fix path errors

examples/gui/sensors/adapter.py

@@ -76,11 +76,37 @@ def _bgr_from_gray_or_bgr(img: np.ndarray) -> np.ndarray:
     return img
 
 
+def _resolve_calibration_sensor_name(config_name) -> str | None:
+    """Map a config path/name to a sensors/<name> bundle when one exists."""
+    if config_name is None:
+        return None
+    from orisys.configs import resolve_sensor_bundle
+
+    text = str(config_name).strip()
+    if not text:
+        return None
+
+    path = Path(text)
+    parts = path.parts
+    if "sensors" in parts:
+        idx = parts.index("sensors")
+        if idx + 1 < len(parts):
+            candidate = parts[idx + 1]
+            if resolve_sensor_bundle(candidate) is not None:
+                return candidate
+
+    stem = path.stem if path.suffix else text
+    if resolve_sensor_bundle(stem) is not None:
+        return stem
+    return None
+
+
 def _snapshot_from_sensor(
     sensor,
     *,
     raw_image=None,
     processed_image=None,
+    sensor_name: str | None = None,
 ) -> Optional[FrameSnapshot]:
     """Build a FrameSnapshot with HHD/forces refreshed every frame."""
     if sensor is None or sensor.img is None:
@@ -124,6 +150,9 @@ def _snapshot_from_sensor(
             below_threshold_color=(160, 160, 160),
         )
 
+    cal_name = sensor_name or _resolve_calibration_sensor_name(
+        getattr(sensor, "config_name", None)
+    )
     fn_raw = float(fnormal)
     return FrameSnapshot(
         image=image_bgr,
@@ -134,7 +163,7 @@ def _snapshot_from_sensor(
         normal_force=fn_raw,
         shear_x=float(fshearx),
         shear_y=float(fsheary),
-        normal_force_calibrated=calibrate_normal_force(fn_raw),
+        normal_force_calibrated=calibrate_normal_force(fn_raw, sensor_name=cal_name),
         fps=float(fps),
         timestamp=time.time(),
         raw_image=raw_image,
@@ -198,6 +227,7 @@ class OrisysSensorAdapter(SensorAdapter):
             if self.sensor.frame is not None
             else None,
             processed_image=_bgr_from_gray_or_bgr(self.sensor.img),
+            sensor_name=_resolve_calibration_sensor_name(self.config_name),
         )
 
     def reset(self) -> None:
@@ -274,6 +304,7 @@ class Dd06RoiAdapter(SensorAdapter):
             self.sensor,
             raw_image=frame,
             processed_image=rectified,
+            sensor_name=_resolve_calibration_sensor_name(self.config_name),
         )
 
     def reset(self) -> None: