添加按设备 ID 选择和校验标定文件

避免多台传感器误用默认标定，缺文件时保持 raw。已通过 SDK 回归测试和文档检查。

README.md

@@ -9,7 +9,8 @@ PyPI: [https://pypi.org/project/orisys/](https://pypi.org/project/orisys/)
 ## Repository Layout
 
 - `src/orisys/`: installable SDK package
-- `config/`: default and lab/runtime JSON configurations
+- `sensors/`: product bundles containing the current `sensor.json` configurations and assets
+- `config/`: legacy JSON configurations retained for compatibility
 - `examples/`: runnable demos (`basic_pipeline.py`, `mini_pipeline.py`, `finger_pipeline*.py`) plus shared `gui/`, `pipeline/`, `viz/`
 - `scripts/`: maintenance, calibration, packaging, and demo scripts
 - `tools/`: non-package tooling such as patch-generation utilities
@@ -73,12 +74,13 @@ Run commands from the repository root.
 
 ## Configuration
 
-The canonical configuration files now live in the repo-level `config/` folder.
+Product configurations live in `sensors/<name>/sensor.json`. The repo-level `config/`
+folder remains available for older configurations and aliases.
 The package loader `orisys.configs` resolves configs from:
 
 1. an explicit JSON file path
-2. a config file stem under `config/` (for example `box`, `mini`, `finger`)
-3. a product alias such as `dd02` -> `dd02-ov`
+2. `sensors/<name>/sensor.json` (for example `box`, `mini`, `finger`)
+3. a file stem under the legacy `config/` folder, including aliases such as `dd02` -> `dd02-ov`
 4. a backward-compatible JSON `"name"` match, such as `"prototype"`
 
 Examples:
@@ -90,6 +92,25 @@ sensor = orisys.Sensor(0, config_name="box")
 cfg = orisys.export_config("box", "./config/exported_config.json")
 ```
 
+For multiple physical sensors, keep calibration files in a user-selected directory:
+`<calibration_dir>/<product>/<device_id>.json` (for example,
+`./calibrations/box/BOX-001.json`). Each file uses the existing calibration JSON
+format and must contain matching `identity.sensor_type` and `identity.sn`, Newton
+curves for FN/FX/FY, and a compatible measurement pipeline. Enter the device ID
+manually until hardware identification is available:
+
+```python
+sensor = orisys.Sensor(0, config_name="box", calibration_dir="./calibrations", device_id="BOX-001")
+```
+
+If that ID has no file, the sensor reports raw force; it never falls back to the
+product's default. An invalid or mismatched file raises `CalibrationError`.
+`FingerRuntime.open` accepts the same `calibration_dir` and `device_id` arguments.
+Existing calls without a device ID still use the product bundle default, and
+explicit `cal_path` remains available for one-off use. `cal_path` and
+`calibration_dir` cannot be combined. Pass `device_id` with `cal_path` to validate
+that explicit file against the selected device.
+
 ## Examples and Tools
 
 - Example entry points: `examples/README.md`