补充 Finger 模型切换与逐帧接触状态

按实际几何和处理参数校验切换模型，并保留帧内接触状态。88 项相关测试通过。

src/orisys/finger/runtime.py

@@ -1,6 +1,7 @@
 from __future__ import annotations
 
 from dataclasses import dataclass
+from pathlib import Path
 
 import numpy as np
 
@@ -386,6 +387,31 @@ class FingerRuntime:
         """Set an explicitly measured unloaded reference for this finger stream."""
         self.tactile.raw_sensor.set_calibration_reference(raw, reference_id=reference_id)
 
+    def set_calibration(self, calibration, *, device_id=None):
+        """Replace the model at a caller-owned frame boundary, validating actual geometry."""
+        from .. import calibration as cal_mod
+        from ..calibration_context import build_context, domain_fingerprint, sha256_file
+
+        sensor = self.tactile.raw_sensor
+        selected = cal_mod.load(calibration, strict=True) if isinstance(calibration, (str, Path)) else calibration
+        serial = device_id or sensor.device_id
+        if selected is not None and serial:
+            selected = cal_mod.validate_for_device(selected, "finger", serial)
+        context = None
+        if getattr(selected, "schema_version", None) == 3:
+            if selected.input_profile == "fn_delta_autocal_uv/1":
+                uv_map = selected.coordinate_map
+                if uv_map is None or uv_map.shape[:2] != (self.geometry.out_height, self.geometry.out_width):
+                    raise ValueError("calibration coordinate map does not match finger output shape")
+            context = build_context(
+                self.geometry.config, sensor.filters_state(),
+                geometry_sha256=sha256_file(self.geometry.export_paths.mesh),
+                source_scale=self.geometry.source_scale, coordinates=selected.pipeline.get("coordinates"),
+                output_domain_sha256=domain_fingerprint(self.domain), processing_backend="uv_unroll",
+                preprocessing={"flip_source_vertical": self.frame_processor.flip_source_vertical,
+                               "mirror": sensor.mirror})
+        sensor.set_calibration(selected, context=context)
+
     @property
     def calibration_status(self):
         """Copy the current per-axis calibration validity state."""

src/orisys/pipeline.py

@@ -156,6 +156,7 @@ class FrameSnapshot:
     source_metadata: Any = None
     force_units: tuple[str, str, str] | None = None
     calibration_status: dict[str, str] | None = None
+    contact_found: bool | None = None
 
 
 @dataclass
@@ -658,6 +659,7 @@ class StreamPipeline:
             torque=float(getattr(sensor, "ftor", 0.0)),
             force_units=tuple(getattr(sensor, "force_units", (getattr(sensor, "force_unit", "raw"),) * 3)),
             calibration_status=dict(getattr(sensor, "calibration_status", {})),
+            contact_found=bool(getattr(sensor, "centroid_found", False)),
             # Both already private per-frame copies owned by this snapshot.
             image=frame if "image" in include else None,
             flow=flow if "flow" in include else None,