release: consolidate web simulation and real CV prototype

Add cleaned RealSense/OpenCV CV under cv/ with secret-free example
config, MQTT disabled by default, and canonical README coverage for
web + CV relationship without claiming production integration.

Co-authored-by: Cursor <cursoragent@cursor.com>

.dockerignore

@@ -0,0 +1,15 @@
+node_modules
+dist
+.git
+npm-debug.log
+.DS_Store
+.agent
+releases
+e2e
+playwright-report
+test-results
+agent/reports
+agent/state
+docs
+*.md
+.git

.github/workflows/ci.yml

@@ -0,0 +1,38 @@
+name: CI
+
+on:
+  push:
+    branches: [feature/**, dan_branch, main]
+  pull_request:
+
+jobs:
+  build-test:
+    runs-on: ubuntu-latest
+    timeout-minutes: 25
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-node@v4
+        with:
+          node-version: '20'
+          cache: npm
+      - run: npm ci
+      - run: npm test
+      - run: npm run build
+      - name: Install Playwright Chromium
+        run: npx playwright install --with-deps chromium
+      - name: Start preview
+        run: |
+          npx vite preview --host 127.0.0.1 --port 3101 &
+          for i in $(seq 1 30); do curl -sf http://127.0.0.1:3101/ && break; sleep 1; done
+      - name: E2E smoke
+        run: npm run test:e2e
+        env:
+          PLAYWRIGHT_BASE_URL: http://127.0.0.1:3101
+      - uses: actions/upload-artifact@v4
+        if: always()
+        with:
+          name: playwright-report
+          path: |
+            playwright-report/
+            test-results/
+          if-no-files-found: ignore

.gitignore

@@ -0,0 +1,22 @@
+node_modules/
+dist/
+*.tsbuildinfo
+vite.config.js
+vite.config.d.ts
+playwright.config.js
+playwright.config.d.ts
+.env
+.env.*
+public/version.json
+npm-debug.log*
+test-results/
+playwright-report/
+blob-report/
+.demo-preview.pid
+.demo-preview.log
+__pycache__/
+*.pyc
+cv/.venv/
+cv/debug_frames/
+cv/logs/
+cv/config.yaml

3d_models/.gitignore

@@ -0,0 +1,2 @@
+*.FCBak
+/export

Dockerfile

@@ -0,0 +1,19 @@
+FROM node:20-alpine AS build
+WORKDIR /app
+COPY package*.json ./
+RUN npm ci
+COPY . .
+# .git is dockerignored — pass identity from host deploy script
+ARG BUILD_COMMIT=unknown
+ARG BUILD_BRANCH=unknown
+ARG BUILD_RELEASE=unknown
+ENV VITE_BUILD_COMMIT=$BUILD_COMMIT \
+    VITE_BUILD_BRANCH=$BUILD_BRANCH \
+    VITE_BUILD_RELEASE=$BUILD_RELEASE
+RUN npm run build
+
+FROM nginx:alpine AS runtime
+COPY --from=build /app/dist /usr/share/nginx/html
+COPY nginx.conf /etc/nginx/conf.d/default.conf
+EXPOSE 80
+CMD ["nginx", "-g", "daemon off;"]

README.md

@@ -0,0 +1,213 @@
+# OZON Sorter Digital Twin
+
+Complete Track 3 Ozon Tech solution in one repository: a web digital twin of the sorting line, plus a real RealSense/OpenCV CV prototype.
+
+**Production:** https://arhipovdan.ru
+
+## 1. Overview
+
+This repository delivers a continuous web simulation of an Ozon conveyor sorter: CAD conveyor, product models, camera/measurement stage, B/C/D classification, diverters, and Rapier physics. The public demo runs on https://arhipovdan.ru with routes `/` (simulation) and `/documentation` (engineering status).
+
+Separately, `cv/` contains a **working hardware prototype** that reads Intel RealSense D415 depth, measures parcels with OpenCV, classifies B/C/D, and can publish results over MQTT. It is **not** wired into the live website.
+
+Both paths share the same Track 3 classification domain (exclusive 10×10×10 … 450×320×320 mm, roundness K > 0.8). The web twin uses a digital sensor simulation; the CV folder uses real depth frames.
+
+`main` is the canonical complete solution. Developers do not need other branches to run the web app or inspect/run the CV prototype.
+
+Large submission artifacts (presentation, video, optional CAD/model mirrors) belong in team cloud storage; runtime assets required by deploy stay in Git.
+
+## 2. Submission components
+
+| Component | Location | Notes |
+|---|---|---|
+| Web digital twin | `src/`, `public/` | Production-integrated |
+| Real CV prototype | `cv/` | WORKING_PROTOTYPE, not live-integrated |
+| Author CAD | `3d_models/conveer.FCStd` | FreeCAD source |
+| Official materials | `input_info/`, `official_sources/` | PDFs/ZIPs cited by docs/code |
+| Production domain | https://arhipovdan.ru | Docker + nginx |
+| Presentation / video | cloud (owner) | Links TBD — see §17 |
+
+## 3. Production demo
+
+- **URL:** https://arhipovdan.ru
+- **`/`** — continuous digital-twin simulation
+- **`/documentation`** — canonical engineering status
+- Unknown routes redirect to `/`
+
+Device behavior on current baseline:
+
+- **Desktop:** interactive WebGL 3D
+- **Mobile:** lightweight **2D** fallback (not full WebGL 3D)
+
+Build identity: `/version.json`.
+
+## 4. Web capabilities
+
+- Three-module CAD conveyor (clean → camera → sorter)
+- Camera / measurement simulation and Track 3 classifier
+- B / C / D routing with CAD diverters (−45° / +45°)
+- Rapier product physics (contact sorting **not** fully validated)
+- Continuous playback HUD + documentation page
+
+## 5. Real CV prototype
+
+| Field | Value |
+|---|---|
+| Path | `cv/` |
+| Origin | `drho1y-mvp_1` / `vision_classifier/` |
+| Technology | RealSense D415 + OpenCV (depth segmentation + metrics) |
+| Status | WORKING_PROTOTYPE |
+| Integration | **Not** connected to production web runtime |
+
+See **[cv/README.md](cv/README.md)** for install, demo, live camera, and MQTT.
+
+## 6. Architecture
+
+```
+Real device path:
+  RealSense D415 → depth preprocess → segmentation → measurement
+  → B/C/D → optional MQTT / hardware
+
+Web path:
+  Digital product → simulated sensor → classifier
+  → physical digital twin → B/C/D receiver visualization
+```
+
+Shared: B/C/D semantics and official dimension/roundness rules.
+Not shared today: live camera frames into the website.
+
+## 7. Repository structure
+
+```
+.github/                 CI (build, unit, e2e)
+3d_models/               Author CAD (conveer.FCStd)
+cv/                      Real CV prototype (Python)
+docs/                    Engineering notes
+e2e/                     Playwright smoke/routes
+input_info/              Official Ozon input packs
+official_sources/        Classifier bounds PDF
+public/                  Runtime static assets (GLB/STL/draco)
+src/                     React/Three web twin
+Dockerfile               Web production image
+docker-compose.server.yml
+nginx.conf
+package.json / lock
+vite / vitest / playwright / tsconfig
+README.md
+```
+
+No other top-level product directories are required to run or understand the solution.
+
+## 8. Requirements
+
+**Web:** Node.js 20+, npm (`package-lock.json`).
+**CV:** Python 3.10+, ffmpeg, V4L2; RealSense D415 for live mode (`cv/requirements.txt`).
+**Hardware (CV live / MQTT):** D415 USB3; optional MQTT broker + servo/motor controllers on site network.
+
+## 9. Web quick start
+
+```bash
+npm ci
+npm run dev          # http://127.0.0.1:3100
+npm test -- --run
+npm run build
+npm run preview      # http://127.0.0.1:3100
+```
+
+## 10. CV quick start
+
+```bash
+cd cv
+./demo.sh            # venv + deps; HUD on :8080 (needs D415 for live view)
+# without camera:
+python3 -m venv .venv && .venv/bin/pip install -r requirements.txt
+.venv/bin/python test_classify.py
+.venv/bin/python test_geometry.py
+# live pipeline (hardware):
+./run.sh --preview --no-mqtt --no-motor
+```
+
+`npm install` does **not** install CV dependencies.
+
+## 11. Configuration
+
+**Web (build-time, optional):** `VITE_BUILD_COMMIT`, `VITE_BUILD_BRANCH`, `VITE_BUILD_RELEASE` → `/version.json`. No runtime secrets.
+
+**CV:** copy `cv/config.example.yaml` → `cv/config.yaml` (gitignored). MQTT/motor/routing **disabled by default**. Never commit real passwords or broker credentials.
+
+## 12. Classification rules
+
+Verified in web (`src/domain/classifier.ts`) and CV (`cv/classify.py`):
+
+- dimensions strictly **> 10×10×10 mm** and **< 450×320×320 mm**
+- circular when **K > 0.8** (web) / `circle_ratio ≥ 0.8` (CV)
+- order: dimensions fail → **C**; else circular → **D**; else **B**
+
+Official citation: `official_sources/doc-1783095831.pdf` (present; not re-parsed on every doc pass). Missing extracted brief PDF is not claimed.
+
+## 13. Physics (accepted `main`)
+
+From current source (not superseded experimental branches):
+
+- belt speed **1.0 m/s** (`CONVEYOR_SPEED_MPS`)
+- fixed timestep **1/60 s** (`PHYSICS_TIMESTEP_SEC`)
+- CCD for light/thin product bodies
+- diverters LEFT **−45°**, RIGHT **+45°**
+- full contact-only junction sorting through CAD: **not fully validated**
+
+## 14. CAD and assets
+
+| Asset | Path |
+|---|---|
+| Author CAD | `3d_models/conveer.FCStd` |
+| Runtime GLB | `public/models/sorter/conveyor-clean.glb` |
+| Products | `public/models/*.stl` |
+
+Keep runtime assets in Git for deploy. Mirror large CAD/models/presentation/video to cloud for submission.
+
+SHA-256 (frozen):
+
+```
+3d_models/conveer.FCStd
+90c1844a4ca05e26def783d6130fc4b993430dde14307534ef8fbb21c9fac2e6
+
+public/models/sorter/conveyor-clean.glb
+1dc7a8d7891bfe756e277ad5368df74cb73410156b2fe0f92845afb8a56f285a
+```
+
+## 15. Testing
+
+```bash
+npm test -- --run
+# current release result: 196/196
+npm run build
+PLAYWRIGHT_BASE_URL=http://127.0.0.1:3101 npm run test:e2e -- e2e/routes.spec.ts e2e/smoke.spec.ts
+
+cd cv && .venv/bin/python test_classify.py && .venv/bin/python test_geometry.py
+```
+
+## 16. Deployment
+
+Nginx terminates TLS for `arhipovdan.ru` and proxies to Docker `owl-web-1` (`docker-compose.server.yml` + `Dockerfile`) on `127.0.0.1:3100`. Deploy from `main` with build-args for `/version.json`. CV is **not** part of the web container.
+
+## 17. Submission materials
+
+| Material | Status |
+|---|---|
+| Presentation URL | REQUIRED_FROM_OWNER |
+| Video demo URL | REQUIRED_FROM_OWNER |
+| Cloud folder URL | REQUIRED_FROM_OWNER |
+
+Do not invent links. Runtime site assets remain in Git even when mirrored to cloud.
+
+## 18. Known limitations
+
+- Mobile uses 2D lite fallback on current baseline
+- CV is a prototype and is not live-integrated into arhipovdan.ru
+- Simulation physics is engineering-derived; hardware calibration still required
+- Contact routing through CAD diverters not fully validated
+- Large presentation/video must be uploaded to cloud by owner
+
+## 19. Branch history policy
+
+**`main` is the canonical complete solution** (web + cleaned CV under `cv/`). Historical branches (`dan_branch`, `drho1y-mvp_1`, …) may remain for audit but are not required to run the product.

cv/.gitignore

@@ -0,0 +1,11 @@
+.venv/
+__pycache__/
+*.pyc
+debug_frames/
+logs/
+*.jpg
+*.png
+.pytest_cache/
+config.yaml
+.env
+.env.*

cv/Dockerfile

@@ -0,0 +1,23 @@
+# Vision classifier for Intel RealSense D415 on Orange PI (aarch64)
+FROM python:3.11-slim-bookworm
+
+ENV DEBIAN_FRONTEND=noninteractive \
+    PYTHONUNBUFFERED=1 \
+    PIP_NO_CACHE_DIR=1
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        libglib2.0-0 \
+        libgl1 \
+        libv4l-0 \
+        v4l-utils \
+        ffmpeg \
+    && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /app
+COPY requirements.txt .
+RUN pip install -r requirements.txt
+
+COPY . .
+
+# Камера пробрасывается через docker-compose (--device)
+CMD ["python", "main.py", "-c", "config.yaml"]

cv/README.md

@@ -0,0 +1,176 @@
+# Real CV prototype — RealSense D415 + OpenCV
+
+**Status:** WORKING_PROTOTYPE
+**Production integrated:** NO (https://arhipovdan.ru does **not** consume this pipeline)
+**Source:** consolidated from branch `drho1y-mvp_1` (`vision_classifier/`) into `cv/`
+
+Same Track 3 B/C/D rules as the web twin; different input path (real depth camera vs simulated sensor).
+
+## Purpose
+
+Measure parcels on a conveyor with an Intel RealSense D415 (depth + color), estimate L×W×H and circularity, classify into zones **B / C / D**, optionally publish results over MQTT for hardware routing.
+
+## Data flow
+
+```
+RealSense D415 (V4L2 depth + color)
+  → OpenCV segmentation on depth (optional RGB flat detect)
+  → measure L×W×H + circle_ratio
+  → stabilize (median / vote → LOCK)
+  → classify B/C/D
+  → optional MQTT (category, dimensions, servo/motor topics)
+```
+
+## Entrypoints (start here)
+
+| Command | Role |
+|---|---|
+| `./demo.sh` | Browser HUD demo on `:8080` (needs camera for live view) |
+| `./run.sh --preview` | Live pipeline with JPEG preview frames |
+| `./run.sh --once --no-mqtt --no-motor` | Single-shot / dry hardware |
+| `.venv/bin/python test_classify.py` | Classifier unit checks **without camera** |
+| `.venv/bin/python test_geometry.py` | Geometry helpers **without camera** |
+
+Primary modules: `main.py` (live), `demo.py` (HUD), `classify.py` (rules), `measure.py` (depth metrics), `camera.py` (V4L2 RealSense).
+
+## Classification rules (Track 3)
+
+1. Dimensions must be strictly **> 10×10×10 mm** and **< 450×320×320 mm** → else **C**
+2. Else if `circle_ratio ≥ 0.8` → **D**
+3. Else → **B**
+
+Stabilization: median window + vote → **LOCK**. Uncertain cases fall back to zone **C** after N frames.
+
+## File structure
+
+```
+cv/
+  main.py              # live pipeline entry
+  demo.py / demo.sh    # browser demo
+  run.sh               # venv bootstrap + main.py
+  camera.py            # RealSense via V4L2 + ffmpeg depth
+  measure.py           # segmentation + dimensions
+  classify.py          # B/C/D rules
+  stabilize.py         # temporal LOCK
+  mqtt_bridge.py       # optional MQTT (disabled by default)
+  calibrate.py         # fx/fy + belt height calibration
+  align_color.py       # RGB↔depth alignment helper
+  tracker.py           # multi-object tracking assist
+  journal.py           # decisions JSONL writer
+  demo_hud.py          # HUD rendering
+  collect_log.py       # log helper
+  test_classify.py     # no-camera tests
+  test_geometry.py     # no-camera tests
+  config.example.yaml  # safe defaults (commit)
+  config.yaml          # local only (gitignored)
+  requirements.txt
+  Dockerfile / docker-compose.yml
+```
+
+## Dependencies
+
+**Software**
+
+- Python **3.10+** (3.11 recommended; Docker image uses 3.11)
+- `opencv-python-headless`, `numpy`, `PyYAML`, `pillow`, `paho-mqtt` — see `requirements.txt`
+- System: **ffmpeg**, V4L2 (`v4l-utils` useful)
+
+**Hardware (live mode)**
+
+- Intel **RealSense D415** on USB3
+- Linux host with `/dev/video*` depth+color nodes (Orange PI / x86)
+
+`npm` / Node packages are **not** used here.
+
+## Installation
+
+```bash
+cd cv
+python3 -m venv .venv
+source .venv/bin/activate
+pip install -U pip
+pip install -r requirements.txt
+cp config.example.yaml config.yaml   # optional; scripts auto-copy
+```
+
+Or simply:
+
+```bash
+cd cv
+./demo.sh          # creates .venv and config.yaml on first run
+```
+
+## Demo / tests without claiming live camera
+
+Classifier and geometry (no RealSense required):
+
+```bash
+cd cv
+python3 -m venv .venv && .venv/bin/pip install -r requirements.txt
+.venv/bin/python test_classify.py
+.venv/bin/python test_geometry.py
+python3 -m compileall .
+```
+
+Live HUD (requires D415):
+
+```bash
+./demo.sh
+# open http://127.0.0.1:8080/
+```
+
+Live pipeline:
+
+```bash
+./run.sh --preview --no-mqtt --no-motor
+# or full hardware once MQTT/routing configured in local config.yaml:
+./run.sh --preview
+```
+
+## Configuration
+
+| File | Role |
+|---|---|
+| `config.example.yaml` | Committed safe defaults; **MQTT/motor/routing disabled** |
+| `config.yaml` | Local overrides — **gitignored**; never commit credentials |
+
+Optional MQTT (enable only locally):
+
+```yaml
+mqtt:
+  enabled: true
+  broker: "127.0.0.1"
+  port: 1883
+  user: "<your-user>"
+  password: "<your-password>"
+```
+
+CLI overrides: `--no-mqtt`, `--no-motor`, `--dry-route`, `--once`, `--preview`.
+
+## Output schema (LOCK)
+
+- Zone: `B` | `C` | `D`
+- Dimensions mm: L×W×H
+- `circle_ratio`
+- Optional MQTT topics (when enabled): `vision/feedback/category`, `…/dimensions`, `…/circle_ratio`
+- Optional JSONL: `logs/decisions.jsonl` (local, gitignored)
+
+## Limitations
+
+- Not connected to the web digital twin runtime.
+- Requires calibrated intrinsics / belt height for accurate mm.
+- Live demo needs a physical D415; CI hosts usually lack it.
+- MQTT/servo/motor path is optional and site-specific.
+
+## Troubleshooting
+
+| Symptom | Check |
+|---|---|
+| No `/dev/video*` | USB3, `lsusb`, `v4l2-ctl --list-devices` |
+| Depth empty | ffmpeg installed; correct `depth_device` |
+| Wrong sizes | run `calibrate.py --length … --width …` |
+| MQTT offline | expected when `mqtt.enabled: false` |
+
+## Relation to web twin
+
+Web (`src/domain/classifier.ts`) and CV (`classify.py`) implement the **same official bounds**. The public site uses a **digital sensor simulation**; this folder is the **hardware prototype** for future integration.

cv/align_color.py

@@ -0,0 +1,139 @@
+#!/usr/bin/env python3
+"""
+Автоподбор совмещения RGB↔depth для демо (сенсоры D415 разнесены).
+
+Положите на ленту коробку с чёткими краями и запустите:
+  .venv/bin/python align_color.py
+
+Скрипт ищет сдвиг (dx, dy) и масштаб цветного кадра, при которых края
+на RGB совпадают с краями на карте глубины, и пишет результат в config.yaml.
+"""
+
+from __future__ import annotations
+
+import argparse
+import re
+import sys
+import time
+from pathlib import Path
+
+import cv2
+import numpy as np
+import yaml
+
+sys.path.insert(0, str(Path(__file__).resolve().parent))
+
+from camera import RealSenseV4L2
+from demo_hud import align_color
+
+
+def _edges_depth(depth_mm: np.ndarray) -> np.ndarray:
+    d = depth_mm.astype(np.float32)
+    d = cv2.medianBlur(d.astype(np.uint16), 5).astype(np.float32)
+    valid = d > 0
+    if valid.sum() < 1000:
+        return np.zeros(depth_mm.shape, np.uint8)
+    lo, hi = np.percentile(d[valid], [2, 98])
+    norm = np.clip((d - lo) / max(hi - lo, 1.0) * 255.0, 0, 255).astype(np.uint8)
+    return cv2.Canny(norm, 30, 90)
+
+
+def _edges_color(color_bgr: np.ndarray) -> np.ndarray:
+    gray = cv2.cvtColor(color_bgr, cv2.COLOR_BGR2GRAY)
+    # тёмные сцены: выравниваем контраст перед Canny
+    gray = cv2.createCLAHE(clipLimit=3.0, tileGridSize=(8, 8)).apply(gray)
+    gray = cv2.GaussianBlur(gray, (5, 5), 0)
+    return cv2.Canny(gray, 40, 120)
+
+
+def _score(color_edges: np.ndarray, depth_band: np.ndarray, dx: float, dy: float, s: float) -> float:
+    warped = align_color(color_edges[..., None].repeat(3, axis=2), dx, dy, s)[..., 0]
+    return float(np.count_nonzero((warped > 0) & (depth_band > 0)))
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser(description="Совмещение RGB и depth")
+    parser.add_argument("-c", "--config", default=str(Path(__file__).with_name("config.yaml")))
+    args = parser.parse_args()
+
+    cfg_path = Path(args.config)
+    cfg = yaml.safe_load(cfg_path.read_text(encoding="utf-8"))
+    cam_cfg = cfg["camera"]
+
+    print("[align] открываю камеру… на ленте должна лежать коробка с чёткими краями")
+    cam = RealSenseV4L2(
+        depth_device=cam_cfg.get("depth_device", "/dev/video0"),
+        color_device=cam_cfg.get("color_device", "/dev/video4"),
+        width=int(cam_cfg.get("width", 640)),
+        height=int(cam_cfg.get("height", 480)),
+        fps=int(cam_cfg.get("fps", 30)),
+        use_color=True,
+    )
+    try:
+        # прогрев RGB: первые кадры бывают пустыми, плюс автоэкспозиция
+        for _ in range(30):
+            cam.read()
+            time.sleep(0.05)
+        depth_acc, color_acc = [], []
+        for _ in range(15):
+            pair = cam.read()
+            if pair is not None and not pair.color_is_depth_preview:
+                depth_acc.append(pair.depth_mm.astype(np.float32))
+                color_acc.append(pair.color_bgr.astype(np.float32))
+            time.sleep(0.06)
+        if len(color_acc) < 3:
+            print("[align] RGB не читается — проверьте use_color/USB")
+            return 1
+        depth = np.median(np.stack(depth_acc), axis=0).astype(np.uint16)
+        color = np.clip(np.mean(np.stack(color_acc), axis=0), 0, 255).astype(np.uint8)
+
+        de = _edges_depth(depth)
+        if np.count_nonzero(de) < 500:
+            print("[align] мало краёв на depth — положите коробку в центр кадра")
+            return 1
+        band = cv2.dilate(de, cv2.getStructuringElement(cv2.MORPH_RECT, (7, 7)))
+        ce = _edges_color(color)
+
+        # грубый перебор → уточнение
+        best = (0.0, 0.0, 1.0)
+        best_s = -1.0
+        for s in np.arange(0.90, 1.16, 0.05):
+            for dx in range(-80, 81, 8):
+                for dy in range(-60, 61, 8):
+                    sc = _score(ce, band, dx, dy, float(s))
+                    if sc > best_s:
+                        best_s, best = sc, (float(dx), float(dy), float(s))
+        bdx, bdy, bs = best
+        for s in np.arange(bs - 0.04, bs + 0.045, 0.01):
+            for dx in np.arange(bdx - 8, bdx + 9, 2):
+                for dy in np.arange(bdy - 8, bdy + 9, 2):
+                    sc = _score(ce, band, float(dx), float(dy), float(s))
+                    if sc > best_s:
+                        best_s, best = sc, (float(dx), float(dy), float(s))
+
+        base = _score(ce, band, 0, 0, 1.0)
+        dx, dy, s = best
+        print(f"[align] лучшее совмещение: dx={dx:.0f} dy={dy:.0f} scale={s:.2f} "
+              f"(совпадение краёв {best_s:.0f} против {base:.0f} без коррекции)")
+
+        text = cfg_path.read_text(encoding="utf-8")
+        text = re.sub(r"(?m)^(\s*color_dx:\s*)-?[\d.]+", rf"\g<1>{dx:.1f}", text)
+        text = re.sub(r"(?m)^(\s*color_dy:\s*)-?[\d.]+", rf"\g<1>{dy:.1f}", text)
+        text = re.sub(r"(?m)^(\s*color_scale:\s*)-?[\d.]+", rf"\g<1>{s:.3f}", text)
+        cfg_path.write_text(text, encoding="utf-8")
+        print(f"[align] записано в {cfg_path}")
+
+        # контрольная картинка
+        out = Path("debug_frames"); out.mkdir(exist_ok=True)
+        from camera import depth_colormap
+        aligned = align_color(color, dx, dy, s)
+        vis = cv2.addWeighted(aligned, 0.6, depth_colormap(depth), 0.4, 0)
+        cv2.imwrite(str(out / "align_check.jpg"), vis)
+        print(f"[align] проверка: debug_frames/align_check.jpg")
+    finally:
+        cam.release()
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

cv/calibrate.py

@@ -0,0 +1,188 @@
+#!/usr/bin/env python3
+"""
+Калибровка камеры для точных габаритов (правила ТЗ: >10×10×10, <450×320×320 мм).
+
+Два шага:
+  1) пустая лента → высота belt_distance_mm;
+  2) коробка известного размера в центре → фокусное fx=fy.
+
+Запуск (пример для коробки 300×200 мм, высотой ≥ 30 мм):
+  .venv/bin/python calibrate.py --length 300 --width 200
+
+Результат пишется прямо в config.yaml (fx, fy, belt_distance_mm).
+"""
+
+from __future__ import annotations
+
+import argparse
+import re
+import sys
+import time
+from pathlib import Path
+
+import cv2
+import numpy as np
+import yaml
+
+sys.path.insert(0, str(Path(__file__).resolve().parent))
+
+from camera import RealSenseV4L2
+from measure import segment_object
+
+
+def _wait_key(prompt: str) -> None:
+    """Ждёт одиночное нажатие: 1 — продолжить, q — выйти (Enter не нужен)."""
+    print(prompt + " [1 — продолжить, q — выйти]", flush=True)
+
+    if not sys.stdin.isatty():
+        # stdin не терминал (пайп/IDE) — читаем строку
+        line = sys.stdin.readline().strip().lower()
+        if line.startswith("q"):
+            raise KeyboardInterrupt
+        return
+
+    import termios
+    import tty
+
+    fd = sys.stdin.fileno()
+    old = termios.tcgetattr(fd)
+    try:
+        tty.setraw(fd)
+        while True:
+            ch = sys.stdin.read(1)
+            if ch in ("1", "\r", "\n"):  # Enter тоже принимаем на всякий случай
+                return
+            if ch in ("q", "Q", "\x03"):  # q или Ctrl+C
+                raise KeyboardInterrupt
+    finally:
+        termios.tcsetattr(fd, termios.TCSADRAIN, old)
+
+
+def _collect_belt(cam: RealSenseV4L2, samples: int = 25) -> float:
+    vals = []
+    for _ in range(samples):
+        pair = cam.read()
+        if pair is None:
+            time.sleep(0.05)
+            continue
+        d = pair.depth_mm
+        h, w = d.shape
+        roi = d[h // 4 : 3 * h // 4, w // 4 : 3 * w // 4]
+        valid = roi[(roi > 200) & (roi < 4000)]
+        if valid.size > 100:
+            vals.append(float(np.median(valid)))
+        time.sleep(0.04)
+    if not vals:
+        raise RuntimeError("Не вижу ленту: проверьте, что камера на 0.5–1.5 м над поверхностью")
+    return float(np.median(vals))
+
+
+def _collect_focal(
+    cam: RealSenseV4L2,
+    belt_mm: float,
+    known_length_mm: float,
+    known_width_mm: float,
+    samples: int = 40,
+) -> float:
+    """fx=fy по площади minAreaRect в пикселях: f = z * sqrt(S_px / S_mm)."""
+    focals = []
+    for _ in range(samples):
+        pair = cam.read()
+        if pair is None:
+            time.sleep(0.05)
+            continue
+        seg = segment_object(pair.depth_mm, belt_distance_mm=belt_mm, min_area_px=400)
+        if seg is None:
+            time.sleep(0.04)
+            continue
+        mask, contour = seg
+        ys, xs = np.where(mask > 0)
+        z = pair.depth_mm[ys, xs].astype(np.float32)
+        z = z[z > 0]
+        if z.size < 100:
+            continue
+        z_med = float(np.median(z))
+
+        rect = cv2.minAreaRect(contour)
+        pw, ph = rect[1]
+        if pw < 10 or ph < 10:
+            continue
+        f = z_med * float(np.sqrt((pw * ph) / (known_length_mm * known_width_mm)))
+        focals.append(f)
+        time.sleep(0.04)
+    if len(focals) < 10:
+        raise RuntimeError(
+            f"Стабильно вижу коробку только в {len(focals)} кадрах из {samples}. "
+            "Коробка должна быть высотой ≥ 30 мм и лежать в центре кадра."
+        )
+    return float(np.median(focals))
+
+
+def _patch_config(path: Path, fx: float, belt_mm: float) -> None:
+    text = path.read_text(encoding="utf-8")
+    text = re.sub(r"(?m)^(\s*fx:\s*)[\d.]+", rf"\g<1>{fx:.1f}", text)
+    text = re.sub(r"(?m)^(\s*fy:\s*)[\d.]+", rf"\g<1>{fx:.1f}", text)
+    text = re.sub(r"(?m)^(belt_distance_mm:\s*)[\d.]+", rf"\g<1>{belt_mm:.0f}", text)
+    path.write_text(text, encoding="utf-8")
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser(description="Калибровка fx/fy и высоты ленты")
+    parser.add_argument("-c", "--config", default=str(Path(__file__).with_name("config.yaml")))
+    parser.add_argument("--length", type=float, required=True, help="Длина коробки, мм (рулеткой)")
+    parser.add_argument("--width", type=float, required=True, help="Ширина коробки, мм (рулеткой)")
+    parser.add_argument("--yes", action="store_true", help="Не ждать Enter (сцена уже готова на каждом шаге)")
+    args = parser.parse_args()
+
+    cfg_path = Path(args.config)
+    if not cfg_path.exists():
+        example = cfg_path.with_name("config.example.yaml")
+        if not example.exists():
+            raise SystemExit(f"Config not found: {cfg_path}")
+        cfg_path = example
+        print(f"[calib] using {cfg_path.name} (copy to config.yaml before saving results)")
+    cfg = yaml.safe_load(cfg_path.read_text(encoding="utf-8"))
+    cam_cfg = cfg["camera"]
+
+    print("[calib] открываю RealSense D415…")
+    cam = RealSenseV4L2(
+        depth_device=cam_cfg.get("depth_device", "/dev/video0"),
+        color_device=cam_cfg.get("color_device", "/dev/video4"),
+        width=int(cam_cfg.get("width", 640)),
+        height=int(cam_cfg.get("height", 480)),
+        fps=int(cam_cfg.get("fps", 30)),
+        depth_scale_mm=float(cam_cfg.get("depth_scale_mm", 1.0)),
+        use_color=False,
+    )
+    try:
+        if not args.yes:
+            _wait_key("[calib] Шаг 1/2: УБЕРИТЕ всё с ленты")
+        belt_mm = _collect_belt(cam)
+        print(f"[calib] высота до ленты: {belt_mm:.0f} мм")
+
+        if not args.yes:
+            _wait_key(
+                f"[calib] Шаг 2/2: положите коробку {args.length:.0f}×{args.width:.0f} мм "
+                "в центр кадра"
+            )
+            time.sleep(1.0)
+        fx = _collect_focal(cam, belt_mm, args.length, args.width)
+        old_fx = float(cam_cfg.get("fx", 0))
+        print(f"[calib] фокусное fx=fy: {fx:.1f} (было {old_fx:.1f})")
+        if old_fx > 0:
+            k = fx / old_fx
+            print(f"[calib] габариты со старым fx были завышены/занижены в {k:.2f} раза")
+
+        _patch_config(cfg_path, fx, belt_mm)
+        print(f"[calib] записано в {cfg_path}: fx=fy={fx:.1f}, belt_distance_mm={belt_mm:.0f}")
+        print("[calib] проверьте: .venv/bin/python demo.py — размеры LWH должны совпадать с рулеткой")
+    except KeyboardInterrupt:
+        print("\n[calib] отменено, config.yaml не изменён")
+        return 1
+    finally:
+        cam.release()
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

