update plot to force units

2026-09-01 16:24:12 +08:00
parent 8cacb12abc
commit e7789c86cb
31 changed files with 767 additions and 77 deletions
@@ -9,6 +9,7 @@ $DistDir = Join-Path $RepoRoot "dist"
 $WorkDir = Join-Path $RepoRoot "build\pyinstaller_work"
 $SpecPath = Join-Path $PSScriptRoot "sensor_bench.spec"
 $RepoConfig = Join-Path $RepoRoot "config"
+$RepoSensors = Join-Path $RepoRoot "sensors"

 if (-not (Get-Command conda -ErrorAction SilentlyContinue)) {
    throw "conda was not found on PATH. Open an Anaconda Prompt or initialize conda for PowerShell."
@@ -42,8 +43,11 @@ try {
    conda run -n $EnvName python -m PyInstaller --noconfirm --clean --distpath "$DistDir" --workpath "$WorkDir" "$SpecPath"
    if ($LASTEXITCODE -ne 0) { throw "PyInstaller failed." }

-    # Public package only: copy exhibition config/. Never ship internal/ operator assets.
+    # Public package only: copy exhibition config/ and sensors/. Never ship internal/ operator assets.
    Copy-Item -Recurse -Force $RepoConfig (Join-Path $DistDir "SensorBench")
+    if (Test-Path $RepoSensors) {
+        Copy-Item -Recurse -Force $RepoSensors (Join-Path $DistDir "SensorBench")
+    }
    $InternalLeak = Join-Path $DistDir "SensorBench\internal"
    if (Test-Path $InternalLeak) {
        throw "Public dist must not contain internal/: $InternalLeak"
@@ -11,6 +11,7 @@ work_dir = repo_root / "build" / "pyinstaller_work"

 datas = [
    (str(repo_root / "config"), "config"),
+    (str(repo_root / "sensors"), "sensors"),
 ]
 binaries = []
 hiddenimports = [
@@ -1,4 +1,4 @@
-"""Copy Orisys wheel sensor JSON configs into repo config/ (exclude options.json)."""
+"""Copy Orisys wheel sensor JSON configs and sensors/ bundles into the repo."""

 from __future__ import annotations

@@ -17,6 +17,16 @@ def wheel_config_dir() -> Path:
    return inner_pkg.parent / "configs"


+def wheel_sensors_dir() -> Path | None:
+    import orisys
+
+    inner_pkg = Path(orisys.__file__).resolve().parent
+    for candidate in (inner_pkg / "sensors", inner_pkg.parent / "sensors"):
+        if candidate.is_dir() and any(candidate.iterdir()):
+            return candidate
+    return None
+
+
 def sync_configs(repo_root: Path) -> int:
    src = wheel_config_dir()
    if not src.is_dir():
@@ -37,9 +47,33 @@ def sync_configs(repo_root: Path) -> int:
    return 0


+def sync_sensor_bundles(repo_root: Path) -> int:
+    src = wheel_sensors_dir()
+    if src is None or not src.is_dir():
+        print("Orisys wheel sensors/ directory not found; skipping bundle sync")
+        return 0
+
+    dst = repo_root / "sensors"
+    dst.mkdir(parents=True, exist_ok=True)
+
+    copied = 0
+    for bundle_dir in sorted(p for p in src.iterdir() if p.is_dir()):
+        target = dst / bundle_dir.name
+        if target.exists():
+            shutil.rmtree(target)
+        shutil.copytree(bundle_dir, target)
+        copied += 1
+
+    print(f"Synced {copied} sensor bundle(s) from {src} to {dst}")
+    return 0
+
+
 def main() -> int:
    repo_root = Path(__file__).resolve().parents[1]
-    return sync_configs(repo_root)
+    code = sync_configs(repo_root)
+    if code != 0:
+        return code
+    return sync_sensor_bundles(repo_root)


 if __name__ == "__main__":
@@ -99,6 +99,8 @@ def main() -> int:
    require(DIST / "config" / "locales" / "zh_CN.json")
    require(DIST / "config" / "locales" / "en_US.json")
    require(DIST / "config" / "ddjx01.json")
+    require(DIST / "sensors" / "box" / "sensor.json")
+    require(DIST / "sensors" / "box" / "force_calibration.json")
    require(DIST / "_internal")

    for rel in FORBIDDEN_RELATIVE_PATHS:
@@ -67,6 +67,9 @@
    "plot_fn": "Normal Force FN",
    "plot_fx": "Shear Force FX",
    "plot_fy": "Shear Force FY",
+    "plot_with_unit": "{title} ({unit})",
+    "force_calibrated": "FN={fn:.4f} {unit} (raw={fn_raw:.4f}) | FX={fx:.4f} {unit} | FY={fy:.4f} {unit}",
+    "force_raw": "FN={fn:.4f} | FX={fx:.4f} | FY={fy:.4f} (raw)",
    "reset_done": "Tracker reset.",
    "reset_need_start": "Start the sensor before resetting the tracker.",
    "reset_failed": "Reset failed: {message}",
@@ -67,6 +67,9 @@
    "plot_fn": "法向力 FN",
    "plot_fx": "切向力 FX",
    "plot_fy": "切向力 FY",
+    "plot_with_unit": "{title}（{unit}）",
+    "force_calibrated": "FN={fn:.4f} {unit}（raw={fn_raw:.4f}）| FX={fx:.4f} {unit} | FY={fy:.4f} {unit}",
+    "force_raw": "FN={fn:.4f} | FX={fx:.4f} | FY={fy:.4f}（原始量）",
    "reset_done": "追踪器已重置。",
    "reset_need_start": "请先启动传感器后再重置追踪器。",
    "reset_failed": "重置失败：{message}",
@@ -0,0 +1,30 @@
+{
+  "schema_version": 1,
+  "unit": "N",
+  "channels": {
+    "normal": {
+      "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": {
+      "method": "piecewise_linear",
+      "input": "components",
+      "signed": true,
+      "extrapolate": true,
+      "clamp_output_min": 0.0,
+      "points": [
+        [1000.0, 0.0],
+        [36000.0, 1.19],
+        [68000.0, 2.06]
+      ]
+    }
+  }
+}
@@ -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
+  }
+}
+
+
@@ -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.
@@ -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.
@@ -0,0 +1,6 @@
+{
+  "name": "finger",
+  "sensor_json": "sensor.json",
+  "assets_dir": "assets/30fps-0703",
+  "viz_pose": "assets/visualization/world_to_cam.npy"
+}
@@ -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": 1
+  },
+  "contact": {
+    "min_contour_area": 3000,
+    "flow_threshold": 0.2,
+    "div_threshold": 0.022,
+    "expansion_threshold": 0.01,
+    "kernel_size": [5, 5],
+    "denoise_sigma": 12
+  }
+}
@@ -0,0 +1,30 @@
+{
+  "schema_version": 1,
+  "unit": "N",
+  "channels": {
+    "normal": {
+      "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": {
+      "method": "piecewise_linear",
+      "input": "components",
+      "signed": true,
+      "extrapolate": true,
+      "clamp_output_min": 0.0,
+      "points": [
+        [1000.0, 0.0],
+        [36000.0, 1.19],
+        [68000.0, 2.06]
+      ]
+    }
+  }
+}
@@ -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
+  }
+}
+
+
@@ -18,6 +18,11 @@ import cv2
 import numpy as np

 from .force_calibration import FORCE_SAMPLE_RATE_HZ, LOWPASS_CUTOFF_HZ
+from .paths import (
+    bundle_has_force_calibration,
+    normalize_sensor_config_ref,
+    resolve_force_bundle_from_config,
+)


@dataclass(frozen=True)
@@ -35,6 +40,21 @@ class FixedCameraMode:
        return f"{self.width}x{self.height} @{self.fps:g} (DDJX01 / MJPG)"


+@dataclass
+class ForceReadout:
+    """Calibrated and raw force values from one Orisys Sensor tick."""
+
+    normal_force: float = 0.0
+    shear_x: float = 0.0
+    shear_y: float = 0.0
+    normal_force_raw: float = 0.0
+    shear_x_raw: float = 0.0
+    shear_y_raw: float = 0.0
+    force_calibrated: bool = False
+    force_unit: str = "raw"
+    flow: Optional[np.ndarray] = None
+
+
@dataclass
 class SdkPacket:
    """One acquisition tick from the Orisys Sensor."""
@@ -51,11 +71,109 @@ class SdkPacket:
    normal_force: float = 0.0
    shear_x: float = 0.0
    shear_y: float = 0.0
+    normal_force_raw: float = 0.0
+    shear_x_raw: float = 0.0
+    shear_y_raw: float = 0.0
+    force_unit: str = "raw"
+    force_calibrated: bool = False
    session_id: int = 0
    mode: Optional[FixedCameraMode] = None
    flow: Optional[np.ndarray] = None


