Add fidelity score diagrams

Add formal, visual and kinematic score diagrams with Geist Sans labels, typeset equations and editable Mermaid sources.

README.md

@@ -111,6 +111,14 @@ The three composites describe different properties of the reconstruction and are
 
 ### Formal fidelity
 
+<!-- score-diagram:formal:start -->
+
+![Formal fidelity combines passed mandatory requirement credit with the all-pass bonus.](media/formal-fidelity.png)
+
+[SVG](media/formal-fidelity.svg) | [Editable Mermaid source](media/formal-fidelity.mmd)
+
+<!-- score-diagram:formal:end -->
+
 Profile validation uses [NVIDIA SimReady-Foundation Robotics-Prop 4.0.0](https://github.com/NVIDIA/simready-foundation/blob/main/nv_core/sr_specs/docs/guides/profiles_validation_workflow.md). The 46 mandatory requirements cover the structural, physical and semantic properties of a simulation-ready prop. Each mandatory requirement contributes equally to 95 points, with five additional points when all 46 pass:
 
 ```text
@@ -130,6 +138,14 @@ Both scores retain their passed, failed and unknown requirement counts. Partiall
 
 ### Visual fidelity
 
+<!-- score-diagram:visual:start -->
+
+![Visual fidelity is the geometric mean of shape and supported material appearance.](media/visual-fidelity.png)
+
+[SVG](media/visual-fidelity.svg) | [Editable Mermaid source](media/visual-fidelity.mmd)
+
+<!-- score-diagram:visual:end -->
+
 Visual fidelity is the geometric mean of shape and appearance correspondence:
 
 ```text
@@ -140,6 +156,14 @@ Shape is the bidirectional surface F-score at the reference scale. Appearance co
 
