把现场确认能用的对孔方案落成保存点：小孔只用视觉关键点交到工件面、多走多拍闭环；D435 走到点后杀栈冷启动再停稳 3 秒才交 D405，避免赶路时带臂晃。

Co-authored-by: Cursor <cursoragent@cursor.com>

scripts/lib/export_site_env.py

@@ -903,6 +903,7 @@ def servo_overrides(data: dict) -> dict:
         "ee_hold_kp", "ee_w_max",
         "lock_hold_sec",
         "lock_still_sec",
+        "d435_handback_sec",
         "wrist_align_sec",
         "lock_still_move_m",
         "a_max", "max_qdot", "damping",
@@ -934,8 +935,13 @@ def servo_overrides(data: dict) -> dict:
         out["overhead_hold_s"] = float(oh["oneshot_hold_s"])
         if "lock_still_sec" not in servo:
             raise RuntimeError(
-                "servo.lock_still_sec 必须显式写"
-                "（D435 到位后法兰停稳多久才交回 D405）。不许用代码默认 3。"
+                "servo.lock_still_sec 必须显式写。"
+                "不许用代码默认秒数。"
+            )
+        if "d435_handback_sec" not in servo:
+            raise RuntimeError(
+                "servo.d435_handback_sec 必须显式写"
+                "（厂家 MoveL 到位后，再确认多久才交回 D405）。不许用代码默认秒数。"
             )
         if "wrist_align_sec" not in servo:
             raise RuntimeError(
@@ -948,6 +954,7 @@ def servo_overrides(data: dict) -> dict:
                 "（静止判据的法兰 XY 位移上限）。不许用代码默认 15mm。"
             )
         out["lock_still_sec"] = float(servo["lock_still_sec"])
+        out["d435_handback_sec"] = float(servo["d435_handback_sec"])
         out["wrist_align_sec"] = float(servo["wrist_align_sec"])
         out["lock_still_move_m"] = float(servo["lock_still_move_m"])
         out["overhead_k0_topic"] = "visual_servo/overhead_k0"