diff --git a/.gitignore b/.gitignore
index 83097a9..a2d5cae 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,21 +1,22 @@
 __pycache__/
 *.py[cod]
-.pytest_cache/
-
-# Runtime state must never be committed. It can contain live session and robot data.
-status.json
-status.json.tmp
 *.log
 *.jsonl
+status.json
+status.json.tmp
+.pytest_cache/
 
-# ROS and Python build products are architecture-specific.
-ros2_py/build/
-ros2_py/install/
-ros2_py/log/
+# ROS/colcon generated output is rebuilt on the target robot.
+tg3_local_teleop/ros2_py/build/
+tg3_local_teleop/ros2_py/install/
+tg3_local_teleop/ros2_py/log/
 python/build/
 *.egg-info/
 *.so
 
+# Local deployment and editor leftovers.
+.deploy-*/
 .DS_Store
-*~
 *.bak
+*.before-*
+*~
diff --git a/README.md b/README.md
index 72f2741..1325297 100644
--- a/README.md
+++ b/README.md
@@ -1,79 +1,61 @@
-# 天工 3.0 TS1P 同构臂本地遥操
+# TG3 天工 3.0 本地同构臂遥操
 
-本仓库汇总当前已经部署并验证的三部分：
-
-```text
-TS1P / xTELE
-  -> tg3_omnisocket_transport（EAI 会话门控发送端）
-  -> OmniSocketGo / KCP Hub
-  -> tg3_local_teleop（天工 3.0 机器人接收、双臂、双手和行走桥）
-```
-
-启动和结束遥操都使用左 `Z` + 右 `C` 连续 3 秒。待机时 EAI 不连接 Hub、
-不发送业务数据；启动后约以 xTELE 原始频率发送；结束时发送匹配会话的最后一个
-`STOP`，随后断开。遥操已启动时，右 `C` + 左摇杆在下一个 50 Hz 周期立即控制
-HBWALK 行走，不再有第二个 3 秒等待。
+本仓库保存 TS1P 同构臂经 OmniSocket 控制天工 3.0 双臂、BrainCo Revo2
+双手和 HBWALK 前后/转向所需的自写代码。它不包含、不修改 xTELE、机器人厂家
+控制源码或 OmniSocketGo 本体。
 
 ## 目录
 
+- `tg3_omnisocket_transport/`：部署到 EAI 工控机；从 xTELE 的本机 5003/5001
+  读取数据，仅在左 Z + 右 C 连续 3 秒开启后注册并发送，STOP 后立即断开。
+- `tg3_local_teleop/`：部署到机器人 Nvidia；直接接收 OmniSocket 数据，发布双臂、
+  双手及 `/hric/robot/cmd_vel`，并提供限速回 Home。
+- `docs/`：可提交的跨机器人迁移步骤。含实测帧和现场拓扑的汇报/证据文档只保留在
+  当前本地工作副本，不同步到匿名可读的远端仓库。
+
+## 外部依赖（不随仓库提交）
+
+两端都需要单独安装 OmniSocketGo 的 Python 扩展。当前验证版本为：
+
 ```text
-tg3_omnisocket_transport/  EAI 发送端、用户服务和离线测试
-tg3_local_teleop/          机器人桥、配置、用户服务、ROS 消息和离线测试
-OmniSocketGo/              固定版本的传输依赖（Git 子模块）
-docs/                      部署汇报、迁移指南和 Topic/SBUS 证据记录
-verify.sh                  不连接机器人、不发布 ROS 的离线检查
+https://gitea.public.snrc.site/limingjie/OmniSocketGo.git
+commit de3f5c96779dbe1571c10feb22fc7f2331b6b222
 ```
 
-OmniSocketGo 固定在提交 `de3f5c96779dbe1571c10feb22fc7f2331b6b222`。克隆时必须拉取
-子模块：
-
-```bash
-git clone --recurse-submodules <本仓库地址>
-cd TG3_TS1P_OmniSocket_Teleop
-./verify.sh
-```
-
-如果已经普通克隆：
-
-```bash
-git submodule update --init --recursive
-```
-
-## 迁移时必须修改
-
-当前提交保留了现场已经运行的配置，便于恢复当前机器人。迁移到其他机器人时，不可
-原样启动，至少要检查：
-
-- `tg3_omnisocket_transport/tg3-omnisocket-sender.service` 中的 Hub、发送 Peer ID、
-  目标 Peer ID 和 EAI 用户路径；
-- `tg3_local_teleop/config.toml` 中的 Hub、机器人 Peer ID、预期发送 Peer ID、
-  同构臂 ID、灵巧手类型和直接局域网回退地址；
-- 新机器人的 14 个真实 Home 关节值。现有 `home.joint_goal_rad` 只能用于当前机器人，
-  绝不能作为另一台机器人的 Home；
-- ROS 安装路径、消息类型、HBWALK Topic 和机器人侧厂家速度许可。
-
-完整流程见
+EAI 还需已安装并运行 xTELE；机器人端需已有 ROS 2 Jazzy、厂家消息包与驱动。
+详见
 [`docs/天工3.0本地同构臂遥操迁移部署指南.md`](docs/天工3.0本地同构臂遥操迁移部署指南.md)。
 
-## 构建传输依赖
+OmniSocket Python 扩展包含本机架构代码，必须分别在 EAI 和机器人上从上述固定提交
+原生执行 `make python-ext`，不能复制另一种 CPU 或 Python 版本生成的 `.so`。
 
-OmniSocket Python 扩展包含本机架构代码，必须分别在 EAI 和机器人上原生编译，不能
-复制另一种 CPU/Python 版本生成的 `.so`：
+提交或部署前可运行 `./verify.sh` 完成两端协议、手势、接收端刷新、Python 编译和
+TOML 解析检查。若还要核对外置 OmniSocketGo 版本，可设置任务专用环境变量
+`OMNISOCKETGO_DIR=/path/to/OmniSocketGo` 后再运行。
 
-```bash
-cd OmniSocketGo
-make python-ext
-```
+## 当前按键
 
-EAI 和机器人部署命令、systemd 用户服务安装及完整重启顺序分别记录在两个项目的
-README 和 `docs/` 中。
+- 左 Z + 右 C 连续 3 秒：开始遥操；再次连续 3 秒：结束并限速回 Home。
+- 右 C + 左摇杆上下：HBWALK 前进/后退。
+- 左 Z + 右摇杆左右：HBWALK 原地转向。
+- 右 B 连续 3 秒：右手进入厂商“单食指”姿态；松开至少 0.5 秒后再次连续
+  3 秒退出。手指动作继续受 `400 units/s` 限速。
+
+## 迁移前必须修改
+
+至少核对并修改服务器地址、两端 Peer ID、同构臂 ID、直连回退 IP、安装用户名和
+路径。`config.toml` 中的 14 关节 Home 是当前实机采集值，不能直接用于另一台机器人；
+必须在新机器人上重新采集并完成低速验证。所有厂家默认限位、碰撞、电流和急停保护
+保持不变。
+
+运行产生的 `status.json`、日志、Python 缓存及 ROS 构建目录已由 `.gitignore`
+排除。
 
 ## 安全与仓库可见性
 
-这是物理机器人控制项目。执行 `--allow-publish`、启动用户服务或回 Home 前，必须确认
-机器人处于 HBWALK、防护和急停有效、双臂及行走区域净空。
+这是物理机器人控制项目。启动带 `--allow-publish` 的服务、测试手势、行走或回 Home
+前，必须确认机器人处于 HBWALK，防护和急停有效，双臂、灵巧手与行走区域净空。
 
-仓库包含现场 Hub 地址、设备/Peer ID、内网地址、实机 Home 姿态以及标记为
-`Proprietary` 的 ROS 消息定义，建议 Gitea 仓库保持私有。运行产生的 `status.json`、
-日志、缓存和本机编译文件已由 `.gitignore` 排除。原厂 SDK 文档和 PDF 未收入仓库，
-避免上传其中的下载授权码、Wi-Fi 信息及版权资料。
+仓库保留了现场 Hub 地址、设备/Peer ID、内网地址、当前实机 Home 姿态，以及标记为
+`Proprietary` 的 ROS 消息定义，建议 Gitea 仓库保持私有。原厂 SDK 文档和 PDF 未收入
+仓库，避免上传其中的下载授权码、Wi-Fi 信息及版权资料。
diff --git a/docs/天工3.0本地同构臂遥操迁移部署指南.md b/docs/天工3.0本地同构臂遥操迁移部署指南.md
index 3ae9cde..cd53ce1 100644
--- a/docs/天工3.0本地同构臂遥操迁移部署指南.md
+++ b/docs/天工3.0本地同构臂遥操迁移部署指南.md
@@ -91,6 +91,7 @@ python3 -c 'import json; p="/home/nvidia/tg3_local_teleop/status.json"; d=json.l
 /right_hand/set_motor_multi
 /left_hand/motor_status
 /right_hand/motor_status
+/hric/robot/cmd_vel
 ```
 
 若新机器人不是天工 3.0、SDK 版本接口有变化、不是 14 维双臂或不是 BrainCo Revo2，先停止
@@ -152,7 +153,7 @@ ssh nvidia@"${TG3_NEW_ROBOT_IP}" \
 rsync -av \
   --exclude=__pycache__ \
   --exclude=status.json \
-  /home/ps/Downloads/tg3_local_teleop/ \
+  /home/ps/Downloads/TG3/tg3_local_teleop/ \
   nvidia@"${TG3_NEW_ROBOT_IP}":/home/nvidia/tg3_local_teleop/
 
 ssh nvidia@"${TG3_NEW_ROBOT_IP}" \
@@ -184,6 +185,8 @@ joint_goal_rad = [ ...新机器人实测的 14 个 Home 值... ]
 还要检查：
 
 - `[hands]` 是否与新机器人的真实手型相符；
+- `[hands].right_b_point_pose_normalized` 是否适用于新 BrainCo 手的校准；首次只在净空、
+  急停可用且低速限制生效时测试；
 - `[control].joint_lower_rad/joint_upper_rad` 是否仍适用于同型号和当前 SDK；
 - `run.sh`、service 内的用户名和路径是否仍为 `/home/nvidia`；
 - ROS 安装路径是否仍有 `/opt/ros/jazzy`、`/home/nvidia/xos` 或
@@ -312,6 +315,8 @@ Environment=PYTHONPATH=/home/<新EAI用户>/OmniSocketGo/python
 --cmd-max-age-s 0.25
 --source-timeout-s 0.25
 --start-stop-hold-s 3.0
+--combo-release-s 0.5
+--start-marker-frames 500
 --max-feedback-age-ms 500
 --max-pending-frames 100
 Restart=always
@@ -392,14 +397,19 @@ omnisocket_server = "203.0.113.10:15000"
 5. 松开两个扳机，长按左 Z + 右 C 3 秒启动；
 6. 先做小幅单关节跟随，再逐渐扩大动作；
 7. 分别小幅扣左右扳机，验证双手方向、范围和限速；
-8. 先停止并确认 `armed=false`，按飞书指南逐个选择手势组合键；检查 EAI `status.json`
-   的 `command_hand_merges` 增长，并确认机器人 `iarm_hand_position` 变为左右各 6 维数组；
-9. 再次武装后只做小幅扳机动作，逐个验证组合手势方向和限速；
-10. 保持右 C，把左摇杆小幅向前推出死区，确认下一个 50 Hz 周期立即响应；松 C，确认
+8. 保持右摇杆回中，连续长按右 B 3 秒，确认右手以 `400 units/s` 限速进入厂商
+   “单食指”姿态；松开至少 0.5 秒后再次长按 3 秒，确认退出并恢复正常右手跟随；
+9. 先停止并确认 `armed=false`，按飞书指南逐个选择其他手势组合键；检查 EAI
+   `status.json` 的 `command_frames_accepted` 增长，并在 EAI 本机 5001 抓帧确认处理后的
+   `hand.position` 为六维数组；待机不会构包，`command_hand_merges` 此时不应增长；
+10. 再次武装后检查 `command_hand_merges` 增长和机器人 `iarm_hand_position` 为六维，
+    再只做小幅动作，逐个验证所需的其他组合手势方向和限速；
+11. 保持右 C，把左摇杆小幅向前推出死区，确认下一个 50 Hz 周期立即响应；松 C，确认
     立即零速停止。再次按 C/推杆也应立即响应，不再等待 3 秒；
-11. 再次长按停止，观察双臂限速回到新机器人保存的 Home；
-12. 测试 Hub 短暂断线：应在 0.25 秒后停止发布，恢复后先确认未武装，再重新长按启动；
-13. 记录最终 Peer ID、Hub、SSH 地址、Home、行走限速和手部端点到该机器人的设备档案。
+12. 保持左 Z，把右摇杆小幅横推，确认机器人原地转向；松开任一输入应立即清零角速度；
+13. 再次长按 Z+C 停止，观察双臂限速回到新机器人保存的 Home；
+14. 测试 Hub 短暂断线：应在 0.25 秒后停止发布，恢复后先确认未武装，再重新长按启动；
+15. 记录最终 Peer ID、Hub、SSH 地址、Home、行走限速、手部端点和单食指姿态到该机器人的设备档案。
 
 迁移时确认目标机提供 `/hric/robot/cmd_vel`（`geometry_msgs/msg/TwistStamped`），并保持
 `locomotion.command_topic` 与目标固件一致。行走限速、死区、曲线和方向符号均在机器人
diff --git a/tg3_local_teleop/README.md b/tg3_local_teleop/README.md
index 0261da0..f4acecf 100644
--- a/tg3_local_teleop/README.md
+++ b/tg3_local_teleop/README.md
@@ -13,13 +13,15 @@ TS1P 同构臂
   -> 天工 3.0 双臂
   -> /left_hand/set_motor_multi + /right_hand/set_motor_multi
   -> 天工 3.0 BrainCo Revo2 双灵巧手
-  -> /hric/robot/cmd_vel（右 C + 左摇杆；50 Hz TwistStamped）
+  -> /hric/robot/cmd_vel（右 C + 左摇杆前后 / 左 Z + 右摇杆转向；50 Hz TwistStamped）
   -> 天工 3.0 HBWALK 行走
 ```
 
