 @@ if [[ ${#CLI[@]} -gt 0 ]]; then
         ARGS=(--arm right --test rotate)
         if [[ -n "${REST[0]:-}" ]]; then ARGS+=(--angle "${REST[0]}"); fi
         ;;
+      rotate_by)
+        ARGS=(--arm right --test rotate_by)
+        if [[ -n "${REST[0]:-}" ]]; then ARGS+=(--angle "${REST[0]}"); fi
+        ;;
       revolutions)
         ARGS=(--arm right --test rotate)
         if [[ -n "${REST[0]:-}" ]]; then ARGS+=(--revolutions "${REST[0]}"); fi
         ;;
     esac
+    if [[ -n "${GRIP_FORCE}" ]]; then ARGS+=(--force "${GRIP_FORCE}"); fi
+    if [[ -n "${GRIP_SPEED}" ]]; then ARGS+=(--speed "${GRIP_SPEED}"); fi
     echo "=== DH RGI  SN=${SITE_GRIP_SN:-?}  ${SITE_GRIP_PORT}  arm=${SITE_ROBOT_SHORT_ID:-?} ==="
     exec python3 -m arm_application.dual_gripper_cli "${ARGS[@]}"
   fi
@@ -84,7 +96,7 @@ if [[ ${#CLI[@]} -gt 0 ]]; then
   echo "=== DH ${MODEL}  SN=${SITE_GRIP_SN:-?}  ${PORT} @${BAUD} slave=${SLAVE} ==="
   exec python3 "${ROOT}/src/arm_application/arm_application/dh_pgea.py" \
     --port "${PORT}" --baud "${BAUD}" --slave "${SLAVE}" \
-    --force "${SITE_GRIP_FORCE:-50}" --speed "${SITE_GRIP_SPEED:-50}" \
+    --force "${GRIP_FORCE:-${SITE_GRIP_FORCE:-50}}" --speed "${GRIP_SPEED:-${SITE_GRIP_SPEED:-50}}" \
     --rts "${SITE_GRIP_RS485_RTS:-}" \
     "${CLI[@]}"
 fi

src/arm_application/arm_application/handeye_teach.py

@@ -220,6 +220,13 @@ class RdkBridge:
                 return self._last_q
         return self._last_q
 
+    def move_joints(self, joints: List[float], speed: float = 0.15) -> dict:
+        """按关节阻抗把臂缓慢送到已记录的 7 个关节角。speed 单位 rad/s。"""
+        return self._ask(
+            {'cmd': 'move_joints', 'q': [float(v) for v in joints[:7]], 'speed': float(speed)},
+            timeout=180.0,
+        )
+
     def close(self) -> None:
         try:
             self._ask({'cmd': 'quit'}, timeout=3.0)

src/arm_application/arm_application/operator_camera_view.py

@@ -0,0 +1,226 @@
+"""工位程序里的相机预览。
+
+只订彩色和已对齐深度，不订左右红外。画面留在本进程，不另开查看器窗口。
+"""
+
+from __future__ import annotations
+
+import subprocess
+import threading
+import time
+
+import numpy as np
+
+_LOCK = threading.Lock()
+_STOP = threading.Event()
+_THREAD: threading.Thread | None = None
+_JPEG: dict[str, bytes] = {}
+_STATE = {"on": False, "error": "", "frames": {}, "stamp": 0.0}
+
+
+def targets() -> list[dict]:
+    """真机腕部相机和手外相机。仿真相机不进预览。"""
+    from arm_application.operator_console import _arms, _site
+    from arm_application.site_io import overhead_camera
+
+    found: list[dict] = []
+    seen: set[str] = set()
+    for arm in _arms():
+        name = str(arm.get("camera") or "").strip().strip("/")
+        if not name or name.startswith("sim") or name in seen:
+            continue
+        seen.add(name)
+        found.append({"id": name, "label": f"{arm.get('label') or name} 腕部"})
+    cam, _others = overhead_camera(_site(), None)
+    name = str((cam or {}).get("name") or "").strip().strip("/")
+    if name and not name.startswith("sim") and name not in seen:
+        found.append({"id": name, "label": str((cam or {}).get("label") or "手外相机")})
+    return found
+
+
+def state() -> dict:
+    with _LOCK:
+        return {
+            "on": _STATE["on"],
+            "error": _STATE["error"],
+            "stamp": _STATE["stamp"],
+            "frames": dict(_STATE["frames"]),
+        }
+
+
+def frame(name: str, kind: str) -> bytes | None:
+    with _LOCK:
+        return _JPEG.get(f"{name}_{kind}")
+
+
+def _close_external_viewers() -> None:
+    """关掉独立的四窗格查看器。它会把左右红外挂出来，本程序不再用它。"""
+    subprocess.run(["pkill", "-f", "lib/arm_application/realsense_view"], check=False)
+    subprocess.run(["pkill", "-f", "arm_application.realsense_view"], check=False)
+
+
+def _jpeg(img: np.ndarray) -> bytes | None:
+    import cv2
+
+    if img.size == 0:
+        return None
+    view = img
+    if view.shape[1] > 640:
+        scale = 640.0 / float(view.shape[1])
+        view = cv2.resize(view, (640, max(1, int(view.shape[0] * scale))))
+    ok, buf = cv2.imencode(".jpg", view, [int(cv2.IMWRITE_JPEG_QUALITY), 70])
+    if not ok:
+        return None
+    return buf.tobytes()
+
+
+def _depth_bgr(depth: np.ndarray) -> np.ndarray:
+    import cv2
+
+    vis = np.zeros((depth.shape[0], depth.shape[1], 3), np.uint8)
+    valid = depth > 0
+    if not bool(valid.any()):
+        return vis
+    values = depth.astype(np.float32)
+    lo, hi = np.percentile(values[valid], [5, 95])
+    hi = max(float(hi), float(lo) + 1.0)
+    gray = (np.clip((values - lo) / (hi - lo), 0.0, 1.0) * 255.0).astype(np.uint8)
+    gray[~valid] = 0
+    colored = cv2.applyColorMap(gray, cv2.COLORMAP_JET)
+    colored[~valid] = 0
+    return colored
+
+
+def _color_array(msg) -> np.ndarray | None:
+    if msg.encoding not in ("bgr8", "rgb8") or msg.height <= 0 or msg.width <= 0:
+        return None
+    arr = np.frombuffer(bytes(msg.data), dtype=np.uint8)
+    need = int(msg.height) * int(msg.width) * 3
+    if arr.size < need:
+        return None
+    arr = arr[:need].reshape(int(msg.height), int(msg.width), 3)
+    if msg.encoding == "rgb8":
+        arr = arr[:, :, ::-1]
+    return np.ascontiguousarray(arr)
+
+
+def _depth_array(msg) -> np.ndarray | None:
+    if msg.encoding not in ("16UC1", "mono16") or msg.height <= 0 or msg.width <= 0:
+        return None
+    arr = np.frombuffer(bytes(msg.data), dtype=np.uint16)
+    need = int(msg.height) * int(msg.width)
+    if arr.size < need:
+        return None
+    return np.ascontiguousarray(arr[:need].reshape(int(msg.height), int(msg.width)))
+
+
+def _loop(cams: list[dict]) -> None:
+    import rclpy
+    from rclpy.node import Node
+    from rclpy.qos import qos_profile_sensor_data
+    from sensor_msgs.msg import Image
+
+    latest: dict[str, np.ndarray] = {}
+    lock = threading.Lock()
+
+    class _Node(Node):
+        def __init__(self) -> None:
+            super().__init__("operator_camera_view")
+            for cam in cams:
+                name = cam["id"]
+                self.create_subscription(
+                    Image,
+                    f"/{name}/color/image_raw",
+                    self._color(name),
+                    qos_profile_sensor_data,
+                )
+                self.create_subscription(
+                    Image,
+                    f"/{name}/aligned_depth_to_color/image_raw",
+                    self._depth(name),
+                    qos_profile_sensor_data,
+                )
+
+        def _color(self, name: str):
+            def _cb(msg: Image) -> None:
+                arr = _color_array(msg)
+                if arr is None:
+                    return
+                with lock:
+                    latest[f"{name}_color"] = arr
+            return _cb
+
+        def _depth(self, name: str):
+            def _cb(msg: Image) -> None:
+                arr = _depth_array(msg)
+                if arr is None:
+                    return
+                with lock:
+                    latest[f"{name}_depth"] = arr
+            return _cb
+
+    rclpy.init()
+    node = _Node()
+    next_encode = 0.0
+    try:
+        while not _STOP.is_set():
+            rclpy.spin_once(node, timeout_sec=0.05)
+            now = time.monotonic()
+            if now < next_encode:
+                continue
+            next_encode = now + 0.12
+            with lock:
+                snap = dict(latest)
+                latest.clear()
+            frames = {}
+            blobs = {}
+            for key, arr in snap.items():
+                name, _, kind = key.rpartition("_")
+                img = _depth_bgr(arr) if kind == "depth" else arr
+                blob = _jpeg(img)
+                if not blob:
+                    continue
+                blobs[key] = blob
+                frames[key] = True
+            if blobs:
+                with _LOCK:
+                    _JPEG.update(blobs)
+                    _STATE["frames"].update(frames)
+                    _STATE["stamp"] = time.time()
+                    _STATE["error"] = ""
+    except Exception as exc:
+        with _LOCK:
+            _STATE["error"] = str(exc)
+    finally:
+        node.destroy_node()
+        if rclpy.ok():
+            rclpy.shutdown()
+        with _LOCK:
+            _STATE["on"] = False
+
+
+def start() -> str:
+    global _THREAD
+    cams = targets()
+    if not cams:
+        with _LOCK:
+            _STATE["error"] = "site 里没有可预览的真机相机"
+        return _STATE["error"]
+    _close_external_viewers()
+    with _LOCK:
+        if _STATE["on"]:
+            return "相机预览已经在程序里"
+        _STATE["on"] = True
+        _STATE["error"] = ""
+    _STOP.clear()
+    _THREAD = threading.Thread(target=_loop, args=(cams,), daemon=True, name="cam-view")
+    _THREAD.start()
+    names = "、".join(cam["label"] for cam in cams)
+    return f"预览订了 {names} 的彩色和深度，不含左右红外。"
+
+
+def stop() -> None:
+    _STOP.set()
+    thread = _THREAD
+    if thread is not None:
+        thread.join(timeout=1.5)

src/arm_application/arm_application/operator_console.html

@@ -0,0 +1,858 @@
+<!DOCTYPE html>
+<html lang="zh-CN">
+<head>
+<meta charset="utf-8" />
+<meta name="viewport" content="width=device-width, initial-scale=1" />
+<title>ORISYS 通止规工位</title>
+<style>
+  :root {
+    --bg: #070708;
+    --panel: #101216;
+    --panel-2: #171a20;
+    --line: #2a2e36;
+    --text: #f3f4f6;
+    --muted: #8b929d;
+    --blue: #12315d;
+    --blue-2: #1c4f98;
+    --ok: #3f9d6e;
+    --warn: #c8963e;
+    --bad: #c45c5c;
+  }
+  * { box-sizing: border-box; }
+  html, body { margin: 0; height: 100%; background: var(--bg); color: var(--text); }
+  body {
+    font-family: "Noto Sans SC", "Source Han Sans SC", "PingFang SC", "Segoe UI", sans-serif;
+    display: grid;
+    grid-template-columns: 220px 1fr;
+    grid-template-rows: 72px 1fr;
+    height: 100vh;
+    overflow: hidden;
+  }
+  header {
+    grid-column: 1 / -1;
+    display: flex;
+    align-items: center;
+    gap: 16px;
+    padding: 0 18px;
+    border-bottom: 1px solid var(--line);
+    background: #0b0c0e;
+  }
+  header img { height: 46px; width: auto; }
+  header .name { display: flex; flex-direction: column; gap: 2px; }
+  header .name b { font-size: 15px; font-weight: 560; letter-spacing: 0.08em; }
+  header .name span { color: var(--muted); font-size: 12px; }
+  header .grow { flex: 1; }
+  .chips { display: flex; gap: 6px; flex-wrap: wrap; }
+  .arms { display: flex; gap: 6px; }
+  .arms button, .btn {
+    border-radius: 8px;
+    border: 1px solid var(--line);
+    background: var(--panel-2);
+    color: var(--text);
+    padding: 8px 12px;
