build/wheel/build.py

@@ -33,7 +33,11 @@ from common.paths import NUITKA_COMPILE_DIR, NUITKA_WHEEL_DIR, REPO_ROOT, repair
 from common.pyproject_utils import bundle_items, extras_require, get_version, install_requires
 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, copy_orisys_blend, package_data_from_bundle
+from wheel.layout import (
+    copy_bundle_items,
+    copy_orisys_blend,
+    package_data_from_bundle,
+)
 from wheel.package import (
     is_compliant_manylinux_wheel,
     publish_wheel_to_sdk,

build/wheel/layout.py

@@ -5,6 +5,14 @@ from __future__ import annotations
 import shutil
 from pathlib import Path
 
+# Required files that must ship with the wheel for ORY-FINGER runtime/GUI.
+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",
+)
+
 
 def resolve_bundle_source_files(repo_root: Path, item: dict) -> list[Path]:
     """Resolve explicit files and/or glob patterns for one bundle item."""
@@ -37,6 +45,32 @@ def resolve_bundle_source_files(repo_root: Path, item: dict) -> list[Path]:
     return resolved
 
 
+def verify_required_assets(repo_root: Path, items: list[dict]) -> None:
+    """Fail early when required finger assets are missing from the bundle."""
+    asset_items = [item for item in items if item.get("name") == "sensors"]
+    if not asset_items:
+        return
+
+    resolved: set[str] = set()
+    for item in asset_items:
+        src_dir = (repo_root / item["source"]).resolve()
+        for path in resolve_bundle_source_files(repo_root, item):
+            try:
+                rel = path.resolve().relative_to(src_dir).as_posix()
+            except ValueError:
+                continue
+            resolved.add(rel)
+
+    missing = [rel for rel in REQUIRED_ASSET_RELPATHS if rel not in resolved]
+    if missing:
+        joined = ", ".join(missing)
+        raise FileNotFoundError(
+            "Required finger assets are missing from the wheel bundle. "
+            f"Missing: {joined}. Update [[tool.orisys.bundle.items]] patterns "
+            "or restore assets under sensors/finger/assets/ before building."
+        )
+
+
 def package_data_paths_for_item(item: dict) -> list[str]:
     """Return setuptools package_data paths relative to the orisys package."""
     target = str(item["target"]).replace("\\", "/")
@@ -54,6 +88,7 @@ def data_file_entries_for_item(item: dict) -> list[str]:
 
 
 def copy_bundle_items(repo_root: Path, pkg_dir: Path, items: list[dict]) -> dict[str, int]:
+    verify_required_assets(repo_root, items)
     copied_counts: dict[str, int] = {}
     for item in items:
         name = item["name"]

config/finger.json

@@ -5,7 +5,7 @@
   "camera": {
     "resolution_raw": [1280, 720],
     "fps": 30,
-    "resolution_stitch": [420, 450],
+    "resolution_stitch": [280, 300],
     "source_scale": 0.4,
     "old":[672, 728, 1,0.5],
     "work": [504, 546,1],
@@ -20,7 +20,7 @@
     "loop_closure_interval": 1,
     "algorithm": "dis",
     "dis_preset": "medium",
-    "dis_mode": 3,
+    "dis_mode": 1,
     "algorithm_list": ["raft", "dis"],
     "hhd_downsample": 5
   },

examples/gui/preference.json

@@ -1,10 +1,12 @@
 {
-  "video_source": "D:/repo/orisys-sdk/data/dd02/0607_1.mp4",
-  "config_path": "./config/dd02-ov.json",
-  "finger_assets_dir": "D:/repo/orisys-sdk/assets/finger/30fps-0703",
+  "video_source": "D:/repo/orisys-sdk/data/dd02-0703/1.mp4",
+  "sensor_bundle_dir": "sensors/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",
-  "free_rotate": true
+  "arrow_background": "unrolled",
+  "free_rotate": true,
+  "log_display_mode": "hidden"
 }

