Merge pull request 'Merge pull request 'Dev' (#19) from dev into main' (#22) from main into dev

Reviewed-on: #22

.gitignore

@@ -10,6 +10,7 @@ __pycache__/
 /build/dist/
 /build/lib/
 /build/pyinstaller_work/
+/build/release/reports/
 /build/*.spec
 /dist/
 /dist_obfuscated/
@@ -23,12 +24,14 @@ __pycache__/
 # Local tools / editor state
 /.cursor/
 /.vscode/
+/_perf/
 
 # Local data / models
 /models/
 /data/*
 !/data/sample/
 !/data/sample/**
+!/data/calibrations/
 
 # Generated docs / tooling outputs
 /docs/.quarto/
@@ -42,3 +45,9 @@ __pycache__/
 # Legacy / scratch folders
 /old_orisys/
 /tools/calibration/
+
+# Scratch output of examples/ (multi_stream.py's default --out-dir)
+/outputs/
+
+# Agent scratch: one directory per task, see D:\orisys_ws\AGENTS.md
+.scratch/

MANIFEST.in

@@ -0,0 +1,10 @@
+# Non-Python files needed for sdist -> wheel builds from an unpacked sdist.
+include pyproject.toml
+include setup.py
+include README.md
+# Build-time input for the PyPI long description (read from the checkout).
+include docs/pypi_readme.md
+recursive-include config *.json
+recursive-include sensors *
+recursive-include build/common *.py
+recursive-include build/wheel *.py

README.md

@@ -9,7 +9,8 @@ PyPI: [https://pypi.org/project/orisys/](https://pypi.org/project/orisys/)
 ## Repository Layout
 
 - `src/orisys/`: installable SDK package
-- `config/`: default and lab/runtime JSON configurations
+- `sensors/`: product bundles containing the current `sensor.json` configurations and assets
+- `config/`: legacy JSON configurations retained for compatibility
 - `examples/`: runnable demos (`basic_pipeline.py`, `mini_pipeline.py`, `finger_pipeline*.py`) plus shared `gui/`, `pipeline/`, `viz/`
 - `scripts/`: maintenance, calibration, packaging, and demo scripts
 - `tools/`: non-package tooling such as patch-generation utilities
@@ -73,12 +74,13 @@ Run commands from the repository root.
 
 ## Configuration
 
-The canonical configuration files now live in the repo-level `config/` folder.
+Product configurations live in `sensors/<name>/sensor.json`. The repo-level `config/`
+folder remains available for older configurations and aliases.
 The package loader `orisys.configs` resolves configs from:
 
 1. an explicit JSON file path
-2. a config file stem under `config/` (for example `box`, `mini`, `finger`)
+2. `sensors/<name>/sensor.json` (for example `box`, `mini`, `finger`)
-3. a product alias such as `dd02` -> `dd02-ov`
+3. a file stem under the legacy `config/` folder, including aliases such as `dd02` -> `dd02-ov`
 4. a backward-compatible JSON `"name"` match, such as `"prototype"`
 
 Examples:
@@ -90,12 +92,39 @@ sensor = orisys.Sensor(0, config_name="box")
 cfg = orisys.export_config("box", "./config/exported_config.json")
 ```
 
+For multiple physical sensors, keep calibration files in a user-selected directory:
+`<calibration_dir>/<product>/<device_id>.json` (for example,
+`data/calibrations/box/BOX-001.json`). Each file uses the existing calibration JSON
+format and must contain matching `identity.sensor_type` and `identity.sn`, Newton
+curves for FN/FX/FY, and a compatible measurement pipeline. Enter the device ID
+manually until hardware identification is available:
+
+The source checkout provides `data/calibrations/{box,mini,finger}/` folders; device
+files placed there are ignored by Git. This location is optional: pass
+`--calibration-dir data/calibrations`
+and `--device-id BOX-001` to `examples/basic_pipeline.py` to select a file there.
+Installed wheels do not create or search this directory automatically.
+
+```python
+sensor = orisys.Sensor(0, config_name="box", calibration_dir="data/calibrations", device_id="BOX-001")
+```
+
+If that ID has no file, the sensor reports raw force; it never falls back to the
+product's default. An invalid or mismatched file raises `CalibrationError`.
+`FingerRuntime.open` accepts the same `calibration_dir` and `device_id` arguments.
+Existing calls without a device ID still use the product bundle default, and
+explicit `cal_path` remains available for one-off use. `cal_path` and
+`calibration_dir` cannot be combined. Pass `device_id` with `cal_path` to validate
+that explicit file against the selected device.
+
 ## Examples and Tools
 
 - Example entry points: `examples/README.md`
-- User documentation: `docs/get_started.md`
+- Contributor start: [docs/get_started.en.md](docs/get_started.en.md)
+- Chinese installation guide: [docs/get_started.md](docs/get_started.md)
 - Build launcher: `python build/run.py` (see `build/README.md`)
-- Manylinux / PyPI binary wheel: `docs/publishing.md`
+- Build and publish guide: [docs/publishing.en.md](docs/publishing.en.md)
+- Chinese release runbook: [docs/publishing.md](docs/publishing.md)
 - Specialized utilities: `tools/`
 
 ## Publishing (Linux manylinux)

build/README.md

@@ -12,6 +12,7 @@ build/
   README.md
   common/                 shared helpers (paths, pyproject, verify)
   wheel/                  SDK .whl (Nuitka + manylinux Docker)
+  release/                local release gate (preflight / audit)
   gui/
     common/               shared PyInstaller driver
     ory_finger/           ORY-FINGER dashboard
@@ -26,6 +27,7 @@ build/
 ```bash
 python build/run.py wheel-win
 python build/run.py wheel-manylinux
+python build/run.py wheel-manylinux -Architecture aarch64 -PythonVersions 3.10
 
 # Single Version
 python build/run.py wheel
@@ -38,9 +40,88 @@ Direct module paths (same behavior):
 ```bash
 python build/wheel/build.py
 build\wheel\win.bat
-.\build\wheel\docker\run.ps1
+.\build\wheel\docker\run.ps1 -SkipImageBuild   # reuse the image when only sources changed
 ```
 
+`wheel-manylinux` defaults to `x86_64`; `-Architecture aarch64` builds ARM64 Linux
+wheels in `quay.io/pypa/manylinux_2_28_aarch64`. Docker Desktop must use Linux
+containers and support ARM64 emulation on an Intel/AMD host. This runs the ARM64
+compiler under QEMU, so compilation can be much slower than on native ARM64.
+The default Python versions remain 3.10, 3.11 and 3.12; `-PythonVersions` selects
+which ABIs to compile. The image still prepares tooling for all three ABIs.
+
+The default image names are `orisys-manylinux` and `orisys-manylinux-aarch64`.
+`-ImageName` overrides the name; a reused image must match the requested
+architecture. For example, reuse the ARM64 image after source-only changes:
+
+```powershell
+.\build\wheel\docker\run.ps1 -Architecture aarch64 -PythonVersions 3.10 -SkipImageBuild
+```
+
+ARM64 wheels target glibc Linux, including Q6A and Jetson systems with compatible
+Python ABIs and glibc versions (2.28 or newer for this build image). They do not
+target Android. The build requires binary ARM64 wheels for the runtime
+dependencies and performs the existing isolated import check. Validate on each
+board before delivery; CUDA, JetPack and Qualcomm GPU/NPU runtimes need separate
+compatibility checks. Builds share staging directories, so run architectures
+and Python ABIs sequentially.
+
+The image bakes in per-ABI build tooling and a per-ABI wheelhouse of the runtime
+deps, so the entrypoint no longer re-resolves them over the network. See
+`docs/publishing.md` §6 for build-time details, why `-SkipImageBuild` matters,
+and what to change before attempting to parallelize the per-ABI builds.
+
+### Release gate
+
+Local only: never publishes. `--check-pypi` probes the index; native Windows
+venvs may download dependencies. Linux verification uses local Docker images
+and their offline wheelhouses. See `docs/publishing.en.md` for the full flow.
+
+```bash
+python build/run.py release preflight --version <version>
+python build/run.py release preflight --all-wheel-pythons --check-pypi
+python build/run.py release audit SDK\<version>\orisys-<version>-cp312-cp312-win_amd64.whl
+```
+
+`preflight` runs: repo state → version consistency → version-string scan →
+duplicate guard (fails only when the version is already released: a local git
+tag, or PyPI with `--check-pypi`) → pytest → bundle precheck → per-wheel static
+content/metadata assertions → isolated runtime verification in one venv per wheel
+(imports + bundled assets + real frames, no camera). A populated `SDK/<version>/`
+is the expected input, so build first:
+
+```bash
+python build/run.py wheel-win
+python build/run.py wheel-manylinux
+python build/run.py wheel-manylinux -Architecture aarch64
+python build/run.py release preflight --all-wheel-pythons --check-pypi
+```
+
+Reports land in `build/release/reports/<version>/`.
+
+### Publish
+
+Both default to a dry run; `--apply` is required for anything irreversible.
+
+```bash
+python build/run.py release auth                                   # credential status
+python build/run.py release auth --set-token pypi                 # hidden prompt, writes ~/.pypirc
+python build/run.py release github --version <version>            # preview
+python build/run.py release github --version <version> --apply    # sync + tag + push + Release
+python build/run.py release pypi   --version <version> --apply                  # TestPyPI only
+python build/run.py release pypi   --version <version> --confirm-pypi --apply   # + PyPI
+python build/run.py release pypi   --version <version> --pypi-only --apply      # skip TestPyPI
+```
+
+Both refuse to act unless `release preflight` passed on a clean commit with no
+waived options, and every wheel still hashes to what that report recorded.
+Runtime evidence must cover every wheel hash. `--all-wheel-pythons` verifies all
+staged platforms and ABIs, using conda for Windows and matching Docker images for
+Linux. GitHub attaches all certified wheels; PyPI verifies every uploaded
+Python/platform wheel by downloading it and comparing its hash.
+Tokens are only ever read from a hidden prompt or stdin, never from argv.
+See `docs/publishing.md` §3.
+
 ### GUI
 
 ```bash
@@ -53,13 +134,16 @@ python build/run.py gui box     # scaffold / NotImplemented
 
 ```bash
 python build/run.py verify path\to\orisys.whl
+python build/run.py verify path\to\orisys.whl --contents --assets --runtime
 python build/run.py verify --gui-dist --product ory_finger
 ```
 
 ## Outputs
 
 - Wheels: `SDK/<version>/`, `dist/repaired/`
+- Preflight reports: `build/release/reports/<version>/`
 - Finger GUI: `dist/OrisysDashboard/`
 - Future mini/box: `dist/OryMini/`, `dist/OryBox/`
 
-Generated work files under `build/nuitka/` and `build/pyinstaller_work/` are gitignored.
+Generated work files under `build/nuitka/`, `build/release/reports/` and
+`build/pyinstaller_work/` are gitignored.

build/common/pyproject_utils.py

@@ -4,6 +4,7 @@ from __future__ import annotations
 
 import ast
 import importlib.util
+import shutil
 import subprocess
 import sys
 from pathlib import Path
@@ -102,7 +103,11 @@ def bundle_items(repo_root: Path) -> list[dict]:
 
 
 def bundle_data_files(repo_root: Path) -> list[tuple[str, list[str]]]:
-    """Map bundle items marked dev_install=true to setuptools data_files entries."""
+    """Map bundle items marked ``dev_install=true`` to install destinations.
+
+    Kept for tests / tooling. Prefer :func:`stage_dev_bundle_into` for pip
+    installs so files land inside ``site-packages/orisys/``.
+    """
     resolve_bundle_source_files = _load_wheel_layout_module().resolve_bundle_source_files
 
     grouped: dict[str, list[str]] = {}
@@ -123,3 +128,33 @@ def bundle_data_files(repo_root: Path) -> list[tuple[str, list[str]]]:
             grouped.setdefault(dest, []).append(rel_src)
 
     return [(dest, sorted(files)) for dest, files in sorted(grouped.items())]
+
+
+def stage_dev_bundle_into(repo_root: Path, pkg_dir: Path) -> list[str]:
+    """Copy ``dev_install`` bundle files under ``pkg_dir`` (the orisys package).
+
+    Returns package-relative paths that were written (e.g. ``sensors/box/...``).
+    """
+    resolve_bundle_source_files = _load_wheel_layout_module().resolve_bundle_source_files
+    packaged: list[str] = []
+
+    for item in bundle_items(repo_root):
+        if not item.get("dev_install", False):
+            continue
+
+        src_dir = repo_root / item["source"]
+        dst_dir = pkg_dir / item["target"]
+        dst_dir.mkdir(parents=True, exist_ok=True)
+
+        for src_file in resolve_bundle_source_files(repo_root, item):
+            if item.get("preserve_tree", False):
+                rel = src_file.relative_to(src_dir)
+                dst_file = dst_dir / rel
+            else:
+                rel = Path(src_file.name)
+                dst_file = dst_dir / src_file.name
+            dst_file.parent.mkdir(parents=True, exist_ok=True)
+            shutil.copy2(src_file, dst_file)
+            packaged.append(f"{item['target']}/{rel.as_posix()}")
+
+    return packaged

build/common/verify/__init__.py

@@ -1,6 +1,21 @@
 """Post-build smoke tests for wheels and product GUI folders."""
 
 from common.verify.gui import GUI_PRODUCTS, verify_gui_dist
-from common.verify.wheel import verify_built_wheel
+from common.verify.wheel import (
+    verify_built_wheel,
+    verify_wheel,
+    verify_wheel_assets,
+    verify_wheel_runtime,
+)
+from common.verify.wheel_contents import WheelCheckResult, inspect_wheel
 
-__all__ = ["GUI_PRODUCTS", "verify_built_wheel", "verify_gui_dist"]
+__all__ = [
+    "GUI_PRODUCTS",
+    "WheelCheckResult",
+    "inspect_wheel",
+    "verify_built_wheel",
+    "verify_gui_dist",
+    "verify_wheel",
+    "verify_wheel_assets",
+    "verify_wheel_runtime",
+]

build/common/verify/cli.py

@@ -3,9 +3,27 @@
 from __future__ import annotations
 
 import argparse
+import sys
 from pathlib import Path
 
-from common.verify import GUI_PRODUCTS, verify_built_wheel, verify_gui_dist
+_BUILD_ROOT = Path(__file__).resolve().parents[2]
+if str(_BUILD_ROOT) not in sys.path:
+    sys.path.insert(0, str(_BUILD_ROOT))
+
+from common.paths import REPO_ROOT  # noqa: E402
+from common.verify import (  # noqa: E402
+    GUI_PRODUCTS,
+    inspect_wheel,
+    verify_built_wheel,
+    verify_gui_dist,
+    verify_wheel,
+    verify_wheel_assets,
+    verify_wheel_runtime,
+)
+from common.verify.wheel import (  # noqa: E402
+    DEFAULT_RUNTIME_CONFIG,
+    default_verification_video,
+)
 
 
 def main(argv: list[str] | None = None) -> int:
@@ -18,6 +36,31 @@ def main(argv: list[str] | None = None) -> int:
         help="GUI product profile (default: ory_finger)",
     )
     parser.add_argument("--dist-dir", type=Path, default=None, help="Override GUI dist folder")
+    parser.add_argument(
+        "--contents",
+        action="store_true",
+        help="Run static metadata/content assertions on the wheel",
+    )
+    parser.add_argument(
+        "--assets",
+        action="store_true",
+        help="Install the wheel in a temp venv and assert bundled assets load",
+    )
+    parser.add_argument(
+        "--runtime",
+        action="store_true",
+        help="Install the wheel and process real frames (no camera required)",
+    )
+    parser.add_argument("--expected-version", default=None, help="Assert the wheel version")
+    parser.add_argument(
+        "--strict-bundle",
+        action="store_true",
+        help="Treat bundled-file drift from the source tree as a failure",
+    )
+    parser.add_argument("--video", type=Path, default=None, help="Clip for --runtime")
+    parser.add_argument("--config", default=DEFAULT_RUNTIME_CONFIG, help="Config for --runtime")
+    parser.add_argument("--frames", type=int, default=40, help="Frames for --runtime")
+    parser.add_argument("--offline", action="store_true", help="Reuse parent-env dependencies")
     parser.add_argument("wheel", nargs="?", type=Path, help="Wheel path for import smoke test")
     args = parser.parse_args(argv)
 
@@ -26,6 +69,70 @@ def main(argv: list[str] | None = None) -> int:
         return 0
     if args.wheel is None:
         parser.error("Provide a wheel path or pass --gui-dist")
+
+    exit_code = 0
+
+    if args.contents:
+        result = inspect_wheel(
+            args.wheel,
+            expected_version=args.expected_version,
+            repo_root=REPO_ROOT,
+            strict_bundle=args.strict_bundle,
+        )
+        print(result.render())
+        if not result.ok:
+            exit_code = 1
+
+    if args.assets and args.runtime:
+        video = args.video or default_verification_video(REPO_ROOT)
+        if video is None:
+            print("[FAIL] runtime: no clip found; pass --video or set ORISYS_VERIFY_VIDEO")
+            return 1
+        try:
+            record = verify_wheel(
+                args.wheel,
+                video=video,
+                config_name=args.config,
+                frames=args.frames,
+                offline=args.offline,
+            )
+            print(f"[ok  ] {record['imports']}")
+            print(f"[ok  ] {record['assets']}")
+            print(f"[ok  ] runtime: frames={record['frames']} flow={record['flow_shape']}")
+        except Exception as exc:
+            print(f"[FAIL] isolated verification: {type(exc).__name__}: {exc}")
+            exit_code = 1
+        return exit_code
+
+    if args.assets:
+        try:
+            print(verify_wheel_assets(args.wheel))
+        except Exception as exc:
+            print(f"[FAIL] bundled assets: {type(exc).__name__}: {exc}")
+            exit_code = 1
+
+    if args.runtime:
+        video = args.video or default_verification_video(REPO_ROOT)
+        if video is None:
+            print("[FAIL] runtime: no clip found; pass --video or set ORISYS_VERIFY_VIDEO")
+            return 1
+        try:
+            info = verify_wheel_runtime(
+                args.wheel,
+                video=video,
+                config_name=args.config,
+                frames=args.frames,
+                offline=args.offline,
+            )
+            print(f"[ok  ] runtime: {info}")
+        except Exception as exc:
+            print(f"[FAIL] runtime: {type(exc).__name__}: {exc}")
+            exit_code = 1
+
+    if args.contents or args.assets or args.runtime:
+        return exit_code
+
+    # Default behaviour is unchanged: import smoke test in an isolated venv.
     verify_built_wheel(args.wheel)
     return 0
 

build/common/verify/wheel.py

@@ -1,11 +1,26 @@
-"""Isolated venv smoke tests for packaged orisys wheels."""
+"""Isolated venv smoke tests for packaged orisys wheels.
+
+Three levels of confidence, all in a throwaway virtualenv so the active
+environment is never touched:
+
+* :func:`verify_built_wheel` - the public API imports (fast, original check);
+* :func:`verify_wheel_assets` - bundled configs/sensors resolve and load via
+  ``importlib.resources``;
+* :func:`verify_wheel_runtime` - the compiled wheel actually processes real
+  frames through the public pipeline with no camera attached.
+
+Every level can be bootstrapped from another interpreter so each supported
+CPython ABI can be verified against its own wheel.
+"""
 
 from __future__ import annotations
 
+import os
 import subprocess
 import sys
 import tempfile
 import venv
+from contextlib import contextmanager
 from pathlib import Path
 
 # Public SDK surface that must import from a released wheel.
@@ -17,6 +32,8 @@ from orisys.finger.mesh import UVSurfaceMesh
 from orisys.finger.viewer import init_uv_mesh_viewer
 from orisys.hhd import nHHD
 from orisys.tracker import Tracker
+from orisys import capture
+from orisys.Stitcher import Stitcher
 
 assert orisys.__version__
 assert Sensor is not None
@@ -31,9 +48,172 @@ assert UVSurfaceMesh is not None
 assert init_uv_mesh_viewer is not None
 assert nHHD is not None
 assert Tracker is not None
+assert capture is not None
+assert Stitcher is not None
 print(f"orisys {orisys.__version__} public API imports OK")
 """
 
+# Bundled data that must be resolvable and loadable from inside site-packages.
+# The wheel ships the compiled package, so these paths only exist if the bundle
+# step actually ran for this build.
+_ASSET_SCRIPT = r"""
+import sys
+from importlib.metadata import distribution
+from pathlib import Path
+
+import numpy as np
+import orisys
+
+# Locate bundled data through the installed distribution, NOT through
+# orisys.__file__ / importlib.resources. Nuitka compiles the package into one
+# extension module whose __init__ installs nuitka_module_loader, which reports a
+# synthetic __file__ (e.g. ...\site-packages\orisys\orisys\__init__.py) and a
+# synthetic __path__ ending in '\not_existing'. Neither points at the real data
+# directory, so importlib.resources silently finds nothing in a Nuitka wheel.
+dist = distribution("orisys")
+dist_root = Path(dist.locate_file("")).resolve()
+package_root = Path(dist.locate_file("orisys")).resolve()
+
+_diagnosis = (
+    f"orisys distribution resolved to {dist_root} (sys.prefix={sys.prefix!r}, "
+    f"sys.executable={sys.executable!r}), outside the verification venv. A stale "
+    "orisys in the parent environment is visible through --system-site-packages; "
+    "run `pip uninstall -y orisys` there, or re-run without --offline."
+)
+assert str(Path(sys.prefix).resolve()) in str(dist_root), _diagnosis
+assert package_root.is_dir(), f"package directory not found: {package_root}"
+
+required = [
+    "configs/box.json",
+    "configs/finger.json",
+    "sensors/box/force_calibration.json",
+    "sensors/box/sensor.json",
+    "sensors/finger/manifest.json",
+    "sensors/finger/sensor.json",
+    "sensors/mini/sensor.json",
+    "sensors/finger/assets/30fps-0703/mesh.npz",
+    "sensors/finger/assets/30fps-0703/camera_intrinsics.npz",
+    "sensors/finger/assets/30fps-0703/world_to_cam.npy",
+    "sensors/finger/assets/visualization/mesh.npz",
+    "sensors/finger/assets/visualization/world_to_cam.npy",
+]
+
+missing = [name for name in required if not (package_root / name).is_file()]
+assert not missing, (
+    f"bundled assets missing from the wheel: {missing}\n"
+    f"package root: {package_root}\ninstalled tree: "
+    f"{sorted(p.name for p in package_root.iterdir()) if package_root.is_dir() else '<missing>'}"
+)
+
+for name in required:
+    path = package_root / name
+    if name.endswith(".npz"):
+        data = np.load(str(path))
+        assert len(data.files) > 0, f"{name} is an empty npz"
+    elif name.endswith(".npy"):
+        arr = np.load(str(path))
+        assert arr.size > 0, f"{name} is an empty npy"
+
+configs = orisys.list_config()
+assert configs, "orisys.list_config() returned nothing"
+
+print(f"bundled assets OK ({len(required)} files, {len(configs)} configs) "
+      f"from {package_root}")
+"""
+
+# End-to-end pipeline run against a video file: no camera, no GUI, no imshow.
+_RUNTIME_SCRIPT = r"""
+import json
+import os
+import sys
+from importlib.metadata import distribution
+from pathlib import Path
+
+import numpy as np
+
+os.environ.setdefault("OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS", "0")
+
+import orisys
+
+# Provenance via the installed distribution: a Nuitka-compiled package reports a
+# synthetic orisys.__file__ (see the asset check) and a stale orisys visible
+# through --system-site-packages would otherwise satisfy this check.
+dist = distribution("orisys")
+dist_root = Path(dist.locate_file("")).resolve()
+assert str(Path(sys.prefix).resolve()) in str(dist_root), (
+    f"the installed orisys came from {dist_root}, outside the verification venv "
+    f"{sys.prefix!r}; run `pip uninstall -y orisys` in the parent environment or "
+    "re-run without --offline."
+)
+
+video, config_name, frames = sys.argv[1], sys.argv[2], int(sys.argv[3])
+
+sensor = orisys.Sensor(
+    vid_src=video,
+    config_name=config_name,
+    backend="cpu",
+    verbose=False,
+)
+processed = 0
+try:
+    for _ in range(frames):
+        img = sensor.get_img()
+        assert img is not None, "get_img returned None"
+        assert isinstance(img, np.ndarray) and img.ndim in (2, 3)
+
+        sensor.compute_deformation(check_motion=False)
+        flow, vnormal, vshear = sensor.read_info(
+            sensor.info.VRAW, sensor.info.VNORMAL, sensor.info.VSHEAR
+        )
+        for name, array in (("flow", flow), ("vnormal", vnormal), ("vshear", vshear)):
+            assert np.isfinite(array).all(), f"{name} contains NaN/Inf"
+
+        contact = sensor.compute_contact()
+        assert isinstance(contact, dict) and "centroid_found" in contact
+
+        fnormal, fsx, fsy = sensor.read_info(
+            sensor.info.FNORMAL, sensor.info.FSHEARX, sensor.info.FSHEARY
+        )
+        assert np.isfinite([fnormal, fsx, fsy]).all(), "force output contains NaN/Inf"
+        processed += 1
+finally:
+    sensor.disconnect()
+
+assert processed == frames, f"only processed {processed}/{frames} frames"
+print(json.dumps({
+    "version": orisys.__version__,
+    "frames": processed,
+    "flow_shape": list(flow.shape),
+    "video": video,
+    "config": config_name,
+    "package_root": str(Path(dist.locate_file("orisys")).resolve()),
+}))
+"""
+
+
+# Default runtime-verification inputs. Overridable by CLI flags or environment.
+DEFAULT_RUNTIME_CONFIG = os.getenv("ORISYS_VERIFY_CONFIG", "box")
+# Clips tracked in the repository. ``data/sample/s1.mp4`` is the sanctioned
+# verification input; the larger 720p clip is deliberately not listed, so a
+# missing s1.mp4 fails loudly instead of silently verifying against it.
+DEFAULT_VIDEO_CANDIDATES = (
+    Path("data") / "sample" / "s1.mp4",
+)
+
+
+def default_verification_video(repo_root: Path) -> Path | None:
+    """Resolve the clip used for the end-to-end runtime check, if any."""
+    env_video = os.getenv("ORISYS_VERIFY_VIDEO")
+    repo_root = Path(repo_root)
+    if env_video:
+        candidate = Path(env_video)
+        return candidate if candidate.is_absolute() else repo_root / candidate
+    for relative in DEFAULT_VIDEO_CANDIDATES:
+        candidate = repo_root / relative
+        if candidate.is_file():
+            return candidate
+    return None
+
 
 def _venv_python(venv_dir: Path) -> Path:
     if sys.platform == "win32":
@@ -41,18 +221,226 @@ def _venv_python(venv_dir: Path) -> Path:
     return venv_dir / "bin" / "python"
 
 
-def verify_built_wheel(wheel_path: Path) -> None:
+def _hermetic_env() -> dict:
-    """Install the wheel in a temporary venv and smoke-test public imports."""
+    """Environment for the verification venv with PYTHONPATH removed.
-    wheel_path = wheel_path.resolve()
-    with tempfile.TemporaryDirectory(prefix="orisys-wheel-verify-") as tmp:
-        venv_dir = Path(tmp) / "venv"
-        venv.create(venv_dir, with_pip=True)
-        python = _venv_python(venv_dir)
 
-        subprocess.check_call(
+    An inherited PYTHONPATH=src would let the checkout satisfy the checks
-            [python, "-m", "pip", "install", "-q", "--upgrade", "pip"],
+    instead of the installed wheel, which is precisely the failure mode the
+    provenance assertions in the scripts exist to catch.
+    """
+    return {key: value for key, value in os.environ.items() if key != "PYTHONPATH"}
+
+
+def _create_venv(
+    venv_dir: Path,
+    *,
+    python_executable: Path | None = None,
+    system_site_packages: bool = False,
+) -> Path:
+    """Create a throwaway venv, optionally from a different interpreter."""
+    if python_executable is None:
+        venv.create(venv_dir, with_pip=True, system_site_packages=system_site_packages)
+    else:
+        command = [str(python_executable), "-m", "venv"]
+        if system_site_packages:
+            command.append("--system-site-packages")
+        command.append(str(venv_dir))
+        subprocess.check_call(command, env=_hermetic_env())
+    return _venv_python(venv_dir)
+
+
+def _install_wheel(
+    python: Path, wheel_path: Path, *, offline: bool = False, env: dict | None = None
+) -> None:
+    """Install the wheel under test, guaranteeing it lands in the venv.
+
+    ``--force-reinstall --no-deps`` is not optional: pip reports a same-version
+    requirement as "already satisfied" and skips the file, which is fatal here
+    because ``--offline`` also exposes the parent environment's site-packages.
+    Without it the venv check can silently validate a *different* orisys than
+    the one passed in (the scripts additionally assert provenance).
+    """
+    if offline:
+        # Dependencies come from the parent environment via --system-site-packages.
+        commands = [
+            [
+                str(python),
+                "-m",
+                "pip",
+                "install",
+                "-q",
+                "--no-index",
+                "--no-deps",
+                "--force-reinstall",
+                str(wheel_path),
+            ]
+        ]
+    else:
+        commands = [
+            [str(python), "-m", "pip", "install", "-q", "--upgrade", "pip"],
+            [str(python), "-m", "pip", "install", "-q", str(wheel_path)],
+            [
+                str(python),
+                "-m",
+                "pip",
+                "install",
+                "-q",
+                "--force-reinstall",
+                "--no-deps",
+                str(wheel_path),
+            ],
+        ]
+
+    for command in commands:
+        subprocess.check_call(command, stdout=subprocess.DEVNULL, env=env)
+
+
+class WheelVerificationError(RuntimeError):
+    """A verification step failed inside the throwaway venv.
+
+    Carries the child's stdout/stderr so the real traceback is visible instead of
+    a bare non-zero exit code.
+    """
+
+
+def _run_script(
+    python: Path, script: str, args: list[str] | None = None, *, env: dict
+) -> str:
+    """Run a verification script in an already-prepared venv."""
+    completed = subprocess.run(
+        [str(python), "-c", script, *(args or [])],
+        capture_output=True,
+        text=True,
+        env=env,
+        check=False,
     )
-        subprocess.check_call(
+    if completed.returncode != 0:
-            [python, "-m", "pip", "install", "-q", str(wheel_path)],
+        command = " ".join(str(part) for part in (args or []))
+        raise WheelVerificationError(
+            f"verification script failed in the venv (exit {completed.returncode}"
+            + (f", args: {command}" if command else "")
+            + ").\n--- stdout ---\n"
+            + (completed.stdout.strip() or "<empty>")
+            + "\n--- stderr ---\n"
+            + (completed.stderr.strip() or "<empty>")
         )
-        subprocess.check_call([python, "-c", _SMOKE_IMPORT_SCRIPT])
+    return completed.stdout.strip()
+
+
+@contextmanager
+def _installed_venv(
+    wheel_path: Path,
+    *,
+    python_executable: Path | None = None,
+    offline: bool = False,
+    prefix: str = "orisys-wheel-verify-",
+):
+    """Create a venv with the wheel installed, for one or more checks.
+
+    Creating a venv and installing the runtime dependencies is by far the most
+    expensive part of verification (tens of seconds plus a large download when
+    not using ``--offline``), so callers that run several checks must share one
+    venv instead of building one per check.
+    """
+    wheel_path = wheel_path.resolve()
+    env = _hermetic_env()
+    with tempfile.TemporaryDirectory(prefix=prefix) as tmp:
+        venv_dir = Path(tmp) / "venv"
+        interpreter = python_executable or Path(sys.executable)
+        print(
+            f"  [{wheel_path.name}] creating venv from {interpreter.name}"
+            + ("" if offline else " and installing dependencies (first run downloads packages)")
+            + " ...",
+            flush=True,
+        )
+        python = _create_venv(
+            venv_dir,
+            python_executable=python_executable,
+            system_site_packages=offline,
+        )
+        _install_wheel(python, wheel_path, offline=offline, env=env)
+        yield python, env
+
+
+def verify_built_wheel(wheel_path: Path, *, python_executable: Path | None = None) -> None:
+    """Install the wheel in a temporary venv and smoke-test public imports."""
+    with _installed_venv(wheel_path, python_executable=python_executable) as (python, env):
+        _run_script(python, _SMOKE_IMPORT_SCRIPT, env=env)
+
+
+def verify_wheel_assets(wheel_path: Path, *, python_executable: Path | None = None) -> str:
+    """Assert the wheel carries loadable bundled configs and sensor assets."""
+    with _installed_venv(wheel_path, python_executable=python_executable) as (python, env):
+        return _run_script(python, _ASSET_SCRIPT, env=env)
+
+
+def verify_wheel_runtime(
+    wheel_path: Path,
+    *,
+    video: Path,
+    config_name: str,
+    frames: int = 40,
+    python_executable: Path | None = None,
+    offline: bool = False,
+) -> dict:
+    """Run real frames through the installed wheel with no camera attached.
+
+    This is the only check that proves the compiled extension plus the bundled
+    sensor assets actually produce finite flow/force output end to end.
+    """
+    with _installed_venv(
+        wheel_path, python_executable=python_executable, offline=offline
+    ) as (python, env):
+        return _runtime_check(python, env, video=video, config_name=config_name, frames=frames)
+
+
+def _runtime_check(
+    python: Path, env: dict, *, video: Path, config_name: str, frames: int
+) -> dict:
+    video = Path(video).resolve()
+    if not video.is_file():
+        raise FileNotFoundError(f"verification video not found: {video}")
+    if frames < 1:
+        raise ValueError("frames must be >= 1")
+
+    print(f"  processing {frames} frame(s) with config {config_name!r} ...", flush=True)
+    output = _run_script(
+        python, _RUNTIME_SCRIPT, [str(video), config_name, str(frames)], env=env
+    )
+    import json
+
+    return json.loads(output.splitlines()[-1])
+
+
+def verify_wheel(
+    wheel_path: Path,
+    *,
+    video: Path | None = None,
+    config_name: str = DEFAULT_RUNTIME_CONFIG,
+    frames: int = 40,
+    python_executable: Path | None = None,
+    offline: bool = False,
+    check_assets: bool = True,
+) -> dict:
+    """Run every isolated-check level for one wheel inside a single venv.
+
+    Use this instead of calling the individual ``verify_wheel_*`` helpers: it
+    pays the venv/dependency cost once and returns the runtime record plus the
+    asset and import summaries.
+    """
+    with _installed_venv(
+        wheel_path, python_executable=python_executable, offline=offline
+    ) as (python, env):
+        imports = _run_script(python, _SMOKE_IMPORT_SCRIPT, env=env)
+        record: dict = {"wheel": Path(wheel_path).name, "imports": imports}
+        if check_assets:
+            record["assets"] = _run_script(python, _ASSET_SCRIPT, env=env)
+        else:
+            record["assets"] = "asset check skipped (--no-assets)"
+        if video is not None:
+            record.update(
+                _runtime_check(
+                    python, env, video=video, config_name=config_name, frames=frames
+                )
+            )
+        return record

build/common/verify/wheel_contents.py

@@ -0,0 +1,502 @@
+"""Static content and metadata validation for built orisys wheels.
+
+Everything here is pure standard library: the wheel is opened as a zip and
+inspected in place. No installation, no network, no hardware.
+
+The checks encode the guarantees a Nuitka-compiled release must satisfy:
+
+* the filename, ``METADATA`` and ``RECORD`` agree on name/version/tags;
+* PyPI-visible metadata (``Requires-Python``, classifiers, project URLs,
+  license) is present instead of silently dropped by the hand-written
+  ``setup.py`` template in :mod:`wheel.package`;
+* no Python sources ship inside ``orisys/`` (IP containment) while the compiled
+  extension is present;
+* every file declared by ``[[tool.orisys.bundle.items]]`` is present and
+  byte-identical to the source tree;
+* no caches, build leftovers or scratch directories leak in.
+"""
+
+from __future__ import annotations
+
+import base64
+import hashlib
+import re
+import sys
+import zipfile
+from dataclasses import dataclass, field
+from email.parser import Parser
+from pathlib import Path
+
+_BUILD_ROOT = Path(__file__).resolve().parents[1]
+if str(_BUILD_ROOT) not in sys.path:
+    sys.path.insert(0, str(_BUILD_ROOT))
+
+from wheel.layout import resolve_bundle_source_files  # noqa: E402
+from wheel.package import is_compliant_manylinux_wheel  # noqa: E402
+
+from common.paths import REPO_ROOT  # noqa: E402
+from common.pyproject_utils import (  # noqa: E402
+    bundle_items,
+    extras_require,
+    install_requires,
+)
+
+# PyPI's default per-project file limit is 100 MB; keep headroom.
+MAX_WHEEL_BYTES = 90 * 1024 * 1024
+
+_FILENAME_RE = re.compile(
+    r"^(?P<name>[^-]+)-(?P<version>[^-]+)-(?P<python>[^-]+)-(?P<abi>[^-]+)-(?P<platform>.+)\.whl$"
+)
+_COMPILED_EXT_RE = re.compile(r"^orisys/__init__\..+\.(?:pyd|so)$")
+_FORBIDDEN_PREFIXES = (
+    "test/",
+    "tests/",
+    "data/",
+    "build/",
+    "dist/",
+    "sdk/",
+    ".git",
+)
+_FORBIDDEN_SUFFIXES = (".pyc", ".pyo", ".c", ".pdb", ".map", ".spec")
+
+
+@dataclass(frozen=True)
+class Check:
+    name: str
+    ok: bool
+    detail: str = ""
+
+    def render(self) -> str:
+        return f"[{'ok' if self.ok else 'FAIL'}] {self.name}: {self.detail}"
+
+
+@dataclass
+class WheelCheckResult:
+    wheel: Path
+    version: str | None = None
+    name: str | None = None
+    platform_tag: str | None = None
+    entry_count: int = 0
+    uncompressed_bytes: int = 0
+    file_bytes: int = 0
+    checks: list[Check] = field(default_factory=list)
+    warnings: list[str] = field(default_factory=list)
+
+    @property
+    def ok(self) -> bool:
+        return all(check.ok for check in self.checks)
+
+    @property
+    def failures(self) -> list[Check]:
+        return [check for check in self.checks if not check.ok]
+
+    def add(self, name: str, ok: bool, detail: str = "") -> bool:
+        self.checks.append(Check(name=name, ok=ok, detail=detail))
+        return ok
+
+    def warn(self, message: str) -> None:
+        self.warnings.append(message)
+
+    def render(self) -> str:
+        lines = [
+            f"wheel: {self.wheel.name}",
+            f"  version={self.version} platform={self.platform_tag} "
+            f"entries={self.entry_count} file_size={self.file_bytes} "
+            f"uncompressed={self.uncompressed_bytes}",
+        ]
+        lines.extend(f"  {check.render()}" for check in self.checks)
+        lines.extend(f"  [warn] {message}" for message in self.warnings)
+        lines.append(f"  RESULT: {'PASS' if self.ok else 'FAIL'}")
+        return "\n".join(lines)
+
+
+def _sha256(data: bytes) -> str:
+    return hashlib.sha256(data).hexdigest()
+
+
+def _requirement_name(spec: str) -> str:
+    return re.split(r"[<>=!~\[; ]", spec, maxsplit=1)[0].strip().lower().replace("_", "-")
+
+
+def _metadata_message(zf: zipfile.ZipFile, result: WheelCheckResult):
+    candidates = [name for name in zf.namelist() if name.endswith(".dist-info/METADATA")]
+    if not candidates:
+        result.add("metadata-present", False, "no *.dist-info/METADATA entry in the wheel")
+        return None
+    raw = zf.read(candidates[0]).decode("utf-8", errors="replace")
+    message = Parser().parsestr(raw)
+    result.add("metadata-present", True, candidates[0])
+    return message
+
+
+def _check_filename(result: WheelCheckResult, expected_version: str | None) -> None:
+    match = _FILENAME_RE.match(result.wheel.name)
+    if match is None:
+        result.add("filename", False, f"unparsable wheel filename: {result.wheel.name}")
+        return
+    result.name = match.group("name")
+    result.version = match.group("version")
+    result.platform_tag = match.group("platform")
+
+    problems = []
+    if result.name != "orisys":
+        problems.append(f"distribution name is {result.name!r}, expected 'orisys'")
+    if expected_version is not None and result.version != expected_version:
+        problems.append(f"filename version {result.version!r} != expected {expected_version!r}")
+    result.add("filename", not problems, "; ".join(problems) or result.wheel.name)
+
+
+def _check_metadata(
+    result: WheelCheckResult,
+    message,
+    expected_version: str | None,
+    repo_root: Path | None,
+) -> None:
+    if message is None:
+        return
+
+    result.add(
+        "metadata-name",
+        message.get("Name") == "orisys",
+        f"Name={message.get('Name')!r}",
+    )
+
+    declared = message.get("Version")
+    expected = expected_version or result.version
+    if expected is not None and declared != expected:
+        result.add(
+            "metadata-version",
+            False,
+            f"METADATA Version={declared!r} != expected {expected!r}",
+        )
+    else:
+        result.add("metadata-version", True, f"Version={declared!r}")
+
+    requires_python = (message.get("Requires-Python") or "").strip()
+    result.add(
+        "metadata-requires-python",
+        bool(requires_python),
+        f"Requires-Python={requires_python!r}" if requires_python else "Requires-Python is missing",
+    )
+
+    classifiers = message.get_all("Classifier") or []
+    result.add(
+        "metadata-classifiers",
+        bool(classifiers),
+        f"{len(classifiers)} classifier(s)" if classifiers else "no Classifier fields",
+    )
+
+    project_urls = message.get_all("Project-URL") or []
+    result.add(
+        "metadata-project-urls",
+        bool(project_urls),
+        f"{len(project_urls)} Project-URL(s)" if project_urls else "no Project-URL fields",
+    )
+
+    license_values = [
+        (message.get("License") or "").strip(),
+        (message.get("License-Expression") or "").strip(),
+    ]
+    has_license = any(license_values) or any(
+        value.startswith("License ::") for value in classifiers
+    )
+    result.add(
+        "metadata-license",
+        has_license,
+        f"License={license_values[0]!r} License-Expression={license_values[1]!r}"
+        if has_license
+        else "no License / License-Expression / 'License ::' classifier",
+    )
+
+    dynamic = message.get_all("Dynamic") or []
+    result.add(
+        "metadata-no-dynamic-version",
+        "version" not in dynamic,
+        f"Dynamic={dynamic!r}" if dynamic else "no Dynamic fields",
+    )
+    if dynamic:
+        result.warn(f"METADATA still declares Dynamic fields: {dynamic!r}")
+
+    if repo_root is not None and (repo_root / "pyproject.toml").is_file():
+        requires_dist = message.get_all("Requires-Dist") or []
+        provided = {_requirement_name(entry) for entry in requires_dist}
+        missing_core = [
+            spec for spec in install_requires(repo_root) if _requirement_name(spec) not in provided
+        ]
+        result.add(
+            "metadata-requires-dist",
+            not missing_core,
+            f"missing core Requires-Dist entries: {missing_core!r}"
+            if missing_core
+            else f"{len(requires_dist)} Requires-Dist entries",
+        )
+
+        extras = message.get_all("Provides-Extra") or []
+        missing_extras = sorted(set(extras_require(repo_root)) - set(extras))
+        result.add(
+            "metadata-extras",
+            not missing_extras,
+            f"missing Provides-Extra: {missing_extras!r}"
+            if missing_extras
+            else f"Provides-Extra={sorted(extras)!r}",
+        )
+
+
+def _check_compiled_only(result: WheelCheckResult, names: list[str]) -> None:
+    compiled = [name for name in names if _COMPILED_EXT_RE.match(name)]
+    result.add(
+        "compiled-extension",
+        bool(compiled),
+        f"{compiled[0]}" if compiled else "no orisys/__init__.<abi>.pyd|.so entry",
+    )
+
+    # orisys/examples/** is shipped as package data on purpose; every other
+    # orisys/**/*.py means source code leaked past the Nuitka compile step.
+    sources = [
+        name
+        for name in names
+        if name.startswith("orisys/")
+        and name.endswith(".py")
+        and not name.startswith("orisys/examples/")
+    ]
+    result.add(
+        "no-python-sources",
+        not sources,
+        f"python sources leaked into the wheel: {sources[:5]!r}"
+        if sources
+        else "compiled package ships no python sources (examples excluded by design)",
+    )
+
+    blend = [name for name in names if name.startswith("orisys_blend/")]
+    result.add(
+        "orisys-blend-present",
+        "orisys_blend/__init__.py" in blend and "orisys_blend/kernel.py" in blend,
+        f"{sorted(blend)!r}",
+    )
+
+
+def _check_bundle_fidelity(
+    result: WheelCheckResult,
+    zf: zipfile.ZipFile,
+    names: set[str],
+    repo_root: Path | None,
+    strict: bool,
+) -> None:
+    if repo_root is None or not (repo_root / "pyproject.toml").is_file():
+        result.warn("pyproject.toml not found; bundle fidelity checks skipped")
+        return
+
+    missing: list[str] = []
+    mismatched: list[str] = []
+    checked = 0
+
+    for item in bundle_items(repo_root):
+        target = str(item["target"]).replace("\\", "/")
+        source_dir = repo_root / item["source"]
+        for source_file in resolve_bundle_source_files(repo_root, item):
+            if item.get("preserve_tree", False):
+                relative = source_file.relative_to(source_dir).as_posix()
+                entry = f"orisys/{target}/{relative}"
+            else:
+                entry = f"orisys/{target}/{source_file.name}"
+
+            if entry not in names:
+                missing.append(entry)
+                continue
+            checked += 1
+            if _sha256(zf.read(entry)) != _sha256(source_file.read_bytes()):
+                mismatched.append(entry)
+
+    # Both entries here mean "the wheel does not match this revision of the
+    # source tree". Against a fresh build that is fatal; against an already
+    # released wheel it is expected, so ``strict`` (set by preflight, unset by
+    # audit) decides whether it fails or warns.
+    if missing:
+        detail = (
+            f"{len(missing)} declared file(s) absent from the wheel (added to the "
+            f"source tree after this build?): {missing[:5]!r}"
+        )
+        result.add("bundle-completeness", not strict, detail)
+        if not strict:
+            result.warn(detail)
+    else:
+        result.add(
+            "bundle-completeness", True, f"{checked} declared bundled file(s) present"
+        )
+
+    if mismatched:
+        detail = (
+            f"{len(mismatched)} of {checked} bundled file(s) differ from the source "
+            f"tree (wheel predates or postdates it): {mismatched[:5]!r}"
+        )
+        result.add("bundle-fidelity", not strict, detail)
+        if not strict:
+            result.warn(detail)
+    else:
+        result.add(
+            "bundle-fidelity",
+            True,
+            f"{checked} bundled file(s) byte-identical to source",
+        )
+
+
+def _check_forbidden_entries(result: WheelCheckResult, names: list[str]) -> None:
+    offenders = []
+    for name in names:
+        lowered = name.lower()
+        if lowered.startswith(_FORBIDDEN_PREFIXES) or lowered.endswith(_FORBIDDEN_SUFFIXES) or "__pycache__" in lowered or ".egg-info" in lowered:
+            offenders.append(name)
+    result.add(
+        "no-forbidden-entries",
+        not offenders,
+        f"unexpected entries: {offenders[:5]!r}" if offenders else "no caches/leftovers/scratch paths",
+    )
+
+
+def _check_archive_paths(result: WheelCheckResult, names: list[str]) -> None:
+    unsafe = [
+        name
+        for name in names
+        if name.startswith(("/", "\\")) or ".." in Path(name.replace("\\", "/")).parts
+    ]
+    result.add(
+        "archive-paths",
+        not unsafe,
+        f"absolute or traversing entries: {unsafe[:5]!r}" if unsafe else "all entries are relative",
+    )
+
+
+def _check_record(result: WheelCheckResult, zf: zipfile.ZipFile, names: list[str]) -> None:
+    records = [name for name in names if name.endswith(".dist-info/RECORD")]
+    if not records:
+        result.add("record", False, "no *.dist-info/RECORD entry")
+        return
+
+    bad_paths: list[str] = []
+    bad_hashes: list[str] = []
+    bad_sizes: list[str] = []
+    present = set(names)
+
+    for line in zf.read(records[0]).decode("utf-8").splitlines():
+        if not line.strip():
+            continue
+        parts = line.split(",")
+        while len(parts) < 3:
+            parts.append("")
+        path, hash_field, size_field = parts[0], parts[1], parts[2]
+
+        if path not in present:
+            bad_paths.append(path)
+            continue
+        if not hash_field.startswith("sha256="):
+            continue
+
+        expected = hash_field[len("sha256=") :]
+        actual = base64.urlsafe_b64encode(
+            hashlib.sha256(zf.read(path)).digest()
+        ).rstrip(b"=").decode("ascii")
+        if actual != expected:
+            bad_hashes.append(path)
+        if size_field and size_field.isdigit():
+            if int(size_field) != len(zf.read(path)):
+                bad_sizes.append(path)
+
+    problems = []
+    if bad_paths:
+        problems.append(f"paths not in archive: {bad_paths[:5]!r}")
+    if bad_hashes:
+        problems.append(f"sha256 mismatch: {bad_hashes[:5]!r}")
+    if bad_sizes:
+        problems.append(f"size mismatch: {bad_sizes[:5]!r}")
+    result.add(
+        "record",
+        not problems,
+        "; ".join(problems) if problems else f"{records[0]} verifies",
+    )
+
+
+def _check_platform_tag(result: WheelCheckResult) -> None:
+    tag = result.platform_tag
+    if tag is None:
+        return
+    if "win" in tag:
+        ok = tag == "win_amd64"
+        result.add("platform-tag", ok, f"{tag!r} (expected 'win_amd64')")
+        return
+    ok = is_compliant_manylinux_wheel(result.wheel)
+    result.add(
+        "platform-tag",
+        ok,
+        f"{tag!r}" if ok else f"{tag!r} is not a supported manylinux x86_64 or aarch64 tag",
+    )
+
+
+def _check_size(result: WheelCheckResult, max_bytes: int) -> None:
+    result.add(
+        "size-limit",
+        result.file_bytes <= max_bytes,
+        f"{result.file_bytes} bytes (limit {max_bytes})",
+    )
+
+
+def inspect_wheel(
+    wheel_path: Path,
+    *,
+    expected_version: str | None = None,
+    repo_root: Path | None = None,
+    max_bytes: int = MAX_WHEEL_BYTES,
+    strict_bundle: bool = True,
+) -> WheelCheckResult:
+    """Validate one built wheel without installing it.
+
+    ``strict_bundle`` controls how the wheel's bundled files are compared with the
+    current source tree: ``True`` (gate a fresh build, used by
+    ``release preflight``) fails on any missing or changed declared file;
+    ``False`` (audit an already-released wheel) reports the same findings as
+    warnings.
+    """
+    wheel_path = Path(wheel_path).resolve()
+    if repo_root is None:
+        repo_root = REPO_ROOT if (REPO_ROOT / "pyproject.toml").is_file() else None
+    else:
+        repo_root = Path(repo_root).resolve()
+
+    result = WheelCheckResult(wheel=wheel_path)
+    if not wheel_path.is_file():
+        result.add("wheel-exists", False, f"not a file: {wheel_path}")
+        return result
+
+    result.file_bytes = wheel_path.stat().st_size
+    result.add("wheel-exists", True, str(wheel_path))
+    _check_filename(result, expected_version)
+    _check_platform_tag(result)
+    _check_size(result, max_bytes)
+
+    try:
+        zf = zipfile.ZipFile(wheel_path)
+    except zipfile.BadZipFile as exc:
+        result.add("zip-integrity", False, f"not a valid zip: {exc}")
+        return result
+
+    with zf:
+        corrupt = zf.testzip()
+        result.add(
+            "zip-integrity",
+            corrupt is None,
+            "CRC check passed" if corrupt is None else f"corrupt entry: {corrupt}",
+        )
+
+        names = zf.namelist()
+        name_set = set(names)
+        result.entry_count = len(names)
+        result.uncompressed_bytes = sum(info.file_size for info in zf.infolist())
+
+        _check_archive_paths(result, names)
+        _check_forbidden_entries(result, names)
+        message = _metadata_message(zf, result)
+        _check_metadata(result, message, expected_version, repo_root)
+        _check_compiled_only(result, names)
+        _check_bundle_fidelity(result, zf, name_set, repo_root, strict_bundle)
+        _check_record(result, zf, names)
+
+    return result

build/gui/common/pyinstaller_driver.py

@@ -6,9 +6,9 @@ import os
 import shutil
 import subprocess
 import sys
+from collections.abc import Callable
 from dataclasses import dataclass, field
 from pathlib import Path
-from typing import Callable
 
 _BUILD_ROOT = Path(__file__).resolve().parents[2]
 if str(_BUILD_ROOT) not in sys.path:

build/gui/ory_box/config.py

@@ -10,6 +10,7 @@ if str(_BUILD_ROOT) not in sys.path:
     sys.path.insert(0, str(_BUILD_ROOT))
 
 from common.paths import REPO_ROOT
+
 from gui.common.pyinstaller_driver import GuiBuildConfig
 
 ENTRY_SCRIPT = REPO_ROOT / "examples" / "basic_pipeline.py"

build/gui/ory_finger/build.py

@@ -15,6 +15,7 @@ if str(_BUILD_ROOT) not in sys.path:
     sys.path.insert(0, str(_BUILD_ROOT))
 
 from common.verify.gui import verify_gui_dist
+
 from gui.common.pyinstaller_driver import build_with_pyinstaller
 from gui.ory_finger.config import make_config
 

build/gui/ory_finger/config.py

@@ -10,6 +10,7 @@ if str(_BUILD_ROOT) not in sys.path:
     sys.path.insert(0, str(_BUILD_ROOT))
 
 from common.paths import REPO_ROOT
+
 from gui.common.pyinstaller_driver import GuiBuildConfig
 
 ENTRY_SCRIPT = REPO_ROOT / "examples" / "finger_pipeline_3dview.py"
@@ -43,7 +44,7 @@ EXCLUDE_MODULES = [
 
 DATA_DIRS = [
     ("config", "config"),
-    ("assets", "assets"),
+    ("sensors", "sensors"),
 ]
 
 README_LINES = [
@@ -56,7 +57,7 @@ README_LINES = [
     "",
     "Bundled folders:",
     "  config/   sensor JSON configs",
-    "  assets/   finger mesh and visualization data",
+    "  sensors/  per-sensor bundles (finger mesh and visualization data)",
     "",
     "CPU-only build (no CUDA/CuPy).",
 ]

build/gui/ory_mini/config.py

@@ -10,6 +10,7 @@ if str(_BUILD_ROOT) not in sys.path:
     sys.path.insert(0, str(_BUILD_ROOT))
 
 from common.paths import REPO_ROOT
+
 from gui.common.pyinstaller_driver import GuiBuildConfig
 
 ENTRY_SCRIPT = REPO_ROOT / "examples" / "mini_pipeline.py"

build/release/__init__.py

@@ -0,0 +1,7 @@
+"""Local release tooling: preflight gate and per-wheel audit.
+
+Entry point is ``python build/run.py release <command>``; see
+:mod:`release.preflight` for the gate steps and :mod:`release.cli` for the CLI.
+Imports are intentionally not re-exported here so importing a submodule never
+triggers the whole subsystem.
+"""

build/release/auth.py

@@ -0,0 +1,398 @@
+"""PyPI credential setup: locate, inspect and write ``~/.pypirc``.
+
+Editing the config from a command rather than by hand avoids the two mistakes
+that actually happen: putting something other than ``__token__`` in ``username``,
+and pasting a TestPyPI token into the ``[pypi]`` section (the two indexes reject
+each other's tokens with 403, and both token kinds start with ``pypi-``).
+
+The writer does targeted text edits rather than rewriting through configparser,
+so the explanatory comments in the file survive.
+"""
+
+from __future__ import annotations
+
+import configparser
+import getpass
+import os
+import sys
+from dataclasses import dataclass, field
+from pathlib import Path
+
+INDEXES: dict[str, dict[str, str | None]] = {
+    "pypi": {
+        "upload_url": "https://upload.pypi.org/legacy/",
+        "json_url": "https://pypi.org/pypi/orisys/json",
+        "simple_url": "https://pypi.org/simple/",
+        "token_url": "https://pypi.org/manage/account/token/",
+        "register_url": None,
+    },
+    "testpypi": {
+        "upload_url": "https://test.pypi.org/legacy/",
+        "json_url": "https://test.pypi.org/pypi/orisys/json",
+        "simple_url": "https://test.pypi.org/simple/",
+        "token_url": "https://test.pypi.org/manage/account/token/",
+        "register_url": "https://test.pypi.org/account/register/",
+    },
+}
+
+# Substrings that mark a token slot that was never filled in.
+PLACEHOLDER_MARKERS = ("PASTE", "REPLACE", "TOKEN-HERE", "YOUR-TOKEN", "XXXX")
+
+DEFAULT_TEMPLATE = """\
+# PyPI / TestPyPI credentials for twine.
+#
+# Keep this file out of any git repository: a token committed once stays in the
+# history even after you delete it.
+#
+#   * username is literally "__token__" - never an account name or email
+#   * PyPI and TestPyPI tokens both start with "pypi-" but are NOT
+#     interchangeable: each index rejects the other's with 403
+#   * TestPyPI is a separate service with a separate account
+
+[distutils]
+index-servers =
+"""
+
+
+@dataclass
+class CredentialState:
+    index: str
+    configured: bool
+    source: str | None = None
+    problem: str | None = None
+
+
+@dataclass
+class TwineLookup:
+    """What twine's own resolver says about one index."""
+
+    available: bool
+    known: bool
+    config: dict = field(default_factory=dict)
+    error: str | None = None
+
+
+def pypirc_path() -> Path:
+    """Where twine looks by default: ``~/.pypirc`` (same expansion twine uses)."""
+    return Path(os.path.expanduser("~")) / ".pypirc"
+
+
+def looks_like_placeholder(token: str) -> bool:
+    upper = token.upper()
+    return any(marker in upper for marker in PLACEHOLDER_MARKERS)
+
+
+def parse_pypirc(text: str) -> dict[str, dict[str, str]]:
+    """Section -> key -> value, tolerating comments and continuation lines."""
+    sections: dict[str, dict[str, str]] = {}
+    current: str | None = None
+    for raw in text.splitlines():
+        line = raw.strip()
+        if not line or line.startswith(("#", ";", "%")):
+            continue
+        if line.startswith("[") and line.endswith("]"):
+            current = line[1:-1].strip()
+            sections.setdefault(current, {})
+            continue
+        if current is not None and "=" in line:
+            key, _, value = line.partition("=")
+            sections[current][key.strip()] = value.strip()
+    return sections
+
+
+def credential_state(
+    index: str,
+    *,
+    path: Path | None = None,
+    env: dict | None = None,
+) -> CredentialState:
+    """Is ``index`` usable by twine, and why not when it is not.
+
+    Delegates to ``twine.utils.get_config`` when twine is importable, because the
+    only definition that matters is twine's. The important subtlety that a naive
+    check misses: **twine ignores any section not listed in
+    ``[distutils] index-servers``** (with a fallback of ``pypi testpypi`` when the
+    key is absent). A ``[testpypi]`` section without that listing looks configured
+    but twine reports "Missing 'testpypi' section".
+    """
+    if index not in INDEXES:
+        raise ValueError(f"unknown index {index!r}; expected one of {sorted(INDEXES)}")
+
+    env = os.environ if env is None else env
+    if env.get("TWINE_PASSWORD"):
+        return CredentialState(index, True, "environment variables")
+
+    path = path or pypirc_path()
+    if not path.is_file():
+        return CredentialState(index, False, None, f"{path} does not exist yet")
+
+    try:
+        text = path.read_text(encoding="utf-8", errors="ignore")
+    except OSError as exc:
+        return CredentialState(index, False, None, f"cannot read {path}: {exc}")
+
+    sections = parse_pypirc(text)
+    if index not in sections and index not in index_servers(text):
+        # Do not blame index-servers for a section that simply is not there.
+        return CredentialState(index, False, None, f"{path} has no [{index}] section")
+
+    lookup = _twine_lookup(index, path)
+    if lookup.error:
+        return CredentialState(index, False, None, f"twine cannot read {path}: {lookup.error}")
+
+    if lookup.available:
+        if not lookup.known:
+            return CredentialState(index, False, None, _ignored_section(index, path, text, sections))
+        username = str(lookup.config.get("username") or "").strip()
+        password = str(lookup.config.get("password") or "").strip()
+        if not password:
+            # twine knows the index but resolved no password for it: almost always
+            # a section that index-servers does not list.
+            detail = _ignored_section(index, path, text, sections)
+            return CredentialState(index, False, None, detail)
+    else:
+        # twine is not installed: replicate its rule locally.
+        if index not in index_servers(text):
+            return CredentialState(index, False, None, _ignored_section(index, path, text, sections))
+        section = sections[index]
+        username = section.get("username", "").strip()
+        password = section.get("password", "").strip()
+
+    if looks_like_placeholder(password):
+        return CredentialState(
+            index, False, str(path), f"[{index}] still contains a placeholder token"
+        )
+    if username != "__token__":
+        return CredentialState(
+            index,
+            False,
+            str(path),
+            f"[{index}] username is {username!r}; API tokens need the literal '__token__'",
+        )
+    return CredentialState(index, True, str(path))
+
+
+def _ignored_section(
+    index: str, path: Path, text: str, sections: dict[str, dict[str, str]]
+) -> str:
+    """Name the real cause: absent section, or present but not listed by twine."""
+    if index not in sections:
+        return f"{path} has no [{index}] section"
+    if index not in index_servers(text):
+        return (
+            f"[{index}] exists in {path} but is not listed in "
+            "[distutils] index-servers, so twine ignores it entirely; "
+            "fix with `release auth --repair`"
+        )
+    return f"twine resolves no password for [{index}] from {path}"
+
+
+def _twine_lookup(index: str, path: Path) -> TwineLookup:
+    """Ask twine itself; ``available=False`` when twine is not installed.
+
+    ``get_config`` is not enough on its own: it always contains a ``pypi`` entry
+    (and a ``testpypi`` one when listed) even when it never copied any
+    credentials, so the resolved username/password are what matter.
+    """
+    try:
+        from twine import utils
+    except ImportError:
+        return TwineLookup(available=False, known=False)
+    try:
+        config = utils.get_config(str(path))
+    except Exception as exc:  # twine reports malformed files as exceptions
+        return TwineLookup(available=True, known=False, error=f"{type(exc).__name__}: {exc}")
+    section = config.get(index)
+    if section is None:
+        return TwineLookup(available=True, known=False)
+    return TwineLookup(available=True, known=True, config=dict(section))
+
+
+def index_servers(text: str) -> set[str]:
+    """Names twine honours from ``[distutils] index-servers``.
+
+    Replicates ``twine.utils.get_config``, including its surprising asymmetry:
+
+    * key **absent**  -> falls back to ``pypi testpypi``
+    * key **present but empty** -> an empty list, so *no* section is honoured
+      (the fallback does not apply), and every section looks configured while
+      twine silently ignores it
+    * continuation lines are part of the value, so ``index-servers =`` followed