+def sensor_force_calibrated(sensor, *, config_ref: str | Path | None = None) -> bool:
+    """True when Orisys resolved sensors/<name>/force_calibration.json."""
+    if getattr(sensor, "_force_cal_sensor_name", None) is not None:
+        return True
+    bundle = resolve_force_bundle_from_config(config_ref)
+    return bundle is not None and bundle_has_force_calibration(bundle)
+
+
+def read_forces_from_sensor(
+    sensor,
+    *,
+    include_flow: bool = True,
+    config_ref: str | Path | None = None,
+) -> ForceReadout:
+    """Read FN/FX/FY plus *_RAW from Orisys, with legacy SDK fallback."""
+    info = sensor.info
+    fn = fx = fy = 0.0
+    fn_raw = fx_raw = fy_raw = 0.0
+    flow = None
+    read_raw = all(
+        hasattr(info, name)
+        for name in ("FNORMAL_RAW", "FSHEARX_RAW", "FSHEARY_RAW")
+    )
+    has_flow = include_flow and hasattr(info, "VRAW")
+    try:
+        if read_raw and has_flow:
+            fn, fx, fy, fn_raw, fx_raw, fy_raw, flow = sensor.read_info(
+                info.FNORMAL,
+                info.FSHEARX,
+                info.FSHEARY,
+                info.FNORMAL_RAW,
+                info.FSHEARX_RAW,
+                info.FSHEARY_RAW,
+                info.VRAW,
+            )
+        elif read_raw:
+            fn, fx, fy, fn_raw, fx_raw, fy_raw = sensor.read_info(
+                info.FNORMAL,
+                info.FSHEARX,
+                info.FSHEARY,
+                info.FNORMAL_RAW,
+                info.FSHEARX_RAW,
+                info.FSHEARY_RAW,
+            )
+        elif has_flow:
+            fn, fx, fy, flow = sensor.read_info(
+                info.FNORMAL,
+                info.FSHEARX,
+                info.FSHEARY,
+                info.VRAW,
+            )
+            fn_raw, fx_raw, fy_raw = fn, fx, fy
+        else:
+            fn, fx, fy = sensor.read_info(
+                info.FNORMAL,
+                info.FSHEARX,
+                info.FSHEARY,
+            )
+            fn_raw, fx_raw, fy_raw = fn, fx, fy
+    except Exception:  # noqa: BLE001
+        try:
+            if has_flow:
+                fn, fx, fy, flow = sensor.read_info(
+                    info.FNORMAL,
+                    info.FSHEARX,
+                    info.FSHEARY,
+                    info.VRAW,
+                )
+            else:
+                fn, fx, fy = sensor.read_info(
+                    info.FNORMAL,
+                    info.FSHEARX,
+                    info.FSHEARY,
+                )
+            fn_raw, fx_raw, fy_raw = fn, fx, fy
+        except Exception:  # noqa: BLE001
+            pass
+
+    calibrated = sensor_force_calibrated(sensor, config_ref=config_ref)
+    unit = "N" if calibrated else "raw"
+    return ForceReadout(
+        normal_force=float(fn),
+        shear_x=float(fx),
+        shear_y=float(fy),
+        normal_force_raw=float(fn_raw),
+        shear_x_raw=float(fx_raw),
+        shear_y_raw=float(fy_raw),
+        force_calibrated=calibrated,
+        force_unit=unit,
+        flow=flow,
+    )
+
+
 def orisys_importable() -> tuple[bool, str]:
    try:
        import orisys  # noqa: F401
@@ -255,7 +373,7 @@ class SdkAcquisitionWorker:
        try:
            self._status(f"Opening Orisys Sensor ({mode.label()})…")
            kwargs = {
-                "config_name": mode.config_ref,
+                "config_name": normalize_sensor_config_ref(mode.config_ref),
                "verbose": False,
                "backend": self._backend,
            }
@@ -297,24 +415,11 @@ class SdkAcquisitionWorker:
                frame_times = [t for t in frame_times if t >= cutoff]
                fps = float(len(frame_times)) if frame_times else 0.0

-                fn = fx = fy = 0.0
-                flow = None
-                try:
-                    fn, fx, fy, flow = self._sensor.read_info(
-                        self._sensor.info.FNORMAL,
-                        self._sensor.info.FSHEARX,
-                        self._sensor.info.FSHEARY,
-                        self._sensor.info.VRAW,
+                forces = read_forces_from_sensor(
+                    self._sensor,
+                    include_flow=True,
+                    config_ref=mode.config_ref,
                )
-                except Exception:  # noqa: BLE001
-                    try:
-                        fn, fx, fy = self._sensor.read_info(
-                            self._sensor.info.FNORMAL,
-                            self._sensor.info.FSHEARX,
-                            self._sensor.info.FSHEARY,
-                        )
-                    except Exception:  # noqa: BLE001
-                        pass

                raw_bgr = _ensure_bgr(raw)
                proc_bgr = _ensure_bgr(processed)
@@ -328,12 +433,17 @@ class SdkAcquisitionWorker:
                    height=int(raw_bgr.shape[0]),
                    processed_width=int(proc_bgr.shape[1]),
                    processed_height=int(proc_bgr.shape[0]),
-                    normal_force=float(fn),
-                    shear_x=float(fx),
-                    shear_y=float(fy),
+                    normal_force=forces.normal_force,
+                    shear_x=forces.shear_x,
+                    shear_y=forces.shear_y,
+                    normal_force_raw=forces.normal_force_raw,
+                    shear_x_raw=forces.shear_x_raw,
+                    shear_y_raw=forces.shear_y_raw,
+                    force_unit=forces.force_unit,
+                    force_calibrated=forces.force_calibrated,
                    session_id=session,
                    mode=mode,
-                    flow=flow,
+                    flow=forces.flow,
                )
                with self._lock:
                    self._latest = packet
@@ -7,8 +7,16 @@ import time
 from pathlib import Path
 from typing import Callable, Optional

-from .acquisition import FixedCameraMode, SdkPacket, _ensure_bgr, load_fixed_mode, orisys_importable
+from .acquisition import (
+    FixedCameraMode,
+    SdkPacket,
+    _ensure_bgr,
+    load_fixed_mode,
+    orisys_importable,
+    read_forces_from_sensor,
+)
 from .force_calibration import FORCE_SAMPLE_RATE_HZ, LOWPASS_CUTOFF_HZ
+from .paths import normalize_sensor_config_ref
 from .roi_geometry import (
    build_roi_warp,
    load_json_config,
@@ -138,6 +146,7 @@ class Dd06AcquisitionWorker:
            config = load_json_config(config_ref)
            roi_points, roi_image_size = load_roi_polygon(config)
            out_size = rectified_output_size(config, roi_points)
+            config_ref = normalize_sensor_config_ref(config_ref)
            self._sensor = orisys.Sensor("external", config_name=config_ref, verbose=False)
            self._sensor.configure(
                lowpass_cutoff_hz=LOWPASS_CUTOFF_HZ,
@@ -190,24 +199,11 @@ class Dd06AcquisitionWorker:
                frame_times = [t for t in frame_times if t >= cutoff]
                fps = float(len(frame_times)) if frame_times else 0.0

-                fn = fx = fy = 0.0
-                flow = None
-                try:
-                    fn, fx, fy, flow = self._sensor.read_info(
-                        self._sensor.info.FNORMAL,
-                        self._sensor.info.FSHEARX,
-                        self._sensor.info.FSHEARY,
-                        self._sensor.info.VRAW,
+                forces = read_forces_from_sensor(
+                    self._sensor,
+                    include_flow=True,
+                    config_ref=self._config_ref,
                )
-                except Exception:  # noqa: BLE001
-                    try:
-                        fn, fx, fy = self._sensor.read_info(
-                            self._sensor.info.FNORMAL,
-                            self._sensor.info.FSHEARX,
-                            self._sensor.info.FSHEARY,
-                        )
-                    except Exception:  # noqa: BLE001
-                        pass

                raw_bgr = _ensure_bgr(frame)
                # Prefer sensor.img / get_img result for processed visualization.
@@ -225,12 +221,17 @@ class Dd06AcquisitionWorker:
                    height=int(raw_bgr.shape[0]),
                    processed_width=int(proc_bgr.shape[1]),
                    processed_height=int(proc_bgr.shape[0]),
-                    normal_force=float(fn),
-                    shear_x=float(fx),
-                    shear_y=float(fy),
+                    normal_force=forces.normal_force,
+                    shear_x=forces.shear_x,
+                    shear_y=forces.shear_y,
+                    normal_force_raw=forces.normal_force_raw,
+                    shear_x_raw=forces.shear_x_raw,
+                    shear_y_raw=forces.shear_y_raw,
+                    force_unit=forces.force_unit,
+                    force_calibrated=forces.force_calibrated,
                    session_id=session,
                    mode=mode,
-                    flow=flow,
+                    flow=forces.flow,
                )
                with self._lock:
                    self._latest = packet
@@ -47,12 +47,13 @@ from .acquisition import (
 from .camera_discovery import list_cameras, pick_default_camera
 from .dd06_acquisition import Dd06AcquisitionWorker
 from .force_calibration import (
+    CALIBRATED_FORCE_Y_MAX,
+    CALIBRATED_FORCE_Y_MIN,
    FORCE_SAMPLE_RATE_HZ,
    PLOT_BUFFER_POINTS,
    PLOT_WINDOW_SEC,
    Y_AXIS_MIN_SPAN,
    Y_RANGE_ALPHA,
-    calibrate_normal_force,
 )
 from .i18n import DEFAULT_LOCALE, Translator
 from .paths import (
@@ -226,6 +227,8 @@ class ExhibitionWindow(QMainWindow):
        self._view_mode = "pure_color"
        self._sensor_type = "orisys"
        self._log_panel_visible = False
+        self._force_unit = "raw"
+        self._force_calibrated = False
        self._fixed_mode: Optional[FixedCameraMode] = None
        self._orisys_config = str(default_ddjx01_config())
        self._dd06_config = str(default_dd06_config())
@@ -448,12 +451,23 @@ class ExhibitionWindow(QMainWindow):
        self.view_combo.blockSignals(False)

        for plot, title_key in zip(self.plots, self.plot_titles):
-            plot.setTitle(self.t(title_key), color="#9aa0a6", size="12pt")
+            plot.setTitle(self._plot_title(title_key), color="#9aa0a6", size="12pt")

        if self._source_pixmap is None:
            self.image_label.setText(self.t("labels.no_preview"))
        self.status_label.setText(self.t("status.ready"))

+    def _plot_title(self, title_key: str) -> str:
+        return self.t(
+            "exhibition.plot_with_unit",
+            title=self.t(title_key),
+            unit=self._force_unit,
+        )
+
+    def _update_force_plot_titles(self) -> None:
+        for plot, title_key in zip(self.plots, self.plot_titles):
+            plot.setTitle(self._plot_title(title_key), color="#9aa0a6", size="12pt")
+
    def _selected_config(self) -> str:
        data = self.config_combo.currentData()
        if data:
@@ -646,6 +660,9 @@ class ExhibitionWindow(QMainWindow):
            return

        self.force_history.reset()
+        self._force_unit = "raw"
+        self._force_calibrated = False
+        self._update_force_plot_titles()
        self._awaiting_first_frame = True
        self._source_pixmap = None
        self.image_label.clear()
@@ -794,10 +811,27 @@ class ExhibitionWindow(QMainWindow):
            )
            self.status_label.setText(info)
            self._log(info)
+            self._force_unit = packet.force_unit
+            self._force_calibrated = packet.force_calibrated
+            self._update_force_plot_titles()
+            if packet.force_calibrated:
                self._log(
                    self.t(
-                    "exhibition.force_fn_n",
-                    value=calibrate_normal_force(packet.normal_force),
+                        "exhibition.force_calibrated",
+                        fn=packet.normal_force,
+                        fn_raw=packet.normal_force_raw,
+                        fx=packet.shear_x,
+                        fy=packet.shear_y,
+                        unit=packet.force_unit,
+                    )
+                )
+            else:
+                self._log(
+                    self.t(
+                        "exhibition.force_raw",
+                        fn=packet.normal_force,
+                        fx=packet.shear_x,
+                        fy=packet.shear_y,
                    )
                )

@@ -870,8 +904,11 @@ class ExhibitionWindow(QMainWindow):
            x = state.times
            y = state.values[:, i]
            curve.setData(x, y)
+            if self._force_calibrated:
+                ymin, ymax = CALIBRATED_FORCE_Y_MIN, CALIBRATED_FORCE_Y_MAX
+            else:
                ymin, ymax = state.y_ranges[i]
-            self.plots[i].setYRange(ymin, ymax)
+            self.plots[i].setYRange(ymin, ymax, padding=0)
            self.dot_cores[i].setData(x[-1:], y[-1:])
        x0, x1 = state.x_range
        for plot in self.plots:
@@ -11,6 +11,8 @@ FORCE_SAMPLE_RATE_HZ = 30.0
 PLOT_BUFFER_POINTS = 120
 PLOT_WINDOW_SEC = PLOT_BUFFER_POINTS / FORCE_SAMPLE_RATE_HZ
 Y_AXIS_MIN_SPAN = 20000.0
+CALIBRATED_FORCE_Y_MIN = -20.0
+CALIBRATED_FORCE_Y_MAX = 20.0
 Y_RANGE_ALPHA = 0.5
 LOWPASS_CUTOFF_HZ = 10.0

@@ -8,6 +8,31 @@ from pathlib import Path

 NON_SENSOR_CONFIG_STEMS = {"options", "bench_theme"}

+# Product bundles with optional force_calibration.json (orisys-sdk layout).
+PRODUCT_BUNDLES = ("box", "mini", "finger")
+
+# Legacy flat config stems mapped to a product bundle for force calibration lookup.
+LEGACY_STEM_TO_BUNDLE: dict[str, str] = {
+    "ddjx01": "box",
+    "ddjx01_480p": "box",
+    "ddjx01_q6a": "box",
+    "ddjx01_wuxi": "box",
+    "box": "box",
+    "prototype": "box",
+    "prototype_of3": "box",
+    "prototype_of3_480p": "box",
+    "prototype_of3_720p": "box",
+    "prototype_raft": "box",
+    "mini": "mini",
+    "mini-fast": "mini",
+    "finger": "finger",
+    "dd02-ov": "finger",
+    "dd02": "finger",
+    "dd06-ov": "finger",
+    "dd06-ov-0810": "finger",
+    "x-ov": "finger",
+}
+

 def is_frozen() -> bool:
    return bool(getattr(sys, "frozen", False))
@@ -58,6 +83,11 @@ def local_sensor_configs_dir() -> Path:
    return app_root() / "config"


+def local_sensor_bundles_dir() -> Path:
+    """Per-sensor bundle root: ``sensors/<product>/sensor.json``."""
+    return app_root() / "sensors"
+
+
 def _is_sensor_config_json(path: Path) -> bool:
    if path.suffix.lower() != ".json":
        return False
@@ -76,10 +106,114 @@ def list_local_sensor_config_files() -> list[Path]:
    return sorted(p for p in root.glob("*.json") if _is_sensor_config_json(p))


