File size: 6,483 Bytes
b6fe757 83a372f b6fe757 0b2a584 b6fe757 2de4806 b6fe757 0b2a584 b6fe757 2de4806 b6fe757 83a372f b6fe757 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 | """One sensor moves, the other stays, they never touch, and depth is visible.
Four properties the first version of the probe set did not have:
1 THE WHOLE SENSOR FRAME IS DRAWN, not a dot. A dot shows position and
hides orientation, which makes the six ROTATION probes unreadable — they
move the marker barely at all. The React previews draw a triad for this
reason and so does this.
2 PERSPECTIVE IS REAL. The axis tips are placed in 3D at a fixed
millimetre length and then projected, so a sensor nearer the camera draws
a larger triad. Drawing a fixed PIXEL length would assert that two
sensors at different depths are the same size, which is the one thing a
projection is supposed to tell you.
3 ONE SENSOR MOVES PER PROBE, and which one is random. Every probe in the
first version moved the left sensor, so half the rig was never exercised
and any left-specific defect would have been invisible.
4 THEY DO NOT COLLIDE. Each gel carries a 0.12 m-diameter exclusion circle,
so the two centres must stay at least 0.12 m apart for every step. In the
real data the centres sit 0.225 m apart at the median and closer than
0.12 m on 1.67% of frames, so this rejects a little and forbids the
physically impossible.
python scripts/test_probe_frame_and_collision.py
"""
from __future__ import annotations
import shutil
import sys
import tempfile
from pathlib import Path
sys.path.insert(0, str(Path(__file__).resolve().parents[1]))
sys.path.insert(0, str(Path(__file__).resolve().parents[2]))
from react_paths import force_meta # noqa: E402
import numpy as np # noqa: E402
from react_toolbox.staging import staging_dir
RESULTS: list[tuple[bool, str, str]] = []
COLLISION_M = 0.12
def check(ok: bool, name: str, evidence: str) -> None:
RESULTS.append((bool(ok), name, evidence))
def main() -> int:
import pyarrow.parquet as pq
import react_toolbox as T
from react_toolbox.synth_actions import COLLISION_DIAMETER_M, sample_probe
from react_toolbox.frames import as_up_axis
from twm.calib_epoch import calib_dir
stage = staging_dir()
shutil.copytree(calib_dir("motherboard"), stage / "calibration")
cal = as_up_axis(T.load_calibration(stage), "z") # release poses
cam = cal["cams"]["middle"]
check(abs(COLLISION_DIAMETER_M - COLLISION_M) < 1e-9,
"the collision diameter is 0.12 m",
f"COLLISION_DIAMETER_M = {COLLISION_DIAMETER_M}")
# 1 / 2 — the frame projects with real perspective
if not hasattr(T, "project_gel_frame"):
check(False, "the whole sensor frame is projected", "no project_gel_frame")
check(False, "a nearer sensor draws a bigger triad", "not attempted")
else:
# DEPTH IS MEASURED, NOT ASSUMED. My first version displaced along
# world +z and called the result "further from the camera"; world +z
# is not the camera's view direction here, so the "far" pose came out
# NEARER and the check failed on its own premise. `project_gel_frame`
# returns the camera-frame depth, so the two poses are ordered by what
# it reports rather than by which way I guessed the axis points.
base = np.array([0.40, 0.02, 0.20, 0.0, 0.0, 0.0, 1.0])
cands = []
for k in range(3):
for sgn in (+1, -1):
q = base.copy()
q[k] += sgn * 0.35
r = T.project_gel_frame(q, cal["gel_left"], cam, axis_len_mm=60.0)
if r is not None:
cands.append((r["depth_mm"], q))
cands.sort()
near, far = cands[0][1], cands[-1][1]
depths = (cands[0][0], cands[-1][0])
spans = []
for p in (near, far):
r = T.project_gel_frame(p, cal["gel_left"], cam, axis_len_mm=60.0)
if r is None:
spans.append(None)
continue
c, tips = r["centre"], [t for t in r["tips"] if t is not None]
spans.append(max(float(np.hypot(t[0] - c[0], t[1] - c[1]))
for t in tips) if tips else 0.0)
ok = all(s is not None for s in spans)
check(ok and len(spans[0:1]) == 1,
"the whole sensor frame is projected",
f"centre + {len(tips)} axis tips")
check(ok and spans[0] > spans[1] * 1.2,
"a nearer sensor draws a bigger triad",
f"depth {depths[0]:.0f} mm -> span {spans[0]:.1f} px, "
f"depth {depths[1]:.0f} mm -> span {spans[1]:.1f} px"
if ok else "projection failed")
# 3 / 4 — one sensor moves, chosen at random, and no collision
P = (str(force_meta("motherboard"))+"/"
"2026-05-11/episode_003.parquet")
t = pq.read_table(P, columns=["sensor_left_pose", "sensor_right_pose"]).to_pydict()
poses = {s: np.asarray([x for x in t[f"sensor_{s}_pose"]], float)
for s in ("left", "right")}
moving = set()
viol = []
for seed in range(12):
try:
r = sample_probe(poses, cal, seed=seed, view="middle")
except (TypeError, ValueError) as exc:
check(False, "one sensor moves per probe, chosen at random",
f"sample_probe: {type(exc).__name__}: {str(exc)[:70]}")
check(False, "the two sensors never come within 0.12 m",
"not attempted")
_report()
return 1
moving.add(r["moving_side"])
for p in r["probes"]:
d = p.get("min_separation_m")
if d is not None and d < COLLISION_M - 1e-9:
viol.append(f"{r['moving_side']}/{p['name']}: {d:.3f} m")
check(moving == {"left", "right"},
"one sensor moves per probe, chosen at random",
f"over 12 seeds the moving side was {sorted(moving)}")
check(not viol, "the two sensors never come within 0.12 m",
f"{len(viol)} violating probe(s)" + (f"; {viol[:2]}" if viol else ""))
_report()
return 1 if sum(not ok for ok, _, _ in RESULTS) else 0
def _report() -> None:
w = max(len(x) for _, x, _ in RESULTS)
print()
for ok, name, ev in RESULTS:
print(f" [{'ok' if ok else 'FAIL'}] {name:<{w}} {ev}")
print(f"\nprobe frame + collision: {len(RESULTS)} checks, "
f"{sum(not ok for ok, _, _ in RESULTS)} failing")
if __name__ == "__main__":
raise SystemExit(main())
|