 ## 自动运行与操作
 
 - 桥接服务随机器人算力主机的用户服务自动启动；未进入 `HBWALK` 时只监测、不发布。
+- 用户服务启动前会用短生命周期 ROS 探针等待 `/hric/robot/rl_state` 可发现，再创建
+  长生命周期桥接节点，避免开机早期网络接口尚未就绪时 Fast DDS 固化为空接口。
 - 开始遥操：进入 `HBWALK` 后，同时长按左手 `Z` + 右手 `C` 3 秒。该计时在 EAI
   本机完成；计时未通过前不向 Hub 发送 xTELE 业务帧。
 - 结束遥操：再次同时长按 3 秒；EAI 发送最后一个匹配会话的 `STOP` 后停止业务数据，
@@ -27,18 +29,29 @@ TS1P 同构臂
 - 回 Home 过程中用新的 Z+C 3 秒会话可取消回位并重新启动遥操。
 - 本地桥控制左右各 7 个手臂关节、BrainCo Revo2 双灵巧手和 HBWALK
   前后/转向；不控制腰和头。
-- 行走：遥操已启动后，右 `C` 是即时 deadman；按住 C 并把左摇杆推出死区后，在下一个
-  `50 Hz` 周期立即响应，不再等待 3 秒。松开 C 或摇杆回中立即发零速，再按也立即恢复。
-  左摇杆上下控制前后，左右控制原地转向。
+- 行走：遥操已启动后，右 `C` + 左摇杆上下控制前后，左 `Z` + 右摇杆左右控制原地
+  转向；两个组合都在下一个 `50 Hz` 周期立即响应，不再等待 3 秒。松开对应按键或
+  摇杆回中立即把该轴清零，再按也立即恢复。
+  前后仍使用二次细控曲线；转向在死区后使用线性曲线，使右摇杆中段有足够角速度，
+  但最大值仍受官方 `0.8 rad/s` 上限约束。
   按官方半身行走 Topic 范围限幅：前进 `1.0 m/s`、后退 `0.8 m/s`、转向
   `0.8 rad/s`；死区 `0.2`，输出频率 `50 Hz`。
-- xTELE 0.1.2 的左摇杆原始数组顺序是“前后、左右”；前后映射到 `linear.x`，左右
+- xTELE 0.1.2 的摇杆数组顺序是“纵轴、横轴”；左纵轴映射到 `linear.x`，右横轴
   映射到 `angular.z`。`TwistStamped.header.frame_id` 按二次开放文档设置为 `pelvis`。
 - 当前安装的 xTELE 0.1.2 没有注册同侧右 `C+A` 组合，因此 `C+A` 不执行动作；不能
   在不清楚厂商语义的情况下把它擅自绑定为状态切换。
 - 同构臂当前的一维手部开合量以机器人实测默认打开姿态为 0 端点，并按厂家 xTELE 的
   BrainCoRevo2 保守“常规”抓握姿态作为 1 端点映射到六电机；
   若 xTELE 后续直接输出六维归一化位置，会自动使用六维位置。
+- 右手指向手势：遥操已启动且灵巧手反馈健康时，连续长按右 `B` 3 秒开启；松开
+  至少 `0.5 s` 后，再连续长按右 `B` 3 秒关闭。首次启动和每个新遥操会话都必须先
+  稳定松开 B，保持同一次按压不会反复切换。计时未满、中途松开、输入畸形或反馈
+  中断均不触发；计时期间冻结右手最后一条命令，左手和双臂仍照常跟随。
+- 指向只覆盖右手。目标采用工控机 xTELE `GestureController` 的 BrainCoRevo2 第 2 号
+  “单食指”手势 `state 0`：归一化目标
+  `[0.2, 0.688, 0.0, 0.98, 0.98, 0.98]`，对应当前 `1~1000` 位置范围约为
+  `[201, 688, 1, 980, 980, 980]`；顺序为大拇指弯曲、大拇指旋转、食指、中指、
+  无名指、小拇指。进入和退出手势都继续使用每秒最多 400 个位置单位的现有限速。
 
 ## 安全门控
 
@@ -53,7 +66,7 @@ HBWALK 状态等运行时保护仍持续检查。厂家 `freq_change_tg3_node` 
 `angular.z=[-0.8, 0.8] rad/s`；本桥不发布侧移速度。
 
 行走速度只在同一次遥操武装、`HBWALK/HBWALK/running`、网络数据新鲜且右 C + 左摇杆
-即时成立时发布。解除组合后立即发布零速，并补发 10 帧零速。公网断线、退出遥操、
+前后或左 Z + 右摇杆横向即时成立时发布。解除组合后立即发布零速，并补发 10 帧零速。公网断线、退出遥操、
 回 Home 或机器人退出 HBWALK 也走同一停止逻辑。
 
 灵巧手仅在同一次长按武装后发布；以机器人真实手指位置为起点，并按每秒最多 400 个
@@ -61,6 +74,8 @@ HBWALK 状态等运行时保护仍持续检查。厂家 `freq_change_tg3_node` 
 和 `3`（持续力）均为厂家定义的正常运行状态；仅状态失联、未知/非法状态、同构臂失联
 或检测到另一命令源时，双臂和双手会一起解除武装并停止发布。停止遥操后灵巧手保持
 最后目标，双臂按原逻辑限速回 Home。BrainCo 驱动原有的电流、堵转和碰撞保护不作修改。
+匹配的 STOP、安全解除武装或服务退出都会清除右 B 指向手势的逻辑状态，但不会在
+STOP 后额外发送张手/恢复命令；下一次会话从机器人实测手指位置重新限速跟随。
 
 ## 限速双臂回 Home
 
diff --git a/tg3_local_teleop/config.toml b/tg3_local_teleop/config.toml
index 8577fd6..f3e76c2 100644
--- a/tg3_local_teleop/config.toml
+++ b/tg3_local_teleop/config.toml
@@ -5,6 +5,11 @@ omnisocket_server = "175.178.116.187:14049"
 omnisocket_peer_id = "tg3-009027fa8190-robot"
 omnisocket_expected_sender = "tg3-009027fa8190-iarm"
 omnisocket_max_packet_age_ms = 300.0
+# The deployed OmniSocket receiver does not exchange a Hub heartbeat while idle.
+# Re-register periodically with make-before-break so a Hub restart cannot leave
+# a false connected state and healthy refreshes never create a routing gap.
+# Active traffic resets this timer and is never interrupted by this refresh.
+omnisocket_idle_session_refresh_s = 30.0
 # The native session can remain blocked on an old connection after the public
 # Hub disappears. Publication stops at source_timeout_s; after this longer
 # interval the process exits and systemd creates a completely fresh session.
@@ -52,8 +57,9 @@ joint_upper_rad = [
 ]
 
 [locomotion]
-# Right C remains an immediate deadman: while teleoperation is active, C plus
-# a left-stick command acts on the next 50 Hz tick. There is no second hold.
+# The two original immediate bindings are independent: right C + left-stick
+# vertical controls translation; left Z + right-stick horizontal controls
+# in-place yaw. Both act on the next 50 Hz tick, with no second hold.
 enabled = true
 command_topic = "/hric/robot/cmd_vel"
 # This bridge never publishes FSM commands. The robot must already report
@@ -63,6 +69,10 @@ frame_id = "pelvis"
 hold_seconds = 0.0
 joystick_deadzone = 0.2
 joystick_expo = 2.0
+# Turning is linear after the deadzone so medium right-stick travel is not
+# suppressed by the quadratic forward-motion curve. The official yaw cap is
+# unchanged.
+yaw_joystick_expo = 1.0
 # TianGong secondary-development /cmd_vel limits for full/half-body walking:
 # linear.x [-0.8, +1.0] m/s and angular.z [-0.8, +0.8] rad/s.
 max_forward_m_s = 1.0
@@ -99,6 +109,17 @@ invert_scalar = false
 open_normalized = [0.4, 0.4, 0.05, 0.05, 0.05, 0.05]
 closed_normalized = [0.9, 0.5, 0.45, 0.52, 0.52, 0.45]
 
