added optics test (undergoing)

sensors/finger-xynova/r01/design.yaml

@@ -63,6 +63,30 @@ printability:
   max_sliver_ratio: 4.0     # longest edge / minimum width
   min_patch_area_mm2: 1.0e-4  # area above which a polygon is a material feature
 
+# Optical stack above the markers, ordered from the camera inward.
+# The markers sit on the sensing surface underneath these layers, so their image
+# is displaced relative to the straight-line pinhole model.
+#
+# ior values are LITERATURE ASSUMPTIONS, not measurements - that is what
+# ior_source records, so an assumed index can never pass for a measured one.
+# Replace them with measured values when available; nothing else needs to change.
+optics:
+  marker_surface: sensing_surface
+  layers:
+    # Solids, not surface pairs: `shell` and `rubber-1` are each one closed mesh,
+    # so the ray enters and leaves the same object.
+    # Stack: camera > shell > rubber-1 > sensing_surface > rubber-2.
+    # rubber-2 is BEHIND the markers, so it does not refract camera light and is
+    # deliberately not a layer.
+    - name: plastic_shell
+      solid: shell
+      ior: 1.59
+      ior_source: assumed_pc_literature
+    - name: clear_rubber
+      solid: rubber-1
+      ior: 1.43
+      ior_source: assumed_silicone_literature
+
 collections:
   frames: FRAMES
   export_compute: EXPORT_COMPUTE

sensors/finger-xynova/r01/profiles/compute.yaml

@@ -11,6 +11,10 @@ artifacts:
   - housing.npz
   - camera_intrinsics.npz
   - world_to_cam.npy
+  # Refracting interfaces for the optical stack, so the SDK's rectification stage
+  # can account for refraction (workflow §7). Additive; absent when no stack is
+  # declared in design.yaml.
+  - optics.npz
 
 # Measured unroll maps stay in SDK (not overwritten by nominal export).
 runtime_owned_by_sdk: