末节采用原 CAD 零位
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# 按关节零位与独立实测 JSON v3 实施记录
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# 按关节零位与实测/复制 JSON v3 实施记录
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日期：2026-09-11。范围：`linkerhand_calibration`。
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| 会话/运动版本核对及冻结提交 | `runtime/coordinator.py` |
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| 原零位核验后逐任务恢复数据 | `runtime/joint_resume.py` |
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| 冻结参考下的相对运动与指令映射 | `core/fitting/motion_fit.py`、`command_mapping.py`、`anchored_mapping.py` |
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| 明确声明的运动复制、零位迁移及近似来源 | `core/fitting/motion_transfer.py` |
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| 独立线性 mimic 近似 | `core/fitting/mimic_approximation.py` |
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| 空间零偏及授权 URDF 修正 | `core/fitting/session.py`、`spatial_solver/`、`core/urdf/result_plan.py` |
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| v3 序列化、读取和最终文件验收 | `runtime/artifacts/`、`core/urdf/measured_acceptance.py`、`tag_acceptance.py` |
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@@ -34,25 +35,32 @@ Profile 必须声明完整零位指令和非零的最终到达动作；扫描起
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零位稳定性判断使用各机位最近的足量独立帧，短暂异常帧会随新帧退出判断窗口；
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原始记录保留，稳定性门限不变。
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JSON 每个运动关节来自自己的视觉样本，同一 SDK 通道允许绑定多个关节。
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JSON 关节来自自己的视觉样本，或 Profile 明确声明的对应实测来源；同一 SDK 通道允许绑定多个关节。
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接收关节保留自己的 SDK 通道，复制来源的指令/反馈节点及角度，不再拟合。
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接收关节没有独立零位帧和第四轮指标，报告标记 `independently_measured=false` 并引用来源证据。
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正式单条指令曲线只用前三轮，约束 baseline=0；两条方向诊断曲线保留回差，共用同一参考。
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第四轮分别检验两方向，不能用于重新拟合曲线、零位、Tag 安装或基座。
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序列化只导出冻结结果；u8 必须实测支持 0–255 才能生成 256 项，rad 只在 `input_values` 范围内插值。
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URDF mimic 使用前三轮成对实测角度拟合经过零点的直线，输出 offset 精确为 0。
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非线性 JSON 与 mimic 近似分别保存。近似误差不否决完整映射；机械范围、拓扑、授权字段及标准加载仍必须合法。
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缺少独立运动观测或绝对几何依据时保留相对运动诊断，拒绝完整发布，不能使用旧 mimic、迁移或默认零偏补全。
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既无运动观测也无显式复制声明，或缺少绝对零位来源时，保留相对运动诊断并拒绝完整发布。
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旧 mimic 及旧迁移字段不能自动授权 v3 复制，不用默认零偏补全未知几何。
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接受原 CAD 末节零位的前提单独记录在 `cad_zero_assumptions`，不作为独立实测证据；
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仅这些明确列出的末节取 δ=0，保持其自身 `origin`。O12 的被动 PIP 不在该假设范围。
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## 验收与消费
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发布器从最终文件回读并分别检验：
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1. 最终 JSON 对第四轮原始视觉角度；逐关节、逐方向检查。
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1. 最终 JSON 对第四轮原始视觉角度；逐实测关节、逐方向检查；复制表另核验来源与一致性。
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2. 最终 JSON＋修正 URDF 的完整 FK 对第四轮 Tag 位姿；显式使用所有被动角。
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3. 相同主动映射配合标准 mimic 的损失；使用同一份训练冻结安装关系，只报告近似误差。
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前两项精度门限仍为角度 MAE ≤1°、P95 ≤2°、最大 ≤3°，Tag 位置 P95 ≤3 mm。
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三文件哈希、保护输入、观测覆盖和通道绑定一并检查；拟合失败不自动运动，取消后不能提交。
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混合产物的 manifest acceptance 为 `measured_and_transferred_json_urdf_v3`，
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明确记录观测关节、复制关节和 CAD 零位假设。未观测接收关节不具有独立精度结论。
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公共读取器和 `calibrated_joint_state_bridge` 支持 v3 的完整关节映射及历史 v1/v2 原语义。
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完整 FK 使用 `independent_mimic_angles=True`。标准 mimic 加载器用于结构兼容检查，不能覆盖完整非线性关节状态。
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@@ -60,19 +68,20 @@ URDF mimic 使用前三轮成对实测角度拟合经过零点的直线，输出
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## 当前型号的发布边界
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| 型号 | 独立运动观测 | 仍缺少的运动观测 | 绝对几何边界 |
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| 型号 | 独立运动观测 | 声明的运动复制 | 绝对几何边界 |
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| --- | --- | --- | --- |
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| G20 | 21 / 21 个运动关节 | 无 | 五个末端被动关节仍缺 CAD baseline 依据 |
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| L6 | 5 / 11 | 食指、中指、无名指的 MCP、DIP | 旧 CAD 保留及迁移关系不能充当独立依据 |
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| O6 | 5 / 11 | 食指、中指、无名指的 MCP、DIP | 同上 |
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| O12 | 16 / 19 | 无名指 MCP pitch、PIP、DIP | 部分末端/原 CAD 保留关节仍缺依据 |
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| G20 | 21 / 21 个运动关节 | 无 | 五个末节的原 CAD 零位为明确假设 |
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| L6 | 5 / 11 | 其余三指 MCP、DIP ← 小指对应关节 | MCP 零偏明确迁移；五个末节 CAD 零位为假设 |
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| O6 | 5 / 11 | 其余三指 MCP、DIP ← 小指对应关节 | 同上 |
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| O12 | 16 / 19 | 无名指 MCP/PIP/DIP ← 小指对应关节 | pinky_pip、ring_pip、thumb_mcp 零位仍须另行确定 |
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`--validate-only` 的 `independent_measurement_coverage` 返回具体关节列表。
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配置检查通过表示合同可执行，不能解释为全关节精度通过。
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这四份现有配置目前均不能发布完整 v3；补齐 Tag、任务、避让与几何依据需要实机确认。
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上述运动策略已经覆盖各型号全部运动关节；完整发布仍要求实测来源验收通过、零位有来源且范围合法。
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O12 当前仍被三项几何缺口阻止完整发布；L6/O12/G20 的现有 CAD mimic/限位冲突保留诊断，不能放宽限位掩盖。
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现有 Tag 布局没有被补写成未经验证的新布局，新增参考动作也没有标为实机已验证。
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## 软件验证记录
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## 原按关节零位改造的软件验证记录
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修改前在原工作区测试路径上加载备份代码：**582 passed、1 skipped**。
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固定基线保存在 `/tmp/calibration_v3_baseline_ck_q_c99/`，包含原包、输入哈希和运行日志。
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@@ -103,9 +112,25 @@ URDF mimic 使用前三轮成对实测角度拟合经过零点的直线，输出
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| 更换通道顺序、机位名、任务顺序的虚拟型号走同一完整发布链 | `test_measured_finalization.py`、`measured_capture_fixture.py` |
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| 旧格式读取、标准 URDF 授权和结构、READY 后断流、迟到观测、后台反馈、中止与提交竞争 | 原有相关回归及扩展的 `test_calibration_coordinator.py` |
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## 本轮观测策略扩展
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全量回归：**700 passed、1 skipped，495.34 秒**，日志 `/tmp/calibration_transfer_full_verified.log`。
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全量收集后补入的两项反馈范围一致性用例另行通过（`/tmp/calibration_transfer_feedback_domain_verified.log`），
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本轮共覆盖 **702 项通过、1 项缺少实测数据而跳过**。未放宽任何空间求解或最终精度门限。
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构建成功；安装后 12 个 console entry point 均能导入，四型号 `--validate-only` 均以 0 退出。
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对照当前提交检查 142 个原始 URDF/mesh 文件，内容全部不变；四份产品配置仅更新对应 Profile 哈希。
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新增回归见 `test_observation_strategy.py`、`test_motion_transfer.py` 和 `test_transfer_artifact_contract.py`。
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覆盖三种观测策略、虚拟型号改名/重排、接收通道、非线性被动表、来源与假设篡改拒绝、
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O12 PIP 不补零、末节自身 origin 和各指 CAD 几何保持、机械范围及混合产物读回。
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历史全实测合成夹具显式清空新的产品 CAD 假设，继续使用原非零合成真值；未修改其数值期望。
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`test_measured_transfer_finalization.py` 进一步覆盖 O6 及重排后的虚拟 O6：
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由 5 个关节的原始合成记录实际拟合，展开为 11 个关节，经过最终文件验收、发布及 manifest 读回；
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6 个复制关节保留自己的通道，且没有被制造为独立观测。完整组合通过时仍报告 mimic 近似损失。
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合成数据的已知 baseline 几何明确标注 `synthetic_fixture_truth`，不写入产品 Profile。
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完整 v3 非线性回放覆盖合成 G20 拓扑及重排后的虚拟型号；四型号执行器测试不等于四型号都有完整实测回放。
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两种布局的合成回放均得到：最终关节映射最大误差约 0.079°，完整 FK 的 Tag 姿态最大误差约 0.078°、
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完整 v3 非线性回放覆盖合成 G20、O6 拓扑及重排后的虚拟型号；四型号执行器测试不等于四型号都有完整实测回放。
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原 G20 两种布局的合成回放均得到：最终关节映射最大误差约 0.079°，完整 FK 的 Tag 姿态最大误差约 0.078°、
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最差 Tag 位置 P95 约 0.025 mm；标准 mimic 的姿态最大误差约 5.465°，仍被如实报告。
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这些数字用于检验软件是否分开评价非线性映射与线性近似，不是相机或实机测量结果。
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O12 实测回放因未提供 `O12_REPLAY_RAW` 和 `O12_REPLAY_REFERENCE` 跳过。
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@@ -3,9 +3,10 @@
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G20、L6、O6、O12 使用同一个产品启动器、在线状态机、采集器、拟合器、标准 URDF
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验收和发布器。型号差异来自 `config/profiles/*.yaml` 和 SDK Adapter，不再调用型号节点。
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本包按关节冻结实机 baseline 零位，分别输出独立实测非线性 JSON v3 和线性 mimic 近似 URDF；
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本包按观测关节冻结实机 baseline 零位，输出实测曲线及明确声明的复制曲线组成的 JSON v3，
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以及线性 mimic 近似 URDF；报告区分独立实测、迁移和 CAD 零位假设。
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保留 CAD 连杆尺寸、轴位置、mesh、惯量。完整运动由 JSON 的全部关节角度配合修正 URDF 计算。
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软件仿真通过不等于实机精度通过；当前原始 G20/O12 存在需要确认的 mimic/限位冲突。
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软件仿真通过不等于实机精度通过；当前原始 G20/L6/O12 存在需要确认的 mimic/限位冲突。
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本轮实现与验证见 [v3 实施记录](CALIBRATION_V3_IMPLEMENTATION.md)。
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## 启动
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@@ -38,10 +39,22 @@ ros2 run linkerhand_calibration calibrate_hand --config \
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| O12/right/o12_right_16/v1 | 12 | 11 | 16 | unified v3，rad 输入节点查表 |
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任务数、主动关节数和实测关节数不必相等。一条运动可观测多个主动/被动关节。
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**这些配置目前不能发布全关节独立实测产物。** L6/O6 的食指、中指、无名指缺少独立观测；
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O12 无名指缺少独立观测。G20 虽有完整运动观测，末端被动关节仍缺少绝对 CAD 零位依据。
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其他型号保留 CAD 零位的关节也须补充几何依据；启动检查的 `independent_measurement_coverage` 列出确切关节。
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历史迁移关系保留供旧格式读取与诊断，v3 不用迁移、mimic 或补零填满 JSON。
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观测策略由 `measurement.transferred_motion_sources` 声明，目标关节指向直接实测的来源关节：
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| 型号 | 独立采集 | 复制的运动映射 |
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| --- | --- | --- |
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| O6/L6 | 拇指、小指 | 食指/中指/无名指的 MCP、DIP 分别复制小指对应关节 |
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| O12 | 拇指、小指、中指、食指 | 无名指 MCP/PIP/DIP 分别复制小指对应关节 |
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| G20 / 全关节模式 | 每个关节 | 不声明复制关系 |
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复制保留接收关节自己的 SDK 通道、URDF 名称与 CAD 几何，不要求接收关节另贴 Tag 或采集零位帧。
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复制参数不等于接收关节独立实测；接收关节仍须有明确的绝对零位来源及合法机械范围。
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`zero.cad_zero_assumptions` 显式记录“实机 baseline 与原 CAD 末节零位一致”的使用前提，
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相应 DIP（及拇指末节 IP）δ=0、自身 `origin` 不改。这是假设，不是视觉测得的绝对 CAD 朝向。
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**O12 的 PIP 不采用此假设。** 当前 `pinky_pip`、`ring_pip` 和主动 `thumb_mcp` 仍缺绝对零位依据，
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可以采集诊断数据，但这些缺口解决前不能发布完整 O12 v3 JSON/URDF。
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启动检查分别列出 `unmeasured_joints`（未独立观测）、`unresolved_motion_joints`（也未声明复制）
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及 `missing_baseline_geometry`。旧迁移字段单独存在不会自动授权新的 v3 曲线复制。
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本次沿用现有 Tag 和避让布局声明延后零位动作，没有把新增动作或缺失 Tag 布局标为实机验证通过。
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每任务四个往返周期：前三轮训练，第四轮独立验证。
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每个方向先连续扫描，再单通道访问稳态点。训练每方向默认 9 点，并包含该通道 baseline，第四轮为交错点加端点；
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@@ -49,6 +62,27 @@ O12 无名指缺少独立观测。G20 虽有完整运动观测，末端被动关
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稳态点缺失与连续扫描不足统一在方向结束处理，最多同速重扫一次。
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字节拟合不再改写原始 command/feedback，也不将接近端点的读数伪装成 0/255。
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## 启动前相机检查
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`--validate-only` 检查相机配置文件、序列号、内外参指纹和已有外参质量记录，不采集现场图像。
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正式启动还检查实时 `CameraInfo` 的宽高及 K/D/R/P 是否与受保护外参中的记录一致；
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参数不匹配、无效或消息过期时不能开始，并显示具体机位和原因。
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**配置匹配不等于现场内外参有效。** 当前只有手上的 Tag，各机位使用不同 Tag，
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没有声明跨机位共视或已知的 Tag 间几何关系；手掌和贴纸又允许在开始前移动、重贴。
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因此光学内参与相对外参的现场有效性记录为 `unverified`，不能用重新锁定掌心 Tag、
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较小的 PnP 残差或未变化的配置哈希代替实测，也不能由 Tag 位置变化断定相机被碰。
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`READY` 只表示设备与消息满足现有开始条件。显示上述能力提示后沿用现有启动行为，
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不要求各手指 Tag 可见，不增加人工确认或新的暂停条件；`READY` 不表示物理相机参数已验证通过。
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会话目录中的 `camera_preflight.json` 和 `raw_samples.jsonl` 保存检查结果与依据，
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开始前仅在结果变化时记录，接受 Start 前再检查并冻结一次；后续状态中的检查结果指这次启动检查。
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单凭这些记录不能判定是否需要重新标定。`expected_cameras` 是配置期望身份，不是现场实测结果。
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镜头、焦距或成像设置变化后应重新核验内参；相机之间相对位置变化后应重新核验外参。
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未来同一个物理 Tag 被多个机位共同看到时，可以检查相对外参一致性，但当前尚未实现该能力。
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本次检查不修改 Profile、SDK 或原始 URDF。
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## 基准、避让与恢复
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- 开始前可以调整手掌、相机和 Tag；预览数据不会成为正式参考。
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@@ -107,7 +141,7 @@ ROS 和离线采集使用相同默认值，型号 YAML 不重复声明该值。`
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有效数据、基准、断点来源，以及中文原因、建议和原始诊断。耗时拟合在后台执行，不阻塞反馈与状态。
|
||||
标题明确显示型号、左右手和序列号。开始前等待状态列出缺少或过期的相机内参、检测消息和 SDK 条件；
|
||||
空 Tag 检测消息可以证明视觉链路工作，不要求开始前已经识别全部 Tag。
|
||||
收到开始请求时重新检查设备状态；相机有效内参必须与受保护外参中的指纹一致。
|
||||
收到开始请求时重新检查设备状态；实时 CameraInfo 参数必须与受保护外参中的指纹一致。
|
||||
开始前相机消息的新鲜度窗口为 2 秒，该窗口不用于扫描中的实时暂停。
|
||||
|
||||
## 唯一生产代码链
|
||||
@@ -130,6 +164,7 @@ linkerhand_calibration/
|
||||
├── runtime/parameters.py 已解析的运行参数；无 ROS 类型
|
||||
├── runtime/inputs.py 相机/检测输入、时钟与发布接口
|
||||
├── runtime/cameras.py 受保护相机身份与消息新鲜度
|
||||
├── runtime/camera_preflight.py 启动前配置检查结果与内外参实测能力边界
|
||||
├── runtime/session.py 唯一在线状态机
|
||||
├── runtime/execution.py Profile 任务与运动效果调度
|
||||
├── runtime/motion_execution.py 平滑轨迹与位移到位判定
|
||||
@@ -186,7 +221,7 @@ Profile 声明：
|
||||
1. Adapter、SDK 通道顺序、单位、正负方向、命令/反馈范围、基准值、独立速度槽布局。
|
||||
2. Tag ID/尺寸/机位/安装 link，以及每次运动的父子观测关系；不明确的 link 不能靠名称猜。
|
||||
3. 扫描任务、速度、准备/避让/收尾 waypoint；每关节首次零位任务、完整保持指令及固定到达姿态。
|
||||
4. 声明空间可观测约束和有依据的已知 baseline 几何；完整 v3 每个运动关节均须独立观测。
|
||||
4. 声明空间可观测约束、已知 baseline 几何或明确接受的 CAD 零位假设；每个运动关节须独立观测或显式指定对应实测来源。
|
||||
5. 每关节允许修正的 `origin.rpy`、`limit.lower/upper`、`mimic.multiplier/offset`。
|
||||
|
||||
这仍需要正确的可观测性设计：单轴加一对未知安装角的 Tag 不能自动辨识绝对 CAD 零位。
|
||||
@@ -211,19 +246,27 @@ manifest 记录 JSON、URDF、标定报告三文件 SHA256、受保护输入和
|
||||
O12 等 rad 输入还包含一一对应的 `input_values`（在有效节点间线性插值，不外推）。
|
||||
字节型号固定 256 项：SDK 指令 `v` 对应 `angle_rad[v]`，只能在训练指令实际覆盖 0–255 时导出。
|
||||
输出均是修正 URDF 的 q_output，不再加零偏。顶层记录身份、单位、完整 `baseline_command` 和共同零位约定。
|
||||
主动和被动关节均直接导出各自视觉实测曲线，同一驱动通道可绑定多个关节。
|
||||
独立观测的主动和被动关节直接导出各自视觉曲线，同一驱动通道可绑定多个关节。
|
||||
显式复制的关节使用来源关节的同一组节点与角度，不重新拟合、归零或由 mimic 推导；接收通道保持不变。
|
||||
最终单条曲线在前三轮拟合中约束 baseline=0，正反向诊断分支共用冻结参考、保留回差。
|
||||
第四轮分别检验两个方向；超差时禁止发布，不隐藏切换分支。
|
||||
URDF mimic 单独用前三轮成对视觉角度拟合 `q_child≈a*q_parent`，共同零位下 offset=0。
|
||||
URDF mimic 单独用前三轮成对视觉角度拟合 `q_child≈a*q_parent`，共同零位下 offset=0；
|
||||
复制的被动关节使用对应来源的线性近似，证据仍归属于来源关节。
|
||||
其近似误差不会否决已达标的完整映射，但结构、授权字段与机械限位始终强制检查。
|
||||
|
||||
验收分别记录：最终 JSON 对第四轮独立视觉角度；完整 JSON＋URDF FK 对第四轮 Tag 位姿；
|
||||
同一主动映射配合标准 mimic 的近似损失。前两项决定精度通过，第三项仅报告。
|
||||
门限保持角度 MAE≤1°、P95≤2°、最大≤3°，Tag 位置 P95≤3 mm。
|
||||
独立精度结论只覆盖实际观测的关节和 Tag；复制关节另检查来源、查表一致性、通道与机械范围，
|
||||
不把来源关节的第四轮误差称为接收关节精度。混合产物 manifest 使用
|
||||
`measured_and_transferred_json_urdf_v3`，列出实测和复制覆盖。
|
||||
两种 FK 使用相同的训练冻结安装与基座；第四轮不拟合零位、曲线、Tag 安装或基座。
|
||||
|
||||
`calibration_report.json` 保存完整的 `command_to_rad` / `feedback_to_rad`、输入域、方向分支、
|
||||
零位原始参考帧、完整指令/反馈/到达方向、来源和训练/holdout 指标。报告中的 `applicability` 记录保持姿态；
|
||||
实测关节的零位原始参考帧、完整指令/反馈/到达方向、来源和训练/holdout 指标。
|
||||
复制关节记录 `independently_measured: false`、`transferred_from_joint` 与来源参考链接，
|
||||
不生成自己的伪零位样本或独立精度指标。绝对零位来源另由 `zero_method`、
|
||||
`cad_zero_assumption` 或 `zero_transferred_from_joint` 表达。报告中的 `applicability` 记录保持姿态；
|
||||
未采集多姿态证据不能宣称任意多轴工况已验证。主 JSON 用于指令查表，不能误作反馈转换。
|
||||
旧 unified v1 会话继续只读兼容，不自动覆盖或转换历史产物；新输出单表必须重新通过最终文件验收。
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
schema_version: 3
|
||||
profile_id: G20/right/g20_right_19/v1
|
||||
profile_config: package://linkerhand_calibration/config/profiles/g20_right_19.yaml
|
||||
profile_config_sha256: 049a8d7b75d3f7881d6990115416718792e775f513154d59f5843191df03d068
|
||||
profile_config_sha256: f73c8a391a8feb6cb3028fbd8278d3b18d6e2e875980235f7797fd8de2efbac1
|
||||
model: G20
|
||||
side: right
|
||||
tag_layout: g20_right_19
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
schema_version: 3
|
||||
profile_id: L6/right/l6_right_8/v1
|
||||
profile_config: package://linkerhand_calibration/config/profiles/l6_right_8.yaml
|
||||
profile_config_sha256: 71cfe506126ffc485de878ee620f2b453b4afaccde66bcf585231edb6daf6dd2
|
||||
profile_config_sha256: 733094679e5477bbe97a633f4fb1ce25242804b667cd435ef9132f491e6ef247
|
||||
model: L6
|
||||
side: right
|
||||
tag_layout: l6_right_8
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
schema_version: 3
|
||||
profile_id: O12/right/o12_right_16/v1
|
||||
profile_config: package://linkerhand_calibration/config/profiles/o12_right_16.yaml
|
||||
profile_config_sha256: a1faa89632a9e3ce38f5083abf080c194f19bd906f6ec40ae377f3399cc3c00a
|
||||
profile_config_sha256: d0c1e2ac62f96162612f0ec45c25c6f467d045c1c1030b5be34ccc115dca4cf9
|
||||
model: O12
|
||||
side: right
|
||||
tag_layout: o12_right_16
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
schema_version: 3
|
||||
profile_id: O6/right/o6_right_8/v1
|
||||
profile_config: package://linkerhand_calibration/config/profiles/o6_right_8.yaml
|
||||
profile_config_sha256: 4872b6eee080eb8bb3596a53f4b731d0dc317881f64589ea2e55676ad2a0a2cf
|
||||
profile_config_sha256: df6c4abb3c9d48b186c1bd6ab304ea9c0bbab54f9381ff222d5d8d3a3f65babe
|
||||
model: O6
|
||||
side: right
|
||||
tag_layout: o6_right_8
|
||||
|
||||
@@ -1034,6 +1034,7 @@ motion:
|
||||
approach_commands:
|
||||
- [255, 255, 0, 0, 0, 255, 127, 127, 127, 127, 255, 255, 255, 255, 255, 255, 0, 0, 0, 0]
|
||||
measurement:
|
||||
transferred_motion_sources: {}
|
||||
measurements:
|
||||
thumb_cmc_pitch:
|
||||
joint: thumb_cmc_pitch
|
||||
@@ -1258,6 +1259,17 @@ measurement:
|
||||
stable_cross_view_cone_bias: true
|
||||
input_domain: feedback_u8
|
||||
zero:
|
||||
cad_zero_assumptions:
|
||||
index_dip: User accepts original CAD joint zero as the physical baseline; not independently
|
||||
measured.