+      by indented names is the normal form
+    """
+    parser = configparser.RawConfigParser()
+    try:
+        parser.read_string(text)
+    except configparser.Error:
+        return set()
+    raw = parser.get("distutils", "index-servers", fallback="pypi testpypi")
+    return set(raw.split())
+
+
+def validate_token(token: str) -> list[str]:
+    """Problems with a pasted token. Empty and whitespace are fatal; the rest warn."""
+    return [problem for problem in _token_problems(token) if problem.startswith("ERROR")]
+
+
+def token_warnings(token: str) -> list[str]:
+    return [problem for problem in _token_problems(token) if problem.startswith("WARN")]
+
+
+def _token_problems(token: str) -> list[str]:
+    problems: list[str] = []
+    if not token:
+        problems.append("ERROR the token is empty")
+        return problems
+    if any(char.isspace() for char in token):
+        problems.append("ERROR the token contains whitespace (copy/paste artefact?)")
+    if not token.startswith("pypi-"):
+        problems.append(
+            "WARN PyPI API tokens start with 'pypi-'; a legacy account password also "
+            "works but needs username != '__token__'"
+        )
+    if len(token) < 20:
+        problems.append("WARN the token looks too short; check the paste was complete")
+    return problems
+
+
+def unlisted_sections(path: Path | None = None) -> list[str]:
+    """Known indexes whose section exists but is missing from ``index-servers``."""
+    path = path or pypirc_path()
+    if not path.is_file():
+        return []
+    text = path.read_text(encoding="utf-8", errors="ignore")
+    present = set(parse_pypirc(text))
+    listed = index_servers(text)
+    return [index for index in sorted(INDEXES) if index in present and index not in listed]
+
+
+def repair_index_servers(path: Path | None = None) -> list[str]:
+    """List sections that exist but are not in ``index-servers``.
+
+    This is the state a hand-edited file lands in: the section is present, so it
+    looks configured, but twine ignores it completely. Returns the indexes added.
+    """
+    path = path or pypirc_path()
+    if not path.is_file():
+        return []
+    text = path.read_text(encoding="utf-8")
+    present = set(parse_pypirc(text))
+    added: list[str] = []
+    for index in sorted(INDEXES):
+        if index in present and index not in index_servers(text):
+            text = ensure_index_server(text, index)
+            added.append(index)
+    if added:
+        path.write_text(text, encoding="utf-8", newline="")
+        _restrict_permissions(path)
+    return added
+
+
+def upsert_token(text: str, index: str, token: str) -> str:
+    """Set ``password`` inside ``[index]``, creating the section if needed."""
+    lines = text.splitlines()
+    start = next((i for i, line in enumerate(lines) if line.strip() == f"[{index}]"), None)
+
+    if start is None:
+        if lines and lines[-1].strip():
+            lines.append("")
+        lines.extend(
+            [
+                f"[{index}]",
+                f"repository = {INDEXES[index]['upload_url']}",
+                "username = __token__",
+                f"password = {token}",
+            ]
+        )
+        return "\n".join(lines) + "\n"
+
+    end = len(lines)
+    for offset in range(start + 1, len(lines)):
+        stripped = lines[offset].strip()
+        if stripped.startswith("[") and stripped.endswith("]"):
+            end = offset
+            break
+
+    insert_at = end
+    for offset in range(start + 1, end):
+        stripped = lines[offset].strip()
+        if stripped.startswith("password"):
+            lines[offset] = f"password = {token}"
+            return "\n".join(lines) + "\n"
+        if stripped.startswith(("username", "repository")):
+            insert_at = offset + 1
+    lines.insert(insert_at, f"password = {token}")
+    return "\n".join(lines) + "\n"
+
+
+def ensure_index_server(text: str, index: str) -> str:
+    """Make sure ``[distutils] index-servers`` lists ``index``."""
+    if index in index_servers(text):
+        return text
+
+    lines = text.splitlines()
+    if "[distutils]" not in (line.strip() for line in lines):
+        block = ["[distutils]", "index-servers =", f"    {index}", ""]
+        return "\n".join(block + lines) + "\n"
+
+    start = next(i for i, line in enumerate(lines) if line.strip() == "[distutils]")
+    for offset in range(start + 1, len(lines)):
+        if lines[offset].strip().startswith("index-servers"):
+            lines.insert(offset + 1, f"    {index}")
+            return "\n".join(lines) + "\n"
+    lines.insert(start + 1, f"    {index}")
+    return "\n".join(lines) + "\n"
+
+
+def _restrict_permissions(path: Path) -> None:
+    """Best effort: owner-only. Windows ACLs need icacls, not chmod."""
+    try:
+        os.chmod(path, 0o600)
+    except OSError:
+        pass
+
+
+def write_token(index: str, token: str, *, path: Path | None = None) -> Path:
+    """Write ``token`` into ``[index]`` of the pypirc file, preserving comments."""
+    if index not in INDEXES:
+        raise ValueError(f"unknown index {index!r}; expected one of {sorted(INDEXES)}")
+
+    path = path or pypirc_path()
+    if path.is_file():
+        text = path.read_text(encoding="utf-8")
+    else:
+        text = DEFAULT_TEMPLATE
+    text = upsert_token(text, index, token)
+    text = ensure_index_server(text, index)
+
+    path.parent.mkdir(parents=True, exist_ok=True)
+    path.write_text(text, encoding="utf-8", newline="")
+    _restrict_permissions(path)
+    return path
+
+
+def prompt_for_token(index: str, *, prompt_fn=None, out=None) -> str | None:
+    """Ask for a token with hidden input. Returns ``None`` if input is unavailable."""
+    out = out or sys.stdout
+    meta = INDEXES[index]
+    print(f"PyPI API token for [{index}]", file=out)
+    print(f"  create one at: {meta['token_url']}", file=out)
+    if meta.get("register_url"):
+        print(f"  needs an account first: {meta['register_url']}", file=out)
+    print("  input is hidden and is written only to your pypirc file", file=out)
+
+    ask = prompt_fn or getpass.getpass
+    try:
+        return ask("token: ").strip()
+    except (EOFError, KeyboardInterrupt, OSError):
+        # OSError covers environments where stdin cannot be read at all (pytest
+        # capture, a detached CI stdin): treat that as "cannot prompt", never as a
+        # crash.
+        print("", file=out)
+        print("aborted: no token entered", file=out)
+        return None
+
+
+def read_token_from_stdin() -> str:
+    """For CI: read the token from stdin instead of a prompt or the command line."""
+    return (sys.stdin.readline() or "").strip()

build/release/cli.py

@@ -0,0 +1,421 @@
+"""Command line for ``python build/run.py release``.
+
+Commands: ``preflight`` (local gate), ``audit`` (single wheel), ``auth`` (PyPI
+credentials in ~/.pypirc), ``github`` (sync the public repo + publish a GitHub
+Release), ``pypi`` (TestPyPI then PyPI). The publish commands are dry-run unless
+``--apply`` is passed, and tokens are never accepted as command-line arguments.
+"""
+
+from __future__ import annotations
+
+import argparse
+import sys
+from pathlib import Path
+
+_BUILD_ROOT = Path(__file__).resolve().parents[1]
+if str(_BUILD_ROOT) not in sys.path:
+    sys.path.insert(0, str(_BUILD_ROOT))
+
+from common.paths import REPO_ROOT  # noqa: E402
+from common.verify.wheel import (  # noqa: E402
+    DEFAULT_RUNTIME_CONFIG,
+    default_verification_video,
+    verify_wheel,
+    verify_wheel_assets,
+    verify_wheel_runtime,
+)
+from common.verify.wheel_contents import inspect_wheel  # noqa: E402
+
+from release import auth, github, pypi  # noqa: E402
+from release.preflight import PreflightOptions, run_preflight  # noqa: E402
+
+
+def _cmd_preflight(argv: list[str]) -> int:
+    parser = argparse.ArgumentParser(
+        prog="build/run.py release preflight",
+        description="Gate a release locally: version, tests, wheel content, runtime.",
+    )
+    parser.add_argument("--version", help="release version (default: pyproject's dynamic version)")
+    parser.add_argument("--wheel-dir", type=Path, help="directory to inspect (default: SDK/<version>)")
+    parser.add_argument("--video", type=Path, help="clip for the end-to-end runtime check")
+    parser.add_argument("--config", default=DEFAULT_RUNTIME_CONFIG, help="config name for that check")
+    parser.add_argument("--frames", type=int, default=40, help="frames to process (default: 40)")
+    parser.add_argument("--skip-tests", action="store_true", help="skip pytest (recorded in the report)")
+    parser.add_argument("--longrun", action="store_true", help="include the slow long-run stability test")
+    parser.add_argument("--allow-dirty", action="store_true", help="allow a dirty working tree")
+    parser.add_argument(
+        "--force",
+        action="store_true",
+        help="accept a version that a git tag already marks as released",
+    )
+    parser.add_argument("--check-pypi", action="store_true", help="read PyPI and fail if the version exists")
+    parser.add_argument(
+        "--all-wheel-pythons",
+        action="store_true",
+        help="verify every staged wheel (Windows conda environments and Linux Docker images)",
+    )
+    parser.add_argument("--offline", action="store_true", help="reuse parent-env deps instead of PyPI")
+    parser.add_argument("--no-runtime", action="store_true", help="skip the isolated runtime check")
+    parser.add_argument("--no-assets", action="store_true", help="skip the bundled-asset check")
+    parser.add_argument("--keep-going", action="store_true", help="collect every failure instead of stopping")
+    parser.add_argument("--report-dir", type=Path, help="override build/release/reports")
+    args = parser.parse_args(argv)
+
+    options = PreflightOptions(
+        version=args.version,
+        wheel_dir=args.wheel_dir,
+        video=args.video,
+        config_name=args.config,
+        frames=args.frames,
+        skip_tests=args.skip_tests,
+        longrun=args.longrun,
+        allow_dirty=args.allow_dirty,
+        force=args.force,
+        check_pypi=args.check_pypi,
+        all_wheel_pythons=args.all_wheel_pythons,
+        offline=args.offline,
+        keep_going=args.keep_going,
+        report_dir=args.report_dir,
+        no_runtime=args.no_runtime,
+        no_assets=args.no_assets,
+    )
+    return run_preflight(options, repo_root=REPO_ROOT)
+
+
+def _cmd_audit(argv: list[str]) -> int:
+    parser = argparse.ArgumentParser(
+        prog="build/run.py release audit",
+        description="Inspect one built wheel without a release context.",
+    )
+    parser.add_argument("wheel", type=Path, help="path to an .whl")
+    parser.add_argument("--expected-version", help="assert the wheel reports this version")
+    parser.add_argument(
+        "--strict-bundle",
+        action="store_true",
+        help="treat bundled-file drift from the current source tree as a failure",
+    )
+    parser.add_argument("--runtime", action="store_true", help="also install and run the wheel")
+    parser.add_argument("--assets", action="store_true", help="also assert bundled assets load")
+    parser.add_argument("--video", type=Path, help="clip for --runtime")
+    parser.add_argument("--config", default=DEFAULT_RUNTIME_CONFIG)
+    parser.add_argument("--frames", type=int, default=40)
+    parser.add_argument("--offline", action="store_true")
+    parser.add_argument(
+        "--python",
+        type=Path,
+        default=None,
+        help="interpreter to build the verification venv from (default: the running one)",
+    )
+    args = parser.parse_args(argv)
+
+    wheel = args.wheel
+    if not wheel.is_file():
+        print(f"[ERROR] wheel not found: {wheel}", file=sys.stderr)
+        return 2
+
+    exit_code = 0
+
+    result = inspect_wheel(
+        wheel,
+        expected_version=args.expected_version,
+        repo_root=REPO_ROOT,
+        strict_bundle=args.strict_bundle,
+    )
+    print(result.render())
+    if not result.ok:
+        exit_code = 1
+
+    if args.assets and args.runtime:
+        # One venv for both checks: building it (and downloading dependencies in
+        # online mode) is the expensive part.
+        video = args.video or default_verification_video(REPO_ROOT)
+        if video is None:
+            print("[FAIL] runtime: no verification clip; pass --video or set ORISYS_VERIFY_VIDEO")
+            return 1
+        try:
+            record = verify_wheel(
+                wheel,
+                video=video,
+                config_name=args.config,
+                frames=args.frames,
+                python_executable=args.python,
+                offline=args.offline,
+            )
+            print(f"[ok  ] {record['imports']}")
+            print(f"[ok  ] {record['assets']}")
+            print(f"[ok  ] runtime: frames={record['frames']} flow={record['flow_shape']}")
+        except Exception as exc:
+            print(f"[FAIL] isolated verification: {type(exc).__name__}: {exc}")
+            exit_code = 1
+        return exit_code
+
+    if args.assets:
+        try:
+            print(verify_wheel_assets(wheel, python_executable=args.python))
+        except Exception as exc:
+            print(f"[FAIL] bundled assets: {type(exc).__name__}: {exc}")
+            exit_code = 1
+
+    if args.runtime:
+        video = args.video or default_verification_video(REPO_ROOT)
+        if video is None:
+            print("[FAIL] runtime: no verification clip; pass --video or set ORISYS_VERIFY_VIDEO")
+            return 1
+        try:
+            info = verify_wheel_runtime(
+                wheel,
+                video=video,
+                config_name=args.config,
+                frames=args.frames,
+                python_executable=args.python,
+                offline=args.offline,
+            )
+            print(f"[ok  ] runtime: {info}")
+        except Exception as exc:
+            print(f"[FAIL] runtime: {type(exc).__name__}: {exc}")
+            exit_code = 1
+
+    return exit_code
+
+
+def _cmd_github(argv: list[str]) -> int:
+    parser = argparse.ArgumentParser(
+        prog="build/run.py release github",
+        description="Sync orisys-sdk-release, tag, and publish a GitHub Release.",
+    )
+    parser.add_argument(
+        "--version", required=True, help="release version, e.g. <major>.<minor>.<patch>"
+    )
+    parser.add_argument(
+        "--apply",
+        action="store_true",
+        help="actually mutate the release repo, push, and create the release",
+    )
+    parser.add_argument("--notes-file", type=Path, default=None, help="release notes markdown")
+    parser.add_argument(
+        "--attach-preflight",
+        action="store_true",
+        help="also upload the preflight report as a release asset (contains local paths)",
+    )
+    parser.add_argument(
+        "--allow-dirty-release",
+        action="store_true",
+        help="proceed even if the release repo has uncommitted changes",
+    )
+    parser.add_argument("--skip-fetch", action="store_true", help="skip `git fetch --tags`")
+    parser.add_argument(
+        "--skip-checks", action="store_true", help="skip the manifest's downstream checks"
+    )
+    parser.add_argument(
+        "--skip-release-upload",
+        action="store_true",
+        help="stop after pushing the tag and print the `gh release create` command",
+    )
+    args = parser.parse_args(argv)
+
+    return github.publish(
+        github.Options(
+            version=args.version,
+            apply=args.apply,
+            notes_file=args.notes_file,
+            attach_preflight=args.attach_preflight,
+            allow_dirty_release=args.allow_dirty_release,
+            skip_fetch=args.skip_fetch,
+            skip_checks=args.skip_checks,
+            skip_release_upload=args.skip_release_upload,
+        )
+    )
+
+
+def _cmd_auth(argv: list[str]) -> int:
+    parser = argparse.ArgumentParser(
+        prog="build/run.py release auth",
+        description=(
+            "Inspect or set up PyPI credentials in ~/.pypirc. "
+            "Tokens are read from a hidden prompt or stdin, never from argv."
+        ),
+    )
+    parser.add_argument(
+        "--set-token",
+        choices=sorted(auth.INDEXES),
+        default=None,
+        help="store a token for this index (prompts unless --token-stdin)",
+    )
+    parser.add_argument(
+        "--token-stdin",
+        action="store_true",
+        help="read the token from stdin instead of prompting (for scripts/CI)",
+    )
+    parser.add_argument(
+        "--repair",
+        action="store_true",
+        help=(
+            "add existing sections to [distutils] index-servers; twine ignores "
+            "sections that are not listed there"
+        ),
+    )
+    parser.add_argument(
+        "--index",
+        choices=sorted(auth.INDEXES),
+        default="pypi",
+        help="index to report on when not setting a token (default: pypi)",
+    )
+    args = parser.parse_args(argv)
+
+    if args.repair:
+        path = auth.pypirc_path()
+        added = auth.repair_index_servers(path)
+        if added:
+            print(f"[ok  ] added {added} to [distutils] index-servers in {path}")
+        else:
+            print(f"[ok  ] nothing to repair in {path}")
+        for index in sorted(auth.INDEXES):
+            state = auth.credential_state(index)
+            flag = "[ok  ]" if state.configured else "[--  ]"
+            detail = state.source if state.configured else state.problem
+            print(f"{flag} [{index}] {detail}")
+        return 0 if auth.credential_state(args.index).configured else 1
+
+    if args.set_token:
+        if args.token_stdin:
+            token = auth.read_token_from_stdin()
+        else:
+            token = auth.prompt_for_token(args.set_token)
+        if not token:
+            print("[FAIL] no token entered")
+            return 1
+        for problem in auth.validate_token(token):
+            print(f"[FAIL] {problem.removeprefix('ERROR ')}")
+            return 1
+        for warning in auth.token_warnings(token):
+            print(f"[warn] {warning.removeprefix('WARN ')}")
+        path = auth.write_token(args.set_token, token)
+        print(f"[ok  ] wrote [{args.set_token}] credentials to {path}")
+        state = auth.credential_state(args.set_token)
+        if not state.configured:
+            print(f"[FAIL] the file still does not validate: {state.problem}")
+            return 1
+        print(f"[ok  ] [{args.set_token}] credentials verified ({state.source})")
+        return 0
+
+    path = auth.pypirc_path()
+    print(f"config file: {path} ({'exists' if path.is_file() else 'missing'})")
+    for index in sorted(auth.INDEXES):
+        state = auth.credential_state(index)
+        if state.configured:
+            print(f"[ok  ] [{index}] configured ({state.source})")
+        else:
+            print(f"[--  ] [{index}] not usable: {state.problem}")
+
+    unlisted = auth.unlisted_sections(path)
+    if unlisted:
+        print()
+        print(
+            f"[warn] {unlisted} have sections that [distutils] index-servers does not "
+            "list; twine ignores those entirely"
+        )
+        print("       fix with: python build/run.py release auth --repair")
+
+    print()
+    print("set a token with:")
+    for index in sorted(auth.INDEXES):
+        if not auth.credential_state(index).configured:
+            print(f"  python build/run.py release auth --set-token {index}")
+    print("  (TestPyPI needs its own account; if you only hold a production token,")
+    print("   skip it and publish with `release pypi --pypi-only`)")
+
+    return 0 if auth.credential_state(args.index).configured else 1
+
+
+def _cmd_pypi(argv: list[str]) -> int:
+    parser = argparse.ArgumentParser(
+        prog="build/run.py release pypi",
+        description="Upload the certified wheels to TestPyPI and then PyPI.",
+    )
+    parser.add_argument(
+        "--version", required=True, help="release version, e.g. <major>.<minor>.<patch>"
+    )
+    parser.add_argument(
+        "--apply",
+        action="store_true",
+        help="actually upload (uploads are permanent and cannot be overwritten)",
+    )
+    parser.add_argument(
+        "--confirm-pypi",
+        action="store_true",
+        help="after TestPyPI, also publish to the real PyPI",
+    )
+    parser.add_argument(
+        "--pypi-only",
+        action="store_true",
+        help=(
+            "upload straight to PyPI, skipping the TestPyPI rehearsal "
+            "(for when you only hold a production token)"
+        ),
+    )
+    parser.add_argument(
+        "--prompt-credentials",
+        action="store_true",
+        help="if a token is missing, prompt for it and store it in ~/.pypirc",
+    )
+    parser.add_argument(
+        "--token-stdin",
+        action="store_true",
+        help="read a missing token from stdin instead of prompting (scripts/CI)",
+    )
+    parser.add_argument(
+        "--skip-install-verify",
+        action="store_true",
+        help="skip fetching the artifact back out of the index",
+    )
+    parser.add_argument("--skip-check", action="store_true", help="skip `twine check`")
+    args = parser.parse_args(argv)
+
+    if args.pypi_only and args.confirm_pypi:
+        parser.error("--pypi-only and --confirm-pypi are mutually exclusive")
+
+    if args.token_stdin and not args.prompt_credentials:
+        parser.error("--token-stdin requires --prompt-credentials")
+
+    token = auth.read_token_from_stdin() if args.token_stdin else None
+
+    return pypi.publish(
+        pypi.Options(
+            version=args.version,
+            apply=args.apply,
+            confirm_pypi=args.confirm_pypi,
+            verify_install=not args.skip_install_verify,
+            skip_check=args.skip_check,
+            pypi_only=args.pypi_only,
+            prompt_credentials=args.prompt_credentials,
+            token=token,
+        )
+    )
+
+
+def main(argv: list[str] | None = None) -> int:
+    argv = list(sys.argv[1:] if argv is None else argv)
+    if not argv or argv[0] in ("-h", "--help"):
+        print(__doc__)
+        print("Commands: preflight | audit | auth | github | pypi")
+        return 0
+
+    command, rest = argv[0], argv[1:]
+    if command == "preflight":
+        return _cmd_preflight(rest)
+    if command == "audit":
+        return _cmd_audit(rest)
+    if command == "auth":
+        return _cmd_auth(rest)
+    if command == "github":
+        return _cmd_github(rest)
+    if command == "pypi":
+        return _cmd_pypi(rest)
+
+    print(f"Unknown release command: {command!r}", file=sys.stderr)
+    print("Choose from: preflight, audit, auth, github, pypi", file=sys.stderr)
+    return 2
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

build/release/github.py

@@ -0,0 +1,446 @@
+"""Sync the public release repo and publish a GitHub Release.
+
+``python build/run.py release github`` runs, in order:
+
+1. certified-wheels gate (a passing ``release preflight`` report must exist and
+   every wheel must still hash to what it recorded)
+2. refuse if the version is already tagged or already has a GitHub Release
+3. sync the open-source subset of this checkout into ``orisys-sdk-release``
+   (``tools/sync_downstreams.py`` + the manifest's ``checks``)
+4. stage ``SDK/<version>/*.whl`` into ``orisys-sdk-release/release/<version>/``
+5. commit, tag ``v<version>``, push branch + tag
+6. create the GitHub Release with the wheels attached, then verify the assets
+
+Nothing mutates anything unless ``--apply`` is passed: the default is a dry run
+that prints every command it would run.
+"""
+
+from __future__ import annotations
+
+import json
+import shutil
+import subprocess
+import sys
+from dataclasses import dataclass, field
+from pathlib import Path
+
+_BUILD_ROOT = Path(__file__).resolve().parents[1]
+if str(_BUILD_ROOT) not in sys.path:
+    sys.path.insert(0, str(_BUILD_ROOT))
+
+from common.paths import REPO_ROOT  # noqa: E402
+
+from release.publish import GateResult, PublishGateError, load_gate  # noqa: E402
+from release.runtime import PLATFORM_LABELS, wheel_target  # noqa: E402
+
+MANIFEST_PATH = REPO_ROOT / "tools" / "downstream_sync_manifest.json"
+SYNC_TOOL = REPO_ROOT / "tools" / "sync_downstreams.py"
+RELEASE_TARGET = "orisys-sdk-release"
+
+
+@dataclass
+class Options:
+    version: str
+    apply: bool = False
+    notes_file: Path | None = None
+    attach_preflight: bool = False
+    allow_dirty_release: bool = False
+    skip_fetch: bool = False
+    skip_checks: bool = False
+    skip_release_upload: bool = False
+
+
+@dataclass
+class CommandStep:
+    description: str
+    argv: list[str]
+    cwd: Path | None = None
+
+
+@dataclass
+class Plan:
+    release_repo: Path
+    branch: str
+    tag: str
+    assets: list[Path] = field(default_factory=list)
+    steps: list[CommandStep] = field(default_factory=list)
+
+
+def manifest_entry() -> dict:
+    """The manifest entry for the public release repo."""
+    payload = json.loads(MANIFEST_PATH.read_text(encoding="utf-8"))
+    for item in payload.get("downstreams", []):
+        if item.get("name") == RELEASE_TARGET:
+            return item
+    raise PublishGateError(f"{MANIFEST_PATH} has no downstream named {RELEASE_TARGET!r}")
+
+
+def release_repo_path() -> Path:
+    return (REPO_ROOT / manifest_entry()["path"]).resolve()
+
+
+def _git(repo: Path, *args: str, check: bool = True) -> str:
+    completed = subprocess.run(
+        ["git", "-C", str(repo), *args],
+        capture_output=True,
+        text=True,
+        check=False,
+    )
+    if check and completed.returncode != 0:
+        raise PublishGateError(
+            f"git {' '.join(args)} failed in {repo}:\n{completed.stderr.strip()}"
+        )
+    return (completed.stdout or "").strip()
+
+
+def build_release_notes(version: str, wheels: list[Path], git_commit: str | None) -> str:
+    platforms = sorted({PLATFORM_LABELS[wheel_target(wheel)[1]] for wheel in wheels})
+    lines = [
+        f"orisys {version}",
+        "",
+        f"Wheels ({', '.join(platforms)}; Python ABI is shown in each filename):",
+    ]
+    lines.extend(f"- `{wheel.name}`" for wheel in wheels)
+    lines.append("")
+    if git_commit:
+        lines.append(
+            f"Built from `{git_commit[:12]}` and certified by `release preflight`."
+        )
+    return "\n".join(lines) + "\n"
+
+
+def build_github_steps(
+    *,
+    version: str,
+    branch: str,
+    tag: str,
+    assets: list[Path],
+    notes_file: Path | None,
+    create_tag: bool = True,
+    title: str | None = None,
+) -> list[CommandStep]:
+    """The mutating commands, as pure data so they can be asserted in tests.
+
+    ``create_tag=False`` is the resume path: the tag already exists (a previous
+    run pushed it before failing), so only the remaining steps are emitted.
+    """
+    release_argv = [
+        "gh",
+        "release",
+        "create",
+        tag,
+        "--verify-tag",
+        "--title",
+        title or f"v{version}",
+        "--latest",
+    ]
+    if notes_file is not None:
+        release_argv += ["--notes-file", str(notes_file)]
+    release_argv += [str(asset) for asset in assets]
+
+    steps: list[CommandStep] = []
+    if create_tag:
+        steps.append(CommandStep("create tag", ["git", "tag", tag]))
+    steps.append(CommandStep("push branch", ["git", "push", "origin", branch]))
+    steps.append(CommandStep("push tag", ["git", "push", "origin", tag]))
+    steps.append(CommandStep("create GitHub Release with assets", release_argv))
+    return steps
+
+
+def non_github_remote_problem(repo: Path) -> str | None:
+    """Why ``gh`` cannot target this repo, or ``None`` if the remote is fine.
+
+    ``gh`` resolves its repository from the working directory. Running it from
+    this checkout instead of the release repo is a real failure mode: the SDK
+    repo's origin is an internal host, and ``gh`` reports the confusing "none of
+    the git remotes ... point to a known GitHub host".
+    """
+    remote = _git(repo, "remote", "get-url", "origin", check=False)
+    if "github.com" in remote:
+        return None
+    return (
+        f"the release repo's origin is {remote!r}, which is not a GitHub host. "
+        "`gh` resolves the repository from the working directory, so point origin "
+        "at github.com before publishing a release"
+    )
+
+
+def _check_gh(repo: Path) -> list[str]:
+    """Problems that would stop the release step, reported before any mutation."""
+    problems: list[str] = []
+    if shutil.which("gh") is None:
+        problems.append(
+            "the `gh` CLI is not on PATH. Install it (`winget install --id GitHub.cli`) "
+            "and authenticate (`gh auth login`), or use --skip-release-upload"
+        )
+        return problems
+
+    remote_problem = non_github_remote_problem(repo)
+    if remote_problem:
+        problems.append(remote_problem)
+
+    completed = subprocess.run(
+        ["gh", "auth", "status"], capture_output=True, text=True, check=False
+    )
+    if completed.returncode != 0:
+        problems.append("`gh auth status` failed; run `gh auth login` first")
+    return problems
+
+
+def _existing_release_tags(repo: Path, version: str) -> list[str]:
+    wanted = {version, f"v{version}"}
+    tags = set(_git(repo, "tag", "--list").splitlines())
+    return sorted(wanted & tags)
+
+
+def _release_exists(repo: Path, tag: str) -> bool | None:
+    """Is there already a GitHub Release for ``tag``?
+
+    Returns ``None`` when that cannot be determined (``gh`` unavailable), so the
+    caller can distinguish "not published yet" from "unknown" instead of treating
+    a missing tool as proof that nothing was published.
+
+    Must run with ``cwd`` set to the release repo: `gh` resolves the target
+    repository from the working directory, and this checkout's own remote is an
+    internal host.
+    """
+    if shutil.which("gh") is None:
+        return None
+    completed = subprocess.run(
+        ["gh", "release", "view", tag, "--json", "tagName"],
+        capture_output=True,
+        text=True,
+        check=False,
+        cwd=str(repo),
+    )
+    return completed.returncode == 0
+
+
+def _sync(*, run_checks: bool) -> None:
+    """Copy the public subset into the release repo and run its checks."""
+    python = sys.executable
+    for command in (
+        [python, str(SYNC_TOOL), "apply", "--target", RELEASE_TARGET],
+        *(
+            [[python, str(SYNC_TOOL), "run-checks", "--target", RELEASE_TARGET]]
+            if run_checks
+            else []
+        ),
+    ):
+        completed = subprocess.run(command, cwd=REPO_ROOT, check=False)
+        if completed.returncode != 0:
+            raise PublishGateError(
+                f"`{' '.join(command[1:])}` failed with exit {completed.returncode}"
+            )
+
+
+def _stage_wheels(wheels: list[Path], asset_dir: Path) -> None:
+    asset_dir.mkdir(parents=True, exist_ok=True)
+    for wheel in wheels:
+        shutil.copy2(wheel, asset_dir / wheel.name)
+
+
+def publish(options: Options) -> int:
+    version = options.version
+    mode = "APPLY" if options.apply else "DRY RUN"
+    print(f"=== release github: orisys {version} ({mode}) ===")
+
+    # --- 1. gate -------------------------------------------------------
+    try:
+        gate: GateResult = load_gate(REPO_ROOT, version)
+    except PublishGateError as exc:
+        print(f"[FAIL] {exc}")
+        return 1
+    print(f"[ok  ] preflight report: {gate.report_path}")
+    print(f"       certified commit: {gate.git_commit}")
+    for wheel in gate.wheels:
+        print(f"       [ok] {wheel.name} sha256={wheel.sha256[:12]} {wheel.size} bytes")
+    for warning in gate.warnings:
+        print(f"[warn] {warning}")
+
+    # --- 2. target repo ------------------------------------------------
+    try:
+        repo = release_repo_path()
+    except PublishGateError as exc:
+        print(f"[FAIL] {exc}")
+        return 1
+    if not (repo / ".git").exists():
+        print(f"[FAIL] {repo} is not a git repository")
+        return 1
+
+    try:
+        if not options.skip_fetch:
+            _git(repo, "fetch", "--tags", "--quiet")
+            print(f"[ok  ] git fetch --tags in {repo}")
+        branch = _git(repo, "rev-parse", "--abbrev-ref", "HEAD")
+        dirty = _git(repo, "status", "--porcelain")
+    except PublishGateError as exc:
+        print(f"[FAIL] {exc}")
+        return 1
+
+    if dirty and not options.allow_dirty_release:
+        preview = "\n".join(dirty.splitlines()[:10])
+        print(
+            f"[FAIL] {repo} has uncommitted changes; commit or stash them first "
+            f"(or pass --allow-dirty-release):\n{preview}"
+        )
+        return 1
+    print(f"[ok  ] release repo: {repo} ({branch}) clean={not dirty}")
+
+    tag = f"v{version}"
+    existing = _existing_release_tags(repo, version)
+    # A tag that exists without a GitHub Release means a previous run got as far
+    # as pushing the tag and then failed (or the upload was left manual). That is
+    # exactly the resumable state, so continue instead of refusing.
+    create_tag = not existing
+    if existing:
+        print(
+            f"[warn] tag(s) {existing} already exist in {repo}; skipping tag creation "
+            "and continuing to the release upload"
+        )
+    release_state = _release_exists(repo, tag)
+    if release_state is True:
+        print(f"[FAIL] GitHub Release {tag} already exists; nothing to publish")
+        return 1
+    if release_state is None:
+        print(
+            "[warn] cannot tell whether a GitHub Release for "
+            f"{tag} already exists (`gh` not installed); --apply will stop at the gh check"
+        )
+        if create_tag:
+            print(f"[ok  ] tag {tag} does not exist in {repo}")
+    elif create_tag:
+        print(f"[ok  ] no existing tag or GitHub Release for {tag}")
+    else:
+        print(f"[ok  ] no GitHub Release for {tag} yet")
+
+    # A dry run is a preview of what would happen, so missing tooling is a warning
+    # there and a hard stop only when we are about to mutate something.
+    if options.skip_release_upload:
+        print("[warn] --skip-release-upload: the GitHub Release will be left to you")
+    else:
+        gh_problems = _check_gh(repo)
+        if gh_problems:
+            for problem in gh_problems:
+                print(f"[{'FAIL' if options.apply else 'warn'}] {problem}")
+            if options.apply:
+                return 1
+        else:
+            print("[ok  ] gh CLI is installed and authenticated")
+
+    # --- 3. plan the mutating steps ------------------------------------
+    wheels = [REPO_ROOT / "SDK" / version / record.name for record in gate.wheels]
+    missing = [str(wheel) for wheel in wheels if not wheel.is_file()]
+    if missing:
+        print(f"[FAIL] wheels missing from disk: {missing}")
+        return 1
+
+    asset_dir = repo / "release" / version
+    assets = [asset_dir / wheel.name for wheel in wheels]
+    notes_file = options.notes_file or gate.report_path.parent / "github-release-notes.md"
+    generated_notes = build_release_notes(version, wheels, gate.git_commit) if options.notes_file is None else None
+    steps = build_github_steps(
+        version=version,
+        branch=branch,
+        tag=tag,
+        assets=assets,
+        notes_file=notes_file,
+        create_tag=create_tag,
+    )
+
+    print()
+    print(f"[plan] sync {len(manifest_entry().get('sync', []))} entry(ies) into {repo}")
+    print(f"[plan] stage {len(wheels)} wheel(s) into {asset_dir}")
+    if create_tag:
+        print(f"[plan] commit {repo} and create tag {tag}")
+    else:
+        print(f"[plan] commit {repo} (tag {tag} already exists)")
+    for step in steps:
+        manual = options.skip_release_upload and step.description.startswith(
+            "create GitHub Release"
+        )
+        prefix = "[plan] (left manual)" if manual else "[plan]"
+        print(f"{prefix} {step.description}: {' '.join(step.argv)}")
+    print()
+
+    if not options.apply:
+        if generated_notes:
+            print(generated_notes)
+        print("dry run: nothing was changed. Re-run with --apply to execute.")
+        return 0
+
+    # --- 4. execute ----------------------------------------------------
+    try:
+        if generated_notes:
+            notes_file.write_text(generated_notes, encoding="utf-8")
+        commit_before = _git(repo, "rev-parse", "HEAD")
+        _sync(run_checks=not options.skip_checks)
+        _stage_wheels(wheels, asset_dir)
+
+        if options.attach_preflight:
+            shutil.copy2(gate.report_path, asset_dir / f"{version}-preflight.json")
+
+        _git(repo, "add", "-A")
+        pending = _git(repo, "status", "--porcelain")
+        if pending:
+            _git(repo, "commit", "-m", f"release {version}")
+            print(f"[ok  ] committed {len(pending.splitlines())} change(s) in {repo}")
+        else:
+            print("[ok  ] nothing new to commit in the release repo")
+
+        if create_tag:
+            _git(repo, "tag", tag)
+        # Pushing an already-up-to-date ref is a no-op, so resuming is safe.
+        _git(repo, "push", "origin", branch)
+        _git(repo, "push", "origin", tag)
+        print(f"[ok  ] pushed {branch} and {tag}")
+    except PublishGateError as exc:
+        print(f"[FAIL] {exc}")
+        return 1
+
+    release_argv = next(
+        step.argv for step in steps if step.description.startswith("create GitHub Release")
+    )
+
+    if options.skip_release_upload:
+        print()
+        print("[todo] publish the release yourself:")
+        print("       " + " ".join(release_argv))
+        print()
+        print("=== release github: repo synced and tagged; release upload left manual ===")
+        return 0
+
+    # `gh` resolves its target repository from the working directory, so it must
+    # run inside the release repo - this checkout's own origin is an internal host.
+    completed = subprocess.run(release_argv, check=False, cwd=str(repo))
+    if completed.returncode != 0:
+        print(f"[FAIL] gh release create exited {completed.returncode}")
+        return 1
+    print(f"[ok  ] GitHub Release {tag} created")
+
+    # --- 5. verify the published assets --------------------------------
+    completed = subprocess.run(
+        ["gh", "release", "view", tag, "--json", "assets,tagName"],
+        capture_output=True,
+        text=True,
+        check=False,
+        cwd=str(repo),
+    )
+    if completed.returncode != 0:
+        print("[FAIL] could not read back the release to verify assets")
+        return 1
+    payload = json.loads(completed.stdout or "{}")
+    published = {asset["name"] for asset in payload.get("assets", [])}
+    expected = {asset.name for asset in assets}
+    if options.attach_preflight:
+        expected.add(f"{version}-preflight.json")
+    if published != expected:
+        print(
+            f"[FAIL] release asset mismatch:\n  expected {sorted(expected)}\n"
+            f"  published {sorted(published)}"
+        )
+        return 1
+    print(f"[ok  ] verified {len(published)} asset(s) on the release")
+    print()
+    print(f"=== release github PASSED (commit {commit_before[:12]} -> {_git(repo, 'rev-parse', 'HEAD')[:12]}) ===")
+    return 0

build/release/preflight.py

@@ -0,0 +1,580 @@
+"""Local release gate: everything that must hold before publishing a wheel.
+
+``release preflight`` answers one question with an exit code: is this checkout,
+this version and these wheels safe to publish? It never publishes anything;
+native verification environments may download dependencies from PyPI.
+
+Steps, in order:
+
+1. ``repo-state``           - git repository, clean working tree, recorded commit
+2. ``version-consistency``  - __version__ == pyproject dynamic attr == wheel names
+3. ``version-strings``      - no stale version literal left in tracked prose
+4. ``duplicate-guard``      - already-released version (git tag, optionally PyPI)
+5. ``tests``                - pytest (slow/hardware markers excluded)
+6. ``bundle-precheck``      - every bundle item resolves; required assets present
+7. ``wheel-inspection``     - static metadata/content assertions per wheel
+8. ``wheel-runtime``        - one isolated venv per wheel: bundled assets load and
+                              real frames flow through the public pipeline
+
+Output lands in ``build/release/reports/<version>/preflight.{json,txt}``, and is
+the contract the publish commands (``release github`` / ``release pypi``) consume:
+they refuse to ship anything this run did not certify.
+"""
+
+from __future__ import annotations
+
+import hashlib
+import json
+import platform
+import subprocess
+import sys
+import time
+from dataclasses import asdict, dataclass, field
+from datetime import datetime, timezone
+from pathlib import Path
+
+_BUILD_ROOT = Path(__file__).resolve().parents[1]
+if str(_BUILD_ROOT) not in sys.path:
+    sys.path.insert(0, str(_BUILD_ROOT))
+
+from common.paths import REPO_ROOT  # noqa: E402
+from common.pyproject_utils import bundle_items, get_version  # noqa: E402
+from common.verify.wheel import (  # noqa: E402
+    DEFAULT_RUNTIME_CONFIG,
+    default_verification_video,
+    verify_wheel,
+)
+from common.verify.wheel_contents import inspect_wheel  # noqa: E402
+from wheel.layout import (  # noqa: E402
+    resolve_bundle_source_files,
+    verify_required_assets,
+)
+
+from release import report as report_mod  # noqa: E402
+from release import version as version_mod  # noqa: E402
+from release.runtime import verify_manylinux_wheel, wheel_target  # noqa: E402
+
+
+@dataclass
+class Step:
+    name: str
+    ok: bool
+    detail: str = ""
+    duration_s: float = 0.0
+    data: dict = field(default_factory=dict)
+
+
+@dataclass
+class PreflightOptions:
+    version: str | None = None
+    wheel_dir: Path | None = None
+    video: Path | None = None
+    config_name: str = DEFAULT_RUNTIME_CONFIG
+    frames: int = 40
+    skip_tests: bool = False
+    longrun: bool = False
+    allow_dirty: bool = False
+    force: bool = False
+    check_pypi: bool = False
+    all_wheel_pythons: bool = False
+    offline: bool = False
+    keep_going: bool = False
+    report_dir: Path | None = None
+    no_runtime: bool = False
+    no_assets: bool = False
+
+
+def _sha256_file(path: Path) -> str:
+    digest = hashlib.sha256()
+    with Path(path).open("rb") as handle:
+        for chunk in iter(lambda: handle.read(1024 * 1024), b""):
+            digest.update(chunk)
+    return digest.hexdigest()
+
+
+def _now() -> str:
+    return datetime.now(timezone.utc).isoformat(timespec="seconds")
+
+
+class Preflight:
+    def __init__(self, options: PreflightOptions, repo_root: Path | None = None) -> None:
+        self.options = options
+        self.repo_root = Path(repo_root or REPO_ROOT)
+        self.steps: list[Step] = []
+        self.git: dict = {"commit": None, "branch": None, "dirty": None}
+        self.wheels: list[Path] = []
+        self.wheel_dir: Path | None = None
+        self.runtime_records: list[dict] = []
+        self.aborted = False
+        self.ok = False
+
+        if options.version:
+            self.version = options.version
+            self.version_source = "explicit --version"
+        elif (self.repo_root / "pyproject.toml").is_file():
+            self.version = get_version(self.repo_root)
+            self.version_source = "pyproject.toml dynamic attr"
+        else:
+            # Not version-shaped on purpose: this is a sentinel for "unresolved",
+            # and it must not look like a release version to the version-string scan.
+            self.version = "unknown"
+            self.version_source = "unresolved"
+
+        self.report_dir = report_mod.reports_root(self.repo_root, options.report_dir) / self.version
+
+    # -- helpers ---------------------------------------------------------
+
+    def _git(self, *args: str) -> str:
+        try:
+            completed = subprocess.run(
+                ["git", *args],
+                cwd=self.repo_root,
+                capture_output=True,
+                text=True,
+                check=False,
+            )
+        except OSError:
+            return ""
+        return (completed.stdout or "").strip()
+
+    def _execute(self, step_fn) -> None:
+        started = time.perf_counter()
+        try:
+            step = step_fn()
+        except Exception as exc:  # a crashed step is a failed step, never a silent pass
+            step = Step(name=getattr(step_fn, "__name__", "step").lstrip("_").replace("_", "-"),
+                        ok=False, detail=f"crashed: {type(exc).__name__}: {exc}")
+        step.duration_s = round(time.perf_counter() - started, 3)
+        self.steps.append(step)
+
+        flag = "ok  " if step.ok else "FAIL"
+        print(f"[{flag}] {step.name} ({step.duration_s:.2f}s)")
+        for line in str(step.detail).splitlines():
+            print(f"        {line}")
+
+        if not step.ok and not self.options.keep_going:
+            self.aborted = True
+            print("        stopping: pass --keep-going to collect every failure")
+
+    # -- steps -----------------------------------------------------------
+
+    def _repo_state(self) -> Step:
+        if not (self.repo_root / ".git").exists():
+            return Step("repo-state", False, f"{self.repo_root} is not a git repository")
+
+        commit = self._git("rev-parse", "HEAD")
+        branch = self._git("rev-parse", "--abbrev-ref", "HEAD")
+        porcelain = self._git("status", "--porcelain")
+        dirty = bool(porcelain)
+        self.git = {"commit": commit, "branch": branch, "dirty": dirty}
+
+        if dirty and not self.options.allow_dirty:
+            preview = "\n".join(porcelain.splitlines()[:20])
+            return Step(
+                "repo-state",
+                False,
+                f"working tree is dirty; commit, stash or pass --allow-dirty:\n{preview}",
+                data=self.git,
+            )
+
+        detail = f"{branch} @ {commit[:12]} dirty={dirty} version={self.version} ({self.version_source})"
+        if dirty:
+            detail += " (accepted via --allow-dirty)"
+        return Step("repo-state", True, detail, data=self.git)
+
+    def _version_consistency(self) -> Step:
+        problems: list[str] = []
+        data: dict = {"version": self.version, "source": self.version_source}
+
+        attr = version_mod.dynamic_version_attr(self.repo_root)
+        data["dynamic_attr"] = attr
+        if attr is None:
+            problems.append(
+                "pyproject.toml no longer declares tool.setuptools.dynamic.version.attr"
+            )
+
+        if (self.repo_root / "pyproject.toml").is_file():
+            resolved = get_version(self.repo_root)
+            data["resolved_version"] = resolved
+            if resolved != self.version:
+                problems.append(
+                    f"src/orisys/__init__.py __version__ is {resolved!r} but the release "
+                    f"version is {self.version!r}"
+                )
+
+        sdk_dirs = version_mod.sdk_versions(self.repo_root)
+        data["sdk_versions"] = sdk_dirs
+        for wheel in version_mod.sdk_wheels(self.repo_root, self.version):
+            found = version_mod.wheel_version(wheel)
+            if found != self.version:
+                problems.append(f"{wheel.name} carries version {found!r}, expected {self.version!r}")
+
+        detail = (
+            f"version={self.version} ({self.version_source}) dynamic_attr={attr}\n"
+            f"SDK/ versions present: {sdk_dirs or 'none'}"
+        )
+        if problems:
+            detail += "\n" + "\n".join(problems)
+        return Step("version-consistency", not problems, detail, data=data)
+
+    def _duplicate_guard(self) -> Step:
+        """Fail only when this version has already been *released*.
+
+        A populated ``SDK/<version>/`` is the normal input to preflight (it is
+        what gets verified), so it is reported, not blocked. What must not happen
+        silently is re-releasing a version that is already out: that is detected
+        offline through git tags and, opt-in, against PyPI.
+        """
+        problems: list[str] = []
+        lines: list[str] = []
+
+        existing = version_mod.sdk_wheels(self.repo_root, self.version)
+        if existing:
+            lines.append(
+                f"SDK/{self.version}/ holds {len(existing)} staged wheel(s) to verify: "
+                f"{[w.name for w in existing]}"
+            )
+        else:
+            lines.append(
+                f"SDK/{self.version}/ is empty; nothing is staged yet "
+                "(build with `python build/run.py wheel-win` / `manylinux`)"
+            )
+
+        tags = version_mod.git_tags(self.repo_root)
+        tag_hits = version_mod.released_tags_for(self.version, tags)
+        if tag_hits:
+            message = f"git tag(s) {tag_hits} already mark {self.version} as released"
+            if self.options.force:
+                lines.append(message + " (accepted via --force)")
+            else:
+                problems.append(
+                    message + "; pass --force to re-verify or intentionally re-release"
+                )
+        else:
+            lines.append(
+                f"no local git tag marks {self.version} as released "
+                f"({len(tags)} tag(s) checked in this repo and {version_mod.RELEASE_REPO_DIRNAME})"
+            )
+
+        if self.options.check_pypi:
+            versions, error = version_mod.pypi_released_versions()
+            if error:
+                problems.append(f"PyPI lookup failed: {error}")
+            elif versions is None:
+                problems.append("PyPI lookup returned no version list")
+            elif self.version in versions:
+                problems.append(
+                    f"orisys {self.version} is already published on PyPI; a PyPI upload "
+                    "cannot be undone. Published: " + ", ".join(versions)
+                )
+            else:
+                lines.append(
+                    f"PyPI has no {self.version}; published: " + (", ".join(versions) or "none")
+                )
+        else:
+            lines.append("PyPI existence check skipped (pass --check-pypi to enable)")
+
+        detail = "\n".join(lines)
+        if problems:
+            detail += "\n" + "\n".join(problems)
+        return Step("duplicate-guard", not problems, detail)
+
+    def _version_strings(self) -> Step:
+        """Keep the version out of prose: one source, everything else derived.
+
+        Scans tracked text for version-looking literals that disagree with the
+        release version. Dependency constraints are ignored by design; deliberate
+        exceptions live in ``version.VERSION_STRING_ALLOWLIST``.
+        """
+        findings = version_mod.find_version_literals(self.repo_root, self.version)
+        if not findings:
+            scanned = len(version_mod.tracked_text_files(self.repo_root))
+            return Step(
+                "version-strings",
+                True,
+                f"no stale version literal in {scanned} scanned file(s); "
+                f"version {self.version} lives only where it is derived from",
+            )
+
+        by_file: dict[str, list[str]] = {}
+        for path, lineno, literal in findings:
+            by_file.setdefault(path, []).append(f"{path}:{lineno} -> {literal}")
+        detail = (
+            f"{len(findings)} version literal(s) disagree with {self.version}. "
+            "Update them, or make the file version-agnostic, or add a documented "
+            "entry to build/release/version.py::VERSION_STRING_ALLOWLIST:\n"
+            + "\n".join(line for lines in by_file.values() for line in lines)
+        )
+        return Step("version-strings", False, detail, data={"count": len(findings)})
+
+    def _tests(self) -> Step:
+        if self.options.skip_tests:
+            return Step(
+                "tests",
+                True,
+                "WARNING: test gate SKIPPED via --skip-tests; this run cannot certify a release",
+                data={"status": "skipped"},
+            )
+
+        marker = "not hardware" if self.options.longrun else "not slow and not hardware"
+        self.report_dir.mkdir(parents=True, exist_ok=True)
+        junit = self.report_dir / "junit.xml"
+        command = [
+            sys.executable,
+            "-m",
+            "pytest",
+            "-q",
+            "-m",
+            marker,
+            f"--junitxml={junit}",
+        ]
+        try:
+            completed = subprocess.run(
+                command, cwd=self.repo_root, capture_output=True, text=True, check=False
+            )
+        except FileNotFoundError as exc:
+            return Step("tests", False, f"cannot run pytest: {exc}")
+
+        ok = completed.returncode == 0
+        tail = ((completed.stdout or "") + (completed.stderr or "")).strip().splitlines()[-12:]
+        detail = f"pytest -m {marker!r} in {sys.executable}\nexit code {completed.returncode}"
+        if tail:
+            detail += "\n" + "\n".join(tail)
+        return Step("tests", ok, detail, data={"marker": marker, "junit": str(junit)})
+
+    def _bundle_precheck(self) -> Step:
+        if not (self.repo_root / "pyproject.toml").is_file():
+            return Step("bundle-precheck", False, "pyproject.toml not found")
+
+        items = bundle_items(self.repo_root)
+        problems: list[str] = []
+        counts: dict[str, int] = {}
+        for item in items:
+            files = resolve_bundle_source_files(self.repo_root, item)
+            counts[str(item.get("name"))] = len(files)
+            if not files:
+                problems.append(
+                    f"bundle item {item.get('name')!r} resolved 0 files; its patterns match nothing"
+                )
+
+        try:
+            verify_required_assets(self.repo_root, items)
+        except FileNotFoundError as exc:
+            problems.append(str(exc))
+
+        detail = "resolved files per bundle item: " + json.dumps(counts)
+        if problems:
+            detail += "\n" + "\n".join(problems)
+        return Step("bundle-precheck", not problems, detail, data={"counts": counts})
+
+    def _discover_wheels(self) -> str | None:
+        """Populate self.wheels; return an error message when nothing was found."""
+        directory = (
+            Path(self.options.wheel_dir)
+            if self.options.wheel_dir
+            else self.repo_root / "SDK" / self.version
+        )
+        self.wheel_dir = directory
+        if not directory.is_dir():
+            return (
+                f"{directory} does not exist. Build first "
+                "(`python build/run.py wheel`) or pass --wheel-dir."
+            )
+
+        self.wheels = sorted(directory.glob("*.whl"))
+        if not self.wheels:
+            return f"no *.whl found in {directory}. Build first or pass --wheel-dir."
+        return None
+
+    def _wheel_inspection(self) -> Step:
+        problem = self._discover_wheels()
+        if problem:
+            return Step("wheel-inspection", False, problem)
+
+        problems: list[str] = []
+        blocks: list[str] = []
+        for wheel in self.wheels:
+            result = inspect_wheel(
+                wheel,
+                expected_version=self.version,
+                repo_root=self.repo_root,
+                strict_bundle=True,
+            )
+            blocks.append(result.render())
+            if not result.ok:
+                problems.append(
+                    f"{wheel.name}: " + ", ".join(check.name for check in result.failures)
+                )
+
+        detail = f"{len(self.wheels)} wheel(s) in {self.wheel_dir}\n" + "\n".join(blocks)
+        if problems:
+            detail += "\nfailed checks:\n" + "\n".join(problems)
+        return Step("wheel-inspection", not problems, detail, data={"count": len(self.wheels)})
+
+    def _platform_token(self) -> str:
+        return "win_amd64" if sys.platform == "win32" else platform.machine().lower()
+
+    def _runtime_targets(self) -> list[tuple[str, Path, Path | None]]:
+        token = self._platform_token()
+        if self.options.all_wheel_pythons:
+            targets: list[tuple[str, Path, Path | None]] = []
+            for wheel in self.wheels:
+                tag, target = wheel_target(wheel)
+                executable = None
+                if target == "win_amd64":
+                    if sys.platform != "win32":
+                        raise RuntimeError("Verify Windows wheels from a Windows host")
+                    executable = version_mod.python_for_tag(tag)
+                if target == "win_amd64" and executable is None:
+                    raise RuntimeError(
+                        f"cannot resolve an interpreter for {tag}; create the conda env "
+                        f"py{tag[2:]} or set CONDA_ENVS_ROOT"
+                    )
+                targets.append((tag, wheel, executable))
+            return targets
+
+        tag = f"cp{sys.version_info.major}{sys.version_info.minor}"
+        match = next((w for w in self.wheels if wheel_target(w) == (tag, token)), None)
+        if match is None:
+            raise RuntimeError(
+                f"no {tag} {token} wheel among {[w.name for w in self.wheels]}; pass "
+                "--all-wheel-pythons to verify every ABI in its own environment, or run from "
+                "a matching interpreter"
+            )
+        return [(tag, match, None)]
+
+    def _wheel_runtime(self) -> Step:
+        if self.options.no_runtime:
+            return Step(
+                "wheel-runtime",
+                True,
+                "WARNING: runtime verification SKIPPED via --no-runtime",
+                data={"status": "skipped"},
+            )
+
+        video = self.options.video or default_verification_video(self.repo_root)
+        if video is None:
+            return Step(
+                "wheel-runtime",
+                False,
+                "no verification clip found. Pass --video, set ORISYS_VERIFY_VIDEO, or commit a "
+                "clip under data/sample/. The runtime check is never silently skipped.",
+            )
+        video = Path(video)
+        if not video.is_file():
+            return Step("wheel-runtime", False, f"verification clip not found: {video}")
+
+        try:
+            targets = self._runtime_targets()
+        except RuntimeError as exc:
+            return Step("wheel-runtime", False, str(exc))
+
+        problems: list[str] = []
+        lines: list[str] = [f"clip: {video}", f"config: {self.options.config_name}"]
+        for tag, wheel, executable in targets:
+            label = f"{tag} {wheel.name}"
+            try:
+                digest = _sha256_file(wheel)
+                # One venv per wheel: it runs the import smoke test, the bundled
+                # asset check and the frame pipeline together.
+                verifier = verify_wheel
+                extra = {"python_executable": executable, "offline": self.options.offline}
+                if wheel_target(wheel)[1] != "win_amd64":
+                    verifier = verify_manylinux_wheel
+                    extra = {"repo_root": self.repo_root}
+                record = verifier(
+                    wheel,
+                    video=video,
+                    config_name=self.options.config_name,
+                    frames=self.options.frames,
+                    check_assets=not self.options.no_assets,
+                    **extra,
+                )
+                if _sha256_file(wheel) != digest:
+                    raise RuntimeError(f"{wheel.name} changed during runtime verification")
+            except subprocess.CalledProcessError as exc:
+                problems.append(f"{label}: command failed ({exc})")
+                continue
+            except Exception as exc:
+                problems.append(f"{label}: {type(exc).__name__}: {exc}")
+                continue
+
+            lines.append(
+                f"{label}: {record['assets']} | frames={record['frames']} "
+                f"flow={record['flow_shape']}"
+            )
+            self.runtime_records.append({"tag": tag, **record, "sha256": digest})
+
+        detail = "\n".join(lines)
+        if problems:
+            detail += "\nfailures:\n" + "\n".join(problems)
+        return Step("wheel-runtime", not problems, detail, data={"records": self.runtime_records})
+
+    # -- driver ----------------------------------------------------------
+
+    def run(self) -> int:
+        started_at = _now()
+        started = time.perf_counter()
+        print(f"=== orisys release preflight: version {self.version} ({self.version_source}) ===")
+        print(f"repo: {self.repo_root}")
+        print(f"report: {self.report_dir}")
+        print()
+
+        try:
+            for step_fn in (
+                self._repo_state,
+                self._version_consistency,
+                self._version_strings,
+                self._duplicate_guard,
+                self._tests,
+                self._bundle_precheck,
+                self._wheel_inspection,
+                self._wheel_runtime,
+            ):
+                self._execute(step_fn)
+                if self.aborted:
+                    break
+        finally:
+            self.ok = bool(self.steps) and all(step.ok for step in self.steps) and not self.aborted
+            duration = round(time.perf_counter() - started, 3)
+            payload = {
+                "version": self.version,
+                "version_source": self.version_source,
+                "ok": self.ok,
+                "aborted": self.aborted,
+                "started_at": started_at,
+                "finished_at": _now(),
+                "duration_s": duration,
+                "git": self.git,
+                "interpreter": {
+                    "executable": sys.executable,
+                    "version": platform.python_version(),
+                    "platform": sys.platform,
+                },
+                "options": {key: value for key, value in asdict(self.options).items()
+                            if not isinstance(value, Path)},
+                "steps": [asdict(step) for step in self.steps],
+                "wheels": [
+                    {
+                        "name": wheel.name,
+                        "size": wheel.stat().st_size,
+                        "sha256": _sha256_file(wheel),
+                    }
+                    for wheel in self.wheels
+                ],
+            }
+            payload["options"]["wheel_dir"] = str(self.options.wheel_dir) if self.options.wheel_dir else None
+            payload["options"]["video"] = str(self.options.video) if self.options.video else None
+
+            json_path, text_path = report_mod.write_report(payload, self.report_dir)
+            print()
+            print(f"report: {json_path}")
+            print(f"report: {text_path}")
+
+        print()
+        print(f"=== preflight {'PASSED' if self.ok else 'FAILED'} ({duration}s) ===")
+        return 0 if self.ok else 1
+
+
+def run_preflight(options: PreflightOptions, repo_root: Path | None = None) -> int:
+    return Preflight(options, repo_root=repo_root).run()

build/release/publish.py

@@ -0,0 +1,169 @@
+"""Shared publish gate: certify a release from its preflight report.
+
+Both publish commands (``release github`` and ``release pypi``) refuse to act
+unless a passing ``release preflight`` report exists for the exact version and
+every wheel still hashes to what that report recorded. The report is the contract
+between "we verified this" and "we shipped this"; re-deriving the checks here
+would just be a second, weaker opinion.
+"""
+
+from __future__ import annotations
+
+import hashlib
+import json
+from dataclasses import dataclass, field
+from pathlib import Path
+
+# Options that weaken the gate. A release must not be certified by a run that
+# waived any of them: re-run preflight on a clean commit instead.
+WAIVED_GUARD_KEYS = ("skip_tests", "allow_dirty", "force", "no_runtime", "no_assets")
+
+
+class PublishGateError(RuntimeError):
+    """The preflight report does not certify these wheels."""
+
+
+@dataclass
+class WheelRecord:
+    name: str
+    sha256: str
+    size: int = 0
+
+
+@dataclass
+class GateResult:
+    version: str
+    git_commit: str | None
+    report_path: Path
+    wheels: list[WheelRecord] = field(default_factory=list)
+    warnings: list[str] = field(default_factory=list)
+
+
+def sha256_file(path: Path) -> str:
+    digest = hashlib.sha256()
+    with Path(path).open("rb") as handle:
+        for chunk in iter(lambda: handle.read(1024 * 1024), b""):
+            digest.update(chunk)
+    return digest.hexdigest()
+
+
+def evaluate_gate(
+    payload: dict,
+    version: str,
+    wheels: dict[str, Path],
+    *,
+    head_commit: str | None = None,
+) -> tuple[list[str], list[str]]:
+    """Return ``(problems, warnings)`` for a report payload and the wheels on disk.
+
+    Pure function: no I/O beyond hashing the wheels, so it is cheap to test.
+    """
+    problems: list[str] = []
+    warnings: list[str] = []
+
+    if str(payload.get("version")) != version:
+        problems.append(
+            f"report is for version {payload.get('version')!r}, not {version!r}"
+        )
+    if not payload.get("ok"):
+        problems.append(
+            "report result is FAIL - run `release preflight --keep-going` and fix "
+            "everything before publishing"
+        )
+    if payload.get("aborted"):
+        problems.append("report stopped early (aborted); it certifies nothing")
+
+    options = payload.get("options") or {}
+    waived = sorted(key for key in WAIVED_GUARD_KEYS if options.get(key))
+    if waived:
+        problems.append(
+            "report waived gate options "
+            + ", ".join(f"--{key.replace('_', '-')}" for key in waived)
+            + "; commit the tree and re-run `release preflight` without them"
+        )
+
+    recorded = {item.get("name"): item.get("sha256") for item in payload.get("wheels") or []}
+    if not recorded:
+        problems.append("report lists no wheels")
+
+    runtime_records = {}
+    for step in payload.get("steps") or []:
+        if step.get("name") == "wheel-runtime" and step.get("ok"):
+            runtime_records.update({item.get("wheel"): item.get("sha256")
+                                    for item in (step.get("data") or {}).get("records", [])})
+    uncovered = sorted(name for name, digest in recorded.items()
+                       if runtime_records.get(name) != digest)
+    if uncovered:
+        problems.append(f"wheels lack matching runtime verification: {uncovered}; "
+                        "re-run preflight --all-wheel-pythons")
+
+    missing = sorted(set(recorded) - set(wheels))
+    if missing:
+        problems.append(f"wheels in the report are missing from disk: {missing}")
+    extra = sorted(set(wheels) - set(recorded))
+    if extra:
+        problems.append(f"wheels on disk are not covered by the report: {extra}")
+
+    for name in sorted(set(recorded) & set(wheels)):
+        actual = sha256_file(wheels[name])
+        if actual != recorded[name]:
+            problems.append(
+                f"{name} changed after preflight: report {recorded[name][:12]}, "
+                f"disk {actual[:12]} - rebuild and re-run preflight"
+            )
+
+    commit = payload.get("git", {}).get("commit") if isinstance(payload.get("git"), dict) else None
+    if head_commit and commit and commit != head_commit:
+        warnings.append(
+            f"report certifies commit {commit[:12]} but HEAD is {head_commit[:12]}; "
+            "the wheels are unchanged, so this is usually just a later commit"
+        )
+    return problems, warnings
+
+
+def load_gate(repo_root: Path, version: str) -> GateResult:
+    """Load and enforce the preflight report for ``version``.
+
+    Raises :class:`PublishGateError` with every problem found, so one run reports
+    all of them instead of stopping at the first.
+    """
+    repo_root = Path(repo_root)
+    report_path = repo_root / "build" / "release" / "reports" / version / "preflight.json"
+    if not report_path.is_file():
+        raise PublishGateError(
+            f"no preflight report at {report_path}. Run:\n"
+            f"  python build/run.py release preflight\n"
+            f"(the publish commands only ship what preflight certified)"
+        )
+
+    try:
+        payload = json.loads(report_path.read_text(encoding="utf-8"))
+    except (OSError, json.JSONDecodeError) as exc:
+        raise PublishGateError(f"cannot read {report_path}: {exc}") from exc
+
+    wheel_dir = repo_root / "SDK" / version
+    wheels = {path.name: path for path in sorted(wheel_dir.glob("*.whl"))}
+    if not wheels:
+        raise PublishGateError(
+            f"no wheels in {wheel_dir}; build first (`python build/run.py wheel-win` / "
+            "`manylinux`) and re-run preflight"
+        )
+
+    problems, warnings = evaluate_gate(payload, version, wheels)
+    if problems:
+        raise PublishGateError(
+            f"the preflight report at {report_path} does not certify orisys {version}:\n  "
+            + "\n  ".join(problems)
+        )
+
+    git_payload = payload.get("git") if isinstance(payload.get("git"), dict) else {}
+    return GateResult(
+        version=version,
+        git_commit=git_payload.get("commit"),
+        report_path=report_path,
+        wheels=[
+            WheelRecord(name=name, sha256=sha256_file(path), size=path.stat().st_size)
+            for name, path in wheels.items()
+        ],
+        warnings=warnings,
+    )

build/release/pypi.py

@@ -0,0 +1,472 @@
+"""Upload the certified wheels to TestPyPI, then (on confirmation) to PyPI.
+
+``python build/run.py release pypi`` runs:
+
+1. certified-wheels gate (same contract as ``release github``)
+2. ``twine check`` on every wheel - the wheel metadata is generated, so its
+   long description and classifiers are worth validating before an upload that
+   cannot be undone
+3. refuse if the version already exists on the target index (read-only probe)
+4. upload to TestPyPI, then verify by fetching it back from the index
+5. stop there unless ``--confirm-pypi`` is given; then repeat 3-4 against PyPI
+
+PyPI uploads are permanent: a version number can never be reused, and a bad
+artifact cannot be replaced. Hence the TestPyPI stage, the read-only existence
+probe, and ``--apply`` being required even to reach TestPyPI.
+"""
+
+from __future__ import annotations
+
+import json
+import os
+import subprocess
+import sys
+import tempfile
+import time
+import urllib.error
+import urllib.request
+from dataclasses import dataclass, field
+from pathlib import Path
+
+_BUILD_ROOT = Path(__file__).resolve().parents[1]
+if str(_BUILD_ROOT) not in sys.path:
+    sys.path.insert(0, str(_BUILD_ROOT))
+
+from common.paths import REPO_ROOT  # noqa: E402
+
+from release import auth  # noqa: E402
+from release.publish import GateResult, PublishGateError, load_gate, sha256_file  # noqa: E402
+
+INDEX_JSON = {name: str(meta["json_url"]) for name, meta in auth.INDEXES.items()}
+INDEX_SIMPLE = {name: str(meta["simple_url"]) for name, meta in auth.INDEXES.items()}
+
+
+@dataclass
+class Options:
+    version: str
+    apply: bool = False
+    confirm_pypi: bool = False
+    verify_install: bool = True
+    skip_check: bool = False
+    # Upload straight to PyPI, skipping the TestPyPI rehearsal. Needed when you
+    # only hold a production token, since the two indexes reject each other's.
+    pypi_only: bool = False
+    # Offer to enter a missing token now instead of just failing.
+    prompt_credentials: bool = False
+    # Token supplied non-interactively (e.g. --token-stdin), used once.
+    token: str | None = None
+
+
+def upload_phases(options: Options) -> list[str]:
+    """The indexes to upload to, in order."""
+    if options.pypi_only:
+        return ["pypi"]
+    return ["testpypi", "pypi"] if options.confirm_pypi else ["testpypi"]
+
+
+@dataclass
+class IndexState:
+    versions: list[str] = field(default_factory=list)
+    error: str | None = None
+
+    @property
+    def known(self) -> bool:
+        return self.error is None
+
+
+def twine_check_argv(wheels: list[Path]) -> list[str]:
+    return [sys.executable, "-m", "twine", "check", *[str(w) for w in wheels]]
+
+
+def twine_upload_argv(wheels: list[Path], repository: str | None) -> list[str]:
+    argv = [sys.executable, "-m", "twine", "upload"]
+    if repository:
+        argv += ["--repository", repository]
+    argv += [str(wheel) for wheel in wheels]
+    return argv
+
+
+def credentials_hint(index: str) -> str | None:
+    """Guidance when ``index`` has no usable credentials, else ``None``.
+
+    More than "does the file exist": a placeholder or the wrong ``username`` is
+    treated as missing, because twine would only find out at upload time.
+    """
+    state = auth.credential_state(index)
+    if state.configured:
+        return None
+    lines = [f"no usable credentials for [{index}]: {state.problem}"]
+    lines.append(f"  set it up with: python build/run.py release auth --set-token {index}")
+    if index == "testpypi":
+        lines.append(
+            "  (TestPyPI needs its own account and token; if you only hold a "
+            "production token, use --pypi-only to skip the rehearsal)"
+        )
+    lines.append(
+        "  or set TWINE_USERNAME=__token__ and TWINE_PASSWORD for this session only"
+    )
+    return "\n".join(lines)
+
+
+def _ensure_credentials(
+    indexes: list[str], options: Options, *, interactive: bool | None = None
+) -> bool:
+    """Make sure every index that will be uploaded to has credentials.
+
+    Prompts for a missing token when there is a terminal to prompt on; a piped or
+    CI run fails fast instead of hanging on a hidden-input prompt.
+    """
+    missing = [index for index in indexes if not auth.credential_state(index).configured]
+    if not missing:
+        for index in indexes:
+            state = auth.credential_state(index)
+            print(f"[ok  ] credentials for [{index}] ({state.source})")
+        return True
+
+    if interactive is None:
+        interactive = sys.stdin.isatty()
+    allow_prompt = options.prompt_credentials or (interactive and options.apply)
+
+    if not allow_prompt:
+        for index in missing:
+            print(f"[{'FAIL' if options.apply else 'warn'}] {credentials_hint(index)}")
+        if not options.apply:
+            print(
+                "[info] dry run continues so you can review the plan; "
+                "--apply would stop here until the credentials exist"
+            )
+            return True
+        if not interactive:
+            print(
+                "[info] stdin is not a terminal, so nothing was prompted; run "
+                "`release auth --set-token <index>` or pass --prompt-credentials"
+            )
+        return False
+
+    for index in missing:
+        print(f"[warn] {credentials_hint(index)}")
+        token = options.token or auth.prompt_for_token(index)
+        if not token:
+            print(f"[FAIL] no token entered for [{index}]")
+            return False
+        for problem in auth.validate_token(token):
+            print(f"[FAIL] {problem.removeprefix('ERROR ')}")
+            return False
+        for warning in auth.token_warnings(token):
+            print(f"[warn] {warning.removeprefix('WARN ')}")
+        path = auth.write_token(index, token)
+        print(f"[ok  ] wrote [{index}] credentials to {path}")
+        options.token = None  # only the first index may consume a piped token
+    return True
+
+
+def index_state(index: str, *, timeout: float = 20.0) -> IndexState:
+    """Read the published versions of orisys from an index (read-only)."""
+    url = INDEX_JSON[index]
+    request = urllib.request.Request(
+        url, headers={"User-Agent": "orisys-release-publish", "Accept": "application/json"}
+    )
+    try:
+        with urllib.request.urlopen(request, timeout=timeout) as response:
+            payload = json.load(response)
+    except urllib.error.HTTPError as exc:
+        if exc.code == 404:
+            return IndexState(versions=[])
+        return IndexState(error=f"{index} returned HTTP {exc.code}")
+    except Exception as exc:  # network, DNS, TLS, JSON
+        return IndexState(error=f"{index} lookup failed: {type(exc).__name__}: {exc}")
+
+    releases = payload.get("releases")
+    if not isinstance(releases, dict):
+        return IndexState(error=f"unexpected {index} response (no 'releases' mapping)")
+    return IndexState(
+        versions=sorted(name for name, files in releases.items() if files)
+    )
+
+
+def index_files(
+    index: str, version: str, *, timeout: float = 20.0
+) -> tuple[list[str] | None, str | None]:
+    """Filenames published for ``version``, as ``(filenames, error)``.
+
+    ``(None, None)``   - the index does not serve this version (yet)
+    ``(None, "why")``  - the lookup itself failed, which is NOT evidence of absence
+    ``([...], None)``  - the version is published with those files
+
+    Keeping those apart matters: reporting a network hiccup as "not published
+    yet" is how a successful upload gets mistaken for a failure.
+    """
+    url = INDEX_JSON[index]
+    request = urllib.request.Request(
+        url, headers={"User-Agent": "orisys-release-publish", "Accept": "application/json"}
+    )
+    try:
+        with urllib.request.urlopen(request, timeout=timeout) as response:
+            payload = json.load(response)
+    except urllib.error.HTTPError as exc:
+        if exc.code == 404:
+            return None, None
+        return None, f"{index} returned HTTP {exc.code}"
+    except Exception as exc:
+        return None, f"{index} lookup failed: {type(exc).__name__}: {exc}"
+
+    files = (payload.get("releases") or {}).get(version)
+    if not isinstance(files, list) or not files:
+        return None, None
+    return sorted(str(item.get("filename", "")) for item in files), None
+
+
+def wait_for_release(
+    index: str,
+    version: str,
+    *,
+    attempts: int = 6,
+    delay: float = 5.0,
+    sleep=None,
+    timeout: float = 20.0,
+) -> tuple[list[str] | None, str | None]:
+    """Poll until the index serves ``version`` (uploads are not instantly visible).
+
+    TestPyPI in particular lags the upload response by seconds. Returns the last
+    ``(filenames, error)`` observed.
+    """
+    sleep = sleep or time.sleep
+    last_error: str | None = None
+    for attempt in range(1, max(1, attempts) + 1):
+        filenames, error = index_files(index, version, timeout=timeout)
+        if filenames is not None:
+            return filenames, None
+        last_error = error
+        if attempt < attempts:
+            print(
+                f"[info] {index} does not serve {version} yet "
+                f"({'lookup failed' if error else 'indexing'}), retry {attempt}/{attempts - 1}",
+                flush=True,
+            )
+            sleep(delay)
+    return None, last_error
+
+
+def existing_release_state(index: str, version: str, expected: set[str]) -> str:
+    """``"satisfied"`` | ``"conflict"`` | ``"absent"`` for this index and version.
+
+    An index version can never be replaced, so "already published with exactly
+    these files" is the only successful terminal state; treating it as an error
+    would make a re-run after a partial failure look like a new failure. A
+    different file set is a genuine conflict and must stop the run.
+    """
+    published, error = index_files(index, version)
+    if published is None:
+        if error:
+            print(f"[warn] could not check {index} for an existing release: {error}")
+        return "absent"
+    if set(published) == expected:
+        print(
+            f"[ok  ] {index} already serves orisys {version} with all "
+            f"{len(published)} file(s)"
+        )
+        return "satisfied"
+    extra = sorted(set(published) - expected)
+    missing = sorted(expected - set(published))
+    print(
+        f"[FAIL] {index} already serves orisys {version} with a different file set"
+        + (f"; unexpected: {extra}" if extra else "")
+        + (f"; missing: {missing}" if missing else "")
+    )
+    return "conflict"
+
+
+def _upload(wheels: list[Path], repository: str | None) -> int:
+    argv = twine_upload_argv(wheels, repository)
+    print(f"[run ] {' '.join(str(part) for part in argv)}")
+    completed = subprocess.run(argv, check=False)
+    return completed.returncode
+
+
+def _fetch_back(index: str, version: str, wheel: Path) -> int:
+    """Fetch the exact Python/platform wheel and verify its certified bytes."""
+    with tempfile.TemporaryDirectory(prefix="orisys-fetch-") as tmp:
+        target = Path(tmp) / "out"
+        python_tag, abi_tag, platform_tags = wheel.stem.rsplit("-", 3)[1:]
+        argv = [
+            sys.executable,
+            "-m",
+            "pip",
+            "download",
+            "--no-deps",
+            "--no-cache-dir",
+            "--only-binary=:all:",
+            "--implementation", "cp",
+            "--python-version", python_tag[2:],
+            "--abi", abi_tag,
+            "--index-url",
+            INDEX_SIMPLE[index],
+            "--dest",
+            str(target),
+            f"orisys=={version}",
+        ]
+        for platform_tag in platform_tags.split("."):
+            argv += ["--platform", platform_tag]
+        # Index verification must not inherit a fallback index or wheelhouse.
+        env = {key: value for key, value in os.environ.items() if not key.startswith("PIP_")}
+        env["PIP_CONFIG_FILE"] = os.devnull
+        print(f"[run ] {' '.join(argv)}")
+        completed = subprocess.run(argv, check=False, env=env)
+        if completed.returncode != 0:
+            return completed.returncode
+
+        fetched = sorted(target.glob(f"orisys-{version}*"))
+        if not fetched:
+            print(f"[FAIL] pip download produced nothing for orisys=={version}")
+            return 1
+        print(f"[ok  ] fetched {[p.name for p in fetched]} from {index}")
+        if {path.name for path in fetched} != {wheel.name}:
+            raise PublishGateError(f"{index} returned a different wheel than {wheel.name}")
+        if sha256_file(fetched[0]) != sha256_file(wheel):
+            raise PublishGateError(f"{index} returned different bytes for {wheel.name}")
+        return 0
+
+
+def publish(options: Options) -> int:
+    version = options.version
+    mode = "APPLY" if options.apply else "DRY RUN"
+    print(f"=== release pypi: orisys {version} ({mode}) ===")
+
+    # --- 1. gate -------------------------------------------------------
+    try:
+        gate: GateResult = load_gate(REPO_ROOT, version)
+    except PublishGateError as exc:
+        print(f"[FAIL] {exc}")
+        return 1
+    print(f"[ok  ] preflight report: {gate.report_path}")
+    for wheel in gate.wheels:
+        print(f"       [ok] {wheel.name} sha256={wheel.sha256[:12]}")
+    for warning in gate.warnings:
+        print(f"[warn] {warning}")
+
+    wheels = [REPO_ROOT / "SDK" / version / record.name for record in gate.wheels]
+    missing = [str(wheel) for wheel in wheels if not wheel.is_file()]
+    if missing:
+        print(f"[FAIL] wheels missing from disk: {missing}")
+        return 1
+
+    # --- 2. credentials + twine check (before anything irreversible) ----
+    phases = upload_phases(options)
+    if options.pypi_only:
+        print(
+            "[warn] --pypi-only: uploading straight to PyPI with no TestPyPI "
+            "rehearsal. An index version can never be reused or replaced."
+        )
+    if not _ensure_credentials(phases, options):
+        return 1
+
+    if not options.skip_check:
+        argv = twine_check_argv(wheels)
+        print(f"[run ] {' '.join(str(part) for part in argv)}")
+        completed = subprocess.run(argv, check=False)
+        if completed.returncode != 0:
+            print("[FAIL] twine check reported problems; fix the wheel metadata first")
+            return 1
+        print("[ok  ] twine check passed")
+
+    # --- 3. phase plan -------------------------------------------------
+    expected = {wheel.name for wheel in wheels}
+    remaining: list[str] = []
+    for index in phases:
+        state = existing_release_state(index, version, expected)
+        if state == "conflict":
+            return 1
+        if state == "absent":
+            remaining.append(index)
+    phases = remaining
+
+    print()
+    for index in phases:
+        state = index_state(index)
+        if not state.known:
+            print(f"[FAIL] {state.error}; cannot safely check for duplicate uploads")
+            return 1
+        if version in state.versions:
+            print(
+                f"[FAIL] orisys {version} already exists on {index} "
+                f"(published: {', '.join(state.versions) or 'none'}) - "
+                "an index version cannot be reused"
+            )
+            return 1
+        print(f"[ok  ] {index}: {version} not present (published: {', '.join(state.versions) or 'none'})")
+
+    if not phases:
+        print()
+        print("=== release pypi: every requested index already has this release ===")
+        return 0
+
+    print()
+    for index in phases:
+        print(f"[plan] upload {len(wheels)} wheel(s) to {index}")
+    if phases == ["testpypi"]:
+        print(
+            "[plan] stop after TestPyPI. Re-run with "
+            "`--confirm-pypi --apply` to publish to the real PyPI."
+        )
+    print()
+
+    if not options.apply:
+        print("dry run: nothing was uploaded. Re-run with --apply to execute.")
+        return 0
+
+    # --- 4. upload ----------------------------------------------------
+    for index in phases:
+        if _upload(wheels, index) != 0:
+            print(f"[FAIL] twine upload to {index} failed")
+            return 1
+        print(f"[ok  ] uploaded to {index}")
+
+        published, error = wait_for_release(index, version)
+        if published is None:
+            # The upload itself succeeded, so this is a confirmation problem, not
+            # a publishing failure. Say so plainly and do not imply data loss.
+            reason = f"lookup kept failing ({error})" if error else "the index has not indexed it yet"
+            print(
+                f"[warn] uploaded, but could not confirm it on {index} yet: {reason}.\n"
+                f"       check https://{'test.' if index == 'testpypi' else ''}pypi.org/project/orisys/{version}/"
+                "\n       re-running this command is safe: an already-published version is skipped"
+            )
+            print(f"\n=== release pypi: {index} upload SUCCEEDED (verification inconclusive) ===")
+            return 0
+        if set(published) != expected:
+            print(
+                f"[FAIL] {index} file set mismatch:\n  expected {sorted(expected)}\n"
+                f"  got      {sorted(published)}"
+            )
+            return 1
+        print(f"[ok  ] {index} serves all {len(published)} file(s) for {version}")
+
+        if options.verify_install:
+            fetch_pending = False
+            for wheel in wheels:
+                try:
+                    if _fetch_back(index, version, wheel) != 0:
+                        fetch_pending = True
+                        print(f"[warn] {wheel.name} is uploaded but download verification is inconclusive")
+                    else:
+                        print(f"[ok  ] fetched and hash-verified {wheel.name} from {index}")
+                except PublishGateError as exc:
+                    print(f"[FAIL] {exc}")
+                    return 1
+            if fetch_pending:
+                print(f"[warn] {index} upload succeeded but download verification is inconclusive; "
+                      "later indexes were not uploaded. Re-run after checking propagation.")
+                return 0
+
+    if phases == ["testpypi"]:
+        print()
+        print("=== release pypi: TestPyPI stage PASSED; PyPI untouched ===")
+        print("next: python build/run.py release pypi --confirm-pypi --apply")
+        return 0
+
+    print()
+    if options.pypi_only:
+        print("=== release pypi PASSED (PyPI only, no TestPyPI rehearsal) ===")
+    else:
+        print("=== release pypi PASSED (TestPyPI + PyPI) ===")
+    return 0

build/release/report.py

@@ -0,0 +1,71 @@
+"""Structured preflight reports.
+
+A preflight run writes both a machine-readable ``preflight.json`` (the contract a
+future publish step will consume and re-verify) and a human ``preflight.txt``.
+"""
+
+from __future__ import annotations
+
+import json
+from pathlib import Path
+
+REPORTS_RELPATH = Path("build") / "release" / "reports"
+SCHEMA_VERSION = 1
+
+
+def reports_root(repo_root: Path, override: Path | None = None) -> Path:
+    return Path(override) if override else Path(repo_root) / REPORTS_RELPATH
+
+
+def render_text(payload: dict) -> str:
+    git = payload.get("git") or {}
+    interpreter = payload.get("interpreter") or {}
+    lines = [
+        f"orisys release preflight :: version {payload.get('version')}",
+        f"  result:      {'PASS' if payload.get('ok') else 'FAIL'}",
+        f"  git:         {git.get('branch')} @ {git.get('commit')} (dirty={git.get('dirty')})",
+        f"  interpreter: {interpreter.get('version')} at {interpreter.get('executable')}",
+        f"  duration:    {payload.get('duration_s')}s",
+        "",
+    ]
+
+    for step in payload.get("steps", []):
+        flag = "ok  " if step.get("ok") else "FAIL"
+        lines.append(f"[{flag}] {step.get('name')} ({step.get('duration_s')}s)")
+        for detail_line in str(step.get("detail") or "").splitlines():
+            lines.append(f"        {detail_line}")
+        lines.append("")
+
+    wheels = payload.get("wheels") or []
+    if wheels:
+        lines.append("wheels:")
+        for wheel in wheels:
+            lines.append(
+                f"  {wheel.get('name')}  {wheel.get('size')} bytes  sha256={wheel.get('sha256')}"
+            )
+        lines.append("")
+
+    options = payload.get("options") or {}
+    waived = [
+        key
+        for key, value in options.items()
+        if value and key in {"skip_tests", "allow_dirty", "force", "no_runtime", "no_assets"}
+    ]
+    if waived:
+        lines.append(f"waived guards: {', '.join(sorted(waived))}")
+        lines.append("")
+
+    return "\n".join(lines).rstrip() + "\n"
+
+
+def write_report(payload: dict, out_dir: Path) -> tuple[Path, Path]:
+    out_dir = Path(out_dir)
+    out_dir.mkdir(parents=True, exist_ok=True)
+
+    payload = {**payload, "schema": SCHEMA_VERSION}
+    json_path = out_dir / "preflight.json"
+    text_path = out_dir / "preflight.txt"
+
+    json_path.write_text(json.dumps(payload, indent=2, sort_keys=False), encoding="utf-8")
+    text_path.write_text(render_text(payload), encoding="utf-8")
+    return json_path, text_path

build/release/runtime.py

@@ -0,0 +1,117 @@
+"""Run Linux wheel release checks in the matching manylinux Docker image."""
+
+from __future__ import annotations
+
+import json
+import subprocess
+from pathlib import Path
+
+from packaging.utils import parse_wheel_filename
+
+PLATFORM_LABELS = {
+    "win_amd64": "Windows x64",
+    "x86_64": "Linux x86_64",
+    "aarch64": "Linux ARM64",
+}
+
+
+def wheel_target(wheel: Path) -> tuple[str, str]:
+    """Return the CPython tag and supported OS/architecture; reject ambiguity."""
+    _, _, _, tags = parse_wheel_filename(wheel.name)
+    identities = set()
+    for tag in tags:
+        if (
+            tag.interpreter not in {"cp310", "cp311", "cp312"}
+            or tag.abi != tag.interpreter
+        ):
+            raise RuntimeError(f"Unsupported Python ABI in {wheel.name}")
+        if tag.platform == "win_amd64":
+            target = "win_amd64"
+        elif tag.platform.startswith("manylinux") and tag.platform.endswith("_aarch64"):
+            target = "aarch64"
+        elif tag.platform.startswith("manylinux") and tag.platform.endswith("_x86_64"):
+            target = "x86_64"
+        else:
+            raise RuntimeError(f"Unsupported release platform in {wheel.name}")
+        identities.add((tag.interpreter, target))
+    if len(identities) != 1:
+        raise RuntimeError(f"Ambiguous release platform in {wheel.name}")
+    return identities.pop()
+
+
+_CONTAINER_CHECK = """
+import json, sys
+from pathlib import Path
+sys.path.insert(0, '/src/build')
+from common.verify.wheel import verify_wheel
+record = verify_wheel(Path(sys.argv[1]), video=Path(sys.argv[2]),
+    config_name=sys.argv[3], frames=int(sys.argv[4]), check_assets=sys.argv[5] == '1')
+print('ORISYS_RUNTIME_RESULT=' + json.dumps(record))
+"""
+
+
+def verify_manylinux_wheel(
+    wheel: Path,
+    *,
+    repo_root: Path,
+    video: Path,
+    config_name: str,
+    frames: int,
+    check_assets: bool = True,
+) -> dict:
+    tag, architecture = wheel_target(wheel)
+    if architecture == "win_amd64":
+        raise RuntimeError("Windows wheels must be verified with a Windows interpreter")
+    platform = "linux/arm64" if architecture == "aarch64" else "linux/amd64"
+    image = (
+        "orisys-manylinux-aarch64" if architecture == "aarch64" else "orisys-manylinux"
+    )
+    abi = f"{tag}-{tag}"
+    argv = [
+        "docker",
+        "run",
+        "--rm",
+        "--pull=never",
+        "--platform",
+        platform,
+        "-v",
+        f"{repo_root.resolve()}:/src:ro",
+        "-v",
+        f"{wheel.resolve().parent}:/wheels:ro",
+        "-v",
+        f"{video.resolve().parent}:/video:ro",
+        "-e",
+        "PIP_NO_INDEX=1",
+        "-e",
+        f"PIP_FIND_LINKS=/opt/orisys-wheelhouse/{abi}",
+        "--entrypoint",
+        f"/opt/python/{abi}/bin/python",
+        image,
+        "-c",
+        _CONTAINER_CHECK,
+        f"/wheels/{wheel.name}",
+        f"/video/{video.name}",
+        config_name,
+        str(frames),
+        "1" if check_assets else "0",
+    ]
+    print(f"  verifying {wheel.name} in {image} ({platform}) ...", flush=True)
+    result = subprocess.run(argv, capture_output=True, text=True, check=False)
+    if result.returncode:
+        raise RuntimeError(
+            f"{image} verification failed:\n{result.stdout}\n{result.stderr}"
+        )
+    marker = "ORISYS_RUNTIME_RESULT="
+    records = [
+        line[len(marker) :]
+        for line in result.stdout.splitlines()
+        if line.startswith(marker)
+    ]
+    if len(records) != 1:
+        raise RuntimeError(
+            f"{image} returned no unique verification record:\n{result.stdout}"
+        )
+    record = json.loads(records[0])
+    if record.get("wheel") != wheel.name or record.get("frames") != frames:
+        raise RuntimeError(f"Unexpected verification record for {wheel.name}: {record}")
+    return record

build/release/version.py

@@ -0,0 +1,272 @@
+"""Version consistency and duplicate-release guards for the release gate."""
+
+from __future__ import annotations
+
+import json
+import os
+import re
+import subprocess
+import urllib.error
+import urllib.request
+from pathlib import Path
+
+PYPI_JSON_URL = "https://pypi.org/pypi/orisys/json"
+
+# Sibling repository that carries the public GitHub releases and their tags.
+RELEASE_REPO_DIRNAME = "orisys-sdk-release"
+
+# orisys-<version>-<pytag>-<abitag>-<platformtag>.whl
+_WHEEL_NAME_RE = re.compile(r"^orisys-(?P<version>[^-]+)-[^-]+-[^-]+-.+\.whl$")
+
+
+def wheel_version(wheel_path: Path) -> str | None:
+    match = _WHEEL_NAME_RE.match(Path(wheel_path).name)
+    return match.group("version") if match else None
+
+
+def sdk_versions(repo_root: Path) -> list[str]:
+    """Version directory names present under ``SDK/``, in ascending order.
+
+    Only digit-leading names count as versions, so stray directories (``tmp``,
+    ``latest``) never appear as releases.
+    """
+    sdk_root = Path(repo_root) / "SDK"
+    if not sdk_root.is_dir():
+        return []
+
+    return sorted(
+        (
+            entry.name
+            for entry in sdk_root.iterdir()
+            if entry.is_dir() and entry.name[:1].isdigit()
+        ),
+        key=_version_sort_key,
+    )
+
+
+def sdk_wheels(repo_root: Path, version: str) -> list[Path]:
+    """Wheels already published into ``SDK/<version>/``."""
+    version_dir = Path(repo_root) / "SDK" / version
+    if not version_dir.is_dir():
+        return []
+    return sorted(version_dir.glob("*.whl"))
+
+
+def dynamic_version_attr(repo_root: Path) -> str | None:
+    """Return pyproject's configured dynamic version attr (e.g. orisys.__version__)."""
+    from common.pyproject_utils import load_pyproject
+
+    config = (
+        load_pyproject(Path(repo_root))
+        .get("tool", {})
+        .get("setuptools", {})
+        .get("dynamic", {})
+        .get("version")
+    )
+    if isinstance(config, dict):
+        attr = config.get("attr")
+        if isinstance(attr, str):
+            return attr
+    return None
+
+
+def pypi_released_versions(timeout: float = 20.0) -> tuple[list[str] | None, str | None]:
+    """Read the published version list from PyPI.
+
+    Returns ``(versions, error)``; ``versions`` is ``None`` when the lookup
+    failed. This is the only network call in the release gate and it is
+    read-only, so it is safe to run before an irreversible upload.
+    """
+    request = urllib.request.Request(
+        PYPI_JSON_URL,
+        headers={"User-Agent": "orisys-release-preflight", "Accept": "application/json"},
+    )
+    try:
+        with urllib.request.urlopen(request, timeout=timeout) as response:
+            payload = json.load(response)
+    except urllib.error.HTTPError as exc:
+        if exc.code == 404:
+            return [], None
+        return None, f"PyPI returned HTTP {exc.code}"
+    except Exception as exc:  # network, DNS, TLS, JSON
+        return None, f"{type(exc).__name__}: {exc}"
+
+    releases = payload.get("releases")
+    if not isinstance(releases, dict):
+        return None, "unexpected PyPI response shape (no 'releases' mapping)"
+    listed = [
+        str(version)
+        for version, files in releases.items()
+        if isinstance(files, list) and files
+    ]
+    return sorted(listed, key=_version_sort_key), None
+
+
+def _version_sort_key(name: str):
+    parts = re.findall(r"\d+", name)
+    return ([int(part) for part in parts] or [0], name)
+
+
+def git_tags(repo_root: Path) -> list[str]:
+    """Local git tags from this repo and the sibling release repo.
+
+    Tags are the only offline evidence that a version was already released
+    (``v0.5.1`` in ``orisys-sdk-release`` marks a published GitHub release), so
+    the duplicate guard works without network access.
+    """
+    roots = [Path(repo_root)]
+    sibling = Path(repo_root).parent / RELEASE_REPO_DIRNAME
+    if sibling.is_dir():
+        roots.append(sibling)
+
+    tags: set[str] = set()
+    for root in roots:
+        try:
+            completed = subprocess.run(
+                ["git", "-C", str(root), "tag", "--list"],
+                capture_output=True,
+                text=True,
+                check=False,
+            )
+        except OSError:
+            continue
+        if completed.returncode != 0:
+            continue
+        tags.update(
+            line.strip() for line in (completed.stdout or "").splitlines() if line.strip()
+        )
+    return sorted(tags)
+
+
+def released_tags_for(version: str, tags: list[str]) -> list[str]:
+    """Tag spellings that mark ``version`` as already released."""
+    return sorted({version, f"v{version}"} & set(tags))
+
+
+# Version literals that are deliberately not the package version. Keyed by
+# repo-relative path; each entry documents *why* the literal may stay.
+VERSION_STRING_ALLOWLIST: dict[str, frozenset[str]] = {
+    # Historical release records: rewriting these would destroy the audit trail.
+    "docs/publishing.md": frozenset({"0.4.2", "0.4.3", "0.4.4", "0.5.0", "0.5.1", "0.5.2"}),
+    # Unrelated third-party/CUDA versions quoted in prose.
+    "docs/get_started.md": frozenset({"12.9.0"}),
+}
+
+# Paths never scanned: tests deliberately use synthetic versions, reports are
+# generated output, and this module's own allowlist/sentinel literals would
+# otherwise flag themselves.
+VERSION_SCAN_EXCLUDED_PREFIXES = (
+    "tests/",
+    "build/release/reports/",
+    "build/nuitka/",
+    "build/lib/",
+    "dist/",
+    "SDK/",
+    "data/",
+)
+VERSION_SCAN_EXCLUDED_FILES = ("build/release/version.py",)
+
+_VERSION_LITERAL_RE = re.compile(
+    r"(?<![<>=!~\w.])v?(\d+\.\d+\.\d+(?:[-+][0-9A-Za-z.]+)?)(?![0-9A-Za-z.])"
+)
+_SCANNED_SUFFIXES = (".md", ".py", ".txt", ".toml", ".cfg", ".ini", ".rst")
+
+
+def tracked_text_files(repo_root: Path) -> list[Path]:
+    """Tracked files worth scanning for version literals."""
+    repo_root = Path(repo_root)
+    try:
+        completed = subprocess.run(
+            ["git", "-C", str(repo_root), "ls-files", "-z"],
+            capture_output=True,
+            text=True,
+            check=False,
+        )
+        names = [n for n in (completed.stdout or "").split("\0") if n]
+    except OSError:
+        names = []
+
+    if not names:
+        names = [
+            str(path.relative_to(repo_root)).replace("\\", "/")
+            for path in repo_root.rglob("*")
+            if path.is_file()
+        ]
+
+    selected = []
+    for name in names:
+        if name.startswith(VERSION_SCAN_EXCLUDED_PREFIXES):
+            continue
+        if name in VERSION_SCAN_EXCLUDED_FILES:
+            continue
+        if not name.endswith(_SCANNED_SUFFIXES):
+            continue
+        selected.append(Path(name))
+    return selected
+
+
+def find_version_literals(
+    repo_root: Path, version: str
+) -> list[tuple[str, int, str]]:
+    """``(path, lineno, literal)`` for every version-looking string != ``version``.
+
+    Dependency constraints are skipped by the regex lookbehind (``numpy>=1.24.4``
+    is not a version reference), and historical/third-party literals require an
+    explicit entry in :data:`VERSION_STRING_ALLOWLIST`.
+    """
+    repo_root = Path(repo_root)
+    findings: list[tuple[str, int, str]] = []
+    for relative in tracked_text_files(repo_root):
+        absolute = repo_root / relative
+        try:
+            text = absolute.read_text(encoding="utf-8", errors="ignore")
+        except OSError:
+            continue
+        if "\0" in text:
+            continue
+        allowed = VERSION_STRING_ALLOWLIST.get(relative.as_posix(), frozenset())
+        for lineno, line in enumerate(text.splitlines(), start=1):
+            for match in _VERSION_LITERAL_RE.finditer(line):
+                literal = match.group(1)
+                if literal == version or literal in allowed:
+                    continue
+                findings.append((relative.as_posix(), lineno, literal))
+    return findings
+
+
+def conda_envs_root() -> Path | None:
+    """Locate the conda envs directory the same way build/wheel/win.bat does."""
+    override = os.getenv("CONDA_ENVS_ROOT")
+    if override:
+        path = Path(override)
+        return path if path.is_dir() else None
+
+    home = Path.home()
+    candidates = (
+        home / "anaconda3" / "envs",
+        home / "miniconda3" / "envs",
+        Path(os.getenv("LOCALAPPDATA", "")) / "anaconda3" / "envs",
+        Path(os.getenv("LOCALAPPDATA", "")) / "miniconda3" / "envs",
+    )
+    for candidate in candidates:
+        if candidate.is_dir():
+            return candidate
+    return None
+
+
+def python_for_tag(tag: str, envs_root: Path | None = None) -> Path | None:
+    """Resolve an interpreter for a wheel tag like ``cp310`` (env ``py310``)."""
+    digits = tag[2:] if tag.startswith("cp") else tag
+    env_name = f"py{digits}"
+    root = envs_root or conda_envs_root()
+    if root is None:
+        return None
+
+    for relative in (
+        Path(env_name) / "python.exe",
+        Path(env_name) / "bin" / "python",
+    ):
+        candidate = root / relative
+        if candidate.is_file():
+            return candidate
+    return None

build/run.py

@@ -8,6 +8,8 @@ Usage (from repo root):
   python build/run.py gui finger|mini|box
   python build/run.py verify [wheel.whl]
   python build/run.py verify --gui-dist [--product ory_finger]
+  python build/run.py release preflight [--version V]
+  python build/run.py release audit <wheel.whl>
 
 See build/README.md for details.
 """
@@ -74,15 +76,23 @@ def _cmd_verify(argv: list[str]) -> int:
     return verify_main(argv)
 
 
+def _cmd_release(argv: list[str]) -> int:
+    from release.cli import main as release_main
+
+    return release_main(argv)
+
+
 def main(argv: list[str] | None = None) -> int:
     argv = list(sys.argv[1:] if argv is None else argv)
     if not argv or argv[0] in ("-h", "--help"):
         print(__doc__)
-        print("Commands: wheel | wheel-win | manylinux | gui | verify")
+        print("Commands: wheel | wheel-win | wheel-manylinux | gui | verify | release")
         print("Examples:")
         print("  python build/run.py wheel --help")
         print("  python build/run.py gui finger")
-        print("  python build/run.py manylinux -PythonVersions 3.10")
+        print("  python build/run.py wheel-manylinux -Architecture aarch64 -PythonVersions 3.10")
+        print("  python build/run.py release preflight --version <version>")
+        print("  python build/run.py release audit SDK\\<version>\\orisys-<version>-cp312-cp312-win_amd64.whl")
         return 0
 
     command, rest = argv[0], argv[1:]
@@ -92,10 +102,14 @@ def main(argv: list[str] | None = None) -> int:
         "wheel-manylinux": _cmd_manylinux,
         "gui": _cmd_gui,
         "verify": _cmd_verify,
+        "release": _cmd_release,
     }
     if command not in dispatch:
         print(f"Unknown command: {command!r}", file=sys.stderr)
