diff --git a/src/Robot_arm_motion/robot_arm.py b/src/Robot_arm_motion/robot_arm.py
index b6bc64b457..882ce9dc20 100644
--- a/src/Robot_arm_motion/robot_arm.py
+++ b/src/Robot_arm_motion/robot_arm.py
@@ -72,12 +72,15 @@ def __init__(self):
         self.INIT_EE_POS = np.array([0.4, 0.0, 0.2])  # 末端执行器初始目标位置
         self.LIFT_HEIGHT_INCREMENT = 0.05  # 抓取后额外抬升的高度增量
 
-        # 【优化1】提取相机视角参数为类内常量
+        # 相机视角参数
         self.CAM_AZIMUTH = 70  # 相机方位角
         self.CAM_ELEVATION = -25  # 相机仰角
         self.CAM_DISTANCE = 1.8  # 相机距离
         self.CAM_LOOKAT = np.array([0.4, 0.0, 0.1])  # 相机注视点
 
+        # 【优化1】将仿真休眠时间提升为类内常量
+        self.SIMULATION_SLEEP = 1 / 200  # 仿真循环的休眠时间
+
         # 打印模型信息
         print("=" * 50)
         print("📌 模型Body列表：", [self.model.body(i).name for i in range(min(self.model.nbody, 10))])
@@ -153,7 +156,7 @@ def _move_step(self, target: np.ndarray, speed: float = 0.3) -> bool:
 
         return False
 
-    def _gripper_step(self, pos):
+    def _gripper_step(self, pos: float) -> None:
         """单步夹爪位置控制，设置夹爪的目标开合位置
 
         Args:
@@ -273,7 +276,6 @@ def run(self):
         """单线程仿真主循环"""
         # 初始化Viewer
         self.viewer = viewer.launch_passive(self.model, self.data)
-        # 【优化2】使用类内常量替代硬编码的相机参数
         self.viewer.cam.azimuth = self.CAM_AZIMUTH
         self.viewer.cam.elevation = self.CAM_ELEVATION
         self.viewer.cam.distance = self.CAM_DISTANCE
@@ -282,9 +284,6 @@ def run(self):
         print("\n🚀 仿真已启动，开始自动抓取...")
         print("💡 关闭Viewer窗口可退出程序")
 
-        # 提取休眠时间为常量，便于后续调整
-        SIMULATION_SLEEP = 1 / 200
-
         # 单线程主循环
         # 添加KeyboardInterrupt捕获，支持Ctrl+C优雅退出
         try:
@@ -298,7 +297,8 @@ def run(self):
 
                 mujoco.mj_step(self.model, self.data)
                 self.viewer.sync()
-                time.sleep(SIMULATION_SLEEP)
+                # 【优化2】使用类内常量替代局部变量
+                time.sleep(self.SIMULATION_SLEEP)
         except KeyboardInterrupt:
             print("\n⚠️ 检测到Ctrl+C，正在退出仿真...")