接入 Studio 多点标定的会话置零与状态记录
支持显式无载荷置零、处理线程内切换模型及完整标定包快照。shared、界面检查与兼容测试通过；Studio 全量仍有一项回放停止时序测试失败。
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ykcheungab
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"""Model validity, explicit unloaded references and portable schema 3 snapshots."""
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import json
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import math
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from types import SimpleNamespace
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import numpy as np
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import pytest
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from orisys import calibration
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from orisys.finger import TactileProcessor
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from orisys_app_shared.acquisition.finger_worker import FingerAcquisitionWorker
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from orisys_app_shared.acquisition.sdk_worker import (
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loaded_calibration_version,
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read_forces_from_sensor,
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)
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from orisys_app_shared.force.units import select_display_forces
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from orisys_app_shared.record.calibration_snapshot import store_calibration_snapshot
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from orisys_app_shared.record.sample import to_record_sample
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def model_file(tmp_path):
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import hashlib
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attachment = tmp_path / "coordinates.npz"
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np.savez(attachment, uv_by_output_px=np.zeros((2, 2, 2)), valid_mask=np.ones((2, 2), bool))
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digest = hashlib.sha256(attachment.read_bytes()).hexdigest()
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data = {
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"schema_version": 3, "unit": "N", "identity": {"sensor_type": "finger", "sn": "test"},
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"pipeline": {"feature_signature_sha256": "a" * 64, "geometry_sha256": "b" * 64,
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"stitch_resolution": [2, 2], "dis_mode": 1, "hhd_downsample": 3, "source_scale": .42,
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"filters": {"measurement": {"flow_ema_alpha": 1.0}},
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"coordinates": {"frame": "autocal_flat", "unit": "px", "origin_xy": [0, 0],
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"map_sha256": digest}},
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"model": {"type": "spatial_gain/1", "input_profile": "fn_delta_autocal_uv/1",
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"output_frame": "sdk_force/1", "outputs": ["fn"],
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"params": {"points_uv": [[0, 0], [10, 0], [0, 10]],
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"gains_N_per_raw": [0.001, 0.002, 0.003], "triangles": [[0, 1, 2]],
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"valid_force_range_N": [0, 3]},
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"artifacts": [{"role": "coordinate_map", "path": attachment.name, "sha256": digest}]}}
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path = tmp_path / "model.json"
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path.write_text(json.dumps(data))
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return path
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def test_recorded_model_remains_loadable_without_original_resources(tmp_path):
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source = model_file(tmp_path)
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original = calibration.load(source, strict=True)
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recorded = tmp_path / "recording"
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relative = store_calibration_snapshot(recorded, source, "version")
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source.unlink()
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(tmp_path / "coordinates.npz").unlink()
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reloaded = calibration.load(recorded / relative, strict=True)
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assert reloaded.fingerprint == original.fingerprint
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prediction = reloaded.predict(1, 0, dict(delta_raw=1000, u=2.5, v=2.5,
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zero_valid=True, contact_found=True, mapping_valid=True), "z")
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assert prediction.values_N["fn"] == pytest.approx(1.75)
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def test_snapshot_keeps_its_axes_contact_and_status_after_model_swap():
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from orisys.pipeline import FrameSnapshot
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from orisys_app_shared.acquisition.models import from_snapshot
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snapshot = FrameSnapshot(seq=0, timestamp=1., age_ms=0., fps=30., unit="N",
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normal_force=1., shear_x=20., shear_y=30., normal_force_raw=1000., shear_x_raw=20., shear_y_raw=30.,
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torque=0., produce_ms=0., flow_ms=0., hhd_ms=0., force_units=("N", "raw", "raw"),
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calibration_status={"fn": "ok"}, contact_found=True, centroid=np.array([2., 3.]))
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next_sensor = SimpleNamespace(calibration=None, force_calibrated=False, centroid_found=False)
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packet = from_snapshot(snapshot, next_sensor, contact_analysed=True, contact_found=False)
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assert packet.calibrated_axes == ("fn",)
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assert packet.calibration_status == {"fn": "ok"}
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assert packet.contact.found
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def test_serial_read_unwraps_tactile_and_preserves_invalid_model_status(tmp_path):
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model = calibration.load(model_file(tmp_path), strict=True)
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info = SimpleNamespace(FNORMAL=0, FSHEARX=1, FSHEARY=2, FNORMAL_RAW=3, FSHEARX_RAW=4, FSHEARY_RAW=5)
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values = [math.nan, 2., 3., 2000., 2., 3.]
