update pip install .copy manifest for developments

src/orisys/sensor.py

@@ -11,6 +11,7 @@ import numpy as np
 import cv2
 import time
 from enum import Enum, auto
+from pathlib import Path
 from typing import Optional, Tuple
 # from threading import Thread, Event
 # from queue import Queue, Empty
@@ -22,7 +23,12 @@ from . import configs
 from .get_depth import Contact3D
 from .backend_availability import (check_cupy_available, check_opencl_available)
 from .frame_processors import create_frame_processor
-from .signal_processing import DEFAULT_SAMPLE_RATE_HZ, LowpassFilter
+from .signal_processing import (
+    DEFAULT_SAMPLE_RATE_HZ,
+    LowpassFilter,
+    calibrate_normal_force,
+    calibrate_shear_components,
+)
 from .capture import (
     CaptureConfig,
     CaptureWorker,
@@ -148,6 +154,7 @@ class Sensor:
         self.n_boxes = None
         self.fnormal = self.fshearx = self.fsheary = self.ftor = 0.0
         self._force_raw = (0.0, 0.0, 0.0)
+        self._force_cal_sensor_name = self._resolve_force_calibration_sensor_name()
         self._lowpass_enabled = False
         self._lowpass_cutoff_hz = 0.0
         self._lowpass_sample_rate_hz = float(DEFAULT_SAMPLE_RATE_HZ)
@@ -158,6 +165,13 @@ class Sensor:
             order=self._lowpass_order,
             n_channels=3,
         )
+        if self.verbose:
+            if self._force_cal_sensor_name:
+                print(
+                    f"Force calibration: sensors/{self._force_cal_sensor_name}/force_calibration.json"
+                )
+            else:
+                print("Force calibration: raw (no force_calibration.json)")
 
         # Contact Data Variables (public)
         self.centroid = (0, 0)
@@ -790,17 +804,58 @@ class Sensor:
                 self._update_hhd_mask_cache()
         return self
 
+    def _resolve_force_calibration_sensor_name(self) -> Optional[str]:
+        """Return sensors/<name> when force_calibration.json exists; else None.
+
+        Lookup order:
+          1. ``config_name`` stem / product alias (e.g. ``box``)
+          2. ``sensors/<name>/...`` path segment in ``config_name``
+        Missing JSON means ``FNORMAL/FSHEAR*`` stay raw (no hardcoded fallback).
+        """
+        text = str(self.config_name or "").strip().replace("\\", "/")
+        if not text:
+            return None
+
+        candidates: list[str] = []
+        stem = Path(text).stem if text else ""
+        if stem:
+            candidates.append(stem)
+        parts = [p for p in text.split("/") if p]
+        if "sensors" in parts:
+            idx = parts.index("sensors")
+            if idx + 1 < len(parts):
+                candidates.append(parts[idx + 1])
+        for name in configs.PRODUCT_BUNDLES:
+            if text == name or text.endswith(f"/sensors/{name}") or text.endswith(f"/sensors/{name}/sensor.json"):
+                candidates.append(name)
+
+        seen: set[str] = set()
+        for candidate in candidates:
+            alias = configs.CONFIG_ALIASES.get(candidate, candidate)
+            for name in (alias, candidate):
+                if name in seen:
+                    continue
+                seen.add(name)
+                if configs.load_force_calibration(name) is not None:
+                    return name
+        return None
+
     def _apply_force_filter(self):
         raw = np.asarray(self._force_raw, dtype=np.float64)
         if self._lowpass_enabled and self._lowpass_cutoff_hz > 0:
             filtered = self._force_filter.process(raw)
-            self.fnormal, self.fshearx, self.fsheary = (float(v) for v in filtered)
+            fn, fx, fy = (float(v) for v in filtered)
         else:
-            self.fnormal, self.fshearx, self.fsheary = (
-                float(raw[0]),
-                float(raw[1]),
-                float(raw[2]),
-            )
+            fn, fx, fy = float(raw[0]), float(raw[1]), float(raw[2])
+
+        # Apply sensors/<name>/force_calibration.json when present; otherwise keep raw.
+        name = self._force_cal_sensor_name
+        if name is not None:
+            fn = float(calibrate_normal_force(fn, sensor_name=name))
+            fx, fy = calibrate_shear_components(fx, fy, sensor_name=name)
+            fx, fy = float(fx), float(fy)
+
+        self.fnormal, self.fshearx, self.fsheary = fn, fx, fy
 
     # def export_config(self, path="./config/exported_config.json"):
     #     """Return current configuration dict."""