左臂换成 tool10120938 后，手眼仍按旧 tool1 和 8×11 板求解，顶视迁臂又按短跳 rest-to-rest，真机上要么整体偏一截，要么中途弹射启停。

眼在手上改用该 TCP 做 AX=XB，再折回相机→法兰；A5 内角点改为 11×8，09-04 / 10-09 旧结果留在 backup。一阶段 D435 迁臂改成一条 FollowJointTrajectory（余弦加减速，近处降速，XY 进门槛后再单独收垂直），跟踪锁高与悬停齐平，避免倾斜相机下先降一截把孔位重投影偏掉。--no-descent 只降到离面 15 mm；跳过三阶段时触觉 USB 打不开不再空等几分钟。

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

scripts/lib/export_site_env.py

@@ -627,6 +627,13 @@ def flatten(data: dict) -> dict:
         # 两个模式各自的名字在 *_EYE_IN_HAND / *_EYE_TO_HAND 里。
         "SITE_HANDEYE_FILE": he_modes_out["SITE_HANDEYE_FILE_EYE_IN_HAND"],
         "SITE_HANDEYE_MODE": he_mode,
+        "SITE_HANDEYE_GRIPPER_TOOL": str(he.get("gripper_tool") or ""),
+        "SITE_HANDEYE_GRIPPER_TCP_XYZ": ",".join(
+            f"{float(v):.6f}" for v in list(he.get("gripper_tcp_xyz") or [])
+        ),
+        "SITE_HANDEYE_GRIPPER_TCP_QWXYZ": ",".join(
+            f"{float(v):.6f}" for v in list(he.get("gripper_tcp_qwxyz") or [])
+        ),
         **he_modes_out,
         # 不带后缀的板尺寸 = **当前模式**那一组，供 `show` 之类只看当前模式的调用方；
         # 标定脚本用带后缀的那三组（按 --mode 选），不依赖这个。
@@ -985,6 +992,10 @@ def main() -> int:
         print(f"  手眼         : {flat['SITE_HANDEYE_FILE']}")
         print(f"  手眼路点     : {flat['SITE_HANDEYE_WAYPOINTS']}")
         print(f"  手眼目录     : {flat['SITE_HANDEYE_WORKDIR']}")
+        print(
+            f"  手眼工具     : {flat.get('SITE_HANDEYE_GRIPPER_TOOL') or '（无，ee_pose 原样）'}  "
+            f"tcp=[{flat.get('SITE_HANDEYE_GRIPPER_TCP_XYZ') or ''}]"
+        )
         print(f"  命名位姿     : {flat.get('SITE_NAMED_POSES_FILE')}")
         print(f"  眼在手外结果 : {flat['SITE_HANDEYE_FILE_EYE_TO_HAND']}")
         print(f"  眼在手外路点 : {flat['SITE_HANDEYE_WAYPOINTS_EYE_TO_HAND']}")

scripts/lib/rdk_helpers.py

@@ -23,6 +23,7 @@ RDK 对同一台机器人是**独占访问**：同时有两个进程连着同一
 
 from __future__ import annotations
 
+import os
 import time
 from typing import Any, Dict, List, Optional
 
@@ -155,6 +156,77 @@ def tool_params(tool: Any, group: Any) -> Dict[str, Any]:
     }
 
 
+def iface_ipv4s(name: str) -> List[str]:
+    """网卡名 → 其上的 IPv4。FastDDS 白名单只认地址，不认 ``eth0`` / ``enx…``。"""
+    import fcntl
+    import socket
+    import struct
+    import subprocess
+
+    name = (name or "").strip()
+    if not name:
+        return []
+    if name.count(".") == 3:
+        return [name]
+    addrs: List[str] = []
+    try:
+        s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        ifreq = struct.pack("256s", name.encode("utf-8")[:15])
+        addrs.append(socket.inet_ntoa(fcntl.ioctl(s.fileno(), 0x8915, ifreq)[20:24]))
+        s.close()
+    except OSError:
+        pass
+    try:
+        out = subprocess.check_output(
+            ["ip", "-4", "-o", "addr", "show", "dev", name],
+            text=True,
+            stderr=subprocess.DEVNULL,
+        )
+        for line in out.splitlines():
+            parts = line.split()
+            if "inet" in parts:
+                addrs.append(parts[parts.index("inet") + 1].split("/")[0])
+    except Exception:
+        pass
+    seen = set()
+    uniq: List[str] = []
+    for a in addrs:
+        if a and a not in seen:
+            seen.add(a)
+            uniq.append(a)
+    return uniq
+
+
+def rdk_whitelist_lists(iface: str = "", pc_ip: str = "") -> List[List[str]]:
+    """给 ``flexivrdk.Robot(sn, listen)`` 用的白名单候选。
+
+    只放 IPv4。把 ``eth0`` 这种网卡名塞进去，FastDDS 会把真地址全部滤掉，
+    症状是 ping 通、RDK 报 Failed to connect。
+    """
+    lists: List[List[str]] = []
+    pc = (pc_ip or os.environ.get("SITE_PC_IP") or "").strip()
+    if pc.count(".") == 3:
+        lists.append([pc])
+    iface = (iface or "").strip()
+    if iface.count(".") == 3:
+        lists.append([iface])
+    elif iface:
+        lan = [a for a in iface_ipv4s(iface) if a.startswith("192.168.2.")]
+        if lan:
+            lists.append(lan)
+        all_ips = iface_ipv4s(iface)
+        if all_ips and all_ips != lan:
+            lists.append(all_ips)
+    seen = set()
+    out: List[List[str]] = []
+    for item in lists:
+        key = tuple(item)
+        if key not in seen:
+            seen.add(key)
+            out.append(item)
+    return out
+
+
 def switch_tool(tool: Any, group: Any, target: str) -> None:
     """切换工具。失败抛异常。"""
     if group is None: