Integration/panel tmux lid flow 20260609

COMMANDS.md

@@ -167,6 +167,81 @@ bash tools/run/stop_cocktail_motion_preview.sh
 `run_emulator`, `DRCF M0609`, 관련 RViz까지 확인합니다. 남은 virtual/emulator가
 있으면 실제 one-click은 계속 거부됩니다.
 
+### 측정 조인트 티칭값 기반 RViz preview
+
+`calibration.yaml`의 `cup_pre_place_joints_deg`, `cup_place_joints_deg`,
+`press_pre_joints_deg`, `press_contact_joints_deg`를 읽어서 `/joint_states`만
+publish합니다. 실제 로봇 서비스, MoveJoint, MoveLine, 그리퍼 서비스는 호출하지
+않습니다.
+
+RViz까지 한 번에 띄우려면 이 wrapper를 씁니다.
+
+```bash
+source /opt/ros/humble/setup.bash
+cd /home/ssu/Azas
+source install/setup.bash
+bash tools/run/show_measured_recipe_joint_preview_rviz.sh --dispenser-ids 1 --loop
+```
+
+이 wrapper는 기본적으로 창현 side-grip 로직과 같은 source tree의
+`src/azas_bringup/config/safety.yaml`,
+`src/azas_bringup/config/measured_dispenser_collision.yaml`을 명시적으로 로드합니다.
+`side_grip_table`, `side_grip_workspace_*` 안전영역, measured dispenser collision,
+full collision YAML marker를 RViz에 띄웁니다. 깜빡임이 있으면 남은 preview 노드를
+정리하고 다시 실행합니다.
+
+```bash
+cd /home/ssu/Azas
+source /opt/ros/humble/setup.bash
+source install/setup.bash
+pkill -f 'preview_measured_dispenser_recipe_rviz.py|publish_measured_recipe_joint_rviz_preview.py|joint_state_relay.py|dispenser_sequence_preview_node|workspace_collision_scene_node|measured_dispenser_collision_scene_node|collision_scene_rviz_publisher|link6_gripper_collision_node|__node:=m0609_robot_state_publisher' || true
+pkill -x rviz2 || true
+
+DISPLAY=:20.0 \
+SHOW_WORKSPACE_SAFETY=true \
+SHOW_MEASURED_DISPENSER_COLLISION=true \
+SHOW_FULL_COLLISION_SCENE=true \
+PUBLISH_WORKSPACE_COLLISION_OBJECTS=true \
+PUBLISH_DISPENSER_COLLISION_OBJECTS=true \
+JOINT_VELOCITY_DEG_S=40.0 \
+HOLD_SECONDS=1.0 \
+PUBLISH_RATE=60.0 \
+bash tools/run/show_measured_recipe_joint_preview_rviz.sh \
+  --dispenser-ids 1 \
+  --no-press-reset-before-press \
+  --press-use-recorded-pre-joints \
+  --press-depth-m 0.040 \
+  --press-extra-depth-m 0.0 \
+  --safe-lift-joint-fallback \
+  --press-lock-contact-joints 6 \
+  --loop
+```
+
+첫 번째 터미널에서 RViz demo를 실행합니다.
+
+```bash
+source /opt/ros/humble/setup.bash
+cd /home/ssu/Azas
+source install/setup.bash
+ros2 launch dsr_moveit_config_m0609 demo.launch.py
+```
+
+다른 터미널에서 측정 조인트 preview publisher를 실행합니다. 이 Python 명령만으로는
+RViz 창을 띄우지 않습니다.
+
+```bash
+source /opt/ros/humble/setup.bash
+cd /home/ssu/Azas
+source install/setup.bash
+python3 tools/run/preview_measured_dispenser_recipe_rviz.py --dispenser-ids 1 --loop
+```
+
+예: 1번 디스펜서를 2회, 3번 디스펜서를 1회 순서로 표시
+
+```bash
+python3 tools/run/preview_measured_dispenser_recipe_rviz.py --dispenser-ids 1x2,3
+```
+
 ### 색상 스캔 자세 RViz preview
 
