Tune grip guard/frames per stability level, unify open speed 80%, rebuild aarch64 package

- Guard (release_min_hold_seconds): sensitive 0.4 s / stable 0.7 s / firm 1.0 s, label clarified
- Y-displacement samples 3-4-6, release_confirm_samples aligned 3-4-6 so the bar shows consistent frames
- release_open_speed 80% for all modes; level summary shows frames and open speed
- Rebuild ubuntu24.04 aarch64 lite 20261008 with stable-level-50 config; drop old release packages

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

gripper/config/behavior_profiles.py

@@ -5,9 +5,10 @@ from __future__ import annotations
 import copy
 
 
-# sensitive = 灵敏：跟手释放，自适应夹持力
-# stable = 较稳定：接触即 70% 恒力夹持，2 s 保护期，Y 拟合偏移 0.6 N 张开
-# firm = 十分稳定：接触即 100% 恒力夹持，2.5 s 保护期，Y 拟合偏移 0.8 N 张开
+# sensitive = 灵敏：跟手释放，自适应夹持力，0.4 s 保护期
+# stable = 较稳定：接触即 70% 恒力夹持，0.7 s 保护期，Y 拟合偏移 0.6 N 连续 4 帧张开
+# firm = 十分稳定：接触即 100% 恒力夹持，1.0 s 保护期，Y 拟合偏移 0.8 N 连续 6 帧张开
+# 三挡张开速度统一 80%。
 # 稳定度 0..100：三挡分别位于 0 / 50 / 100，中间值按比例插值（见 grip_behavior_level_profile）。
 GRIP_BEHAVIOR_MODES = ("sensitive", "stable", "firm")
 
@@ -130,20 +131,20 @@ _SENSITIVE_PROFILE = {
     "release_guard_fast_paths": False,
     "release_shear_axes": "",
     "release_shear_displacement": 0.0,
-    "release_shear_displacement_samples": 6,
+    "release_shear_displacement_samples": 3,
     "release_object_lost_open": False,
-    "release_open_speed": 55,
+    "release_open_speed": 80,
     "release_open_accel": 70,
     "release_open_decel": 70,
     "release_arm_delay_seconds": 0.28,
-    "release_min_hold_seconds": 0.65,
+    "release_min_hold_seconds": 0.4,
     "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_confirm_samples": 3,
     "release_slow_confirm_samples": 8,
     "release_normal_rate": 2.6,
     "release_shear_rate": 2.4,
@@ -181,22 +182,24 @@ _STABLE_PROFILE = {
     # Full clamp swings Y by several N and flips sign, so onset confirmation
     # keeps cancelling; open on sustained fitted Y displacement instead.
     "release_shear_displacement": 0.6,
-    "release_shear_displacement_samples": 6,
+    "release_shear_displacement_samples": 4,
     # The close command keeps pushing: reaching close_pos means the object is gone.
     "release_object_lost_open": True,
-    "release_open_speed": 55,
+    "release_open_speed": 80,
     "release_open_accel": 70,
     "release_open_decel": 70,
     "release_arm_delay_seconds": 0.55,
-    # Protection: no release of any kind within 2s of contact.
-    "release_min_hold_seconds": 2.0,
+    # Protection: no release of any kind within 0.7 s of contact.
+    "release_min_hold_seconds": 0.7,
     "release_settle_seconds": 0.22,
     "release_min_change": 0.12,
     "release_touch_window_seconds": 0.22,
     "release_side_touch_change": 0.24,
     "release_confirm_window_seconds": 0.28,
     "release_sample_timeout_seconds": 0.3,
-    "release_confirm_samples": 8,
+    # Unused by the displacement release; kept equal to its frame count so the
+    # stability bar scales the sensitive confirm 3 -> 4 instead of toward 8.
+    "release_confirm_samples": 4,
     "release_slow_confirm_samples": 12,
     "release_normal_rate": 4.0,
     "release_shear_rate": 3.6,
@@ -230,8 +233,10 @@ _STABLE_PROFILE = {
 _FIRM_PROFILE = {
     **_STABLE_PROFILE,
     **_constant_force(100),
-    "release_min_hold_seconds": 2.5,
+    "release_min_hold_seconds": 1.0,
     "release_shear_displacement": 0.8,
+    "release_shear_displacement_samples": 6,
+    "release_confirm_samples": 6,
 }
 
 GRIP_BEHAVIOR_PROFILES = {

gripper/ui/visualizer.py

@@ -3018,7 +3018,7 @@ class VisualSettingsDialog(QDialog):
         "adaptive_force_step": "自适应加力步进",
         "adaptive_force_interval": "自适应加力间隔",
         "release_arm_delay_seconds": "自运动执行后保护时间 (s)",
-        "release_min_hold_seconds": "接触法向保护 (s，侧触不等待)",
+        "release_min_hold_seconds": "夹持保护期 (s，接触后多久才允许张开)",
         "release_settle_seconds": "脉冲/断流恢复保护上限 (s)",
         "release_min_change": "突变/轻触释放最小力变化",
         "release_touch_window_seconds": "新外力起始证据有效期 (s，非等待时间)",
@@ -3516,7 +3516,11 @@ class VisualSettingsDialog(QDialog):
         if mode == "sensitive":
             parts.append(f"确认 {profile['release_confirm_samples']} 帧")
         else:
-            parts.append(f"张开阈值 Y 偏移 {profile['release_shear_displacement']:.2f} N")
+            parts.append(
+                f"张开阈值 Y 偏移 {profile['release_shear_displacement']:.2f} N"
+                f" × {profile['release_shear_displacement_samples']} 帧"
+            )
+        parts.append(f"张开速度 {profile['release_open_speed']}%")
         return " · ".join(parts)
 
     def _on_level_changed(self, level):