cv/camera.py

@@ -0,0 +1,373 @@
+"""Захват Depth (+опционально Color) с Intel RealSense D415 через V4L2/ffmpeg.
+
+Классификация по ТЗ опирается на depth (габариты + круг в сечении).
+RGB у D415 через сырой V4L2 часто пустой без librealsense —
+тогда для превью используется colorize(depth).
+"""
+
+from __future__ import annotations
+
+import shutil
+import subprocess
+import threading
+import time
+from dataclasses import dataclass
+from typing import Optional, Union
+
+import cv2
+import numpy as np
+
+
+@dataclass
+class FramePair:
+    color_bgr: np.ndarray
+    depth_mm: np.ndarray  # uint16, миллиметры
+    timestamp_ms: float
+    color_is_depth_preview: bool = False
+
+
+def _device_path(device: Union[str, int]) -> str:
+    if isinstance(device, int) or str(device).isdigit():
+        return f"/dev/video{int(device)}"
+    return str(device)
+
+
+def _v4l2_index(device: Union[str, int]) -> int:
+    if isinstance(device, int):
+        return device
+    s = str(device).strip()
+    if s.isdigit():
+        return int(s)
+    if "video" in s:
+        return int(s.rsplit("video", 1)[-1])
+    raise ValueError(f"Некорректный V4L2 device: {device}")
+
+
+def find_realsense_color_device(preferred: Union[str, int, None] = None) -> Optional[str]:
+    """Найти RGB-ноду D415 (YUYV). Номера /dev/videoN плавают после переподключения."""
+    import glob
+    import os
+
+    def _formats(path: str) -> str:
+        try:
+            return subprocess.check_output(
+                ["v4l2-ctl", "-d", path, "--list-formats-ext"],
+                stderr=subprocess.DEVNULL,
+                text=True,
+                timeout=2,
+            )
+        except (OSError, subprocess.SubprocessError):
+            return ""
+
+    preferred_path = _device_path(preferred) if preferred is not None else ""
+    scored: list[tuple[int, str]] = []
+    for path in sorted(glob.glob("/dev/video*")):
+        if not os.path.exists(path):
+            continue
+        fmt = _formats(path)
+        if "Z16" in fmt or "'GREY'" in fmt or "Greyscale" in fmt:
+            continue
+        score = 2 if ("YUYV" in fmt or "MJPG" in fmt or "Motion-JPEG" in fmt) else 0
+        if path == preferred_path:
+            score += 5
+        scored.append((score, path))
+    scored.sort(key=lambda x: (-x[0], x[1]))
+
+    for _, path in scored:
+        try:
+            idx = _v4l2_index(path)
+        except ValueError:
+            continue
+        cap = cv2.VideoCapture(idx, cv2.CAP_V4L2)
+        if not cap.isOpened():
+            continue
+        ok_frame = None
+        for _ in range(12):
+            ok, frame = cap.read()
+            if not ok or frame is None:
+                continue
+            if frame.ndim == 2:
+                break
+            if frame.ndim == 3 and frame.shape[2] == 2:
+                frame = cv2.cvtColor(frame, cv2.COLOR_YUV2BGR_YUY2)
+            if frame.ndim == 3 and float(np.mean(frame)) > 8.0 and float(np.std(frame)) > 5.0:
+                ok_frame = frame
+                break
+        cap.release()
+        if ok_frame is not None:
+            return path
+    return None
+
+
+def fill_depth_holes(depth_mm: np.ndarray, ksize: int = 5) -> np.ndarray:
+    """Простое заполнение дыр в depth."""
+    d = depth_mm.copy()
+    mask = (d > 0).astype(np.uint8) * 255
+    if mask.mean() < 1:
+        return d
+    kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (ksize, ksize))
+    closed = cv2.morphologyEx(mask, cv2.MORPH_CLOSE, kernel)
+    holes = ((closed > 0) & (d == 0)).astype(np.uint8) * 255
+    if holes.any():
+        scale = max(float(d.max()), 1.0)
+        img8 = np.clip(d.astype(np.float32) / scale * 255.0, 0, 255).astype(np.uint8)
+        filled8 = cv2.inpaint(img8, holes, 3, cv2.INPAINT_TELEA)
+        filled = (filled8.astype(np.float32) / 255.0 * scale).astype(np.uint16)
+        d[holes > 0] = filled[holes > 0]
+    med = cv2.medianBlur(d, 3)
+    valid = d > 0
+    d[valid] = med[valid]
+    return d
+
+
+def depth_colormap(depth_mm: np.ndarray, max_mm: Optional[int] = None) -> np.ndarray:
+    valid = depth_mm[(depth_mm > 0) & (depth_mm < 10000)]
+    if max_mm is None:
+        max_mm = int(np.percentile(valid, 95)) if valid.size else 2000
+        max_mm = max(max_mm, 500)
+    clipped = np.clip(depth_mm.astype(np.float32), 0, max_mm)
+    norm = np.zeros_like(clipped, dtype=np.uint8)
+    mask = depth_mm > 0
+    norm[mask] = (clipped[mask] / max_mm * 255.0).astype(np.uint8)
+    return cv2.applyColorMap(norm, cv2.COLORMAP_JET)
+
+
+class RealSenseV4L2:
+    """D415: depth=/dev/video0 (Z16 gray16le). Color опционален."""
+
+    def __init__(
+        self,
+        depth_device: Union[str, int] = "/dev/video0",
+        color_device: Union[str, int] = "/dev/video4",
+        width: int = 640,
+        height: int = 480,
+        fps: int = 30,
+        depth_scale_mm: float = 1.0,
+        use_color: bool = True,
+    ) -> None:
+        if shutil.which("ffmpeg") is None:
+            raise RuntimeError("Нужен ffmpeg для чтения depth Z16 с RealSense")
+
+        self.depth_scale_mm = float(depth_scale_mm)
+        self.width = int(width)
+        self.height = int(height)
+        self.fps = int(fps)
+        self.use_color = bool(use_color)
+        self._frame_bytes = self.width * self.height * 2
+        self.color_cap = None
+        self._depth_path = _device_path(depth_device)
+        self._lock = threading.Lock()
+        self._latest: Optional[np.ndarray] = None
+        self._stop = threading.Event()
+        self._ff: Optional[subprocess.Popen] = None
+        self._thread: Optional[threading.Thread] = None
+
+        self._start_depth_worker()
+
+        if self.use_color:
+            found = find_realsense_color_device(color_device)
+            if found is None:
+                print(f"[camera] RGB не найден (искали {color_device}) — в вебе будет colorize(depth)")
+                self.color_cap = None
+            else:
+                if _device_path(found) != _device_path(color_device):
+                    print(f"[camera] RGB: {found} (в конфиге было {color_device})")
+                else:
+                    print(f"[camera] RGB: {found}")
+                color_idx = _v4l2_index(found)
+                self.color_cap = cv2.VideoCapture(color_idx, cv2.CAP_V4L2)
+                if self.color_cap.isOpened():
+                    self.color_cap.set(cv2.CAP_PROP_FRAME_WIDTH, self.width)
+                    self.color_cap.set(cv2.CAP_PROP_FRAME_HEIGHT, self.height)
+                    self.color_cap.set(cv2.CAP_PROP_FPS, self.fps)
+                    self.color_cap.set(cv2.CAP_PROP_CONVERT_RGB, 1)
+                    # прогрев автоэкспозиции — иначе первые кадры чёрные/зелёные
+                    for _ in range(20):
+                        self.color_cap.read()
+                else:
+                    print("[camera] RGB VideoCapture не открылся")
+                    self.color_cap = None
+
+        # Ждём первый кадр
+        deadline = time.time() + 5.0
+        while time.time() < deadline:
+            with self._lock:
+                if self._latest is not None:
+                    break
+            time.sleep(0.05)
+        else:
+            self.release()
+            raise RuntimeError(
+                f"Не удалось читать depth с {self._depth_path}. "
+                "Проверьте USB3, что камера не занята другим процессом."
+            )
+
+        valid_pct = float(((self._latest > 0) & (self._latest < 5000)).mean() * 100)
+        print(f"[camera] depth OK, valid≈{valid_pct:.1f}% (лучше >30%; высота камеры 0.5–1.5 м)")
+
+    def _start_depth_worker(self) -> None:
+        self._ff = subprocess.Popen(
+            [
+                "ffmpeg",
+                "-hide_banner",
+                "-loglevel",
+                "error",
+                "-fflags",
+                "nobuffer",
+                "-flags",
+                "low_delay",
+                "-f",
+                "v4l2",
+                "-video_size",
+                f"{self.width}x{self.height}",
+                "-framerate",
+                str(self.fps),
+                "-pixel_format",
+                "gray16le",
+                "-i",
+                self._depth_path,
+                "-f",
+                "rawvideo",
+                "-pix_fmt",
+                "gray16le",
+                "-",
+            ],
+            stdout=subprocess.PIPE,
+            stderr=subprocess.DEVNULL,
+            bufsize=self._frame_bytes * 8,
+        )
+        self._thread = threading.Thread(target=self._depth_loop, name="rs-depth", daemon=True)
+        self._thread.start()
+
+    def _depth_loop(self) -> None:
+        assert self._ff is not None and self._ff.stdout is not None
+        while not self._stop.is_set():
+            raw = self._ff.stdout.read(self._frame_bytes)
+            if not raw or len(raw) != self._frame_bytes:
+                if self._ff.poll() is not None:
+                    break
+                continue
+            depth = np.frombuffer(raw, dtype="<u2").reshape(self.height, self.width).copy()
+            depth[depth == 65535] = 0
+            if self.depth_scale_mm != 1.0:
+                depth = np.clip(depth.astype(np.float32) * self.depth_scale_mm, 0, 65535).astype(np.uint16)
+            depth = fill_depth_holes(depth)
+            with self._lock:
+                self._latest = depth
+
+    def _read_color(self, depth_mm: np.ndarray) -> tuple[np.ndarray, bool]:
+        if self.color_cap is not None:
+            ok, color = self.color_cap.read()
+            if ok and color is not None:
+                if color.shape[:2] != (self.height, self.width):
+                    color = cv2.resize(color, (self.width, self.height), interpolation=cv2.INTER_LINEAR)
+                if color.ndim == 3 and color.shape[2] == 2:
+                    color = cv2.cvtColor(color, cv2.COLOR_YUV2BGR_YUY2)
+                elif color.ndim == 2:
+                    color = cv2.cvtColor(color, cv2.COLOR_GRAY2BGR)
+                # пустой YUYV-кадр после конвертации — ровный зелёный (mean>5,
+                # но вариации нет) → проверяем и разброс пикселей
+                if float(np.mean(color)) > 5.0 and float(np.std(color)) > 4.0:
+                    return color, False
+        return depth_colormap(depth_mm), True
+
+    def read(self) -> Optional[FramePair]:
+        with self._lock:
+            depth = None if self._latest is None else self._latest.copy()
+        if depth is None:
+            return None
+        color, is_preview = self._read_color(depth)
+        return FramePair(
+            color_bgr=color,
+            depth_mm=depth,
+            timestamp_ms=time.time() * 1000.0,
+            color_is_depth_preview=is_preview,
+        )
+
+    def capture_background(self, samples: int = 15) -> np.ndarray:
+        """Медианная карта глубины пустой сцены (лента + платформы/борта).
+
+        Позволяет сегментировать товар на неровном фоне и не сливать его
+        с накопителем: объект = то, что ближе фона на min_object_height_mm.
+        """
+        frames = []
+        deadline = time.time() + 12.0
+        while len(frames) < samples and time.time() < deadline:
+            pair = self.read()
+            if pair is not None:
+                frames.append(pair.depth_mm.astype(np.float32))
+            time.sleep(0.04)
+        if len(frames) < max(3, samples // 3):
+            raise RuntimeError("Не удалось накопить кадры для фоновой карты")
+        stack = np.stack(frames)
+        stack[stack <= 0] = np.nan
+        bg = np.nanmedian(stack, axis=0)
+        return np.nan_to_num(bg, nan=0.0).astype(np.uint16)
+
+    def capture_background_rgb(self, samples: int = 10) -> Optional[np.ndarray]:
+        """Усреднённый RGB-кадр пустой сцены — для детекции плоских товаров
+        (телефон и т.п.), которые не видны в depth."""
+        frames = []
+        deadline = time.time() + 8.0
+        while len(frames) < samples and time.time() < deadline:
+            pair = self.read()
+            if pair is not None and not pair.color_is_depth_preview:
+                frames.append(pair.color_bgr.astype(np.float32))
+            time.sleep(0.04)
+        if len(frames) < 3:
+            return None
+        return np.clip(np.mean(np.stack(frames), axis=0), 0, 255).astype(np.uint8)
+
+    def estimate_belt_distance_mm(self, samples: int = 30) -> float:
+        vals = []
+        h, w = self.height, self.width
+        rois = [
+            (h // 2 - 40, h // 2 + 40, w // 2 - 60, w // 2 + 60),
+            (h // 3 - 30, h // 3 + 30, w // 3 - 40, w // 3 + 40),
+            (2 * h // 3 - 30, 2 * h // 3 + 30, 2 * w // 3 - 40, 2 * w // 3 + 40),
+            (h // 4, 3 * h // 4, w // 4, 3 * w // 4),
+        ]
+        for _ in range(samples):
+            pair = self.read()
+            if pair is None:
+                time.sleep(0.03)
+                continue
+            for y0, y1, x0, x1 in rois:
+                roi = pair.depth_mm[y0:y1, x0:x1]
+                valid = roi[(roi > 200) & (roi < 4000)]
+                if valid.size >= 50:
+                    vals.append(float(np.median(valid)))
+                    break
+            else:
+                valid = pair.depth_mm[(pair.depth_mm > 200) & (pair.depth_mm < 4000)]
+                if valid.size >= 50:
+                    vals.append(float(np.median(valid)))
+            time.sleep(0.03)
+        if not vals:
+            raise RuntimeError(
+                "Не удалось оценить belt_distance_mm. "
+                "Поставьте камеру на 0.5–1.5 м над лентой (USB3), задайте belt_distance_mm в config.yaml вручную."
+            )
+        return float(np.median(vals))
+
+    def release(self) -> None:
+        self._stop.set()
+        if self.color_cap is not None:
+            self.color_cap.release()
+            self.color_cap = None
+        if self._ff is not None and self._ff.poll() is None:
+            self._ff.terminate()
+            try:
+                self._ff.wait(timeout=2)
+            except subprocess.TimeoutExpired:
+                self._ff.kill()
+            self._ff = None
+        if self._thread is not None:
+            self._thread.join(timeout=2)
+            self._thread = None
+
+    def __enter__(self) -> "RealSenseV4L2":
+        return self
+
+    def __exit__(self, *args) -> None:
+        self.release()

cv/classify.py

@@ -0,0 +1,147 @@
+"""Классификация строго по правилам ТЗ трека 3."""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+from enum import Enum
+from typing import Sequence, Tuple
+
+from measure import ObjectMeasurement
+
+
+class Category(str, Enum):
+    SUITABLE = "suitable"      # Подходит для сортировки → B
+    OVERSIZE = "oversize"      # Не подходит по габаритам → C
+    NEED_PACK = "need_pack"    # Не подходит без доупаковки → D
+
+    @property
+    def zone(self) -> str:
+        return {
+            Category.SUITABLE: "B",
+            Category.OVERSIZE: "C",
+            Category.NEED_PACK: "D",
+        }[self]
+
+    @property
+    def ru_label(self) -> str:
+        return {
+            Category.SUITABLE: "Подходит для сортировки",
+            Category.OVERSIZE: "Не подходит для сортировки по габаритам",
+            Category.NEED_PACK: "Не подходит для сортировки без доупаковки",
+        }[self]
+
+    @property
+    def short_label(self) -> str:
+        """Короткая метка для HUD и веб-статуса."""
+        return {
+            Category.SUITABLE: "ГОТОВ К СОРТИРОВКЕ",
+            Category.OVERSIZE: "НЕГАБАРИТ",
+            Category.NEED_PACK: "ТРЕБУЕТ ДОУПАКОВКИ",
+        }[self]
+
+
+@dataclass
+class ClassificationResult:
+    category: Category
+    dims_sorted_mm: Tuple[float, float, float]
+    circle_ratio: float
+    passes_size: bool
+    is_circular: bool
+    reason: str
+
+
+def _sorted_dims(length: float, width: float, height: float) -> Tuple[float, float, float]:
+    a, b, c = sorted([float(length), float(width), float(height)], reverse=True)
+    return a, b, c
+
+
+def check_size(
+    dims_sorted: Sequence[float],
+    min_mm: Sequence[float],
+    max_mm: Sequence[float],
+) -> bool:
+    """
+    ТЗ: габариты строго больше минимума и строго меньше максимума
+    по сопоставленным сторонам после сортировки.
+    """
+    min_s = sorted([float(x) for x in min_mm], reverse=True)
+    max_s = sorted([float(x) for x in max_mm], reverse=True)
+    d = [float(x) for x in dims_sorted]
+    return all(d[i] > min_s[i] for i in range(3)) and all(d[i] < max_s[i] for i in range(3))
+
+
+def classify(
+    measurement: ObjectMeasurement,
+    min_mm: Sequence[float] = (10, 10, 10),
+    max_mm: Sequence[float] = (450, 320, 320),
+    circle_ratio_threshold: float = 0.8,
+) -> ClassificationResult:
+    """
+    Порядок ТЗ:
+    1) габариты → иначе C (приоритет над кругом)
+    2) если r_in/r_out >= 0.8 в любом сечении → D
+    3) иначе → B
+    """
+    dims = _sorted_dims(measurement.length_mm, measurement.width_mm, measurement.height_mm)
+    passes = check_size(dims, min_mm, max_mm)
+    ratio = float(measurement.circle_ratio)
+    circular = ratio >= float(circle_ratio_threshold)
+    clipped = bool(getattr(measurement, "clipped_by_frame", False))
+
+    if not passes or clipped:
+        reason = (
+            "объект обрезан краем кадра → габарит неполный, считаем негабаритом"
+            if clipped and passes
+            else "габариты вне допуска: нужно >10×10×10 и <450×320×320 мм"
+        )
+        if clipped and not passes:
+            reason = "габариты вне допуска (в т.ч. обрезан кадром): нужно >10×10×10 и <450×320×320 мм"
+        return ClassificationResult(
+            category=Category.OVERSIZE,
+            dims_sorted_mm=dims,
+            circle_ratio=ratio,
+            passes_size=False,
+            is_circular=circular,
+            reason=reason,
+        )
+
+    if circular:
+        return ClassificationResult(
+            category=Category.NEED_PACK,
+            dims_sorted_mm=dims,
+            circle_ratio=ratio,
+            passes_size=True,
+            is_circular=True,
+            reason=f"круг в сечении: r_in/r_out={ratio:.3f} >= {circle_ratio_threshold}",
+        )
+
+    return ClassificationResult(
+        category=Category.SUITABLE,
+        dims_sorted_mm=dims,
+        circle_ratio=ratio,
+        passes_size=True,
+        is_circular=False,
+        reason=f"габариты OK, круга нет: r_in/r_out={ratio:.3f} < {circle_ratio_threshold}",
+    )
+
+
+def classify_from_dims(
+    length_mm: float,
+    width_mm: float,
+    height_mm: float,
+    circle_ratio: float,
+    min_mm: Sequence[float] = (10, 10, 10),
+    max_mm: Sequence[float] = (450, 320, 320),
+    circle_ratio_threshold: float = 0.8,
+) -> ClassificationResult:
+    fake = ObjectMeasurement(
+        length_mm=length_mm,
+        width_mm=width_mm,
+        height_mm=height_mm,
+        circle_ratio=circle_ratio,
+        area_px=0,
+        centroid_px=(0, 0),
+        contour=None,  # type: ignore
+        mask=None,  # type: ignore
+    )
+    return classify(fake, min_mm, max_mm, circle_ratio_threshold)

cv/collect_log.py

@@ -0,0 +1,151 @@
+#!/usr/bin/env python3
+"""
+Сбор логов классификации с камеры.
+Кладите предметы по очереди — пишет CSV + печатает сводку.
+
+  .venv/bin/python collect_log.py
+  # Ctrl+C — стоп
+"""
+
+from __future__ import annotations
+
+import csv
+import sys
+import time
+from datetime import datetime
+from pathlib import Path
+
+import yaml
+
+sys.path.insert(0, str(Path(__file__).resolve().parent))
+
+from camera import RealSenseV4L2
+from measure import measure_object, segment_object
+from stabilize import DecisionStabilizer
+
+
+def main() -> int:
+    cfg = yaml.safe_load(Path("config.yaml").read_text(encoding="utf-8"))
+    cam_cfg = cfg["camera"]
+    cls = cfg["classification"]
+    thr = float(cls.get("circle_ratio_threshold", 0.8))
+
+    out_dir = Path("debug_frames")
+    out_dir.mkdir(exist_ok=True)
+    stamp = datetime.now().strftime("%H%M%S")
+    csv_path = out_dir / f"log_{stamp}.csv"
+
+    cam = RealSenseV4L2(
+        depth_device=cam_cfg.get("depth_device", "/dev/video0"),
+        color_device=cam_cfg.get("color_device", "/dev/video4"),
+        width=int(cam_cfg.get("width", 640)),
+        height=int(cam_cfg.get("height", 480)),
+        fps=int(cam_cfg.get("fps", 30)),
+        depth_scale_mm=float(cam_cfg.get("depth_scale_mm", 1.0)),
+        use_color=False,
+    )
+    belt = float(cfg.get("belt_distance_mm") or 600)
+    print(f"[log] belt={belt:.0f} mm  thr={thr}  → {csv_path}")
+    print("[log] Кладите КРУГ / ПРЯМОУГОЛЬНИК. Ctrl+C — стоп.\n")
+
+    stab = DecisionStabilizer(window=12, confirm_frames=8, lost_frames=12, enter_circle=thr)
+    fx, fy = float(cam_cfg["fx"]), float(cam_cfg["fy"])
+    cx, cy = float(cam_cfg["cx"]), float(cam_cfg["cy"])
+
+    f = csv_path.open("w", newline="", encoding="utf-8")
+    w = csv.writer(f)
+    w.writerow(
+        [
+            "t",
+            "present",
+            "L",
+            "W",
+            "H",
+            "top",
+            "sec",
+            "circle",
+            "raw_zone",
+            "lock",
+            "lock_zone",
+            "conf",
+        ]
+    )
+
+    last_print = 0.0
+    n = 0
+    try:
+        while True:
+            pair = cam.read()
+            if pair is None:
+                time.sleep(0.02)
+                continue
+            n += 1
+            seg = segment_object(
+                pair.depth_mm,
+                belt_distance_mm=belt,
+                belt_tolerance_mm=float(cfg.get("belt_tolerance_mm", 25)),
+                min_object_height_mm=float(cfg.get("min_object_height_mm", 5)),
+                min_area_px=int(cfg.get("min_object_area_px", 400)),
+            )
+            m = None
+            if seg is not None:
+                mask, contour = seg
+                m = measure_object(
+                    pair.depth_mm, mask, contour, belt, fx, fy, cx, cy
+                )
+
+            d = stab.update(
+                m,
+                min_mm=cls.get("min_mm", [10, 10, 10]),
+                max_mm=cls.get("max_mm", [450, 320, 320]),
+            )
+
+            if m is None:
+                raw_zone = "-"
+                row = [time.time(), 0, "", "", "", "", "", "", raw_zone, int(d.locked), "", d.confidence_pct]
+            else:
+                dims = sorted([m.length_mm, m.width_mm, m.height_mm], reverse=True)
+                raw = "C"
+                if all(dims[i] > 10 and dims[i] < [450, 320, 320][i] for i in range(3)):
+                    raw = "D" if m.circle_ratio >= thr else "B"
+                lz = d.result.category.zone if (d.locked and d.result) else ""
+                row = [
+                    time.time(),
+                    1,
+                    round(dims[0], 1),
+                    round(dims[1], 1),
+                    round(dims[2], 1),
+                    round(m.top_ratio, 3),
+                    round(m.section_ratio, 3),
+                    round(m.circle_ratio, 3),
+                    raw,
+                    int(d.locked),
+                    lz,
+                    d.confidence_pct,
+                ]
+            w.writerow(row)
+            if n % 5 == 0:
+                f.flush()
+
+            now = time.time()
+            if now - last_print > 0.45:
+                last_print = now
+                if m is None:
+                    print(f"[{n:05d}] пусто")
+                else:
+                    lz = d.result.category.zone if (d.locked and d.result) else "…"
+                    print(
+                        f"[{n:05d}] raw={row[8]} lock={lz or '—':1s} conf={d.confidence_pct:3d}% | "
+                        f"LWH={row[2]:.0f}×{row[3]:.0f}×{row[4]:.0f} | "
+                        f"top={m.top_ratio:.3f} sec={m.section_ratio:.3f} circ={m.circle_ratio:.3f}"
+                    )
+    except KeyboardInterrupt:
+        print(f"\n[log] сохранено {csv_path}")
+    finally:
+        f.close()
+        cam.release()
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

cv/config.example.yaml

@@ -0,0 +1,90 @@
+# Vision classifier config EXAMPLE — copy to config.yaml and edit locally.
+# Do not commit config.yaml (it may contain site-specific credentials).
+
+camera:
+  depth_device: /dev/video0
+  color_device: /dev/video4
+  width: 640
+  height: 480
+  fps: 30
+  depth_scale_mm: 1.0
+  # D415 @ 640x480 approximate intrinsics — calibrate on your setup
+  fx: 564.0
+  fy: 564.0
+  cx: 320.0
+  cy: 240.0
+  color_dx: -40.0
+  color_dy: -8.0
+  color_scale: 1.030
+
+belt_distance_mm: 594
+belt_tolerance_mm: 25
+min_object_height_mm: 20
+min_object_area_px: 800
+roi_margin:
+  top: 0.12
+  bottom: 0.02
+  left: 0.05
+  right: 0.12
+max_objects_in_frame: 3
+use_color: true
+use_background_map: false
+detect_flat_rgb: false
+rgb_diff_threshold: 35
+
+classification:
+  min_mm: [10, 10, 10]
+  max_mm: [450, 320, 320]
+  circle_ratio_threshold: 0.8
+  uncertain_after_frames: 45
+  uncertain_fallback_zone: C
+
+# MQTT is OPTIONAL and disabled by default for safe local runs.
+mqtt:
+  broker: "127.0.0.1"
+  port: 1883
+  user: ""
+  password: ""
+  client_id: "vision_classifier"
+  topic_result: "vision/feedback/category"
+  topic_dims: "vision/feedback/dimensions"
+  topic_circle: "vision/feedback/circle_ratio"
+  topic_debug: "vision/feedback/debug"
+  enabled: false
+
+motor:
+  enabled: false
+  rpm: -200
+  current_percent: 50
+  microsteps: 16
+  stealthchop: true
+  disable_on_stop: false
+
+routing:
+  enabled: false
+  zones:
+    B:
+      servo: 0
+      idle_angle: 0
+      divert_angle: 0
+      hold_ms: 500
+    C:
+      servo: 1
+      idle_angle: 0
+      divert_angle: 90
+      hold_ms: 800
+    D:
+      servo: 2
+      idle_angle: 0
+      divert_angle: 90
+      hold_ms: 800
+  cooldown_ms: 1500
+
+runtime:
+  show_preview: false
+  save_debug_frames: false
+  debug_dir: "debug_frames"
+  decisions_log: "logs/decisions.jsonl"
+  preview_every_n: 3
+  process_every_n: 1
+  confirm_frames: 8

cv/demo.py

@@ -0,0 +1,873 @@
+#!/usr/bin/env python3
+"""
+Демо-режим хакатона с ползунками в браузере:
+  • высота до ленты (belt_distance_mm)
+  • порог уверенности (сколько кадров подряд одно и то же решение)
+  • мин. высота объекта, порог круга
+
+Без MQTT / мотора / серво.
+"""
+
+from __future__ import annotations
+
+import argparse
+import base64
+import json
+import sys
+import threading
+import time
+from http.server import BaseHTTPRequestHandler, ThreadingHTTPServer
+from pathlib import Path
+from typing import Any, Dict, Optional
+from urllib.parse import parse_qs, urlparse
+
+import cv2
+import numpy as np
+import yaml
+
+from camera import RealSenseV4L2
+from classify import Category, ClassificationResult
+from demo_hud import ContourSmoother, align_color, build_demo_frame
+from journal import append_decision
+from measure import (
+    is_plausible_measurement,
+    measure_flat_object,
+    measure_object,
+    merge_overlapping_measurements,
+    segment_objects,
+    segment_rgb_objects,
+)
+from stabilize import DecisionStabilizer
+from tracker import MultiObjectTracker, slot_key
+
+ZONE_TO_CATEGORY = {
+    "B": Category.SUITABLE,
+    "C": Category.OVERSIZE,
+    "D": Category.NEED_PACK,
+}
+
+
+HTML = r"""<!DOCTYPE html>
+<html lang="ru">
+<head>
+<meta charset="utf-8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Трек 3 — демо</title>
+<style>
+  :root {
+    --bg:#111114; --card:#1c1c22; --line:#33333c; --txt:#f2f2f4;
+    --muted:#a0a0ab; --acc:#2dd4bf; --b:#22c55e; --c:#ef4444; --d:#f59e0b;
+  }
+  * { box-sizing:border-box; }
+  body { margin:0; background:var(--bg); color:var(--txt); font-family:system-ui,-apple-system,sans-serif; }
+  .top {
+    position:sticky; top:0; z-index:20;
+    background:var(--card); border-bottom:2px solid var(--acc);
+    padding:12px 16px 14px; box-shadow:0 8px 24px rgba(0,0,0,.45);
+  }
+  .top h1 { margin:0 0 4px; font-size:17px; }
+  .top .sub { margin:0 0 12px; color:var(--muted); font-size:12px; }
+  .sliders {
+    display:grid;
+    grid-template-columns:repeat(auto-fit, minmax(220px, 1fr));
+    gap:12px 18px;
+  }
+  .sliders label {
+    display:flex; justify-content:space-between; align-items:baseline;
+    font-size:12px; margin-bottom:4px; color:var(--muted);
+  }
+  .sliders label b { color:var(--acc); font-size:14px; font-variant-numeric:tabular-nums; }
+  input[type=range] { width:100%; height:28px; accent-color:var(--acc); cursor:pointer; }
+  .actions { display:flex; flex-wrap:wrap; gap:8px; margin-top:12px; align-items:center; }
+  button {
+    border:0; border-radius:8px; padding:10px 14px; font-weight:700; cursor:pointer;
+    background:var(--acc); color:#042f2e;
+  }
+  button.sec { background:#2a2a32; color:var(--txt); }
+  #st {
+    flex:1; min-width:200px; padding:10px 12px; border-radius:8px;
+    background:#121218; border:1px solid var(--line); font-size:13px; line-height:1.45;
+  }
+  #st .zoneB { color:var(--b); font-weight:800; font-size:18px; }
+  #st .zoneC { color:var(--c); font-weight:800; font-size:18px; }
+  #st .zoneD { color:var(--d); font-weight:800; font-size:18px; }
+  .main {
+    display:flex; gap:12px; padding:12px; max-width:1400px;
+    margin:0 auto; align-items:flex-start;
+  }
+  .stage { flex:1; min-width:0; }
+  .stage img {
+    width:100%; height:auto; display:block;
+    border-radius:10px; border:1px solid var(--line); background:#000;
+  }
+  .side { width:320px; flex-shrink:0; display:flex; flex-direction:column; gap:10px; }
+  .side h3 {
+    margin:0; font-size:12px; text-transform:uppercase; letter-spacing:.08em;
+    color:var(--muted);
+  }
+  .card {
+    background:var(--card); border:1px solid var(--line); border-radius:10px;
+    padding:10px; font-size:13px; line-height:1.5;
+  }
+  .card img {
+    width:100%; height:auto; display:block; border-radius:6px;
+    background:#000; margin-bottom:8px;
+  }
+  .card .hd { font-weight:800; font-size:14px; }
+  .card .mut { color:var(--muted); font-size:12px; }
+  #feed { display:flex; flex-direction:column; gap:8px; overflow-y:auto; max-height:60vh; }
+  .fitem {
+    display:flex; gap:8px; background:var(--card); border:1px solid var(--line);
+    border-radius:10px; padding:8px; font-size:12px; line-height:1.45;
+  }
+  .fitem img {
+    width:86px; height:64px; object-fit:cover; border-radius:6px;
+    background:#000; flex-shrink:0;
+  }
+  .fitem .hd { font-weight:800; font-size:13px; }
+  .fitem .mut { color:var(--muted); }
+  .zB { color:var(--b); } .zC { color:var(--c); } .zD { color:var(--d); }
+  .zU { color:#f97316; }
+  @media (max-width:900px) {
+    .main { flex-direction:column; }
+    .side { width:100%; }
+  }
+</style>
+</head>
+<body>
+  <div class="top">
+    <h1>Трек 3 — демо классификации (B / C / D)</h1>
+    <p class="sub">Ползунки СВЕРХУ (отдельная панель). Картинка только камера. Выход: Ctrl+C в терминале. Обновите страницу Ctrl+F5.</p>
+    <div class="sliders">
+      <div>
+        <label>Высота до ленты, мм <b id="v_belt">600</b></label>
+        <input id="belt" type="range" min="300" max="2000" step="5" value="600"/>
+      </div>
+      <div>
+        <label>Порог уверенности, % <b id="v_conf">75</b></label>
+        <input id="conf" type="range" min="10" max="100" step="5" value="75"/>
+      </div>
+      <div>
+        <label>Мин. высота объекта, мм <b id="v_hmin">8</b></label>
+        <input id="hmin" type="range" min="2" max="80" step="1" value="8"/>
+      </div>
+      <div>
+        <label>Порог «круг» <b id="v_circ">0.80</b></label>
+        <input id="circ" type="range" min="0.50" max="0.95" step="0.01" value="0.80"/>
+      </div>
+      <div>
+        <label>Мин. площадь, px <b id="v_area">800</b></label>
+        <input id="area" type="range" min="100" max="5000" step="50" value="800"/>
+      </div>
+    </div>
+    <div class="actions">
+      <div id="st">Загрузка…</div>
+      <button type="button" id="auto">Авто-высота</button>
+      <button type="button" class="sec" id="reset">Сброс</button>
+    </div>
+  </div>
+  <div class="main">
+    <div class="stage">
+      <img id="f" src="/frame.jpg?t=0" alt="camera"/>
+    </div>
+    <aside class="side">
+      <h3>Текущий объект</h3>
+      <div id="live"><div class="card mut">объектов нет</div></div>
+      <h3>Лента</h3>
+      <div id="feed"><div class="card mut">пока пусто</div></div>
+    </aside>
+  </div>
+<script>
+  const img = document.getElementById('f');
+  const ids = ['belt','conf','hmin','circ','area'];
+  const defaults = { belt:600, conf:75, hmin:8, circ:0.80, area:800 };
+  let dragging = false;
+
+  function syncLabels() {
+    v_belt.textContent = belt.value;
+    v_conf.textContent = conf.value;
+    v_hmin.textContent = hmin.value;
+    v_circ.textContent = Number(circ.value).toFixed(2);
+    v_area.textContent = area.value;
+  }
+
+  async function pushParams() {
+    syncLabels();
+    await fetch('/api/params', {
+      method:'POST',
+      headers:{'Content-Type':'application/json'},
+      body: JSON.stringify({
+        belt_mm: Number(belt.value),
+        confidence_pct: Number(conf.value),
+        min_object_height_mm: Number(hmin.value),
+        circle_threshold: Number(circ.value),
+        min_area_px: Number(area.value),
+      }),
+    });
+  }
+
+  async function pullStatus() {
+    try {
+      const s = await (await fetch('/api/status')).json();
+      let zoneHtml = '<span style="color:#888">объектов нет</span>';
+      if (s.objects && s.objects.length) {
+        zoneHtml = s.objects.map(o => {
+          const dims = o.dims ? (o.dims.map(x => Math.round(x)).join('×') + ' мм') : '';
+          const extra = ' · ' + dims + ' · круг ' + (o.ratio ?? '—');
+          if (o.locked && o.uncertain)
+            return '<span style="color:#f97316;font-weight:800">#' + o.id + ' НЕУВЕРЕННО → ' + o.label + '</span>' + extra;
+          if (o.locked)
+            return '<span class="zone' + o.zone + '">#' + o.id + ' ' + o.label + ' ✓</span>' + extra;
+          return '<span style="color:#38bdf8">#' + o.id + ' анализ… ' + o.conf + '%</span>' + extra;
+        }).join('<br/>');
+      }
+      const stt = s.stats || {};
+      const statsLine = 'Итого: <b style="color:#22c55e">ГОТОВ ' + (stt.B || 0) +
+        '</b> · <b style="color:#ef4444">НЕГАБАРИТ ' + (stt.C || 0) +
+        '</b> · <b style="color:#f59e0b">ДОУПАКОВКА ' + (stt.D || 0) + '</b>' +
+        (stt.uncertain ? ' · неуверенно ' + stt.uncertain : '');
+      st.innerHTML = zoneHtml + '<br/>' + statsLine + '<br/>высота <b>' + s.belt_mm + '</b> мм';
+      renderLive(s.objects || []);
+      if (s.feed_seq !== window.__feedSeq) {
+        window.__feedSeq = s.feed_seq;
+        refreshFeed(s.feed || null);
+      }
+      if (!window.__inited && !dragging) {
+        belt.value = s.belt_mm;
+        conf.value = s.confidence_pct;
+        hmin.value = s.min_object_height_mm;
+        circ.value = s.circle_threshold;
+        area.value = s.min_area_px;
+        syncLabels();
+        window.__inited = true;
+      }
+    } catch (e) { st.textContent = 'Нет связи с demo.py — перезапустите ./demo.sh'; }
+  }
+
+  function zcls(o) {
+    if (o.uncertain) return 'zU';
+    return o.zone ? ('z' + o.zone) : '';
+  }
+  function dimsStr(d) {
+    return d ? d.map(x => Math.round(x)).join('×') + ' мм' : '';
+  }
+
+  function objSig(o) {
+    return o.id + '|' + (o.locked ? 'L' : 'P') + '|' + o.conf + '|' + (o.zone || '') +
+      '|' + (o.label || '') + '|' + (o.dims || []).map(x => Math.round(x)).join(',');
+  }
+
+  function renderLive(objs) {
+    const box = document.getElementById('live');
+    const sig = objs.map(objSig).join(';');
+    if (sig === window.__liveSig) return;
+    window.__liveSig = sig;
+    if (!objs.length) {
+      box.innerHTML = '<div class="card mut">объектов нет</div>';
+      return;
+    }
+    box.innerHTML = objs.map(o => {
+      const img = (o.locked && o.crop) ? '<img src="data:image/jpeg;base64,' + o.crop + '"/>' : '';
+      const head = o.locked
+        ? '<span class="hd ' + zcls(o) + '">#' + o.id + ' ' + (o.uncertain ? 'НЕУВЕРЕННО → ' : '') + o.label + (o.zone ? ' · зона ' + o.zone : '') + '</span>'
+        : '<span class="hd" style="color:#38bdf8">#' + o.id + ' анализ… ' + o.conf + '%</span>';
+      const reason = o.reason ? '<div class="mut">' + o.reason + '</div>' : '';
+      return '<div class="card">' + img + head +
+        '<div>' + dimsStr(o.dims) + ' · круг ' + (o.ratio ?? '—') + '</div>' + reason + '</div>';
+    }).join('');
+  }
+
+  function refreshFeed(items) {
+    const box = document.getElementById('feed');
+    if (!window.__feedKeys) window.__feedKeys = new Set();
+    if (!items || !items.length) {
+      if (!window.__feedKeys.size) box.innerHTML = '<div class="card mut">пока пусто</div>';
+      return;
+    }
+    if (window.__feedKeys.size === 0) box.innerHTML = '';
+    for (const it of items.slice().reverse()) {
+      const key = it.slot || ('#' + it.id);
+      if (window.__feedKeys.has(key)) continue;
+      window.__feedKeys.add(key);
+      const img = it.crop ? '<img src="data:image/jpeg;base64,' + it.crop + '"/>' : '<img/>';
+      const el = document.createElement('div');
+      el.className = 'fitem';
+      el.dataset.slot = key;
+      el.innerHTML = img + '<div>' +
+        '<div class="hd ' + zcls(it) + '">#' + it.id + ' ' + (it.uncertain ? 'НЕУВЕР → ' : '') + 'зона ' + it.zone + '</div>' +
+        '<div>' + it.label + '</div>' +
+        '<div class="mut">' + dimsStr(it.dims) + ' · круг ' + it.ratio + ' · ' + it.time + '</div>' +
+        '</div>';
+      box.insertBefore(el, box.firstChild);
+    }
+  }
+
+  ids.forEach(id => {
+    const el = document.getElementById(id);
+    el.addEventListener('pointerdown', () => { dragging = true; });
+    el.addEventListener('pointerup', () => { dragging = false; pushParams(); });
+    el.addEventListener('input', () => { syncLabels(); pushParams(); });
+  });
+
+  document.getElementById('auto').onclick = async () => {
+    st.textContent = 'Калибровка… уберите объекты с ленты';
+    const s = await (await fetch('/api/autocalib', {method:'POST'})).json();
+    if (s.ok) {
+      belt.value = Math.round(s.belt_mm);
+      syncLabels();
+      await pushParams();
+    } else st.textContent = 'Ошибка: ' + (s.error || '');
+  };
+  document.getElementById('reset').onclick = () => {
+    belt.value = defaults.belt; conf.value = defaults.conf;
+    hmin.value = defaults.hmin; circ.value = defaults.circ; area.value = defaults.area;
+    syncLabels(); pushParams();
+  };
+
+  setInterval(() => { img.src = '/frame.jpg?t=' + Date.now(); }, 280);
+  setInterval(pullStatus, 350);
+  pullStatus();
+</script>
+</body>
+</html>
+"""
+
+
+class Params:
+    def __init__(self) -> None:
+        self.lock = threading.Lock()
+        self.belt_mm: float = 800.0
+        self.confidence_pct: int = 75  # порог фиксации
+        self.min_object_height_mm: float = 8.0
+        self.circle_threshold: float = 0.80
+        self.min_area_px: int = 400
+        # runtime status
+        self.confidence_now: int = 0
+        self.zone: Optional[str] = None
+        self.locked: bool = False
+        self.uncertain: bool = False
+        self.circle_ratio: Optional[float] = None
+        self.dims: Optional[tuple] = None
+        self.reason: str = ""
+        self.objects: list = []       # [{id, zone, label, dims, ratio, locked, uncertain, conf, crop}]
+        self.stats: dict = {}         # счётчики за сессию
+        self.feed: list = []          # лента LOCK-событий (новые в конце)
+        self.feed_seq: int = 0        # версия ленты — клиент тянет только при изменении
+        self.feed_slots: set = set()  # slot_key — один товар = одна карточка в ленте
+        self.crop_cache: dict = {}    # track_id → base64, фиксируется при LOCK
+        self.jpeg: bytes = b""
+        self.last_print: str = ""
+        self.cam: Any = None
+        self.request_autocalib: bool = False
+        self.autocalib_result: Optional[Dict[str, Any]] = None
+        self.background: Optional[np.ndarray] = None  # карта глубины пустой сцены
+        self.color_background: Optional[np.ndarray] = None  # RGB пустой сцены (плоские товары)
+
+
+STATE = Params()
+
+
+def make_handler() -> type:
+    class Handler(BaseHTTPRequestHandler):
+        def log_message(self, fmt: str, *args) -> None:
+            return
+
+        def _json(self, code: int, obj: Dict[str, Any]) -> None:
+            body = json.dumps(obj, ensure_ascii=False).encode("utf-8")
+            self.send_response(code)
+            self.send_header("Content-Type", "application/json; charset=utf-8")
+            self.send_header("Cache-Control", "no-store")
+            self.send_header("Content-Length", str(len(body)))
+            self.end_headers()
+            self.wfile.write(body)
+
+        def do_GET(self) -> None:
+            path = urlparse(self.path).path
+            if path.startswith("/frame.jpg"):
+                with STATE.lock:
+                    data = STATE.jpeg
+                if not data:
+                    self.send_error(503, "no frame yet")
+                    return
+                self.send_response(200)
+                self.send_header("Content-Type", "image/jpeg")
+                self.send_header("Cache-Control", "no-store")
+                self.send_header("Content-Length", str(len(data)))
+                self.end_headers()
+                self.wfile.write(data)
+            elif path == "/api/status":
+                with STATE.lock:
+                    self._json(
+                        200,
+                        {
+                            "belt_mm": round(STATE.belt_mm),
+                            "confidence_pct": STATE.confidence_pct,
+                            "confidence_now": STATE.confidence_now,
+                            "min_object_height_mm": STATE.min_object_height_mm,
+                            "circle_threshold": STATE.circle_threshold,
+                            "min_area_px": STATE.min_area_px,
+                            "zone": STATE.zone,
+                            "locked": STATE.locked,
+                            "uncertain": STATE.uncertain,
+                            "circle_ratio": STATE.circle_ratio,
+                            "dims": STATE.dims,
+                            "reason": STATE.reason,
+                            "objects": STATE.objects,
+                            "stats": STATE.stats,
+                            "feed_seq": STATE.feed_seq,
+                            "feed": STATE.feed,
+                        },
+                    )
+            elif path == "/api/feed":
+                with STATE.lock:
+                    self._json(200, {"seq": STATE.feed_seq, "items": STATE.feed})
+            else:
+                body = HTML.encode("utf-8")
+                self.send_response(200)
+                self.send_header("Content-Type", "text/html; charset=utf-8")
+                self.send_header("Content-Length", str(len(body)))
+                self.end_headers()
+                self.wfile.write(body)
+
+        def do_POST(self) -> None:
+            path = urlparse(self.path).path
+            length = int(self.headers.get("Content-Length", 0))
+            raw = self.rfile.read(length) if length else b"{}"
+            try:
+                data = json.loads(raw.decode("utf-8") or "{}")
+            except json.JSONDecodeError:
+                data = {}
+
+            if path == "/api/params":
+                with STATE.lock:
+                    if "belt_mm" in data:
+                        new_belt = float(np.clip(float(data["belt_mm"]), 200, 3000))
+                        # ручная правка высоты → фоновая карта устарела
+                        if abs(new_belt - STATE.belt_mm) > 2.0:
+                            STATE.background = None
+                        STATE.belt_mm = new_belt
+                    if "confidence_pct" in data:
+                        STATE.confidence_pct = int(np.clip(int(data["confidence_pct"]), 10, 100))
+                    if "min_object_height_mm" in data:
+                        STATE.min_object_height_mm = float(np.clip(float(data["min_object_height_mm"]), 1, 200))
+                    if "circle_threshold" in data:
+                        STATE.circle_threshold = float(np.clip(float(data["circle_threshold"]), 0.4, 0.99))
+                    if "min_area_px" in data:
+                        STATE.min_area_px = int(np.clip(int(data["min_area_px"]), 50, 20000))
+                self._json(200, {"ok": True})
+            elif path == "/api/autocalib":
+                with STATE.lock:
+                    STATE.request_autocalib = True
+                    STATE.autocalib_result = None
+                # ждём результат от цикла камеры
+                for _ in range(80):
+                    time.sleep(0.1)
+                    with STATE.lock:
+                        if STATE.autocalib_result is not None:
+                            self._json(200, STATE.autocalib_result)
+                            return
+                self._json(500, {"ok": False, "error": "timeout"})
+            else:
+                self.send_error(404)
+
+    return Handler
+
+
+def resolve_config_path(path: Path) -> Path:
+    if path.exists():
+        return path
+    example = path.with_name("config.example.yaml")
+    if example.exists():
+        return example
+    raise FileNotFoundError(f"Config not found: {path} (and no config.example.yaml)")
+
+
+def load_config(path: Path) -> Dict[str, Any]:
+    resolved = resolve_config_path(Path(path))
+    with open(resolved, "r", encoding="utf-8") as f:
+        return yaml.safe_load(f)
+
+
+def frames_needed(confidence_pct: int) -> int:
+    # 10% → 5, 100% → 12 кадров одной зоны после прогрева окна
+    return max(5, int(round(5 + (confidence_pct / 100.0) * 7)))
+
+
+def crop_b64(img: np.ndarray, contour: np.ndarray, pad: int = 14, max_w: int = 260) -> Optional[str]:
+    """Кроп объекта по bounding box контура → JPEG base64 для веб-панели."""
+    x, y, w, h = cv2.boundingRect(contour)
+    H, W = img.shape[:2]
+    x0, y0 = max(0, x - pad), max(0, y - pad)
+    x1, y1 = min(W, x + w + pad), min(H, y + h + pad)
+    if x1 - x0 < 4 or y1 - y0 < 4:
+        return None
+    crop = img[y0:y1, x0:x1]
+    if crop.shape[1] > max_w:
+        s = max_w / crop.shape[1]
+        crop = cv2.resize(crop, (max_w, max(1, int(crop.shape[0] * s))))
+    ok, buf = cv2.imencode(".jpg", crop, [int(cv2.IMWRITE_JPEG_QUALITY), 78])
+    return base64.b64encode(buf.tobytes()).decode("ascii") if ok else None
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser(description="Демо классификации с ползунками")
+    parser.add_argument("-c", "--config", default=str(Path(__file__).with_name("config.yaml")))
+    parser.add_argument("--host", default="0.0.0.0")
+    parser.add_argument("--port", type=int, default=8080)
+    args = parser.parse_args()
+
+    cfg = load_config(Path(args.config))
+    cam_cfg = cfg["camera"]
+    cls_cfg = cfg["classification"]
+    min_mm = cls_cfg.get("min_mm", [10, 10, 10])
+    max_mm = cls_cfg.get("max_mm", [450, 320, 320])
+
+    out_dir = Path(cfg.get("runtime", {}).get("debug_dir", "debug_frames"))
+    out_dir.mkdir(parents=True, exist_ok=True)
+    out_jpg = out_dir / "demo_live.jpg"
+
+    print("[demo] открываю RealSense D415…")
+    cam = RealSenseV4L2(
+        depth_device=cam_cfg.get("depth_device", "/dev/video0"),
+        color_device=cam_cfg.get("color_device", "/dev/video4"),
+        width=int(cam_cfg.get("width", 640)),
+        height=int(cam_cfg.get("height", 480)),
+        fps=int(cam_cfg.get("fps", 30)),
+        depth_scale_mm=float(cam_cfg.get("depth_scale_mm", 1.0)),
+        use_color=bool(cfg.get("use_color", False)),
+    )
+    STATE.cam = cam
+
+    belt0 = float(cfg.get("belt_distance_mm") or 0)
+    if belt0 <= 0:
+        print("[demo] калибровка ленты — уберите объекты…")
+        belt0 = cam.estimate_belt_distance_mm()
+    with STATE.lock:
+        STATE.belt_mm = belt0
+        STATE.circle_threshold = float(cls_cfg.get("circle_ratio_threshold", 0.8))
+        STATE.min_object_height_mm = float(cfg.get("min_object_height_mm", 8))
+        STATE.min_area_px = int(cfg.get("min_object_area_px", 400))
+        STATE.confidence_pct = 75
+    print(f"[demo] belt_distance_mm = {belt0:.0f}")
+    max_objects = int(cfg.get("max_objects_in_frame", 3))
+    detect_flat_rgb = bool(cfg.get("detect_flat_rgb", False))
+    print(f"[demo] max_objects={max_objects}, flat_rgb={'ON' if detect_flat_rgb else 'OFF'}")
+    print("[demo] фоновая карта: кнопка «Авто-высота» на пустой ленте")
+
+    server = ThreadingHTTPServer((args.host, args.port), make_handler())
+    threading.Thread(target=server.serve_forever, daemon=True).start()
+    print(f"[demo] браузер → http://127.0.0.1:{args.port}/")
+    print("[demo] ползунки СВЕРХУ страницы (не на картинке)")
+    print("[demo] зона только после LOCK (медиана 12 кадров + голосование)")
+    print("[demo] Ctrl+C — выход\n")
+
+    fx, fy = float(cam_cfg["fx"]), float(cam_cfg["fy"])
+    cx, cy = float(cam_cfg["cx"]), float(cam_cfg["cy"])
+    fallback_zone = str(cls_cfg.get("uncertain_fallback_zone", "C")).upper()
+    thr0 = float(cls_cfg.get("circle_ratio_threshold", 0.8))
+    settings = {"confirm": frames_needed(75), "circ": thr0}
+
+    def make_stabilizer() -> DecisionStabilizer:
+        return DecisionStabilizer(
+            window=12,
+            confirm_frames=settings["confirm"],
+            lost_frames=12,
+            enter_circle=settings["circ"],
+            exit_circle=settings["circ"] - 0.08,
+            uncertain_after=int(cls_cfg.get("uncertain_after_frames", 45)),
+            fallback=ZONE_TO_CATEGORY.get(fallback_zone, Category.OVERSIZE),
+        )
+
+    # lost_frames=30 ≈ 1.5–2 с: глянцевые/тёмные предметы (мышка) дают
+    # кратковременные выпадения depth — трек не должен умирать от них
+    tracker = MultiObjectTracker(make_stabilizer, max_dist_px=120, lost_frames=30)
+    contour_smoother = ContourSmoother(alpha=0.3)
+    color_align = (
+        float(cam_cfg.get("color_dx", 0.0)),
+        float(cam_cfg.get("color_dy", 0.0)),
+        float(cam_cfg.get("color_scale", 1.0)),
+    )
+    decisions_log = Path(cfg.get("runtime", {}).get("decisions_log", "logs/decisions.jsonl"))
+    frame_i = 0
+    last_conf_setting = 75
+    last_circ = thr0
+
+    try:
+        while True:
+            # автокалибровка по запросу из UI
+            with STATE.lock:
+                need_auto = STATE.request_autocalib
+                if need_auto:
+                    STATE.request_autocalib = False
+            if need_auto:
+                try:
+                    print("[demo] автокалибровка: снимаю фоновую карту (сцена должна быть пустой)…")
+                    bg = cam.capture_background(samples=15)
+                    color_bg = cam.capture_background_rgb(samples=10)
+                    h, w = bg.shape
+                    center = bg[h // 4 : 3 * h // 4, w // 4 : 3 * w // 4].astype(np.float32)
+                    center = center[(center > 200) & (center < 4000)]
+                    new_belt = float(np.median(center)) if center.size > 100 else cam.estimate_belt_distance_mm(samples=10)
+                    with STATE.lock:
+                        STATE.belt_mm = new_belt
+                        STATE.background = bg
+                        STATE.color_background = color_bg
+                        STATE.autocalib_result = {"ok": True, "belt_mm": new_belt}
+                    tracker.reset()
+                    rgb_tag = "RGB-фон есть" if color_bg is not None else "RGB-фон недоступен"
+                    print(f"[demo] высота = {new_belt:.0f} mm, фоновая карта активна, {rgb_tag}")
+                except Exception as exc:
+                    with STATE.lock:
+                        STATE.autocalib_result = {"ok": False, "error": str(exc)}
+
+            pair = cam.read()
+            if pair is None:
+                time.sleep(0.02)
+                continue
+            frame_i += 1
+
+            with STATE.lock:
+                belt_mm = STATE.belt_mm
+                conf_pct = STATE.confidence_pct
+                hmin = STATE.min_object_height_mm
+                circ_thr = STATE.circle_threshold
+                min_area = STATE.min_area_px
+                background = STATE.background
+                color_background = STATE.color_background
+
+            if conf_pct != last_conf_setting:
+                settings["confirm"] = frames_needed(conf_pct)
+                tracker.reset()
+                last_conf_setting = conf_pct
+            if abs(circ_thr - last_circ) > 1e-6:
+                settings["circ"] = float(circ_thr)
+                tracker.reset()
+                last_circ = circ_thr
+
+            # несколько объектов в кадре → трекер с ID
+            measurements = []
+            depth_union = None
+            seg_n = 0
+            for mask, contour in segment_objects(
+                pair.depth_mm,
+                belt_distance_mm=belt_mm,
+                belt_tolerance_mm=float(cfg.get("belt_tolerance_mm", 25)),
+                min_object_height_mm=hmin,
+                min_area_px=min_area,
+                background_mm=background,
+                max_objects=max_objects,
+            ):
+                seg_n += 1
+                depth_union = mask if depth_union is None else cv2.bitwise_or(depth_union, mask)
+                m = measure_object(
+                    pair.depth_mm,
+                    mask,
+                    contour,
+                    belt_distance_mm=belt_mm,
+                    fx=fx,
+                    fy=fy,
+                    cx=cx,
+                    cy=cy,
+                    background_mm=background,
+                    min_object_height_mm=hmin,
+                )
+                if m is not None and is_plausible_measurement(m):
+                    measurements.append(m)
+
+            # плоские товары — только если detect_flat_rgb: true (иначе тени → ложные C)
+            if (
+                detect_flat_rgb
+                and color_background is not None
+                and not pair.color_is_depth_preview
+            ):
+                for mask, contour in segment_rgb_objects(
+                    pair.color_bgr,
+                    color_background,
+                    min_area_px=min_area,
+                    diff_threshold=int(cfg.get("rgb_diff_threshold", 35)),
+                    max_objects=max(0, max_objects - len(measurements)),
+                    exclude_mask=depth_union,
+                ):
+                    m = measure_flat_object(
+                        pair.depth_mm,
+                        mask,
+                        contour,
+                        belt_distance_mm=belt_mm,
+                        fx=fx,
+                        fy=fy,
+                        cx=cx,
+                        cy=cy,
+                        background_mm=background,
+                        color_bgr=pair.color_bgr,
+                        color_bg_bgr=color_background,
+                    )
+                    if m is not None and is_plausible_measurement(m):
+                        measurements.append(m)
+
+            measurements = merge_overlapping_measurements(measurements, overlap_thr=0.5)
+            tracks, events = tracker.update(measurements, min_mm=min_mm, max_mm=max_mm)
+
+            rgb_available = not pair.color_is_depth_preview
+            if rgb_available and float(np.std(pair.color_bgr)) > 4.0:
+                base_img = pair.color_bgr
+                if base_img.shape[:2] != pair.depth_mm.shape[:2]:
+                    base_img = cv2.resize(base_img, (pair.depth_mm.shape[1], pair.depth_mm.shape[0]))
+                base_img = align_color(base_img, *color_align)
+            else:
+                # без живого RGB — colorize(depth), иначе веб был бы чёрным
+                from camera import depth_colormap
+                base_img = depth_colormap(pair.depth_mm)
+                rgb_available = False
+
+            crops: Dict[int, Optional[str]] = {}
+            for tr in tracks:
+                if tr.measurement is not None:
+                    crops[tr.track_id] = crop_b64(base_img, tr.measurement.contour)
+
+            crop_updates: Dict[int, str] = {}
+            feed_add = []
+            for ev in events:
+                r = ev.decision.result
+                tag = "UNCERTAIN→" if ev.decision.uncertain else "LOCK "
+                print(
+                    f"[demo] #{ev.track_id} {tag}{r.category.zone} | {r.category.short_label} | "
+                    f"LWH={tuple(round(x, 1) for x in r.dims_sorted_mm)} | circle={r.circle_ratio:.3f}"
+                )
+                append_decision(
+                    decisions_log, r,
+                    uncertain=ev.decision.uncertain, source="demo", track_id=ev.track_id,
+                )
+                L, W, H = r.dims_sorted_mm
+                tr_ev = next((t for t in tracks if t.track_id == ev.track_id), None)
+                cx, cy = (tr_ev.centroid if tr_ev else (0, 0))
+                sk = slot_key(cx, cy, L, W, H, r.category.zone)
+                crop = crops.get(ev.track_id)
+                if crop:
+                    crop_updates[ev.track_id] = crop
+                feed_add.append({
+                    "slot": sk,
+                    "id": ev.track_id,
+                    "time": time.strftime("%H:%M:%S"),
+                    "zone": r.category.zone,
+                    "label": r.category.short_label,
+                    "dims": [round(x, 1) for x in r.dims_sorted_mm],
+                    "ratio": round(r.circle_ratio, 3),
+                    "uncertain": bool(ev.decision.uncertain),
+                    "crop": crop,
+                })
+
+            with STATE.lock:
+                STATE.crop_cache.update(crop_updates)
+                crop_cache = dict(STATE.crop_cache)
+
+            # статус для веба: список объектов + «главный» (первый залоченный)
+            objects_json = []
+            primary = None
+            for tr in tracks:
+                d = tr.decision
+                m = tr.measurement
+                if d is None or m is None:
+                    continue
+                is_locked = bool(d.locked and d.result is not None)
+                if is_locked:
+                    obj = {
+                        "id": tr.track_id,
+                        "locked": True,
+                        "uncertain": bool(d.uncertain),
+                        "conf": 100,
+                        "zone": d.result.category.zone,
+                        "label": d.result.category.short_label,
+                        "dims": [round(x, 1) for x in d.result.dims_sorted_mm],
+                        "ratio": round(d.result.circle_ratio, 3),
+                        "reason": d.result.reason,
+                        "crop": crop_cache.get(tr.track_id),
+                    }
+                else:
+                    obj = {
+                        "id": tr.track_id,
+                        "locked": False,
+                        "uncertain": False,
+                        "conf": d.confidence_pct,
+                        "zone": None,
+                        "label": "анализ…",
+                        "dims": [round(m.length_mm, 1), round(m.width_mm, 1), round(m.height_mm, 1)],
+                        "ratio": round(m.circle_ratio, 3),
+                        "reason": "",
+                        "crop": None,
+                    }
+                objects_json.append(obj)
+                if primary is None or (obj["locked"] and not primary["locked"]):
+                    primary = obj
+
+            with STATE.lock:
+                STATE.objects = objects_json
+                STATE.stats = dict(tracker.stats)
+                if feed_add:
+                    fresh = [it for it in feed_add if it["slot"] not in STATE.feed_slots]
+                    for it in fresh:
+                        STATE.feed_slots.add(it["slot"])
+                    if fresh:
+                        STATE.feed.extend(fresh)
+                        STATE.feed = STATE.feed[-20:]
+                        STATE.feed_seq += 1
+                if primary is not None:
+                    STATE.confidence_now = primary["conf"]
+                    STATE.locked = primary["locked"]
+                    STATE.uncertain = primary["uncertain"]
+                    STATE.zone = primary["zone"]
+                    STATE.circle_ratio = primary["ratio"]
+                    STATE.dims = tuple(primary["dims"])
+                    STATE.reason = primary["reason"] or (
+                        f"накопление {primary['conf']}% → ждём LOCK" if not primary["locked"] else ""
+                    )
+                else:
+                    STATE.confidence_now = 0
+                    STATE.locked = False
+                    STATE.uncertain = False
+                    STATE.zone = None
+                    STATE.circle_ratio = None
+                    STATE.dims = None
+                    STATE.reason = ""
+
+            hud = build_demo_frame(
+                base_img,
+                pair.depth_mm,
+                tracks,
+                belt_mm,
+                stats=tracker.stats,
+                confidence_pct=conf_pct,
+                rgb_available=rgb_available,
+                background_active=background is not None,
+                color_align=(0.0, 0.0, 1.0),
+                contour_smoother=contour_smoother,
+            )
+            ok, buf = cv2.imencode(".jpg", hud, [int(cv2.IMWRITE_JPEG_QUALITY), 80])
+            if ok:
+                jpeg = buf.tobytes()
+                with STATE.lock:
+                    STATE.jpeg = jpeg
+                if frame_i % 3 == 0:
+                    out_jpg.write_bytes(jpeg)
+
+            if seg_n > len(measurements) and STATE.last_print != "seg_drop":
+                print(f"[demo] depth: контуров {seg_n}, измерено {len(measurements)} "
+                      f"(часть отфильтрована: низкая высота < {hmin:.0f} мм или шум)")
+                STATE.last_print = "seg_drop"
+            elif not tracks and STATE.last_print != "empty":
+                print("[demo] объектов нет")
+                STATE.last_print = "empty"
+            elif tracks and STATE.last_print in ("seg_drop", "empty"):
+                STATE.last_print = ""
+
+            time.sleep(0.03)
+    except KeyboardInterrupt:
+        print("\n[demo] stop")
+    finally:
+        server.shutdown()
+        cam.release()
+    return 0
+
+
+if __name__ == "__main__":
+    sys.path.insert(0, str(Path(__file__).resolve().parent))
+    raise SystemExit(main())

cv/demo.sh

@@ -0,0 +1,19 @@
+#!/usr/bin/env bash
+set -euo pipefail
+DIR="$(cd "$(dirname "$0")" && pwd)"
+cd "$DIR"
+
+if [[ ! -f config.yaml && -f config.example.yaml ]]; then
+  cp config.example.yaml config.yaml
+  echo "[cv] created config.yaml from config.example.yaml (MQTT disabled)"
+fi
+
+if [[ ! -d .venv ]]; then
+  python3 -m venv .venv
+  .venv/bin/pip install -U pip
+  .venv/bin/pip install -r requirements.txt
+fi
+
+echo "Демо классификации (без моторов/серво)"
+echo "Браузер: http://127.0.0.1:8080/"
+exec .venv/bin/python demo.py "$@"

cv/demo_hud.py

@@ -0,0 +1,302 @@
+"""HUD демо: RGB-подложка + depth, несколько объектов с ID, кириллица через PIL."""
+
+from __future__ import annotations
+
+from functools import lru_cache
+from typing import Dict, List, Optional, Tuple
+
+import cv2
+import numpy as np
+from PIL import Image, ImageDraw, ImageFont
+
+ZONE_COLOR = {  # BGR
+    "B": (40, 180, 40),
+    "C": (40, 40, 220),
+    "D": (0, 165, 255),
+}
+UNCERTAIN_COLOR = (0, 130, 250)  # оранжевый
+PENDING_COLOR = (0, 255, 255)    # жёлтый — идёт накопление
+
+_FONT_CANDIDATES = [
+    "/usr/share/fonts/noto/NotoSans-Bold.ttf",
+    "/usr/share/fonts/noto/NotoSans-Regular.ttf",
+    "/usr/share/fonts/TTF/DejaVuSans-Bold.ttf",
+    "/usr/share/fonts/truetype/dejavu/DejaVuSans-Bold.ttf",
+]
+
+
+@lru_cache(maxsize=8)
+def _font(size: int) -> ImageFont.FreeTypeFont:
+    for path in _FONT_CANDIDATES:
+        try:
+            return ImageFont.truetype(path, size)
+        except OSError:
+            continue
+    return ImageFont.load_default()
+
+
+def _draw_texts(
+    img_bgr: np.ndarray,
+    texts: List[Tuple[int, int, str, Tuple[int, int, int], int]],
+) -> np.ndarray:
+    """texts: (x, y, строка, цвет BGR, размер). Кириллица через PIL."""
+    if not texts:
+        return img_bgr
+    pil = Image.fromarray(cv2.cvtColor(img_bgr, cv2.COLOR_BGR2RGB))
+    draw = ImageDraw.Draw(pil)
+    for x, y, s, bgr, size in texts:
+        rgb = (bgr[2], bgr[1], bgr[0])
+        draw.text((x, y), s, font=_font(size), fill=rgb, stroke_width=2, stroke_fill=(0, 0, 0))
+    return cv2.cvtColor(np.array(pil), cv2.COLOR_RGB2BGR)
+
+
+class DepthSmoother:
+    """Временное сглаживание depth только для отображения (не для измерений)."""
+
+    def __init__(self, alpha: float = 0.25) -> None:
+        self.alpha = float(alpha)
+        self._acc: Optional[np.ndarray] = None
+
+    def update(self, depth_mm: np.ndarray) -> np.ndarray:
+        d = depth_mm.astype(np.float32)
+        if self._acc is None or self._acc.shape != d.shape:
+            self._acc = d.copy()
+        valid = d > 0
+        self._acc[valid] = (1.0 - self.alpha) * self._acc[valid] + self.alpha * d[valid]
+        out = self._acc.astype(np.uint16)
+        out[~valid & (self._acc <= 0)] = 0
+        return out
+
+
+class ContourSmoother:
+    """Стабильная окантовка: EMA маски по каждому треку + аппроксимация контура,
+    плюс «примагничивание» контура к краям объекта на RGB (снимает остаточный
+    параллакс depth↔color и распухание depth-маски).
+
+    Только для отрисовки — измерения идут по сырому контуру.
+    """
+
+    def __init__(self, alpha: float = 0.3, snap_alpha: float = 0.35) -> None:
+        self.alpha = float(alpha)
+        self.snap_alpha = float(snap_alpha)
+        self._acc: Dict[int, np.ndarray] = {}
+        self._snap: Dict[int, Tuple[float, float, float]] = {}  # tid -> (dx, dy, shrink)
+
+    def smooth(
+        self, track_id: int, mask: np.ndarray, edge_img: Optional[np.ndarray] = None
+    ) -> Optional[np.ndarray]:
+        m = mask.astype(np.float32) / 255.0
+        acc = self._acc.get(track_id)
+        if acc is None or acc.shape != m.shape:
+            acc = m.copy()
+        else:
+            acc = (1.0 - self.alpha) * acc + self.alpha * m
+        self._acc[track_id] = acc
+
+        soft = cv2.GaussianBlur((acc * 255.0).astype(np.uint8), (11, 11), 0)
+        _, binm = cv2.threshold(soft, 127, 255, cv2.THRESH_BINARY)
+        contours, _ = cv2.findContours(binm, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+        if not contours:
+            return None
+        contour = max(contours, key=cv2.contourArea)
+
+        pts = contour.reshape(-1, 2).astype(np.float32)
+        if edge_img is not None and pts.shape[0] >= 8:
+            pts = self._snap_to_edges(track_id, pts, edge_img)
+
+        contour = pts.reshape(-1, 1, 2).astype(np.int32)
+        eps = 0.008 * cv2.arcLength(contour, True)
+        return cv2.approxPolyDP(contour, eps, True)
+
+    def _snap_to_edges(
+        self, track_id: int, pts: np.ndarray, edge: np.ndarray
+    ) -> np.ndarray:
+        """Локальный поиск сдвига (±14 px) и поджатия контура, при которых под
+        контуром максимум RGB-краёв. Найденная поправка сглаживается по времени."""
+        H, W = edge.shape[:2]
+        xs, ys = pts[:, 0], pts[:, 1]
+
+        def score(dx: float, dy: float, f: float, c: np.ndarray) -> float:
+            x = np.clip((c[0] + f * (xs - c[0]) + dx).astype(np.int32), 0, W - 1)
+            y = np.clip((c[1] + f * (ys - c[1]) + dy).astype(np.int32), 0, H - 1)
+            return float(edge[y, x].mean()) - 0.6 * float(np.hypot(dx, dy))
+
+        c = pts.mean(axis=0)
+        best_dx, best_dy, best_s = 0.0, 0.0, score(0, 0, 1.0, c)
+        for dy in range(-14, 15, 2):
+            for dx in range(-14, 15, 2):
+                s = score(dx, dy, 1.0, c)
+                if s > best_s:
+                    best_s, best_dx, best_dy = s, float(dx), float(dy)
+        best_f = 1.0
+        # только сдвиг и лёгкое РАСШИРЕНИЕ — поджатие (f<1) отрезало часть объекта
+        for f in (1.0, 1.04, 1.08):
+            s = score(best_dx, best_dy, f, c)
+            if s > best_s:
+                best_s, best_f = s, f
+
+        prev = self._snap.get(track_id, (0.0, 0.0, 1.0))
+        a = self.snap_alpha
+        sm = (
+            (1 - a) * prev[0] + a * best_dx,
+            (1 - a) * prev[1] + a * best_dy,
+            max(1.0, (1 - a) * prev[2] + a * best_f),
+        )
+        self._snap[track_id] = sm
+        out = pts.copy()
+        out[:, 0] = c[0] + sm[2] * (xs - c[0]) + sm[0]
+        out[:, 1] = c[1] + sm[2] * (ys - c[1]) + sm[1]
+        return out
+
+    def drop_missing(self, alive_ids: set) -> None:
+        for tid in list(self._acc.keys()):
+            if tid not in alive_ids:
+                del self._acc[tid]
+                self._snap.pop(tid, None)
+
+
+def align_color(color_bgr: np.ndarray, dx: float, dy: float, scale: float) -> np.ndarray:
+    """Совмещение RGB с depth: сдвиг+масштаб (у D415 сенсоры разнесены)."""
+    if abs(dx) < 0.5 and abs(dy) < 0.5 and abs(scale - 1.0) < 1e-3:
+        return color_bgr
+    h, w = color_bgr.shape[:2]
+    M = np.float32([
+        [scale, 0, dx + (1.0 - scale) * w / 2.0],
+        [0, scale, dy + (1.0 - scale) * h / 2.0],
+    ])
+    return cv2.warpAffine(color_bgr, M, (w, h), flags=cv2.INTER_LINEAR)
+
+
+def build_demo_frame(
+    color_bgr: np.ndarray,
+    depth_mm: np.ndarray,
+    tracks: list,  # List[tracker.Track]
+    belt_mm: float,
+    stats: Optional[Dict[str, int]] = None,
+    confidence_pct: int = 75,
+    rgb_available: bool = False,
+    background_active: bool = False,
+    color_align: Tuple[float, float, float] = (0.0, 0.0, 1.0),
+    contour_smoother: Optional[ContourSmoother] = None,
+) -> np.ndarray:
+    from camera import depth_colormap
+
+    # RGB для веба; если цвет недоступен — colorize(depth), НЕ чёрный экран
+    if rgb_available and color_bgr is not None and float(np.std(color_bgr)) > 4.0:
+        base = color_bgr
+        if base.shape[:2] != depth_mm.shape[:2]:
+            base = cv2.resize(base, (depth_mm.shape[1], depth_mm.shape[0]))
+        base = align_color(base, color_align[0], color_align[1], color_align[2])
+        view = base.copy()
+        rgb_ok = True
+    else:
+        view = depth_colormap(depth_mm)
+        view = cv2.medianBlur(view, 3)
+        base = view
+        rgb_ok = False
+    h, w = view.shape[:2]
+
+    # мягкое поле RGB-краёв для «примагничивания» контуров
+    edge_field: Optional[np.ndarray] = None
+    if rgb_ok and contour_smoother is not None and tracks:
+        gray = cv2.cvtColor(base, cv2.COLOR_BGR2GRAY)
+        gray = cv2.createCLAHE(clipLimit=3.0, tileGridSize=(8, 8)).apply(gray)
+        edge_field = cv2.Canny(cv2.GaussianBlur(gray, (5, 5), 0), 40, 120)
+        edge_field = cv2.GaussianBlur(edge_field, (13, 13), 0)
+
+    texts: List[Tuple[int, int, str, Tuple[int, int, int], int]] = []
+    max_conf_pending = 0
+    all_locked = bool(tracks)
+    alive_ids = set()
+
+    for tr in tracks:
+        m = tr.measurement
+        d = tr.decision
+        if m is None or d is None:
+            continue
+        alive_ids.add(tr.track_id)
+        locked = d.locked and d.result is not None
+        if locked:
+            color = UNCERTAIN_COLOR if d.uncertain else ZONE_COLOR.get(d.result.category.zone, PENDING_COLOR)
+        else:
+            color = PENDING_COLOR
+            all_locked = False
+            max_conf_pending = max(max_conf_pending, d.confidence_pct)
+
+        # bbox / класс — по сырому контуру измерения; сглаживание только для окантовки «анализ»
+        raw_contour = m.contour
+        draw_contour = raw_contour
+        if not locked and contour_smoother is not None:
+            sm = contour_smoother.smooth(tr.track_id, m.mask, edge_img=edge_field)
+            if sm is not None:
+                draw_contour = sm
+        if locked:
+            bx, by, bw, bh = cv2.boundingRect(raw_contour)
+            # небольшой запас, чтобы рамка не обрезала края
+            pad = 4
+            bx, by = max(0, bx - pad), max(0, by - pad)
+            bw = min(w - bx, bw + 2 * pad)
+            bh = min(h - by, bh + 2 * pad)
+            cv2.rectangle(view, (bx, by), (bx + bw, by + bh), color, 2, lineType=cv2.LINE_AA)
+            cl = max(8, min(bw, bh) // 5)
+            for px, py, sx, sy in ((bx, by, 1, 1), (bx + bw, by, -1, 1),
+                                   (bx, by + bh, 1, -1), (bx + bw, by + bh, -1, -1)):
+                cv2.line(view, (px, py), (px + sx * cl, py), color, 4, lineType=cv2.LINE_AA)
+                cv2.line(view, (px, py), (px, py + sy * cl), color, 4, lineType=cv2.LINE_AA)
+            contour = raw_contour
+        else:
+            cv2.drawContours(view, [draw_contour], -1, color, 2, lineType=cv2.LINE_AA)
+            contour = draw_contour
+        ccx, ccy = contour.reshape(-1, 2).mean(axis=0)
+        cv2.circle(view, (int(ccx), int(ccy)), 4, (0, 0, 255), -1, lineType=cv2.LINE_AA)
+
+        x0, y0, _, _ = cv2.boundingRect(contour)
+        tx = int(np.clip(x0, 4, w - 220))
+        ty = int(np.clip(y0 - 46, 4, h - 46))
+        if locked:
+            label = d.result.category.short_label
+            if d.uncertain:
+                label = "НЕУВЕРЕННО → " + label
+            texts.append((tx, ty, f"#{tr.track_id} {label}", color, 20))
+        else:
+            texts.append((tx, ty, f"#{tr.track_id} анализ… {d.confidence_pct}%", color, 20))
+        dims = d.result.dims_sorted_mm if (locked and d.result) else (m.length_mm, m.width_mm, m.height_mm)
+        ratio = d.result.circle_ratio if (locked and d.result) else m.circle_ratio
+        src = " · RGB" if getattr(m, "source", "depth") == "rgb" else ""
+        texts.append(
+            (tx, ty + 24, f"{dims[0]:.0f}×{dims[1]:.0f}×{dims[2]:.0f} мм · круг {ratio:.2f}{src}", (235, 235, 235), 15)
+        )
+
+    if contour_smoother is not None:
+        contour_smoother.drop_missing(alive_ids)
+
+    view = _draw_texts(view, texts)
+
+    # надписи — в отдельной полосе НАД кадром, чтобы не закрывать камеру
+    top_bar = np.full((36, w, 3), 18, np.uint8)
+    st = stats or {}
+    stats_line = (
+        f"ГОТОВ {st.get('B', 0)} · НЕГАБАРИТ {st.get('C', 0)} · ДОУПАК {st.get('D', 0)}"
+        + (f" · неувер. {st['uncertain']}" if st.get("uncertain") else "")
+    )
+    bg_tag = " · фон:карта" if background_active else ""
+    left = "объектов нет" if not tracks else f"объектов: {len(alive_ids)}"
+    top_texts = [
+        (10, 6, left, (150, 150, 255) if not tracks else (200, 230, 200), 17),
+        (max(200, w - 440), 8, f"{stats_line} | h={belt_mm:.0f}мм{bg_tag}", (200, 230, 200), 14),
+    ]
+    top_bar = _draw_texts(top_bar, top_texts)
+    view = np.vstack([top_bar, view])
+    h = view.shape[0]
+
+    # прогресс уверенности внизу
+    bar_y = h - 8
+    cv2.rectangle(view, (0, bar_y), (w, h), (40, 40, 40), -1)
+    conf_show = 100 if (all_locked and tracks) else max_conf_pending
+    fill = int(w * min(1.0, conf_show / 100.0))
+    col = (40, 200, 40) if (all_locked and tracks) else (0, 200, 255)
+    cv2.rectangle(view, (0, bar_y), (fill, h), col, -1)
+    thr = int(w * confidence_pct / 100.0)
+    cv2.line(view, (thr, bar_y), (thr, h), (255, 255, 255), 1)
+
+    return view