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sensor = SimpleNamespace(info=info, calibration=model, force_calibrated=True,
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calibration_status={"fn": "zero_unavailable"},
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read_info=lambda *keys: [values[key] for key in keys])
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tactile = TactileProcessor(sensor)
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reading = read_forces_from_sensor(tactile)
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assert reading["calibrated_axes"] == ("fn",)
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assert reading["calibration_status"] == {"fn": "zero_unavailable"}
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assert loaded_calibration_version(tactile) == model.fingerprint
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record = to_record_sample(SimpleNamespace(**reading))
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assert record.fn_raw == 2000 and math.isnan(record.fn_n)
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assert record.calibration_status == {"fn": "zero_unavailable"}
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displayed = select_display_forces(units_pref="newton", sample=record)
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assert displayed.unit == "N" and not any(displayed.available)
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assert not displayed.using_raw_fallback
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def test_zero_is_explicit_complete_and_cancelled_on_contact():
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applied = []
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sensor = SimpleNamespace(calibration=SimpleNamespace(schema_version=3, channels={"fn": None}),
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centroid_found=False,
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set_calibration_reference=lambda raw, **kw: applied.append((raw, kw)))
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runtime = SimpleNamespace(tactile=SimpleNamespace(raw_sensor=sensor),
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set_calibration_reference=sensor.set_calibration_reference)
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worker = FingerAcquisitionWorker()
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worker.request_calibration_zero()
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assert applied == []
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for index in range(29):
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worker._collect_zero(runtime, (index, 0, 0), index)
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assert applied == [({}, {"reference_id": "zero-measurement-pending"})]
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worker._collect_zero(runtime, (29, 0, 0), 29)
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assert applied[-1][0] == {"fn": 14.5}
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assert worker._zero_reference["samples"] == 30
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worker.request_calibration_zero()
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sensor.centroid_found = True
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with pytest.raises(ValueError, match="cancelled"):
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worker._collect_zero(runtime, (1000, 0, 0), 30)
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assert applied[-1][0] == {}
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assert worker._zero_reference == {}
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def test_resume_cancels_partial_zero_because_tracker_is_rebased():
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worker = FingerAcquisitionWorker()
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worker._zero_samples = [(1., 2., 3.)]
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worker._pipe = SimpleNamespace(resume=lambda **kwargs: None)
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worker.resume()
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assert worker._cancel_zero
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def test_hot_swap_uses_runtime_and_confirmed_serial_then_clears_zero(tmp_path):
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path = model_file(tmp_path)
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calls = []
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runtime = SimpleNamespace(set_calibration=lambda path, **kw: calls.append((path, kw)))
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worker = FingerAcquisitionWorker()
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worker._zero_reference = {"raw": {"fn": 123}}
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worker.set_pending_calibration(path, device_id="test")
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assert calls == []
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worker._consume_pending_calibration(runtime, 4, .2)
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assert calls == [(str(path), {"device_id": "test"})]
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assert worker._zero_reference == {}
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@pytest.mark.parametrize("frame_count,contact", [(31, False), (29, False), (31, True)])
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def test_video_unloaded_reference_is_explicit_and_requires_the_whole_interval(monkeypatch, tmp_path, frame_count, contact):
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from orisys_app_shared.acquisition import sdk_worker
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from orisys_app_shared.analysis import service
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from orisys_app_shared.analysis.model import Provenance
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from orisys_app_shared.record.playback import RecordingFrame
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applied = []
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sensor = SimpleNamespace(calibration=SimpleNamespace(schema_version=3, channels={"fn": None}),
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info=SimpleNamespace(FNORMAL_RAW=0, FSHEARX_RAW=1, FSHEARY_RAW=2),
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read_info=lambda *keys: (100., 2., 3.), centroid_found=contact,
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set_calibration_reference=lambda raw, **kw: applied.append(raw),
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flow=np.zeros((4, 4, 2)), valid_mask=None)
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class Chain:
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def __init__(self, *args):
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self.sensor = sensor
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self.open_seconds = 0.
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self.debug_files = []
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self.index = 0
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def __enter__(self):
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return self
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def __exit__(self, *args):
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return False
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def read(self):
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self.index += 1
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return (True, np.zeros((4, 4))) if self.index <= frame_count else (False, None)
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def feed(self, frame):
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return frame
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monkeypatch.setattr(service, "_OpenChain", Chain)
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monkeypatch.setattr(sdk_worker, "process_chain", lambda sensor: (None, ""))
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processor = service.AnalysisService(tmp_path, chain=service.ChainSpec("finger"), store_force=False)
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reader = SimpleNamespace(session=lambda: {"synthetic": {"unloaded_reference_frames": 30}},
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segment_path=lambda number: tmp_path / "clip.mp4")
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monkeypatch.setattr(processor, "reader", lambda: reader)
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monkeypatch.setattr(processor, "_segment_offset", lambda *args: (0, True))
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rows = [RecordingFrame(i + 1, i / 30, "", 1, i + 1, True) for i in range(frame_count)]
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state = service._PassState(Provenance(), [1], {1: rows}, tmp_path)
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if frame_count < 30 or contact:
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with pytest.raises(ValueError):
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list(processor._pass_frames(state))
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assert applied == []
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else:
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assert len(list(processor._pass_frames(state))) == frame_count
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assert applied == [{"fn": 100.}]
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assert state.provenance.counts["unloaded_reference_frames"] == 30
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