较稳定/十分稳定挡改为恒力夹持：接触后不锁位置持续以闭合力顶住；张开改为 Y 切向带符号拟合偏移（保护期后记基准，连续 6 帧超阈值），夹爪合到底判定物体脱出即张开。较稳定 70%/2s/0.6N，十分稳定 100%/2.5s/0.8N。

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

config/gripper.json

@@ -12,7 +12,7 @@
   "serial_timeout": 0.2,
   "open_pos": 0,
   "close_pos": 9000,
-  "speed": 55,
+  "speed": 35,
   "accel": 70,
   "decel": 70,
   "release_open_speed": 55,
@@ -24,7 +24,7 @@
   "hold_force": 33,
   "initial_force": 25,
   "force_min": 20,
-  "force_max": 99,
+  "force_max": 100,
   "control_hz": 30.0,
   "baseline_seconds": 1.0,
   "filter_alpha": 0.42,
@@ -139,5 +139,11 @@
         "force_n": 2.06
       }
     ]
-  }
+  },
+  "release_guard_fast_paths": false,
+  "grip_contact_hold_position": true,
+  "release_shear_axes": "",
+  "release_shear_displacement": 0.0,
+  "release_shear_displacement_samples": 6,
+  "release_object_lost_open": false
 }