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>

gripper/ui/visualizer.py

@@ -2483,6 +2483,7 @@ class VisualSettingsDialog(QDialog):
                 "close_force",
                 "grip_start_force",
                 "hold_force",
+                "grip_contact_hold_position",
                 "initial_force",
                 "force_min",
                 "force_max",
@@ -2556,6 +2557,11 @@ class VisualSettingsDialog(QDialog):
                 "release_shear_oscillation_min_flips",
                 "release_shear_oscillation_amplitude",
                 "release_shear_oscillation_confirm_samples",
+                "release_guard_fast_paths",
+                "release_shear_axes",
+                "release_shear_displacement",
+                "release_shear_displacement_samples",
+                "release_object_lost_open",
                 "release_side_shear_enabled",
                 "release_side_normal_enabled",
                 "release_shear_onset_enabled",
@@ -2603,6 +2609,7 @@ class VisualSettingsDialog(QDialog):
         "close_force": "闭合力",
         "grip_start_force": "夹住起始力",
         "hold_force": "保持力",
+        "grip_contact_hold_position": "接触后锁定当前位置（关=持续以闭合力夹紧）",
         "initial_force": "初始力",
         "force_min": "最小力",
         "force_max": "最大力",
@@ -2662,6 +2669,11 @@ class VisualSettingsDialog(QDialog):
         "release_shear_oscillation_min_flips": "切向振荡最少换向次数",
         "release_shear_oscillation_amplitude": "切向振荡峰峰值门槛 (N)",
         "release_shear_oscillation_confirm_samples": "切向振荡确认帧数",
+        "release_guard_fast_paths": "夹紧保护期内屏蔽振荡/侧触张开",
+        "release_shear_axes": "张开判断切向轴 (空=跟随控制轴/y/x/xy)",
+        "release_shear_displacement": "Y 拟合偏移张开阈值 (N, 0=关闭)",
+        "release_shear_displacement_samples": "Y 拟合偏移连续确认帧数",
+        "release_object_lost_open": "夹爪合到底(物体脱出)自动张开",
         "release_side_shear_enabled": "允许切向左右差侧触张开",
         "release_side_normal_enabled": "允许法向左右差侧触张开",
         "release_shear_onset_enabled": "允许切向通道触发普通释放",