|
||||
middle_dip: User accepts original CAD joint zero as the physical baseline; not independently
|
||||
measured.
|
||||
pinky_dip: User accepts original CAD joint zero as the physical baseline; not independently
|
||||
measured.
|
||||
ring_dip: User accepts original CAD joint zero as the physical baseline; not independently
|
||||
measured.
|
||||
thumb_ip: User accepts original CAD joint zero as the physical baseline; not independently
|
||||
measured.
|
||||
active_joints:
|
||||
- index_mcp_pitch
|
||||
- index_mcp_roll
|
||||
|
||||
@@ -182,6 +182,13 @@ motion:
|
||||
approach_commands:
|
||||
- [255, 255, 255, 255, 255, 0]
|
||||
measurement:
|
||||
transferred_motion_sources:
|
||||
rh_index_mcp_pitch: rh_pinky_mcp_pitch
|
||||
rh_index_dip: rh_pinky_dip
|
||||
rh_middle_mcp_pitch: rh_pinky_mcp_pitch
|
||||
rh_middle_dip: rh_pinky_dip
|
||||
rh_ring_mcp_pitch: rh_pinky_mcp_pitch
|
||||
rh_ring_dip: rh_pinky_dip
|
||||
measurements:
|
||||
rh_thumb_cmc_roll:
|
||||
joint: rh_thumb_cmc_roll
|
||||
@@ -229,6 +236,17 @@ measurement:
|
||||
cross_view_roll_curve: false
|
||||
stable_cross_view_cone_bias: false
|
||||
zero:
|
||||
cad_zero_assumptions:
|
||||
rh_index_dip: User accepts original CAD joint zero as the physical baseline; not
|
||||
independently measured.
|
||||
rh_middle_dip: User accepts original CAD joint zero as the physical baseline; not
|
||||
independently measured.
|
||||
rh_pinky_dip: User accepts original CAD joint zero as the physical baseline; not
|
||||
independently measured.
|
||||
rh_ring_dip: User accepts original CAD joint zero as the physical baseline; not
|
||||
independently measured.
|
||||
rh_thumb_dip: User accepts original CAD joint zero as the physical baseline; not
|
||||
independently measured.
|
||||
active_joints:
|
||||
- rh_index_mcp_pitch
|
||||
- rh_middle_mcp_pitch
|
||||
|
||||
@@ -645,6 +645,10 @@ motion:
|
||||
approach_commands:
|
||||
- [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.530653753999027, 0.0, 1.3578661580515883, 1.8151424220741028, 1.53588974175501, 1.53588974175501]
|
||||
measurement:
|
||||
transferred_motion_sources:
|
||||
ring_mcp_pitch: pinky_mcp_pitch
|
||||
ring_pip: pinky_pip
|
||||
ring_dip: pinky_dip
|
||||
candidate_selection_tasks:
|
||||
- thumb_mcp_dip_front
|
||||
directional_zero: true
|
||||
@@ -739,6 +743,17 @@ measurement:
|
||||
child_role: index_dip
|
||||
pose_axis_line_required: false
|
||||
zero:
|
||||
cad_zero_assumptions:
|
||||
index_dip: User accepts original CAD joint zero as the physical baseline; not independently
|
||||
measured.
|
||||
middle_dip: User accepts original CAD joint zero as the physical baseline; not independently
|
||||
measured.
|
||||
pinky_dip: User accepts original CAD joint zero as the physical baseline; not independently
|
||||
measured.
|
||||
ring_dip: User accepts original CAD joint zero as the physical baseline; not independently
|
||||
measured.
|
||||
thumb_dip: User accepts original CAD joint zero as the physical baseline; not independently
|
||||
measured.
|
||||
active_joints:
|
||||
- thumb_cmc_roll
|
||||
- thumb_cmc_yaw
|
||||
|
||||
@@ -178,6 +178,13 @@ motion:
|
||||
approach_commands:
|
||||
- [255, 255, 255, 255, 255, 0]
|
||||
measurement:
|
||||
transferred_motion_sources:
|
||||
rh_index_mcp_pitch: rh_pinky_mcp_pitch
|
||||
rh_index_dip: rh_pinky_dip
|
||||
rh_middle_mcp_pitch: rh_pinky_mcp_pitch
|
||||
rh_middle_dip: rh_pinky_dip
|
||||
rh_ring_mcp_pitch: rh_pinky_mcp_pitch
|
||||
rh_ring_dip: rh_pinky_dip
|
||||
measurements:
|
||||
rh_thumb_cmc_yaw:
|
||||
joint: rh_thumb_cmc_yaw
|
||||
@@ -225,6 +232,17 @@ measurement:
|
||||
cross_view_roll_curve: false
|
||||
stable_cross_view_cone_bias: false
|
||||
zero:
|
||||
cad_zero_assumptions:
|
||||
rh_index_dip: User accepts original CAD joint zero as the physical baseline; not
|
||||
independently measured.
|
||||
rh_middle_dip: User accepts original CAD joint zero as the physical baseline; not
|
||||
independently measured.
|
||||
rh_pinky_dip: User accepts original CAD joint zero as the physical baseline; not
|
||||
independently measured.
|
||||
rh_ring_dip: User accepts original CAD joint zero as the physical baseline; not
|
||||
independently measured.
|
||||
rh_thumb_ip: User accepts original CAD joint zero as the physical baseline; not
|
||||
independently measured.
|
||||
active_joints:
|
||||
- rh_index_mcp_pitch
|
||||
- rh_middle_mcp_pitch
|
||||
|
||||
+3
@@ -48,6 +48,8 @@ def build_typed_profile():
|
||||
measurement=replace(
|
||||
right.measurement,
|
||||
measurements=measurements,
|
||||
# Legacy mirroring does not inherit v3 acquisition authorizations.
|
||||
transferred_motion_sources={},
|
||||
cross_view_sources={
|
||||
left_joint_name(name): left_joint_name(source)
|
||||
for name, source in right.measurement.cross_view_sources.items()
|
||||
@@ -66,6 +68,7 @@ def build_typed_profile():
|
||||
# Runtime-only mirrored products do not acquire/solve new geometry.
|
||||
spatial={},
|
||||
known_baseline_geometry={},
|
||||
cad_zero_assumptions={},
|
||||
active_joints=active,
|
||||
passive_joints=passive,
|
||||
direct_zero_joints=tuple(
|
||||
|
||||
+3
@@ -47,6 +47,8 @@ def build_typed_profile():
|
||||
motion=replace(right.motion, tasks=tasks, joint_zero_references={}),
|
||||
measurement=replace(
|
||||
right.measurement,
|
||||
# Legacy mirroring does not inherit v3 acquisition authorizations.
|
||||
transferred_motion_sources={},
|
||||
measurements=measurements,
|
||||
cross_view_sources={
|
||||
left_joint_name(name): left_joint_name(source)
|
||||
@@ -66,6 +68,7 @@ def build_typed_profile():
|
||||
# Runtime-only mirrored products do not acquire/solve new geometry.
|
||||
spatial={},
|
||||
known_baseline_geometry={},
|
||||
cad_zero_assumptions={},
|
||||
active_joints=active,
|
||||
passive_joints=passive,
|
||||
direct_zero_joints=tuple(
|
||||
|
||||
@@ -274,6 +274,9 @@ class MeasurementPolicy:
|
||||
stable_cross_view_cone_bias: bool = False
|
||||
candidate_selection_tasks: frozenset[str] = frozenset()
|
||||
input_domain: str = ""
|
||||
# Explicit motion reuse, independent of legacy zero/mimic transfer policy.
|
||||
# Recipients keep their own SDK channel and cannot become measured donors.
|
||||
transferred_motion_sources: Mapping[str, str] = field(default_factory=dict)
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
@@ -300,6 +303,8 @@ class ZeroSolvePolicy:
|
||||
# Geometry policy only; no Python callback/import strings are permitted.
|
||||
spatial: Mapping[str, object] = field(default_factory=dict)
|
||||
known_baseline_geometry: Mapping[str, KnownBaselineGeometry] = field(default_factory=dict)
|
||||
# User-accepted CAD q=0 at physical baseline, not a measured geometry prior.
|
||||
cad_zero_assumptions: Mapping[str, str] = field(default_factory=dict)
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
@@ -393,6 +398,63 @@ class ProfileValidationError(ValueError):
|
||||
"""Raised before hardware startup when a profile is internally unsafe."""
|
||||
|
||||
|
||||
def _transfer_channel(profile: CalibrationProfile, joint: str) -> int | None:
|
||||
"""Resolve a declared channel without inventing a recipient binding."""
|
||||
seen = set()
|
||||
while joint not in profile.command.command_index_by_joint:
|
||||
if joint in seen or joint not in profile.zero.mimic_source_by_joint:
|
||||
return None
|
||||
seen.add(joint)
|
||||
joint = profile.zero.mimic_source_by_joint[joint]
|
||||
return profile.command.command_index_by_joint[joint]
|
||||
|
||||
|
||||
def _validate_observation_strategy(profile: CalibrationProfile, errors: list[str]) -> None:
|
||||
zero, command = profile.zero, profile.command
|
||||
transfers = profile.measurement.transferred_motion_sources
|
||||
observed = {joint for task in profile.motion.tasks if not task.validation_only
|
||||
for joint in task.joints if joint in profile.measurement.measurements
|
||||
and profile.measurement.measurements[joint].view is not None
|
||||
and profile.measurement.measurements[joint].kind != "axis_cross_view_validation"}
|
||||
all_joints = zero.active_joints | zero.passive_joints
|
||||
for target, source in transfers.items():
|
||||
if target not in all_joints or source not in all_joints or source not in observed or target == source:
|
||||
errors.append(f"motion transfer requires a known recipient and directly observed donor:{target}")
|
||||
continue
|
||||
if target in observed or source in transfers:
|
||||
errors.append(f"motion transfer cannot replace observations or chain donors:{target}")
|
||||
if (target in zero.active_joints) != (source in zero.active_joints):
|
||||
errors.append(f"motion transfer must preserve active/passive joint type:{target}")
|
||||
if target in zero.passive_joints:
|
||||
parent = zero.mimic_source_by_joint.get(target)
|
||||
donor_parent = zero.mimic_source_by_joint.get(source)
|
||||
if parent is None or donor_parent is None or transfers.get(parent, parent) != donor_parent:
|
||||
errors.append(f"motion transfer must preserve mimic parent correspondence:{target}")
|
||||
target_channel, source_channel = _transfer_channel(profile, target), _transfer_channel(profile, source)
|
||||
channels = (target_channel, source_channel)
|
||||
values = (command.baseline_values, command.minimum_values,
|
||||
command.maximum_values, command.joint_directions,
|
||||
command.minimum_feedback_values, command.maximum_feedback_values)
|
||||
if any(index is None or index < 0 or index in command.disabled_indices
|
||||
or any(index >= len(row) for row in values) for index in channels):
|
||||
errors.append(f"motion transfer requires valid enabled SDK bindings:{target}")
|
||||
elif any(row[target_channel] != row[source_channel] for row in values):
|
||||
errors.append(f"motion transfer requires equal SDK ranges, baseline and sign:{target}")
|
||||
if target in zero.direct_zero_joints:
|
||||
errors.append(f"motion recipient cannot claim a directly observed zero:{target}")
|
||||
if target in zero.transferred_zero_sources and zero.transferred_zero_sources[target] != source:
|
||||
errors.append(f"motion and zero transfer donors differ:{target}")
|
||||
for joint, reason in zero.cad_zero_assumptions.items():
|
||||
if joint not in all_joints or not isinstance(reason, str) or not reason.strip():
|
||||
errors.append(f"CAD zero assumption requires a known joint and explicit reason:{joint}")
|
||||
if joint in zero.direct_zero_joints or joint in zero.known_baseline_geometry \
|
||||
or joint in zero.transferred_zero_sources:
|
||||
errors.append(f"CAD zero assumption conflicts with another zero source:{joint}")
|
||||
for joint in zero.transferred_zero_sources:
|
||||
if joint in zero.known_baseline_geometry or joint in zero.direct_zero_joints:
|
||||
errors.append(f"transferred zero conflicts with another zero source:{joint}")
|
||||
|
||||
|
||||
def validate_profile(profile: CalibrationProfile) -> None:
|
||||
"""Hard-check all cross-policy references before hardware is enabled."""
|
||||
errors: list[str] = []
|
||||
@@ -597,6 +659,7 @@ def validate_profile(profile: CalibrationProfile) -> None:
|
||||
if zero.active_joints & zero.passive_joints:
|
||||
errors.append("active and passive joints must be disjoint")
|
||||
all_joints = zero.active_joints | zero.passive_joints
|
||||
_validate_observation_strategy(profile, errors)
|
||||
if not zero.active_joints.issubset(command.command_index_by_joint):
|
||||
errors.append("every active joint must bind to a command channel")
|
||||
if not set(zero.direct_zero_joints).issubset(zero.active_joints):
|
||||
|
||||
@@ -13,6 +13,7 @@ class MimicApproximation:
|
||||
training_sample_ids: tuple[str, ...]
|
||||
holdout_sample_ids: tuple[str, ...]
|
||||
holdout_errors_rad: tuple[float, ...]
|
||||
transferred_from_joint: str | None = None
|
||||
|
||||
def in_cad_coordinates(self, offsets):
|
||||
from dataclasses import replace
|
||||
|
||||
@@ -0,0 +1,109 @@
|
||||
"""Apply explicit donor policies without creating recipient observations.
|
||||
|
||||
Motion curves, absolute zeros and URDF approximations have separate provenance.
|
||||
Only the numerical mappings are expanded; training and holdout evidence remain
|
||||
attached to the joints that were actually observed.
|
||||
"""
|
||||
|
||||
from dataclasses import replace
|
||||
|
||||
from ..domain.profile import CalibrationProfile, validate_profile
|
||||
from ..domain.result import CalibrationResult, JointMapping
|
||||
from .motion_fit import channel_for_joint
|
||||
|
||||
|
||||
def transferred_mapping(profile: CalibrationProfile, mapping: JointMapping,
|
||||
target: str) -> JointMapping:
|
||||
return replace(mapping, joint=target, motor_index=channel_for_joint(profile, target),
|
||||
transferred_from=mapping.joint)
|
||||
|
||||
|
||||
def expand_profile_transfers(profile: CalibrationProfile, fit: CalibrationResult) -> CalibrationResult:
|
||||
"""Copy frozen fits once, after all measured command holdouts have passed."""
