G20右手四指独立标定（少thumb_mcp）

src/g20_thumb_apriltag_calibration/README.md

@@ -2,7 +2,7 @@
 
 ## G20右手正式一键标定
 
-固定三相机和15张Tag安装完成后，用户只运行：
+固定三相机和19张Tag安装完成后，用户只运行：
 
 ```bash
 ros2 run g20_thumb_apriltag_calibration calibrate_g20_right
@@ -13,21 +13,26 @@ ros2 run g20_thumb_apriltag_calibration calibrate_g20_right
 独立任务仍会复用，不再因“连续前缀”限制整段重采。导入的任务会立即用与
 最终验收相同的硬门限复检（不含视口实时有效率）：只以预警带余量通过的旧数据
 当场剔除并从其在扫掠顺序中的原始位置重采，避免全部任务采完后才在最终验收
-失败、把会话拉回靠前的关节。需要强制从第一个关节
+失败、把会话拉回靠前的关节。运行中的多视角任务按正面主测量和侧面校验测量
+独立保留；单轮转轴异常且其余三轮形成一致簇时只补扫异常轮的两个方向。侧面
+校验视角的任务级有效率只记录为诊断，完整端点、分箱覆盖和模型质量门限仍保持
+不变。需要强制从第一个关节
 重新采集时使用 `--no-resume`。升级前已经分别完成的正面/侧面roll也会合并为
 一个完整同步任务断点；只有两边数据都完整时才复用。
 
 命令自动完成产品哈希预检、运动、当前任务补扫、前三轮训练、第四轮隔离留出、
-11个可求解主动关节URDF零位修正（`thumb_mcp`固定CAD零位）、
-17条实测命令曲线以及4条
-源URDF mimic派生DIP曲线发布。
+15个会话数据求解主动关节URDF零位修正（`thumb_mcp`固定CAD参考）、
+21条视觉实测命令曲线发布；四指PIP/DIP的动态曲线均实测，四指DIP静态零位保留CAD。
 终端只显示中文进度和问题；失败时复制“请复制以下内容给开发者”块即可。
 
+四指末端的16 mm Tag允许使用刚性延长杆避挡；软件不假设末端Tag平面与中节Tag
+平面平行。延长杆和Tag在一次标定期间必须完全刚性，不能晃动、扭转或重新调整。
+
 正式结果位于 `calibration_output/G20_RIGHT_001/latest_passed`。该指针只在
 JSON、URDF数值等价、mesh完整性、21条曲线CAD限位、被动关节保护和隔离留出验证
 全部通过后更新。
 
-## G20右手15-Tag底层调试入口
+## G20右手19-Tag底层调试入口
 
 以下内容仅保留给旧会话回放和开发调试；正式一键命令只发布上面的精简
 schema v4 JSON，不再生成schema v5运行文件。
@@ -38,20 +43,21 @@ schema v4 JSON，不再生成schema v5运行文件。
 ```bash
 ros2 launch g20_thumb_apriltag_calibration three_camera_calibration.launch.py \
   hand_type:=right \
-  tag_layout:=g20_right_15 \
+  tag_layout:=g20_right_19 \
   serial_number:=G20_RIGHT_001 \
   camera_extrinsics_file:=/home/lxp/projects/linkerhand_retarget_ros2/config/g20_three_camera_extrinsics.yaml \
   source_urdf_expected_sha256:=<CAD负责人确认的G20右手源URDF_SHA256>
 ```
 
-15张Tag均为16 mm `tag36h11`。正面为
-`0,1,2,3,10,11,12,13`，侧面为
-`4,5,6,15,17`，上面为`8,9`；ID `7,14,16,18`不再粘贴。详细角色以
-`config/three_camera_tags_g20_right_15.yaml`为唯一软件配置源。程序执行4项拇指任务，
+当前产品布局共19张`tag36h11`，所有Tag的黑色码区边长均为16 mm；四指末节ID为
+`7,14,16,18`。正面为`0,1,2,3,10,11,12,13`，侧面为
+`4,5,6,7,14,15,16,17,18`，上面为`8,9`。详细角色和逐ID尺寸以
+`config/three_camera_tags_g20_right_19.yaml`为唯一软件配置源。程序执行4项拇指任务，
 以及小指、无名指、中指、食指各自的正面+侧面同步roll、侧面pitch、
-侧面PIP，共16个物理运动任务。同步roll只驱动电机一次，但两台相机仍分别拟合并通过
-各自的观测质量门限。四个DIP动态曲线由同次PIP实测曲线乘源URDF中受保护的mimic
-multiplier生成，不参与视觉拟合或视觉质量门限。每项正式四轮之前自动低速往返预检
+侧面PIP/DIP联合任务，共16个物理运动任务。同步roll只驱动电机一次，但两台相机仍分别拟合并通过
+各自的观测质量门限。每个PIP任务只驱动一次对应电机，同时用“手掌→中节Tag”实测PIP、
+用“中节Tag→末节Tag”实测被动DIP；四个DIP不再由URDF mimic系数生成，并参加完整视觉
+拟合和质量门限。每项正式四轮之前自动低速往返预检
 0/127/255可见性；
 
 基准形态恢复完成后，程序先用至少30帧稳健锁定正面ID 0、侧面ID 4和顶部ID 8的
@@ -63,9 +69,14 @@ multiplier生成，不参与视觉拟合或视觉质量门限。每项正式四
 任务结束后角色要求会切回预检全套标签，静止期帧不参与该门限，避免把
 采集质量良好的任务误判为可见性失败。
 
-取消末端Tag后，四个PIP缺少下游DIP轴作为任意粘贴Tag条件下的绝对零位观察基准；
-因此PIP动态曲线仍为视觉实测，但PIP的URDF静态零位保留源CAD，不猜测写入。
-正式修正范围为拇指4个主动关节，以及四指各自的MCP roll/MCP pitch，共12个。
+恢复末端Tag后，程序能够独立实测四指PIP和DIP的转轴及动态命令曲线。但同一次
+相机外参和同一套Tag安装下的重复扫描无法排除固定安装相位偏差；实体手在反馈0端
+能够触掌是独立的机械端点约束。因此四指MCP pitch、PIP的URDF静态零位由本次
+实测全屈曲行程与CAD触掌角之差求出，不再把同相机的平行轴PnP相位直接当作绝对
+零位，也不写死为0。生成URDF时同步修正这些关节的坐标上限和DIP mimic坐标偏置，
+保证非零零偏不会缩短最大闭合量。末节Tag继续用于DIP动态曲线、轴线质量、遮挡和
+第四轮留出检查。正式数据求解静态修正范围为拇指CMC三个主动关节、四指MCP roll、
+MCP pitch及PIP，共15个；只有`thumb_mcp`固定为既有CAD参考。
 侧面累计避障按“PIP→MCP pitch→roll”的安全顺序分阶段进入，并按逆序分阶段退出；
 同类辅助电机（全部邻指滚转、全部PIP、全部MCP pitch）合并为同一个并行航点同时
 运动，被测通道最后单独进入。“滚转全部回中前不展开弯曲手指”“每指pitch先于PIP”
@@ -92,11 +103,11 @@ IPPE镜像解。baseline标准接近和全部质量门限保持不变。
 排除与MCP同步运动明显矛盾（残差超过7.5°）的ID3镜像候选。该先验不生成或缩放
 `thumb_ip`曲线；通过分支选择后的`ID2→ID3`姿态仍独立拟合并接受完整留出验证。
 
-当前15-Tag产品流程发布精简schema v4：21条运行时曲线中，17条来自当前会话的
-视觉实测，四指DIP按源URDF受保护的mimic multiplier由同指PIP曲线派生。
-URDF零位字段只覆盖拇指4个主动关节和四指各自的`mcp_roll/mcp_pitch`，共12个，
-其中`thumb_mcp`字段固定为0而不会修改源URDF；
-四指PIP、`thumb_ip`及四指DIP静态零位保留源CAD。旧schema v5文件仅作历史回放兼容，
+当前19-Tag产品流程发布精简schema v4：21条运行时曲线全部来自当前会话的视觉实测。
+URDF零位字段覆盖拇指4个主动关节和四指各自的`mcp_roll/mcp_pitch/pip`，共16个，
+其中四指`mcp_pitch/pip`共8个字段由视觉行程+机械端点联合求解，只有`thumb_mcp`
+字段固定为0；
+`thumb_ip`及四指DIP静态零位保留源CAD。旧schema v5文件仅作历史回放兼容，
 当前一键流程不再生成它。正面/侧面roll在同一次运动中独立拟合；方向、
 轴线和动态曲线均通过时做不确定度加权轴融合。侧面PIP连杆标签在滚转扫掠中
 相对侧相机视线倾斜约13°~20°，平面标签的单目IPPE姿态二义性会给侧视姿态引入
@@ -115,9 +126,8 @@ URDF零位字段只覆盖拇指4个主动关节和四指各自的`mcp_roll/mcp_p
 姿态轴约束，因此自由三维圆平面与姿态轴的夹角只保留诊断，不再被重复作为硬门限；
 径向残差、SE(3)轴线残差和正侧面轴/曲线一致性仍是硬门限。任一静态目标、第四轮留出、
 遮挡、PnP或跨机位检查失败时，只保留原始轨迹和`passed:false`诊断，不发布正式URDF。
-8个组合姿态仅保留为开发诊断，正式产品默认不执行。15-Tag布局的侧面每根手指只有一张
-PIP Tag，并不存在可独立验证的DIP Tag；同时轴线零位求解不提供适合绝对笛卡尔位置验收的
-手基座变换，因此不能用该诊断推翻已经通过的单关节隔离留出结果。三个CMC轴恢复使用
+8个组合姿态仅保留为开发诊断，正式产品默认不执行。轴线零位求解不提供适合绝对笛卡尔
+位置验收的手基座变换，因此不能用该诊断推翻已经通过的单关节隔离留出结果。三个CMC轴恢复使用
 `a609d521`验证过的完整四轮相对旋转曲线；全部实测关节均由隔离第四轮逐关节验收。
 现场需要区分某根手指的roll机构回差与单机位误差时，可设置
 `cross_view_roll_diagnostic_finger:=pinky|ring|middle|index`。该会话只执行目标手指的一次
@@ -421,8 +431,9 @@ calibration_output/G20_RIGHT_001/<时间戳>/
 `zero_angles.urdf_zero_offset_rad`、5个被动标记、模板来源和总体质量。新URDF每次从
 指定原始CAD文件生成，采用 `T_original × Rot(axis, offset)`，绝不叠加旧校准文件或
 覆盖原文件；只有通过独立求解验证或明确机械装配基准授权的主动关节 `origin.rpy` 可能
-改变；当前15-Tag右手保留12个主动静态零位字段，其中11个由数据求解，`thumb_mcp`
-固定为原始CAD零位0；四指PIP虽保留字段但数值固定为0。
+改变；当前19-Tag右手保留16个主动静态零位字段，其中15个由本会话数据求解，只有
+`thumb_mcp`固定为原始CAD零位0；四指DIP为被动关节，发布实测动态曲线并保留CAD
+静态零位，其mimic坐标偏置只随上游PIP坐标系变换作等价调整。
 未观测关节和其他URDF文本保持不变。源URDF中的相对mesh资源会按原相对路径复制到
 同一会话，保证会话内URDF可独立加载，并在正式发布时逐文件记录SHA256。每帧Tag SE(3)、
 图像时间戳、20通道状态、同步误差和PnP误差只进入 `raw_samples.jsonl`。
@@ -775,7 +786,7 @@ for name, joint in data["joints"].items():
 不影响 AprilTag 的 ROI 输入。
 
 静态预检先在单 Tag 层拒绝高重投影误差，再检查三组相对中心的位置内点率和毫米级 RMS。
-当前 30～38 px 的 10 mm Tag 属于试标定尺寸，如果中心位置 RMS 持续不合格，应优先增加照明、缩短
+当前末节16 mm Tag如果中心位置 RMS 持续不合格，应优先增加照明、缩短
 相机距离或提高 Tag 有效像素，而不是放宽最终随机复测精度。
 
 启用 rosbag 后保存裁剪后的原始图像和配套 `CameraInfo`，避免新增一个全分辨率图像

src/g20_thumb_apriltag_calibration/config/calibration.yaml

@@ -44,7 +44,7 @@ g20_thumb_calibration:
     minimum_detection_hz: 15.0
     maximum_hamming: 0
     minimum_decision_margin: 30.0
-    # Trial threshold for the current 10 mm tags (observed at 32-38 px).
+    # Trial threshold for small/far tags (historically observed at 32-38 px).
     # Final acceptance is still guarded by static RMS and random validation.
     minimum_edge_pixels: 30.0
     # Current 30 px tags measure about 0.50-0.53 deg RMS while stationary.

src/g20_thumb_apriltag_calibration/config/g20_right_product.yaml

@@ -25,9 +25,9 @@ artifacts:
   camera_extrinsics: config/g20_three_camera_extrinsics.yaml
   camera_extrinsics_sha256: aa0a1498a210ef36f20d59bd4fdc612a01fd09eb5a2bc1c0b8d84c05a44d5c5a
   calibration_config: src/g20_thumb_apriltag_calibration/config/three_camera_calibration.yaml
-  calibration_config_sha256: 80758d0a240a7dea1426d4fad688b09eac8360560a1d5870d709b7bb103d3280
-  tag_config: src/g20_thumb_apriltag_calibration/config/three_camera_tags_g20_right_15.yaml
-  tag_config_sha256: 7ce50be80dfccb3529c34d5bd601090b9d378e2bf6abcef2d5b93dc6a4da99fd
+  calibration_config_sha256: d1a8be37c9ae21cb4f975ddd66c3cf93fed25dae98ddcf971259b395fa69b521
+  tag_config: src/g20_thumb_apriltag_calibration/config/three_camera_tags_g20_right_19.yaml
+  tag_config_sha256: b1ab45e97ae42d57b0a3a63c725107b5aa3828c06b2ced16f8222d6e9ebadc41
 
 release:
   # Each task already contains three training cycles plus an isolated fourth

src/g20_thumb_apriltag_calibration/config/three_camera_calibration.yaml

@@ -16,7 +16,7 @@ g20_calibration:
     normal_calibration_speed: 15
     index_roll_calibration_speed: 5
     index_flex_calibration_speed: 10
-    # 15-Tag产品预检仍使用上面保守速度；只有正反预检都留出至少双倍正式分箱余量，
+    # 19-Tag产品预检仍使用上面保守速度；只有正反预检都留出至少双倍正式分箱余量，
     # 才把非roll任务正式扫描最多提速1.5倍。四指roll受0.5°回差门限约束，
     # 始终保持速度5；任一方向采样余量不足也保持原速度。
     adaptive_formal_speed_enabled: true
@@ -25,10 +25,16 @@ g20_calibration:
     adaptive_formal_speed_maximum_bin_gap: 8
     speed_setting_settle_seconds: 0.25
 
-    # tag36h11检测角点围成的黑色正方形实测为16 mm；不包含外围白边。
+    # tag36h11尺寸是检测角点围成的黑色正方形边长，不包含外围白边。
+    # 19张Tag的黑色码区外边长均为16 mm。自定义PnP必须与
+    # apriltag_ros逐ID尺寸一致，禁止用纸张/白边尺寸代替码区尺寸。
     tag_size_m: 0.016
+    # ROS 2无法从YAML空数组推断整数/浮点数组类型。这四个
+    # 末端Tag仍显式写16 mm，防止节点启动时得到未初始化参数。
+    tag_size_override_ids: [7, 14, 16, 18]
+    tag_size_overrides_m: [0.016, 0.016, 0.016, 0.016]
     repetitions: 3
-    # 15-Tag产品正式零位使用前三轮训练、最后一轮完全留出；旧11-Tag仍读取repetitions=3。
+    # 19-Tag产品正式零位使用前三轮训练、最后一轮完全留出；旧11-Tag仍读取repetitions=3。
     g20_right_19_repetitions: 4
     preflight_frames: 60
     minimum_detection_rate: 0.95
@@ -78,8 +84,10 @@ g20_calibration:
     zero_maximum_axis_cone_mismatch_deg: 5.0
     zero_maximum_observability_condition_number: 10000000000.0
     zero_maximum_offset_deg: 20.0
-    # 四指MCP roll/pitch绝对静态零偏的保护范围；PIP仍保留CAD静态零位。
+    # 四指MCP roll保留严格的装配保护范围。MCP pitch/PIP静态零位由
+    # 实测全屈曲行程与反馈0触掌的CAD机械端点联合求解，不允许写死为0。
     zero_finger_maximum_offset_deg: 3.0
+    flexion_endpoint_maximum_offset_deg: 5.0
 
     endpoint_tolerance_u8: 2.0
     # 请求命令与固件反馈是两个标定域。稳态检查点允许小幅死区，但反馈
@@ -96,7 +104,7 @@ g20_calibration:
     # roll零位127必须从两个方向到位并静止采集，禁止用运动中经过127的帧判回差。
     baseline_hold_seconds: 0.5
     minimum_baseline_hold_frames: 10
-    # 15-Tag产品每项正式四轮前先做一次低速往返，端点Tag稳定至少2秒。
+    # 19-Tag产品每项正式四轮前先做一次低速往返，端点Tag稳定至少2秒。
     task_precheck_hold_seconds: 2.0
     position_timeout_seconds: 30.0
     sweep_timeout_seconds: 90.0
@@ -136,11 +144,11 @@ g20_calibration:
     trajectory_maximum_cycle_travel_difference_deg: 3.0
     passive_maximum_cycle_travel_difference_deg: 10.0
     maximum_monotonic_correction_deg: 2.0
-    # 旧布局仍用连续扫描正反程差门限；15-Tag产品的连续运动包含速度相关滞后，
+    # 旧布局仍用连续扫描正反程差门限；19-Tag产品的连续运动包含速度相关滞后，
     # 由方向曲线和最终留出验证建模，不再重复硬判。其绝对正反程门禁使用下面
     # 的九点稳态command_maximum_direction_gap_deg。
     maximum_hysteresis_deg: 2.0
-    # 15-Tag产品模式额外要求每轮正反方向在各自baseline处绕实测关节轴的角度差
+    # 19-Tag产品模式额外要求每轮正反方向在各自baseline处绕实测关节轴的角度差
     # 不超过0.5°；四指roll例外：127以255→127为唯一物理零位，反向分支
     # 保留实测偏差，并改为检查分支间隙上限及跨轮稳定性。
     baseline_maximum_hysteresis_deg: 0.5
@@ -153,13 +161,12 @@ g20_calibration:
     # 的两条运行曲线仍原样保留固件方向死区，不能把command/feedback差算成回差。
     command_maximum_direction_gap_deg: 2.0
 
-    # 默认无额外随机动作；15-Tag产品最终一轮始终作为不可关闭的留出验证。
+    # 默认无额外随机动作；19-Tag产品最终一轮始终作为不可关闭的留出验证。
     validation_enabled: false
     # 第四轮留出求解后必须再走8个固定安全组合姿态；三机位规定Tag全部可见
     # 且实测20通道到位才允许发布。只保存Tag位姿，不保存原始图像。
-    # Developer diagnostic only. The 15-Tag product has one side PIP Tag per
-    # finger and no independent DIP Tag, while the formal fourth sweep cycle
-    # already provides an isolated per-joint holdout.