 디스펜서 색상 구분 전에 쓰는 카메라 보기 관절 자세

asdfas

@@ -0,0 +1,129 @@
+diff --git a/tools/run/check_one_click_cocktail_config.sh b/tools/run/check_one_click_cocktail_config.sh
+index 34ac73a..e45cfba 100755
+--- a/tools/run/check_one_click_cocktail_config.sh
++++ b/tools/run/check_one_click_cocktail_config.sh
+@@ -89,6 +89,7 @@ try:
+             raise ValueError(f"dispenser_outlets.{dispenser_id} missing in {calibration_path}")
+         require_list(outlet, "press_pose_xyz_m", 3, f"dispenser_outlets.{dispenser_id}")
+         require_list(outlet, "press_pose_rpy_deg", 3, f"dispenser_outlets.{dispenser_id}")
++        require_list(outlet, "press_pre_joints_deg", 6, f"dispenser_outlets.{dispenser_id}")
+         require_list(outlet, "press_contact_joints_deg", 6, f"dispenser_outlets.{dispenser_id}")
+ 
+     grouped: list[tuple[str, int]] = []
+diff --git a/tools/run/check_one_click_cocktail_result.sh b/tools/run/check_one_click_cocktail_result.sh
+index 030d95c..51bc4a9 100755
+--- a/tools/run/check_one_click_cocktail_result.sh
++++ b/tools/run/check_one_click_cocktail_result.sh
+@@ -52,8 +52,10 @@ fi
+ for needle in \
+   'RG2 full-open release complete; continuing only after open settle wait' \
+   'RG2 close empty gripper for dispenser press' \
+-  'move to measured press contact joints exactly' \
+-  'press dispenser pump' \
++  'PRESS_PRE measured press pre-contact joints' \
++  'PRESS_CONTACT measured contact joints' \
++  'PRESS_Z_OVERDRIVE from measured contact' \
++  'return to PRESS_CONTACT after Z overdrive' \
+   'RG2 soft side-grasp' \
+   'post-grasp lift'; do
+   if grep -q "${needle}" "${INTEGRATED_LOG}"; then
+diff --git a/tools/run/run_color_recipe_sequence.py b/tools/run/run_color_recipe_sequence.py
+index 6d17c7f..62085f6 100644
+--- a/tools/run/run_color_recipe_sequence.py
++++ b/tools/run/run_color_recipe_sequence.py
+@@ -267,10 +267,10 @@ def main() -> int:
+     )
+     parser.add_argument(
+         "--press-lock-contact-joints",
+-        default="6",
++        default="",
+         help=(
+-            "measured sequence로 전달할 contact 조인트 잠금 축. 기본 6: "
+-            "호환 모드에서만 pre 자세 값으로 J6을 유지합니다. 기본 contact-only 경로에서는 사용하지 않습니다."
++            "measured sequence로 전달할 contact 조인트 잠금 축. 기본 빈 값: "
++            "측정된 PRESS_CONTACT joint를 그대로 사용합니다."
+         ),
+     )
+     parser.add_argument("--press-pre-lift-m", default="0.080")
+diff --git a/tools/run/run_measured_dispenser_recipe_sequence.py b/tools/run/run_measured_dispenser_recipe_sequence.py
+index 8753107..05e0dd7 100755
+--- a/tools/run/run_measured_dispenser_recipe_sequence.py
++++ b/tools/run/run_measured_dispenser_recipe_sequence.py
+@@ -2,8 +2,8 @@
+ """Run an ordered measured-dispenser recipe loop.
+ 
+ For each dispenser ID this composes measured rule-based primitives:
+-  move/release cup at DISP_PRE/DISP_PLACE -> measured PRESS_CONTACT FK
+-  -> generated Z-only PRESS_PRE -> measured contact -> Z-only pump stroke
++  move/release cup at DISP_PRE/DISP_PLACE -> measured PRESS_PRE/PRESS_CONTACT
++  -> Z-only pump overdrive -> measured PRESS_CONTACT -> measured PRESS_PRE
+   -> re-grasp/lift cup at DISP_PLACE.
+ 
+ All cup/dispenser positions come from measured calibration data.  This runner
+@@ -389,18 +389,26 @@ def print_dry_run_group_detail(args: argparse.Namespace, dispenser_id: str, pres
+     cup_pre = load_cup_pre_place_joints_deg(dispenser_id)
+     cup_place = load_cup_place_joints_deg(dispenser_id)
+     if cup_pre is not None and cup_place is not None:
+-        print(
+-            f"[PLAN] dispenser {dispenser_id}: cup DISP_PRE={format_joints_deg(cup_pre)} "
+-            f"-> DISP_PLACE={format_joints_deg(cup_place)}"
+-        )
++        print(f"[Azas] DISP_PRE={format_joints_deg(cup_pre)}")
++        print(f"[Azas] DISP_PLACE={format_joints_deg(cup_place)}")
++        print(f"[PLAN] dispenser {dispenser_id}: cup DISP_PRE -> DISP_PLACE -> RELEASE")
+     else:
+         print(f"[PLAN] dispenser {dispenser_id}: cup placement fallback=front_hold_poses")
+ 
+     press_contact = load_press_ready_joints_deg(dispenser_id)
++    press_pre = load_press_pre_joints_deg(dispenser_id) if press_contact is not None else None
+     z_overdrive_mm = (max(args.press_depth_m, 0.0) + max(args.press_extra_depth_m, 0.0)) * 1000.0
+-    if press_contact is not None:
++    if press_contact is not None and press_pre is not None:
++        print(f"[Azas] PRESS_PRE={format_joints_deg(press_pre)}")
++        print(f"[Azas] PRESS_CONTACT={format_joints_deg(press_contact)}")
++        print(
++            f"[PLAN] dispenser {dispenser_id}: press PRESS_PRE -> PRESS_CONTACT "
++            f"-> PRESS_Z_OVERDRIVE {z_overdrive_mm:.1f}mm -> PRESS_CONTACT -> PRESS_PRE x{press_count}"
++        )
++    elif press_contact is not None:
++        print(f"[Azas] PRESS_CONTACT={format_joints_deg(press_contact)}")
+         print(
+-            f"[PLAN] dispenser {dispenser_id}: press CONTACT={format_joints_deg(press_contact)} "
++            f"[PLAN] dispenser {dispenser_id}: press contact-only fallback CONTACT "
+             f"-> generated PRE=CONTACT+Z{max(args.press_contact_entry_lift_m, 0.0) * 1000.0:.1f}mm "
+             f"-> PRESS=CONTACT-Z{z_overdrive_mm:.1f}mm x{press_count}"
+         )
+@@ -1297,11 +1305,48 @@ class IntegratedRecipeMotion:
+             time.sleep(settle_sec)
+ 
+     def move_and_release(self, dispenser_id: str) -> None:
++        cup_pre_joints = load_cup_pre_place_joints_deg(dispenser_id)
+         cup_place_joints = load_cup_place_joints_deg(dispenser_id)
+-        if cup_place_joints is not None:
++        if cup_pre_joints is not None and cup_place_joints is not None:
++            print(f"[Azas] DISP_PRE={format_joints_deg(cup_pre_joints)}")
++            print(f"[Azas] DISP_PLACE={format_joints_deg(cup_place_joints)}")
+             print(
+                 f"[Azas] cup placement: dispenser={dispenser_id} using measured "
+-                "DISP_PLACE with generated high entry; not front_hold_poses"
++                "DISP_PRE -> DISP_PLACE joint teaching; not front_hold_poses"
++            )
++            cup_pre_joints = self.normalize_joints_near_current(
++                cup_pre_joints,
++                label=f"move to measured DISP{dispenser_id}_PRE cup-place joints",
++            )
++            self.movej(
++                cup_pre_joints,
++                label=f"DISP_PRE measured DISP{dispenser_id} cup-place approach",
++                velocity=self.args.move_prehold_velocity,
++                acceleration=self.args.move_prehold_acceleration,
++            )
++            cup_place_joints = self.normalize_joints_near_current(
++                cup_place_joints,
++                label=f"move to measured DISP{dispenser_id}_PLACE cup-place joints",
++            )
++            self.movej(
++                cup_place_joints,
++                label=f"DISP_PLACE measured DISP{dispenser_id} cup release",
++                velocity=self.args.move_velocity,
++                accelera