+    cursor: pointer;
+    font-size: 13px;
+  }
+  .arms button.on { background: var(--blue); border-color: #1a4580; }
+  .btn.primary { background: var(--blue-2); border-color: #2a62b0; }
+  .btn.on { background: var(--blue); border-color: #1a4580; }
+  .btn.danger { background: #6e2a2a; border-color: #8a3a3a; }
+  .clock { color: var(--muted); font-variant-numeric: tabular-nums; font-size: 13px; min-width: 72px; text-align: right; }
+  aside {
+    border-right: 1px solid var(--line);
+    background: #0b0c0e;
+    padding: 16px 12px;
+    display: flex;
+    flex-direction: column;
+    gap: 6px;
+  }
+  nav { display: flex; flex-direction: column; gap: 6px; }
+  nav button {
+    display: block;
+    width: 100%;
+    text-align: left;
+    background: transparent;
+    color: var(--text);
+    border: 1px solid transparent;
+    border-radius: 8px;
+    padding: 11px 12px;
+    font-size: 14px;
+    cursor: pointer;
+  }
+  nav button small { display: block; color: var(--muted); font-size: 11px; margin-top: 3px; }
+  nav button.active { background: var(--blue); border-color: #1a4580; }
+  nav button.active small { color: #c5d4ea; }
+  nav button:hover { border-color: var(--line); }
+  .side-note { margin-top: auto; color: var(--muted); font-size: 12px; line-height: 1.55; padding: 0 4px; }
+  main { min-width: 0; min-height: 0; overflow: auto; }
+  section { display: none; height: 100%; padding: 16px 18px; }
+  section.on { display: flex; flex-direction: column; gap: 12px; }
+  h2 { margin: 0; font-size: 18px; font-weight: 560; }
+  .lead { margin: 0; color: var(--muted); font-size: 13px; line-height: 1.55; }
+  .dash {
+    flex: 1;
+    min-height: 0;
+    display: grid;
+    grid-template-columns: 1.35fr 0.95fr;
+    grid-template-rows: minmax(0, 1fr) 168px;
+    gap: 12px;
+  }
+  .devices, .mini-forces { display: grid; gap: 12px; min-height: 0; }
+  .devices { grid-template-columns: 1fr 1fr; grid-template-rows: 1fr 1fr; }
+  .mini-forces { grid-template-rows: 1fr 1fr; }
+  .flow { grid-column: 1 / -1; display: grid; grid-template-columns: 1fr 1fr 1fr; gap: 12px; }
+  .card {
+    background: var(--panel);
+    border: 1px solid var(--line);
+    border-radius: 12px;
+    padding: 14px;
+    min-height: 0;
+  }
+  .card h3 {
+    margin: 0 0 8px;
+    font-size: 12px;
+    color: #9aa3b2;
+    font-weight: 500;
+    letter-spacing: 0.12em;
+  }
+  .stat { font-size: 32px; font-variant-numeric: tabular-nums; letter-spacing: 0.02em; }
+  .sub { color: var(--muted); font-size: 12px; margin-top: 6px; line-height: 1.5; white-space: pre-line; }
+  .pill {
+    display: inline-block;
+    border-radius: 999px;
+    padding: 2px 8px;
+    font-size: 12px;
+    border: 1px solid var(--line);
+    margin-right: 6px;
+  }
+  .pill.ok { color: var(--ok); border-color: #245c40; }
+  .pill.warn { color: var(--warn); border-color: #6d5424; }
+  .pill.bad { color: var(--bad); border-color: #6d3030; }
+  .split { display: grid; grid-template-columns: 1fr 1fr; gap: 12px; flex: 1; min-height: 0; }
+  .split.three { grid-template-columns: 1fr 1fr 1fr; }
+  .instrument { display: flex; flex-direction: column; gap: 10px; height: 100%; }
+  .readout { display: flex; gap: 18px; }
+  .readout div { min-width: 88px; }
+  .readout em { display: block; color: var(--muted); font-style: normal; font-size: 12px; }
+  .readout strong { font-size: 28px; font-weight: 520; font-variant-numeric: tabular-nums; }
+  .meter { display: grid; grid-template-columns: 52px 1fr 72px; align-items: center; gap: 8px; font-size: 12px; color: var(--muted); }
+  .track { height: 8px; background: #1c212b; border-radius: 99px; overflow: hidden; }
+  .track i { display: block; height: 100%; width: 0; background: linear-gradient(90deg, #12315d, #4c86d4); }
+  .finder {
+    flex: 1;
+    min-height: 180px;
+    border: 1px solid #243044;
+    border-radius: 10px;
+    background:
+      linear-gradient(#4c86d4, #4c86d4) left top / 18px 2px no-repeat,
+      linear-gradient(#4c86d4, #4c86d4) left top / 2px 18px no-repeat,
+      linear-gradient(#4c86d4, #4c86d4) right top / 18px 2px no-repeat,
+      linear-gradient(#4c86d4, #4c86d4) right top / 2px 18px no-repeat,
+      linear-gradient(#4c86d4, #4c86d4) left bottom / 18px 2px no-repeat,
+      linear-gradient(#4c86d4, #4c86d4) left bottom / 2px 18px no-repeat,
+      linear-gradient(#4c86d4, #4c86d4) right bottom / 18px 2px no-repeat,
+      linear-gradient(#4c86d4, #4c86d4) right bottom / 2px 18px no-repeat,
+      #0c0e12;
+    display: flex;
+    align-items: flex-end;
+    padding: 14px;
+    color: var(--muted);
+    font-size: 13px;
+  }
+  .rail { display: grid; grid-template-columns: repeat(6, minmax(0, 1fr)); gap: 8px; }
+  .step { background: var(--panel); border: 1px solid var(--line); border-radius: 10px; padding: 12px; min-height: 78px; }
+  .step b { display: block; color: #7f93b5; font-size: 12px; letter-spacing: 0.08em; }
+  .step span { display: block; margin-top: 8px; font-size: 14px; }
+  .ops { display: grid; grid-template-columns: repeat(3, minmax(0, 1fr)); gap: 12px; }
+  .row { display: flex; gap: 8px; flex-wrap: wrap; }
+  .pair { display: grid; grid-template-columns: 1fr 1fr; gap: 8px; }
+  .pair img:not([src]) { visibility: hidden; }
+  .pair img {
+    width: 100%;
+    height: 200px;
+    object-fit: contain;
+    background: #0c0e12;
+    border-radius: 8px;
+    border: 1px solid #243044;
+  }
+  .charts { display: grid; grid-template-columns: 1fr 1fr; gap: 12px; }
+  canvas.chart { width: 100%; height: 210px; background: #0c0e12; border-radius: 8px; display: block; }
+  .legend { display: flex; gap: 14px; font-size: 12px; color: var(--muted); margin-bottom: 6px; }
+  .legend i { display: inline-block; width: 18px; height: 3px; margin-right: 6px; vertical-align: middle; }
+  pre.out {
+    margin: 0;
+    min-height: 140px;
+    max-height: 260px;
+    overflow: auto;
+    background: #0c0e12;
+    border-radius: 8px;
+    padding: 10px;
+    color: #c5d4ea;
+    font-size: 12px;
+    white-space: pre-wrap;
+  }
+  dialog {
+    border: 1px solid var(--line);
+    background: #12141a;
+    color: var(--text);
+    border-radius: 12px;
+    padding: 18px;
+    width: min(480px, calc(100vw - 32px));
+  }
+  dialog::backdrop { background: rgba(0, 0, 0, 0.55); }
+  dialog h3 { margin: 0; }
+  dialog code {
+    display: block;
+    margin: 12px 0;
+    padding: 10px;
+    background: #0b0c0e;
+    border-radius: 8px;
+    color: #c5d4ea;
+    font-size: 12px;
+    white-space: pre-wrap;
+  }
+  .toast {
+    position: fixed; right: 18px; bottom: 18px;
+    background: #151922; border: 1px solid var(--line);
+    border-radius: 10px; padding: 12px 14px; max-width: 420px;
+    display: none;
+  }
+  @media (max-width: 1100px) {
+    body { grid-template-columns: 1fr; grid-template-rows: auto auto 1fr; height: auto; overflow: auto; }
+    header { flex-wrap: wrap; height: auto; padding: 12px; }
+    .dash, .split, .split.three, .ops, .rail, .flow { grid-template-columns: 1fr 1fr; }
+  }
+</style>
+</head>
+<body>
+<header>
+  <img src="/logo.png" alt="ORISYS 叠动科技" />
+  <div class="name">
+    <b>通止规工位</b>
+    <span id="arm-line">左臂 89</span>
+  </div>
+  <div class="grow"></div>
+  <div class="chips" id="chips"></div>
+  <div class="arms" id="arms"></div>
+  <div class="clock" id="clock">--:--:--</div>
+</header>
+<aside>
+  <nav>
+    <button class="active" data-page="overview">总览<small>设备与流程</small></button>
+    <button data-page="tactile">视触觉<small>切向、热成像、曲线</small></button>
+    <button data-page="handeye">手眼<small>眼在手上 / 手外</small></button>
+    <button data-page="camera">相机<small>D405 与 D435</small></button>
+    <button data-page="gripper">夹爪<small>平行爪与旋转爪</small></button>
+    <button data-page="assembly">装配<small>S00 到 S11</small></button>
+    <button data-page="operate">操作<small>启动与确认</small></button>
+  </nav>
+  <div class="side-note">读的是本机 USB、进程和话题。动臂、张合夹爪都要再确认一次。</div>
+</aside>
+<main>
+  <section id="overview" class="on">
+    <div>
+      <h2>现场</h2>
+      <p class="lead" id="arm-lead"></p>
+    </div>
+    <div class="dash">
+      <div class="devices" id="usb-cards"></div>
+      <div class="mini-forces" id="mini-forces"></div>
+      <div class="flow" id="flow"></div>
+    </div>
+  </section>
+
+  <section id="tactile">
+    <div>
+      <h2>视触觉</h2>
+      <p class="lead">切向力是 SDK 的剪切场箭头，热成像是接触散度的伪彩。下面两条曲线是法向、切向 X、切向 Y，同一时间轴。单位是形变读数，不是牛顿。</p>
+    </div>
+    <div class="row">
+      <button class="btn primary" id="view-on" type="button">开始成像</button>
+      <button class="btn" id="view-off" type="button">停止成像</button>
+      <button class="btn" data-act="tactile_up">启动三力节点</button>
+      <button class="btn" data-act="tactile_down">停止触觉节点</button>
+    </div>
+    <p class="sub" id="view-note"></p>
+    <div class="split" id="views"></div>
+    <div class="charts">
+      <div class="card">
+        <h3>左指</h3>
+        <div class="legend"><span><i style="background:#e8e8e8"></i>法向</span><span><i style="background:#4c86d4"></i>切向 X</span><span><i style="background:#d7a15a"></i>切向 Y</span></div>
+        <canvas class="chart" id="chart-left"></canvas>
+      </div>
+      <div class="card">
+        <h3>右指</h3>
+        <div class="legend"><span><i style="background:#e8e8e8"></i>法向</span><span><i style="background:#4c86d4"></i>切向 X</span><span><i style="background:#d7a15a"></i>切向 Y</span></div>
+        <canvas class="chart" id="chart-right"></canvas>
+      </div>
+    </div>
+    <p class="sub" id="tac-note"></p>
+  </section>
+
+  <section id="handeye">
+    <div>
+      <h2>手眼标定</h2>
+      <p class="lead">眼在手上用腕部 D405 和 A5 板，结果是相机到法兰。眼在手外用顶置 D435 和 A4 板，结果是相机到基座。两份文件不能混用。示教和求解会动臂。</p>
+    </div>
+    <div class="row" id="he-modes">
+      <button class="btn on" type="button" data-mode="eye_in_hand">眼在手上</button>
+      <button class="btn" type="button" data-mode="eye_to_hand">眼在手外</button>
+    </div>
+    <div class="card" id="he-card"></div>
+    <div class="row">
+      <button class="btn" data-act="handeye_show">查看配置</button>
+      <button class="btn danger" data-act="handeye_teach">示教采点</button>
+      <button class="btn" data-act="handeye_merge">合并示教点</button>
+      <button class="btn danger" data-act="handeye_calibrate">求解手眼</button>
+    </div>
+    <pre class="out" id="he-out">查看配置后，脚本输出显示在这里。</pre>
+  </section>
+
+  <section id="camera">
+    <div>
+      <h2>相机</h2>
+      <p class="lead">腕部 D405 是 848×480 @ 30，手外 D435 是 1280×720 @ 30。预览开在桌面窗口，这一页只报链路，不造画面。</p>
+    </div>
+    <div class="split three" id="cams"></div>
+    <div class="row">
