Adriano Dal PastroandClaude Opus 4.7
1fa7d12ad7
Tre miglioramenti al move-toward dopo il primo uso live:
1. checkbox "force" accanto a "Muovi": bypassa max_step_m quando
l'utente sa che il delta richiesto e' grande ma corretto (es. primo
avvicinamento all'oggetto).
2. camera_offset_wrist_mm: il modello assumeva camera e TCP coincidenti
(sole sign flips). La camera Nuwa e' invece montata con traslazione
costante rispetto al polso. La formula diventa:
delta_wrist = sign * (centroid_cam - offset_cam) + t_wrist_cam
Esposto in config (default 0,0,0), GUI (3 input "Camera rispetto a
polso (mm)") e in /state. Il termine compensa il fatto che muovere
il polso porta la camera, non il TCP, sul punto di presa.
3. filter_nearest_cluster: il centroide era media di tutti i punti
SAM21 della mask. In presenza di sfondo lontano visibile attraverso
buchi della depth del primo piano la media veniva trascinata a
metri di distanza. Ora si tiene il cluster piu' vicino:
z_near = p5(Z)
keep = punti con Z <= z_near + cluster_depth_window_m
Default window 0.20 m, configurabile. La risposta di /detect/wrist
espone n_sam21_points, n_centroid_points e z_near/z_cutoff per
diagnosi.
Aggiornata anche la persistenza: /offset accetta camera_offset_wrist_mm.
GUI: i campi Offset/Sign/CamOff rispettano "user touched" (refresh non
li cancella mentre l'utente digita).
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
120 lines
3.6 KiB
Python
120 lines
3.6 KiB
Python
"""Unit test della logica pura del move-toward (no I/O)."""
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from __future__ import annotations
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import numpy as np
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import pytest
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from presa_mano.right_arm.move import (
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DeltaOversize,
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apply_z_floor,
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compute_delta_wrist,
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)
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def test_zero_offset_returns_centroid_with_signs():
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delta = compute_delta_wrist(
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centroid_camera_m=np.array([0.0, 0.0, 1.0]),
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offset_camera_m=np.array([0.0, 0.0, 0.0]),
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axis_signs=(1, 1, 1),
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)
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assert np.allclose(delta, [0.0, 0.0, 1.0])
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def test_offset_subtracted_before_signs():
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# centroid=(0,0,1) offset=(0,0,0.1) sign=(1,-1,-1) → (0, 0, -0.9)
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delta = compute_delta_wrist(
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centroid_camera_m=np.array([0.0, 0.0, 1.0]),
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offset_camera_m=np.array([0.0, 0.0, 0.1]),
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axis_signs=(1, -1, -1),
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)
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assert np.allclose(delta, [0.0, 0.0, -0.9])
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def test_signs_applied_componentwise():
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delta = compute_delta_wrist(
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centroid_camera_m=np.array([0.05, 0.10, 0.20]),
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offset_camera_m=np.array([0.00, 0.00, 0.00]),
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axis_signs=(1, -1, -1),
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)
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assert np.allclose(delta, [0.05, -0.10, -0.20])
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def test_camera_offset_wrist_added_after_sign_flip():
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# centroid=(0,0,1) offset=(0,0,0) sign=(1,1,1) t_wc=(0.05,-0.02,0.08)
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# → sign*(centroid-offset) = (0,0,1)
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# → + t_wc = (0.05, -0.02, 1.08)
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delta = compute_delta_wrist(
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centroid_camera_m=np.array([0.0, 0.0, 1.0]),
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offset_camera_m=np.array([0.0, 0.0, 0.0]),
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axis_signs=(1, 1, 1),
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camera_offset_wrist_m=np.array([0.05, -0.02, 0.08]),
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)
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assert np.allclose(delta, [0.05, -0.02, 1.08])
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def test_camera_offset_wrist_default_zero_back_compat():
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# Senza camera_offset_wrist_m la formula vecchia resta invariata.
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delta = compute_delta_wrist(
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centroid_camera_m=np.array([0.10, 0.20, 0.30]),
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offset_camera_m=np.array([0.00, 0.00, 0.10]),
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axis_signs=(1, -1, -1),
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)
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assert np.allclose(delta, [0.10, -0.20, -0.20])
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def test_oversize_raises_when_not_forced():
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with pytest.raises(DeltaOversize):
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compute_delta_wrist(
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centroid_camera_m=np.array([0.0, 0.0, 0.5]),
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offset_camera_m=np.array([0.0, 0.0, 0.0]),
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axis_signs=(1, 1, 1),
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max_step_m=0.15,
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force=False,
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)
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def test_oversize_passes_when_forced():
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delta = compute_delta_wrist(
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centroid_camera_m=np.array([0.0, 0.0, 0.5]),
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offset_camera_m=np.array([0.0, 0.0, 0.0]),
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axis_signs=(1, 1, 1),
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max_step_m=0.15,
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force=True,
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)
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assert np.allclose(delta, [0.0, 0.0, 0.5])
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def test_z_floor_clips_when_target_below():
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# wrist_before.z=0.10, delta.z=-0.30, target=-0.20, floor=0.05 → clip a 0.05
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# → delta.z = 0.05 - 0.10 = -0.05
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new_delta, clipped = apply_z_floor(
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wrist_z_m=0.10,
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delta=np.array([0.01, -0.02, -0.30]),
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z_floor_m=0.05,
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)
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assert clipped is True
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assert new_delta[2] == pytest.approx(-0.05)
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# X/Y invariati
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assert new_delta[0] == pytest.approx(0.01)
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assert new_delta[1] == pytest.approx(-0.02)
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def test_z_floor_noop_when_target_above():
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new_delta, clipped = apply_z_floor(
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wrist_z_m=0.30,
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delta=np.array([0.0, 0.0, -0.10]),
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z_floor_m=0.05,
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)
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assert clipped is False
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assert np.allclose(new_delta, [0.0, 0.0, -0.10])
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def test_z_floor_none_disables_clip():
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new_delta, clipped = apply_z_floor(
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wrist_z_m=0.10,
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delta=np.array([0.0, 0.0, -0.50]),
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z_floor_m=None,
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)
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assert clipped is False
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assert np.allclose(new_delta, [0.0, 0.0, -0.50])
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