feat: set right-B point gesture hold to one second

README.md

@@ -40,8 +40,8 @@ TOML 解析检查。若还要核对外置 OmniSocketGo 版本，可设置任务
   稳定松开，再重新长按 3 秒。pending 和活动会话都不会自动重试或自动恢复。
 - 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
+- 右 B 连续 1 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。
+  1 秒退出。手指动作继续受 `400 units/s` 限速。
 
 ## 迁移前必须修改
 

docs/天工3.0本地同构臂遥操迁移部署指南.md

@@ -397,8 +397,8 @@ 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. 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
+8. 保持右摇杆回中，连续长按右 B 1 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；
+   “单食指”姿态；松开至少 0.5 秒后再次长按 1 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；

tg3_local_teleop/README.md

@@ -43,8 +43,8 @@ TS1P 同构臂
 - 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
+- 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` 1 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
+  至少 `0.5 s` 后，再连续长按右 `B` 1 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

tg3_local_teleop/config.toml

@@ -111,12 +111,12 @@ 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
+# 1-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_hold_seconds = 1.0
 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]
 

tg3_local_teleop/test_gesture_toggle.py

@@ -16,7 +16,7 @@ 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 = GestureToggle(hold_seconds=1.0, release_seconds=0.5)
         self.gesture.new_session()
 
     def stable_release(self, started_at: float) -> float:
@@ -44,7 +44,7 @@ class GestureToggleTest(unittest.TestCase):
         self.assertFalse(self.gesture.active)
         self.assertTrue(self.gesture.freeze_right_hand)
 
-    def test_continuous_three_second_holds_toggle_once_each(self) -> None:
+    def test_continuous_one_second_holds_toggle_once_each(self) -> None:
         released_at = self.stable_release(0.0)
         self.assertFalse(
             self.gesture.update(
@@ -56,7 +56,7 @@ class GestureToggleTest(unittest.TestCase):
         )
         self.assertFalse(
             self.gesture.update(
-                released_at + 3.0,
+                released_at + 1.0,
                 armed=True,
                 input_healthy=True,
                 pressed=True,
@@ -64,7 +64,7 @@ class GestureToggleTest(unittest.TestCase):
         )
         self.assertTrue(
             self.gesture.update(
-                released_at + 3.01,
+                released_at + 1.01,
                 armed=True,
                 input_healthy=True,
                 pressed=True,
@@ -93,7 +93,7 @@ class GestureToggleTest(unittest.TestCase):
         )
         self.assertTrue(
             self.gesture.update(
-                second_release + 3.02,
+                second_release + 1.02,
                 armed=True,
                 input_healthy=True,
                 pressed=True,
@@ -115,7 +115,7 @@ class GestureToggleTest(unittest.TestCase):
         self.assertEqual(self.gesture.state, "holding_start")
 
         self.gesture.update(
-            released_at + 2.0,
+            released_at + 0.8,
             armed=True,
             input_healthy=True,
             pressed=False,
@@ -124,14 +124,14 @@ class GestureToggleTest(unittest.TestCase):
         self.assertTrue(self.gesture.require_release)
         self.assertTrue(self.gesture.freeze_right_hand)
         self.gesture.update(
-            released_at + 2.49,
+            released_at + 1.29,
             armed=True,
             input_healthy=True,
             pressed=False,
         )
         self.assertTrue(self.gesture.require_release)
         self.gesture.update(
-            released_at + 2.5,
+            released_at + 1.3,
             armed=True,
             input_healthy=True,
             pressed=False,
@@ -148,7 +148,7 @@ class GestureToggleTest(unittest.TestCase):
             pressed=True,
         )
         self.gesture.update(
-            released_at + 2.99,
+            released_at + 0.99,
             armed=True,
             input_healthy=True,
             pressed=None,
@@ -156,7 +156,7 @@ class GestureToggleTest(unittest.TestCase):
         self.assertTrue(self.gesture.require_release)
         self.assertIsNone(self.gesture.hold_started_at)
 
-        released_at = self.stable_release(released_at + 3.0)
+        released_at = self.stable_release(released_at + 1.0)
         self.gesture.update(
             released_at + 0.01,
             armed=True,
@@ -164,7 +164,7 @@ class GestureToggleTest(unittest.TestCase):
             pressed=True,
         )
         self.gesture.update(
-            released_at + 2.99,
+            released_at + 0.99,
             armed=True,
             input_healthy=False,
             pressed=True,
@@ -183,14 +183,14 @@ class GestureToggleTest(unittest.TestCase):
         )
         self.assertTrue(
             self.gesture.update(
-                released_at + 3.02,
+                released_at + 1.02,
                 armed=True,
                 input_healthy=True,
                 pressed=True,
             )
         )
         self.gesture.update(
-            released_at + 3.03,
+            released_at + 1.03,
             armed=True,
             input_healthy=False,
             pressed=True,
@@ -207,7 +207,7 @@ class GestureToggleTest(unittest.TestCase):
             pressed=True,
         )
         self.gesture.update(
-            released_at + 3.02,
+            released_at + 1.02,
             armed=True,
             input_healthy=True,
             pressed=True,
@@ -215,7 +215,7 @@ class GestureToggleTest(unittest.TestCase):
         self.assertTrue(self.gesture.active)
         self.assertFalse(
             self.gesture.update(
-                released_at + 3.03,
+                released_at + 1.03,
                 armed=False,
                 input_healthy=True,
                 pressed=True,

tg3_local_teleop/tg3_local_teleop.py

@@ -406,7 +406,7 @@ class LocalTeleopBridge(Node):
         )
         self.right_point_gesture = GestureToggle(
             hold_seconds=float(
-                self.hands_cfg.get("right_b_point_gesture_hold_seconds", 3.0)
+                self.hands_cfg.get("right_b_point_gesture_hold_seconds", 1.0)
             ),
             release_seconds=float(
                 self.hands_cfg.get("right_b_point_gesture_release_seconds", 0.5)

tg3_omnisocket_transport/README.md

@@ -23,7 +23,7 @@ xTELE 已处理的标量或六维 BrainCoRevo2 目标。5002 的界面事件和
 
 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。
+这样右 B 的自定义长按手势还未满 1 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。

tg3_omnisocket_transport/omnisocket_xtele_sender.py

@@ -87,7 +87,7 @@ class XteleSender:
         self.connect_result: tuple[int, Session | None, str] | None = None
         # 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.
+        # authoritative one-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
@@ -521,7 +521,7 @@ class XteleSender:
             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
+        # before our separate one-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: