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/run_handeye.sh

@@ -202,6 +202,7 @@ cmd_show() {
   echo "  result      : ${RES}"
   echo "  workdir     : ${WORKDIR}"
   echo "  camera      : ${CAM} serial=${CAM_SERIAL:-（空）}"
+  echo "  tool        : ${SITE_ROBOT_TOOL_NAME:-（不切换）}  gripper_tool=${SITE_HANDEYE_GRIPPER_TOOL:-（无，ee_pose 原样）}"
   echo "  board       : $(_he BOARD_COLS)x$(_he BOARD_ROWS) inner, square=$(_he SQUARE) m  (来源=$(_he BOARD_SRC))"
   echo "                （另一种模式的板见下面 export 的 标定板[...] 两行）"
   python3 "${ROOT}/scripts/lib/export_site_env.py" --print || true
@@ -240,6 +241,20 @@ cmd_calibrate() {
     exit 2
   fi
   _need_files "${CAL}" "${WP}"
+  local grip_tool="${SITE_HANDEYE_GRIPPER_TOOL:-}"
+  local grip_xyz="${SITE_HANDEYE_GRIPPER_TCP_XYZ:-}"
+  local grip_q="${SITE_HANDEYE_GRIPPER_TCP_QWXYZ:-}"
+  if [[ -n "${grip_tool}" ]]; then
+    if [[ "${SITE_ROBOT_TOOL_NAME:-}" != "${grip_tool}" ]]; then
+      echo "ERROR: 手眼要按工具 ${grip_tool} 求解，但 site 当前激活工具是 '${SITE_ROBOT_TOOL_NAME:-}'。" >&2
+      echo "       robots[].tool_name 必须和 handeye.gripper_tool 同一份名字。" >&2
+      exit 2
+    fi
+    if [[ -z "${grip_xyz}" || -z "${grip_q}" ]]; then
+      echo "ERROR: 配了 gripper_tool=${grip_tool} 但没写 gripper_tcp_xyz / gripper_tcp_qwxyz。" >&2
+      exit 2
+    fi
+  fi
   _need_robot
   _need_camera
   echo "=== kill visual_servo (avoid traj fight) ==="
@@ -260,6 +275,19 @@ cmd_calibrate() {
   echo "    motion v=${vel} T≥${mt}s settle=${st}s qd≤${qd} pin=${ph}x${ps}s"
   echo "    poses=${WP}"
   echo "    result → ${RES}"
+  local grip_args=()
+  if [[ -n "${grip_tool}" ]]; then
+    if [[ "${HANDEYE_MODE}" == "eye_in_hand" ]]; then
+      echo "    gripper_tool=${grip_tool}  tcp_xyz=[${grip_xyz}]  （AX=XB 用 TCP，T_4x4 折成 cam→法兰）"
+    else
+      echo "    gripper_tool=${grip_tool}  tcp_xyz=[${grip_xyz}]  （AX=XB 用 TCP，T_4x4 仍是 cam→基座，不折）"
+    fi
+    grip_args+=(
+      -p gripper_tool:="${grip_tool}"
+      -p gripper_tcp_xyz:="[${grip_xyz}]"
+      -p gripper_tcp_qwxyz:="[${grip_q}]"
+    )
+  fi
   exec ros2 run arm_application handeye_calibrate --ros-args \
     --params-file "${CAL}" \
     --params-file "${WP}" \
@@ -280,7 +308,8 @@ cmd_calibrate() {
     -p settle_timeout_sec:="${sto}" \
     -p pin_holds:="${ph}" \
     -p pin_hold_sec:="${ps}" \
-    -p skip_unstable_poses:="${skip}"
+    -p skip_unstable_poses:="${skip}" \
+    "${grip_args[@]}"
 }
 
 cmd_waypoints() {
@@ -359,6 +388,7 @@ cmd_teach() {
     -p joint_prefix:="${PREFIX}"
     -p camera_source:="${CAM}"
     -p output_dir:="${WORKDIR}"
+    -p poses_file:="${TAUGHT}"
     -p target_points:="${points}"
   )
   if [[ -n "${CAM_SERIAL}" ]]; then