added motion trajectory simulation

apps/autocal/src/orisys_autocal/preferences.py

@@ -179,15 +179,24 @@ def default_preferences() -> dict[str, Any]:
         #: The UV-space texture for the flat picker. Preferred over the derived
         #: path when it exists; empty falls back to the layout map.
         "finger_texture_path": DEFAULT_FINGER_TEXTURE,
-        #: The mounting plate lifts the sensor along the platform's tool axis, so
-        #: a fixture thickness is one number rather than a transform.
-        "finger_plate_thickness_mm": 0.0,
-        #: Tool tip offset from the platform reference, mm.
-        "finger_tool_offset_mm": [0.0, 0.0, 0.0],
-        #: Stage travel, degrees. The bench's figures: pitch turns continuously,
-        #: yaw is limited — and that limit is what decides how much of the patch
-        #: can be aligned at all.
-        "finger_yaw_limit_deg": 90.0,
+        #: How the sensor actually sits on the stack when the machine is at zero:
+        #: x/y/z translation along the table's axes and a yaw about its z. **The z
+        #: is the mounting plate**, so the plate is not a setting of its own — it
+        #: lifts the sensing face and does nothing else, and two fields for one
+        #: number drift apart.
+        "finger_sensor_offset_mm": [0.0, 0.0, 0.0],
+        "finger_sensor_yaw_deg": 0.0,
+        #: Where the tool is, in the table frame, mm. Straight above the table
+        #: origin unless the real machine says otherwise; every XY move is measured
+        #: against it, so it is what makes the reported move match the bench. A tool
+        #: tip offset belongs here — it used to be a separate field, and having two
+        #: of them is what let the picture and the numbers disagree.
+        "finger_tool_xy_mm": [0.0, 0.0],
+        #: Stage travel, degrees. Confirmed at the bench: the vertical stage turns
+        #: a full half-turn either way (±180), and the horizontal stage turns
+        #: continuously. An earlier value of 90 was wrong and made half the patch
+        #: look unreachable when it is not.
+        "finger_yaw_limit_deg": 180.0,
         "finger_pitch_limit_deg": 360.0,
     }
 
@@ -199,6 +208,43 @@ def load_preferences() -> dict[str, Any]:
     axis_params = prefs.setdefault("axis_params", {})
     for axis, values in _default_axis_params().items():
         axis_params.setdefault(axis, values)
+
+    # The mounting plate used to be a setting of its own. It is now the z of the
+    # sensor's mounting pose, so a stored value is carried over rather than quietly
+    # dropped — a machine that had it tuned would otherwise come back 4 mm off.
+    plate = prefs.pop("finger_plate_thickness_mm", None)
+    try:
+        plate = float(plate) if plate is not None else 0.0
+    except (TypeError, ValueError):
+        plate = 0.0
+    offset = prefs.get("finger_sensor_offset_mm")
+    offset = list(offset) if isinstance(offset, list) else [0.0, 0.0, 0.0]
+    while len(offset) < 3:
+        offset.append(0.0)
+    if plate and not offset[2]:
+        offset[2] = plate
+    prefs["finger_sensor_offset_mm"] = offset
+
+    # The tool tip offset used to be a vector added to the reported coordinates
+    # while the drawing ignored it, so the picture and the numbers disagreed by
+    # exactly that much. It is the tool's position now: fold a stored x/y into it,
+    # and take whatever is left out of the document so nothing reads it again. Its
+    # z had no meaning the model kept — the tool's height is the Z axis's job — so
+    # it is dropped, deliberately and visibly rather than silently applied.
+    legacy = prefs.pop("finger_tool_offset_mm", None)
+    tool = prefs.get("finger_tool_xy_mm")
+    tool = list(tool) if isinstance(tool, list) else [0.0, 0.0]
+    while len(tool) < 2:
+        tool.append(0.0)
+    if isinstance(legacy, list) and len(legacy) >= 2:
+        for index in range(2):
+            try:
+                value = float(legacy[index])
+            except (TypeError, ValueError):
+                continue
+            if value and not tool[index]:
+                tool[index] = value
+    prefs["finger_tool_xy_mm"] = tool
     return prefs