1. added blender deformation probe for marker size picking and optimization

2. added unwarp map export in current cli, don't need to generate by precompute in sensor running

sensors/finger-xynova/r01/design.yaml

@@ -87,6 +87,82 @@ optics:
       ior: 1.43
       ior_source: assumed_silicone_literature
 
+# Probe sensitivity bench (`orisys-design deform|render|track|sensitivity|optimise`).
+# Deforms the vertices of `group` through known x/y/z displacements expressed in a
+# local probe-average basis (normal force along z, shear along x/y), renders what
+# `camera` sees, and measures DIS optical flow against the zero-displacement frame.
+#
+# Contract: docs/probe-pipeline.md. The `.blend` is never written by the pipeline.
+probe:
+  mesh: sensing_surface
+  camera: cam_sensor
+  group: probe
+  uv_map: compute
+  texture: patch_texture_compute.png
+  # Proportional falloff radius for the outer rubber. Note this mesh has a median
+  # edge of 0.63 mm, so 0.5 mm reaches only the probe's immediate neighbours; the
+  # deform report prints how many vertices actually move rather than hiding it.
+  radius_mm: 0.5
+  falloff: smooth
+  step_mm: 0.01
+  max_mm: 0.10
+  axes: [x, y, z]
+  # Frames are rendered at the revision's real camera resolution. Keep this in step with
+  # the camera in source/geometry.blend: the pipeline overrides the scene resolution from
+  # here, so a blend edited to a different size is silently ignored otherwise.
+  #
+  # Single scale on purpose. The ROI radius is radius_mm x the probe-local px/mm, so at
+  # 125x125 it would be 1.66 px against an 8 px DIS window: the estimator measures its own
+  # regulariser, not the displacement. See docs/probe-findings.md section 2.
+  resolution: [250, 250]
+  process_resolution: [250, 250]
+  # Mirrors the SDK sensor tracker keys (orisys-sdk config/finger.json), EXCEPT
+  # dis_mode. The estimator window is 8 * 2**dis_mode input px (16 at dis_mode=1, 8 at 0)
+  # and the moving region is ~6.6 px across at 250x250, so the shipped dis_mode=1 gives
+  # window/moving = 2.42: DIS's smoothness pulls the estimate toward zero and the measured
+  # response drops ~3x (1.42 -> 4.30 px/mm at the matched cell). dis_mode=0 gives 1.21,
+  # the same ratio as 500x500 with dis_mode=1, which recovers to ~73%.
+  # See docs/probe-findings.md section 2.
+  # If the deployed tracker is fixed at dis_mode=1, run the bench at 500x500 instead.
+  tracker:
+    algorithm: dis
+    dis_preset: medium
+    dis_mode: 0
+  # Standard (not AgX) and denoise off: a filmic view transform silently distorts
+  # the marker values the tracker is supposed to measure.
+  render:
+    engine: CYCLES
+    samples: 16
+    denoise: false
+    view_transform: Standard
+    interpolate: Closest
+    seed: 0
+  # Noise calibration and the injected noise model.
+  #
+  # The estimator's `floor_px` is measured as reference vs a re-render at seed+1, which
+  # is Cycles antialiasing jitter, NOT sensor noise: on this data it differs by ~5 grey
+  # levels RMS on half the pixels and scales with edge contrast. Ranking patterns by
+  # gain/that-floor is unsound - the ordering reverses under additive noise, and it
+  # understates the real idle floor measured from the footage below, coarse patterns
+  # most. So the render-seed floor is kept only as a reproducibility diagnostic and the
+  # score is anchored to the injected model plus this measured calibration.
+  noise:
+    # Real idle (no-contact) footage, relative to the repo root. Measured: floor
+    # ~0.23 px at 1280x720 (short baseline == long baseline, so it is white noise and
+    # the clip is genuinely idle), dominant marker period ~25 px, i.e. ~0.0093 floor
+    # per period. That is 2-6x the simulated render-seed floor per cell.
+    idle_footage: ../data/dd02-0703/190.mp4
+    roi_fraction: 0.18
+    max_frames: 120
+    # Additive white Gaussian in grey levels. Defaults are deliberately small: each
+    # sigma costs a full DIS pass, and the process scale is a resample of the render
+    # one, so only the render scale is evaluated unless asked.
+    sigmas: [4.0, 16.0]
+    draws: 1
+    seed: 0
+    models: [render_seed, injected]
+    scales: [render]
+
 collections:
   frames: FRAMES
   export_compute: EXPORT_COMPUTE