diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..4b5a294
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,4 @@
+{
+    "python-envs.defaultEnvManager": "ms-python.python:conda",
+    "python-envs.defaultPackageManager": "ms-python.python:conda"
+}
\ No newline at end of file
diff --git a/config/compound_eye.png b/config/compound_eye.png
index 0b7376c..16e2168 100644
Binary files a/config/compound_eye.png and b/config/compound_eye.png differ
diff --git a/gripper_control/__pycache__/hardware.cpython-311.pyc b/gripper_control/__pycache__/hardware.cpython-311.pyc
index c8f45b1..37c5167 100644
Binary files a/gripper_control/__pycache__/hardware.cpython-311.pyc and b/gripper_control/__pycache__/hardware.cpython-311.pyc differ
diff --git a/gripper_control/__pycache__/hardware.cpython-313.pyc b/gripper_control/__pycache__/hardware.cpython-313.pyc
index fdfff96..5ea96be 100644
Binary files a/gripper_control/__pycache__/hardware.cpython-313.pyc and b/gripper_control/__pycache__/hardware.cpython-313.pyc differ
diff --git a/gripper_control/hardware.py b/gripper_control/hardware.py
index d31bd47..27fde63 100644
--- a/gripper_control/hardware.py
+++ b/gripper_control/hardware.py
@@ -35,6 +35,11 @@ class GripperClient:
                 f"accel={accel}, decel={decel}"
             )
             return
+        if self.motor is None:
+            raise RuntimeError(
+                "gripper motor is not connected; check serial port, conda environment, "
+                "and changingtek_p_rtu_Servo.py"
+            )
 
         self.motor.temp_move(
             position_mm=int(position),
@@ -95,6 +100,8 @@ class GripperClient:
     def final_open_if_needed(self):
         if not self.config.open_at_end:
             return
+        if not self.config.dry_run and self.motor is None:
+            return
         final_force = int(clamp(
             self.config.initial_force,
             self.config.force_min,
diff --git a/gripper_control_02/__pycache__/controller.cpython-311.pyc b/gripper_control_02/__pycache__/controller.cpython-311.pyc
index 29b1ce3..a0cc3de 100644
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diff --git a/gripper_control_02/__pycache__/controller.cpython-313.pyc b/gripper_control_02/__pycache__/controller.cpython-313.pyc
index 60dc51a..7754a0f 100644
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diff --git a/gripper_control_02/__pycache__/settings.cpython-311.pyc b/gripper_control_02/__pycache__/settings.cpython-311.pyc
index 571cee7..36a6327 100644
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diff --git a/gripper_control_02/__pycache__/settings.cpython-313.pyc b/gripper_control_02/__pycache__/settings.cpython-313.pyc
index 96f7b10..3b83d28 100644
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diff --git a/gripper_control_02/__pycache__/visualizer.cpython-311.pyc b/gripper_control_02/__pycache__/visualizer.cpython-311.pyc
index 6895877..bddf585 100644
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diff --git a/gripper_control_02/__pycache__/visualizer.cpython-313.pyc b/gripper_control_02/__pycache__/visualizer.cpython-313.pyc
index f4d45fa..4cf76e9 100644
Binary files a/gripper_control_02/__pycache__/visualizer.cpython-313.pyc and b/gripper_control_02/__pycache__/visualizer.cpython-313.pyc differ
diff --git a/gripper_control_02/config/__pycache__/gripper_demo_02.cpython-311.pyc b/gripper_control_02/config/__pycache__/gripper_demo_02.cpython-311.pyc
index 5a997f2..ec6c73e 100644
Binary files a/gripper_control_02/config/__pycache__/gripper_demo_02.cpython-311.pyc and b/gripper_control_02/config/__pycache__/gripper_demo_02.cpython-311.pyc differ
diff --git a/gripper_control_02/config/__pycache__/gripper_demo_02.cpython-313.pyc b/gripper_control_02/config/__pycache__/gripper_demo_02.cpython-313.pyc
index 1f459d7..b826b8f 100644
Binary files a/gripper_control_02/config/__pycache__/gripper_demo_02.cpython-313.pyc and b/gripper_control_02/config/__pycache__/gripper_demo_02.cpython-313.pyc differ
diff --git a/gripper_control_02/config/gripper_demo_02.py b/gripper_control_02/config/gripper_demo_02.py
index 1abc5e3..d067e28 100644
--- a/gripper_control_02/config/gripper_demo_02.py
+++ b/gripper_control_02/config/gripper_demo_02.py
@@ -29,7 +29,7 @@ SENSOR_CPU = False
 
 
 # 夹爪串口配置。
-PORT = "COM5"
+PORT = "COM6"
 SLAVE_ID = 1
 BAUDRATE = 115200
 SERIAL_TIMEOUT = 0.2
@@ -79,9 +79,10 @@ OPEN_WAIT_STABLE_TREND_N = 0.015    # 近期样本首尾变化小于该值，认
 
 
 # 闭合夹取：物体移动到中间后，左右两边都超过该阈值就认为夹住。
-GRIP_NORMAL_FORCE = 0.05     # 双侧接触阈值，单位 N。
+GRIP_NORMAL_FORCE = 0.2     # 双侧接触阈值，单位 N。
 GRIP_REQUIRES_BOTH = True    # True 表示必须左右两侧都接触才算夹住。
 CLOSE_TIMEOUT_SECONDS = 5.0  # 触发闭合后这么久还没夹住，就重新张开等待。
+CLOSING_COMMAND_INTERVAL = 0.2  # 闭合阶段还没双侧夹上时，按该间隔续发闭合命令，避免单侧扫过后停住。
 
 
 # 检测到物体后慢慢加力，类似 01 的 gripping 状态。
@@ -211,6 +212,7 @@ CONFIG = {
     "grip_normal_force": GRIP_NORMAL_FORCE,
     "grip_requires_both": GRIP_REQUIRES_BOTH,
     "close_timeout_seconds": CLOSE_TIMEOUT_SECONDS,
+    "closing_command_interval": CLOSING_COMMAND_INTERVAL,
     "force_ramp_step": FORCE_RAMP_STEP,
     "force_ramp_interval": FORCE_RAMP_INTERVAL,
     "grip_settle_seconds": GRIP_SETTLE_SECONDS,
diff --git a/gripper_control_02/controller.py b/gripper_control_02/controller.py
index 5c477c6..a03086c 100644
--- a/gripper_control_02/controller.py
+++ b/gripper_control_02/controller.py
@@ -326,7 +326,15 @@ class SideTriggerGripController:
                     reference = None
                     action = "close-timeout-open"
                 else:
-                    action = "closing-to-grip"
+                    if (
+                        config.closing_command_interval > 0
+                        and now - last_force_ramp_time >= config.closing_command_interval
+                    ):
+                        self.gripper.close(force_pct, "closing-continue")
+                        last_force_ramp_time = now
+                        action = "closing-continue"
+                    else:
+                        action = "closing-to-grip"
 
             elif state == "gripping":
                 if (
diff --git a/gripper_control_02/settings.py b/gripper_control_02/settings.py
index b61e232..a321668 100644
--- a/gripper_control_02/settings.py
+++ b/gripper_control_02/settings.py
@@ -69,6 +69,7 @@ class Demo02Config:
     grip_normal_force: float = 0.05
     grip_requires_both: bool = True
     close_timeout_seconds: float = 5.0
+    closing_command_interval: float = 0.2
     force_ramp_step: int = 1
     force_ramp_interval: float = 0.1
     grip_settle_seconds: float = 0.1
@@ -161,6 +162,7 @@ class Demo02Config:
         add("--grip-requires-both", dest="grip_requires_both", action="store_true", default=get("grip_requires_both", cls.grip_requires_both))
         add("--allow-single-side-grip", dest="grip_requires_both", action="store_false")
         add("--close-timeout-seconds", type=float, default=get("close_timeout_seconds", cls.close_timeout_seconds))
+        add("--closing-command-interval", type=float, default=get("closing_command_interval", cls.closing_command_interval))
         add("--force-ramp-step", type=int, default=get("force_ramp_step", cls.force_ramp_step))
         add("--force-ramp-interval", type=float, default=get("force_ramp_interval", cls.force_ramp_interval))
         add("--grip-settle-seconds", type=float, default=get("grip_settle_seconds", cls.grip_settle_seconds))
diff --git a/gripper_control_02/visualizer.py b/gripper_control_02/visualizer.py
index 41064fc..5b046e9 100644
--- a/gripper_control_02/visualizer.py
+++ b/gripper_control_02/visualizer.py
@@ -114,6 +114,7 @@ ACTION_TEXT = {
     "open-wait-stabilizing": "等待稳定基准",
     "open-wait-armed": "已就绪",
     "side-trigger-close": "侧边触发闭合",
+    "closing-continue": "继续闭合",
     "closing-to-grip": "闭合寻找物体",
     "object-detected-low-force": "检测到物体",
     "close-timeout-open": "闭合超时张开",
diff --git a/readme.md b/readme.md
index ffcf1b7..c2352dc 100644
--- a/readme.md
+++ b/readme.md
@@ -24,4 +24,25 @@ conda activate py311
 2. 展示两边作用力的大小
 3. 展示当前状态 state=open_wait这种
 4. force_pct与速度 展示
-5. 你看看还有其他什么可以展示的
\ No newline at end of file
+5. 你看看还有其他什么可以展示的
+
+
+1. 夹爪程序编写与调试
+    目前程序只是常驻监听单侧触发，每次触发后执行一次“闭合夹住 -> 监测变化 -> 直接张开”的流程。
+    ## 流程
+    1.1. 程序启动后，夹爪先张开。
+    1.2. 程序等待任意一侧触觉传感器感受到法向力或切向力。
+    1.3. 展示时，把物体从某个侧边扫一下，触发单侧力变化。
+    1.4. 触发后夹爪开始闭合，你把物体移动到中间。
+    1.5. 闭合过程中检测到物体后，切到低力并保持当前位置。
+    1.6. 进入 `gripping`，先慢慢加力到基础 `HOLD_FORCE`。
+    1.7. 进入 `hold_check` 后，根据切向力估计物体负载；切向力越大，目标夹紧力越高，并按小步进继续补力。
+    1.8. 自适应补力停止并稳定 `RELEASE_ARM_DELAY_SECONDS` 后，重新记录释放参考力，才开始检测人取物松开。
+    1.9. 后续法向力或切向力变化超过阈值，夹爪直接张开到 `OPEN_POS`。
+    1.10. 张开后进入 `open_recover`，保持张开并等待恢复条件。
+    1.11. 夹爪回到 `OPEN_POS` 初始点位，或法向/切向读数都低于恢复阈值并稳定后，继续休息至少 `REARM_SECONDS`。
+    1.12. 休息结束后才回到 `open_wait` 状态；休息期间不管有没有物体扫过，都不会闭合。
+    1.13. 如果达到没有夹持到物体自动闭合时会自动张开。
+2. 参加展会
+3. 01 02 3D展示效果探索
+4. 02效果目前比较差，在优化中，但是一直没有实物都是使用视频来处理