cv/docker-compose.yml

@@ -0,0 +1,25 @@
+services:
+  vision:
+    build: .
+    container_name: realsense_vision
+    restart: unless-stopped
+    network_mode: host
+    privileged: true
+    devices:
+      - /dev/video0:/dev/video0
+      - /dev/video1:/dev/video1
+      - /dev/video2:/dev/video2
+      - /dev/video3:/dev/video3
+      - /dev/video4:/dev/video4
+      - /dev/video5:/dev/video5
+    volumes:
+      # Copy config.example.yaml → config.yaml locally before enabling MQTT/hardware.
+      - ./config.yaml:/app/config.yaml:ro
+      - ./debug_frames:/app/debug_frames
+    # Prefer: command with --no-mqtt until credentials are configured.
+    group_add:
+      - video
+    environment:
+      - QT_X11_NO_MITSHM=1
+    # Без GUI в контейнере по умолчанию; превью — через native run
+    command: ["python", "main.py", "-c", "config.yaml"]

cv/journal.py

@@ -0,0 +1,47 @@
+"""JSONL-журнал решений классификатора — метрики для отчёта и защиты.
+
+Каждая строка — одно зафиксированное решение (LOCK):
+время, зона, габариты, circle_ratio, флаг «неуверенно», причина.
+
+Анализ (корректность, доля неуверенных, распределение зон):
+  .venv/bin/python -c "
+  import json;
+  rows=[json.loads(l) for l in open('logs/decisions.jsonl')];
+  from collections import Counter;
+  print(Counter(r['zone'] for r in rows));
+  print('uncertain:', sum(r['uncertain'] for r in rows), '/', len(rows))"
+"""
+
+from __future__ import annotations
+
+import json
+import time
+from pathlib import Path
+
+from classify import ClassificationResult
+
+
+def append_decision(
+    path: str | Path,
+    result: ClassificationResult,
+    uncertain: bool = False,
+    source: str = "main",
+    track_id: int | None = None,
+) -> None:
+    entry = {
+        "track_id": track_id,
+        "ts": time.strftime("%Y-%m-%dT%H:%M:%S"),
+        "ts_ms": int(time.time() * 1000),
+        "zone": result.category.zone,
+        "category": result.category.value,
+        "label_ru": result.category.ru_label,
+        "dims_mm": [round(float(x), 1) for x in result.dims_sorted_mm],
+        "circle_ratio": round(float(result.circle_ratio), 4),
+        "uncertain": bool(uncertain),
+        "reason": result.reason,
+        "source": source,
+    }
+    p = Path(path)
+    p.parent.mkdir(parents=True, exist_ok=True)
+    with open(p, "a", encoding="utf-8") as f:
+        f.write(json.dumps(entry, ensure_ascii=False) + "\n")

cv/main.py

@@ -0,0 +1,330 @@
+#!/usr/bin/env python3
+"""
+Алгоритмическая часть трека 3: Intel RealSense D415 на Orange PI.
+
+Пайплайн:
+  depth+color → сегментация объекта на ленте → габариты L×W×H + circle_ratio
+  → классификация (B/C/D) → MQTT → сервоприводы Arduino (без правок arduino_code).
+"""
+
+from __future__ import annotations
+
+import argparse
+import os
+import sys
+import time
+from pathlib import Path
+from typing import Any, Dict, Optional
+
+import cv2
+import yaml
+
+from camera import RealSenseV4L2, depth_colormap
+from classify import Category, ClassificationResult
+from journal import append_decision
+from measure import measure_flat_object, measure_object, segment_objects, segment_rgb_objects, is_plausible_measurement
+from mqtt_bridge import MqttBridge
+from stabilize import DecisionStabilizer
+
+ZONE_TO_CATEGORY = {
+    "B": Category.SUITABLE,
+    "C": Category.OVERSIZE,
+    "D": Category.NEED_PACK,
+}
+
+
+def resolve_config_path(path: Path) -> Path:
+    if path.exists():
+        return path
+    example = path.with_name("config.example.yaml")
+    if example.exists():
+        return example
+    raise FileNotFoundError(f"Config not found: {path} (and no config.example.yaml)")
+
+
+def load_config(path: Path) -> Dict[str, Any]:
+    resolved = resolve_config_path(Path(path))
+    with open(resolved, "r", encoding="utf-8") as f:
+        return yaml.safe_load(f)
+
+
+def draw_overlay(
+    color_bgr,
+    depth_mm,
+    measurement,
+    result: Optional[ClassificationResult],
+    belt_mm: float,
+):
+    vis = color_bgr.copy()
+    depth_vis = depth_colormap(depth_mm)
+    if measurement is not None:
+        cv2.drawContours(vis, [measurement.contour], -1, (0, 255, 0), 2)
+        cx, cy = measurement.centroid_px
+        cv2.circle(vis, (cx, cy), 4, (0, 0, 255), -1)
+        lines = [
+            f"L={measurement.length_mm:.0f} W={measurement.width_mm:.0f} H={measurement.height_mm:.0f} mm",
+            f"circle_ratio={measurement.circle_ratio:.3f}",
+        ]
+        if result is not None:
+            lines.append(f"{result.category.zone}: {result.category.ru_label}")
+        y = 24
+        for line in lines:
+            cv2.putText(vis, line, (10, y), cv2.FONT_HERSHEY_SIMPLEX, 0.55, (20, 20, 20), 3, cv2.LINE_AA)
+            cv2.putText(vis, line, (10, y), cv2.FONT_HERSHEY_SIMPLEX, 0.55, (0, 255, 255), 1, cv2.LINE_AA)
+            y += 22
+    cv2.putText(
+        vis,
+        f"belt={belt_mm:.0f}mm",
+        (10, vis.shape[0] - 12),
+        cv2.FONT_HERSHEY_SIMPLEX,
+        0.5,
+        (200, 200, 200),
+        1,
+        cv2.LINE_AA,
+    )
+    return vis, depth_vis
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser(description="RealSense D415 classifier for hackathon track 3")
+    parser.add_argument(
+        "-c",
+        "--config",
+        default=str(Path(__file__).with_name("config.yaml")),
+        help="Путь к config.yaml",
+    )
+    parser.add_argument("--once", action="store_true", help="Один кадр и выход")
+    parser.add_argument("--no-mqtt", action="store_true", help="Не публиковать в MQTT")
+    parser.add_argument(
+        "--preview",
+        action="store_true",
+        help="Живое превью в debug_frames/live_*.jpg (без GTK-окон)",
+    )
+    parser.add_argument("--dry-route", action="store_true", help="Не двигать серво")
+    parser.add_argument("--no-motor", action="store_true", help="Не включать шаговик ленты")
+    args = parser.parse_args()
+
+    cfg = load_config(Path(args.config))
+    cam_cfg = cfg["camera"]
+    cls_cfg = cfg["classification"]
+    rt = cfg.get("runtime", {})
+    mqtt_cfg = dict(cfg.get("mqtt", {}))
+    routing_cfg = dict(cfg.get("routing", {}))
+    motor_cfg = dict(cfg.get("motor", {}))
+    if args.no_mqtt:
+        mqtt_cfg["enabled"] = False
+    if args.dry_route:
+        routing_cfg["enabled"] = False
+    if args.no_motor:
+        motor_cfg["enabled"] = False
+    mqtt_cfg["_routing"] = routing_cfg
+    mqtt_cfg["_motor"] = motor_cfg
+
+    show_preview = args.preview or bool(rt.get("show_preview", False))
+    save_debug = bool(rt.get("save_debug_frames", False)) or show_preview
+    debug_dir = Path(rt.get("debug_dir", "debug_frames"))
+    if save_debug or show_preview:
+        debug_dir.mkdir(parents=True, exist_ok=True)
+    live_color = debug_dir / "live_color.jpg"
+    live_depth = debug_dir / "live_depth.jpg"
+    preview_every = max(1, int(rt.get("preview_every_n", 3)))
+
+    print("[vision] открываю RealSense D415…")
+    cam = RealSenseV4L2(
+        depth_device=cam_cfg.get("depth_device", "/dev/video0"),
+        color_device=cam_cfg.get("color_device", "/dev/video4"),
+        width=int(cam_cfg.get("width", 640)),
+        height=int(cam_cfg.get("height", 480)),
+        fps=int(cam_cfg.get("fps", 30)),
+        depth_scale_mm=float(cam_cfg.get("depth_scale_mm", 1.0)),
+        use_color=bool(cfg.get("use_color", False)),
+    )
+
+    belt_mm = float(cfg.get("belt_distance_mm") or 0)
+    if belt_mm <= 0:
+        print("[vision] калибровка плоскости ленты (уберите объекты)…")
+        belt_mm = cam.estimate_belt_distance_mm()
+        print(f"[vision] belt_distance_mm ≈ {belt_mm:.1f}")
+    else:
+        print(f"[vision] belt_distance_mm из конфига: {belt_mm:.1f}")
+
+    background = None
+    color_background = None
+    if bool(cfg.get("use_background_map", False)):
+        print("[vision] снимаю фоновую карту сцены — лента должна быть ПУСТОЙ…")
+        try:
+            background = cam.capture_background(samples=15)
+            print("[vision] фоновая карта активна (сегментация относительно фона)")
+        except RuntimeError as exc:
+            print(f"[vision] фоновая карта не снята ({exc}), работаю по скалярной высоте")
+        color_background = cam.capture_background_rgb(samples=10)
+        if color_background is not None:
+            print("[vision] RGB-фон снят — плоские товары (телефон) будут детектироваться")
+
+    bridge = MqttBridge(mqtt_cfg)
+    print(f"[vision] MQTT: {'OK' if bridge.connected else 'offline/disabled'}")
+    if bridge.connected:
+        bridge.start_conveyor()
+    if show_preview:
+        print(f"[vision] превью → {live_color} и {live_depth} (обновляются на лету)")
+        print("[vision] откройте файлы в IDE/файловом менеджере или: eog debug_frames/live_color.jpg")
+
+    confirm_need = int(rt.get("confirm_frames", 8))
+    process_every_n = max(1, int(rt.get("process_every_n", 1)))
+    frame_i = 0
+    thr = float(cls_cfg.get("circle_ratio_threshold", 0.8))
+    fallback_zone = str(cls_cfg.get("uncertain_fallback_zone", "C")).upper()
+    stabilizer = DecisionStabilizer(
+        window=12,
+        confirm_frames=confirm_need,
+        lost_frames=12,
+        enter_circle=thr,
+        exit_circle=thr - 0.08,
+        uncertain_after=int(cls_cfg.get("uncertain_after_frames", 45)),
+        fallback=ZONE_TO_CATEGORY.get(fallback_zone, Category.OVERSIZE),
+    )
+    last_routed_zone: Optional[str] = None
+    decisions_log = Path(rt.get("decisions_log", "logs/decisions.jsonl"))
+
+    fx, fy = float(cam_cfg["fx"]), float(cam_cfg["fy"])
+    cx, cy = float(cam_cfg["cx"]), float(cam_cfg["cy"])
+
+    try:
+        while True:
+            pair = cam.read()
+            if pair is None:
+                print("[vision] нет кадра", file=sys.stderr)
+                time.sleep(0.05)
+                continue
+
+            frame_i += 1
+            measurement = None
+            result = None
+
+            if frame_i % process_every_n == 0:
+                candidates = segment_objects(
+                    pair.depth_mm,
+                    belt_distance_mm=belt_mm,
+                    belt_tolerance_mm=float(cfg.get("belt_tolerance_mm", 25)),
+                    min_object_height_mm=float(cfg.get("min_object_height_mm", 5)),
+                    min_area_px=int(cfg.get("min_object_area_px", 800)),
+                    background_mm=background,
+                    max_objects=int(cfg.get("max_objects_in_frame", 3)),
+                    roi_margin=cfg.get("roi_margin"),
+                )
+                seg = None
+                best = None  # (score, mask, contour, measurement)
+                for mask, contour in candidates:
+                    m_try = measure_object(
+                        pair.depth_mm,
+                        mask,
+                        contour,
+                        belt_distance_mm=belt_mm,
+                        fx=fx,
+                        fy=fy,
+                        cx=cx,
+                        cy=cy,
+                        background_mm=background,
+                        min_object_height_mm=float(cfg.get("min_object_height_mm", 8)),
+                        roi_margin=cfg.get("roi_margin"),
+                    )
+                    if m_try is None or not is_plausible_measurement(m_try):
+                        continue
+                    # приоритет: круглый и более высокий товар над шумом ленты
+                    score = float(m_try.circle_ratio) * 2.0 + min(float(m_try.height_mm), 200.0) / 100.0
+                    if best is None or score > best[0]:
+                        best = (score, mask, contour, m_try)
+                if best is not None:
+                    _, mask, contour, measurement = best
+                    seg = (mask, contour)
+                else:
+                    measurement = None
+
+                # depth ничего не видит → плоский товар (телефон) ищем по RGB
+                if (
+                    measurement is None
+                    and bool(cfg.get("detect_flat_rgb", False))
+                    and color_background is not None
+                    and not pair.color_is_depth_preview
+                ):
+                    rgb_objs = segment_rgb_objects(
+                        pair.color_bgr,
+                        color_background,
+                        min_area_px=int(cfg.get("min_object_area_px", 800)),
+                        diff_threshold=int(cfg.get("rgb_diff_threshold", 35)),
+                        max_objects=1,
+                        exclude_mask=seg[0] if seg is not None else None,
+                    )
+                    if rgb_objs:
+                        mask, contour = rgb_objs[0]
+                        measurement = measure_flat_object(
+                            pair.depth_mm,
+                            mask,
+                            contour,
+                            belt_distance_mm=belt_mm,
+                            fx=fx,
+                            fy=fy,
+                            cx=cx,
+                            cy=cy,
+                            background_mm=background,
+                            color_bgr=pair.color_bgr,
+                            color_bg_bgr=color_background,
+                        )
+
+                if measurement is not None and not is_plausible_measurement(measurement):
+                    measurement = None
+
+                decision = stabilizer.update(
+                    measurement,
+                    min_mm=cls_cfg.get("min_mm", [10, 10, 10]),
+                    max_mm=cls_cfg.get("max_mm", [450, 320, 320]),
+                )
+                if decision.locked and decision.result is not None:
+                    result = decision.result
+                    zone = result.category.zone
+                    if zone != last_routed_zone:
+                        tag = "UNCERTAIN→" if decision.uncertain else "LOCK "
+                        print(
+                            f"[vision] {tag}{zone} | {result.category.ru_label} | "
+                            f"dims={result.dims_sorted_mm} | ratio={result.circle_ratio:.3f} | {result.reason}"
+                        )
+                        append_decision(decisions_log, result, uncertain=decision.uncertain, source="main")
+                        bridge.publish_result(result)
+                        bridge.route(result.category)
+                        last_routed_zone = zone
+                elif not decision.present:
+                    last_routed_zone = None
+
+            if show_preview or save_debug:
+                vis, depth_vis = draw_overlay(pair.color_bgr, pair.depth_mm, measurement, result, belt_mm)
+                if save_debug and result is not None and not show_preview:
+                    out = debug_dir / f"frame_{frame_i:06d}_{result.category.value}.jpg"
+                    cv2.imwrite(str(out), vis)
+                # headless OpenCV: пишем JPEG вместо cv2.imshow
+                if show_preview and frame_i % preview_every == 0:
+                    cv2.imwrite(str(live_color), vis)
+                    cv2.imwrite(str(live_depth), depth_vis)
+
+            if args.once:
+                if result is not None:
+                    print(result)
+                if show_preview:
+                    vis, depth_vis = draw_overlay(pair.color_bgr, pair.depth_mm, measurement, result, belt_mm)
+                    cv2.imwrite(str(live_color), vis)
+                    cv2.imwrite(str(live_depth), depth_vis)
+                    print(f"[vision] кадр сохранён: {live_color}")
+                break
+
+    except KeyboardInterrupt:
+        print("\n[vision] stop")
+    finally:
+        bridge.close()
+        cam.release()
+
+    return 0
+
+
+if __name__ == "__main__":
+    # Чтобы импорты работали и как пакет, и как скрипт
+    sys.path.insert(0, str(Path(__file__).resolve().parent))
+    raise SystemExit(main())

cv/measure.py

@@ -0,0 +1,719 @@
+"""Сегментация и измерение по ТЗ трека 3 — без эвристик «подкрутки»."""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+from typing import List, Optional, Tuple
+
+import cv2
+import numpy as np
+
+
+@dataclass
+class ObjectMeasurement:
+    length_mm: float
+    width_mm: float
+    height_mm: float
+    circle_ratio: float  # итог для классификатора: max устойчивых сечений
+    area_px: int
+    centroid_px: Tuple[int, int]
+    contour: np.ndarray
+    mask: np.ndarray
+    top_ratio: float = 0.0  # rin/rout вида сверху
+    section_ratio: float = 0.0  # лучший устойчивый 3D-срез
+    source: str = "depth"  # "depth" | "rgb" (плоский товар, найден по RGB)
+    clipped_by_frame: bool = False  # объект упирается в край кадра → габарит неполный
+
+
+def is_plausible_measurement(
+    m: ObjectMeasurement,
+    min_footprint_mm: float = 15.0,
+) -> bool:
+    """Отсев шума depth/RGB до классификации (не путать с ТЗ-негабаритом).
+
+    Мелкие пятна и «0×0×0 мм» не должны попадать в трекер — иначе
+    check_size(<10 мм) даёт ложный класс C.
+    """
+    L, W, H = float(m.length_mm), float(m.width_mm), float(m.height_mm)
+    if L <= 1.5 or W <= 1.5:
+        return False
+    if int(m.area_px) < 120:
+        return False
+    a, b, c = sorted((L, W, H), reverse=True)
+    if a < min_footprint_mm:
+        return False
+    if c <= 0.5:
+        return False
+    # RGB-шум: нет высоты и крошечное пятно на ленте
+    if getattr(m, "source", "depth") == "rgb" and H < 2.0 and a < 45.0:
+        return False
+    return True
+
+
+def mask_iou(a: np.ndarray, b: np.ndarray) -> float:
+    """Классический IoU масок."""
+    inter = int(np.count_nonzero((a > 0) & (b > 0)))
+    if inter == 0:
+        return 0.0
+    ua = int(np.count_nonzero(a > 0))
+    ub = int(np.count_nonzero(b > 0))
+    return inter / float(ua + ub - inter)
+
+
+def mask_overlap_min(a: np.ndarray, b: np.ndarray) -> float:
+    """Доля пересечения относительно меньшей маски (0..1).
+
+    ≥0.5 ≈ «хотя бы половина одного объекта лежит на другом».
+    Удобнее IoU, когда кусок намного меньше целого.
+    """
+    inter = int(np.count_nonzero((a > 0) & (b > 0)))
+    if inter == 0:
+        return 0.0
+    ua = int(np.count_nonzero(a > 0))
+    ub = int(np.count_nonzero(b > 0))
+    return inter / float(max(1, min(ua, ub)))
+
+
+def merge_overlapping_masks(
+    items: List[Tuple[np.ndarray, np.ndarray]],
+    overlap_thr: float = 0.5,
+    near_gap_px: int = 14,
+) -> List[Tuple[np.ndarray, np.ndarray]]:
+    """Склеить контуры при IoU/пересечении ≥ thr или узкой дыре depth (near_gap)."""
+    if len(items) <= 1:
+        return items
+    items = sorted(items, key=lambda ic: cv2.contourArea(ic[1]), reverse=True)
+    used = [False] * len(items)
+    out: List[Tuple[np.ndarray, np.ndarray]] = []
+
+    def _near(a: np.ndarray, b: np.ndarray) -> bool:
+        xa, ya, wa, ha = cv2.boundingRect(a)
+        xb, yb, wb, hb = cv2.boundingRect(b)
+        g = int(near_gap_px)
+        return not (
+            xa + wa + g < xb or xb + wb + g < xa or ya + ha + g < yb or yb + hb + g < ya
+        )
+
+    for i, (mask_i, _) in enumerate(items):
+        if used[i]:
+            continue
+        merged = mask_i.copy()
+        used[i] = True
+        changed = True
+        while changed:
+            changed = False
+            for j, (mask_j, _) in enumerate(items):
+                if used[j]:
+                    continue
+                hit = (
+                    mask_overlap_min(merged, mask_j) >= overlap_thr
+                    or mask_iou(merged, mask_j) >= overlap_thr
+                    or _near(merged, mask_j)
+                )
+                if hit:
+                    merged = cv2.bitwise_or(merged, mask_j)
+                    used[j] = True
+                    changed = True
+        k = cv2.getStructuringElement(cv2.MORPH_RECT, (5, 5))
+        merged = cv2.morphologyEx(merged, cv2.MORPH_CLOSE, k, iterations=1)
+        contours, _ = cv2.findContours(merged, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+        if not contours:
+            continue
+        contour = max(contours, key=cv2.contourArea)
+        clean = np.zeros_like(merged)
+        cv2.drawContours(clean, [contour], -1, 255, thickness=-1)
+        out.append((clean, contour))
+    return out
+
+
+def merge_overlapping_measurements(
+    measurements: List[ObjectMeasurement],
+    overlap_thr: float = 0.5,
+) -> List[ObjectMeasurement]:
+    """Склеить измерения с пересекающимися масками (оставить более крупное)."""
+    if len(measurements) <= 1:
+        return measurements
+    ms = sorted(measurements, key=lambda m: m.area_px, reverse=True)
+    kept: List[ObjectMeasurement] = []
+    for m in ms:
+        drop = False
+        for k in kept:
+            if m.mask.shape != k.mask.shape:
+                continue
+            if mask_overlap_min(m.mask, k.mask) >= overlap_thr or mask_iou(m.mask, k.mask) >= overlap_thr:
+                drop = True
+                break
+        if not drop:
+            kept.append(m)
+    return kept
+
+
+def apply_roi_margin(
+    mask: np.ndarray,
+    margin: Optional[dict] = None,
+) -> np.ndarray:
+    """Обнулить края кадра (ролики, борта, плата), доли 0..1 от H/W."""
+    if not margin:
+        return mask
+    h, w = mask.shape[:2]
+    top = int(h * float(margin.get("top", 0)))
+    bottom = int(h * float(margin.get("bottom", 0)))
+    left = int(w * float(margin.get("left", 0)))
+    right = int(w * float(margin.get("right", 0)))
+    out = mask.copy()
+    if top > 0:
+        out[:top, :] = 0
+    if bottom > 0:
+        out[h - bottom :, :] = 0
+    if left > 0:
+        out[:, :left] = 0
+    if right > 0:
+        out[:, w - right :] = 0
+    return out
+
+
+def contour_touches_border(
+    contour: np.ndarray,
+    shape: Tuple[int, ...],
+    margin_px: int = 3,
+    roi_margin: Optional[dict] = None,
+) -> bool:
+    """True если контур упирается в край кадра/ROI — реальный размер может быть больше."""
+    h, w = int(shape[0]), int(shape[1])
+    top = int(h * float((roi_margin or {}).get("top", 0)))
+    bottom = int(h * float((roi_margin or {}).get("bottom", 0)))
+    left = int(w * float((roi_margin or {}).get("left", 0)))
+    right = int(w * float((roi_margin or {}).get("right", 0)))
+    y0, y1 = top + margin_px, h - bottom - 1 - margin_px
+    x0, x1 = left + margin_px, w - right - 1 - margin_px
+    pts = contour.reshape(-1, 2)
+    xs, ys = pts[:, 0], pts[:, 1]
+    return bool(
+        (xs <= x0).any()
+        or (xs >= x1).any()
+        or (ys <= y0).any()
+        or (ys >= y1).any()
+    )
+
+
+def segment_objects(
+    depth_mm: np.ndarray,
+    belt_distance_mm: float,
+    belt_tolerance_mm: float = 25.0,
+    min_object_height_mm: float = 5.0,
+    min_area_px: int = 800,
+    background_mm: Optional[np.ndarray] = None,
+    max_objects: int = 3,
+    roi_margin: Optional[dict] = None,
+) -> List[Tuple[np.ndarray, np.ndarray]]:
+    """Все объекты в кадре (крупнейшие первыми), до max_objects штук.
+
+    Порог высоты — как раньше (строгий): мягкий «ореол» раздувал маску на ленту
+    и ломал габариты/круг → путаница B/C/D.
+    """
+    valid = (depth_mm > 50) & (depth_mm < 5000)
+    hmin = float(min_object_height_mm)
+    if background_mm is not None:
+        bg = background_mm.astype(np.float32)
+        d = depth_mm.astype(np.float32)
+        raised = valid & (bg > 50) & (d < bg - hmin)
+        near_belt_band = d > (bg - 520.0)
+    else:
+        raised = valid & (depth_mm < (belt_distance_mm - hmin))
+        near_belt_band = depth_mm > (belt_distance_mm - 450)
+    mask = (raised & near_belt_band).astype(np.uint8) * 255
+    mask = apply_roi_margin(mask, roi_margin)
+
+    k_open = cv2.getStructuringElement(cv2.MORPH_RECT, (3, 3))
+    k_close = cv2.getStructuringElement(cv2.MORPH_RECT, (5, 5))
+    mask = cv2.morphologyEx(mask, cv2.MORPH_OPEN, k_open, iterations=1)
+    mask = cv2.morphologyEx(mask, cv2.MORPH_CLOSE, k_close, iterations=2)
+
+    contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+    frame_area = mask.shape[0] * mask.shape[1]
+    raw: List[Tuple[np.ndarray, np.ndarray]] = []
+    for contour in sorted(contours, key=cv2.contourArea, reverse=True):
+        area = cv2.contourArea(contour)
+        # крупные товары могут занимать почти весь кадр — не отсекать как шум
+        if area < min_area_px or area > frame_area * 0.92:
+            continue
+        clean = np.zeros_like(mask)
+        cv2.drawContours(clean, [contour], -1, 255, thickness=-1)
+        raw.append((clean, contour))
+
+    # только явное пересечение / узкая щель — не склеивать соседние товары
+    merged = merge_overlapping_masks(raw, overlap_thr=0.5, near_gap_px=14)
+    return merged[:max_objects]
+
+
+def segment_object(
+    depth_mm: np.ndarray,
+    belt_distance_mm: float,
+    belt_tolerance_mm: float = 25.0,
+    min_object_height_mm: float = 5.0,
+    min_area_px: int = 800,
+    background_mm: Optional[np.ndarray] = None,
+    roi_margin: Optional[dict] = None,
+) -> Optional[Tuple[np.ndarray, np.ndarray]]:
+    """Крупнейший объект (для main.py/calibrate.py — один товар в накопителе)."""
+    objs = segment_objects(
+        depth_mm,
+        belt_distance_mm,
+        belt_tolerance_mm=belt_tolerance_mm,
+        min_object_height_mm=min_object_height_mm,
+        min_area_px=min_area_px,
+        background_mm=background_mm,
+        max_objects=1,
+        roi_margin=roi_margin,
+    )
+    return objs[0] if objs else None
+
+
+def _pixel_to_xy_mm(
+    u: float, v: float, z_mm: float, fx: float, fy: float, cx: float, cy: float
+) -> Tuple[float, float]:
+    return (u - cx) * z_mm / fx, (v - cy) * z_mm / fy
+
+
+def measure_object(
+    depth_mm: np.ndarray,
+    mask: np.ndarray,
+    contour: np.ndarray,
+    belt_distance_mm: float,
+    fx: float,
+    fy: float,
+    cx: float,
+    cy: float,
+    background_mm: Optional[np.ndarray] = None,
+    min_object_height_mm: float = 5.0,
+    roi_margin: Optional[dict] = None,
+) -> Optional[ObjectMeasurement]:
+    ys, xs = np.where(mask > 0)
+    if xs.size < 50:
+        return None
+
+    z_vals = depth_mm[ys, xs].astype(np.float32)
+    z_vals = z_vals[z_vals > 0]
+    if z_vals.size < 50:
+        return None
+
+    z_med = float(np.median(z_vals))
+    # высота относительно локального фона (платформа/лента под объектом)
+    belt_local = belt_distance_mm
+    if background_mm is not None:
+        bg_vals = background_mm[ys, xs].astype(np.float32)
+        bg_vals = bg_vals[bg_vals > 50]
+        if bg_vals.size >= 50:
+            belt_local = float(np.median(bg_vals))
+    height_mm = max(0.0, belt_local - z_med)
+
+    pts_mm = []
+    for p in contour.reshape(-1, 2):
+        u, v = float(p[0]), float(p[1])
+        x, y = _pixel_to_xy_mm(u, v, z_med, fx, fy, cx, cy)
+        pts_mm.append([x, y])
+    pts_mm = np.asarray(pts_mm, dtype=np.float32)
+    if pts_mm.shape[0] < 5:
+        return None
+
+    rect = cv2.minAreaRect(pts_mm.reshape(-1, 1, 2))
+    rw, rh = rect[1]
+    length_mm = float(max(rw, rh))
+    width_mm = float(min(rw, rh))
+
+    touches_edge = contour_touches_border(contour, mask.shape, roi_margin=roi_margin)
+    # Негабарит «не влезает в кадр» только если реально занимает большую долю FOV.
+    # Лежачая бутылка может чуть касаться ROI — это не повод форсировать 500 мм.
+    span_x = float(xs.max() - xs.min())
+    span_y = float(ys.max() - ys.min())
+    mh = float((roi_margin or {}).get("top", 0.0)) + float((roi_margin or {}).get("bottom", 0.0))
+    mw = float((roi_margin or {}).get("left", 0.0)) + float((roi_margin or {}).get("right", 0.0))
+    usable_w = mask.shape[1] * max(0.5, 1.0 - mw)
+    usable_h = mask.shape[0] * max(0.5, 1.0 - mh)
+    spans_frame = (span_x >= 0.72 * usable_w) or (span_y >= 0.72 * usable_h)
+    clipped = bool(touches_edge and spans_frame)
+
+    # отсев шума ленты / руки на краю (низкий «холм» большой площади → не товар)
+    # но не отсекаем крупные обрезанные объекты — они уйдут в C
+    if not clipped and height_mm < 30.0 and max(length_mm, width_mm) > 150.0:
+        return None
+    # жёсткий пол — иначе складки ленты дают ложный C
+    if height_mm < max(20.0, float(min_object_height_mm)):
+        return None
+    # раньше >520 отбрасывали → ложный B на негабарите в FOV;
+    # оставляем измерение: classify отправит в C (>450)
+    if max(length_mm, width_mm) > 2000.0 and not clipped:
+        return None
+
+    # объект не помещается в кадр → габарит занижен; форсируем > max ТЗ
+    if clipped:
+        length_mm = max(length_mm, 500.0)
+
+    top_ratio = rin_rout(pts_mm)
+    section_ratio = 0.0
+    cloud = _point_cloud(depth_mm, mask, fx, fy, cx, cy)
+    if cloud is not None:
+        section_ratio = robust_section_ratio(cloud)
+
+    # ТЗ: круг в любом сечении. Один шумный 3D-срез не считаем:
+    # D только если top>=0.8 ИЛИ ≥2 среза >=0.8 (внутри robust_section_ratio).
+    circle_ratio = max(top_ratio, section_ratio)
+    if clipped:
+        # обрезанный негабарит не классифицируем по кругу
+        circle_ratio = min(circle_ratio, 0.5)
+
+    m = cv2.moments(contour)
+    if m["m00"] > 0:
+        cx_px = int(m["m10"] / m["m00"])
+        cy_px = int(m["m01"] / m["m00"])
+    else:
+        cx_px, cy_px = int(xs.mean()), int(ys.mean())
+
+    return ObjectMeasurement(
+        length_mm=length_mm,
+        width_mm=width_mm,
+        height_mm=height_mm,
+        circle_ratio=float(circle_ratio),
+        area_px=int(xs.size),
+        centroid_px=(cx_px, cy_px),
+        contour=contour,
+        mask=mask,
+        top_ratio=float(top_ratio),
+        section_ratio=float(section_ratio),
+        clipped_by_frame=bool(clipped),
+    )
+
+
+def segment_rgb_objects(
+    color_bgr: np.ndarray,
+    color_bg_bgr: np.ndarray,
+    min_area_px: int = 800,
+    diff_threshold: int = 35,
+    max_objects: int = 3,
+    exclude_mask: Optional[np.ndarray] = None,
+) -> List[Tuple[np.ndarray, np.ndarray]]:
+    """Плоские товары (телефон и т.п.) по разнице с RGB-фоном пустой ленты.
+
+    exclude_mask — зоны, уже найденные по depth (не дублируем объекты).
+    Тени (пропорциональное затемнение каналов) отбрасываются.
+    """
+    if color_bgr.shape != color_bg_bgr.shape:
+        return []
+    fg = color_bgr.astype(np.float32)
+    bg = color_bg_bgr.astype(np.float32)
+    gray = np.max(np.abs(fg - bg), axis=2).astype(np.uint8)
+    _, m = cv2.threshold(gray, int(diff_threshold), 255, cv2.THRESH_BINARY)
+
+    ratio = (fg + 8.0) / (bg + 8.0)
+    r_med = np.median(ratio, axis=2)
+    r_spread = np.max(ratio, axis=2) - np.min(ratio, axis=2)
+    is_shadow = (r_med < 0.93) & (r_med > 0.38) & (r_spread < 0.14)
+    m[is_shadow] = 0
+
+    k = cv2.getStructuringElement(cv2.MORPH_RECT, (5, 5))
+    m = cv2.morphologyEx(m, cv2.MORPH_OPEN, k, iterations=1)
+    m = cv2.morphologyEx(m, cv2.MORPH_CLOSE, k, iterations=2)
+
+    if exclude_mask is not None:
+        excl = cv2.dilate(exclude_mask, cv2.getStructuringElement(cv2.MORPH_RECT, (31, 31)))
+        m[excl > 0] = 0
+
+    contours, _ = cv2.findContours(m, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+    out: List[Tuple[np.ndarray, np.ndarray]] = []
+    for contour in sorted(contours, key=cv2.contourArea, reverse=True):
+        if cv2.contourArea(contour) < min_area_px or len(out) >= max_objects:
+            break
+        clean = np.zeros_like(m)
+        cv2.drawContours(clean, [contour], -1, 255, thickness=-1)
+        out.append((clean, contour))
+    return out
+
+
+def measure_flat_object(
+    depth_mm: np.ndarray,
+    mask: np.ndarray,
+    contour: np.ndarray,
+    belt_distance_mm: float,
+    fx: float,
+    fy: float,
+    cx: float,
+    cy: float,
+    background_mm: Optional[np.ndarray] = None,
+    color_bgr: Optional[np.ndarray] = None,
+    color_bg_bgr: Optional[np.ndarray] = None,
+) -> Optional[ObjectMeasurement]:
+    """Измерение товара, найденного по RGB: без отсева по минимальной высоте."""
+    ys, xs = np.where(mask > 0)
+    if xs.size < 50:
+        return None
+
+    z_plane = belt_distance_mm
+    if background_mm is not None:
+        bg_vals = background_mm[ys, xs].astype(np.float32)
+        bg_vals = bg_vals[bg_vals > 50]
+        if bg_vals.size >= 50:
+            z_plane = float(np.median(bg_vals))
+
+    z_vals = depth_mm[ys, xs].astype(np.float32)
+    z_vals = z_vals[z_vals > 0]
+    height_mm = max(0.0, z_plane - float(np.median(z_vals))) if z_vals.size >= 50 else 0.0
+
+    pts_mm = []
+    for p in contour.reshape(-1, 2):
+        x, y = _pixel_to_xy_mm(float(p[0]), float(p[1]), z_plane, fx, fy, cx, cy)
+        pts_mm.append([x, y])
+    pts_mm = np.asarray(pts_mm, dtype=np.float32)
+    if pts_mm.shape[0] < 3:
+        return None
+
+    rect = cv2.minAreaRect(pts_mm.reshape(-1, 1, 2))
+    rw, rh = rect[1]
+    length_mm = float(max(rw, rh))
+    width_mm = float(min(rw, rh))
+    if max(length_mm, width_mm) > 520.0 or max(length_mm, width_mm) < 5.0:
+        return None
+
+    top_ratio = rin_rout(pts_mm)
+
+    m = cv2.moments(contour)
+    if m["m00"] > 0:
+        cx_px, cy_px = int(m["m10"] / m["m00"]), int(m["m01"] / m["m00"])
+    else:
+        cx_px, cy_px = int(xs.mean()), int(ys.mean())
+
+    return ObjectMeasurement(
+        length_mm=length_mm,
+        width_mm=width_mm,
+        height_mm=float(height_mm),
+        circle_ratio=float(top_ratio),
+        area_px=int(xs.size),
+        centroid_px=(cx_px, cy_px),
+        contour=contour,
+        mask=mask,
+        top_ratio=float(top_ratio),
+        section_ratio=0.0,
+        source="rgb",
+    )
+
+
+def rin_rout(pts_xy: np.ndarray) -> float:
+    """ТЗ: r_in / r_out по выпуклой оболочке сечения."""
+    pts = np.asarray(pts_xy, dtype=np.float32).reshape(-1, 2)
+    if pts.shape[0] < 3:
+        return 0.0
+
+    hull = cv2.convexHull(pts.reshape(-1, 1, 2))
+    hull_pts = hull.reshape(-1, 2)
+    if hull_pts.shape[0] < 3:
+        return 0.0
+
+    (_center, r_out) = cv2.minEnclosingCircle(hull)
+    r_out = float(r_out)
+    if r_out < 1e-6:
+        return 0.0
+
+    r_in = _inscribed_radius_mm(hull_pts)
+    if r_in <= 0:
+        return 0.0
+    return float(np.clip(r_in / r_out, 0.0, 1.0))
+
+
+def robust_section_ratio(cloud: np.ndarray, thr: float = 0.8) -> float:
+    """
+    Поперечные срезы. Из логов: у круга часто 1–2 среза ≥0.85, иногда медиана падает.
+    - ≥1 срез с score≥0.85 → принимаем (уверенный круг/дуга);
+    - иначе ≥2 среза ≥0.8 → max;
+    - иначе медиана (антишум для коробки).
+    """
+    ratios = _section_ratios_3d(cloud)
+    if not ratios:
+        return 0.0
+    very = [r for r in ratios if r >= 0.85]
+    if very:
+        return float(max(very))
+    strong = [r for r in ratios if r >= thr]
+    if len(strong) >= 2:
+        return float(max(strong))
+    return float(np.median(ratios))
+
+
+def _point_cloud(
+    depth_mm: np.ndarray,
+    mask: np.ndarray,
+    fx: float,
+    fy: float,
+    cx: float,
+    cy: float,
+) -> Optional[np.ndarray]:
+    ys, xs = np.where(mask > 0)
+    if xs.size < 150:
+        return None
+    z = depth_mm[ys, xs].astype(np.float32)
+    ok = (z > 50) & (z < 5000)
+    xs, ys, z = xs[ok], ys[ok], z[ok]
+    if xs.size < 150:
+        return None
+    # детерминированный даунсэмпл (без random)
+    if xs.size > 4000:
+        step = int(np.ceil(xs.size / 4000))
+        xs, ys, z = xs[::step], ys[::step], z[::step]
+    X = (xs.astype(np.float32) - cx) * z / fx
+    Y = (ys.astype(np.float32) - cy) * z / fy
+    return np.column_stack([X, Y, z]).astype(np.float32)
+
+
+def _section_ratios_3d(cloud: np.ndarray) -> List[float]:
+    mean = cloud.mean(axis=0)
+    centered = cloud - mean
+    try:
+        _u, s, vt = np.linalg.svd(centered, full_matrices=False)
+    except np.linalg.LinAlgError:
+        return []
+
+    out: List[float] = []
+    # только вдоль самой длинной оси — поперечные сечения цилиндра/коробки
+    for axis_i in range(min(1, vt.shape[0])):
+        if float(s[axis_i]) < 1e-6:
+            continue
+        axis = vt[axis_i]
+        axis = axis / (np.linalg.norm(axis) + 1e-9)
+        along = centered @ axis
+
+        ref = np.array([0.0, 0.0, 1.0], dtype=np.float32)
+        if abs(float(np.dot(axis, ref))) > 0.9:
+            ref = np.array([1.0, 0.0, 0.0], dtype=np.float32)
+        u = np.cross(axis, ref)
+        u /= np.linalg.norm(u) + 1e-9
+        v = np.cross(axis, u)
+
+        a0, a1 = float(np.percentile(along, 15)), float(np.percentile(along, 85))
+        if a1 - a0 < 10.0:
+            continue
+
+        for t in (0.2, 0.35, 0.5, 0.65, 0.8):
+            ca = a0 + t * (a1 - a0)
+            half = max(4.0, 0.06 * (a1 - a0))
+            band = np.abs(along - ca) <= half
+            if int(band.sum()) < 40:
+                continue
+            pts = centered[band]
+            sec = np.column_stack([pts @ u, pts @ v]).astype(np.float32)
+            out.append(_section_score(sec))
+    return out
+
+
+def _section_score(sec: np.ndarray) -> float:
+    """
+    Чистый rin/rout. Для дуги лежачего цилиндра (depth видит полкруга)
+    допускаем score 0.85 только при жёстком circle-fit:
+    малый residual, почти равные радиусы, покрытие ≥200°, bbox не «палка».
+    Прямоугольное сечение fit не проходит → остаётся rin/rout < 0.8.
+    """
+    direct = rin_rout(sec)
+    if direct >= 0.8:
+        return float(direct)
+
+    fit = _fit_circle_arc(sec)
+    if fit is None:
+        return float(direct)
+    return float(max(direct, 0.85))
+
+
+def _fit_circle_arc(pts: np.ndarray) -> Optional[Tuple[np.ndarray, float]]:
+    pts = np.asarray(pts, dtype=np.float64).reshape(-1, 2)
+    if pts.shape[0] < 35:
+        return None
+
+    c0 = pts.mean(axis=0)
+    x0 = pts - c0
+    try:
+        _u, s, _vt = np.linalg.svd(x0, full_matrices=False)
+    except np.linalg.LinAlgError:
+        return None
+    if s.shape[0] < 2 or float(s[0]) < 1e-6:
+        return None
+    # сечение не должно быть линией
+    if float(s[1] / (s[0] + 1e-9)) < 0.45:
+        return None
+
+    x, y = pts[:, 0], pts[:, 1]
+    A = np.column_stack([2 * x, 2 * y, np.ones_like(x)])
+    b = x * x + y * y
+    try:
+        sol, *_ = np.linalg.lstsq(A, b, rcond=None)
+    except np.linalg.LinAlgError:
+        return None
+    cx_, cy_, c = sol
+    r2 = c + cx_ * cx_ + cy_ * cy_
+    if r2 <= 1.0:
+        return None
+    r = float(np.sqrt(r2))
+    rad = np.sqrt((x - cx_) ** 2 + (y - cy_) ** 2)
+    rel = float(np.sqrt(np.mean((rad - r) ** 2)) / (r + 1e-9))
+    rad_cv = float(rad.std() / (rad.mean() + 1e-9))
+    if rel > 0.04 or rad_cv > 0.04:
+        return None
+
+    bw = float(x.max() - x.min())
+    bh = float(y.max() - y.min())
+    aspect = max(bw, bh) / max(min(bw, bh), 1e-6)
+    # у круга/полукруга bbox близок к квадрату; у прямоугольника 2:1 — нет
+    if aspect > 1.45:
+        return None
+    if r < 0.40 * max(bw, bh) or r > 0.70 * max(bw, bh):
+        return None
+
+    ang = np.arctan2(y - cy_, x - cx_)
+    ang = np.sort(ang)
+    gaps = np.diff(ang)
+    gaps = np.append(gaps, ang[0] + 2 * np.pi - ang[-1])
+    coverage = float(2 * np.pi - gaps.max())
+    if coverage < np.deg2rad(200.0):
+        return None
+
+    return np.array([cx_, cy_], dtype=np.float32), r
+
+
+def _inscribed_radius_mm(pts_xy_mm: np.ndarray, grid: int = 192) -> float:
+    x_min, y_min = pts_xy_mm.min(axis=0)
+    x_max, y_max = pts_xy_mm.max(axis=0)
+    span = max(float(x_max - x_min), float(y_max - y_min), 1.0)
+    pad = 8
+    inner = grid - 2 * pad
+    if inner < 16:
+        return 0.0
+    scale = inner / span
+
+    img = np.zeros((grid, grid), dtype=np.uint8)
+    pts_px = ((pts_xy_mm - np.array([x_min, y_min], dtype=np.float32)) * scale).astype(np.int32)
+    pts_px[:, 0] = np.clip(pts_px[:, 0] + pad, 0, grid - 1)
+    pts_px[:, 1] = np.clip(pts_px[:, 1] + pad, 0, grid - 1)
+    cv2.fillPoly(img, [pts_px], 255)
+    if img.max() == 0 or float((img > 0).mean()) > 0.98:
+        return 0.0
+    dist = cv2.distanceTransform(img, cv2.DIST_L2, 5)
+    return float(dist.max()) / scale
+
+
+def circularity_ratio(pts_xy_mm: np.ndarray) -> float:
+    return rin_rout(pts_xy_mm)
+
+
+# совместимость со старыми вызовами
+def max_section_circle_ratio(
+    depth_mm: np.ndarray,
+    mask: np.ndarray,
+    top_pts_mm: np.ndarray,
+    fx: float,
+    fy: float,
+    cx: float,
+    cy: float,
+) -> float:
+    top = rin_rout(top_pts_mm)
+    cloud = _point_cloud(depth_mm, mask, fx, fy, cx, cy)
+    sec = robust_section_ratio(cloud) if cloud is not None else 0.0
+    return float(max(top, sec))
+
+
+def section_rin_rout(sec: np.ndarray) -> float:
+    return rin_rout(sec)

cv/mqtt_bridge.py

@@ -0,0 +1,172 @@
+"""MQTT: публикация категории + команды серво/мотору (существующий API Arduino)."""
+
+from __future__ import annotations
+
+import json
+import threading
+import time
+from typing import Any, Dict, Optional
+
+import paho.mqtt.client as mqtt
+
+from classify import Category, ClassificationResult
+
+
+class MqttBridge:
+    def __init__(self, cfg: Dict[str, Any]) -> None:
+        self.cfg = cfg
+        self.enabled = bool(cfg.get("enabled", False))
+        self.routing_cfg = cfg.get("_routing", {})
+        self.motor_cfg = cfg.get("_motor", {})
+        self._last_route_ts = 0.0
+        self._last_category: Optional[str] = None
+
+        self.client = mqtt.Client(
+            mqtt.CallbackAPIVersion.VERSION2,
+            client_id=cfg.get("client_id", "vision_classifier_opi"),
+        )
+        user = cfg.get("user")
+        password = cfg.get("password")
+        if user:
+            self.client.username_pw_set(user, password)
+
+        self._connected = False
+        if self.enabled:
+            try:
+                self.client.connect(cfg["broker"], int(cfg.get("port", 1883)), 30)
+                self.client.loop_start()
+                # короткая проверка
+                time.sleep(0.3)
+                self._connected = True
+                print(f"[mqtt] подключено к {cfg['broker']}:{cfg.get('port', 1883)}")
+            except Exception as exc:
+                print(f"[mqtt] не удалось подключиться: {exc}")
+                self._connected = False
+
+    @property
+    def connected(self) -> bool:
+        return self._connected
+
+    def start_conveyor(self) -> None:
+        """Включить шаговик ленты через уже существующие топики motor/control/*."""
+        m = self.motor_cfg
+        if not m.get("enabled", False):
+            return
+        if not self.enabled or not self._connected:
+            return
+        rpm = int(m.get("rpm", 200))
+        current = int(m.get("current_percent", 50))
+        microsteps = int(m.get("microsteps", 16))
+        self.client.publish("motor/control/driver", "on", qos=1)
+        self.client.publish("motor/control/tmc/enable", "on", qos=1)
+        self.client.publish("motor/control/tmc/current_percent", str(current), qos=1)
+        self.client.publish("motor/control/tmc/microsteps", str(microsteps), qos=1)
+        if m.get("stealthchop", True):
+            self.client.publish("motor/control/tmc/stealthchop", "on", qos=1)
+        self.client.publish("motor/control/rpm", str(rpm), qos=1)
+        print(f"[mqtt] конвейер: driver ON, rpm={rpm}")
+
+    def stop_conveyor(self) -> None:
+        m = self.motor_cfg
+        if not m.get("enabled", False):
+            return
+        if not self.enabled or not self._connected:
+            return
+        self.client.publish("motor/control/rpm", "0", qos=1)
+        if m.get("disable_on_stop", False):
+            self.client.publish("motor/control/driver", "off", qos=1)
+        print("[mqtt] конвейер: rpm=0")
+
+    def publish_result(self, result: ClassificationResult) -> None:
+        if not self.enabled or not self._connected:
+            return
+        l, w, h = result.dims_sorted_mm
+        self.client.publish(
+            self.cfg.get("topic_result", "vision/feedback/category"),
+            result.category.value,
+            qos=1,
+        )
+        self.client.publish(
+            self.cfg.get("topic_dims", "vision/feedback/dimensions"),
+            f"{l:.1f},{w:.1f},{h:.1f}",
+            qos=0,
+        )
+        self.client.publish(
+            self.cfg.get("topic_circle", "vision/feedback/circle_ratio"),
+            f"{result.circle_ratio:.4f}",
+            qos=0,
+        )
+        payload = {
+            "category": result.category.value,
+            "zone": result.category.zone,
+            "label_ru": result.category.ru_label,
+            "dims_mm": [round(l, 1), round(w, 1), round(h, 1)],
+            "circle_ratio": round(result.circle_ratio, 4),
+            "reason": result.reason,
+        }
+        self.client.publish(
+            self.cfg.get("topic_debug", "vision/feedback/debug"),
+            json.dumps(payload, ensure_ascii=False),
+            qos=0,
+        )
+
+    def route(self, category: Category) -> None:
+        """Отправка команды серво через servo/control/{ch}/angle|enable."""
+        routing = self.routing_cfg
+        if not routing.get("enabled", True):
+            return
+        if not self.enabled or not self._connected:
+            return
+
+        now = time.time() * 1000.0
+        cooldown = float(routing.get("cooldown_ms", 1500))
+        if category.value == self._last_category and (now - self._last_route_ts) < cooldown:
+            return
+
+        zones = routing.get("zones", {})
+        zone_key = category.zone
+        zone = zones.get(zone_key)
+        if not zone:
+            return
+
+        for zk, zcfg in zones.items():
+            ch = int(zcfg["servo"])
+            idle = int(zcfg.get("idle_angle", 0))
+            if zk == zone_key:
+                continue
+            self._set_servo(ch, idle, enable=True)
+
+        ch = int(zone["servo"])
+        divert = int(zone.get("divert_angle", 90))
+        idle = int(zone.get("idle_angle", 0))
+        hold_ms = int(zone.get("hold_ms", 800))
+
+        if category == Category.SUITABLE and divert == idle:
+            self._set_servo(ch, idle, enable=True)
+            print(f"[mqtt] зона B — пропуск (servo {ch} idle)")
+        else:
+            self._set_servo(ch, divert, enable=True)
+            print(f"[mqtt] зона {zone_key} — divert servo {ch} → {divert}°")
+
+            def _return_idle(channel: int = ch, angle: int = idle, delay_s: float = hold_ms / 1000.0) -> None:
+                time.sleep(delay_s)
+                self._set_servo(channel, angle, enable=True)
+
+            threading.Thread(target=_return_idle, daemon=True).start()
+
+        self._last_category = category.value
+        self._last_route_ts = now
+
+    def _set_servo(self, channel: int, angle: int, enable: bool = True) -> None:
+        base = f"servo/control/{channel}"
+        self.client.publish(f"{base}/enable", "on" if enable else "off", qos=1)
+        self.client.publish(f"{base}/angle", str(int(angle)), qos=1)
+
+    def close(self) -> None:
+        try:
+            self.stop_conveyor()
+        except Exception:
+            pass
+        if self._connected:
+            self.client.loop_stop()
+            self.client.disconnect()

cv/requirements.txt

@@ -0,0 +1,6 @@
+opencv-python-headless>=4.8
+numpy>=1.24
+paho-mqtt>=2.0
+PyYAML>=6.0
+pillow>=10.0  # кириллица на HUD (demo_hud.py)
+# ffmpeg должен быть в системе (pacman/apt: ffmpeg) — depth Z16 читается через него

cv/run.sh

@@ -0,0 +1,17 @@
+#!/usr/bin/env bash
+set -euo pipefail
+DIR="$(cd "$(dirname "$0")" && pwd)"
+cd "$DIR"
+
+if [[ ! -f config.yaml && -f config.example.yaml ]]; then
+  cp config.example.yaml config.yaml
+  echo "[cv] created config.yaml from config.example.yaml (MQTT disabled)"
+fi
+
+if [[ ! -d .venv ]]; then
+  python3 -m venv .venv
+  .venv/bin/pip install -U pip
+  .venv/bin/pip install -r requirements.txt
+fi
+
+exec .venv/bin/python main.py "$@"

cv/stabilize.py

@@ -0,0 +1,306 @@
+"""
+Стабильный консенсус по кадрам.
+
+Из логов RealSense: круг даёт sec≈0.82–0.87, но early LOCK на B
+залипал навсегда. Поэтому:
+  • классификация по медиане окна;
+  • LOCK после прогрева;
+  • апгрейд B→D при устойчивом круге (≥ confirm кадров подряд);
+  • D→B и смена зоны после LOCK запрещены (пока объект не исчез).
+"""
+
+from __future__ import annotations
+
+from collections import Counter, deque
+from dataclasses import dataclass
+from typing import Deque, Optional, Sequence
+
+from classify import Category, ClassificationResult, check_size
+from measure import ObjectMeasurement
+
+
+@dataclass
+class StableDecision:
+    result: Optional[ClassificationResult]
+    locked: bool
+    confidence_pct: int
+    ratio_smooth: float
+    present: bool
+    uncertain: bool = False  # LOCK по правилу «нет консенсуса → безопасная зона»
+
+
+class DecisionStabilizer:
+    def __init__(
+        self,
+        window: int = 12,
+        confirm_frames: int = 8,
+        lost_frames: int = 12,
+        enter_circle: float = 0.80,
+        exit_circle: float = 0.72,
+        uncertain_after: int = 45,
+        fallback: Category = Category.OVERSIZE,
+    ) -> None:
+        self.window = max(5, int(window))
+        self.confirm_frames = max(3, int(confirm_frames))
+        self.lost_frames = max(3, int(lost_frames))
+        self.enter_circle = float(enter_circle)
+        self.exit_circle = float(exit_circle)
+        # нет консенсуса за uncertain_after кадров → безопасная зона (ТЗ:
+        # неоднозначные товары не должны идти в основной поток)
+        self.uncertain_after = max(self.window + 5, int(uncertain_after))
+        self.fallback = fallback
+
+        self._ratios: Deque[float] = deque(maxlen=self.window)
+        self._tops: Deque[float] = deque(maxlen=self.window)
+        self._secs: Deque[float] = deque(maxlen=self.window)
+        self._Ls: Deque[float] = deque(maxlen=self.window)
+        self._Ws: Deque[float] = deque(maxlen=self.window)
+        self._Hs: Deque[float] = deque(maxlen=self.window)
+        self._zones: Deque[str] = deque(maxlen=self.window)
+
+        self._pending_zone: Optional[str] = None
+        self._pending_count: int = 0
+        self._upgrade_count: int = 0
+        self._locked: Optional[ClassificationResult] = None
+        self._miss: int = 0
+        self._frames_seen: int = 0
+        self._uncertain_locked: bool = False
+
+    def reset(self) -> None:
+        self._ratios.clear()
+        self._tops.clear()
+        self._secs.clear()
+        self._Ls.clear()
+        self._Ws.clear()
+        self._Hs.clear()
+        self._zones.clear()
+        self._pending_zone = None
+        self._pending_count = 0
+        self._upgrade_count = 0
+        self._locked = None
+        self._miss = 0
+        self._frames_seen = 0
+        self._uncertain_locked = False
+
+    def update(
+        self,
+        measurement: Optional[ObjectMeasurement],
+        min_mm: Sequence[float] = (10, 10, 10),
+        max_mm: Sequence[float] = (450, 320, 320),
+    ) -> StableDecision:
+        if measurement is None:
+            self._miss += 1
+            if self._miss >= self.lost_frames:
+                self.reset()
+                return StableDecision(None, False, 0, 0.0, False)
+            if self._locked is not None:
+                return StableDecision(
+                    self._locked, True, 100, self._locked.circle_ratio, True,
+                    uncertain=self._uncertain_locked,
+                )
+            return StableDecision(None, False, 0, 0.0, False)
+
+        self._miss = 0
+        self._frames_seen += 1
+        self._ratios.append(float(measurement.circle_ratio))
+        self._tops.append(float(getattr(measurement, "top_ratio", measurement.circle_ratio)))
+        self._secs.append(float(getattr(measurement, "section_ratio", 0.0)))
+        self._Ls.append(float(measurement.length_mm))
+        self._Ws.append(float(measurement.width_mm))
+        self._Hs.append(float(measurement.height_mm))
+
+        ratio = _median(self._ratios)
+        top_m = _median(self._tops)
+        sec_m = _median(self._secs)
+        ratio_p75 = _percentile(self._ratios, 75)
+        # устойчивый круг: медиана >= 0.8 ИЛИ (медиана сечений >= 0.8 и ≥ половины окна сильные)
+        sec_strong = (
+            sum(1 for x in self._secs if x >= self.enter_circle) / max(1, len(self._secs))
+        )
+        circular = ratio >= self.enter_circle or (
+            sec_m >= self.enter_circle and sec_strong >= 0.55
+        )
+        ratio_show = max(ratio, sec_m) if circular else ratio
+
+        L, W, H = _median(self._Ls), _median(self._Ws), _median(self._Hs)
+        dims = tuple(sorted([L, W, H], reverse=True))
+        passes = check_size(dims, min_mm, max_mm)
+        clipped = bool(getattr(measurement, "clipped_by_frame", False))
+        if clipped:
+            # неполный габарит из-за края кадра → безопасный негабарит
+            passes = False
+
+        if not passes:
+            instant = ClassificationResult(
+                category=Category.OVERSIZE,
+                dims_sorted_mm=(dims[0], dims[1], dims[2]),
+                circle_ratio=ratio_show,
+                passes_size=False,
+                is_circular=circular,
+                reason=(
+                    "объект обрезан краем кадра → габарит неполный, считаем негабаритом"
+                    if clipped
+                    else "габариты вне допуска: нужно >10×10×10 и <450×320×320 мм"
+                ),
+            )
+        elif circular:
+            instant = ClassificationResult(
+                category=Category.NEED_PACK,
+                dims_sorted_mm=(dims[0], dims[1], dims[2]),
+                circle_ratio=ratio_show,
+                passes_size=True,
+                is_circular=True,
+                reason=(
+                    f"круг: med={ratio:.3f} p75={ratio_p75:.3f} "
+                    f"top={top_m:.3f} sec={sec_m:.3f} strong={sec_strong:.0%} "
+                    f">= {self.enter_circle}"
+                ),
+            )
+        else:
+            instant = ClassificationResult(
+                category=Category.SUITABLE,
+                dims_sorted_mm=(dims[0], dims[1], dims[2]),
+                circle_ratio=ratio_show,
+                passes_size=True,
+                is_circular=False,
+                reason=(
+                    f"не круг: med={ratio:.3f} sec={sec_m:.3f} "
+                    f"strong={sec_strong:.0%} < {self.enter_circle}"
+                ),
+            )
+
+        zone = instant.category.zone
+        self._zones.append(zone)
+
+        # --- уже есть LOCK ---
+        if self._locked is not None:
+            prev = self._locked.category
+            cur = instant.category
+            locked_dims = self._locked.dims_sorted_mm
+
+            # новый объект (габариты сильно сменились) — сброс LOCK и набор заново
+            if _dims_changed(locked_dims, dims, rel=0.28):
+                self._locked = None
+                self._uncertain_locked = False
+                self._pending_zone = zone
+                self._pending_count = 1
+                self._upgrade_count = 0
+                self._frames_seen = 1
+                conf = int(min(99, round(100.0 * 1 / max(1, self.confirm_frames))))
+                return StableDecision(instant, False, conf, ratio_show, True)
+
+            can_upgrade = (
+                (prev == Category.OVERSIZE and cur in (Category.SUITABLE, Category.NEED_PACK))
+                or (prev == Category.SUITABLE and cur == Category.NEED_PACK)
+            )
+            if can_upgrade:
+                self._upgrade_count += 1
+                need_up = max(5, self.confirm_frames // 2)
+                if self._upgrade_count >= need_up:
+                    self._locked = instant
+                    self._upgrade_count = 0
+                    self._uncertain_locked = False  # появился консенсус
+            else:
+                self._upgrade_count = 0
+            return StableDecision(
+                self._locked, True, 100, ratio_show, True,
+                uncertain=self._uncertain_locked,
+            )
+
+        # нет консенсуса слишком долго → «неуверенно», безопасная зона
+        if self._frames_seen >= self.uncertain_after:
+            fallback_result = ClassificationResult(
+                category=self.fallback,
+                dims_sorted_mm=(dims[0], dims[1], dims[2]),
+                circle_ratio=ratio_show,
+                passes_size=passes,
+                is_circular=circular,
+                reason="НЕУВЕРЕННО → безопасная зона: " + self._uncertain_reason(
+                    ratio, dims, min_mm, max_mm
+                ),
+            )
+            self._locked = fallback_result
+            self._uncertain_locked = True
+            return StableDecision(fallback_result, True, 100, ratio_show, True, uncertain=True)
+
+        # прогрев окна
+        if len(self._ratios) < self.window:
+            conf = int(min(99, round(100.0 * len(self._ratios) / self.window)))
+            return StableDecision(instant, False, conf, ratio_show, True)
+
+        votes = Counter(self._zones)
+        winner, win_n = votes.most_common(1)[0]
+        if winner != zone:
+            self._pending_zone = None
+            self._pending_count = 0
+            conf = int(round(100.0 * win_n / len(self._zones)))
+            return StableDecision(instant, False, conf, ratio_show, True)
+
+        need = max(self.confirm_frames, (self.window * 2 + 2) // 3)
+        if zone == self._pending_zone:
+            self._pending_count += 1
+        else:
+            self._pending_zone = zone
+            self._pending_count = 1
+
+        conf = int(min(100, round(100.0 * max(self._pending_count, win_n) / need)))
+        if self._pending_count >= need and win_n >= need:
+            self._locked = instant
+            self._uncertain_locked = False
+            return StableDecision(instant, True, 100, ratio_show, True)
+
+        return StableDecision(instant, False, conf, ratio_show, True)
+
+    def _uncertain_reason(
+        self,
+        ratio: float,
+        dims: Sequence[float],
+        min_mm: Sequence[float],
+        max_mm: Sequence[float],
+    ) -> str:
+        votes = Counter(self._zones)
+        parts = [
+            f"нет консенсуса {self._frames_seen} кадров",
+            "голоса " + " ".join(f"{z}:{n}" for z, n in votes.most_common()),
+        ]
+        if abs(ratio - self.enter_circle) <= 0.06:
+            parts.append(f"ratio {ratio:.3f} у порога {self.enter_circle}")
+        max_s = sorted([float(x) for x in max_mm], reverse=True)
+        min_s = sorted([float(x) for x in min_mm], reverse=True)
+        for d, mx, mn in zip(dims, max_s, min_s):
+            if abs(d - mx) <= 0.05 * mx:
+                parts.append(f"сторона {d:.0f} мм у лимита {mx:.0f}")
+            elif mn > 0 and abs(d - mn) <= max(3.0, 0.3 * mn):
+                parts.append(f"сторона {d:.0f} мм у минимума {mn:.0f}")
+        return "; ".join(parts)
+
+
+def _median(vals: Deque[float]) -> float:
+    return _percentile(vals, 50)
+
+
+def _dims_changed(
+    a: Sequence[float], b: Sequence[float], rel: float = 0.28
+) -> bool:
+    """True если хотя бы одна сторона изменилась больше чем на rel (новый объект)."""
+    if len(a) < 3 or len(b) < 3:
+        return False
+    for x, y in zip(a[:3], b[:3]):
+        base = max(abs(float(x)), abs(float(y)), 1.0)
+        if abs(float(x) - float(y)) / base > rel:
+            return True
+    return False
+
+
+def _percentile(vals: Deque[float], q: float) -> float:
+    arr = sorted(vals)
+    n = len(arr)
+    if n == 0:
+        return 0.0
+    if n == 1:
+        return float(arr[0])
+    pos = (q / 100.0) * (n - 1)
+    lo = int(pos)
+    hi = min(lo + 1, n - 1)
+    frac = pos - lo
+    return float(arr[lo] * (1 - frac) + arr[hi] * frac)

cv/test_classify.py

@@ -0,0 +1,86 @@
+#!/usr/bin/env python3
+"""Юнит-тесты правил классификации (без камеры)."""
+
+from __future__ import annotations
+
+import sys
+from pathlib import Path
+
+sys.path.insert(0, str(Path(__file__).resolve().parent))
+
+from classify import Category, classify_from_dims
+
+
+def test_suitable_box():
+    r = classify_from_dims(120, 80, 40, circle_ratio=0.5)
+    assert r.category == Category.SUITABLE
+    assert r.category.zone == "B"
+
+
+def test_oversize_priority_over_circle():
+    # Большой цилиндр: габариты важнее круга
+    r = classify_from_dims(500, 100, 100, circle_ratio=0.95)
+    assert r.category == Category.OVERSIZE
+    assert r.category.zone == "C"
+
+
+def test_too_small():
+    r = classify_from_dims(5, 5, 5, circle_ratio=0.2)
+    assert r.category == Category.OVERSIZE
+
+
+def test_need_pack_cylinder():
+    r = classify_from_dims(100, 50, 50, circle_ratio=0.85)
+    assert r.category == Category.NEED_PACK
+    assert r.category.zone == "D"
+
+
+def test_lying_bottle_must_be_D_not_B():
+    """ТЗ: круг в ЛЮБОМ сечении. Лежачая бутылка сверху не круг, но сечение круглое."""
+    # имитация: top-view низкий, но итоговый circle_ratio после 3D-срезов высокий
+    r = classify_from_dims(220, 70, 70, circle_ratio=0.86)
+    assert r.category == Category.NEED_PACK
+    assert r.category.zone == "D"
+
+
+def test_border_circle():
+    r = classify_from_dims(100, 50, 50, circle_ratio=0.8)
+    assert r.category == Category.NEED_PACK
+    r2 = classify_from_dims(100, 50, 50, circle_ratio=0.799)
+    assert r2.category == Category.SUITABLE
+
+
+def test_border_dims_strict():
+    """ТЗ: строго больше 10×10×10 и строго меньше 450×320×320."""
+    # ровно на максимуме → C
+    assert classify_from_dims(450, 320, 320, 0.3).category == Category.OVERSIZE
+    # ровно на минимуме → C
+    assert classify_from_dims(10, 10, 10, 0.3).category == Category.OVERSIZE
+    # чуть внутри границ → B
+    assert classify_from_dims(449, 319, 319, 0.3).category == Category.SUITABLE
+    assert classify_from_dims(11, 11, 11, 0.3).category == Category.SUITABLE
+    # 321 мм влезает вдоль оси 450 → B (сопоставление после сортировки)
+    assert classify_from_dims(100, 321, 100, 0.3).category == Category.SUITABLE
+    # а вот две стороны > 320 уже не влезают → C
+    assert classify_from_dims(400, 330, 100, 0.3).category == Category.OVERSIZE
+
+
+def test_dims_order_independent():
+    """Стороны сопоставляются после сортировки — порядок L/W/H не важен."""
+    assert classify_from_dims(319, 449, 318, 0.3).category == Category.SUITABLE
+    assert classify_from_dims(318, 319, 449, 0.3).category == Category.SUITABLE
+    # ровно 320 по строгому правилу «меньше» → C, в любом порядке
+    assert classify_from_dims(320, 449, 319, 0.3).category == Category.OVERSIZE
+    assert classify_from_dims(319, 320, 449, 0.3).category == Category.OVERSIZE
+
+
+if __name__ == "__main__":
+    test_suitable_box()
+    test_oversize_priority_over_circle()
+    test_too_small()
+    test_need_pack_cylinder()
+    test_lying_bottle_must_be_D_not_B()
+    test_border_circle()
+    test_border_dims_strict()
+    test_dims_order_independent()
+    print("OK: all classification tests passed")