examples/gui/viewer3d/dashboard.py

@@ -2,14 +2,19 @@
 
 from __future__ import annotations
 
+import json
 import math
 import sys
 import time
+from pathlib import Path
 
 from PyQt5.QtCore import Qt, QTimer
 from PyQt5.QtGui import QIcon
 from PyQt5.QtWidgets import (
+    QAction,
+    QActionGroup,
     QApplication,
+    QDockWidget,
     QFileDialog,
     QMainWindow,
     QSplitter,
@@ -61,6 +66,7 @@ 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)
@@ -84,7 +90,7 @@ class FingerDashboardWindow(QMainWindow):
         root_layout.setSpacing(layout.root_spacing_px)
 
         setup = layout.panel_setup
-        self._log_panel_visible = setup.log_panel.enabled
+        self._log_panel_visible = False
         self.mesh_state = MeshViewState.from_layout(layout)
         self.mesh_viewport = MeshViewportWidget(layout=layout, mesh_state=self.mesh_state)
         arrows_slot = layout.slot("arrows")
@@ -111,7 +117,6 @@ 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())
@@ -152,11 +157,6 @@ 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)
@@ -172,18 +172,104 @@ 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)
-        self.log_widget.setVisible(self._log_panel_visible)
+        if hasattr(self, "log_dock"):
+            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._set_log_panel_visible(visible)
-        self._save_preferences()
+        self._apply_log_display_mode("runtime" if visible else "hidden", save=True)
 
     def _on_free_rotation_changed(self, enabled: bool) -> None:
         self.mesh_viewport.set_free_rotation(enabled)
@@ -196,6 +282,7 @@ 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.
@@ -217,7 +304,6 @@ 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:
@@ -236,27 +322,11 @@ 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, 0])
+        self.force_charts.set_panel_size(
+            self._scaled_px(charts_slot.width_px, scale),
+            column_height,
+        )
+        self.charts_column.setSizes([column_height])
 
         self.h_splitter.setSizes(
             [self._scaled_px(slot.width_px, scale) for slot in setup.top_row.slots if slot.enabled]
@@ -279,12 +349,6 @@ 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)
@@ -316,12 +380,6 @@ 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)
@@ -602,12 +660,27 @@ class FingerDashboardWindow(QMainWindow):
     def _select_finger_assets(self) -> None:
         path = QFileDialog.getExistingDirectory(
             self,
-            "选择 finger 资产目录",
-            self.settings_panel.finger_export_dir() or "assets/finger",
+            "选择传感器 bundle 目录",
+            self.settings_panel.sensor_bundle_dir() or "sensors/finger",
         )
         if path:
-            self.settings_panel.set_finger_export_dir(path)
-            self.config.export_dir = path
+            bundle_dir = Path(path)
+            config_path = bundle_dir / "sensor.json"
+            manifest_path = bundle_dir / "manifest.json"
+            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/presets.py