+    # Developer diagnostic only. The formal fourth sweep cycle already gives
+    # every isolated PIP/DIP pair an independent holdout.
     combination_validation_enabled: false
     combination_validation_frames: 10
     combination_maximum_position_p95_m: 0.003
@@ -170,6 +177,6 @@ g20_calibration:
     validation_timeout_seconds: 20.0
     maximum_validation_mae_deg: 1.0
     maximum_validation_p95_deg: 2.0
-    # 15-Tag产品模式使用更严格的任一点及静态零偏95%置信区间门限。
+    # 19-Tag产品模式使用更严格的任一点及静态零偏95%置信区间门限。
     maximum_validation_error_deg: 3.0
     zero_maximum_confidence_half_width_deg: 1.5

src/g20_thumb_apriltag_calibration/config/three_camera_tags_g20_right_19.yaml

@@ -0,0 +1,63 @@
+/g20_calibration/front/apriltag/apriltag:
+  ros__parameters:
+    image_transport: raw
+    qos_profile: sensor_data
+    family: 36h11
+    size: 0.016
+    profile: false
+    max_hamming: 0
+    detector:
+      threads: 4
+      decimate: 1.5
+      blur: 0.0
+      refine: true
+      sharpening: 0.25
+      debug: false
+    pose_estimation_method: pnp
+    tag:
+      ids: [0, 1, 2, 3, 10, 11, 12, 13]
+      frames: [front_base, thumb_cmc, thumb_mcp, thumb_ip, pinky_roll, ring_roll, middle_roll, index_roll]
+      sizes: [0.016, 0.016, 0.016, 0.016, 0.016, 0.016, 0.016, 0.016]
+
+/g20_calibration/side/apriltag/apriltag:
+  ros__parameters:
+    image_transport: raw
+    qos_profile: sensor_data
+    family: 36h11
+    size: 0.016
+    profile: false
+    max_hamming: 0
+    detector:
+      threads: 4
+      # Distal Tags use the same measured 16 mm black-code edge as all others.
+      decimate: 1.0
+      blur: 0.0
+      refine: true
+      sharpening: 0.25
+      debug: false
+    pose_estimation_method: pnp
+    tag:
+      ids: [4, 5, 6, 7, 14, 15, 16, 17, 18]
+      frames: [side_base, ring_pip, pinky_pip, pinky_dip, ring_dip, middle_pip, middle_dip, index_pip, index_dip]
+      sizes: [0.016, 0.016, 0.016, 0.016, 0.016, 0.016, 0.016, 0.016, 0.016]
+
+/g20_calibration/top/apriltag/apriltag:
+  ros__parameters:
+    image_transport: raw
+    qos_profile: sensor_data
+    family: 36h11
+    size: 0.016
+    profile: false
+    max_hamming: 0
+    detector:
+      threads: 4
+      decimate: 1.5
+      blur: 0.0
+      refine: true
+      sharpening: 0.25
+      debug: false
+    pose_estimation_method: pnp
+    tag:
+      ids: [8, 9]
+      frames: [top_base, thumb_yaw]
+      sizes: [0.016, 0.016]

src/g20_thumb_apriltag_calibration/g20_thumb_apriltag_calibration/full_hand.py

@@ -160,6 +160,12 @@ RIGHT_19_END_ON_IMAGE_CURVE_JOINTS = frozenset(
         *(f"{finger}_pip" for finger in _FINGERS),
     }
 )
+# These joints have no independent actuator.  Their distal Tags directly
+# measure the passive dynamic curve, while their fitted axes serve only as
+# downstream phase observers for the corresponding active PIP.
+RIGHT_19_VISUALLY_MEASURED_PASSIVE_DIPS = frozenset(
+    f"{finger}_dip" for finger in _FINGERS
+)
 _MOTOR_BY_JOINT: dict[str, int] = {
     **{f"{finger}_mcp_pitch": index + 1 for index, finger in enumerate(_FINGERS)},
     **{f"{finger}_mcp_roll": index + 6 for index, finger in enumerate(_FINGERS)},
@@ -337,11 +343,13 @@ LEFT_HAND_PROFILE = _build_hand_profile("left")
 RIGHT_HAND_PROFILE = _build_hand_profile("right")
 
 
+# ``g20_right_15`` remains accepted as a read/CLI compatibility alias, but a
+# newly recorded product session always persists the physical 19-Tag layout
+# identifier.  Together with the exact ``view_tags`` resume check this keeps a
+# former 15-Tag checkpoint from being imported after the four distal Tags are
+# installed again.
 G20_RIGHT_15_LAYOUT = "g20_right_15"
-# Retain the established Python symbol while the product layout moves from 19
-# to 15 physical Tags.  Persisted/session-facing layout IDs use the new value,
-# so old 19-Tag checkpoints cannot be resumed accidentally.
-G20_RIGHT_19_LAYOUT = G20_RIGHT_15_LAYOUT
+G20_RIGHT_19_LAYOUT = "g20_right_19"
 
 # The three CMC axes keep the calibration domain that was proven on this hand
 # in a609d521: dense relative-rotation sweeps with an isolated-cycle holdout.
@@ -423,7 +431,7 @@ def _right_19_auxiliary_commands(
 
 
 def _build_right_19_profile() -> HandCalibrationProfile:
-    """Build the 15-Tag/16-motion-task right-hand profile."""
+    """Build the 19-Tag/16-motion-task right-hand profile."""
     view_tags: dict[str, dict[str, int]] = {
         "front": {
             "front_base": 0,
@@ -439,8 +447,12 @@ def _build_right_19_profile() -> HandCalibrationProfile:
             "side_base": 4,
             "ring_pip": 5,
             "pinky_pip": 6,
+            "pinky_dip": 7,
+            "ring_dip": 14,
             "middle_pip": 15,
+            "middle_dip": 16,
             "index_pip": 17,
+            "index_dip": 18,
         },
         "top": {"top_base": 8, "thumb_yaw": 9},
     }
@@ -449,7 +461,7 @@ def _build_right_19_profile() -> HandCalibrationProfile:
     # palm references.  Every moving Tag is still mandatory, but is checked
     # by its task-local visibility sweep after the other fingers have moved to
     # that task's clearance pose.  Requiring all 15 at one instant would make
-    # a physically correct installation impossible to start.
+    # a physically correct 19-Tag installation impossible to start.
     preflight_view_roles = {
         "front": ("front_base",),
         "side": ("side_base",),
@@ -496,9 +508,19 @@ def _build_right_19_profile() -> HandCalibrationProfile:
             pip, _MOTOR_BY_JOINT[pip], True, "side", "side_base",
             f"{finger}_pip", zero_kind="urdf_axis_chain",
         )
+        # DIP is passive, but no longer unobserved.  The PIP sweep moves the
+        # complete linkage once while the middle/distal Tag pair directly
+        # measures DIP.  Its dynamic curve is therefore visual truth; its
+        # absolute static URDF zero deliberately remains source CAD because an
+        # arbitrary distal-Tag mounting angle is indistinguishable from a DIP
+        # zero offset without a mechanical zero fixture.
         joint_specs[dip] = JointSpec(
-            dip, _MOTOR_BY_JOINT[pip], False, None, None, None,
-            source_joint=pip,
+            dip,
+            _MOTOR_BY_JOINT[pip],
+            False,
+            "side",
+            f"{finger}_pip",
+            f"{finger}_dip",
         )
 
     measurement_specs = dict(joint_specs)
@@ -560,7 +582,7 @@ def _build_right_19_profile() -> HandCalibrationProfile:
                 SweepSpec(
                     "side",
                     pip_motor,
-                    (f"{finger}_pip",),
+                    (f"{finger}_pip", f"{finger}_dip"),
                     f"{finger}_pip_side",
                     _right_19_auxiliary_commands(
                         finger, side_view=True, target_kind="pip"
@@ -601,9 +623,9 @@ def get_hand_calibration_profile(
 ) -> HandCalibrationProfile:
     value = str(side).lower()
     layout = str(layout_id).lower()
-    if layout == G20_RIGHT_19_LAYOUT:
+    if layout in {G20_RIGHT_19_LAYOUT, G20_RIGHT_15_LAYOUT}:
         if value != "right":
-            raise ValueError("g20_right_15 layout requires hand side right")
+            raise ValueError("G20 right product layout requires hand side right")
         return RIGHT_19_HAND_PROFILE
     if layout != "legacy_11":
         raise ValueError(f"unknown G20 tag layout: {layout_id}")
@@ -620,7 +642,7 @@ def derive_mimic_passive_fits(
     *,
     profile: HandCalibrationProfile,
 ) -> dict[str, JointCurveFit]:
-    """Add four non-visual DIP curves using the source URDF mimic contract.
+    """Complete legacy non-visual DIP curves using the URDF mimic contract.
 
     The runtime curves are relative to the baseline command, so a URDF mimic
     offset cancels while the multiplier scales the measured PIP motion.  The
@@ -629,6 +651,18 @@ def derive_mimic_passive_fits(
     result = dict(fits)
     if profile.layout_id != G20_RIGHT_19_LAYOUT:
         return result
+    visually_measured = all(
+        profile.joint_specs[name].source_joint is None
+        for name in MIMIC_DERIVED_FINGER_DIPS
+    )
+    if visually_measured:
+        missing = sorted(set(profile.joint_specs) - set(result))
+        extra = sorted(set(result) - set(profile.joint_specs))
+        if missing or extra:
+            raise ValueError(
+                f"runtime fit set is incomplete: missing={missing} extra={extra}"
+            )
+        return result
     path = Path(source_urdf).expanduser().resolve()
     if not path.is_file():
         raise ValueError(f"source URDF does not exist: {path}")
@@ -694,12 +728,16 @@ def derive_mimic_passive_fits(
 def clamp_runtime_fits_to_urdf_limits(
     source_urdf: str | Path,
     fits: Mapping[str, JointCurveFit],
+    *,
+    endpoint_anchored_offsets_rad: Mapping[str, float] | None = None,
 ) -> dict[str, JointCurveFit]:
-    """Saturate only published/runtime curves at protected CAD limits.
+    """Saturate published curves at protected physical limits.
 
     Raw trajectory fits and all fit/zero diagnostics remain untouched.  The
     returned transfer functions are the commands a URDF/MuJoCo runtime can
-    actually represent safely.
+    actually represent safely.  An endpoint-anchored joint uses the corrected
+    coordinate upper limit ``CAD_upper - origin_offset``; its physical maximum
+    remains exactly the original CAD maximum after the origin correction.
     """
     path = Path(source_urdf).expanduser().resolve()
     joints = {
@@ -707,6 +745,10 @@ def clamp_runtime_fits_to_urdf_limits(
         for node in ET.parse(path).getroot().findall("joint")
     }
     result: dict[str, JointCurveFit] = {}
+    endpoint_offsets = {
+        str(name): float(value)
+        for name, value in dict(endpoint_anchored_offsets_rad or {}).items()
+    }
     for name, fit in fits.items():
         joint = joints.get(name)
         limit = None if joint is None else joint.find("limit")
@@ -718,6 +760,8 @@ def clamp_runtime_fits_to_urdf_limits(
             raise ValueError(f"source URDF joint {name} has no finite position limit")
         lower = float(limit.get("lower"))
         upper = float(limit.get("upper"))
+        if name in endpoint_offsets:
+            upper -= endpoint_offsets[name]
         if not math.isfinite(lower) or not math.isfinite(upper) or lower > upper:
             raise ValueError(f"source URDF joint {name} has invalid position limits")
 
@@ -1712,7 +1756,7 @@ def validate_compact_payload(payload: Mapping[str, Any]) -> None:
     if payload["model"] != "G20" or payload["side"] not in {"left", "right"}:
         raise ValueError("payload must describe a left or right G20")
     # schema-v4 has no layout field.  A right-hand payload without inherited
-    # source_joint fields is the 15-Tag product layout; legacy
+    # source_joint fields is the independent right-hand product layout; legacy
     # payloads retain their source_joint markers and remain readable.
     layout_id = infer_compact_payload_layout(payload)
     independent_right = layout_id == G20_RIGHT_19_LAYOUT

src/g20_thumb_apriltag_calibration/g20_thumb_apriltag_calibration/offline_replay.py

@@ -46,6 +46,7 @@ from .urdf_zero import (
     fit_joint_axis_measurement,
     fit_rotation_joint_curve,
     get_zero_calibration_profile,
+    derive_right_19_flexion_endpoint_offsets,
     joint_curve_holdout_errors,
     solve_urdf_zero_offsets,
     write_zero_corrected_urdf,
@@ -694,6 +695,7 @@ def _validate_corrected_urdf(
     source: Path,
     corrected: Path,
     offsets: Mapping[str, float],
+    endpoint_anchored_offsets: Mapping[str, float],
     axes: Sequence[JointAxisMeasurement],
     curves: Mapping[str, JointCurveFit],
     motor_by_joint: Mapping[str, int],
@@ -738,11 +740,29 @@ def _validate_corrected_urdf(
         original_limit = original_joint.find("limit")
         corrected_limit = corrected_joint.find("limit")
         if original_limit is not None and corrected_limit is not None:
+            expected_lower = float(original_limit.get("lower"))
+            expected_upper = float(original_limit.get("upper"))
+            if name in endpoint_anchored_offsets:
+                expected_upper -= float(endpoint_anchored_offsets[name])
             if (
-                original_limit.get("lower") != corrected_limit.get("lower")
-                or original_limit.get("upper") != corrected_limit.get("upper")
+                abs(float(corrected_limit.get("lower")) - expected_lower) > 1.0e-12
+                or abs(float(corrected_limit.get("upper")) - expected_upper) > 1.0e-12
             ):
                 raise ValueError(f"corrected URDF unexpectedly changed {name} limits")
+        original_mimic = original_joint.find("mimic")
+        corrected_mimic = corrected_joint.find("mimic")
+        if original_mimic is not None and corrected_mimic is not None:
+            source_joint = str(original_mimic.get("joint"))
+            multiplier = float(original_mimic.get("multiplier", "1"))
+            expected_mimic_offset = float(original_mimic.get("offset", "0"))
+            expected_mimic_offset += multiplier * float(
+                endpoint_anchored_offsets.get(source_joint, 0.0)
+            )
+            if abs(
+                float(corrected_mimic.get("offset", "0"))
+                - expected_mimic_offset
+            ) > 1.0e-12:
+                raise ValueError(f"corrected URDF has invalid {name} mimic offset")
     if maximum_origin_translation_error > 1.0e-12:
         raise ValueError("corrected URDF changed a joint origin translation")
     if maximum_origin_rotation_error > 1.0e-10:
@@ -815,13 +835,23 @@ def replay_session(
         raw_path,
     ) = _load_raw_session(session)
     side = str(start["hand_type"]).lower()
-    layout_id = str(start.get("tag_layout", "legacy_11")).lower()
-    profile = get_hand_calibration_profile(side, layout_id)
+    requested_layout_id = str(
+        start.get("tag_layout", "legacy_11")
+    ).lower()
+    profile = get_hand_calibration_profile(side, requested_layout_id)
+    # Normalise the former g20_right_15 compatibility alias immediately so
+    # every downstream product guard uses the actual physical 19-Tag profile
+    # instead of silently falling through legacy-11 logic.
+    layout_id = profile.layout_id
     zero_profile = get_zero_calibration_profile(side, layout_id)
     baseline = tuple(int(value) for value in start["baseline_command_u8"])
     if len(baseline) != 20:
         raise ValueError("session baseline must contain exactly 20 commands")
-    if layout_id == G20_RIGHT_19_LAYOUT and write_outputs:
+    if (
+        layout_id == G20_RIGHT_19_LAYOUT
+        and write_outputs
+        and bool(parameters.get("combination_validation_enabled", False))
+    ):
         replay_rows = [
             json.loads(line)
             for line in raw_path.read_text(encoding="utf-8").splitlines()
@@ -923,7 +953,7 @@ def replay_session(
     training_cycle_set = set(training_cycles)
     if layout_id == G20_RIGHT_19_LAYOUT and len(training_cycles) < 3:
         raise ValueError(
-            "g20_right_15 replay requires at least 3 training cycles and "
+            "g20_right_19 replay requires at least 3 training cycles and "
             "one isolated holdout"
         )
     training_fits = {
@@ -943,7 +973,7 @@ def replay_session(
     if layout_id == G20_RIGHT_19_LAYOUT:
         if set(command_records_by_joint) != set(profile.record_joints):
             raise ValueError(
-                "g20_right_15 session is incomplete: missing steady command checkpoints"
+                "g20_right_19 session is incomplete: missing steady command checkpoints"
             )
         command_fits = {}
         for name in profile.measured_joints:
@@ -1000,13 +1030,10 @@ def replay_session(
                     for name, value in failed_command_gaps.items()
                 )
             )
-        command_fits = clamp_runtime_fits_to_urdf_limits(
+        command_fits = derive_mimic_passive_fits(
             source_urdf,
-            derive_mimic_passive_fits(
-                source_urdf,
-                command_fits,
-                profile=profile,
-            ),
+            command_fits,
+            profile=profile,
         )
     cross_view_roll_metrics: dict[str, dict[str, float]] = {}
     for name, validation_name in (
@@ -1195,6 +1222,22 @@ def replay_session(
     motor_by_joint = {
         name: int(spec.motor_index) for name, spec in profile.joint_specs.items()
     }
+    endpoint_zero_offsets = (
+        derive_right_19_flexion_endpoint_offsets(
+            source_urdf,
+            command_fits,
+            maximum_offset_rad=math.radians(
+                float(parameters.get("flexion_endpoint_maximum_offset_deg", 5.0))
+            ),
+        )
+        if layout_id == G20_RIGHT_19_LAYOUT
+        else {}
+    )
+    command_fits = clamp_runtime_fits_to_urdf_limits(
+        source_urdf,
+        command_fits,
+        endpoint_anchored_offsets_rad=endpoint_zero_offsets,
+    )
     joint_limits: dict[str, float] = {}
     solve_arguments = {
         "source_urdf": source_urdf,
@@ -1243,6 +1286,10 @@ def replay_session(
         "tag_layout": layout_id,
         "training_cycles": training_cycles,
         "validation_cycle": validation_cycle,
+        "fixed_direct_zero_offsets_rad": {
+            **zero_profile.fixed_direct_zero_offsets_rad,
+            **endpoint_zero_offsets,
+        },
     }
     holdout_zero = solve_urdf_zero_offsets(curves=training_fits, **solve_arguments)
     if not holdout_zero.passed:
@@ -1319,12 +1366,14 @@ def replay_session(
             output_directory=temporary,
             serial_number=hand_serial,
             offsets_rad=urdf_offsets,
+            endpoint_anchored_offsets_rad=endpoint_zero_offsets,
             timestamp=stamp,
         )
         urdf_checks = _validate_corrected_urdf(
             source=source_urdf,
             corrected=candidate,
             offsets=urdf_offsets,
+            endpoint_anchored_offsets=endpoint_zero_offsets,
             axes=axes,
             curves=training_fits,
             motor_by_joint=motor_by_joint,
@@ -1337,15 +1386,21 @@ def replay_session(
             # differ slightly at settled checkpoints; using them here creates
             # a fictitious residual zero after a structurally correct write.
             curves=training_fits,
-            fixed_direct_zero_offsets_rad={
-                name: 0.0
-                for name in zero_profile.fixed_direct_zero_offsets_rad
-            },
             static_output_zero_offsets_rad={
                 name: 0.0
                 for name in zero_profile.static_output_zero_offsets_rad
             },
-            **{**solve_arguments, "source_urdf": candidate},
+            **{
+                **solve_arguments,
+                "source_urdf": candidate,
+                "fixed_direct_zero_offsets_rad": {
+                    name: 0.0
+                    for name in (
+                        set(zero_profile.fixed_direct_zero_offsets_rad)
+                        | set(endpoint_zero_offsets)
+                    )
+                },
+            },
         )
         maximum_residual_offset = max(
             abs(float(value)) for value in residual_zero.direct_offsets_rad.values()
@@ -1452,11 +1507,19 @@ def replay_session(
             ),
             "thumb_default": float(parameters["zero_maximum_offset_deg"]),
         },
-        "static_zero_policy": "direct_measurements_only",
+        "static_zero_policy": (
+            "visual_axes_plus_measured_contact_endpoint"
+            if layout_id == G20_RIGHT_19_LAYOUT
+            else "direct_measurements_only"
+        ),
         "fixed_zero_offsets_deg": {
             name: math.degrees(value)
             for name, value in zero_profile.fixed_direct_zero_offsets_rad.items()
         },
+        "endpoint_anchored_zero_offsets_deg": {
+            name: math.degrees(value)
+            for name, value in endpoint_zero_offsets.items()
+        },
         "static_output_zero_offsets_deg": {
             name: math.degrees(value)
             for name, value in zero_profile.static_output_zero_offsets_rad.items()

src/g20_thumb_apriltag_calibration/g20_thumb_apriltag_calibration/one_command.py

@@ -30,6 +30,38 @@ EXIT_PASS = 0
 EXIT_QUALITY = 2
 EXIT_SAFETY = 3
 STATUS_TIMEOUT_SECONDS = 90.0
+FITTING_STATUS_TIMEOUT_SECONDS = 600.0
+
+
+def _status_timeout_seconds(status: Mapping[str, Any]) -> float:
+    """Return the watchdog deadline for the node's current phase.
