ykcheungab
bcc55a3b97
朝上判断误用平台轴、接触高度报旋转前数值、多点对准复用缓存姿态，且多点会话被复核入口拒绝；
现按修正计划改正并接通 autocal-multipoint-1.0 只读复核，缺失帧源如实报告而不补零。
离线验证：新回归在 dc5a6f8 上失败、此处通过，panel_check 通过，两截图点接触高度复现
19.0510 / 21.5781 mm；实机项未做，详见 .scratch/autocal-motion-fix/verification.md。
122 lines
6.8 KiB
Markdown
122 lines
6.8 KiB
Markdown
# Finger calibration-point debugger — findings so far
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Status: subsystem 1 (UV picking) works and is measured. Subsystem 2 (simulated
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5-axis pose) works and is measured. This note records the numbers, and the two
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solver bugs that produced confident wrong ones on the way here.
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## What is established
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### The export bundle (`finger/r01`, `compute` profile)
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| Quantity | Value |
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| Mesh | 1032 vertices, 1974 triangles (matches `profiles/compute.yaml`) |
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| UV atlas | **one connected island**, u 0→1, v 0.142→0.857 |
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| Pose | `world_to_cam`, uniform scale `0.018388452316735537`, `det(R) = +1` |
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| Physical size | sensing **15.0 × 7.5 × 15.81 mm**; housing 16.0 × 9.5 × 21.0 mm |
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| Surface area | 355.77 mm² |
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| Origin | housing base at `y ≈ 0`; sensing spans `y ≈ 0.99 … 8.49 mm` |
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| Curvature | ~12% of area within 15° of one axis; area-weighted normal ≈ `(0, 0.57, 0.26)` |
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**The mesh is not in millimetres.** `blender/scripts/export.py` transforms
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vertices by `t_sensor_from_world @ world`, and the pose's linear block carries the
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`origin_sensor` empty's own uniform scale — 1/54.4 on `finger/r01`. Physical size
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is *mesh units × that factor*, so the factor is derived from the file (and
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refused if it is not a uniform rotation) rather than assumed. A consumer that
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treats the vertices as millimetres is wrong by 54×.
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### UV picking
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`rasterise()` builds, in one pass, a flat image of the UV layout **and** a
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`pixel → (position, normal, face)` table, at 1024×1024 in 0.24 s. Measured:
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- valid (surface-bearing) pixels: 72.9%
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- round trip `vertex → its UV pixel → looked-up 3D`: worst error **0.0081 mm**
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- a pixel in a UV-island gap returns `None` rather than a fabricated `(0,0,0)`
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Because the atlas is a single island, a click maps to exactly one 3D point.
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## The supposed finding, and its retraction
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An earlier revision of this note reported that the **yaw +-90 deg limit made a
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quarter of the patch unalignable**, worst residual 65.1 deg, only 47 of 61
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sampled points reachable. **That was a solver bug, not a property of the
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machine.**
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A later revision then reported the residual as 0.21 deg worst with the yaw limit
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"not the constraint". **That was also wrong**, in the opposite direction: the
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limit itself was wrong. The bench confirmed the yaw stage turns a **full half-turn
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either way (+-180 deg)**, not +-90.
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With the corrected envelope, solved by closed form
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(see `inverse-kinematics.md`):
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| Envelope | Worst residual | Within 0.5 deg | In range |
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|---|---|---|---|
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| pitch 90 deg, **yaw +-180 deg** (the machine) | **1.2e-06 deg** | 100% | **1032 / 1032** |
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Every vertex is reachable, and the residual is at the floating-point floor rather
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than at any clamp. The "0.21 deg worst, genuinely clamped vertex" claim above was
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an artefact of the wrong limit and no longer holds.
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**No mounting change is required for reachability.** The three options the earlier
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note listed (re-mount, state a tolerance, index the plate) are all unnecessary on
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the reachability evidence. Whether they help *repeatability* — a shorter pitch
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move, a better-conditioned contact — is a separate bench question, not a
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kinematic one.
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**Correction (motion-correction-plan.zh.md task 1).** This note used to claim that
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**51 of 1032 vertices end inverted** whichever branch is chosen, because the tool
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direction was antiparallel to the sensor's own up axis. That count came from
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`uprightness` comparing a platform axis through `to_sensor(np.eye(3)[1])`, which is
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the sensor's own **-Z** — a horizontal axis — so a body rolled about the vertical
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was reported as turned over. Measured against the post-mount nominal up (the tool
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axis) no exported vertex is inverted, and the corrected flag changes no vertex's
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branch selection. What did invert poses was the `approach_sign` polarity bug
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recorded above; the residual could not see it, and neither could that up test. See
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`inverse-kinematics.md` → *the face is aimed at +Z* and *the two exact poses of one
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normal*.
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## What was wrong before, and why it is worth recording
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**Four** solver versions preceded this one, each wrong in a way that produced
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confident numbers:
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- rotating the **sensor-frame** normal while the stages act in the platform frame
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(uniform ~90 deg error);
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- composing the stages in the wrong order;
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- a **seeded** search, which left 22.7 deg on the table for normals whose best yaw
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sat far from the analytic guess;
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- a sweep whose yaw ranking used "how close does the yawed normal come to the tool
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axis", which is **not** the quantity that matters. What matters is where the
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whole circle the pitch stage sweeps sits. Ranking by the wrong one left **68 deg**
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on the table while looking entirely reasonable — this is the bug that produced
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the retracted 65 deg finding above.
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The solver is now a sweep of every yaw/pitch combination, evaluated as a grid one
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yaw at a time (7.8 ms per point, 1032 vertices in 9 s), then a local polish to
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1e-4 deg. It is verified two ways: it is **never worse than a brute-force search**
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at 2 deg on random normals, and its returned residual matches an **independently
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composed rotation matrix** to 8e-8 deg. Both checks are tests, not one-off probes.
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The residual is measured from the actual rotations, so a wrong derivation shows up
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as a number rather than as a plausible pose.
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## Implemented so far
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| Module | State |
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| `sensor/frames.py` | mount mapping as a named constant; refuses a non-rotation |
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| `sensor/export_bundle.py` | load + validate; derives mm/unit; refuses a non-uniform or mirrored pose, and count mismatches |
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| `sensor/uv_flat.py` | flat image + pixel→3D table; gap pixels are `None` |
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| `motion/kinematics.py` | constrained search + measured residual; stage limits are parameters; singular case reported, not guessed |
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| `ui/sensor_panel.py` | picker, readouts, point table; refuses gap pixels with a reason; picked rows kept at full precision, not re-read from the 3-decimal display text |
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| `ui/pose_preview.py` | 3D preview coloured by residual, tool axis drawn; the legend is a sibling label, because text composited over the GL surface is unreadable once it overflows. The scene, the palette and the framing rule are described in [finger-preview.md](finger-preview.md) |
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| `motion/kinematics.py` | closed-form solve, exact to 1.2e-06°; the sweep is kept only as the reference the tests check it against — see [inverse-kinematics.md](inverse-kinematics.md) |
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| workspace `finger` tab | wired, checked at 1440×900 and 1920×1080 in both themes |
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| startup | the remembered bundle loads automatically, so the tab comes up working instead of showing a filled-in path over two empty views |
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| `tools/preview_snapshot.py` | photographs the 3D pane with a real GL context, at rest or mid-playback, pane-only or composited into the page |
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Not yet built: capture of picked points into the sequence, and the live-sensor
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counterpart of the simulated pose.
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