+def local_sensor_bundle_sensor_json(name: str) -> Path | None:
+    """Return ``sensors/<name>/sensor.json`` beside the app when present."""
+    path = local_sensor_bundles_dir() / name / "sensor.json"
+    return path if path.is_file() else None
+
+
+def local_sensor_bundle_force_calibration(name: str) -> Path | None:
+    path = local_sensor_bundles_dir() / name / "force_calibration.json"
+    return path if path.is_file() else None
+
+
+def list_local_sensor_bundle_names() -> list[str]:
+    """Product bundle folder names under ``sensors/`` with a ``sensor.json``."""
+    root = local_sensor_bundles_dir()
+    if not root.is_dir():
+        return []
+    found: list[str] = []
+    for name in PRODUCT_BUNDLES:
+        if local_sensor_bundle_sensor_json(name) is not None:
+            found.append(name)
+    return found
+
+
+def _orisys_bundle_has_force_calibration(name: str) -> bool:
+    try:
+        import orisys
+
+        return orisys.configs.load_force_calibration(name) is not None
+    except Exception:  # noqa: BLE001
+        return False
+
+
+def bundle_has_force_calibration(name: str) -> bool:
+    """True when local or packaged Orisys bundle includes force_calibration.json."""
+    if local_sensor_bundle_force_calibration(name) is not None:
+        return True
+    return _orisys_bundle_has_force_calibration(name)
+
+
+def resolve_force_bundle_from_config(config_ref: str | Path | None) -> str | None:
+    """Map a legacy flat config path/stem to a product bundle with calibration."""
+    if config_ref is None:
+        return None
+    text = str(config_ref).strip().replace("\\", "/")
+    if not text:
+        return None
+
+    path = Path(text)
+    candidates: list[str] = []
+    if path.suffix.lower() == ".json":
+        candidates.append(path.stem.lower())
+    stem = path.stem.lower() if path.suffix else text.lower()
+    if stem:
+        candidates.append(stem)
+    if text.lower() in PRODUCT_BUNDLES:
+        candidates.insert(0, text.lower())
+    parts = [p for p in text.split("/") if p]
+    if "sensors" in parts:
+        idx = parts.index("sensors")
+        if idx + 1 < len(parts):
+            candidates.insert(0, parts[idx + 1].lower())
+
+    seen: set[str] = set()
+    for candidate in candidates:
+        if not candidate or candidate in seen:
+            continue
+        seen.add(candidate)
+        if candidate in PRODUCT_BUNDLES and local_sensor_bundle_sensor_json(candidate):
+            if bundle_has_force_calibration(candidate):
+                return candidate
+        mapped = LEGACY_STEM_TO_BUNDLE.get(candidate)
+        if mapped and bundle_has_force_calibration(mapped):
+            return mapped
+    return None
+
+
+def normalize_sensor_config_ref(config_ref: str | Path) -> str:
+    """Prefer product bundle names so Orisys loads ``sensors/<name>/`` calibration."""
+    text = str(config_ref).strip()
+    if not text:
+        return text
+
+    path = Path(text)
+    if path.is_file() and path.name.lower() == "sensor.json":
+        parent = path.parent.name.lower()
+        if parent in PRODUCT_BUNDLES:
+            return parent
+
+    bundle = resolve_force_bundle_from_config(text)
+    if bundle is not None:
+        local_json = local_sensor_bundle_sensor_json(bundle)
+        if local_json is not None:
+            return str(local_json.resolve())
+        return bundle
+
+    if text.lower() in PRODUCT_BUNDLES:
+        local_json = local_sensor_bundle_sensor_json(text)
+        if local_json is not None:
+            return str(local_json.resolve())
+        return text
+
+    return text
+
+
 def orisys_configs_dir() -> Path | None:
    """Prefer local sensor configs dir when present; else installed package dir."""
    local = local_sensor_configs_dir()
-    if list_local_sensor_config_files():
+    if list_local_sensor_config_files() or list_local_sensor_bundle_names():
        return local
    try:
        import orisys
@@ -93,37 +227,54 @@ def orisys_configs_dir() -> Path | None:
 def list_orisys_configs() -> list[str]:
    """Return selectable sensor configs.

-    Local ``config/*.json`` files (excluding non-sensor stems such as
-    ``bench_theme``) are listed first as
-    absolute paths so Start uses the editable copy beside the EXE. Package stems
-    from the installed Orisys wheel are appended when not already covered.
+    Product bundles under ``sensors/<name>/sensor.json`` and Orisys bundle
+    names are listed before legacy flat ``config/*.json`` files so force
+    calibration resolves correctly.
    """
    entries: list[str] = []
    seen_stems: set[str] = set()

-    for path in list_local_sensor_config_files():
-        stem = path.stem.lower()
-        if stem in seen_stems:
-            continue
+    for name in list_local_sensor_bundle_names():
+        path = local_sensor_bundle_sensor_json(name)
+        assert path is not None
        entries.append(str(path.resolve()))
-        seen_stems.add(stem)
+        seen_stems.add(name.lower())

    try:
        import orisys

-        for stem in orisys.configs.list_config():
-            key = str(stem).strip()
-            if not key:
-                continue
-            if key.lower() in NON_SENSOR_CONFIG_STEMS:
+        for name in orisys.configs.list_sensor_bundles():
+            key = str(name).strip()
+            if not key or key.lower() in NON_SENSOR_CONFIG_STEMS:
                continue
            if key.lower() in seen_stems:
                continue
            entries.append(key)
            seen_stems.add(key.lower())
+
+        for stem in orisys.configs.list_config():
+            key = str(stem).strip()
+            if not key or key.lower() in NON_SENSOR_CONFIG_STEMS:
+                continue
+            if key.lower() in seen_stems:
+                continue
+            if key.lower() in PRODUCT_BUNDLES:
+                continue
+            entries.append(key)
+            seen_stems.add(key.lower())
    except Exception:  # noqa: BLE001
        pass

