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/merge_handeye_poses.py

@@ -61,6 +61,16 @@ def parse_poses(path: Path) -> list[list[float]]:
     return poses
 
 
+def unique_poses(poses: list[list[float]], tol: float = 0.015) -> list[list[float]]:
+    """关节几乎不动的连拍只留一条。阈值 0.015 rad ≈ 0.86°。"""
+    kept: list[list[float]] = []
+    for pose in poses:
+        if any(max(abs(a - b) for a, b in zip(pose, old)) < tol for old in kept):
+            continue
+        kept.append(pose)
+    return kept
+
+
 def format_positions_block(poses: list[list[float]], indent: str = "    ") -> str:
     rows = [f"{indent}waypoint_positions: ["]
     for i, q in enumerate(poses):
@@ -131,9 +141,19 @@ def main(argv: list[str]) -> int:
         print(f"Not found: {dst}", file=sys.stderr)
         return 3
     poses = parse_poses(src)
-    if len(poses) < 5:
-        print(f"Need >=5 poses, got {len(poses)}", file=sys.stderr)
+    uniq = unique_poses(poses)
+    if len(uniq) < 5:
+        print(
+            f"Need >=5 unique poses, got {len(poses)} lines / {len(uniq)} unique",
+            file=sys.stderr,
+        )
         return 4
+    if len(uniq) < len(poses):
+        print(
+            f"警告: {len(poses)} 条里只有 {len(uniq)} 个姿态不同，已丢掉连按重复",
+            file=sys.stderr,
+        )
+        poses = uniq
     merge(dst, poses)
     print(f"Merged {len(poses)} poses -> {dst}")
     return 0