From 0d0b398552265ba5fddd1140ea7267d6ac5f8e5e Mon Sep 17 00:00:00 2001
From: YikaiFu-cart <yikai.fu@nicecart.ai>
Date: Thu, 7 May 2026 11:24:09 +0800
Subject: [PATCH] modify cfgs

---
 control.py      | 8 +++++---
 control_core.py | 5 +++++
 2 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/control.py b/control.py
index 2b3ff7f..029ecb9 100644
--- a/control.py
+++ b/control.py
@@ -48,18 +48,19 @@ PICK_ANGLE_SIGN = 1.0
 MAX_PICK_ANGLE_DEG = 30.0
 
 # 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 = [[-0.6283, 0.0354, -0.0889, 2.8798, 0.02, -1.4346]]
+place_positions = [[-0.6203, 0.026, 0.1078, 2.9923, 0.0366, -1.4157]]
 
 
 # -------------------- 夹爪与机械臂运动参数 --------------------
 GRIPPER_CLOSE_IO = 1
 GRIPPER_OPEN_IO = 0
 GRIPPER_ACTION_DELAY = 2.0
+PICK_POINT_ARRIVAL_DELAY = 1.0
 SCISSORS_ENABLED = True
 
 # 这里沿用底层 SDK 的弧度制。
-ARM_SPEED = 100 * (M_PI / 180)
-ARM_ACCEL = 100 * (M_PI / 180)
+ARM_SPEED = 150 * (M_PI / 180)
+ARM_ACCEL = 120 * (M_PI / 180)
 
 
 # -------------------- 参数同步清单 --------------------
@@ -88,6 +89,7 @@ _CONFIG_NAMES = (
     "GRIPPER_CLOSE_IO",
     "GRIPPER_OPEN_IO",
     "GRIPPER_ACTION_DELAY",
+    "PICK_POINT_ARRIVAL_DELAY",
     "SCISSORS_ENABLED",
     "ARM_SPEED",
     "ARM_ACCEL",
diff --git a/control_core.py b/control_core.py
index 8110cb7..d59ac9c 100644
--- a/control_core.py
+++ b/control_core.py
@@ -741,6 +741,11 @@ class RobotArmController:
             self.return_home()
             return False
 
+        pick_point_delay = float(_cfg("PICK_POINT_ARRIVAL_DELAY"))
+        if pick_point_delay > 0:
+            print(f"机械臂：已到达抓取点，等待 {pick_point_delay:.1f} 秒后执行夹爪动作")
+            time.sleep(pick_point_delay)
+
         self.close_scissors_for_pick()
 
         retreat_joints = self.move_pose(approach_pose, pickup_joints, description="采摘后返回预抓取点")