fix: remove robot-side 250ms network disarm

tg3_local_teleop/tg3_local_teleop.py

@@ -799,7 +799,6 @@ class LocalTeleopBridge(Node):
             # A server outage can leave the native OmniSocket recv call stuck in
             # an apparently connected session.  Raising out of the ROS loop lets
             # systemd replace the whole process (and native session) cleanly.
-            # The normal runtime gate above has already stopped publication.
             self.get_logger().error(restart_reason)
             raise RuntimeError(restart_reason)
 
@@ -1342,9 +1341,6 @@ class LocalTeleopBridge(Node):
         if check_iarm and sample is None:
             reasons.append(source_error or "no isomorphic-arm data")
         elif check_iarm:
-            age = now - sample.received_at
-            if age > float(net_cfg["source_timeout_s"]):
-                reasons.append(f"isomorphic-arm data stale ({age:.3f}s)")
             data = sample.data
             expected_id = str(net_cfg.get("expected_iarm_id", ""))
             expected_type = str(net_cfg.get("expected_iarm_type", ""))
@@ -1565,11 +1561,6 @@ class LocalTeleopBridge(Node):
                 "omnisocket_restart_after_stale_s"
             ),
             "iarm_connected": sample is not None,
-            "iarm_stream_fresh": (
-                sample is not None
-                and now - sample.received_at
-                <= float(self.cfg["network"]["source_timeout_s"])
-            ),
             "iarm_age_s": None if sample is None else round(now - sample.received_at, 4),
             "iarm_id": None if sample is None else sample.data.get("isomorphic_arm_id"),
             "iarm_frequency_hz": None if sample is None else sample.data.get("freq"),