灵敏挡与稳定挡代码分离：灵敏挡使用 6393be9 原版 release_watch（release_watch_sensitive.py），较稳定/十分稳定使用 release_watch.py，按挡位分发；速度按挡位设置（灵敏 55%，较稳定/十分稳定 30%）；切换挡位后界面速度/最大力滑块同步。

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

gripper/ui/visualizer.py

@@ -98,6 +98,7 @@ else:
 
 from ..app import build_controller
 from ..common.paths import PACKAGE_DIR, REPO_ROOT
+from ..config.behavior_profiles import grip_behavior_profile, normalize_grip_behavior_mode
 from ..sensors.camera_discovery import (
     default_sensor_camera_sources,
     list_camera_ids,
@@ -3114,6 +3115,7 @@ class VisualSettingsDialog(QDialog):
             updated.get("slave_id", 1),
         )
         applied_live = self.viewer.apply_runtime_config(updated)
+        self.viewer._sync_mode_controls()
         if applied_live:
             tip = "配置已写入，并已对当前运行中的控制即时生效。"
         else:
@@ -3729,6 +3731,36 @@ class GripperDemo02Viewer(QMainWindow):
             position_max = position_min + 1
         return open_pos, close_pos, position_min, position_max
 
+    def _sync_mode_controls(self, mode=None):
+        """Speed / max-force sliders follow the active grip behavior mode."""
+        controller = getattr(self, "controller", None)
+        source = getattr(controller, "config", None)
+        if source is None:
+            try:
+                with open(self._control_config_path(), "r", encoding="utf-8") as f:
+                    source = json.load(f)
+            except Exception:
+                source = {}
+        if mode is None:
+            mode = (source.get("grip_behavior_mode") if isinstance(source, dict)
+                    else getattr(source, "grip_behavior_mode", None))
+        mode = normalize_grip_behavior_mode(mode)
+        if not source or (isinstance(source, dict)
+                          and source.get("grip_behavior_mode") not in (None, mode)):
+            source = grip_behavior_profile(mode)
+        get = source.get if isinstance(source, dict) else (lambda k, d=None: getattr(source, k, d))
+        values = {"speed_control": get("speed"), "force_control": get("close_force")}
+        # Only on change, so a manual slider drag is not snapped back each tick.
+        key = (mode, tuple(values.values()))
+        if key == self._mode_controls_key:
+            return
+        self._mode_controls_key = key
+        for control_name, value in values.items():
+            control = getattr(self, control_name, None)
+            if control is not None and value is not None:
+                # Signals stay blocked so this does not echo into the live config.
+                control.set_value(value, force=True)
+
     def _load_manual_control_config(self):
         speed = 25
         force = 10
@@ -3771,6 +3803,7 @@ class GripperDemo02Viewer(QMainWindow):
         self.action_label.setObjectName("StatusSub")
         status_layout.addWidget(self.status_chip)
         status_layout.addWidget(self.action_label)
+        self._mode_controls_key = None
         self.start_button = TopIconButton("start", "启动控制程序")
         self.start_button.clicked.connect(self.start_control)
         self.stop_button = TopIconButton("stop", "停止控制程序")
@@ -4465,6 +4498,7 @@ class GripperDemo02Viewer(QMainWindow):
         self.action_label.setText(
             shorten_status_text(f"action={label_with_cn(action, ACTION_TEXT)}", 28)
         )
+        self._sync_mode_controls(status.get("grip_behavior_mode"))
         self.manual_hold_button.setText(
             "释放" if bool(status.get("manual_hold_active")) else "保持"
         )