Refactor control parameters and enhance depth handling for tomato harvesting

- Updated YOLO model path to a relative path.
- Introduced new parameters for depth handling, including minimum and maximum depth, fallback settings, and pixel validation thresholds.
- Increased maximum pick angle to accommodate wider fruit stems.
- Added cut pull assist feature with configurable options.
- Removed unused resource path resolution functions from control_core.py.
- Simplified resource path handling in main.py.
- Updated UI colors and styles for improved aesthetics.
- Removed outdated requirements.txt file.

control.py

@@ -27,10 +27,22 @@ AGV_RUN_DISTANCE = 5.0
 TOTAL_DURATION = 300
 AGV_STOP_TIMEOUT = 10
 AGV_PICK_SETTLE_DELAY = 1.5
-YOLO_MODEL_PATH = "models/best.pt"
+YOLO_MODEL_PATH = "best.pt"
 YOLO_DETECT_CONF = 0.5
 PICK_CONFIDENCE_THRESHOLD = 0.7
 
+# 真实果梗较细时，剪切点像素可能没有直接深度。先使用剪切点邻域深度，
+# 失败后可沿关键点 0 -> 关键点 1 的方向寻找同一果串的可靠深度。
+PICK_DEPTH_MIN_M = 0.18
+PICK_DEPTH_MAX_M = 1.20
+PICK_DEPTH_WINDOW_RADIUS = 5
+PICK_DEPTH_FALLBACK_WINDOW_RADIUS = 14
+PICK_DEPTH_MIN_VALID_PIXELS = 5
+PICK_DEPTH_MEDIAN_TOLERANCE_M = 0.05
+PICK_DEPTH_LINE_FALLBACK_ENABLED = True
+PICK_DEPTH_LINE_FALLBACK_STEPS = 5
+PICK_DEPTH_LINE_FALLBACK_STEP_PX = 8
+
 
 # -------------------- 位姿与轨迹参数 --------------------
 # Home 是机械臂的初始/复位关节位。
@@ -45,7 +57,13 @@ PICKUP_X_OFFSET = 0.0
 PICKUP_Y_OFFSET = -0.013
 PICK_ANGLE_ORIENTATION_INDEX = 4
 PICK_ANGLE_SIGN = 1.0
-MAX_PICK_ANGLE_DEG = 30.0
+# 真实果梗可能接近横向；仍受限于此值，避免因姿态变化过大造成不可达或碰撞。
+MAX_PICK_ANGLE_DEG = 70.0
+
+# 默认关闭。剪刀缺少“已剪断”反馈时，不能自动判断是否应强拉。
+# 现场确认撤离方向安全后，才可启用小距离辅助拉拽。
+CUT_PULL_ASSIST_ENABLED = False
+CUT_PULL_ASSIST_Y_OFFSET = 0.03
 
 # 当前项目只使用一个放置位，仍保留列表结构以兼容 control_core。
 place_positions = [[-0.6203, 0.026, 0.1078, 2.9923, 0.0366, -1.4157]]
@@ -78,6 +96,15 @@ _CONFIG_NAMES = (
     "YOLO_MODEL_PATH",
     "YOLO_DETECT_CONF",
     "PICK_CONFIDENCE_THRESHOLD",
+    "PICK_DEPTH_MIN_M",
+    "PICK_DEPTH_MAX_M",
+    "PICK_DEPTH_WINDOW_RADIUS",
+    "PICK_DEPTH_FALLBACK_WINDOW_RADIUS",
+    "PICK_DEPTH_MIN_VALID_PIXELS",
+    "PICK_DEPTH_MEDIAN_TOLERANCE_M",
+    "PICK_DEPTH_LINE_FALLBACK_ENABLED",
+    "PICK_DEPTH_LINE_FALLBACK_STEPS",
+    "PICK_DEPTH_LINE_FALLBACK_STEP_PX",
     "HOME_JOINTS",
     "APPROACH_Y_OFFSET",
     "LIFT_Z_OFFSET",
@@ -86,6 +113,8 @@ _CONFIG_NAMES = (
     "PICK_ANGLE_ORIENTATION_INDEX",
     "PICK_ANGLE_SIGN",
     "MAX_PICK_ANGLE_DEG",
+    "CUT_PULL_ASSIST_ENABLED",
+    "CUT_PULL_ASSIST_Y_OFFSET",
     "GRIPPER_CLOSE_IO",
     "GRIPPER_OPEN_IO",
     "GRIPPER_ACTION_DELAY",