Add full TCP calibration contracts and setup snapshots - #29
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…-calibration # Conflicts: # src/waldoctl/client.py
isinstance(True, float) is True, so a calibration could carry position_rms_mm=True and round-trip through the snapshot: the panel rendered 'RMS True mm' and anything doing arithmetic on the residual got 1. The sample count beside it already rejected a bool. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
Jepson2k
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September 17, 2026 22:33
The pivot fit and orientation teaching are an algorithm with one consumer, Commander's calibration panel, so they live there. The TcpCalibration record and the client methods stay here. Every backend applies and reads a full user TCP transform, so set_tcp_transform and tcp_transform are required of a client and the has_tcp_transform flag is gone. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01N8zt66KjkzgZLtQuSfJd9r
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Adds full TCP transform contracts and named setup snapshots that retain tool/variant bindings and measurement provenance in one versioned schema. The pivot solve and orientation teaching that produce a calibration are an algorithm rather than a contract, so they live in Commander (#53).
The setter uses millimetres and intrinsic XYZ degrees after the registered tool frame.
set_tcp_transformandtcp_transformare required of every client; queued application and readback are explicit, and the existing XYZ setter clears user rotation. Physical geometry remains on the registered tool links.Validation: 161 tests pass (4 skipped), covering snapshot persistence/export with calibration provenance, frame conventions and contract/example checks; pre-commit passes.
Depends on #28. Companion backend and Commander PRs use
feat/tcp-calibration. Release waldoctl v0.15.0 before releasing the dependent packages; no tags or releases are included here.Companion PRs: PAROL6, PAR6, Commander.