fix path errors

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")