@@ -0,0 +1,113 @@
+"""Finger-compatible sensor-bundle presets for the 3D dashboard."""
+
+from __future__ import annotations
+
+import json
+from dataclasses import dataclass
+from pathlib import Path
+
+from orisys.finger import DEFAULT_FINGER_EXPORT_DIR
+
+
+def _repo_root_candidates() -> list[Path]:
+    here = Path(__file__).resolve()
+    return [
+        Path.cwd(),
+        here.parents[3],  # examples/gui/viewer3d -> repo root
+    ]
+
+
+@dataclass(frozen=True)
+class SensorBundlePreset:
+    label: str
+    bundle_dir: str
+    config: str
+    export_dir: str
+
+
+def _load_manifest(bundle_root: Path) -> dict:
+    path = bundle_root / "manifest.json"
+    if not path.is_file():
+        return {}
+    try:
+        return json.loads(path.read_text(encoding="utf-8"))
+    except Exception:
+        return {}
+
+
+def _bundle_from_root(bundle_root: Path, *, label: str | None = None) -> SensorBundlePreset | None:
+    sensor_json = bundle_root / "sensor.json"
+    if not sensor_json.is_file():
+        return None
+    manifest = _load_manifest(bundle_root)
+    assets_dir = manifest.get("assets_dir", "assets/30fps-0703")
+    if not isinstance(assets_dir, str) or not assets_dir.strip():
+        assets_dir = "assets/30fps-0703"
+    rel_bundle = bundle_root.as_posix()
+    for root in _repo_root_candidates():
+        try:
+            rel_bundle = bundle_root.relative_to(root).as_posix()
+            break
+        except ValueError:
+            continue
+    return SensorBundlePreset(
+        label=label or "ORY-FINGER",
+        bundle_dir=rel_bundle,
+        config=f"{rel_bundle}/sensor.json",
+        export_dir=f"{rel_bundle}/{assets_dir}".replace("\\", "/"),
+    )
+
+
+def default_finger_bundle() -> SensorBundlePreset:
+    for root in _repo_root_candidates():
+        preset = _bundle_from_root(root / "sensors" / "finger", label="ORY-FINGER")
+        if preset is not None:
+            return preset
+    return SensorBundlePreset(
+        label="ORY-FINGER",
+        bundle_dir="sensors/finger",
+        config="sensors/finger/sensor.json",
+        export_dir=DEFAULT_FINGER_EXPORT_DIR,
+    )
+
+
+def discover_sensor_bundle_presets() -> list[SensorBundlePreset]:
+    """Return finger-compatible sensor bundle presets."""
+    presets = [default_finger_bundle()]
+    known_dirs = {presets[0].bundle_dir.replace("\\", "/")}
+
+    for root in _repo_root_candidates():
+        sensors_root = root / "sensors"
+        if not sensors_root.is_dir():
+            continue
+        for child in sorted(sensors_root.iterdir()):
+            if not child.is_dir():
+                continue
+            if child.name != "finger":
+                continue
+            preset = _bundle_from_root(child, label="ORY-FINGER")
+            if preset is None:
+                continue
+            key = preset.bundle_dir.replace("\\", "/")
+            if key in known_dirs:
+                continue
+            presets.append(preset)
+            known_dirs.add(key)
+        break
+
+    return presets
+
+
+def sensor_bundle_preset_index(
+    config: str,
+    export_dir: str,
+    presets: list[SensorBundlePreset],
+) -> int:
+    config = (config or "").strip().replace("\\", "/")
+    export_dir = (export_dir or "").strip().replace("\\", "/")
+    for idx, preset in enumerate(presets):
+        if config == preset.config and export_dir == preset.export_dir:
+            return idx
+        if config.endswith("/sensor.json") and export_dir.endswith("/" + Path(preset.export_dir).name):
+            return idx
+    return -1

examples/gui/viewer3d/widgets/settings_panel.py

@@ -15,11 +15,15 @@ from PyQt5.QtWidgets import (
     QWidget,
 )
 
-from orisys.finger import DEFAULT_FINGER_EXPORT_DIR
 from viz.render_2d import ArrowBackground
 
 from ..layout import DashboardLayout, LAYOUT
 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"
@@ -86,7 +90,7 @@ 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)
-        root.addWidget(self.show_log_check)
+        self.show_log_check.hide()
 
         self.show_flow_arrows_check = QCheckBox("Show displacement arrows")
         self.show_flow_arrows_check.setChecked(self._mesh_state.flow_arrows_enabled)
@@ -134,35 +138,38 @@ class SettingsPanelWidget(QWidget):
         self._video_file_path = ""
         self._updating_camera_options = False
 
-        root.addWidget(self._caption("Config"))
-        config_row = QHBoxLayout()
-        config_row.setSpacing(6)
-        self.config_edit = QLineEdit("finger")
-        config_row.addWidget(self.config_edit, 1)
+        root.addWidget(self._caption("Sensor bundle"))
+        bundle_row = QHBoxLayout()
+        bundle_row.setSpacing(6)
+        self.sensor_bundle_combo = QComboBox()
+        self.sensor_bundle_combo.setToolTip("Select a finger sensor bundle")
+        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.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)
+        self.btn_browse_config.hide()
 
         # 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()
 
-        root.addWidget(self._caption("Finger assets"))
-        finger_assets_row = QHBoxLayout()
-        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)
+        self.finger_assets_edit = QLineEdit("sensors/finger/assets/30fps-0703")
+        self.finger_assets_edit.hide()
+        self._apply_bundle_preset(self._bundle_presets[0])
 
         root.addWidget(self._caption("CSV save directory"))
         csv_dir_row = QHBoxLayout()
@@ -337,16 +344,18 @@ 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)
@@ -387,6 +396,33 @@ 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:
@@ -413,6 +449,15 @@ 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()
 