+      <button class="btn primary" data-act="camera_d405">本臂 D405 预览</button>
+      <button class="btn" data-act="camera_d435">D435 预览</button>
+    </div>
+  </section>
+
+  <section id="gripper">
+    <div>
+      <h2>夹爪</h2>
+      <p class="lead" id="grip-lead"></p>
+    </div>
+    <div class="split" id="grip-body"></div>
+  </section>
+
+  <section id="assembly">
+    <div>
+      <h2>通止规装配</h2>
+      <p class="lead">顺序与状态机一致。干跑只打印计划。真跑会动臂、会拧，而且这台机器上还没跑过完整真机装配。</p>
+    </div>
+    <div class="rail" id="rail"></div>
+    <div class="row">
+      <button class="btn" data-act="gauge_dry">干跑</button>
+      <button class="btn danger" data-act="gauge_run">真跑</button>
+    </div>
+  </section>
+
+  <section id="operate">
+    <div>
+      <h2>操作</h2>
+      <p class="lead" id="op-lead"></p>
+    </div>
+    <div class="ops" id="ops"></div>
+  </section>
+</main>
+
+<dialog id="ask">
+  <h3 id="ask-title">确认</h3>
+  <p class="sub" id="ask-text"></p>
+  <code id="ask-cmd"></code>
+  <div class="row">
+    <button class="btn" id="ask-no">取消</button>
+    <button class="btn primary" id="ask-yes">确认执行</button>
+  </div>
+</dialog>
+<div class="toast" id="toast"></div>
+
+<script>
+const titles = {overview:"总览", tactile:"视触觉", camera:"相机", assembly:"装配", operate:"操作", gripper:"夹爪", handeye:"手眼"};
+const boot = /*BOOT*/null;
+let arm = "89";
+let catalog = (boot && boot.catalog) || {actions:[], stages:[]};
+let status = (boot && boot.status) || null;
+let pending = null;
+let heMode = "eye_in_hand";
+
+function $(id){ return document.getElementById(id); }
+function pill(ok, word, warn){
+  const s = document.createElement("span");
+  s.className = "pill " + (ok ? "ok" : warn ? "warn" : "bad");
+  s.textContent = word;
+  return s;
+}
+function toast(text){
+  const el = $("toast");
+  el.textContent = text;
+  el.style.display = "block";
+  clearTimeout(toast._t);
+  toast._t = setTimeout(() => { el.style.display = "none"; }, 4200);
+}
+async function api(path, body){
+  const res = await fetch(path, body ? {
+    method:"POST", headers:{"Content-Type":"application/json"}, body: JSON.stringify(body)
+  } : undefined);
+  return res.json();
+}
+function cmdOf(action){
+  const spec = catalog.actions.find(a => a.id === action);
+  if (!spec) return action;
+  const args = (spec.args || []).map(a => a.replace("{arm}", arm).replace("{mode}", heMode)).join(" ");
+  return "bash scripts/" + ({
+    real_up:"run_real.sh", camera_d405:"run_camera_d405.sh", camera_d435:"run_camera_d435.sh",
+    tactile_up:"run_tactile.sh", gripper_up:"run_gripper.sh", gripper_probe:"run_gripper.sh",
+    gripper_open:"run_gripper.sh", gripper_close:"run_gripper.sh", gripper_rotate:"run_gripper.sh",
+    pipeline:"run_all.sh", gauge_dry:"run_gauge_assembly.sh", gauge_run:"run_gauge_assembly.sh",
+    handeye_show:"run_handeye.sh", handeye_teach:"run_handeye.sh",
+    handeye_merge:"run_handeye.sh", handeye_calibrate:"run_handeye.sh"
+  }[action] || "scripts") + (args ? " " + args : "");
+}
+async function fire(action, confirm){
+  const data = await api("/api/action", {action, arm, confirm: !!confirm, mode: heMode});
+  toast(data.message || (data.ok ? "已发出" : "失败"));
+  if (String(action).startsWith("handeye") && $("he-out")) {
+    $("he-out").textContent = data.detail || data.message || "";
+  }
+}
+function ask(action){
+  const spec = catalog.actions.find(a => a.id === action);
+  if (action === "gripper_rotate" && arm !== "91"){
+    toast("旋转只对右臂 91");
+    return;
+  }
+  if (spec && spec.moves){
+    pending = action;
+    $("ask-title").textContent = spec.title;
+    $("ask-text").textContent = spec.blurb + " 当前臂 " + arm + "。";
+    $("ask-cmd").textContent = cmdOf(action);
+    $("ask").showModal();
+    return;
+  }
+  fire(action, false);
+}
+function svc(id){ return (status?.services || []).find(s => s.id === id); }
+function meters(card, data){
+  const keys = [["法向", data.fnormal], ["切向 X", data.fshearx], ["切向 Y", data.fsheary]];
+  const peak = Math.max(1, ...keys.map(([,v]) => Math.abs(typeof v === "number" ? v : 0)));
+  keys.forEach(([name, value]) => {
+    const row = document.createElement("div");
+    row.className = "meter";
+    const lab = document.createElement("span");
+    lab.textContent = name;
+    const track = document.createElement("div");
+    track.className = "track";
+    const bar = document.createElement("i");
+    const n = typeof value === "number" ? value : null;
+    bar.style.width = n == null ? "0%" : (Math.abs(n) / peak * 100).toFixed(1) + "%";
+    track.appendChild(bar);
+    const num = document.createElement("span");
+    num.textContent = n == null ? "—" : n.toFixed(1);
+    row.append(lab, track, num);
+    card.appendChild(row);
+  });
+}
+function forceCard(title, data, tall){
+  const card = document.createElement("div");
+  card.className = "card instrument";
+  const h = document.createElement("h3");
+  h.textContent = title;
+  card.appendChild(h);
+  const has = data && (data.connected !== undefined || data.fnormal !== undefined);
+  if (tall) {
+    const row = document.createElement("div");
+    row.className = "readout";
+    [["法向", data.fnormal], ["切向 X", data.fshearx], ["切向 Y", data.fsheary], ["fps", data.fps]].forEach(([k,v]) => {
+      const d = document.createElement("div");
+      const em = document.createElement("em");
+      em.textContent = k;
+      const st = document.createElement("strong");
+      st.textContent = typeof v === "number" ? (k === "fps" ? v.toFixed(1) : v.toFixed(1)) : "—";
+      d.append(em, st);
+      row.appendChild(d);
+    });
+    card.appendChild(row);
+  }
+  meters(card, data || {});
+  const sub = document.createElement("div");
+  sub.className = "sub";
+  sub.textContent = has
+    ? ((data.contact ? "有接触" : "无接触") + (typeof data.fps === "number" ? "  ·  " + data.fps.toFixed(1) + " fps" : "") + (data.connected === false ? "  ·  未连接" : ""))
+    : "话题上还没有这一侧";
+  card.appendChild(sub);
+  return card;
+}
+function renderHeader(){
+  const box = $("arms");
+  box.replaceChildren();
+  (status?.arms || [{id:"89", label:"左臂89"}, {id:"91", label:"右臂91"}]).forEach(a => {
+    const b = document.createElement("button");
+    b.textContent = a.label;
+    b.className = a.id === arm ? "on" : "";
+    b.onclick = () => { arm = a.id; render(); };
+    box.appendChild(b);
+  });
+  const chips = $("chips");
+  chips.replaceChildren();
+  (status?.services || []).forEach(s => {
+    chips.appendChild(pill(s.up, s.label + (s.up ? " 在跑" : " 未开")));
+  });
+  const cur = (status?.arms || []).find(a => a.id === arm);
+  $("arm-line").textContent = cur ? cur.label : ("臂 " + arm);
+  $("arm-lead").textContent = cur
+    ? cur.label + "  ·  " + (cur.sn || "") + "  ·  相机 " + (cur.camera || "—") + "  ·  夹爪 " + (cur.gripper || "—") + (cur.tactile ? "  ·  本臂有视触觉" : "  ·  本臂无视触觉")
+    : "";
+  $("op-lead").textContent = "当前臂 " + arm + "。红色按钮会动设备，先弹出命令再执行。";
+  $("grip-lead").textContent = arm === "91"
+    ? "右臂 91 是旋转爪 RGI。张开、闭合、转动都要确认。探测只读状态。"
+    : "左臂 89 是平行爪 PGEA，串口以现场为准。张开和闭合要确认。探测只读状态。";
+}
+function renderUsb(){
+  const box = $("usb-cards");
+  box.replaceChildren();
+  const ports = status?.grippers || [];
+  const rows = [...(status?.usb || []), {id:"tty", label:"夹爪串口", expect:1, items: ports.map(p => ({port:p, speed:""}))}];
+  rows.forEach(dev => {
+    const card = document.createElement("div");
+    card.className = "card";
+    const h = document.createElement("h3");
+    h.textContent = dev.label;
+    const n = document.createElement("div");
+    n.className = "stat";
+    n.textContent = dev.id === "tty" ? String(dev.items.length) : (dev.items.length + " / " + dev.expect);
+    const sub = document.createElement("div");
+    sub.className = "sub";
+    sub.textContent = dev.items.length
+      ? dev.items.map(i => i.speed ? (i.port + "  ·  " + i.speed + " Mbps") : i.port).join("\n")
+      : "未检测到";
+    const ok = dev.id === "tty" ? dev.items.length > 0 : dev.items.length >= dev.expect;
+    const partial = !ok && dev.items.length > 0;
+    card.append(h, n, pill(ok, ok ? "齐" : partial ? "缺一" : "缺失", partial), sub);
+    box.appendChild(card);
+  });
+}
+function renderMini(){
+  const box = $("mini-forces");
+  const t = status?.tactile || {};
+  box.replaceChildren(forceCard("左指", t.left, false), forceCard("右指", t.right, false));
+}
+function renderFlow(){
+  const box = $("flow");
+  box.replaceChildren();
+  const pipe = svc("pipeline");
+  [["跟踪", "D405 看住工件，锁住悬停"], ["对孔", "拍照找孔，移到孔上方"], ["搜孔轻压", "力闭环入孔，再轻压"]].forEach(([name, desc]) => {
+    const card = document.createElement("div");
+    card.className = "card";
+    const h = document.createElement("h3");
+    h.textContent = name;
+    const sub = document.createElement("div");
+    sub.className = "sub";
+    sub.textContent = desc + (pipe && pipe.up ? "\n进程在跑，具体阶段看终端日志。" : "\n流程未启动。");
+    card.append(h, pill(false, pipe && pipe.up ? "进行中" : "待命", pipe && pipe.up), sub);
+    box.appendChild(card);
+  });
+}
+function renderFingers(){
+  const t = status?.tactile || {};
+  const node = svc("tactile");
+  const live = ["left", "right"].some(side => (t[side] || {}).fnormal !== undefined);
+  const note = $("tac-note");
+  if (note) note.textContent = node && !node.up && live && !status?.view?.on
+    ? "正式触觉节点没开。曲线若在走，是话题上另一个发布者。"
+    : "";
+}
+function camCard(title, desc, dev){
+  const card = document.createElement("div");
+  card.className = "card instrument";
+  const h = document.createElement("h3");
+  h.textContent = title;
+  const frame = document.createElement("div");
+  frame.className = "finder";
+  frame.textContent = dev && dev.items.length ? "链路在线  ·  预览用下面的按钮挂到桌面" : "未插入";
+  const sub = document.createElement("div");
+  sub.className = "sub";
+  const where = (dev?.items || []).map(i => i.port + "  ·  " + i.speed + " Mbps").join("\n");
+  sub.textContent = desc + (where ? "\n" + where : "");
+  card.append(h, frame, pill(!!(dev && dev.items.length), dev && dev.items.length ? dev.items.length + " 台" : "缺失"), sub);
+  return card;
+}
+function renderCams(){
+  const usb = Object.fromEntries((status?.usb || []).map(d => [d.id, d]));
+  const d405 = usb.d405 || {items:[]};
+  const d435 = usb.d435 || {items:[]};
+  const other = d405.items.length >= 2 ? {items: d405.items.slice(1)} : {items: []};
+  $("cams").replaceChildren(
+    camCard(arm === "91" ? "右腕 D405" : "左腕 D405", "848×480 @ 30  ·  彩色 + 深度", {items: d405.items.slice(0, 1)}),
+    camCard("另一只腕部", "现场期望两台。缺的那台插上后这里会亮。", other),
+    camCard("手外 D435", "1280×720 @ 30  ·  顶视", d435),
+  );
+}
+function renderGripper(){