+# Right B owns a robot-side, release-guarded pointing gesture while a teleop
+# session is armed. Both activation and deactivation require one continuous
+# 3-second hold, separated by at least 0.5 seconds of stable release. A new
+# session is always release-locked. The pose is xTELE GestureController's
+# BrainCoRevo2 gesture 2 ("single index finger"), state 0, in motor order:
+# thumb bend, thumb rotation, index, middle, ring, little.
+right_b_point_gesture_enabled = true
+right_b_point_gesture_hold_seconds = 3.0
+right_b_point_gesture_release_seconds = 0.5
+right_b_point_pose_normalized = [0.2, 0.688, 0.0, 0.98, 0.98, 0.98]
+
 [home]
 # Deliberately slower than manual teleoperation. This Home pose was captured
 # from the robot's real arm feedback on 2026-08-06. Joint order is 11..17,
diff --git a/tg3_local_teleop/gesture_toggle.py b/tg3_local_teleop/gesture_toggle.py
new file mode 100644
index 0000000..bc7f94f
--- /dev/null
+++ b/tg3_local_teleop/gesture_toggle.py
@@ -0,0 +1,243 @@
+#!/usr/bin/env python3
+"""Pure state machine for the right-B pointing-hand gesture.
+
+This module deliberately has no ROS dependencies so the hold/release safety
+rules can be exercised offline before the bridge is deployed on a robot.
+"""
+
+from __future__ import annotations
+
+import math
+from typing import Any, Mapping, Sequence
+
+
+class GestureToggle:
+    """Toggle one persistent gesture with a guarded long press.
+
+    A new session always starts release-locked.  A continuous release clears
+    that lock, then a continuous press toggles the gesture once.  The same
+    physical press cannot toggle twice; another stable release is required.
+    """
+
+    def __init__(self, hold_seconds: float, release_seconds: float) -> None:
+        if not math.isfinite(hold_seconds) or hold_seconds <= 0.0:
+            raise ValueError("gesture hold time must be positive and finite")
+        if not math.isfinite(release_seconds) or release_seconds <= 0.0:
+            raise ValueError("gesture release time must be positive and finite")
+        self.hold_seconds = float(hold_seconds)
+        self.release_seconds = float(release_seconds)
+        self.active = False
+        self.hold_started_at: float | None = None
+        self.release_started_at: float | None = None
+        self.require_release = True
+        self.armed = False
+        self.input_healthy = False
+        self.button_pressed: bool | None = None
+        self._freeze_right_hand = False
+        self.toggle_count = 0
+        self.last_transition = "initialized"
+
+    def new_session(self) -> None:
+        """Start release-locked and never carry a gesture across sessions."""
+
+        self.active = False
+        self.hold_started_at = None
+        self.release_started_at = None
+        self.require_release = True
+        self.armed = True
+        self.input_healthy = False
+        self.button_pressed = None
+        self._freeze_right_hand = True
+        self.last_transition = "new_session"
+
+    def disarm(self, reason: str = "disarmed") -> None:
+        """Clear the logical gesture without commanding any hand movement."""
+
+        self.active = False
+        self.hold_started_at = None
+        self.release_started_at = None
+        self.require_release = True
+        self.armed = False
+        self.input_healthy = False
+        self.button_pressed = None
+        self._freeze_right_hand = False
+        self.last_transition = reason
+
+    def update(
+        self,
+        now: float,
+        *,
+        armed: bool,
+        input_healthy: bool,
+        pressed: bool | None,
+    ) -> bool:
+        """Advance the state and return ``True`` only when a toggle occurs.
+
+        ``pressed=None`` represents a missing or malformed B-button sample.  It
+        cancels a pending hold and requires a fresh stable release.  A hand
+        feedback gap behaves the same way, but an already active gesture is
+        retained so it can resume through the bridge's measured-feedback slew.
+        """
+
+        if not math.isfinite(now):
+            raise ValueError("gesture clock must be finite")
+        if not armed:
+            if self.armed or self.active:
+                self.disarm()
+            return False
+        if not self.armed:
+            self.new_session()
+
+        self.input_healthy = bool(input_healthy)
+        self.button_pressed = pressed
+        if not input_healthy or pressed is None:
+            self.hold_started_at = None
+            self.release_started_at = None
+            self.require_release = True
+            if not self.active:
+                self._freeze_right_hand = True
+            return False
+
+        if self.require_release:
+            self.hold_started_at = None
+            if pressed:
+                self.release_started_at = None
+                return False
+            if self.release_started_at is None:
+                self.release_started_at = now
+                return False
+            if now - self.release_started_at >= self.release_seconds:
+                self.require_release = False
+                self.release_started_at = None
+                if not self.active:
+                    self._freeze_right_hand = False
+            return False
+
+        self.release_started_at = None
+        if not pressed:
+            if self.hold_started_at is not None:
+                # A short/interrupted press is not a toggle.  Debounce the
+                # release before another hold can start.
+                self.hold_started_at = None
+                self.release_started_at = now
+                self.require_release = True
+                if not self.active:
+                    self._freeze_right_hand = True
+            return False
+
+        if self.hold_started_at is None:
+            self.hold_started_at = now
+            if not self.active:
+                self._freeze_right_hand = True
+            return False
+        if now - self.hold_started_at < self.hold_seconds:
+            return False
+
+        self.active = not self.active
+        self.toggle_count += 1
+        self.last_transition = "activated" if self.active else "deactivated"
+        # Activation uses the point target.  Deactivation starts slewing back
+        # to live hand input immediately; the release lock only prevents a
+        # second toggle from the same physical press.
+        self._freeze_right_hand = False
+        self.hold_started_at = None
+        self.release_started_at = None
+        self.require_release = True
+        return True
+
+    @property
+    def freeze_right_hand(self) -> bool:
+        """Whether the bridge must hold its last right-hand command.
+
+        While inactive, freeze through an incomplete B hold and its required
+        release.  A completed deactivation starts returning to live input at
+        once; its release lock prevents only another toggle.  This keeps a
+        short B press from leaking through xTELE's processed command stream.
+        """
+
+        return self.armed and not self.active and self._freeze_right_hand
+
+    def hold_elapsed(self, now: float) -> float:
+        if self.hold_started_at is None:
+            return 0.0
+        return max(0.0, now - self.hold_started_at)
+
+    def release_elapsed(self, now: float) -> float:
+        if self.release_started_at is None:
+            return 0.0
+        return max(0.0, now - self.release_started_at)
+
+    @property
+    def state(self) -> str:
+        if not self.armed:
+            return "disarmed"
+        if not self.input_healthy:
+            return "input_unhealthy"
+        if self.button_pressed is None:
+            return "invalid_button"
+        if self.require_release:
+            return "awaiting_release"
+        if self.hold_started_at is not None:
+            return "holding_stop" if self.active else "holding_start"
+        return "active" if self.active else "idle"
+
+
+def right_b_pressed(data: Mapping[str, Any]) -> bool | None:
+    """Return TS1P right-B state, or ``None`` for a malformed sample."""
+
+    try:
+        buttons = data["button"]
+        if not isinstance(buttons, Mapping):
+            return None
+        right = buttons["right"]
+        if not isinstance(right, (list, tuple)) or len(right) < 2:
+            return None
+        value = right[1]
+        if isinstance(value, bool):
+            return value
+        if isinstance(value, int) and value in (0, 1):
+            return bool(value)
+        return None
+    except (KeyError, TypeError):
+        return None
+
+
+def normalized_pose_to_positions(
+    pose: Sequence[float], minimum: int, maximum: int
+) -> list[int]:
+    """Convert a six-motor normalized BrainCo pose to driver positions."""
+
+    if len(pose) != 6:
+        raise ValueError("gesture pose must contain 6 normalized values")
+    values = [float(value) for value in pose]
+    if not all(math.isfinite(value) and 0.0 <= value <= 1.0 for value in values):
+        raise ValueError("gesture pose must contain finite values in [0, 1]")
+    if minimum < 0 or maximum <= minimum:
+        raise ValueError("invalid BrainCo position range")
+    return [
+        int(round(minimum + value * (maximum - minimum))) for value in values
+    ]
+
+
+def select_right_hand_target(
+    source_target: Sequence[int],
+    previous_command: Sequence[int] | None,
+    gesture_target: Sequence[int],
+    *,
+    active: bool,
+    freeze: bool,
+) -> list[int]:
+    """Apply the right-only gesture override or fail-safe input freeze."""
+
+    source = list(source_target)
+    gesture = list(gesture_target)
+    if len(source) != 6 or len(gesture) != 6:
+        raise ValueError("right-hand targets must each contain 6 positions")
+    if active:
+        return gesture
+    if freeze:
+        previous = [] if previous_command is None else list(previous_command)
+        if len(previous) != 6:
+            raise ValueError("cannot freeze without a complete previous command")
+        return previous
+    return source
diff --git a/tg3_local_teleop/test_gesture_toggle.py b/tg3_local_teleop/test_gesture_toggle.py
new file mode 100644
index 0000000..a33c231
--- /dev/null
+++ b/tg3_local_teleop/test_gesture_toggle.py
@@ -0,0 +1,268 @@
+#!/usr/bin/env python3
+from __future__ import annotations
+
+import unittest
+
+from gesture_toggle import (
+    GestureToggle,
+    normalized_pose_to_positions,
+    right_b_pressed,
+    select_right_hand_target,
+)
+
+
+POINT_POSE = [0.2, 0.688, 0.0, 0.98, 0.98, 0.98]
+
+
+class GestureToggleTest(unittest.TestCase):
+    def setUp(self) -> None:
+        self.gesture = GestureToggle(hold_seconds=3.0, release_seconds=0.5)
+        self.gesture.new_session()
+
+    def stable_release(self, started_at: float) -> float:
+        self.assertFalse(
+            self.gesture.update(
+                started_at, armed=True, input_healthy=True, pressed=False
+            )
+        )
+        finished_at = started_at + 0.5
+        self.assertFalse(
+            self.gesture.update(
+                finished_at, armed=True, input_healthy=True, pressed=False
+            )
+        )
+        self.assertFalse(self.gesture.require_release)
+        return finished_at
+
+    def test_new_session_held_button_cannot_activate(self) -> None:
+        self.assertFalse(
+            self.gesture.update(0.0, armed=True, input_healthy=True, pressed=True)
+        )
+        self.assertFalse(
+            self.gesture.update(10.0, armed=True, input_healthy=True, pressed=True)
+        )
+        self.assertFalse(self.gesture.active)
+        self.assertTrue(self.gesture.freeze_right_hand)
+
+    def test_continuous_three_second_holds_toggle_once_each(self) -> None:
+        released_at = self.stable_release(0.0)
+        self.assertFalse(
+            self.gesture.update(
+                released_at + 0.01,
+                armed=True,
+                input_healthy=True,
+                pressed=True,
+            )
+        )
+        self.assertFalse(
+            self.gesture.update(
+                released_at + 3.0,
+                armed=True,
+                input_healthy=True,
+                pressed=True,
+            )
+        )
+        self.assertTrue(
+            self.gesture.update(
+                released_at + 3.01,
+                armed=True,
+                input_healthy=True,
+                pressed=True,
+            )
+        )
+        self.assertTrue(self.gesture.active)
+        self.assertEqual(self.gesture.toggle_count, 1)
+
+        # Keeping the same physical press held cannot turn the gesture off.
+        self.assertFalse(
+            self.gesture.update(
+                released_at + 10.0,
+                armed=True,
+                input_healthy=True,
+                pressed=True,
+            )
+        )
+        self.assertTrue(self.gesture.active)
+
+        second_release = self.stable_release(released_at + 10.01)
+        self.gesture.update(
+            second_release + 0.01,
+            armed=True,
+            input_healthy=True,
+            pressed=True,
+        )
+        self.assertTrue(
+            self.gesture.update(
+                second_release + 3.02,
+                armed=True,
+                input_healthy=True,
+                pressed=True,
+            )
+        )
+        self.assertFalse(self.gesture.active)
+        self.assertEqual(self.gesture.toggle_count, 2)
+        self.assertFalse(self.gesture.freeze_right_hand)
+
+    def test_short_press_freezes_and_requires_stable_release(self) -> None:
+        released_at = self.stable_release(0.0)
+        self.gesture.update(
+            released_at + 0.01,
+            armed=True,
+            input_healthy=True,
+            pressed=True,
+        )
+        self.assertTrue(self.gesture.freeze_right_hand)
+        self.assertEqual(self.gesture.state, "holding_start")
+
+        self.gesture.update(
+            released_at + 2.0,
+            armed=True,
+            input_healthy=True,
+            pressed=False,
+        )
+        self.assertFalse(self.gesture.active)
+        self.assertTrue(self.gesture.require_release)
+        self.assertTrue(self.gesture.freeze_right_hand)
+        self.gesture.update(
+            released_at + 2.49,
+            armed=True,
+            input_healthy=True,
+            pressed=False,
+        )
+        self.assertTrue(self.gesture.require_release)
+        self.gesture.update(
+            released_at + 2.5,
+            armed=True,
+            input_healthy=True,
+            pressed=False,
+        )
+        self.assertFalse(self.gesture.require_release)
+        self.assertFalse(self.gesture.freeze_right_hand)
+
+    def test_invalid_button_or_feedback_gap_cancels_pending_hold(self) -> None:
+        released_at = self.stable_release(0.0)
+        self.gesture.update(
+            released_at + 0.01,
+            armed=True,
+            input_healthy=True,
+            pressed=True,
+        )
+        self.gesture.update(
+            released_at + 2.99,
+            armed=True,
+            input_healthy=True,
+            pressed=None,
+        )
+        self.assertTrue(self.gesture.require_release)
+        self.assertIsNone(self.gesture.hold_started_at)
+
+        released_at = self.stable_release(released_at + 3.0)
+        self.gesture.update(
+            released_at + 0.01,
+            armed=True,
+            input_healthy=True,
+            pressed=True,
+        )
+        self.gesture.update(
+            released_at + 2.99,
+            armed=True,
+            input_healthy=False,
+            pressed=True,
+        )
+        self.assertFalse(self.gesture.active)
+        self.assertTrue(self.gesture.require_release)
+        self.assertIsNone(self.gesture.hold_started_at)
+
+    def test_feedback_gap_preserves_already_active_gesture(self) -> None:
+        released_at = self.stable_release(0.0)
+        self.gesture.update(
+            released_at + 0.01,
+            armed=True,
+            input_healthy=True,
+            pressed=True,
+        )
+        self.assertTrue(
+            self.gesture.update(
+                released_at + 3.02,
+                armed=True,
+                input_healthy=True,
+                pressed=True,
+            )
+        )
+        self.gesture.update(
+            released_at + 3.03,
+            armed=True,
+            input_healthy=False,
+            pressed=True,
+        )
+        self.assertTrue(self.gesture.active)
+        self.assertTrue(self.gesture.require_release)
+
+    def test_disarm_clears_active_without_an_output_action(self) -> None:
+        released_at = self.stable_release(0.0)
+        self.gesture.update(
+            released_at + 0.01,
+            armed=True,
+            input_healthy=True,
+            pressed=True,
+        )
+        self.gesture.update(
+            released_at + 3.02,
+            armed=True,
+            input_healthy=True,
+            pressed=True,
+        )
+        self.assertTrue(self.gesture.active)
+        self.assertFalse(
+            self.gesture.update(
+                released_at + 3.03,
+                armed=False,
+                input_healthy=True,
+                pressed=True,
+            )
+        )
+        self.assertFalse(self.gesture.active)
+        self.assertEqual(self.gesture.state, "disarmed")
+        self.assertTrue(self.gesture.require_release)
+
+
+class GestureHelpersTest(unittest.TestCase):
+    def test_right_b_is_index_one_and_malformed_values_fail_closed(self) -> None:
+        self.assertTrue(right_b_pressed({"button": {"right": [0, 1, 0]}}))
+        self.assertFalse(right_b_pressed({"button": {"right": [1, 0, 1]}}))
+        self.assertIsNone(right_b_pressed({"button": {"right": [0]}}))
+        self.assertIsNone(right_b_pressed({"button": {"right": [0, -1]}}))
+        self.assertIsNone(right_b_pressed({"button": {"right": [0, 0.5]}}))
+
+    def test_point_pose_converts_to_expected_brainco_positions(self) -> None:
+        self.assertEqual(
+            normalized_pose_to_positions(POINT_POSE, 1, 1000),
+            [201, 688, 1, 980, 980, 980],
+        )
+
+    def test_right_only_override_and_short_press_freeze(self) -> None:
+        source = [401, 401, 51, 51, 51, 51]
+        previous = [450, 430, 80, 90, 100, 110]
+        point = [201, 688, 1, 980, 980, 980]
+        self.assertEqual(
+            select_right_hand_target(
+                source, previous, point, active=True, freeze=False
+            ),
+            point,
+        )
+        self.assertEqual(
+            select_right_hand_target(
+                source, previous, point, active=False, freeze=True
+            ),
+            previous,
+        )
+        self.assertEqual(
+            select_right_hand_target(
+                source, previous, point, active=False, freeze=False
+            ),
+            source,
+        )
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/tg3_local_teleop/test_idle_session_refresh.py b/tg3_local_teleop/test_idle_session_refresh.py
new file mode 100644
index 0000000..e2eff11
--- /dev/null
+++ b/tg3_local_teleop/test_idle_session_refresh.py
@@ -0,0 +1,159 @@
+#!/usr/bin/env python3
+from __future__ import annotations
+
+import importlib.util
+import json
+from pathlib import Path
+import struct
+import sys
+import time
+from types import ModuleType
+import unittest
+
+
+class Dummy:
+    pass
+
+
+def install_module(name: str, **attributes: object) -> ModuleType:
+    module = ModuleType(name)
+    for key, value in attributes.items():
+        setattr(module, key, value)
+    sys.modules[name] = module
+    return module
+
+
+install_module("rclpy")
+install_module("rclpy.node", Node=object)
+for package, message_name in (
+    ("brainco_hand_msgs.msg", "MotorStatus"),
+    ("brainco_hand_msgs.msg", "SetMotorMulti"),
+    ("diagnostic_msgs.msg", "DiagnosticStatus"),
+    ("geometry_msgs.msg", "TwistStamped"),
+    ("ros2_bridge_msgs.msg", "ArmStatus"),
+    ("sensor_msgs.msg", "JointState"),
+    ("std_srvs.srv", "Trigger"),
+):
+    module = sys.modules.get(package) or install_module(package)
+    setattr(module, message_name, Dummy)
+
+
+fake_omnisocket = install_module(
+    "omnisocket", CONTROL_DEFAULTS={}, MSG_TYPE_BINARY=2
+)
+
+module_path = Path(__file__).with_name("tg3_local_teleop.py")
+spec = importlib.util.spec_from_file_location("tg3_local_teleop", module_path)
+assert spec is not None and spec.loader is not None
+teleop = importlib.util.module_from_spec(spec)
+sys.modules[spec.name] = teleop
+spec.loader.exec_module(teleop)
+
+
+class FakeSession:
+    mode = "idle"
+    connect_count = 0
+    sequence = 0
+    sent_one = False
+    next_instance_id = 0
+    events: list[str] = []
+
+    def __init__(self) -> None:
+        type(self).next_instance_id += 1
+        self.instance_id = type(self).next_instance_id
+
+    def connect(self, **_kwargs: object) -> None:
+        type(self).connect_count += 1
+        type(self).events.append(f"connect:{self.instance_id}")
+
+    def stats(self) -> dict[str, int]:
+        return {"connected": 1, "registered": 1}
+
+    def recv(self, timeout_ms: int) -> tuple[str, int, bytes] | None:
+        if timeout_ms == 0:
+            return None
+        time.sleep(0.003)
+        if self.mode == "idle":
+            return None
+        if self.mode == "one_then_idle" and type(self).sent_one:
+            return None
+        type(self).sent_one = True
+        type(self).sequence += 1
+        data = {
+            "arm": {
+                "position": {"left": [0.0] * 7, "right": [0.0] * 7}
+            }
+        }
+        payload = json.dumps(data).encode()
+        packet = struct.pack(
+            "!4sQQI",
+            b"TG3A",
+            type(self).sequence,
+            time.time_ns(),
+            len(payload),
+        ) + payload
+        return "expected-sender", 2, packet
+
+    def close(self) -> None:
+        type(self).events.append(f"close:{self.instance_id}")
+        return None
+
+
+def config(refresh_s: float) -> dict[str, object]:
+    return {
+        "transport": "omnisocket",
+        "omnisocket_server": "127.0.0.1:14049",
+        "omnisocket_peer_id": "robot",
+        "omnisocket_expected_sender": "expected-sender",
+        "omnisocket_max_packet_age_ms": 300.0,
+        "omnisocket_idle_session_refresh_s": refresh_s,
+    }
+
+
+class IdleSessionRefreshTest(unittest.TestCase):
+    def setUp(self) -> None:
+        FakeSession.connect_count = 0
+        FakeSession.sequence = 0
+        FakeSession.sent_one = False
+        FakeSession.next_instance_id = 0
+        FakeSession.events = []
+        fake_omnisocket.Session = FakeSession
+
+    def run_source(self, mode: str, run_s: float = 0.13) -> dict[str, object]:
+        FakeSession.mode = mode
+        source = teleop.LatestArmData(config(0.02))
+        source.start()
+        time.sleep(run_s)
+        source.close()
+        return source.metrics()
+
+    def test_idle_session_is_periodically_reconnected(self) -> None:
+        metrics = self.run_source("idle")
+        self.assertGreaterEqual(FakeSession.connect_count, 2)
+        self.assertGreaterEqual(metrics["idle_session_refreshes"], 1)
+        self.assertEqual(
+            FakeSession.events[:3],
+            ["connect:1", "connect:2", "close:1"],
+        )
+
+    def test_continuous_valid_business_frames_prevent_refresh(self) -> None:
+        metrics = self.run_source("active", 0.08)
+        self.assertEqual(FakeSession.connect_count, 1)
+        self.assertEqual(metrics["idle_session_refreshes"], 0)
+        self.assertGreater(metrics["frames_accepted"], 1)
+
+    def test_session_refreshes_after_last_valid_frame(self) -> None:
+        metrics = self.run_source("one_then_idle")
+        self.assertGreaterEqual(FakeSession.connect_count, 2)
+        self.assertGreaterEqual(metrics["idle_session_refreshes"], 1)
+        self.assertEqual(metrics["frames_accepted"], 1)
+
+    def test_refresh_boundary_and_disable_switch(self) -> None:
+        due = teleop.LatestArmData._idle_session_refresh_due
+        self.assertFalse(due(10.0, 0.0, 0.0))
+        self.assertFalse(due(1.999, 0.0, 2.0))
+        self.assertTrue(due(2.0, 0.0, 2.0))
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/tg3_local_teleop/test_session_gate.py b/tg3_local_teleop/test_session_gate.py
index 050b745..dcae4c0 100644
--- a/tg3_local_teleop/test_session_gate.py
+++ b/tg3_local_teleop/test_session_gate.py
@@ -79,6 +79,7 @@ class RobotSessionGateTest(unittest.TestCase):
         bridge.allow_publish = True
         bridge.cfg = {"control": {"auto_home_on_stop": True}}
         bridge.hands_enabled = False
+        bridge.right_point_gesture_enabled = False
         bridge.robot_arm_positions = [0.0] * 14
         bridge.last_command = None
         bridge.last_publish_at = 0.0
@@ -169,6 +170,7 @@ class RobotSessionGateTest(unittest.TestCase):
             "hold_seconds": 0.0,
             "joystick_deadzone": 0.2,
             "joystick_expo": 2.0,
+            "yaw_joystick_expo": 1.0,
             "max_forward_m_s": 1.0,
             "max_reverse_m_s": 0.8,
             "max_angular_rad_s": 0.8,
@@ -193,15 +195,27 @@ class RobotSessionGateTest(unittest.TestCase):
 
         moving = ArmSnapshot(
             {
-                "button": {"right": [False, False, True]},
-                "joystick": {"left": [1.0, 0.0]},
+                "button": {
+                    "left": [False, False, False],
+                    "right": [False, False, True],
+                },
+                "joystick": {
+                    "left": [1.0, 0.0],
+                    "right": [0.0, 0.0],
+                },
             },
             received_at=1.0,
         )
         released = ArmSnapshot(
             {
-                "button": {"right": [False, False, False]},
-                "joystick": {"left": [1.0, 0.0]},
+                "button": {
+                    "left": [False, False, False],
+                    "right": [False, False, False],
+                },
+                "joystick": {
+                    "left": [1.0, 0.0],
+                    "right": [0.0, 0.0],
+                },
             },
             received_at=1.1,
         )
@@ -212,6 +226,38 @@ class RobotSessionGateTest(unittest.TestCase):
         bridge._tick_locomotion(1.2, moving)
         self.assertEqual(published[-1], (1.0, -0.0))
 
+        turning = ArmSnapshot(
+            {
+                "button": {
+                    "left": [False, False, True],
+                    "right": [False, False, False],
+                },
+                "joystick": {
+                    "left": [0.0, 0.0],
+                    "right": [0.0, 1.0],
+                },
+            },
+            received_at=1.3,
+        )
+        bridge._tick_locomotion(1.3, turning)
+        self.assertEqual(published[-1], (0.0, -0.8))
+
+        old_wrong_binding = ArmSnapshot(
+            {
+                "button": {
+                    "left": [False, False, False],
+                    "right": [False, False, True],
+                },
+                "joystick": {
+                    "left": [0.0, 1.0],
+                    "right": [0.0, 0.0],
+                },
+            },
+            received_at=1.4,
+        )
+        bridge._tick_locomotion(1.4, old_wrong_binding)
+        self.assertEqual(published[-1], (0.0, 0.0))
+
 
 if __name__ == "__main__":
     unittest.main()
diff --git a/tg3_local_teleop/tg3-local-teleop.service b/tg3_local_teleop/tg3-local-teleop.service
index 8455175..70281eb 100644
--- a/tg3_local_teleop/tg3-local-teleop.service
+++ b/tg3_local_teleop/tg3-local-teleop.service
@@ -1,14 +1,16 @@
 [Unit]
-Description=TG3 session-gated local TS1P teleoperation bridge
+Description=TG3 local TS1P dual-arm bridge (no cloud pairing)
 After=network-online.target
 Wants=network-online.target
 
 [Service]
 Type=simple
+ExecStartPre=/home/nvidia/tg3_local_teleop/wait_ros_ready.sh
 ExecStart=/home/nvidia/tg3_local_teleop/run.sh --allow-publish
 Restart=on-failure
 RestartSec=2
 KillSignal=SIGINT
+TimeoutStartSec=150
 TimeoutStopSec=5
 
 [Install]
diff --git a/tg3_local_teleop/tg3_local_teleop.py b/tg3_local_teleop/tg3_local_teleop.py
index bfcb4e9..eef19c0 100755
--- a/tg3_local_teleop/tg3_local_teleop.py
+++ b/tg3_local_teleop/tg3_local_teleop.py
@@ -30,6 +30,13 @@ from ros2_bridge_msgs.msg import ArmStatus
 from sensor_msgs.msg import JointState
 from std_srvs.srv import Trigger
 
+from gesture_toggle import (
+    GestureToggle,
+    normalized_pose_to_positions,
+    right_b_pressed,
+    select_right_hand_target,
+)
+
 
 JOINT_NAMES = [
     *(f"left_joints_{i}" for i in range(7)),
@@ -70,6 +77,10 @@ class LatestArmData:
         self._metrics: dict[str, Any] = {
             "transport": self.transport,
             "connected": False,
+            "registered": False,
+            "session_connects": 0,
+            "idle_session_refreshes": 0,
+            "idle_session_refresh_failures": 0,
             "frames_received": 0,
             "frames_accepted": 0,
             "dropped_sender": 0,
@@ -150,6 +161,11 @@ class LatestArmData:
 
         expected_sender = str(self.cfg["omnisocket_expected_sender"])
         max_age_ms = float(self.cfg["omnisocket_max_packet_age_ms"])
+        idle_refresh_s = float(
+            self.cfg.get("omnisocket_idle_session_refresh_s", 2.0)
+        )
+        if idle_refresh_s < 0.0:
+            raise ValueError("OmniSocket idle session refresh must be non-negative")
         last_sequence = 0
         while not self._stop.is_set():
             session = Session()
@@ -160,13 +176,83 @@ class LatestArmData:
                     peer_id=str(self.cfg["omnisocket_peer_id"]),
                     **CONTROL_DEFAULTS,
                 )
+                last_accepted_at = time.monotonic()
+                session_stats = session.stats()
                 with self._lock:
                     self._metrics["connected"] = True
+                    self._metrics["registered"] = bool(
+                        int(session_stats.get("registered", 0)) == 1
+                    )
+                    self._metrics["session_connects"] += 1
                     self._last_error = ""
 
                 while not self._stop.is_set():
                     message = session.recv(timeout_ms=100)
                     if message is None:
+                        now = time.monotonic()
+                        if self._idle_session_refresh_due(
+                            now, last_accepted_at, idle_refresh_s
+                        ):
+                            # The deployed OmniSocket receiver has no idle Hub
+                            # heartbeat. After a Hub restart it may therefore
+                            # keep reporting connected although its server-side
+                            # registration is gone. Refresh with make-before-
+                            # break: register a replacement with the same peer
+                            # ID first, then close the old instance. The Hub
+                            # tracks registration instances, so closing the old
+                            # session does not unregister the replacement and
+                            # there is no healthy-idle routing gap.
+                            replacement = Session()
+                            try:
+                                replacement.connect(
+                                    server_addr=str(
+                                        self.cfg["omnisocket_server"]
+                                    ),
+                                    peer_id=str(
+                                        self.cfg["omnisocket_peer_id"]
+                                    ),
+                                    **CONTROL_DEFAULTS,
+                                )
+                                replacement_stats = replacement.stats()
+                            except Exception as exc:
+                                try:
+                                    replacement.close()
+                                except OSError:
+                                    pass
+                                last_accepted_at = now
+                                with self._lock:
+                                    self._metrics[
+                                        "idle_session_refresh_failures"
+                                    ] += 1
+                                    self._last_error = (
+                                        "OmniSocket idle registration refresh "
+                                        f"failed: {exc}"
+                                    )
+                                continue
+
+                            old_session = session
+                            session = replacement
+                            baseline_ms = None
+                            last_accepted_at = time.monotonic()
+                            with self._lock:
+                                self._metrics["connected"] = True
+                                self._metrics["registered"] = bool(
+                                    int(
+                                        replacement_stats.get(
+                                            "registered", 0
+                                        )
+                                    )
+                                    == 1
+                                )
+                                self._metrics["session_connects"] += 1
+                                self._metrics[
+                                    "idle_session_refreshes"
+                                ] += 1
+                                self._last_error = ""
+                            try:
+                                old_session.close()
+                            except OSError:
+                                pass
                         continue
                     messages = [message]
                     while True:
@@ -229,9 +315,11 @@ class LatestArmData:
                         )
                         self._last_error = ""
                         self._metrics["frames_accepted"] += 1
+                    last_accepted_at = time.monotonic()
             except Exception as exc:
                 with self._lock:
                     self._metrics["connected"] = False
+                    self._metrics["registered"] = False
                     self._last_error = f"OmniSocket connection failed: {exc}"
             finally:
                 try:
@@ -240,8 +328,18 @@ class LatestArmData:
                     pass
                 with self._lock:
                     self._metrics["connected"] = False
+                    self._metrics["registered"] = False
             self._stop.wait(1.0)
 
+    @staticmethod
+    def _idle_session_refresh_due(
+        now: float, last_accepted_at: float, refresh_after_s: float
+    ) -> bool:
+        return (
+            refresh_after_s > 0.0
+            and now - last_accepted_at >= refresh_after_s
+        )
+
     def _decode_omni_packet(
         self,
         msg_type: int,
@@ -303,6 +401,27 @@ class LocalTeleopBridge(Node):
         net_cfg = config["network"]
         self.hands_cfg = config.get("hands", {})
         self.hands_enabled = bool(self.hands_cfg.get("enabled", False))
+        self.right_point_gesture_enabled = self.hands_enabled and bool(
+            self.hands_cfg.get("right_b_point_gesture_enabled", False)
+        )
+        self.right_point_gesture = GestureToggle(
+            hold_seconds=float(
+                self.hands_cfg.get("right_b_point_gesture_hold_seconds", 3.0)
+            ),
+            release_seconds=float(
+                self.hands_cfg.get("right_b_point_gesture_release_seconds", 0.5)
+            ),
+        )
+        point_pose = self.hands_cfg.get(
+            "right_b_point_pose_normalized",
+            [0.2, 0.688, 0.0, 0.98, 0.98, 0.98],
+        )
+        self.right_point_gesture_pose = [float(value) for value in point_pose]
+        self.right_point_gesture_target = normalized_pose_to_positions(
+            self.right_point_gesture_pose,
+            int(self.hands_cfg.get("position_min", 1)),
+            int(self.hands_cfg.get("position_max", 1000)),
+        )
         self.locomotion_cfg = config.get("locomotion", {})
         self.locomotion_enabled = bool(
             self.locomotion_cfg.get("enabled", False)
@@ -571,6 +690,26 @@ class LocalTeleopBridge(Node):
                 success=False,
             )
 
+        if self.right_point_gesture_enabled:
+            gesture_toggled = self.right_point_gesture.update(
+                now,
+                armed=self.armed,
+                input_healthy=(
+                    self.armed
+                    and sample is not None
+                    and not runtime_hand_reasons
+                ),
+                pressed=(
+                    None if sample is None else right_b_pressed(sample.data)
+                ),
+            )
+            if gesture_toggled:
+                state = "ACTIVE" if self.right_point_gesture.active else "INACTIVE"
+                self.get_logger().warning(
+                    f"RIGHT-HAND POINT GESTURE {state}: right B held for "
+                    f"{self.right_point_gesture.hold_seconds:.1f}s"
+                )
+
         if self.returning_home:
             self._tick_home(now)
         elif self.armed and sample is not None:
@@ -600,6 +739,17 @@ class LocalTeleopBridge(Node):
                         )
                     self.hand_output_ready = True
                     desired_hands = self._hand_targets(sample.data)
+                    if self.right_point_gesture_enabled:
+                        freeze_reference = self.last_hand_commands["right"]
+                        if freeze_reference is None or len(freeze_reference) != 6:
+                            freeze_reference = self.robot_hand_positions["right"]
+                        desired_hands["right"] = select_right_hand_target(
+                            desired_hands["right"],
+                            freeze_reference,
+                            self.right_point_gesture_target,
+                            active=self.right_point_gesture.active,
+                            freeze=self.right_point_gesture.freeze_right_hand,
+                        )
                     commands = {
                         side: self._slew_hand(side, desired_hands[side], now)
                         for side in HAND_SIDES
@@ -786,6 +936,8 @@ class LocalTeleopBridge(Node):
                 "new teleoperation START accepted", success=False, cancelled=True
             )
         self.active_session_id = session_id
+        if self.right_point_gesture_enabled:
+            self.right_point_gesture.new_session()
         self.armed = True
         # Start both slew limiters at measured robot feedback, never at a
         # potentially distant first network target.
@@ -849,6 +1001,8 @@ class LocalTeleopBridge(Node):
         if reasons:
             self.get_logger().error("cannot arm: " + "; ".join(reasons))
             return
+        if self.right_point_gesture_enabled:
+            self.right_point_gesture.new_session()
         self.armed = True
         # Start the slew limiter at measured robot feedback.  Using None here
         # would make the first armed frame jump directly to the TS1P target.
@@ -868,6 +1022,11 @@ class LocalTeleopBridge(Node):
     def _disarm(self, reason: str) -> None:
         was_armed = self.armed
         self._stop_locomotion(reason)
+        if self.right_point_gesture_enabled:
+            # Clearing the logical override must not publish a hand target.
+            # Existing STOP behavior leaves the physical hand at its last
+            # limited command until a later, newly armed session.
+            self.right_point_gesture.disarm(reason)
         self.armed = False
         self.hand_output_ready = False
         self.runtime_hand_output_reasons = []
@@ -898,20 +1057,29 @@ class LocalTeleopBridge(Node):
     def _tick_locomotion(self, now: float, sample: ArmSnapshot) -> None:
         cfg = self.locomotion_cfg
         try:
-            buttons = sample.data["button"]["right"]
-            joystick = sample.data["joystick"]["left"]
-            right_c = len(buttons) >= 3 and bool(buttons[2])
-            if len(joystick) != 2:
-                raise ValueError("left joystick must contain x/y")
-            # TS1P reports the physical forward/back axis first and the
-            # left/right axis second.  This was verified on the installed
-            # xTELE 0.1.2 stream; treating the pair as Cartesian x/y made a
-            # forward stick command become pure yaw.
-            raw_forward, raw_yaw = (float(joystick[0]), float(joystick[1]))
+            left_buttons = sample.data["button"]["left"]
+            right_buttons = sample.data["button"]["right"]
+            left_joystick = sample.data["joystick"]["left"]
+            right_joystick = sample.data["joystick"]["right"]
+            left_z = len(left_buttons) >= 3 and bool(left_buttons[2])
+            right_c = len(right_buttons) >= 3 and bool(right_buttons[2])
+            if len(left_joystick) != 2 or len(right_joystick) != 2:
+                raise ValueError("left and right joysticks must each contain two axes")
+            # xTELE 0.1.2 stores each TS1P stick as [vertical, horizontal].
+            # Use the left vertical axis for translation and the right
+            # horizontal axis for in-place yaw, matching the physical control
+            # convention requested for this installation.
+            raw_forward = float(left_joystick[0])
+            raw_yaw = float(right_joystick[1])
             deadzone = float(cfg["joystick_deadzone"])
-            expo = float(cfg["joystick_expo"])
-            shaped_forward = self._shape_joystick_axis(raw_forward, deadzone, expo)
-            shaped_yaw = self._shape_joystick_axis(raw_yaw, deadzone, expo)
+            forward_expo = float(cfg["joystick_expo"])
+            yaw_expo = float(cfg.get("yaw_joystick_expo", forward_expo))
+            shaped_forward = self._shape_joystick_axis(
+                raw_forward, deadzone, forward_expo
+            )
+            shaped_yaw = self._shape_joystick_axis(
+                raw_yaw, deadzone, yaw_expo
+            )
             signed_forward = shaped_forward * float(
                 cfg.get("forward_axis_sign", 1.0)
             )
@@ -927,9 +1095,12 @@ class LocalTeleopBridge(Node):
             self._stop_locomotion(f"invalid locomotion input: {exc}")
             return
 
-        joystick_active = shaped_forward != 0.0 or shaped_yaw != 0.0
-        if not right_c or not joystick_active:
-            self._stop_locomotion("right C released or left joystick returned to center")
+        forward_active = right_c and shaped_forward != 0.0
+        yaw_active = left_z and shaped_yaw != 0.0
+        if not forward_active and not yaw_active:
+            self._stop_locomotion(
+                "right C + left forward and left Z + right yaw are both inactive"
+            )
             self._tick_walk_zero_burst(now)
             return
 
@@ -944,17 +1115,19 @@ class LocalTeleopBridge(Node):
             self.walk_active = True
             self.walk_zero_frames_remaining = 0
             self.get_logger().warning(
-                "LOCAL HBWALK VELOCITY STARTED: immediate right C + left "
-                "joystick input"
+                "LOCAL HBWALK VELOCITY STARTED: right C + left-stick forward "
+                "or left Z + right-stick yaw"
             )
 
         linear_limit = max_forward if signed_forward >= 0.0 else max_reverse
-        linear_x = signed_forward * linear_limit
-        angular_z = (
-            shaped_yaw
-            * float(cfg.get("yaw_axis_sign", -1.0))
-            * max_angular
-        )
+        linear_x = signed_forward * linear_limit if forward_active else 0.0
+        angular_z = 0.0
+        if yaw_active:
+            angular_z = (
+                shaped_yaw
+                * float(cfg.get("yaw_axis_sign", -1.0))
+                * max_angular
+            )
         self._publish_walk(linear_x, angular_z, now)
 
     def _stop_locomotion(self, reason: str) -> None:
@@ -1432,8 +1605,62 @@ class LocalTeleopBridge(Node):
             else round(now - self.last_hand_publish_at, 4),
             "hand_publish_count": self.hand_publish_count,
             "foreign_hand_source_seen": self.foreign_hand_source_seen,
+            "right_point_gesture_enabled": self.right_point_gesture_enabled,
+            "right_point_gesture_binding": (
+                "right_B hold "
+                f"{self.right_point_gesture.hold_seconds:.1f}s toggle"
+            ),
+            "right_point_gesture_active": (
+                self.right_point_gesture.active
+                if self.right_point_gesture_enabled
+                else False
+            ),
+            "right_point_gesture_state": (
+                self.right_point_gesture.state
+                if self.right_point_gesture_enabled
+                else "disabled"
+            ),
+            "right_point_gesture_hold_s": round(
+                self.right_point_gesture.hold_elapsed(now), 2
+            ),
+            "right_point_gesture_release_s": round(
+                self.right_point_gesture.release_elapsed(now), 2
+            ),
+            "right_point_gesture_requires_release": (
+                self.right_point_gesture.require_release
+                if self.right_point_gesture_enabled
+                else False
+            ),
+            "right_point_gesture_freezing_input": (
+                self.right_point_gesture.freeze_right_hand
+                if self.right_point_gesture_enabled
+                else False
+            ),
+            "right_point_gesture_toggle_count": (
+                self.right_point_gesture.toggle_count
+                if self.right_point_gesture_enabled
+                else 0
+            ),
+            "right_point_gesture_last_transition": (
+                self.right_point_gesture.last_transition
+                if self.right_point_gesture_enabled
+                else "disabled"
+            ),
+            "right_point_gesture_target_normalized": (
+                self.right_point_gesture_pose
+                if self.right_point_gesture_enabled
+                else None
+            ),
+            "right_point_gesture_target_positions": (
+                self.right_point_gesture_target
+                if self.right_point_gesture_enabled
+                else None
+            ),
             "locomotion_enabled": self.locomotion_enabled,
-            "locomotion_binding": "right_C + left_joystick, immediate",
+            "locomotion_binding": (
+                "right_C + left_stick_vertical; "
+                "left_Z + right_stick_horizontal, immediate"
+            ),
             "locomotion_active": self.walk_active,
             "locomotion_hold_s": 0.0,
             "locomotion_command": {
@@ -1444,6 +1671,11 @@ class LocalTeleopBridge(Node):
                 "forward_m_s": self.locomotion_cfg.get("max_forward_m_s"),
                 "reverse_m_s": self.locomotion_cfg.get("max_reverse_m_s"),
                 "angular_rad_s": self.locomotion_cfg.get("max_angular_rad_s"),
+                "forward_expo": self.locomotion_cfg.get("joystick_expo"),
+                "yaw_expo": self.locomotion_cfg.get(
+                    "yaw_joystick_expo",
+                    self.locomotion_cfg.get("joystick_expo"),
+                ),
             },
             "locomotion_publish_count": self.walk_publish_count,
             "locomotion_fsm_publish_enabled": False,
diff --git a/tg3_local_teleop/wait_ros_ready.sh b/tg3_local_teleop/wait_ros_ready.sh
new file mode 100755
index 0000000..90dbdcf
--- /dev/null
+++ b/tg3_local_teleop/wait_ros_ready.sh
@@ -0,0 +1,34 @@
+#!/usr/bin/env bash
+# Avoid creating the long-lived Fast DDS participant before the robot network
+# interfaces and the vendor ROS graph are available. A participant created
+# while the configured interface whitelist is empty does not recover later.
+set -eo pipefail
+
+source /opt/ros/jazzy/setup.bash
+if [[ -f /home/nvidia/xos/setup.bash ]]; then
+  source /home/nvidia/xos/setup.bash
+fi
+if [[ -f /opt/robot_tele_server/install/setup.bash ]]; then
+  source /opt/robot_tele_server/install/setup.bash
+fi
+
+required_topic="/hric/robot/rl_state"
+wait_seconds="${TG3_ROS_READY_WAIT_SECONDS:-120}"
+retry_seconds="${TG3_ROS_READY_RETRY_SECONDS:-2}"
+deadline=$((SECONDS + wait_seconds))
+
+while ((SECONDS < deadline)); do
+  # Capture first: grep -q in a pipe can close stdout early and make ros2
+  # report SIGPIPE under pipefail even though the topic was found.
+  topic_list="$(
+    timeout 8 ros2 topic list --no-daemon --spin-time 3 2>/dev/null || true
+  )"
+  if grep -Fxq "$required_topic" <<<"$topic_list"; then
+    echo "ROS discovery ready: $required_topic"
+    exit 0
+  fi
+  sleep "$retry_seconds"
+done
+
+echo "ROS discovery did not expose $required_topic within ${wait_seconds}s" >&2
+exit 1
diff --git a/tg3_omnisocket_transport/README.md b/tg3_omnisocket_transport/README.md
index b182ad9..0bf8095 100644
--- a/tg3_omnisocket_transport/README.md
+++ b/tg3_omnisocket_transport/README.md
@@ -21,6 +21,17 @@ Z+C 按键及诊断字段；若 5001 的双侧 `hand.position` 在 250 ms 内有
 xTELE 已处理的标量或六维 BrainCoRevo2 目标。5002 的界面事件和腰、头、腿、行走、
 底盘命令不会进入机器人双臂桥。
 
+右侧原始按键顺序是 `A/B/C`。按住右 `B` 时，sender 仍合并 5001 的左手
+目标，但保留 5003 的原始右手开合量，不用 xTELE 处理后的右手目标覆盖。
+这样右 B 的自定义长按手势还未满 3 秒时，原厂 B 处理不会让右手提前动作。
+松开 B 并连续稳定释放 `0.5 s` 后，还要等新鲜 5001 右手目标连续至少 `0.25 s`
+恢复到按键前基线或当前 5003 原始开合量，才恢复双侧合并；无法确认时持续使用原始
+右手值，防止释放沿后的锁存/延迟目标漏入。
+5001 目标的时间戳也必须不晚于当前 5003 原始帧；若两个本机 ZMQ socket 的轮询顺序
+暂时颠倒，该 processed 目标会等到对应或更新的原始帧到达后才可合并。
+`tg3_transport.processed_hand_sides` 记录本帧实际合并
+的侧；右 B 抑制生效时还会设置 `processed_right_hand_suppressed_by_b=true`。
+
 公网业务数据由 EAI 本地会话门控：服务启动后仍持续读取本机 5003/5001，但不发送
 xTELE 帧；连续长按左 Z + 右 C 3 秒后才生成新的 128-bit `session_id` 并开始发送。
 再次长按 3 秒时发送最后一帧 `stop`，等待有界 KCP 刷新后关闭 OmniSocket Session；
@@ -42,7 +53,7 @@ xTELE 帧；连续长按左 Z + 右 C 3 秒后才生成新的 128-bit `session_i
 }
 ```
 
-`start` 连续发送 50 个源帧，避免接收端只取最新帧时错过唯一启动事件；机器人对同一
+当前用户服务将 `start` 连续发送 500 个源帧，避免接收端只取最新帧时错过唯一启动事件；机器人对同一
 `session_id` 只做一次启动安全检查。`stop` 是该会话最后一个业务帧。服务重启、源数据
 失联或网络错误都会使会话失效，恢复后必须先松开组合键，再重新长按 3 秒。
 `tg3_local_teleop` 内部直接拒绝非预期发送端、
diff --git a/tg3_omnisocket_transport/omnisocket_xtele_sender.py b/tg3_omnisocket_transport/omnisocket_xtele_sender.py
old mode 100644
new mode 100755
index c80b081..b81ab53
--- a/tg3_omnisocket_transport/omnisocket_xtele_sender.py
+++ b/tg3_omnisocket_transport/omnisocket_xtele_sender.py
@@ -38,6 +38,8 @@ class XteleSender:
     def __init__(self, args: argparse.Namespace) -> None:
         if args.start_stop_hold_s <= 0.0:
             raise ValueError("start/stop hold time must be positive")
+        if args.combo_release_s <= 0.0:
+            raise ValueError("combo release confirmation time must be positive")
         if args.start_marker_frames <= 0:
             raise ValueError("start marker frame count must be positive")
         if args.source_timeout_s <= 0.0:
@@ -62,8 +64,18 @@ class XteleSender:
         self.packet_sequence = time.time_ns()
         self.start_markers_remaining = 0
         self.combo_started_at: float | None = None
+        self.combo_release_started_at: float | None = None
         # A service restart must never turn an already-held combo into a start.
         self.require_combo_release = True
+        # Keep xTELE's processed right-hand stream isolated for the complete
+        # right-B press and stable-release transaction.  The robot runs the
+        # authoritative three-second gesture toggle from the raw B state.
+        self.right_b_merge_suppressed = False
+        self.right_b_release_started_at: float | None = None
+        self.right_b_recovery_started_at: float | None = None
+        self.right_b_processed_baseline: object | None = None
+        self.right_b_baseline_candidate: object | None = None
+        self.right_b_baseline_candidate_started_at: float | None = None
         self.counters = {
             "connected": 0,
             "reconnects": 0,
@@ -156,6 +168,16 @@ class XteleSender:
             if self.combo_started_at is None
             else round(time.monotonic() - self.combo_started_at, 2),
             "teleop_require_combo_release": self.require_combo_release,
+            "teleop_combo_release_hold_s": 0.0
+            if self.combo_release_started_at is None
+            else round(time.monotonic() - self.combo_release_started_at, 2),
+            "right_b_processed_merge_suppressed": self.right_b_merge_suppressed,
+            "right_b_merge_release_hold_s": 0.0
+            if self.right_b_release_started_at is None
+            else round(time.monotonic() - self.right_b_release_started_at, 2),
+            "right_b_processed_recovery_hold_s": 0.0
+            if self.right_b_recovery_started_at is None
+            else round(time.monotonic() - self.right_b_recovery_started_at, 2),
             "application_data_sending": (
                 self.teleop_active and self.session is not None
             ),
@@ -226,6 +248,171 @@ class XteleSender:
             return None
         return {"left": copy.deepcopy(left), "right": copy.deepcopy(right)}
 
+    @staticmethod
+    def _command_aligned_with_raw(
+        command: dict[str, object], data: dict[str, object]
+    ) -> bool:
+        """Reject a processed 5001 target newer than the current raw frame."""
+
+        command_timestamp = command.get("timestamp")
+        raw_timestamp = data.get("timestamp")
+        if (
+            isinstance(command_timestamp, bool)
+            or isinstance(raw_timestamp, bool)
+            or not isinstance(command_timestamp, (int, float))
+            or not isinstance(raw_timestamp, (int, float))
+        ):
+            return False
+        command_value = float(command_timestamp)
+        raw_value = float(raw_timestamp)
+        return (
+            math.isfinite(command_value)
+            and math.isfinite(raw_value)
+            and command_value <= raw_value
+        )
+
+    @staticmethod
+    def _right_b_pressed(data: dict[str, object]) -> bool | None:
+        """Return raw TS1P right-B, or ``None`` for malformed input."""
+        try:
+            buttons = data["button"]
+            right = buttons["right"]  # type: ignore[index]
+            value = right[1]  # type: ignore[index]
+        except (IndexError, KeyError, TypeError):
+            return None
+        if isinstance(value, bool):
+            return value
+        if isinstance(value, int) and value in (0, 1):
+            return bool(value)
+        return None
+
+    @classmethod
+    def _hand_targets_equivalent(cls, first: object, second: object) -> bool:
+        """Compare normalized processed/raw hand targets with small jitter."""
+
+        if not cls._valid_hand_side(first) or not cls._valid_hand_side(second):
+            return False
+        if isinstance(first, (int, float)) and not isinstance(first, bool):
+            if not isinstance(second, (int, float)) or isinstance(second, bool):
+                return False
+            return abs(float(first) - float(second)) <= 0.02
+        if not isinstance(first, list) or not isinstance(second, list):
+            return False
+        return all(
+            abs(float(left) - float(right)) <= 0.02
+            for left, right in zip(first, second)
+        )
+
+    @staticmethod
+    def _raw_right_hand_target(data: dict[str, object]) -> object | None:
+        try:
+            hand = data["hand"]
+            position = hand["position"]  # type: ignore[index]
+            return position["right"]  # type: ignore[index]
+        except (KeyError, TypeError):
+            return None
+
+    def _update_right_b_merge_gate(
+        self,
+        now: float,
+        data: dict[str, object],
+        processed_right: object | None,
+    ) -> bool:
+        """Suppress processed right hand until B release and target recovery."""
+
+        pressed = self._right_b_pressed(data)
+        if pressed is True:
+            self.right_b_merge_suppressed = True
+            self.right_b_release_started_at = None
+            self.right_b_recovery_started_at = None
+            self.right_b_baseline_candidate = None
+            self.right_b_baseline_candidate_started_at = None
+            return True
+        if pressed is None:
+            # A malformed button sample may never clear an in-progress gate.
+            self.right_b_merge_suppressed = True
+            self.right_b_release_started_at = None
+            self.right_b_recovery_started_at = None
+            self.right_b_baseline_candidate = None
+            self.right_b_baseline_candidate_started_at = None
+            return True
+        if not self.right_b_merge_suppressed:
+            self.right_b_release_started_at = None
+            self.right_b_recovery_started_at = None
+            if not self._valid_hand_side(processed_right):
+                self.right_b_baseline_candidate = None
+                self.right_b_baseline_candidate_started_at = None
+                return False
+            if not self._hand_targets_equivalent(
+                processed_right, self.right_b_baseline_candidate
+            ):
+                self.right_b_baseline_candidate = copy.deepcopy(processed_right)
+                self.right_b_baseline_candidate_started_at = now
+                return False
+            if self.right_b_baseline_candidate_started_at is None:
+                self.right_b_baseline_candidate_started_at = now
+                return False
+            baseline_seconds = max(0.1, float(self.args.cmd_max_age_s))
+            if now - self.right_b_baseline_candidate_started_at >= baseline_seconds:
+                self.right_b_processed_baseline = copy.deepcopy(processed_right)
+            return False
+        if self.right_b_release_started_at is None:
+            self.right_b_release_started_at = now
+            self.right_b_recovery_started_at = None
+            return True
+        if now - self.right_b_release_started_at < self.args.combo_release_s:
+            self.right_b_recovery_started_at = None
+            return True
+
+        # A stable raw release alone is insufficient: xTELE may retain a
+        # processed B gesture after the release edge.  Re-enable the processed
+        # side only after fresh 5001 data continuously matches either its
+        # pre-B baseline or the current raw scalar target.
+        raw_right = self._raw_right_hand_target(data)
+        recovered = self._hand_targets_equivalent(
+            processed_right, self.right_b_processed_baseline
+        ) or self._hand_targets_equivalent(processed_right, raw_right)
+        if not recovered:
+            self.right_b_recovery_started_at = None
+            return True
+        if self.right_b_recovery_started_at is None:
+            self.right_b_recovery_started_at = now
+            return True
+        recovery_seconds = max(0.1, float(self.args.cmd_max_age_s))
+        if now - self.right_b_recovery_started_at < recovery_seconds:
+            return True
+
+        self.right_b_merge_suppressed = False
+        self.right_b_release_started_at = None
+        self.right_b_recovery_started_at = None
+        self.right_b_processed_baseline = copy.deepcopy(processed_right)
+        self.right_b_baseline_candidate = copy.deepcopy(processed_right)
+        self.right_b_baseline_candidate_started_at = now
+        return False
+
+    @staticmethod
+    def _select_processed_hand_position(
+        raw_position: object,
+        processed_position: dict[str, object] | None,
+        *,
+        suppress_right: bool,
+    ) -> tuple[dict[str, object] | None, tuple[str, ...]]:
+        """Select processed sides without mutating either source structure."""
+        if processed_position is None:
+            return None, ()
+        if not suppress_right:
+            return copy.deepcopy(processed_position), ("left", "right")
+
+        # While right B is held, xTELE may emit its own right-hand gesture
+        # before our separate three-second B latch fires on the robot.  Keep
+        # the authoritative raw 5003 right-hand value, but allow an unrelated
+        # processed left-hand target to pass through.
+        if not isinstance(raw_position, dict) or "right" not in raw_position:
+            return None, ()
+        selected = copy.deepcopy(raw_position)
+        selected["left"] = copy.deepcopy(processed_position["left"])
+        return selected, ("left",)
+
     @classmethod
     def _build_payload(
         cls,
@@ -235,26 +422,44 @@ class XteleSender:
         session_seq: int,
         session_state: str,
         stop_reason: str = "",
+        suppress_processed_right: bool | None = None,
     ) -> tuple[bytes, bool]:
-        merged = False
+        merged_sides: tuple[str, ...] = ()
         try:
+            # Build from a snapshot so callers retain the unmodified raw 5003
+            # frame even when a processed 5001 hand target is selected.
+            payload_data = copy.deepcopy(data)
             position = cls._processed_hand_position(command) if command else None
-            hand = data.get("hand")
-            if position is not None and isinstance(hand, dict):
-                hand["position"] = position
-                merged = True
+            hand = payload_data.get("hand")
+            right_b_pressed = cls._right_b_pressed(payload_data)
+            if suppress_processed_right is None:
+                suppress_processed_right = right_b_pressed is not False
+            if isinstance(hand, dict):
+                selected, merged_sides = cls._select_processed_hand_position(
+                    hand.get("position"),
+                    position,
+                    suppress_right=suppress_processed_right,
+                )
+                if selected is not None:
+                    hand["position"] = selected
 
-            metadata = data.get("tg3_transport")
+            metadata = payload_data.get("tg3_transport")
             if not isinstance(metadata, dict):
                 metadata = {}
-                data["tg3_transport"] = metadata
-            if merged:
+                payload_data["tg3_transport"] = metadata
+            if merged_sides:
                 metadata["processed_hand_from_xtele_cmd"] = True
+                metadata["processed_hand_sides"] = list(merged_sides)
                 assert command is not None
                 metadata["xtele_cmd_timestamp"] = command.get("timestamp")
             else:
                 metadata.pop("processed_hand_from_xtele_cmd", None)
+                metadata.pop("processed_hand_sides", None)
                 metadata.pop("xtele_cmd_timestamp", None)
+            if suppress_processed_right and position is not None:
+                metadata["processed_right_hand_suppressed_by_b"] = True
+            else:
+                metadata.pop("processed_right_hand_suppressed_by_b", None)
             # Always overwrite untrusted source metadata.  The robot accepts
             # start/active/stop only from this sender and expected Omni peer.
             metadata["protocol_version"] = TELEOP_PROTOCOL_VERSION
@@ -266,11 +471,11 @@ class XteleSender:
             else:
                 metadata.pop("stop_reason", None)
             encoded = json.dumps(
-                data, ensure_ascii=False, separators=(",", ":")
+                payload_data, ensure_ascii=False, separators=(",", ":")
             ).encode("utf-8")
         except (TypeError, ValueError):
             raise ValueError("cannot encode xTELE session payload")
-        return encoded, merged
+        return encoded, bool(merged_sides)
 
     @staticmethod
     def _start_stop_pressed(data: dict[str, object]) -> bool:
@@ -293,9 +498,20 @@ class XteleSender:
         pressed = self._start_stop_pressed(data)
         if self.require_combo_release:
             self.combo_started_at = None
-            if not pressed:
+            if pressed:
+                self.combo_release_started_at = None
+                return None
+            if self.combo_release_started_at is None:
+                self.combo_release_started_at = now
+                return None
+            if (
+                now - self.combo_release_started_at
+                >= self.args.combo_release_s
+            ):
                 self.require_combo_release = False
+                self.combo_release_started_at = None
             return None
+        self.combo_release_started_at = None
         if not pressed:
             self.combo_started_at = None
             return None
@@ -305,6 +521,7 @@ class XteleSender:
             return None
 
         self.combo_started_at = None
+        self.combo_release_started_at = None
         self.require_combo_release = True
         if self.teleop_active:
             self.teleop_active = False
@@ -451,6 +668,7 @@ class XteleSender:
                         > self.args.source_timeout_s
                     ):
                         self.combo_started_at = None
+                        self.combo_release_started_at = None
                         if self.teleop_active:
                             self._abort_teleop(
                                 "local xTELE source became stale; a new Z+C hold "
@@ -476,6 +694,7 @@ class XteleSender:
                     # A malformed/frozen frame may never contribute time to a
                     # physical three-second start/stop hold.
                     self.combo_started_at = None
+                    self.combo_release_started_at = None
                     self.counters["dropped_malformed"] += 1
                     continue
 
@@ -487,8 +706,22 @@ class XteleSender:
                 if (
                     latest_command is not None
                     and now - self.last_command_at <= self.args.cmd_max_age_s
+                    and self._command_aligned_with_raw(latest_command, data)
                 ):
                     command = latest_command
+                processed_position = (
+                    self._processed_hand_position(command)
+                    if command is not None
+                    else None
+                )
+                processed_right = (
+                    None
+                    if processed_position is None
+                    else processed_position["right"]
+                )
+                suppress_processed_right = self._update_right_b_merge_gate(
+                    now, data, processed_right
+                )
 
                 if not self.teleop_active and transition != "stop":
                     self.counters["frames_suppressed_inactive"] += 1
@@ -528,6 +761,7 @@ class XteleSender:
                         self.teleop_session_seq,
                         session_state,
                         stop_reason,
+                        suppress_processed_right,
                     )
                 except ValueError:
                     self.counters["dropped_malformed"] += 1
@@ -543,8 +777,8 @@ class XteleSender:
                     self.start_markers_remaining -= 1
                 if transition == "stop":
                     # STOP is the final xTELE business frame.  The underlying
-                    # registered OmniSocket session remains warm for low-latency
-                    # next start and KCP delivery, but no arm data follows.
+                    # Session is flushed for bounded delivery and then closed;
+                    # the next physical START creates a fresh registration.
                     self.teleop_session_id = None
                     self.teleop_session_seq = 0
                     self.start_markers_remaining = 0
@@ -581,6 +815,15 @@ def parse_args() -> argparse.Namespace:
     parser.add_argument("--max-feedback-age-ms", type=float, default=500.0)
     parser.add_argument("--max-pending-frames", type=int, default=100)
     parser.add_argument("--start-stop-hold-s", type=float, default=3.0)
+    parser.add_argument(
+        "--combo-release-s",
+        type=float,
+        default=0.5,
+        help=(
+            "require both combo buttons to remain released for this long "
+            "before another start/stop hold can begin"
+        ),
+    )
     parser.add_argument(
         "--start-marker-frames",
         type=int,
diff --git a/tg3_omnisocket_transport/test_session_gate.py b/tg3_omnisocket_transport/test_session_gate.py
index c72b2f8..6a2ba2c 100644
--- a/tg3_omnisocket_transport/test_session_gate.py
+++ b/tg3_omnisocket_transport/test_session_gate.py
@@ -1,13 +1,13 @@
 #!/usr/bin/env python3
-"""Offline tests for the EAI teleoperation session gate."""
-
 from __future__ import annotations
 
+import argparse
+import copy
 import importlib.util
 import json
 from pathlib import Path
-from types import ModuleType, SimpleNamespace
 import sys
+from types import ModuleType
 import unittest
 
 
@@ -22,75 +22,109 @@ spec = importlib.util.spec_from_file_location("omnisocket_xtele_sender", module_
 assert spec is not None and spec.loader is not None
 sender_module = importlib.util.module_from_spec(spec)
 spec.loader.exec_module(sender_module)
-XteleSender = sender_module.XteleSender
 
 
-def buttons(pressed: bool) -> dict[str, object]:
+def args() -> argparse.Namespace:
+    return argparse.Namespace(
+        server="127.0.0.1:14049",
+        peer_id="sender",
+        target_peer="robot",
+        zmq_endpoint="tcp://127.0.0.1:5003",
+        cmd_zmq_endpoint="",
+        cmd_max_age_s=0.25,
+        source_timeout_s=0.25,
+        max_feedback_age_ms=500.0,
+        max_pending_frames=100,
+        start_stop_hold_s=3.0,
+        combo_release_s=0.5,
+        start_marker_frames=50,
+        status_file="/tmp/tg3_sender_test_status.json",
+    )
+
+
+def frame(pressed: bool) -> dict[str, object]:
+    value = 1 if pressed else 0
     return {
         "button": {
-            "left": [False, False, pressed],
-            "right": [False, False, pressed],
-        },
-        "hand": {"position": {"left": 0.0, "right": 0.0}},
+            "left": [0, 0, value],
+            "right": [0, 0, value],
+        }
     }
 
 
 class SessionGateTest(unittest.TestCase):
     def setUp(self) -> None:
-        args = SimpleNamespace(
-            start_stop_hold_s=3.0,
-            start_marker_frames=50,
-            source_timeout_s=0.25,
-            max_feedback_age_ms=500.0,
-            max_pending_frames=100,
+        self.sender = sender_module.XteleSender(args())
+
+    def stable_release(self, started_at: float) -> float:
+        self.assertIsNone(
+            self.sender._update_teleop_gate(started_at, frame(False))
         )
-        self.sender = XteleSender(args)
-
-    def test_start_and_stop_each_require_a_new_continuous_hold(self) -> None:
-        # Boot requires a release, so a button held across service restart
-        # cannot start a session.
-        self.assertIsNone(self.sender._update_teleop_gate(0.0, buttons(True)))
-        self.assertIsNone(self.sender._update_teleop_gate(0.1, buttons(False)))
-
-        self.assertIsNone(self.sender._update_teleop_gate(1.0, buttons(True)))
-        self.assertIsNone(self.sender._update_teleop_gate(3.99, buttons(True)))
-        self.assertEqual(
-            self.sender._update_teleop_gate(4.01, buttons(True)), "start"
+        finished_at = started_at + 0.51
+        self.assertIsNone(
+            self.sender._update_teleop_gate(finished_at, frame(False))
         )
-        first_id = self.sender.teleop_session_id
-        self.assertTrue(self.sender.teleop_active)
-        self.assertIsNotNone(first_id)
+        self.assertFalse(self.sender.require_combo_release)
+        return finished_at
 
-        # Keeping the same hold cannot immediately toggle the new session off.
-        self.assertIsNone(self.sender._update_teleop_gate(8.0, buttons(True)))
-        self.assertTrue(self.sender.teleop_active)
-        self.assertIsNone(self.sender._update_teleop_gate(8.1, buttons(False)))
-
-        self.assertIsNone(self.sender._update_teleop_gate(9.0, buttons(True)))
-        self.assertIsNone(self.sender._update_teleop_gate(11.99, buttons(True)))
+    def test_boot_requires_stable_release_before_start(self) -> None:
+        self.assertIsNone(self.sender._update_teleop_gate(0.0, frame(True)))
+        self.assertIsNone(self.sender._update_teleop_gate(4.0, frame(True)))
+        released_at = self.stable_release(5.0)
+        self.assertIsNone(
+            self.sender._update_teleop_gate(released_at + 0.01, frame(True))
+        )
         self.assertEqual(
-            self.sender._update_teleop_gate(12.01, buttons(True)), "stop"
+            self.sender._update_teleop_gate(released_at + 3.02, frame(True)),
+            "start",
+        )
+        self.assertTrue(self.sender.teleop_active)
+
+    def test_single_false_frame_cannot_rearm_stop(self) -> None:
+        released_at = self.stable_release(0.0)
+        self.sender._update_teleop_gate(released_at + 0.01, frame(True))
+        self.assertEqual(
+            self.sender._update_teleop_gate(released_at + 3.02, frame(True)),
+            "start",
+        )
+
+        self.assertIsNone(
+            self.sender._update_teleop_gate(released_at + 3.03, frame(False))
+        )
+        self.assertIsNone(
+            self.sender._update_teleop_gate(released_at + 3.04, frame(True))
+        )
+        self.assertIsNone(
+            self.sender._update_teleop_gate(released_at + 7.00, frame(True))
+        )
+        self.assertTrue(self.sender.teleop_active)
+        self.assertTrue(self.sender.require_combo_release)
+
+    def test_stable_release_allows_separate_stop_hold(self) -> None:
+        released_at = self.stable_release(0.0)
+        self.sender._update_teleop_gate(released_at + 0.01, frame(True))
+        self.assertEqual(
+            self.sender._update_teleop_gate(released_at + 3.02, frame(True)),
+            "start",
+        )
+        second_release = self.stable_release(released_at + 3.03)
+        self.sender._update_teleop_gate(second_release + 0.01, frame(True))
+        self.assertEqual(
+            self.sender._update_teleop_gate(second_release + 3.02, frame(True)),
+            "stop",
         )
         self.assertFalse(self.sender.teleop_active)
-        self.assertEqual(self.sender.teleop_session_id, first_id)
 
-    def test_releasing_during_hold_resets_the_timer(self) -> None:
-        self.sender._update_teleop_gate(0.0, buttons(False))
-        self.sender._update_teleop_gate(1.0, buttons(True))
-        self.sender._update_teleop_gate(2.0, buttons(False))
-        self.sender._update_teleop_gate(3.0, buttons(True))
-        self.assertIsNone(self.sender._update_teleop_gate(5.9, buttons(True)))
-        self.assertEqual(
-            self.sender._update_teleop_gate(6.01, buttons(True)), "start"
-        )
-
-    def test_transport_metadata_is_overwritten(self) -> None:
-        data = buttons(False)
+    def test_untrusted_transport_metadata_is_overwritten(self) -> None:
+        data = frame(False)
         data["tg3_transport"] = {
             "protocol_version": 999,
             "session_id": "forged",
+            "session_seq": 999,
             "session_state": "stop",
+            "stop_reason": "forged",
         }
+
         payload, merged = self.sender._build_payload(
             data,
             None,
@@ -98,34 +132,230 @@ class SessionGateTest(unittest.TestCase):
             7,
             "start",
         )
+
         self.assertFalse(merged)
         metadata = json.loads(payload)["tg3_transport"]
         self.assertEqual(metadata["protocol_version"], 2)
         self.assertEqual(metadata["session_id"], "a" * 32)
         self.assertEqual(metadata["session_seq"], 7)
         self.assertEqual(metadata["session_state"], "start")
+        self.assertNotIn("stop_reason", metadata)
 
     def test_stale_or_backlogged_transport_is_rejected(self) -> None:
         class FakeSession:
-            def __init__(self, feedback_age: int, pending: int) -> None:
-                self.feedback_age = feedback_age
+            def __init__(self, feedback_age_ms: int, pending: int) -> None:
+                self.feedback_age_ms = feedback_age_ms
                 self.pending = pending
 
-            def stats(self) -> dict[str, int]:
+            @staticmethod
+            def stats() -> dict[str, int]:
                 return {"connected": 1, "registered": 1}
 
             def kcp_stats(self) -> dict[str, int]:
                 return {
                     "snd_queue": self.pending,
                     "snd_buffer": 0,
-                    "last_feedback_age_ms": self.feedback_age,
+                    "last_feedback_age_ms": self.feedback_age_ms,
                 }
 
         self.sender.session_connected_at = 0.0
         self.sender.session = FakeSession(600, 0)
-        self.assertIn("feedback stale", self.sender._session_unhealthy_reason())
+        self.assertIn(
+            "feedback stale", self.sender._session_unhealthy_reason() or ""
+        )
         self.sender.session = FakeSession(1, 101)
-        self.assertIn("pending queue", self.sender._session_unhealthy_reason())
+        self.assertIn(
+            "pending queue", self.sender._session_unhealthy_reason() or ""
+        )
+
+
+class ProcessedHandMergeTest(unittest.TestCase):
+    @staticmethod
+    def raw_frame(right_b: int) -> dict[str, object]:
+        return {
+            "button": {
+                "left": [0, 0, 0],
+                "right": [0, right_b, 0],
+            },
+            "trigger": {"left": 0.12, "right": 0.73},
+            "hand": {"position": {"left": 0.12, "right": 0.73}},
+        }
+
+    @staticmethod
+    def processed_command() -> dict[str, object]:
+        return {
+            "timestamp": 123.5,
+            "hand": {
+                "position": {
+                    "left": [0.1, 0.2, 0.3, 0.4, 0.5, 0.6],
+                    "right": [0.6, 0.5, 0.4, 0.3, 0.2, 0.1],
+                }
+            },
+        }
+
+    def test_processed_command_cannot_run_ahead_of_raw_timestamp(self) -> None:
+        command = self.processed_command()
+        self.assertFalse(
+            sender_module.XteleSender._command_aligned_with_raw(
+                command, {"timestamp": 123.4}
+            )
+        )
+        self.assertTrue(
+            sender_module.XteleSender._command_aligned_with_raw(
+                command, {"timestamp": 123.5}
+            )
+        )
+        self.assertTrue(
+            sender_module.XteleSender._command_aligned_with_raw(
+                command, {"timestamp": 124.0}
+            )
+        )
+        self.assertFalse(
+            sender_module.XteleSender._command_aligned_with_raw(
+                command, {"timestamp": "124.0"}
+            )
+        )
+
+    def build(
+        self,
+        data: dict[str, object],
+        suppress_processed_right: bool | None = None,
+    ) -> tuple[dict[str, object], bool]:
+        encoded, merged = sender_module.XteleSender._build_payload(
+            data,
+            self.processed_command(),
+            "session-id",
+            7,
+            "active",
+            suppress_processed_right=suppress_processed_right,
+        )
+        return json.loads(encoded), merged
+
+    def test_right_b_preserves_raw_right_hand_and_trigger(self) -> None:
+        raw = self.raw_frame(right_b=1)
+        original = copy.deepcopy(raw)
+
+        payload, merged = self.build(raw)
+
+        self.assertTrue(merged)
+        self.assertEqual(
+            payload["hand"]["position"]["left"],
+            self.processed_command()["hand"]["position"]["left"],
+        )
+        self.assertEqual(payload["hand"]["position"]["right"], 0.73)
+        self.assertEqual(payload["trigger"], original["trigger"])
+        self.assertEqual(
+            payload["tg3_transport"]["processed_hand_sides"], ["left"]
+        )
+        self.assertTrue(
+            payload["tg3_transport"][
+                "processed_right_hand_suppressed_by_b"
+            ]
+        )
+        self.assertEqual(raw, original, "payload building must not mutate raw 5003")
+
+    def test_right_b_release_restores_bilateral_processed_merge(self) -> None:
+        raw = self.raw_frame(right_b=0)
+
+        payload, merged = self.build(raw)
+
+        self.assertTrue(merged)
+        self.assertEqual(
+            payload["hand"]["position"],
+            self.processed_command()["hand"]["position"],
+        )
+        self.assertEqual(payload["trigger"]["right"], 0.73)
+        self.assertEqual(
+            payload["tg3_transport"]["processed_hand_sides"],
+            ["left", "right"],
+        )
+        self.assertNotIn(
+            "processed_right_hand_suppressed_by_b",
+            payload["tg3_transport"],
+        )
+
+    def test_runtime_gate_suppresses_through_stable_b_release(self) -> None:
+        sender = sender_module.XteleSender(args())
+        pressed = self.raw_frame(right_b=1)
+        released = self.raw_frame(right_b=0)
+        baseline = self.processed_command()["hand"]["position"]["right"]
+        b_gesture = [0.2, 0.688, 0.0, 0.98, 0.98, 0.98]
+
+        self.assertFalse(sender._update_right_b_merge_gate(0.0, released, baseline))
+        self.assertFalse(
+            sender._update_right_b_merge_gate(0.26, released, baseline)
+        )
+        self.assertTrue(
+            sender._update_right_b_merge_gate(1.0, pressed, b_gesture)
+        )
+        self.assertTrue(
+            sender._update_right_b_merge_gate(1.1, released, b_gesture)
+        )
+        self.assertTrue(
+            sender._update_right_b_merge_gate(1.61, released, b_gesture)
+        )
+        held_payload, _ = self.build(
+            released, suppress_processed_right=True
+        )
+        self.assertEqual(held_payload["hand"]["position"]["right"], 0.73)
+
+        # Stable B release is not enough: processed 5001 must also remain at
+        # a safe baseline for at least cmd_max_age_s before it is trusted.
+        self.assertTrue(
+            sender._update_right_b_merge_gate(1.62, released, baseline)
+        )
+        self.assertTrue(
+            sender._update_right_b_merge_gate(1.86, released, baseline)
+        )
+        self.assertFalse(
+            sender._update_right_b_merge_gate(1.88, released, baseline)
+        )
+        restored_payload, _ = self.build(
+            released, suppress_processed_right=False
+        )
+        self.assertEqual(
+            restored_payload["hand"]["position"]["right"],
+            self.processed_command()["hand"]["position"]["right"],
+        )
+
+    def test_malformed_b_cannot_clear_runtime_suppression(self) -> None:
+        sender = sender_module.XteleSender(args())
+        self.assertTrue(
+            sender._update_right_b_merge_gate(
+                1.0, self.raw_frame(right_b=1), None
+            )
+        )
+        malformed = self.raw_frame(right_b=0)
+        malformed["button"] = {"right": [0]}
+        self.assertTrue(
+            sender._update_right_b_merge_gate(2.0, malformed, 0.73)
+        )
+        self.assertIsNone(sender.right_b_release_started_at)
+
+    def test_one_early_processed_change_cannot_replace_pre_b_baseline(self) -> None:
+        sender = sender_module.XteleSender(args())
+        released = self.raw_frame(right_b=0)
+        pressed = self.raw_frame(right_b=1)
+        baseline = self.processed_command()["hand"]["position"]["right"]
+        b_gesture = [0.2, 0.688, 0.0, 0.98, 0.98, 0.98]
+
+        sender._update_right_b_merge_gate(0.0, released, baseline)
+        sender._update_right_b_merge_gate(0.26, released, baseline)
+        self.assertEqual(sender.right_b_processed_baseline, baseline)
+
+        # Model 5001 being polled just before the corresponding raw B frame.
+        # It may become a candidate, but cannot immediately replace the last
+        # stable, B-false baseline.
+        sender._update_right_b_merge_gate(1.0, released, b_gesture)
+        self.assertEqual(sender.right_b_processed_baseline, baseline)
+        sender._update_right_b_merge_gate(1.01, pressed, b_gesture)
+        sender._update_right_b_merge_gate(1.02, released, b_gesture)
+        self.assertTrue(
+            sender._update_right_b_merge_gate(1.53, released, b_gesture)
+        )
+        self.assertTrue(
+            sender._update_right_b_merge_gate(2.0, released, b_gesture)
+        )
 
 
 if __name__ == "__main__":
diff --git a/tg3_omnisocket_transport/tg3-omnisocket-sender.service b/tg3_omnisocket_transport/tg3-omnisocket-sender.service
index 724ced3..62320a9 100644
--- a/tg3_omnisocket_transport/tg3-omnisocket-sender.service
+++ b/tg3_omnisocket_transport/tg3-omnisocket-sender.service
@@ -7,7 +7,7 @@ Wants=network-online.target
 Type=simple
 WorkingDirectory=/home/eai/tg3_omnisocket_transport
 Environment=PYTHONPATH=/home/eai/OmniSocketGo/python
-ExecStart=/usr/bin/python3 /home/eai/tg3_omnisocket_transport/omnisocket_xtele_sender.py --server 175.178.116.187:14049 --peer-id tg3-009027fa8190-iarm --target-peer tg3-009027fa8190-robot --zmq-endpoint tcp://127.0.0.1:5003 --cmd-zmq-endpoint tcp://127.0.0.1:5001 --cmd-max-age-s 0.25 --source-timeout-s 0.25 --start-stop-hold-s 3.0 --start-marker-frames 50 --max-feedback-age-ms 500 --max-pending-frames 100 --status-file /home/eai/tg3_omnisocket_transport/status.json
+ExecStart=/usr/bin/python3 /home/eai/tg3_omnisocket_transport/omnisocket_xtele_sender.py --server 175.178.116.187:14049 --peer-id tg3-009027fa8190-iarm --target-peer tg3-009027fa8190-robot --zmq-endpoint tcp://127.0.0.1:5003 --cmd-zmq-endpoint tcp://127.0.0.1:5001 --cmd-max-age-s 0.25 --source-timeout-s 0.25 --start-stop-hold-s 3.0 --combo-release-s 0.5 --start-marker-frames 500 --max-feedback-age-ms 500 --max-pending-frames 100 --status-file /home/eai/tg3_omnisocket_transport/status.json
 Restart=always
 RestartSec=1
 KillSignal=SIGINT
diff --git a/verify.sh b/verify.sh
index d7361fa..5c2b01f 100755
--- a/verify.sh
+++ b/verify.sh
@@ -4,13 +4,45 @@ set -euo pipefail
 repo_dir="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 expected_omnisocket_commit="de3f5c96779dbe1571c10feb22fc7f2331b6b222"
 
+for executable in \
+  "$repo_dir/tg3_omnisocket_transport/omnisocket_xtele_sender.py" \
+  "$repo_dir/tg3_local_teleop/tg3_local_teleop.py" \
+  "$repo_dir/tg3_local_teleop/run.sh" \
+  "$repo_dir/tg3_local_teleop/wait_ros_ready.sh" \
+  "$repo_dir/tg3_local_teleop/home.sh" \
+  "$repo_dir/tg3_local_teleop/status.sh"; do
+  if [[ ! -x "$executable" ]]; then
+    echo "Required executable bit is missing: $executable" >&2
+    exit 1
+  fi
+done
+
+python3 -m py_compile \
+  "$repo_dir/tg3_omnisocket_transport/omnisocket_xtele_sender.py" \
+  "$repo_dir/tg3_local_teleop/tg3_local_teleop.py" \
+  "$repo_dir/tg3_local_teleop/gesture_toggle.py"
 python3 "$repo_dir/tg3_omnisocket_transport/test_session_gate.py"
 python3 "$repo_dir/tg3_local_teleop/test_session_gate.py"
+python3 "$repo_dir/tg3_local_teleop/test_gesture_toggle.py"
+python3 "$repo_dir/tg3_local_teleop/test_idle_session_refresh.py"
+python3 - "$repo_dir/tg3_local_teleop/config.toml" <<'PY'
+import sys
+import tomllib
 
-actual_omnisocket_commit="$(git -C "$repo_dir/OmniSocketGo" rev-parse HEAD)"
-if [[ "$actual_omnisocket_commit" != "$expected_omnisocket_commit" ]]; then
-  echo "OmniSocketGo commit mismatch: $actual_omnisocket_commit" >&2
-  exit 1
+with open(sys.argv[1], "rb") as stream:
+    tomllib.load(stream)
+print("config.toml parse passed")
+PY
+
+if [[ -n "${OMNISOCKETGO_DIR:-}" ]]; then
+  actual_omnisocket_commit="$(git -C "$OMNISOCKETGO_DIR" rev-parse HEAD)"
+  if [[ "$actual_omnisocket_commit" != "$expected_omnisocket_commit" ]]; then
+    echo "OmniSocketGo commit mismatch: $actual_omnisocket_commit" >&2
+    exit 1
+  fi
+  echo "OmniSocketGo commit verified: $actual_omnisocket_commit"
+else
+  echo "OmniSocketGo is external and was not checked; expected commit: $expected_omnisocket_commit"
 fi
 
-echo "Offline checks passed; OmniSocketGo is pinned to $actual_omnisocket_commit"
+echo "All offline TG3 checks passed"