 ### Kinematic fidelity
 
+<!-- score-diagram:kinematic:start -->
+
+![Kinematic fidelity combines per-joint agreement through moving-joint and fixed-constraint recovery.](media/kinematic-fidelity.png)
+
+[SVG](media/kinematic-fidelity.svg) | [Editable Mermaid source](media/kinematic-fidelity.mmd)
+
+<!-- score-diagram:kinematic:end -->
+
 The evaluator matches joints one to one through corresponding bodies and compares the relative poses permitted by their constraints. For fixed, revolute and prismatic joints, seventeen deterministic nonuniform states sample each motion probe. Both constraints act on the same reference-body landmarks, so reconstructed surface detail does not count twice as kinematic error.
 
 ```text

media/formal-fidelity.mmd

@@ -0,0 +1,29 @@
+%%{init: {"startOnLoad":false,"securityLevel":"strict","theme":"base","look":"classic","fontFamily":"Geist Sans, sans-serif","fontSize":22,"htmlLabels":true,"themeVariables":{"fontFamily":"Geist Sans, sans-serif","fontSize":"22px","background":"#ffffff","primaryColor":"#ffffff","primaryTextColor":"#222222","primaryBorderColor":"#555555","lineColor":"#777777","secondaryColor":"#ffffff","tertiaryColor":"#ffffff","edgeLabelBackground":"#ffffff"},"flowchart":{"htmlLabels":true,"curve":"linear","nodeSpacing":32,"rankSpacing":52,"padding":20,"diagramPadding":20,"useMaxWidth":false,"wrappingWidth":460}}}%%
+%% SimReadyBench formal fidelity. All scores are percentages.
+%% Sources: engine/scoring.py:419-494; composites.py:75-101.
+flowchart LR
+    accTitle: Formal fidelity aggregation
+    accDescr: The passed count across 46 mandatory requirement IDs determines 95 points of base credit. A further five points are awarded only if all 46 pass. Unknown outcomes retain the denominator and leave the scalar score unmeasured.
+
+    roster["Mandatory requirement groups<br/>Rigid body/collision: 10<br/>Asset paths/naming: 8<br/>Geometry/mesh: 8<br/>Materials/textures: 6<br/>Semantics: 6<br/>Hierarchy: 4<br/>Units: 2<br/>Thumbnail metadata: 2"]
+    passed["Passed requirements<br/>$$p = \sum_{i=1}^{46} \mathbf{1}[\text{ID }i\text{ passes}]$$<br/>$$N = 46$$"]
+    base["Base credit<br/>$$B = 95\,\frac{p}{46}$$"]
+    bonus["All-pass bonus<br/>$$C = \begin{cases}5,&p=46\\0,&p<46\end{cases}$$"]
+    score["Formal fidelity (%)<br/>$$F = B + C$$"]
+    state["All 46 mandatory IDs remain in scope.<br/>Any unknown outcome: score unmeasured.<br/>Optional requirements are reported separately."]
+
+    roster --> passed
+    passed --> base
+    passed --> bonus
+    base --> score
+    bonus --> score
+    state -.- score
+
+    classDef input fill:#ffffff,stroke:#9a9a9a,stroke-width:1px,color:#222222;
+    classDef calculation fill:#ffffff,stroke:#555555,stroke-width:1.2px,color:#222222;
+    classDef result fill:#f2f2f2,stroke:#222222,stroke-width:1.6px,color:#111111,font-weight:600;
+    classDef note fill:#ffffff,stroke:none,color:#555555,font-size:18px;
+    class roster input;
+    class passed,base,bonus calculation;
+    class score result;
+    class state note;

media/kinematic-fidelity.mmd

@@ -0,0 +1,36 @@
+%%{init: {"startOnLoad":false,"securityLevel":"strict","theme":"base","look":"classic","fontFamily":"Geist Sans, sans-serif","fontSize":22,"htmlLabels":true,"themeVariables":{"fontFamily":"Geist Sans, sans-serif","fontSize":"22px","background":"#ffffff","primaryColor":"#ffffff","primaryTextColor":"#222222","primaryBorderColor":"#555555","lineColor":"#777777","secondaryColor":"#ffffff","tertiaryColor":"#ffffff","edgeLabelBackground":"#ffffff"},"flowchart":{"htmlLabels":true,"curve":"linear","nodeSpacing":32,"rankSpacing":52,"padding":20,"diagramPadding":20,"useMaxWidth":false,"wrappingWidth":460}}}%%
+%% SimReadyBench kinematic fidelity. Joint qualities and recoveries are fractions.
+%% Sources: kinematics.py:165-225,243-300,313-371,417-464;
+%% composites.py:152-162.
+flowchart LR
+    accTitle: Kinematic fidelity aggregation
+    accDescr: Each matched joint quality is the product of motion, unwrapped extent and limit pattern agreement. Moving-joint and fixed-constraint recovery each use twice the summed joint quality divided by the combined reference and candidate count. Kinematic fidelity is the geometric mean of active recovery groups, expressed as a percentage.
+
+    motion["Motion agreement<br/>$$m_j = \frac{1}{1+(d_j/b)^2}$$<br/>$$d_j = \text{landmark RMS displacement}$$<br/>$$b = \text{configured position tolerance}$$"]
+    extent["Unwrapped extent agreement<br/>$$e_j = \frac{1}{1+(\delta_j/t_j)^2}$$<br/>$$\delta_j = \text{interval-width error}$$<br/>$$t_j = \text{absolute}+\text{relative}\cdot\text{reference width}$$<br/>$$e_j=1$$ unless both intervals are finite"]
+    pattern["Limit pattern agreement<br/>$$p_j = \frac{1}{1+h_j}$$<br/>$$h_j = \text{mismatched lower/upper patterns}$$<br/>Finite or signed unbounded"]
