diff --git a/control.py b/control.py
index 029ecb9..7ff7749 100644
--- a/control.py
+++ b/control.py
@@ -42,7 +42,7 @@ HOME_JOINTS = [-1.5247, 1.0899, 2.4671, 1.2761, 1.5113, 0.0001]
 APPROACH_Y_OFFSET = 0.15
 LIFT_Z_OFFSET = 0.035
 PICKUP_X_OFFSET = 0.0
-PICKUP_Y_OFFSET = -0.015
+PICKUP_Y_OFFSET = -0.013
 PICK_ANGLE_ORIENTATION_INDEX = 4
 PICK_ANGLE_SIGN = 1.0
 MAX_PICK_ANGLE_DEG = 30.0
diff --git a/control_core.py b/control_core.py
index d59ac9c..e429037 100644
--- a/control_core.py
+++ b/control_core.py
@@ -32,7 +32,7 @@ _runtime_config: Dict[str, Any] = {}
 
 
 PICK_ZONE_LEFT_RATIO = 1.0 / 3.0
-PICK_ZONE_RIGHT_RATIO = 2.0 / 3.0
+PICK_ZONE_RIGHT_RATIO = 7.0 / 10.0
 PICK_KEYPOINT_CONF_THRESHOLD = 0.8  # 关键点置信度低于该值时不参与采摘。
 PICK_CUTPOINT_KEYPOINT_INDEX = 0  # YOLO pose 第 0 个点为采摘点 cutpoint。
 PICK_ENDPOINT_KEYPOINT_INDEX = 1  # YOLO pose 第 1 个点为方向端点 endpoint。
diff --git a/models/V1.pt b/models/V1.0_s.pt
similarity index 100%
rename from models/V1.pt
rename to models/V1.0_s.pt
diff --git a/models/V2.pt b/models/V2.0_s.pt
similarity index 100%
rename from models/V2.pt
rename to models/V2.0_s.pt
diff --git a/models/V2.1_m.pt b/models/V2.1_m.pt
new file mode 100644
index 0000000..2ef1839
Binary files /dev/null and b/models/V2.1_m.pt differ
diff --git a/models/katarina.pt b/models/V2.1_s.pt
similarity index 67%
rename from models/katarina.pt
rename to models/V2.1_s.pt
index a8be013..4bbbabf 100644
Binary files a/models/katarina.pt and b/models/V2.1_s.pt differ