|
||||
transfers = profile.measurement.transferred_motion_sources
|
||||
if not transfers:
|
||||
return fit
|
||||
validate_profile(profile)
|
||||
outputs, commands = dict(fit.output_mappings), dict(fit.command_mappings)
|
||||
offsets, methods = dict(fit.zero_offsets_rad), dict(fit.zero_method_by_joint)
|
||||
approximations = dict(fit.mimic_approximations)
|
||||
for target, source in transfers.items():
|
||||
if target in outputs or target in commands or target in fit.curves or target in fit.joint_zero_references:
|
||||
raise ValueError(f"motion_transfer_cannot_replace_existing_result:{target}")
|
||||
if source not in fit.curves or source not in outputs or source not in commands:
|
||||
raise ValueError(f"motion_transfer_requires_fitted_donor:{target}:{source}")
|
||||
for mappings in (outputs, commands):
|
||||
donor = mappings[source]
|
||||
if donor.joint != source or donor.transferred_from is not None \
|
||||
or donor.motor_index != channel_for_joint(profile, source):
|
||||
raise ValueError(f"motion_transfer_requires_direct_donor_binding:{source}")
|
||||
mappings[target] = transferred_mapping(profile, donor, target)
|
||||
# Dynamic similarity does not authorize copying an absolute CAD zero.
|
||||
if profile.zero.transferred_zero_sources.get(target) == source and source in offsets:
|
||||
offsets[target] = offsets[source]
|
||||
methods[target] = "transferred_static_zero_on_own_cad"
|
||||
if target in profile.zero.passive_joints:
|
||||
if source not in fit.mimic_approximations:
|
||||
raise ValueError(f"motion_transfer_requires_paired_donor_mimic:{target}:{source}")
|
||||
donor = fit.mimic_approximations[source]
|
||||
approximations[target] = replace(donor,
|
||||
output_fit=replace(donor.output_fit, target_joint=target,
|
||||
source_joint=profile.zero.mimic_source_by_joint[target]),
|
||||
transferred_from_joint=source)
|
||||
return replace(fit, output_mappings=outputs, command_mappings=commands,
|
||||
zero_offsets_rad=offsets, zero_method_by_joint=methods, mimic_approximations=approximations)
|
||||
|
||||
|
||||
def validate_mapping_provenance(profile: CalibrationProfile, fit: CalibrationResult) -> None:
|
||||
"""Require every published table to be measured or an exact authorized copy."""
|
||||
validate_profile(profile)
|
||||
transfers = profile.measurement.transferred_motion_sources
|
||||
observed = set(fit.curves)
|
||||
if observed & transfers.keys():
|
||||
raise ValueError("independent_release_contains_transferred_or_unknown_joints")
|
||||
expected = observed | transfers.keys()
|
||||
for mappings in (fit.output_mappings, fit.command_mappings):
|
||||
if set(mappings) != expected:
|
||||
raise ValueError("independent_release_contains_transferred_or_unknown_joints")
|
||||
for name, mapping in mappings.items():
|
||||
if mapping.joint != name or mapping.motor_index != channel_for_joint(profile, name):
|
||||
raise ValueError(f"mapping_sdk_binding_differs:{name}")
|
||||
source = transfers.get(name)
|
||||
if source is None:
|
||||
if mapping.transferred_from is not None:
|
||||
raise ValueError("independent_release_contains_transferred_or_unknown_joints")
|
||||
elif source not in observed or mappings[source].transferred_from is not None \
|
||||
or mapping != transferred_mapping(profile, mappings[source], name):
|
||||
raise ValueError(f"mapping_differs_from_declared_donor:{name}")
|
||||
for name, approximation in fit.mimic_approximations.items():
|
||||
source = transfers.get(name)
|
||||
if source is None:
|
||||
if approximation.transferred_from_joint is not None:
|
||||
raise ValueError(f"undeclared_mimic_transfer:{name}")
|
||||
elif source not in fit.mimic_approximations:
|
||||
raise ValueError(f"missing_donor_mimic_approximation:{name}")
|
||||
else:
|
||||
donor = fit.mimic_approximations[source]
|
||||
expected_approximation = replace(donor, output_fit=replace(donor.output_fit,
|
||||
target_joint=name, source_joint=profile.zero.mimic_source_by_joint[name]),
|
||||
transferred_from_joint=source)
|
||||
if approximation != expected_approximation:
|
||||
raise ValueError(f"mimic_differs_from_declared_donor:{name}")
|
||||
|
||||
|
||||
def validate_zero_provenance(profile: CalibrationProfile, fit: CalibrationResult) -> None:
|
||||
"""Keep accepted premises and explicit zero copies true in the final plan."""
|
||||
offsets, methods = fit.zero_offsets_rad, fit.zero_method_by_joint
|
||||
for name in profile.zero.cad_zero_assumptions:
|
||||
if offsets.get(name) != 0.0 or methods.get(name) != "assumed_source_cad_zero":
|
||||
raise ValueError(f"assumed_cad_zero_differs_from_profile:{name}")
|
||||
for name, geometry in profile.zero.known_baseline_geometry.items():
|
||||
if offsets.get(name) != geometry.cad_angle_rad \
|
||||
or methods.get(name) != "independent_known_baseline_geometry":
|
||||
raise ValueError(f"known_baseline_geometry_differs_from_profile:{name}")
|
||||
for target, source in profile.zero.transferred_zero_sources.items():
|
||||
if profile.measurement.transferred_motion_sources.get(target) != source:
|
||||
continue
|
||||
if source not in offsets or offsets.get(target) != offsets[source] \
|
||||
or methods.get(target) != "transferred_static_zero_on_own_cad":
|
||||
raise ValueError(f"transferred_zero_differs_from_declared_donor:{target}")
|
||||
@@ -7,7 +7,7 @@ import math
|
||||
from pathlib import Path
|
||||
from typing import Mapping
|
||||
|
||||
from ..domain.profile import CalibrationProfile
|
||||
from ..domain.profile import CalibrationProfile, validate_profile
|
||||
from ..domain.result import CalibrationResult, JointMapping
|
||||
from ..urdf.kinematics import UrdfKinematicModel
|
||||
from .motion_fit import channel_for_joint, fit_profile_motion, joint_input_direction
|
||||
@@ -72,6 +72,8 @@ def fit_profile_calibration(profile: CalibrationProfile, source_urdf: Path, reco
|
||||
No mechanical endpoint or range-centre fallback can replace a requested
|
||||
but unobservable spatial zero. The fourth cycle never updates the fit.
|
||||
"""
|
||||
if profile.artifacts.output_schema_version >= 3:
|
||||
validate_profile(profile)
|
||||
if profile.zero.endpoint_anchor_by_joint:
|
||||
raise ValueError("unverified mechanical endpoints cannot define CAD zeros")
|
||||
required_pose_fields = {"parent_pose_common", "child_pose_common",
|
||||
@@ -88,9 +90,12 @@ def fit_profile_calibration(profile: CalibrationProfile, source_urdf: Path, reco
|
||||
motion_fitted(motion)
|
||||
curves = motion.coordinate_curves
|
||||
measured = profile.artifacts.output_schema_version >= 3
|
||||
baseline_geometry = {name: value.cad_angle_rad for name, value in profile.zero.known_baseline_geometry.items()}
|
||||
if measured:
|
||||
baseline_geometry.update({name: 0.0 for name in profile.zero.cad_zero_assumptions})
|
||||
spatial_curves = {name: replace(curve, circle={**curve.circle,
|
||||
"known_cad_baseline_rad": profile.zero.known_baseline_geometry[name].cad_angle_rad})
|
||||
if measured and name in profile.zero.known_baseline_geometry and name not in zero_profile.direct_zero_joints
|
||||
"known_cad_baseline_rad": baseline_geometry[name]})
|
||||
if measured and name in baseline_geometry and name not in zero_profile.direct_zero_joints
|
||||
else curve for name, curve in curves.items()}
|
||||
observations = []
|
||||
for cycle in range(4):
|
||||
@@ -134,6 +139,8 @@ def fit_profile_calibration(profile: CalibrationProfile, source_urdf: Path, reco
|
||||
from .mimic_approximation import fit_mimic_approximations
|
||||
for name, datum in profile.zero.known_baseline_geometry.items():
|
||||
offsets[name], methods[name] = datum.cad_angle_rad, "independent_known_baseline_geometry"
|
||||
for name in profile.zero.cad_zero_assumptions:
|
||||
offsets[name], methods[name] = 0.0, "assumed_source_cad_zero"
|
||||
mappings = {name: JointMapping(name, channel_for_joint(profile, name), profile.curve_input_domain,
|
||||
tuple(curve.circle["input_knots"]), curve.angle_rad, curve.increasing_rad, curve.decreasing_rad)
|
||||
for name, curve in curves.items()}
|
||||
|
||||
@@ -6,10 +6,26 @@ from .acceptance import SerializedJointMapping, angular_metrics
|
||||
from ..fitting.spatial import measure_joint_curve_observation
|
||||
|
||||
|
||||
def validate_measured_joint_holdout(payload, curves, observations):
|
||||
def validate_transferred_joint_tables(payload, measured_joints, transferred_motion_sources):
|
||||
"""Check declared copies without inventing measurements for recipients."""
|
||||
mapping = SerializedJointMapping(payload, input_kind="command")
|
||||
if not mapping.measured or not mapping.compact or set(mapping.joints) != set(curves):
|
||||
observed, transfers = set(measured_joints), dict(transferred_motion_sources)
|
||||
if (not mapping.measured or not mapping.compact or not observed
|
||||
or set(mapping.joints) != observed | transfers.keys() or observed & transfers.keys()
|
||||
or any(source not in observed for source in transfers.values())):
|
||||
raise ValueError("v3 final mapping differs from independently measured joints")
|
||||
baseline = payload["baseline_command"]
|
||||
for target, source in transfers.items():
|
||||
recipient, donor = mapping.joints[target], mapping.joints[source]
|
||||
if (recipient["angle_rad"] != donor["angle_rad"]
|
||||
or recipient["curve_input_knots_rad"] != donor["curve_input_knots_rad"]
|
||||
or baseline[recipient["motor_index"]] != baseline[donor["motor_index"]]):
|
||||
raise ValueError(f"transferred_final_table_differs_from_source:{target}")
|
||||
|
||||
|
||||
def validate_measured_joint_holdout(payload, curves, observations, *, transferred_motion_sources=None):
|
||||
validate_transferred_joint_tables(payload, curves, transferred_motion_sources or {})
|
||||
mapping = SerializedJointMapping(payload, input_kind="command")
|
||||
errors = {name: {d: [] for d in ("increasing", "decreasing")} for name in curves}
|
||||
seen = set()
|
||||
unit = payload["input_unit"]
|
||||
|
||||
@@ -65,8 +65,11 @@ def prepare_measured_result(profile, model, source_sha256, fit):
|
||||
geometry = moving - fit.zero_offsets_rad.keys()
|
||||
if missing or geometry:
|
||||
raise ValueError(f"independent_release_incomplete:unmeasured={sorted(missing)}:absolute_geometry={sorted(geometry)}")
|
||||
if set(fit.output_mappings) != moving or any(m.transferred_from for m in fit.output_mappings.values()):
|
||||
if set(fit.output_mappings) != moving:
|
||||
raise ValueError("independent_release_contains_transferred_or_unknown_joints")
|
||||
from ..fitting.motion_transfer import validate_mapping_provenance, validate_zero_provenance
|
||||
validate_mapping_provenance(profile, fit)
|
||||
validate_zero_provenance(profile, fit)
|
||||
passive = {name for name, joint in model.joints.items() if joint.mimic_joint}
|
||||
if set(fit.mimic_approximations) != passive:
|
||||
raise ValueError("independent_release_missing_paired_mimic_observations")
|
||||
|
||||
@@ -270,6 +270,7 @@ def load_hand_profile(path: str | Path) -> CalibrationProfile:
|
||||
bool(measurement.get("stable_cross_view_cone_bias", False)),
|
||||
_set(measurement.get("candidate_selection_tasks", ())),
|
||||
str(measurement.get("input_domain", "")),
|
||||
dict(measurement.get("transferred_motion_sources", {})),
|
||||
),
|
||||
zero=ZeroSolvePolicy(
|
||||
_set(zero.get("active_joints")),
|
||||
@@ -289,6 +290,7 @@ def load_hand_profile(path: str | Path) -> CalibrationProfile:
|
||||
{str(name): KnownBaselineGeometry(float(row["cad_angle_rad"]),
|
||||
float(row["uncertainty_rad"]), str(row["evidence_source"]))
|
||||
for name, row in zero.get("known_baseline_geometry", {}).items()},
|
||||
dict(zero.get("cad_zero_assumptions", {})),
|
||||
),
|
||||
quality=QualityPolicy(
|
||||
tuple(int(value) for value in quality.get("training_cycles", ())),
|
||||
|
||||
@@ -19,7 +19,7 @@ def validate_executable_profile(profile, source_urdf):
|
||||
if joint == observer:
|
||||
raise ValueError(f"absolute_zero_unobservable:{joint}:a free Tag on its own hinge is not a CAD datum")
|
||||
measured = {joint for task in profile.motion.tasks for joint in task.joints}
|
||||
if not measured <= model.joints.keys() or not profile.zero.active_joints <= model.joints.keys():
|
||||
if not measured <= model.joints.keys() or not (profile.zero.active_joints | profile.zero.passive_joints) <= model.joints.keys():
|
||||
raise ValueError("Profile joint keys must name URDF joints; SDK names belong in command.names")
|
||||
for name, spec in profile.measurement.measurements.items():
|
||||
if spec.kind not in {"relative_rotation", "urdf_axis_chain", "curve", "axis_cross_view_validation"}:
|
||||
@@ -36,6 +36,7 @@ def validate_executable_profile(profile, source_urdf):
|
||||
for target, source in profile.zero.mimic_source_by_joint.items():
|
||||
if target not in model.joints or model.joints[target].mimic_joint != source:
|
||||
raise ValueError(f"Profile mimic topology differs from CAD:{target}")
|
||||
_validate_transfer_geometry(profile, model)
|
||||
if not set(profile.urdf_authorized_fields) <= model.joints.keys():
|
||||
raise ValueError("URDF authorization references a missing joint")
|
||||
conflicts = []
|
||||
@@ -51,20 +52,44 @@ def validate_executable_profile(profile, source_urdf):
|
||||
conflicts.append({"joint": name, "source_joint": joint.mimic_joint,
|
||||
"reachable_rad": [lo, hi], "cad_limits_rad": [joint.lower, joint.upper],
|
||||
"measured_mimic_authorized": name in profile.zero.fitted_mimic_joints})
|
||||
coverage = {"unmeasured_joints": sorted({n for n, j in model.joints.items() if j.kind != "fixed"}-measured),
|
||||
transfers = profile.measurement.transferred_motion_sources
|
||||
moving = {name for name, joint in model.joints.items() if joint.kind != "fixed"}
|
||||
zero_transfers = {target for target, source in profile.zero.transferred_zero_sources.items()
|
||||
if transfers.get(target) == source}
|
||||
coverage = {"unmeasured_joints": sorted(moving-measured),
|
||||
"unresolved_motion_joints": sorted(moving-measured-set(transfers)),
|
||||
"transferred_motion_sources": dict(transfers),
|
||||
"missing_baseline_geometry": sorted((profile.zero.active_joints | profile.zero.passive_joints)
|
||||
-set(profile.zero.direct_zero_joints)-set(profile.zero.known_baseline_geometry)),
|
||||
"transferred_joints": sorted(set(profile.zero.transferred_zero_sources)|set(profile.zero.transferred_mimic_sources))}
|
||||
-set(profile.zero.direct_zero_joints)-set(profile.zero.known_baseline_geometry)
|
||||
-set(profile.zero.cad_zero_assumptions)-zero_transfers),
|
||||
"transferred_joints": sorted(set(transfers)|set(profile.zero.transferred_zero_sources)
|
||||
|set(profile.zero.transferred_mimic_sources))}
|
||||
return {"profile_id": profile.key.profile_id, "tag_links": links,
|
||||
"independent_measurement_coverage": coverage,
|
||||
"zero_observers": dict(spatial.offset_observer_joint),
|
||||
"cad_retained": sorted(profile.zero.cad_frozen_joints),
|
||||
"cad_zero_assumptions": dict(profile.zero.cad_zero_assumptions),
|
||||
"transferred": dict(profile.zero.transferred_zero_sources),
|
||||
"cad_constraint_conflicts": conflicts,
|
||||
"observability": "structural_checks_only; numerical_rank_and_holdout_required",
|
||||
"arbitrary_multiaxis_validated": False}
|
||||
|
||||
|
||||
def _validate_transfer_geometry(profile, model):
|
||||
"""Check the declared strategy against CAD signs and actual joint types."""
|
||||
from ..core.fitting.motion_fit import joint_input_direction
|
||||
|
||||
for target, source in profile.measurement.transferred_motion_sources.items():
|
||||
recipient, donor = model.joints[target], model.joints[source]
|
||||
if recipient.kind == "fixed" or recipient.kind != donor.kind:
|
||||
raise ValueError(f"motion transfer requires matching movable CAD joint types:{target}")
|
||||
for name, joint in ((target, recipient), (source, donor)):
|
||||
if (joint.mimic_joint is not None) != (name in profile.zero.passive_joints):
|
||||
raise ValueError(f"motion transfer active/passive type differs from CAD:{name}")
|
||||
if joint_input_direction(profile, model, target) != joint_input_direction(profile, model, source):
|
||||
raise ValueError(f"motion transfer requires equal CAD output signs:{target}")
|
||||
|
||||
|
||||
def _validate_separable_observations(profile, model, links):
|
||||
from ..core.fitting.motion_fit import channel_for_joint
|
||||
def chain(link):
|
||||
|
||||
@@ -9,6 +9,7 @@ from typing import Callable
|
||||
from ...core.artifacts.storage import atomic_write_json
|
||||
from ...core.fitting.session import fit_profile_calibration
|
||||
from ...core.fitting.command_mapping import fit_command_mappings
|
||||
from ...core.fitting.motion_fit import channel_for_joint
|
||||
from ...core.geometry.candidate_selection import resolve_chain_observations
|
||||
from ...core.geometry.extrinsics import transform_matrix
|
||||
from ...core.urdf.kinematics import UrdfKinematicModel
|
||||
@@ -80,6 +81,9 @@ def finalize_profile_session(*, profile, session_dir, serial_number, source_urdf
|
||||
steady = accepted_joint_records(profile, records, sample_phase="steady",
|
||||
directions_are_task_relative=directions_are_task_relative)
|
||||
fit = fit_command_mappings(profile, fit, steady)
|
||||
if profile.artifacts.output_schema_version >= 3:
|
||||
from ...core.fitting.motion_transfer import expand_profile_transfers
|
||||
fit = expand_profile_transfers(profile, fit)
|
||||
except ValueError as error:
|
||||
atomic_write_json(directory / "fit_diagnostics.json", {
|
||||
"passed": False, "reason": str(error), "publication_allowed": False})
|
||||
@@ -114,7 +118,11 @@ def finalize_profile_session(*, profile, session_dir, serial_number, source_urdf
|
||||
command_observations=command_holdout,
|
||||
joint_observations=tuple(r for rows in steady.values() for r in rows if r["cycle"] == 3),
|
||||
joint_curves=fit.curves,
|
||||
joint_channels={name: mapping.motor_index for name, mapping in fit.output_mappings.items()})
|
||||
joint_channels={name: channel_for_joint(profile, name) for name in fit.output_mappings},
|
||||
transferred_motion_sources=profile.measurement.transferred_motion_sources,
|
||||
cad_zero_assumptions=profile.zero.cad_zero_assumptions,
|
||||
transferred_zero_sources=profile.zero.transferred_zero_sources,
|
||||
joint_zero_methods=fit.zero_method_by_joint)
|
||||
report_writer, command_writer = serialize_report, from_report
|
||||
if profile.artifacts.output_schema_version >= 3:
|
||||
from .serializers.measured_v3 import serialize_report as report_writer, from_report as command_writer
|
||||
|
||||
@@ -105,6 +105,10 @@ class FrozenTagArtifactValidator:
|
||||
joint_observations: tuple[Mapping, ...] = ()
|
||||
joint_curves: Mapping = field(default_factory=dict)
|
||||
joint_channels: Mapping[str, int] = field(default_factory=dict)
|
||||
transferred_motion_sources: Mapping[str, str] = field(default_factory=dict)
|
||||
cad_zero_assumptions: Mapping[str, str] = field(default_factory=dict)
|
||||
transferred_zero_sources: Mapping[str, str] = field(default_factory=dict)
|
||||
joint_zero_methods: Mapping[str, str] = field(default_factory=dict)
|
||||
|
||||
def __call__(self, json_path: Path, urdf_path: Path) -> Mapping[str, Any]:
|
||||
payload = json.loads(json_path.read_text(encoding="utf-8"))
|
||||
@@ -121,6 +125,7 @@ class FrozenTagArtifactValidator:
|
||||
raise ValueError("v3 report protected inputs differ from the session")
|
||||
if {name: row["sdk_channel"] for name, row in payload["joints"].items()} != dict(self.joint_channels):
|
||||
raise ValueError("v3 SDK channel bindings differ from measured Profile bindings")
|
||||
self._validate_report_provenance(feedback_payload)
|
||||
validate_artifact_structure(source_urdf=self.source_urdf,
|
||||
corrected_urdf=urdf_path, source_sha256=self.source_sha256,
|
||||
authorized_fields=self.authorized_fields, payload=feedback_payload,
|
||||
@@ -153,15 +158,25 @@ class FrozenTagArtifactValidator:
|
||||
if measured:
|
||||
from ...core.urdf.measured_acceptance import validate_measured_joint_holdout
|
||||
extra = {"independent_mapping_holdout": validate_measured_joint_holdout(payload,
|
||||
self.joint_curves, self.joint_observations),
|
||||
self.joint_curves, self.joint_observations,
|
||||
transferred_motion_sources=self.transferred_motion_sources),
|
||||
"full_json_urdf_holdout": command_metrics,
|
||||
"independently_measured_joints": sorted(self.joint_curves),
|
||||
"transferred_joints": sorted(self.transferred_motion_sources),
|
||||
"transferred_motion_sources": dict(self.transferred_motion_sources),
|
||||
"cad_zero_assumptions": dict(self.cad_zero_assumptions),
|
||||
"precision_scope": "observed_joints_travel_directions_and_held_poses",
|
||||
"urdf_mimic_approximation": validate_serialized_tag_holdout(corrected_urdf=urdf_path,
|
||||
payload=payload, common_from_base=self.common_from_base, installations=self.installations,
|
||||
observations=self.command_observations, required_roles=self.required_roles, minimum_samples=3,
|
||||
input_kind="command", mimic_approximation=True, enforce_precision=False)}
|
||||
evidence["joint_observations"] = self.joint_observations
|
||||
evidence["frozen_joint_curves"] = {key: asdict(value) for key, value in self.joint_curves.items()}
|
||||
return {"acceptance": "independently_measured_json_urdf_v3" if measured else "serialized_standard_urdf_tag_replay_v1",
|
||||
evidence["transferred_motion_sources"] = dict(self.transferred_motion_sources)
|
||||
evidence["cad_zero_assumptions"] = dict(self.cad_zero_assumptions)
|
||||
acceptance_kind = ("measured_and_transferred_json_urdf_v3" if self.transferred_motion_sources
|
||||
else "independently_measured_json_urdf_v3") if measured else "serialized_standard_urdf_tag_replay_v1"
|
||||
return {"acceptance": acceptance_kind,
|
||||
**extra,
|
||||
"profile_id": self.profile_id, "source_urdf_sha256": self.source_sha256,
|
||||
"protected_inputs": dict(self.protected_inputs),
|
||||
@@ -172,6 +187,28 @@ class FrozenTagArtifactValidator:
|
||||
sort_keys=True, separators=(",", ":"), allow_nan=False).encode()).hexdigest(),
|
||||
"structured_changes": list(changes)}
|
||||
|
||||
def _validate_report_provenance(self, report):
|
||||
"""The report cannot grant itself new transfer or CAD authorizations."""
|
||||
if report.get("transferred_motion_sources", {}) != dict(self.transferred_motion_sources):
|
||||
raise ValueError("v3 transfer sources differ from the measured Profile")
|
||||
rows = report["joints"]
|
||||
observed = {name for name, row in rows.items() if row.get("independently_measured") is True}
|
||||
if (observed != set(self.joint_curves)
|
||||
or set(rows) != observed | self.transferred_motion_sources.keys()):
|
||||
raise ValueError("v3 reported measurement coverage differs from frozen observations")
|
||||
assumptions = {name: row["cad_zero_assumption"] for name, row in rows.items() if "cad_zero_assumption" in row}
|
||||
if assumptions != dict(self.cad_zero_assumptions):
|
||||
raise ValueError("v3 CAD zero assumptions differ from the Profile")
|
||||
zero_sources = {name: row["zero_transferred_from_joint"] for name, row in rows.items()
|
||||
if "zero_transferred_from_joint" in row}
|
||||
if zero_sources != dict(self.transferred_zero_sources):
|
||||
raise ValueError("v3 static zero transfer sources differ from the Profile")
|
||||
if self.joint_zero_methods and {name: row["zero_method"] for name, row in rows.items()} != dict(self.joint_zero_methods):
|
||||
raise ValueError("v3 zero provenance differs from the frozen fit")
|
||||
for name in assumptions:
|
||||
if rows[name]["zero_method"] != "assumed_source_cad_zero" or rows[name]["zero_offset_rad"] != 0:
|
||||
raise ValueError(f"v3 assumed CAD zero is mislabeled:{name}")
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class ArtifactRelease:
|
||||
|
||||
@@ -22,6 +22,9 @@ class UnifiedCommandMapper:
|
||||
if compact and (report is None or (measured_from_report if self.measured else from_report)(report) != payload):
|
||||
raise ValueError("compact JSON requires its matching calibration report")
|
||||
metadata = report if compact else payload
|
||||
self.transferred_motion_sources = dict(metadata.get("transferred_motion_sources", {})) if self.measured else {}
|
||||
self.independently_measured_joints = tuple(sorted(name for name, row in metadata["joints"].items()
|
||||
if row.get("independently_measured") is True)) if self.measured else ()
|
||||
self.mapping = SerializedJointMapping(metadata if compact and input_kind == "feedback" else payload, input_kind=input_kind)
|
||||
self.urdf = UrdfKinematicModel(corrected_urdf)
|
||||
self.active = tuple(name for name, j in self.urdf.joints.items() if j.kind != "fixed" and j.mimic_joint is None)
|
||||
@@ -88,9 +91,23 @@ def load_unified_mapper(calibration_file, *, expected_side=None, input_kind="com
|
||||
if validation.get("final_file_spatial_replay") != "passed" or not validation.get("steady_command_tag_holdout"):
|
||||
raise ValueError("release lacks independent command and feedback URDF evidence")
|
||||
payload = json.loads(json_path.read_text())
|
||||
if payload.get("format") == MEASURED_FORMAT and (validation.get("acceptance") != "independently_measured_json_urdf_v3"
|
||||
or not validation.get("independent_mapping_holdout") or not validation.get("full_json_urdf_holdout")):
|
||||
raise ValueError("v3 release lacks independent measured acceptance")
|
||||
report = json.loads(artifact("calibration_report").read_text()) if payload.get("format") in {COMPACT_FORMAT, MEASURED_FORMAT} else None
|
||||
if payload.get("format") == MEASURED_FORMAT:
|
||||
transfers = report.get("transferred_motion_sources", {})
|
||||
expected_kind = "measured_and_transferred_json_urdf_v3" if transfers else "independently_measured_json_urdf_v3"
|
||||
observed = {name for name, row in report["joints"].items() if row.get("independently_measured") is True}
|
||||
if (validation.get("acceptance") != expected_kind or not observed
|
||||
or set(validation.get("independent_mapping_holdout", {})) != observed
|
||||
or not validation.get("full_json_urdf_holdout")
|
||||
or validation.get("transferred_motion_sources", {}) != transfers):
|
||||
raise ValueError("v3 release lacks independent measured acceptance")
|
||||
if transfers or "independently_measured_joints" in validation:
|
||||
if (validation.get("independently_measured_joints") != sorted(observed)
|
||||
or validation.get("transferred_joints") != sorted(transfers)):
|
||||
raise ValueError("v3 release measurement coverage differs from its report")
|
||||
assumptions = {name: row["cad_zero_assumption"] for name, row in report["joints"].items()
|
||||
if "cad_zero_assumption" in row}
|
||||
if validation.get("cad_zero_assumptions", {}) != assumptions:
|
||||
raise ValueError("v3 release CAD assumptions differ from its report")
|
||||
return UnifiedCommandMapper(payload, urdf_path,
|
||||
input_kind=input_kind, expected_side=expected_side, report=report)
|
||||
|
||||
+93
-16
@@ -1,4 +1,4 @@
|
||||
"""Independent measured command tables. Serialization never fits or rebases."""
|
||||
"""Measured command tables and explicit copies; no fitting or rebasing here."""
|
||||
|
||||
from dataclasses import asdict
|
||||
import numpy as np
|
||||
@@ -12,27 +12,47 @@ ZERO_CONVENTION = "q_CAD=q_output+delta; joint_baseline:q_output=0"
|
||||
|
||||
def serialize_report(profile, fit, prepared, *, serial_number, protected_inputs):
|
||||
expected = set(prepared.mappings)
|
||||
transfers = dict(profile.measurement.transferred_motion_sources)
|
||||
observed = expected - transfers.keys()
|
||||
if not expected or any(set(values) != expected for values in
|
||||
(fit.command_mappings, fit.output_mappings, fit.zero_offsets_rad, fit.joint_zero_references)):
|
||||
(fit.command_mappings, fit.output_mappings, fit.zero_offsets_rad)):
|
||||
raise ValueError("independent_measurement_or_geometry_incomplete")
|
||||
if set(fit.joint_zero_references) != observed or set(fit.curves) != observed:
|
||||
raise ValueError("independent_measurement_or_reference_coverage_differs")
|
||||
rows = {}
|
||||
for name in sorted(expected):
|
||||
if fit.command_mappings[name].transferred_from or fit.output_mappings[name].transferred_from:
|
||||
raise ValueError(f"transferred_mapping_is_not_independent:{name}")
|
||||
row = {"urdf_joint": name, "independently_measured": True,
|
||||
donor = transfers.get(name)
|
||||
if any(mapping.transferred_from != donor for mapping in
|
||||
(fit.command_mappings[name], fit.output_mappings[name])):
|
||||
raise ValueError(f"mapping_transfer_differs_from_profile:{name}")
|
||||
row = {"urdf_joint": name, "independently_measured": donor is None,
|
||||
"zero_offset_rad": fit.zero_offsets_rad[name], "zero_method": fit.zero_method_by_joint[name],
|
||||
"zero_reference": fit.joint_zero_references[name].as_record(),
|
||||
"command_to_rad": _mapping(fit.command_mappings[name]),
|
||||
"feedback_to_rad": _mapping(fit.output_mappings[name]),
|
||||
"applicability": fit.command_applicability[name],
|
||||
"command_holdout": fit.command_holdout_metrics[name],
|
||||
"passive": name in prepared.plan.mimic_output}
|
||||
if donor is None:
|
||||
row.update(zero_reference=fit.joint_zero_references[name].as_record(),
|
||||
applicability=fit.command_applicability[name],
|
||||
command_holdout=fit.command_holdout_metrics[name])
|
||||
else:
|
||||
row.update(transferred_from_joint=donor, zero_reference_source_joint=donor,
|
||||
command_holdout_source_joint=donor,
|
||||
baseline_command=profile.command.baseline_values[fit.command_mappings[name].motor_index],
|
||||
applicability={"scope": "transferred_from_declared_joint", "source_joint": donor,
|
||||
"recipient_independently_validated": False, "arbitrary_multiaxis_validated": False})
|
||||
if row["passive"]:
|
||||
approximation = fit.mimic_approximations[name]
|
||||
if approximation.transferred_from_joint != donor:
|
||||
raise ValueError(f"mimic_transfer_differs_from_profile:{name}")
|
||||
parent, multiplier, offset = prepared.plan.mimic_output[name]
|
||||
row["mimic_approximation"] = {"joint": parent, "multiplier": multiplier, "offset_rad": offset,
|
||||
"evidence": asdict(fit.mimic_approximations[name])}
|
||||
"evidence": asdict(approximation)}
|
||||
if name in profile.zero.known_baseline_geometry:
|
||||
row["known_baseline_geometry"] = asdict(profile.zero.known_baseline_geometry[name])
|
||||
if name in profile.zero.cad_zero_assumptions:
|
||||
row["cad_zero_assumption"] = profile.zero.cad_zero_assumptions[name]
|
||||
if name in profile.zero.transferred_zero_sources:
|
||||
row["zero_transferred_from_joint"] = profile.zero.transferred_zero_sources[name]
|
||||
rows[name] = row
|
||||
return {"format": REPORT_FORMAT, "schema_version": 3,
|
||||
"profile_id": profile.key.profile_id, "model": profile.key.model, "side": profile.key.side,
|
||||
@@ -41,8 +61,10 @@ def serialize_report(profile, fit, prepared, *, serial_number, protected_inputs)
|
||||
"feedback_by_index": profile.command.feedback_by_index,
|
||||
"feedback_name_aliases": dict(profile.command.feedback_name_aliases),
|
||||
"coordinate_convention": ZERO_CONVENTION, "protected_inputs": dict(protected_inputs),
|
||||
"joints": rows, "quality": {"training_cycles": [0, 1, 2], "holdout_cycle": 3,
|
||||
"joints": rows, **({"transferred_motion_sources": transfers} if transfers else {}),
|
||||
"quality": {"training_cycles": [0, 1, 2], "holdout_cycle": 3,
|
||||
"precision_scope": "observed_travel_directions_and_held_poses",
|
||||
"independently_measured_joints": sorted(observed), "transferred_joints": sorted(transfers),
|
||||
"final_file_acceptance": "release_manifest.json", "arbitrary_multiaxis_validated": False}}
|
||||
|
||||
|
||||
@@ -51,16 +73,71 @@ def from_report(report):
|
||||
if report.get("format") != REPORT_FORMAT or report.get("coordinate_convention") != ZERO_CONVENTION:
|
||||
raise ValueError("v3 requires its original measured report; legacy promotion is forbidden")
|
||||
mapping = SerializedJointMapping(report, input_kind="command")
|
||||
feedback = SerializedJointMapping(report, input_kind="feedback")
|
||||
unit, baseline, rows = report["command_unit"], report["baseline_command"], {}
|
||||
if len(baseline) != len(report["command_names"]) or not np.all(np.isfinite(baseline)):
|
||||
raise ValueError("joint_baseline_vector_differs_from_sdk_layout")
|
||||
transfers = report.get("transferred_motion_sources", {})
|
||||
if (not isinstance(transfers, dict) or not set(transfers) <= mapping.joints.keys()
|
||||
or any(not isinstance(source, str) or source not in mapping.joints or source in transfers
|
||||
for source in transfers.values())):
|
||||
raise ValueError("invalid_direct_motion_transfer_contract")
|
||||
quality = report.get("quality", {})
|
||||
if transfers or "independently_measured_joints" in quality:
|
||||
if (quality.get("independently_measured_joints") != sorted(mapping.joints.keys() - transfers.keys())
|
||||
or quality.get("transferred_joints") != sorted(transfers)):
|
||||
raise ValueError("reported_motion_coverage_differs_from_provenance")
|
||||
for name, data in mapping.joints.items():
|
||||
evidence = report["joints"][name]
|
||||
if evidence.get("independently_measured") is not True or evidence.get("transferred_from_joint"):
|
||||
raise ValueError(f"joint_is_not_independently_measured:{name}")
|
||||
reference = evidence.get("zero_reference", {})
|
||||
if "cad_zero_assumption" in evidence and (
|
||||
not isinstance(evidence["cad_zero_assumption"], str) or not evidence["cad_zero_assumption"].strip()
|
||||
or evidence.get("zero_method") != "assumed_source_cad_zero" or evidence.get("zero_offset_rad") != 0
|
||||
or "known_baseline_geometry" in evidence or "zero_transferred_from_joint" in evidence):
|
||||
raise ValueError(f"assumed_cad_zero_provenance_differs:{name}")
|
||||
if "zero_transferred_from_joint" in evidence:
|
||||
zero_donor = report["joints"].get(evidence["zero_transferred_from_joint"], {})
|
||||
if (not zero_donor or "zero_transferred_from_joint" in zero_donor
|
||||
or evidence.get("zero_method") != "transferred_static_zero_on_own_cad"
|
||||
or evidence.get("zero_offset_rad") != zero_donor.get("zero_offset_rad")):
|
||||
raise ValueError(f"transferred_zero_provenance_differs:{name}")
|
||||
index = data["motor_index"]
|
||||
if (reference.get("joint") != name or reference.get("channel") != index
|
||||
or reference.get("baseline_command") != baseline[index] or not reference.get("samples")):
|
||||
raise ValueError(f"joint_zero_evidence_differs:{name}")
|
||||
if index >= len(baseline) or feedback.joints[name]["motor_index"] != index:
|
||||
raise ValueError(f"joint_input_channel_differs:{name}")
|
||||
donor = transfers.get(name)
|
||||
if donor is None:
|
||||
if evidence.get("independently_measured") is not True or evidence.get("transferred_from_joint"):
|
||||
raise ValueError(f"joint_is_not_independently_measured:{name}")
|
||||
reference = evidence.get("zero_reference", {})
|
||||
if (reference.get("joint") != name or reference.get("channel") != index
|
||||
or reference.get("baseline_command") != baseline[index] or not reference.get("samples")):
|
||||
raise ValueError(f"joint_zero_evidence_differs:{name}")
|
||||
else:
|
||||
source = report["joints"][donor]
|
||||
if (evidence.get("independently_measured") is not False
|
||||
or evidence.get("transferred_from_joint") != donor
|
||||
or evidence.get("zero_reference_source_joint") != donor
|
||||
or evidence.get("command_holdout_source_joint") != donor
|
||||
or "zero_reference" in evidence or "command_holdout" in evidence
|
||||
or evidence.get("baseline_command") != baseline[index]
|
||||
or source.get("independently_measured") is not True
|
||||
or baseline[index] != baseline[mapping.joints[donor]["motor_index"]]):
|
||||
raise ValueError(f"transferred_joint_evidence_differs:{name}")
|
||||
for kind in ("command_to_rad", "feedback_to_rad"):
