From 3f4dfe02a7533c4962bf76e23ac1f181a7d45d5d Mon Sep 17 00:00:00 2001
From: FallenSigh <fallensigh@gmail.com>
Date: Tue, 16 Jun 2026 20:12:42 +0800
Subject: [PATCH] =?UTF-8?q?chore:=20=E7=A7=BB=E9=99=A4=E8=B0=83=E8=AF=95?=
 =?UTF-8?q?=E6=97=A5=E5=BF=97?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

相机旋转问题已修复，移除临时 DEBUG 输出
---
 ros2/src/udp_teleop/udp_teleop/vision_grasp.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/ros2/src/udp_teleop/udp_teleop/vision_grasp.py b/ros2/src/udp_teleop/udp_teleop/vision_grasp.py
index 53b59a2..6651209 100644
--- a/ros2/src/udp_teleop/udp_teleop/vision_grasp.py
+++ b/ros2/src/udp_teleop/udp_teleop/vision_grasp.py
@@ -286,8 +286,9 @@ class VisionGraspNode(Node):
 
             # 图像坐标到相机坐标系转换
             # 相机水平安装，但会随 J5 状态旋转 180°
-            # J5 = -100 (闭合) → 夹爪朝上 (UP)
-            # J5 = 81 (张开) → 夹爪朝下 (DOWN)
+            # J5 = -100 (闭合) → 夹爪朝上 (UP) → 相机正向
+            # J5 = 81 (张开) → 夹爪朝下 (DOWN) → 相机旋转 180°
+
             if j5 < 0:
                 # J5 闭合（UP）：相机正向
                 # 图像 Y 向下 → 相机 -Y