fix path errors

tests/dd06.py

@@ -8,7 +8,7 @@ Flow:
 4. Feed the rectified frame into Sensor.get_img(..., already_processed=True)
 5. Compute deformation/contact and visualize
 
-SDK version: 0.4.3
+SDK version: 0.4.4
 """
 from __future__ import annotations
 

tests/test_pyproject.py

@@ -35,7 +35,7 @@ def test_pyproject_dynamic_version(packaging_utils):
         sys.path.insert(0, str(build_dir))
     from common.pyproject_utils import get_version
 
-    assert get_version(REPO_ROOT) == "0.4.3"
+    assert get_version(REPO_ROOT) == "0.4.4"
 
 
 def test_pyproject_bundle_manifest(packaging_utils):
@@ -48,7 +48,7 @@ def test_pyproject_bundle_manifest(packaging_utils):
 
     items = bundle_items(REPO_ROOT)
     names = {item["name"] for item in items}
-    assert names == {"configs", "examples", "docs", "assets"}
+    assert names == {"configs", "examples", "docs", "sensors"}
 
     data_files = dict(bundle_data_files(REPO_ROOT))
     assert "orisys/configs" in data_files
@@ -57,8 +57,9 @@ def test_pyproject_bundle_manifest(packaging_utils):
     assert all("/" in path and "*" not in path for path in config_files)
     assert any(path.endswith(".json") for path in config_files)
 
-    asset_dirs = [dest for dest in data_files if dest.startswith("orisys/assets/")]
-    assert asset_dirs
+    sensor_dirs = [dest for dest in data_files if dest.startswith("orisys/sensors/")]
+    assert sensor_dirs
+    assert any("finger/assets" in dest for dest in sensor_dirs)
     assert all("*" not in path for files in data_files.values() for path in files)
     assert "examples" not in data_files
 

tests/test_signal_processing.py

@@ -12,6 +12,8 @@ from orisys.signal_processing import (
     NORMAL_FORCE_CAL_SLOPE,
     LowpassFilter,
     calibrate_normal_force,
+    calibrate_shear_components,
+    calibrate_shear_force,
     lowpass_filter,
 )
 
@@ -73,6 +75,46 @@ def test_calibrate_normal_force_preserves_linear_curve():
     assert calibrate_normal_force(0.0) == pytest.approx(NORMAL_FORCE_CAL_OFFSET)
 
 
+def test_calibrate_normal_force_mini_uses_legacy_linear_file():
+    raw = 10000.0
+    expected = NORMAL_FORCE_CAL_SLOPE * raw + NORMAL_FORCE_CAL_OFFSET
+    assert calibrate_normal_force(raw, sensor_name="mini") == pytest.approx(expected)
+
+
+def test_calibrate_normal_force_box_uses_piecewise_curve():
+    assert calibrate_normal_force(10000.0, sensor_name="box") == pytest.approx(0.377)
+    assert calibrate_normal_force(30000.0, sensor_name="box") == pytest.approx(1.377)
+    # Mid-segment interpolation between 10000→0.377 and 30000→1.377
+    mid = calibrate_normal_force(20000.0, sensor_name="box")
+    assert mid == pytest.approx(0.877)
+    # Below first breakpoint with extrapolate=true
+    assert calibrate_normal_force(0.0, sensor_name="box") == pytest.approx(0.0)
+
+
+def test_calibrate_shear_force_box_piecewise():
+    assert calibrate_shear_force(1000.0, sensor_name="box") == pytest.approx(0.0)
+    assert calibrate_shear_force(36000.0, sensor_name="box") == pytest.approx(1.19)
+    assert calibrate_shear_force(68000.0, sensor_name="box") == pytest.approx(2.06)
+
+
+def test_calibrate_shear_components_box_signed():
+    sx, sy = calibrate_shear_components(36000.0, -36000.0, sensor_name="box")
+    assert sx == pytest.approx(1.19)
+    assert sy == pytest.approx(-1.19)
+
+
+def test_calibrate_shear_missing_file_returns_raw():
+    assert calibrate_shear_force(1234.5, sensor_name="no-such-sensor") == pytest.approx(1234.5)
+    sx, sy = calibrate_shear_components(1.0, -2.0, sensor_name="no-such-sensor")
+    assert (sx, sy) == pytest.approx((1.0, -2.0))
+
+
+def test_calibrate_normal_force_unknown_sensor_falls_back_to_defaults():
+    raw = 5000.0
+    expected = NORMAL_FORCE_CAL_SLOPE * raw + NORMAL_FORCE_CAL_OFFSET
+    assert calibrate_normal_force(raw, sensor_name="no-such-sensor") == pytest.approx(expected)
+
+
 def _external_sensor():
     return Sensor("external", config_name="box", verbose=False, backend="cpu")
 

tests/test_wheel_build.py

@@ -19,25 +19,25 @@ def wheel_package():
 
 def test_compliant_manylinux_tags(wheel_package):
     assert wheel_package.is_compliant_manylinux_wheel(
-        Path("orisys-0.4.3-cp310-cp310-manylinux_2_17_x86_64.whl")
+        Path("orisys-0.4.4-cp310-cp310-manylinux_2_17_x86_64.whl")
     )
     assert wheel_package.is_compliant_manylinux_wheel(
-        Path("orisys-0.4.3-cp310-cp310-manylinux2014_x86_64.whl")
+        Path("orisys-0.4.4-cp310-cp310-manylinux2014_x86_64.whl")
     )
     assert wheel_package.is_compliant_manylinux_wheel(
-        Path("orisys-0.4.3-cp310-cp310-manylinux_2_28_x86_64.whl")
+        Path("orisys-0.4.4-cp310-cp310-manylinux_2_28_x86_64.whl")
     )
 
 
 def test_rejects_illegal_manylinux_tags(wheel_package):
     assert not wheel_package.is_compliant_manylinux_wheel(
-        Path("orisys-0.4.3-cp310-cp310-manylinux_x86_64.whl")
+        Path("orisys-0.4.4-cp310-cp310-manylinux_x86_64.whl")
     )
     assert not wheel_package.is_compliant_manylinux_wheel(
-        Path("orisys-0.4.3-cp310-cp310-linux_x86_64.whl")
+        Path("orisys-0.4.4-cp310-cp310-linux_x86_64.whl")
     )
     assert not wheel_package.is_compliant_manylinux_wheel(
-        Path("orisys-0.4.3-cp310-cp310-win_amd64.whl")
+        Path("orisys-0.4.4-cp310-cp310-win_amd64.whl")
     )