+  const ports = status?.grippers || [];
+  const up = svc("gripper");
+  const box = $("grip-body");
+  box.replaceChildren();
+  [
+    ["89", "左臂平行爪", "PGEA-100-20-W", ["gripper_probe", "gripper_up", "gripper_open", "gripper_close"]],
+    ["91", "右臂旋转爪", "RGI-100-30-O-S-M1", ["gripper_probe", "gripper_up", "gripper_open", "gripper_close", "gripper_rotate"]],
+  ].forEach(([id, title, model, acts]) => {
+    const card = document.createElement("div");
+    card.className = "card";
+    const h = document.createElement("h3");
+    h.textContent = title;
+    const sub = document.createElement("div");
+    sub.className = "sub";
+    sub.textContent = model + "\n串口 " + (ports.join("  ") || "没有 ttyUSB") + (up && up.up ? "\n驱动在跑" : "\n驱动未开");
+    card.append(h, pill(id === arm, id === arm ? "当前臂" : "切换顶栏", id !== arm), sub);
+    const row = document.createElement("div");
+    row.className = "row";
+    acts.forEach(act => {
+      const spec = catalog.actions.find(a => a.id === act);
+      const b = document.createElement("button");
+      b.className = "btn " + (spec && spec.moves ? "danger" : "primary");
+      b.textContent = spec ? spec.title : act;
+      b.onclick = () => { if (arm !== id) arm = id; ask(act); render(); };
+      row.appendChild(b);
+    });
+    card.appendChild(row);
+    box.appendChild(card);
+  });
+}
+function renderRail(){
+  const box = $("rail");
+  if (box.childElementCount) return;
+  catalog.stages.forEach(([id, name]) => {
+    const d = document.createElement("div");
+    d.className = "step";
+    const b = document.createElement("b");
+    b.textContent = id;
+    const s = document.createElement("span");
+    s.textContent = name;
+    d.append(b, s);
+    box.appendChild(d);
+  });
+}
+function renderOps(){
+  const box = $("ops");
+  box.replaceChildren();
+  const skip = new Set(["gripper_open", "gripper_close", "gripper_rotate", "gripper_probe", "handeye_show", "handeye_teach", "handeye_merge", "handeye_calibrate"]);
+  catalog.actions.filter(spec => !skip.has(spec.id)).forEach(spec => {
+    const card = document.createElement("div");
+    card.className = "card";
+    const h = document.createElement("h3");
+    h.textContent = spec.title;
+    const sub = document.createElement("div");
+    sub.className = "sub";
+    sub.textContent = spec.blurb;
+    const b = document.createElement("button");
+    b.className = "btn " + (spec.moves ? "danger" : "primary");
+    b.textContent = spec.moves ? "确认后执行" : "执行";
+    b.style.marginTop = "10px";
+    b.onclick = () => ask(spec.id);
+    card.append(h, sub, b);
+    box.appendChild(card);
+  });
+  const stop = document.createElement("div");
+  stop.className = "card";
+  const h = document.createElement("h3");
+  h.textContent = "停止视触觉";
+  const sub = document.createElement("div");
+  sub.className = "sub";
+  sub.textContent = "关掉触觉节点和占着相机的 worker。";
+  const b = document.createElement("button");
+  b.className = "btn";
+  b.textContent = "停止";
+  b.style.marginTop = "10px";
+  b.onclick = () => ask("tactile_down");
+  stop.append(h, sub, b);
+  box.appendChild(stop);
+}
+function shot(side, kind, title){
+  const wrap = document.createElement("div");
+  const h = document.createElement("div");
+  h.className = "sub";
+  h.textContent = title;
+  const img = document.createElement("img");
+  img.alt = "";
+  img.dataset.side = side;
+  img.dataset.kind = kind;
+  const ready = status?.view?.frames?.[side + "_" + kind];
+  if (status?.view?.on && ready) {
+    img.src = "/api/tactile/frame/" + side + "/" + kind + ".jpg?t=" + Math.floor((status.view.stamp || 0) * 5);
+  }
+  wrap.append(h, img);
+  return wrap;
+}
+function renderViews(){
+  const box = $("views");
+  if (!box.childElementCount) {
+    [["left", "左指"], ["right", "右指"]].forEach(([side, name]) => {
+      const card = document.createElement("div");
+      card.className = "card";
+      const h = document.createElement("h3");
+      h.textContent = name;
+      const pair = document.createElement("div");
+      pair.className = "pair";
+      pair.append(shot(side, "shear", "切向力"), shot(side, "thermal", "热成像"));
+      card.append(h, pair);
+      box.appendChild(card);
+    });
+  }
+  const view = status?.view || {};
+  $("view-note").textContent = view.error || view.note || (view.on ? "成像已开，等第一帧。" : "成像没开。点开始成像后这里出切向力和热成像。");
+}
+function drawChart(canvas, samples){
+  if (!canvas) return;
+  const dpr = window.devicePixelRatio || 1;
+  const w = canvas.clientWidth || 360;
+  const h = canvas.clientHeight || 210;
+  canvas.width = Math.floor(w * dpr);
+  canvas.height = Math.floor(h * dpr);
+  const ctx = canvas.getContext("2d");
+  ctx.setTransform(dpr, 0, 0, dpr, 0, 0);
+  ctx.clearRect(0, 0, w, h);
+  ctx.fillStyle = "#0c0e12";
+  ctx.fillRect(0, 0, w, h);
+  const rows = (samples || []).filter(p => ["fnormal", "fshearx", "fsheary"].some(k => typeof p[k] === "number"));
+  if (rows.length < 2) {
+    ctx.fillStyle = "#8b929d";
+    ctx.font = "13px sans-serif";
+    ctx.fillText("还没有足够的采样", 16, 28);
+    return;
+  }
+  const keys = [["fnormal", "#e8e8e8"], ["fshearx", "#4c86d4"], ["fsheary", "#d7a15a"]];
+  let lo = Infinity, hi = -Infinity;
+  rows.forEach(p => keys.forEach(([k]) => {
+    if (typeof p[k] === "number") { lo = Math.min(lo, p[k]); hi = Math.max(hi, p[k]); }
+  }));
+  if (!(hi > lo)) { hi = lo + 1; }
+  const pad = (hi - lo) * 0.08;
+  lo -= pad; hi += pad;
+  const t0 = rows[0].t, t1 = rows[rows.length - 1].t;
+  const span = Math.max(t1 - t0, 1e-3);
+  const left = 46, right = 10, top = 12, bottom = 22;
+  ctx.strokeStyle = "#2a2e36";
+  ctx.beginPath();
+  const y0 = top + (hi - 0) / (hi - lo) * (h - top - bottom);
+  if (y0 > top && y0 < h - bottom) {
+    ctx.moveTo(left, y0);
+    ctx.lineTo(w - right, y0);
+    ctx.stroke();
+  }
+  keys.forEach(([k, color]) => {
+    ctx.beginPath();
+    ctx.strokeStyle = color;
+    ctx.lineWidth = 1.6;
+    let started = false;
+    rows.forEach(p => {
+      if (typeof p[k] !== "number") return;
+      const x = left + (p.t - t0) / span * (w - left - right);
+      const y = top + (hi - p[k]) / (hi - lo) * (h - top - bottom);
+      if (!started) { ctx.moveTo(x, y); started = true; }
+      else ctx.lineTo(x, y);
+    });
+    ctx.stroke();
+  });
+  ctx.fillStyle = "#8b929d";
+  ctx.font = "11px sans-serif";
+  ctx.fillText(hi.toFixed(0), 4, top + 10);
+  ctx.fillText(lo.toFixed(0), 4, h - bottom);
+  ctx.fillText((span).toFixed(0) + " 秒", w - 48, h - 6);
+}
+function mm(v){
+  if (!Array.isArray(v) || v.length < 3) return "—";
+  return v.slice(0, 3).map(x => (Number(x) * 1000).toFixed(1) + " mm").join("   ");
+}
+function renderHandeye(){
+  document.querySelectorAll("#he-modes button").forEach(b => b.classList.toggle("on", b.dataset.mode === heMode));
+  const card = (status?.handeye || {})[arm]?.[heMode];
+  const box = $("he-card");
+  if (!box) return;
+  box.replaceChildren();
+  if (!card) {
+    box.textContent = "没有这一臂的标定记录";
+    return;
+  }
+  const h = document.createElement("h3");
+  h.textContent = heMode === "eye_in_hand" ? "眼在手上" : "眼在手外";
+  const sub = document.createElement("div");
+  sub.className = "sub";
+  const board = card.board || {};
+  sub.textContent = [
+    card.exists ? "已有结果" : "还没有结果文件",
+    card.meaning || "",
+    "文件 " + card.file,
+    "视角 " + (card.views || "—") + "    时间 " + (card.utc || "—"),
+    "相机 " + (card.camera || "—") + "    工具 " + (card.tool || "—"),
+    "平移 X / Y / Z   " + mm(card.translation_m),
+    "示教点 " + (card.poses == null ? "没有位姿文件" : card.poses + " 个"),
+    "板 " + (board.cols || "—") + "×" + (board.rows || "—") + "  方格 " + (board.square_m == null ? "—" : board.square_m + " m"),
+  ].filter(Boolean).join("\n");
+  box.append(h, pill(!!card.exists, card.exists ? "有结果" : "无结果"), sub);
+}
+function render(){
+  renderHeader();
+  renderUsb();
+  renderMini();
+  renderFlow();
+  renderFingers();
+  renderViews();
+  drawChart($("chart-left"), status?.history?.left);
+  drawChart($("chart-right"), status?.history?.right);
+  renderCams();
+  renderGripper();
+  renderHandeye();
+  renderRail();
+  renderOps();
+}
+function show(page){
+  if (!titles[page]) page = "overview";
+  document.querySelectorAll("nav button").forEach(b => b.classList.toggle("active", b.dataset.page === page));
+  document.querySelectorAll("main section").forEach(s => s.classList.remove("on"));
+  $(page).classList.add("on");
+  if (location.hash !== "#" + page) history.replaceState(null, "", "#" + page);
+}
+document.querySelectorAll("nav button").forEach(btn => { btn.onclick = () => show(btn.dataset.page); });
+window.addEventListener("hashchange", () => show(location.hash.slice(1)));
+document.body.addEventListener("click", ev => {
+  const act = ev.target.closest("[data-act]");
+  if (act) ask(act.dataset.act);
+});
+document.querySelectorAll("#he-modes button").forEach(btn => {
+  btn.onclick = () => { heMode = btn.dataset.mode; renderHandeye(); };
+});
+$("view-on").onclick = async () => {
+  const data = await api("/api/tactile/view", {on: true});
+  toast(data.message || "已请求");
+};
+$("view-off").onclick = async () => {
+  const data = await api("/api/tactile/view", {on: false});
+  toast(data.message || "已停止");
+};
+setInterval(() => {
+  if (!$("tactile").classList.contains("on") || !status?.view?.on) return;
+  document.querySelectorAll("#views img").forEach(img => {
+    const side = img.dataset.side, kind = img.dataset.kind;
+    if (!status.view.frames?.[side + "_" + kind]) return;
+    img.src = "/api/tactile/frame/" + side + "/" + kind + ".jpg?t=" + Date.now();
+  });
+}, 200);
+$("ask-no").onclick = () => $("ask").close();
+$("ask-yes").onclick = () => { const action = pending; $("ask").close(); if (action) fire(action, true); };
+async function tick(){
+  try { status = await api("/api/status"); render(); }
+  catch (err) { toast("状态刷新失败"); }
+  paintClock();
+}
+function paintClock(){
+  $("clock").textContent = new Date().toLocaleTimeString("zh-CN", {hour12:false});
+}
+async function start(){
+  if (!boot) {
+    catalog = await api("/api/catalog");
+    await tick();
+  } else {
+    render();
+    paintClock();
+  }
+  show(location.hash.slice(1) || "overview");
+  setInterval(tick, 2000);
+}
+start();
+</script>
+</body>
+</html>

src/arm_application/arm_application/operator_console.py

@@ -0,0 +1,725 @@
+#!/usr/bin/env python3
+"""Orisys 工位界面。
+
+只做两件事：把本机真实状态摊开，以及按白名单启动仓库里已有的脚本。
+会动臂的动作必须带 ``confirm=true``，避免页面上误点一下就上电。
+
+    bash ~/ros2/scripts/run_console.sh
+"""
+
+from __future__ import annotations
+
+import json
+import os
+import re
+import subprocess
+import threading
+import time
+from collections import deque
+from http.server import BaseHTTPRequestHandler, ThreadingHTTPServer
+from pathlib import Path
+from urllib.parse import urlparse
+
+import yaml
+
+from arm_application import operator_tactile_view as tactile_view
+from arm_application.site_io import eye_to_hand_result_name, overhead_camera
+
+HOST = "127.0.0.1"
+PORT = 8766
+_ROOT = Path(__file__).resolve()
+for _p in _ROOT.parents:
+    if (_p / "scripts" / "run_real.sh").is_file():
+        ROOT = _p
+        break
+else:
+    ROOT = Path.home() / "ros2"
+
+LOG_DIR = Path("/tmp/orisys_console")
+ASSETS = Path(__file__).resolve().parent
+_LOCK = threading.Lock()
+_TACTILE = {"left": {}, "right": {}, "stamp": 0.0}
+_HIST = {"left": deque(maxlen=360), "right": deque(maxlen=360)}
+_PROCS: dict[str, int] = {}
+
+
+def _push_force(side: str, sample: dict) -> None:
+    if side not in _HIST:
+        return
+    point = {
+        "t": float(sample.get("t") or time.time()),
+        "fnormal": sample.get("fnormal"),
+        "fshearx": sample.get("fshearx"),
+        "fsheary": sample.get("fsheary"),
+    }
+    if not any(isinstance(point[k], (int, float)) for k in ("fnormal", "fshearx", "fsheary")):
+        return
+    with _LOCK:
+        _HIST[side].append(point)
+        _TACTILE[side] = {
+            "fnormal": point["fnormal"],
+            "fshearx": point["fshearx"],
+            "fsheary": point["fsheary"],
+            "connected": True,
+        }
+
+
+tactile_view.set_sample_hook(_push_force)
+
+
+def _site() -> dict:
+    path = ROOT / "config" / "site.yaml"
+    if not path.is_file():
+        return {}
+    data = yaml.safe_load(path.read_text()) or {}
+    return data if isinstance(data, dict) else {}
+
+
+def _arms() -> list[dict]:
+    robots = (_site().get("robot") or {}).get("robots") or []
+    out = []
+    for robot in robots:
+        if not isinstance(robot, dict):
+            continue
+        sn = str(robot.get("sn") or "")
+        arm_no = "89" if sn.endswith("063989") else "91" if sn.endswith("063991") else ""
+        if not arm_no:
+            continue
+        out.append({
+            "id": arm_no,
+            "label": str(robot.get("label") or f"臂{arm_no}"),
+            "sn": sn,
+            "tactile": bool(robot.get("tactile")),
+            "camera": str((robot.get("camera") or {}).get("name") or ""),
+            "gripper": str((robot.get("gripper") or {}).get("model") or ""),
+        })
+    return out or [
+        {"id": "89", "label": "左臂89", "sn": "", "tactile": True, "camera": "d405_left", "gripper": ""},
+        {"id": "91", "label": "右臂91", "sn": "", "tactile": False, "camera": "d405_right", "gripper": ""},
+    ]
+
+
+def _usb() -> list[dict]:
+    found = {"d405": [], "d435": [], "orisys": []}
+    want = {
+        ("8086", "0b5b"): "d405",
+        ("8086", "0b07"): "d435",
+        ("1bcf", "2281"): "orisys",
+    }
+    base = Path("/sys/bus/usb/devices")
+    if not base.is_dir():
+        return []
+    for dev in base.iterdir():
+        vid = dev / "idVendor"
+        pid = dev / "idProduct"
+        if not vid.is_file() or not pid.is_file():
+            continue
+        key = want.get((vid.read_text().strip(), pid.read_text().strip()))
+        if not key:
+            continue
+        speed = (dev / "speed").read_text().strip() if (dev / "speed").is_file() else "?"
+        found[key].append({"port": dev.name, "speed": speed})
+    return [
+        {"id": "d405", "label": "腕部 D405", "expect": 2, "items": found["d405"]},
+        {"id": "d435", "label": "手外 D435", "expect": 1, "items": found["d435"]},
+        {"id": "orisys", "label": "视触觉", "expect": 2, "items": found["orisys"]},
+    ]
+
+
+def _listeners(pattern: str) -> bool:
+    try:
+        out = subprocess.run(
+            ["pgrep", "-af", pattern],
+            capture_output=True, text=True, timeout=2,
+        ).stdout
+    except Exception:
+        return False
+    for line in out.splitlines():
+        if "pgrep" in line or "operator_console" in line:
+            continue
+        return True
+    return False
+
+
+def _services() -> list[dict]:
+    rows = [
+        ("real", "控制栈", "ros2_control_node"),
+        ("tactile", "视触觉节点", "lib/arm_application/tactile"),
+        ("camera", "相机", "realsense_color_pub"),
+        ("gripper", "夹爪", "dh_pgea|dual_gripper_driver"),
+        ("pipeline", "三段流程", "assembly_pipeline"),
+        ("gauge", "通止规装配", "gauge_assembly"),
+    ]
+    out = []
+    for sid, label, pattern in rows:
+        if "|" in pattern:
+            up = any(_listeners(part) for part in pattern.split("|"))
+        else:
+            up = _listeners(pattern)
+        out.append({"id": sid, "label": label, "up": up})
+    return out
+
+
+def _grippers() -> list[str]:
+    return sorted(p.name for p in Path("/dev").glob("ttyUSB*"))
+
+
+def _parse_tactile(text: str) -> dict:
+    got: dict[str, object] = {}
+    for line in text.splitlines():
+        if ":" not in line:
+            continue
+        key, _, raw = line.partition(":")
+        key = key.strip()
+        raw = raw.strip()
+        if key in ("fnormal", "fshearx", "fsheary", "fps"):
+            try:
+                got[key] = float(raw)
+            except ValueError:
+                continue
+        elif key in ("connected", "contact"):
+            got[key] = raw.lower() == "true"
+    return got
+
+
+def _poll_tactile() -> None:
+    while True:
+        snap = {}
+        for side in ("left", "right"):
+            try:
+                proc = subprocess.run(
+                    ["timeout", "1.2", "ros2", "topic", "echo", f"/tactile/{side}/status", "--once"],
+                    capture_output=True, text=True, timeout=2.5,
+                )
+                snap[side] = _parse_tactile(proc.stdout) if proc.returncode == 0 else {}
+            except Exception:
+                snap[side] = {}
+        view_on = bool(tactile_view.state().get("on"))
+        with _LOCK:
+            _TACTILE["stamp"] = time.time()
+            if not view_on:
+                _TACTILE["left"] = snap.get("left") or {}
+                _TACTILE["right"] = snap.get("right") or {}
+                now = time.time()
+                for side in ("left", "right"):
+                    row = snap.get(side) or {}
+                    if row:
+                        _HIST[side].append({
+                            "t": now,
+                            "fnormal": row.get("fnormal"),
+                            "fshearx": row.get("fshearx"),
+                            "fsheary": row.get("fsheary"),
+                        })
+        time.sleep(0.35)
+
+
+def _robot(arm: str) -> dict:
+    robots = (_site().get("robot") or {}).get("robots") or []
+    for robot in robots:
+        if not isinstance(robot, dict):
+            continue
+        sn = str(robot.get("sn") or "")
+        short = "89" if sn.endswith("063989") else "91" if sn.endswith("063991") else ""
+        if short == arm:
+            return robot
+    return {}
+
+
+def _comment(text: str, key: str) -> str:
+    match = re.search(rf"^#\s*{re.escape(key)}:\s*(.+)$", text, re.M)
+    return match.group(1).strip() if match else ""
+
+
+def _pose_count(path: Path) -> int | None:
+    if not path.is_file():
+        return None
+    match = re.search(r"num_poses:\s*(\d+)", path.read_text(errors="replace"))
+    return int(match.group(1)) if match else None
+
+
+def _result_card(path: Path, pose_path: Path, board: dict) -> dict:
+    text = path.read_text(errors="replace") if path.is_file() else ""
+    trans = None
+    tool = ""
+    if text:
+        try:
+            data = yaml.safe_load(text) or {}
+        except yaml.YAMLError:
+            data = {}
+        if isinstance(data, dict):
+            raw = data.get("translation_m")
+            if isinstance(raw, list) and len(raw) >= 3:
+                trans = [float(raw[0]), float(raw[1]), float(raw[2])]
+            tool = str(data.get("gripper_tool") or "")
+    meaning = ""
+    for line in text.splitlines():
+        if line.startswith("# T_4x4"):
+            meaning = line[2:].strip()
+            break
+    return {
+        "file": str(path),
+        "exists": path.is_file(),
+        "views": _comment(text, "views"),
+        "utc": _comment(text, "utc"),
+        "board_note": _comment(text, "board"),
+        "camera": _comment(text, "camera_source"),
+        "tool": tool,
+        "meaning": meaning,
+        "translation_m": trans,
+        "poses": _pose_count(pose_path),
+        "pose_file": str(pose_path),
+        "board": {
+            "cols": board.get("cols"),
+            "rows": board.get("rows"),
+            "square_m": board.get("square_size_m"),
+        },
+    }
+
+
+def _handeye(arm: str) -> dict:
+    site = _site()
+    robot = _robot(arm)
+    paths = robot.get("paths") if isinstance(robot.get("paths"), dict) else {}
+    shared = site.get("paths") if isinstance(site.get("paths"), dict) else {}
+    boards = ((site.get("handeye") or {}).get("boards") or {})
+    wrist_file = Path(str(
+        paths.get("handeye_file")
+        or shared.get("handeye_file")
+        or (ROOT / "handeye" / "results" / f"{arm}_eye_in_hand.yaml")
+    ))
+    wrist_pose = Path(str(
+        paths.get("handeye_waypoints")
+        or shared.get("handeye_waypoints")
+        or (ROOT / "handeye" / "poses" / f"{arm}_eye_in_hand.yaml")
+    ))
+    cam, _others = overhead_camera(site, robot or None)
+    cam_name = str((cam or {}).get("name") or "")
+    e2h_name = eye_to_hand_result_name(arm, cam_name)
+    e2h_file = Path(str(
+        paths.get("handeye_file_eye_to_hand")
+        or shared.get("handeye_file_eye_to_hand")
+        or (ROOT / "handeye" / "results" / e2h_name)
+    ))
+    e2h_pose = Path(str(
+        paths.get("handeye_waypoints_eye_to_hand")
+        or shared.get("handeye_waypoints_eye_to_hand")
+        or (ROOT / "handeye" / "poses" / f"{arm}_eye_to_hand.yaml")
+    ))
+    return {
+        "eye_in_hand": _result_card(wrist_file, wrist_pose, boards.get("eye_in_hand") or {}),
+        "eye_to_hand": _result_card(e2h_file, e2h_pose, boards.get("eye_to_hand") or {}),
+    }
+
+
+def status() -> dict:
+    with _LOCK:
+        tactile = {
+            "left": dict(_TACTILE["left"]),
+            "right": dict(_TACTILE["right"]),
+            "stamp": _TACTILE["stamp"],
+        }
+        history = {
+            "left": list(_HIST["left"]),
+            "right": list(_HIST["right"]),
+        }
+    return {
+        "arms": _arms(),
+        "usb": _usb(),
+        "services": _services(),
+        "grippers": _grippers(),
+        "tactile": tactile,
+        "history": history,
+        "view": tactile_view.state(),
+        "handeye": {"89": _handeye("89"), "91": _handeye("91")},
+        "now": time.time(),
+    }
+
+
+# 会动真机的动作必须 confirm。argv 里的 {arm} 只接受 89 或 91。
+_ACTIONS = {
+    "real_up": {
+        "title": "上电控制栈",
+        "script": "run_real.sh",
+        "args": ["--arm", "{arm}"],
+        "moves": True,
+        "blurb": "连接机械臂并拉起 ros2_control。",
+    },
+    "camera_d405": {
+        "title": "本臂腕部相机",
+        "script": "run_camera_d405.sh",
+        "args": ["--arm", "{arm}", "--no-preview"],
+        "moves": False,
+        "blurb": "只拉起本臂腕部相机。彩色和深度显示在程序里，不看左右红外，不另开窗口。",
+    },
+    "camera_d435": {
+        "title": "手外 D435",
+        "script": "run_camera_d435.sh",
+        "args": ["--no-preview"],
+        "moves": False,
+        "blurb": "只拉起顶视 D435。彩色和深度显示在程序里，不另开窗口。",
+    },
+    "tactile_up": {
+        "title": "视触觉三力",
+        "script": "run_tactile.sh",
+        "args": [],
+        "moves": False,
+        "blurb": "发布左右指法向力与两路切向力。",
+    },
+    "gripper_up": {
+        "title": "夹爪节点",
+        "script": "run_gripper.sh",
+        "args": ["--arm", "{arm}"],
+        "moves": False,
+        "blurb": "只拉起夹爪驱动，不主动张合。",
+    },
+    "gripper_probe": {
+        "title": "夹爪探测",
+        "script": "run_gripper.sh",
+        "args": ["--arm", "{arm}", "--cli", "probe"],
+        "moves": False,
+        "blurb": "读夹爪是否在线，不动手指。",
+    },
+    "gripper_open": {
+        "title": "夹爪张开",
+        "script": "run_gripper.sh",
+        "args": ["--arm", "{arm}", "--cli", "open"],
+        "moves": True,
+        "blurb": "张开当前臂夹爪。",
+    },
+    "gripper_close": {
+        "title": "夹爪闭合",
+        "script": "run_gripper.sh",
+        "args": ["--arm", "{arm}", "--cli", "close"],
+        "moves": True,
+        "blurb": "闭合当前臂夹爪。",
+    },
+    "gripper_rotate": {
+        "title": "右爪转 90°",
+        "script": "run_gripper.sh",
+        "args": ["--arm", "{arm}", "--cli", "rotate", "90"],
+        "moves": True,
+        "blurb": "右臂旋转爪转到 90°。左臂平行爪没有这一轴。",
+    },
+    "pipeline": {
+        "title": "整体三段",
+        "script": "run_all.sh",
+        "args": ["--arm", "{arm}"],
+        "moves": True,
+        "blurb": "跟踪、对孔、搜孔轻压一次跑完。会动臂。",
+    },
+    "stage_track": {
+        "title": "只测跟踪",
+        "script": "run_visual_servo_rt.sh",
+        "args": ["--arm", "{arm}", "--control"],
+        "moves": True,
+        "blurb": "只跑视觉跟踪。从当前位姿开始，会动臂。要先有控制栈和相机。",
+    },
+    "stage_locate": {
+        "title": "只测对孔",
+        "script": "run_stage2_locate.sh",
+        "args": ["--arm", "{arm}"],
+        "moves": True,
+        "blurb": "只跑二阶段：朝下、悬停、拍照、对准孔。会动臂。",
+    },
+    "stage_search": {
+        "title": "只测搜孔",
+        "script": "run_stage3_search.sh",
+        "args": ["--arm", "{arm}"],
+        "moves": True,
+        "blurb": "只跑三阶段：触面、搜孔、轻压。会动臂。臂应已停在孔上方。",
+    },
+    "reset_home": {
+        "title": "复位到 home",
+        "script": "go_home.sh",
+        "args": ["--arm", "{arm}", "--pose", "home"],
+        "moves": True,
+        "sync": True,
+        "timeout": 120,
+        "blurb": "先停跟踪，再回到命名位姿 home。要控制栈已经起来。会动臂。",
+    },
+    "gauge_dry": {
+        "title": "装配干跑",
+        "script": "run_gauge_assembly.sh",
+        "args": ["--arm", "{arm}", "--dry-run"],
+        "moves": False,
+        "blurb": "S00 到 S11 只打印计划，不发运动指令。",
+    },
+    "gauge_run": {
+        "title": "装配真跑",
+        "script": "run_gauge_assembly.sh",
+        "args": ["--arm", "{arm}"],
+        "moves": True,
+        "blurb": "通止规状态机。会动臂、会拧。",
+    },
+    "handeye_show": {
+        "title": "查看标定配置",
+        "script": "run_handeye.sh",
+        "args": ["--arm", "{arm}", "show", "--mode", "{mode}"],
+        "moves": False,
+        "sync": True,
+        "blurb": "打印这块板、结果文件和已有点数，不动臂。",
+    },
+    "handeye_teach": {
+        "title": "示教采点",
+        "script": "run_handeye.sh",
+        "args": ["--arm", "{arm}", "teach", "--mode", "{mode}", "--points", "12"],
+        "moves": True,
+        "blurb": "软拖拽示教，目标 12 个姿态。要先停控制栈，会动臂。",
+    },
+    "handeye_merge": {
+        "title": "合并示教点",
+        "script": "run_handeye.sh",
+        "args": ["--arm", "{arm}", "merge", "--mode", "{mode}"],
+        "moves": False,
+        "sync": True,
+        "blurb": "把刚采的点写入该模式的位姿文件，不动臂。",
+    },
+    "handeye_calibrate": {
+        "title": "求解手眼",
+        "script": "run_handeye.sh",
+        "args": ["--arm", "{arm}", "calibrate", "--mode", "{mode}"],
+        "moves": True,
+        "blurb": "按点位走一遍并写结果。需要控制栈和对应相机，会动臂。",
+    },
+}
+
+
+def catalog() -> dict:
+    return {
+        "actions": [
+            {"id": key, **{k: v for k, v in spec.items() if k not in ("script", "sync")}}
+            for key, spec in _ACTIONS.items()
+        ],
+        "stages": [
+            ("S00", "自检"),
+            ("S01", "回零预绕"),
+            ("S02", "夹持确认"),
+            ("S03", "手外粗定位"),
+            ("S04", "视觉跟踪"),
+            ("S05", "精拍"),
+            ("S06", "正悬停"),
+            ("S07", "柔顺接触"),
+            ("S08", "棘轮拧入"),
+            ("S09", "反向拧出"),
+            ("S10", "换孔"),
+            ("S11", "回零结束"),
+        ],
+    }
+
+
+def _stop_tactile() -> str:
+    subprocess.run(["pkill", "-f", "lib/arm_application/tactile"], check=False)
+    subprocess.run(["pkill", "-f", "arm_application/tactile_node.py"], check=False)
+    subprocess.run(["pkill", "orisys_tac_w"], check=False)
+    return "已发送停止视触觉节点"
+
+
+def run_action(action: str, arm: str, confirm: bool, mode: str = "eye_in_hand") -> dict:
+    if action == "tactile_down":
+        tactile_view.stop()
+        return {"ok": True, "message": _stop_tactile()}
+    if action == "tactile_view_on":
+        with _LOCK:
+            _HIST["left"].clear()
+            _HIST["right"].clear()
+        return {"ok": True, "message": tactile_view.start(_site())}
+    if action == "tactile_view_off":
+        return {"ok": True, "message": tactile_view.stop()}
+    spec = _ACTIONS.get(action)
+    if spec is None:
+        return {"ok": False, "message": "没有这个动作"}
+    if arm not in ("89", "91"):
+        return {"ok": False, "message": "臂号只接受 89 或 91"}
+    if mode not in ("eye_in_hand", "eye_to_hand"):
+        return {"ok": False, "message": "手眼模式只接受 eye_in_hand 或 eye_to_hand"}
+    if spec["moves"] and not confirm:
+        return {"ok": False, "message": "这个动作会动真机，需要确认"}
+    script = ROOT / "scripts" / spec["script"]
+    if not script.is_file():
+        return {"ok": False, "message": f"找不到 {script}"}
+    args = [a.replace("{arm}", arm).replace("{mode}", mode) for a in spec["args"]]
+    LOG_DIR.mkdir(parents=True, exist_ok=True)
+    log_path = LOG_DIR / f"{action}_{arm}.log"
+    shown = " ".join(["bash", f"scripts/{spec['script']}", *args])
+    if spec.get("sync"):
+        try:
+            proc = subprocess.run(
+                ["bash", str(script), *args],
+                cwd=str(ROOT),
+                capture_output=True,
+                text=True,
+                timeout=float(spec.get("timeout") or 40),
+            )
+        except subprocess.TimeoutExpired:
+            return {"ok": False, "message": "命令超时还没返回", "detail": shown}
+        detail = ((proc.stdout or "") + (proc.stderr or "")).strip()
+        log_path.write_text(detail)
+        ok = proc.returncode == 0
+        return {
+            "ok": ok,
+            "message": shown if ok else f"退出码 {proc.returncode}",
+            "detail": detail[-4000:],
+            "log": str(log_path),
+        }
+    log_f = log_path.open("ab")
+    proc = subprocess.Popen(
+        ["bash", str(script), *args],
+        cwd=str(ROOT),
+        stdout=log_f,
+        stderr=subprocess.STDOUT,
+        start_new_session=True,
+    )
+    _PROCS[action] = proc.pid
+    return {"ok": True, "message": shown, "pid": proc.pid, "log": str(log_path)}
+
+
+def _bounded(name: str, raw, low: float, high: float) -> float:
+    try:
+        value = float(raw)
+    except (TypeError, ValueError):
+        raise ValueError(f"{name} 不是数字") from None
+    if value != value or value < low or value > high:
+        raise ValueError(f"{name} 只接受 {low:g}–{high:g}")
+    return value
+
+
+def run_gripper_tune(arm: str, kind: str, numbers: dict) -> dict:
+    """按界面上的位置、力度、速度下发夹爪。右臂另有角度、圈数。"""
+    if arm not in ("89", "91"):
+        return {"ok": False, "message": "臂号只接受 89 或 91"}
+    if kind not in ("pos", "rotate", "rotate_by", "revolutions"):
+        return {"ok": False, "message": "没有这种夹爪调节"}
+    if kind != "pos" and arm != "91":
+        return {"ok": False, "message": "左臂平行爪没有旋转轴"}
+    try:
+        if kind == "pos":
+            pos = int(round(_bounded("位置", numbers.get("pos"), 0, 1000)))
+            force = int(round(_bounded("力度", numbers.get("force"), 20, 100)))
+            speed = int(round(_bounded("速度", numbers.get("speed"), 1, 100)))
+            cli = ["pos", str(pos)]
+            summary = f"位置 {pos}（0 合，1000 开）  力度 {force}%  速度 {speed}%"
+        else:
+            force = int(round(_bounded("力矩", numbers.get("torque"), 20, 100)))
+            speed = int(round(_bounded("旋转速度", numbers.get("rot_speed"), 1, 100)))
+            if kind == "rotate":
+                angle = _bounded("绝对角", numbers.get("angle"), -32767, 32767)
+                cli = ["rotate", f"{angle:.3f}"]
+                summary = f"绝对角 {angle:.3f}°  力矩 {force}%  速度 {speed}%"
+            elif kind == "rotate_by":
+                angle = _bounded("相对角", numbers.get("delta"), -32767, 32767)
+                cli = ["rotate_by", f"{angle:.3f}"]
+                summary = f"相对转 {angle:.3f}°  力矩 {force}%  速度 {speed}%"
+            else:
+                turns = _bounded("圈数", numbers.get("revolutions"), -50, 50)
+                cli = ["revolutions", f"{turns:.3f}"]
+                summary = f"转 {turns:.3f} 圈  力矩 {force}%  速度 {speed}%"
+    except ValueError as exc:
+        return {"ok": False, "message": str(exc)}
+    script = ROOT / "scripts" / "run_gripper.sh"
+    argv = [
+        "bash", str(script),
+        "--arm", arm,
+        "--force", str(force),
+        "--speed", str(speed),
+        "--cli", *cli,
+    ]
+    shown = " ".join(argv)
+    try:
+        proc = subprocess.run(argv, cwd=str(ROOT), capture_output=True, text=True, timeout=90)
+    except subprocess.TimeoutExpired:
+        return {"ok": False, "message": "夹爪 90 秒还没到位", "detail": shown}
+    detail = ((proc.stdout or "") + (proc.stderr or "")).strip()
+    ok = proc.returncode == 0
