克隆下来必须带上正在用的视觉权重和本机 site.yaml，否则感知只能指到一台机器上的路径，别人起不来。

顶视迁臂改走厂家 MoveL，D405 框心对准后再对孔；夹爪停在 caught 时 open 不再把相同目标当成已经张开，init 会真的回零。

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",
+        "wrist_align_sec",
         "lock_still_move_m",
         "a_max", "max_qdot", "damping",
         "vel_lpf_alpha", "dq_window_size", "traj_stream_hz", "exec_horizon_sec",
@@ -934,7 +935,12 @@ def servo_overrides(data: dict) -> dict:
         if "lock_still_sec" not in servo:
             raise RuntimeError(
                 "servo.lock_still_sec 必须显式写"
-                "（D405 跟住后法兰静止多久才进二阶段）。不许用代码默认 3。"
+                "（D435 到位后法兰停稳多久才交回 D405）。不许用代码默认 3。"
+            )
+        if "wrist_align_sec" not in servo:
+            raise RuntimeError(
+                "servo.wrist_align_sec 必须显式写"
+                "（D405 框心对准多久才进对孔）。不许用代码默认 1。"
             )
         if "lock_still_move_m" not in servo:
             raise RuntimeError(
@@ -942,6 +948,7 @@ 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["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"
         out["wrist_conf_topic"] = "visual_servo/wrist_conf"