-        print("Choose from: wheel, wheel-win, manylinux, gui, verify", file=sys.stderr)
+        print(
+            "Choose from: wheel, wheel-win, wheel-manylinux, gui, verify, release",
+            file=sys.stderr,
+        )
         return 2
     return dispatch[command](rest)
 

build/wheel/build.py

@@ -29,9 +29,22 @@ _BUILD_ROOT = Path(__file__).resolve().parents[1]
 if str(_BUILD_ROOT) not in sys.path:
     sys.path.insert(0, str(_BUILD_ROOT))
 
-from common.paths import NUITKA_COMPILE_DIR, NUITKA_WHEEL_DIR, REPO_ROOT, repaired_wheel_dir, repo_path
+from common.paths import (
-from common.pyproject_utils import bundle_items, extras_require, get_version, install_requires
+    NUITKA_COMPILE_DIR,
+    NUITKA_WHEEL_DIR,
+    REPO_ROOT,
+    repaired_wheel_dir,
+    repo_path,
+)
+from common.pyproject_utils import (
+    bundle_items,
+    extras_require,
+    get_version,
+    install_requires,
+    project_metadata,
+)
 from common.verify.wheel import verify_built_wheel
+
 from wheel.compile import compile_orisys, copy_compiled_orisys, install_nuitka
 from wheel.layout import (
     copy_bundle_items,
@@ -41,6 +54,7 @@ from wheel.layout import (
 from wheel.package import (
     is_compliant_manylinux_wheel,
     publish_wheel_to_sdk,
+    read_long_description,
     repair_linux_wheel,
     run_bdist_wheel,
     write_wheel_setup,
@@ -62,7 +76,7 @@ def _validate_pypi_linux_environment() -> None:
     if sys.platform != "linux":
         raise SystemExit(
             "[ERROR] --target pypi-linux must run inside a Linux manylinux container "
-            "(for example quay.io/pypa/manylinux_2_28_x86_64 via Docker Desktop)."
+            "(manylinux_2_28_x86_64 or manylinux_2_28_aarch64 via Docker Desktop)."
         )
     if sys.version_info[:2] not in PYPI_LINUX_PYTHON_VERSIONS:
         supported = ", ".join(f"{major}.{minor}" for major, minor in PYPI_LINUX_PYTHON_VERSIONS)
@@ -111,10 +125,12 @@ def build(*, target: str = "internal", verify: bool | None = None) -> Path:
     # Bundle rules live in pyproject.toml → [[tool.orisys.bundle.items]]
     bundle = bundle_items(REPO_ROOT)
     copied_counts = copy_bundle_items(REPO_ROOT, pkg_dir, bundle)
-    print(f"Copied {copied_counts['configs']} JSON config files")
+    for item in bundle:
-    print(f"Copied {copied_counts['examples']} example files to orisys/examples/")
+        destination = f"orisys/{item['target']}/"
-    print(f"Copied {copied_counts['docs']} doc files to orisys/docs/")
+        print(
-    print(f"Copied {copied_counts['assets']} finger asset files to orisys/assets/")
+            f"Copied {copied_counts.get(item['name'], 0)} file(s) "
+            f"for bundle item {item['name']!r} to {destination}"
+        )
 
     write_wheel_setup(
         NUITKA_WHEEL_DIR,
@@ -122,6 +138,8 @@ def build(*, target: str = "internal", verify: bool | None = None) -> Path:
         package_data=package_data_from_bundle(ext_suffix, bundle),
         install_requires=install_requires(REPO_ROOT),
         extras_require=extras_require(REPO_ROOT),
+        project=project_metadata(REPO_ROOT),
+        long_description=read_long_description(REPO_ROOT),
     )
 
     # --- 3. Build wheel, repair on Linux, publish to SDK/ ---
@@ -135,7 +153,7 @@ def build(*, target: str = "internal", verify: bool | None = None) -> Path:
     if target == "pypi-linux" and not is_compliant_manylinux_wheel(final_candidate):
         raise SystemExit(
             f"[ERROR] Wheel is not PyPI-compliant: {final_candidate.name}. "
-            "Expected a manylinux_2_17_x86_64 (or newer) platform tag."
+            "Expected a supported manylinux x86_64 or aarch64 platform tag."
         )
 
     # Keep a durable copy under dist/repaired for upload tooling.
@@ -188,9 +206,7 @@ def main(argv: list[str] | None = None) -> None:
     )
     args = parser.parse_args(argv)
     verify: bool | None
-    if args.target == "pypi-linux":
+    if args.target == "pypi-linux" or args.verify:
-        verify = True
-    elif args.verify:
         verify = True
     elif args.skip_verify:
         verify = False

build/wheel/compile.py

@@ -16,7 +16,10 @@ from common.paths import repo_path
 
 NUITKA_INCLUDE_PACKAGES = (
     "orisys",
+    "orisys.capture",
     "orisys.finger",
+    "orisys.stitch",
+    "orisys.stitch.backends",
     "orisys.unroll",
     "orisys.hhd",
     "orisys.hhd.solvers",
@@ -29,12 +32,20 @@ NUITKA_NOFOLLOW_IMPORTS = (
     "cv2",
     "numba",
     "orisys_blend",
+    # Optional accelerators / GUIs: imported behind try/except, resolved from the
+    # user's environment at runtime. Listing them here is not optional - without
+    # it, Nuitka follows whatever happens to be installed in the *build*
+    # environment, which blows up compile time and makes wheel contents depend on
+    # ambient packages. tests/test_nuitka_nofollow.py enforces full coverage.
     "cupy",
     "cupyx",
     "pyopencl",
+    "pyvkfft",
     "open3d",
     "PyQt5",
     "pyqtgraph",
+    "torch",
+    "torchvision",
 )
 
 

build/wheel/docker/Dockerfile.manylinux

@@ -1,26 +1,55 @@
 # manylinux_2_28: modern glibc baseline with binary wheels for numpy/scipy/opencv.
 # Prefer this over manylinux2014 — recent NumPy requires GCC >= 10.3 and will try
 # (and fail) to build from source on the older image.
-FROM quay.io/pypa/manylinux_2_28_x86_64:latest
+ARG MANYLINUX_ARCH=x86_64
+FROM quay.io/pypa/manylinux_2_28_${MANYLINUX_ARCH}:latest
 
 ENV PIP_DISABLE_PIP_VERSION_CHECK=1 \
-    PIP_ROOT_USER_ACTION=ignore
+    PIP_ROOT_USER_ACTION=ignore \
+    ORISYS_WHEELHOUSE_ROOT=/opt/orisys-wheelhouse
 
-# Only install compile/repair tooling here. Runtime deps (numpy/scipy/opencv/numba)
+# Per-ABI build tooling plus a per-ABI wheelhouse of every package the release
-# are declared in the wheel metadata and installed by pip when users install orisys.
+# flow installs at build time:
-# Nuitka is configured with --nofollow-import-to for those packages.
+#
-RUN for PYBIN in \
+#   * build tooling  - nuitka/auditwheel etc. baked in, so the entrypoint does
-        /opt/python/cp310-cp310/bin \
+#     not have to re-resolve them from PyPI on every container start
-        /opt/python/cp311-cp311/bin \
+#     (ORISYS_UPDATE_BUILD_TOOLS=1 opts back in to that).
-        /opt/python/cp312-cp312/bin; do \
+#   * wheelhouse     - `build/wheel/build.py --target pypi-linux` force-enables
-      echo "=== Installing build tooling into ${PYBIN} ===" && \
+#     verification, which creates a throwaway venv and pip-installs the built
-      "${PYBIN}/python" -m pip install --upgrade pip setuptools wheel && \
+#     wheel plus its declared runtime deps. Runtime deps are deliberately NOT
+#     installed into the image interpreter (users get them from the wheel
+#     metadata), so without a wheelhouse every build re-downloaded
+#     numpy/scipy/opencv/numba — roughly 200 MB, three times over, once per ABI.
+#     The entrypoint points pip at the wheelhouse with
+#     PIP_NO_INDEX/PIP_FIND_LINKS, which keeps the venv isolated and still
+#     exercises real dependency resolution, just without the network.
+#
+# --only-binary=:all: makes a missing wheel a loud image-build failure instead of
+# a slow source build inside the container.
+RUN set -eux; \
+    for TAG in cp310-cp310 cp311-cp311 cp312-cp312; do \
+        PYBIN="/opt/python/${TAG}/bin"; \
+        echo "=== build tooling for ${TAG} ==="; \
+        "${PYBIN}/python" -m pip install --upgrade pip setuptools wheel; \
         "${PYBIN}/python" -m pip install \
             "nuitka>=2.0" \
             ordered-set \
             zstandard \
             auditwheel; \
-    done
+        echo "=== wheelhouse for ${TAG} ==="; \
+        "${PYBIN}/python" -m pip download \
+            --only-binary=:all: \
+            --dest "${ORISYS_WHEELHOUSE_ROOT}/${TAG}" \
+            pip \
+            setuptools \
+            wheel \
+            auditwheel \
+            numpy \
+            scipy \
+            opencv-python \
+            numba; \
+    done; \
+    du -sh "${ORISYS_WHEELHOUSE_ROOT}"/*
 
 WORKDIR /src
 ENTRYPOINT ["/bin/bash", "/src/build/wheel/docker/entrypoint.sh"]

build/wheel/docker/entrypoint.sh

@@ -1,17 +1,23 @@
 #!/usr/bin/env bash
-# Runs inside quay.io/pypa/manylinux_2_28_x86_64 with the repo mounted at /src.
+# Runs inside the selected manylinux_2_28 image with the repo mounted at /src.
 # Builds one Nuitka wheel per CPython ABI listed in ORISYS_PYTHON_TAGS.
 set -euo pipefail
 
 TARGET="${ORISYS_BUILD_TARGET:-pypi-linux}"
 # Comma-separated manylinux tags, e.g. "cp310-cp310,cp311-cp311,cp312-cp312"
 PYTHON_TAGS="${ORISYS_PYTHON_TAGS:-cp310-cp310,cp311-cp311,cp312-cp312}"
+WHEELHOUSE_ROOT="${ORISYS_WHEELHOUSE_ROOT:-/opt/orisys-wheelhouse}"
+# The image already bakes in pip/setuptools/wheel/nuitka/auditwheel. Re-resolving
+# them from PyPI on every container start costs a network round-trip per ABI and
+# lets the running container drift from the image it was built from.
+UPDATE_BUILD_TOOLS="${ORISYS_UPDATE_BUILD_TOOLS:-0}"
 
 cd /src
 
 echo "=== manylinux entrypoint ==="
 echo "Target: ${TARGET}"
 echo "Python tags: ${PYTHON_TAGS}"
+echo "Wheelhouse root: ${WHEELHOUSE_ROOT}"
 uname -a
 
 IFS=',' read -r -a TAG_ARRAY <<< "${PYTHON_TAGS}"
@@ -40,7 +46,27 @@ for tag in "${TAG_ARRAY[@]}"; do
   export PATH="${PYBIN}:${PATH}"
   export PYTHONPATH="/src/src${PYTHONPATH:+:${PYTHONPATH}}"
 
+  # Point pip at the per-ABI wheelhouse baked into the image. The pypi-linux
+  # target force-enables verification, which creates a throwaway venv and
+  # pip-installs the built wheel plus its declared runtime deps; serving those
+  # from the wheelhouse keeps the venv isolated (no --system-site-packages) while
+  # removing a ~200 MB download per ABI. PIP_* is inherited by every pip
+  # subprocess, including that venv.
+  wheelhouse="${WHEELHOUSE_ROOT}/${tag}"
+  if [[ -d "${wheelhouse}" ]]; then
+    export PIP_NO_INDEX=1
+    export PIP_FIND_LINKS="${wheelhouse}"
+    echo "[info] pip is offline, installing from ${wheelhouse}"
+  else
+    echo "[warn] no wheelhouse at ${wheelhouse}; pip will use the network." >&2
+    echo "[warn] rebuild the image without -SkipImageBuild to bake it in." >&2
+    unset PIP_NO_INDEX PIP_FIND_LINKS || true
+  fi
+
+  if [[ "${UPDATE_BUILD_TOOLS}" == "1" ]]; then
+    echo "[info] refreshing build tooling (ORISYS_UPDATE_BUILD_TOOLS=1)"
     "${PYBIN}/python" -m pip install -q --upgrade pip setuptools wheel auditwheel
+  fi
 
   if "${PYBIN}/python" build/wheel/build.py --target "${TARGET}"; then
     BUILT+=("${tag}")
@@ -48,6 +74,8 @@ for tag in "${TAG_ARRAY[@]}"; do
     echo "[ERROR] Build failed for ${tag}" >&2
     FAILED=1
   fi
+
+  unset PIP_NO_INDEX PIP_FIND_LINKS || true
 done
 
 echo ""

build/wheel/docker/run.ps1

@@ -1,21 +1,24 @@
-# Build PyPI-compliant manylinux wheels for CPython 3.10/3.11/3.12 using Docker Desktop.
+# Build x86_64 or aarch64 manylinux wheels using Docker Desktop.
 #
 # Usage (from repo root, PowerShell):
 #   .\build\wheel\docker\run.ps1
-#   .\build\build_manylinux_docker.ps1   # compatibility wrapper
+#   .\build\wheel\docker\run.ps1 -Architecture aarch64 -PythonVersions 3.10
 #
 # From cmd.exe:
-#   powershell -ExecutionPolicy Bypass -File .\build\build_manylinux_docker.ps1
+#   powershell -ExecutionPolicy Bypass -File .\build\wheel\docker\run.ps1
 
 param(
     [ValidateSet("pypi-linux", "internal")]
     [string]$Target = "pypi-linux",
     [string]$PythonVersions = "3.10,3.11,3.12",
+    [ValidateSet("x86_64", "aarch64")]
+    [string]$Architecture = "x86_64",
     [switch]$SkipImageBuild,
-    [string]$ImageName = "orisys-manylinux"
+    [string]$ImageName = ""
 )
 
 $ErrorActionPreference = "Stop"
+$Architecture = $Architecture.ToLowerInvariant()
 
 function Convert-ToManylinuxTag {
     param([string]$Version)
@@ -45,11 +48,17 @@ if ($tags.Count -eq 0) {
     throw "No Python versions specified."
 }
 $pythonTags = [string]::Join(",", $tags)
+$dockerArchitecture = if ($Architecture -eq "aarch64") { "arm64" } else { "amd64" }
+$dockerPlatform = "linux/$dockerArchitecture"
+if ([string]::IsNullOrWhiteSpace($ImageName)) {
+    $ImageName = if ($Architecture -eq "aarch64") { "orisys-manylinux-aarch64" } else { "orisys-manylinux" }
+}
 
 Write-Host "=== Orisys manylinux Docker build ==="
 Write-Host "Repo:          $RepoRoot"
 Write-Host "Target:        $Target"
 Write-Host "Image:         $ImageName"
+Write-Host "Architecture:  $Architecture ($dockerPlatform)"
 Write-Host "Python tags:   $pythonTags"
 
 # Docker Desktop must be in Linux container mode for manylinux.
@@ -71,15 +80,25 @@ $dockerfile = "build/wheel/docker/Dockerfile.manylinux"
 
 if (-not $SkipImageBuild) {
     Write-Host "`n=== Building Docker image ==="
-    docker build -f $dockerfile -t $ImageName .
+    docker build --platform $dockerPlatform --build-arg "MANYLINUX_ARCH=$Architecture" -f $dockerfile -t $ImageName .
     if ($LASTEXITCODE -ne 0) {
         throw "docker build failed"
     }
 }
 
+# A custom or reused image must contain the requested architecture.
+$imageArchitecture = docker image inspect --format "{{.Architecture}}" $ImageName
+if ($LASTEXITCODE -ne 0) {
+    throw "Cannot inspect image '$ImageName'. Rebuild without -SkipImageBuild."
+}
+if ($imageArchitecture -ne $dockerArchitecture) {
+    throw "Image '$ImageName' architecture is '$imageArchitecture'; expected '$dockerArchitecture'. Rebuild without -SkipImageBuild."
+}
+
 Write-Host "`n=== Running manylinux container ==="
 # Mount the repo so artifacts land under dist/repaired and SDK/<version>/ on the host.
 docker run --rm `
+    --platform $dockerPlatform `
     -e "ORISYS_BUILD_TARGET=$Target" `
     -e "ORISYS_PYTHON_TAGS=$pythonTags" `
     -v "${RepoRoot}:/src" `

build/wheel/layout.py

@@ -6,12 +6,19 @@ import shutil
 from pathlib import Path
 
 # Required files that must ship with the wheel for ORY-FINGER runtime/GUI.
+# Accept both the flat layout and a nested assets/finger/ checkout tree.
 REQUIRED_ASSET_RELPATHS = (
     "finger/assets/30fps-0703/mesh.npz",
     "finger/assets/30fps-0703/camera_intrinsics.npz",
     "finger/assets/30fps-0703/world_to_cam.npy",
     "finger/assets/visualization/world_to_cam.npy",
 )
+REQUIRED_ASSET_RELPATH_ALTERNATES = {
+    "finger/assets/30fps-0703/mesh.npz": "finger/assets/finger/30fps-0703/mesh.npz",
+    "finger/assets/30fps-0703/camera_intrinsics.npz": "finger/assets/finger/30fps-0703/camera_intrinsics.npz",
+    "finger/assets/30fps-0703/world_to_cam.npy": "finger/assets/finger/30fps-0703/world_to_cam.npy",
+    "finger/assets/visualization/world_to_cam.npy": "finger/assets/finger/visualization/world_to_cam.npy",
+}
 
 
 def resolve_bundle_source_files(repo_root: Path, item: dict) -> list[Path]:
@@ -61,7 +68,11 @@ def verify_required_assets(repo_root: Path, items: list[dict]) -> None:
                 continue
             resolved.add(rel)
 
-    missing = [rel for rel in REQUIRED_ASSET_RELPATHS if rel not in resolved]
+    missing = []
+    for rel in REQUIRED_ASSET_RELPATHS:
+        alt = REQUIRED_ASSET_RELPATH_ALTERNATES.get(rel)
+        if rel not in resolved and (alt is None or alt not in resolved):
+            missing.append(rel)
     if missing:
         joined = ", ".join(missing)
         raise FileNotFoundError(

build/wheel/package.py

@@ -16,9 +16,79 @@ from common.paths import sdk_dir
 
 # PyPI rejects bare tags like "manylinux_x86_64"; require a glibc ABI version.
 _MANYLINUX_TAG_RE = re.compile(
-    r"(?:manylinux2014|manylinux_2_(?:17|24|27|28|31|34|35))_x86_64"
+    r"(?:manylinux2014|manylinux_2_(?:17|24|27|28|31|34|35))_(?:x86_64|aarch64)(?=\.|$)"
 )
 
+# Source of the PyPI project description (see read_long_description).
+PYPI_README_RELPATH = Path("docs") / "pypi_readme.md"
+
+
+def _license_text(project: dict) -> str | None:
+    """Extract free-text license from either pyproject license form."""
+    declared = project.get("license")
+    if isinstance(declared, str):
+        return declared
+    if isinstance(declared, dict):
+        text = declared.get("text")
+        if isinstance(text, str):
+            return text
+    return None
+
+
+def _person_strings(entries) -> list[str]:
+    """Render PEP 621 author/maintainer tables as ``Name <email>`` strings."""
+    rendered: list[str] = []
+    for entry in entries or []:
+        if not isinstance(entry, dict):
+            continue
+        name = (entry.get("name") or "").strip()
+        email = (entry.get("email") or "").strip()
+        if name and email:
+            rendered.append(f"{name} <{email}>")
+        elif name or email:
+            rendered.append(name or email)
+    return rendered
+
+
+def metadata_kwargs(project: dict) -> dict:
+    """Translate a pyproject ``[project]`` table into ``setup()`` keywords.
+
+    The Nuitka wheel is built by a generated ``setup.py`` outside the normal
+    setuptools pipeline, so every PyPI-visible field has to be passed through
+    explicitly. Omitting them is what left the early PyPI releases with no
+    ``Requires-Python``, classifiers, project URLs or license on the project page.
+    """
+    authors = _person_strings(project.get("authors"))
+    maintainers = _person_strings(project.get("maintainers"))
+    candidates = {
+        "description": project.get("description"),
+        "python_requires": project.get("requires-python"),
+        "classifiers": list(project.get("classifiers") or []),
+        "project_urls": dict(project.get("urls") or {}),
+        "license": _license_text(project),
+        "author": authors[0] if authors else None,
+        "author_email": None,
+        "maintainer": maintainers[0] if maintainers else None,
+    }
+    return {key: value for key, value in candidates.items() if value}
+
+
+def read_long_description(repo_root: Path) -> str | None:
+    """Return the PyPI long description, or ``None`` when it is missing.
+
+    Deliberately not the repository ``README.md``: that file documents the
+    closed-source build/publishing layout, which should not end up on the PyPI
+    project page.
+    """
+    path = Path(repo_root) / PYPI_README_RELPATH
+    if not path.is_file():
+        print(
+            f"[WARN] {PYPI_README_RELPATH.as_posix()} not found; the wheel will be "
+            "published without a long description."
+        )
+        return None
+    return path.read_text(encoding="utf-8")
+
 
 def write_wheel_setup(
     wheel_dir: Path,
@@ -27,7 +97,17 @@ def write_wheel_setup(
     package_data: dict[str, list[str]],
     install_requires: list[str],
     extras_require: dict[str, list[str]],
+    project: dict | None = None,
+    long_description: str | None = None,
 ) -> Path:
+    metadata_lines = ""
+    if project:
+        for key, value in sorted(metadata_kwargs(project).items()):
+            metadata_lines += f"    {key}={value!r},\n"
+    if long_description:
+        metadata_lines += "    long_description=_LONG_DESCRIPTION,\n"
+        metadata_lines += '    long_description_content_type="text/markdown",\n'
+
     setup_py_path = wheel_dir / "setup.py"
     setup_content = f"""
 from setuptools import setup, Distribution
@@ -36,12 +116,12 @@ class BinaryDistribution(Distribution):
     def has_ext_modules(self):
         return True
 
+{'_LONG_DESCRIPTION = ' + repr(long_description) if long_description else ''}
+
 setup(
     name="orisys",
     version="{version}",
-    description="Orisys - Optical Tactile Sensor SDK (Nuitka Compiled)",
+{metadata_lines}    packages=['orisys', 'orisys.examples', 'orisys_blend'],
-    author="Orisys",
-    packages=['orisys', 'orisys.examples', 'orisys_blend'],
     package_dir={{'': 'wheel_root'}},
     package_data={package_data},
     include_package_data=True,
@@ -75,7 +155,7 @@ def _ensure_auditwheel() -> None:
 
 
 def is_compliant_manylinux_wheel(wheel_path: Path) -> bool:
-    """True if the wheel filename uses a PyPI-accepted manylinux x86_64 tag."""
+    """True if the wheel filename uses a supported manylinux x86_64 or aarch64 tag."""
     return bool(_MANYLINUX_TAG_RE.search(wheel_path.name))
 
 
@@ -120,8 +200,8 @@ def repair_linux_wheel(wheel_path: Path, repair_dir: Path) -> Path:
         names = ", ".join(path.name for path in repaired)
         raise RuntimeError(
             "auditwheel repair did not produce a PyPI-compliant manylinux tag. "
-            f"Got: {names}. Rebuild inside quay.io/pypa/manylinux_2_28_x86_64 "
+            f"Got: {names}. Rebuild inside the manylinux_2_28 image for the "
-            "(or manylinux2014_x86_64) instead of a generic Linux host."
+            "target architecture instead of a generic Linux host."
         )
 
     final = compliant[0]

docs/api-audit.md

@@ -0,0 +1,147 @@
+# Public API surface audit (2026-09-30)
+
+A snapshot of what the SDK declares as public, what is documented, and where the gaps are.
+Produced by [`tools/api_audit.py`](../tools/api_audit.py), which is static and read-only — it
+never imports the package, so it costs no numpy/cv2 import and cannot be affected by the
+environment. Re-run it after any API change:
+
+```powershell
+cd D:\orisys_ws\orisys-sdk
+python tools/api_audit.py            # text report
+python tools/api_audit.py --json     # machine-readable
+python tools/api_audit.py --quiet    # headline numbers
+```
+
+## 1. Headline
+
+| Measure | Value |
+|---|---|
+| Public classes / methods / functions | **393** (53 / 214 / 126) |
+| With a docstring | **256 (65 %)** |
+| Fully annotated signature (params + return) | **125 (32 %)** |
+| Docstring documents its return value | **38** |
+
+Docstring conventions actually in use:
+
+| Convention | Count |
+|---|---|
+| plain prose (no structured sections) | 243 |
+| none | 137 |
+| Google (`Args:` / `Returns:`) | 9 |
+| NumPy (`Parameters` + `---`) | 4 |
+
+**Reading:** the dominant convention is not a convention. Structured sections are absent from
+almost every docstring, and two thirds of signatures are missing type information. The hand-written
+reference compensates in the places it covers; a generated reference would not.
+
+## 2. The declared public surface
+
+The root `__all__` (`src/orisys/__init__.py`) declares 18 names. Sub-surfaces declare a further 88.
+
+### 2.1 Root exports — 9 of 18 are absent from `docs/api.md`
+
+| Documented | Not mentioned anywhere in `docs/api.md` |
+|---|---|
+| `Sensor`, `util`, `finger`, `signal_processing`, `capture`, `list_config`, `export_config`, `export_sensor_bundle`, `export_sensor_bundles` | **`StreamPipeline`**, **`FrameSnapshot`**, **`PipelineStats`**, **`StreamRecorder`**, **`mosaic_videos`**, **`FFCFrameProcessor`**, `CompoundEyeSensor`, `CameraSensor`, `calibration` |
+
+`StreamPipeline` is the engine behind the published "5 × 30 FPS on one desktop, 4.2× headroom"
+claim and is used by `examples/multi_stream.py`. `StreamRecorder` and `mosaic_videos` are the
+offline-recording path. None of them has a Markdown reference anywhere in the repository.
+
+### 2.2 Sub-surfaces with no coverage in `api.md` at all
+
+| Module | Exports | Documented | Note |
+|---|---|---|---|
+| `orisys.unroll` | 18 | 0 | UV domain, remap, geometry — the finger pipeline's core maths |
+| `orisys.capture` | 17 | 0 | capture sources, workers, reconnect policy, camera discovery |
+| `orisys.hhd` + `hhd.solvers` | 7 | 0 | **no docstrings either** — see §3 |
+| `orisys.pipeline` | 3 | 0 | `StreamPipeline` etc. |
+| `orisys.export` | 2 | 0 | `StreamRecorder`, `mosaic_videos` |
+
+### 2.3 Exports with no docstring — 20 of 88
+
+Includes `CaptureWorker`, `pick_default_camera`, `available_blend_backends`,
+`compute_final_crop_rect`, `coverage_ratio`, `largest_fully_covered_rect`,
+`match_bgr_brightness`, `barycentric_grid`, `face_uvs_from_loop_data`, all four `orisys.hhd`
+exports, and named constants (`DEFAULT_LAPTOP_WEBCAM_PATTERNS`, `MAX_SIMULTANEOUS_CAPTURES`,
+`DEFAULT_FINGER_EXPORT_DIR`, `DEFAULT_FINGER_MAP_CACHE`, `BLEND_MODES`).
+
+## 3. Coverage by module
+
+The extreme cases, which are where effort pays off:
+
+| Module | Symbols | Docstrings | Annotated | Comment |
+|---|---|---|---|---|
+| `orisys.finger.runtime` | 31 | **35 %** | **3 %** | `FingerRuntime` is the documented entry point for finger users, yet its implementation module is the thinnest in the package |
+| `orisys.hhd.timing` | 4 | **0 %** | 0 % | |
+| `orisys.stitch.feature` | 10 | 20 % | 0 % | |
+| `orisys.stitch.tiles` | 5 | 20 % | 0 % | |
+| `orisys.stitch.api` | 10 | 30 % | 10 % | |
+| `orisys.frame_processors` | 21 | 48 % | **0 %** | |
+| `orisys.capture.source` | 32 | 50 % | 91 % | annotations good, prose thin |
+| `orisys.sensor` | 21 | 90 % | **38 %** | the most-documented module, still missing annotations |
+| `orisys.configs` | 13 | 100 % | 69 % | |
+| `orisys.unroll.precompute`, `domain` | 6 / 6 | 100 % | 0 % | documented but untyped |
+
+Annotated and documented do not move together: `capture.source` is 91 % annotated but 50 %
+documented; `hhd.domain` is 100 % documented but 0 % annotated.
+
+## 4. Used by examples and tests, absent from the reference — 74 names
+
+These are APIs users demonstrably reach for and the reference never explains. The highest-traffic
+group is the runtime/typing surface:
+
+`StreamPipeline`, `FrameSnapshot`, `PipelineStats`, `StreamRecorder`, `mosaic_videos`,
+`FFCFrameProcessor`, `UVDomain`, `UVRemap`, `UVSurfaceMap`, `UVSurfaceMesh`, `UVMeshViewer`,
+`Tracker`, `Contact3D`, `CalSample`, `CalibrationError`, `StitchStatus`, `CameraInfo`,
+`CameraFilter`, `CaptureSource`, `CaptureConfig`, `CaptureHealth`, `ReconnectPolicy`,
+`PoissonSolver`, `nHHD`
+
+Plus the finger/geometry helpers (`build_uv_surface_mesh`, `compute_uv_surface_frames`,
+`lift_uv_flow_to_3d`, `flow_magnitude_vertex_colors`, `scalar_map_vertex_colors`,
+`sample_field_at_mesh_vertices`, `mesh_uv_to_world_scale`, `resolve_export_paths`,
+`resolve_finger_geometry`, `load_finger_export_bundle`, `init_uv_mesh_viewer`,
+`update_uv_mesh_viewer`), the capture helpers (`open_capture`, `normalize_source`,
+`list_cameras`, `pick_default_camera`), the calibration helpers (`check`, `build`, `parse`,
+`load`, `calibrate_normal_force`, `calibrate_shear_force`, `calibrate_shear_components`),
+and the config resolvers (`load_config`, `list_sensor_bundles`, `resolve_sensor_config_path`,
+`resolve_sensor_resource`, `resolve_sensor_asset_dir`, `pipeline_from_sensor_json`).
+
+## 5. Public classes exported nowhere — 21
+
+Defined, carrying no name-mangling underscore, but in no `__all__` and not reachable as a declared
+API: `BlendBackend`, `CalSample`, `Calibration`, `CalibrationError`, `CausalMedianFilter`,
+`ChannelCurve`, `CheckResult`, `CompoundEyeFrameProcessor`, `Contact3D`,
+`ForceChannelCalibration`, `FrameUnwarper`, `LowpassFilter`, `MaskedDomain`,
+`MaskedPoissonConfig`, `NumbaBlendBackend`, `NumpyBlendBackend`, `SampleRateEstimator`,
+`SensorBundle`, `SingleCameraFrameProcessor`, `Tracker`, `VideoCaptureLike`.
+
+Two of these are the clearest signals of a boundary that was never decided:
+
+- **`LowpassFilter`** is documented in `docs/api.md` as `orisys.signal_processing.LowpassFilter`
+  and is imported by examples — but it appears in neither the submodule's `__all__` nor the root's.
+  It is public by documentation and private by declaration.
+- **`Calibration`** / `CalibrationError` / `CalSample` / `CheckResult` are the entire force
+  calibration object model, and `calibration.check()` / `calibration.build()` are used directly by
+  the test suite. The `orisys.calibration` package is exported from the root, but none of its
+  public names are declared or documented.
+
+Each of the 21 needs one decision: promote into the relevant `__all__`, or rename with a leading
+underscore to mark it internal.
+
+## 6. What this implies
+
+1. **Fix the declaration boundary first.** Nine root exports have no reference and 21 classes sit
+   in the gap between documented and declared. Publishing a reference on top of an undecided
+   public surface multiplies the confusion rather than resolving it.
+2. **Pick one docstring convention before generating anything.** With 243 prose docstrings, 137
+   absent, and 13 structured, a generator's output would be thin and inconsistent — the tool
+   renders what is there.
+3. **Annotations are the larger gap.** 32 % complete signatures means generated parameter tables
+   would be mostly bare. This is mechanical work and it improves IDE help, not only docs.
+4. **The omissions are not random.** `StreamPipeline`, `capture` and `unroll` are the *newest*
+   subsystems, and they are the ones with no coverage. The reference drifted toward the parts that
+   existed when it was written.
+5. **`orisys.hhd` is documented nowhere and has no docstrings**, yet is exported from the root
+   package. Either document it or stop exporting it — leaving it in `__all__` promises support that
+   does not exist.

docs/api.md

@@ -17,7 +17,7 @@ description: Orisys SDK Python API 中文参考
 
 * **vid_src** (`int | str`, 必填): 传感器 ID、相机编号或视频路径。默认为 `0`。  
 * **config_name** (`str`，可选): 传感器配置文件名称或 `json` 文件路径，用于加载对应的参数配置；例如 `box` 或 `./config/box.json`。  
-* **cal_path** (`str`，可选，已弃用): 该参数仅为兼容旧代码保留，当前版本中不再使用，传入后也会被忽略。  
+* **cal_path** (`str`，可选): 显式的 `force_calibration.json` 路径；传入后优先于 `sensors/<type>/force_calibration.json`。不传时按 `config_name` 自动加载产品包中的标定文件。 
 * **backend** (`str`，可选): 光流场解耦计算后端，默认为 `auto`，可选`cupy`,`opencl`,`cpu`。  
 * **verbose** (`bool`，可选): 是否输出初始化及运行过程中的详细日志信息，默认为 `False`。  
 
@@ -205,7 +205,6 @@ sensor.configure(lowpass_cutoff_hz=5.0, lowpass_sample_rate_hz=30.0)
 * **lowpass_sample_rate_hz** (`float`，可选): 力信号采样率，默认 `30.0`。
 * **lowpass_order** (`int`，可选): Butterworth 滤波器阶数，默认 `2`。
 * **lowpass_enabled** (`bool`，可选): 显式开启或关闭低通滤波。
-* **hhd_downsample** (`int`，可选): HHD 解算下采样倍数，需为 `>= 1` 的整数，配置默认 `3`。
 
 #### 读取结果
 
@@ -577,6 +576,26 @@ finally:
 
 * 导出内置的`config_name`配置参数字典至`path`
 
+### `export_sensor_bundle` / `export_sensor_bundles` 方法
+
+#### 描述
+将已安装的 `sensors/<name>/` 传感器包复制到目标目录，供下游应用（如桌面 App）做本地可编辑配置，无需硬编码 wheel 路径。解析顺序与 `resolve_sensor_bundle` 相同（含 `importlib.resources` 打包布局）。
+
+#### 输入参数
+* **name** / **names**: 单个名字，或名字列表；`export_sensor_bundles` 省略 `names` 时导出所有可解析的产品包（`box` / `mini` / `finger`）
+* **dest_dir**: 目标根目录；实际写入 `dest_dir/<name>/`
+* **include_assets**: 默认 `False`，仅复制 `sensor.json` 以及存在的 `force_calibration.json` / `manifest.json`；为 `True` 时复制完整目录树（含 `assets/`）
+* **overwrite**: 默认 `True`；为 `False` 且目标已存在时抛出 `FileExistsError`
+
+#### 返回
+* `Path` 或 `list[Path]`：导出后的包目录路径
+
+#### CLI
+```bash
+python -m orisys.export_sensors --dest ./out/sensors --names box,mini
+python -m orisys.export_sensors --dest ./out/sensors --include-assets
+```
+
 ## 常见问题解答 (FAQ)
 ### Q1:为什么必须先调用`get_img()`，再调用`compute_deformation()`？
 A：`compute_deformation()`依赖最近一次获取并拼接的图像数据进行形变与力计算。

docs/calibration-model-contract.zh.md

@@ -0,0 +1,248 @@
+# 统一力标定模型契约
+
+Purpose: reference. Scope: SDK 标定文件选择、SN 绑定和推断接口。
+状态：2026-10-18 已实现 schema 3 的空间/全局增益；ML 后端仅保留契约，尚未实现。
+保持 `cal_path` 与现有单点文件；新增空间模型和机器学习模型使用同一入口。
+
+## 现状与边界
+
+现有实现见 [calibration.py](../src/orisys/calibration.py)、
+[Sensor](../src/orisys/sensor.py)、[profile resolver](../src/orisys/sensors/calibration.py)。
+当前读 schema 1/2，按 SN 加载要求三个通道，转换只接收三个力标量。
+`ForceReadout.apply` 会分别转换滤波前后数据，不能直接挂接带状态的空间或 ML 模型。
+
+| 所有者 | 责任 |
+|---|---|
+| 离线实验 / AutoCal | 采集、训练、验证、导出模型；将实验坐标转换为契约坐标 |
+| SDK | 选文件、校验身份与输入、准备特征、推断、输出逐轴有效性 |
+| 应用 | 提供 SN 与文件选择，展示状态；不自己套用第二次增益 |
+| 设计资产 | 几何与坐标定义；不提供每台设备的实测标定值 |
+
+SDK 不训练模型、不导入应用代码、不读取训练 CSV，不运行文件内指定的 Python。
+实验 `finger_multical.experiment_model/1` 必须显式导出，不能直接当 SDK 文件加载。
+
+## 文件选择：保留路径，文件决定模型
+
+不增加 `model_type` 构造参数或全局活动模型。`Sensor`、`FingerRuntime.open` 和
+profile 创建处理器统一复用内部选择器；现有入口参数只映射为选择请求。
+
+| 请求 | 文件与行为 |
+|---|---|
+| 非空 `cal_path` | 精确加载该文件；缺失、错误或不兼容时报错，不换文件 |
+| `calibration_dir` + `device_id` | 保持 `<dir>/<sensor_type>/<device_id>.json`；缺文件保持 raw 并报告 missing，不回退产品模板 |
+| 两者都未提供 | 保持产品包默认解析；有 descriptor 时用 `default_calibration`，旧包保留既有候选顺序 |
+| profile 的 `CalibrationSelection.NONE` | 明确不标定；不赋予 `cal_path="none"` 新语义 |
+
+`cal_path` 与 `calibration_dir` 仍互斥。构造入口 `device_id` 对应文件 `identity.sn`，
+不新造另一个 SN 字段。未指定设备的录像可显式选文件，但实际 SN 一致性标记为 unknown。
+有 `device_id` 时严格匹配 `sensor_type`、`sn`；不根据相机编号猜 SN。
+保留 `device_id` 单独传入时的参数错误；目录本身不存在也报错，不能当成 SN 文件缺失。
+
+```python
+# 沿用现有调用参数；cal_path 可以选择 schema 1/2/3 文件。
+runtime = FingerRuntime.open(
+    config="finger", video="test.mp4",
+    device_id="DD02-GL-001",
+    cal_path="calibrations/finger/DD02-GL-001.json",
+)
+# 归零值来自本次无载窗口，不是模型内固定常量。
+runtime.set_calibration_reference({"fn": measured_zero_raw}, reference_id="unloaded-1")
+# 自动按 SN 选择仍使用 calibration_dir="calibrations"，不同时传 cal_path。
+```
+
+同一 SN 比较不同模型时，显式指定不同 JSON；默认 SN 文件只代表一个选定版本。
+不扫描目录选“最新模型”，不在每帧重新加载。
+
+## 最小文件：schema 3
+
+复用 `force_calibration.json` 文件角色，增加 schema 3；文件名不参与模型类型判断。
+以下是三点结构示例，数值和 SHA 占位值不是设备标定结果。
+
+```json
+{
+  "schema_version": 3,
+  "unit": "N",
+  "identity": {"sensor_type": "finger", "sn": "DD02-GL-001"},
+  "pipeline": {
+    "stitch_resolution": [700, 750],
+    "dis_mode": 4,
+    "hhd_downsample": 3,
+    "source_scale": 0.42,
+    "filters": {"measurement": {"flow_ema_alpha": 1.0}},
+    "feature_signature_sha256": "0000000000000000000000000000000000000000000000000000000000000000",
+    "geometry_sha256": "0000000000000000000000000000000000000000000000000000000000000000",
+    "coordinates": {
+      "frame": "autocal_flat",
+      "unit": "px",
+      "origin_xy": [511, 1021],
+      "map_sha256": "0000000000000000000000000000000000000000000000000000000000000000"
+    }
+  },
+  "model": {
+    "type": "spatial_gain/1",
+    "input_profile": "fn_delta_autocal_uv/1",
+    "output_frame": "sdk_force/1",
+    "outputs": ["fn"],
+    "params": {
+      "points_uv": [[-145, 604], [145, 604], [5, 430]],
+      "gains_N_per_raw": [0.00015, 0.00020, 0.00025],
+      "triangles": [[0, 1, 2]],
+      "valid_force_range_N": [0.0, 3.0]
+    }
+  }
+}
+```
+
+| 字段 | 规则 |
+|---|---|
+| `schema_version` | 整数 3；未知版本拒绝 |
+| `unit` | 固定 `N` |
+| `identity` | `sensor_type`、非空 `sn` 必填；文件位置不能替代身份 |
+| `pipeline` | 输入 profile 要求的实际处理参数、几何和坐标身份；缺少必需项或不匹配则拒绝 |
+| `model.type` | SDK 已注册的版本化标识；决定参数解析和推断，不是模块路径 |
+| `input_profile` | SDK 已实现的特征、单位、形状、预处理和时序契约 |
+| `output_frame` | `sdk_force/1` 延续对应处理 profile 的 FN/FX/FY 符号和基方向；不是世界坐标合力模长 |
+| `outputs` | 非空、无重复的 `fn/fx/fy` 子集；支持 FN-only，不冒充三轴标定 |
+| `params` | 模型类型私有参数；通用加载器不解释点数或网络层 |
+
+`provenance` 可选，保存数据摘要、训练版本和验证指标；不作为运行时输入。
+其余未知语义字段拒绝，不能靠忽略字段误读新模型。新增模型类型不必升级外层 schema；
+修改输入或算法语义必须升级相应 `/1` 标识。
+
+`geometry_sha256` 是所用计算 mesh 文件字节的 SHA-256；`map_sha256` 是 SDK 坐标映射定义的
+附件字节摘要，包含坐标转换结果，不能只比较图幅。pipeline 的必需键由输入 profile 固定，
+覆盖该 backend 所有影响测量的设置；只检查示例中的部分配置不算兼容校验。
+
+新增 profile 必须定义闭合的签名字段表。首个 profile 的 `feature_signature_sha256` 摘要
+对象包含 `feature_version`、`processing_backend`、有效的图像预处理/光流/HHD 配置和计算资产哈希；
+不含文件绝对路径、SN、显示资源或力读数滤波。以 UTF-8、键排序、无多余空格的 JSON 计算 SHA-256。
+特征定义或单位改变须升级 `feature_version`，配置覆盖后重新计算，不能用配置文件名代替。
+实现由 `calibration_context.build_context` 统一生成，特征版本为 `orisys_hhd_raw/1`。
+
+## 空间增益模型
+
+`spatial_gain/1` 固定输出 `fn`，使用 `fn_delta_autocal_uv/1`：
+
+- 输入为同一帧的未经过力读数滤波的 FN raw、有效会话零点及接触 U/V。
+  上游光流滤波属于 pipeline 身份；不得混用不同特征链。
+  `delta_raw`、U、V 为有限浮点标量，前者单位 raw，后两者为上述有符号像素。
+- SDK 会话准备 `delta_raw = fn_raw - zero_raw`，模型不再次扣零。
+  零点必须来自明确的归零操作或已标注窗口；模型文件不保存某段录像的启动零点。
+- U 向右、V 向上，`x=origin_x+U`、`y=origin_y-V`。
+  SDK 提供并校验坐标转换；不能让模型偷偷按比例换算，不能运行时依赖 AutoCal。
+- `points_uv` 为 N×2，`gains_N_per_raw` 长度 N；N≥3 且非共线、坐标唯一、增益有限且为正。
+  `triangles` 为任意数量的三索引，必须构成支持点凸包内完整、无重叠的非退化三角网。
+  保存连接关系以避免重新剖分引入变化；点数由数组决定，不固定为 9/15。
+- 对三角形内查询，`g=Σw_i*g_i`，`fn_N=g*delta_raw`；不插值倒数，不外推。
+  未覆盖、位置失败、归零无效均返回无效，不能偷偷改用 M0。
+- `valid_force_range_N` 必填。估计超范围时保留数值并标记 `out_of_range`，不截断。
+
+FingerRuntime 使用 `artifacts` 中 `role="coordinate_map"` 的只读 NPZ：
+`uv_by_output_px` 为 H×W×2 有符号 UV，`valid_mask` 为 H×W bool；可附 `origin_xy` 与
+`flat_mapping_sha256`。`pipeline.output_domain_sha256` 绑定实际展开的 remap、mask 和 world_xyz；
+形状、几何或特征身份不同则在打开视频前拒绝。离线直接提供 UV 的模型可以没有映射附件。
+
+单点/两点数据不自动切换算法；可导出独立的 `global_gain/1`，参数为各输出轴的增益和有效范围，
+输入 profile 为 `force_delta/1`，由 SDK 按同一归零语义准备对应 raw 增量。
+这不同于旧曲线的绝对 raw 输入；兼容适配器不得替旧文件额外扣零。
+
+## 机器学习扩展
+
+同一 SN、路径和外层字段不变，只替换 `model`。下面只预留 `onnx/1` 示例，
+不表示 SDK 已支持 ONNX；后端实现和输入 profile 验证通过前必须拒绝加载。
+
+```json
+{
+  "type": "onnx/1",
+  "input_profile": "fn_delta_autocal_uv/1",
+  "output_frame": "sdk_force/1",
+  "outputs": ["fn"],
+  "params": {
+    "input_tensor": "features",
+    "output_tensor": "force_N",
+    "feature_order": ["delta_raw", "u", "v"],
+    "dtype": "float32",
+    "shape": [1, 3],
+    "valid_force_range_N": [0.0, 3.0]
+  },
+  "artifacts": [
+    {
+      "role": "weights",
+      "path": "DD02-GL-001/model.onnx",
+      "sha256": "0000000000000000000000000000000000000000000000000000000000000000"
+    }
+  ]
+}
+```
+
+此标量 profile 的规范输入即上述顺序、类型、形状；输出 float32 `[1, len(outputs)]`，
+轴序严格按 `outputs`。归一化及单位转换封装在已验证的模型图内，不由应用另做。
+`fn_delta_autocal_uv/1` 只允许 `outputs=["fn"]`，不能凭 FN 特征宣称三轴已标定。
+需要图像、完整光流或历史序列时新增输入 profile，明确 H/W、通道、掩码、单位和时间窗口；
+没有对应特征的处理器拒绝加载，不能用零张量凑齐输入。
+
+`artifacts` 只在有外部文件时必填；路径相对所选 JSON 的父目录，禁止绝对路径、URL、
+`..` 或链接逃逸。校验 SHA-256、角色和文件完整性后才初始化受支持的后端。
+不加载 pickle、任意 Python 或模型自带扩展库；缺推断依赖须明确报错，不自动安装。
+文件与所有附件共同构成内容指纹，不能只哈希 JSON。
+附件间依赖也须逐项声明和校验，未声明的外部权重不可加载。
+
+## 每帧推断与有效性
+
+内部统一生命周期如下，`calibration.load` 分流到旧曲线或新模型：
+
+```text
+load(selected_file, device_identity, pipeline) -> CalibrationModel
+model.predict(frame_id, timestamp_s, profile_features, reference_id) -> CalibrationResult
+model.reset(reference_id)
+
+CalibrationResult:
+  values_N: {axis: finite_float | null}
+  status: {axis: ok | no_contact | invalid_input | zero_unavailable |
+                coordinate_unmapped | outside_coverage | out_of_range}
+```
+
+FN 空间模型输入仅允许单一接触；当前定位器只返回一个中心，无法证明不存在多接触，
+不能宣称已标定总力。全局 `force_delta/1` 不要求定位，未提供接触状态不等同于无接触。
+无接触、失败帧的校准输出为空，raw 另行保留；缺失值不是 0 N。
+`out_of_range` 有数值但不在验证范围，其余失败状态无数值；未声明轴不可用、单位仍为 raw。
+不把某轴 raw 填进 `values_N`，也不只靠全局 `force_unit` 判断三轴单位。
+schema 3 的旧数值读数接口以 NaN 表示已声明轴的无效输出，并同步暴露上述状态；
+`force_calibrated` 表示已加载模型能力，不表示当前帧有效。
+
+一个模型实例属于一个流；按帧顺序每帧推断一次，读数和录像复用结果。
+清零、重连、倒播或更换模型时重置状态；不同 SN 不共享可变状态。
+schema 3 先做上游测量与归零、模型推断，再做有效 N 读数的显示滤波；失败帧不进滤波历史。
+schema 1/2 仍保留旧滤波/转换顺序。状态模型不能塞入会调用两次的旧 `convert` 回调。
+
+加载诊断至少包含路径、来源、SN 校验状态、模型/输入 profile、轴集合、内容指纹和失败原因。
+加载不匹配失败与逐帧暂时无效分开；替换时先完成加载校验，失败不得破坏原活动模型。
+Sensor 提供 `bind_calibration_context`、`set_calibration_reference`、`apply_calibration_frame`；
+FingerRuntime 自动绑定真实上下文，并转发归零。`FrameSnapshot.force_units` 和
+`calibration_status` 随帧保存，不能用稍后读取的 Sensor 状态解释旧帧。
+归零与换模型须在计算线程或暂停处理时调用，不承诺并发修改安全。
+
+## 兼容、实现位置与验收
+
+新读取器并存支持 schema 1/2/3；旧文件不重写，SN 校验的旧三通道要求保持。
+schema 3 按声明轴校验，允许 FN-only；旧 SDK 遇 schema 3 必须拒绝，不能降级猜读。
+回退通过恢复旧文件的 `cal_path`；SN 默认文件切换前保留旧副本，不覆盖唯一证据。
+
+| 修改位置 | 最小工作 |
+|---|---|
+| `calibration.py` | schema 分流、身份和附件校验；旧曲线适配器 |
+| `sensors/calibration.py` | 统一选择器与指纹；支持 SN 请求 |
+| 新 `calibration_models.py` | 受控类型表、空间增益与模型生命周期；ML 后端另行实现 |
+| `sensor.py`、`finger/runtime.py`、处理器适配层 | 提供同帧位置/零点，缓存逐轴结果和状态 |
+| Sensor 与 `ForceReadout` | 复用读数滤波器；schema 3 在推断后逐轴滤波，旧路径不变 |
+| 离线导出器 | 实验模型到 schema 3；SDK 不依赖实验目录 |
+
+当前导出入口为 workspace 的 `scripts/finger_multical/export_sdk.py`，输出已有文件时拒绝覆盖。
+`data/dd02-gl/force_calibration.v3.json` 与同名 `.coordinates.npz` 是本次实验交付，
+`identity.sn="dd02-gl"` 为实验标识，未从硬件读取；原三边缘点与非单调点警告保留于 provenance。
+它不是生产包默认文件，需显式 `cal_path` 选择。
+
+实现验收必须覆盖：旧结果与单位不变；显式路径/SN/默认/关闭选择；错误 SN 不串用；
+3/14/更多点、退化网格与凸包外；节点和插值预测；零点不重复扣除；缺坐标/无接触；
+FN-only 的 FX/FY 不冒充 N；未知模型、附件损坏和依赖缺失；状态模型每帧只调用一次及 reset。
+另以独立录像验证物理准确度，契约或单元测试通过不代表标定合格。

docs/code-review.md

@@ -0,0 +1,74 @@
+# Code review: the automated part
+
+Four gates existed before this document (the test suites, `apps/studio/tools/ui_check.py`, the
+real-GL smoke tests, the binding-purity test) and none of them is a linter. This adds the missing
+*static* layer, deliberately small.
+
+## Why it exists, in one measured fact
+
+Until now the three repos had **no Ruff configuration at all**. `ruff check .` therefore ran
+whatever the installed version enables by default — Ruff 0.16 enables a very broad set
+(`UP`/`RUF`/`PLR`/`S`/`TRY`/`PERF`/`FURB`/`YTT`/`ASYNC`…) — so the same tree produced **1038 /
+438 / 117** findings in `orisys-app` / `orisys-sdk` / `orisys-sensor-design`, and a different
+Ruff version produced different ones. A gate built on that is not a gate. `ruff.toml` now pins it.
+
+## What is gated, and what is deliberately not
+
+| rule | meaning | gated? | why |
+|---|---|---|---|
+| `BLE001` | broad `except Exception` | **no** | A broad catch is the *right* choice around device I/O, GL teardown and camera probing. This codebase already records that choice inline as `# noqa: BLE001 - <reason>`. Gating it would produce ~100 findings whose only correct fix is "add a reasoned suppression". |
+| `S110`, `S112` | handler is only `pass` / `continue` | **yes** | The complaint is not the breadth of the catch, it is that the failure becomes **invisible**. Silence is acceptable only with a reasoned suppression or a handler that reports/re-raises. |
+| `E722` | bare `except:` | **yes** | Strictly worse than `except Exception:` — it also swallows `KeyboardInterrupt`/`SystemExit`. |
+| `F` | unused import, redefinition, undefined name, unused variable | **yes** | Real defects: `F821`/`F822` are latent `NameError`s, `F811` can be a shadowed definition. |
+| `B023` | closure over a loop variable | **yes** | Late binding silently produces wrong geometry in the headless Blender scripts. |
+| `PLW1510` | `subprocess.run` without `check` | **yes** | A swallowed tool failure. |
+| `RUF100` | unused suppression | reported, **never auto-fixed** | The `- reason` in a `noqa` comment is documentation. A machine must not delete it. Triage by hand. |
+| `UP`, `I`, `PIE`, `RET501`, `PLR1711`, `SIM114`, `RUF022`, `RUF023` | mechanical modernisation | in the lint config, **not** in the gate | Applied once by `--fix`; gating them would only churn AI-authored diffs. |
+
+`E402` (module import not at top of file) is **selected but not gated**. `import` after
+`os.environ[...]` is deliberate in this codebase — the environment must be set before Qt/cv2/the SDK
+load — so gating it would be pure noise. But it is the only rule that would catch an *accidental*
+import moved above that setup, so it stays visible. When you touch one of those files, record the
+intent as `# noqa: E402 - <reason>`; `E701`/`E702` are style, which `ruff format` owns. A gate that
+cries wolf gets ignored, which is worse than no gate.
+
+## The three commands
+
+```powershell
+# 1. The agent loop, after every edit — mechanical, no review needed.
+ruff check <changed files> --fix            # never --unsafe-fixes
+ruff check <changed files> --output-format json   # what remains, machine-readable
+
+# 2. The gate before a change lands. Changed files only, machine-readable, non-zero on findings.
+python tools/lint_gate.py                   # vs HEAD
+python tools/lint_gate.py --base origin/main
+python tools/lint_gate.py --all             # gate rules over the whole repo
+python tools/lint_gate.py --json
+
+# 3. Formatting, changed files only — never a whole-tree rewrite mid-diff.
+ruff format <changed files>
+```
+
+`$RUFF` may point at a specific ruff binary; otherwise `tools/lint_gate.py` uses `PATH` or the one
+beside the interpreter. **Pin the version**: the gate prints the version it ran, and findings differ
+between versions, so a runner must install the same one the developers use (`ruff==0.16.9`).
+
+## What this found when it was introduced
+
+Filtering to rules that can indicate a defect produced ~18 candidates rather than style noise —
+which is the argument for the narrow set:
+
+- six latent `NameError`s (`np`, `sys`, `Callable`, `FrameIdentity`, `tessellate_polygon`, and an
+  `__all__` entry naming a function that does not exist) — none caught by any test;
+- a **duplicated** function definition that silently shadowed the first;
+- `lower == lower` / `upper == upper` in a range check, and the same pattern inside a **test
+  assertion that could never fail**;
+- 13 closures over loop variables in the headless Blender/patch scripts;
+- two `subprocess.run` calls whose failure was silently ignored.
+
+## Follow-up deliberately not done yet
+
+`PLR0124` ("name compared with itself") is not in `select`. Eleven of its sites are the deliberate
+`value != value` NaN idiom and must become `math.isnan(...)` (or carry a reasoned suppression)
+before the rule can be gated — otherwise it is noise. Once those are converted, add `PLR0124` to
+`select` and to `GATE_SELECT` in `tools/lint_gate.py`.

docs/filters.md

@@ -0,0 +1,120 @@
+# 滤波：三级、预设与可追溯性
+
+`json.load` 不支持注释（见 `src/orisys/configs.py`），所以"建议的滤波"**不写在 JSON 注释里**，
+而是写成**代码里的预设**（`src/orisys/sensor.py::FILTER_PRESETS`）+ 这份文档 +
+`examples/filters/` 里可直接复制的配置。预设是可执行、可回显、可审计的；注释不是。
+
+---
+
+## 1. 三级滤波，位置不同、性质不同
+
+| 级 | 配置键 | 作用位置 | 性质 |
+|---|---|---|---|
+| 光流时间 EMA | `flow_ema_alpha` | `compute_flow()` 内，**HHD 之前** | **改变测量**：改 `vnormal`/接触统计与 `_force_raw` 的值。两个 `alpha` 不同的录制**不可比** |
+| 力中值 | `force_median_window` | `_apply_force_filter()`：raw → 中值 → 低通 → 标定 | **读数滤波**：删除单点尖峰（因果滑动中值） |
+| 力低通 | `force_lowpass_cutoff_hz` / `_order` / `_sample_rate_hz` | 同上（中值之后） | **读数滤波**：因果 Butterworth IIR（`sosfilt` + 持久状态） |
+
+因此 `filters_state()` 把它们分成两组：`measurement`（测量身份）与 `readout`（读数滤波）。
+标定/可比性检查应比对 `measurement`，记录里两者都记。
+
+## 2. 取值规则（自描述，无隐藏覆盖）
+
+- **每个级由自己的值开关**：`flow_ema_alpha >= 1`、`force_median_window <= 1`、
+  `force_lowpass_cutoff_hz <= 0` 都是"关"。
+- **配置没写的键 = 关**：缺省不是"我们觉得合理的那档"，而是"不滤波"。因此**没有 `filters`
+  段的配置文件什么都不滤**，出厂 bundle 也把三个值显式写成全关 —— 想让哪一级跑起来，
+  必须在文件里写出来（数值或 `preset`）。这样"文件说的"和"设备跑的"才总是一致。
+- **非法值 → 关**，绝不回落到"默认开"。
+- `filters.enabled` 是**废弃别名**，显式 `false` 表示"三级全关"；没有任何开关能覆盖已写的值。
+- `filters.preset` 可引用下面的预设；**显式键优先于预设值**（可从预设出发只改一个旋钮）。
+- 任何时刻的**真值**是 `Sensor.filters_state()`，不是配置文件 —— 运行时 `configure()` 可以改它。
+
+## 3. 预设（`FILTER_PRESETS`）
+
+| 预设 | `flow_ema_alpha` | `force_median_window` | `force_lowpass_cutoff_hz` | 延迟 @30fps | 用途 |
+|---|---|---|---|---|---|
+| `off` | 1.0 | 1 | 0.0 | 0 帧 | 原始读数；文件说什么就跑什么 |
+| `low_latency` | 1.0 | 3 | 0.0 | ≈1 帧（33 ms） | 延迟敏感，只去尖峰 |
+| `balanced` | 0.5 | 3 | 0.0 | ≈2 帧（67 ms） | 建议起步档：EMA 干掉力级滤波够不到的光流抖动 |
+| `low_noise` | 0.3 | 3 | 10.0 | ≈3 帧（100 ms） | 底噪优先，读数再低通一道 |
+
+延迟换算 @60fps 减半；数字来自 `_perf/`（该一次性目录已从 `orisys-sdk` 移除：幸存的脚本与片源
+迁到 `D:\orisys_ws\docs\performance\perf-measurements\`，其余已永久丢失；对照表见
+`D:\orisys_ws\docs\performance\orisys-sdk-perf-plan.md`，其中仍保留全部实测数字）。
+≥1 帧的延迟与相位差是**因果滤波的代价**：旧显示端曾用零相位 `filtfilt`，那需要"未来"，
+无法在采集里做，也让"显示 == 记录"不可能——所以现在只有一条因果链。
+
+## 4. 怎么用
+
+```jsonc
+// sensors/mini/sensor.json（片段；完整可复制版本见 examples/filters/）
+"filters": { "preset": "balanced" }
+```
+```python
+# 或运行时（UI 的齿轮就走这条路；不重连相机）
+sensor.configure(flow_ema_alpha=0.5, force_median_window=3, lowpass_cutoff_hz=0.0)
+print(sensor.filters_state())      # 实际生效值 + preset + applied 标志
+```
+UI 想列出可选档位：`from orisys.sensor import available_filter_presets`。
+
+## 5. 两个 buffer：滤波前 / 滤波后
+
+```python
+t = sensor.force_triplets()
+t["filtered"]["raw"],   t["filtered"]["newton"]     # 记录与显示用的值（同一套）
+t["unfiltered"]["raw"], t["unfiltered"]["newton"]   # 中值/低通之前；同帧、同标定系数
+```
+- `filtered.raw` = 链的输出（标定前），`unfiltered.raw` = 设备计数；
+- 两个 `newton` 用同一份 `force_calibration.json`，差异**只**来自滤波链；
+- 实测：注入 `10,10,10,999,10,10`（中值窗口 3）→ `filtered.raw` 在尖峰帧为 `10.0`、
+  `unfiltered.raw` 为 `999.0`。
+
+## 6. 可追溯性清单
+
+1. 录制元数据写 `sensor.filters_state()` 的**生效值**（不是配置文件内容），并含 `preset` 与
+   `"source": "sensor.filters_state"` + `sdk_version`。
+2. 界面显示"实际生效"而不是"我填的值"；两者不一致时以实际为准并提示。
+3. 记录里主列 = 滤波后（与界面一致），未滤波列另存；列结构与格式版本可区分。
+4. 标定/可比性指纹用 `measurement` 组；`readout` 组变化只记录、不拦截。
+5. 双份数据在同一帧、同一份标定系数下产生，差异可完全归因于滤波链。
+
+## 7. 指纹：标定文件里怎么记（已实现）
+
+`orisys.calibration` 负责把滤波设置写进标定文件的 `meta`，并在读回时还原：
+
+```python
+from orisys.calibration import filters_fingerprint, filter_mismatches, pipeline_from_sensor_json
+
+pipeline = pipeline_from_sensor_json(config_path, filters_state=sensor.filters_state())
+# {"stitch_resolution": …, "dis_mode": …, "hhd_downsample": …, "config_ref": …,
+#  "filters": {"measurement": {"flow_ema_alpha": 0.5},
+#              "readout": {"force_median_window": 3, "force_lowpass_cutoff_hz": 0.0},
+#              "preset": "balanced", "source": "sensor.filters_state"}}
+```
+
+写入的文件长这样（`meta` 里同时保留扁平键供旧读者按名取用）：
+
+```json
+"meta": {
+  "filters": {
+    "measurement": {"flow_ema_alpha": 0.5},
+    "readout": {"force_median_window": 3, "force_lowpass_cutoff_hz": 0.0},
+    "preset": "balanced",
+    "source": "sensor.filters_state"
+  },
+  "flow_ema_alpha": 0.5,
+  "force_median_window": 3
+}
+```
+
+规则：
+
+- **生效值优先**：传了 `filters_state=` 就用它；没传才读文件的 `filters` 段，并标成
+  `"source": "sensor.json.filters"`（那是"意图"，不一定等于设备正在做的事）。
+- **不猜**：来源没写的键**不出现**在指纹里。`{}` 表示"没有任何记录"，绝不表示"大概是关的"。
+  旧文档写的扁平键（`meta.flow_ema_alpha` …）在读回时会被折进对应的组，因此仍可比。
+- **`enabled: false`** 只作为"全部关"的废弃别名保留（`flow_ema_alpha=1`、中值 `1`、低通 `0`）。
+- **分组判读**：`calibration.check(doc, pipeline=…)` 把两组的差异分开报告 —— measurement 组的
+  差异进 `warnings`（措辞含 `not comparable`，即"两份记录不可比"），readout 组的差异进
+  `notes`（只记录，不拦截）。`CheckResult.notes` 是为此新增的字段。
+

docs/get_started.en.md

@@ -0,0 +1,77 @@
+---
+title: Get started with Orisys SDK development
+description: Set up a source checkout, run a first test, and find the right example.
+---
+
+# Get started with Orisys SDK development
+
+This guide is for contributors working from the SDK source checkout. Obtain the
+repository URL from your team, clone it, and change into the `orisys-sdk` directory.
+If you only need to use a published wheel, follow the
+[Chinese installation guide](get_started.md). Run the commands below from the
+repository root.
+
+## First working loop
+
+Use Python 3.10, 3.11, or 3.12. The existing README uses conda; an isolated
+environment keeps another installed `orisys` package from shadowing this checkout.
+
+```bash
+conda create -n orisys-dev python=3.10
+conda activate orisys-dev
+python -m pip install -e . pytest
+python -c "import orisys; print(orisys.__version__)"
+python -m pytest -m "not slow and not hardware" tests/test_calibration.py
+```
+
+The editable install makes changes under `src/orisys/` visible without rebuilding a
+wheel. `pytest.ini` adds `src/` to the test import path. Before debugging a strange
+import failure, check that `python` and `python -m pip` point to the same environment.
+The full non-hardware suite is:
+
+```bash
+python -m pytest -m "not slow and not hardware"
+```
+
+Some tests need a recorded clip. `tests/conftest.py` looks for a repository sample or
+the path in `ORISYS_TEST_VIDEO`; a missing clip can skip those tests. Inspect the test
+summary rather than treating a run with unexpected skips as coverage.
+
+## Run a pipeline
+
+The examples accept a camera index or, where documented, a video path. Start with
+the example matching your sensor. A camera example needs the device and its bundle;
+the test command above does not need physical hardware.
+
+```bash
+python examples/basic_pipeline.py -v 0 -c box
+python examples/basic_pipeline.py -v 0 -c mini
+python examples/finger_pipeline.py --camera_id 0 --config finger
+```
+
+For a video-only first run, see the exact arguments in
+[examples/README.md](../examples/README.md). GUI examples need the optional GUI
+dependencies (`python -m pip install -e ".[gui]"`). GPU support is optional; the
+declared extras are `cuda12` and `cuda13` in [pyproject.toml](../pyproject.toml).
+Start on CPU unless your task requires a GPU backend.
+
+## Find the owner of a change
+
+| What you are changing | Start here |
+| --- | --- |
+| SDK API or algorithms | `src/orisys/`, then a focused test in `tests/` |
+| Product configuration and shipped assets | `sensors/<product>/`; see [sensor bundles](sensor-bundles.md) |
+| Example behavior | `examples/` and [examples/README.md](../examples/README.md) |
+| Build or release tooling | `build/` and [build/README.md](../build/README.md) |
+| Studio UI | The separate `orisys-app` repository |
+
+`config/` holds legacy configurations. New product-bundle work belongs under
+`sensors/`. For a physical device's calibration, use a user-selected calibration
+directory and `device_id`; the [SDK README](../README.md#configuration) describes
+the path and validation contract. Do not commit individual sensor calibration data
+to the generic product bundle by accident.
+
+After a change, run the focused tests first, then the relevant non-hardware suite.
+If a change requires a camera, record the product, configuration, input, and observed
+result in your handoff. See [publishing](publishing.en.md) when preparing a release;
+ordinary development does not require a wheel build or a PyPI account.

docs/get_started.md

@@ -5,10 +5,8 @@ description: 安装并运行 Orisys SDK 的基础步骤
 
 # 快速开始
 
-版本：0.4.3
-
 ## 简介
-本文件介绍如何上手和运行叠动视触觉传感器配套的开发套件。本套件是配合叠动视触觉传感器进行图像处理，计算形变、力以及接触信息。它可以从摄像头或视频文件中读取图像，处理后打印和展示处理后信息。  
+本文件介绍如何上手和运行叠动视触觉传感器配套的SDK，进行图像处理，计算形变、力以及接触信息，接受从摄像头或视频文件中读取图像，处理后打印和展示处理后信息。  
 支持操作系统：Windows、Ubuntu  
 建议Python 版本: 3.10, 3.11, 3.12
 
@@ -45,7 +43,7 @@ mkdir orisys_ws
 ```bash
 cd "C:\Users\orisys\orisys_ws"
 ```
-### 安装 CUDA 和 cuDNN（可选）
+### 安装 CUDA（可选）
 如果您拥有 NVIDIA 显卡，并希望利用 GPU 加速计算，则需要安装 CUDA 工具包和 cuDNN。
 
 1. 方法一（官网下载）：
@@ -58,7 +56,7 @@ cd "C:\Users\orisys\orisys_ws"
 conda install nvidia/label/cuda-12.9.0::cuda-toolkit nvidia::cudnn
 ```
 