+    joint["Matched joint quality<br/>$$q_j = m_j e_j p_j$$<br/>One-to-one type and connectivity matching<br/>Fixed constraints: $$e_j = p_j = 1$$"]
+    moving["Moving-joint recovery<br/>$$r_m = \frac{2\sum_{j=1}^{R_m}q_j}{R_m+C_m}$$"]
+    fixed["Fixed-constraint recovery<br/>$$r_f = \frac{2\sum_{j=1}^{R_f}q_j}{R_f+C_f}$$"]
+    score["Kinematic fidelity (%)<br/>$$K = 100\sqrt{r_m r_f}$$<br/>Geometric mean of active groups"]
+    counts["$$R_g,\ C_g = \text{reference/candidate group counts}$$<br/>Missing or invalid matches earn zero.<br/>Extra joints increase the denominator."]
+    state["Omit empty groups. One active group: $$K = 100 r_g$$<br/>Both groups empty: not applicable.<br/>Unmeasured reference semantics: score unmeasured, with bounds."]
+
+    motion --> joint
+    extent --> joint
+    pattern --> joint
+    joint --> moving
+    joint --> fixed
+    moving --> score
+    fixed --> score
+    counts -.- joint
+    state -.- score
+
+    classDef input fill:#ffffff,stroke:#9a9a9a,stroke-width:1px,color:#222222;
+    classDef calculation fill:#ffffff,stroke:#555555,stroke-width:1.2px,color:#222222;
+    classDef result fill:#f2f2f2,stroke:#222222,stroke-width:1.6px,color:#111111,font-weight:600;
+    classDef note fill:#ffffff,stroke:none,color:#555555,font-size:18px;
+    class motion,extent,pattern input;
+    class joint,moving,fixed calculation;
+    class score result;
+    class counts,state note;

media/score-diagrams-Geist-OFL.txt

@@ -0,0 +1,93 @@
+Copyright 2024 The Geist Project Authors (https://github.com/vercel/geist-font) Geist-Italic[wght].ttf: Copyright 2024 The Geist Project Authors (https://github.com/vercel/geist-font)
+
+This Font Software is licensed under the SIL Open Font License, Version 1.1.
+This license is copied below, and is also available with a FAQ at:
+http://scripts.sil.org/OFL
+
+
+-----------------------------------------------------------
+SIL OPEN FONT LICENSE Version 1.1 - 26 February 2007
+-----------------------------------------------------------
+
+PREAMBLE
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media/visual-fidelity.mmd

@@ -0,0 +1,30 @@
+%%{init: {"startOnLoad":false,"securityLevel":"strict","theme":"base","look":"classic","fontFamily":"Geist Sans, sans-serif","fontSize":22,"htmlLabels":true,"themeVariables":{"fontFamily":"Geist Sans, sans-serif","fontSize":"22px","background":"#ffffff","primaryColor":"#ffffff","primaryTextColor":"#222222","primaryBorderColor":"#555555","lineColor":"#777777","secondaryColor":"#ffffff","tertiaryColor":"#ffffff","edgeLabelBackground":"#ffffff"},"flowchart":{"htmlLabels":true,"curve":"linear","nodeSpacing":32,"rankSpacing":52,"padding":20,"diagramPadding":20,"useMaxWidth":false,"wrappingWidth":460}}}%%
+%% SimReadyBench visual fidelity. S, A and V are percentages.
+%% Sources: fidelity.py:217-233,400-432,688-770,852-907;
+%% composites.py:102-151; usd_geometry.py:292-313.
+flowchart LR
+    accTitle: Visual fidelity aggregation
+    accDescr: Surface precision and recall form the shape F-score. Supported material property matches are averaged first within each area sample and then across reference samples. Visual fidelity is the geometric mean of shape and appearance. Inapplicable factors are omitted and unmeasured active factors keep the scalar score unknown.
+
+    geometry["Surface correspondence<br/>$$P = \text{candidate-to-reference precision}$$<br/>$$R = \text{reference-to-candidate recall}$$<br/>Within the configured distance band"]
+    shape["Shape (%)<br/>$$S = \begin{cases}100\,\frac{2PR}{P+R},&P+R>0\\0,&P+R=0\end{cases}$$"]
+    properties["Supported material appearance<br/>Diffuse colour, roughness<br/>Metallic and opacity<br/>Match requires spatial and property tolerances"]
+    sample["Per-sample appearance<br/>$$a_i = \frac{\text{passed properties at }i}{\text{eligible properties at }i}$$<br/>Equal weight per reference area sample"]
+    appearance["Appearance (%)<br/>$$A = \frac{100}{n}\sum_{i=1}^{n}a_i$$<br/>$$n = \text{eligible reference samples}$$"]
+    visual["Visual fidelity (%)<br/>$$V = \sqrt{SA}$$<br/>Geometric mean of active factors"]
+    state["Assigned samples with no supported properties stay unmeasured.<br/>Any active factor unmeasured: score unmeasured, with bounds.<br/>Omit inapplicable factors. One remains: its score is used.<br/>None remain: not applicable."]
+
+    geometry --> shape
+    properties --> sample --> appearance
+    shape --> visual
+    appearance --> visual
+    state -.- visual
+
+    classDef input fill:#ffffff,stroke:#9a9a9a,stroke-width:1px,color:#222222;
+    classDef calculation fill:#ffffff,stroke:#555555,stroke-width:1.2px,color:#222222;
+    classDef result fill:#f2f2f2,stroke:#222222,stroke-width:1.6px,color:#111111,font-weight:600;
+    classDef note fill:#ffffff,stroke:none,color:#555555,font-size:18px;
+    class geometry,properties input;
+    class shape,sample,appearance calculation;
+    class visual result;
+    class state note;