优化传感器对准压头

apps/autocal/tests/test_ik_analytical.py

@@ -39,12 +39,8 @@ def _random_units(count: int, seed: int) -> list[np.ndarray]:
 
 
 def _apply(stack: PlatformStack, unit: np.ndarray, yaw_deg: float, pitch_deg: float) -> np.ndarray:
-    """Re-apply a returned pose with the library's own rotations."""
-    return (
-        rotation_about(stack.pitch_axis, pitch_deg)
-        @ rotation_about(stack.yaw_axis, yaw_deg)
-        @ unit
-    )
+    """Re-apply a returned pose with the same rotation the drives execute."""
+    return stack.platform_rotation(yaw_deg, pitch_deg) @ unit
 
 
 # ------------------------------------------------------------------ exactness
@@ -108,11 +104,10 @@ def test_the_two_methods_agree_inside_the_envelope():
 
 
 def test_the_two_pitch_bindings_are_the_same_family():
-    """Confirmed at the bench: a 90 degree yaw takes one binding to the other.
+    """``R_y(p)·R_z(t)`` and ``R_x(p)·R_z(t − 90)`` reach the same alignments.
 
-    ``R_y(p)·R_z(t)`` and ``R_x(p)·R_z(t − 90)`` agree to machine precision. So
-    which axis is called pitch is a naming and zero-offset choice, not a
-    correctness question — the two reach exactly the same set of alignments.
+    This is a property of the right-hand matrices. The drive does not get to
+    pick either binding: pitch is about ``x`` with the measured command sign.
     """
     unit = np.array([0.3, 0.5, -0.81])
     unit = unit / np.linalg.norm(unit)