-该方法会自动配置好 CUDA 和 cuDNN，无需手动下载。
+该方法会自动配置好 CUDA，无需手动下载。
 
 注意：如果您的计算机没有 NVIDIA 显卡，或者不想使用 GPU 加速，可以跳过此步骤。套件也支持纯 CPU 运行（但速度可能较慢）。
 
@@ -84,9 +82,9 @@ pip install --upgrade orisys
 ### 使用 .whl 文件安装（离线或指定版本）
 从官方渠道获取 .whl 文件，文件名格式通常为：
 orisys-{版本}-{Python版本}-{Python版本}-{操作系统}_{硬件架构}.whl
-例如：orisys-0.4.3-cp310-cp310-win_amd64.whl 表示：
+例如 `orisys-<版本>-cp310-cp310-win_amd64.whl` 表示：
 
-版本：0.4.3
+版本：`<版本>`（以实际下载的文件名为准，可用 `python -c "import orisys; print(orisys.__version__)"` 确认）
 Python 版本：3.10（cp310）
 操作系统：Windows（win）
 硬件架构：64位（amd64）
@@ -97,7 +95,7 @@ Python 版本：3.10（cp310）
 
 ```bash
 # 请将文件名替换为您实际下载的文件名
-pip install orisys-0.4.3-cp310-cp310-win_amd64.whl
+pip install orisys-<版本>-cp310-cp310-win_amd64.whl
 ```
 
 ### 安装 CuPy（可选）
@@ -139,88 +137,66 @@ python
 import orisys
 print(orisys.__version__)
 ```
-如果输出版本号（例如 0.4.3），则说明安装成功。
+如果打印出版本号，则说明安装成功。
 
 ## 使用方法
+## 使用设备专属的力标定参数
+
+摄像头编号与设备 ID 是两个独立参数。命令中的 `-v 0` 或 `--camera_id 0` 只表示选择第 0 个视频源；`device_id` 才是传感器的设备编号（SN），目前需要人工确认并填写。
+
+将**这台设备实际测得**的标定 JSON 放在自行选择的目录中，不要放进 SDK 的 `config/`，也不要覆盖 `sensors/<产品>/force_calibration.json`。目录结构如下，路径可由用户更改：
+
+```te
+D:/orisys_data/calibrations/
+├── box/
+│   └── BOX-001.json
+├── mini/
+│   └── MINI-001.json
+└── finger/
+    └── FINGER-001.json
+```
+
+例如，使用 `BOX-001` 时，`calibration_dir` 指向上图的 `calibrations` 目录，`device_id` 填 `BOX-001`：
+
+```python
+import orisys
+
+sensor = orisys.Sensor(
+    0,  # 摄像头编号，不是设备 ID
+    config_name="box",
+    calibration_dir="D:/orisys_data/calibrations",
+    device_id="BOX-001",
+    verbose=True,
+)
+try:
+    print(sensor.calibration.source_path if sensor.calibration else "未加载标定")
+    print(sensor.force_units)  # 依次为 FN、FX、FY 的单位
+finally:
+    sensor.disconnect()
+```
+或者使用命令：
+```bash
+python examples/basic_pipeline.py -v 0 -c box --calibration-dir data/calibrations --device-id BOX-001
+```
+
+若该设备的标定文件不存在，SDK 不应用标定，力值保持 raw，也不会回退到产品默认标定。若文件存在，但其中的设备 ID、产品类型或测量设置与当前设备不匹配，SDK 会报错。FingerRuntime.open() 支持这两个参数，但 finger_pipeline.py 目前还没有对应的命令行参数。
+
 ### 运行示例程序
-套件里面包含了多个例子。运行示例前，请先进入 SDK 示例所在的文件夹，建议在仓库根目录运行（即 `config/`、`examples/`、`assets/` 同级目录）。如果您是通过 PyPI 安装并且本地没有示例文件，可以从上方项目链接下载示例。按产品入口如下：
 
-1. `examples/basic_pipeline.py`：ORY-BOX 复眼/拼接传感器基础 OpenCV 示例（默认配置 `box`）
+示例的完整清单、每个产品对应的入口、全部命令与参数，见 [`examples/README.md`](../examples/README.md)。这里只给第一次运行的最短路径。
-2. `examples/mini_pipeline.py`：ORY-MINI 基础 OpenCV 示例（默认配置 `mini`）
-3. `examples/finger_pipeline.py`：ORY-FINGER 2D 显示最小流程（默认配置 `finger`）
-4. `examples/finger_pipeline_3dview.py`：ORY-FINGER Qt 3D 可视化界面（默认配置 `finger`）
 
-`finger` 是当前 ORY-FINGER 的产品配置名。
+先在仓库根目录（即 `config/`、`examples/`、`assets/` 同级）确认传感器 ID：
 
-下面先介绍最基础的 ORY-BOX 运行方式。
+- Windows：在 PowerShell 运行 `Get-PnpDevice -PresentOnly | Where-Object { $_.Class -match '^Camera' }`。若插上传感器后多出一行，ID 为 `1`，否则为 `0`。
+- Ubuntu：运行 `v4l2 --list-devices`，从新增的设备名取编号（`/dev/video0` 即 ID `0`）。
 
-#### Windows
+然后运行（假设 ID 为 `0`）：
-1.	检查是否有其他正在连接的 USB 摄像头设备：打开 PowerShell，运行命令 `Get-PnpDevice -PresentOnly | Where-Object { $_.Class -match '^Camera' }`，如果没有的话不会有输出。
-2.	把传感器的 USB 头与电脑连接，再次运行步骤一的命令，会新增一行输出。
-3.	如果第一步没有输出，传感器的 ID 就是 `0`；如果第一步有一个设备，传感器的 ID 就是 `1`，如此类推。
-4.	在确定了传感器的 ID（下方例子假设为 `0`）后，打开 Anaconda Prompt，切换到工作路径，然后在命令行中输入：
-    ```bash
-    python examples/basic_pipeline.py -v 0 -c box
-    ```
-5.	程序会运行，并自动打开可视化窗口和打印资料。在窗口上按键盘 `q` 键可以停止运行，按 `r` 键可以重设数据。
-
-#### Ubuntu
-1.	检查是否有其他正在连接的 USB 摄像头设备：打开终端，运行命令 `v4l2 --list-devices`，如果没有的话不会有输出。
-2.	把传感器的 USB 头与电脑连接，再次运行步骤一的命令，会新增输出。
-3.	根据新增的输出，例如 `/dev/video0`，确定传感器的 ID 为 `0`；如果是 `/dev/video3`，ID 为 `3`，如此类推。
-4.	在确定了传感器的 ID（下方例子假设为 `0`）后，打开终端，激活相应的 Python 环境，切换到工作路径，然后在命令行中输入：
-    ```bash
-    python examples/basic_pipeline.py -v 0 -c box
-    ```
-5.	程序会运行，并自动打开可视化窗口和打印资料。在窗口上按键盘 `q` 键可以停止运行，按 `r` 键可以重设数据。
-
-#### ORY-FINGER 示例
-
-如果您使用的是 ORY-FINGER（配置名 `finger`），可运行：
 
 ```bash
-python examples/finger_pipeline.py --camera_id 0 --config finger
+python examples/basic_pipeline.py -v 0 -c box
 ```
 
-如果输入来自视频文件，也可以改用：
+窗口打开后按 `q` 停止，按 `r` 重设数据。若本地没有示例文件（例如通过 PyPI 安装），从项目链接下载。
-
-```bash
-python examples/finger_pipeline.py --video ./data/sample.mp4 --config finger
-```
-
-该示例会：
-
-- 读取相机或视频源
-- 将图像展开到平面
-- 计算光流、法向/切向力和接触区域
-- 在 OpenCV 窗口中显示展开后的光流箭头图
-
-常用参数：
-
-- `--verbose`：输出更详细的初始化日志
-
-例如：
-
-```bash
-python examples/finger_pipeline.py --camera_id 0 --config finger
-```
-
-#### ORY-FINGER 3D 可视化界面
-
-如果要使用 GUI，先安装 GUI 依赖：
-```bash
-pip install "orisys[gui]"
-```
-然后运行：
-```bash
-python examples/finger_pipeline_3dview.py --video 0 --config finger
-```
-
-该界面会提供：
-
-- 手指平面化光流箭头显示
-- 力曲线
-- 3D 视图
 
 ### 开发套件使用方法
 参考开发套件附带的开发文档。

docs/plan-gui-extraction.md

@@ -0,0 +1,139 @@
+---
+kind: reference
+---
+
+# Plan: move the GUI out of the SDK into `orisys-studio`
+
+Status: **planned, then postponed (2026-09-30).** Nothing here is in progress. This document
+records what would move, what would stay, and the one coupling that makes the move non-trivial, so
+that the work can be picked up without re-deriving it. It is a plan, not a description of current
+behaviour — everything described below is still in the SDK exactly as listed.
+
+## Why
+
+`examples/gui/` is not an example. It is a full Qt + open3d + pyqtgraph application — 30 modules,
+4,815 lines — that ships inside the SDK wheel. The GUI belongs to the `orisys-studio` application,
+which already exists for that purpose. Leaving it in the SDK means the SDK ships, versions and
+installs an application it is not responsible for.
+
+## Current state
+
+| Path | Modules | Lines | What it is |
+|---|---|---|---|
+| `examples/gui/` | 30 | 4,815 | The application: `viewer2d/`, `viewer3d/`, `widgets/`, `app.py`, `log_config.py` |
+| `examples/viz/` | 11 | 2,298 | **Shared** drawing/rendering helpers — see the coupling below |
+| `examples/pipeline/` | 6 | 577 | Sensor service, CSV recorder, profiling. **SDK support code, not GUI** |
+
+### Good news: the SDK core does not depend on the GUI
+
+Verified by AST, not by grep: **no module under `src/orisys/` imports `gui`, `viz`, `pipeline` or
+`examples`.** The only match is `src/orisys/__init__.py` importing `orisys.pipeline`, which is the
+SDK's own module. The dependency runs one way, so the GUI can leave without touching the library.
+
+Two apparent hits are prose, not code: `src/orisys/configs.py` mentions `examples/` in a docstring
+about run-root layout, and `export_sensors.py` has an `Examples::` docstring section. The
+`configs.py` anchor is a real behavioural dependency to preserve — the run-root heuristic keys off
+a sibling `examples/` directory, so that directory must keep existing in the packaged layout even
+after `gui/` leaves it.
+
+### The coupling: `viz/` is shared, so it cannot simply follow the GUI
+
+```
+examples/gui/  ──uses──▶  examples/viz/  ──uses──▶  orisys (SDK)
+examples/pipeline/service.py  ──uses──▶  examples/viz/
+tests/test_contact_arrow_scale.py  ──uses──▶  examples/viz/
+```
+
+`examples/pipeline/service.py` and a test depend on `viz`, and `viz` is a mix: `mesh_camera.py`,
+`contact_arrow.py`, `flow_arrow.py` and `offscreen_mesh.py` are open3d rendering helpers, while
+`render_2d.py`, `recording.py`, `signal_filters.py` and `force_charts.py` are toolkit-independent.
+**Moving `viz/` wholesale would break `examples/pipeline/`.** It has to be split, not moved.
+
+### The real coupling is in the tests, and it is inverted
+
+`tests/test_qt_viewer_backend.py` imports `examples/gui` directly, and `tests/conftest.py` inserts
+`EXAMPLES_ROOT` into `sys.path` with a guard whose stated reason is that **`examples/gui` must win
+over `build/gui`, because both are packages named `gui`**. So the SDK's test suite currently
+depends on the GUI application being present and on a name-resolution guard existing for it.
+
+This is the inversion to fix: the SDK must not depend on the GUI.
+
+Two related facts:
+
+- `examples/gui/` contains committed `__pycache__` directories (`adapter.cpython-310.pyc`,
+  `cpython-313.pyc`, …) — build artefacts tracked alongside source.
+- `tests/test_wheel_contents.py` and `tests/test_pyproject.py` assert on what the wheel bundles, so
+  they will need updating when the `gui/**/*.py` bundle pattern goes.
+
+## What moves, what stays
+
+**Moves to `orisys-studio`:**
+
+- `examples/gui/**` — the whole application, as the single home for GUI code.
+- `examples/finger_pipeline_3dview.py` — a 91-line launcher for the dashboard; its only purpose is
+  to start the GUI, so it belongs with the GUI.
+- The open3d rendering half of `examples/viz/`: `contact_arrow.py`, `flow_arrow.py`,
+  `mesh_camera.py`, `offscreen_mesh.py`, plus the open3d-dependent `__init__` re-exports.
+- `tests/test_qt_viewer_backend.py` — it tests the GUI, so it moves with the GUI.
+
+**Stays in the SDK:**
+
+- `examples/pipeline/` — SDK support code (sensor service, CSV recording, profiling).
+- `examples/viz/` toolkit-independent half: `render_2d.py`, `recording.py`, `signal_filters.py`,
+  `force_charts.py` — needed by `examples/pipeline/service.py`.
+- `examples/plot_data.py` — uses pyqtgraph for force charts only; 96 lines. Decide separately
+  whether it follows the GUI; it is the one remaining example with a Qt dependency after the move.
+- `src/orisys/finger/viewer.py` (`UVMeshViewer`) — **see the deprecation note below.**
+
+## The public-API problem, handled separately
+
+`UVMeshViewer`, `init_uv_mesh_viewer` and `update_uv_mesh_viewer` are exported in
+`src/orisys/finger/__init__.py`'s `__all__`. **Removing them is a breaking change to a released
+API**, so it must not be bundled into a code move:
+
+1. Release with them present and documented `DeprecationWarning`s emitted on construction.
+2. Remove them at the next major version, with the release notes naming the replacement.
+
+The audit (`docs/api-audit.md`) already lists `UVMeshViewer` among the surface that is used by
+examples and absent from the reference.
+
+## Sequence, lowest risk first
+
+| # | Step | Risk | Notes |
+|---|---|---|---|
+| 1 | Add `docs/plan-gui-extraction.md` (this file) | none | Done |
+| 2 | Delete the committed `__pycache__` under `examples/gui/` and add it to `.gitignore` | none | Pure hygiene; ship independently |
+| 3 | Tag the SDK at the commit whose `examples/gui` is known-good, so the studio move has a pinned source | none | A tag, not a submodule or subtree |
+| 4 | In `orisys-studio`: import `examples/gui` + the open3d half of `viz` as its own provenance-stated change, reconciling against its existing viewer code | **medium** | The studio repo already has viewer code; this is a merge decision, not a copy |
+| 5 | In the SDK: move `tests/test_qt_viewer_backend.py` out, and simplify the `conftest.py` guard | **medium** | The guard exists for `gui`; with `gui` gone, `EXAMPLES_ROOT` may still be needed for `viz`/`pipeline`. Re-derive, do not guess |
+| 6 | In the SDK: retire `examples/gui/`, `finger_pipeline_3dview.py`, and the moved `viz` modules | low once 4 and 5 land | |
+| 7 | Update the bundle patterns in `pyproject.toml` (drop `gui/**/*.py`, adjust `viz/**`) and the wheel tests | low | `test_wheel_contents.py`, `test_pyproject.py` |
+| 8 | Update `examples/README.md` and the SDK reference to stop pointing at the dashboard | low | The README already says the GUI is moving |
+| 9 | Deprecate `UVMeshViewer` in a release; remove at the next major | low | Separate release cycle |
+
+Steps 2 and 3 are safe to do immediately and independently. Steps 4–5 are the actual move and need
+both repositories. Nothing here requires a library behaviour change, which is what makes the move
+tractable.
+
+## Open questions for the studio side
+
+- **Merge or adopt?** `orisys-studio` already has its own viewer. If its code is the descendant of
+  this one, take the SDK copy only where it is ahead; otherwise choose one and delete the other.
+  This must be decided before step 4, because the answer changes what gets imported.
+- **Do the SDK's 2D and 3D viewers need to keep working headless for CI?** `examples/viz` contains
+  offscreen rendering used to produce evidence images. If any SDK or sensor-design workflow depends
+  on that, the offscreen half may need to stay reachable from the SDK even after the app moves.
+- **Does `plot_data.py` follow the GUI?** It is an example, not an application, and it is the last
+  Qt-dependent file in `examples/`.
+
+## Acceptance criteria
+
+- [ ] `src/orisys/` still imports no `gui`/`viz`/`examples` module (re-run the AST check).
+- [ ] The SDK test suite passes with `examples/gui/` absent.
+- [ ] No module named `gui` ships in the wheel; `test_wheel_contents.py` asserts it.
+- [ ] `examples/pipeline/service.py` and `tests/test_contact_arrow_scale.py` still import their
+      `viz` dependencies.
+- [ ] `UVMeshViewer` is either deprecated-but-present or removed by an explicit major-version
+      decision — never dropped silently in a move.
+- [ ] The `examples/` sibling directory still exists in the packaged layout, because
+      `configs.py`'s run-root anchor depends on it.

docs/publishing.en.md

@@ -0,0 +1,120 @@
+---
+title: Build and publish the Orisys SDK
+description: Contributor release checklist and the verified build and publish entry points.
+---
+
+# Build and publish the Orisys SDK
+
+This guide gives contributors the path from a source change to release evidence.
+The build launcher is [build/run.py](../build/run.py), documented in
+[build/README.md](../build/README.md). Publishing to GitHub or PyPI changes external
+systems and is a maintainer action. The existing
+[Chinese release runbook](publishing.md) retains historical details; verify its
+version-specific examples against current code before using them.
+
+## Before building
+
+Run the non-hardware tests from the repository root with the intended Python
+environment:
+
+```bash
+python -m pytest -m "not slow and not hardware"
+```
+
+Check the current SDK version at `src/orisys/__init__.py`. `pyproject.toml` reads it
+as a dynamic version. Do not copy a previous release number into new commands or
+documentation. Check the source diff and confirm the intended product bundles and
+assets are present; `pyproject.toml` declares which non-code files are packaged.
+
+## Build the candidate
+
+Use the launcher appropriate to the target. `wheel-win` invokes the Windows build;
+`wheel-manylinux` invokes the Docker-backed Linux build. A single-interpreter `wheel`
+build is useful for a local candidate, but does not cover every supported ABI.
+
+```bash
+python build/run.py wheel-win
+python build/run.py wheel-manylinux
+python build/run.py wheel-manylinux -Architecture aarch64
+```
+
+Windows builds use the configured `py310`, `py311`, and `py312` environments.
+The Linux build needs its documented Docker setup. Built wheels are placed under
+`SDK/<version>/`; Linux upload candidates may also appear in `dist/repaired/`.
+See [build/README.md](../build/README.md) for build prerequisites and narrower
+commands. A contributor without these environments can still run tests and hand
+off a source change; do not describe it as a verified release candidate.
+
+Build Windows x64, Linux x86_64 and Linux ARM64 before preparing the release
+report. With Python 3.10, 3.11 and 3.12 this produces nine wheels. Both publishers
+use every wheel in `SDK/<version>/`; files added or rebuilt after preflight
+invalidate its certification. ARM64 CPU wheels do not require CUDA.
+
+## Run the release gate
+
+After building, run `release preflight` on a clean, reviewed commit. It checks
+repository state, version consistency, tests, bundled assets, wheel contents, and
+an isolated runtime on recorded frames. `--check-pypi` adds a read-only duplicate
+version check against PyPI. The report is written under
+`build/release/reports/<version>/`.
+
+```bash
+python build/run.py release preflight --all-wheel-pythons --check-pypi
+```
+
+`--all-wheel-pythons` checks every staged ABI and architecture. Run the complete
+mixed-platform gate from Windows: Windows wheels use the `py310`, `py311` and
+`py312` conda environments, while Linux wheels use `orisys-manylinux` or
+`orisys-manylinux-aarch64` with the matching container Python. Docker must already
+have these locally built images; verification never pulls or rebuilds them.
+Linux dependencies come from each image's ABI wheelhouse, in an isolated venv.
+ARM64 verification on Intel/AMD uses QEMU and can take longer. Every wheel must
+pass imports, bundled-asset loading and the CPU video pipeline; emulation does
+not certify Q6A or Jetson hardware, GPU or NPU behavior.
+
+For work in progress, `--allow-dirty --keep-going` can collect diagnostics, but
+that report does **not** certify a release. Do not use `--skip-tests`, `--no-runtime`,
+or `--no-assets` to turn missing verification into approval. If the runtime clip is
+missing, provide `--video <path>` or `ORISYS_VERIFY_VIDEO`; the gate should report
+failure rather than silently claiming a pass.
+
+For one existing wheel, `release audit <wheel>` checks it without preparing a
+complete release. Add `--assets --runtime` when a suitable verification clip and
+environment are available. This is useful for investigating a candidate; it does
+not replace the full preflight gate.
+
+## Release handoff and publication
+
+Hand the maintainer the version, source commit, wheel filenames, preflight report,
+and any hardware or platform checks that were not run. The publish commands read
+the passing preflight report and verify the wheel hashes again.
+The report must also contain successful runtime evidence matching every wheel's
+hash. Older reports that checked only Windows wheels must be regenerated.
+
+```bash
+python build/run.py release github --version <version>
+python build/run.py release pypi --version <version>
+```
+
+These commands omit `--apply`, so they preview the publish plan. The GitHub preview
+may still fetch remote tags; the PyPI preview may check credentials and the index.
+Maintainers run the commands with `--apply` only after checking the target repository,
+release notes, credentials, and candidate files. `release pypi --apply` targets
+TestPyPI; publishing to the production index also requires `--confirm-pypi`.
+GitHub publication can sync the release mirror, commit, tag, push, and create a
+Release. See the launcher help and [build/README.md](../build/README.md) for the
+exact flags. A published version cannot be overwritten, so do not treat a rerun as
+a way to replace bad wheels.
+
+The release order is build all candidates, commit source changes, run the clean
+preflight, preview both publishers, then execute the authorized publications.
+GitHub attaches all certified wheels and generates notes naming their actual
+platforms, including ARM64. PyPI defaults to TestPyPI first; after confirming it,
+use `--confirm-pypi --apply` for production. Each upload checks the complete
+filename set and downloads every Python/platform wheel from that index to
+compare its hash. TestPyPI download verification does not fall back to PyPI.
+If downloads are not yet available, the command reports the successful upload
+as unconfirmed and stops before uploading to later indexes; check propagation
+before rerunning.
+If a published version has a different file set, the commands stop rather than
+silently extending or replacing that release.

docs/publishing.md

@@ -0,0 +1,399 @@
+# 发布流程（构建 → 校验 → 发布）
+
+本文档说明如何构建 orisys 的 Nuitka 二进制 wheel、如何在发布前用一条命令做完整门禁，以及当前仍需人工执行的发布步骤。
+
+> 历史说明：`README.md` 与 `build/wheel/docker/run.ps1` 早就引用了本文件，但它此前并不存在。本文件补齐该引用。
+
+---
+
+## 0. 环境准备
+
+推荐用 `py310` conda 环境执行构建与校验（它同时具备 pytest / twine / numba / Nuitka / open3d / PyQt5）：
+
+```powershell
+conda activate py310
+python -m pytest -m "not slow and not hardware"   # 开发期快速回归
+```
+
+`py311`、`py312` 仅作为 Nuitka 各 ABI 的编译环境按需调用（`build/wheel/win.bat` 会依次使用 `py310`/`py311`/`py312`）。
+
+**不要**在同一个环境里既装旧版 `orisys` 又从源码目录跑测试：site-packages 里的旧包会静默遮蔽 `src/orisys`。
+`tests/test_harness_guards.py` 会显式报错提示执行 `pip uninstall -y orisys`。
+
+---
+
+## 1. 构建 wheel
+
+```powershell
+# Windows：py310 / py311 / py312 三个 ABI
+python build/run.py wheel-win
+
+# 单个解释器（当前环境）
+python build/run.py wheel
+
+# Linux manylinux（Docker Desktop，Linux 容器模式）
+python build/run.py manylinux
+python build/run.py wheel-manylinux -PythonVersions 3.10
+```
+
+产物落点：
+
+- `SDK/<version>/` — 交付用 wheel（git 忽略）
+- `dist/repaired/` — 上传候选（git 忽略）
+
+---
+
+## 2. 发布前门禁：`release preflight`
+
+```powershell
+# --version 可省略：默认取 pyproject 的 dynamic version（即 src/orisys/__init__.py 里的 __version__）
+python build/run.py release preflight
+```
+
+按顺序执行 8 个步骤，任一步失败即整体失败（`--keep-going` 可改为收集全部失败）：
+
+| 步骤 | 检查内容 |
+| --- | --- |
+| `repo-state` | 是 git 仓库、工作树干净、记录 HEAD（`--allow-dirty` 可豁免，用于提交前预检） |
+| `version-consistency` | `src/orisys/__init__.py::__version__` == pyproject 的 dynamic attr == `SDK/<version>/` 中 wheel 文件名里的版本 |
+| `version-strings` | 追踪的文本文件里没有与当前版本不符的版本字面量（见 §5.3） |
+| `duplicate-guard` | 该版本是否**已经发布过**：本地 git tag（`v<version>` / `<version>`，含 sibling `orisys-sdk-release` 仓库）命中即拒绝；`--check-pypi` 时再查 PyPI。`SDK/<version>/` 里已有 wheel 只作信息展示——那是 preflight 的正常输入，不是错误 |
+| `tests` | `pytest -m "not slow and not hardware"`（`--longrun` 时包含 slow） |
+| `bundle-precheck` | 每个 `[[tool.orisys.bundle.items]]` 至少解析出 1 个文件；finger 必需资产存在 |
+| `wheel-inspection` | 逐个 wheel 做静态断言：文件名/版本/METADATA 字段/RECORD 哈希/压缩包路径/体积上限/无 pyc 与缓存/无 `orisys/**/*.py` 源码泄漏/与源码树逐文件字节一致 |
+| `wheel-runtime` | 每个 wheel **一个** venv，在里面依次做：导入冒烟 → 内置 configs/sensors 资产可加载 → 对真实视频跑 40 帧公开流水线（无需相机、无 GUI） |
+
+正常顺序是**先构建、再 preflight**，不需要额外开关：
+
+```powershell
+python build/run.py wheel-win
+python build/run.py manylinux
+python build/run.py release preflight --all-wheel-pythons --check-pypi
+```
+
+提交前想先看结果（此时工作树通常还是脏的）：加 `--allow-dirty --keep-going`。
+
+产物报告：
+
+- `build/release/reports/<version>/preflight.json` — 机器可读，含每个 wheel 的 sha256，供后续发布步骤复用
+- `build/release/reports/<version>/preflight.txt` — 人工阅读
+- `build/release/reports/<version>/junit.xml` — pytest 结果
+
+（`build/release/reports/` 已加入 `.gitignore`。）
+
+### 常用参数
+
+| 参数 | 作用 |
+| --- | --- |
+| `--wheel-dir DIR` | 校验指定目录下的 wheel（默认 `SDK/<version>`） |
+| `--all-wheel-pythons` | cp310/cp311/cp312 各自在对应 conda 环境里独立校验 |
+| `--video PATH` / `--frames N` / `--config NAME` | 覆盖运行时校验输入（默认 `data/sample/s1_480p.mp4` / 40 帧 / `box`） |
+| `--offline` | 复用父环境的 numpy/opencv/numba，不去 PyPI 装依赖 |
+| `--check-pypi` | 唯一一处网络调用：只读 PyPI，防止重复发布 |
+| `--skip-tests` / `--no-runtime` / `--no-assets` | 显式跳过并在报告中留痕；**跳过的运行不能作为发布依据** |
+| `--report-dir DIR` | 覆盖报告根目录 |
+
+`wheel-runtime` **不会静默跳过**：找不到视频时直接失败，提示 `--video` / `ORISYS_VERIFY_VIDEO`。
+
+### 单体体检：`release audit`
+
+对单个 wheel 做静态断言（+ 可选运行时校验），不需要版本上下文。适合体检历史产物：
+
+```powershell
+python build/run.py release audit SDK\<version>\orisys-<version>-cp312-cp312-win_amd64.whl
+python build/run.py release audit dist\repaired\orisys-<version>-cp310-cp310-win_amd64.whl --strict-bundle
+
+# 追加运行时校验（--assets 与 --runtime 同时给时共用一个 venv，只装一次依赖）
+python build/run.py release audit <wheel> --assets --runtime --video data/sample/s1_480p.mp4
+```
+
+默认对「内置文件与当前源码树不一致」只告警（历史 wheel 与当前分支不一致是正常的）；加 `--strict-bundle` 改成失败（刚构建完的 wheel 应当一致）。
+
+旧的导入冒烟测试仍然可用，行为不变：
+
+```powershell
+python build/run.py verify <wheel>
+python build/run.py verify <wheel> --contents          # 静态断言
+python build/run.py verify <wheel> --assets --runtime  # 资产 + 真实帧
+python build/run.py verify --gui-dist --product ory_finger
+```
+
+---
+
+## 3. 发布（两条命令）
+
+先决条件：`release preflight` PASS，**而且是在干净提交上跑的**。两个发布命令都只发布「preflight 认证过的东西」——它们会读取 `build/release/reports/<version>/preflight.json`，逐个核对 wheel 的 sha256，并拒绝使用带豁免项（`--skip-tests` / `--allow-dirty` / `--no-runtime` / `--force`）的报告。所以正确顺序是：
+
+```powershell
+git add -A; git commit -m "..."
+python build/run.py wheel-win && python build/run.py manylinux
+python build/run.py release preflight --all-wheel-pythons --check-pypi   # 干净树 + 无豁免
+```
+
+两个命令**默认都是 dry run**，只打印将要执行的动作；必须显式加 `--apply` 才会真正动手。GitHub 的 `gh release create`、`git push`，以及 PyPI 上传（版本号永久占用、不可覆盖）都属于不可撤销操作。
+
+### 3.1 GitHub：同步公开仓库 + 上传 Release
+
+```powershell
+python build/run.py release github --version 0.5.2              # 预览
+python build/run.py release github --version 0.5.2 --apply      # 执行
+```
+
+执行顺序：
+
+1. 认证书校验（上面那份报告 + 逐 wheel sha256）
+2. `git fetch --tags`，若 `v0.5.2` 或 `0.5.2` 已存在则拒绝；`gh release view` 已存在也拒绝
+3. 按 `tools/downstream_sync_manifest.json` 同步公开内容到 `../orisys-sdk-release`，并运行 manifest 里的 `checks`
+4. 把 `SDK/0.5.2/*.whl` 放到 `orisys-sdk-release/release/0.5.2/`（该目录在 release 仓库里是 gitignore 的，只用于上传附件）
+5. 提交 → 打 tag `v0.5.2` → push 分支与 tag
+6. `gh release create v0.5.2 --verify-tag --latest <6 个 wheel>`，然后回读 `gh release view --json assets` 核对附件齐全
+
+需要：`gh` 已安装并登录（`winget install --id GitHub.cli` 然后 `gh auth login`）。没装 gh 时：
+
+- dry run 仍会完整打印计划（只告警）
+- `--apply` 会失败，或改用 `--skip-release-upload`：同步、提交、打 tag、push 都自动完成，然后打印出你自己要跑的 `gh release create`
+
+其他开关：`--notes-file`（自定义 release notes）、`--attach-preflight`（把 `preflight.json` 也作为附件上传，便于审计；注意报告里有本机绝对路径）、`--allow-dirty-release`、`--skip-fetch`、`--skip-checks`。
+
+> tag 拼写沿用历史风格 `v<version>`（注意历史里那个 typo tag `0.50` 指向 `v0.5.1`）。命令会在动手前拒绝已存在的 tag，所以不会重复发布。**如果 tag 已经 push 但 Release 上传失败（例如 `gh` 没配好），直接重跑同一条 `--apply` 命令即可续跑**：它会跳过创建 tag，只补做剩下的步骤；只有「GitHub Release 已存在」才拒绝。
+
+### 3.2 PyPI：TestPyPI 先行，确认后再上正式仓库
+
+```powershell
+python build/run.py release pypi --version 0.5.2                          # 预览
+python build/run.py release pypi --version 0.5.2 --apply                  # 只发 TestPyPI
+python build/run.py release pypi --version 0.5.2 --confirm-pypi --apply   # TestPyPI + 正式 PyPI
+
+# 只有正式 token、没有 TestPyPI 账号时：跳过彩排直接发正式库
+python build/run.py release pypi --version 0.5.2 --pypi-only --apply
+```
+
+`--pypi-only` 与 `--confirm-pypi` 互斥。**注意它的代价**：没有 TestPyPI 彩排，而正式库的版本号一旦占用就无法复用、无法替换。它仍然会做完整门禁、`twine check`、上传前查重、上传后回读索引核对文件、以及把产物重新拉回来验证。
+
+执行顺序：
+
+1. 认证书校验（与 `release github` 同一份报告）
+2. `twine check` 全部 wheel（校验 METADATA/long description，上传前就能发现问题）
+3. 只读查询目标索引，确认该版本不存在（TestPyPI 与 PyPI 各查各的）
+4. 上传 → **轮询**索引确认 6 个文件都在 → `pip download` 把刚上传的 wheel 拉回来，证明产物可获取
+5. 未加 `--confirm-pypi` 时只发 TestPyPI，然后停在这里并打印后续命令
+
+两个针对「索引不即时一致」的设计（TestPyPI 尤其明显，上传成功后 JSON API 可能滞后若干秒）：
+
+- **上传后的确认会重试**（默认 6 次 × 5 秒）。确认不了也**不算失败**：twine 上传成功就说明产物已发布，命令会打印警告、给出项目页链接并以 0 退出，不会把一个成功的上传报成失败。真正的失败只有两种：twine 上传本身失败，或索引上的文件集与本地不一致。
+- **重复运行是安全的**：若索引上已经存在该版本且文件集完全一致，该阶段会被视为「已完成」而跳过（`[ok] testpypi already serves orisys 0.5.2 with all 6 file(s)`），不会重传、也不报错。这让你在确认不明确时可以直接重跑。如果文件集**不一致**（索引上是另一次构建），才会失败并停下。
+
+所以「上传后确认失败」不等于要重新上传——索引版本号不可覆盖，重跑只会做一次只读核对。
+
+### 3.3 凭证：`release auth` 与 `~/.pypirc`
+
+```powershell
+python build/run.py release auth                        # 查看两个索引的凭证状态
+python build/run.py release auth --set-token pypi       # 隐藏输入，写入 ~/.pypirc
+python build/run.py release auth --set-token testpypi
+python build/run.py release auth --repair               # 修「有段但没列进 index-servers」
+```
+
+`--set-token` 的 token 只从**隐藏输入**或 `--token-stdin`（供脚本/CI）读取，**不接受命令行参数**——避免落进 shell 历史和进程列表。写入采用定点文本编辑，文件里的说明注释会保留；同时会把该索引补进 `[distutils] index-servers`（这一步很关键，见下）。
+
+`release auth` 只有在你真的运行 `--set-token` 时才写文件；不带参数时只读并报告，状态判断比「文件是否存在」严格：
+
+```
+config file: C:\Users\cheun\.pypirc (exists)
+[--  ] [pypi] not usable: [pypi] still contains a placeholder token
+[--  ] [testpypi] not usable: C:\Users\cheun\.pypirc has no [testpypi] section
+```
+
+**占位符、空密码、`username` 不是 `__token__`，都会被判定为「不可用」**——否则 twine 只会在真正上传时才发现，而那时已经动过索引了。
+
+`release pypi` 在 `--apply` 时若凭证缺失：有终端就地提示输入（隐藏），无终端则直接失败并打印 `release auth --set-token <index>`；也可显式加 `--prompt-credentials`。dry run 只告警并继续展示计划，不会卡在输入上。
+
+#### twine 直接读取的格式
+
+默认路径 `~/.pypirc`（Windows 上即 `C:\Users\<你>\.pypirc`，由 `USERPROFILE` 展开）。**没有**环境变量可以改这个路径；要用别的文件就传 `--config-file`。
+
+```ini
+[distutils]
+index-servers =
+    pypi
+    testpypi
+
+[pypi]
+repository = https://upload.pypi.org/legacy/
+username = __token__
+password = pypi-你的正式token
+
+[testpypi]
+repository = https://test.pypi.org/legacy/
+username = __token__
+password = pypi-你的TestPyPI token
+```
+
+容易搞错的点：
+
+- **`[distutils] index-servers` 必须列出该索引，否则 twine 完全忽略那一节** —— 这是最常见的坑：文件里明明有 `[testpypi]` 段，twine 却报 `InvalidConfiguration: Missing 'testpypi' section`。用 `release auth --repair` 修（把已存在但未列出的段补进 `index-servers`）。
+- 更细的语义差别：`index-servers =` **值为空**表示「一个都不认」；只有**整行缺失**时 twine 才会回退到默认的 `pypi testpypi`。所以手工编辑时别把名字删空。
+- `username` 就是字面量 `__token__`，不是账号名或邮箱
+- 两类 token **都以 `pypi-` 开头**，但**不能互换**：拿正式 token 打 `test.pypi.org` 会被 403 拒绝
+- TestPyPI 是**独立服务、独立账号**，注册在 <https://test.pypi.org/account/register/>，你的 PyPI 账号在那里不存在
+- 正式 token 建议限定到 `orisys` 项目（项目已存在，可以建 project-scoped token）
+- 该文件必须在**任何 git 仓库之外**（放在用户目录里）；token 一旦提交进仓库，即使后来删文件也还在历史里——那属于安全事故
+- 临时替代方案：会话内设 `TWINE_USERNAME=__token__` + `TWINE_PASSWORD=<token>`，命令会识别这种情形
+- PyPI token **没有只读的校验方式**，有效性只能在真正上传时才会被索引确认；所以所有本地检查、查重都排在写操作之前
+
+`release auth` 的「可用」判定**直接问 twine 自己**（`twine.utils.get_config` 解析出的 username/password），而不是自己解析 ini，这样报告结果与 twine 的行为不会分叉。twine 未安装时才回退到本地复刻同一套规则。
+
+只需要 TestPyPI 时才把 `testpypi` 写进 `index-servers` 并填对应 token；只发正式库时 `--pypi-only` 用不到 `[testpypi]` 段。
+
+### 3.4 已知的历史发布空洞
+
+| 版本 | 本地 `SDK/` | PyPI | GitHub Release |
+| --- | --- | --- | --- |
+| 0.4.2 | — | 有 | 有 |
+| 0.4.3 | — | 有 | 有 |
+| 0.4.4 | 有 | **无** | **无** |
+| 0.5.0 | 有 | **无** | **无** |
+| 0.5.1 | 有 | 有 | 有（tag `v0.5.1` + typo tag `0.50`） |
+| 0.5.2 | 有 | **待发布** | **待发布**（`release preflight --check-pypi` 确认 PyPI 尚无 0.5.2） |
+
+> 本表按 2026 年 0.5.2 构建时的实际状态填写。`0.5.1` 这一行曾被一次全局替换误改成 `0.5.2` 并丢失，请勿再用「全局把 0.5.1 替换成新版本号」的方式改本文件——历史事实不应该被改。
+
+---
+
+## 4. 环境变量
+
+| 变量 | 用途 |
+| --- | --- |
+| `ORISYS_TEST_VIDEO` | pytest 用的视频；默认自动取 `data/sample/s1_480p.mp4` |
+| `ORISYS_TEST_CONFIG` | pytest 用的配置名；默认自动挑一个含 `stitcher.box_size` 的配置 |
+| `ORISYS_VERIFY_VIDEO` | 运行时校验用的视频 |
+| `ORISYS_VERIFY_CONFIG` | 运行时校验用的配置名（默认 `box`） |
+| `ORISYS_LONGRUN_BACKEND` / `ORISYS_LONGRUN_FRAMES` | `slow` 长稳测试的参数 |
+| `CONDA_ENVS_ROOT` | conda envs 根目录（`--all-wheel-pythons` 用它解析 `py310`/`py311`/`py312`） |
+
+---
+
+## 5. 三个必须记住的坑
+
+### 5.1 Nuitka 编译包的 `__file__` 是假的
+
+Nuitka 把整个 `orisys` 编译成单个扩展模块，其 `__init__` 会安装 `nuitka_module_loader`。于是：
+
+```python
+>>> import orisys
+>>> orisys.__file__          # 合成的、磁盘上并不存在的路径
+'...\\site-packages\\orisys\\orisys\\__init__.py'
+>>> orisys.__path__          # 第二项是 Nuitka 的哨兵值
+['...\\site-packages\\orisys\\orisys', '\\not_existing']
+>>> orisys.__loader__.__class__.__name__
+'nuitka_module_loader'
+```
+
+后果：**在 Nuitka wheel 里不能靠 `orisys.__file__` 或 `importlib.resources.files("orisys")` 定位内置数据**——它们会指向不存在的目录，静默返回「文件不存在」。请改用发行包定位：
+
+```python
+from importlib.metadata import distribution
+root = distribution("orisys").locate_file("orisys")   # site-packages/orisys
+```
+
+`build/common/verify/wheel.py` 的内置资产校验就是这么做的，并且会显式断言该目录位于校验用 venv 内，避免被父环境里的旧 `orisys` 顶替。
+
+### 5.2 `--offline` 会被父环境的脏安装污染
+
+`--offline` 通过 venv 的 `--system-site-packages` 复用父环境的 numpy/numba 等依赖，这也顺带暴露了父环境里的 `orisys`。若父环境残留了半卸载的 editable 安装（典型症状是 `pip` 提示 `Ignoring invalid distribution -risys`，且 `site-packages/orisys/__init__.py` 是一个指向死路径的 shim），校验就会读到它。
+
+处置：在构建环境里执行 `pip uninstall -y orisys`，或改用不带 `--offline` 的完全隔离 venv（会联网安装依赖）。
+
+### 5.3 版本号只有一个地方，其他都是推导出来的
+
+版本号的唯一来源是 **`src/orisys/__init__.py::__version__`**。以下全部由它推导，不需要手改：
+
+| 产物 | 推导方式 |
+| --- | --- |
+| pyproject 的 `[project] version` | `[tool.setuptools.dynamic] version = {attr = "orisys.__version__"}` |
+| wheel 文件名里的版本 | `build/wheel/build.py` 调 `get_version()` |
+| wheel `METADATA` 的 `Version:` | 生成的 `setup.py` 里写入同一个 `version` |
+| `SDK/<version>/` 目录名 | 同上 |
+| `importlib.metadata.version("orisys")` | 从 wheel METADATA 读出 |
+
+因此**不要**再往文档、示例、测试里写具体版本号：
+
+- 用法示例写 `SDK/<version>/...`、`--version <version>`，不要写具体版本
+- 文档里不要写「版本：x.y.z」；需要时让用户用 `python -c "import orisys; print(orisys.__version__)"` 自己看
+- 示例脚本的 docstring 不要再写 `SDK version: x.y.z`
+- 测试里需要「一个版本」时用明显是假的版本号（如 `1.x.y` 这种不会与真实版本混淆的值），不要用当前版本 —— 否则每次发版都要改测试，而且一次全局替换就会悄悄改坏断言
+
+`release preflight` 的 `version-strings` 步骤强制这条规则：扫描所有被追踪的文本文件，任何与当前版本不符的版本字面量都会导致失败（`tests/` 与生成物除外；依赖约束如 `numpy>=1.24.4` 由正则排除）。
+
+历史记录属于例外，需显式登记在 `build/release/version.py::VERSION_STRING_ALLOWLIST` 里——登记本身就是「该字面量故意不是包版本」的文档。**不要用全局替换修改含历史版本的文件**：本文件的发布记录表就曾被一次全局替换改错（`0.50` typo tag 被挂到错误的版本上，`0.5.1` 那一行被覆盖丢失）。
+
+### 5.4 wheel 里有什么、没有什么
+
+打包内容由 `pyproject.toml` 的 `[[tool.orisys.bundle.items]]` 单点定义：
+
+| 内容 | 是否进 wheel | 说明 |
+| --- | --- | --- |
+| `config/*.json` | 是 | `orisys/configs/`，运行时配置解析要用 |
+| `sensors/**` | 是 | `orisys/sensors/`，含 finger 的 npz/npy 资产，运行时与 GUI 都要用 |
+| `examples/**` | 是 | `orisys/examples/`，用户装完就能跑示例 |
+| `docs/**` | **否** | 只随 GitHub 仓库与 PyPI 项目页提供。`docs/publishing.md` 是内部流程文档；`docs/pypi_readme.md` 仅在构建时被读取作为 long description |
+
+因为 docs 不进 wheel，**改文档不会让已构建的 wheel 失效**，不需要重新构建。（改 `examples/`、`config/`、`sensors/` 会——它们确实在 wheel 里，`wheel-inspection` 的 `bundle-fidelity` 会报出来。）
+
+如果以后需要离线 API 参考，加一个只包含 `docs/api.md` 的窄条目即可，不要整个 `docs/` 都塞进去。
+
+---
+
+## 6. 缩短 manylinux 构建时间
+
+`python build/run.py manylinux` 走 `build/wheel/docker/run.ps1` → 容器内 `entrypoint.sh`，对 `cp310/cp311/cp312` **串行**各做一次 Nuitka 编译 + 打 wheel + auditwheel repair + 隔离 venv 校验。
+
+### 6.1 镜像里已经烘好的东西（所以每次构建不必再拉）
+
+`Dockerfile.manylinux` 在每个 ABI 下预置了两类内容：
+
+1. **构建工具**：`pip`/`setuptools`/`wheel`/`nuitka`/`ordered-set`/`zstandard`/`auditwheel`。
+   因此 `entrypoint.sh` 默认**不再**在每个 ABI 上重跑 `pip install --upgrade pip setuptools wheel auditwheel` —— 那是每次构建 3 次多余的 PyPI 往返，还会让容器里的工具版本与镜像不一致。需要用最新工具时显式开启：
+
+   ```powershell
+   docker run ... -e ORISYS_UPDATE_BUILD_TOOLS=1 ...
+   ```
+
+2. **每个 ABI 一个 wheelhouse**（`/opt/orisys-wheelhouse/<tag>`），内含 `numpy`/`scipy`/`opencv-python`/`numba` 及其依赖闭包，外加 `pip`/`setuptools`/`wheel`/`auditwheel` 的 wheel。
+
+   `--target pypi-linux` 会**强制**校验：为每个 ABI 建一个一次性 venv，再 `pip install` 刚构建的 wheel 和它声明的运行期依赖。镜像故意不把运行期依赖装进解释器（用户是凭 wheel 元数据装的），所以以前每次构建都要现下约 200 MB × 3。`entrypoint.sh` 现在用 `PIP_NO_INDEX=1` + `PIP_FIND_LINKS=<wheelhouse>` 把 pip 指向本地 wheelhouse：**venv 仍然是隔离的**（没有 `--system-site-packages`），依赖解析与安装依然真实发生，只是不走网络。
+
+   找不到 wheelhouse 时会打印警告并回退到联网，不会静默失败。镜像因此增大约 400–500 MB（一次性代价，换每次构建省三次下载）。
+
+### 6.2 不要为了省事直接重建镜像
+
+只改了源码（`src/`、`config/`、`sensors/`、`examples/`、`pyproject.toml`）时加 `-SkipImageBuild`：
+
+```powershell
+.\build\wheel\docker\run.ps1 -SkipImageBuild
+```
+
+Dockerfile 的 `RUN` 层要装 3 份工具链并下载 3 个 wheelhouse，缓存未命中就是数分钟。**改了 `Dockerfile.manylinux` 或需要更新 wheelhouse 时才重建镜像**。
+
+### 6.3 Nuitka 的排除列表必须完整
+
+`build/wheel/compile.py::NUITKA_NOFOLLOW_IMPORTS` 列出所有**不打进 wheel、运行期从用户环境解析**的第三方包。漏一个意味着 Nuitka 会尝试把它跟进来：编译时间暴涨，而且 wheel 内容开始取决于构建机上恰好装了什么 —— `torch`、`torchvision`（`src/orisys/tracker.py` 的 RAFT 追踪器）和 `pyvkfft`（`backend_availability.py`）就是这样漏掉的，之前只是靠「构建机上没装」才没出事。
+
+`tests/test_nuitka_nofollow.py` 会扫描 `src/orisys` 的全部第三方导入，任何不在排除列表里的都会让测试失败。**新增可选依赖时同步更新列表。**
+
+### 6.4 想要并行？先读这一段
+
+`--jobs` 的默认值是**全部 CPU 数**，单次编译的 C 阶段已经吃满所有核心。真正能靠并行省下的是 Nuitka 的单线程前端（分析/优化/代码生成）、scons 启动、`auditwheel` 与 venv 校验 —— 做法是 3 路并行 + 每个 build 限 `--jobs=<核数/3>`。
+
+但**现在不能直接并行**：`build/common/paths.py` 里的工作目录是写死的共享路径
+
+```
+build/nuitka/compile
+build/nuitka/wheel
+build/nuitka/wheel/repaired
+```
+
+而 `build/wheel/build.py` 每次开头都 `_reset_dir()`（`rmtree`）这两个目录，`auditwheel repair` 又会再 `rmtree` 一次 `repaired`。仓库是挂载进容器的（`-v ${RepoRoot}:/src`），所以无论「一个容器 3 路并行」还是「3 个容器并行」，只要共享同一个挂载点，三个 build 就会互相清空暂存目录 —— 表现为随机失败或 wheel 内容错乱。
+
+要并行必须先让工作目录带上 ABI 标签（如 `build/nuitka/<tag>/compile`）。输出路径不用动：`SDK/<version>/`、`dist/repaired/` 的文件名本来就按 ABI 区分，下游 `release preflight` 不受影响。另外 3 个 Nuitka 并行很吃内存，先把 Docker Desktop 内存调到 16 GB 以上再试。
+

docs/pypi_readme.md

@@ -0,0 +1,63 @@
+# Orisys SDK
+
+叠动科技视触觉传感器配套的 Python SDK，提供图像采集、拼接、稠密光流、Helmholtz-Hodge 分解、接触与深度估计，以及可运行的示例。
+
+本文件是 PyPI 项目描述（`long_description`）的源文件：构建时由 `docs/publishing.md` 所述流程从**检出目录**读取（`build/wheel/package.py::PYPI_README_RELPATH`），**不会**被打进 wheel。因此不要在这里写内部仓库布局、构建流水线或发布步骤——那些内容属于仓库内的 `README.md` 与 `docs/publishing.md`。
+
+```bash
+python -m pip install orisys
+```
+
+支持 Python 3.10 / 3.11 / 3.12，Windows x64 与 Ubuntu x64。
+
+## 快速开始
+
+```bash
+python -c "import orisys; print(orisys.__version__)"
+python -c "import orisys; print(orisys.list_config())"
+```
+
+## 安装选项
+
+- `orisys` — CPU / 基础流程
+- `orisys[gui]` — Qt / Open3D 可视化示例
+- `orisys[cuda12]` / `orisys[cuda13]` — NVIDIA GPU 加速
+- `orisys[gui,cuda12]` — GUI + CUDA 12
+
+`orisys[cuda]` 与 `orisys[cuda12]` 等价。
+
+## 配置
+
+配置解析顺序：
+
+1. 显式 JSON 文件路径
+2. 内置配置名（`box`、`mini`、`finger` 等）
+3. 产品别名（如 `dd02` -> `dd02-ov`）
+4. 向后兼容的 JSON `"name"` 匹配
+
+```python
+import orisys
+
+sensor = orisys.Sensor(0, config_name="box")
+orisys.export_config("box", "./exported_config.json")
+```
+
+## 示例
+
+示例随 wheel 一起分发，位于 `orisys/examples/`。也可以从项目仓库获取：
+
+```bash
+python examples/basic_pipeline.py -v 0 -c box
+python examples/finger_pipeline.py --camera_id 0 --config finger
+```
+
+无相机时可以改用视频文件：
+
+```bash
+python examples/finger_pipeline.py --video ./sample.mp4 --config finger
+```
+
+## 支持与反馈
+
+- 官网：[https://www.orisys-tech.cn](https://www.orisys-tech.cn)
+- 问题反馈：GitHub Issues

docs/sensor-bundles.md

@@ -0,0 +1,161 @@
+# Sensor bundles and the processing contract
+
+A sensor bundle is a folder that describes one processing profile. This document owns the bundle
+descriptor, the resolver, the backend registry and the fingerprints. `sensor.json` keeps its
+existing meaning: it is the processing configuration, and its `type` field is the image-processing
+arrangement (`compound_eye`, `single_camera`, `uv_unroll`) - never a product family.
+
+## Why the descriptor exists
+
+"Which pipeline processes these frames" used to be inferred from a product name. Those are four
+different things, and collapsing them is what made Mini work live but be refused in replay:
+
+| Concept | Meaning | Example |
+|---|---|---|
+| Product family | What the operator calls it | Box, Mini, Finger |
+| Processing backend | Which SDK pipeline processes the images | `compound_eye`, `uv_unroll` |
+| Configuration profile | Camera, geometry and algorithm settings for one design revision | `orisys.mini.prototype-r1` |
+| Device instance | The physical unit | Serial number, its calibration |
+
+Several families can share one backend, one family can have several profiles, and a recorded clip
+has no device instance at all - only a profile and, optionally, a compatible calibration.
+
+## Descriptor
+
+`manifest.json` in the bundle root. Every field except the five identifying keys is optional, so a
+bundle with no manifest still resolves through the compatibility adapter.
+
+```json
+{
+  "schema_version": 1,
+  "profile_id": "orisys.mini.prototype-r1",
+  "display_name": "Mini prototype R1",
+  "product_family": "mini",
+  "processing_backend": "compound_eye",
+  "sensor_json": "sensor.json",
+  "default_calibration": "force_calibration.json",
+  "computational_assets": { "unroll_map": "assets/30fps-0703/unroll_map_uv.npz" },
+  "assets": { "scene": "scene/finger-display-1.0.0.oryscene" }
+}
+```
+
+- **`computational_assets`** are required to process at all. A missing one fails the profile.
+- **`assets`** are visualization only. A missing one is reported and never blocks processing - a
+  missing 3D scene is not a missing deformation field.
+- Paths resolve relative to the bundle root, so moving or renaming the folder changes nothing.
+  Absolute paths and `..` escapes are rejected at parse time.
+- An unsupported `processing_backend` or `schema_version` raises `DescriptorError`. The supported
+  descriptor schema version is 1.
+
+## Compatibility for existing bundles
+
+`resolve_bundle` reads a new-shape descriptor when `schema_version` is present. Otherwise - no
+manifest, or the older `name`/`sensor_json`/`assets_dir`/`viz_pose` shape - the adapter describes
+it. That is the only place a folder name is consulted, and only for the built-in set:
+
+| Folder | Product family | Backend (when the config does not decide) |
+|---|---|---|
+| `box` | box | `compound_eye` |
+| `mini` | mini | `compound_eye` |
+| `finger` | finger | `uv_unroll` |
+| `finger-mems` | finger-mems | `compound_eye` |
+
+For a bundle without a descriptor the backend follows the configuration, using the rule
+`Sensor._load_config` already applies: `type` when present, else `compound_eye` when the config has
+a `stitcher` block, else `single_camera`. Only `finger` declares `type` today; `box`, `mini` and
+`finger-mems` are decided by the stitcher. A folder that is neither built-in nor carries a
+descriptor is rejected - never routed to `compound_eye` because box works that way.
+
+## Resolver
+
+```python
+from orisys import resolve_bundle, validate_profile, create_processor, CalibrationSelection
+
+profile = resolve_bundle("sensors/mini")                      # or any bundle folder
+profile = resolve_bundle("sensors/mini", calibration_selection=CalibrationSelection.NONE)
+session = validate_profile(profile)                           # re-check against the filesystem now
+rebuilt = create_processor(profile, source=0)                 # live camera
+rebuilt = create_processor(profile, source="clip.mp4")        # recorded frames, same semantics
+```
+
+`resolve_bundle(bundle_path, *, calibration_selection=None) -> ResolvedSensorProfile`. The profile
+is plain data - no Qt, no application preferences, no device handle - so the same object drives a
+camera and a recorded clip. `_set_calibration` on a device affects only its own calibration
+selection.
+
+`validate_profile(profile) -> ValidationReport` re-reads the filesystem. It reports
+`fingerprint.stale` when a computational asset changed since the profile was resolved.
+
+`create_processor(profile, *, sensor=None, source=None, include=..., contact=...)` returns a
+`ProcessingSession` with `start`/`wait`/`latest`/`reset`/`pause`/`resume`/`stop`. It raises
+`ProcessorCreationError` naming what is missing rather than returning a session that does nothing.
+
+### Backends
+
+| Identifier | Requires | Produces |
+|---|---|---|
+| `compound_eye` | `camera`, `stitcher`, `tracker` config | stitched frame, flow, force |
+| `single_camera` | `camera` config | frames only - no deformation field, so no force |
+| `uv_unroll` | `camera` config, the mapped computational asset | unrolled frame, flow, force |
+
+`known_backends()` and `spec_for(...)` are the registry. `uv_unroll` is not yet materialised from a
+profile alone, because it needs geometry, a UV domain, a tactile processor and a capture object
+assembled together - that is `orisys.finger.FingerRuntime.open`'s shape. `create_processor` says so
+instead of pretending.
+
+## Capabilities
+
+Each capability is decided by the facts it depends on, not by the presence of a file:
+
+| Capability | Unavailable when |
+|---|---|
+| Video processing | the configuration cannot be loaded |
+| Optical flow | no `tracker` block |
+| Raw force | the backend produces no deformation field |
+| Calibrated force | per axis: the calibration has no curve for it |
+| Deformation | the backend computes no deformation field |
+| 3D visualization | no scene asset is declared, or the declared one is missing |
+
+Deformation is relative unless a calibration says otherwise; it is reported with its meaning rather
+than as a bare "available". `ValidationReport.state` is `ok`, `degraded` (usable, something
+optional is missing) or `failed`.
+
+## Calibration
+
+`CalibrationSelection` is `BUNDLE_DEFAULT` (the default), `NONE`, or an explicit path.
+
+- `NONE` is a choice, not a failure: raw force stays available and the calibration fingerprint
+  records `none`.
+- An explicitly selected calibration that is missing or unparseable is an **error**. It is never
+  replaced by another file.
+- Applicability is `declared` when the document carries `meta.sensor_type`, `unknown` when legacy
+  metadata is absent, or `none`. `unknown` means it applies but its fit is unverified - which is
+  what the shipped `box` calibration reports.
+
+| Read | Meaning |
+|---|---|
+| `FrameSnapshot.normal_force_raw` / `shear_x_raw` / `shear_y_raw` | device counts, pre-calibration |
+| `FrameSnapshot.normal_force` / `shear_x` / `shear_y` | newtons when a curve applies, counts otherwise |
+| `FrameSnapshot.depth`, `centroid`, `contour`, `vnormal` | relative quantities, not newtons |
+
+`Sensor.force_triplets()` and `_force_raw` remain the raw and unfiltered view.
+
+## Fingerprints
+
+`processing_fingerprint` hashes the effective backend, the paired data, and each computational asset's role name with
+its content hash. It excludes the bundle location, `display_name`, and every visualization asset: a
+relocated or cosmetically renamed bundle keeps its fingerprint, and a missing scene never changes it.
+It includes the config minus `name` and `version`.
+
+`calibration_fingerprint` hashes the selected document's content, or the constant `none`.
+
+`profile.inventory()` returns the reproducible snapshot: bundle-relative paths, asset hashes and
+both fingerprints. Compare an inventory, not a path, to decide whether two installations would
+compute the same numbers.
+
+## Resetting the reference
+
+Both backends process externally supplied frames through the same profile. After a gap in the
+input - a pause, a seek, a scene change - call `session.reset()`. It is queued to the stage that
+owns the tracker, so the reference frame is rebased on the frame about to be computed rather than
+on a buffer the pipeline is still reading.

examples/README.md

@@ -1,75 +1,90 @@
 # Examples
 
-Runnable demos live at the `examples/` root. Shared helpers stay in
+Runnable demos live at the `examples/` root. Shared helpers stay in `pipeline/`, `viz/`, and
-`pipeline/`, `viz/`, and `gui/`. Run commands from the repository root.
+`gui/`. Run commands from the repository root.
 
-## Product Entry Points
+## Start here
+
+Both recommended examples create one object, then read a frame at a time. Everything else -
+camera reading, stitching, preprocessing, the optical-flow and force stages - happens inside
+`StreamPipeline`, and each frame arrives as one `FrameSnapshot`. There is no stage sequence to
+remember and no tuple to unpack, and no backend setting to tune.
 
 | Product | Entry | Default config |
 |---------|-------|----------------|
 | ORY-BOX | `basic_pipeline.py` | `box` |
-| ORY-MINI | `mini_pipeline.py` | `mini` |
+| ORY-MINI | `basic_pipeline.py -c mini` | `mini` |
-| ORY-FINGER (2D) | `finger_pipeline.py` | `finger` |
+| ORY-FINGER | `finger_pipeline.py` | `finger` |
-| ORY-FINGER (3D Qt) | `finger_pipeline_3dview.py` | `finger` |
 
-`finger` is the public ORY-FINGER config stem. `dd02` remains a compatibility alias for `dd02-ov`.
+```python
+# ORY-BOX / ORY-MINI
+sensor = orisys.Sensor(0, config_name="box")
+with orisys.StreamPipeline(sensor, sensor.get_img, contact=True) as pipe:
+    while (snap := pipe.wait()) is not None:
+        print(snap.normal_force, snap.shear_x, snap.shear_y)
 
-## Typical Usage
+# ORY-FINGER - the runtime owns camera, Blender export, unroll map and valid mask
-
+runtime = FingerRuntime.open(config="finger", video=0)
-ORY-BOX:
+with runtime.pipeline(contact=True) as pipe:
-
+    while (snap := pipe.wait()) is not None:
-```bash
+        print(snap.normal_force, snap.shear_x, snap.shear_y)
-python examples/basic_pipeline.py -v 0 -c box
 ```
 
-ORY-MINI:
+`contact=True` runs contact analysis; `include=(...)` chooses which arrays each snapshot carries
-
+(`image`, `flow`, `vnormal`, `vshear`, `depth`, `centroid`, `contour`). Arrays you do not include
-```bash
+are `None`, so you pay only for what you use. `pipe.reset()` resets the tracker safely from your
-python examples/mini_pipeline.py -v 0 -c mini
+loop; `snap.image_size_raw` reports the capture resolution before UV unroll or resize.
-```
+
-
+### Typical usage
-ORY-FINGER 2D:
 
 ```bash
+python examples/basic_pipeline.py -v 0 -c box            # first camera, ORY-BOX
+python examples/basic_pipeline.py -v 0 -c mini           # ORY-MINI
+python examples/basic_pipeline.py -v recording.mp4 -c box
+python examples/basic_pipeline.py --no-show              # headless: print only
 python examples/finger_pipeline.py --camera_id 0 --config finger
+python examples/finger_pipeline.py --video data/dd02-0703/1.mp4
 ```
 
-ORY-FINGER video file:
+Keys in both: `q` quits, `r` resets the tracker.
 
-```bash
+## The manual form, for when you need the stages
-python examples/finger_pipeline.py --video ./data/sample.mp4 --config finger
+
+`examples/archive/` holds the previous versions of these two examples. They call the stages by
+hand:
+
+```python
+sensor.get_img()
+sensor.compute_deformation()
+sensor.compute_contact()
+fps, flow, vnormal, img, ... = sensor.read_info( ... )   # positional, 13 elements
 ```
 
-ORY-FINGER 3D Qt dashboard:
+That path is still supported and still correct - it is the right choice if you are implementing
+your own scheduling. It is no longer the recommended starting point, and the archived files carry
+a header explaining the difference. They are kept so that code copied from them keeps working.
 
-```bash
+## Other root examples
-pip install -e ".[gui]"
-python examples/finger_pipeline_3dview.py --video 0 --config finger
-```
 
-## Other Root Examples
+- `multi_stream.py` - several sensors at once, using `StreamPipeline` with `StreamRecorder`
-
+- `two_sensor_pipeline.py` - two-sensor multiprocessing demo, manual staging
-- `plot_data.py` — single-sensor OpenCV views plus PyQtGraph force charts
+- `plot_data.py` - single-sensor OpenCV views plus PyQtGraph force charts
-- `two_sensor_pipeline.py` — two-sensor multiprocessing demo
+- `finger_pipeline_3dview.py` - the Qt/open3d dashboard; see the note below
 
 ## Requirements
 
-- SDK installed from the repository root, for example `pip install -e .`
+- SDK installed from the repository root: `pip install -e .`
-- camera index or test video path
+- a camera index or a test video path
-- matching config names under `./config/` (or packaged `orisys/configs/`)
+- matching config names under `./config/` or the packaged `orisys/configs/`
 
-Qt / PyQtGraph examples additionally require:
+Qt / PyQtGraph examples additionally need `pip install -e ".[gui]"`.
 
-```bash
+## The GUI lives here for now
-pip install -e ".[gui]"
-```
 
-## Notes
+`examples/gui/` - the 2D viewer, the 3D dashboard and their widgets - is a full Qt + open3d
+application rather than an example, and its proper home is the **orisys-studio** application.
+That move is **planned but not started**; `finger_pipeline_3dview.py` and `examples/gui/` work
+exactly as before. The plan, including the coupling that makes it non-trivial, is in
+`docs/plan-gui-extraction.md`.
 
-- `finger_pipeline_3dview.py` is the main interactive finger demo.
+The practical guidance is only that new SDK work should not build on `examples/gui/`.
-  It uses `gui/app_paths.py` so the same entry works in editable and packaged runs.
-- Dashboard controls: click **启动** to start acquisition; use **Record CSV / Stop CSV**
-  and the CSV save-directory browser to log contact/force data; `Q` quits, `R` resets,
-  `S` starts video recording, `E` stops video recording, and `Esc` toggles fullscreen.
-- `finger_pipeline.py` is the leanest finger example if you want to
-  validate UV unroll + force/contact processing without the full dashboard.

examples/_display.py

@@ -0,0 +1,52 @@
+"""Display helpers shared by the pipeline examples.
+
+These exist so an example can show a result without hand-rolling OpenCV arithmetic. Everything
+here is presentation only: the SDK never draws, and nothing in ``orisys`` imports this module.
+
+The examples import it through a sibling import, which works when the examples are run from the
+examples directory or with ``examples/`` on ``sys.path``.
+"""
+
+from __future__ import annotations
+
+import cv2
+import numpy as np
+
+
+def draw_flow_arrows(image, flow, *, threshold=0.4, grid_spacing=10, arrow_scale=1.0,
+                     valid_mask=None):
+    """Return the deformation field drawn over ``image``."""
+    import orisys
+
+    return orisys.util.draw_arrows(
+        image,
+        flow,
+        threshold=threshold,
+        grid_spacing=grid_spacing,
+        arrow_scale=arrow_scale,
+        valid_mask=valid_mask,
+    )
+
+
+def depth_to_color(depth_map):
+    """Normalise a depth/divergence map to 8-bit and apply a colormap for the ``depth`` window.
+
+    Returns ``None`` for an empty map, which is what ``read_info`` gives when the field was never
+    generated, so a caller can skip the window instead of showing saturated noise.
+    """
+    if depth_map is None or not isinstance(depth_map, np.ndarray) or depth_map.size == 0:
+        return None
+    lo = float(depth_map.min())
+    hi = float(depth_map.max())
+    if hi <= lo:
+        scaled = np.zeros_like(depth_map, dtype=np.uint8)
+    else:
+        scaled = ((depth_map - lo) / (hi - lo) * 255.0).astype(np.uint8)
+    return cv2.applyColorMap(scaled, cv2.COLORMAP_JET)
+
+
+def draw_contact(image, contour, centroid):
+    """Return ``image`` with the contact region and centroid drawn on it."""
+    import orisys
+
+    return orisys.util.draw_contact(image, contour, centroid)

examples/archive/basic_pipeline_manual.py

@@ -0,0 +1,159 @@
+"""
+ORY-BOX：单传感器基础流程（**已归档的手写版本**）
+
+本示例演示 Orisys SDK 的标准处理流程：
+1. 初始化传感器（摄像头或视频文件）
+2. 获取图像并计算形变
+3. 按需计算接触区域
+4. 读取并可视化结果
+
+---
+
+**已归档。请改用 `examples/basic_pipeline.py`。**
+
+保留本文件是为了兼容已经复制过这段代码的用户。它逐级调用
+`get_img()` → `compute_deformation()` → `compute_contact()` → `read_info()`，
+需要自己记住调用顺序，并按下标解包一个 13 元组。
+
+推荐写法是交给 `orisys.StreamPipeline`：读取、预处理、力/接触解算在内部并发完成，每一帧以
+单个 `FrameSnapshot` 交回：
+
+    with orisys.StreamPipeline(sensor, sensor.get_img, contact=True) as pipe:
+        snap = pipe.wait()          # 一个对象，一次调用
+        print(snap.normal_force, snap.shear_x, snap.shear_y)
+
+本文件里的 `sensor.reset()` 在 pipeline 中对应 `pipe.reset()`：它会排队到流程线程执行，
+不会与光流阶段争用同一帧缓冲。
+
+**注意**：本文件用中文 `print`，在 cp1252 控制台（未设 UTF-8 的 Windows 终端）会抛
+`UnicodeEncodeError`。这是归档前就存在的行为，没有在这里修正——新示例的输出去掉了非 ASCII
+字符，因此在任何终端都能跑。
+
+"""
+import os
+
+os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0" 
+import argparse
+
+import cv2
+import numpy as np
+
+import orisys
+
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--video","-v", type=str, default="0", help="视频源：摄像头编号或视频文件路径")
+    parser.add_argument("--config","-c", type=str, default="box", help="配置文件名称或路径")
+    parser.add_argument("--verbose","-verbose", type=bool, default=True, help="是否输出详细日志")
+    parser.add_argument("--cal_path","-cal", type=str, default=None, help="标定文件路径")
+    args = parser.parse_args()
+
+    # 步骤 1：创建传感器对象（必需）
+    # config_name 可以是内置配置名称，也可以是自定义配置文件路径
+    # cal_path 为标定文件路径；每台设备建议使用独立的标定文件
+
+    # 输入既可以是摄像头编号，也可以是视频文件路径
+    if args.video.isdigit():
+        sensor = orisys.Sensor(int(args.video), config_name=args.config, verbose=args.verbose, cal_path=args.cal_path)
+    else:
+        sensor = orisys.Sensor(args.video, config_name=args.config, verbose=args.verbose, cal_path=args.cal_path)
+
+    print("\n按键说明：'q' 退出程序，'r' 重置追踪器。")
+
+    while True:
+        # 步骤 2：数据处理
+        # 步骤 2.1：获取并拼接图像（必需）
+        sensor.get_img() 
+        # 步骤 2.2：计算形变场（必需）；返回值表示当前帧是否检测到接触/运动
+        is_contact_now = sensor.compute_deformation()
+        # 步骤 2.3：仅在当前帧检测到接触/运动时计算接触区域
+        # if is_contact_now:
+        sensor.compute_contact()
+
+    
+        # 步骤 2.4：读取结果（FNORMAL/FSHEAR* 在有 sensors/box/force_calibration.json 时为标定后牛顿力；
+        # *_RAW 始终为原始积分量）
+        (
+            fps,
+            flow,
+            vnormal,
+            img,
+            contour,
+            centroid,
+            depth_map,
+            fnormal,
+            fshearx,
+            fsheary,
+            fnormal_raw,
+            fshearx_raw,
+            fsheary_raw,
+        ) = sensor.read_info(
+            sensor.info.FPS,
+            sensor.info.VRAW,
+            sensor.info.VNORMAL,
+            sensor.info.IMG,
+            sensor.info.CONTOUR,
+            sensor.info.CENTROID,
+            sensor.info.DEPTH,
+            sensor.info.FNORMAL,
+            sensor.info.FSHEARX,
+            sensor.info.FSHEARY,
+            sensor.info.FNORMAL_RAW,
+            sensor.info.FSHEARX_RAW,
+            sensor.info.FSHEARY_RAW,
+        )
+        
+        # 步骤 3：可视化显示
+        # 步骤 3.1：显示形变矢量场
+        arrows = orisys.util.draw_arrows(
+            img,
+            flow,
+            threshold=2,
+            grid_spacing=20,
+            arrow_scale=1.0
+        )
+        cv2.imshow("arrow", arrows)
+        
+        # 步骤 3.2：显示接触区域和质心
+        image_with_foe = orisys.util.draw_contact(img, contour, centroid)
+        cv2.imshow("contact", image_with_foe)
+
+        # 步骤 3.3：显示深度图
+        # 将深度值归一化到 0-255 范围
+        div_abs = depth_map
+        if div_abs.max() > div_abs.min():
+            div_normalized = ((div_abs - div_abs.min()) / (div_abs.max() - div_abs.min()) * 255).astype(np.uint8)
+        else:
+            div_normalized = np.zeros_like(div_abs, dtype=np.uint8)
+        
+        # 应用伪彩色映射
+        cv2.imshow("depth", cv2.applyColorMap(div_normalized, cv2.COLORMAP_JET))
+
+        # 步骤 3.4：打印关键结果（标定力 + 原始力）
+        print(
+            f"FPS={fps:.2f}, "
+            f"法向力={fnormal:.4f} N (raw={fnormal_raw:.4f}), "
+            f"切向力X={fshearx:.4f} N (raw={fshearx_raw:.4f}), "
+            f"切向力Y={fsheary:.4f} N (raw={fsheary_raw:.4f}), "
+            f"深度图尺寸={depth_map.shape}, 原始分辨率={sensor.img_size_raw}"
+        )
+            
+        # 步骤 3.5：键盘控制
+        key = cv2.waitKey(1) & 0xFF
+        if key == ord("q"):
+            print("\n正在退出示例程序...")
+            break
+        if key == ord("r"):
+            # 当光流追踪出现漂移时，可手动重置追踪器
+            sensor.reset()
+            print("追踪器已重置。")
+        
+    # =========================================================================
+    # 4. 释放资源
+    # =========================================================================
+    sensor.disconnect()  # 释放视频源及相关资源
+
+
+if __name__ == '__main__':
+    main()

examples/archive/finger_pipeline_manual.py

@@ -0,0 +1,134 @@
+#!/usr/bin/env python3
+"""
+ORY-FINGER: Minimum UV-unroll finger tactile pipeline. **ARCHIVED — manual version.**
+
+Offline: load Blender export -> build_or_load_domain -> unroll_map_uv.npz
+Runtime:  camera frame -> FrameUnwarper -> TactileProcessor -> forces/contact
+
+Recommended entry:
+  python examples/finger_pipeline.py --camera_id 0 --config finger
+
+Current product config: ``finger`` (``dd02`` still resolves to ``dd02-ov``).
+
+---
+
+**ARCHIVED. Use ``examples/finger_pipeline.py`` instead.**
+
+Kept so code copied from this file keeps working. It hand-sequences ``grab_and_process()`` →
+``compute_deformation()`` → ``compute_contact()`` → ``read_info()`` and unpacks a ten-element
+tuple by position.
+
+The recommended form lets :class:`orisys.StreamPipeline` run those stages concurrently and hand
+back one immutable snapshot per frame:
+
+    with runtime.pipeline(contact=True, include=("image", "depth")) as pipe:
+        snap = pipe.wait()
+        print(snap.normal_force, snap.shear_x, snap.shear_y)
+
+``tactile.reset()`` becomes ``pipe.reset()``, which is queued onto the flow-stage thread instead of
+racing it.
+
+This archived version also has a defect: ``--show`` is declared ``store_true`` with
+``default=True``, so it can never be turned off. The replacement uses ``--no-show``.
+"""
+
+import argparse
+import os
+import sys
+
+os.environ.setdefault("OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS", "0")
+
+import cv2
+
+import orisys
+from orisys.finger import FingerRuntime
+
+
+def main():
+    parser = argparse.ArgumentParser(description="Minimum UV-unroll finger tactile pipeline")
+    parser.add_argument("--camera_id", type=int, default=0)
+    parser.add_argument("--video","-v", help="Video file path (overrides camera)")
+    parser.add_argument("--config", "-c", default="finger", help="Orisys SDK config name or path")
+    parser.add_argument("--show", action="store_true", default=True, help="Show unrolled image window")
+    parser.add_argument("--verbose", action="store_true", help="SDK verbose logs")
+    args = parser.parse_args()
+
+    try:
+        video = args.camera_id
+        if args.video:
+            video = args.video
+        runtime = FingerRuntime.open(
+            config=args.config,
+            video=video,
+            verbose=args.verbose,
+        )
+    except RuntimeError as exc:
+        print(str(exc), file=sys.stderr)
+        sys.exit(1)
+
+    if args.verbose:
+        geometry = runtime.geometry
+        print(
+            f"UV geometry: native={geometry.native_width}x{geometry.native_height}, "
+            f"source={geometry.source_width}x{geometry.source_height} "
+            f"output={geometry.out_width}x{geometry.out_height} "
+        )
+
+    runtime.warmup(color=False)
+    tactile = runtime.tactile
+
+    print("Press 'q' to quit, 'r' to reset tracker.")
+    try:
+        while True:
+            ok, unrolled = runtime.grab_and_process(color=False)
+            if not ok:
+                break
+
+            tactile.compute_deformation()
+            tactile.compute_contact()
+
+            fps, flow, vnormal, img, contour, centroid, depth_map, fnormal, fshearx, fsheary = tactile.read_info(
+                tactile.info.FPS,
+                tactile.info.VRAW,
+                tactile.info.VNORMAL,
+                tactile.info.IMG,
+                tactile.info.CONTOUR,
+                tactile.info.CENTROID,
+                tactile.info.DEPTH,
+                tactile.info.FNORMAL,
+                tactile.info.FSHEARX,
+                tactile.info.FSHEARY,
+            )
+
+            status = (
+                f"FPS={fps:.2f} normal={fnormal:.2f} shear=({fshearx:.2f}, {fsheary:.2f}) "
+                f"mask={tactile.mask_stats['coverage']:.2f}"
+            )
+
+            if args.show:
+                arrows = orisys.util.draw_arrows(
+                    unrolled,
+                    flow,
+                    threshold=0.4,
+                    grid_spacing=10,
+                    arrow_scale=1.0,
+                    valid_mask=tactile.valid_mask,
+                )
+                cv2.imshow("UV Unrolled", arrows)
+
+            print(status, end="\r")
+
+            key = cv2.waitKey(1) & 0xFF
+            if key == ord("q"):
+                print("\nExiting.")
+                break
+            if key == ord("r"):
+                tactile.reset()
+                print("\nTracker reset.")
+    finally:
+        runtime.close()
+        cv2.destroyAllWindows()
+
+
+if __name__ == "__main__":
+    main()

examples/basic_pipeline.py

@@ -1,115 +1,142 @@
-"""
+"""ORY-BOX / ORY-MINI: read a sensor and get tactile information, in one loop.
-ORY-BOX：单传感器基础流程
 
-本示例演示 Orisys SDK 的标准处理流程：
+The whole recommended flow:
-1. 初始化传感器（摄像头或视频文件）
-2. 获取图像并计算形变
-3. 按需计算接触区域
-4. 读取并可视化结果
 
-SDK version: 0.4.3
+    sensor  ->  StreamPipeline  ->  FrameSnapshot per frame
+
+One object reads the camera, pre-processes (stitch, grey, resize), computes the deformation field
+and the forces, and hands back one immutable snapshot per frame. There is no stage sequence to
+remember and no tuple to unpack by position.
+
+What you do NOT need to touch: the compute backend, the capture queue, the stitch mode, the
+low-pass filter, or the order in which the stages run. Those are the SDK's concern and
+``StreamPipeline`` sequences them on three concurrent threads. If you later need that control, the
+manual form is preserved in ``examples/archive/basic_pipeline_manual.py``.
+
+Run:
+
+    python examples/basic_pipeline.py                    # first camera, box config
+    python examples/basic_pipeline.py -v 0 -c mini
+    python examples/basic_pipeline.py -v recording.mp4 -c box
+    python examples/basic_pipeline.py --no-show           # headless: print only
+    python examples/basic_pipeline.py -v 0 -c box --calibration-dir data/calibrations --device-id BOX-001
+
+Keys: 'q' quit, 'r' reset the tracker.
 """
-import os
+
-os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0" 
-import cv2
-import orisys
-import numpy as np
 import argparse
+import os
+import sys
 
-def main():
+# Set before OpenCV is imported: stops the capture backend applying its own transform on top of
-    parser = argparse.ArgumentParser()
+# the SDK's preprocessing. This is a capture detail, not a tuning knob you need to own - it is
-    parser.add_argument("--video","-v", type=str, default="0", help="视频源：摄像头编号或视频文件路径")
+# here so the file can be copied as a whole.
-    parser.add_argument("--config","-c", type=str, default="box", help="配置文件名称或路径")
+os.environ.setdefault("OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS", "0")
-    parser.add_argument("--verbose","-verbose", type=bool, default=True, help="是否输出详细日志")
+
+import cv2
+
+import orisys
+from _display import depth_to_color, draw_contact, draw_flow_arrows
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser(description="Read a sensor and print its tactile information.")
+    parser.add_argument("-v", "--video", default="0",
+                        help="camera index or video file path (default: 0)")
+    parser.add_argument("-c", "--config", default="box",
+                        help="product config: box, mini, finger, or a config path")
+    calibration = parser.add_mutually_exclusive_group()
+    calibration.add_argument("--cal", default=None,
+                             help="force calibration file; omit to use the sensor bundle's own")
+    calibration.add_argument("--calibration-dir", default=None,
+                             help="root containing <product>/<device-id>.json")
+    parser.add_argument("--device-id", default=None,
+                        help="physical sensor ID; required with --calibration-dir")
+    parser.add_argument("--no-show", dest="show", action="store_false",
+                        help="do not open the display windows")
+    parser.add_argument("-verbose", action="store_true", help="SDK verbose logs")
     args = parser.parse_args()
+    if args.calibration_dir is not None and args.device_id is None:
+        parser.error("--calibration-dir requires --device-id")
+    if args.device_id is not None and args.calibration_dir is None and args.cal is None:
+        parser.error("--device-id requires --calibration-dir or --cal")
 
-    # 步骤 1：创建传感器对象（必需）
+    # ------------------------------------------------------------------ create the object
-    # config_name 可以是内置配置名称，也可以是自定义配置文件路径
+    # That is the whole setup. The source may be a camera index or a video path.
-    # cal_path 为标定文件路径；每台设备建议使用独立的标定文件
+    source = int(args.video) if args.video.isdigit() else args.video
-
+    sensor = orisys.Sensor(
-    # 输入既可以是摄像头编号，也可以是视频文件路径
+        source, config_name=args.config, cal_path=args.cal,
-    try:
+        calibration_dir=args.calibration_dir, device_id=args.device_id,
-        input = int(args.video)
+        verbose=args.verbose,
-        is_camera = True
-        sensor = orisys.Sensor(input, config_name=args.config, verbose=args.verbose)
-    except:
-        is_camera = False
-        sensor = orisys.Sensor(args.video, config_name=args.config, verbose=args.verbose)
-
-    print("\n按键说明：'q' 退出程序，'r' 重置追踪器。")
-
-    while True:
-        # 步骤 2：数据处理
-        # 步骤 2.1：获取并拼接图像（必需）
-        sensor.get_img() 
-        # 步骤 2.2：计算形变场（必需）；返回值表示当前帧是否检测到接触/运动
-        is_contact_now = sensor.compute_deformation()
-        # 步骤 2.3：仅在当前帧检测到接触/运动时计算接触区域
-        # if is_contact_now:
-        sensor.compute_contact()
-
-    
-        # 步骤 2.4：读取结果
-        fps, flow, vnormal, img, contour, centroid, depth_map, fnormal, fshearx, fsheary = sensor.read_info(
-            sensor.info.FPS,
-            sensor.info.VRAW,
-            sensor.info.VNORMAL,
-            sensor.info.IMG,
-            sensor.info.CONTOUR,
-            sensor.info.CENTROID,
-            sensor.info.DEPTH,
-            sensor.info.FNORMAL,
-            sensor.info.FSHEARX,
-            sensor.info.FSHEARY
     )
-        
+    fn_unit, fx_unit, fy_unit = sensor.force_units
-        # 步骤 3：可视化显示
+    selected = sensor.calibration.source_path if sensor.calibration else None
-        # 步骤 3.1：显示形变矢量场
+    print(f"Force calibration: {selected or 'none'}")
-        arrows = orisys.util.draw_arrows(
+    print(f"Force units: FN={fn_unit}, FX={fx_unit}, FY={fy_unit}")
-            img,
+    if sensor.device_calibration_missing:
-            flow,
-            threshold=2,
-            grid_spacing=20,
-            arrow_scale=1.0
-        )
-        cv2.imshow("arrow", arrows)
-        
-        # 步骤 3.2：显示接触区域和质心
-        image_with_foe = orisys.util.draw_contact(img, contour, centroid)
-        cv2.imshow("contact", image_with_foe)
-
-        # 步骤 3.3：显示深度图
-        # 将深度值归一化到 0-255 范围
-        div_abs = depth_map
-        if div_abs.max() > div_abs.min():
-            div_normalized = ((div_abs - div_abs.min()) / (div_abs.max() - div_abs.min()) * 255).astype(np.uint8)
-        else:
-            div_normalized = np.zeros_like(div_abs, dtype=np.uint8)
-        
-        # 应用伪彩色映射
-        cv2.imshow("depth", cv2.applyColorMap(div_normalized, cv2.COLORMAP_JET))
-
-        # 步骤 3.4：打印关键结果
         print(
-            f"FPS={fps:.2f}, 法向力={fnormal:.4f}, 切向力X={fshearx:.4f}, "
+            f"Warning: no calibration for {args.device_id!r} under "
-            f"切向力Y={fsheary:.4f}, 深度图尺寸={depth_map.shape}, 原始分辨率={sensor.img_size_raw}"
+            f"{args.calibration_dir}; force is raw."
         )
 
-        # 步骤 3.5：键盘控制
+    # contact=True runs contact analysis. include=... selects which arrays each snapshot carries;
-        key = cv2.waitKey(1) & 0xFF
+    # arrays that are not included are None, so you pay only for what you use.
+    include = ("image", "flow", "depth", "centroid", "contour") if args.show else ("image",)
+
+    if args.show:
+        print("Keys: 'q' quit, 'r' reset tracker.")
+
+    try:
+        with orisys.StreamPipeline(sensor, sensor.get_img, contact=True,
+                                   include=include) as pipe:
+            while True:
+                # ------------------------------------------------------ read one frame
+                # Blocks until a frame newer than the last one is ready. Everything in the
+                # snapshot belongs to the same frame.
+                snap = pipe.wait()
+                if snap is None:
+                    print("\nInput ended.")
+                    break
+
+                # ------------------------------------------------------ use the results
+                # The *_raw pair is always the unfiltered integrator output.
+                touching = "yes" if snap.centroid is not None else "no"
+                fn_unit, fx_unit, fy_unit = sensor.force_units
+                print(
+                    f"FPS={snap.fps:5.1f}  "
+                    f"normal={snap.normal_force:8.4f} {fn_unit} (raw {snap.normal_force_raw:10.2f})  "
+                    f"shear=({snap.shear_x:7.4f} {fx_unit}, {snap.shear_y:7.4f} {fy_unit})  "
+                    f"contact={touching}  age={snap.age_ms:4.1f} ms",
+                    end="\r",
+                )
+
+                if args.show and snap.image is not None:
+                    if snap.flow is not None:
+                        cv2.imshow("deformation", draw_flow_arrows(
+                            snap.image, snap.flow, threshold=2, grid_spacing=20))
+                    if snap.contour is not None and snap.centroid is not None:
+                        cv2.imshow("contact", draw_contact(
+                            snap.image, snap.contour, snap.centroid))
+                    colour = depth_to_color(snap.depth)
+                    if colour is not None:
+                        cv2.imshow("depth", colour)
+
+                key = cv2.waitKey(1) & 0xFF if args.show else -1
                 if key == ord("q"):
-            print("\n正在退出示例程序...")
+                    print("\nExiting.")
                     break
                 if key == ord("r"):
-            # 当光流追踪出现漂移时，可手动重置追踪器
+                    # Queued onto the flow stage, so this is safe from the consumer loop.
-            sensor.reset()
+                    pipe.reset()
-            print("追踪器已重置。")
+                    print("\nTracker reset.")
-        
+    except KeyboardInterrupt:
-    # =========================================================================
+        print("\nInterrupted.")
-    # 4. 释放资源
+    finally:
-    # =========================================================================
+        sensor.disconnect()
-    sensor.disconnect()  # 释放视频源及相关资源
+        if args.show:
+            cv2.destroyAllWindows()
+    return 0
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
-    main()
+    sys.exit(main())

examples/filters/README.md

@@ -0,0 +1,105 @@
+# 滤波预设：可直接复制的 `filters` 段
+
+`json.load` 不支持注释，所以这个目录就是"在配置里写说明"的替代品：**把下面任意一段整块替换**
+到 `sensors/<name>/sensor.json` 的 `"filters"` 段即可。原有的 `filters` 段请整段替换，
+不要只改其中一行（避免出现 `preset` 与数值混写的歧义——显式键优先于预设值，混写容易看错）。
+
+配置里**没写**的滤波键等于"关"：整段删掉就是什么都不滤，和 `off` 那段等价。
+
+背景、代价与可追溯性约定见 `docs/filters.md`；延迟/噪声实测见
+`D:\orisys_ws\docs\performance\orisys-sdk-perf-plan.md`（原 `_perf/` 已从本仓库移除：幸存脚本与
+片源在 `D:\orisys_ws\docs\performance\perf-measurements\`，该文档保留全部实测数字）。
+
+下面每一段都有一个同目录的机器可读副本 `filters_<预设名>.json`（四个文件），
+`tests/test_filter_presets.py` 会核对它们与 `FILTER_PRESETS` 完全一致 —— 所以改预设时
+这些文件会一起红，不会悄悄过时。
+
+---
+
+## `off` —— 原始读数（默认）
+
+```json
+"filters": {
+  "flow_ema_alpha": 1.0,
+  "force_median_window": 1,
+  "force_lowpass_cutoff_hz": 0.0,
+  "force_lowpass_order": 2,
+  "force_lowpass_sample_rate_hz": "auto"
+}
+```
+
+## `low_latency` —— 只去尖峰（≈1 帧 @30fps）
+
+```json
+"filters": {
+  "flow_ema_alpha": 1.0,
+  "force_median_window": 3,
+  "force_lowpass_cutoff_hz": 0.0,
+  "force_lowpass_order": 2,
+  "force_lowpass_sample_rate_hz": "auto"
+}
+```
+
+## `balanced` —— 建议默认（≈2 帧 @30fps）
+
+```json
+"filters": {
+  "flow_ema_alpha": 0.5,
+  "force_median_window": 3,
+  "force_lowpass_cutoff_hz": 0.0,
+  "force_lowpass_order": 2,
+  "force_lowpass_sample_rate_hz": "auto"
+}
+```
+
+## `low_noise` —— 底噪优先（≈3 帧 @30fps）
+
+```json
+"filters": {
+  "flow_ema_alpha": 0.3,
+  "force_median_window": 3,
+  "force_lowpass_cutoff_hz": 10.0,
+  "force_lowpass_order": 2,
+  "force_lowpass_sample_rate_hz": "auto"
+}
+```
+
+## 用预设名（等价写法，数值由代码展开）
+
+```json
+"filters": { "preset": "balanced" }
+```
+
+`off / low_latency / balanced / low_noise` 四个名字来自
+`src/orisys/sensor.py::FILTER_PRESETS`（单一真值）；想从预设出发只改一个旋钮，就在同一段里写
+那一个键，例如：
+
+```json
+"filters": { "preset": "balanced", "force_lowpass_cutoff_hz": 10.0 }
+```
+
+---
+
+## 复制后请核对"实际生效值"
+
+配置只是**意图**；`Sensor.configure()` 可以在运行时再改，所以审计与记录一律看生效值：
+
+```python
+from orisys.sensor import Sensor
+s = Sensor("external", config_name="mini", verbose=False)   # 无需硬件即可核对
+print(s.filters_state()["preset"], s.filters_state()["measurement"], s.filters_state()["readout"])
+```
+
+`flow_ema_applied` / `force_median_applied` / `force_lowpass_applied` 三个布尔就是
+"这一级到底有没有在滤"的答案；`flow_ema_alpha` 属于 **measurement**（改变测量，
+不同值的两次录制不可比），中值与低通属于 **readout**（只影响读数呈现）。
+
+导出标定/写记录时把同一个状态交给指纹函数，文件里就会留下可核对的设置：
+
+```python
+from orisys.calibration import pipeline_from_sensor_json
+pipeline = pipeline_from_sensor_json("sensors/mini/sensor.json", filters_state=s.filters_state())
+print(pipeline["filters"])   # measurement / readout / preset / source
+```
+
+详见 `docs/filters.md` 第 7 节。

examples/filters/filters_balanced.json

@@ -0,0 +1,7 @@
+{
+  "flow_ema_alpha": 0.5,
+  "force_median_window": 3,
+  "force_lowpass_cutoff_hz": 0.0,
+  "force_lowpass_order": 2,
+  "force_lowpass_sample_rate_hz": "auto"
+}

examples/filters/filters_low_latency.json

@@ -0,0 +1,7 @@
+{
+  "flow_ema_alpha": 1.0,
+  "force_median_window": 3,
+  "force_lowpass_cutoff_hz": 0.0,
+  "force_lowpass_order": 2,
+  "force_lowpass_sample_rate_hz": "auto"
+}

examples/filters/filters_low_noise.json

@@ -0,0 +1,7 @@
+{
+  "flow_ema_alpha": 0.3,
+  "force_median_window": 3,
+  "force_lowpass_cutoff_hz": 10.0,
+  "force_lowpass_order": 2,
+  "force_lowpass_sample_rate_hz": "auto"
+}

examples/filters/filters_off.json

@@ -0,0 +1,7 @@
+{
+  "flow_ema_alpha": 1.0,
+  "force_median_window": 1,
+  "force_lowpass_cutoff_hz": 0.0,
+  "force_lowpass_order": 2,
+  "force_lowpass_sample_rate_hz": "auto"
+}

examples/finger_pipeline.py

@@ -1,111 +1,200 @@
-#!/usr/bin/env python3
+"""ORY-FINGER: UV-unrolled finger tactile pipeline.
-"""
-ORY-FINGER：Minimum UV-unroll finger tactile pipeline.
 
-Offline: load Blender export -> build_or_load_domain -> unroll_map_uv.npz
+Same shape as ``basic_pipeline.py`` - one object, one call per frame - with the finger-specific
-Runtime:  camera frame -> FrameUnwarper -> TactileProcessor -> forces/contact
+capture path underneath:
+
+    FingerRuntime  ->  runtime.pipeline()  ->  FrameSnapshot per frame
+
+``FingerRuntime`` owns the camera, the Blender export (mesh, intrinsics, world-to-camera), the UV
+unroll map and the valid-region mask. ``runtime.pipeline()`` runs those stages concurrently and
+returns one immutable snapshot per frame, so there is nothing to sequence and no tuple to unpack.
+
+Run:
 
-Recommended entry:
     python examples/finger_pipeline.py --camera_id 0 --config finger
+    python examples/finger_pipeline.py --video path/to/clip.mp4
+    python examples/finger_pipeline.py --no-show          # headless: print only
+    python examples/finger_pipeline.py --config path/to/sensor.json --video clip.mp4 --cal-path model.json --zero
 
-Current product config: ``finger`` (``dd02`` still resolves to ``dd02-ov``).
+Geometry comes from the selected bundle's manifest.json assets_dir; its UV cache follows the
+geometry directory. Schema 3 requires matching processing config/geometry and a session zero.
+Use --zero only when the first 30 frames after warmup are known to be unloaded. Without a zero,
+schema 3 reports zero_unavailable. Use --help-advanced for SN selection and diagnostic overrides.
+Keys: 'q' quit, 'r' reset the tracker and clear the schema 3 session reference.
 """
 
 import argparse
+import math
 import os
+import statistics
 import sys
+from pathlib import Path
 
 os.environ.setdefault("OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS", "0")
 
 import cv2
-import orisys
+from _display import draw_flow_arrows
+
+from orisys.configs import resolve_sensor_bundle
 from orisys.finger import FingerRuntime
 
 
-def main():
+def configured_export_dir(config):
-    parser = argparse.ArgumentParser(description="Minimum UV-unroll finger tactile pipeline")
+    """Reuse the selected bundle's geometry, including an explicit sensor.json path."""
-    parser.add_argument("--camera_id", type=int, default=0)
+    path = Path(config)
-    parser.add_argument("--video", help="Video file path (overrides camera)")
+    bundle = resolve_sensor_bundle(str(path.resolve().parent) if path.is_file() else config)
-    parser.add_argument("--config", "-c", default="finger", help="Orisys SDK config name or path")
+    if bundle is None:
-    parser.add_argument("--show", action="store_true", default=True, help="Show unrolled image window")
+        return None
-    parser.add_argument("--verbose", action="store_true", help="SDK verbose logs")
+    if path.is_file() and bundle.sensor_json != path.resolve():
-    args = parser.parse_args()
+        return None
+    if bundle.manifest_json is not None and bundle.assets_dir is None:
+        raise ValueError(f"No usable assets_dir in {bundle.manifest_json}; use --export-dir")
+    return str(bundle.assets_dir) if bundle.assets_dir is not None else None
 
+
+def measure_unloaded_reference(runtime):
+    """Measure before pipeline threads start; --zero asserts these frames are unloaded."""
+    tactile = runtime.tactile
+    model = tactile.raw_sensor.calibration
+    if getattr(model, "schema_version", None) != 3:
+        raise ValueError("--zero requires a loaded schema 3 calibration")
+    info = tactile.info
+    axes = [(axis, key) for axis, key in
+            (("fn", info.FNORMAL_RAW), ("fx", info.FSHEARX_RAW), ("fy", info.FSHEARY_RAW))
+            if axis in model.channels]
+    samples = {axis: [] for axis, _ in axes}
+    print("Measuring session zero from 30 unloaded frames...")
+    for _ in range(30):
+        ok, _ = runtime.grab_and_process(color=False)
+        if not ok:
+            raise ValueError("Input ended before 30 unloaded frames; session zero was not set")
+        tactile.compute_deformation()
+        values = tactile.read_info(*(key for _, key in axes))
+        if not all(math.isfinite(value) for value in values):
+            raise ValueError("Non-finite unloaded reading; session zero was not set")
+        for (axis, _), value in zip(axes, values):
+            samples[axis].append(value)
+    runtime.set_calibration_reference(
+        {axis: statistics.median(values) for axis, values in samples.items()},
+        reference_id="startup-unloaded-reference")
+
+
+def main() -> int:
+    advanced = "--help-advanced" in sys.argv
+    parser = argparse.ArgumentParser(description="UV-unrolled finger tactile pipeline",
+                                     epilog="Use --help-advanced for SN selection and diagnostic overrides.")
+    parser.add_argument("--help-advanced", action="help", help=argparse.SUPPRESS)
+    def advanced_help(message):
+        return message if advanced else argparse.SUPPRESS
+    parser.add_argument("--camera_id", type=int, default=0, help="camera index (default 0)")
+    parser.add_argument("-v", "--video", help="video file path; overrides --camera_id")
+    parser.add_argument("-c", "--config", default="finger",
+                        help="product config name or path (default: finger)")
+    calibration = parser.add_mutually_exclusive_group()
+    calibration.add_argument("--cal-path", "--cal_path", help="explicit calibration JSON (schema 1/2/3)")
+    calibration.add_argument("--calibration-dir", "--calibration_dir",
+                             help=advanced_help("select <directory>/<sensor_type>/<device_id>.json"))
+    parser.add_argument("--device-id", "--device_id", help=advanced_help("actual device SN to validate"))
+    zero = parser.add_mutually_exclusive_group()
+    zero.add_argument("--zero", action="store_true",
+                      help="measure session zero; first 30 frames after warmup MUST be unloaded")
+    zero.add_argument("--zero-fn-raw", type=float,
+                      help=advanced_help("measured unloaded FN raw for this session (schema 3 only)"))
+    parser.add_argument("--export-dir", help=advanced_help("override bundle geometry export directory"))
+    parser.add_argument("--map-cache", help=advanced_help("override UV map base path; SDK appends scale suffix"))
+    parser.add_argument("--no-show", dest="show", action="store_false",
+                        help="do not open the display window")
+    parser.add_argument("-verbose", action="store_true", help="SDK verbose logs")
+    args = parser.parse_args()
+    if args.device_id and not (args.cal_path or args.calibration_dir):
+        parser.error("--device-id requires --cal-path or --calibration-dir")
+    if args.calibration_dir and not args.device_id:
+        parser.error("--calibration-dir requires --device-id")
+    if args.zero_fn_raw is not None and not math.isfinite(args.zero_fn_raw):
+        parser.error("--zero-fn-raw must be finite")
+
+    source = args.video if args.video else args.camera_id
+
+    # ------------------------------------------------------------------ create the object
+    options = {key: getattr(args, key) for key in
+               ("cal_path", "calibration_dir", "device_id", "export_dir", "map_cache")
+               if getattr(args, key) is not None}
     try:
-        video = args.camera_id
+        if "export_dir" not in options:
-        if args.video:
+            export_dir = configured_export_dir(args.config)
-            video = args.video
+            if export_dir is not None:
-        runtime = FingerRuntime.open(
+                options["export_dir"] = export_dir
-            config=args.config,
+        runtime = FingerRuntime.open(config=args.config, video=source, verbose=args.verbose, **options)
-            video=video,
+    except (RuntimeError, ValueError, OSError) as exc:
-            verbose=args.verbose,
-        )
-    except RuntimeError as exc:
         print(str(exc), file=sys.stderr)
-        sys.exit(1)
+        return 1
 
     if args.verbose:
-        geometry = runtime.geometry
+        g = runtime.geometry
-        print(
+        print(f"UV geometry: native={g.native_width}x{g.native_height} "
-            f"UV geometry: native={geometry.native_width}x{geometry.native_height}, "
+              f"source={g.source_width}x{g.source_height} "
-            f"source={geometry.source_width}x{geometry.source_height} "
+              f"output={g.out_width}x{g.out_height}")
-            f"output={geometry.out_width}x{geometry.out_height} "
-        )
-
-    runtime.warmup(color=False)
-    tactile = runtime.tactile
-
-    print("Press 'q' to quit, 'r' to reset tracker.")
-    try:
-        while True:
-            ok, unrolled = runtime.grab_and_process(color=False)
-            if not ok:
-                break
-
-            tactile.compute_deformation()
-            tactile.compute_contact()
-
-            fps, flow, vnormal, img, contour, centroid, depth_map, fnormal, fshearx, fsheary = tactile.read_info(
-                tactile.info.FPS,
-                tactile.info.VRAW,
-                tactile.info.VNORMAL,
-                tactile.info.IMG,
-                tactile.info.CONTOUR,
-                tactile.info.CENTROID,
-                tactile.info.DEPTH,
-                tactile.info.FNORMAL,
-                tactile.info.FSHEARX,
-                tactile.info.FSHEARY,
-            )
-
-            status = (
-                f"FPS={fps:.2f} normal={fnormal:.2f} shear=({fshearx:.2f}, {fsheary:.2f}) "
-                f"mask={tactile.mask_stats['coverage']:.2f}"
-            )
 
     if args.show:
-                arrows = orisys.util.draw_arrows(
+        print("Keys: 'q' quit, 'r' reset tracker and clear session zero.")
-                    unrolled,
+
-                    flow,
+    include = ("image", "flow") if args.show else ("image",)
-                    threshold=0.4,
+    try:
-                    grid_spacing=10,
+        # Warmup may reset the session; apply a supplied reference afterwards and before threads start.
-                    arrow_scale=1.0,
+        runtime.warmup(color=False)
+        if getattr(runtime.tactile.raw_sensor.calibration, "schema_version", None) == 3 and not args.device_id:
+            print("Calibration file selected; hardware SN has not been independently verified.")
+        if args.zero:
+            measure_unloaded_reference(runtime)
+        if args.zero_fn_raw is not None:
+            model = runtime.tactile.raw_sensor.calibration
+            if getattr(model, "schema_version", None) != 3:
+                raise ValueError("--zero-fn-raw requires a loaded schema 3 calibration")
+            runtime.set_calibration_reference({"fn": args.zero_fn_raw}, reference_id="cli-unloaded-reference")
+        with runtime.pipeline(contact=True, include=include) as pipe:
+            while True:
+                # ------------------------------------------------------ read one frame
+                snap = pipe.wait()
+                if snap is None:
+                    print("\nInput ended.")
+                    break
+
+                # ------------------------------------------------------ use the results
+                coverage = runtime.tactile.mask_stats.get("coverage")
+                coverage_text = f"{coverage:.2f}" if isinstance(coverage, float) else "n/a"
+                fn_unit, fx_unit, fy_unit = snap.force_units or runtime.tactile.force_units
+                status = ",".join(f"{axis}:{value}" for axis, value in (snap.calibration_status or {}).items())
+                print(
+                    f"FPS={snap.fps:5.1f}  "
+                    f"normal={snap.normal_force:8.4f} {fn_unit}  "
+                    f"shear=({snap.shear_x:7.4f} {fx_unit}, {snap.shear_y:7.4f} {fy_unit})  "
+                    f"mask={coverage_text}  age={snap.age_ms:4.1f} ms  calibration={status or 'legacy/raw'}",
+                    end="\r",
                 )
-                cv2.imshow("UV Unrolled", arrows)
 
-            print(status, end="\r")
+                if args.show and snap.image is not None and snap.flow is not None:
+                    cv2.imshow("tactile (UV unrolled)", draw_flow_arrows(
+                        snap.image, snap.flow, threshold=0.4, grid_spacing=10,
+                        valid_mask=runtime.tactile.valid_mask))
 
-            key = cv2.waitKey(1) & 0xFF
+                key = cv2.waitKey(1) & 0xFF if args.show else -1
                 if key == ord("q"):
                     print("\nExiting.")
                     break
                 if key == ord("r"):
-                tactile.reset()
+                    pipe.reset()
-                print("\nTracker reset.")
+                    print("\nTracker reset. Schema 3 session zero cleared; a new unloaded reference is required.")
+    except (RuntimeError, ValueError, OSError) as exc:
+        print(str(exc), file=sys.stderr)
+        return 1
+    except KeyboardInterrupt:
+        print("\nInterrupted.")
     finally:
         runtime.close()
+        if args.show:
             cv2.destroyAllWindows()
+    return 0
 
 
 if __name__ == "__main__":
-    main()
+    sys.exit(main())

examples/gui/__init__.py

@@ -9,9 +9,10 @@ Acquisition adapters (no widgets) live in ``gui.sensors``.
 Shared bootstrap: ``gui.app``, ``gui.app_paths``, ``gui.log_config``, ``gui.widgets``.
 """
 
+from viz.contact_arrow import ContactArrowStyle
+
 from .log_config import LOG_CONFIG, LogConfig
 from .viewer3d import (
-    FingerDashboardWindow,
     LAYOUT,
     LOG_PANEL,
     MESH_CONTACT_ARROW,
@@ -19,33 +20,33 @@ from .viewer3d import (
     PANEL_SETUP,
     TOP_ROW,
     DashboardLayout,
+    FingerDashboardWindow,
     MeshLighting,
     PanelRow,
     PanelSetup,
     PanelSlot,
     run_dashboard,
-    top_row_splitter_sizes,
     top_row_slot_index,
+    top_row_splitter_sizes,
 )
-from viz.contact_arrow import ContactArrowStyle
 
 __all__ = [
-    "DashboardLayout",
-    "FingerDashboardWindow",
     "LAYOUT",
     "LOG_CONFIG",
     "LOG_PANEL",
-    "LogConfig",
     "MESH_CONTACT_ARROW",
     "MESH_LIGHTING",
-    "ContactArrowStyle",
-    "MeshLighting",
     "PANEL_SETUP",
     "TOP_ROW",
+    "ContactArrowStyle",
+    "DashboardLayout",
+    "FingerDashboardWindow",
+    "LogConfig",
+    "MeshLighting",
     "PanelRow",
     "PanelSetup",
     "PanelSlot",
     "run_dashboard",
-    "top_row_splitter_sizes",
     "top_row_slot_index",
+    "top_row_splitter_sizes",
 ]

examples/gui/app_paths.py

@@ -34,8 +34,8 @@ def default_config_path() -> str:
 def require_gui_extras() -> None:
     try:
         import open3d  # noqa: F401
-        from PyQt5 import QtWidgets  # noqa: F401
         import pyqtgraph  # noqa: F401
+        from PyQt5 import QtWidgets  # noqa: F401
     except ImportError as exc:
         raise SystemExit('GUI example requires: pip install "orisys[gui]"') from exc
 

examples/gui/preference.json

@@ -1,12 +1,11 @@
 {
   "video_source": "D:/repo/orisys-sdk/data/dd02-0703/1.mp4",
-  "sensor_bundle_dir": "sensors/finger",
+  "config_path": "finger",
-  "config_path": "sensors/finger/sensor.json",
   "finger_assets_dir": "sensors/finger/assets/30fps-0703",
   "csv_save_dir": "./outputs/csv",
   "show_log": true,
   "show_flow_arrows": false,
-  "arrow_background": "pure_color",
+  "arrow_background": "unrolled",
   "free_rotate": true,
-  "log_display_mode": "hidden"
+  "sensor_bundle_dir": "sensors/finger"
 }

examples/gui/sensors/__init__.py

@@ -1,23 +1,23 @@
 """Sensor acquisition adapters for Qt / multi-sensor viewers (no Qt widgets)."""
 
+from . import roi_geometry
 from .adapter import (
     Dd06RoiAdapter,
     FrameSnapshot,
     OrisysSensorAdapter,
     SensorAdapter,
+    _snapshot_from_sensor,
     calibrate_normal_force,
     create_sensor_adapter,
-    _snapshot_from_sensor,
 )
-from . import roi_geometry
 
 __all__ = [
     "Dd06RoiAdapter",
     "FrameSnapshot",
     "OrisysSensorAdapter",
     "SensorAdapter",
+    "_snapshot_from_sensor",
     "calibrate_normal_force",
     "create_sensor_adapter",
     "roi_geometry",
-    "_snapshot_from_sensor",
 ]

examples/gui/sensors/adapter.py

@@ -5,13 +5,12 @@ from __future__ import annotations
 import time
 from abc import ABC, abstractmethod
 from dataclasses import dataclass
-from pathlib import Path
+from typing import Any
-from typing import Any, Optional
 
 import cv2
 import numpy as np
+
 import orisys
-from orisys.signal_processing import calibrate_normal_force
 
 from .roi_geometry import (
     build_roi_warp,
@@ -22,15 +21,18 @@ from .roi_geometry import (
     warp_roi_to_rectangle,
 )
 
+NORMAL_FORCE_CAL_SLOPE = 3.92685554668795e-05
+NORMAL_FORCE_CAL_OFFSET = 0.0217596967278535
+
 
 @dataclass
 class FrameSnapshot:
     """Normalized per-frame payload consumed by the Qt viewer."""
 
-    image: Optional[np.ndarray] = None
+    image: np.ndarray | None = None
-    flow: Optional[np.ndarray] = None
+    flow: np.ndarray | None = None
-    depth: Optional[np.ndarray] = None
+    depth: np.ndarray | None = None
-    contour: Optional[np.ndarray] = None
+    contour: np.ndarray | None = None
     centroid: Any = None
     # Raw SDK force channels used for curves (same units for FN/FX/FY).
     normal_force: float = 0.0
@@ -40,10 +42,15 @@ class FrameSnapshot:
     normal_force_calibrated: float = 0.0
     fps: float = 0.0
     timestamp: float = 0.0
-    raw_image: Optional[np.ndarray] = None
+    raw_image: np.ndarray | None = None
-    processed_image: Optional[np.ndarray] = None
+    processed_image: np.ndarray | None = None
-    flow_overlay: Optional[np.ndarray] = None
+    flow_overlay: np.ndarray | None = None
-    record_frame: Optional[np.ndarray] = None
+    record_frame: np.ndarray | None = None
+
+
+def calibrate_normal_force(raw_value: float) -> float:
+    """Convert raw normal-force reading to Newtons using y = mx + c."""
+    return NORMAL_FORCE_CAL_SLOPE * float(raw_value) + NORMAL_FORCE_CAL_OFFSET
 
 
 class SensorAdapter(ABC):
@@ -54,7 +61,7 @@ class SensorAdapter(ABC):
         raise NotImplementedError
 
     @abstractmethod
-    def read(self) -> Optional[FrameSnapshot]:
+    def read(self) -> FrameSnapshot | None:
         raise NotImplementedError
 
     @abstractmethod
@@ -81,7 +88,7 @@ def _snapshot_from_sensor(
     *,
     raw_image=None,
     processed_image=None,
-) -> Optional[FrameSnapshot]:
+) -> FrameSnapshot | None:
     """Build a FrameSnapshot with HHD/forces refreshed every frame."""
     if sensor is None or sensor.img is None:
         return None
@@ -178,7 +185,7 @@ class OrisysSensorAdapter(SensorAdapter):
             verbose=self.verbose,
         )
 
-    def read(self) -> Optional[FrameSnapshot]:
+    def read(self) -> FrameSnapshot | None:
         if self.sensor is None:
             return None
         img = self.sensor.get_img()
@@ -247,7 +254,7 @@ class Dd06RoiAdapter(SensorAdapter):
                 f"video={self._source}"
             )
 
-    def read(self) -> Optional[FrameSnapshot]:
+    def read(self) -> FrameSnapshot | None:
         if self.sensor is None or self.cap is None:
             return None
 

examples/gui/viewer2d/backend.py

@@ -8,12 +8,13 @@ Does not import camera, ROI, or `orisys.Sensor`.
 from __future__ import annotations
 
 from dataclasses import dataclass
-from typing import Literal, Optional, Sequence, Tuple
+from typing import Literal
 
 import cv2
 import numpy as np
+from scipy.signal import butter, filtfilt
+
 import orisys
-from orisys.signal_processing import lowpass_filter
 
 FORCE_SAMPLE_RATE_HZ = 30.0
 PLOT_BUFFER_POINTS = 120
@@ -40,14 +41,14 @@ class ViewerFrame:
     image_height: int
     image_width: int
     aspect_ratio: float  # width / height
-    depth: Optional[np.ndarray]
+    depth: np.ndarray | None
     normal_force: float
     shear_x: float
     shear_y: float
     normal_force_calibrated: float
     fps: float
     timestamp: float
-    record_frame: Optional[np.ndarray]
+    record_frame: np.ndarray | None
 
 
 @dataclass
@@ -57,11 +58,37 @@ class ForcePlotState:
     times: np.ndarray  # shape (n,)
     values: np.ndarray  # shape (n, 3)  FN, FX, FY
     sample_count: int
-    x_range: Tuple[float, float]
+    x_range: tuple[float, float]
-    y_ranges: Tuple[Tuple[float, float], Tuple[float, float], Tuple[float, float]]
+    y_ranges: tuple[tuple[float, float], tuple[float, float], tuple[float, float]]
 
 
-def ensure_bgr(img: Optional[np.ndarray]) -> Optional[np.ndarray]:
+def lowpass_filter(
+    data,
+    cutoff_hz: float,
+    sample_rate_hz: float = FORCE_SAMPLE_RATE_HZ,
+    order: int = 2,
+) -> np.ndarray:
+    """Zero-phase Butterworth low-pass for uniformly sampled 1-D data."""
+    y = np.asarray(data, dtype=np.float64)
+    if cutoff_hz == 0:
+        return y.copy()
+    if y.size == 0:
+        return y
+
+    nyquist = 0.5 * sample_rate_hz
+    if cutoff_hz < 0 or cutoff_hz >= nyquist:
+        raise ValueError(
+            f"cutoff_hz must be in (0, {nyquist}) for sample_rate_hz={sample_rate_hz}"
+        )
+
+    b, a = butter(order, cutoff_hz / nyquist, btype="low")
+    padlen = 3 * (max(len(b), len(a)) - 1)
+    if y.size <= padlen:
+        return y.copy()
+    return filtfilt(b, a, y)
+
+
+def ensure_bgr(img: np.ndarray | None) -> np.ndarray | None:
     if img is None:
         return None
     if img.ndim == 2:
@@ -71,14 +98,14 @@ def ensure_bgr(img: Optional[np.ndarray]) -> Optional[np.ndarray]:
     return img
 
 
-def image_shape_meta(img: np.ndarray) -> Tuple[int, int, float]:
+def image_shape_meta(img: np.ndarray) -> tuple[int, int, float]:
     """Return (height, width, width/height) from a display image."""
     h, w = int(img.shape[0]), int(img.shape[1])
     aspect = float(w) / float(h) if h > 0 else 1.0
     return h, w, aspect
 
 
-def _base_bgr(snapshot) -> Optional[np.ndarray]:
+def _base_bgr(snapshot) -> np.ndarray | None:
     for attr in ("image", "processed_image", "raw_image"):
         out = ensure_bgr(getattr(snapshot, attr, None))
         if out is not None:
@@ -126,7 +153,7 @@ def build_display_image(
     return select_display_image(snapshot)
 
 
-def bgr_to_rgb_bytes(img_bgr: np.ndarray) -> Tuple[np.ndarray, int, int]:
+def bgr_to_rgb_bytes(img_bgr: np.ndarray) -> tuple[np.ndarray, int, int]:
     """Convert BGR uint8 image to contiguous RGB for QImage."""
     rgb = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2RGB)
     if not rgb.flags["C_CONTIGUOUS"]:
@@ -205,7 +232,7 @@ class ForceHistory:
         self.data[-1, 0, :] = t
         self.data[-1, 1, :] = values
 
-    def _smooth_y_range(self, channel: int, ymin: float, ymax: float) -> Tuple[float, float]:
+    def _smooth_y_range(self, channel: int, ymin: float, ymax: float) -> tuple[float, float]:
         if self._y_range_smooth[channel] is None:
             smoothed = (ymin, ymax)
         else:
@@ -225,7 +252,7 @@ class ForceHistory:
         pad = max((smoothed[1] - smoothed[0]) * 0.12, 0.01)
         return smoothed[0] - pad, smoothed[1] + pad
 
-    def plot_state(self) -> Optional[ForcePlotState]:
+    def plot_state(self) -> ForcePlotState | None:
         n = self.sample_count
         if n == 0:
             return None
@@ -279,8 +306,8 @@ class QtViewerBackend:
             lowpass_cutoff_hz=lowpass_cutoff_hz,
             y_axis_min_span=y_axis_min_span,
         )
-        self._start_time: Optional[float] = None
+        self._start_time: float | None = None
-        self.last_viewer_frame: Optional[ViewerFrame] = None
+        self.last_viewer_frame: ViewerFrame | None = None
         self.arrow_background: ArrowBackground = arrow_background
 
     def set_arrow_background(self, background: ArrowBackground) -> None:
@@ -331,7 +358,7 @@ class QtViewerBackend:
         self._start_time = None
         self.last_viewer_frame = None
 
-    def ingest(self, snapshot, *, now: Optional[float] = None) -> ViewerFrame:
+    def ingest(self, snapshot, *, now: float | None = None) -> ViewerFrame:
         """Convert a FrameSnapshot into ViewerFrame and update force history."""
         display = build_display_image(snapshot, self.arrow_background)
         h, w, aspect = image_shape_meta(display)
@@ -370,5 +397,5 @@ class QtViewerBackend:
         self.last_viewer_frame = frame
         return frame
 
-    def plot_state(self) -> Optional[ForcePlotState]:
+    def plot_state(self) -> ForcePlotState | None:
         return self.force_history.plot_state()

examples/gui/viewer3d/__init__.py

@@ -2,8 +2,8 @@
 
 from .dashboard import FingerDashboardWindow, run_dashboard
 from .layout import (
-    LOG_PANEL,
     LAYOUT,
+    LOG_PANEL,
     MESH_CONTACT_ARROW,
     MESH_LIGHTING,
     PANEL_SETUP,
@@ -13,24 +13,24 @@ from .layout import (
     PanelRow,
     PanelSetup,
     PanelSlot,
-    top_row_splitter_sizes,
     top_row_slot_index,
+    top_row_splitter_sizes,
 )
 
 __all__ = [
-    "DashboardLayout",
-    "FingerDashboardWindow",
     "LAYOUT",
     "LOG_PANEL",
     "MESH_CONTACT_ARROW",
     "MESH_LIGHTING",
-    "MeshLighting",
     "PANEL_SETUP",
     "TOP_ROW",
+    "DashboardLayout",
+    "FingerDashboardWindow",
+    "MeshLighting",
     "PanelRow",
     "PanelSetup",
     "PanelSlot",
     "run_dashboard",
-    "top_row_splitter_sizes",
     "top_row_slot_index",
+    "top_row_splitter_sizes",
 ]

examples/gui/viewer3d/camera_discovery.py

@@ -1,22 +1,160 @@
-"""Discover USB cameras for the dashboard.
+"""Discover USB cameras for the dashboard (Windows DSHOW/MSMF, Linux V4L2)."""
-
-Thin compatibility shim over ``orisys.capture`` discovery helpers.
-"""
 
 from __future__ import annotations
 
-from orisys.capture import (
+import contextlib
-    DEFAULT_MAX_CAMERA_INDEX,
+import logging
-    CameraFilter,
+import os
-    CameraInfo,
+import sys
-    list_cameras,
+from dataclasses import dataclass
-    pick_default_camera,
-)
 
-__all__ = [
+import cv2
-    "DEFAULT_MAX_CAMERA_INDEX",
+
-    "CameraFilter",
+DEFAULT_MAX_CAMERA_INDEX = 10
-    "CameraInfo",
+
-    "list_cameras",
+logger = logging.getLogger(__name__)
-    "pick_default_camera",
+
-]
+
+@dataclass(frozen=True)
+class CameraInfo:
+    index: int
+    backend_name: str
+    backend_api: int
+    width: int
+    height: int
+
+    @property
+    def source(self) -> str:
+        return str(self.index)
+
+    def label(self) -> str:
+        return f"{self.index} ({self.width}x{self.height}) [{self.backend_name}]"
+
+
+@contextlib.contextmanager
+def _suppress_opencv_noise():
+    """Hide OpenCV VideoCapture probe warnings (stderr + OpenCV log)."""
+    prev_level = None
+    set_level = None
+    try:
+        logging = getattr(getattr(cv2, "utils", None), "logging", None)
+        if logging is not None:
+            set_level = getattr(logging, "setLogLevel", None)
+            get_level = getattr(logging, "getLogLevel", None)
+            silent = getattr(logging, "LOG_LEVEL_SILENT", 0)
+            if set_level is not None:
+                if get_level is not None:
+                    prev_level = get_level()
+                set_level(silent)
+    except Exception:
+        prev_level = None
+
+    devnull = open(os.devnull, "w")
+    try:
+        with contextlib.redirect_stderr(devnull):
+            stderr_fd = sys.stderr.fileno()
+            saved_fd = os.dup(stderr_fd)
+            try:
+                os.dup2(devnull.fileno(), stderr_fd)
+                yield
+            finally:
+                os.dup2(saved_fd, stderr_fd)
+                os.close(saved_fd)
+    finally:
+        devnull.close()
+        if set_level is not None and prev_level is not None:
+            try:
+                set_level(prev_level)
+            except Exception as exc:
+                # Best-effort: a failure only leaves OpenCV probe noise suppressed,
+                # but report it so a stuck log level is diagnosable.
+                logger.warning(
+                    "camera discovery: could not restore OpenCV log level %r: %s",
+                    prev_level,
+                    exc,
+                )
+
+
+def _backend_candidates() -> list[tuple[str, int]]:
+    candidates: list[tuple[str, int]] = []
+    if sys.platform == "win32":
+        if hasattr(cv2, "CAP_DSHOW"):
+            candidates.append(("DSHOW", cv2.CAP_DSHOW))
+        if hasattr(cv2, "CAP_MSMF"):
+            candidates.append(("MSMF", cv2.CAP_MSMF))
+    elif sys.platform.startswith("linux"):
+        # Prefer v4l2 for USB camera indices on Linux.
+        if hasattr(cv2, "CAP_V4L2"):
+            candidates.append(("V4L2", cv2.CAP_V4L2))
+    if not candidates:
+        candidates.append(("ANY", cv2.CAP_ANY))
+    return candidates
+
+
+def _try_open(index: int, backend_name: str, backend_api: int) -> CameraInfo | None:
+    cap = cv2.VideoCapture(index, backend_api)
+    if not cap.isOpened():
+        cap.release()
+        return None
+    ok, frame = cap.read()
+    width = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH) or 0)
+    height = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT) or 0)
+    if not ok or frame is None:
+        if width <= 0 or height <= 0:
+            cap.release()
+            return None
+    else:
+        h, w = frame.shape[:2]
+        width = width or int(w)
+        height = height or int(h)
+    cap.release()
+    return CameraInfo(
+        index=index,
+        backend_name=backend_name,
+        backend_api=backend_api,
+        width=width,
+        height=height,
+    )
+
+
+def list_cameras(max_index: int = DEFAULT_MAX_CAMERA_INDEX) -> list[CameraInfo]:
+    """Probe indices ``0 .. max_index`` and return working cameras."""
+    found: list[CameraInfo] = []
+    seen_indices: set[int] = set()
+    backends = _backend_candidates()
+
+    with _suppress_opencv_noise():
+        for index in range(max_index + 1):
+            for backend_name, backend_api in backends:
+                try:
+                    info = _try_open(index, backend_name, backend_api)
+                except Exception as exc:
+                    # Same hazard as the SDK enumerator: an escaping error for one
+                    # backend would abort the whole probe and hide every other
+                    # camera. Skip that candidate and keep going.
+                    logger.warning(
+                        "camera discovery: probing index %d via %s failed: %s",
+                        index,
+                        backend_name,
+                        exc,
+                    )
+                    continue
+                if info is None:
+                    continue
+                if index in seen_indices:
+                    break
+                found.append(info)
+                seen_indices.add(index)
+                break
+    return found
+
+
+def pick_default_camera(cameras: list[CameraInfo], preferred: str | None = None) -> str | None:
+    if not cameras:
+        return None
+    preferred = (preferred or "").strip()
+    if preferred:
+        for cam in cameras:
+            if cam.source == preferred:
+                return cam.source
+    return cameras[0].source

examples/gui/viewer3d/dashboard.py

@@ -2,19 +2,17 @@
 
 from __future__ import annotations
 
-import json
 import math
 import sys
 import time
-from pathlib import Path
 
+from pipeline.config import PipelineConfig
+from pipeline.csv_recorder import CsvRecorder
+from pipeline.service import FingerPipeline
 from PyQt5.QtCore import Qt, QTimer
 from PyQt5.QtGui import QIcon
 from PyQt5.QtWidgets import (
-    QAction,
-    QActionGroup,
     QApplication,
-    QDockWidget,
     QFileDialog,
     QMainWindow,
     QSplitter,
@@ -22,23 +20,17 @@ from PyQt5.QtWidgets import (
     QWidget,
 )
 
-from pipeline.config import PipelineConfig
-from pipeline.csv_recorder import CsvRecorder
-from pipeline.service import FingerPipeline
-
 from gui.app_paths import resource_path
+from gui.widgets import TeeStream, WidgetLogHandler, make_log_widget
+
 from .camera_discovery import list_cameras, pick_default_camera
-from .preferences import get_preferred_video_source, load_preferences, save_preferences
 from .layout import (
-    DashboardLayout,
     LAYOUT,
-    PANEL_SETUP,
+    DashboardLayout,
-    PanelSetup,
-    top_row_splitter_sizes,
 )
 from .mesh_view_state import MeshViewState
+from .preferences import get_preferred_video_source, load_preferences, save_preferences
 from .styles import STYLE
-from gui.widgets import TeeStream, WidgetLogHandler, make_log_widget
 from .widgets import (
     ArrowPanelWidget,
     ForceChartWidget,
@@ -66,7 +58,6 @@ class FingerDashboardWindow(QMainWindow):
         self._frame_index = 0
         self._wall_fps = 0.0
         self._wall_fps_alpha = 0.15
-        self._log_display_mode = "hidden"
 
         self.setWindowTitle(layout.window_title)
         self.setStyleSheet(STYLE)
@@ -90,7 +81,7 @@ class FingerDashboardWindow(QMainWindow):
         root_layout.setSpacing(layout.root_spacing_px)
 
         setup = layout.panel_setup
-        self._log_panel_visible = False
+        self._log_panel_visible = setup.log_panel.enabled
         self.mesh_state = MeshViewState.from_layout(layout)
         self.mesh_viewport = MeshViewportWidget(layout=layout, mesh_state=self.mesh_state)
         arrows_slot = layout.slot("arrows")
@@ -117,6 +108,7 @@ class FingerDashboardWindow(QMainWindow):
 
         self._preferences = load_preferences()
         self.settings_panel.apply_preference_state(self._preferences)
+        self._log_panel_visible = bool(self.settings_panel.show_log_check.isChecked())
         self.mesh_viewport.set_free_rotation(bool(self.settings_panel.free_rotate_check.isChecked()))
         if self.arrow_panel is not None:
             self.arrow_panel.set_background(self.settings_panel.arrow_background())
@@ -157,6 +149,11 @@ class FingerDashboardWindow(QMainWindow):
 
         self.charts_column = QSplitter(Qt.Vertical)
         self.charts_column.addWidget(self.force_charts.widget)
+        if setup.log_panel.enabled:
+            self.charts_column.addWidget(self.log_widget)
+            self.log_widget.setVisible(self._log_panel_visible)
+            self.charts_column.setStretchFactor(0, setup.charts_log_stretch)
+            self.charts_column.setStretchFactor(1, setup.log_stretch)
         self.charts_column.setChildrenCollapsible(False)
 
         h_splitter = QSplitter(Qt.Horizontal)
@@ -172,104 +169,18 @@ class FingerDashboardWindow(QMainWindow):
         self.h_splitter = h_splitter
 
         root_layout.addWidget(h_splitter)
-        self._setup_log_dock()
-        self._apply_log_display_mode(self._preferences.get("log_display_mode", "hidden"))
 
         self.resize(*self._target_window_size())
         QTimer.singleShot(0, self._apply_panel_layout)
 
     def _set_log_panel_visible(self, visible: bool) -> None:
         self._log_panel_visible = bool(visible)
-        if hasattr(self, "log_dock"):
+        self.log_widget.setVisible(self._log_panel_visible)
-            self.log_dock.setVisible(self._log_panel_visible)
         QTimer.singleShot(0, self._apply_panel_layout)
 
-    def _setup_log_dock(self) -> None:
-        self.log_dock = QDockWidget("Log", self)
-        self.log_dock.setObjectName("logDock")
-        self.log_dock.setWidget(self.log_widget)
-        self.log_dock.setAllowedAreas(Qt.BottomDockWidgetArea | Qt.RightDockWidgetArea)
-        self.addDockWidget(Qt.BottomDockWidgetArea, self.log_dock)
-        self.log_dock.hide()
-        self.log_dock.visibilityChanged.connect(self._on_log_dock_visibility_changed)
-
-        view_menu = self.menuBar().addMenu("View")
-        self.log_toggle_action = QAction("Log Panel", self)
-        self.log_toggle_action.setCheckable(True)
-        self.log_toggle_action.triggered.connect(self._on_log_toggle_action)
-        view_menu.addAction(self.log_toggle_action)
-
-        log_content_menu = view_menu.addMenu("Log Content")
-        self.log_content_actions = QActionGroup(self)
-        self.log_content_actions.setExclusive(False)
-        for label, mode in (
-            ("Runtime log", "runtime"),
-            ("Bundle info", "bundle"),
-            ("Performance/profile", "profile"),
-        ):
-            action = QAction(label, self)
-            action.setCheckable(True)
-            action.setData(mode)
-            action.triggered.connect(lambda _checked=False, m=mode: self._apply_log_display_mode(m, save=True))
-            self.log_content_actions.addAction(action)
-            log_content_menu.addAction(action)
-
-    def _on_log_toggle_action(self, checked: bool) -> None:
-        if checked:
-            mode = self._log_display_mode if self._log_display_mode != "hidden" else "runtime"
-            self._apply_log_display_mode(mode, save=True)
-        else:
-            self._apply_log_display_mode("hidden", save=True)
-
-    def _on_log_dock_visibility_changed(self, visible: bool) -> None:
-        self._log_panel_visible = bool(visible)
-        if hasattr(self, "log_toggle_action"):
-            self.log_toggle_action.blockSignals(True)
-            self.log_toggle_action.setChecked(visible)
-            self.log_toggle_action.blockSignals(False)
-        if not visible and self._log_display_mode != "hidden":
-            self._log_display_mode = "hidden"
-            if hasattr(self, "log_content_actions"):
-                for action in self.log_content_actions.actions():
-                    action.blockSignals(True)
-                    action.setChecked(False)
-                    action.blockSignals(False)
-            self._save_preferences()
-
-    def _apply_log_display_mode(self, mode: str | None, *, save: bool = False) -> None:
-        mode = mode or "hidden"
-        self._log_display_mode = mode
-        if hasattr(self, "log_toggle_action"):
-            self.log_toggle_action.blockSignals(True)
-            self.log_toggle_action.setChecked(mode != "hidden")
-            self.log_toggle_action.blockSignals(False)
-        if hasattr(self, "log_content_actions"):
-            for action in self.log_content_actions.actions():
-                action.blockSignals(True)
-                action.setChecked(action.data() == mode)
-                action.blockSignals(False)
-        if mode == "hidden":
-            self._set_log_panel_visible(False)
-            if save:
-                self._save_preferences()
-            return
-        if mode == "bundle":
-            self.log_widget.setPlainText(
-                "Sensor bundle\n"
-                f"Config: {self.settings_panel.config_path()}\n"
-                f"Assets: {self.settings_panel.finger_export_dir()}\n"
-            )
-        elif mode == "profile":
-            self.log_widget.setPlainText(
-                "Performance/profile\n"
-                "Run with --profile to print per-stage timings in the runtime log.\n"
-            )
-        self._set_log_panel_visible(True)
-        if save:
-            self._save_preferences()
-
     def _on_log_visibility_changed(self, visible: bool) -> None:
-        self._apply_log_display_mode("runtime" if visible else "hidden", save=True)
+        self._set_log_panel_visible(visible)
+        self._save_preferences()
 
     def _on_free_rotation_changed(self, enabled: bool) -> None:
         self.mesh_viewport.set_free_rotation(enabled)
@@ -282,7 +193,6 @@ class FingerDashboardWindow(QMainWindow):
 
     def _save_preferences(self) -> None:
         prefs = self.settings_panel.preference_state()
-        prefs["log_display_mode"] = self._log_display_mode
         self._preferences = prefs
         save_preferences(prefs)
         # Keep in-memory pipeline config aligned with panel values.
@@ -304,6 +214,7 @@ class FingerDashboardWindow(QMainWindow):
         scale = self._layout_scale_factor()
         column_height = self._scaled_top_row_height(scale)
         charts_slot = self.layout.top_slot("charts")
+        log_slot = setup.log_panel
 
         for slot in setup.top_row.slots:
             if not slot.enabled:
@@ -322,11 +233,27 @@ class FingerDashboardWindow(QMainWindow):
                     settings_height,
                 )
 
+        if (
+            self._log_panel_visible
+            and log_slot.enabled
+            and log_slot.height_px > 0
+        ):
+            self.log_widget.show()
+            log_height = self._scaled_px(log_slot.height_px, scale)
+            charts_height = self._scaled_px(charts_slot.height_px, scale)
+            self.log_widget.setFixedHeight(log_height)
+            self.force_charts.set_panel_size(
+                self._scaled_px(charts_slot.width_px, scale),
+                charts_height,
+            )
+            self.charts_column.setSizes([charts_height, log_height])
+        else:
+            self.log_widget.hide()
             self.force_charts.set_panel_size(
                 self._scaled_px(charts_slot.width_px, scale),
                 column_height,
             )
-        self.charts_column.setSizes([column_height])
+            self.charts_column.setSizes([column_height, 0])
 
         self.h_splitter.setSizes(
             [self._scaled_px(slot.width_px, scale) for slot in setup.top_row.slots if slot.enabled]
@@ -349,6 +276,12 @@ class FingerDashboardWindow(QMainWindow):
         width += margins.left() + margins.right()
 
         height = layout.charts_column_height_px()
+        if (
+            self._log_panel_visible
+            and layout.panel_setup.log_panel.enabled
+            and layout.panel_setup.log_panel.height_px > 0
+        ):
+            height += self.charts_column.handleWidth()
         height += margins.top() + margins.bottom()
 
         return max(layout.window_width, width), max(layout.window_height, height)
@@ -380,6 +313,12 @@ class FingerDashboardWindow(QMainWindow):
         base_width += max(len(enabled_slots) - 1, 0) * self.h_splitter.handleWidth()
 
         base_height = self.layout.charts_column_height_px()
+        if (
+            self._log_panel_visible
+            and self.layout.panel_setup.log_panel.enabled
+            and self.layout.panel_setup.log_panel.height_px > 0
+        ):
+            base_height += self.charts_column.handleWidth()
         if base_width <= 0 or base_height <= 0:
             return 1.0
         return min(available_width / base_width, available_height / base_height)
@@ -628,6 +567,8 @@ class FingerDashboardWindow(QMainWindow):
         camera_id = str(camera_id).strip()
         if not camera_id:
             return
+        # Explicit camera pick clears sticky file mode and persists the live source.
+        self.settings_panel.set_video_source(camera_id)
         self.config.video = camera_id
         self._save_preferences()
         self._update_play_enabled_for_source()
@@ -646,41 +587,48 @@ class FingerDashboardWindow(QMainWindow):
             self._update_play_enabled_for_source()
 
     def _select_config(self) -> None:
+        from .preferences import (
+            default_finger_config,
+            normalize_config_preference,
+            packaged_finger_bundle_root,
+        )
+
+        start = packaged_finger_bundle_root()
+        start_dir = str(start) if start is not None else "sensors/finger"
         path, _ = QFileDialog.getOpenFileName(
             self,
             "选择配置文件",
-            "config",
+            start_dir,
             "JSON (*.json);;所有文件 (*)",
         )
         if path:
-            self.settings_panel.set_config_path(path)
+            config = normalize_config_preference(path) or default_finger_config()
-            self.config.config = path
+            self.settings_panel.set_config_path(config)
+            self.config.config = config
             self._save_preferences()
 
     def _select_finger_assets(self) -> None:
+        from .preferences import (
+            default_finger_assets_dir,
+            normalize_assets_preference,
+            packaged_finger_assets_root,
+        )
+
+        start = packaged_finger_assets_root()
+        start_dir = (
+            str(start)
+            if start is not None
+            else (self.settings_panel.finger_export_dir() or default_finger_assets_dir())
+        )
         path = QFileDialog.getExistingDirectory(
             self,
-            "选择传感器 bundle 目录",
+            "选择 finger 资产目录",
-            self.settings_panel.sensor_bundle_dir() or "sensors/finger",
+            start_dir,
         )
         if path:
-            bundle_dir = Path(path)
+            assets = normalize_assets_preference(path)
-            config_path = bundle_dir / "sensor.json"
+            self.settings_panel.set_finger_export_dir(assets)
-            manifest_path = bundle_dir / "manifest.json"
+            self.config.export_dir = assets
-            assets_dir = bundle_dir / "assets" / "30fps-0703"
-            if manifest_path.is_file():
-                try:
-                    manifest = json.loads(manifest_path.read_text(encoding="utf-8"))
-                except Exception:
-                    manifest = {}
-                rel_assets = manifest.get("assets_dir")
-                if isinstance(rel_assets, str) and rel_assets.strip():
-                    assets_dir = bundle_dir / rel_assets
-            if config_path.is_file():
-                self.settings_panel.set_config_path(str(config_path))
-                self.config.config = str(config_path)
-            self.settings_panel.set_finger_export_dir(str(assets_dir))
-            self.config.export_dir = str(assets_dir)
             self._save_preferences()
 
     def _select_csv_dir(self) -> None:

examples/gui/viewer3d/layout.py

@@ -47,11 +47,12 @@ import math
 from dataclasses import dataclass
 from typing import Literal
 
-from gui.log_config import LOG_CONFIG, LogConfig
+from viz.contact_arrow import ContactArrowStyle
-from viz.contact_arrow import ContactArrowStyle, DEFAULT_CONTACT_ARROW_STYLE
 from viz.flow_arrow import FlowArrowStyle
 from viz.render_2d import ArrowBackground, ArrowCanvasColors
 
+from gui.log_config import LOG_CONFIG, LogConfig
+
 PanelId = Literal["mesh", "arrows", "charts", "log", "settings"]
 
 

examples/gui/viewer3d/mesh_view_state.py

@@ -4,7 +4,7 @@ from __future__ import annotations
 
 from PyQt5.QtCore import QObject, pyqtSignal
 
-from .layout import DashboardLayout, LAYOUT
+from .layout import LAYOUT, DashboardLayout
 
 
 class MeshViewState(QObject):

examples/gui/viewer3d/preferences.py

@@ -13,6 +13,17 @@ LEGACY_CAMERA_SELECTION_FILE = "camera_selection.json"
 # Keep preference.json at examples/gui/ for backward compatibility.
 _GUI_DIR = Path(__file__).resolve().parents[1]
 
+# Old lab / repo-relative paths that predate packaged sensors/<name>/.
+_LEGACY_CONFIG_PATHS = {
+    "dd02",
+    "dd02-ov",
+    "config/dd02-ov.json",
+    "./config/dd02-ov.json",
+    "config/finger.json",
+    "./config/finger.json",
+    "sensors/finger/sensor.json",
+}
+
 
 def preference_path() -> Path:
     # Keep preference file at examples/gui/preference.json
@@ -23,6 +34,94 @@ def legacy_camera_selection_path() -> Path:
     return resource_path(LEGACY_CAMERA_SELECTION_FILE)
 
 
+def default_finger_config() -> str:
+    """Public product config stem resolved via packaged ``sensors/finger``."""
+    return "finger"
+
+
+def default_finger_assets_dir() -> str:
+    try:
+        from orisys.finger import DEFAULT_FINGER_EXPORT_DIR
+
+        return DEFAULT_FINGER_EXPORT_DIR
+    except ImportError:
+        return "sensors/finger/assets/30fps-0703"
+
+
+def packaged_finger_bundle_root() -> Path | None:
+    """Filesystem root of the installed ``sensors/finger`` bundle when present."""
+    try:
+        from orisys.configs import resolve_sensor_bundle
+    except ImportError:
+        return None
+    bundle = resolve_sensor_bundle("finger")
+    return bundle.root if bundle is not None else None
+
+
+def packaged_finger_assets_root() -> Path | None:
+    try:
+        from orisys.configs import resolve_sensor_asset_dir
+    except ImportError:
+        return None
+    return resolve_sensor_asset_dir("finger")
+
+
+def normalize_config_preference(value: str | None) -> str:
+    """Map legacy config paths to the packaged ``finger`` sensor name."""
+    if value is None or not str(value).strip():
+        return default_finger_config()
+    text = str(value).strip().replace("\\", "/")
+    if text in _LEGACY_CONFIG_PATHS or text.endswith("/dd02-ov.json"):
+        return default_finger_config()
+
+    root = packaged_finger_bundle_root()
+    if root is not None:
+        try:
+            if Path(value).resolve() == (root / "sensor.json").resolve():
+                return default_finger_config()
+        except OSError:
+            pass
+    return text
+
+
+def normalize_assets_preference(value: str | None) -> str:
+    """Prefer packaged ``sensors/finger/assets/...`` when saved paths are stale."""
+    default = default_finger_assets_dir()
+    if value is None or not str(value).strip():
+        return default
+    text = str(value).strip()
+    posix = text.replace("\\", "/")
+    if posix == default or posix.endswith("/sensors/finger/assets/30fps-0703"):
+        return default
+
+    path = Path(text)
+    if path.is_dir():
+        packaged = packaged_finger_assets_root()
+        if packaged is not None:
+            try:
+                if path.resolve() == packaged.resolve():
+                    return default
+            except OSError:
+                pass
+        # Keep a user-selected custom directory that still exists.
+        if "sensors/finger" in posix or path.name == "30fps-0703":
+            return text if path.is_absolute() else default
+        return text
+
+    # Missing old absolute/repo paths (assets/finger, ./config era) -> packaged default.
+    return default
+
+
+def _normalize_preferences(prefs: dict[str, Any]) -> dict[str, Any]:
+    prefs = dict(prefs)
+    if "config_path" in prefs or prefs:
+        prefs["config_path"] = normalize_config_preference(prefs.get("config_path"))
+    if "finger_assets_dir" in prefs or prefs:
+        prefs["finger_assets_dir"] = normalize_assets_preference(prefs.get("finger_assets_dir"))
+    prefs.setdefault("sensor_bundle_dir", "sensors/finger")
+    return prefs
+
+
 def _read_json(path: Path) -> dict[str, Any]:
     if not path.is_file():
         return {}
@@ -34,14 +133,14 @@ def _read_json(path: Path) -> dict[str, Any]:
 
 
 def load_preferences() -> dict[str, Any]:
-    """Load preferences, migrating camera_id from legacy file when needed."""
+    """Load preferences, migrating camera_id / legacy config paths when needed."""
     prefs = _read_json(preference_path())
     if "video_source" not in prefs:
         legacy = _read_json(legacy_camera_selection_path())
         camera_id = legacy.get("camera_id")
         if camera_id is not None and str(camera_id).strip():
             prefs["video_source"] = str(camera_id).strip()
-    return prefs
+    return _normalize_preferences(prefs)
 
 
 def save_preferences(prefs: dict[str, Any]) -> None:
@@ -49,9 +148,10 @@ def save_preferences(prefs: dict[str, Any]) -> None:
     if not isinstance(prefs, dict):
         return
     path = preference_path()
+    normalized = _normalize_preferences(prefs)
     try:
         path.parent.mkdir(parents=True, exist_ok=True)
-        path.write_text(json.dumps(prefs, indent=2) + "\n", encoding="utf-8")
+        path.write_text(json.dumps(normalized, indent=2) + "\n", encoding="utf-8")
     except OSError:
         pass
 

examples/gui/viewer3d/presets.py

@@ -25,6 +25,23 @@ class SensorBundlePreset:
     export_dir: str
 
 
+def _packaged_finger_preset() -> SensorBundlePreset | None:
+    """Use logical names that resolve through the installed wheel sensors/ layout."""
+    try:
+        from orisys.configs import resolve_sensor_bundle
+    except ImportError:
+        return None
+    bundle = resolve_sensor_bundle("finger")
+    if bundle is None:
+        return None
+    return SensorBundlePreset(
+        label="ORY-FINGER",
+        bundle_dir="sensors/finger",
+        config="finger",
+        export_dir=DEFAULT_FINGER_EXPORT_DIR,
+    )
+
+
 def _load_manifest(bundle_root: Path) -> dict:
     path = bundle_root / "manifest.json"
     if not path.is_file():
@@ -50,6 +67,14 @@ def _bundle_from_root(bundle_root: Path, *, label: str | None = None) -> SensorB
             break
         except ValueError:
             continue
+    # Packaged / checkout sensors/finger: keep resolvable product names, not absolute paths.
+    if rel_bundle.replace("\\", "/").endswith("sensors/finger") or bundle_root.name == "finger":
+        return SensorBundlePreset(
+            label=label or "ORY-FINGER",
+            bundle_dir="sensors/finger",
+            config="finger",
+            export_dir=DEFAULT_FINGER_EXPORT_DIR,
+        )
     return SensorBundlePreset(
         label=label or "ORY-FINGER",
         bundle_dir=rel_bundle,
@@ -59,6 +84,9 @@ def _bundle_from_root(bundle_root: Path, *, label: str | None = None) -> SensorB
 
 
 def default_finger_bundle() -> SensorBundlePreset:
+    packaged = _packaged_finger_preset()
+    if packaged is not None:
+        return packaged
     for root in _repo_root_candidates():
         preset = _bundle_from_root(root / "sensors" / "finger", label="ORY-FINGER")
         if preset is not None:
@@ -66,7 +94,7 @@ def default_finger_bundle() -> SensorBundlePreset:
     return SensorBundlePreset(
         label="ORY-FINGER",
         bundle_dir="sensors/finger",
-        config="sensors/finger/sensor.json",
+        config="finger",
         export_dir=DEFAULT_FINGER_EXPORT_DIR,
     )
 
@@ -108,6 +136,8 @@ def sensor_bundle_preset_index(
     for idx, preset in enumerate(presets):
         if config == preset.config and export_dir == preset.export_dir:
             return idx
+        if config in ("finger", "dd02", "dd02-ov") and preset.config == "finger":
+            return idx
         if config.endswith("/sensor.json") and export_dir.endswith("/" + Path(preset.export_dir).name):
             return idx
     return -1

examples/gui/viewer3d/widgets/arrow_image.py

@@ -3,14 +3,14 @@
 from __future__ import annotations
 
 import cv2
-
 from pipeline.frame import FingerFrameView
 from viz.render_2d import ArrowBackground, ArrowCanvasColors, render_uv_arrows
 
-from ..layout import DashboardLayout, LAYOUT
-from .image_panel import ImagePanel
 from gui.widgets.qt_pixmap import ndarray_to_pixmap
 
+from ..layout import LAYOUT, DashboardLayout
+from .image_panel import ImagePanel
+
 
 class ArrowPanelWidget(ImagePanel):
     """UV unrolled flow-arrow panel."""

examples/gui/viewer3d/widgets/force_charts.py

@@ -3,14 +3,14 @@
 from __future__ import annotations
 
 import numpy as np
+from pipeline.frame import FingerFrameView
 from PyQt5.QtGui import QFont
 from PyQt5.QtWidgets import QSizePolicy
-
-from ..layout import DashboardLayout, LAYOUT
-from ..styles import LOG_FONT_PRIMARY, UI_FONT_PRIMARY
-from pipeline.frame import FingerFrameView
 from viz.signal_filters import lowpass_filter
 
+from ..layout import LAYOUT, DashboardLayout
+from ..styles import LOG_FONT_PRIMARY, UI_FONT_PRIMARY
+
 
 def _require_pyqtgraph():
     try:

examples/gui/viewer3d/widgets/mesh_viewport.py

@@ -2,16 +2,16 @@
 
 from __future__ import annotations
 
+from pipeline.frame import FingerFrameView
 from PyQt5.QtCore import QEvent, Qt
 from PyQt5.QtGui import QMouseEvent
-
-from pipeline.frame import FingerFrameView
 from viz.offscreen_mesh import OffscreenFingerMeshRenderer
 
-from ..layout import DashboardLayout, LAYOUT
-from ..mesh_view_state import MeshViewState
-from ..mesh_render_worker import MeshRenderWorker
 from gui.widgets.qt_pixmap import ndarray_to_pixmap
+
+from ..layout import LAYOUT, DashboardLayout
+from ..mesh_render_worker import MeshRenderWorker
+from ..mesh_view_state import MeshViewState
 from .image_panel import ImagePanel
 
 _VIEW_ROTATE_SENSITIVITY = 0.35

examples/gui/viewer3d/widgets/settings_panel.py

@@ -2,7 +2,7 @@
 
 from __future__ import annotations
 
-from PyQt5.QtCore import QSize, Qt, pyqtSignal
+from PyQt5.QtCore import QSize, pyqtSignal
 from PyQt5.QtWidgets import (
     QCheckBox,
     QComboBox,
@@ -14,16 +14,12 @@ from PyQt5.QtWidgets import (
     QVBoxLayout,
     QWidget,
 )
-
 from viz.render_2d import ArrowBackground
 
-from ..layout import DashboardLayout, LAYOUT
+from orisys.finger import DEFAULT_FINGER_EXPORT_DIR
+
+from ..layout import LAYOUT, DashboardLayout
 from ..mesh_view_state import MeshViewState
-from ..presets import (
-    SensorBundlePreset,
-    discover_sensor_bundle_presets,
-    sensor_bundle_preset_index,
-)
 from ..transport_icons import reset_icon, transport_icon
 
 _PLAY_PAUSE_BUTTON_NAME = "btnPlayPause"
@@ -90,7 +86,7 @@ class SettingsPanelWidget(QWidget):
         self.show_log_check = QCheckBox("Show log panel")
         self.show_log_check.setChecked(show_log)
         self.show_log_check.toggled.connect(self.log_visibility_changed.emit)
-        self.show_log_check.hide()
+        root.addWidget(self.show_log_check)
 
         self.show_flow_arrows_check = QCheckBox("Show displacement arrows")
         self.show_flow_arrows_check.setChecked(self._mesh_state.flow_arrows_enabled)
@@ -114,6 +110,8 @@ class SettingsPanelWidget(QWidget):
         self.camera_combo = QComboBox()
         self.camera_combo.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)
         self.camera_combo.setToolTip("Select an available camera")
+        # activated fires on user pick even when the index is unchanged (file → live override).
+        self.camera_combo.activated.connect(self._on_camera_combo_changed)
         self.camera_combo.currentIndexChanged.connect(self._on_camera_combo_changed)
         video_row.addWidget(self.camera_combo, 1)
         self.btn_refresh_cameras = QPushButton("Refresh")
@@ -138,38 +136,35 @@ class SettingsPanelWidget(QWidget):
         self._video_file_path = ""
         self._updating_camera_options = False
 
-        root.addWidget(self._caption("Sensor bundle"))
+        root.addWidget(self._caption("Config"))
-        bundle_row = QHBoxLayout()
+        config_row = QHBoxLayout()
-        bundle_row.setSpacing(6)
+        config_row.setSpacing(6)
-        self.sensor_bundle_combo = QComboBox()
+        self.config_edit = QLineEdit("finger")
-        self.sensor_bundle_combo.setToolTip("Select a finger sensor bundle")
+        config_row.addWidget(self.config_edit, 1)
-        self._bundle_presets = discover_sensor_bundle_presets()
-        for preset in self._bundle_presets:
-            self.sensor_bundle_combo.addItem(preset.label, preset)
-        self.sensor_bundle_combo.addItem("Custom…", None)
-        self._updating_bundle_combo = False
-        self.sensor_bundle_combo.currentIndexChanged.connect(self._on_bundle_combo_changed)
-        bundle_row.addWidget(self.sensor_bundle_combo, 1)
-        self.btn_browse_finger_assets = QPushButton("…")
-        self.btn_browse_finger_assets.setFixedWidth(32)
-        self.btn_browse_finger_assets.setToolTip("Browse sensor bundle folder")
-        self.btn_browse_finger_assets.clicked.connect(self.browse_finger_assets_requested.emit)
-        bundle_row.addWidget(self.btn_browse_finger_assets)
-        root.addLayout(bundle_row)
-
-        self.config_edit = QLineEdit("sensors/finger/sensor.json")
-        self.config_edit.hide()
         self.btn_browse_config = QPushButton("…")
-        self.btn_browse_config.hide()
+        self.btn_browse_config.setFixedWidth(32)
+        self.btn_browse_config.setToolTip("Browse config JSON")
+        self.btn_browse_config.clicked.connect(self.browse_config_requested.emit)
+        config_row.addWidget(self.btn_browse_config)
+        root.addLayout(config_row)
 
         # Optional calibration path is kept for future re-enablement but hidden for now.
         self.cal_edit = QLineEdit("")
         self.cal_edit.setPlaceholderText("Optional calibration path")
         self.cal_edit.hide()
 
-        self.finger_assets_edit = QLineEdit("sensors/finger/assets/30fps-0703")
+        root.addWidget(self._caption("Finger assets"))
-        self.finger_assets_edit.hide()
+        finger_assets_row = QHBoxLayout()
-        self._apply_bundle_preset(self._bundle_presets[0])
+        finger_assets_row.setSpacing(6)
+        self.finger_assets_edit = QLineEdit(DEFAULT_FINGER_EXPORT_DIR)
+        self.finger_assets_edit.setPlaceholderText("Blender export bundle directory")
+        finger_assets_row.addWidget(self.finger_assets_edit, 1)
+        self.btn_browse_finger_assets = QPushButton("…")
+        self.btn_browse_finger_assets.setFixedWidth(32)
+        self.btn_browse_finger_assets.setToolTip("Browse finger asset directory")
+        self.btn_browse_finger_assets.clicked.connect(self.browse_finger_assets_requested.emit)
+        finger_assets_row.addWidget(self.btn_browse_finger_assets)
+        root.addLayout(finger_assets_row)
 
         root.addWidget(self._caption("CSV save directory"))
         csv_dir_row = QHBoxLayout()
@@ -344,18 +339,16 @@ class SettingsPanelWidget(QWidget):
 
     def set_config_path(self, value: str) -> None:
         self.config_edit.setText(value)
-        self._sync_bundle_combo_from_paths()
 
     def set_calibration_path(self, value: str) -> None:
         self.cal_edit.setText(value or "")
 
     def set_finger_export_dir(self, value: str) -> None:
         self.finger_assets_edit.setText(value)
-        self._sync_bundle_combo_from_paths()
 
     def set_finger_export_dir_enabled(self, enabled: bool) -> None:
+        self.finger_assets_edit.setEnabled(enabled)
         self.btn_browse_finger_assets.setEnabled(enabled)
-        self.sensor_bundle_combo.setEnabled(enabled)
 
     def set_csv_save_dir(self, value: str) -> None:
         self.csv_dir_edit.setText(value)
@@ -396,33 +389,6 @@ class SettingsPanelWidget(QWidget):
             return
         self.csv_record_toggled.emit(not self._csv_recording)
 
-    def _apply_bundle_preset(self, preset: SensorBundlePreset) -> None:
-        self.config_edit.setText(preset.config)
-        self.finger_assets_edit.setText(preset.export_dir)
-
-    def _on_bundle_combo_changed(self, _index: int) -> None:
-        if self._updating_bundle_combo:
-            return
-        preset = self.sensor_bundle_combo.currentData()
-        if isinstance(preset, SensorBundlePreset):
-            self._apply_bundle_preset(preset)
-
-    def _sync_bundle_combo_from_paths(self) -> None:
-        idx = sensor_bundle_preset_index(
-            self.config_edit.text(),
-            self.finger_assets_edit.text(),
-            self._bundle_presets,
-        )
-        if idx < 0:
-            idx = self.sensor_bundle_combo.findData(None)
-        if idx < 0:
-            return
-        self._updating_bundle_combo = True
-        self.sensor_bundle_combo.blockSignals(True)
-        self.sensor_bundle_combo.setCurrentIndex(idx)
-        self.sensor_bundle_combo.blockSignals(False)
-        self._updating_bundle_combo = False
-
     def _emit_arrow_background_changed(self, _index: int) -> None:
         value = self.arrow_background_combo.currentData()
         if value:
@@ -449,15 +415,6 @@ class SettingsPanelWidget(QWidget):
     def finger_export_dir(self) -> str:
         return self.finger_assets_edit.text().strip()
 
-    def sensor_bundle_dir(self) -> str:
-        preset = self.sensor_bundle_combo.currentData()
-        if isinstance(preset, SensorBundlePreset):
-            return preset.bundle_dir
-        config = self.config_path()
-        if config.endswith("/sensor.json") or config.endswith("\\sensor.json"):
-            return config.rsplit("/", 1)[0].rsplit("\\", 1)[0]
-        return ""
-
     def csv_save_dir(self) -> str:
         return self.csv_dir_edit.text().strip()
 
@@ -465,7 +422,6 @@ class SettingsPanelWidget(QWidget):
         """Serialize user-facing settings suitable for preference.json."""
         return {
             "video_source": self.video_source(),
-            "sensor_bundle_dir": self.sensor_bundle_dir(),
             "config_path": self.config_path(),
             "finger_assets_dir": self.finger_export_dir(),
             "csv_save_dir": self.csv_save_dir(),
@@ -511,8 +467,6 @@ class SettingsPanelWidget(QWidget):
         if isinstance(assets, str) and assets.strip():
             self.set_finger_export_dir(assets.strip())
 
-        self._sync_bundle_combo_from_paths()
-
         csv_dir = state.get("csv_save_dir")
         if isinstance(csv_dir, str) and csv_dir.strip():
             self.set_csv_save_dir(csv_dir.strip())

examples/mini_pipeline.py

@@ -7,15 +7,18 @@ ORY-MINI：单传感器基础流程
 3. 按需计算接触区域
 4. 读取并可视化结果
 
-SDK version: 0.4.3
 """
 import os
+
 os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0" 
-import cv2
-import orisys
-import numpy as np
 import argparse
 
+import cv2
+import numpy as np
+
+import orisys
+
+
 def main():
     parser = argparse.ArgumentParser()
     parser.add_argument("--video","-v", type=str, default="0", help="视频源：摄像头编号或视频文件路径")
@@ -30,11 +33,13 @@ def main():
     # 输入既可以是摄像头编号，也可以是视频文件路径
     try:
         input = int(args.video)
-        is_camera = True
+    except ValueError:
-        sensor = orisys.Sensor(input, config_name=args.config, verbose=args.verbose)
+        # Not a camera index: treat the argument as a video-file path. Falling back
-    except:
+        # only on the conversion (not on Sensor construction) keeps a real
-        is_camera = False
+        # constructor failure visible instead of retrying it as a file path.
         sensor = orisys.Sensor(args.video, config_name=args.config, verbose=args.verbose)
+    else:
+        sensor = orisys.Sensor(input, config_name=args.config, verbose=args.verbose)
 
     print("\n按键说明：'q' 退出程序，'r' 重置追踪器。")
 
@@ -90,9 +95,10 @@ def main():
         cv2.imshow("depth", cv2.applyColorMap(div_normalized, cv2.COLORMAP_JET))
 
         # 步骤 3.4：打印关键结果
+        fn_unit, fx_unit, fy_unit = sensor.force_units
         print(
-            f"FPS={fps:.2f}, 法向力={fnormal:.4f}, 切向力X={fshearx:.4f}, "
+            f"FPS={fps:.2f}, 法向力={fnormal:.4f} {fn_unit}, 切向力X={fshearx:.4f} {fx_unit}, "
-            f"切向力Y={fsheary:.4f}, 深度图尺寸={depth_map.shape}, 原始分辨率={sensor.img_size_raw}"
+            f"切向力Y={fsheary:.4f} {fy_unit}, 深度图尺寸={depth_map.shape}, 原始分辨率={sensor.img_size_raw}"
         )
             
         # 步骤 3.5：键盘控制

examples/multi_stream.py

@@ -0,0 +1,308 @@
+#!/usr/bin/env python3
+"""Multi-sensor real-time example: N streams, one process each.
+
+This is the deployment shape the multi-sensor throughput numbers assume. Each
+stream owns a process and pipelines the per-frame work into three concurrent
+stages (capture+unroll -> DIS flow -> HHD+readout), so a stream's rate is bounded
+by its slowest stage instead of the sum of all three.
+
+    # five finger streams from a video file (benchmark / smoke test)
+    python examples/multi_stream.py --streams 5 -c finger -v data/dd02-0703/1.mp4
+
+    # five live cameras, camera ids 0..4
+    python examples/multi_stream.py --streams 5 -c finger --camera-base 0
+
+    # single box sensor
+    python examples/multi_stream.py --streams 1 -c box -v data/long.mp4
+
+    # five streams, additionally recording an arrow-overlay video per stream
+    # plus one 5-up mosaic, without stalling the pipeline
+    python examples/multi_stream.py --streams 5 -c finger -v data/dd02-0703/1.mp4 \
+        --seconds 10 --record outputs/arrows --mosaic
+
+Notes
+-----
+* One process per stream. Threads inside a single process share the GIL and,
+  measured on a 9950X, five finger streams reach ~150 FPS aggregate as threads
+  versus ~626 FPS as processes.
+* ``cv2.setNumThreads(2)`` per process: at five streams that beats 1, 4 and 8.
+* Run one stream per process even when the sensor count is small; the process
+  boundary also isolates a crashed camera from the rest.
+* ``--record`` draws the DIS flow with ``orisys.util.draw_arrows`` (plus the
+  contact overlay with ``--contact``) and encodes it with ``cv2.VideoWriter``.
+  Both happen on a dedicated thread fed by a bounded drop-oldest queue, so the
+  pipeline never waits on the encoder; frames the writer cannot keep up with are
+  counted in the ``rec`` column as ``written/dropped``. Keep ``--record`` for
+  verification runs - the encoder still competes for CPU with the pipeline.
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import multiprocessing as mp
+import os
+import statistics as st
+import sys
+import time
+
+os.environ.setdefault("OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS", "0")
+
+import orisys
+from orisys import StreamPipeline, StreamRecorder, configs
+
+
+def _make_stream(args, index):
+    """Return (sensor, produce, close) for one stream."""
+    source = args.video
+    if args.camera_base is not None:
+        source = int(args.camera_base) + index
+    if source is None:
+        raise ValueError("pass --video PATH or --camera-base ID")
+
+    cfg = configs.load_config(args.config)
+    if str(cfg.get("type", "")).lower() == "single_camera":
+        from orisys.finger import FingerRuntime
+
+        runtime = FingerRuntime.open(config=args.config, video=source,
+                                     verbose=False)
+        return runtime.tactile.raw_sensor, _finger_produce(runtime), runtime.close
+
+    sensor = orisys.Sensor(source, config_name=args.config, isstitch=True,
+                           cuda=False, backend="cpu", verbose=False)
+
+    def produce():
+        return sensor.get_img()
+
+    return sensor, produce, sensor.disconnect
+
+
+def _finger_produce(runtime):
+    def produce():
+        ok, frame = runtime.grab_and_process(color=False)
+        return frame if ok else None
+
+    return produce
+
+
+def worker(args, index, out_path):
+    """One stream: own process, three-stage pipeline."""
+    import cv2
+
+    cv2.setNumThreads(int(args.threads))
+    sensor, produce, close = _make_stream(args, index)
+
+    frames = []
+    stamps = []
+    started = time.perf_counter()
+
+    def collect(snap):
+        frames.append(snap.age_ms)
+        stamps.append(time.perf_counter())
+
+    # Recording is entirely off the hot path: ``on_frame`` only pushes onto a
+    # bounded drop-oldest queue, and a separate thread does the drawing and the
+    # H.264/MPEG-4 encoding. The pipeline never blocks on the encoder.
+    recorder = None
+    on_frame = collect
+    if args.record:
+        recorder = StreamRecorder(
+            os.path.join(args.record, f"stream_{index}.mp4"),
+            fps=args.record_fps,
+            every=args.record_every,
+            fourcc=args.record_fourcc,
+            valid_mask=lambda: getattr(sensor, "valid_mask", None),
+            grid_spacing=args.record_grid,
+            threshold=args.record_threshold,
+            arrow_scale=args.record_arrow_scale,
+            draw_contact=args.contact,
+            label=f"#{index}",
+            verbose=True,
+        )
+
+        def on_frame(snap, _collect=collect, _rec=recorder):
+            _collect(snap)
+            _rec.on_frame(snap)
+
+    if args.no_arrays:
+        include = ()
+    elif recorder is not None:
+        include = ("image", "flow")  # what the arrow overlay needs
+    else:
+        include = ("image",)
+
+    pipe = StreamPipeline(sensor, produce, on_frame=on_frame,
+                          include=include, contact=args.contact, depth=args.depth)
+    pipe.start()
+    record_stats = None
+    try:
+        deadline = started + args.seconds if args.seconds else None
+        while True:
+            if not pipe.running:
+                break
+            if args.frames and pipe.stats.published >= args.frames:
+                break
+            if deadline is not None and time.perf_counter() >= deadline:
+                break
+            time.sleep(0.002)
+    finally:
+        try:
+            pipe.stop()
+        except BaseException as exc:  # surface a stage failure
+            print(f"[stream {index}] pipeline error: {type(exc).__name__}: {exc}",
+                  file=sys.stderr)
+            raise
+        finally:
+            if recorder is not None:
+                record_stats = recorder.close()
+            close()
+
+    wall = time.perf_counter() - started
+    # Steady-state rate: skip the first frames, which pay the JIT / HHD-cache /
+    # DIS-reference-frame warm-up and would drag a short run's average down.
+    warm = min(30, max(0, len(stamps) - 2))
+    span = (stamps[-1] - stamps[warm]) if len(stamps) > warm + 1 else 0.0
+    steady = (len(stamps) - 1 - warm) / span if span > 0 else 0.0
+    payload = {
+        "index": index,
+        "published": pipe.stats.published,
+        "wall": wall,
+        "fps": pipe.stats.published / wall if wall else 0.0,
+        "steady_fps": steady,
+        "stats": pipe.stats.as_dict(),
+        "age_p95_ms": float(st.quantiles(frames, n=20)[18]) if len(frames) >= 20 else 0.0,
+        "record": record_stats,
+    }
+    with open(out_path, "w") as fh:
+        json.dump(payload, fh)
+
+
+def main():
+    ap = argparse.ArgumentParser(description=__doc__,
+                                 formatter_class=argparse.RawDescriptionHelpFormatter)
+    ap.add_argument("--streams", "-n", type=int, default=5)
+    ap.add_argument("--config", "-c", default="finger")
+    ap.add_argument("--video", "-v", default=None, help="video file shared by all streams")
+    ap.add_argument("--camera-base", type=int, default=None,
+                    help="first camera id; stream i uses base + i")
+    ap.add_argument("--frames", type=int, default=0, help="stop after N frames (0 = until EOF)")
+    ap.add_argument("--seconds", type=float, default=10.0, help="max wall time per stream")
+    ap.add_argument("--threads", type=int, default=2, help="cv2.setNumThreads per stream")
+    ap.add_argument("--depth", type=int, default=2, help="queue depth between stages")
+    ap.add_argument("--contact", action="store_true", help="also run compute_contact")
+    ap.add_argument("--no-arrays", action="store_true",
+                    help="scalars only (fastest; skips the snapshot image copy)")
+    ap.add_argument("--out-dir", default=None)
+    ap.add_argument("--record", default=None, metavar="DIR",
+                    help="write one arrow-overlay mp4 per stream into DIR "
+                         "(drawing+encoding run on a separate thread, off the "
+                         "pipeline's critical path)")
+    ap.add_argument("--record-fps", type=float, default=30.0,
+                    help="playback fps of the recorded files")
+    ap.add_argument("--record-every", type=int, default=1,
+                    help="keep one frame in N (raise it if the writer falls behind)")
+    ap.add_argument("--record-fourcc", default="mp4v",
+                    help="mp4v (built in) or MJPG/avi for maximum compatibility")
+    ap.add_argument("--record-grid", type=int, default=14, help="arrow grid spacing in px")
+    ap.add_argument("--record-threshold", type=float, default=0.1,
+                    help="displacement (px) below which a dot is drawn instead of an arrow")
+    ap.add_argument("--record-arrow-scale", type=float, default=0.15,
+                    help="draw_arrows divides the displacement by this; 0.15 magnifies "
+                         "the finger's ~1-3 px field ~6.7x so directions are legible")
+    ap.add_argument("--mosaic", action="store_true",
+                    help="after the run, tile the recordings into one grid video")
+    ap.add_argument("--mosaic-cols", type=int, default=0, help="mosaic columns (0 = square-ish)")
+    ap.add_argument("--mosaic-scale", type=float, default=1.0, help="mosaic downscale factor")
+    args = ap.parse_args()
+
+    if args.record and args.no_arrays:
+        ap.error("--record needs the frame and flow arrays; drop --no-arrays")
+    if args.mosaic and not args.record:
+        ap.error("--mosaic needs --record DIR")
+
+    if args.record:
+        args.record = os.path.abspath(args.record)
+        os.makedirs(args.record, exist_ok=True)
+
+    out_dir = args.out_dir or os.path.join(os.path.dirname(os.path.abspath(__file__)),
+                                           "..", "outputs", "multi_stream")
+    out_dir = os.path.abspath(out_dir)
+    os.makedirs(out_dir, exist_ok=True)
+
+    ctx = mp.get_context("spawn")
+    procs, paths = [], []
+    for i in range(args.streams):
+        path = os.path.join(out_dir, f"stream_{i}.json")
+        paths.append(path)
+        procs.append(ctx.Process(target=worker, args=(args, i, path)))
+    for p in procs:
+        p.start()
+    for p in procs:
+        p.join()
+
+    rows = []
+    for path in paths:
+        try:
+            with open(path) as fh:
+                rows.append(json.load(fh))
+        except Exception:  # noqa: S110 - a stream that wrote no result is reported below
+            # A stream that crashed or produced no JSON output is expected here;
+            # the empty-``rows`` check below reports that case explicitly, so this
+            # is not a hidden failure.
+            pass
+    if not rows:
+        print("no stream produced results", file=sys.stderr)
+        return 1
+
+    wall = max(r["wall"] for r in rows)
+    total = sum(r["published"] for r in rows)
+    steady_rows = [r for r in rows if r.get("steady_fps")]
+    steady = st.mean(r["steady_fps"] for r in steady_rows) if steady_rows else 0.0
+    print(f"\nstreams={len(rows)}  frames={total}  wall={wall:.2f}s")
+    print(f"aggregate throughput     : {total / wall:.1f} FPS (incl. warm-up)")
+    print(f"per-stream throughput    : {total / wall / len(rows):.1f} FPS (incl. warm-up)")
+    print(f"per-stream steady-state  : {steady:.1f} FPS")
+    recording = args.record is not None
+    print(f"\n{'stream':>7}{'published':>11}{'FPS':>9}{'steady':>9}{'produce':>10}"
+          f"{'flow':>9}{'hhd':>9}{'age':>9}{'age p95':>10}"
+          + (f"{'rec':>13}" if recording else ""))
+    for r in sorted(rows, key=lambda x: x["index"]):
+        s = r["stats"]
+        rec = ""
+        if recording:
+            rs = r.get("record") or {}
+            rec = f"{rs.get('written', 0)}/{rs.get('dropped', 0)}"
+            if rs.get("error"):
+                rec = "ERR"
+        print(f"{r['index']:>7}{r['published']:>11}{r['fps']:>9.1f}"
+              f"{r.get('steady_fps', 0.0):>9.1f}"
+              f"{s['produce_ms']:>10.2f}{s['flow_ms']:>9.2f}{s['hhd_ms']:>9.2f}"
+              f"{s['age_ms']:>9.2f}{r['age_p95_ms']:>10.2f}"
+              + (f"{rec:>13}" if recording else ""))
+    if recording:
+        print("rec column = frames written / frames dropped by the writer thread")
+        for r in sorted(rows, key=lambda x: x["index"]):
+            rs = r.get("record") or {}
+            if rs.get("error"):
+                print(f"  stream {r['index']}: {rs['error']}")
+
+    if args.mosaic and recording:
+        streams = sorted(r["index"] for r in rows)
+        srcs = [os.path.join(args.record, f"stream_{i}.mp4") for i in streams]
+        missing = [p for p in srcs if not os.path.isfile(p)]
+        if missing:
+            print(f"mosaic skipped, missing {missing}", file=sys.stderr)
+        else:
+            out = os.path.join(args.record, "mosaic.mp4")
+            # No tile labels: each recorded frame already carries the "#N" HUD.
+            info = orisys.mosaic_videos(srcs, out, cols=args.mosaic_cols or None,
+                                        scale=args.mosaic_scale,
+                                        fps=args.record_fps)
+            print(f"\nmosaic -> {info['path']}  {info['size'][0]}x{info['size'][1]}  "
+                  f"{info['grid'][0]}x{info['grid'][1]} grid  {info['frames']} frames "
+                  f"@ {info['fps']:g} fps")
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

examples/pipeline/config.py

@@ -4,9 +4,10 @@ from __future__ import annotations
 
 from dataclasses import dataclass
 
-from orisys.finger import DEFAULT_FINGER_EXPORT_DIR
 from viz.mesh_camera import DEFAULT_FINGER_VIZ_POSE
 
+from orisys.finger import DEFAULT_FINGER_EXPORT_DIR
+
 
 def mesh_threshold(mesh_map: str, threshold: float | None) -> float:
     if threshold is not None:
@@ -33,7 +34,7 @@ class PipelineConfig:
     profile_every: int = 30
 
     @classmethod
-    def from_args(cls, args) -> "PipelineConfig":
+    def from_args(cls, args) -> PipelineConfig:
         return cls(
             video=args.video,
             config=args.config,

examples/pipeline/csv_recorder.py

@@ -7,7 +7,6 @@ from dataclasses import dataclass
 from datetime import datetime
 from pathlib import Path
 
-
 CSV_COLUMNS = (
     "frame_index",
     "timestamp_s",

examples/pipeline/service.py

@@ -6,10 +6,10 @@ import time
 from dataclasses import dataclass
 
 import numpy as np
-from orisys.finger import FingerRuntime, compute_uv_surface_frames
-
 from viz import FrameRecorder, build_uv_surface_mesh, resolve_viz_pose_path
 
+from orisys.finger import FingerRuntime, compute_uv_surface_frames
+
 from .config import PipelineConfig
 from .csv_recorder import CsvMeasurement
 from .frame import FingerFrameView

examples/plot_data.py

@@ -16,10 +16,10 @@ os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0"
 
 import cv2
 import numpy as np
-import orisys
-
 from viz import ForceChartWindow, FrameRecorder
 
+import orisys
+
 
 def open_sensor(video: str, config: str, cal: str, verbose: bool):
     try:
@@ -65,7 +65,11 @@ def main():
                 sensor.info.VRAW,
                 sensor.info.DEPTH,
             )
-            print(f"FPS={fps:.2f}, 法向力={fn:.4f}, 切向力X={fx:.4f}, 切向力Y={fy:.4f}")
+            fn_unit, fx_unit, fy_unit = sensor.force_units
+            print(
+                f"FPS={fps:.2f}, 法向力={fn:.4f} {fn_unit}, "
+                f"切向力X={fx:.4f} {fx_unit}, 切向力Y={fy:.4f} {fy_unit}"
+            )
 
             arrows = orisys.util.draw_arrows(sensor.img, flow, threshold=5, grid_spacing=10, arrow_scale=1.0)
             cv2.imshow("形变矢量场", arrows)

examples/two_sensor_pipeline.py

@@ -18,17 +18,19 @@
 - Windows 下必须在 if __name__ == '__main__' 中调用 mp.freeze_support()
 - 每个传感器进程都会占用独立的 GPU 显存
 
-SDK version: 0.4.3
 """
 import os
+
 os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0" 
-import cv2
-import orisys
-import numpy as np
-import multiprocessing as mp
-from multiprocessing import Queue, Process
-import time
 import argparse
+import multiprocessing as mp
+import queue
+import time
+from multiprocessing import Process, Queue
+
+import cv2
+
+import orisys
 
 
 def sensor_worker(sensor_id, vid_src, config_name, result_queue, stop_event, target_fps=None):
@@ -56,6 +58,7 @@ def sensor_worker(sensor_id, vid_src, config_name, result_queue, stop_event, tar
         print(f"传感器 {sensor_id} 已启动" + (f"（目标帧率：{target_fps} FPS）" if target_fps else ""))
 
         frame_interval = 1.0 / target_fps if target_fps and target_fps > 0 else 0.0
+        dropped_frames = 0
 
         while not stop_event.is_set():
             t_start = time.perf_counter()
@@ -96,9 +99,10 @@ def sensor_worker(sensor_id, vid_src, config_name, result_queue, stop_event, tar
                 # 步骤 6：将结果发送到主进程（非阻塞）
                 try:
                     result_queue.put_nowait(data)
-                except Exception:
+                except queue.Full:
-                    # 如果队列已满，则丢弃当前帧，避免阻塞工作进程
+                    # 队列已满：丢弃当前帧，避免阻塞工作进程。这是有意的背压策略，
-                    pass
+                    # 但丢帧必须可观测，否则主进程看到的低帧率无从解释。
+                    dropped_frames += 1
 
             except Exception as e:
                 print(f"传感器 {sensor_id} 处理失败：{e}")
@@ -113,6 +117,12 @@ def sensor_worker(sensor_id, vid_src, config_name, result_queue, stop_event, tar
         
         # 释放资源
         sensor.disconnect()
+        if dropped_frames:
+            print(
+                f"传感器 {sensor_id} 已停止（因结果队列已满丢弃 {dropped_frames} 帧，"
+                "主进程处理慢于采集）。"
+            )
+        else:
             print(f"传感器 {sensor_id} 已停止。")
         
     except Exception as e:
@@ -194,7 +204,8 @@ def main():
                 while True:
                     try:
                         data = queue.get_nowait()
-                    except:
+                    except queue.Empty:
+                        # 队列已排空：正常结束内层循环，不是错误。
                         break
                 
                 if data is not None:

examples/viz/__init__.py

@@ -1,5 +1,7 @@
 """Shared visualization helpers for Orisys example scripts."""
 
+from .finger_mesh_viewer import FingerMeshViewer
+from .flow_arrow import DEFAULT_FLOW_ARROW_STYLE, FlowArrowOverlay, FlowArrowStyle
 from .force_charts import ForceChartWindow
 from .mesh_camera import (
     DEFAULT_FINGER_VIZ_POSE,
@@ -8,33 +10,32 @@ from .mesh_camera import (
     camera_look_at_from_world_to_cam,
     resolve_viz_pose_path,
 )
+from .mesh_viewer import UVMeshViewer, build_uv_surface_mesh
 from .offscreen_mesh import OffscreenFingerMeshRenderer
+from .recording import FrameRecorder
 from .render_2d import (
+    DEFAULT_ARROW_CANVAS_COLORS,
     ArrowBackground,
     ArrowCanvasColors,
-    DEFAULT_ARROW_CANVAS_COLORS,
     depth_colormap,
     frame_to_bgr,
     render_contact_panel,
     render_depth_panel,
     render_uv_arrows,
 )
-from .flow_arrow import DEFAULT_FLOW_ARROW_STYLE, FlowArrowOverlay, FlowArrowStyle
-from .finger_mesh_viewer import FingerMeshViewer
-from .mesh_viewer import UVMeshViewer, build_uv_surface_mesh
-from .recording import FrameRecorder
 from .signal_filters import lowpass_filter
 
 __all__ = [
-    "ArrowBackground",
-    "ArrowCanvasColors",
     "DEFAULT_ARROW_CANVAS_COLORS",
     "DEFAULT_FLOW_ARROW_STYLE",
+    "ArrowBackground",
+    "ArrowCanvasColors",
+    "FingerMeshViewer",
     "FlowArrowOverlay",
     "FlowArrowStyle",
-    "FingerMeshViewer",
     "ForceChartWindow",
     "FrameRecorder",
+    "OffscreenFingerMeshRenderer",
     "UVMeshViewer",
     "apply_mesh_lighting",
     "apply_view_from_world_to_cam",
@@ -43,7 +44,6 @@ __all__ = [
     "depth_colormap",
     "frame_to_bgr",
     "lowpass_filter",
-    "OffscreenFingerMeshRenderer",
     "render_contact_panel",
     "render_depth_panel",
     "render_uv_arrows",

examples/viz/finger_mesh_viewer.py

@@ -8,7 +8,11 @@ import numpy as np
 
 from orisys.finger.viewer import UVMeshViewer
 
-from .contact_arrow import ContactArrowOverlay, ContactArrowStyle, DEFAULT_CONTACT_ARROW_STYLE
+from .contact_arrow import (
+    DEFAULT_CONTACT_ARROW_STYLE,
+    ContactArrowOverlay,
+    ContactArrowStyle,
+)
 from .flow_arrow import DEFAULT_FLOW_ARROW_STYLE, FlowArrowOverlay, FlowArrowStyle
 
 

examples/viz/flow_arrow.py

@@ -2,8 +2,9 @@
 
 from __future__ import annotations
 
+from collections.abc import Callable
 from dataclasses import dataclass
-from typing import Callable, Literal
+from typing import Literal
 
 import cv2
 import numpy as np

examples/viz/mesh_camera.py

@@ -7,6 +7,10 @@ from pathlib import Path
 import numpy as np
 
 DEFAULT_FINGER_VIZ_POSE = "sensors/finger/assets/visualization/world_to_cam.npy"
+_LEGACY_FINGER_VIZ_POSES = {
+    "assets/finger/visualization/world_to_cam.npy",
+    DEFAULT_FINGER_VIZ_POSE,
+}
 
 
 def _finger_bundle_viz_pose_candidates() -> list[Path]:
@@ -63,8 +67,9 @@ def resolve_viz_pose_path(path: str | Path | None = None) -> Path:
     here = Path(__file__).resolve()
     candidates: list[Path] = []
 
-    # Prefer the sensors/finger bundle for the default (and matching relative) path.
+    # Prefer the sensors/finger bundle for default / legacy relative paths.
-    if path is None or raw.as_posix() == DEFAULT_FINGER_VIZ_POSE or not raw.is_absolute():
+    posix = raw.as_posix()
+    if path is None or posix in _LEGACY_FINGER_VIZ_POSES or not raw.is_absolute():
         candidates.extend(_finger_bundle_viz_pose_candidates())
 
     try:

examples/viz/mesh_viewer.py

@@ -1,4 +1,8 @@
 """Re-exports for finger 3D mesh examples; core viewer lives in orisys.finger."""
 
 from orisys.finger.mesh import *  # noqa: F403
-from orisys.finger.viewer import UVMeshViewer, init_uv_mesh_viewer, update_uv_mesh_viewer  # noqa: F401
+from orisys.finger.viewer import (  # noqa: F401
+    UVMeshViewer,
+    init_uv_mesh_viewer,
+    update_uv_mesh_viewer,
+)

examples/viz/recording.py

@@ -2,7 +2,6 @@
 
 from __future__ import annotations
 
-import os
 from pathlib import Path
 
 import cv2

examples/viz/render_2d.py

@@ -7,6 +7,7 @@ from typing import TYPE_CHECKING, Literal
 
 import cv2
 import numpy as np
+
 import orisys
 
 if TYPE_CHECKING:

examples/viz/signal_filters.py

@@ -1,5 +1,33 @@
 """Signal filtering helpers for example force charts."""
 
-from orisys.signal_processing import lowpass_filter
+from __future__ import annotations
 
-__all__ = ["lowpass_filter"]
+import numpy as np
+from scipy.signal import butter, filtfilt
+
+
+def lowpass_filter(data, cutoff_hz=5, sample_rate_hz=30, order=2) -> np.ndarray:
+    """Zero-phase Butterworth low-pass filter for uniformly sampled 1-D data."""
+    y = np.asarray(data, dtype=np.float64)
+    if cutoff_hz == 0:
+        return y.copy()
+    if y.size == 0:
+        return y
+
+    nyquist = 0.5 * sample_rate_hz
+    if cutoff_hz < 0 or cutoff_hz >= nyquist:
+        raise ValueError(
+            f"cutoff_hz must be in (0, {nyquist}) for sample_rate_hz={sample_rate_hz}"
+        )
+
+    b, a = butter(order, cutoff_hz / nyquist, btype="low")
+    taplen = max(len(a), len(b))
+    # scipy.signal.filtfilt requires len(x) > padlen (default 3 * taplen for recent scipy).
+    padlen = 3 * taplen
+    if y.size <= padlen:
+        return y.copy()
+
+    try:
+        return filtfilt(b, a, y)
+    except ValueError:
+        return y.copy()

pyproject.toml

@@ -79,7 +79,16 @@ dev_install = true
 name = "sensors"
 source = "sensors"
 target = "sensors"
-patterns = ["**/*.json", "finger/assets/30fps*/*", "finger/assets/visualization/*"]
+# JSON bundles (sensor.json, force_calibration.json) plus finger mesh/viz assets.
+# Prefer the flat layout sensors/finger/assets/{30fps-*,visualization}/;
+# also accept a nested assets/finger/ tree if present in a checkout.
+patterns = [
+  "**/*.json",
+  "finger/assets/30fps*/*",
+  "finger/assets/visualization/*",
+  "finger/assets/finger/30fps*/*",
+  "finger/assets/finger/visualization/*",
+]
 preserve_tree = true
 dev_install = true
 
@@ -90,9 +99,12 @@ target = "examples"
 patterns = ["*.py", "README.md", "viz/**/*.py", "pipeline/**/*.py", "gui/**/*.py"]
 preserve_tree = true
 
-[[tool.orisys.bundle.items]]
+# NOTE: docs/ is deliberately NOT bundled into the wheel.
-name = "docs"
+# Documentation ships with the GitHub repository / PyPI project page only:
-source = "docs"
+#   - docs/publishing.md is an internal process document
-target = "docs"
+#   - docs/pypi_readme.md is read from the checkout at build time as the PyPI
-patterns = ["*.md", "*.pdf"]
+#     long description (build/wheel/package.py::PYPI_README_RELPATH), never shipped
+#   - keeping docs out means editing a doc no longer invalidates built wheels
+# Should an offline API reference be needed later, add a narrower item that ships
+# only docs/api.md.
 

pytest.ini

@@ -1,5 +1,9 @@
 [pytest]
 testpaths = tests
 python_files = test_*.py
+# Run against the checkout without requiring `pip install -e .`, so a stale
+# orisys in site-packages cannot silently shadow src/orisys.
+pythonpath = src
 markers =
     slow: long-running tests for release validation
+    hardware: requires a physical sensor/camera attached to the machine

ruff.toml

@@ -0,0 +1,55 @@
+# Ruff configuration — pinned deliberately.
+#
+# Before this file existed the repo had no Ruff config, so `ruff check .` ran whatever the
+# installed Ruff version enables by default (Ruff 0.16 turns on a very broad set: UP/RUF/PLR/
+# S/TRY/PERF/FURB/YTT/ASYNC...). The same tree therefore produced different findings on
+# different machines and between a developer and a runner. Never rely on tool defaults.
+#
+# Policy, decided from the measured findings rather than from taste:
+#
+#   * `select` is explicit. High-signal correctness rules first, then only the mechanical
+#     modernisation rules we are willing to apply without human review.
+#   * BLE001 is selected so existing `# noqa: BLE001 - <reason>` suppressions stay *used* and
+#     RUF100 can never delete their rationale — a broad `except Exception` is a legitimate
+#     choice around device I/O, capture probes and teardown. It is NOT part of the gate.
+#   * S110 / S112 / E722 ARE part of the gate: a silent handler hides a failure. This matters
+#     most in the live capture path, where a swallowed read error kills a source silently.
+#   * RUF100 reports unused suppressions but is `unfixable`: a machine must not remove a
+#     suppression whose comment records why it exists. Triage those by hand.
+#   * The mechanical sweep never uses `--unsafe-fixes`.
+#
+# The gate selects the narrow set explicitly, so BLE001 cannot fail a build, and only ever
+# touches changed files:
+#
+#   tools/lint_gate.py                     # the gate: changed files, machine-readable
+
+target-version = "py310"
+line-length = 88
+
+[lint]
+select = [
+  "E9", "E722",        # syntax/IO errors, and bare `except:`
+  "E402",              # module import not at top of file — SELECTED for visibility, NOT gated.
+                       # `import` after `os.environ[...]` is deliberate in examples/ and scripts/
+                       # (the environment must be set before Qt/cv2/orisys load). E402 is the only
+                       # rule that would catch an accidental import moved above that setup, so it
+                       # stays reported, without failing a build. An intentional site belongs in a
+                       # `# noqa: E402 - <reason>` when it is touched.
+  "F",                 # pyflakes: unused import, redefinition, undefined name
+  "S110", "S112",      # try-except-pass / try-except-continue — an invisible failure
+  "B023",              # function definition does not bind loop variable
+  "PLW1510",           # subprocess.run without an explicit check
+  "RUF100",            # unused noqa — reported for triage, never auto-removed
+  "UP",                # pyupgrade
+  "I",                 # import sorting
+  "RUF022", "RUF023",  # __all__ / __slots__ ordering
+  "PIE",               # flake8-pie
+  "RET501", "PLR1711",
+  "SIM114",
+  "BLE001",            # selected for suppression hygiene only — excluded from the gate
+]
+unfixable = ["RUF100"]
+
+[format]
+quote-style = "double"
+indent-style = "space"

scripts/benchmark.py

@@ -1,6 +1,7 @@
 
 import os
 import sys
+
 os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0" 
 import cv2
 
@@ -9,10 +10,11 @@ _local_src = os.path.join(os.path.dirname(__file__), "src")
 if _local_src not in sys.path:
     sys.path.insert(0, _local_src)
 
-import orisys
-import numpy as np
-import time
 import argparse
+import time
+
+import orisys
+
 
 def main():
     parser = argparse.ArgumentParser()
@@ -30,11 +32,13 @@ def main():
     # 方式1: 从视频文件读取
     try:
         input = int(args.video)
-        is_camera = True
+    except ValueError:
-        sensor = orisys.Sensor(input, config_name=args.config, cal_path= args.cal, verbose=args.verbose, debug=args.debug)
+        # Not a camera index: treat the argument as a video-file path. Only the
-    except:
+        # conversion is guarded, so a genuine Sensor construction error is not
-        is_camera = False
+        # swallowed and retried as a file path.
         sensor = orisys.Sensor(args.video, config_name=args.config, cal_path= args.cal, verbose=args.verbose, debug=args.debug)
+    else:
+        sensor = orisys.Sensor(input, config_name=args.config, cal_path= args.cal, verbose=args.verbose, debug=args.debug)
     # sensor = orisys.Sensor(2, config_name="./config/ddjx01_q6a.json", cal_path= "./config/ddjx01.npy", isstitch=True, cuda=False, verbose=True, backend='cpu')
 
     # 方式2: 从摄像头读取（取消注释使用） 

scripts/calibration_script.py

@@ -1,12 +1,15 @@
 import os
+
 os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0"
-import cv2
-import orisys
-import numpy as np
 import time
 
+import cv2
+import numpy as np
 import pyqtgraph as pg
 
+import orisys
+
+
 def create_plot():
     p1 = win.addPlot(title="法相力")
     p1.setLabel('bottom', '时间', units='s')
@@ -149,7 +152,7 @@ def main():
             print("\n 停止程序")
             break
         if key == ord("s"):
-            save_path = f"./data/pulse_test.mp4"
+            save_path = "./data/pulse_test.mp4"
             # Ensure directory exists
             os.makedirs(os.path.dirname(save_path), exist_ok=True)
             # Get frame dimensions from the actual frame

scripts/example_uart.py

@@ -0,0 +1,468 @@
+#!/usr/bin/env python3
+"""UART finger controller for Radxa / Dragon Q6A (sensor-side receiver).
+
+Combines ORY-FINGER processing (same path as ``examples/finger_pipeline.py``)
+with a line-based UART command interface. A host (or ``uart_send.py``-style
+transmitter) sends commands; this script replies and streams forces.
+
+Dependencies (beyond orisys):
+  pip install pyserial
+
+Default UART (Dragon Q6A):
+  port=/dev/ttyHS1  baud=115200  8N1
+
+Commands (one line, case-insensitive):
+  search              List cameras (/dev/video*) via orisys.capture.list_cameras
+  connect [source]    Open FingerRuntime (camera index, /dev/videoN, or video file)
+  run                 Stream FNORMAL / FSHEARX / FSHEARY until stop (or EOF)
+  stop                Stop force streaming; keep source connected
+  quit | exit         Close runtime and serial, then exit
+
+Replies:
+  camera,<index>,<path>,<WxH>
+  OK search <N>
+  OK connect <source>
+  OK run
+  force,<fnormal>,<fshearx>,<fsheary>
+  OK eof              Video file ended (when --no-loop-video)
+  OK stop
+  OK quit
+  ERR <context> <message>
+
+Examples:
+  # Live camera over UART
+  python scripts/example_uart.py --port /dev/ttyHS1 --config finger
+
+  # Offline debug from a recorded file (no camera needed)
+  python scripts/example_uart.py --port /dev/ttyHS1 --video /path/to/clip.mp4
+  # then UART: connect   (uses --video)  or  connect /path/to/clip.mp4
+  # then UART: run
+"""
+
+from __future__ import annotations
+
+import argparse
+import os
+import shlex
+import sys
+from pathlib import Path
+from typing import Union
+
+os.environ.setdefault("OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS", "0")
+
+try:
+    import serial
+except ImportError as exc:  # pragma: no cover
+    raise SystemExit(
+        "pyserial is required for this script.\n"
+        "  pip install pyserial\n"
+        f"Import error: {exc}"
+    ) from exc
+
+import cv2
+
+from orisys.capture import is_live_camera, list_cameras
+from orisys.finger import FingerRuntime
+
+Source = Union[int, str]
+
+
+def _parse_source(token: str) -> Source | None:
+    """Accept camera index int, numeric string, V4L path, or filesystem path."""
+    text = str(token).strip().strip('"').strip("'")
+    if not text:
+        return None
+    if text.isdigit() or (text.startswith("-") and text[1:].isdigit()):
+        return int(text)
+    return text
+
+
+def _is_video_file(source: Source) -> bool:
+    """True when source is a filesystem video path (not a live camera)."""
+    if is_live_camera(source):
+        return False
+    if isinstance(source, int):
+        return False
+    path = Path(str(source))
+    return path.is_file() or path.suffix.lower() in {
+        ".mp4",
+        ".avi",
+        ".mkv",
+        ".mov",
+        ".m4v",
+        ".wmv",
+        ".webm",
+    }
+
+
+class UartFingerController:
+    """Serial command dispatcher around a single FingerRuntime."""
+
+    def __init__(
+        self,
+        ser: serial.Serial,
+        *,
+        config: str = "finger",
+        default_source: Source = 0,
+        max_camera_index: int = 10,
+        loop_video: bool = True,
+        show: bool = False,
+        verbose: bool = False,
+    ):
+        self.ser = ser
+        self.config = config
+        self.default_source = default_source
+        self.max_camera_index = max_camera_index
+        self.loop_video = loop_video
+        self.show = show
+        self.verbose = verbose
+
+        self.runtime: FingerRuntime | None = None
+        self._connected_source: Source | None = None
+        self._last_search_source: Source | None = None
+        self._streaming = False
+        self._should_quit = False
+
+    def reply(self, line: str) -> None:
+        text = line.rstrip("\r\n") + "\n"
+        self.ser.write(text.encode("utf-8"))
+        self.ser.flush()
+        if self.verbose:
+            print(f"<< {text.rstrip()}", flush=True)
+
+    def close_runtime(self) -> None:
+        self._streaming = False
+        if self.runtime is not None:
+            try:
+                self.runtime.close()
+            except Exception:  # noqa: BLE001, S110 - teardown must not raise
+                # Best-effort release: a close failure here has no recovery path in
+                # a shutdown request handler, and raising would skip the reset below.
+                pass
+            self.runtime = None
+            self._connected_source = None
+        if self.show:
+            try:
+                cv2.destroyAllWindows()
+            except Exception:  # noqa: BLE001, S110 - no GUI window to destroy
+                # Expected when no window was ever created (headless/--no-show run):
+                # this is a normal no-op, not a hidden failure.
+                pass
+
+    def _resolve_connect_source(self, args: list[str]) -> Source:
+        if args:
+            # Join remaining tokens so unquoted paths with spaces still work.
+            joined = " ".join(args).strip()
+            parsed = _parse_source(joined)
+            if parsed is None:
+                raise ValueError("empty connect source")
+            return parsed
+        # Prefer --video default over last search so offline debug stays on file.
+        if isinstance(self.default_source, str) and not is_live_camera(self.default_source):
+            return self.default_source
+        if self._last_search_source is not None:
+            return self._last_search_source
+        return self.default_source
+
+    def cmd_search(self, _args: list[str]) -> None:
+        try:
+            cameras = list_cameras(max_index=self.max_camera_index)
+        except Exception as exc:  # noqa: BLE001
+            self.reply(f"ERR search {exc}")
+            return
+
+        self._last_search_source = None
+        for cam in cameras:
+            path = (cam.path or f"/dev/video{cam.index}").strip() or f"/dev/video{cam.index}"
+            size = f"{cam.width}x{cam.height}"
+            self.reply(f"camera,{cam.index},{path},{size}")
+            if self._last_search_source is None:
+                self._last_search_source = cam.index
+        self.reply(f"OK search {len(cameras)}")
+
+    def cmd_connect(self, args: list[str]) -> None:
+        try:
+            source = self._resolve_connect_source(args)
+        except ValueError as exc:
+            self.reply(f"ERR connect {exc}")
+            return
+
+        if isinstance(source, str) and not is_live_camera(source):
+            path = Path(source)
+            if not path.is_file():
+                self.reply(f"ERR connect file not found: {source}")
+                return
+
+        self._streaming = False
+        self.close_runtime()
+        try:
+            runtime = FingerRuntime.open(
+                config=self.config,
+                video=source,
+                verbose=self.verbose,
+            )
+            runtime.warmup(color=False)
+        except Exception as exc:  # noqa: BLE001
+            self.reply(f"ERR connect {exc}")
+            return
+
+        self.runtime = runtime
+        self._connected_source = source
+        kind = "file" if _is_video_file(source) else "camera"
+        self.reply(f"OK connect {source} ({kind})")
+
+    def _rewind_video(self) -> bool:
+        """Seek connected file source back to frame 0. Return True on success."""
+        if self.runtime is None or self._connected_source is None:
+            return False
+        if not _is_video_file(self._connected_source):
+            return False
+        cap = self.runtime.capture
+        if cap is None:
+            return False
+        try:
+            return bool(cap.set(cv2.CAP_PROP_POS_FRAMES, 0))
+        except Exception:  # noqa: BLE001
+            return False
+
+    def _poll_command_line(self, *, blocking: bool = True) -> str | None:
+        """Read one command line if available; return None on timeout/empty."""
+        if not blocking and self.ser.in_waiting <= 0:
+            return None
+        raw = self.ser.readline()
+        if not raw:
+            return None
+        try:
+            line = raw.decode("utf-8", errors="replace").strip()
+        except Exception:  # noqa: BLE001
+            return None
+        return line or None
+
+    def cmd_run(self, _args: list[str]) -> None:
+        if self.runtime is None:
+            self.reply("ERR run not connected")
+            return
+
+        self._streaming = True
+        self.reply("OK run")
+        tactile = self.runtime.tactile
+        is_file = self._connected_source is not None and _is_video_file(self._connected_source)
+
+        while self._streaming and not self._should_quit:
+            ok, unrolled = self.runtime.grab_and_process(color=False)
+            if not ok:
+                if is_file and self.loop_video and self._rewind_video():
+                    if self.verbose:
+                        print("video EOF: looping", flush=True)
+                    continue
+                if is_file:
+                    self.reply("OK eof")
+                else:
+                    self.reply("ERR run grab failed")
+                self._streaming = False
+                break
+
+            tactile.compute_deformation()
+            tactile.compute_contact()
+            fnormal, fshearx, fsheary = tactile.read_info(
+                tactile.info.FNORMAL,
+                tactile.info.FSHEARX,
+                tactile.info.FSHEARY,
+            )
+            self.reply(f"force,{float(fnormal):.6f},{float(fshearx):.6f},{float(fsheary):.6f}")
+
+            if self.show:
+                try:
+                    import orisys
+
+                    arrows = orisys.util.draw_arrows(
+                        unrolled,
+                        tactile.flow,
+                        threshold=0.4,
+                        grid_spacing=10,
+                        arrow_scale=1.0,
+                        valid_mask=tactile.valid_mask,
+                    )
+                    cv2.imshow("UV Unrolled", arrows)
+                    key = cv2.waitKey(1) & 0xFF
+                    if key == ord("q"):
+                        self._should_quit = True
+                        break
+                    if key == ord("r"):
+                        tactile.reset()
+                except Exception as exc:  # noqa: BLE001
+                    if self.verbose:
+                        print(f"show error: {exc}", file=sys.stderr)
+
+            # Non-blocking command poll so force streaming is not delayed by UART timeout.
+            pending = self._poll_command_line(blocking=False)
+            if pending is not None:
+                if self.verbose:
+                    print(f">> {pending}", flush=True)
+                if not self._dispatch(pending, allow_run=False):
+                    break
+
+    def cmd_stop(self, _args: list[str]) -> None:
+        self._streaming = False
+        self.reply("OK stop")
+
+    def cmd_quit(self, _args: list[str]) -> None:
+        self._streaming = False
+        self._should_quit = True
+        self.reply("OK quit")
+
+    def _dispatch(self, line: str, *, allow_run: bool = True) -> bool:
+        """Dispatch one command line. Return False if the main loop should exit."""
+        try:
+            parts = shlex.split(line)
+        except ValueError:
+            parts = line.split()
+        if not parts:
+            return True
+        cmd = parts[0].lower()
+        args = parts[1:]
+
+        if cmd == "search":
+            self.cmd_search(args)
+        elif cmd == "connect":
+            self.cmd_connect(args)
+        elif cmd == "run":
+            if not allow_run:
+                self.reply("ERR run already running")
+            else:
+                self.cmd_run(args)
+        elif cmd == "stop":
+            self.cmd_stop(args)
+        elif cmd in ("quit", "exit"):
+            self.cmd_quit(args)
+            return False
+        else:
+            self.reply(f"ERR unknown {cmd}")
+        return not self._should_quit
+
+    def serve(self) -> None:
+        self.reply("OK ready")
+        while not self._should_quit:
+            line = self._poll_command_line()
+            if line is None:
+                continue
+            if self.verbose:
+                print(f">> {line}", flush=True)
+            if not self._dispatch(line):
+                break
+
+
+def open_serial(port: str, baud: int, timeout: float) -> serial.Serial:
+    try:
+        return serial.Serial(
+            port=port,
+            baudrate=baud,
+            bytesize=serial.EIGHTBITS,
+            parity=serial.PARITY_NONE,
+            stopbits=serial.STOPBITS_ONE,
+            timeout=timeout,
+        )
+    except serial.SerialException as exc:
+        print(f"Serial error: {exc}", file=sys.stderr)
+        print("Check:", file=sys.stderr)
+        print(f"  1. Device node {port} exists", file=sys.stderr)
+        print("  2. User has access (sudo or dialout group)", file=sys.stderr)
+        print("  3. Wiring / USB-TTL connection", file=sys.stderr)
+        raise SystemExit(1) from exc
+
+
+def main(argv: list[str] | None = None) -> int:
+    parser = argparse.ArgumentParser(
+        description="UART finger controller (search/connect/run/stop force stream)"
+    )
+    parser.add_argument("--port", default="/dev/ttyHS1", help="Serial device (default: /dev/ttyHS1)")
+    parser.add_argument("--baud", type=int, default=115200, help="Baud rate (default: 115200)")
+    parser.add_argument(
+        "--timeout",
+        type=float,
+        default=0.1,
+        help="Serial readline timeout seconds (default: 0.1)",
+    )
+    parser.add_argument("--config", "-c", default="finger", help="Orisys config name or path")
+    parser.add_argument(
+        "--camera-id",
+        type=int,
+        default=0,
+        help="Default camera index when connect has no argument (ignored if --video is set)",
+    )
+    parser.add_argument(
+        "--video",
+        default=None,
+        help="Default video file for connect (offline debug without a camera)",
+    )
+    parser.add_argument(
+        "--max-camera-index",
+        type=int,
+        default=10,
+        help="Highest index probed by search",
+    )
+    parser.add_argument(
+        "--loop-video",
+        dest="loop_video",
+        action="store_true",
+        default=True,
+        help="Loop video file on EOF during run (default: on)",
+    )
+    parser.add_argument(
+        "--no-loop-video",
+        dest="loop_video",
+        action="store_false",
+        help="Stop run with OK eof when video file ends",
+    )
+    parser.add_argument(
+        "--show",
+        action="store_true",
+        help="Show UV unrolled OpenCV window (local debug only)",
+    )
+    parser.add_argument("--verbose", action="store_true", help="Echo UART traffic and SDK logs")
+    args = parser.parse_args(argv)
+
+    if args.video:
+        video_path = Path(args.video)
+        if not video_path.is_file():
+            print(f"Video file not found: {args.video}", file=sys.stderr)
+            return 1
+        default_source: Source = str(video_path.resolve())
+    else:
+        default_source = args.camera_id
+
+    ser = open_serial(args.port, args.baud, args.timeout)
+    controller = UartFingerController(
+        ser,
+        config=args.config,
+        default_source=default_source,
+        max_camera_index=args.max_camera_index,
+        loop_video=args.loop_video,
+        show=args.show,
+        verbose=args.verbose,
+    )
+
+    print(f"UART finger controller on {args.port} @ {args.baud} bps", flush=True)
+    print(f"Default source: {default_source}", flush=True)
+    print("Commands: search | connect [source|file] | run | stop | quit", flush=True)
+
+    try:
+        controller.serve()
+    except KeyboardInterrupt:
+        print("\nInterrupted.", flush=True)
+        try:
+            controller.reply("OK quit")
+        except Exception:  # noqa: BLE001, S110 - peer may already be gone
+            # We are already shutting down on Ctrl-C; failing to send the final
+            # acknowledgement (peer closed the port) must not mask the exit path.
+            pass
+    finally:
+        controller.close_runtime()
+        if ser.is_open:
+            ser.close()
+            print("Serial closed.", flush=True)
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

scripts/measure_zero_drift.py

@@ -0,0 +1,340 @@
+"""Measure normal-force zero-point drift, live or from a recording.
+
+Phase 0 of the zero-point plan: quantify the drift before changing the pipeline.
+The number this prints is what the acceptance thresholds get set from, so it is
+deliberately explicit about which rows it used and what it could not conclude.
+
+Usage
+-----
+Live capture (needs a sensor; writes a recording directory when --out is given):
+
+    python scripts/measure_zero_drift.py --live --seconds 1800 --out D:\\tmp\\idle
+
+From an existing recording (the directory holding forces.csv):
+
+    python scripts/measure_zero_drift.py --recording <dir> --unit both
+    python scripts/measure_zero_drift.py --recording <dir> --warmup 5 --start 10 --stop 60
+
+What it reports
+---------------
+Per axis, over the analysed window:
+
+* mean / median / stdev / peak-to-peak, in raw counts and (with --unit N) newtons
+* a least-squares slope in counts/s -- the ramp that "zero drift" actually means
+* a drift ratio (end-third mean minus start-third mean), which is insensitive to
+  whether the drift is linear or a slow wander
+* the band left after removing the window mean, i.e. what a perfect single-point
+  re-zero would achieve -- this separates "the zero moved" from "the noise is wide"
+
+The raw columns are ``FN_raw, FX_raw, FY_raw`` and the calibrated ones are
+``FN_N, FX_N, FY_N`` (see ``FORCES_HEADER`` in
+``orisys_app_shared.record.experiment``); rows with ``valid != 1`` are excluded
+rather than read as zeros.
+"""
+
+from __future__ import annotations
+
+import argparse
+import csv
+import sys
+from collections.abc import Sequence
+from pathlib import Path
+
+import numpy as np
+
+RAW_AXES = ("FN_raw", "FX_raw", "FY_raw")
+NEWTON_AXES = ("FN_N", "FX_N", "FY_N")
+TIME_COLUMN = "t_rel_s"
+VALID_COLUMN = "valid"
+
+
+def _load_rows(source: Path) -> list[dict[str, str]]:
+    path = source / "forces.csv" if source.is_dir() else source
+    if not path.is_file():
+        raise SystemExit(f"no forces.csv at {path}")
+    with path.open(encoding="utf-8", newline="") as handle:
+        return list(csv.DictReader(handle))
+
+
+def _column(rows: Sequence[dict[str, str]], name: str) -> np.ndarray:
+    values = []
+    for row in rows:
+        raw = row.get(name)
+        try:
+            values.append(float(raw))  # type: ignore[arg-type]
+        except (TypeError, ValueError):
+            values.append(np.nan)
+    return np.asarray(values, dtype=np.float64)
+
+
+def _window(
+    rows: list[dict[str, str]],
+    *,
+    start: float | None,
+    stop: float | None,
+    warmup: float,
+) -> tuple[np.ndarray, list[dict[str, str]]]:
+    times = _column(rows, TIME_COLUMN)
+    valid = _column(rows, VALID_COLUMN)
+    mask = np.ones(times.shape, dtype=bool)
+    if times.size:
+        mask &= ~np.isnan(times)  # drop NaN timestamps (unparsable TIME cells)
+        if start is not None:
+            mask &= times >= float(start)
+        if stop is not None:
+            mask &= times <= float(stop)
+    # ``valid`` is authoritative: an invalid row is not a zero reading.
+    mask &= (valid == 1) | np.isnan(valid)
+    kept = [row for row, keep in zip(rows, mask) if keep]
+    if not kept:
+        return np.asarray([], dtype=np.float64), []
+    times = np.asarray([float(row[TIME_COLUMN]) for row in kept], dtype=np.float64)
+    if warmup > 0 and times.size:
+        t0 = times[0]
+        kept = [row for row in kept if float(row[TIME_COLUMN]) - t0 >= warmup]
+        times = np.asarray([float(row[TIME_COLUMN]) for row in kept], dtype=np.float64)
+    return times, kept
+
+
+def _describe(label: str, values: np.ndarray, times: np.ndarray) -> dict[str, float]:
+    finite = values[np.isfinite(values)]
+    if finite.size == 0:
+        return {"axis": label, "n": 0}
+    mean = float(finite.mean())
+    median = float(np.median(finite))
+    # A min-to-max span does not shrink when a constant is removed, so it cannot
+    # answer "what would a re-zero achieve". The robust band and the inter-
+    # percentile width can, and they are what the noise is measured against in
+    # the existing perf analysis.
+    centred = finite - median
+    band_1sigma = float(
+        (np.percentile(centred, 84.1) - np.percentile(centred, 15.9)) / 2.0
+    )
+    width_99 = float(np.percentile(finite, 99.5) - np.percentile(finite, 0.5))
+    slope = float("nan")
+    if times.size == finite.size and times.size > 2 and float(times[-1] - times[0]) > 0:
+        slope = float(np.polyfit(times - times[0], finite, 1)[0])
+    third = max(1, finite.size // 3)
+    drift_ratio = float(finite[-third:].mean() - finite[:third].mean())
+    return {
+        "axis": label,
+        "n": int(finite.size),
+        "mean": mean,
+        "median": median,
+        "stdev": float(finite.std(ddof=0)),
+        "p2p": float(finite.max() - finite.min()),
+        "band_1sigma": band_1sigma,
+        "width_99": width_99,
+        "slope_per_s": slope,
+        "drift_ratio": drift_ratio,
+    }
+
+
+def _print_table(title: str, stats: list[dict[str, float]], unit: str) -> None:
+    usable = [s for s in stats if s.get("n")]
+    print(f"\n=== {title} ===")
+    if not usable:
+        print("   no rows in the analysed window")
+        return
+    print(
+        f"   {'axis':<8} {'n':>7} {'mean':>13} {'median':>13} {'stdev':>12} "
+        f"{'band1s':>11} {'w99':>11} {'slope/s':>11} {'drift':>11}   [{unit}]"
+    )
+    for s in usable:
+        print(
+            f"   {s['axis']:<8} {s['n']:>7} {s['mean']:>13.3f} {s['median']:>13.3f} "
+            f"{s['stdev']:>12.3f} {s['band_1sigma']:>11.3f} {s['width_99']:>11.3f} "
+            f"{s['slope_per_s']:>11.4f} {s['drift_ratio']:>11.3f}"
+        )
+    print(
+        "   slope/s = least-squares ramp (the drift rate)\n"
+        "   band1s  = robust 1-sigma half-width about the median\n"
+        "   w99     = 0.5-99.5 percentile width (tail-resistant spread)\n"
+        "   drift   = mean(last third) - mean(first third): moved, not just noisy"
+    )
+
+
+def _analyse(rows: list[dict[str, str]], args: argparse.Namespace) -> int:
+    times, kept = _window(
+        rows, start=args.start, stop=args.stop, warmup=args.warmup
+    )
+    print(f"recording rows        : {len(rows)}")
+    print(f"analysed rows         : {len(kept)}")
+    if times.size:
+        dt = np.diff(times)
+        print(
+            f"analysed window       : {times[0]:.3f} .. {times[-1]:.3f} s "
+            f"({times[-1] - times[0]:.3f} s)"
+        )
+        if dt.size and dt[dt > 0].size:
+            rate = 1.0 / float(np.median(dt[dt > 0]))
+            print(f"effective sample rate : {rate:.2f} Hz")
+    if len(kept) < 30:
+        print(
+            "\nNOTE: fewer than 30 analysed rows. This cannot characterise a slow\n"
+            "      zero drift -- capture an idle run of at least several minutes."
+        )
+
+    if args.unit in ("raw", "both"):
+        _print_table(
+            "raw counts (pre-calibration)",
+            [_describe(axis, _column(kept, axis), times) for axis in RAW_AXES],
+            "counts",
+        )
+    if args.unit in ("N", "both"):
+        _print_table(
+            "newtons (what the operator sees)",
+            [_describe(axis, _column(kept, axis), times) for axis in NEWTON_AXES],
+            "N",
+        )
+
+    if args.out:
+        out = Path(args.out)
+        out.parent.mkdir(parents=True, exist_ok=True)
+        with out.open("w", encoding="utf-8", newline="") as handle:
+            writer = csv.writer(handle)
+            writer.writerow(
+                ["axis", "unit", "n", "mean", "median", "stdev", "band_1sigma",
+                 "width_99", "slope_per_s", "drift_ratio"]
+            )
+            groups = []
+            if args.unit in ("raw", "both"):
+                groups.append((RAW_AXES, "counts"))
+            if args.unit in ("N", "both"):
+                groups.append((NEWTON_AXES, "N"))
+            for axes, unit in groups:
+                for axis in axes:
+                    s = _describe(axis, _column(kept, axis), times)
+                    if not s.get("n"):
+                        continue
+                    writer.writerow([
+                        s["axis"], unit, s["n"], f"{s['mean']:.6f}",
+                        f"{s['median']:.6f}", f"{s['stdev']:.6f}",
+                        f"{s['band_1sigma']:.6f}", f"{s['width_99']:.6f}",
+                        f"{s['slope_per_s']:.6f}", f"{s['drift_ratio']:.6f}",
+                    ])
+        print(f"\nwrote {out}")
+    return 0
+
+
+def _capture_live(args: argparse.Namespace) -> int:
+    """Sample a real sensor with no load applied.
+
+    Uses only the public ``read_info``/``disconnect`` surface, so this keeps
+    working if the internals move.
+    """
+    import time as _time
+
+    from orisys import Sensor
+
+    sensor = Sensor(
+        "external",
+        config_name=args.config,
+        verbose=args.verbose,
+        backend=args.backend,
+    )
+    seconds = float(args.seconds)
+    period = 1.0 / float(args.sample_rate)
+    rows: list[tuple[float, float, float, float, float, float, float]] = []
+    try:
+        print(
+            f"capturing {seconds:.0f}s at ~{args.sample_rate:.0f} Hz from config "
+            f"{args.config!r} ({args.backend}); keep the sensor unloaded"
+        )
+        t0 = _time.monotonic()
+        while True:
+            elapsed = _time.monotonic() - t0
+            if elapsed >= seconds:
+                break
+            raw = sensor.read_info(
+                sensor.info.FNORMAL_RAW,
+                sensor.info.FSHEARX_RAW,
+                sensor.info.FSHEARY_RAW,
+            )
+            newtons = sensor.read_info(
+                sensor.info.FNORMAL,
+                sensor.info.FSHEARX,
+                sensor.info.FSHEARY,
+            )
+            rows.append((elapsed, *[float(v) for v in raw], *[float(v) for v in newtons]))
+            _time.sleep(max(0.0, period - ((_time.monotonic() - t0) - elapsed)))
+    finally:
+        sensor.disconnect()
+
+    if not rows:
+        print("no samples captured (external-frame mode may need a frame source)")
+        return 1
+
+    times = np.asarray([row[0] for row in rows], dtype=np.float64)
+    print(f"\ncaptured {len(rows)} samples over {times[-1]:.1f}s")
+
+    if args.out:
+        out = Path(args.out)
+        out.mkdir(parents=True, exist_ok=True)
+        path = out / "forces.csv"
+        with path.open("w", encoding="utf-8", newline="") as handle:
+            writer = csv.writer(handle)
+            writer.writerow(
+                ["session_id", "frame_id", TIME_COLUMN, *RAW_AXES, *NEWTON_AXES,
+                 VALID_COLUMN, "calibration_id"]
+            )
+            for index, row in enumerate(rows):
+                t_rel, *rest = row
+                writer.writerow(
+                    [0, index, f"{t_rel:.6f}", *[f"{v:.6f}" for v in rest], 1, ""]
+                )
+        print(f"wrote {path}")
+        return 0
+
+    _print_table(
+        "live raw counts",
+        [
+            _describe(axis, np.asarray([row[1 + i] for row in rows]), times)
+            for i, axis in enumerate(RAW_AXES)
+        ],
+        "counts",
+    )
+    _print_table(
+        "live newtons",
+        [
+            _describe(axis, np.asarray([row[4 + i] for row in rows]), times)
+            for i, axis in enumerate(NEWTON_AXES)
+        ],
+        "N",
+    )
+    return 0
+
+
+def main(argv: Sequence[str] | None = None) -> int:
+    parser = argparse.ArgumentParser(
+        description="Measure normal-force zero-point drift (Phase 0)."
+    )
+    source = parser.add_mutually_exclusive_group(required=True)
+    source.add_argument("--recording", type=Path,
+                        help="recording directory or forces.csv path")
+    source.add_argument("--live", action="store_true",
+                        help="capture from a Sensor instead (external-frame mode)")
+    parser.add_argument("--seconds", type=float, default=1800.0,
+                        help="live capture length (default 1800)")
+    parser.add_argument("--sample-rate", type=float, default=30.0,
+                        help="live polling rate Hz (default 30)")
+    parser.add_argument("--config", default="box", help="sensor config for --live")
+    parser.add_argument("--backend", default="cpu", help="poisson backend for --live")
+    parser.add_argument("--unit", choices=("raw", "N", "both"), default="both")
+    parser.add_argument("--start", type=float, default=None, help="window start (s)")
+    parser.add_argument("--stop", type=float, default=None, help="window stop (s)")
+    parser.add_argument("--warmup", type=float, default=0.0,
+                        help="discard this many seconds from the window start")
+    parser.add_argument("--out", default=None,
+                        help="write the per-axis table to this CSV path, or the "
+                             "capture directory when used with --live")
+    parser.add_argument("--verbose", action="store_true")
+    args = parser.parse_args(argv)
+
+    if args.live:
+        return _capture_live(args)
+    return _analyse(_load_rows(args.recording), args)
+
+
+if __name__ == "__main__":
+    sys.exit(main())

scripts/promote_video.py

@@ -1,14 +1,18 @@
 import os
+
 os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0"
-import cv2
-import orisys
-import numpy as np
-import time
 import argparse
+import time
+
+import cv2
+import numpy as np
 import pyqtgraph as pg
-from PyQt5.QtGui import QImage, QFont
+from PyQt5.QtGui import QFont, QImage
 from pyqtgraph.Qt import QtGui
 
+import orisys
+
+
 def make_gradient_brush(color_hex, max_alpha=150):
     """
     创建一个从上到下渐变的笔刷 (兼容 PyQt5 和 PyQt6)

sensors/box/force_calibration.json

@@ -1,8 +1,44 @@
 {
-  "normal_force": {
+  "schema_version": 2,
-    "model": "linear",
+  "unit": "N",
-    "slope": 3.92685554668795e-05,
+  "channels": {
-    "offset": 0.0217596967278535,
+    "normal": {
-    "unit": "N"
+      "method": "piecewise_linear",
+      "raw_key": "fnormal",
+      "extrapolate": true,
+      "clamp_output_min": 0.0,
+      "points": [
+        [1000.0, 0.0],
+        [10000.0, 0.377],
+        [30000.0, 1.377],
+        [62000.0, 2.377]
+      ]
+    },
+    "shear_x": {
+      "method": "piecewise_linear",
+      "raw_key": "fshearx",
+      "input": "components",
+      "signed": true,
+      "extrapolate": true,
+      "clamp_output_min": 0.0,
+      "points": [
+        [1000.0, 0.0],
+        [36000.0, 1.19],
+        [68000.0, 2.06]
+      ]
+    },
+    "shear_y": {
+      "method": "piecewise_linear",
+      "raw_key": "fsheary",
+      "input": "components",
+      "signed": true,
+      "extrapolate": true,
+      "clamp_output_min": 0.0,
+      "points": [
+        [1000.0, 0.0],
+        [36000.0, 1.19],
+        [68000.0, 2.06]
+      ]
+    }
   }
 }

sensors/box/sensor.json

@@ -29,14 +29,21 @@
     "loop_closure_interval": 1,
     "algorithm": "dis",
     "dis_preset": "medium",
-    "dis_mode": 3,
+    "dis_mode": 1,
     "algorithm_list": ["raft", "dis"],
     "hhd_downsample": 3
   },
+  "filters": {
+    "flow_ema_alpha": 1.0,
+    "force_median_window": 1,
+    "force_lowpass_cutoff_hz": 0.0,
+    "force_lowpass_order": 2,
+    "force_lowpass_sample_rate_hz": "auto"
+  },
   "contact": {
     "min_contour_area": 3000,
-    "flow_threshold":5,
+    "flow_threshold":0.2,
-    "div_threshold":0.05,
+    "div_threshold":0.007,
     "expansion_threshold": 0.01,
     "kernel_size": [5,5],
     "denoise_sigma": 12

sensors/finger/sensor.json

@@ -22,12 +22,19 @@
     "dis_preset": "medium",
     "dis_mode": 1,
     "algorithm_list": ["raft", "dis"],
-    "hhd_downsample": 5
+    "hhd_downsample": 2
+  },
+  "filters": {
+    "flow_ema_alpha": 1.0,
+    "force_median_window": 1,
+    "force_lowpass_cutoff_hz": 0.0,
+    "force_lowpass_order": 2,
+    "force_lowpass_sample_rate_hz": "auto"
   },
   "contact": {
     "min_contour_area": 3000,
     "flow_threshold": 0.2,
-    "div_threshold": 0.022,
+    "div_threshold": 0.007,
     "expansion_threshold": 0.01,
     "kernel_size": [5, 5],
     "denoise_sigma": 12