fix: 按复位请求目标确认参考版本并隔离复位状态

防止在途旧帧提前触发归零，并保留旧 reset 用法。SDK 101 项针对性回归与 lint 通过。

docs/force-workflow.zh.md

@@ -65,6 +65,16 @@ session = ForceSession(
 基线未完成、无效帧、窗口不足或已取消时 N 为 `NaN`、状态显式；窗口不足不越界补帧。
 录像重算用 `replay_window=(start, end)` 在声明区间执行同一操作。
 
+三级流水线已有同帧测量时，用 `process_measurement(row, stamp, tracker_reset_seq=...)`
+传入快照自带的参考版本，不读流水线的实时计数。外部归零先调用
+`target = pipeline.request_reset()`，再调用
+`request_zero_external_reset(reference_id=..., declared_unloaded=True, target_reference_version=target)`。
+`target` 为正整数，帧版本达到它才开始采样；较早复位后已在途的帧不能确认本次请求。
+未被 flow 领取的请求合并为同一目标，领取后的新请求另分配目标；共用目标的复位与归零只确认一次。
+该接缝尚未发布，本轮将原 `tracker_reset_seq` 请求参数改为明确的目标版本参数；
+逐帧输入仍用 `tracker_reset_seq`。已发布 `Sensor.reset()` / `StreamPipeline.reset()` 用法不变。
+实现见 `pipeline.py`、`force_session.py`，回归见 `tests/test_pipeline.py`、`tests/test_force_session.py`。
+
 ## 后处理与有效设置
 
 `OutputSettings(sample_rate_hz, median_window=1, lowpass_hz=0.0, lowpass_order=2,

docs/sensor-bundles.md

@@ -165,6 +165,16 @@ compute the same numbers.
 ## Resetting the reference
 
 Both backends process externally supplied frames through the same profile. After a gap in the
-input - a pause, a seek, a scene change - call `session.reset()`. It is queued to the stage that
-owns the tracker, so the reference frame is rebased on the frame about to be computed rather than
-on a buffer the pipeline is still reading.
+input - a pause, a seek, a scene change - call `session.reset()`. It is queued to the stages that
+own the sensor state, so the reference frame is rebased on the frame about to be computed rather
+than on a buffer the pipeline is still reading: the flow stage resets the image/tracker state and
+bumps the reference version, and the HHD stage resets the force/readout state (filters, contact
+flags, calibration session) on the first frame carrying the new version, before decomposing it.
+`FrameSnapshot.tracker_reset_seq` is the version that frame was measured with.
+
+When driving `StreamPipeline` directly, call `target = pipeline.request_reset()` to obtain the
+future reference version reserved by that request. Confirm it only when a snapshot carries
+`tracker_reset_seq >= target`; the current output frame can trail an earlier reset and cannot
+identify a new request. Requests share a target until flow claims it; a later request gets a new
+target even while the earlier reset is still being applied. The existing `reset()` returns `None`.
+Regression coverage lives in `tests/test_pipeline.py` (request coalescing and reset-in-progress).