开合控制调整：切向触发只看 Y 轴，三挡位只控制释放、触发固定灵敏参数；自适应负载改看切向 X；恢复原灵敏档张开逻辑与排查前夹持力参数。

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

config/gripper.json

@@ -6,7 +6,7 @@
   "sensor_fps": 30.0,
   "motion_threshold": 0.0,
   "sensor_cpu": false,
-  "port": "COM10",
+  "port": "COM5",
   "slave_id": 1,
   "baudrate": 115200,
   "serial_timeout": 0.2,
@@ -29,8 +29,9 @@
   "baseline_seconds": 1.0,
   "filter_alpha": 0.42,
   "shear_filter_alpha": 0.52,
-  "trigger_normal_force": 0.06,
-  "trigger_shear_force": 0.06,
+  "shear_control_axes": "y",
+  "trigger_normal_force": 0.12,
+  "trigger_shear_force": 0.12,
   "trigger_clear_stable_seconds": 0.15,
   "open_wait_stable_samples": 8,
   "open_wait_stable_range_n": 0.025,
@@ -42,7 +43,7 @@
   "force_ramp_step": 1,
   "force_ramp_interval": 0.1,
   "grip_settle_seconds": 0.2,
-  "grip_behavior_mode": "stable",
+  "grip_behavior_mode": "sensitive",
   "adaptive_grip_enabled": true,
   "adaptive_shear_start_force": 0.1,
   "adaptive_shear_full_force": 0.6,
@@ -72,10 +73,15 @@
   "release_require_slope_settle": true,
   "release_slope_hold_seconds": 0.45,
   "release_settle_normal_only": true,
+  "release_shear_oscillation_open": true,
+  "release_shear_oscillation_window_seconds": 0.4,
+  "release_shear_oscillation_min_flips": 3,
+  "release_shear_oscillation_amplitude": 0.15,
+  "release_shear_oscillation_confirm_samples": 2,
   "release_side_shear_enabled": true,
-  "release_side_normal_enabled": false,
+  "release_side_normal_enabled": true,
   "release_shear_onset_enabled": true,
-  "release_normal_onset_enabled": false,
+  "release_normal_onset_enabled": true,
   "rearm_seconds": 0.55,
   "recover_normal_force": 0.02,
   "recover_shear_force": 0.02,