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。

tests/test_model_runtime.py

@@ -55,6 +55,45 @@ def make_sensor(*, median=1):
     return sensor
 
 
+def test_finger_model_swap_validates_actual_runtime_and_invalidates_zero(monkeypatch, tmp_path):
+    import orisys.calibration_context as context_mod
+    from orisys.finger.runtime import FingerRuntime
+
+    sensor = make_sensor()
+    sensor.device_id = None
+    sensor.mirror = False
+    sensor.set_calibration_reference({"fn": 10}, reference_id="old-zero")
+    runtime = FingerRuntime.__new__(FingerRuntime)
+    runtime.tactile = SimpleNamespace(raw_sensor=sensor)
+    mesh = tmp_path / "mesh.npz"
+    mesh.write_bytes(b"actual geometry")
+    runtime.geometry = SimpleNamespace(config={}, export_paths=SimpleNamespace(mesh=mesh),
+                                       source_scale=.42, out_height=2, out_width=2)
+    runtime.domain = object()
+    runtime.frame_processor = SimpleNamespace(flip_source_vertical=True)
+    monkeypatch.setattr(context_mod, "domain_fingerprint", lambda domain: "domain")
+    contexts = []
+
+    def context(config, filters, **kwargs):
+        contexts.append(kwargs)
+        return {"signature": "actual"}
+
+    monkeypatch.setattr(context_mod, "build_context", context)
+    selected = RecordingModel()
+    selected.pipeline = {"coordinates": {"frame": "autocal_flat"}}
+    runtime.set_calibration(selected)
+    assert sensor.calibration is selected
+    assert sensor.calibration_status == {"fn": "zero_unavailable"}
+    assert contexts[0]["geometry_sha256"] == context_mod.sha256_file(mesh)
+    assert contexts[0]["output_domain_sha256"] == "domain"
+    wrong_shape = RecordingModel()
+    wrong_shape.pipeline = selected.pipeline
+    wrong_shape.coordinate_map = np.zeros((1, 1, 2))
+    with pytest.raises(ValueError, match="shape"):
+        runtime.set_calibration(wrong_shape)
+    assert sensor.calibration is selected
+
+
 def predict(sensor, frame, fn, *, contact=True, mapped=True):
     return sensor.apply_calibration_frame(frame_id=frame, timestamp_s=frame / 30.,
                                           raw=(fn, 20., 30.), uv=(0., 0.),