完善释放控制：稳定/迅速行为预设、力曲线夹稳门控与会话记录。

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

config/gripper.json

@@ -1,12 +1,12 @@
 {
-  "video1": "2",
+  "video1": "0",
   "video2": "1",
   "sensor_config1": "./config/ddjx01_q6a.json",
   "sensor_config2": "./config/ddjx01_q6a.json",
   "sensor_fps": 30.0,
   "motion_threshold": 0.0,
   "sensor_cpu": false,
-  "port": "COM9",
+  "port": "COM10",
   "slave_id": 1,
   "baudrate": 115200,
   "serial_timeout": 0.2,
@@ -15,7 +15,7 @@
   "speed": 55,
   "accel": 70,
   "decel": 70,
-  "release_open_speed": 50,
+  "release_open_speed": 55,
   "release_open_accel": 70,
   "release_open_decel": 70,
   "open_force": 25,
@@ -27,13 +27,13 @@
   "force_max": 99,
   "control_hz": 30.0,
   "baseline_seconds": 1.0,
-  "filter_alpha": 0.55,
-  "shear_filter_alpha": 0.65,
-  "trigger_normal_force": 0.1,
-  "trigger_shear_force": 0.1,
+  "filter_alpha": 0.42,
+  "shear_filter_alpha": 0.52,
+  "trigger_normal_force": 0.06,
+  "trigger_shear_force": 0.06,
   "trigger_clear_stable_seconds": 0.15,
-  "open_wait_stable_samples": 12,
-  "open_wait_stable_range_n": 0.01,
+  "open_wait_stable_samples": 8,
+  "open_wait_stable_range_n": 0.025,
   "open_wait_stable_trend_n": 0.015,
   "grip_normal_force": 0.2,
   "grip_requires_both": true,
@@ -41,21 +41,45 @@
   "closing_command_interval": 0.2,
   "force_ramp_step": 1,
   "force_ramp_interval": 0.1,
-  "grip_settle_seconds": 0.15,
+  "grip_settle_seconds": 0.2,
+  "grip_behavior_mode": "stable",
   "adaptive_grip_enabled": true,
   "adaptive_shear_start_force": 0.1,
   "adaptive_shear_full_force": 0.6,
   "adaptive_force_min": 33,
   "adaptive_force_max": 80,
   "adaptive_force_step": 5,
-  "adaptive_force_interval": 0.03,
-  "release_arm_delay_seconds": 1.2,
-  "release_normal_change": 0.35,
+  "adaptive_force_interval": 0.08,
+  "release_arm_delay_seconds": 0.28,
+  "release_min_hold_seconds": 0.65,
+  "release_settle_seconds": 0.12,
+  "release_min_change": 0.08,
+  "release_touch_window_seconds": 0.14,
+  "release_side_touch_change": 0.12,
+  "release_confirm_window_seconds": 0.14,
+  "release_sample_timeout_seconds": 0.2,
+  "release_confirm_samples": 4,
+  "release_slow_confirm_samples": 8,
+  "release_normal_rate": 2.6,
+  "release_shear_rate": 2.4,
+  "release_slow_rate": 0.22,
+  "release_normal_change": 0.42,
   "release_shear_change": 0.35,
-  "rearm_seconds": 0.4,
+  "release_curve_history": 30,
+  "release_slope_window_seconds": 0.8,
+  "release_slope_settle_rate": 0.22,
+  "release_slope_min_points": 10,
+  "release_require_slope_settle": true,
+  "release_slope_hold_seconds": 0.45,
+  "release_settle_normal_only": true,
+  "release_side_shear_enabled": true,
+  "release_side_normal_enabled": false,
+  "release_shear_onset_enabled": true,
+  "release_normal_onset_enabled": false,
+  "rearm_seconds": 0.55,
   "recover_normal_force": 0.02,
   "recover_shear_force": 0.02,
-  "recover_stable_seconds": 0.4,
+  "recover_stable_seconds": 0.55,
   "open_position_recover_enabled": true,
   "open_position_tolerance": 100,
   "open_position_stable_seconds": 0.1,