+    return {
+        "ok": ok,
+        "message": summary if ok else f"夹爪退出码 {proc.returncode}",
+        "detail": (summary + "\n" + shown + "\n" + detail)[-4000:],
+    }
+
+
+class Handler(BaseHTTPRequestHandler):
+    def log_message(self, fmt: str, *args) -> None:
+        return
+
+    def _send(self, code: int, body: bytes, content_type: str) -> None:
+        self.send_response(code)
+        self.send_header("Content-Type", content_type)
+        self.send_header("Content-Length", str(len(body)))
+        self.end_headers()
+        self.wfile.write(body)
+
+    def _json(self, code: int, payload: dict) -> None:
+        self._send(code, json.dumps(payload, ensure_ascii=False).encode(), "application/json; charset=utf-8")
+
+    def do_GET(self) -> None:
+        path = urlparse(self.path).path
+        if path in ("/", "/index.html"):
+            page = (ASSETS / "operator_console.html").read_text(encoding="utf-8")
+            payload = json.dumps(
+                {"status": status(), "catalog": catalog()},
+                ensure_ascii=False,
+            ).replace("<", "\\u003c")
+            page = page.replace("/*BOOT*/null", payload, 1)
+            self._send(200, page.encode(), "text/html; charset=utf-8")
+            return
+        if path == "/logo.png":
+            self._send(200, (ASSETS / "operator_console_logo.png").read_bytes(), "image/png")
+            return
+        if path == "/api/status":
+            self._json(200, status())
+            return
+        if path == "/api/catalog":
+            self._json(200, catalog())
+            return
+        parts = path.strip("/").split("/")
+        if len(parts) == 5 and parts[:3] == ["api", "tactile", "frame"] and parts[4].endswith(".jpg"):
+            side, kind = parts[3], parts[4][:-4]
+            blob = tactile_view.frame(side, kind) if side in ("left", "right") and kind in ("shear", "thermal") else None
+            if not blob:
+                self._json(404, {"ok": False, "message": "还没有这一帧"})
+                return
+            self.send_response(200)
+            self.send_header("Content-Type", "image/jpeg")
+            self.send_header("Cache-Control", "no-store")
+            self.send_header("Content-Length", str(len(blob)))
+            self.end_headers()
+            self.wfile.write(blob)
+            return
+        self._json(404, {"ok": False, "message": "没有这个路径"})
+
+    def do_POST(self) -> None:
+        path = urlparse(self.path).path
+        if path not in ("/api/action", "/api/tactile/view"):
+            self._json(404, {"ok": False, "message": "没有这个路径"})
+            return
+        length = int(self.headers.get("Content-Length") or 0)
+        try:
+            body = json.loads(self.rfile.read(length) or b"{}")
+        except json.JSONDecodeError:
+            self._json(400, {"ok": False, "message": "请求不是 JSON"})
+            return
+        if path == "/api/tactile/view":
+            action = "tactile_view_on" if body.get("on") else "tactile_view_off"
+            result = run_action(action, "89", False)
+            self._json(200 if result.get("ok") else 400, result)
+            return
+        result = run_action(
+            str(body.get("action") or ""),
+            str(body.get("arm") or "89"),
+            bool(body.get("confirm")),
+            str(body.get("mode") or "eye_in_hand"),
+        )
+        self._json(200 if result.get("ok") else 400, result)
+
+
+def main() -> None:
+    import atexit
+    atexit.register(tactile_view.stop)
+    threading.Thread(target=_poll_tactile, daemon=True).start()
+    server = ThreadingHTTPServer((HOST, PORT), Handler)
+    print(f"Orisys 工位界面  http://{HOST}:{PORT}", flush=True)
+    server.serve_forever()
+
+
+if __name__ == "__main__":
+    main()

src/arm_application/arm_application/operator_tactile_view.py

@@ -0,0 +1,353 @@
+"""工位界面用的视触觉成像。
+
+切向力是 SDK 的 ``VSHEAR`` 箭头，热成像是 ``DEPTH`` 的 JET 伪彩。
+相机独占，所以只有页面点了「开始成像」才打开，失败把原因交回去，不造图。
+"""
+
+from __future__ import annotations
+
+import os
+import re
+import threading
+import time
+from pathlib import Path
+
+import numpy as np
+
+_LOCK = threading.Lock()
+_STOP = threading.Event()
+_THREADS: list[threading.Thread] = []
+_ON_SAMPLE = None
+_STATE = {
+    "on": False,
+    "error": "",
+    "stamp": 0.0,
+    "note": "",
+    "frames": {},
+}
+_JPEG: dict[str, bytes] = {}
+
+
+def set_sample_hook(fn) -> None:
+    global _ON_SAMPLE
+    _ON_SAMPLE = fn
+
+
+def state() -> dict:
+    with _LOCK:
+        return {
+            "on": _STATE["on"],
+            "error": _STATE["error"],
+            "stamp": _STATE["stamp"],
+            "note": _STATE["note"],
+            "frames": dict(_STATE["frames"]),
+        }
+
+
+def frame(side: str, kind: str) -> bytes | None:
+    with _LOCK:
+        return _JPEG.get(f"{side}_{kind}")
+
+
+def _videos() -> list[str]:
+    found = []
+    by_path = Path("/dev/v4l/by-path")
+    if not by_path.is_dir():
+        return found
+    for link in sorted(by_path.iterdir()):
+        if not link.name.endswith("-video-index0"):
+            continue
+        real = os.path.realpath(link)
+        base = os.path.basename(real)
+        sysdev = os.path.realpath(f"/sys/class/video4linux/{base}/device")
+        dev = ""
+        for part in reversed(sysdev.split("/")):
+            if re.fullmatch(r"\d+-\d+(\.\d+)*", part):
+                dev = part
+                break
+        if not dev:
+            continue
+        vid = Path(f"/sys/bus/usb/devices/{dev}/idVendor")
+        pid = Path(f"/sys/bus/usb/devices/{dev}/idProduct")
+        if (
+            vid.is_file()
+            and pid.is_file()
+            and vid.read_text().strip() == "1bcf"
+            and pid.read_text().strip() == "2281"
+        ):
+            found.append(str(link))
+    return found
+
+
+def _resolve_cfg(site: dict) -> dict:
+    tactile = site.get("tactile") if isinstance(site.get("tactile"), dict) else {}
+    left = str(tactile.get("left_video") or "")
+    right = str(tactile.get("right_video") or "")
+    if not Path(left).exists() or not Path(right).exists():
+        found = _videos()
+        if len(found) >= 2:
+            left, right = found[0], found[1]
+        elif len(found) == 1:
+            left = right = found[0]
+    return {
+        "cfg": str(tactile.get("config_file") or ""),
+        "backend": str(tactile.get("infer_backend") or "cpu"),
+        "cuda": bool(tactile.get("cuda", False)),
+        "isstitch": bool(tactile.get("isstitch", True)),
+        "baseline": float(tactile.get("baseline_seconds") or 1.5),
+        "left": left,
+        "right": right,
+    }
+
+
+def _as_bgr(img):
+    if not isinstance(img, np.ndarray) or img.size == 0:
+        return None
+    import cv2
+
+    if img.ndim == 2:
+        return cv2.cvtColor(img, cv2.COLOR_GRAY2BGR)
+    if img.ndim == 3 and img.shape[2] >= 3:
+        return np.ascontiguousarray(img[:, :, :3])
+    return None
+
+
+def _flat(arr) -> bool:
+    if not isinstance(arr, np.ndarray) or arr.size == 0 or arr.ndim < 2:
+        return True
+    a = arr.reshape(-1, arr.shape[-1]) if arr.ndim == 3 else arr.reshape(-1)
+    finite = np.isfinite(a)
+    if not bool(finite.any()):
+        return True
+    vals = a[finite]
+    return float(np.max(vals) - np.min(vals)) < 1e-6
+
+
+def _thermal(depth):
+    import cv2
+
+    if depth is None:
+        return None
+    a = np.asarray(depth)
+    if a.size == 0:
+        return None
+    if a.ndim == 3 and a.shape[2] == 2:
+        a = np.linalg.norm(a.astype(np.float32), axis=2)
+    if a.ndim != 2:
+        return None
+    finite = np.isfinite(a)
+    if not finite.any():
+        return None
+    vals = a[finite]
+    lo, hi = float(vals.min()), float(vals.max())
+    if hi <= lo:
+        norm = np.zeros(a.shape, np.uint8)
+    else:
+        norm = np.clip((a - lo) / (hi - lo) * 255.0, 0, 255).astype(np.uint8)
+    return cv2.applyColorMap(norm, cv2.COLORMAP_JET)
+
+
+def _views(sensor, gray):
+    import cv2
+    import orisys
+
+    bgr = _as_bgr(gray)
+    h, w = (bgr.shape[0], bgr.shape[1]) if bgr is not None else (450, 420)
+    try:
+        sensor.compute_deformation(decompose=True, check_motion=False)
+    except Exception:
+        pass
+    try:
+        sensor.compute_contact()
+    except Exception:
+        pass
+    try:
+        vshear, vnormal, depth = sensor.read_info(
+            sensor.info.VSHEAR, sensor.info.VNORMAL, sensor.info.DEPTH
+        )
+    except Exception:
+        vshear, vnormal, depth = None, None, None
+    canvas = np.zeros((h, w, 3), np.uint8)
+    shear = canvas
+    if isinstance(vshear, np.ndarray) and vshear.ndim == 3 and vshear.shape[2] >= 2 and vshear.size:
+        field = np.ascontiguousarray(vshear[:, :, :2], dtype=np.float32)
+        if field.shape[0] != h or field.shape[1] != w:
+            field = cv2.resize(field, (w, h))
+        mag = np.linalg.norm(field, axis=2)
+        peak = float(np.percentile(mag, 99)) if mag.size else 0.0
+        arrow_scale = (2.0 * peak / 12.0) if peak > 1e-6 else 1.0
+        try:
+            shear = orisys.util.draw_arrows(
+                canvas,
+                field,
+                threshold=peak * 0.15 if peak > 1e-6 else 1.0,
+                grid_spacing=16,
+                arrow_scale=max(arrow_scale, 1e-6),
+                below_threshold_color=(40, 40, 40),
+            )
+        except Exception:
+            shear = canvas
+    heat = None if _flat(depth) else _thermal(depth)
+    if heat is None:
+        heat = _thermal(vnormal)
+    if not isinstance(heat, np.ndarray) or heat.ndim != 3:
+        heat = np.zeros((h, w, 3), np.uint8)
+    elif heat.shape[0] != h or heat.shape[1] != w:
+        heat = cv2.resize(heat, (w, h))
+    return shear, heat
+
+
+def _jpeg(img) -> bytes | None:
+    import cv2
+
+    if not isinstance(img, np.ndarray) or img.size == 0:
+        return None
+    ok, buf = cv2.imencode(".jpg", img, [int(cv2.IMWRITE_JPEG_QUALITY), 70])
+    if not ok:
+        return None
+    return buf.tobytes()
+
+
+def _store(side: str, shear, heat, sample: dict | None) -> None:
+    frames = {}
+    blobs = {}
+    for kind, img in (("shear", shear), ("thermal", heat)):
+        blob = _jpeg(img)
+        if blob:
+            blobs[f"{side}_{kind}"] = blob
+            frames[f"{side}_{kind}"] = True
+    with _LOCK:
+        _JPEG.update(blobs)
+        _STATE["frames"].update(frames)
+        _STATE["stamp"] = time.time()
+        if _STATE["error"].startswith(side):
+            _STATE["error"] = ""
+    if sample and _ON_SAMPLE is not None:
+        _ON_SAMPLE(side, sample)
+
+
+def _open_sensor(cfg: dict, side: str):
+    import orisys
+
+    return orisys.Sensor(
+        cfg[side],
+        cuda=cfg["cuda"],
+        isstitch=cfg["isstitch"],
+        verbose=False,
+        config_name=cfg["cfg"],
+        backend=cfg["backend"],
+    )
+
+
+def _worker(side: str, cfg: dict) -> None:
+    if not cfg.get(side):
+        with _LOCK:
+            _STATE["error"] = f"{side} 没有视频节点"
+        return
+    sensor = None
+    try:
+        sensor = _open_sensor(cfg, side)
+    except Exception as exc:
+        with _LOCK:
+            prev = _STATE["error"]
+            _STATE["error"] = (prev + "；" if prev else "") + f"{side} 打开失败：{exc}"
+        return
+    buckets = {"n": [], "x": [], "y": []}
+    deadline = time.perf_counter() + float(cfg["baseline"])
+    while time.perf_counter() < deadline and not _STOP.is_set():
+        try:
+            img = sensor.get_img()
+            sensor.compute_deformation(check_motion=False)
+            n, x, y = sensor.read_info(
+                sensor.info.FNORMAL, sensor.info.FSHEARX, sensor.info.FSHEARY
+            )
+            buckets["n"].append(float(n))
+            buckets["x"].append(float(x))
+            buckets["y"].append(float(y))
+        except Exception:
+            pass
+        time.sleep(0.02)
+    base = {
+        "n": float(np.mean(buckets["n"])) if buckets["n"] else 0.0,
+        "x": float(np.mean(buckets["x"])) if buckets["x"] else 0.0,
+        "y": float(np.mean(buckets["y"])) if buckets["y"] else 0.0,
+    }
+    with _LOCK:
+        base_note = "曲线已减去打开后短暂基线，单位仍是形变读数。"
+        if "右指" in str(_STATE["note"]):
+            _STATE["note"] = _STATE["note"] + " " + base_note
+        else:
+            _STATE["note"] = base_note
+    last_sample = 0.0
+    while not _STOP.is_set():
+        try:
+            gray = sensor.get_img()
+        except Exception:
+            gray = None
+        if gray is None:
+            time.sleep(0.05)
+            continue
+        shear, heat = _views(sensor, gray)
+        sample = None
+        now = time.time()
+        if now - last_sample >= 0.1:
+            try:
+                n, x, y = sensor.read_info(
+                    sensor.info.FNORMAL, sensor.info.FSHEARX, sensor.info.FSHEARY
+                )
+                sample = {
+                    "t": now,
+                    "fnormal": float(n) - base["n"],
+                    "fshearx": float(x) - base["x"],
+                    "fsheary": float(y) - base["y"],
+                }
+                last_sample = now
+            except Exception:
+                sample = None
+        _store(side, shear, heat, sample)
+        time.sleep(0.04)
+    try:
+        sensor.disconnect()
+    except Exception:
+        pass
+
+
+def start(site: dict) -> str:
+    global _THREADS
+    with _LOCK:
+        if _STATE["on"]:
+            return "成像已经开着"
+        _STATE["on"] = True
+        _STATE["error"] = ""
+        _STATE["frames"] = {}
+    _STOP.clear()
+    cfg = _resolve_cfg(site)
+    if not cfg["left"] and not cfg["right"]:
+        with _LOCK:
+            _STATE["on"] = False
+            _STATE["error"] = "没有找到 Orisys 相机"
+        return _STATE["error"]
+    sides = ["left"]
+    if cfg.get("right") and cfg.get("right") != cfg.get("left"):
+        sides.append("right")
+    elif not cfg.get("right") or cfg.get("right") == cfg.get("left"):
+        with _LOCK:
+            _STATE["note"] = "只找到一路 Orisys，右指没有画面。插上后重新开始成像。"
+    _THREADS = [
+        threading.Thread(target=_worker, args=(side, cfg), daemon=True, name=f"tac-{side}")
+        for side in sides
+    ]
+    for thread in _THREADS:
+        thread.start()
+    return "正在打开两只视触觉。切向力和热成像出来之前会先采一小段基线。"
+
+
+def stop() -> str:
+    _STOP.set()
+    for thread in list(_THREADS):
+        thread.join(timeout=2.0)
+    with _LOCK:
+        _STATE["on"] = False
+        _STATE["frames"] = {}
+        _JPEG.clear()
+    return "已停止视触觉成像"

src/arm_application/arm_application/operator_teach.py

@@ -0,0 +1,203 @@
+"""软拖拽示教：开拖拽、记下当前关节角、再回到该点。
+
+点位写在 ``handeye/tmp/<臂号>/operator_teach.yaml``。关节角单位是弧度，
+直接存桥接返回的 7 个数，不另做姿态换算。
+
+软拖拽占用 RDK，和 ``run_real.sh`` 不能同时连同一台臂。
+"""
+
+from __future__ import annotations
+
+import threading
+from datetime import datetime, timezone
+from pathlib import Path
+
+import yaml
+
+_LOCK = threading.Lock()
+_BRIDGE = None
+_SN = ""
+
+
+def _file(arm: str) -> Path:
+    from arm_application.operator_console import ROOT
+
+    if arm not in ("89", "91"):
+        raise ValueError("臂号只接受 89 或 91")
+    return ROOT / "handeye" / "tmp" / arm / "operator_teach.yaml"
+
+
+def _bridge_for(sn: str):
+    global _BRIDGE, _SN
+    sn = str(sn or "").strip()
+    if not sn:
+        raise RuntimeError("site.yaml 里这台臂没有序列号，拒绝连接")
+    if _BRIDGE is not None and _SN == sn and _BRIDGE._proc.poll() is None:
+        return _BRIDGE
+    close()
+    from arm_application.handeye_teach import RdkBridge
+
+    _BRIDGE = RdkBridge(sn)
+    _SN = sn
+    return _BRIDGE
+
+
+def close() -> None:
+    global _BRIDGE, _SN
+    bridge = _BRIDGE
+    _BRIDGE = None
+    _SN = ""
+    if bridge is None:
+        return
+    try:
+        bridge.close()
+    except Exception:
+        pass
+
+
+def drag_on(sn: str) -> dict:
+    with _LOCK:
+        try:
+            bridge = _bridge_for(sn)
+            result = bridge.drag_on(mode="soft")
+        except Exception as exc:
+            return {"ok": False, "message": str(exc)}
+    if not result.get("ok"):
+        return {"ok": False, "message": str(result.get("error") or result)}
+    return {
+        "ok": True,
+        "message": "软拖拽已开启。轻推机械臂，再记点。这一步要先停掉控制栈。",
+    }
+
+
+def drag_off(sn: str) -> dict:
+    with _LOCK:
+        try:
+            bridge = _bridge_for(sn)
+            result = bridge.drag_off()
+        except Exception as exc:
+            return {"ok": False, "message": str(exc)}
+    if not result.get("ok"):
+        return {"ok": False, "message": str(result.get("error") or result)}
+    return {"ok": True, "message": "软拖拽已关闭，臂保持当前位置。"}
+
+
+def list_points(arm: str) -> dict:
+    try:
+        path = _file(arm)
+    except ValueError as exc:
+        return {"ok": False, "message": str(exc), "points": []}
+    if not path.is_file():
+        return {"ok": True, "points": [], "file": str(path)}
+    try:
+        data = yaml.safe_load(path.read_text(encoding="utf-8")) or {}
+    except Exception as exc:
+        return {"ok": False, "message": f"示教文件读不了：{exc}", "points": [], "file": str(path)}
+    points = []
+    for row in data.get("points") or []:
+        if not isinstance(row, dict):
+            continue
+        joints = row.get("joints")
+        if not isinstance(joints, list) or len(joints) < 7:
+            continue
+        try:
+            values = [float(v) for v in joints[:7]]
+        except (TypeError, ValueError):
+            continue
+        if any(v != v for v in values):
+            continue
+        points.append({
+            "name": str(row.get("name") or "").strip(),
+            "utc": str(row.get("utc") or ""),
+            "joints": values,
+        })
+    points = [row for row in points if row["name"]]
+    return {"ok": True, "points": points, "file": str(path)}
+
+
+def _write(arm: str, points: list[dict]) -> Path:
+    path = _file(arm)
+    path.parent.mkdir(parents=True, exist_ok=True)
+    path.write_text(
+        yaml.safe_dump({"points": points}, allow_unicode=True, sort_keys=False),
+        encoding="utf-8",
+    )
+    return path
+
+
+def record(sn: str, arm: str, name: str) -> dict:
+    title = str(name or "").strip()
+    if not title or "/" in title or "\\" in title or title in (".", ".."):
+        return {"ok": False, "message": "点名不能为空，也不能带路径"}
+    with _LOCK:
+        try:
+            bridge = _bridge_for(sn)
+            result = bridge._ask({"cmd": "joints"}, timeout=2.0)
+        except Exception as exc:
+            return {"ok": False, "message": str(exc)}
+    if not result.get("ok"):
+        return {"ok": False, "message": str(result.get("error") or "没有读到关节，点位没写下去")}
+    raw = result.get("q") or []
+    if len(raw) < 7:
+        return {"ok": False, "message": "关节数不够 7 个，点位没写下去"}
+    try:
+        values = [round(float(v), 6) for v in raw[:7]]
+    except (TypeError, ValueError):
+        return {"ok": False, "message": "关节角不是数字，点位没写下去"}
+    if any(v != v for v in values):
+        return {"ok": False, "message": "关节角不是有限值，点位没写下去"}
+    listed = list_points(arm)
+    if not listed.get("ok"):
+        return listed
+    points = [row for row in listed["points"] if row["name"] != title]
+    points.append({
+        "name": title,
+        "utc": datetime.now(timezone.utc).strftime("%Y-%m-%dT%H:%M:%SZ"),
+        "joints": values,
+    })
+    path = _write(arm, points)
+    text = "  ".join(f"{v:.4f}" for v in values)
+    return {"ok": True, "message": f"已记录 {title}", "detail": f"{path}\n关节 rad：{text}", "points": points}
+
+
+def delete_point(arm: str, name: str) -> dict:
+    title = str(name or "").strip()
+    listed = list_points(arm)
+    if not listed.get("ok"):
+        return listed
+    kept = [row for row in listed["points"] if row["name"] != title]
+    if len(kept) == len(listed["points"]):
+        return {"ok": False, "message": f"没有名为 {title} 的点"}
+    path = _write(arm, kept)
+    return {"ok": True, "message": f"已删除 {title}", "detail": str(path), "points": kept}
+
+
+def goto(sn: str, arm: str, name: str, speed: float) -> dict:
+    title = str(name or "").strip()
+    listed = list_points(arm)
+    if not listed.get("ok"):
+        return listed
+    hit = next((row for row in listed["points"] if row["name"] == title), None)
+    if hit is None:
+        return {"ok": False, "message": f"没有名为 {title} 的点"}
+    try:
+        speed_f = float(speed)
+    except (TypeError, ValueError):
+        return {"ok": False, "message": "关节速度不是数字"}
+    if not 0.05 <= speed_f <= 0.35:
+        return {"ok": False, "message": "关节速度只接受 0.05–0.35 rad/s"}
+    with _LOCK:
+        try:
+            bridge = _bridge_for(sn)
+            bridge.drag_off()
+            result = bridge.move_joints(hit["joints"], speed_f)
+        except Exception as exc:
+            return {"ok": False, "message": str(exc)}
+    if not result.get("ok"):
+        return {"ok": False, "message": str(result.get("error") or result)}
+    text = "  ".join(f"{float(v):.4f}" for v in hit["joints"])
+    return {
+        "ok": True,
+        "message": f"已回到 {title}",
+        "detail": f"速度 {speed_f:.2f} rad/s\n关节 rad：{text}",
+    }