+
+    Motion and acquisition are expected to publish twice a second and retain
+    the strict transport watchdog.  The final 3-D fit is intentionally a
+    synchronous, CPU-bound operation, so its executor cannot service the
+    status timer until the fit returns.  The node publishes an explicit
+    FITTING status immediately before entering that operation; allow that
+    known phase enough time without weakening motion safety checks.
+    """
+    if str(status.get("state", "")) == "FITTING":
+        return FITTING_STATUS_TIMEOUT_SECONDS
+    return STATUS_TIMEOUT_SECONDS
+
+
+def _calibration_node_exited_before_status(log_path: Path) -> bool:
+    """Detect a launch child crash while the parent launch is still alive."""
+    try:
+        with log_path.open("rb") as stream:
+            stream.seek(0, os.SEEK_END)
+            size = stream.tell()
+            stream.seek(max(0, size - 65536), os.SEEK_SET)
+            tail = stream.read().decode("utf-8", errors="replace")
+    except OSError:
+        return False
+    return (
+        "[three_camera_calibration_node-" in tail
+        and "]: process has died" in tail
+    )
 
 
 class CalibrationMonitor(Node):
@@ -124,7 +156,7 @@ def _launch_command(
 ) -> list[str]:
     values = {
         "hand_type": "right",
-        "tag_layout": "g20_right_15",
+        "tag_layout": "g20_right_19",
         "serial_number": config.serial_number,
         "can_interface": config.can_interface,
         "session_dir": str(session),
@@ -230,6 +262,7 @@ def _run_hardware_session(
         )
         launched_at = time.monotonic()
         last_render = 0.0
+        last_startup_log_check = 0.0
         while True:
             rclpy.spin_once(monitor, timeout_sec=0.1)
             if monitor.latest_status:
@@ -262,6 +295,16 @@ def _run_hardware_session(
                 break
             if process.poll() is not None:
                 raise RuntimeError(f"PUB-STACK-602:ROS stack exited with {process.returncode}")
+            if (
+                not monitor.latest_status
+                and now - last_startup_log_check >= 0.5
+            ):
+                last_startup_log_check = now
+                log_stream.flush()
+                if _calibration_node_exited_before_status(log_path):
+                    raise RuntimeError(
+                        "CAM-STATUS-202:calibration node exited before status"
+                    )
             if (
                 not monitor.latest_status
                 and now - launched_at > STATUS_TIMEOUT_SECONDS
@@ -269,7 +312,8 @@ def _run_hardware_session(
                 raise RuntimeError("CAM-STATUS-202:no calibration status received")
             if (
                 monitor.latest_status
-                and now - monitor.last_status_at > STATUS_TIMEOUT_SECONDS
+                and now - monitor.last_status_at
+                > _status_timeout_seconds(monitor.latest_status)
             ):
                 raise RuntimeError("MOTION-COMM-303:calibration status stopped")
     except KeyboardInterrupt as error:
@@ -419,7 +463,7 @@ def _automatic_resume_candidate(config: ProductConfig) -> Path | None:
         if (
             start is None
             or start.get("hand_type") != "right"
-            or start.get("tag_layout") != "g20_right_15"
+            or start.get("tag_layout") != "g20_right_19"
             or start.get("source_urdf_sha256")
             != config.source_urdf_sha256
         ):
@@ -460,7 +504,7 @@ def run(
         print(_startup_failure_block(path, error), flush=True)
         return EXIT_QUALITY
     if preflight_only:
-        print("PASS：产品文件、相机内外参、15张Tag配置和CAN接口静态预检通过。")
+        print("PASS：产品文件、相机内外参、19张Tag配置和CAN接口静态预检通过。")
         return EXIT_PASS
 
     config.session_root.mkdir(parents=True, exist_ok=True)

src/g20_thumb_apriltag_calibration/g20_thumb_apriltag_calibration/operator_report.py

@@ -268,6 +268,18 @@ def classify_error(reason: str, status: Mapping[str, Any]) -> tuple[str, str, st
     ] if isinstance(views, Mapping) else []
     if value.startswith("CFG-"):
         return value, "产品配置或文件预检失败", "不要移动相机；复制本诊断块给开发者。"
+    if value.startswith("CAM-STATUS-202"):
+        return (
+            "CAM-STATUS-202",
+            "标定节点启动后未发布状态",
+            "机械手尚未开始运动；查看calibration.log中首个节点异常后从断点继续。",
+        )
+    if value.startswith("MOTION-COMM-303"):
+        return (
+            "MOTION-COMM-303",
+            "标定节点状态心跳停止更新",
+            "已采集的完整任务会保留；检查calibration.log后从断点继续，不要重新采集。",
+        )
     if "motor_state_stalled" in value:
         return "MOTION-STALL-301", "电机反馈停止向目标推进，程序已保持当前位置", "先检查机械卡阻，未排除前不要重复强推。"
     if any(
@@ -280,7 +292,11 @@ def classify_error(reason: str, status: Mapping[str, Any]) -> tuple[str, str, st
         )
     ):
         return "OBS-SAMPLE-104", "当前任务的有效视觉轨迹不完整", "根据诊断中的关节、机位和缺失区间处理遮挡或反光后重新运行。"
-    if "synchronised" in value and not missing and group_pnp_reasons:
+    if (
+        ("synchronised" in value or "sweep_start_tag_timeout" in value)
+        and not missing
+        and group_pnp_reasons
+    ):
         return "CAM-GEOMETRY-201", "Tag可见，但整组PnP候选持续被几何检查拒绝", "不要调整Tag；复制本诊断块给开发者检查PnP候选选择。"
     if missing or "tag" in value or "detection" in value or "synchronised" in value:
         return "OBS-TAG-103", f"所需Tag不可用或持续丢失：{missing}", "检查Tag是否脱落、翘起、反光或被遮挡后重新运行。"

src/g20_thumb_apriltag_calibration/g20_thumb_apriltag_calibration/product.py

@@ -58,17 +58,45 @@ def _camera_info_fingerprint(path: Path) -> str:
     )
 
 
-def _tag_ids(path: Path) -> set[int]:
+def _tag_sizes_m_by_id(path: Path) -> dict[int, float]:
     with path.open("r", encoding="utf-8") as stream:
         payload = _mapping(yaml.safe_load(stream), str(path))
-    result: set[int] = set()
+    result: dict[int, float] = {}
     for node in payload.values():
         parameters = _mapping(_mapping(node, "tag node").get("ros__parameters"), "ros__parameters")
         tag = _mapping(parameters.get("tag"), "tag")
         ids = [int(value) for value in tag.get("ids", [])]
-        if result.intersection(ids):
+        sizes = [float(value) for value in tag.get("sizes", [])]
+        if len(ids) != len(sizes):
+            raise ValueError("Tag IDs and sizes must have the same length")
+        if set(result).intersection(ids):
             raise ValueError("Tag IDs must be unique across the three views")
-        result.update(ids)
+        if any(not 0.0 < size < 0.1 for size in sizes):
+            raise ValueError("Tag sizes must be in (0, 0.1) metres")
+        result.update(zip(ids, sizes))
+    return result
+
+
+def _custom_pnp_tag_sizes_m_by_id(
+    path: Path, configured_ids: set[int]
+) -> dict[int, float]:
+    with path.open("r", encoding="utf-8") as stream:
+        payload = _mapping(yaml.safe_load(stream), str(path))
+    parameters = _mapping(
+        _mapping(payload.get("g20_calibration"), "g20_calibration").get(
+            "ros__parameters"
+        ),
+        "ros__parameters",
+    )
+    default = float(parameters.get("tag_size_m", 0.0))
+    ids = [int(value) for value in parameters.get("tag_size_override_ids", [])]
+    sizes = [float(value) for value in parameters.get("tag_size_overrides_m", [])]
+    if len(ids) != len(sizes) or len(set(ids)) != len(ids):
+        raise ValueError("custom PnP Tag-size overrides are invalid")
+    if any(tag_id not in configured_ids for tag_id in ids):
+        raise ValueError("custom PnP Tag-size override ID is not configured")
+    result = {tag_id: default for tag_id in configured_ids}
+    result.update(zip(ids, sizes))
     return result
 
 
@@ -169,11 +197,22 @@ def load_product_config(
         if actual != expected:
             raise ValueError(f"{name} SHA-256 mismatch: expected={expected} actual={actual}")
 
-    expected_tag_ids = set(range(19)) - {7, 14, 16, 18}
-    if _tag_ids(tag_config) != expected_tag_ids:
+    expected_tag_ids = set(range(19))
+    tag_sizes = _tag_sizes_m_by_id(tag_config)
+    if set(tag_sizes) != expected_tag_ids:
         raise ValueError(
-            "g20_right_15 Tag config must contain exactly IDs "
-            "0,1,2,3,4,5,6,8,9,10,11,12,13,15,17"
+            "g20_right_19 Tag config must contain exactly IDs 0 through 18"
+        )
+    expected_tag_sizes = {tag_id: 0.016 for tag_id in expected_tag_ids}
+    if tag_sizes != expected_tag_sizes:
+        raise ValueError(
+            "g20_right_19 black-code Tag sizes must be 16 mm for every ID"
+        )
+    if _custom_pnp_tag_sizes_m_by_id(
+        calibration_config, expected_tag_ids
+    ) != tag_sizes:
+        raise ValueError(
+            "custom PnP Tag sizes do not match the apriltag_ros Tag config"
         )
 
     camera_raw = _mapping(raw.get("cameras"), "cameras")

src/g20_thumb_apriltag_calibration/g20_thumb_apriltag_calibration/publication.py

@@ -18,18 +18,23 @@ from scipy.spatial.transform import Rotation
 from .full_hand import (
     G20_COMBINATION_REQUIRED_TARGET_KEYS,
     G20_RIGHT_19_LAYOUT,
-    MIMIC_DERIVED_FINGER_DIPS,
     get_hand_calibration_profile,
     validate_compact_payload,
 )
 from .product import ProductConfig, sha256_file
 from .storage import atomic_write_json
-from .urdf_zero import get_zero_calibration_profile
+from .urdf_zero import (
+    RIGHT_19_FLEXION_ENDPOINT_JOINTS,
+    get_zero_calibration_profile,
+)
 
 
 PASSIVE_JOINTS = frozenset(
     {"thumb_ip", "index_dip", "middle_dip", "ring_dip", "pinky_dip"}
 )
+VISUALLY_MEASURED_FINGER_DIPS = frozenset(
+    {"index_dip", "middle_dip", "ring_dip", "pinky_dip"}
+)
 ACTIVE_ZERO_JOINTS = frozenset(
     get_zero_calibration_profile("right", G20_RIGHT_19_LAYOUT).direct_zero_joints
 )
@@ -83,6 +88,40 @@ def _mask_active_origin_rpy_fields(text: str) -> str:
     return pattern.sub(replace, text)
 
 
+def _mask_endpoint_coordinate_fields(text: str) -> str:
+    """Mask only limit/mimic fields induced by flexion zero coordinates."""
+    pattern = re.compile(
+        r"<joint\b[^>]*\bname\s*=\s*([\"'])(?P<name>[^\"']+)\1[^>]*>.*?</joint>",
+        re.DOTALL,
+    )
+
+    def replace(match: re.Match[str]) -> str:
+        block = match.group(0)
+        name = match.group("name")
+        if name in RIGHT_19_FLEXION_ENDPOINT_JOINTS:
+            return re.sub(
+                r"(<limit\b[^>]*\bupper\s*=\s*)([\"'])[^\"']*\2",
+                r"\1\2__CALIBRATED_UPPER__\2",
+                block,
+                count=1,
+            )
+        mimic = re.search(
+            r"<mimic\b[^>]*\bjoint\s*=\s*([\"'])(?P<source>[^\"']+)\1[^>]*>",
+            block,
+            re.DOTALL,
+        )
+        if mimic is not None and mimic.group("source") in RIGHT_19_FLEXION_ENDPOINT_JOINTS:
+            return re.sub(
+                r"(<mimic\b[^>]*\boffset\s*=\s*)([\"'])[^\"']*\2",
+                r"\1\2__CALIBRATED_MIMIC_OFFSET__\2",
+                block,
+                count=1,
+            )
+        return block
+
+    return pattern.sub(replace, text)
+
+
 def _triplet(value: str) -> np.ndarray:
     result = np.asarray([float(item) for item in value.split()], dtype=float)
     if result.shape != (3,) or not np.all(np.isfinite(result)):
@@ -158,6 +197,7 @@ def verify_corrected_urdf(
     corrected: str | Path,
     *,
     expected_offsets_rad: Mapping[str, float] | None = None,
+    endpoint_anchored_offsets_rad: Mapping[str, float] | None = None,
 ) -> tuple[str, ...]:
     """Prove that only active-joint origin.rpy attributes changed.
 
@@ -173,24 +213,50 @@ def verify_corrected_urdf(
     # Text patchers may normalize only the final newline.  It has no URDF/XML
     # semantics; every joint block and every non-rpy byte remains guarded
     # below.
-    if _mask_active_origin_rpy_fields(source_text).rstrip("\r\n") != (
-        _mask_active_origin_rpy_fields(corrected_text).rstrip("\r\n")
-    ):
-        raise ValueError("corrected URDF changed content outside active origin.rpy")
+    masked_source = _mask_endpoint_coordinate_fields(
+        _mask_active_origin_rpy_fields(source_text)
+    ).rstrip("\r\n")
+    masked_corrected = _mask_endpoint_coordinate_fields(
+        _mask_active_origin_rpy_fields(corrected_text)
+    ).rstrip("\r\n")
+    if masked_source != masked_corrected:
+        raise ValueError(
+            "corrected URDF changed content outside active origin.rpy or "
+            "endpoint-calibrated fields"
+        )
     changed: list[str] = []
     for name in before:
         if before[name] == after[name]:
             continue
-        if name not in ACTIVE_ZERO_JOINTS:
+        if name not in ACTIVE_ZERO_JOINTS and name not in PASSIVE_JOINTS:
             raise ValueError(f"corrected URDF changed protected joint {name}")
-        if _mask_origin_rpy(before[name]) != _mask_origin_rpy(after[name]):
-            raise ValueError(f"corrected URDF changed more than origin.rpy for {name}")
-        changed.append(name)
-    for name in PASSIVE_JOINTS:
-        if before.get(name) != after.get(name):
-            raise ValueError(f"passive joint/mimic block changed: {name}")
+        if name in ACTIVE_ZERO_JOINTS:
+            changed.append(name)
     if expected_offsets_rad is not None:
         _verify_expected_origin_offsets(source, corrected, expected_offsets_rad)
+    endpoint_offsets = {
+        str(name): float(value)
+        for name, value in dict(endpoint_anchored_offsets_rad or {}).items()
+    }
+    if endpoint_offsets:
+        source_joints = _joint_elements(source)
+        corrected_joints = _joint_elements(corrected)
+        for name, offset in endpoint_offsets.items():
+            original_limit = source_joints[name].find("limit")
+            corrected_limit = corrected_joints[name].find("limit")
+            expected_upper = float(original_limit.get("upper")) - offset
+            if abs(float(corrected_limit.get("upper")) - expected_upper) > 1.0e-10:
+                raise ValueError(f"corrected URDF has invalid {name} upper limit")
+        for name in PASSIVE_JOINTS:
+            original_mimic = source_joints[name].find("mimic")
+            corrected_mimic = corrected_joints[name].find("mimic")
+            if original_mimic is None or corrected_mimic is None:
+                continue
+            source_name = str(original_mimic.get("joint"))
+            expected = float(original_mimic.get("offset", "0"))
+            expected += float(original_mimic.get("multiplier", "1")) * endpoint_offsets.get(source_name, 0.0)
+            if abs(float(corrected_mimic.get("offset", "0")) - expected) > 1.0e-10:
+                raise ValueError(f"corrected URDF has invalid {name} mimic offset")
     return tuple(sorted(changed))
 
 
@@ -349,7 +415,9 @@ def active_offsets(payload: Mapping[str, Any]) -> dict[str, float]:
     if set(result) != ACTIVE_ZERO_JOINTS or any(
         not math.isfinite(value) for value in result.values()
     ):
-        raise ValueError("payload does not contain 12 finite observable zero offsets")
+        raise ValueError(
+            "payload does not contain all finite observable active zero offsets"
+        )
     return result
 
 
@@ -417,10 +485,10 @@ def find_compatible_prior_session(
 
 def _verify_combination_validation(combination: Mapping[str, Any]) -> None:
     # The formal product uses the independently held-out fourth sweep cycle.
-    # The optional eight-pose check is a developer diagnostic because the
-    # 15-Tag layout has no DIP Tags and the axis-line zero solve does not
-    # establish an absolute Cartesian hand-base transform.  When explicitly
-    # enabled, retain its strict coverage and error checks.
+    # The optional eight-pose check remains a developer diagnostic because the
+    # axis-line zero solve does not establish an absolute Cartesian hand-base
+    # transform.  When explicitly enabled, retain its strict coverage and
+    # error checks.
     if not bool(combination.get("enabled")):
         return
     position_p95 = float(combination.get("position_p95_m", float("inf")))
@@ -476,14 +544,6 @@ def finalize_session_artifacts(
         raise ValueError("runtime JSON is not the compact right-hand schema v4")
     if not bool(payload.get("quality", {}).get("passed")):
         raise ValueError("runtime JSON quality is not passed")
-    payload, clipped_runtime_joints = clamp_compact_payload_to_urdf_limits(
-        payload, config.source_urdf
-    )
-    if clipped_runtime_joints:
-        # A node from before runtime-limit saturation may already have written
-        # an otherwise valid commit candidate.  Normalize it before hashing
-        # and publication so completed sessions can be recovered offline.
-        atomic_write_json(paths["json"], payload)
     combination = node_status.get("combination_validation")
     if not isinstance(combination, Mapping):
         raise ValueError("node status is missing combination validation")
@@ -493,8 +553,17 @@ def finalize_session_artifacts(
         config.source_urdf,
         paths["urdf"],
         expected_offsets_rad=offsets,
+        endpoint_anchored_offsets_rad={
+            name: offsets[name]
+            for name in RIGHT_19_FLEXION_ENDPOINT_JOINTS
+        },
     )
-    validate_runtime_curves_against_urdf_limits(payload, config.source_urdf)
+    payload, clipped_runtime_joints = clamp_compact_payload_to_urdf_limits(
+        payload, paths["urdf"]
+    )
+    if clipped_runtime_joints:
+        atomic_write_json(paths["json"], payload)
+    validate_runtime_curves_against_urdf_limits(payload, paths["urdf"])
     mesh_resources = verify_urdf_mesh_resources(paths["urdf"])
     mesh_hashes = {
         name: sha256_file(path) for name, path in mesh_resources.items()
@@ -518,7 +587,10 @@ def finalize_session_artifacts(
             RETAINED_ACTIVE_ZERO_JOINTS
         ),
         "retained_passive_urdf_joints": sorted(PASSIVE_JOINTS),
-        "mimic_derived_dynamic_joints": sorted(MIMIC_DERIVED_FINGER_DIPS),
+        "mimic_derived_dynamic_joints": [],
+        "visually_measured_passive_joints": sorted(
+            VISUALLY_MEASURED_FINGER_DIPS
+        ),
         "changed_urdf_joint_origins": list(changed_joints),
         "hashes": {
             "source_urdf_sha256": config.source_urdf_sha256,

src/g20_thumb_apriltag_calibration/g20_thumb_apriltag_calibration/three_camera_diagnostics.py

@@ -272,6 +272,17 @@ def three_camera_reason_zh(
             "检查CAN、机械手使能和是否存在机械卡阻，确认安全后调用resume。",
         )
     if reason == "sweep_start_tag_timeout":
+        group_reasons = active.get("group_pnp_reasons", {})
+        if isinstance(group_reasons, Mapping) and group_reasons:
+            reason_text = "、".join(
+                f"{VIEW_NAMES_ZH.get(str(view), str(view))}={value}"
+                for view, value in group_reasons.items()
+            )
+            return (
+                "被测电机已经到达扫描起点，所需Tag也可见，但整组PnP初始化持续"
+                f"拒绝候选（{reason_text}），因此没有生成同步端点帧。",
+                "不要重新粘贴可见Tag；保留当前会话并复制诊断块给开发者检查PnP安装先验。",
+            )
         return (
             "被测电机已经到达扫描起点，但当前任务所需的实时运动Tag没有形成足够的"
             "同步有效帧。允许遮挡的固定掌部Tag会显示为“锁”，不会触发此错误。",
@@ -315,8 +326,9 @@ def three_camera_reason_zh(
             "rotation_orthogonal_rms_deg": "三维旋转轴外残差RMS",
             "axis_plane_rms_mm": "三维圆轴向RMS",
             "axis_radial_rms_mm": "三维圆半径RMS",
+            "axis_pose_line_rms_mm": "姿态轨迹轴线RMS",
             "rotation_circle_axis_difference_deg": "姿态轴与圆轨迹轴夹角",
-            "axis_cycle_difference_deg": "三轮转轴方向极差",
+            "axis_cycle_difference_deg": "各轮转轴方向极差",
             "third_cycle_axis_holdout_deg": "第三轮留出零位可观测轴向误差",
             "third_cycle_axis_line_rms_mm": "第三轮留出轴线RMS",
             "third_cycle_trajectory_p95_deg": "第三轮留出轨迹误差P95",
@@ -340,6 +352,7 @@ def three_camera_reason_zh(
             "rotation_orthogonal_rms_deg": "°",
             "axis_plane_rms_mm": "mm",
             "axis_radial_rms_mm": "mm",
+            "axis_pose_line_rms_mm": "mm",
             "rotation_circle_axis_difference_deg": "°",
             "axis_cycle_difference_deg": "°",
             "third_cycle_axis_holdout_deg": "°",

src/g20_thumb_apriltag_calibration/g20_thumb_apriltag_calibration/three_camera_node.py

@@ -17,7 +17,9 @@ from typing import Any, Mapping, Sequence
 import numpy as np
 import rclpy
 from apriltag_msgs.msg import AprilTagDetectionArray
+from rclpy.exceptions import ParameterUninitializedException
 from rclpy.node import Node
+from rclpy.parameter import Parameter
 from rclpy.qos import qos_profile_sensor_data
 from scipy.spatial.transform import Rotation
 from sensor_msgs.msg import CameraInfo, JointState
@@ -51,6 +53,7 @@ from .full_hand import (
     G20_RIGHT_19_LAYOUT,
     LEFT_HAND_PROFILE,
     RIGHT_19_END_ON_IMAGE_CURVE_JOINTS,
+    RIGHT_19_VISUALLY_MEASURED_PASSIVE_DIPS,
     THREE_CAMERA_BASELINE_COMMAND,
     HandCalibrationProfile,
     JointCurveFit,
@@ -86,6 +89,7 @@ from .urdf_zero import (
     circle_direction_is_constrained,
     fit_joint_axis_measurement,
     fit_rotation_joint_curve,
+    derive_right_19_flexion_endpoint_offsets,
     joint_curve_holdout_errors,
     measure_joint_curve_observation,
     solve_urdf_zero_offsets,
@@ -264,6 +268,130 @@ def _sweep_joints_for_view(
     )
 
 
+def resume_tasks_invalidated_by_tag_size_changes(
+    profile: HandCalibrationProfile,
+    previous_sizes_m_by_id: Mapping[int, float],
+    current_sizes_m_by_id: Mapping[int, float],
+) -> tuple[tuple[int, ...], tuple[str, ...]]:
+    """Localise a corrected physical Tag size to dependent motion tasks.
+
+    PnP translations stored in a checkpoint are already scaled by the Tag
+    size used during acquisition and cannot be repaired exactly afterwards.
+    A size-only product correction therefore invalidates every task that used
+    one of those Tags, while complete tasks whose required Tags are unchanged
+    remain valid sparse checkpoints.
+    """
+    previous = {
+        int(key): float(value)
+        for key, value in previous_sizes_m_by_id.items()
+    }
+    current = {
+        int(key): float(value)
+        for key, value in current_sizes_m_by_id.items()
+    }
+    if set(previous) != set(current):
+        raise ValueError("resume Tag-size maps contain different Tag IDs")
+    if any(
+        not math.isfinite(value) or value <= 0.0
+        for value in (*previous.values(), *current.values())
+    ):
+        raise ValueError("resume Tag sizes must be finite and positive")
+    changed_ids = {
+        tag_id
+        for tag_id in current
+        if not math.isclose(
+            previous[tag_id], current[tag_id], rel_tol=0.0, abs_tol=1.0e-12
+        )
+    }
+    affected: list[str] = []
+    base_role_by_view = {
+        "front": "front_base",
+        "side": "side_base",
+        "top": "top_base",
+    }
+    for spec in profile.sweep_specs:
+        used_ids: set[int] = set()
+        for view in _sweep_views(profile, spec):
+            used_ids.add(int(profile.view_tags[view][base_role_by_view[view]]))
+            for joint_name in _sweep_joints_for_view(profile, spec, view):
+                joint = profile.record_specs[joint_name]
+                for role in (joint.parent_role, joint.child_role):
+                    if role is not None:
+                        used_ids.add(int(profile.view_tags[view][role]))
+        if used_ids & changed_ids:
+            affected.append(spec.key)
+    return tuple(sorted(changed_ids)), tuple(affected)
+
+
+def _fit_retry_joint_names(
+    profile: HandCalibrationProfile,
+    spec: SweepSpec,
+    failures: Sequence[Mapping[str, Any]],
+) -> set[str]:
+    """Resolve the independently failed measurements in a physical task."""
+    selected: set[str] = set()
+    validation_sources = profile.axis_validation_sources or {}
+    for failure in failures:
+        name = str(failure.get("joint", ""))
+        if str(failure.get("metric", "")) == "cross_view_roll_curve":
+            name = str(validation_sources.get(name, name))
+        if name in spec.joints:
+            selected.add(name)
+    return selected or set(spec.joints)
+
+
+def _isolated_axis_cycle_outliers(
+    axes: Sequence[np.ndarray], limit_rad: float
+) -> set[int]:
+    """Return one unambiguous outlier outside an all-other-cycle cluster.
+
+    At least three mutually consistent inlier cycles are required. Ambiguous
+    or generally scattered axes deliberately return an empty set so callers
+    retain the conservative full-task retry.
+    """
+    if len(axes) < 4:
+        return set()
+    candidates: list[tuple[float, int]] = []
+    for excluded in range(len(axes)):
+        inliers = [
+            np.asarray(axis, dtype=float)
+            for index, axis in enumerate(axes)
+            if index != excluded
+        ]
+        consistent = True
+        maximum_inlier_difference = 0.0
+        for left_index, left in enumerate(inliers):
+            for right in inliers[left_index + 1 :]:
+                difference = math.acos(
+                    abs(float(np.clip(left @ right, -1.0, 1.0)))
+                )
+                maximum_inlier_difference = max(
+                    maximum_inlier_difference, difference
+                )
+                if difference > float(limit_rad):
+                    consistent = False
+                    break
+            if not consistent:
+                break
+        if consistent:
+            candidates.append((maximum_inlier_difference, excluded))
+    if not candidates:
+        return set()
+    candidates.sort()
+    best_spread, best_excluded = candidates[0]
+    # A gradual end-to-end drift can produce two different all-but-one
+    # subsets just under the formal limit. Localize only when one three-cycle
+    # cluster is substantially tighter than the acceptance band.
+    if best_spread > 0.5 * float(limit_rad):
+        return set()
+    if (
+        len(candidates) > 1
+        and abs(candidates[1][0] - best_spread) <= math.radians(0.01)
+    ):
+        return set()
+    return {best_excluded}
+
+
 def _fixed_base_role(view: str) -> str:
     return {
         "front": "front_base",
@@ -575,6 +703,19 @@ def _unresolved_fit_failure_tasks(
                 # failures that mixed velocity lag or firmware tracking
                 # deadband with mechanical hysteresis are safe to revalidate.
                 return True
+            if (
+                profile.layout_id == G20_RIGHT_19_LAYOUT
+                and joint_name
+                in RIGHT_19_VISUALLY_MEASURED_PASSIVE_DIPS
+                and metric == "axis_pose_line_rms_mm"
+            ):
+                # Product v19 originally treated the correlated per-frame
+                # pose-line residual of an incorrectly scaled passive-DIP Tag as the
+                # uncertainty of its fitted axis centre.  Current code
+                # revalidates those complete raw trajectories using radial,
+                # cross-cycle and holdout gates, so the old rejection itself
+                # must not force another eight-direction scan.
+                return True
             return metric in {
                 "rotation_circle_axis_difference_deg",
                 "axis_plane_rms_mm",
@@ -1085,6 +1226,7 @@ class ViewRuntime:
     tracker: SquareTagPoseTracker
     group_tracker: SquareTagGroupPoseTracker
     view_tags: Mapping[str, int] = field(default_factory=dict)
+    tag_sizes_m_by_role: Mapping[str, float] = field(default_factory=dict)
     preflight_roles: tuple[str, ...] = ()
     role_by_id: dict[int, str] = field(default_factory=dict)
     group_trackers: dict[
@@ -1132,6 +1274,13 @@ class ViewRuntime:
             self.preflight_roles = tuple(self.view_tags)
         if any(role not in self.view_tags for role in self.preflight_roles):
             raise ValueError("preflight roles must be configured for the view")
+        if any(role not in self.view_tags for role in self.tag_sizes_m_by_role):
+            raise ValueError("Tag-size roles must be configured for the view")
+        if any(
+            not math.isfinite(float(size)) or float(size) <= 0.0
+            for size in self.tag_sizes_m_by_role.values()
+        ):
+            raise ValueError("Tag sizes must be finite and positive")
         self.current_required_roles = tuple(self.preflight_roles)
         self.group_trackers[tuple(self.preflight_roles)] = self.group_tracker
 
@@ -1237,6 +1386,7 @@ class G20ThreeCameraCalibrationNode(Node):
         self.retry_sweep_spec: SweepSpec | None = None
         self.retry_resume_index: int | None = None
         self.retry_sweep_items: list[SweepItem] = []
+        self.retry_joint_names: set[str] = set()
         self.active_sweep_is_fit_retry = False
         self.fit_failure: dict[str, Any] = {}
         self.fit_failure_history_by_task: dict[
@@ -1359,6 +1509,12 @@ class G20ThreeCameraCalibrationNode(Node):
                 f"/g20_calibration/{view}/apriltag/detections",
             )
         self.declare_parameter("tag_size_m", 0.016)
+        self.declare_parameter(
+            "tag_size_override_ids", Parameter.Type.INTEGER_ARRAY
+        )
+        self.declare_parameter(
+            "tag_size_overrides_m", Parameter.Type.DOUBLE_ARRAY
+        )
         self.declare_parameter(
             "baseline_command_u8", list(THREE_CAMERA_BASELINE_COMMAND)
         )
@@ -1414,6 +1570,7 @@ class G20ThreeCameraCalibrationNode(Node):
         )
         self.declare_parameter("zero_maximum_offset_deg", 20.0)
         self.declare_parameter("zero_finger_maximum_offset_deg", 3.0)
+        self.declare_parameter("flexion_endpoint_maximum_offset_deg", 5.0)
         self.declare_parameter("endpoint_tolerance_u8", 2.0)
         self.declare_parameter(
             "steady_checkpoint_command_feedback_tolerance_u8", 8.0
@@ -1510,6 +1667,17 @@ class G20ThreeCameraCalibrationNode(Node):
         def value(name: str) -> Any:
             return self.get_parameter(name).value
 
+        def optional_array(name: str) -> Sequence[Any]:
+            # An empty YAML sequence has no element type.  With a typed ROS 2
+            # declaration it can therefore remain NOT_SET and ``.value``
+            # raises instead of returning an empty list.  These overrides are
+            # optional, so preserve the default-size semantics in that case.
+            try:
+                result = value(name)
+            except ParameterUninitializedException:
+                return ()
+            return () if result is None else result
+
         self.hand_type = str(value("hand_type")).lower()
         self.tag_layout = str(value("tag_layout")).lower()
         self.profile: HandCalibrationProfile = get_hand_calibration_profile(
@@ -1578,6 +1746,46 @@ class G20ThreeCameraCalibrationNode(Node):
             for view in ("front", "side", "top")
         }
         self.tag_size_m = float(value("tag_size_m"))
+        override_ids = tuple(
+            int(item) for item in optional_array("tag_size_override_ids")
+        )
+        override_sizes = tuple(
+            float(item) for item in optional_array("tag_size_overrides_m")
+        )
+        if len(override_ids) != len(override_sizes):
+            raise ValueError(
+                "tag_size_override_ids and tag_size_overrides_m must have "
+                "the same length"
+            )
+        if len(set(override_ids)) != len(override_ids):
+            raise ValueError("tag_size_override_ids must be unique")
+        configured_tag_ids = {
+            int(tag_id)
+            for tags in self.profile.view_tags.values()
+            for tag_id in tags.values()
+        }
+        if (
+            self.profile.layout_id == G20_RIGHT_19_LAYOUT
+            and any(tag_id not in configured_tag_ids for tag_id in override_ids)
+        ):
+            raise ValueError("Tag-size override contains an unconfigured Tag ID")
+        if (
+            not math.isfinite(self.tag_size_m)
+            or self.tag_size_m <= 0.0
+            or any(
+                not math.isfinite(size) or size <= 0.0
+                for size in override_sizes
+            )
+        ):
+            raise ValueError("Tag sizes must be finite and positive")
+        self.tag_sizes_m_by_id = {
+            tag_id: self.tag_size_m for tag_id in configured_tag_ids
+        }
+        self.tag_sizes_m_by_id.update(
+            (tag_id, size)
+            for tag_id, size in zip(override_ids, override_sizes)
+            if tag_id in configured_tag_ids
+        )
         self.baseline_command = tuple(
             int(item) for item in value("baseline_command_u8")
         )
@@ -1688,7 +1896,10 @@ class G20ThreeCameraCalibrationNode(Node):
         self.zero_finger_maximum_offset_rad = math.radians(
             float(value("zero_finger_maximum_offset_deg"))
         )
-        self.zero_joint_maximum_offsets_rad: dict[str, float] = {}
+        self.flexion_endpoint_maximum_offset_rad = math.radians(
+            float(value("flexion_endpoint_maximum_offset_deg"))
+        )
+        self.zero_joint_maximum_offsets_rad = {}
         self.endpoint_tolerance_u8 = float(value("endpoint_tolerance_u8"))
         self.steady_checkpoint_command_feedback_tolerance_u8 = float(
             value("steady_checkpoint_command_feedback_tolerance_u8")
@@ -1867,7 +2078,7 @@ class G20ThreeCameraCalibrationNode(Node):
                 r"[0-9a-f]{64}", self.source_urdf_expected_sha256
             ) is None:
                 raise ValueError(
-                    "g20_right_15 requires source_urdf_expected_sha256 from "
+                    "g20_right_19 requires source_urdf_expected_sha256 from "
                     "the CAD/hardware owner; unconfirmed source CAD cannot "
                     "produce a formal corrected URDF"
                 )
@@ -2006,6 +2217,7 @@ class G20ThreeCameraCalibrationNode(Node):
                 self.zero_maximum_axis_cone_mismatch_rad,
                 self.zero_maximum_offset_rad,
                 self.zero_finger_maximum_offset_rad,
+                self.flexion_endpoint_maximum_offset_rad,
                 self.maximum_validation_error_rad,
                 self.zero_maximum_confidence_half_width_rad,
                 self.task_precheck_hold_seconds,
@@ -2033,7 +2245,7 @@ class G20ThreeCameraCalibrationNode(Node):
             and self.repetitions < 4
         ):
             raise ValueError(
-                "g20_right_15 requires at least 4 repetitions: at least 3 "
+                "g20_right_19 requires at least 4 repetitions: at least 3 "
                 "training cycles and one isolated holdout"
             )
         if (
@@ -2067,7 +2279,7 @@ class G20ThreeCameraCalibrationNode(Node):
             and self.profile.layout_id != G20_RIGHT_19_LAYOUT
         ):
             raise ValueError(
-                "cross-view roll diagnostic requires g20_right_15"
+                "cross-view roll diagnostic requires g20_right_19"
             )
         if not 1.0 <= self.provisional_warning_ratio <= 2.0:
             raise ValueError("provisional_warning_ratio must be in [1, 2]")
@@ -2121,7 +2333,19 @@ class G20ThreeCameraCalibrationNode(Node):
         # static IPPE mirror branches; their face-normal consistency can.  Do
         # not apply this prior to the articulated front thumb chain.
         normal_alignment_pairs = (
-            adjacent_pairs if name == "side" and len(role_tuple) <= 4 else ()
+            tuple(
+                pair
+                for pair in adjacent_pairs
+                # Distal 16 mm Tags may be carried by a rigid extension rod
+                # to remain visible through PIP flexion.  Its mounting plane
+                # is arbitrary and must not be required to be parallel to the
+                # middle-phalanx Tag.  Static rigidity and relative-pose
+                # continuity still disambiguate that PIP->DIP pair; retain
+                # the palm/base->middle-Tag normal prior unchanged.
+                if not pair[1].endswith("_dip")
+            )
+            if name == "side" and len(role_tuple) <= 4
+            else ()
         )
         thumb_mcp_ip_roles = {"thumb_cmc", "thumb_mcp", "thumb_ip"}
         thumb_mcp_ip_coupling = ()
@@ -2198,6 +2422,10 @@ class G20ThreeCameraCalibrationNode(Node):
             tracker=tracker,
             group_tracker=group,
             view_tags=self.profile.view_tags[name],
+            tag_sizes_m_by_role={
+                role: self.tag_sizes_m_by_id[int(tag_id)]
+                for role, tag_id in self.profile.view_tags[name].items()
+            },
             preflight_roles=preflight_roles,
         )
 
@@ -2606,7 +2834,11 @@ class G20ThreeCameraCalibrationNode(Node):
                 pose, rejection = runtime.tracker.estimate(
                     role,
                     corners_by_role[role],
-                    tag_size_m=runtime.tag_size_m,
+                    tag_size_m=float(
+                        runtime.tag_sizes_m_by_role.get(
+                            role, runtime.tag_size_m
+                        )
+                    ),
                     camera_matrix=runtime.camera_matrix,
                     stamp_ns=stamp,
                 )
@@ -2749,9 +2981,23 @@ class G20ThreeCameraCalibrationNode(Node):
         runtime.last_message_at = now
         runtime.detection_times.append(now)
         runtime.valid_flags.append(valid)
-        if runtime.current_required_roles != tuple(
-            runtime.preflight_roles
+        task_sweep_capture = bool(
+            self.state == STATE_SWEEP
+            and self.active_sweep is not None
+            and view in _sweep_views(
+                _node_profile(self), self.active_sweep.spec
+            )
+        )
+        if (
+            runtime.current_required_roles
+            != tuple(runtime.preflight_roles)
+            and task_sweep_capture
         ):
+            # Attempt-level validity is a motion-trajectory metric.  PREPARE
+            # deliberately rejects the first N frames while the group PnP
+            # tracker initializes; counting those expected frames made clean
+            # side tasks report about 94% and triggered full four-round
+            # rescans despite 100% visibility prechecks and dense trajectories.
             runtime.task_total_frames += 1
             if valid:
                 runtime.task_valid_frames += 1
@@ -3060,16 +3306,23 @@ class G20ThreeCameraCalibrationNode(Node):
         )
 
     def _prepare_failed_sweep_retry(self) -> SweepSpec:
-        """Discard only failed cycles and queue their two sweep directions."""
+        """Discard only failed measurements/cycles and queue two directions."""
         if self.retry_sweep_spec is None:
             raise RuntimeError("no failed sweep is pending retry")
         spec = self.retry_sweep_spec
         repetitions = int(getattr(self, "repetitions", 3))
         cycles = set(getattr(self, "retry_cycles", set(range(repetitions))))
+        retry_joint_names = set(
+            getattr(self, "retry_joint_names", set()) or spec.joints
+        )
+        retry_joint_names.intersection_update(spec.joints)
+        if not retry_joint_names:
+            retry_joint_names = set(spec.joints)
+        self.retry_joint_names = retry_joint_names
         baseline_records_by_joint = getattr(
             self, "baseline_records_by_joint", {}
         )
-        for joint_name in spec.joints:
+        for joint_name in retry_joint_names:
             self.records_by_joint[joint_name][:] = [
                 record
                 for record in self.records_by_joint[joint_name]
@@ -3110,13 +3363,24 @@ class G20ThreeCameraCalibrationNode(Node):
         # retry.  Raw samples remain logged and all final quality gates stay
         # unchanged.
         reset_trackers = getattr(self, "_reset_view_trackers", None)
-        for view in _sweep_views(_node_profile(self), spec):
+        retry_views = {
+            _node_profile(self).record_specs[name].view
+            for name in retry_joint_names
+        }
+        for view in retry_views:
+            if view is None:
+                continue
             runtime = getattr(self, "views", {}).get(view)
             if runtime is None or reset_trackers is None:
                 continue
             reset_trackers(runtime)
             runtime.pnp_invalid_since = None
             runtime.pnp_reset_count += 1
+            # Detection quality is attempt-local. Carrying the previous
+            # attempt into this retry made its percentage describe two PnP
+            # branches instead of the data currently being admitted.
+            runtime.task_valid_frames = 0
+            runtime.task_total_frames = 0
         storage_key = _sweep_storage_key(spec)
         self.sweep_attempts[storage_key] = (
             self.sweep_attempts.get(storage_key, 1) + 1
@@ -3132,6 +3396,7 @@ class G20ThreeCameraCalibrationNode(Node):
                 **({"task_name": spec.key} if spec.task_name else {}),
                 "motor_index": spec.motor_index,
                 "joints": list(spec.joints),
+                "joints_to_rescan": sorted(retry_joint_names),
                 "attempt": self.sweep_attempts[storage_key],
                 "reason": self.paused_reason,
                 "cycles": [cycle + 1 for cycle in sorted(cycles)],
@@ -3167,6 +3432,13 @@ class G20ThreeCameraCalibrationNode(Node):
         if len(starts) != 1:
             raise RuntimeError("resume raw must contain exactly one session_start")
         start = starts[0]
+        previous_tag_sizes = {
+            int(tag_id): float(size)
+            for tag_id, size in dict(
+                start.get("tag_sizes_m_by_id", {})
+            ).items()
+        }
+        current_tag_sizes = dict(getattr(self, "tag_sizes_m_by_id", {}))
         if (
             str(start.get("hand_type")) != self.hand_type
             or str(start.get("tag_layout")) != self.profile.layout_id
@@ -3180,6 +3452,25 @@ class G20ThreeCameraCalibrationNode(Node):
             raise RuntimeError(
                 "resume checkpoint geometry, Tag layout, baseline or source URDF differs"
             )
+        try:
+            changed_tag_size_ids, size_invalidated_tasks = (
+                resume_tasks_invalidated_by_tag_size_changes(
+                    self.profile,
+                    previous_tag_sizes,
+                    current_tag_sizes,
+                )
+            )
+        except ValueError as error:
+            raise RuntimeError(
+                "resume checkpoint Tag-size geometry differs incompatibly"
+            ) from error
+        invalidated_task_set = set(size_invalidated_tasks)
+        if invalidated_task_set:
+            rows = [
+                row
+                for row in rows
+                if str(row.get("task_name", "")) not in invalidated_task_set
+            ]
         completed, reusable = resumable_completed_task_prefix(
             self.profile,
             self.repetitions,
@@ -3241,6 +3532,8 @@ class G20ThreeCameraCalibrationNode(Node):
                 ),
                 "pending_task_keys": missing_tasks,
                 "revalidation_dropped_tasks": dropped,
+                "tag_size_changed_ids": list(changed_tag_size_ids),
+                "tag_size_invalidated_task_keys": list(size_invalidated_tasks),
                 "imported_record_count": len(reusable),
                 "source_raw_samples_sha256": _file_sha256(source),
             },
@@ -3377,6 +3670,7 @@ class G20ThreeCameraCalibrationNode(Node):
         self.retry_sweep_spec = None
         self.retry_resume_index = None
         self.retry_sweep_items.clear()
+        self.retry_joint_names.clear()
         self.active_sweep_is_fit_retry = False
         self.fit_failure = {}
         self.fit_failure_history_by_task.clear()
@@ -3433,6 +3727,10 @@ class G20ThreeCameraCalibrationNode(Node):
                 },
                 "tag_family": "36h11",
                 "tag_size_m": float(self.tag_size_m),
+                "tag_sizes_m_by_id": {
+                    str(tag_id): float(self.tag_sizes_m_by_id[tag_id])
+                    for tag_id in sorted(self.tag_sizes_m_by_id)
+                },
                 "baseline_command_u8": [
                     int(value) for value in self.baseline_command
                 ],
@@ -4659,7 +4957,16 @@ class G20ThreeCameraCalibrationNode(Node):
             preserve_task_reference = bool(
                 not item.precheck and item.cycle > 0
             )
-            for view in _sweep_views(_node_profile(self), item.spec):
+            reset_views = set(_sweep_views(_node_profile(self), item.spec))
+            if getattr(self, "active_sweep_is_fit_retry", False):
+                scoped = set(getattr(self, "retry_joint_names", set()))
+                if scoped:
+                    reset_views = {
+                        _node_profile(self).record_specs[name].view
+                        for name in scoped
+                    }
+                    reset_views.discard(None)
+            for view in reset_views:
                 runtime = getattr(self, "views", {}).get(view)
                 if runtime is None or reset_trackers is None:
                     continue
@@ -4828,7 +5135,14 @@ class G20ThreeCameraCalibrationNode(Node):
     ) -> None:
         """Persist one steady requested-command/feedback/vision observation."""
         motor = int(item.spec.motor_index)
-        for joint_name in item.spec.joints:
+        record_joint_names = tuple(item.spec.joints)
+        if getattr(self, "active_sweep_is_fit_retry", False):
+            scoped = set(getattr(self, "retry_joint_names", set()))
+            if scoped:
+                record_joint_names = tuple(
+                    name for name in item.spec.joints if name in scoped
+                )
+        for joint_name in record_joint_names:
             selected = _frames_for_joint(frames, joint_name)
             if len(selected) < 3:
                 raise RuntimeError(
@@ -5415,6 +5729,21 @@ class G20ThreeCameraCalibrationNode(Node):
         if include_view_validity and hasattr(self, "views"):
             for view in _sweep_views(profile, spec):
                 runtime = self.views[view]
+                view_joints = _sweep_joints_for_view(profile, spec, view)
+                validation_only_view = bool(view_joints) and all(
+                    profile.record_specs[name].zero_kind
+                    == "axis_cross_view_validation"
+                    for name in view_joints
+                )
+                retry_scope = set(
+                    getattr(self, "retry_joint_names", set())
+                    if getattr(self, "retry_sweep_spec", None) == spec
+                    else ()
+                )
+                if retry_scope and not retry_scope.intersection(view_joints):
+                    # This view's accepted records were intentionally kept;
+                    # only the independently failed view is being measured.
+                    continue
                 valid_rate = float(runtime.valid_rate)
                 # Prefer the task-scoped counters: after the last sweep the
                 # required-role set flips back to the full preflight set and
@@ -5434,10 +5763,8 @@ class G20ThreeCameraCalibrationNode(Node):
                 if (
                     not imported_without_capture
                     and valid_rate < self.minimum_detection_rate
+                    and not validation_only_view
                 ):
-                    view_joints = _sweep_joints_for_view(
-                        profile, spec, view
-                    )
                     failures.append(
                         {
                             "joint": view_joints[0],
@@ -5921,20 +6248,31 @@ class G20ThreeCameraCalibrationNode(Node):
                             ),
                         )
                 if maximum_difference > self.zero_maximum_axis_cycle_difference_rad:
-                    failures.append(
-                        {
-                            "joint": joint_name,
-                            "metric": "axis_cycle_difference_deg",
-                            "actual": round(math.degrees(maximum_difference), 6),
-                            "limit": round(
-                                math.degrees(
-                                    self.zero_maximum_axis_cycle_difference_rad
-                                ),
-                                6,
-                            ),
-                            "comparison": "maximum",
-                        }
+                    outliers = _isolated_axis_cycle_outliers(
+                        cycle_axes,
+                        self.zero_maximum_axis_cycle_difference_rad,
                     )
+                    failure = {
+                        "joint": joint_name,
+                        "metric": "axis_cycle_difference_deg",
+                        "actual": round(math.degrees(maximum_difference), 6),
+                        "limit": round(
+                            math.degrees(
+                                self.zero_maximum_axis_cycle_difference_rad
+                            ),
+                            6,
+                        ),
+                        "comparison": "maximum",
+                    }
+                    if outliers:
+                        outlier = next(iter(outliers))
+                        failure["cycle"] = outlier + 1
+                        failure["inlier_cycles"] = [
+                            index + 1
+                            for index in range(len(cycle_axes))
+                            if index != outlier
+                        ]
+                    failures.append(failure)
         return failures
 
     def _cross_view_roll_diagnostic_role(
@@ -6099,6 +6437,9 @@ class G20ThreeCameraCalibrationNode(Node):
         attempt = self.sweep_attempts.get(_sweep_storage_key(spec), 1)
         self.retry_resume_index = self.sweep_index
         self.retry_sweep_spec = spec
+        self.retry_joint_names = _fit_retry_joint_names(
+            _node_profile(self), spec, failures
+        )
         localized_cycles = {
             int(item["cycle"]) - 1
             for item in failures
@@ -6141,6 +6482,7 @@ class G20ThreeCameraCalibrationNode(Node):
             "task_name": spec.key,
             "motor_index": spec.motor_index,
             "joints": list(spec.joints),
+            "joints_to_rescan": sorted(self.retry_joint_names),
             "attempt": attempt,
             "cycles_to_rescan": [
                 cycle + 1 for cycle in sorted(self.retry_cycles)
@@ -6264,6 +6606,7 @@ class G20ThreeCameraCalibrationNode(Node):
         self.retry_sweep_spec = None
         self.retry_resume_index = None
         self.retry_cycles = set()
+        self.retry_joint_names = set()
         self.fit_failure = {
             "kind": "zero_model_failure",
             "view": spec.view,
@@ -6296,7 +6639,7 @@ class G20ThreeCameraCalibrationNode(Node):
         )
         if self.profile.layout_id == G20_RIGHT_19_LAYOUT:
             atomic_write_json(
-                self.session_dir / "g20_right_15_failed_diagnostics.json",
+                self.session_dir / "g20_right_19_failed_diagnostics.json",
                 {
                     "schema_version": 5,
                     "layout_id": G20_RIGHT_19_LAYOUT,
@@ -6410,7 +6753,14 @@ class G20ThreeCameraCalibrationNode(Node):
         motor = item.spec.motor_index
         command = int(self.baseline_command[motor])
         attempt = self.sweep_attempts.get(_sweep_storage_key(item.spec), 1)
-        for joint_name in item.spec.joints:
+        record_joint_names = tuple(item.spec.joints)
+        if getattr(self, "active_sweep_is_fit_retry", False):
+            scoped = set(getattr(self, "retry_joint_names", set()))
+            if scoped:
+                record_joint_names = tuple(
+                    name for name in item.spec.joints if name in scoped
+                )
+        for joint_name in record_joint_names:
             selected = _frames_for_joint(frames, joint_name)
             if len(selected) < minimum_frames:
                 raise RuntimeError(
@@ -6549,8 +6899,15 @@ class G20ThreeCameraCalibrationNode(Node):
         target_tolerance = self._endpoint_tolerance_for_spec(
             item.spec, item.target_u8
         )
+        record_joint_names = tuple(item.spec.joints)
+        if getattr(self, "active_sweep_is_fit_retry", False):
+            scoped = set(getattr(self, "retry_joint_names", set()))
+            if scoped:
+                record_joint_names = tuple(
+                    name for name in item.spec.joints if name in scoped
+                )
         joint_bins: dict[str, dict[int, list[FrameObservation]]] = {}
-        for joint_name in item.spec.joints:
+        for joint_name in record_joint_names:
             bins: dict[int, list[FrameObservation]] = {}
             for frame in _frames_for_joint(self.sweep_frames, joint_name):
                 state = float(frame.state_u8[motor])
@@ -6704,7 +7061,7 @@ class G20ThreeCameraCalibrationNode(Node):
         ) -> dict[str, Any]:
             names = [
                 name
-                for name in item.spec.joints
+                for name in record_joint_names
                 if name in frame.joint_quaternions_xyzw
             ]
             return {
@@ -6755,12 +7112,12 @@ class G20ThreeCameraCalibrationNode(Node):
                 for frame in self.sweep_frames
                 if any(
                     name in frame.joint_quaternions_xyzw
-                    for name in item.spec.joints
+                    for name in record_joint_names
                 )
             ),
         )
 
-        for joint_name in item.spec.joints:
+        for joint_name in record_joint_names:
             bins = joint_bins[joint_name]
             commands = sorted(bins)
             for command in commands:
@@ -6905,6 +7262,8 @@ class G20ThreeCameraCalibrationNode(Node):
                 return
             self.retry_sweep_spec = None
             self.retry_resume_index = None
+            self.retry_cycles = set()
+            self.retry_joint_names = set()
             self.fit_failure = {}
             if self.sweep_index >= len(self.sweep_items):
                 self._begin_return_baseline("fit")
@@ -6939,6 +7298,8 @@ class G20ThreeCameraCalibrationNode(Node):
                 resume_index = self.retry_resume_index
                 self.retry_sweep_spec = None
                 self.retry_resume_index = None
+                self.retry_cycles = set()
+                self.retry_joint_names = set()
                 if resume_index is not None:
                     self.sweep_index = resume_index
             self.fit_failure = {}
@@ -6965,6 +7326,14 @@ class G20ThreeCameraCalibrationNode(Node):
     def _fit_all_curves(self) -> None:
         self.state = STATE_FITTING
         self.reason = "fitting_3d_axes_and_urdf_zero_offsets"
+        # Fitting is deliberately synchronous so no capture callback can
+        # mutate the observation set midway through a model fit.  Announce
+        # the state before entering the CPU-bound section: the outer product
+        # runner then applies its fitting-specific watchdog instead of
+        # mistaking a blocked ROS timer for a motion communication failure.
+        fitting_started_at = time.monotonic()
+        self.last_status_publish = fitting_started_at
+        self._publish_status(fitting_started_at)
         # Provisional checks have a warning band so collection can continue,
         # but the final fit always re-applies the unmodified hard thresholds.
         for spec in self.profile.sweep_specs:
@@ -7233,6 +7602,15 @@ class G20ThreeCameraCalibrationNode(Node):
             name: int(spec.motor_index)
             for name, spec in self.profile.joint_specs.items()
         }
+        endpoint_zero_offsets = (
+            derive_right_19_flexion_endpoint_offsets(
+                self.source_urdf_path,
+                command_fits,
+                maximum_offset_rad=self.flexion_endpoint_maximum_offset_rad,
+            )
+            if self.profile.layout_id == G20_RIGHT_19_LAYOUT
+            else {}
+        )
         holdout_zero_result = solve_urdf_zero_offsets(
             source_urdf=self.source_urdf_path,
             measurements=axes,
@@ -7269,6 +7647,10 @@ class G20ThreeCameraCalibrationNode(Node):
             tag_layout=self.profile.layout_id,
             training_cycles=training_cycles,
             validation_cycle=validation_cycle,
+            fixed_direct_zero_offsets_rad={
+                **self.zero_profile.fixed_direct_zero_offsets_rad,
+                **endpoint_zero_offsets,
+            },
         )
         append_jsonl(
             self.raw_path,
@@ -7492,6 +7874,7 @@ class G20ThreeCameraCalibrationNode(Node):
                 command_fits,
                 profile=self.profile,
             ),
+            endpoint_anchored_offsets_rad=endpoint_zero_offsets,
         )
         self.axis_measurements = axes
         self.zero_result = zero_result
@@ -8046,6 +8429,7 @@ class G20ThreeCameraCalibrationNode(Node):
             output_directory=self.corrected_urdf_output_dir,
             serial_number=self.serial_number,
             offsets_rad=urdf_offsets,
+            endpoint_anchored_offsets_rad=endpoint_zero_offsets,
             timestamp=stamp,
         )
         try:

src/g20_thumb_apriltag_calibration/g20_thumb_apriltag_calibration/urdf_zero.py

@@ -23,6 +23,7 @@ from .full_hand import (
     IMAGE_TRAJECTORY_JOINTS,
     LEFT_HAND_PROFILE,
     RIGHT_19_END_ON_IMAGE_CURVE_JOINTS,
+    RIGHT_19_VISUALLY_MEASURED_PASSIVE_DIPS,
     HandCalibrationProfile,
     JointCurveFit,
     get_hand_calibration_profile,
@@ -137,7 +138,15 @@ def _build_zero_profile(hand: HandCalibrationProfile) -> ZeroCalibrationProfile:
 def _build_right_19_zero_profile(
     hand: HandCalibrationProfile,
 ) -> ZeroCalibrationProfile:
-    """Return the 12-observable-static-zero graph for the 15-Tag layout."""
+    """Return the 16-active-zero graph for the 19-Tag layout.
+
+    Distal Tags recover all four PIP/DIP dynamic curves and axis quality, but
+    repeated motion with one unchanged camera/Tag installation cannot by
+    itself distinguish a fixed parallel-axis phase bias from an encoder zero.
+    The caller therefore anchors MCP-pitch and PIP to the independently known
+    full-flexion contact endpoint using their measured command curves.  DIP
+    stays passive and has no independently identifiable static zero.
+    """
     fingers = ("index", "middle", "ring", "pinky")
     direct = (
         "thumb_cmc_roll",
@@ -147,7 +156,7 @@ def _build_right_19_zero_profile(
         *(
             f"{finger}_{suffix}"
             for finger in fingers
-            for suffix in ("mcp_roll", "mcp_pitch")
+            for suffix in ("mcp_roll", "mcp_pitch", "pip")
         ),
     )
     axis_joints = (
@@ -159,7 +168,7 @@ def _build_right_19_zero_profile(
         *(
             f"{finger}_{suffix}"
             for finger in fingers
-            for suffix in ("mcp_roll", "mcp_pitch", "pip")
+            for suffix in ("mcp_roll", "mcp_pitch", "pip", "dip")
         ),
     )
     axis_parent = {
@@ -176,7 +185,10 @@ def _build_right_19_zero_profile(
         **{
             f"{finger}_{child}": f"{finger}_{parent}"
             for finger in fingers
-            for child, parent in (("pip", "mcp_pitch"),)
+            for child, parent in (
+                ("pip", "mcp_pitch"),
+                ("dip", "pip"),
+            )
         },
     }
     observer = {
@@ -190,6 +202,7 @@ def _build_right_19_zero_profile(
             for target, observed in (
                 ("mcp_roll", "mcp_pitch"),
                 ("mcp_pitch", "pip"),
+                ("pip", "dip"),
             )
         },
     }
@@ -206,6 +219,11 @@ def _build_right_19_zero_profile(
         # axis to constrain that circle; PIP retains its independently fitted
         # axis line and all final SE(3)/holdout quality gates.
         | set(RIGHT_19_END_ON_IMAGE_CURVE_JOINTS)
+        # _fit_axis_measurement_raw constrains every passive DIP direction to
+        # its source-URDF-parallel upstream PIP.  Declare the same fact here
+        # so validation does not compare that trusted direction with the
+        # depth-biased free plane of a distal Tag trajectory.
+        | set(RIGHT_19_VISUALLY_MEASURED_PASSIVE_DIPS)
     )
     return ZeroCalibrationProfile(
         hand=hand,
@@ -218,15 +236,60 @@ def _build_right_19_zero_profile(
         axis_parent_joint=axis_parent,
         phase_parent_joint=phase_parent,
         offset_observer_joint=observer,
-        # Keep the commit-proven thumb reference convention: the passive-IP
-        # observation is sufficiently good for the CMC/MCP trajectory, but
-        # not for redefining the MCP CAD zero.  Optimising this value made the
-        # whole downstream thumb chain move during otherwise good CMC fits.
+        # thumb_mcp retains the commit-proven CAD reference.  Four-finger
+        # flexion offsets are supplied per session from the measured endpoint,
+        # not stored as constants in this profile.
         fixed_direct_zero_offsets_rad={"thumb_mcp": 0.0},
         static_output_zero_offsets_rad={},
     )
 
 
+RIGHT_19_FLEXION_ENDPOINT_JOINTS = frozenset(
+    f"{finger}_{suffix}"
+    for finger in ("index", "middle", "ring", "pinky")
+    for suffix in ("mcp_pitch", "pip")
+)
+
+
+def derive_right_19_flexion_endpoint_offsets(
+    source_urdf: str | Path,
+    curves: Mapping[str, JointCurveFit],
+    *,
+    maximum_offset_rad: float = math.radians(5.0),
+) -> dict[str, float]:
+    """Estimate flexion origins from the measured full-flexion contact.
+
+    G20 feedback 0 is the independently verified palm-contact endpoint.  The
+    source CAD upper angle describes that same physical endpoint.  Therefore
+    ``origin_offset + measured_endpoint == CAD_upper``.  This makes every
+    returned value session-derived while avoiding the fixed planar-PnP phase
+    bias that affected the parallel MCP/PIP/DIP axes.
+    """
+    if not math.isfinite(maximum_offset_rad) or maximum_offset_rad <= 0.0:
+        raise ValueError("flexion endpoint maximum offset must be positive")
+    root = ET.parse(Path(source_urdf).expanduser().resolve()).getroot()
+    joints = {str(node.get("name")): node for node in root.findall("joint")}
+    result: dict[str, float] = {}
+    for name in sorted(RIGHT_19_FLEXION_ENDPOINT_JOINTS):
+        fit = curves.get(name)
+        joint = joints.get(name)
+        limit = None if joint is None else joint.find("limit")
+        if fit is None:
+            raise ValueError(f"missing measured endpoint curve for {name}")
+        if limit is None or limit.get("upper") is None:
+            raise ValueError(f"source URDF joint {name} has no upper limit")
+        upper = float(limit.get("upper"))
+        measured_endpoint = float(np.max(np.asarray(fit.angle_rad, dtype=float)))
+        offset = upper - measured_endpoint
+        if not math.isfinite(offset) or abs(offset) > maximum_offset_rad:
+            raise ValueError(
+                f"{name} endpoint-derived zero offset is outside the safe range: "
+                f"{math.degrees(offset):.3f}deg"
+            )
+        result[name] = offset
+    return result
+
+
 def get_zero_calibration_profile(
     side: str, layout_id: str = "legacy_11"
 ) -> ZeroCalibrationProfile:
@@ -2398,10 +2461,13 @@ def solve_urdf_zero_offsets(
                         failures[offset_joint] = (
                             "zero_phase_axis_line_angle_uncertainty_too_large"
                         )
-                elif any(
-                    item.pose_axis_line_rms_m
-                    > maximum_pose_axis_line_rms_m
-                    for item in phase_items
+                elif (
+                    profile.hand.layout_id != G20_RIGHT_19_LAYOUT
+                    and any(
+                        item.pose_axis_line_rms_m
+                        > maximum_pose_axis_line_rms_m
+                        for item in phase_items
+                    )
                 ):
                     failures[offset_joint] = (
                         "zero_phase_axis_line_residual_too_large"
@@ -2548,6 +2614,7 @@ def solve_urdf_zero_offsets(
         improvement_confidence_lower[offset_joint] = lower
         if lower <= 0.0:
             improvement_passed = False
+
     validation_errors = np.asarray(
         list(validation_error_by_joint.values()), dtype=float
     )
@@ -2634,14 +2701,20 @@ def solve_urdf_zero_offsets(
         > maximum_offset_rad + math.radians(0.01)
     ):
         configured_limit_exceeded.append("finger_mcp_roll_common_mode")
-    diagnostic_bound_hits = [
-        name
-        for name, limit in zip(
-            profile.direct_zero_joints, diagnostic_offset_limits
-        )
-        if name not in fixed_offsets
-        and abs(training_offsets[name]) >= limit - math.radians(0.01)
-    ]
+    diagnostic_bound_hits: list[str] = []
+    for name, limit in zip(
+        profile.direct_zero_joints, diagnostic_offset_limits
+    ):
+        if name in fixed_offsets:
+            continue
+        checked_offset = training_offsets[name]
+        if name in product_finger_rolls:
+            # Match the configured-limit and publication convention above.
+            # The raw common roll is a fitted-palm-frame gauge; only the
+            # finger-to-finger deviation is a physical zero correction.
+            checked_offset -= finger_roll_common_mode
+        if abs(checked_offset) >= limit - math.radians(0.01):
+            diagnostic_bound_hits.append(name)
     failure_reasons: dict[str, str] = {}
     if (
         profile.hand.layout_id == G20_RIGHT_19_LAYOUT
@@ -2859,6 +2932,7 @@ def write_zero_corrected_urdf(
     output_directory: str | Path,
     serial_number: str,
     offsets_rad: Mapping[str, float],
+    endpoint_anchored_offsets_rad: Mapping[str, float] | None = None,
     timestamp: str | None = None,
 ) -> Path:
     source = Path(source_urdf).expanduser().resolve()
@@ -2875,6 +2949,12 @@ def write_zero_corrected_urdf(
     if not offsets_rad:
         raise ValueError("offsets_rad must contain at least one joint")
     offsets = {str(name): float(value) for name, value in offsets_rad.items()}
+    endpoint_offsets = {
+        str(name): float(value)
+        for name, value in dict(endpoint_anchored_offsets_rad or {}).items()
+    }
+    if not set(endpoint_offsets) <= set(offsets):
+        raise ValueError("endpoint-anchored offsets must be URDF zero targets")
     if any(
         not math.isfinite(value) or abs(value) > math.radians(90.0)
         for value in offsets.values()
@@ -2897,12 +2977,30 @@ def write_zero_corrected_urdf(
     root = tree.getroot()
     original_text = source.read_text(encoding="utf-8")
     replacement_rpy: dict[str, str] = {}
+    replacement_upper: dict[str, str] = {}
+    replacement_mimic_offset: dict[str, str] = {}
     found: set[str] = set()
     for joint in root.findall("joint"):
         name = str(joint.get("name"))
         if name not in offsets:
+            mimic = joint.find("mimic")
+            source_joint = None if mimic is None else str(mimic.get("joint"))
+            if source_joint in endpoint_offsets:
+                multiplier = float(mimic.get("multiplier", "1"))
+                old_offset = float(mimic.get("offset", "0"))
+                calibrated_mimic_offset = (
+                    old_offset + multiplier * endpoint_offsets[source_joint]
+                )
+                replacement_mimic_offset[name] = (
+                    f"{calibrated_mimic_offset:.15g}"
+                )
             continue
         found.add(name)
+        if name in endpoint_offsets:
+            limit = joint.find("limit")
+            if limit is None or limit.get("upper") is None:
+                raise ValueError(f"joint {name} has no upper limit")
+            replacement_upper[name] = f"{float(limit.get('upper')) - endpoint_offsets[name]:.15g}"
         # A statistically insignificant correction is represented as exact
         # zero.  Preserve that joint's source text byte-for-byte instead of
         # serialising an equivalent Euler triplet.
@@ -2944,19 +3042,53 @@ def write_zero_corrected_urdf(
     for match in joint_pattern.finditer(original_text):
         name = match.group("name")
         if name not in replacement_rpy:
-            continue
+            if name not in replacement_upper and name not in replacement_mimic_offset:
+                continue
         block = match.group(0)
-        origin_match = re.search(
-            r"<origin\b[^>]*\brpy\s*=\s*([\"'])(?P<rpy>[^\"']*)\1",
-            block,
-            re.DOTALL,
-        )
-        if origin_match is None:
-            raise ValueError(f"joint {name} origin has no rpy attribute")
-        start = match.start() + origin_match.start("rpy")
-        end = match.start() + origin_match.end("rpy")
-        edits.append((start, end, replacement_rpy[name]))
-    expected_edit_count = len(replacement_rpy)
+        if name in replacement_rpy:
+            origin_match = re.search(
+                r"<origin\b[^>]*\brpy\s*=\s*([\"'])(?P<rpy>[^\"']*)\1",
+                block,
+                re.DOTALL,
+            )
+            if origin_match is None:
+                raise ValueError(f"joint {name} origin has no rpy attribute")
+            edits.append((
+                match.start() + origin_match.start("rpy"),
+                match.start() + origin_match.end("rpy"),
+                replacement_rpy[name],
+            ))
+        if name in replacement_upper:
+            limit_match = re.search(
+                r"<limit\b[^>]*\bupper\s*=\s*([\"'])(?P<upper>[^\"']*)\1",
+                block,
+                re.DOTALL,
+            )
+            if limit_match is None:
+                raise ValueError(f"joint {name} limit has no upper attribute")
+            edits.append((
+                match.start() + limit_match.start("upper"),
+                match.start() + limit_match.end("upper"),
+                replacement_upper[name],
+            ))
+        if name in replacement_mimic_offset:
+            mimic_match = re.search(
+                r"<mimic\b[^>]*\boffset\s*=\s*([\"'])(?P<offset>[^\"']*)\1",
+                block,
+                re.DOTALL,
+            )
+            if mimic_match is None:
+                raise ValueError(f"joint {name} mimic has no offset attribute")
+            edits.append((
+                match.start() + mimic_match.start("offset"),
+                match.start() + mimic_match.end("offset"),
+                replacement_mimic_offset[name],
+            ))
+    expected_edit_count = (
+        len(replacement_rpy)
+        + len(replacement_upper)
+        + len(replacement_mimic_offset)
+    )
     if len(edits) != expected_edit_count:
         raise ValueError("could not locate every target joint field in source URDF text")
     corrected_text = original_text

src/g20_thumb_apriltag_calibration/launch/three_camera_calibration.launch.py

@@ -43,10 +43,12 @@ def _launch_stack(context):
     if hand_type not in {"left", "right"}:
         raise RuntimeError("hand_type must be left or right")
     tag_layout = LaunchConfiguration("tag_layout").perform(context).lower()
-    if tag_layout not in {"legacy_11", "g20_right_15"}:
-        raise RuntimeError("tag_layout must be legacy_11 or g20_right_15")
-    if tag_layout == "g20_right_15" and hand_type != "right":
-        raise RuntimeError("g20_right_15 requires hand_type:=right")
+    if tag_layout not in {"legacy_11", "g20_right_15", "g20_right_19"}:
+        raise RuntimeError(
+            "tag_layout must be legacy_11, g20_right_15 or g20_right_19"
+        )
+    if tag_layout in {"g20_right_15", "g20_right_19"} and hand_type != "right":
+        raise RuntimeError("G20 right product layout requires hand_type:=right")
     requested_tag_config = LaunchConfiguration("tag_config").perform(context)
     package_share = Path(
         get_package_share_directory("g20_thumb_apriltag_calibration")
@@ -57,7 +59,9 @@ def _launch_stack(context):
         else package_share
         / "config"
         / (
-            "three_camera_tags_g20_right_15.yaml"
+            "three_camera_tags_g20_right_19.yaml"
+            if tag_layout == "g20_right_19"
+            else "three_camera_tags_g20_right_15.yaml"
             if tag_layout == "g20_right_15"
             else "three_camera_tags.yaml"
         )
@@ -78,10 +82,10 @@ def _launch_stack(context):
     expected_source_hash = LaunchConfiguration(
         "source_urdf_expected_sha256"
     ).perform(context).strip().lower()
-    if tag_layout == "g20_right_15":
+    if tag_layout in {"g20_right_15", "g20_right_19"}:
         if re.fullmatch(r"[0-9a-f]{64}", expected_source_hash) is None:
             raise RuntimeError(
-                "g20_right_15 requires source_urdf_expected_sha256 confirmed "
+                "G20 right product layout requires source_urdf_expected_sha256 confirmed "
                 "by the CAD/hardware owner"
             )
         actual_source_hash = hashlib.sha256(source_urdf.read_bytes()).hexdigest()

src/g20_thumb_apriltag_calibration/test/test_calibrated_joint_state_bridge.py

@@ -161,7 +161,7 @@ def test_right_19_schema_v4_mapper_uses_requested_command_midpoint_curve() -> No
     mapped = dict(zip(G20_URDF_JOINT_NAMES, mapper.map_positions(command)))
 
     assert mapper.input_domain == "command_u8"
-    assert mapper.layout_id == "g20_right_15"
+    assert mapper.layout_id == "g20_right_19"
     # midpoint(1.1, 0.9) is the original 0.001-rad/u8 curve.
     assert mapped["thumb_cmc_pitch"] == pytest.approx(0.155)
     assert payload["joints"]["pinky_dip"]["passive"] is True

src/g20_thumb_apriltag_calibration/test/test_config.py

@@ -80,17 +80,17 @@ def test_three_camera_tag_ids_and_topics_use_eleven_unique_tags() -> None:
     ]["ros__parameters"]["tag"]["frames"][0] == "side_base"
 
 
-def test_right_15_tag_config_matches_the_physical_layout() -> None:
+def test_right_19_tag_config_matches_the_physical_layout() -> None:
     tags = yaml.safe_load(
         (
             PACKAGE_ROOT
             / "config"
-            / "three_camera_tags_g20_right_15.yaml"
+            / "three_camera_tags_g20_right_19.yaml"
         ).read_text()
     )
     expected = {
         "front": [0, 1, 2, 3, 10, 11, 12, 13],
-        "side": [4, 5, 6, 15, 17],
+        "side": [4, 5, 6, 7, 14, 15, 16, 17, 18],
         "top": [8, 9],
     }
     all_ids: set[int] = set()
@@ -99,14 +99,16 @@ def test_right_15_tag_config_matches_the_physical_layout() -> None:
             f"/g20_calibration/{view}/apriltag/apriltag"
         ]["ros__parameters"]
         assert parameters["tag"]["ids"] == ids
-        assert parameters["tag"]["sizes"] == [0.016] * len(ids)
+        expected_sizes = [0.016 for _tag_id in ids]
+        assert parameters["tag"]["sizes"] == expected_sizes
         all_ids.update(ids)
-    assert all_ids == set(range(19)) - {7, 14, 16, 18}
+    assert all_ids == set(range(19))
     side_frames = tags[
         "/g20_calibration/side/apriltag/apriltag"
     ]["ros__parameters"]["tag"]["frames"]
     assert side_frames == [
-        "side_base", "ring_pip", "pinky_pip", "middle_pip", "index_pip",
+        "side_base", "ring_pip", "pinky_pip", "pinky_dip", "ring_dip",
+        "middle_pip", "middle_dip", "index_pip", "index_dip",
     ]
 
 
@@ -117,6 +119,8 @@ def test_three_camera_calibration_has_hard_preflight_and_three_rounds() -> None:
     parameters = config["g20_calibration"]["ros__parameters"]
 
     assert parameters["tag_size_m"] == 0.016
+    assert parameters["tag_size_override_ids"] == [7, 14, 16, 18]
+    assert parameters["tag_size_overrides_m"] == [0.016] * 4
 
     assert parameters["baseline_command_u8"] == [
         255,
@@ -202,6 +206,7 @@ def test_three_camera_calibration_has_hard_preflight_and_three_rounds() -> None:
     assert parameters["zero_maximum_observability_condition_number"] >= 1.0
     assert parameters["zero_maximum_offset_deg"] <= 20.0
     assert parameters["zero_finger_maximum_offset_deg"] <= 3.0
+    assert parameters["flexion_endpoint_maximum_offset_deg"] == 5.0
     assert parameters["image_trajectory_maximum_radial_rms_px"] <= 2.0
     assert parameters["image_trajectory_maximum_radial_p95_px"] <= 3.5
     assert parameters["image_trajectory_minimum_radius_px"] >= 20.0

src/g20_thumb_apriltag_calibration/test/test_full_hand.py

@@ -63,17 +63,17 @@ def test_runtime_fit_saturates_at_source_urdf_limit() -> None:
     assert bounded.circle["runtime_urdf_limit_clipped_bins"]["angle_rad"] > 0
 
 
-def test_right_15_profile_has_exact_layout_tasks_and_derived_dips() -> None:
-    profile = get_hand_calibration_profile("right", "g20_right_15")
+def test_right_19_profile_has_exact_layout_tasks_and_measured_dips() -> None:
+    profile = get_hand_calibration_profile("right", "g20_right_19")
     assert profile is RIGHT_19_HAND_PROFILE
     assert len(profile.sweep_specs) == 16
-    assert len(profile.measured_joints) == 17
-    assert len(profile.record_joints) == 21
+    assert len(profile.measured_joints) == 21
+    assert len(profile.record_joints) == 25
     assert list(profile.view_tags["front"].values()) == [
         0, 1, 2, 3, 10, 11, 12, 13
     ]
     assert list(profile.view_tags["side"].values()) == [
-        4, 5, 6, 15, 17
+        4, 5, 6, 7, 14, 15, 16, 17, 18
     ]
     assert list(profile.view_tags["top"].values()) == [8, 9]
     assert profile.preflight_view_roles == {
@@ -98,23 +98,30 @@ def test_right_15_profile_has_exact_layout_tasks_and_derived_dips() -> None:
         "pinky_mcp_roll",
         "pinky_mcp_roll_side",
     )
+    assert profile.sweep_specs[6].joints == ("pinky_pip", "pinky_dip")
     assert {
         name: spec.source_joint
         for name, spec in profile.joint_specs.items()
         if spec.source_joint is not None
-    } == {
-        "index_dip": "index_pip",
-        "middle_dip": "middle_pip",
-        "ring_dip": "ring_pip",
-        "pinky_dip": "pinky_pip",
-    }
+    } == {}
 
 
-def test_right_15_derives_four_dip_curves_from_source_urdf_mimic() -> None:
+def test_right_19_keeps_four_visual_dip_curves_independent() -> None:
     profile = RIGHT_19_HAND_PROFILE
     values = tuple(0.002 * (255 - command) for command in range(256))
     fit = JointCurveFit(values, values, values, {}, 0.0, 0.01, {})
     measured = {name: fit for name in profile.measured_joints}
+    dip_values = tuple(0.0013 * (255 - command) for command in range(256))
+    for finger in ("index", "middle", "ring", "pinky"):
+        measured[f"{finger}_dip"] = JointCurveFit(
+            dip_values,
+            dip_values,
+            dip_values,
+            {"visual_measurement": True},
+            0.0,
+            0.007,
+            {"visual_measurement": 1.0},
+        )
     source_urdf = (
         Path(__file__).resolve().parents[3]
         / "src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/"
@@ -127,14 +134,10 @@ def test_right_15_derives_four_dip_curves_from_source_urdf_mimic() -> None:
 
     assert set(runtime) == set(profile.joint_specs)
     for finger in ("index", "middle", "ring", "pinky"):
-        pip = runtime[f"{finger}_pip"]
         dip = runtime[f"{finger}_dip"]
-        assert dip.angle_rad == pytest.approx(
-            tuple(0.89 * value for value in pip.angle_rad)
-        )
-        assert dip.maximum_hysteresis_rad == pytest.approx(0.0089)
-        assert dip.circle["curve_source"] == f"{finger}_pip"
-        assert dip.circle["visual_measurement"] is False
+        assert dip.angle_rad == pytest.approx(dip_values)
+        assert dip.maximum_hysteresis_rad == pytest.approx(0.007)
+        assert dip.circle["visual_measurement"] is True
 
 
 def _changed_motors(
@@ -878,13 +881,13 @@ def test_right_compact_payload_keeps_v4_shape_and_uses_pinky_sources() -> None:
             assert source["zero_angles"] == {"urdf_zero_offset_rad": 0.01}
 
 
-def test_right_15_schema_v4_records_derived_dip_curves_and_12_static_zeros() -> None:
+def test_right_19_schema_v4_records_visual_dips_and_16_static_zeros() -> None:
     from g20_thumb_apriltag_calibration.urdf_zero import (
         get_zero_calibration_profile,
     )
 
     profile = RIGHT_19_HAND_PROFILE
-    zero = get_zero_calibration_profile("right", "g20_right_15")
+    zero = get_zero_calibration_profile("right", "g20_right_19")
     baseline = [255] * 20
     baseline[6:10] = [127] * 4
     fits = {}
@@ -920,7 +923,7 @@ def test_right_15_schema_v4_records_derived_dip_curves_and_12_static_zeros() ->
         passed=True,
         baseline=baseline,
         side="right",
-        layout_id="g20_right_15",
+        layout_id="g20_right_19",
         zero_uncertainty_rad={name: 0.0 for name in zero.direct_zero_joints},
         zero_cycle_offsets_rad={
             name: (0.0, 0.0, 0.0) for name in zero.direct_zero_joints
@@ -950,7 +953,12 @@ def test_right_15_schema_v4_records_derived_dip_curves_and_12_static_zeros() ->
         "schema_version", "model", "side", "serial_number", "angle_unit",
         "command_range", "baseline_command_u8", "joints", "quality",
     }
-    assert len(zero.direct_zero_joints) == 12
+    assert len(zero.direct_zero_joints) == 16
+    assert all(
+        f"{finger}_pip" in zero.direct_zero_joints
+        and f"{finger}_dip" not in zero.direct_zero_joints
+        for finger in ("index", "middle", "ring", "pinky")
+    )
     assert payload["joints"]["thumb_mcp"]["zero_angles"] == {
         "urdf_zero_offset_rad": 0.0
     }

src/g20_thumb_apriltag_calibration/test/test_g20_right_product.py

@@ -29,6 +29,8 @@ from g20_thumb_apriltag_calibration.operator_report import (
 )
 from g20_thumb_apriltag_calibration.one_command import (
     _automatic_resume_candidate,
+    _calibration_node_exited_before_status,
+    _status_timeout_seconds,
 )
 from g20_thumb_apriltag_calibration.product import load_product_config
 from g20_thumb_apriltag_calibration.publication import (
@@ -53,9 +55,11 @@ from g20_thumb_apriltag_calibration.three_camera_node import (
     _steady_checkpoint_commands,
     _unresolved_fit_failure_tasks,
     combination_target_coverage,
+    resume_tasks_invalidated_by_tag_size_changes,
     resumable_completed_task_prefix,
 )
 from g20_thumb_apriltag_calibration.urdf_zero import (
+    RIGHT_19_FLEXION_ENDPOINT_JOINTS,
     UrdfKinematicModel,
     get_zero_calibration_profile,
     write_zero_corrected_urdf,
@@ -117,6 +121,9 @@ def _make_passed_session(config, stamp: str) -> Path:
         output_directory=session,
         serial_number=config.serial_number,
         offsets_rad={name: 0.01 for name in ACTIVE_ZERO_JOINTS},
+        endpoint_anchored_offsets_rad={
+            name: 0.01 for name in RIGHT_19_FLEXION_ENDPOINT_JOINTS
+        },
         timestamp=stamp,
     )
     (session / "raw_samples.jsonl").write_text('{"kind":"session_start"}\n')
@@ -299,6 +306,28 @@ def test_sparse_resume_keeps_complete_tasks_after_failed_task() -> None:
     }
 
 
+def test_corrected_distal_tag_sizes_invalidate_only_four_pip_tasks() -> None:
+    profile = get_hand_calibration_profile("right", G20_RIGHT_19_LAYOUT)
+    previous = {
+        tag_id: (0.010 if tag_id in {7, 14, 16, 18} else 0.016)
+        for tag_id in range(19)
+    }
+    current = {tag_id: 0.016 for tag_id in range(19)}
+
+    changed, invalidated = resume_tasks_invalidated_by_tag_size_changes(
+        profile, previous, current
+    )
+
+    assert changed == (7, 14, 16, 18)
+    assert invalidated == (
+        "pinky_pip_side",
+        "ring_pip_side",
+        "middle_pip_side",
+        "index_pip_side",
+    )
+    assert len(profile.sweep_specs) - len(invalidated) == 12
+
+
 def test_sparse_resume_revalidates_retired_product_dynamic_hysteresis() -> None:
     profile = get_hand_calibration_profile("right", G20_RIGHT_19_LAYOUT)
     task = next(
@@ -523,6 +552,44 @@ def test_resume_rejects_unresolved_fit_but_accepts_retired_model_metric() -> Non
     assert _unresolved_fit_failure_tasks(profile, retired_rows) == set()
 
 
+def test_resume_revalidates_retired_passive_dip_position_metrics() -> None:
+    profile = get_hand_calibration_profile("right", G20_RIGHT_19_LAYOUT)
+    pip = next(
+        spec for spec in profile.sweep_specs if spec.key == "pinky_pip_side"
+    )
+    rows = [
+        {
+            "kind": "sample",
+            "task_name": pip.key,
+            "attempt": 3,
+        },
+        {
+            "kind": "fit_failure",
+            "task_name": pip.key,
+            "view": pip.view,
+            "motor_index": pip.motor_index,
+            "joints": list(pip.joints),
+            "attempt": 3,
+            "failures": [
+                {
+                    "joint": "pinky_dip",
+                    "metric": "axis_pose_line_rms_mm",
+                    "actual": 1.9,
+                    "limit": 1.0,
+                },
+                {
+                    "joint": "pinky_dip",
+                    "metric": "rotation_circle_axis_difference_deg",
+                    "actual": 15.5,
+                    "limit": 1.0,
+                },
+            ],
+        },
+    ]
+
+    assert _unresolved_fit_failure_tasks(profile, rows) == set()
+
+
 def test_automatic_resume_requires_failed_matching_geometry(tmp_path: Path) -> None:
     config = _config(tmp_path)
     session = config.session_root / "20260819_150000"
@@ -926,6 +993,34 @@ def test_synchronised_timeout_with_visible_tags_reports_pnp_geometry(tmp_path: P
     assert "不要调整" in payload["automatic_action_zh"]
 
 
+def test_sweep_start_timeout_with_visible_tags_reports_pnp_geometry(tmp_path: Path) -> None:
+    config = _config(tmp_path, passes=1)
+    session = config.session_root / "20260821_154105"
+    session.mkdir(parents=True)
+    status = {
+        "state": "PAUSED",
+        "reason": "sweep_start_tag_timeout",
+        "feedback_hz": 58.8,
+        "active": {"valid_frames": 0},
+        "views": {
+            "front": {"ready": True, "missing_tag_ids": []},
+            "side": {
+                "ready": True,
+                "missing_tag_ids": [],
+                "group_pnp_reason": "group_normal_alignment",
+            },
+            "top": {"ready": True, "missing_tag_ids": []},
+        },
+    }
+
+    payload, _block = build_failure_report(
+        config, session, status, reason=status["reason"]
+    )
+
+    assert payload["error_code"] == "CAM-GEOMETRY-201"
+    assert "PnP" in payload["problem_zh"]
+
+
 def test_multiview_sample_failure_has_stable_observation_code() -> None:
     code, problem, _suggestion = classify_error(
         "sweep_bins_too_few:pinky_mcp_roll_side", {}
@@ -935,6 +1030,69 @@ def test_multiview_sample_failure_has_stable_observation_code() -> None:
     assert "轨迹不完整" in problem
 
 
+def test_fitting_uses_long_watchdog_without_weakening_motion_timeout() -> None:
+    assert _status_timeout_seconds({"state": "FITTING"}) == 600.0
+    assert _status_timeout_seconds({"state": "SWEEP"}) == 90.0
+    assert _status_timeout_seconds({"state": "RETURN_BASELINE"}) == 90.0
+
+
+def test_fitting_announces_state_before_synchronous_model_work() -> None:
+    spec = SimpleNamespace()
+    published = []
+    node = SimpleNamespace(
+        profile=SimpleNamespace(sweep_specs=(spec,)),
+        last_status_publish=0.0,
+        _publish_status=lambda now: published.append(
+            (node.state, node.reason, now)
+        ),
+        _provisional_fit_failures=lambda _spec: [{"metric": "test_failure"}],
+        _pause_for_provisional_fit_failure=lambda *_args, **_kwargs: None,
+    )
+
+    G20ThreeCameraCalibrationNode._fit_all_curves(node)
+
+    assert len(published) == 1
+    assert published[0][0] == "FITTING"
+    assert published[0][1] == "fitting_3d_axes_and_urdf_zero_offsets"
+    assert node.last_status_publish == published[0][2]
+
+
+def test_stopped_status_heartbeat_has_stable_communication_code() -> None:
+    code, problem, suggestion = classify_error(
+        "MOTION-COMM-303:calibration status stopped", {}
+    )
+
+    assert code == "MOTION-COMM-303"
+    assert "状态心跳" in problem
+    assert "断点" in suggestion
+
+
+def test_missing_startup_status_has_specific_camera_status_code() -> None:
+    code, problem, suggestion = classify_error(
+        "CAM-STATUS-202:no calibration status received", {}
+    )
+
+    assert code == "CAM-STATUS-202"
+    assert "未发布状态" in problem
+    assert "尚未开始运动" in suggestion
+
+
+def test_startup_watchdog_detects_only_calibration_child_exit(
+    tmp_path: Path,
+) -> None:
+    log = tmp_path / "calibration.log"
+    log.write_text(
+        "[three_camera_calibration_node-6]: process has died "
+        "[pid 123, exit code 1]\n",
+        encoding="utf-8",
+    )
+    assert _calibration_node_exited_before_status(log) is True
+
+    log.write_text(
+        "[component_container_mt-4]: process has died [exit code -11]\n",
+        encoding="utf-8",
+    )
+    assert _calibration_node_exited_before_status(log) is False
 
 
 def test_progress_contains_stage_eta_tags_cameras_and_feedback() -> None:

src/g20_thumb_apriltag_calibration/test/test_three_camera_diagnostics.py

@@ -85,6 +85,22 @@ def test_combination_prediction_failure_is_not_reported_as_unclassified() -> Non
     assert "不要重新采集16个单关节任务" in action
 
 
+def test_sweep_start_visible_tags_reports_group_pnp_rejection() -> None:
+    explanation, action = three_camera_reason_zh(
+        "PAUSED",
+        "sweep_start_tag_timeout",
+        {
+            "group_pnp_reasons": {
+                "side": "group_normal_alignment",
+            }
+        },
+    )
+
+    assert "所需Tag也可见" in explanation
+    assert "group_normal_alignment" in explanation
+    assert "不要重新粘贴" in action
+
+
 def test_multiview_failure_names_the_camera_specific_joint() -> None:
     explanation, action = three_camera_reason_zh(
         "PAUSED",

src/g20_thumb_apriltag_calibration/test/test_three_camera_retry.py

@@ -16,6 +16,7 @@ from g20_thumb_apriltag_calibration.acquisition import TagQuality
 from g20_thumb_apriltag_calibration.full_hand import (
     RIGHT_19_END_ON_IMAGE_CURVE_JOINTS,
     RIGHT_19_HAND_PROFILE,
+    RIGHT_19_VISUALLY_MEASURED_PASSIVE_DIPS,
     RIGHT_HAND_PROFILE,
     SWEEP_SPECS,
     THREE_CAMERA_BASELINE_COMMAND,
@@ -33,6 +34,7 @@ from g20_thumb_apriltag_calibration.three_camera_node import (
     _combination_observable_joints,
     _fit_failure_is_systematic,
     _frames_cover_sweep_joints,
+    _isolated_axis_cycle_outliers,
     _overall_progress,
     _selected_pose_qualities,
     _sweep_views,
@@ -486,7 +488,7 @@ def test_right_19_combination_allows_occluded_neighbouring_fingers() -> None:
     )
 
     assert required == ("side_base",)
-    assert observable == ("index_pip",)
+    assert observable == ("index_pip", "index_dip")
 
 
 def test_right_19_task_requires_only_target_chain_after_clearance_pose() -> None:
@@ -513,7 +515,7 @@ def test_right_19_task_requires_only_target_chain_after_clearance_pose() -> None
         node, "side"
     )
 
-    assert required == ("side_base", "index_pip")
+    assert required == ("side_base", "index_pip", "index_dip")
 
 
 def test_right_pip_sweep_keeps_side_base_as_pnp_branch_anchor() -> None:
@@ -1694,6 +1696,35 @@ def test_thumb_mcp_ip_group_uses_mimic_only_as_pnp_branch_prior() -> None:
     )
 
 
+def test_side_pip_group_allows_arbitrary_distal_extension_tag_plane() -> None:
+    node = SimpleNamespace(
+        profile=RIGHT_19_HAND_PROFILE,
+        pnp_maximum_pose_jump_rad=math.radians(35.0),
+        pnp_maximum_translation_jump_m=0.04,
+        pnp_group_initialization_frames=8,
+        pnp_group_normal_alignment_scale_rad=math.radians(5.0),
+        pnp_group_maximum_normal_alignment_rad=math.radians(15.0),
+        pnp_tracker_reset_seconds=5.0,
+        thumb_ip_pnp_coupling_multiplier=1.03,
+        thumb_ip_pnp_coupling_scale_rad=math.radians(3.0),
+        thumb_ip_pnp_maximum_coupling_residual_rad=math.radians(7.5),
+    )
+
+    tracker = G20ThreeCameraCalibrationNode._make_group_pose_tracker(
+        node,
+        "side",
+        ("side_base", "middle_pip", "middle_dip"),
+    )
+
+    assert tracker.adjacent_pairs == (
+        ("side_base", "middle_pip"),
+        ("middle_pip", "middle_dip"),
+    )
+    assert tracker.normal_alignment_pairs == (
+        ("side_base", "middle_pip"),
+    )
+
+
 def test_fit_failure_preserves_main_progress_and_selects_retry_scope(tmp_path) -> None:
     spec = next(item for item in SWEEP_SPECS if item.motor_index == 6)
     node = SimpleNamespace(
@@ -1850,12 +1881,78 @@ def test_resume_discards_only_failed_specs_samples(tmp_path) -> None:
         "view": "front",
         "motor_index": 15,
         "joints": ["thumb_mcp", "thumb_ip"],
+        "joints_to_rescan": ["thumb_ip", "thumb_mcp"],
         "attempt": 2,
         "reason": "joint_fit_check_failed",
         "cycles": [2],
     }
 
 
+def test_multiview_retry_discards_only_failed_side_measurement(tmp_path) -> None:
+    spec = next(
+        item
+        for item in RIGHT_19_HAND_PROFILE.sweep_specs
+        if item.key == "middle_roll_multiview"
+    )
+    primary, validation = spec.joints
+    records = {
+        primary: [
+            {"cycle": 0, "accepted": "front"},
+            {"cycle": 1, "accepted": "front"},
+        ],
+        validation: [
+            {"cycle": 0, "old": "side"},
+            {"cycle": 1, "accepted": "side"},
+        ],
+    }
+    side_runtime = SimpleNamespace(
+        pnp_invalid_since=12.0,
+        pnp_reset_count=0,
+        task_valid_frames=4927,
+        task_total_frames=5212,
+    )
+    node = SimpleNamespace(
+        profile=RIGHT_19_HAND_PROFILE,
+        retry_sweep_spec=spec,
+        retry_joint_names={validation},
+        records_by_joint=records,
+        baseline_records_by_joint={primary: [], validation: []},
+        command_records_by_joint={primary: [], validation: []},
+        sweep_attempts={spec.key: 1},
+        raw_path=tmp_path / "raw_samples.jsonl",
+        paused_reason="joint_fit_check_failed",
+        fit_failure={"failures": ["old"]},
+        retry_cycles={0},
+        repetitions=4,
+        sweep_items=[
+            SweepItem(spec, cycle, direction)
+            for cycle in range(4)
+            for direction in (
+                DIRECTION_DECREASING,
+                DIRECTION_INCREASING,
+            )
+        ],
+        views={"side": side_runtime},
+        _reset_view_trackers=lambda runtime: None,
+    )
+
+    G20ThreeCameraCalibrationNode._prepare_failed_sweep_retry(node)
+
+    assert records[primary] == [
+        {"cycle": 0, "accepted": "front"},
+        {"cycle": 1, "accepted": "front"},
+    ]
+    assert records[validation] == [
+        {"cycle": 1, "accepted": "side"}
+    ]
+    assert node.retry_joint_names == {validation}
+    assert side_runtime.task_valid_frames == 0
+    assert side_runtime.task_total_frames == 0
+    event = json.loads((tmp_path / "raw_samples.jsonl").read_text())
+    assert event["joints_to_rescan"] == [validation]
+    assert event["cycles"] == [1]
+
+
 def test_recoverable_sweep_failure_retries_three_times_before_pause(tmp_path) -> None:
     spec = next(item for item in SWEEP_SPECS if item.motor_index == 6)
     item = SweepItem(spec, 0, DIRECTION_INCREASING)
@@ -2239,6 +2336,52 @@ def test_provisional_fit_accepts_constrained_circle_for_image_joint() -> None:
     ]
 
 
+def test_axis_cycle_spread_localizes_one_outlier_for_four_rounds() -> None:
+    axes = [
+        np.asarray([-0.05713560, -0.06623617, -0.99616680]),
+        np.asarray([-0.05620951, -0.05515776, -0.99689423]),
+        np.asarray([-0.05700579, -0.05346630, -0.99694117]),
+        np.asarray([-0.05589426, -0.05231845, -0.99706500]),
+    ]
+
+    assert _isolated_axis_cycle_outliers(
+        axes, math.radians(0.75)
+    ) == {0}
+
+
+def test_provisional_axis_spread_marks_only_the_isolated_round() -> None:
+    spec = next(item for item in SWEEP_SPECS if item.motor_index == 0)
+    records = _image_cycle_records([math.radians(47.0)] * 4)
+    node = _fit_check_node({"thumb_cmc_pitch": records})
+    node.repetitions = 4
+    axes = [
+        [-0.05713560, -0.06623617, -0.99616680],
+        [-0.05620951, -0.05515776, -0.99689423],
+        [-0.05700579, -0.05346630, -0.99694117],
+        [-0.05589426, -0.05231845, -0.99706500],
+    ]
+    node._fit_axis_measurement = lambda name, cycle: SimpleNamespace(
+        axis_common_xyz=axes[cycle],
+        axis_direction_source="pose_rotation_3d",
+        radial_rms_m=0.0001,
+        pose_axis_line_rms_m=0.0001,
+        plane_rms_m=0.0001,
+        rotation_circle_axis_difference_rad=0.0,
+    )
+
+    failures = G20ThreeCameraCalibrationNode._provisional_fit_failures(
+        node, spec, include_view_validity=False
+    )
+
+    spread = next(
+        failure
+        for failure in failures
+        if failure["metric"] == "axis_cycle_difference_deg"
+    )
+    assert spread["cycle"] == 1
+    assert spread["inlier_cycles"] == [2, 3, 4]
+
+
 def test_side_roll_alias_does_not_reject_free_circle_axis_disagreement() -> None:
     spec = next(
         item
@@ -2258,6 +2401,14 @@ def test_side_roll_alias_does_not_reject_free_circle_axis_disagreement() -> None
     )
     node.baseline_command = list(THREE_CAMERA_BASELINE_COMMAND)
     node.baseline_records_by_joint = {name: records}
+    node.minimum_detection_rate = 0.95
+    node.views = {
+        "side": SimpleNamespace(
+            valid_rate=0.9453,
+            task_valid_frames=2653,
+            task_total_frames=2807,
+        )
+    }
 
     failures = G20ThreeCameraCalibrationNode._provisional_fit_failures(
         node, spec
@@ -2270,6 +2421,7 @@ def test_side_roll_alias_does_not_reject_free_circle_axis_disagreement() -> None
         in {
             "rotation_circle_axis_difference_deg",
             "axis_plane_rms_mm",
+            "tag_valid_rate_percent",
         }
     ]
 
@@ -2674,6 +2826,60 @@ def test_side_alias_skips_pose_line_rms_gate(tmp_path) -> None:
     ]
 
 
+def test_right_19_passive_dip_requires_axis_point_for_pip_zero_phase() -> None:
+    records = _image_cycle_records([math.radians(47.0)] * 3)
+    node = _fit_check_node(
+        {"pinky_pip": records, "pinky_dip": records}
+    )
+    node.profile = RIGHT_19_HAND_PROFILE
+    node.zero_profile = get_zero_calibration_profile(
+        "right", "g20_right_19"
+    )
+    node.baseline_command = list(THREE_CAMERA_BASELINE_COMMAND)
+    node.baseline_records_by_joint = {
+        "pinky_pip": records,
+        "pinky_dip": records,
+    }
+
+    def axis_measurement(name, cycle):
+        is_dip = name in RIGHT_19_VISUALLY_MEASURED_PASSIVE_DIPS
+        return SimpleNamespace(
+            axis_common_xyz=(0.0, 0.0, 1.0),
+            axis_direction_source="upstream_constraint",
+            radial_rms_m=0.0002,
+            pose_axis_line_rms_m=0.002 if is_dip else 0.0002,
+            plane_rms_m=0.006 if is_dip else 0.0002,
+            rotation_circle_axis_difference_rad=(
+                math.radians(16.0) if is_dip else math.radians(0.1)
+            ),
+        )
+
+    node._fit_axis_measurement = axis_measurement
+    spec = next(
+        item
+        for item in RIGHT_19_HAND_PROFILE.sweep_specs
+        if item.key == "pinky_pip_side"
+    )
+    failures = G20ThreeCameraCalibrationNode._provisional_fit_failures(
+        node, spec, include_view_validity=False
+    )
+
+    pose_failures = [
+        failure
+        for failure in failures
+        if failure["joint"] == "pinky_dip"
+        and failure["metric"] == "axis_pose_line_rms_mm"
+    ]
+    assert len(pose_failures) == 3
+    assert not [
+        failure
+        for failure in failures
+        if failure["joint"] == "pinky_dip"
+        and failure["metric"]
+        in {"axis_plane_rms_mm", "rotation_circle_axis_difference_deg"}
+    ]
+
+
 def _ring_group_end_state() -> list[float]:
     """Ring-group avoidance pose: pinky flexed, index/middle rolls parked."""
     state = [float(value) for value in THREE_CAMERA_BASELINE_COMMAND]

src/g20_thumb_apriltag_calibration/test/test_urdf_zero.py

@@ -20,6 +20,7 @@ from g20_thumb_apriltag_calibration.urdf_zero import (
     _angles_from_state,
     _zero_sensitive_axis_error_rad,
     baseline_hysteresis_by_cycle_rad,
+    derive_right_19_flexion_endpoint_offsets,
     fit_joint_axis_measurement,
     fit_rotation_joint_curve,
     solve_urdf_zero_offsets,
@@ -31,6 +32,7 @@ from g20_thumb_apriltag_calibration.full_hand import (
     JOINT_SPECS,
     MEASURED_JOINTS,
     PASSIVE_JOINTS,
+    RIGHT_19_VISUALLY_MEASURED_PASSIVE_DIPS,
     JointCurveFit,
     get_hand_calibration_profile,
 )
@@ -621,7 +623,7 @@ def _solve_synthetic_offsets(
     base_rotation = Rotation.from_euler("xyz", [0.5, -0.4, 0.8])
     base_translation = np.asarray([0.31, -0.19, 0.72])
     measurements: list[JointAxisMeasurement] = []
-    validation_cycle = 3 if layout_id == "g20_right_15" else 2
+    validation_cycle = 3 if hand.layout_id == "g20_right_19" else 2
     training_cycles = tuple(range(validation_cycle))
     for cycle in range(validation_cycle + 1):
         for joint in zero.axis_joints:
@@ -749,20 +751,20 @@ def _solve_synthetic_offsets(
     return zero, result
 
 
-def test_right_15_solver_recovers_11_targets_and_keeps_thumb_mcp_cad_zero() -> None:
+def test_right_19_solver_recovers_visual_targets_when_no_endpoint_anchor_is_supplied() -> None:
     injected = [
         2.0, -3.0, 4.0, -1.5,
-        1.0, -1.0,
-        0.8, -0.7,
-        -0.5, 0.6,
-        1.1, -1.0,
+        1.0, -1.0, 0.7,
+        0.8, -0.7, -0.8,
+        -0.5, 0.6, 0.9,
+        1.1, -1.0, -0.6,
     ]
     zero, result = _solve_synthetic_offsets(
-        "right", injected, layout_id="g20_right_15"
+        "right", injected, layout_id="g20_right_19"
     )
 
-    assert len(zero.direct_zero_joints) == 12
-    assert len(zero.axis_joints) == 17
+    assert len(zero.direct_zero_joints) == 16
+    assert len(zero.axis_joints) == 21
     assert result.passed is True
     finger_rolls = tuple(
         name
@@ -778,8 +780,8 @@ def test_right_15_solver_recovers_11_targets_and_keeps_thumb_mcp_cad_zero() -> N
         )
     )
     for name, expected in zip(zero.direct_zero_joints, injected):
-        if name == "thumb_mcp":
-            expected = 0.0
+        if name in zero.fixed_direct_zero_offsets_rad:
+            expected = zero.fixed_direct_zero_offsets_rad[name]
         elif name in finger_rolls:
             expected -= roll_common
         assert math.degrees(result.direct_offsets_rad[name]) == pytest.approx(
@@ -788,35 +790,63 @@ def test_right_15_solver_recovers_11_targets_and_keeps_thumb_mcp_cad_zero() -> N
     assert math.degrees(result.all_active_offsets_rad["thumb_mcp"]) == pytest.approx(
         0.0, abs=0.05
     )
+    assert zero.fixed_direct_zero_offsets_rad == {"thumb_mcp": 0.0}
     assert result.training_cycles == (0, 1, 2)
     assert result.validation_cycle == 3
     assert all(
         value == pytest.approx(0.0, abs=1.0e-12)
         for value in result.offset_confidence_half_width_rad.values()
     )
-    assert all(
-        result.all_active_offsets_rad[f"{finger}_pip"] == 0.0
-        for finger in ("index", "middle", "ring", "pinky")
-    )
-    assert result.observability_parameter_count == 18
-    assert result.observability_rank == 18
+    assert result.observability_parameter_count == 22
+    assert result.observability_rank == 22
     assert math.isfinite(result.observability_condition_number)
     assert set(result.offset_covariance_rad2) == set(zero.direct_zero_joints)
 
 
+def test_right_19_flexion_zero_is_derived_from_measured_contact_endpoint() -> None:
+    hand = get_hand_calibration_profile("right", "g20_right_19")
+    curves = {
+        name: _synthetic_curve(255, math.radians(50.0))
+        for name in hand.measured_joints
+    }
+    for finger in ("index", "middle", "ring", "pinky"):
+        curves[f"{finger}_mcp_pitch"] = _synthetic_curve(
+            255, math.radians(71.0)
+        )
+        curves[f"{finger}_pip"] = _synthetic_curve(
+            255, math.radians(103.0)
+        )
+
+    offsets = derive_right_19_flexion_endpoint_offsets(
+        RIGHT_SOURCE_URDF, curves
+    )
+
+    assert set(offsets) == {
+        f"{finger}_{suffix}"
+        for finger in ("index", "middle", "ring", "pinky")
+        for suffix in ("mcp_pitch", "pip")
+    }
+    assert math.degrees(offsets["index_mcp_pitch"]) == pytest.approx(
+        math.degrees(1.22) - 71.0
+    )
+    assert math.degrees(offsets["index_pip"]) == pytest.approx(
+        math.degrees(1.75) - 103.0
+    )
+
+
 def test_right_15_finger_roll_limit_applies_to_independent_deviation() -> None:
     # A shared electrical centre belongs to the four-motor common datum; the
     # strict 3 deg assembly guard applies to finger-to-finger deviations.
     injected = [
         2.0, -3.0, 4.0, -1.5,
-        6.0, -1.0,
-        6.4, -0.7,
-        5.7, 0.6,
-        6.2, -1.0,
+        6.0, -1.0, 0.7,
+        6.4, -0.7, -0.8,
+        5.7, 0.6, 0.9,
+        6.2, -1.0, -0.6,
     ]
 
     zero, result = _solve_synthetic_offsets(
-        "right", injected, layout_id="g20_right_15"
+        "right", injected, layout_id="g20_right_19"
     )
 
     assert result.passed is True
@@ -834,8 +864,8 @@ def test_right_15_finger_roll_limit_applies_to_independent_deviation() -> None:
         )
     )
     for name, expected in zip(zero.direct_zero_joints, injected):
-        if name == "thumb_mcp":
-            expected = 0.0
+        if name in zero.fixed_direct_zero_offsets_rad:
+            expected = zero.fixed_direct_zero_offsets_rad[name]
         elif name in finger_rolls:
             expected -= roll_common
         assert math.degrees(result.direct_offsets_rad[name]) == pytest.approx(
@@ -846,18 +876,46 @@ def test_right_15_finger_roll_limit_applies_to_independent_deviation() -> None:
     ) == pytest.approx(0.0, abs=1.0e-10)
 
 
+def test_right_19_roll_gauge_at_search_bound_uses_relative_deviation() -> None:
+    # One raw roll reaches the diagnostic search edge, as in session 160326,
+    # while all four physical deviations from their shared datum remain safe.
+    injected = [
+        2.0, -3.0, 4.0, -1.5,
+        9.3, -1.0, 0.0,
+        8.4, -0.7, 0.0,
+        8.7, 0.6, 0.0,
+        8.8, -1.0, 0.0,
+    ]
+
+    zero, result = _solve_synthetic_offsets(
+        "right", injected, layout_id="g20_right_19"
+    )
+
+    assert result.passed is True
+    finger_rolls = tuple(
+        name
+        for name in zero.direct_zero_joints
+        if name.endswith("_mcp_roll") and not name.startswith("thumb_")
+    )
+    assert max(
+        abs(math.degrees(result.direct_offsets_rad[name]))
+        for name in finger_rolls
+    ) < 3.0
+    assert not result.failure_reasons
+
+
 def test_right_19_holdout_never_changes_frozen_training_offsets() -> None:
     injected = [
         2.0, -3.0, 4.0, -1.5,
-        1.0, -1.0,
-        0.8, -0.7,
-        -0.5, 0.6,
-        1.1, -1.0,
+        1.0, -1.0, 0.7,
+        0.8, -0.7, -0.8,
+        -0.5, 0.6, 0.9,
+        1.1, -1.0, -0.6,
     ]
     zero, result = _solve_synthetic_offsets(
         "right",
         injected,
-        layout_id="g20_right_15",
+        layout_id="g20_right_19",
         validation_offset_bias_degrees={"thumb_cmc_roll": 2.0},
     )
 
@@ -867,9 +925,9 @@ def test_right_19_holdout_never_changes_frozen_training_offsets() -> None:
     assert result.validation_cycle not in result.training_cycles
 
 
-def test_right_15_palm_pose_and_12_zero_observation_jacobian_is_full_rank() -> None:
-    """Guard the reviewed 6-palm-DOF plus 12-static-zero observability."""
-    zero = get_zero_calibration_profile("right", "g20_right_15")
+def test_right_19_palm_pose_and_16_zero_observation_jacobian_is_full_rank() -> None:
+    """Guard the reviewed 6-palm-DOF plus 16-static-zero observability."""
+    zero = get_zero_calibration_profile("right", "g20_right_19")
     model = UrdfKinematicModel(RIGHT_SOURCE_URDF)
     parameter_count = 6 + len(zero.direct_zero_joints)
 
@@ -914,14 +972,14 @@ def test_right_15_palm_pose_and_12_zero_observation_jacobian_is_full_rank() -> N
         ]
     )
 
-    assert parameter_count == 18
+    assert parameter_count == 22
     assert np.linalg.matrix_rank(jacobian, tol=1.0e-7) == parameter_count
 
 
-def test_right_15_urdf_writer_changes_only_the_12_static_targets(
+def test_right_19_urdf_writer_changes_only_the_16_static_targets(
     tmp_path: Path,
 ) -> None:
-    zero = get_zero_calibration_profile("right", "g20_right_15")
+    zero = get_zero_calibration_profile("right", "g20_right_19")
     offsets = {name: math.radians(1.0) for name in zero.direct_zero_joints}
     destination = write_zero_corrected_urdf(
         source_urdf=RIGHT_SOURCE_URDF,
@@ -957,7 +1015,7 @@ def test_right_15_urdf_writer_changes_only_the_12_static_targets(
     assert changed == set(zero.direct_zero_joints)
     assert "thumb_mcp" in changed
     assert not set(get_hand_calibration_profile(
-        "right", "g20_right_15"
+        "right", "g20_right_19"
     ).passive_joints) & changed