@@ -420,6 +465,7 @@ 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(),
@@ -465,6 +511,8 @@ 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())

pyproject.toml

@@ -75,6 +75,14 @@ patterns = ["*.json"]
 # files = ["dd02-ov.json", "ddjx01.json"]
 dev_install = true
 
+[[tool.orisys.bundle.items]]
+name = "sensors"
+source = "sensors"
+target = "sensors"
+patterns = ["**/*.json", "finger/assets/30fps*/*", "finger/assets/visualization/*"]
+preserve_tree = true
+dev_install = true
+
 [[tool.orisys.bundle.items]]
 name = "examples"
 source = "examples"
@@ -88,11 +96,3 @@ source = "docs"
 target = "docs"
 patterns = ["*.md", "*.pdf"]
 
-[[tool.orisys.bundle.items]]
-name = "assets"
-source = "assets"
-target = "assets"
-patterns = ["finger/30fps/*", "finger/visualization/*"]
-preserve_tree = true
-dev_install = true
-

sensors/box/force_calibration.json

@@ -0,0 +1,8 @@
+{
+  "normal_force": {
+    "model": "linear",
+    "slope": 3.92685554668795e-05,
+    "offset": 0.0217596967278535,
+    "unit": "N"
+  }
+}

sensors/box/sensor.json

@@ -0,0 +1,46 @@
+{
+  "name": "prototype",
+  "version": "1.0",
+  "camera": {
+    "resolution_raw": [1920, 1080],
+    "fps": 30,
+    "units": 15,
+    "units_used": 9, 
+    "resolution_stitch": [365, 365],
+    "stitch_res_list": [365,263,123,63]
+  },
+  "stitcher": {
+    "min_area_frac": 0.01,
+    "max_area_frac": 0.05,
+    "max_aspect_ratio": 50,
+    "index": [1,2,3,6,7,8,11,12,13],
+    "margin": 10,
+    "nominal_ov_pos": 100,
+    "n": [3,3],
+    "row_tol": 0.6,
+    "box_size": [250, 250],
+    "blend":"numba",
+    "blend_list": ["numpy", "numba","none"]
+  },
+  "tracker": {
+    "adaptive": true,
+    "lower_threshold": 12.0,
+    "upper_threshold": 18.0,
+    "loop_closure_interval": 1,
+    "algorithm": "dis",
+    "dis_preset": "medium",
+    "dis_mode": 3,
+    "algorithm_list": ["raft", "dis"],
+    "hhd_downsample": 3
+  },
+  "contact": {
+    "min_contour_area": 3000,
+    "flow_threshold":5,
+    "div_threshold":0.05,
+    "expansion_threshold": 0.01,
+    "kernel_size": [5,5],
+    "denoise_sigma": 12
+  }
+}
+
+

sensors/finger/assets/30fps-0703/README.md

@@ -0,0 +1,9 @@
+Place the ORY-FINGER runtime asset bundle files in this directory before
+building release wheels:
+
+- `mesh.npz`
+- `camera_intrinsics.npz`
+- `world_to_cam.npy`
+
+These binary assets are validated by the wheel build and are intentionally not
+generated by the package build step.

sensors/finger/assets/visualization/README.md

@@ -0,0 +1,6 @@
+Place visualization camera assets in this directory before building release
+wheels:
+
+- `world_to_cam.npy`
+
+The 3D dashboard uses this pose as the default view preset when available.

sensors/finger/manifest.json

@@ -0,0 +1,6 @@
+{
+  "name": "finger",
+  "sensor_json": "sensor.json",
+  "assets_dir": "assets/30fps-0703",
+  "viz_pose": "assets/visualization/world_to_cam.npy"
+}

sensors/finger/sensor.json

@@ -0,0 +1,35 @@
+{
+  "name": "dd02-ov",
+  "type": "single_camera",
+  "version": "1.0",
+  "camera": {
+    "resolution_raw": [1280, 720],
+    "fps": 30,
+    "resolution_stitch": [280, 300],
+    "source_scale": 0.4,
+    "old":[672, 728, 1,0.5],
+    "work": [504, 546,1],
+    "work2": [420, 450,0.8],
+    "work3": [350, 375,4,0.7],
+    "work4": [280, 300,4,0.4,0.2]
+  },
+  "tracker": {
+    "adaptive": true,
+    "lower_threshold": 12.0,
+    "upper_threshold": 18.0,
+    "loop_closure_interval": 1,
+    "algorithm": "dis",
+    "dis_preset": "medium",
+    "dis_mode": 1,
+    "algorithm_list": ["raft", "dis"],
+    "hhd_downsample": 5
+  },
+  "contact": {
+    "min_contour_area": 3000,
+    "flow_threshold": 0.2,
+    "div_threshold": 0.022,
+    "expansion_threshold": 0.01,
+    "kernel_size": [5, 5],
+    "denoise_sigma": 12
+  }
+}

sensors/mini/force_calibration.json

@@ -0,0 +1,8 @@
+{
+  "normal_force": {
+    "model": "linear",
+    "slope": 3.92685554668795e-05,
+    "offset": 0.0217596967278535,
+    "unit": "N"
+  }
+}

sensors/mini/sensor.json

@@ -0,0 +1,46 @@
+{
+  "name": "prototype",
+  "version": "1.0",
+  "camera": {
+    "resolution_raw": [1920, 1080],
+    "fps": 30,
+    "units": 15,
+    "units_used": 9, 
+    "resolution_stitch": [365, 365],
+    "stitch_res_list": [365,263,123,63]
+  },
+  "stitcher": {
+    "min_area_frac": 0.01,
+    "max_area_frac": 0.05,
+    "max_aspect_ratio": 50,
+    "index": [1,2,3,6,7,8,11,12,13],
+    "margin": 10,
+    "nominal_ov_pos": 100,
+    "n": [3,3],
+    "row_tol": 0.6,
+    "box_size": [250, 250],
+    "blend":"numba",
+    "blend_list": ["numpy", "numba","none"]
+  },
+  "tracker": {
+    "adaptive": true,
+    "lower_threshold": 12.0,
+    "upper_threshold": 18.0,
+    "loop_closure_interval": 1,
+    "algorithm": "dis",
+    "dis_preset": "medium",
+    "dis_mode": 3,
+    "algorithm_list": ["raft", "dis"],
+    "hhd_downsample": 3
+  },
+  "contact": {
+    "min_contour_area": 3000,
+    "flow_threshold":5,
+    "div_threshold":0.05,
+    "expansion_threshold": 0.01,
+    "kernel_size": [5,5],
+    "denoise_sigma": 12
+  }
+}
+
+

src/orisys/configs.py

@@ -1,4 +1,7 @@
 import json
+from contextlib import ExitStack
+from dataclasses import dataclass
+from importlib.resources import as_file, files
 from pathlib import Path
 
 # Product-facing names that map to on-disk config stems.
@@ -8,6 +11,18 @@ CONFIG_ALIASES = {
     "dd02": "dd02-ov",
 }
 
+PRODUCT_BUNDLES = ("box", "mini", "finger")
+_RESOURCE_STACK = ExitStack()
+
+
+def _resource_path(*parts: str) -> Path | None:
+    """Resolve a package resource to a filesystem path for wheel-safe loaders."""
+    try:
+        resource = files("orisys").joinpath(*parts)
+        return _RESOURCE_STACK.enter_context(as_file(resource))
+    except Exception:
+        return None
+
 
 def _candidate_config_dirs() -> list[Path]:
     """
@@ -28,6 +43,26 @@ def _candidate_config_dirs() -> list[Path]:
     return unique
 
 
+def _candidate_sensor_roots() -> list[Path]:
+    """Candidate roots that contain per-sensor bundle folders."""
+    here = Path(__file__).resolve().parent
+    candidates = []
+    packaged = _resource_path("sensors")
+    if packaged is not None:
+        candidates.append(packaged)          # packaged wheel layout: orisys/sensors/
+    candidates.extend([
+        here / "sensors",
+        here.parent.parent / "sensors",      # editable install: repo_root/sensors/
+        here.parent / "sensors",
+        Path.cwd() / "sensors",
+    ])
+    unique: list[Path] = []
+    for path in candidates:
+        if path not in unique:
+            unique.append(path)
+    return unique
+
+
 def _get_config_dir() -> Path:
     for candidate in _candidate_config_dirs():
         if candidate.exists() and any(candidate.glob("*.json")):
@@ -50,14 +85,96 @@ def _load_json(path: Path) -> dict:
         return json.load(f)
 