+    for path in list_local_sensor_config_files():
+        stem = path.stem.lower()
+        if stem in seen_stems:
+            continue
+        mapped = LEGACY_STEM_TO_BUNDLE.get(stem)
+        if mapped and mapped.lower() in seen_stems:
+            continue
+        entries.append(str(path.resolve()))
+        seen_stems.add(stem)
+
    return entries


@@ -133,6 +284,11 @@ def config_display_name(value: str) -> str:
    if not text:
        return ""
    path = Path(text)
+    parts = [p for p in path.as_posix().split("/") if p]
+    if "sensors" in parts:
+        idx = parts.index("sensors")
+        if idx + 1 < len(parts):
+            return parts[idx + 1]
    if path.suffix.lower() == ".json" or "/" in text or "\\" in text:
        return path.stem
    return text
@@ -143,6 +299,8 @@ def default_config_name(sensor_type: str = "orisys") -> str:
    kind = str(sensor_type or "orisys").strip().lower()
    if kind in ("dd06", "dd06-ov", "roi", "polygon_roi"):
        return "dd06-ov"
+    if list_local_sensor_bundle_names() or _orisys_bundle_has_force_calibration("box"):
+        return "box"
    return "ddjx01"


@@ -157,7 +315,7 @@ def _pick_default_config(preferred_stem: str) -> str:


 def default_ddjx01_config() -> str:
-    """Prefer local editable config path, else package stem."""
+    """Prefer product bundle (box), else local editable config path."""
    return _pick_default_config(default_config_name("orisys"))


@@ -44,6 +44,45 @@ def test_translator_chinese_default() -> None:
    assert tr._lookup("en_US", "workflow.title") is None


+def test_read_forces_from_sensor() -> None:
+    from sensor_bench.acquisition import read_forces_from_sensor, sensor_force_calibrated
+
+    class RawSensor:
+        info = SimpleNamespace(
+            FNORMAL=1,
+            FSHEARX=2,
+            FSHEARY=3,
+            FNORMAL_RAW=4,
+            FSHEARX_RAW=5,
+            FSHEARY_RAW=6,
+            VRAW=7,
+        )
+        _force_cal_sensor_name = "box"
+
+        def read_info(self, *args):
+            return 1.1, 2.2, 3.3, 4.4, 5.5, 6.6, None
+
+    forces = read_forces_from_sensor(RawSensor())
+    assert sensor_force_calibrated(RawSensor())
+    assert forces.force_calibrated is True
+    assert forces.force_unit == "N"
+    assert forces.normal_force == 1.1
+    assert forces.normal_force_raw == 4.4
+
+    class LegacySensor:
+        info = SimpleNamespace(FNORMAL=1, FSHEARX=2, FSHEARY=3, VRAW=4)
+
+        def read_info(self, *args):
+            if len(args) == 4:
+                return 10.0, 20.0, 30.0, None
+            return 10.0, 20.0, 30.0
+
+    legacy = read_forces_from_sensor(LegacySensor())
+    assert legacy.force_calibrated is False
+    assert legacy.force_unit == "raw"
+    assert legacy.normal_force_raw == 10.0
+
+
 def test_sdk_worker_packet_mapping() -> None:
    from sensor_bench.acquisition import SdkAcquisitionWorker

@@ -104,6 +143,9 @@ def test_sdk_worker_packet_mapping() -> None:
    assert packet.normal_force == 1.0
    assert packet.shear_x == 2.0
    assert packet.shear_y == 3.0
+    assert packet.normal_force_raw == 1.0
+    assert packet.force_unit == "raw"
+    assert packet.force_calibrated is False
    assert packet.raw_frame.shape[:2] == (1080, 1920)
    assert packet.processed_frame.shape[:2] == (365, 365)

@@ -137,6 +179,7 @@ def test_force_calibration_and_plot_min_span() -> None:
 def test_list_orisys_configs_excludes_options() -> None:
    from sensor_bench.paths import (
        config_display_name,
+        list_local_sensor_bundle_names,
        list_local_sensor_config_files,
        list_orisys_configs,
        local_sensor_configs_dir,
@@ -147,11 +190,76 @@ def test_list_orisys_configs_excludes_options() -> None:
    assert "options" not in labels
    assert all(Path(e).stem.lower() != "options" for e in entries if Path(e).suffix.lower() == ".json")

+    bundles = list_local_sensor_bundle_names()
+    if bundles:
+        assert labels[0] in bundles
+
    local_ddjx = local_sensor_configs_dir() / "ddjx01.json"
    if local_ddjx.exists():
        local_files = list_local_sensor_config_files()
        assert any(p.name == "ddjx01.json" for p in local_files)
+        if "box" not in bundles:
            assert any(config_display_name(e).lower() == "ddjx01" for e in entries)
+        else:
+            assert not any(config_display_name(e).lower() == "ddjx01" for e in entries)
+
+
+def test_default_config_prefers_box_bundle() -> None:
+    from sensor_bench.paths import (
+        config_display_name,
+        default_config_name,
+        default_ddjx01_config,
+        list_local_sensor_bundle_names,
+    )
+
+    bundles = list_local_sensor_bundle_names()
+    if not bundles:
+        return
+
+    assert default_config_name("orisys") == "box"
+    default = default_ddjx01_config()
+    assert config_display_name(default).lower() == "box"
+
+
+def test_legacy_config_force_calibration_fallback() -> None:
+    from sensor_bench.acquisition import sensor_force_calibrated
+    from sensor_bench.paths import (
+        bundle_has_force_calibration,
+        local_sensor_configs_dir,
+        resolve_force_bundle_from_config,
+    )
+
+    if not bundle_has_force_calibration("box"):
+        return
+
+    class LegacySensor:
+        pass
+
+    legacy_path = local_sensor_configs_dir() / "ddjx01.json"
+    if legacy_path.exists():
+        assert resolve_force_bundle_from_config(legacy_path) == "box"
+        assert sensor_force_calibrated(LegacySensor(), config_ref=legacy_path) is True
+
+    assert resolve_force_bundle_from_config("ddjx01") == "box"
+    assert resolve_force_bundle_from_config("prototype") == "box"
+    assert sensor_force_calibrated(LegacySensor(), config_ref="ddjx01") is True
+
+
+def test_normalize_sensor_config_ref_prefers_bundle() -> None:
+    from sensor_bench.paths import (
+        bundle_has_force_calibration,
+        local_sensor_bundle_sensor_json,
+        normalize_sensor_config_ref,
+    )
+
+    if not bundle_has_force_calibration("box"):
+        return
+
+    local_json = local_sensor_bundle_sensor_json("box")
+    assert local_json is not None
+    normalized = normalize_sensor_config_ref("ddjx01")
+    assert Path(normalized).resolve() == local_json.resolve()
+    assert normalize_sensor_config_ref("box") == str(local_json.resolve())


 def test_roi_geometry_helpers() -> None:
@@ -209,10 +317,13 @@ def test_exhibition_window_offscreen() -> None:
    assert win.sensor_combo.count() == 2
    assert win.config_combo is not None
    assert win.config_combo.count() >= 1
-    from sensor_bench.paths import list_orisys_configs
+    from sensor_bench.paths import config_display_name, default_ddjx01_config, list_orisys_configs

    installed = list_orisys_configs()
-    if "ddjx01" in installed:
+    default = default_ddjx01_config()
+    if config_display_name(default).lower() == "box":
+        assert config_display_name(win._selected_config()).lower() == "box"
+    elif "ddjx01" in installed:
        assert win.config_combo.currentData() == "ddjx01" or win._selected_config() == "ddjx01"

    win.language_combo.setCurrentIndex(1)
@@ -222,6 +333,18 @@ def test_exhibition_window_offscreen() -> None:
    assert win.btn_reset.text() == "Reset"
    assert win.show_log_check.text() == "Show log panel"
    assert "About" in win.about_action.text()
+    title0 = win.plots[0].titleLabel.text
+    assert "FN" in title0
+    assert "raw" in title0
+
+    from sensor_bench.force_calibration import CALIBRATED_FORCE_Y_MAX, CALIBRATED_FORCE_Y_MIN
+
+    win._force_calibrated = True
+    win.force_history.push(time.time(), 1.0, -2.0, 3.0)
+    win._update_plots()
+    ymin, ymax = win.plots[0].viewRange()[1]
+    assert abs(ymin - CALIBRATED_FORCE_Y_MIN) < 1e-6
+    assert abs(ymax - CALIBRATED_FORCE_Y_MAX) < 1e-6

    win.view_combo.setCurrentIndex(1)
    assert win._view_mode == "captured"
@@ -235,9 +358,13 @@ def test_exhibition_window_offscreen() -> None:
 if __name__ == "__main__":
    test_load_fixed_mode()
    test_translator_chinese_default()
+    test_read_forces_from_sensor()
    test_sdk_worker_packet_mapping()
    test_force_calibration_and_plot_min_span()
    test_list_orisys_configs_excludes_options()
+    test_default_config_prefers_box_bundle()
+    test_legacy_config_force_calibration_fallback()
+    test_normalize_sensor_config_ref_prefers_bundle()
    test_roi_geometry_helpers()
    test_exhibition_window_offscreen()
    print("ok")