稳定度配置条与自定义挡位、独立速度调节；状态文字中文简写与平滑；灵敏挡切向振荡判据收紧；新增重置底图按钮。

- 设置框新增 0~100 稳定度配置条（灵敏 0 / 较稳定 50 / 十分稳定 100 为内置挡位，中间按比例插值），支持滚轮/左键拖动，可另存/删除自定义挡位；速度改为独立滑块。
- 状态栏改为中文简写（悬停显示原文）；夹持保护期文字按挡位区分；合并同义子状态并加最短停留，避免逐帧跳动。
- 灵敏挡切向振荡：0.5 s 内换向 4 次，并须持续至少 0.15 s 才张开（新参数 release_shear_oscillation_min_seconds）。
- 传感器控制区新增「重置底图」：左右传感器一起用当前画面更换光流参考底图（orisys Sensor.reset），不断开相机。

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

gripper/control/controller.py

@@ -55,6 +55,7 @@ class SideTriggerGripController:
             "move_position",
             "restart_left_sensor",
             "restart_right_sensor",
+            "reset_sensor_reference",
         }:
             raise ValueError(f"unsupported manual command: {command}")
         payload = {
@@ -470,6 +471,14 @@ class SideTriggerGripController:
                     manual_action = "right-sensor-restart"
                 else:
                     manual_action = "right-sensor-restart-failed"
+            elif manual_command == "reset_sensor_reference":
+                if self.reader.reset_reference_maps():
+                    release_watch.suspend()
+                    reset_open_wait_stability()
+                    trigger_armed = False
+                    manual_action = "sensor-reference-reset"
+                else:
+                    manual_action = "sensor-reference-reset-failed"
 
             # Non-blocking sample read: never stall the FSM on sensor wait.
             feedback = self.feedback_processor.read(self.reader, timeout=0.0)

gripper/control/release_watch_sensitive.py

@@ -243,6 +243,7 @@ class ReleaseWatch:
         self._candidate = None
         self._osc_count = 0
         self._osc_channel = ""
+        self._osc_since = None
         self._last_fresh = {}
         self._rates = {}
         self._curves = {key: ForceCurve(self.config) for key in CHANNELS}
@@ -377,14 +378,17 @@ class ReleaseWatch:
         if not channel:
             self._osc_count = 0
             self._osc_channel = ""
+            self._osc_since = None
             return None
         needed = max(2, int(getattr(self.config, "release_shear_oscillation_confirm_samples", 2) or 2))
+        min_seconds = max(0.0, float(getattr(self.config, "release_shear_oscillation_min_seconds", 0.0) or 0.0))
         if self._osc_channel != channel:
             self._osc_channel = channel
             self._osc_count = 1
+            self._osc_since = now
         else:
             self._osc_count += 1
-        released = self._osc_count >= needed
+        released = self._osc_count >= needed and now - self._osc_since >= min_seconds
         if released:
             self.phase = ReleasePhase.RELEASED
         else:
@@ -409,6 +413,7 @@ class ReleaseWatch:
         self._candidate = None
         self._osc_count = 0
         self._osc_channel = ""
+        self._osc_since = None
         self._watch_since = None
         self._settle_seen.clear()
         for curve in self._curves.values():