 
+@dataclass(frozen=True)
+class SensorBundle:
+    """Resolved paths for one additive per-sensor package folder."""
+
+    name: str
+    root: Path
+    sensor_json: Path
+    force_calibration_json: Path | None = None
+    manifest_json: Path | None = None
+    assets_dir: Path | None = None
+
+
+def resolve_sensor_bundle(name: str) -> SensorBundle | None:
+    """Resolve ``sensors/<name>/`` when present; otherwise return ``None``."""
+    requested = CONFIG_ALIASES.get(str(name), str(name))
+    for root in _candidate_sensor_roots():
+        bundle_root = root / requested
+        sensor_json = bundle_root / "sensor.json"
+        if not sensor_json.is_file():
+            continue
+        force_path = bundle_root / "force_calibration.json"
+        manifest_path = bundle_root / "manifest.json"
+        assets_dir = None
+        if manifest_path.is_file():
+            try:
+                manifest = _load_json(manifest_path)
+            except Exception:
+                manifest = {}
+            rel_assets = manifest.get("assets_dir")
+            if isinstance(rel_assets, str) and rel_assets.strip():
+                candidate = (bundle_root / rel_assets).resolve()
+                if candidate.is_dir():
+                    assets_dir = candidate
+        return SensorBundle(
+            name=requested,
+            root=bundle_root.resolve(),
+            sensor_json=sensor_json.resolve(),
+            force_calibration_json=force_path.resolve() if force_path.is_file() else None,
+            manifest_json=manifest_path.resolve() if manifest_path.is_file() else None,
+            assets_dir=assets_dir,
+        )
+    return None
+
+
+def resolve_sensor_config_path(name: str) -> Path | None:
+    """Return ``sensor.json`` for a resolved sensor bundle."""
+    bundle = resolve_sensor_bundle(name)
+    return bundle.sensor_json if bundle is not None else None
+
+
+def resolve_sensor_asset_dir(name: str) -> Path | None:
+    """Return the default asset directory for a resolved sensor bundle."""
+    bundle = resolve_sensor_bundle(name)
+    return bundle.assets_dir if bundle is not None else None
+
+
+def resolve_sensor_resource(name: str, *relative_parts: str) -> Path | None:
+    """Return a path inside one sensor bundle when present."""
+    bundle = resolve_sensor_bundle(name)
+    if bundle is None:
+        return None
+    return bundle.root.joinpath(*relative_parts)
+
+
+def list_sensor_bundles() -> list[str]:
+    """Return product names that have an additive ``sensors/<name>/`` folder."""
+    found: list[str] = []
+    for name in PRODUCT_BUNDLES:
+        if resolve_sensor_bundle(name) is not None:
+            found.append(name)
+    return found
+
+
+def load_force_calibration(name: str) -> dict | None:
+    """Load ``force_calibration.json`` from a sensor bundle when available."""
+    bundle = resolve_sensor_bundle(name)
+    if bundle is None or bundle.force_calibration_json is None:
+        return None
+    return _load_json(bundle.force_calibration_json)
+
+
 def load_config(config_name_or_path):
     """
     Load sensor configuration from a JSON file path or config name.
 
     Config lookup order:
     1. Exact file path (absolute or relative)
-    2. File stem under the config directory (e.g. ``box`` -> ``config/box.json``)
-    3. JSON field ``"name"`` matching the requested name (keeps ``prototype`` compatible)
+    2. Additive sensor bundle ``sensors/<name>/sensor.json``
+    3. File stem under the config directory (e.g. ``box`` -> ``config/box.json``)
+    4. JSON field ``"name"`` matching the requested name (keeps ``prototype`` compatible)
     """
     config_path = Path(config_name_or_path)
 
@@ -75,6 +192,11 @@ def load_config(config_name_or_path):
     if alias and alias not in candidates:
         candidates.append(alias)
 
+    for name in candidates:
+        bundle = resolve_sensor_bundle(name)
+        if bundle is not None:
+            return _load_json(bundle.sensor_json)
+
     for name in candidates:
         direct = CONFIG_DIR / f"{name}.json"
         if direct.exists():
@@ -103,7 +225,11 @@ def list_config():
     """
     List all available JSON configuration files by file stem.
     """
-    return [f.stem for f in _config_files()]
+    stems = [f.stem for f in _config_files()]
+    for name in list_sensor_bundles():
+        if name not in stems:
+            stems.append(name)
+    return sorted(stems)
 
 
 def export_config(config_name=None, path="./config/exported_config.json"):

src/orisys/finger/exports.py

@@ -4,6 +4,7 @@ import sys
 from dataclasses import dataclass
 from pathlib import Path
 
+from ..configs import resolve_sensor_asset_dir
 from ..unroll import (
     compute_uv_distortion_metrics,
     load_exported_data,
@@ -11,7 +12,7 @@ from ..unroll import (
     scaled_map_cache_path,
 )
 
-DEFAULT_FINGER_EXPORT_DIR = "assets/finger/30fps-0703"
+DEFAULT_FINGER_EXPORT_DIR = "sensors/finger/assets/30fps-0703"
 DEFAULT_FINGER_MAP_CACHE = f"{DEFAULT_FINGER_EXPORT_DIR}/unroll_map_uv.npz"
 
 
@@ -44,11 +45,15 @@ def _candidate_export_dirs(export_dir) -> list[Path]:
         return [raw]
 
     here = Path(__file__).resolve()
-    candidates = [
+    candidates = []
+    bundled_assets = resolve_sensor_asset_dir("finger")
+    if bundled_assets is not None and raw.as_posix() == DEFAULT_FINGER_EXPORT_DIR:
+        candidates.append(bundled_assets)
+    candidates.extend([
         Path.cwd() / raw,
-        here.parents[1] / raw,     # packaged wheel: orisys/assets/...
+        here.parents[1] / raw,     # packaged wheel filesystem layout
         here.parents[3] / raw,     # editable install: repo/assets/...
-    ]
+    ])
     if getattr(sys, "frozen", False):
         candidates.insert(0, Path(sys.executable).resolve().parent / raw)
     unique: list[Path] = []

src/orisys/signal_processing.py

@@ -10,6 +10,7 @@ import numpy as np
 from scipy.signal import butter, filtfilt, sosfilt, sosfilt_zi
 
 # Linear calibration from raw normal-force units to Newtons (ORY-BOX / ORY-MINI).
+# Prefer sensors/<name>/force_calibration.json when available.
 NORMAL_FORCE_CAL_SLOPE = 3.92685554668795e-05
 NORMAL_FORCE_CAL_OFFSET = 0.0217596967278535
 
@@ -17,9 +18,28 @@ DEFAULT_SAMPLE_RATE_HZ = 30.0
 DEFAULT_LOWPASS_ORDER = 2
 
 
-def calibrate_normal_force(raw_value: float) -> float:
+def _load_normal_force_coeffs(sensor_name: str | None = None) -> tuple[float, float]:
+    if sensor_name:
+        try:
+            from .configs import load_force_calibration
+
+            data = load_force_calibration(sensor_name)
+        except Exception:
+            data = None
+        if isinstance(data, dict):
+            block = data.get("normal_force", data)
+            if isinstance(block, dict):
+                slope = block.get("slope")
+                offset = block.get("offset")
+                if slope is not None and offset is not None:
+                    return float(slope), float(offset)
+    return NORMAL_FORCE_CAL_SLOPE, NORMAL_FORCE_CAL_OFFSET
+
+
+def calibrate_normal_force(raw_value: float, *, sensor_name: str | None = None) -> float:
     """Convert a raw normal-force reading to Newtons using y = mx + c."""
-    return NORMAL_FORCE_CAL_SLOPE * float(raw_value) + NORMAL_FORCE_CAL_OFFSET
+    slope, offset = _load_normal_force_coeffs(sensor_name)
+    return slope * float(raw_value) + offset
 
 
 def _nyquist_hz(sample_rate_hz: float) -> float: