orisys-sensor-design/sensors/finger-xynova/r01/design.yaml

sensor: finger-xynova
revision: r01
status: draft

# Authoring unit in Blender (mm). Export converts using meters_per_source_unit.
authoring_unit: mm
meters_per_source_unit: 0.001

source_blend: source/geometry.blend

frames:
  sensor: origin_sensor

objects:
  sensing_surface: sensing_surface
  cam_sensor: cam_sensor
  origin_sensor: origin_sensor

# Read on every export; changing `assembly` silently changes what ships.
collections:
  frames: FRAMES
  export_compute: EXPORT_COMPUTE
  assembly: ASSEMBLY
  design_sim: DESIGN_SIM
  exclude: EXCLUDE

# Topology guard. NOT YET WIRED - no code reads these, and the measured topology is
# 2584/5007. Unverified until connected to the export manifest; see
# docs/design-parameters.md part 5.
expected:
  sensing_vertices: 2595
  sensing_triangles: 5005

# Camera-space artwork on UV unwraps (`orisys-design texture`).
# See docs/design-parameters.md part 1.
texture_patch:
  mesh: sensing_surface
  camera: cam_sensor
  uv_outputs:                  # ORDER IS OBSERVABLE: becomes the job's outputs[] array
    produce: patch_texture_produce.png
    compute: patch_texture_compute.png
  width: 3700                  # raster px; keep == px_per_mm * vector below
  height: 3280
  nx: 80                       # square camera frame, so nx == ny
  ny: 80
  color_r: 0.05
  edge_sample_grid: 5
  seed: 7                      # pinned: one reproducible colour set across PNG/SVG/PDF
  vector:                      # physical page; the `page: fixed` fallback for texture_patch_views
    width_mm: 18.5
    height_mm: 16.4
  cross:
    enabled: true
    length_px: 40
    thickness_px: 3
    color: [1.0, 0.0, 0.0, 1.0]

# Projected views with per-triangle ownership (`orisys-design texture-views`).
# See docs/design-parameters.md part 2.
texture_patch_views:
  enabled: true
  pattern_camera: cam_sensor   # the ink source; a pair's `camera` only decides ownership
  page:
    mode: auto                 # auto = derived per view (projections only); fixed = use vector above
    px_per_mm: 200
  pairs:
    - id: uv_1
      camera: cam_uv_1         # REGION camera, not the pattern source
      uv_map: uv_1
    - id: uv_2
      camera: cam_uv_2
      uv_map: uv_2
  merge:
    mode: authored             # honour the seam marked on the mesh
    incidence_limit_deg: 70.0  # DO NOT DELETE: built-in default 62.0 FAILS here (4.8% hole)
    max_hole_fraction: 0.02    # enforced: the run fails above this rather than shipping a gap
    min_footprint_mm2: 2.0e-3
    min_triangle_coverage: 0.60
    component_policy: best_coverage
  seam:
    boundary: use_seam
    pins: []
    gap:
      enabled: false           # false = hard butt at the seam, no band at all
      apply: post_process      # post_process = straight edge | geometry_trim = sawtooth
      treatment: no_print
      alignment_tolerance_mm: 0.1
  print:
    base_fill: owned           # white ground, already split by the seam

# Advisory only: reports a verdict, never blocks generation or changes exit codes.
# Millimetres are measured on the vector page declared above.
printability:
  printer_dpi: 600          # target UV printer resolution
  min_dots: 2               # printer dots required across the smallest feature
  min_feature_mm: 0.10      # smallest acceptable feature width
  min_edge_mm: 0.05         # shortest acceptable polygon edge
  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 camera-inward. ior values are LITERATURE
# ASSUMPTIONS, not measurements - that is what ior_source records.
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. 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

# Probe sensitivity bench (`orisys-design deform|render|track|sensitivity|optimise`).
# 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
  # Median mesh edge here is 0.63 mm, so 0.5 mm reaches only 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]
  # The pipeline overrides the scene resolution from here, so a blend edited to a
  # different size is silently ignored. Keep in step with source/geometry.blend.
  resolution: [250, 250]
  process_resolution: [250, 250]
  # Mirrors the SDK tracker keys EXCEPT dis_mode: the 8*2**dis_mode window against a
  # ~6.6 px moving region makes the shipped dis_mode=1 collapse the estimate ~3x.
  # See docs/probe-findings.md section 2.
  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
  # `floor_px` from a re-render at seed+1 is Cycles antialiasing jitter, NOT sensor
  # noise, so it is kept only as a reproducibility diagnostic; the score is anchored to
  # the injected model plus the idle-footage calibration below.
  # See docs/probe-findings.md section 2.
  noise:
    idle_footage: ../data/dd02-0703/190.mp4
    roi_fraction: 0.18
    max_frames: 120
    sigmas: [4.0, 16.0]
    draws: 1
    seed: 0
    models: [render_seed, injected]
    scales: [render]

notes: |
  Canonical source is geometry.blend with named collections and objects.
  Compute export uses sensing_surface + cam_sensor relative to origin_sensor.
  Studio observation cameras are derived from mesh bounds; no cam_viz required.