|
||||
# Copies preserve all knots, branches and coordinate metadata.
|
||||
# Only the recipient's real SDK channel is allowed to differ.
|
||||
left = {key: value for key, value in evidence[kind].items() if key != "channel_index"}
|
||||
right = {key: value for key, value in source[kind].items() if key != "channel_index"}
|
||||
if left != right:
|
||||
raise ValueError(f"transferred_curve_differs_from_source:{name}:{kind}")
|
||||
if evidence.get("passive"):
|
||||
approximation = evidence.get("mimic_approximation", {})
|
||||
source_approximation = source.get("mimic_approximation", {}).get("evidence", {})
|
||||
expected_approximation = {**source_approximation,
|
||||
"output_fit": {**source_approximation.get("output_fit", {}),
|
||||
"target_joint": name, "source_joint": approximation.get("joint")},
|
||||
"transferred_from_joint": donor}
|
||||
if not source_approximation or approximation.get("evidence") != expected_approximation:
|
||||
raise ValueError(f"transferred_mimic_evidence_differs_from_source:{name}")
|
||||
knots = np.asarray(data["curve_input_knots_rad"])
|
||||
angles = np.asarray(data["angle_rad"])
|
||||
if not knots[0] <= baseline[index] <= knots[-1] or abs(np.interp(baseline[index], knots, angles)) > 1e-10:
|
||||
|
||||
@@ -0,0 +1,48 @@
|
||||
"""Describe the evidence available before motion without claiming optical validation."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from dataclasses import asdict, dataclass
|
||||
from typing import TYPE_CHECKING, Literal, Mapping
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from .snapshot import CameraReadiness
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class CameraCheck:
|
||||
status: Literal["passed", "failed", "unverified"]
|
||||
reason: str
|
||||
suggestion: str = ""
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class CameraPreflight:
|
||||
configuration: Mapping[str, CameraCheck]
|
||||
intrinsics: CameraCheck
|
||||
extrinsics: CameraCheck
|
||||
|
||||
@classmethod
|
||||
def from_readiness(cls, cameras: Mapping[str, CameraReadiness]) -> CameraPreflight:
|
||||
configuration = {}
|
||||
for view, camera in cameras.items():
|
||||
if camera.error:
|
||||
check = CameraCheck("failed", camera.error,
|
||||
"检查相机绑定、分辨率和内参文件；参数不匹配时不能开始，不能只更新哈希绕过检查。")
|
||||
elif camera.camera_info_ready:
|
||||
check = CameraCheck("passed", "实时 CameraInfo 参数与受保护外参记录一致")
|
||||
else:
|
||||
check = CameraCheck("unverified", "未收到有效、新鲜的 CameraInfo",
|
||||
"检查相机出图和 CameraInfo 发布；收到匹配参数后重新检查。")
|
||||
configuration[view] = check
|
||||
# Hand/Tag placement is allowed to change before Start. Neither old
|
||||
# palm pixels nor the CameraInfo hash establishes physical validity.
|
||||
# No live geometric verification is implemented in this path yet.
|
||||
return cls(configuration,
|
||||
CameraCheck("unverified", "仅核对加载参数，未实测验证当前焦距、畸变等光学内参",
|
||||
"镜头或成像设置变化后需重新核验内参；现有手上 Tag 的单次姿态不足以证明内参有效。"),
|
||||
CameraCheck("unverified", "缺少已验证的跨机位共同观测，无法确认当前相机相对外参",
|
||||
"相机相对位置变化后需重新核验外参；重新锁定手掌 Tag 不能替代外参检查。"))
|
||||
|
||||
def as_dict(self) -> dict:
|
||||
return asdict(self)
|
||||
@@ -8,6 +8,7 @@ and pose estimation never hold the state lock while doing expensive work.
|
||||
from __future__ import annotations
|
||||
|
||||
from collections import deque
|
||||
from dataclasses import asdict
|
||||
import hashlib
|
||||
import json
|
||||
import threading
|
||||
@@ -24,6 +25,7 @@ from .reference_lock import ReferenceLock
|
||||
from .acquisition import load_capture
|
||||
from .artifacts.controller import FinalizationController, FinalizationInputs, FinalizationProtocolError
|
||||
from .cameras import CameraObservations
|
||||
from .camera_preflight import CameraPreflight
|
||||
from .capture import CaptureFrame, ObservationCapture
|
||||
from .execution import SessionExecution
|
||||
from .inputs import AdapterFactory, CameraModelInput, DetectionInput, RuntimePorts, ServiceResult
|
||||
@@ -64,6 +66,7 @@ class CalibrationCoordinator:
|
||||
self.step_speed_ready_at = 0.0
|
||||
self.reason = "waiting_for_feedback_and_camera_info"
|
||||
self._started_at: float | None = None
|
||||
self._camera_preflight: CameraPreflight | None = None
|
||||
self._observation_epoch = 0
|
||||
self._pause_effects_applied = False
|
||||
self.segment = None
|
||||
@@ -116,6 +119,7 @@ class CalibrationCoordinator:
|
||||
if self.execution.session.phase != Phase.READY or not self.parameters.commands_enabled:
|
||||
return ServiceResult(False, self.reason)
|
||||
devices = self._device_status(self.ports.monotonic())
|
||||
self._record_camera_preflight(devices, at_start=devices.ready)
|
||||
if not devices.ready:
|
||||
self.execution.session.devices_unavailable()
|
||||
self.reason = "; ".join(devices.waiting_for)
|
||||
@@ -237,6 +241,7 @@ class CalibrationCoordinator:
|
||||
fresh = self.sdk_adapter.health()
|
||||
if not self.started:
|
||||
devices = self._device_status(now)
|
||||
self._record_camera_preflight(devices)
|
||||
if devices.ready:
|
||||
if session.phase == Phase.WAIT_DEVICE:
|
||||
session.device_ready()
|
||||
@@ -418,6 +423,26 @@ class CalibrationCoordinator:
|
||||
self._unit_rows = []
|
||||
self._capture_unit_key = key
|
||||
|
||||
def _record_camera_preflight(self, devices: DeviceReadiness, *, at_start: bool = False) -> None:
|
||||
"""Journal changed checks and freeze the last check before any motion."""
|
||||
report = CameraPreflight.from_readiness(devices.cameras)
|
||||
if not at_start and report == self._camera_preflight:
|
||||
return
|
||||
record = {
|
||||
"kind": "camera_preflight", "schema_version": 1,
|
||||
"stage": "at_start" if at_start else "before_start",
|
||||
"stamp_ns": self.ports.clock_ns(),
|
||||
"protected_inputs": dict(self.parameters.protected_inputs),
|
||||
# These are the expected configuration identities, not live
|
||||
# measurements of serial numbers or physical camera geometry.
|
||||
"expected_cameras": {view: asdict(identity)
|
||||
for view, identity in self.parameters.extrinsics.cameras.items()},
|
||||
**report.as_dict(),
|
||||
}
|
||||
atomic_write_json(self.parameters.session_dir / "camera_preflight.json", record)
|
||||
append_jsonl(self.raw_path, record)
|
||||
self._camera_preflight = report
|
||||
|
||||
def _device_status(self, now):
|
||||
"""Readiness is live, and independent of whether a Tag is visible.
|
||||
|
||||
|
||||
@@ -125,8 +125,8 @@ def run_online(
|
||||
contract_report = validate_executable_profile(profile, config.source_urdf)
|
||||
atomic_write_json(session/"measurement_contract.json", contract_report)
|
||||
coverage = contract_report["independent_measurement_coverage"]
|
||||
if profile.artifacts.output_schema_version >= 3 and (coverage["unmeasured_joints"] or coverage["missing_baseline_geometry"]):
|
||||
print("当前 Profile 的全关节实测/绝对几何依据不完整，本次可采集诊断数据，但不能发布完整 v3 JSON/URDF；"
|
||||
if profile.artifacts.output_schema_version >= 3 and (coverage["unresolved_motion_joints"] or coverage["missing_baseline_geometry"]):
|
||||
print("当前 Profile 仍有未实测且未声明迁移的关节，或缺少绝对零位来源；本次可采集诊断数据，但不能发布完整 v3 JSON/URDF；"
|
||||
"缺失关节见 measurement_contract.json。", flush=True)
|
||||
if contract_report["cad_constraint_conflicts"]:
|
||||
print("原始 CAD 存在限位/mimic 冲突，未修改原文件；详见 measurement_contract.json。最终范围验证不通过时禁止发布。", flush=True)
|
||||
|
||||
@@ -6,6 +6,7 @@ from dataclasses import asdict, dataclass, replace
|
||||
from typing import TYPE_CHECKING, Mapping
|
||||
|
||||
from ..core.domain.status import CalibrationStatus, MotionStatus
|
||||
from .camera_preflight import CameraPreflight
|
||||
from .scan_quality import evaluate_capture_unit
|
||||
from .session import CalibrationPhase as Phase
|
||||
|
||||
@@ -55,6 +56,7 @@ class RuntimeSnapshot:
|
||||
devices: DeviceReadiness | None
|
||||
steady: bool = False
|
||||
steady_node: int | None = None
|
||||
camera_preflight: CameraPreflight | None = None
|
||||
|
||||
def as_dict(self) -> dict:
|
||||
value = self.calibration.as_dict()
|
||||
@@ -63,6 +65,8 @@ class RuntimeSnapshot:
|
||||
session_dir=self.session_dir, latest_base_drift_px=dict(self.latest_base_drift_px))
|
||||
if self.devices is not None:
|
||||
value["devices"] = asdict(self.devices)
|
||||
if self.camera_preflight is not None:
|
||||
value["camera_preflight"] = self.camera_preflight.as_dict()
|
||||
if self.steady:
|
||||
value["acquisition"]["steady_node"] = self.steady_node
|
||||
return value
|
||||
@@ -134,7 +138,9 @@ def build_snapshot(host: CalibrationCoordinator) -> RuntimeSnapshot:
|
||||
outputs={"json": host.final_json, "urdf": host.final_urdf,
|
||||
"publication_pointer": str(parameters.session_dir.parent/profile.artifacts.publication_pointer)
|
||||
if session.phase == Phase.COMPLETE else ""})
|
||||
devices = None if host.started else host._device_status(host.ports.monotonic())
|
||||
preflight = host._camera_preflight if devices is None else CameraPreflight.from_readiness(devices.cameras)
|
||||
return RuntimeSnapshot(status, profile.key.model, profile.key.side, profile.key.profile_id,
|
||||
parameters.serial_number, host.reason, str(parameters.session_dir),
|
||||
dict(host.reference_lock.latest_drift_px),
|
||||
None if host.started else host._device_status(host.ports.monotonic()), steady, steady_node)
|
||||
devices, steady, steady_node, preflight)
|
||||
|
||||
@@ -137,6 +137,25 @@ def render_status_zh(value: Mapping[str, Any], estimator=None) -> str:
|
||||
waiting = value.get("devices", {}).get("waiting_for", ())
|
||||
if waiting:
|
||||
lines.append("等待项：" + "；".join(waiting))
|
||||
preflight = value.get("camera_preflight")
|
||||
if preflight:
|
||||
labels = {"passed": "通过", "failed": "失败", "unverified": "未验证"}
|
||||
configuration = preflight.get("configuration", {})
|
||||
lines.append("启动前相机配置：" + "；".join(
|
||||
f"{view}={labels.get(check['status'], check['status'])}"
|
||||
for view, check in configuration.items()))
|
||||
lines.append("启动前实测：" + "；".join(
|
||||
f"{label}={labels.get(preflight[key]['status'], preflight[key]['status'])}"
|
||||
for key, label in (("intrinsics", "光学内参"), ("extrinsics", "相对外参"))))
|
||||
if value.get("state") in {"READY", "WAIT_DEVICE", "WAIT_DEVICES"}:
|
||||
for view, check in configuration.items():
|
||||
if check["status"] != "passed":
|
||||
lines.append(f"{view}：{check['reason']}；{check['suggestion']}")
|
||||
for key in ("intrinsics", "extrinsics"):
|
||||
check = preflight[key]
|
||||
if check["status"] != "passed":
|
||||
lines.append(f"检查依据：{check['reason']}；{check['suggestion']}")
|
||||
lines.append("提示：设备就绪不代表内外参实测通过；缺少依据时无法判断是否需重新标定。")
|
||||
if motion.get("speed") is not None:
|
||||
lines.append(f"运动速度：{motion['speed']} {'rad/s' if unit == 'rad' else 'SDK速度档'}")
|
||||
if value.get("reference_locked"):
|
||||
|
||||
@@ -44,8 +44,8 @@ def reordered_profile(profile):
|
||||
measurements={name: replace(spec, view=cameras.get(spec.view)) for name, spec in profile.measurement.measurements.items()}))
|
||||
|
||||
|
||||
def measured_capture(tmp_path, *, nonlinear=True, reordered=False):
|
||||
profile, source, records, offsets = virtual_capture(tmp_path, "g20_right_19", include_baseline=True,
|
||||
def measured_capture(tmp_path, *, nonlinear=True, reordered=False, layout="g20_right_19"):
|
||||
profile, source, records, offsets = virtual_capture(tmp_path, layout, include_baseline=True,
|
||||
profile_transform=reordered_profile if reordered else None)
|
||||
model = UrdfKinematicModel(source)
|
||||
for name, joint in model.joints.items():
|
||||
@@ -64,8 +64,11 @@ def measured_capture(tmp_path, *, nonlinear=True, reordered=False):
|
||||
motion=replace(profile.motion, joint_zero_references=specs),
|
||||
urdf_authorized_fields={name: tuple(sorted(set(profile.urdf_authorized_fields.get(name, ()))
|
||||
| {"origin.rpy", "limit.lower", "limit.upper"})) for name, joint in model.joints.items() if joint.kind != "fixed"},
|
||||
zero=replace(profile.zero, known_baseline_geometry={name: KnownBaselineGeometry(value, 0, "synthetic_fixture_truth")
|
||||
for name, value in offsets.items() if name not in profile.zero.direct_zero_joints}))
|
||||
# Synthetic datums replace the production CAD-zero premise; preserve
|
||||
# the original nonzero truth and numerical regression expectations.
|
||||
zero=replace(profile.zero, cad_zero_assumptions={}, known_baseline_geometry={name: KnownBaselineGeometry(value, 0, "synthetic_fixture_truth")
|
||||
for name, value in offsets.items() if name not in profile.zero.direct_zero_joints
|
||||
and name not in profile.zero.transferred_zero_sources}))
|
||||
mount = rigid((.12, -.09, .2), (.009, -.025, .016))
|
||||
identities = {identity: (i+1)*1000 for i, identity in enumerate(dict.fromkeys(r["sample_id"] for r in records))}
|
||||
updated = []
|
||||
|
||||
@@ -0,0 +1,222 @@
|
||||
"""Pre-Start evidence must not confuse protected files with physical calibration."""
|
||||
|
||||
import json
|
||||
from dataclasses import FrozenInstanceError, asdict, replace
|
||||
|
||||
import numpy as np
|
||||
import pytest
|
||||
|
||||
from linkerhand_calibration.core.geometry.extrinsics import (
|
||||
CameraCalibrationIdentity,
|
||||
CameraExtrinsics,
|
||||
camera_info_fingerprint,
|
||||
)
|
||||
from linkerhand_calibration.runtime.camera_preflight import CameraPreflight
|
||||
from linkerhand_calibration.runtime.cameras import CameraObservations
|
||||
from linkerhand_calibration.runtime.inputs import CameraModelInput
|
||||
from linkerhand_calibration.runtime.snapshot import CameraReadiness
|
||||
from linkerhand_calibration.runtime.status import render_status_zh
|
||||
from runtime_host_fixture import coordinator_fixture, ready
|
||||
|
||||
|
||||
def preflight_rows(host):
|
||||
path = host.parameters.session_dir / "raw_samples.jsonl"
|
||||
return [row for line in path.read_text().splitlines()
|
||||
if (row := json.loads(line)).get("kind") == "camera_preflight"]
|
||||
|
||||
|
||||
def saved_preflight(host):
|
||||
return json.loads((host.parameters.session_dir / "camera_preflight.json").read_text())
|
||||
|
||||
|
||||
def assert_physical_calibration_unverified(report):
|
||||
for name in ("intrinsics", "extrinsics"):
|
||||
assert report[name]["status"] == "unverified"
|
||||
assert report[name]["reason"]
|
||||
assert report[name]["suggestion"]
|
||||
|
||||
|
||||
@pytest.mark.parametrize("detections_ready", [False, True])
|
||||
def test_valid_camera_info_only_proves_configuration(detections_ready):
|
||||
report = CameraPreflight.from_readiness({
|
||||
"arbitrary_camera_name": CameraReadiness(True, detections_ready, ""),
|
||||
})
|
||||
payload = report.as_dict()
|
||||
assert payload["configuration"]["arbitrary_camera_name"]["status"] == "passed"
|
||||
assert_physical_calibration_unverified(payload)
|
||||
with pytest.raises(FrozenInstanceError):
|
||||
report.intrinsics = None
|
||||
|
||||
|
||||
def test_configuration_failure_takes_precedence_over_old_ready_flags():
|
||||
payload = CameraPreflight.from_readiness({
|
||||
"front": CameraReadiness(True, True, "camera_info_does_not_match_extrinsics"),
|
||||
"side": CameraReadiness(False, True, ""),
|
||||
"top": CameraReadiness(True, False, ""),
|
||||
}).as_dict()
|
||||
assert payload["configuration"]["front"]["status"] == "failed"
|
||||
assert "camera_info_does_not_match_extrinsics" in payload["configuration"]["front"]["reason"]
|
||||
assert payload["configuration"]["front"]["suggestion"]
|
||||
assert payload["configuration"]["side"]["status"] == "unverified"
|
||||
assert payload["configuration"]["top"]["status"] == "passed"
|
||||
assert_physical_calibration_unverified(payload)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("model", ["o6", "l6", "o12", "g20"])
|
||||
def test_all_models_record_start_evidence_without_requiring_visible_finger_tags(tmp_path, model):
|
||||
host, clock = coordinator_fixture(tmp_path, model=model)
|
||||
try:
|
||||
# The detector stream is alive, but no hand Tag or historical pose is supplied.
|
||||
ready(host, clock)
|
||||
report = host.snapshot().as_dict()["camera_preflight"]
|
||||
assert all(item["status"] == "passed" for item in report["configuration"].values())
|
||||
assert_physical_calibration_unverified(report)
|
||||
before_start = saved_preflight(host)
|
||||
assert before_start["kind"] == "camera_preflight"
|
||||
assert before_start["stage"] == "before_start"
|
||||
assert before_start["stamp_ns"] == host.ports.clock_ns()
|
||||
assert before_start["protected_inputs"] == dict(host.parameters.protected_inputs)
|
||||
assert before_start["expected_cameras"] == {
|
||||
view: asdict(identity) for view, identity in host.parameters.extrinsics.cameras.items()
|
||||
}
|
||||
for key, value in report.items():
|
||||
assert before_start[key] == value
|
||||
assert not clock.positions
|
||||
|
||||
assert host.start().success
|
||||
at_start = saved_preflight(host)
|
||||
assert at_start["stage"] == "at_start"
|
||||
assert_physical_calibration_unverified(at_start)
|
||||
assert preflight_rows(host)[-1] == at_start
|
||||
|
||||
# Later freshness changes cannot rewrite the historical Start evidence.
|
||||
clock.now += 3.0
|
||||
assert host.snapshot().as_dict()["camera_preflight"] == report
|
||||
assert saved_preflight(host) == at_start
|
||||
finally:
|
||||
host.close()
|
||||
|
||||
|
||||
def test_unchanged_preflight_does_not_fill_the_sample_journal(tmp_path):
|
||||
host, clock = coordinator_fixture(tmp_path)
|
||||
try:
|
||||
ready(host, clock)
|
||||
original = preflight_rows(host)
|
||||
for _ in range(5):
|
||||
clock.now += 0.05
|
||||
host.tick()
|
||||
host.snapshot()
|
||||
assert preflight_rows(host) == original
|
||||
|
||||
view = host.profile.vision.view_names[0]
|
||||
host.cameras.errors[view] = "camera_info_does_not_match_extrinsics"
|
||||
host.tick()
|
||||
assert len(preflight_rows(host)) == len(original) + 1
|
||||
assert saved_preflight(host)["configuration"][view]["status"] == "failed"
|
||||
host.tick()
|
||||
assert len(preflight_rows(host)) == len(original) + 1
|
||||
finally:
|
||||
host.close()
|
||||
|
||||
|
||||
@pytest.mark.parametrize("fault", ["camera_info_stale", "camera_info_mismatch", "detector_stale"])
|
||||
def test_start_rechecks_live_devices_and_records_rejection_before_motion(tmp_path, fault):
|
||||
host, clock = coordinator_fixture(tmp_path)
|
||||
try:
|
||||
ready(host, clock)
|
||||
view = host.profile.vision.view_names[0]
|
||||
if fault == "camera_info_stale":
|
||||
host.cameras.info_received_at[view] = clock.now - 2.01
|
||||
expected = "unverified"
|
||||
elif fault == "camera_info_mismatch":
|
||||
host.cameras.errors[view] = "camera_info_does_not_match_extrinsics"
|
||||
expected = "failed"
|
||||
else:
|
||||
host.cameras.detections_received_at[view] = clock.now - 2.01
|
||||
expected = "passed"
|
||||
positions, settings = list(clock.positions), list(clock.settings)
|
||||
assert not host.start().success
|
||||
assert not host.started
|
||||
report = saved_preflight(host)
|
||||
assert report["stage"] == "before_start"
|
||||
assert report["configuration"][view]["status"] == expected
|
||||
assert_physical_calibration_unverified(report)
|
||||
assert preflight_rows(host)[-1] == report
|
||||
assert clock.positions == positions
|
||||
assert clock.settings == settings
|
||||
finally:
|
||||
host.close()
|
||||
|
||||
|
||||
@pytest.mark.parametrize("state", ["READY", "WAIT_DEVICE", "BASELINE"])
|
||||
def test_progress_distinguishes_configuration_from_unverified_physical_calibration(state):
|
||||
report = CameraPreflight.from_readiness({"side": CameraReadiness(True, True, "")}).as_dict()
|
||||
rendered = render_status_zh({"state": state, "phase": state, "camera_preflight": report})
|
||||
assert "启动前相机配置：side=通过" in rendered
|
||||
assert "启动前实测：光学内参=未验证；相对外参=未验证" in rendered
|
||||
if state in {"READY", "WAIT_DEVICE"}:
|
||||
assert "设备就绪不代表内外参实测通过" in rendered
|
||||
assert "缺少依据时无法判断是否需重新标定" in rendered
|
||||
assert report["intrinsics"]["suggestion"] in rendered
|
||||
assert report["extrinsics"]["suggestion"] in rendered
|
||||
else:
|
||||
assert "检查依据：" not in rendered
|
||||
|
||||
|
||||
@pytest.mark.parametrize("writer", ["atomic_write_json", "append_jsonl"])
|
||||
def test_failed_start_evidence_write_cannot_start_motion(tmp_path, monkeypatch, writer):
|
||||
host, clock = coordinator_fixture(tmp_path)
|
||||
try:
|
||||
ready(host, clock)
|
||||
positions, settings = list(clock.positions), list(clock.settings)
|
||||
|
||||
def failed_write(*args, **kwargs):
|
||||
raise OSError("synthetic_preflight_write_failure")
|
||||
|
||||
monkeypatch.setattr(f"linkerhand_calibration.runtime.coordinator.{writer}", failed_write)
|
||||
with pytest.raises(OSError, match="synthetic_preflight_write_failure"):
|
||||
host.start()
|
||||
assert not host.started
|
||||
assert clock.positions == positions
|
||||
assert clock.settings == settings
|
||||
finally:
|
||||
host.close()
|
||||
|
||||
|
||||
@pytest.mark.parametrize("changed_field", ["k", "d", "r", "p", "width"])
|
||||
def test_real_camera_model_fingerprint_check_is_reported_without_physical_pass(tmp_path, changed_field):
|
||||
message = CameraModelInput(
|
||||
width=640, height=480,
|
||||
k=(600., 0., 300., 0., 620., 220., 0., 0., 1.),
|
||||
d=(.1, .01, 0., 0., 0.),
|
||||
r=tuple(np.eye(3).flat),
|
||||
p=(500., 0., 320., 0., 0., 510., 240., 0., 0., 0., 1., 0.),
|
||||
)
|
||||
identity = CameraCalibrationIdentity("synthetic_camera", message.width, message.height,
|
||||
camera_info_fingerprint(width=message.width, height=message.height,
|
||||
camera_matrix=message.k, distortion=message.d, rectification=message.r, projection=message.p))
|
||||
extrinsics = CameraExtrinsics({"test_view": identity}, "test_view",
|
||||
{"test_view": np.eye(4)}, {})
|
||||
observations = CameraObservations(extrinsics, tmp_path / "raw.jsonl", lambda: 10.)
|
||||
pauses = []
|
||||
|
||||
def accept_and_report(model):
|
||||
observations.accept("test_view", model, started=False, pause=pauses.append, trackers={})
|
||||
return CameraPreflight.from_readiness({"test_view": CameraReadiness(
|
||||
"test_view" in observations.info_received_at, True,
|
||||
observations.errors.get("test_view", ""))}).as_dict()
|
||||
|
||||
valid = accept_and_report(message)
|
||||
assert valid["configuration"]["test_view"]["status"] == "passed"
|
||||
assert_physical_calibration_unverified(valid)
|
||||
old_value = getattr(message, changed_field)
|
||||
new_value = old_value + 1 if changed_field == "width" else (old_value[0] + .01, *old_value[1:])
|
||||
invalid = accept_and_report(replace(message, **{changed_field: new_value}))
|
||||
assert invalid["configuration"]["test_view"]["status"] == "failed"
|
||||
assert_physical_calibration_unverified(invalid)
|
||||
assert not pauses # Before Start this is a device gate, not a running-session pause.
|
||||
assert "test_view" not in observations.matrices
|
||||
|
||||
restored = accept_and_report(message)
|
||||
assert restored["configuration"]["test_view"]["status"] == "passed"
|
||||
assert_physical_calibration_unverified(restored)
|
||||
@@ -0,0 +1,67 @@
|
||||
"""O6 synthetic records traverse the actual mixed v3 production finalizer.
|
||||
|
||||
The elementary-FK fixture supplies synthetic geometry datums and its existing
|
||||
virtual limits. This is a software integration check, not O6 hardware evidence.
|
||||
"""
|
||||
|
||||
import hashlib
|
||||
import json
|
||||
|
||||
import pytest
|
||||
|
||||
from measured_capture_fixture import measured_capture
|
||||
from linkerhand_calibration.core.fitting.motion_fit import channel_for_joint
|
||||
from linkerhand_calibration.core.urdf.kinematics import UrdfKinematicModel
|
||||
from linkerhand_calibration.runtime.artifacts.finalization import finalize_profile_session
|
||||
from linkerhand_calibration.runtime.artifacts.reader import load_unified_mapper
|
||||
|
||||
|
||||
@pytest.mark.parametrize("reordered", [False, True], ids=["o6", "reordered_virtual_o6"])
|
||||
def test_o6_records_fit_expand_publish_and_read_back_without_recipient_observations(tmp_path, reordered):
|
||||
profile, source, records, offsets = measured_capture(tmp_path, layout="o6_right_8", reordered=reordered)
|
||||
source_bytes = source.read_bytes()
|
||||
transfers = dict(profile.measurement.transferred_motion_sources)
|
||||
assert len(transfers) == 6
|
||||
observed = {row["joint"] for row in records if row.get("kind") == "joint_sample"}
|
||||
assert len(observed) == 5 and not observed & transfers.keys()
|
||||
assert {row["joint"] for row in records if row.get("kind") == "joint_zero_reference"} == observed
|
||||
hashes = {name: "a"*64 for name in profile.artifacts.protected_input_fields}
|
||||
hashes["source_urdf_sha256"] = hashlib.sha256(source_bytes).hexdigest()
|
||||
phases = []
|
||||
payload, fit, artifact = finalize_profile_session(profile=profile, session_dir=tmp_path/"session",
|
||||
serial_number="SYNTHETIC_O6_ONLY", source_urdf=source, protected_inputs=hashes,
|
||||
records=records, standard_loader=lambda _: None, phase_changed=phases.append)
|
||||
assert source.read_bytes() == source_bytes
|
||||
assert phases == ["fit_complete", "holdout_complete", "artifacts_built", "urdf_validated"]
|
||||
moving = {name for name, joint in UrdfKinematicModel(source).joints.items() if joint.kind != "fixed"}
|
||||
assert len(moving) == 11 and set(payload["joints"]) == moving
|
||||
assert set(fit.curves) == set(fit.joint_zero_references) == set(fit.command_holdout_metrics) == observed
|
||||
assert set(fit.command_mappings) == set(fit.output_mappings) == moving
|
||||
report = json.loads((artifact.path.parent/"calibration_report.json").read_text())
|
||||
acceptance = json.loads(artifact.staged_release.validation_json)
|
||||
assert acceptance["acceptance"] == "measured_and_transferred_json_urdf_v3"
|
||||
assert set(acceptance["independent_mapping_holdout"]) == observed
|
||||
assert acceptance["transferred_motion_sources"] == transfers
|
||||
observed_roles = {profile.measurement.measurements[name].child_role for name in observed}
|
||||
assert set(acceptance["full_json_urdf_holdout"]) == observed_roles
|
||||
assert max(row["maximum_deg"] for row in acceptance["urdf_mimic_approximation"].values()) > 3
|
||||
for target, donor in transfers.items():
|
||||
assert payload["joints"][target]["angle_rad"] == payload["joints"][donor]["angle_rad"]
|
||||
assert payload["joints"][target]["sdk_channel"] == channel_for_joint(profile, target)
|
||||
assert fit.command_mappings[target].transferred_from == donor
|
||||
row = report["joints"][target]
|
||||
assert row["independently_measured"] is False and "zero_reference" not in row
|
||||
assert "command_holdout" not in row and row["command_holdout_source_joint"] == donor
|
||||
for name, angle in offsets.items():
|
||||
assert fit.zero_offsets_rad[name] == pytest.approx(angle, abs=.004)
|
||||
mapper = load_unified_mapper(artifact.path.parent/"release_manifest.json")
|
||||
assert mapper.transferred_motion_sources == transfers
|
||||
baseline = profile.command.baseline_values
|
||||
assert max(abs(value) for value in mapper.map_positions(baseline)) < 1e-10
|
||||
target = "rh_index_mcp_pitch"
|
||||
command = list(baseline)
|
||||
command[channel_for_joint(profile, target)] = 102
|
||||
angles = dict(zip(mapper.urdf_joint_names, mapper.map_positions(command)))
|
||||
assert angles["rh_pinky_mcp_pitch"] == pytest.approx(0, abs=1e-10)
|
||||
assert angles[target] == payload["joints"][target]["angle_rad"][102]
|
||||
assert angles["rh_index_dip"] == payload["joints"]["rh_index_dip"]["angle_rad"][102]
|
||||
@@ -0,0 +1,276 @@
|
||||
"""Declared finger transfers preserve frozen motion and recipient CAD geometry.
|
||||
|
||||
These synthetic frozen results exercise integration contracts, not hardware
|
||||
accuracy or the acquisition/optimization stages covered by capture tests.
|
||||
"""
|
||||
|
||||
from dataclasses import replace
|
||||
import hashlib
|
||||
from pathlib import Path
|
||||
import xml.etree.ElementTree as ET
|
||||
|
||||
import numpy as np
|
||||
import pytest
|
||||
|
||||
from measured_capture_fixture import reordered_profile
|
||||
from linkerhand_calibration.core.domain.measurement import JointCurveFit
|
||||
from linkerhand_calibration.core.domain.profile import KnownBaselineGeometry, ProfileValidationError
|
||||
from linkerhand_calibration.core.domain.reference import JointZeroReference
|
||||
from linkerhand_calibration.core.domain.result import CalibrationResult, JointMapping, evaluate_mappings
|
||||
from linkerhand_calibration.core.fitting.coupling import LinearMimicFit
|
||||
from linkerhand_calibration.core.fitting.mimic_approximation import MimicApproximation
|
||||
from linkerhand_calibration.core.fitting.motion_fit import channel_for_joint
|
||||
from linkerhand_calibration.core.fitting.motion_transfer import expand_profile_transfers
|
||||
from linkerhand_calibration.core.fitting.session import fit_profile_calibration
|
||||
from linkerhand_calibration.core.fitting.spatial import ZeroSolveResult
|
||||
from linkerhand_calibration.core.urdf.result_plan import prepare_standard_result
|
||||
from linkerhand_calibration.profiles.loader import load_bundled_hand_profile
|
||||
|
||||
|
||||
PACKAGE = Path(__file__).resolve().parents[1]
|
||||
O6_SOURCE = PACKAGE / "urdf/o6_right/linkerhand_o6_right.urdf"
|
||||
O12_SOURCE = PACKAGE / "urdf/o12_right/linkerhand_o12_t3_right-0703.urdf"
|
||||
|
||||
|
||||
def _digest(path):
|
||||
return hashlib.sha256(path.read_bytes()).hexdigest()
|
||||
|
||||
|
||||
def _frozen_fit(profile):
|
||||
observed = {name for name, spec in profile.measurement.measurements.items()
|
||||
if spec.kind != "validation_only" and name in profile.motion.joint_zero_references}
|
||||
outputs, commands, curves, references = {}, {}, {}, {}
|
||||
for name in sorted(observed):
|
||||
channel = channel_for_joint(profile, name)
|
||||
lo, hi = profile.command.minimum_values[channel], profile.command.maximum_values[channel]
|
||||
baseline = profile.command.baseline_values[channel]
|
||||
knots = np.arange(256.) if profile.command.unit == "u8" else np.unique([lo, (lo+hi)/2, baseline, hi])
|
||||
travel = (knots-baseline)/(hi-lo)*profile.command.joint_directions[channel]
|
||||
# The passive table is deliberately nonlinear and not equal to mimic.
|
||||
y = (.18*travel+.07*travel**2 if name in profile.zero.passive_joints
|
||||
else .35*travel+.05*travel**2)
|
||||
increasing, decreasing = tuple(y+.001*np.abs(travel)), tuple(y-.001*np.abs(travel))
|
||||
outputs[name] = JointMapping(name, channel, f"feedback_{profile.command.unit}",
|
||||
tuple(knots), tuple(y), increasing, decreasing)
|
||||
command_y = tuple(y+.002*travel**2)
|
||||
commands[name] = replace(outputs[name], input_domain=f"command_{profile.command.unit}",
|
||||
angle_rad=command_y)
|
||||
curves[name] = JointCurveFit(tuple(y), decreasing, increasing, {}, 0., .002, {})
|
||||
spec = profile.motion.joint_zero_references[name]
|
||||
# Samples are intentionally absent: these references test ownership,
|
||||
# and this helper is never used as a publishable capture fixture.
|
||||
references[name] = JointZeroReference(name, spec.task_key, baseline, channel, 1, 3, ())
|
||||
offsets = {name: .02 for name in profile.zero.direct_zero_joints}
|
||||
methods = {name: "urdf_serial_axis_geometry" for name in offsets}
|
||||
for name, geometry in profile.zero.known_baseline_geometry.items():
|
||||
offsets[name] = geometry.cad_angle_rad
|
||||
methods[name] = "independent_known_baseline_geometry"
|
||||
for name in profile.zero.cad_zero_assumptions:
|
||||
offsets[name] = 0.
|
||||
methods[name] = "assumed_source_cad_zero"
|
||||
spatial = ZeroSolveResult(direct_offsets_rad={}, all_active_offsets_rad={},
|
||||
base_translation_xyz_m=(0., 0., 0.), base_quaternion_xyzw=(0., 0., 0., 1.),
|
||||
validation_errors_rad=(), validation_error_by_joint_rad={}, validation_line_error_by_joint_m={},
|
||||
axis_line_rms_m=0., passed=True, cycle_offsets_rad={}, offset_uncertainty_rad={},
|
||||
offset_confidence_half_width_rad={}, training_cycles=(0, 1, 2), validation_cycle=3,
|
||||
validation_original_error_by_joint_rad={}, validation_improvement_by_joint_rad={},
|
||||
validation_improvement_confidence_lower_rad={}, observability_rank=0,
|
||||
observability_parameter_count=0, observability_condition_number=1., offset_covariance_rad2={},
|
||||
axis_cone_mismatch_by_joint_rad={}, axis_cone_bias_classification_by_joint={}, failure_reasons={})
|
||||
mimics = {name: MimicApproximation(
|
||||
LinearMimicFit(parent, name, .6, 0., False, (0, 1, 2), (.001, -.002)),
|
||||
(f"{name}:train",), (f"{name}:holdout",), (.003,))
|
||||
for name, parent in profile.zero.mimic_source_by_joint.items()
|
||||
if name in observed and parent in observed}
|
||||
return CalibrationResult(curves, outputs, offsets, methods, {},
|
||||
{name: (.003,) for name in observed}, spatial,
|
||||
reference_inputs={name: ref.baseline_command for name, ref in references.items()},
|
||||
command_mappings=commands,
|
||||
command_holdout_metrics={name: {"independently_measured": True} for name in observed},
|
||||
command_applicability={name: {"scope": "single_channel_at_declared_pose"} for name in observed},
|
||||
joint_zero_references=references, mimic_approximations=mimics)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("layout,count", [
|
||||
("o6_right_8", 6), ("l6_right_8", 6), ("o12_right_16", 3), ("g20_right_19", 0),
|
||||
])
|
||||
@pytest.mark.parametrize("reordered", [False, True], ids=["product", "virtual_reordered"])
|
||||
def test_three_observation_strategies_use_recipient_channels_without_refitting(layout, count, reordered):
|
||||
profile = load_bundled_hand_profile(layout)
|
||||
if reordered:
|
||||
profile = reordered_profile(profile)
|
||||
original = _frozen_fit(profile)
|
||||
expanded = expand_profile_transfers(profile, original)
|
||||
transfers = profile.measurement.transferred_motion_sources
|
||||
assert len(transfers) == count
|
||||
assert set(expanded.output_mappings) == set(profile.zero.active_joints) | set(profile.zero.passive_joints)
|
||||
for field in ("curves", "joint_zero_references", "holdout_errors_rad", "command_holdout_metrics"):
|
||||
assert getattr(expanded, field) == getattr(original, field)
|
||||
assert not set(transfers) & getattr(expanded, field).keys()
|
||||
for target, source in transfers.items():
|
||||
recipient_channel = channel_for_joint(profile, target)
|
||||
assert recipient_channel != channel_for_joint(profile, source)
|
||||
for field in ("output_mappings", "command_mappings"):
|
||||
donor = getattr(original, field)[source]
|
||||
mapping = getattr(expanded, field)[target]
|
||||
assert mapping == replace(donor, joint=target, motor_index=recipient_channel, transferred_from=source)
|
||||
assert mapping.evaluate(profile.command.baseline_values[recipient_channel]) == 0.
|
||||
positions = list(profile.command.baseline_values)
|
||||
positions[recipient_channel] = donor.knots[len(donor.knots)//2]
|
||||
actual = evaluate_mappings(getattr(expanded, field), positions, {})
|
||||
assert actual[target] == donor.evaluate(positions[recipient_channel])
|
||||
assert actual[source] == 0.
|
||||
assert target not in original.output_mappings
|
||||
if target in profile.zero.passive_joints:
|
||||
approximate = expanded.mimic_approximations[target]
|
||||
source_fit = original.mimic_approximations[source]
|
||||
assert approximate.transferred_from_joint == source
|
||||
assert approximate.training_sample_ids == source_fit.training_sample_ids
|
||||
assert approximate.holdout_sample_ids == source_fit.holdout_sample_ids
|
||||
assert approximate.holdout_errors_rad == source_fit.holdout_errors_rad
|
||||
assert approximate.output_fit.source_joint == profile.zero.mimic_source_by_joint[target]
|
||||
parent = expanded.command_mappings[approximate.output_fit.source_joint]
|
||||
child = expanded.command_mappings[target]
|
||||
assert np.max(np.abs(np.asarray(child.angle_rad)-.6*np.asarray(parent.angle_rad))) > .005
|
||||
|
||||
|
||||
def test_old_zero_and_mimic_transfer_declarations_do_not_authorize_v3_motion_copy():
|
||||
profile = load_bundled_hand_profile("o6_right_8")
|
||||
profile = replace(profile, measurement=replace(profile.measurement, transferred_motion_sources={}))
|
||||
original = _frozen_fit(profile)
|
||||
expanded = expand_profile_transfers(profile, original)
|
||||
assert expanded == original
|
||||
assert "rh_index_mcp_pitch" not in expanded.output_mappings
|
||||
with pytest.raises(ValueError, match="unmeasured"):
|
||||
prepare_standard_result(profile, O6_SOURCE, _digest(O6_SOURCE), expanded)
|
||||
|
||||
|
||||
def test_o12_motion_transfer_does_not_invent_passive_pip_zero():
|
||||
profile = load_bundled_hand_profile("o12_right_16")
|
||||
expanded = expand_profile_transfers(profile, _frozen_fit(profile))
|
||||
for name in ("pinky_pip", "ring_pip"):
|
||||
assert name in expanded.output_mappings
|
||||
assert name not in expanded.zero_offsets_rad
|
||||
assert name not in profile.zero.cad_zero_assumptions
|
||||
with pytest.raises(ValueError, match="absolute_geometry.*pinky_pip.*ring_pip"):
|
||||
prepare_standard_result(profile, O12_SOURCE, _digest(O12_SOURCE), expanded)
|
||||
|
||||
|
||||
def test_passive_pip_zero_uses_separate_datums_while_motion_is_copied():
|
||||
profile = load_bundled_hand_profile("o12_right_16")
|
||||
geometry = dict(profile.zero.known_baseline_geometry,
|
||||
pinky_pip=KnownBaselineGeometry(.07, .001, "synthetic_pinky_datum"))
|
||||
profile = replace(profile, zero=replace(profile.zero, known_baseline_geometry=geometry))
|
||||
expanded = expand_profile_transfers(profile, _frozen_fit(profile))
|
||||
assert expanded.zero_offsets_rad["pinky_pip"] == .07
|
||||
assert "ring_pip" not in expanded.zero_offsets_rad
|
||||
geometry = dict(geometry, ring_pip=KnownBaselineGeometry(.11, .001, "synthetic_ring_datum"))
|
||||
profile = replace(profile, zero=replace(profile.zero, known_baseline_geometry=geometry))
|
||||
expanded = expand_profile_transfers(profile, _frozen_fit(profile))
|
||||
assert expanded.zero_offsets_rad["pinky_pip"] == .07
|
||||
assert expanded.zero_offsets_rad["ring_pip"] == .11
|
||||
assert expanded.zero_method_by_joint["ring_pip"] == "independent_known_baseline_geometry"
|
||||
assert "ring_pip" not in profile.zero.transferred_zero_sources
|
||||
assert expanded.command_mappings["ring_pip"].angle_rad == expanded.command_mappings["pinky_pip"].angle_rad
|
||||
assert "ring_pip" not in expanded.joint_zero_references
|
||||
|
||||
|
||||
def test_o6_urdf_keeps_terminal_origins_and_each_recipient_link_geometry(tmp_path):
|
||||
profile = load_bundled_hand_profile("o6_right_8")
|
||||
expanded = expand_profile_transfers(profile, _frozen_fit(profile))
|
||||
source_hash = _digest(O6_SOURCE)
|
||||
prepared = prepare_standard_result(profile, O6_SOURCE, source_hash, expanded)
|
||||
destination = prepared.plan.write(O6_SOURCE, tmp_path/"corrected.urdf")
|
||||
before, after = ET.parse(O6_SOURCE).getroot(), ET.parse(destination).getroot()
|
||||
before_joints = {j.get("name"): j for j in before.findall("joint")}
|
||||
after_joints = {j.get("name"): j for j in after.findall("joint")}
|
||||
for name in profile.zero.cad_zero_assumptions:
|
||||
assert expanded.zero_offsets_rad[name] == 0.
|
||||
assert after_joints[name].find("origin").attrib == before_joints[name].find("origin").attrib
|
||||
assert prepared.plan.mimic_output[name][2] == 0.
|
||||
for name, original in before_joints.items():
|
||||
current = after_joints[name]
|
||||
for tag in ("parent", "child", "axis"):
|
||||
assert current.find(tag).attrib == original.find(tag).attrib
|
||||
assert current.find("origin").get("xyz") == original.find("origin").get("xyz")
|
||||
assert [ET.tostring(link) for link in before.findall("link")] == [ET.tostring(link) for link in after.findall("link")]
|
||||
assert after_joints["rh_index_mcp_pitch"].find("origin").get("xyz") != after_joints["rh_pinky_mcp_pitch"].find("origin").get("xyz")
|
||||
assert _digest(O6_SOURCE) == source_hash
|
||||
|
||||
|
||||
@pytest.mark.parametrize("field", ["output_mappings", "command_mappings"])
|
||||
def test_changed_recipient_curve_cannot_pass_as_exact_transfer(field):
|
||||
profile = load_bundled_hand_profile("o6_right_8")
|
||||
expanded = expand_profile_transfers(profile, _frozen_fit(profile))
|
||||
mappings = dict(getattr(expanded, field))
|
||||
target = "rh_index_dip"
|
||||
mappings[target] = replace(mappings[target], angle_rad=tuple(v*1.01 for v in mappings[target].angle_rad))
|
||||
with pytest.raises(ValueError, match="differs_from_declared_donor"):
|
||||
prepare_standard_result(profile, O6_SOURCE, _digest(O6_SOURCE), replace(expanded, **{field: mappings}))
|
||||
|
||||
|
||||
def test_transferred_curve_cannot_expand_recipient_mechanical_range(tmp_path):
|
||||
profile = load_bundled_hand_profile("o6_right_8")
|
||||
expanded = expand_profile_transfers(profile, _frozen_fit(profile))
|
||||
source = tmp_path/"narrow_recipient.urdf"
|
||||
tree = ET.parse(O6_SOURCE)
|
||||
tree.getroot().find("joint[@name='rh_index_mcp_pitch']/limit").set("upper", "0.2")
|
||||
tree.write(source, encoding="utf-8", xml_declaration=True)
|
||||
with pytest.raises(ValueError, match="range.*(mechanical|physical)|mapping exceeds"):
|
||||
prepare_standard_result(profile, source, _digest(source), expanded)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("problem", ["missing_donor", "wrong_channel", "already_expanded"])
|
||||
def test_invalid_donor_result_cannot_be_transferred(problem):
|
||||
profile = load_bundled_hand_profile("o6_right_8")
|
||||
fit = _frozen_fit(profile)
|
||||
mappings = dict(fit.command_mappings)
|
||||
if problem == "missing_donor":
|
||||
mappings.pop("rh_pinky_dip")
|
||||
fit = replace(fit, command_mappings=mappings)
|
||||
elif problem == "wrong_channel":
|
||||
mappings["rh_pinky_dip"] = replace(mappings["rh_pinky_dip"], motor_index=0)
|
||||
fit = replace(fit, command_mappings=mappings)
|
||||
else:
|
||||
fit = expand_profile_transfers(profile, fit)
|
||||
with pytest.raises(ValueError, match="motion_transfer"):
|
||||
expand_profile_transfers(profile, fit)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("policy,joint,reason", [
|
||||
("transferred", "rh_index_mcp_pitch", "transferred_zero_differs_from_declared_donor"),
|
||||
("assumed", "rh_pinky_dip", "assumed_cad_zero_differs_from_profile"),
|
||||
("known", "rh_thumb_ip", "known_baseline_geometry_differs_from_profile"),
|
||||
])
|
||||
@pytest.mark.parametrize("changed", ["offset", "method"])
|
||||
def test_result_plan_rejects_zero_parameters_that_change_the_declared_evidence(policy, joint, reason, changed):
|
||||
profile = load_bundled_hand_profile("o6_right_8")
|
||||
if policy == "known":
|
||||
assumptions = {name: value for name, value in profile.zero.cad_zero_assumptions.items() if name != joint}
|
||||
geometry = dict(profile.zero.known_baseline_geometry,
|
||||
**{joint: KnownBaselineGeometry(0., .001, "synthetic_independent_datum")})
|
||||
profile = replace(profile, zero=replace(profile.zero,
|
||||
known_baseline_geometry=geometry, cad_zero_assumptions=assumptions))
|
||||
fit = expand_profile_transfers(profile, _frozen_fit(profile))
|
||||
# Verify the valid starting point, then change one field only. A copied
|
||||
# dynamic curve must not authorize a new geometric zero or evidence label.
|
||||
prepare_standard_result(profile, O6_SOURCE, _digest(O6_SOURCE), fit)
|
||||
if changed == "offset":
|
||||
offsets = dict(fit.zero_offsets_rad)
|
||||
offsets[joint] += .04
|
||||
fit = replace(fit, zero_offsets_rad=offsets)
|
||||
else:
|
||||
methods = dict(fit.zero_method_by_joint)
|
||||
methods[joint] = "urdf_serial_axis_geometry"
|
||||
fit = replace(fit, zero_method_by_joint=methods)
|
||||
with pytest.raises(ValueError, match=reason):
|
||||
prepare_standard_result(profile, O6_SOURCE, _digest(O6_SOURCE), fit)
|
||||
|
||||
|
||||
def test_public_fitting_rejects_conflicting_zero_sources_before_reading_inputs(tmp_path):
|
||||
profile = load_bundled_hand_profile("o6_right_8")
|
||||
geometry = dict(profile.zero.known_baseline_geometry,
|
||||
rh_pinky_dip=KnownBaselineGeometry(.03, .001, "synthetic_independent_datum"))
|
||||
profile = replace(profile, zero=replace(profile.zero, known_baseline_geometry=geometry))
|
||||
with pytest.raises(ProfileValidationError, match="CAD zero assumption conflicts.*rh_pinky_dip"):
|
||||
fit_profile_calibration(profile, tmp_path/"nonexistent.urdf", {})
|
||||
@@ -0,0 +1,166 @@
|
||||
"""Measured and explicitly reused motions share one profile contract."""
|
||||
|
||||
from dataclasses import replace
|
||||
import hashlib
|
||||
from pathlib import Path
|
||||
import xml.etree.ElementTree as ET
|
||||
|
||||
import pytest
|
||||
import yaml
|
||||
|
||||
from linkerhand_calibration.core.domain.profile import ProfileKey, validate_profile
|
||||
from linkerhand_calibration.profiles import dump_hand_profile, load_bundled_hand_profile, load_hand_profile
|
||||
from linkerhand_calibration.profiles.validator import validate_executable_profile
|
||||
|
||||
|
||||
PACKAGE = Path(__file__).resolve().parents[1]
|
||||
PROFILES = (
|
||||
("o6_right_8", "o6_right/linkerhand_o6_right.urdf", 6, ()),
|
||||
("l6_right_8", "l6_right/linkerhand_l6v3.1_right.urdf", 6, ()),
|
||||
("o12_right_16", "o12_right/linkerhand_o12_t3_right-0703.urdf", 3,
|
||||
("pinky_pip", "ring_pip", "thumb_mcp")),
|
||||
("g20_right_19", "g20_right/linkerhand_g20_right.urdf", 0, ()),
|
||||
)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("layout,urdf,transfer_count,geometry_gaps", PROFILES)
|
||||
def test_common_strategy_retains_measured_coverage_and_explicit_gaps(layout, urdf, transfer_count, geometry_gaps):
|
||||
profile = load_bundled_hand_profile(layout)
|
||||
report = validate_executable_profile(profile, PACKAGE / "urdf" / urdf)
|
||||
coverage = report["independent_measurement_coverage"]
|
||||
transfers = profile.measurement.transferred_motion_sources
|
||||
assert len(transfers) == transfer_count
|
||||
assert coverage["unmeasured_joints"] == sorted(transfers)
|
||||
assert coverage["unresolved_motion_joints"] == []
|
||||
assert coverage["transferred_motion_sources"] == transfers
|
||||
assert coverage["missing_baseline_geometry"] == list(geometry_gaps)
|
||||
observed = {name for task in profile.motion.tasks for name in task.joints}
|
||||
assert set(profile.motion.joint_zero_references) == observed
|
||||
assert not set(transfers) & observed
|
||||
assert set(transfers.values()) <= observed
|
||||
assert not set(profile.zero.cad_zero_assumptions) & set(profile.zero.known_baseline_geometry)
|
||||
product = yaml.safe_load((PACKAGE / "config" / f"{profile.key.model.lower()}_right_product.yaml").read_text())
|
||||
assert product["profile_config_sha256"] == hashlib.sha256(
|
||||
(PACKAGE / "config" / "profiles" / f"{layout}.yaml").read_bytes()).hexdigest()
|
||||
|
||||
|
||||
def test_old_geometry_transfer_does_not_authorize_copying_motion():
|
||||
profile = load_bundled_hand_profile("o6_right_8")
|
||||
profile = replace(profile, measurement=replace(profile.measurement, transferred_motion_sources={}))
|
||||
coverage = validate_executable_profile(profile,
|
||||
PACKAGE / "urdf/o6_right/linkerhand_o6_right.urdf")["independent_measurement_coverage"]
|
||||
assert len(coverage["unresolved_motion_joints"]) == 6
|
||||
assert coverage["transferred_motion_sources"] == {}
|
||||
assert set(coverage["missing_baseline_geometry"]) == set(profile.zero.transferred_zero_sources)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("target,source", [
|
||||
("missing_joint", "rh_pinky_mcp_pitch"),
|
||||
("rh_index_mcp_pitch", "missing_joint"),
|
||||
("rh_index_mcp_pitch", "rh_middle_mcp_pitch"),
|
||||
("rh_pinky_mcp_pitch", "rh_pinky_mcp_pitch"),
|
||||
("rh_thumb_cmc_pitch", "rh_pinky_mcp_pitch"),
|
||||
("rh_index_mcp_pitch", "rh_pinky_dip"),
|
||||
("rh_index_dip", "rh_thumb_ip"),
|
||||
])
|
||||
def test_invalid_donors_types_and_chains_are_rejected(target, source):
|
||||
profile = load_bundled_hand_profile("o6_right_8")
|
||||
profile = replace(profile, measurement=replace(profile.measurement,
|
||||
transferred_motion_sources={**profile.measurement.transferred_motion_sources, target: source}))
|
||||
with pytest.raises(ValueError, match="motion"):
|
||||
validate_profile(profile)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("field,value", [
|
||||
("baseline_u8", 254), ("lower_bounds", 1), ("upper_bounds", 254),
|
||||
("sdk_to_joint_direction", 1),
|
||||
])
|
||||
def test_recipient_domain_baseline_and_sign_must_match_donor(field, value):
|
||||
profile = load_bundled_hand_profile("o6_right_8")
|
||||
original = getattr(profile.command, field)
|
||||
if not original:
|
||||
original = profile.command.minimum_values if field == "lower_bounds" else profile.command.maximum_values
|
||||
changed = list(original)
|
||||
changed[2] = value
|
||||
profile = replace(profile, command=replace(profile.command, **{field: tuple(changed)}))
|
||||
with pytest.raises(ValueError, match="motion transfer requires equal SDK"):
|
||||
validate_profile(profile)
|
||||
|
||||
|
||||
def test_native_recipient_range_cannot_silently_rescale_donor_curve():
|
||||
profile = load_bundled_hand_profile("o12_right_16")
|
||||
upper = list(profile.command.upper_bounds)
|
||||
upper[10] -= 0.01
|
||||
profile = replace(profile, command=replace(profile.command, upper_bounds=tuple(upper)))
|
||||
with pytest.raises(ValueError, match="motion transfer requires equal SDK"):
|
||||
validate_profile(profile)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("field,delta", [
|
||||
("feedback_lower_bounds", -0.01), ("feedback_upper_bounds", 0.01),
|
||||
])
|
||||
def test_recipient_feedback_domain_must_match_donor_even_when_command_domain_matches(field, delta):
|
||||
profile = load_bundled_hand_profile("o12_right_16")
|
||||
original = (profile.command.minimum_feedback_values if field == "feedback_lower_bounds"
|
||||
else profile.command.maximum_feedback_values)
|
||||
changed = list(original)
|
||||
changed[10] += delta
|
||||
command = replace(profile.command, **{field: tuple(changed)})
|
||||
assert command.minimum_values[10] == command.minimum_values[11]
|
||||
assert command.maximum_values[10] == command.maximum_values[11]
|
||||
with pytest.raises(ValueError, match="motion transfer requires equal SDK"):
|
||||
validate_profile(replace(profile, command=command))
|
||||
|
||||
|
||||
def test_recipient_cad_mimic_sign_is_checked(tmp_path):
|
||||
profile = load_bundled_hand_profile("o6_right_8")
|
||||
tree = ET.parse(PACKAGE / "urdf/o6_right/linkerhand_o6_right.urdf")
|
||||
mimic = tree.getroot().find("joint[@name='rh_index_dip']/mimic")
|
||||
mimic.set("multiplier", "-1")
|
||||
source = tmp_path / "reversed_mimic.urdf"
|
||||
tree.write(source)
|
||||
with pytest.raises(ValueError, match="equal CAD output signs"):
|
||||
validate_executable_profile(profile, source)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("joint,reason", [
|
||||
("missing", "accepted"), ("rh_pinky_dip", " "),
|
||||
("rh_thumb_cmc_pitch", "accepted"), ("rh_index_mcp_pitch", "accepted"),
|
||||
])
|
||||
def test_cad_assumptions_cannot_hide_invalid_or_conflicting_zero_sources(joint, reason):
|
||||
profile = load_bundled_hand_profile("o6_right_8")
|
||||
profile = replace(profile, zero=replace(profile.zero,
|
||||
cad_zero_assumptions={**profile.zero.cad_zero_assumptions, joint: reason}))
|
||||
with pytest.raises(ValueError, match="CAD zero assumption"):
|
||||
validate_profile(profile)
|
||||
|
||||
|
||||
def test_virtual_model_can_reorder_channels_views_and_tasks(tmp_path):
|
||||
profile = load_bundled_hand_profile("o6_right_8")
|
||||
order = (5, 3, 1, 4, 0, 2)
|
||||
index = {old: new for new, old in enumerate(order)}
|
||||
reorder = lambda row: tuple(row[i] for i in order)
|
||||
views = {"front": "inspection_a", "side": "inspection_b", "top": "inspection_c"}
|
||||
command = replace(profile.command, names=reorder(profile.command.names),
|
||||
baseline_u8=reorder(profile.command.baseline_u8),
|
||||
sdk_to_joint_direction=reorder(profile.command.sdk_to_joint_direction),
|
||||
command_index_by_joint={name: index[channel] for name, channel in profile.command.command_index_by_joint.items()})
|
||||
motion = replace(profile.motion,
|
||||
tasks=tuple(replace(task, view=views[task.view], command_index=index[task.command_index])
|
||||
for task in reversed(profile.motion.tasks)),
|
||||
joint_zero_references={name: replace(reference, command=reorder(reference.command),
|
||||
approach_commands=tuple(reorder(row) for row in reference.approach_commands))
|
||||
for name, reference in profile.motion.joint_zero_references.items()})
|
||||
vision = replace(profile.vision, views=tuple(replace(view, name=views[view.name])
|
||||
for view in reversed(profile.vision.views)), extrinsic_reference_view=views[profile.vision.extrinsic_reference_view])
|
||||
measurement = replace(profile.measurement, measurements={name: replace(spec, view=views[spec.view])
|
||||
for name, spec in profile.measurement.measurements.items()})
|
||||
virtual = replace(profile, key=ProfileKey("virtual", "right", "mixed_strategy"),
|
||||
command=command, motion=motion, vision=vision, measurement=measurement)
|
||||
path = tmp_path / "virtual.yaml"
|
||||
path.write_text(dump_hand_profile(virtual))
|
||||
virtual = load_hand_profile(path)
|
||||
report = validate_executable_profile(virtual, PACKAGE / "urdf/o6_right/linkerhand_o6_right.urdf")
|
||||
assert not report["independent_measurement_coverage"]["unresolved_motion_joints"]
|
||||
assert virtual.command.command_index_by_joint["rh_index_mcp_pitch"] == 5
|
||||
assert virtual.command.command_index_by_joint["rh_pinky_mcp_pitch"] == 0
|
||||
@@ -0,0 +1,235 @@
|
||||
"""Synthetic transfer artifacts retain provenance without recipient evidence."""
|
||||
|
||||
from copy import deepcopy
|
||||
from dataclasses import replace
|
||||
import hashlib
|
||||
import json
|
||||
from types import SimpleNamespace
|
||||
|
||||
import numpy as np
|
||||
import pytest
|
||||
from scipy.spatial.transform import Rotation
|
||||
|
||||
from linkerhand_calibration.core.domain.measurement import JointCurveFit
|
||||
from linkerhand_calibration.core.domain.reference import JointZeroPose, JointZeroReference, JointZeroSample
|
||||
from linkerhand_calibration.core.domain.result import JointMapping
|
||||
from linkerhand_calibration.core.fitting.coupling import LinearMimicFit
|
||||
from linkerhand_calibration.core.fitting.mimic_approximation import MimicApproximation
|
||||
from linkerhand_calibration.core.fitting.tag_installation import FrozenTagInstallation, matrix_tuple
|
||||
from linkerhand_calibration.core.urdf.kinematics import UrdfKinematicModel
|
||||
from linkerhand_calibration.core.urdf.measured_acceptance import validate_measured_joint_holdout
|
||||
from linkerhand_calibration.core.urdf.tag_acceptance import TagHoldout
|
||||
from linkerhand_calibration.runtime.artifacts.publisher import ArtifactPublisher, FrozenTagArtifactValidator
|
||||
from linkerhand_calibration.runtime.artifacts.reader import load_unified_mapper
|
||||
from linkerhand_calibration.runtime.artifacts.serializers.measured_v3 import from_report, serialize_report
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def transfer_artifacts(tmp_path):
|
||||
"""Two synthetic chains; only source/source_tip have observation evidence."""
|
||||
session = tmp_path / "session"
|
||||
session.mkdir()
|
||||
source = tmp_path / "source.urdf"
|
||||
parts = ['<robot name="synthetic_transfer"><link name="base"/>']
|
||||
for name, parent, xyz, mimic in (
|
||||
("source", "base", "0 0 0", None), ("source_tip", "source_link", ".04 0 0", "source"),
|
||||
("target", "base", "0 .1 0", None), ("target_tip", "target_link", ".04 0 0", "target")):
|
||||
parts.append(f'<link name="{name}_link"/><joint name="{name}" type="revolute">'
|
||||
f'<parent link="{parent}"/><child link="{name}_link"/><origin xyz="{xyz}" rpy="0 0 0"/>'
|
||||
'<axis xyz="0 0 1"/><limit lower="0" upper="1.2" effort="1" velocity="1"/>'
|
||||
+ (f'<mimic joint="{mimic}" multiplier="0.6" offset="0"/>' if mimic else '') + '</joint>')
|
||||
source.write_text(''.join(parts) + '</robot>')
|
||||
urdf = session / "corrected.urdf"
|
||||
urdf.write_bytes(source.read_bytes())
|
||||
model = UrdfKinematicModel(source)
|
||||
transfers = {"target": "source", "target_tip": "source_tip"}
|
||||
assumptions = {name: "synthetic accepted CAD baseline" for name in ("source_tip", "target_tip")}
|
||||
profile = SimpleNamespace(key=SimpleNamespace(profile_id="VIRTUAL/right/transfers/v1", model="VIRTUAL", side="right"),
|
||||
command=SimpleNamespace(unit="u8", names=("source", "target"), baseline_values=(0, 0),
|
||||
feedback_by_index=True, feedback_name_aliases={}),
|
||||
measurement=SimpleNamespace(transferred_motion_sources=transfers),
|
||||
zero=SimpleNamespace(known_baseline_geometry={}, cad_zero_assumptions=assumptions,
|
||||
transferred_zero_sources={"target": "source"}))
|
||||
knots = tuple(float(i) for i in range(0, 256, 51))
|
||||
curves, mappings, commands, references = {}, {}, {}, {}
|
||||
identity = JointZeroPose((0, 0, 0, 1), (0, 0, 0))
|
||||
for name in ("source", "source_tip"):
|
||||
x = np.asarray(knots) / 255
|
||||
angles = tuple(x if name == "source" else .2*x + .4*x*x)
|
||||
mappings[name] = JointMapping(name, 0, "feedback_u8", knots, angles, angles, angles)
|
||||
commands[name] = replace(mappings[name], input_domain="command_u8")
|
||||
curves[name] = JointCurveFit(angles, angles, angles, {
|
||||
"space": "relative_rotation_3d", "reference_quaternion_xyzw": (0, 0, 0, 1),
|
||||
"axis_xyz": (0, 0, 1), "training_sample_ids": (f"training:{name}",)}, 0, 0, {})
|
||||
sample = JointZeroSample("side:1", "side", 1, (0, 0, 0, 1), (0, 0, 0),
|
||||
(0, 0), (0, 0), ("decreasing", "decreasing"), identity, identity)
|
||||
references[name] = JointZeroReference(name, "source_scan", 0, 0, 1, 1, (sample,))
|
||||
for target, donor in transfers.items():
|
||||
mappings[target] = replace(mappings[donor], joint=target, motor_index=1, transferred_from=donor)
|
||||
commands[target] = replace(commands[donor], joint=target, motor_index=1, transferred_from=donor)
|
||||
methods = {"source": "urdf_serial_axis_geometry", "source_tip": "assumed_source_cad_zero",
|
||||
"target": "transferred_static_zero_on_own_cad", "target_tip": "assumed_source_cad_zero"}
|
||||
mimic_output = {"source_tip": ("source", .6, 0), "target_tip": ("target", .6, 0)}
|
||||
approximations = {}
|
||||
for child, (parent, multiplier, offset) in mimic_output.items():
|
||||
approximate = LinearMimicFit(parent, child, multiplier, offset, True, (0, 1, 2), (0, -.1, 0))
|
||||
approximations[child] = MimicApproximation(approximate, ("training:source_tip",), ("held:source_tip",),
|
||||
(0, -.1, 0), transferred_from_joint=transfers.get(child))
|
||||
fit = SimpleNamespace(curves=curves, output_mappings=mappings, command_mappings=commands,
|
||||
zero_offsets_rad={name: 0 for name in mappings}, zero_method_by_joint=methods,
|
||||
joint_zero_references=references, mimic_approximations=approximations,
|
||||
command_applicability={name: {"scope": "single_channel_at_declared_pose"} for name in curves},
|
||||
command_holdout_metrics={name: {"independently_measured": True} for name in curves})
|
||||
prepared = SimpleNamespace(mappings=mappings, plan=SimpleNamespace(mimic_output=mimic_output))
|
||||
hashes = {"source_urdf_sha256": hashlib.sha256(source.read_bytes()).hexdigest()}
|
||||
report = serialize_report(profile, fit, prepared, serial_number="SYNTHETIC_ONLY", protected_inputs=hashes)
|
||||
payload = from_report(report)
|
||||
observations, poses = [], []
|
||||
for name in curves:
|
||||
for direction in ("increasing", "decreasing"):
|
||||
for index, value in enumerate(knots):
|
||||
angles = {joint: mapping.evaluate(value if mapping.motor_index == 0 else 0)
|
||||
for joint, mapping in commands.items()}
|
||||
image = f"holdout:{direction}:{index}"
|
||||
observations.append({"joint": name, "sample_id": image, "cycle": 3,
|
||||
"sample_phase": "steady", "direction": direction, "command_vector_u8": (value, 0),
|
||||
"relative_quaternion_xyzw": Rotation.from_rotvec([0, 0, angles[name]]).as_quat().tolist()})
|
||||
transform = model.link_transform(name, zero_offsets={}, joint_angles=angles, independent_mimic_angles=True)
|
||||
poses.append(TagHoldout(image, name, 3, (value, 0), {name: direction}, matrix_tuple(transform)))
|
||||
mounts = {name: FrozenTagInstallation(name, name+"_link", matrix_tuple(np.eye(4)),
|
||||
(f"training:{name}",), 0, 0) for name in curves}
|
||||
validator = FrozenTagArtifactValidator(profile.key.profile_id, source, hashes["source_urdf_sha256"],
|
||||
{}, fit.zero_offsets_rad, matrix_tuple(np.eye(4)), mounts, tuple(poses), tuple(curves), lambda _: None,
|
||||
minimum_samples=3, protected_inputs=hashes, command_observations=tuple(poses),
|
||||
joint_observations=tuple(observations), joint_curves=curves,
|
||||
joint_channels={name: mapping.motor_index for name, mapping in mappings.items()},
|
||||
transferred_motion_sources=transfers, cad_zero_assumptions=assumptions,
|
||||
transferred_zero_sources={"target": "source"}, joint_zero_methods=methods)
|
||||
json_path = session / "calibration.json"
|
||||
json_path.write_text(json.dumps(payload))
|
||||
(session / "calibration_report.json").write_text(json.dumps(report))
|
||||
return SimpleNamespace(profile=profile, report=report, payload=payload, fit=fit, validator=validator,
|
||||
json_path=json_path, urdf=urdf, observations=observations, transfers=transfers)
|
||||
|
||||
|
||||
def test_mixed_release_preserves_recipient_channels_without_claiming_recipient_precision(transfer_artifacts):
|
||||
data = transfer_artifacts
|
||||
release = ArtifactPublisher(data.json_path.parent.parent, "latest").publish(
|
||||
session_directory=data.json_path.parent, calibration_json=data.json_path,
|
||||
corrected_urdf=data.urdf, validate=data.validator)
|
||||
validation = json.loads(release.manifest.read_text())["validation"]
|
||||
assert validation["acceptance"] == "measured_and_transferred_json_urdf_v3"
|
||||
assert set(validation["independent_mapping_holdout"]) == {"source", "source_tip"}
|
||||
assert set(validation["full_json_urdf_holdout"]) == {"source", "source_tip"}
|
||||
assert validation["transferred_joints"] == ["target", "target_tip"]
|
||||
assert max(row["maximum_deg"] for row in validation["urdf_mimic_approximation"].values()) > 3
|
||||
mapper = load_unified_mapper(release.manifest)
|
||||
positions = dict(zip(mapper.urdf_joint_names, mapper.map_positions((0, 102))))
|
||||
assert positions["source"] == 0
|
||||
assert positions["target"] == pytest.approx(.4)
|
||||
assert positions["target_tip"] == pytest.approx(.144)
|
||||
assert mapper.transferred_motion_sources == data.transfers
|
||||
for target, donor in data.transfers.items():
|
||||
assert data.payload["joints"][target]["angle_rad"] == data.payload["joints"][donor]["angle_rad"]
|
||||
row = data.report["joints"][target]
|
||||
assert row["independently_measured"] is False
|
||||
assert "zero_reference" not in row and "command_holdout" not in row
|
||||
assert row["zero_reference_source_joint"] == donor
|
||||
|
||||
|
||||
@pytest.mark.parametrize("corruption", ["undeclared", "pretend_measured", "invent_reference", "changed_curve", "feedback_channel", "wrong_baseline", "chained_source", "invent_mimic_samples"])
|
||||
def test_reader_rejects_unfaithful_transfer_reports(transfer_artifacts, corruption):
|
||||
report = deepcopy(transfer_artifacts.report)
|
||||
target = report["joints"]["target"]
|
||||
if corruption == "undeclared":
|
||||
report.pop("transferred_motion_sources")
|
||||
elif corruption == "pretend_measured":
|
||||
target["independently_measured"] = True
|
||||
elif corruption == "invent_reference":
|
||||
target["zero_reference"] = deepcopy(report["joints"]["source"]["zero_reference"])
|
||||
elif corruption == "changed_curve":
|
||||
target["command_to_rad"]["angle_rad"][1] += .001
|
||||
elif corruption == "feedback_channel":
|
||||
target["feedback_to_rad"]["channel_index"] = 0
|
||||
elif corruption == "wrong_baseline":
|
||||
report["baseline_command"][1] = 1
|
||||
elif corruption == "chained_source":
|
||||
report["transferred_motion_sources"]["target"] = "target_tip"
|
||||
else:
|
||||
report["joints"]["target_tip"]["mimic_approximation"]["evidence"]["training_sample_ids"] = ["invented:recipient"]
|
||||
with pytest.raises(ValueError):
|
||||
from_report(report)
|
||||
|
||||
|
||||
def test_publisher_binds_report_transfers_to_authoritative_profile(transfer_artifacts):
|
||||
data = transfer_artifacts
|
||||
with pytest.raises(ValueError, match="transfer sources differ"):
|
||||
replace(data.validator, transferred_motion_sources={})(data.json_path, data.urdf)
|
||||
with pytest.raises(ValueError, match="CAD zero assumptions differ"):
|
||||
replace(data.validator, cad_zero_assumptions={})(data.json_path, data.urdf)
|
||||
|
||||
|
||||
def test_publisher_rejects_consistently_rewritten_recipient_channel(transfer_artifacts):
|
||||
data = transfer_artifacts
|
||||
report = deepcopy(data.report)
|
||||
for kind in ("command_to_rad", "feedback_to_rad"):
|
||||
report["joints"]["target"][kind]["channel_index"] = 0
|
||||
# The file pair is internally consistent, but its channel is not the one
|
||||
# declared by the actual Profile supplied independently to the publisher.
|
||||
data.json_path.write_text(json.dumps(from_report(report)))
|
||||
(data.json_path.parent / "calibration_report.json").write_text(json.dumps(report))
|
||||
with pytest.raises(ValueError, match="SDK channel bindings differ"):
|
||||
data.validator(data.json_path, data.urdf)
|
||||
|
||||
|
||||
def test_reader_rejects_cad_assumption_relabelled_as_independent_geometry(transfer_artifacts):
|
||||
report = deepcopy(transfer_artifacts.report)
|
||||
report["joints"]["target_tip"]["zero_method"] = "independent_known_baseline_geometry"
|
||||
with pytest.raises(ValueError, match="assumed_cad_zero_provenance"):
|
||||
from_report(report)
|
||||
|
||||
|
||||
def test_transferred_native_rad_tables_preserve_target_channel_and_support(transfer_artifacts):
|
||||
from linkerhand_calibration.runtime.artifacts.reader import UnifiedCommandMapper
|
||||
data = transfer_artifacts
|
||||
report = deepcopy(data.report)
|
||||
report["command_unit"] = "rad"
|
||||
for row in report["joints"].values():
|
||||
for kind in ("command", "feedback"):
|
||||
mapping = row[kind+"_to_rad"]
|
||||
mapping.update(input_domain=kind+"_rad", input_unit="rad",
|
||||
knots=[value/255 for value in mapping["knots"]], valid_input_range=[0, 1])
|
||||
payload = from_report(report)
|
||||
mapper = UnifiedCommandMapper(payload, data.urdf, report=report)
|
||||
values = dict(zip(mapper.urdf_joint_names, mapper.map_positions((0, .4))))
|
||||
assert values["source"] == 0
|
||||
assert values["target"] == pytest.approx(.4)
|
||||
assert values["target_tip"] == pytest.approx(.144)
|
||||
assert payload["joints"]["target"]["input_values"] == payload["joints"]["source"]["input_values"]
|
||||
with pytest.raises(ValueError, match="outside"):
|
||||
mapper.map_positions((0, 1.01))
|
||||
|
||||
|
||||
def test_holdout_never_credits_copied_or_fabricated_recipient_observations(transfer_artifacts):
|
||||
data = transfer_artifacts
|
||||
result = validate_measured_joint_holdout(data.payload, data.fit.curves, data.observations,
|
||||
transferred_motion_sources=data.transfers)
|
||||
assert set(result) == {"source", "source_tip"}
|
||||
with pytest.raises(ValueError, match="wrong partition or joint"):
|
||||
validate_measured_joint_holdout(data.payload, data.fit.curves,
|
||||
data.observations+[dict(data.observations[0], joint="target")], transferred_motion_sources=data.transfers)
|
||||
wrong = deepcopy(data.payload)
|
||||
wrong["joints"]["target"]["angle_rad"][102] += .001
|
||||
with pytest.raises(ValueError, match="transferred_final_table"):
|
||||
validate_measured_joint_holdout(wrong, data.fit.curves, data.observations, transferred_motion_sources=data.transfers)
|
||||
|
||||
|
||||
def test_recipient_limit_violation_is_rejected_instead_of_clipping(transfer_artifacts):
|
||||
data = transfer_artifacts
|
||||
import xml.etree.ElementTree as ET
|
||||
root = ET.fromstring(data.urdf.read_text())
|
||||
root.find("joint[@name='target']/limit").set("upper", ".3")
|
||||
data.urdf.write_text(ET.tostring(root, encoding="unicode"))
|
||||
validator = replace(data.validator, authorized_fields={"target": ("limit.upper",)})
|
||||
with pytest.raises(ValueError, match="range|limit"):
|
||||
validator(data.json_path, data.urdf)
|
||||
Reference in New Issue
Block a user