cv/test_geometry.py

@@ -0,0 +1,384 @@
+#!/usr/bin/env python3
+"""Геометрические тесты: прямоугольник → B, круг → D (без камеры)."""
+
+from __future__ import annotations
+
+import sys
+from pathlib import Path
+
+import numpy as np
+import cv2
+
+sys.path.insert(0, str(Path(__file__).resolve().parent))
+
+from measure import (
+    ObjectMeasurement,
+    _fit_circle_arc,
+    _section_score,
+    measure_object,
+    rin_rout,
+    section_rin_rout,
+    segment_object,
+)
+from stabilize import DecisionStabilizer
+
+
+def _circle(n=64, r=40.0):
+    a = np.linspace(0, 2 * np.pi, n, endpoint=False)
+    return np.column_stack([50 + r * np.cos(a), 50 + r * np.sin(a)]).astype(np.float32)
+
+
+def _rect(w=150.0, h=90.0, n=20):
+    pts = (
+        [[x, 0] for x in np.linspace(0, w, n)]
+        + [[w, y] for y in np.linspace(0, h, n)]
+        + [[x, h] for x in np.linspace(w, 0, n)]
+        + [[0, y] for y in np.linspace(h, 0, n)]
+    )
+    return np.array(pts, dtype=np.float32)
+
+
+def _round_rect(w=150.0, h=90.0, rad=8.0, n=12, ne=15):
+    pts = []
+    pts += [[x, 0] for x in np.linspace(rad, w - rad, ne)]
+    pts += [[w, y] for y in np.linspace(rad, h - rad, ne)]
+    pts += [[x, h] for x in np.linspace(w - rad, rad, ne)]
+    pts += [[0, y] for y in np.linspace(h - rad, rad, ne)]
+    corners = [
+        (rad, rad, np.pi, 1.5 * np.pi),
+        (w - rad, rad, 1.5 * np.pi, 2 * np.pi),
+        (w - rad, h - rad, 0, 0.5 * np.pi),
+        (rad, h - rad, 0.5 * np.pi, np.pi),
+    ]
+    for cx, cy, a0, a1 in corners:
+        for a in np.linspace(a0, a1, n):
+            pts.append([cx + rad * np.cos(a), cy + rad * np.sin(a)])
+    return np.array(pts, dtype=np.float32)
+
+
+def _arc(span_deg=252.0, r=35.0, n=80):
+    a0 = -np.deg2rad(span_deg) / 2
+    a1 = np.deg2rad(span_deg) / 2
+    a = np.linspace(a0, a1, n)
+    return np.column_stack([50 + r * np.cos(a), 50 + r * np.sin(a)]).astype(np.float32)
+
+
+def test_geometry_ratios():
+    assert rin_rout(_circle()) >= 0.8, "круг сверху должен быть D"
+    assert rin_rout(_rect()) < 0.8, "прямоугольник должен быть B"
+    assert rin_rout(_round_rect()) < 0.8, "скруглённый прямоугольник — B"
+    # квадрат < 0.8 (теоретически ~0.707)
+    sq = np.array([[0, 0], [100, 0], [100, 100], [0, 100]], dtype=np.float32)
+    assert rin_rout(sq) < 0.8
+
+    # дуга цилиндра: fit → 0.85
+    arc = _arc()
+    score = _section_score(arc)
+    assert score >= 0.8, f"дуга цилиндра должна давать >=0.8, got {score}"
+    assert _fit_circle_arc(_rect()) is None, "прямоугольник не должен проходить circle-fit"
+
+
+def test_stabilizer_box_vs_cylinder():
+    dummy = np.zeros((10, 1, 2), np.int32)
+    mask = np.zeros((10, 10), np.uint8)
+
+    # коробка с редкими ложными пиками → LOCK B
+    s = DecisionStabilizer(window=8, confirm_frames=5, enter_circle=0.8)
+    locked_zone = None
+    seq = [0.55, 0.84, 0.56, 0.58, 0.57, 0.59, 0.55, 0.56, 0.58, 0.57, 0.55, 0.56, 0.57, 0.58]
+    for r in seq:
+        m = ObjectMeasurement(120, 80, 40, r, 1000, (1, 1), dummy, mask, top_ratio=r, section_ratio=0.5)
+        d = s.update(m)
+        if d.locked and d.result:
+            locked_zone = d.result.category.zone
+    assert locked_zone == "B", f"коробка должна LOCK B, got {locked_zone}"
+
+    # цилиндр → LOCK D
+    s2 = DecisionStabilizer(window=8, confirm_frames=5, enter_circle=0.8)
+    locked_zone = None
+    for r in [0.90] * 16:
+        m = ObjectMeasurement(100, 50, 50, r, 1000, (1, 1), dummy, mask, top_ratio=r, section_ratio=0.88)
+        d = s2.update(m)
+        if d.locked and d.result:
+            locked_zone = d.result.category.zone
+    assert locked_zone == "D", f"цилиндр должен LOCK D, got {locked_zone}"
+
+    # после LOCK D не прыгаем в B
+    for r in [0.4] * 10:
+        m = ObjectMeasurement(100, 50, 50, r, 1000, (1, 1), dummy, mask, top_ratio=r, section_ratio=0.4)
+        d = s2.update(m)
+        assert d.locked and d.result and d.result.category.zone == "D"
+
+    # early B, then устойчивый круг → апгрейд в D (те же габариты)
+    s3 = DecisionStabilizer(window=8, confirm_frames=6, enter_circle=0.8)
+    for r in [0.55] * 20:
+        m = ObjectMeasurement(100, 50, 50, r, 1000, (1, 1), dummy, mask, top_ratio=r, section_ratio=0.5)
+        d = s3.update(m)
+    assert d.locked and d.result.category.zone == "B"
+    for r in [0.86] * 16:
+        m = ObjectMeasurement(100, 50, 50, r, 1000, (1, 1), dummy, mask, top_ratio=0.72, section_ratio=0.86)
+        d = s3.update(m)
+    assert d.locked and d.result.category.zone == "D", f"ожидали апгрейд B→D, got {d.result.category.zone}"
+
+    # смена объекта круг→коробка по габаритам → новый LOCK B
+    saw_reset = False
+    locked_b = False
+    for r in [0.45] * 25:
+        m = ObjectMeasurement(240, 120, 50, r, 1000, (1, 1), dummy, mask, top_ratio=0.45, section_ratio=0.27)
+        d = s3.update(m)
+        if d.present and not d.locked:
+            saw_reset = True
+        if d.locked and d.result and d.result.category.zone == "B":
+            locked_b = True
+    assert saw_reset, "при смене габаритов должен быть сброс LOCK"
+    assert locked_b, "коробка после смены должна LOCK B"
+
+
+def test_background_map_splits_object_from_platform():
+    """Цилиндр на платформе: скалярная высота сливает их, фоновая карта — нет."""
+    H, W = 480, 640
+    belt = 600
+    bg = np.full((H, W), belt, np.uint16)
+    bg[100:340, 130:470] = belt - 80  # платформа 80 мм — часть фона
+
+    depth = bg.copy()
+    yy, xx = np.ogrid[:H, :W]
+    circ = (yy - 220) ** 2 + (xx - 300) ** 2 <= 70**2
+    depth[circ] = belt - 80 - 60  # круглый предмет 60 мм на платформе
+
+    # старый способ: платформа+цилиндр в одном контуре (большая площадь)
+    seg_old = segment_object(depth, belt_distance_mm=belt, min_area_px=400)
+    assert seg_old is not None
+    area_old = int((seg_old[0] > 0).sum())
+    assert area_old > 240 * 340 * 0.8, "скалярный способ должен захватить платформу"
+
+    # с фоновой картой: только цилиндр
+    seg_bg = segment_object(depth, belt_distance_mm=belt, min_area_px=400, background_mm=bg)
+    assert seg_bg is not None
+    mask, contour = seg_bg
+    area = int((mask > 0).sum())
+    circle_area = np.pi * 70 * 70
+    assert abs(area - circle_area) / circle_area < 0.15, f"площадь {area} vs круг {circle_area:.0f}"
+
+    m = measure_object(
+        depth, mask, contour,
+        belt_distance_mm=belt, fx=670, fy=670, cx=320, cy=240,
+        background_mm=bg,
+    )
+    assert m is not None
+    assert abs(m.height_mm - 60) < 8, f"высота от платформы должна быть ~60, got {m.height_mm:.1f}"
+    assert m.top_ratio >= 0.8, f"вид сверху круг, got {m.top_ratio:.3f}"
+
+
+def test_uncertain_fallback_to_safe_zone():
+    """Нет консенсуса (ratio скачет у порога) → «неуверенно» → безопасная зона C."""
+    from classify import Category
+
+    dummy = np.zeros((10, 1, 2), np.int32)
+    mask = np.zeros((10, 10), np.uint8)
+
+    s = DecisionStabilizer(window=8, confirm_frames=6, uncertain_after=25, fallback=Category.OVERSIZE)
+    seq = ([0.70] * 6 + [0.90] * 6) * 5  # блоками вокруг порога 0.8
+    final = None
+    for i, r in enumerate(seq):
+        m = ObjectMeasurement(100, 50, 50, r, 1000, (1, 1), dummy, mask, top_ratio=r, section_ratio=r)
+        d = s.update(m)
+        if d.locked:
+            final = (i + 1, d)
+            break
+    assert final is not None, "fallback должен сработать"
+    n_frames, d = final
+    assert d.uncertain, "LOCK должен быть помечен как неуверенный"
+    assert d.result is not None and d.result.category.zone == "C"
+    assert "НЕУВЕРЕННО" in d.result.reason
+    assert n_frames <= 30, f"fallback должен сработать около 25 кадров, got {n_frames}"
+
+    # уверенная коробка не должна помечаться «неуверенно»
+    s2 = DecisionStabilizer(window=8, confirm_frames=6, uncertain_after=25)
+    got = None
+    for r in [0.5] * 20:
+        m = ObjectMeasurement(120, 80, 40, r, 1000, (1, 1), dummy, mask, top_ratio=r, section_ratio=r)
+        d2 = s2.update(m)
+        if d2.locked:
+            got = d2
+            break
+    assert got is not None and not got.uncertain
+    assert got.result is not None and got.result.category.zone == "B"
+
+
+def test_tracker_two_objects_ids_and_stats():
+    """Коробка + цилиндр одновременно: два ID, статистика считает каждого один раз."""
+    from tracker import MultiObjectTracker
+
+    dummy = np.zeros((10, 1, 2), np.int32)
+    mask = np.zeros((10, 10), np.uint8)
+
+    def factory():
+        return DecisionStabilizer(window=8, confirm_frames=5, enter_circle=0.8)
+
+    t = MultiObjectTracker(factory, max_dist_px=120, lost_frames=8)
+    all_events = []
+    for _ in range(20):
+        box = ObjectMeasurement(120, 80, 40, 0.55, 1000, (100, 100), dummy, mask,
+                                top_ratio=0.55, section_ratio=0.5)
+        cyl = ObjectMeasurement(100, 50, 50, 0.90, 900, (500, 300), dummy, mask,
+                                top_ratio=0.90, section_ratio=0.88)
+        tracks, events = t.update([box, cyl])
+        all_events.extend(events)
+
+    assert len(tracks) == 2, f"должно быть 2 трека, got {len(tracks)}"
+    ids = sorted(tr.track_id for tr in tracks)
+    assert ids == [1, 2], f"ID должны быть 1 и 2, got {ids}"
+    zones = sorted(ev.decision.result.category.zone for ev in all_events)
+    assert zones == ["B", "D"], f"события LOCK для B и D, got {zones}"
+    assert t.stats["B"] == 1 and t.stats["D"] == 1 and t.stats["total"] == 2
+
+    # объекты убрали → треки умирают (залоченные живут дольше), статистика остаётся
+    for _ in range(40):
+        tracks, _ = t.update([])
+    assert not tracks
+    assert t.stats["total"] == 2
+
+    # тот же товар на том же месте вернулся → без нового LOCK и без роста счётчика
+    events_back = []
+    for _ in range(15):
+        box = ObjectMeasurement(120, 80, 40, 0.55, 1000, (100, 100), dummy, mask,
+                                top_ratio=0.55, section_ratio=0.5)
+        tracks, events = t.update([box])
+        events_back.extend(events)
+    assert not events_back, "повторный захват уже учтённого товара не должен давать LOCK"
+    assert tracks and tracks[0].track_id == 1
+    assert tracks[0].frozen is not None and tracks[0].decision.locked
+    assert t.stats["B"] == 1 and t.stats["total"] == 2
+
+    # новый объект в другом месте получает следующий ID
+    box2 = ObjectMeasurement(200, 100, 60, 0.5, 1200, (300, 200), dummy, mask,
+                             top_ratio=0.5, section_ratio=0.4)
+    for _ in range(20):
+        tracks, events = t.update([box2])
+    assert tracks and any(tr.track_id == 3 for tr in tracks)
+    assert t.stats["B"] == 2 and t.stats["total"] == 3
+
+
+def test_tracker_slot_dedup_same_object():
+    """Тот же товар на том же месте с новым track_id — без повторного LOCK."""
+    from tracker import MultiObjectTracker, slot_key
+
+    dummy = np.zeros((10, 1, 2), np.int32)
+    mask = np.zeros((10, 10), np.uint8)
+
+    def factory():
+        return DecisionStabilizer(window=8, confirm_frames=5, enter_circle=0.8)
+
+    t = MultiObjectTracker(factory, max_dist_px=120, lost_frames=8)
+    box = ObjectMeasurement(120, 80, 40, 0.55, 1000, (100, 100), dummy, mask,
+                            top_ratio=0.55, section_ratio=0.5)
+    all_events = []
+    for _ in range(20):
+        tracks, events = t.update([box])
+        all_events.extend(events)
+    assert all_events, "первый LOCK должен быть"
+    sk = slot_key(100, 100, 120, 80, 40, "B")
+    assert sk in t._seen_slots
+
+    # новый track_id, та же позиция — события нет, счётчик не растёт
+    for _ in range(40):
+        tracks, _ = t.update([])
+    box2 = ObjectMeasurement(118, 82, 41, 0.56, 1000, (102, 98), dummy, mask,
+                             top_ratio=0.56, section_ratio=0.5)
+    extra = []
+    for _ in range(20):
+        tracks, events = t.update([box2])
+        extra.extend(events)
+    assert not extra, "повтор того же слота не должен давать LOCK"
+    assert t.stats["total"] == 1
+
+
+def test_shadow_not_detected_as_object():
+    """Тень на ленте (затемнение без смены цвета) не должна давать RGB-объект."""
+    from measure import segment_rgb_objects
+
+    H, W = 480, 640
+    bg = np.full((H, W, 3), (90, 130, 160), np.uint8)  # коричневая лента BGR
+    color = bg.copy()
+    # мягкая тень: все каналы ×0.55 — типичная тень от коробки
+    color[150:300, 200:420] = (bg[150:300, 200:420].astype(np.float32) * 0.55).astype(np.uint8)
+    objs = segment_rgb_objects(color, bg, min_area_px=400, diff_threshold=35)
+    assert not objs, f"тень не должна детектироваться, got {len(objs)}"
+
+
+def test_merge_overlapping_halves():
+    """Две половины одного объекта с пересечением ≥50% → один контур."""
+    from measure import merge_overlapping_masks, mask_overlap_min
+
+    H, W = 100, 100
+    a = np.zeros((H, W), np.uint8)
+    b = np.zeros((H, W), np.uint8)
+    a[20:60, 20:60] = 255  # 40×40
+    b[20:60, 35:75] = 255  # перекрытие 40×25 = 1000 / 1600 = 0.625
+    assert mask_overlap_min(a, b) >= 0.5
+    ca, _ = cv2.findContours(a, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+    cb, _ = cv2.findContours(b, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+    merged = merge_overlapping_masks([(a, ca[0]), (b, cb[0])], overlap_thr=0.5)
+    assert len(merged) == 1, f"ожидали 1 объект, got {len(merged)}"
+
+
+def test_noise_measurement_rejected():
+    """Шум 0×0×0 / мелкие RGB-пятна не должны классифицироваться как негабарит."""
+    from measure import ObjectMeasurement, is_plausible_measurement
+
+    dummy = np.zeros((10, 1, 2), np.int32)
+    mask = np.zeros((10, 10), np.uint8)
+    noise = ObjectMeasurement(0.0, 0.0, 0.0, 0.1, 80, (10, 10), dummy, mask, source="rgb")
+    assert not is_plausible_measurement(noise)
+    speckle = ObjectMeasurement(12.0, 8.0, 0.0, 0.2, 500, (50, 50), dummy, mask, source="rgb")
+    assert not is_plausible_measurement(speckle)
+    ok = ObjectMeasurement(110.0, 70.0, 28.0, 0.6, 1200, (100, 100), dummy, mask)
+    assert is_plausible_measurement(ok)
+
+
+def test_flat_phone_via_rgb():
+    """Телефон 8 мм: depth не видит (порог 12 мм), RGB-фон находит → класс C."""
+    from classify import Category, classify
+    from measure import measure_flat_object, segment_rgb_objects
+
+    H, W = 480, 640
+    belt = 534
+    bg_color = np.full((H, W, 3), 120, np.uint8)  # серая лента
+    color = bg_color.copy()
+    x0, y0, pw, ph = 250, 180, 172, 80  # ≈160×75 мм при fx=564, z=534
+    color[y0 : y0 + ph, x0 : x0 + pw] = (30, 30, 30)  # тёмный телефон
+
+    depth = np.full((H, W), belt, np.uint16)
+    depth[y0 : y0 + ph, x0 : x0 + pw] = belt - 8  # всего 8 мм над лентой
+    rng = np.random.default_rng(0)
+    depth = (depth.astype(np.int32) + rng.integers(-3, 4, size=depth.shape)).astype(np.uint16)
+
+    objs = segment_rgb_objects(color, bg_color, min_area_px=400)
+    assert objs, "телефон должен найтись по RGB-фону"
+    mask, contour = objs[0]
+    m = measure_flat_object(
+        depth, mask, contour,
+        belt_distance_mm=belt, fx=564.0, fy=564.0, cx=320, cy=240,
+        background_mm=np.full((H, W), belt, np.uint16),
+    )
+    assert m is not None and m.source == "rgb"
+    assert abs(m.length_mm - 160) < 15, f"длина ~160, got {m.length_mm:.0f}"
+    assert abs(m.width_mm - 75) < 12, f"ширина ~75, got {m.width_mm:.0f}"
+    assert m.height_mm < 12, f"высота должна быть маленькой, got {m.height_mm:.0f}"
+    r = classify(m)
+    assert r.category == Category.OVERSIZE, "тоньше 10 мм → C по ТЗ (меньше минимума)"
+
+
+if __name__ == "__main__":
+    test_geometry_ratios()
+    test_stabilizer_box_vs_cylinder()
+    test_background_map_splits_object_from_platform()
+    test_uncertain_fallback_to_safe_zone()
+    test_tracker_two_objects_ids_and_stats()
+    test_tracker_slot_dedup_same_object()
+    test_noise_measurement_rejected()
+    test_merge_overlapping_halves()
+    test_shadow_not_detected_as_object()
+    test_flat_phone_via_rgb()
+    print("OK: geometry + stabilizer tests passed")

cv/tracker.py

@@ -0,0 +1,279 @@
+"""Трекинг нескольких объектов в кадре: ID + статистика зон за сессию.
+
+Сопоставление кадр-к-кадру по ближайшему центроиду. На каждый трек —
+свой DecisionStabilizer. LOCK в ленту/MQTT — один раз на товар: после
+фиксации запоминаем «отпечаток» (центр+габариты); если depth кратковременно
+пропал и объект нашёлся снова рядом — трек возрождается без нового LOCK.
+"""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+from typing import Callable, Dict, List, Optional, Sequence, Tuple
+
+from classify import ClassificationResult
+from measure import ObjectMeasurement
+from stabilize import DecisionStabilizer, StableDecision
+
+
+@dataclass
+class Track:
+    track_id: int
+    stabilizer: DecisionStabilizer
+    centroid: Tuple[int, int]
+    miss: int = 0
+    counted_zone: Optional[str] = None
+    counted_uncertain: bool = False
+    measurement: Optional[ObjectMeasurement] = None
+    decision: Optional[StableDecision] = None
+    reported: bool = False  # уже ушёл в ленту — повторно не пишем
+    frozen: Optional[StableDecision] = None  # снимок первого LOCK (для возрождения)
+
+
+@dataclass
+class LockEvent:
+    track_id: int
+    decision: StableDecision
+
+
+@dataclass
+class _Fingerprint:
+    """Товар уже зафиксирован — не считаем повторно при перезахвате."""
+    track_id: int
+    cx: int
+    cy: int
+    length_mm: float
+    width_mm: float
+    height_mm: float
+    zone: str
+    uncertain: bool
+    result: ClassificationResult
+    age: int = 0  # кадров без детекции
+
+
+def slot_key(cx: int, cy: int, L: float, W: float, H: float, zone: str) -> str:
+    """Стабильный ключ товара на ленте — один физический предмет = одна запись."""
+    a = sorted((L, W, H))
+    return f"{cx // 35}_{cy // 35}_{int(a[0] // 12)}_{int(a[1] // 12)}_{int(a[2] // 8)}_{zone}"
+
+
+class MultiObjectTracker:
+    def __init__(
+        self,
+        stabilizer_factory: Callable[[], DecisionStabilizer],
+        max_dist_px: int = 120,
+        lost_frames: int = 12,
+        fingerprint_ttl: int = 450,  # ~15–20 с помнить «уже учтён»
+    ) -> None:
+        self._factory = stabilizer_factory
+        self.max_dist_px = int(max_dist_px)
+        self.lost_frames = int(lost_frames)
+        self.fingerprint_ttl = int(fingerprint_ttl)
+        self._tracks: Dict[int, Track] = {}
+        self._fps: List[_Fingerprint] = []
+        self._seen_slots: Dict[str, _Fingerprint] = {}  # уже учтённые товары (позиция+габариты)
+        self._next_id = 1
+        self.stats: Dict[str, int] = {"B": 0, "C": 0, "D": 0, "total": 0, "uncertain": 0}
+
+    def reset(self) -> None:
+        self._tracks.clear()
+        self._fps.clear()
+
+    def update(
+        self,
+        measurements: List[ObjectMeasurement],
+        min_mm: Sequence[float] = (10, 10, 10),
+        max_mm: Sequence[float] = (450, 320, 320),
+    ) -> Tuple[List[Track], List[LockEvent]]:
+        free_meas = list(range(len(measurements)))
+        assigned: Dict[int, int] = {}
+        pairs = []
+        for tid, tr in self._tracks.items():
+            for mi in free_meas:
+                m = measurements[mi]
+                d2 = (tr.centroid[0] - m.centroid_px[0]) ** 2 + (tr.centroid[1] - m.centroid_px[1]) ** 2
+                pairs.append((d2, tid, mi))
+        for d2, tid, mi in sorted(pairs):
+            if tid in assigned or mi not in free_meas:
+                continue
+            if d2 > self.max_dist_px**2:
+                continue
+            assigned[tid] = mi
+            free_meas.remove(mi)
+
+        events: List[LockEvent] = []
+
+        for tid in list(self._tracks.keys()):
+            tr = self._tracks[tid]
+            # залоченный трек держим дольше — глянец даёт короткие выпадения depth
+            kill_after = self.lost_frames * 3 if tr.counted_zone is not None else self.lost_frames
+            if tid in assigned:
+                m = measurements[assigned[tid]]
+                tr.centroid = m.centroid_px
+                tr.miss = 0
+                tr.measurement = m
+                tr.decision = tr.stabilizer.update(m, min_mm=min_mm, max_mm=max_mm)
+                # после возрождения стабилизатор ещё «холодный» — держим прошлый LOCK на экране
+                if tr.reported and tr.frozen is not None and not (tr.decision and tr.decision.locked):
+                    tr.decision = tr.frozen
+                self._account(tr, events)
+                if tr.reported:
+                    self._touch_fp(tr)
+            else:
+                tr.miss += 1
+                tr.measurement = None
+                tr.decision = tr.stabilizer.update(None, min_mm=min_mm, max_mm=max_mm)
+                if tr.reported and tr.frozen is not None and not (tr.decision and tr.decision.locked):
+                    tr.decision = tr.frozen
+                if tr.miss >= kill_after:
+                    if tr.reported and tr.frozen is not None and tr.frozen.result is not None:
+                        self._remember(tr)
+                    del self._tracks[tid]
+
+        # старение отпечатков
+        for fp in self._fps:
+            fp.age += 1
+        self._fps = [fp for fp in self._fps if fp.age < self.fingerprint_ttl]
+
+        for mi in free_meas:
+            m = measurements[mi]
+            fp = self._match_fp(m)
+            if fp is not None:
+                # тот же товар вернулся после выпадения depth — без нового LOCK
+                fp.age = 0
+                fp.cx, fp.cy = m.centroid_px
+                frozen = StableDecision(
+                    fp.result, True, 100, fp.result.circle_ratio, True, uncertain=fp.uncertain,
+                )
+                tr = Track(
+                    track_id=fp.track_id,
+                    stabilizer=self._factory(),
+                    centroid=m.centroid_px,
+                    measurement=m,
+                    counted_zone=fp.zone,
+                    counted_uncertain=fp.uncertain,
+                    reported=True,
+                    frozen=frozen,
+                    decision=frozen,
+                )
+                self._tracks[tr.track_id] = tr
+                self._fps = [x for x in self._fps if x.track_id != fp.track_id]
+                continue
+
+            tr = Track(
+                track_id=self._next_id,
+                stabilizer=self._factory(),
+                centroid=m.centroid_px,
+                measurement=m,
+            )
+            self._next_id += 1
+            tr.decision = tr.stabilizer.update(m, min_mm=min_mm, max_mm=max_mm)
+            self._tracks[tr.track_id] = tr
+            self._account(tr, events)
+
+        alive = sorted(self._tracks.values(), key=lambda t: t.track_id)
+        return [t for t in alive if t.measurement is not None or t.miss < (
+            self.lost_frames * 3 if t.counted_zone else self.lost_frames
+        )], events
+
+    def _account(self, tr: Track, events: List[LockEvent]) -> None:
+        d = tr.decision
+        if d is None or not d.locked or d.result is None:
+            return
+        zone = d.result.category.zone
+        L, W, H = d.result.dims_sorted_mm
+        sk = slot_key(tr.centroid[0], tr.centroid[1], L, W, H, zone)
+        if tr.counted_zone is None:
+            if sk in self._seen_slots:
+                # тот же товар уже был в ленте/статистике — только показываем на экране
+                prev = self._seen_slots[sk]
+                tr.counted_zone = prev.zone
+                tr.counted_uncertain = prev.uncertain
+                tr.frozen = StableDecision(
+                    prev.result, True, 100, prev.result.circle_ratio, True, uncertain=prev.uncertain,
+                )
+                tr.reported = True
+                tr.decision = tr.frozen
+                return
+            self.stats[zone] = self.stats.get(zone, 0) + 1
+            self.stats["total"] += 1
+            if d.uncertain:
+                self.stats["uncertain"] += 1
+            tr.counted_zone = zone
+            tr.counted_uncertain = d.uncertain
+            tr.frozen = StableDecision(
+                d.result, True, 100, d.result.circle_ratio, True, uncertain=d.uncertain,
+            )
+            self._seen_slots[sk] = _Fingerprint(
+                track_id=tr.track_id,
+                cx=tr.centroid[0],
+                cy=tr.centroid[1],
+                length_mm=float(L),
+                width_mm=float(W),
+                height_mm=float(H),
+                zone=zone,
+                uncertain=d.uncertain,
+                result=d.result,
+            )
+            if not tr.reported:
+                tr.reported = True
+                events.append(LockEvent(tr.track_id, tr.frozen))
+        elif tr.counted_zone != zone:
+            # смена зоны на экране/в счётчиках — в ленту повторно не пишем
+            self.stats[tr.counted_zone] = max(0, self.stats.get(tr.counted_zone, 0) - 1)
+            self.stats[zone] = self.stats.get(zone, 0) + 1
+            if tr.counted_uncertain and not d.uncertain:
+                self.stats["uncertain"] = max(0, self.stats["uncertain"] - 1)
+                tr.counted_uncertain = d.uncertain
+            tr.counted_zone = zone
+            tr.frozen = StableDecision(
+                d.result, True, 100, d.result.circle_ratio, True, uncertain=d.uncertain,
+            )
+
+    def _remember(self, tr: Track) -> None:
+        assert tr.frozen is not None and tr.frozen.result is not None
+        r = tr.frozen.result
+        L, W, H = r.dims_sorted_mm
+        self._fps = [fp for fp in self._fps if fp.track_id != tr.track_id]
+        self._fps.append(
+            _Fingerprint(
+                track_id=tr.track_id,
+                cx=tr.centroid[0],
+                cy=tr.centroid[1],
+                length_mm=float(L),
+                width_mm=float(W),
+                height_mm=float(H),
+                zone=tr.counted_zone or r.category.zone,
+                uncertain=tr.counted_uncertain,
+                result=r,
+                age=0,
+            )
+        )
+
+    def _touch_fp(self, tr: Track) -> None:
+        for fp in self._fps:
+            if fp.track_id == tr.track_id:
+                fp.age = 0
+                fp.cx, fp.cy = tr.centroid
+
+    def _match_fp(self, m: ObjectMeasurement) -> Optional[_Fingerprint]:
+        best: Optional[_Fingerprint] = None
+        best_d2 = self.max_dist_px**2
+        for fp in self._fps:
+            d2 = (fp.cx - m.centroid_px[0]) ** 2 + (fp.cy - m.centroid_px[1]) ** 2
+            if d2 > best_d2:
+                continue
+            if not _dims_close(fp.length_mm, fp.width_mm, fp.height_mm, m.length_mm, m.width_mm, m.height_mm):
+                continue
+            best, best_d2 = fp, d2
+        return best
+
+
+def _dims_close(L0: float, W0: float, H0: float, L1: float, W1: float, H1: float, tol: float = 0.40) -> bool:
+    """Габариты «похожи» (порядок осей уже отсортирован в classify, здесь — сырые L×W×H)."""
+    a = sorted((L0, W0, H0))
+    b = sorted((L1, W1, H1))
+    for x, y in zip(a, b):
+        if abs(x - y) / max(x, y, 1.0) > tol:
+            return False
+    return True

docker-compose.server.yml

@@ -0,0 +1,6 @@
+services:
+  web:
+    build: .
+    ports:
+      - "127.0.0.1:3100:80"
+    restart: unless-stopped

docs/ENGINEERING.md

@@ -0,0 +1,83 @@
+# Engineering notes (canonical)
+
+Companion to `README.md` and `/documentation`. Not a stage changelog.
+
+## Coordinate conventions
+
+- World units: **1 unit = 1 meter**.
+- Belt travel primarily along **+X**; belt top Y ≈ **0.70 m**.
+- Lateral: **+Z** = physical LEFT (category C), **−Z** = physical RIGHT (category D).
+- Sorter CAD module origin X = `0`; camera module `−2.01`; clean module `−4.02`.
+- Longitudinal plane S for diverter timing is world X along the sorter module.
+
+## Canonical constants (code)
+
+| Symbol | Value | File |
+|---|---|---|
+| `DIVERTER_LEFT_SIGNED_DEG` | −45 | `src/domain/pusherMotion.ts` |
+| `DIVERTER_RIGHT_SIGNED_DEG` | +45 | same |
+| `rotationDurationSec()` | 0.50 | same (45° / 90°/s) |
+| `OPENING_SAFETY_MARGIN_SEC` | 0.15 | same |
+| Contact / clear planes | ≈1.0538 / 1.6000 | `buildDiverterPlanes` + mount hinge |
+| Classifier min/max | exclusive 10³ / 450×320×320 | `src/domain/classifier.ts` |
+| Roundness | K > 0.8 | same |
+| `CONVEYOR_CAD_URL` | `/models/sorter/conveyor-clean.glb` | `ConveyorCadModel.tsx` |
+
+## Active source tree (runtime)
+
+```
+src/main.tsx
+src/App.tsx
+src/pages/{MainPage,DocumentationPage}.tsx
+src/components/{AppNav,SorterScene,CVInspectionOverlay,BuildIdentityBadge}.tsx
+src/components/ThreeD/* (active twin only)
+src/domain/* (classifier, playback, layout, diverter, physics helpers)
+src/data/{items,modelAssets,resolveItem,productionStatusSummary,demoPlaylist,scenarios}.ts
+src/styles.css
+```
+
+## Asset provenance
+
+| Role | Path |
+|---|---|
+| Author CAD | `3d_models/conveer.FCStd` |
+| Runtime conveyor | `public/models/sorter/conveyor-clean.glb` |
+| Products | `public/models/*.stl` from official STL ZIP |
+| Classifier PDF | `official_sources/doc-1783095831.pdf` |
+| Workspace / scoring PDFs | `input_info/doc-1783009942.pdf`, `doc-1783011400.pdf` |
+
+## Physics roadmap (not completed)
+
+1. Surface-velocity belt at 1 m/s with visual loop.
+2. Contact-validated CAD diverter deflection for all playlist SKUs.
+3. Calibrated per-SKU mass, COM, friction, damping.
+4. Receiver capture verification under dynamic drops.
+
+CCD for light/thin items exists in runtime/sim; that alone is **not** full contact validation.
+
+## Compliance evidence rules
+
+- Prefer present official files under `input_info/` and `official_sources/doc-1783095831.pdf`.
+- Missing: `input_info/extracted/Постановка_Задача_3_сжато_2.pdf` — never claim it is available.
+- Internal engineering criteria are not automatic Ozon pass/fail.
+
+## Соответствие подтверждённым требованиям
+
+Grounded only in present sources + current `main` code/tests (not a full official scorecard):
+
+| Area | Official source present | Current implementation | Evidence | Status |
+|---|---|---|---|---|
+| B/C/D bounds & roundness | `official_sources/doc-1783095831.pdf` | web `classifier.ts`, CV `cv/classify.py` | unit tests | PARTIAL (PDF not re-parsed each pass) |
+| Digital twin demo | workspace PDFs in `input_info/` | `/` + `/documentation` | e2e smoke/routes, production | PASS (demo present) |
+| CAD conveyor | author pack / STL references | `3d_models/`, `conveyor-clean.glb` | checksums in README | PASS (assets present) |
+| Real measurement CV | Track 3 camera intent in briefs | `cv/` RealSense+OpenCV | `cv/README.md`, `test_classify.py` | PARTIAL (prototype, not live web) |
+| Physical industrial line | scoring/workspace PDFs | web physics + optional MQTT CV | code; contact not fully validated | PARTIAL |
+| Presentation / video | platform rules | cloud links | README §17 | NOT_VERIFIED (links missing) |
+
+## Real CV prototype
+
+Path `cv/` — OpenCV + RealSense D415 depth pipeline. Same B/C/D domain as the web twin. **Not** consumed by https://arhipovdan.ru. Details: `cv/README.md`.
+
+## Layout drawing
+
+`docs/engineering/work-area-layout-source.png` — workspace layout provenance image retained for engineering reference.

e2e/helpers.ts

@@ -0,0 +1,55 @@
+/** Shared e2e helpers — Stage 2B autostart means / opens already running. */
+import { expect, type Page } from '@playwright/test';
+
+/** Close the Demo Complete overlay if it is covering the controls. */
+export async function dismissFinished(page: Page) {
+  const finished = page.getByTestId('demo-finished');
+  if (await finished.isVisible().catch(() => false)) {
+    await finished.getByRole('button', { name: /Replay/i }).click({ force: true });
+    await expect(finished).toHaveCount(0, { timeout: 10_000 });
+  }
+}
+
+/** Ensure playback is running (noop if already on Pause button). */
+export async function ensureRunning(page: Page) {
+  await dismissFinished(page);
+  const pause = page.getByTestId('demo-pause');
+  if (await pause.isVisible().catch(() => false)) return;
+  const play = page.getByTestId('demo-play');
+  await expect(play.or(pause)).toBeVisible({ timeout: 15_000 });
+  if (await play.isVisible().catch(() => false)) {
+    await play.click({ force: true });
+  }
+  await expect(page.getByTestId('demo-pause')).toBeVisible({ timeout: 10_000 });
+}
+
+export async function ensurePaused(page: Page) {
+  await dismissFinished(page);
+  const play = page.getByTestId('demo-play');
+  if (await play.isVisible().catch(() => false)) return;
+  await page.getByTestId('demo-pause').click({ force: true });
+  await expect(page.getByTestId('demo-play')).toBeVisible({ timeout: 10_000 });
+}
+
+/** Assert either Play or Pause control is present (autostart-safe). */
+export async function expectPlaybackControl(page: Page) {
+  await expect(
+    page.getByTestId('demo-play').or(page.getByTestId('demo-pause')),
+  ).toBeVisible({ timeout: 15_000 });
+}
+
+/**
+ * Open debug demo, pause, then seek to a case WHILE paused (seek preserves
+ * paused status — unlike seek from idle which auto-starts).
+ */
+export async function openPausedCase(page: Page, caseIndex: number, speed: '0.5' | '1' | '1.5' | '2' = '1') {
+  await page.goto('/?debug=1');
+  await expect(page.locator('canvas')).toBeVisible({ timeout: 60_000 });
+  await expect(page.getByTestId('demo-hud')).toBeVisible();
+  await ensurePaused(page);
+  await page.getByTestId(`demo-speed-${speed}`).click();
+  await page.getByTestId(`demo-case-${caseIndex}`).click();
+  await dismissFinished(page);
+  await ensurePaused(page);
+  await expect(page.getByTestId('demo-case-label')).toHaveText(`${caseIndex + 1}/12`);
+}

e2e/routes.spec.ts

@@ -0,0 +1,33 @@
+import { test, expect } from '@playwright/test';
+
+test.describe('routes', () => {
+  test('two-page UI: simulation, documentation, unknown redirect', async ({ page }) => {
+    await page.goto('/');
+    await expect(page).toHaveURL(/\/$/);
+    await expect(page.getByTestId('app-nav').first()).toBeVisible({ timeout: 30_000 });
+    await expect(page.getByTestId('nav-simulation').first()).toHaveClass(/active/);
+
+    await page.getByTestId('nav-documentation').first().click();
+    await expect(page).toHaveURL(/\/documentation\/?$/);
+    await expect(page.getByTestId('documentation-page')).toBeVisible();
+    await expect(page.getByTestId('docs-production-status')).toContainText('DATA_ACQUISITION_PACK_READY');
+    await expect(page.getByTestId('nav-documentation').first()).toHaveClass(/active/);
+
+    await page.reload();
+    await expect(page).toHaveURL(/\/documentation\/?$/);
+    await expect(page.getByTestId('documentation-page')).toBeVisible();
+
+    await page.getByTestId('nav-simulation').first().click();
+    await expect(page).toHaveURL(/\/$/);
+    await expect(page.getByTestId('demo-hud')).toBeVisible({ timeout: 60_000 });
+
+    await page.goto('/details');
+    await expect(page).toHaveURL(/\/$/);
+
+    await page.goto('/device-test');
+    await expect(page).toHaveURL(/\/$/);
+
+    await page.goto('/old-route');
+    await expect(page).toHaveURL(/\/$/);
+  });
+});

e2e/smoke.spec.ts

@@ -0,0 +1,31 @@
+import { test, expect } from '@playwright/test';
+import { ensureRunning, expectPlaybackControl } from './helpers';
+
+test.describe('smoke', () => {
+  test('home opens, canvas loads, play works', async ({ page }) => {
+    const pageErrors: Error[] = [];
+    page.on('pageerror', (err) => pageErrors.push(err));
+
+    await page.goto('/');
+
+    const loading = page.locator('.three-loading');
+    const canvas = page.locator('canvas');
+    await expect(loading.or(canvas).first()).toBeVisible({ timeout: 30_000 });
+    await expect(canvas).toBeVisible({ timeout: 60_000 });
+
+    await expect(page.getByTestId('demo-hud')).toBeVisible();
+    // Stage 2B: demo autostarts — Pause is present immediately; Play after pause.
+    await expectPlaybackControl(page);
+    await ensureRunning(page);
+    await expect(page.getByTestId('demo-status')).not.toHaveText('FINISHED');
+
+    const finished = page.getByTestId('demo-finished');
+    if (await finished.isVisible().catch(() => false)) {
+      await page.getByTestId('demo-play').click();
+      await expect(finished).toBeHidden({ timeout: 10_000 });
+      await expect(page.getByTestId('demo-pause')).toBeVisible({ timeout: 10_000 });
+    }
+
+    expect(pageErrors, `pageerrors: ${pageErrors.map((e) => e.message).join('; ')}`).toEqual([]);
+  });
+});

index.html

@@ -0,0 +1,14 @@
+<!doctype html>
+<html lang="en">
+  <head>
+    <meta charset="UTF-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <meta name="theme-color" content="#070b12" />
+    <link rel="icon" href="data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 16 16'%3E%3Crect width='16' height='16' rx='3' fill='%230b1220'/%3E%3Crect x='3' y='7' width='10' height='2' fill='%233b82f6'/%3E%3C/svg%3E" />
+    <title>OZON Tech Sorter Simulation</title>
+  </head>
+  <body>
+    <div id="root"></div>
+    <script type="module" src="/src/main.tsx"></script>
+  </body>
+</html>

nginx.conf

@@ -0,0 +1,56 @@
+server {
+    listen 80;
+    server_name localhost;
+    root /usr/share/nginx/html;
+    index index.html;
+
+    # Keep default MIME map (html/js/css). Do NOT put a server-level `types {}`
+    # here — it replaces mime.types and forces downloads (octet-stream + nosniff).
+    include /etc/nginx/mime.types;
+    default_type application/octet-stream;
+
+    # Security headers (Stage 2B §24.3)
+    add_header X-Content-Type-Options "nosniff" always;
+    add_header X-Frame-Options "DENY" always;
+    add_header Referrer-Policy "strict-origin-when-cross-origin" always;
+    add_header Permissions-Policy "camera=(), microphone=(), geolocation=()" always;
+
+    # gzip for text payloads (GLB/STL are already compressed/binary)
+    gzip on;
+    gzip_vary on;
+    gzip_min_length 1024;
+    gzip_comp_level 6;
+    gzip_types text/plain text/css application/json application/javascript text/javascript image/svg+xml;
+
+    location = /version.json {
+        add_header Cache-Control "no-store, no-cache, must-revalidate";
+        add_header X-Content-Type-Options "nosniff" always;
+        try_files $uri =404;
+    }
+
+    location / {
+        try_files $uri $uri/ /index.html;
+    }
+
+    location /assets/ {
+        expires 1y;
+        add_header Cache-Control "public, immutable";
+    }
+
+    # 3D models only — scoped types override (does not wipe html/js MIME)
+    location /models/ {
+        types {
+            model/gltf-binary glb;
+            model/stl stl;
+            application/octet-stream bin;
+        }
+        default_type application/octet-stream;
+        expires 1y;
+        add_header Cache-Control "public, immutable";
+    }
+
+    location /draco/ {
+        expires 1y;
+        add_header Cache-Control "public, immutable";
+    }
+}

package.json

@@ -0,0 +1,37 @@
+{
+  "name": "ozon-tech-sorter-simulation",
+  "version": "0.1.0",
+  "private": true,
+  "type": "module",
+  "scripts": {
+    "dev": "vite --host 127.0.0.1 --port 3100",
+    "build": "tsc -b && vite build",
+    "preview": "vite preview --host 127.0.0.1 --port 3100",
+    "test": "vitest run --config vitest.config.ts",
+    "test:e2e": "playwright test",
+    "test:e2e:headed": "playwright test --headed"
+  },
+  "dependencies": {
+    "@dimforge/rapier3d-compat": "^0.19.3",
+    "@react-three/drei": "^10.7.7",
+    "@react-three/fiber": "^9.6.1",
+    "@react-three/postprocessing": "^3.0.4",
+    "@react-three/rapier": "^2.2.0",
+    "@vitejs/plugin-react": "latest",
+    "postprocessing": "^6.39.4",
+    "react": "latest",
+    "react-dom": "latest",
+    "react-router-dom": "^7.18.1",
+    "three": "^0.185.1",
+    "typescript": "latest",
+    "vite": "latest"
+  },
+  "devDependencies": {
+    "@playwright/test": "^1.61.1",
+    "@types/node": "^26.1.0",
+    "@types/react": "^19.2.17",
+    "@types/react-dom": "^19.2.3",
+    "@types/three": "^0.185.0",
+    "vitest": "^4.1.9"
+  }
+}

playwright.config.ts

@@ -0,0 +1,42 @@
+import { defineConfig, devices } from '@playwright/test';
+
+const baseURL = process.env.PLAYWRIGHT_BASE_URL ?? 'http://127.0.0.1:3101';
+const startServer = process.env.PLAYWRIGHT_START_SERVER === '1';
+
+export default defineConfig({
+  testDir: './e2e',
+  fullyParallel: false,
+  workers: 1,
+  retries: 1,
+  forbidOnly: !!process.env.CI,
+  reporter: [['list'], ['html', { open: 'never' }]],
+  use: {
+    baseURL,
+    trace: 'on-first-retry',
+    screenshot: 'only-on-failure',
+    viewport: { width: 1280, height: 720 },
+  },
+  expect: {
+    toHaveScreenshot: {
+      // Soft thresholds — WebGL/fonts can vary slightly across environments
+      threshold: 0.35,
+      maxDiffPixelRatio: 0.08,
+    },
+  },
+  projects: [
+    {
+      name: 'chromium',
+      use: { ...devices['Desktop Chrome'] },
+    },
+  ],
+  // Keep visual/e2e deterministic on one worker (CI + local)
+  // Production smoke is excluded via package.json --grep-invert @production
+  webServer: startServer
+    ? {
+        command: 'npm run preview -- --host 127.0.0.1 --port 3101',
+        url: baseURL,
+        reuseExistingServer: !process.env.CI,
+        timeout: 120_000,
+      }
+    : undefined,
+});

public/draco/README.md

@@ -0,0 +1,31 @@
+# Draco 3D Data Compression
+
+Draco is an open-source library for compressing and decompressing 3D geometric meshes and point clouds. It is intended to improve the storage and transmission of 3D graphics.
+
+[Website](https://google.github.io/draco/) | [GitHub](https://github.com/google/draco)
+
+## Contents
+
+This folder contains three utilities:
+
+* `draco_decoder.js` — Emscripten-compiled decoder, compatible with any modern browser.
+* `draco_decoder.wasm` — WebAssembly decoder, compatible with newer browsers and devices.
+* `draco_wasm_wrapper.js` — JavaScript wrapper for the WASM decoder.
+
+Each file is provided in two variations:
+
+* **Default:** Latest stable builds, tracking the project's [master branch](https://github.com/google/draco).
+* **glTF:** Builds targeted by the [glTF mesh compression extension](https://github.com/KhronosGroup/glTF/tree/master/extensions/2.0/Khronos/KHR_draco_mesh_compression), tracking the [corresponding Draco branch](https://github.com/google/draco/tree/gltf_2.0_draco_extension).
+
+Either variation may be used with `DRACOLoader`:
+
+```js
+var dracoLoader = new DRACOLoader();
+dracoLoader.setDecoderPath('path/to/decoders/');
+```
+
+Further [documentation on GitHub](https://github.com/google/draco/tree/master/javascript/example#static-loading-javascript-decoder).
+
+## License
+
+[Apache License 2.0](https://github.com/google/draco/blob/master/LICENSE)

public/draco/draco_wasm_wrapper.js

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+function(b,c){var d=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);return B(qc(d,b,c),T)};m.prototype.GetFaceFromMesh=m.prototype.GetFaceFromMesh=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!rc(g,b,c,d)};m.prototype.GetTriangleStripsFromMesh=m.prototype.GetTriangleStripsFromMesh=function(b,c){var d=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);
+return sc(d,b,c)};m.prototype.GetTrianglesUInt16Array=m.prototype.GetTrianglesUInt16Array=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!tc(g,b,c,d)};m.prototype.GetTrianglesUInt32Array=m.prototype.GetTrianglesUInt32Array=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!uc(g,b,c,d)};m.prototype.GetAttributeFloat=m.prototype.GetAttributeFloat=
+function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!vc(g,b,c,d)};m.prototype.GetAttributeFloatForAllPoints=m.prototype.GetAttributeFloatForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!wc(g,b,c,d)};m.prototype.GetAttributeIntForAllPoints=m.prototype.GetAttributeIntForAllPoints=function(b,c,d){var g=this.ptr;
+b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!xc(g,b,c,d)};m.prototype.GetAttributeInt8ForAllPoints=m.prototype.GetAttributeInt8ForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!yc(g,b,c,d)};m.prototype.GetAttributeUInt8ForAllPoints=m.prototype.GetAttributeUInt8ForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=
+b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!zc(g,b,c,d)};m.prototype.GetAttributeInt16ForAllPoints=m.prototype.GetAttributeInt16ForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!Ac(g,b,c,d)};m.prototype.GetAttributeUInt16ForAllPoints=m.prototype.GetAttributeUInt16ForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&
+(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!Bc(g,b,c,d)};m.prototype.GetAttributeInt32ForAllPoints=m.prototype.GetAttributeInt32ForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!Cc(g,b,c,d)};m.prototype.GetAttributeUInt32ForAllPoints=m.prototype.GetAttributeUInt32ForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===
+typeof d&&(d=d.ptr);return!!Dc(g,b,c,d)};m.prototype.GetAttributeDataArrayForAllPoints=m.prototype.GetAttributeDataArrayForAllPoints=function(b,c,d,g,t){var aa=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);g&&"object"===typeof g&&(g=g.ptr);t&&"object"===typeof t&&(t=t.ptr);return!!Ec(aa,b,c,d,g,t)};m.prototype.SkipAttributeTransform=m.prototype.SkipAttributeTransform=function(b){var c=this.ptr;b&&"object"===typeof b&&(b=b.ptr);Fc(c,
+b)};m.prototype.GetEncodedGeometryType_Deprecated=m.prototype.GetEncodedGeometryType_Deprecated=function(b){var c=this.ptr;b&&"object"===typeof b&&(b=b.ptr);return Gc(c,b)};m.prototype.DecodeBufferToPointCloud=m.prototype.DecodeBufferToPointCloud=function(b,c){var d=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);return B(Hc(d,b,c),C)};m.prototype.DecodeBufferToMesh=m.prototype.DecodeBufferToMesh=function(b,c){var d=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===
+typeof c&&(c=c.ptr);return B(Ic(d,b,c),C)};m.prototype.__destroy__=m.prototype.__destroy__=function(){Jc(this.ptr)};(function(){function b(){a.ATTRIBUTE_INVALID_TRANSFORM=Kc();a.ATTRIBUTE_NO_TRANSFORM=Lc();a.ATTRIBUTE_QUANTIZATION_TRANSFORM=Mc();a.ATTRIBUTE_OCTAHEDRON_TRANSFORM=Nc();a.INVALID=Oc();a.POSITION=Pc();a.NORMAL=Qc();a.COLOR=Rc();a.TEX_COORD=Sc();a.GENERIC=Tc();a.INVALID_GEOMETRY_TYPE=Uc();a.POINT_CLOUD=Vc();a.TRIANGULAR_MESH=Wc();a.DT_INVALID=Xc();a.DT_INT8=Yc();a.DT_UINT8=Zc();a.DT_INT16=
+$c();a.DT_UINT16=ad();a.DT_INT32=bd();a.DT_UINT32=cd();a.DT_INT64=dd();a.DT_UINT64=ed();a.DT_FLOAT32=fd();a.DT_FLOAT64=gd();a.DT_BOOL=hd();a.DT_TYPES_COUNT=id();a.OK=jd();a.DRACO_ERROR=kd();a.IO_ERROR=ld();a.INVALID_PARAMETER=md();a.UNSUPPORTED_VERSION=nd();a.UNKNOWN_VERSION=od()}va?b():oa.unshift(b)})();if("function"===typeof a.onModuleParsed)a.onModuleParsed();a.Decoder.prototype.GetEncodedGeometryType=function(b){if(b.__class__&&b.__class__===a.DecoderBuffer)return a.Decoder.prototype.GetEncodedGeometryType_Deprecated(b);
+if(8>b.byteLength)return a.INVALID_GEOMETRY_TYPE;switch(b[7]){case 0:return a.POINT_CLOUD;case 1:return a.TRIANGULAR_MESH;default:return a.INVALID_GEOMETRY_TYPE}};return n.ready}}();"object"===typeof exports&&"object"===typeof module?module.exports=DracoDecoderModule:"function"===typeof define&&define.amd?define([],function(){return DracoDecoderModule}):"object"===typeof exports&&(exports.DracoDecoderModule=DracoDecoderModule);

src/App.tsx

@@ -0,0 +1,131 @@
+import { useEffect, useRef, useState, useCallback } from 'react';
+import { BrowserRouter, Routes, Route, Navigate } from 'react-router-dom';
+import MainPage from './pages/MainPage';
+import DocumentationPage from './pages/DocumentationPage';
+import {
+  createPlaybackState,
+  startPlayback,
+  pausePlayback,
+  resumePlayback,
+  stopPlayback,
+  updatePlayback,
+  seekToCase,
+  seekNextCase,
+  seekPrevCase,
+  setPlaybackSpeed,
+  type ContinuousPlaybackState,
+  type PlaybackSpeed,
+} from './domain/continuousPlayback';
+
+function AppContent() {
+  const [playback, setPlayback] = useState<ContinuousPlaybackState>(() => createPlaybackState());
+
+  const playbackRafRef = useRef<number | null>(null);
+  const playbackLastRef = useRef(performance.now());
+  const PLAYBACK_INTERVAL = 50;
+
+  // Public page autostarts the sorter loop; ?playback=paused keeps it idle
+  // (used by screenshot/debug tooling). First item is gated in the 3D scene
+  // until PRODUCT_ASSETS_READY (see SorterDigitalTwinContinuous).
+  useEffect(() => {
+    const params = new URLSearchParams(window.location.search);
+    if (params.get('playback') === 'paused') return;
+    setPlayback((prev) => (prev.status === 'idle' ? startPlayback(prev) : prev));
+    // eslint-disable-next-line react-hooks/exhaustive-deps
+  }, []);
+
+  useEffect(() => {
+    if (playback.status !== 'running') {
+      if (playbackRafRef.current) {
+        cancelAnimationFrame(playbackRafRef.current);
+        playbackRafRef.current = null;
+      }
+      return;
+    }
+
+    const tick = () => {
+      const now = performance.now();
+      const deltaMs = now - playbackLastRef.current;
+
+      if (deltaMs >= PLAYBACK_INTERVAL) {
+        playbackLastRef.current = now;
+        setPlayback((prev) => updatePlayback(prev, deltaMs));
+      }
+
+      playbackRafRef.current = requestAnimationFrame(tick);
+    };
+
+    playbackLastRef.current = performance.now();
+    playbackRafRef.current = requestAnimationFrame(tick);
+
+    return () => {
+      if (playbackRafRef.current) {
+        cancelAnimationFrame(playbackRafRef.current);
+        playbackRafRef.current = null;
+      }
+    };
+  }, [playback.status]);
+
+  const handleMainPlay = useCallback(() => {
+    setPlayback((prev) => {
+      if (prev.status === 'paused') {
+        return resumePlayback(prev);
+      }
+      return startPlayback(prev);
+    });
+  }, []);
+
+  const handleMainPause = useCallback(() => {
+    setPlayback((prev) => pausePlayback(prev));
+  }, []);
+
+  const handleMainStop = useCallback(() => {
+    setPlayback(stopPlayback);
+  }, []);
+
+  const handleSeekCase = useCallback((index: number) => {
+    setPlayback((prev) => seekToCase(prev, index));
+  }, []);
+
+  const handleSeekNext = useCallback(() => {
+    setPlayback((prev) => seekNextCase(prev));
+  }, []);
+
+  const handleSeekPrev = useCallback(() => {
+    setPlayback((prev) => seekPrevCase(prev));
+  }, []);
+
+  const handleSetSpeed = useCallback((speed: PlaybackSpeed) => {
+    setPlayback((prev) => setPlaybackSpeed(prev, speed));
+  }, []);
+
+  return (
+    <Routes>
+      <Route
+        path="/"
+        element={
+          <MainPage
+            playback={playback}
+            onPlay={handleMainPlay}
+            onPause={handleMainPause}
+            onStop={handleMainStop}
+            onSeekCase={handleSeekCase}
+            onSeekNext={handleSeekNext}
+            onSeekPrev={handleSeekPrev}
+            onSetSpeed={handleSetSpeed}
+          />
+        }
+      />
+      <Route path="/documentation" element={<DocumentationPage />} />
+      <Route path="*" element={<Navigate to="/" replace />} />
+    </Routes>
+  );
+}
+
+export default function App() {
+  return (
+    <BrowserRouter>
+      <AppContent />
+    </BrowserRouter>
+  );
+}

src/components/AppNav.tsx

@@ -0,0 +1,35 @@
+import { NavLink } from 'react-router-dom';
+
+interface AppNavProps {
+  /** Overlay (desktop sim), bar (mobile full-width), solid (docs header). */
+  variant?: 'overlay' | 'bar' | 'solid';
+}
+
+/**
+ * Product navigation — only Simulation and Documentation.
+ */
+export default function AppNav({ variant = 'solid' }: AppNavProps) {
+  return (
+    <nav
+      className={`app-nav app-nav-${variant}`}
+      aria-label="Основная навигация"
+      data-testid="app-nav"
+    >
+      <NavLink
+        to="/"
+        end
+        className={({ isActive }) => `app-nav-link${isActive ? ' active' : ''}`}
+        data-testid="nav-simulation"
+      >
+        Симуляция
+      </NavLink>
+      <NavLink
+        to="/documentation"
+        className={({ isActive }) => `app-nav-link${isActive ? ' active' : ''}`}
+        data-testid="nav-documentation"
+      >
+        Документация
+      </NavLink>
+    </nav>
+  );
+}

src/components/BuildIdentityBadge.tsx

@@ -0,0 +1,51 @@
+import { useEffect, useState } from 'react';
+
+export interface VersionInfo {
+  commit: string;
+  branch: string;
+  builtAt: string;
+  release: string;
+}
+
+/**
+ * Engineering-only build chip. Hidden in presentation mode.
+ * Visible with ?perf=1 or ?build=1.
+ */
+export default function BuildIdentityBadge() {
+  const [info, setInfo] = useState<VersionInfo | null>(null);
+  const [show, setShow] = useState(false);
+  const [inPresentation, setInPresentation] = useState(false);
+
+  useEffect(() => {
+    const params = new URLSearchParams(window.location.search);
+    setShow(params.get('perf') === '1' || params.get('build') === '1');
+  }, []);
+
+  useEffect(() => {
+    if (!show) return;
+    let cancelled = false;
+    fetch('/version.json', { cache: 'no-store' })
+      .then((r) => (r.ok ? r.json() : null))
+      .then((j) => {
+        if (!cancelled && j?.commit) setInfo(j as VersionInfo);
+      })
+      .catch(() => undefined);
+    const id = window.setInterval(() => {
+      setInPresentation(!!document.querySelector('.presentation-mode'));
+    }, 500);
+    return () => {
+      cancelled = true;
+      window.clearInterval(id);
+    };
+  }, [show]);
+
+  if (!show || !info || inPresentation) return null;
+
+  return (
+    <div className="build-identity" data-testid="build-identity" title={`${info.branch} · ${info.builtAt}`}>
+      <span className="build-identity-label">build</span>
+      <span className="build-identity-commit">{info.commit}</span>
+      <span className="build-identity-release">{info.release}</span>
+    </div>
+  );
+}

src/components/CVInspectionOverlay.tsx

@@ -0,0 +1,227 @@
+/**
+ * CV Inspection Overlay — industrial measurement system monitor.
+ * Shows stepper, laser, stereo camera data and classification results.
+ */
+
+import type { MeasurementData } from '../domain/measurementSystem';
+import { getStageLabel } from '../domain/measurementSystem';
+import { DIMENSION_LIMITS, isCircularCrossSection } from '../domain/classifier';
+
+interface CVInspectionOverlayProps {
+  data: MeasurementData;
+  visible: boolean;
+}
+
+const SHAPE_ICONS: Record<string, string> = {
+  box: '▭',
+  round: '◯',
+  irregular: '◇',
+};
+
+export default function CVInspectionOverlay({ data, visible }: CVInspectionOverlayProps) {
+  if (!visible) return null;
+
+  const {
+    stage,
+    stepCount,
+    mmPerStep,
+    measuredLengthMm,
+    pulseActive,
+    laserDistanceMm,
+    laserMountHeightMm,
+    measuredHeightMm,
+    laserBeamActive,
+    measuredWidthMm,
+    roundnessK,
+    stereoActive,
+    confidence,
+    dimensionsPass,
+    shapeResult,
+    finalCategory,
+    command,
+    cPriorityApplied,
+    isLowConfidence,
+    classificationReason,
+    classificationLabel,
+    itemTitle,
+    itemDimensions,
+  } = data;
+
+  const confidencePercent = Math.round(confidence * 100);
+  const roundnessPercent = Math.round(roundnessK * 100);
+  const stageLabel = getStageLabel(stage);
+  
+  const categoryColors: Record<string, string> = {
+    B: '#22c55e',
+    C: '#f97316',
+    D: '#8b5cf6',
+  };
+
+  const isActive = stage !== 'idle';
+
+  return (
+    <div className="cv-overlay">
+      <div className="cv-header">
+        <span className="cv-icon">⚙</span>
+        <span className="cv-title">MEASUREMENT</span>
+        <span className={`cv-status ${isActive ? 'active' : 'idle'}`}>{stageLabel}</span>
+      </div>
+
+      <div className="cv-body">
+        {/* Item info */}
+        <div className="cv-row cv-item-row">
+          <span className="cv-label">ITEM</span>
+          <span className="cv-value">{itemTitle}</span>
+        </div>
+
+        <div className="cv-divider" />
+
+        {/* Stepper motor section */}
+        <div className="cv-section-header">
+          <span className={`cv-indicator ${pulseActive ? 'pulse' : ''}`}>●</span>
+          STEPPER LENGTH
+        </div>
+        <div className="cv-row cv-compact">
+          <span className="cv-label">Pulses</span>
+          <span className="cv-value cv-mono">
+            {stepCount.toLocaleString()}
+            {pulseActive && <span className="cv-blink"> ↑</span>}
+          </span>
+        </div>
+        <div className="cv-row cv-compact">
+          <span className="cv-label">mm/step</span>
+          <span className="cv-value cv-mono">{mmPerStep.toFixed(3)}</span>
+        </div>
+        <div className="cv-row">
+          <span className="cv-label">Length</span>
+          <span className="cv-value cv-result">{measuredLengthMm} mm</span>
+        </div>
+
+        <div className="cv-divider" />
+
+        {/* Laser rangefinder section */}
+        <div className="cv-section-header">
+          <span className={`cv-indicator ${laserBeamActive ? 'active' : ''}`}>●</span>
+          LASER HEIGHT
+        </div>
+        <div className="cv-row cv-compact">
+          <span className="cv-label">Mount</span>
+          <span className="cv-value cv-mono">{laserMountHeightMm} mm</span>
+        </div>
+        <div className="cv-row cv-compact">
+          <span className="cv-label">Distance</span>
+          <span className="cv-value cv-mono">{laserDistanceMm} mm</span>
+        </div>
+        <div className="cv-row">
+          <span className="cv-label">Height</span>
+          <span className="cv-value cv-result">{measuredHeightMm} mm</span>
+        </div>
+
+        <div className="cv-divider" />
+
+        {/* Stereo camera section */}
+        <div className="cv-section-header">
+          <span className={`cv-indicator ${stereoActive ? 'active' : ''}`}>●</span>
+          STEREO WIDTH/SHAPE
+        </div>
+        <div className="cv-row">
+          <span className="cv-label">Width</span>
+          <span className="cv-value cv-result">{measuredWidthMm} mm</span>
+        </div>
+        <div className="cv-row">
+          <span className="cv-label">Shape</span>
+          <span className="cv-value cv-shape">
+            <span className="shape-icon">{SHAPE_ICONS[shapeResult]}</span>
+            {shapeResult}
+          </span>
+        </div>
+        <div className="cv-row">
+          <span className="cv-label">Roundness</span>
+          <span className={`cv-value ${isCircularCrossSection(roundnessK) ? 'warning' : ''}`}>
+            K = {roundnessK.toFixed(2)} ({roundnessPercent}%)
+            {isCircularCrossSection(roundnessK) && (
+              <span className="cv-flag"> &gt;{DIMENSION_LIMITS.roundnessThreshold}</span>
+            )}
+          </span>
+        </div>
+
+        <div className="cv-divider" />
+
+        {/* Decision section */}
+        <div className="cv-section-header">
+          <span className="cv-indicator">●</span>
+          PLC DECISION
+        </div>
+        <div className="cv-row">
+          <span className="cv-label">Dims</span>
+          <span className={`cv-value ${dimensionsPass ? 'pass' : 'fail'}`}>
+            {dimensionsPass ? 'PASS' : 'FAIL'}
+            <span className="cv-dims-detail">
+              {' '}({itemDimensions.width}×{itemDimensions.depth}×{itemDimensions.height})
+            </span>
+          </span>
+        </div>
+        <div className="cv-row">
+          <span className="cv-label">Confidence</span>
+          <span className={`cv-value ${isLowConfidence ? 'warning' : ''}`}>
+            {confidencePercent}%
+            {isLowConfidence && <span className="cv-flag"> LOW</span>}
+          </span>
+        </div>
+
+        {finalCategory && (
+          <div className="cv-row cv-result-row">
+            <span className="cv-label">CLASS</span>
+            <span 
+              className="cv-value cv-category"
+              style={{ color: categoryColors[finalCategory] }}
+            >
+              {finalCategory}
+              {cPriorityApplied && <span className="cv-priority"> (C priority)</span>}
+            </span>
+          </div>
+        )}
+
+        {classificationReason && (
+          <div className="cv-row cv-reason-row">
+            <span className="cv-label">RULE</span>
+            <span className="cv-value cv-reason">
+              {classificationLabel ? `${classificationLabel} — ` : ''}
+              {classificationReason}
+            </span>
+          </div>
+        )}
+
+        <div className="cv-row cv-command-row">
+          <span className="cv-label">CMD</span>
+          <span 
+            className="cv-value cv-command"
+            style={{ color: finalCategory ? categoryColors[finalCategory] : '#64748b' }}
+          >
+            {command}
+          </span>
+        </div>
+
+        {/* Warnings */}
+        {cPriorityApplied && (
+          <div className="cv-warning cv-cpriority">
+            <span className="warning-icon">⚠</span>
+            <span className="warning-text">Dims fail overrides roundness → C</span>
+          </div>
+        )}
+        
+        {isLowConfidence && (
+          <div className="cv-warning">
+            <span className="warning-icon">⚠</span>
+            <span className="warning-text">Low confidence, rule-based fallback</span>
+          </div>
+        )}
+      </div>
+
+      <div className="cv-footer">
+        <span className="cv-live">● LIVE</span>
+        <span className="cv-fps">PLC</span>
+      </div>
+    </div>
+  );
+}

src/components/SorterScene.tsx

@@ -0,0 +1,302 @@
+import type { Category, MachineState, SimulationState } from '../domain/types';
+
+const routeColors: Record<Category, string> = {
+  B: '#4ade80',
+  C: '#f59e0b',
+  D: '#c084fc',
+};
+
+function progressForState(state: MachineState, elapsedMs: number): number {
+  const ratios: Partial<Record<MachineState, [number, number, number]>> = {
+    MOVING_TO_CAMERA: [0.06, 0.34, 1200],
+    DETECTING: [0.34, 0.36, 900],
+    MOVING_TO_GATE: [0.36, 0.64, 1300],
+    WAITING_AT_GATE: [0.64, 0.65, 800],
+    CLASSIFYING: [0.65, 0.66, 700],
+    ROUTE_TO_B: [0.66, 0.93, 1200],
+    ROUTE_TO_C: [0.66, 0.78, 1200],
+    ROUTE_TO_D: [0.66, 0.78, 1200],
+    RETURN_HOME: [0.93, 0.94, 700],
+  };
+  const segment = ratios[state];
+  if (!segment) {
+    return state === 'IDLE' ? 0 : 0.65;
+  }
+  const [from, to, duration] = segment;
+  return from + (to - from) * Math.min(elapsedMs / duration, 1);
+}
+
+function itemPosition(simulation: SimulationState): { x: number; y: number } {
+  const progress = progressForState(simulation.machineState, simulation.elapsedInStateMs);
+  const baseX = 126 + progress * 790;
+  const beltY = 360;
+
+  if (simulation.machineState === 'ROUTE_TO_C') {
+    return { x: baseX, y: beltY + Math.min(simulation.elapsedInStateMs / 1200, 1) * 172 };
+  }
+
+  if (simulation.machineState === 'ROUTE_TO_D') {
+    return { x: baseX, y: beltY - Math.min(simulation.elapsedInStateMs / 1200, 1) * 172 };
+  }
+
+  return { x: baseX, y: beltY };
+}
+
+function DimensionLine({ x1, y1, x2, y2, label }: { x1: number; y1: number; x2: number; y2: number; label: string }) {
+  const labelX = (x1 + x2) / 2;
+  const labelY = (y1 + y2) / 2;
+  return (
+    <g className="dimension-line">
+      <line x1={x1} y1={y1} x2={x2} y2={y2} />
+      <circle cx={x1} cy={y1} r="3" />
+      <circle cx={x2} cy={y2} r="3" />
+      <text x={labelX} y={labelY - 8}>{label}</text>
+    </g>
+  );
+}
+
+function LegendItem({ color, label }: { color: string; label: string }) {
+  return (
+    <g className="legend-item">
+      <rect width="10" height="10" fill={color} rx="2" />
+      <text x="16" y="10">{label}</text>
+    </g>
+  );
+}
+
+interface SorterSceneProps {
+  simulation: SimulationState;
+  variant?: 'full' | 'simple';
+}
+
+export default function SorterScene({ simulation, variant = 'full' }: SorterSceneProps) {
+  const current = simulation.currentItem;
+  const category = current?.classification.category;
+  const color = category ? routeColors[category] : '#38bdf8';
+  const position = itemPosition(simulation);
+  const detecting = simulation.machineState === 'DETECTING';
+  const classifying = simulation.machineState === 'CLASSIFYING' || simulation.machineState === 'WAITING_AT_GATE';
+  const routeVisible = simulation.machineState.startsWith('ROUTE_TO_');
+  const stopped = simulation.machineState === 'FAULT' || simulation.machineState === 'EMERGENCY_STOP';
+  const itemWidth = current ? Math.max(24, Math.min(74, current.item.dimensionsMm.width / 6)) : 56;
+  const itemHeight = current ? Math.max(18, Math.min(58, current.item.dimensionsMm.depth / 5.5)) : 48;
+  const isSimple = variant === 'simple';
+
+  return (
+    <div className={`scene-wrap scene-${variant}`}>
+      {!isSimple ? (
+        <div className="scene-title-row">
+          <div>
+            <p className="eyebrow">Work zone 6000 x 10000 mm / conveyor 500 mm</p>
+            <h2>Engineering layout, sensors and routing commands</h2>
+          </div>
+          <div className={`machine-state-chip ${stopped ? 'fault-chip' : ''}`}>{simulation.machineState}</div>
+        </div>
+      ) : (
+        <div className="scene-simple-header">
+          <p className="eyebrow">Конвейер · камера · classifier · gate · зоны B/C/D</p>
+          <div className={`machine-state-chip ${stopped ? 'fault-chip' : ''}`}>{simulation.machineState}</div>
+        </div>
+      )}
+
+      <svg viewBox="0 0 1120 720" role="img" aria-label="Sorter simulation scene" className="sorter-svg">
+        <defs>
+          <pattern id={`gridMinor-${variant}`} width="24" height="24" patternUnits="userSpaceOnUse">
+            <path d="M 24 0 L 0 0 0 24" fill="none" stroke="#12283b" strokeWidth="1" />
+          </pattern>
+          <pattern id={`gridMajor-${variant}`} width="120" height="120" patternUnits="userSpaceOnUse">
+            <rect width="120" height="120" fill={`url(#gridMinor-${variant})`} />
+            <path d="M 120 0 L 0 0 0 120" fill="none" stroke="#244863" strokeWidth="1.4" />
+          </pattern>
+          {(['B', 'C', 'D'] as Category[]).map((route) => (
+            <marker key={route} id={`arrow${route}-${variant}`} markerWidth="10" markerHeight="10" refX="9" refY="3" orient="auto">
+              <path d="M0,0 L0,6 L9,3 z" fill={routeColors[route]} />
+            </marker>
+          ))}
+        </defs>
+
+        <rect x="24" y="26" width="1072" height="632" rx="12" fill="#07111d" stroke="#244863" />
+        {!isSimple ? (
+          <rect x="64" y="82" width="928" height="520" fill={`url(#gridMajor-${variant})`} opacity="0.9" />
+        ) : null}
+
+        {!isSimple ? (
+          <>
+            <text x="78" y="74" className="scale-label left-label">Scaled plan: 6000 mm x 10000 mm work cell</text>
+            <DimensionLine x1={64} y1={626} x2={992} y2={626} label="6000 mm work zone width" />
+            <DimensionLine x1={1024} y1={82} x2={1024} y2={602} label="10000 mm work zone length" />
+            <DimensionLine x1={92} y1={314} x2={92} y2={406} label="500 mm conveyor" />
+          </>
+        ) : null}
+
+        <g className="zone zone-a">
+          <rect x="88" y="292" width="128" height="136" rx="8" />
+          <text x="152" y={isSimple ? 370 : 282}>{isSimple ? 'A' : 'A feed zone'}</text>
+        </g>
+        <g className={`zone zone-b ${category === 'B' ? 'zone-active' : ''}`}>
+          <rect x="842" y="292" width="136" height="136" rx="8" />
+          <text x="910" y={isSimple ? 370 : 282} className={isSimple ? 'zone-label-large' : undefined}>
+            {isSimple ? 'B' : 'B main sorter'}
+          </text>
+        </g>
+        <g className={`zone zone-d ${category === 'D' ? 'zone-active' : ''}`}>
+          <rect x="642" y="112" width="210" height="124" rx="8" />
+          <text x="747" y={isSimple ? 185 : 102} className={isSimple ? 'zone-label-large' : undefined}>
+            {isSimple ? 'D' : 'D roll-cage 1200 x 800 x 800 mm'}
+          </text>
+        </g>
+        <g className={`zone zone-c ${category === 'C' ? 'zone-active' : ''}`}>
+          <rect x="642" y="486" width="210" height="124" rx="8" />
+          <text x="747" y={isSimple ? 560 : 632} className={isSimple ? 'zone-label-large' : undefined}>
+            {isSimple ? 'C' : 'C roll-cage 1200 x 800 x 800 mm'}
+          </text>
+        </g>
+
+        <rect className={stopped ? 'conveyor stopped' : 'conveyor'} x="106" y="314" width="850" height="92" rx="6" />
+        <line x1="126" y1="360" x2="936" y2="360" className="belt-center" />
+        {!isSimple
+          ? Array.from({ length: 18 }).map((_, index) => (
+              <line key={index} x1={132 + index * 44} y1="324" x2={158 + index * 44} y2="396" className="roller-line" />
+            ))
+          : null}
+
+        <g className={simulation.sensors.camera.active ? 'device active' : 'device'}>
+          <rect x="350" y="218" width="76" height="50" rx="6" />
+          <line x1="388" y1="268" x2="388" y2="314" />
+          <text x="388" y="208">{isSimple ? 'Camera' : 'Camera / bbox'}</text>
+        </g>
+
+        {!isSimple ? (
+          <>
+            <g className={simulation.sensors.laser.active ? 'device active' : 'device'}>
+              <rect x="474" y="218" width="76" height="50" rx="6" />
+              <line x1="512" y1="268" x2="512" y2="314" />
+              <text x="512" y="208">Laser height</text>
+            </g>
+            <g className={simulation.sensors.ultrasound.active ? 'device active' : 'device'}>
+              <circle cx="646" cy="243" r="28" />
+              <line x1="646" y1="271" x2="646" y2="314" />
+              <text x="646" y="208">Ultrasonic gate</text>
+            </g>
+          </>
+        ) : (
+          <g className={classifying || simulation.sensors.ultrasound.active ? 'device active' : 'device'}>
+            <rect x="520" y="218" width="110" height="50" rx="6" />
+            <line x1="575" y1="268" x2="575" y2="314" />
+            <text x="575" y="208">Classifier</text>
+          </g>
+        )}
+
+        <g className={simulation.gate.open ? 'gate open' : 'gate closed'}>
+          <line x1="708" y1="296" x2="708" y2="424" />
+          <text x="746" y="300">{isSimple ? 'Gate' : `Stop-gate ${simulation.gate.open ? 'open' : 'closed'}`}</text>
+        </g>
+
+        {!isSimple ? (
+          <>
+            <g className={`pusher ${simulation.actuators.pusherC}`}>
+              <rect x="625" y="424" width="174" height="34" rx="6" />
+              <text x="712" y="476">Pusher C command</text>
+            </g>
+            <g className={`pusher ${simulation.actuators.pusherD}`}>
+              <rect x="625" y="262" width="174" height="34" rx="6" />
+              <text x="712" y="256">Pusher D command</text>
+            </g>
+          </>
+        ) : null}
+
+        <line
+          x1="706"
+          y1="360"
+          x2="928"
+          y2="360"
+          className={`route-guide route-b ${category === 'B' && routeVisible ? 'route-active' : ''}`}
+          markerEnd={`url(#arrowB-${variant})`}
+        />
+        <line
+          x1="706"
+          y1="376"
+          x2="748"
+          y2="548"
+          className={`route-guide route-c ${category === 'C' && routeVisible ? 'route-active' : ''}`}
+          markerEnd={`url(#arrowC-${variant})`}
+        />
+        <line
+          x1="706"
+          y1="344"
+          x2="748"
+          y2="174"
+          className={`route-guide route-d ${category === 'D' && routeVisible ? 'route-active' : ''}`}
+          markerEnd={`url(#arrowD-${variant})`}
+        />
+
+        {routeVisible && category ? (
+          <g className="route-command">
+            <rect x="788" y="326" width="156" height="34" rx="8" fill={routeColors[category]} />
+            <text x="866" y="348">{simulation.machineState}</text>
+          </g>
+        ) : null}
+
+        {current ? (
+          <g>
+            <rect
+              x={position.x - itemWidth / 2}
+              y={position.y - itemHeight / 2}
+              width={itemWidth}
+              height={itemHeight}
+              rx={current.item.shape.includes('round') || current.item.shape.includes('cylinder') ? Math.min(itemWidth, itemHeight) / 2 : 5}
+              fill={color}
+              opacity="0.92"
+              stroke="#ffffff"
+              strokeWidth="1.4"
+            />
+            <text x={position.x} y={position.y + itemHeight / 2 + 18} className="item-label">
+              {isSimple ? current.item.name : current.item.id}
+            </text>
+            {detecting ? (
+              <g className="bbox">
+                <rect
+                  x={position.x - itemWidth / 2 - 10}
+                  y={position.y - itemHeight / 2 - 10}
+                  width={itemWidth + 20}
+                  height={itemHeight + 20}
+                />
+                {!isSimple ? (
+                  <text x={position.x} y={position.y - itemHeight / 2 - 18}>
+                    bbox {current.item.dimensionsMm.width} x {current.item.dimensionsMm.depth} mm
+                  </text>
+                ) : null}
+              </g>
+            ) : null}
+          </g>
+        ) : null}
+
+        {stopped ? (
+          <g className="fault-overlay">
+            <rect x="610" y="286" width="210" height="148" rx="10" />
+            <text x="715" y="350">{simulation.machineState}</text>
+            <text x="715" y="376">Conveyor stopped, reset required</text>
+          </g>
+        ) : null}
+
+        {!isSimple ? (
+          <g className="scene-legend" transform="translate(78 664)">
+            <LegendItem color="#4ade80" label="B main sorter" />
+            <g transform="translate(140 0)"><LegendItem color="#f59e0b" label="C oversize" /></g>
+            <g transform="translate(270 0)"><LegendItem color="#c084fc" label="D shape / repack" /></g>
+            <g transform="translate(430 0)"><LegendItem color="#38bdf8" label="camera / laser / ultrasonic active" /></g>
+            <g transform="translate(700 0)"><LegendItem color="#fb3d4e" label="stop-gate / fault" /></g>
+          </g>
+        ) : (
+          <g className="scene-legend" transform="translate(78 664)">
+            <LegendItem color="#4ade80" label="B" />
+            <g transform="translate(70 0)"><LegendItem color="#f59e0b" label="C" /></g>
+            <g transform="translate(140 0)"><LegendItem color="#c084fc" label="D" /></g>
+            <g transform="translate(210 0)"><LegendItem color="#38bdf8" label="active" /></g>
+            <g transform="translate(320 0)"><LegendItem color="#fb3d4e" label="fault" /></g>
+          </g>
+        )}
+      </svg>
+    </div>
+  );
+}

src/components/ThreeD/PerfCollector.tsx

@@ -0,0 +1,143 @@
+/**
+ * R3F performance sampler. Mount only when ?perf=1 or enabled prop.
+ * Exposes window.__PERF_SNAPSHOT__ (getter) and window.__PERF_RESET__.
+ */
+
+import { useFrame, useThree } from '@react-three/fiber';
+import { useEffect, useRef } from 'react';
+import type { WebGLRenderer } from 'three';
+import {
+  computeFrameTimeStats,
+  emptyPerfSnapshot,
+  isHardwareAccelerated,
+  isPerfQueryEnabled,
+  roundPerfSnapshot,
+  type PerfSnapshot,
+} from '../../domain/perfMetrics';
+
+const MAX_SAMPLES = 600;
+
+export interface PerfCollectorProps {
+  /** Force-enable even without ?perf=1 */
+  enabled?: boolean;
+  mode?: string;
+  shadows?: boolean;
+  antialias?: boolean;
+}
+
+function readRendererString(gl: WebGLRenderer): string {
+  try {
+    const ctx = gl.getContext() as WebGLRenderingContext;
+    const dbg = ctx.getExtension('WEBGL_debug_renderer_info');
+    if (dbg) {
+      return String(ctx.getParameter(dbg.UNMASKED_RENDERER_WEBGL) ?? 'unknown');
+    }
+    return String(ctx.getParameter(ctx.RENDERER) ?? 'unknown');
+  } catch {
+    return 'unknown';
+  }
+}
+
+function readHeapMb(): number {
+  const mem = (performance as Performance & { memory?: { usedJSHeapSize: number } }).memory;
+  if (!mem) return 0;
+  return mem.usedJSHeapSize / (1024 * 1024);
+}
+
+function PerfCollectorInner({
+  mode = 'demo',
+  shadows = false,
+  antialias = false,
+}: Omit<PerfCollectorProps, 'enabled'>) {
+  const { gl } = useThree();
+  const frameTimes = useRef<number[]>([]);
+  const lastTs = useRef(0);
+  const meta = useRef({ mode, shadows, antialias, renderer: 'unknown' });
+  meta.current = { ...meta.current, mode, shadows, antialias };
+
+  const buildSnapshot = (): PerfSnapshot => {
+    const stats = computeFrameTimeStats(frameTimes.current);
+    const info = gl.info;
+    const renderer = meta.current.renderer || readRendererString(gl);
+    return roundPerfSnapshot(
+      emptyPerfSnapshot({
+        mode: meta.current.mode,
+        renderer,
+        ...stats,
+        drawCalls: info.render.calls,
+        triangles: info.render.triangles,
+        geometries: info.memory.geometries,
+        textures: info.memory.textures,
+        programs: info.programs?.length ?? 0,
+        heapMb: readHeapMb(),
+        dpr: gl.getPixelRatio(),
+        shadows: meta.current.shadows,
+        antialias: meta.current.antialias,
+        hardwareAccelerated: isHardwareAccelerated(renderer),
+      }),
+    );
+  };
+
+  useEffect(() => {
+    meta.current.renderer = readRendererString(gl);
+
+    const reset = () => {
+      frameTimes.current = [];
+      lastTs.current = 0;
+      gl.info.reset();
+    };
+
+    Object.defineProperty(window, '__PERF_SNAPSHOT__', {
+      configurable: true,
+      enumerable: true,
+      get: () => buildSnapshot(),
+    });
+    window.__PERF_RESET__ = reset;
+
+    return () => {
+      reset();
+      try {
+        delete window.__PERF_SNAPSHOT__;
+      } catch {
+        /* ignore */
+      }
+      delete window.__PERF_RESET__;
+    };
+  }, [gl]);
+
+  useFrame((_state, delta) => {
+    // Prefer measured rAF delta; fall back to clock delta (seconds → ms)
+    const now = performance.now();
+    let dtMs: number;
+    if (lastTs.current > 0) {
+      dtMs = now - lastTs.current;
+    } else {
+      dtMs = delta * 1000;
+    }
+    lastTs.current = now;
+
+    // Ignore absurd spikes from tab backgrounding
+    if (dtMs <= 0 || dtMs > 500) return;
+
+    const buf = frameTimes.current;
+    buf.push(dtMs);
+    if (buf.length > MAX_SAMPLES) buf.shift();
+  });
+
+  return null;
+}
+
+/**
+ * Safe wrapper: returns null unless enabled or ?perf=1.
+ * Keeps demos free of sampling overhead by default.
+ */
+export default function PerfCollector({
+  enabled,
+  mode,
+  shadows,
+  antialias,
+}: PerfCollectorProps) {
+  const active = enabled === true || (enabled !== false && isPerfQueryEnabled());
+  if (!active) return null;
+  return <PerfCollectorInner mode={mode} shadows={shadows} antialias={antialias} />;
+}

src/components/ThreeD/PerfOverlay.tsx

@@ -0,0 +1,128 @@
+/**
+ * Compact FPS / GPU overlay. Visible only with ?perf=1 and outside presentation mode.
+ */
+
+import { useEffect, useState } from 'react';
+import {
+  isPerfQueryEnabled,
+  type PerfSnapshot,
+  emptyPerfSnapshot,
+} from '../../domain/perfMetrics';
+import type { PhysicsPerfSnapshot } from '../../domain/physicsPerf';
+
+const POLL_MS = 500;
+
+export interface PerfOverlayProps {
+  /** Force show (still hidden in presentation mode via CSS / class check) */
+  enabled?: boolean;
+}
+
+export default function PerfOverlay({ enabled }: PerfOverlayProps) {
+  const [visible, setVisible] = useState(
+    () => enabled === true || (enabled !== false && isPerfQueryEnabled()),
+  );
+  const [snap, setSnap] = useState<PerfSnapshot>(() => emptyPerfSnapshot());
+  const [phys, setPhys] = useState<PhysicsPerfSnapshot | null>(null);
+  const [inPresentation, setInPresentation] = useState(false);
+
+  useEffect(() => {
+    if (enabled === false) {
+      setVisible(false);
+      return;
+    }
+    setVisible(enabled === true || isPerfQueryEnabled());
+  }, [enabled]);
+
+  useEffect(() => {
+    if (!visible) return;
+
+    const poll = () => {
+      const s = window.__PERF_SNAPSHOT__;
+      if (s) setSnap(s);
+      const p = window.__PHYSICS_PERF__;
+      if (p) setPhys(p);
+      setInPresentation(!!document.querySelector('.presentation-mode'));
+    };
+
+    poll();
+    const id = window.setInterval(poll, POLL_MS);
+    return () => window.clearInterval(id);
+  }, [visible]);
+
+  if (!visible || inPresentation) return null;
+
+  const soft = !snap.hardwareAccelerated;
+
+  const exportBenchmark = () => {
+    const payload = {
+      exportedAt: new Date().toISOString(),
+      url: window.location.href,
+      userAgent: navigator.userAgent,
+      viewport: { width: window.innerWidth, height: window.innerHeight },
+      snapshot: snap,
+    };
+    const blob = new Blob([JSON.stringify(payload, null, 2)], { type: 'application/json' });
+    const a = document.createElement('a');
+    a.href = URL.createObjectURL(blob);
+    a.download = `sorter-benchmark-${Date.now()}.json`;
+    a.click();
+    URL.revokeObjectURL(a.href);
+  };
+
+  return (
+    <div
+      className="perf-overlay"
+      data-testid="perf-overlay"
+      aria-label="Performance metrics"
+    >
+      <div className="perf-overlay-title">PERF</div>
+      <div>
+        FPS {snap.averageFps.toFixed(0)}
+        <span className="perf-muted"> (min {snap.minimumFps.toFixed(0)})</span>
+      </div>
+      <div>
+        p95 {snap.p95FrameTimeMs.toFixed(1)}ms
+        <span className="perf-muted"> / p99 {snap.p99FrameTimeMs.toFixed(1)}ms</span>
+      </div>
+      {phys && phys.count > 0 ? (
+        <div data-testid="physics-perf-line">
+          phys p95 {phys.p95Ms.toFixed(2)}ms
+          <span className="perf-muted">
+            {' '}
+            · avg {phys.avgMs.toFixed(2)} · n={phys.count}
+          </span>
+        </div>
+      ) : null}
+      <div>
+        draws {snap.drawCalls}
+        <span className="perf-muted"> · tris {snap.triangles}</span>
+      </div>
+      <div>
+        geo {snap.geometries}
+        <span className="perf-muted">
+          {' '}
+          · tex {snap.textures} · prog {snap.programs}
+        </span>
+      </div>
+      <div>
+        heap {snap.heapMb.toFixed(1)}MB
+        <span className="perf-muted">
+          {' '}
+          · dpr {snap.dpr} · {snap.mode}
+        </span>
+      </div>
+      <div className={soft ? 'perf-soft' : 'perf-hw'} title={snap.renderer}>
+        {soft ? 'SW' : 'GPU'} {snap.renderer.slice(0, 42)}
+        {snap.renderer.length > 42 ? '…' : ''}
+      </div>
+      <button
+        type="button"
+        className="perf-export-btn"
+        data-testid="perf-export"
+        onClick={exportBenchmark}
+      >
+        Export benchmark
+      </button>
+    </div>
+  );
+}

src/components/ThreeD/PhysicalPlaybackItem.tsx

@@ -0,0 +1,229 @@
+import { memo, useEffect, useMemo } from 'react';
+import { getPhysicalItemPose } from '../../domain/physicalItemMotion';
+import { getModelAsset } from '../../data/modelAssets';
+import { resolveItem } from '../../data/resolveItem';
+import type { PlaylistCase } from '../../domain/demoPlaylist';
+import { classifyItem } from '../../domain/classifier';
+import { getRenderedItemDimensions } from '../../domain/physicalLayout';
+import * as THREE from 'three';
+import RealItemModel, { isProductAssetReady } from './RealItemModel';
+import { ItemVerificationOverlay } from './RealModelVerification';
+
+const COLORS = {
+  B: '#16a34a',
+  C: '#ea580c',
+  D: '#7c3aed',
+  sensorAccent: '#3b82f6',
+};
+
+/** Base real-model materials per SKU (Stage 1 §20 — basic, form-revealing). */
+const ITEM_MATERIALS: Record<string, { color: string; roughness: number; metalness?: number }> = {
+  'SKU-001': { color: '#b68b58', roughness: 0.82 },          // cardboard
+  'SKU-002': { color: '#e8eef6', roughness: 0.5 },           // lunchbox plastic
+  'SKU-003': { color: '#93c5fd', roughness: 0.38 },          // detergent jug plastic
+  'SKU-004': { color: '#c49a6c', roughness: 0.82 },          // cardboard
+  'SKU-005': { color: '#a78bfa', roughness: 0.92 },          // soft pouf fabric
+  'SKU-006': { color: '#f8fafc', roughness: 0.42 },          // plate ceramic
+  'SKU-007': { color: '#7dd3fc', roughness: 0.28 },          // bottle plastic
+  'SKU-008': { color: '#cbd5e1', roughness: 0.35, metalness: 0.15 },
+  'SKU-009': { color: '#475569', roughness: 0.5 },           // pen body
+};
+
+interface RenderProps {
+  color: string;
+  accentColor: string;
+  emissiveIntensity: number;
+  roughness: number;
+  metalness: number;
+}
+
+function FallbackPrimitive({ type, color, accentColor, emissiveIntensity, roughness, metalness, w, h, d, castShadow }: RenderProps & {
+  type: 'box' | 'cylinder' | 'sphere';
+  w: number; h: number; d: number;
+  castShadow?: boolean;
+}) {
+  const geometry = useMemo<THREE.BufferGeometry>(() => {
+    if (type === 'cylinder' || type === 'sphere') {
+      const r = Math.max(w, d) / 2;
+      return new THREE.CylinderGeometry(r, r, h, 16);
+    }
+    return new THREE.BoxGeometry(w, h, d);
+  }, [type, w, h, d]);
+  useEffect(() => () => geometry.dispose(), [geometry]);
+
+  return (
+    <mesh geometry={geometry} castShadow={castShadow}>
+      <meshStandardMaterial color={color} emissive={accentColor} emissiveIntensity={emissiveIntensity} roughness={roughness} metalness={metalness} />
+    </mesh>
+  );
+}
+
+/** Inner visual content of an item (shared by kinematic and physics drivers). */
+export function ItemVisualContent({
+  caseData,
+  phase,
+  surface,
+  isSettled,
+  castShadow = false,
+  verifySku = null,
+  onVisualReady,
+}: {
+  caseData: PlaylistCase;
+  phase: string;
+  surface: string;
+  isSettled: boolean;
+  castShadow?: boolean;
+  verifySku?: string | null;
+  /** Fires once the visible mesh (real or procedural) is ready to show. */
+  onVisualReady?: () => void;
+}) {
+  const itemData = useMemo(() => resolveItem(caseData.itemId), [caseData.itemId]);
+  const classification = useMemo(() => classifyItem(itemData), [itemData]);
+  const itemId = itemData.id.replace('-LC', '');
+  const asset = getModelAsset(itemId);
+  const dims = getRenderedItemDimensions(itemData.dimensionsMm);
+
+  const isRouting = phase === 'routing';
+  const onTransport = surface === 'main_belt'
+    || surface === 'inspection_station'
+    || surface === 'routing_junction'
+    || surface === 'b_transfer';
+
+  const routeAccent = COLORS[classification.category] ?? COLORS.sensorAccent;
+  const material = ITEM_MATERIALS[itemId] ?? { color: '#d8c3a5', roughness: 0.75 };
+  const bodyColor = phase === 'fault' ? '#ef4444' : material.color;
+  const accentColor = isSettled ? '#94a3b8' : routeAccent;
+  const emissiveIntensity = phase === 'fault' ? 0.25 : isRouting ? 0.12 : isSettled ? 0.01 : 0.03;
+  const metalness = material.metalness ?? 0.05;
+
+  // Real official model is the default when the manifest provides one;
+  // procedural fallback only for missing assets or load failure (Stage 1 §15.1).
+  const useReal = Boolean(asset?.defaultRealAsset && asset?.runtimePath);
+  const fallbackType = asset?.fallbackPrimitive ?? 'box';
+
+  // Pose position is the EXPECTED bbox center (surfaceY + h/2). Real models use
+  // a bottom-center pivot, so the mesh is offset down by half the model height.
+  // Contact epsilon vs the surface is therefore exactly 0 mm by construction.
+  const modelHeightM = asset?.worldExpectedMm
+    ? asset.worldExpectedMm.y / 1000
+    : dims.height;
+  const pivotOffsetY = -modelHeightM / 2;
+
+  // Procedural / already-cached assets are ready immediately.
+  useEffect(() => {
+    if (!useReal || !asset?.runtimePath || isProductAssetReady(asset.runtimePath)) {
+      onVisualReady?.();
+    }
+  }, [useReal, asset?.runtimePath, caseData.id, onVisualReady]);
+
+  const fallback = (
+    <FallbackPrimitive
+      type={fallbackType}
+      color={bodyColor}
+      accentColor={accentColor}
+      emissiveIntensity={emissiveIntensity}
+      roughness={material.roughness}
+      metalness={metalness}
+      w={dims.width}
+      h={dims.height}
+      d={dims.depth}
+      castShadow={castShadow}
+    />
+  );
+
+  const verifying = verifySku != null && verifySku === itemId && asset != null;
+
+  return (
+    <>
+      {useReal && asset ? (
+        <group position={[0, pivotOffsetY, 0]}>
+          <RealItemModel
+            asset={asset}
+            material={{
+              color: bodyColor,
+              emissive: accentColor,
+              emissiveIntensity,
+              roughness: material.roughness,
+              metalness,
+            }}
+            castShadow={castShadow}
+            fallback={fallback}
+            onReady={onVisualReady}
+          />
+        </group>
+      ) : (
+        fallback
+      )}
+
+      {verifying && asset && (
+        <ItemVerificationOverlay
+          asset={asset}
+          pivotOffsetY={pivotOffsetY}
+          cardY={modelHeightM + 0.3}
+          fallbackSizeM={{ x: dims.width, y: dims.height, z: dims.depth }}
+        />
+      )}
+
+      {isSettled && (
+        <mesh position={[0, -dims.height / 2 + 0.003, 0]} rotation={[-Math.PI / 2, 0, 0]}>
+          <ringGeometry args={[Math.max(dims.width, dims.depth) * 0.35, Math.max(dims.width, dims.depth) * 0.42, 20]} />
+          <meshBasicMaterial color={routeAccent} transparent opacity={0.5} />
+        </mesh>
+      )}
+
+      {onTransport && (
+        <mesh position={[0, -dims.height / 2 + 0.001, 0]} rotation={[-Math.PI / 2, 0, 0]}>
+          <circleGeometry args={[Math.max(dims.width, dims.depth) / 2 + 0.01, 16]} />
+          <meshStandardMaterial color="#475569" transparent opacity={0.15} />
+        </mesh>
+      )}
+    </>
+  );
+}
+
+export const PhysicalPlaybackItem = memo(function PhysicalPlaybackItem({
+  caseData,
+  elapsedMs,
+  slotIndex = 0,
+  jitter,
+  castShadow = false,
+  verifySku = null,
+}: {
+  caseData: PlaylistCase;
+  elapsedMs: number;
+  slotIndex?: number;
+  jitter?: { x: number; z: number; yaw: number };
+  castShadow?: boolean;
+  /** Stage 1 verification: SKU to overlay (null = off, 'follow' handled by caller passing current SKU). */
+  verifySku?: string | null;
+}) {
+  const itemData = useMemo(() => resolveItem(caseData.itemId), [caseData.itemId]);
+  const classification = useMemo(() => classifyItem(itemData), [itemData]);
+
+  const pose = getPhysicalItemPose({
+    caseId: caseData.id,
+    slotIndex,
+    dimensionsMm: itemData.dimensionsMm,
+    targetCategory: classification.category,
+    elapsedMs,
+    faultType: caseData.faultType,
+    jitter,
+  });
+
+  const { position, rotation, phase, surface, isSettled } = pose;
+
+  if (elapsedMs < 0) return null;
+
+  return (
+    <group position={position} rotation={rotation}>
+      <ItemVisualContent
+        caseData={caseData}
+        phase={phase}
+        surface={surface}
+        isSettled={isSettled}
+        castShadow={castShadow}
+        verifySku={verifySku}
+      />
+    </group>
+  );
+});

src/components/ThreeD/PhysicalPlaybackItemPhysics.tsx

@@ -0,0 +1,296 @@
+/**
+ * Stage 2 — item with hybrid kinematic/dynamic authority (Rapier).
+ *
+ * Authority flow (see docs/stage2_real_sorter/physics-architecture.md):
+ *  1. kinematicPosition — follows getPhysicalItemPose exactly (domain truth);
+ *  2. at getDropHandoffTimeMs → dynamic with deterministic initial velocity
+ *     (B: belt edge carry-over; C/D: pusher impulse, scaled per SKU profile);
+ *  3. gravity/collision/friction/restitution/angular velocity govern the drop;
+ *  4. on sleep (or controlled 4.5 s timeout) the final position is verified
+ *     against the DOMAIN-decided receiver volume and the body is frozen
+ *     (kinematic) — no drift, clean replay, no teleportation at any point.
+ */
+import { memo, useCallback, useEffect, useMemo, useRef, useState } from 'react';
+import * as THREE from 'three';
+import { useFrame } from '@react-three/fiber';
+import {
+  RigidBody,
+  CuboidCollider,
+  CapsuleCollider,
+  CylinderCollider,
+  type RapierRigidBody,
+} from '@react-three/rapier';
+import { RigidBodyType } from '@dimforge/rapier3d-compat';
+import { getPhysicalItemPose, getDropHandoffTimeMs } from '../../domain/physicalItemMotion';
+import { getVisualPhysicsProfile } from '../../domain/visualPhysicsProfiles';
+import { resolveItem } from '../../data/resolveItem';
+import { classifyItem } from '../../domain/classifier';
+import { receiverContains } from '../../domain/receiverVolumes';
+import type { PlaylistCase } from '../../domain/demoPlaylist';
+import { ItemVisualContent } from './PhysicalPlaybackItem';
+import { recordDropResult, physicsSimClock } from './SorterPhysics';
+import { getModelAsset } from '../../data/modelAssets';
+import { isProductAssetReady } from './RealItemModel';
+
+type Authority = 'kinematic' | 'dynamic' | 'frozen';
+
+/** Controlled settle budget after handoff — in PHYSICS-simulated seconds,
+ *  not domain ms: under render lag domain time races ahead of the stepper,
+ *  and a domain-ms budget would freeze items mid-flight (§14.2). */
+const SETTLE_BUDGET_SEC = 4.5;
+
+function colliderDensity(profile: ReturnType<typeof getVisualPhysicsProfile>): number {
+  if (profile.collider === 'cuboid' && profile.cuboidHalfExtents) {
+    const [hx, hy, hz] = profile.cuboidHalfExtents;
+    return profile.approximateMassKg / (8 * hx * hy * hz);
+  }
+  const [r, hh] = profile.capsule ?? [0.05, 0.1];
+  const volume = profile.collider === 'capsule'
+    ? Math.PI * r * r * (2 * hh + (4 / 3) * r)
+    : Math.PI * r * r * 2 * hh;
+  return profile.approximateMassKg / volume;
+}
+
+export const PhysicalPlaybackItemPhysics = memo(function PhysicalPlaybackItemPhysics({
+  caseData,
+  elapsedMs,
+  slotIndex = 0,
+  jitter,
+  castShadow = false,
+  verifySku = null,
+}: {
+  caseData: PlaylistCase;
+  elapsedMs: number;
+  slotIndex?: number;
+  jitter?: { x: number; z: number; yaw: number };
+  castShadow?: boolean;
+  verifySku?: string | null;
+}) {
+  const itemData = useMemo(() => resolveItem(caseData.itemId), [caseData.itemId]);
+  const classification = useMemo(() => classifyItem(itemData), [itemData]);
+  const category = classification.category as 'B' | 'C' | 'D';
+  const itemId = itemData.id.replace('-LC', '');
+  const profile = getVisualPhysicsProfile(itemId);
+  const handoffMs = getDropHandoffTimeMs(classification.category, caseData.faultType);
+
+  const bodyRef = useRef<RapierRigidBody>(null);
+  const traceEnabled = useRef(
+    typeof window !== 'undefined'
+    && new URLSearchParams(window.location.search).get('trace') === '1',
+  );
+  const authority = useRef<Authority>('kinematic');
+  const frozenPose = useRef<{ p: [number, number, number]; q: THREE.Quaternion } | null>(null);
+  const handedOffAtSimSec = useRef<number | null>(null);
+  const verified = useRef(false);
+  const asset = getModelAsset(itemId);
+  const needsRealAsset = Boolean(asset?.defaultRealAsset && asset?.runtimePath);
+  const [spawned, setSpawned] = useState(
+    () => !needsRealAsset || isProductAssetReady(asset?.runtimePath),
+  );
+  const onVisualReady = useCallback(() => {
+    setSpawned(true);
+  }, []);
+
+  const pose = getPhysicalItemPose({
+    caseId: caseData.id,
+    slotIndex,
+    dimensionsMm: itemData.dimensionsMm,
+    targetCategory: classification.category,
+    elapsedMs,
+    faultType: caseData.faultType,
+    jitter,
+  });
+
+  const handoffPose = useMemo(() => {
+    if (handoffMs == null) return null;
+    return getPhysicalItemPose({
+      caseId: caseData.id,
+      slotIndex,
+      dimensionsMm: itemData.dimensionsMm,
+      targetCategory: classification.category,
+      elapsedMs: handoffMs,
+      faultType: caseData.faultType,
+      jitter,
+    });
+    // eslint-disable-next-line react-hooks/exhaustive-deps
+  }, [handoffMs, caseData.id]);
+
+  // Reset authority whenever a new case mounts this body. The Rapier body is
+  // reused across cases, so a case that ended while still DYNAMIC (settle
+  // budget cut short under render lag) must be forced back to kinematic —
+  // otherwise setNextKinematicTranslation is a no-op and the next case's item
+  // is stuck invisibly mid-scene.
+  useEffect(() => {
+    authority.current = 'kinematic';
+    frozenPose.current = null;
+    handedOffAtSimSec.current = null;
+    verified.current = false;
+    const ready = !needsRealAsset || isProductAssetReady(asset?.runtimePath);
+    setSpawned(ready);
+    const body = bodyRef.current;
+    if (body) {
+      body.setBodyType(RigidBodyType.KinematicPositionBased, false);
+      body.setLinvel({ x: 0, y: 0, z: 0 }, true);
+      body.setAngvel({ x: 0, y: 0, z: 0 }, true);
+      const p = pose.position;
+      body.setTranslation({ x: p[0], y: p[1], z: p[2] }, true);
+      const e = new THREE.Euler(pose.rotation[0], pose.rotation[1], pose.rotation[2]);
+      const q = new THREE.Quaternion().setFromEuler(e);
+      body.setRotation({ x: q.x, y: q.y, z: q.z, w: q.w }, true);
+    }
+    // eslint-disable-next-line react-hooks/exhaustive-deps -- reset on case id only
+  }, [caseData.id]);
+
+  useFrame(() => {
+    const body = bodyRef.current;
+    if (!body) return;
+
+    // PREPARING: hold at spawn pose, zero velocity, keep invisible until visual ready.
+    if (!spawned) {
+      const p = pose.position;
+      body.setNextKinematicTranslation({ x: p[0], y: p[1], z: p[2] });
+      const e = new THREE.Euler(pose.rotation[0], pose.rotation[1], pose.rotation[2]);
+      const q = new THREE.Quaternion().setFromEuler(e);
+      body.setNextKinematicRotation({ x: q.x, y: q.y, z: q.z, w: q.w });
+      body.setLinvel({ x: 0, y: 0, z: 0 }, true);
+      body.setAngvel({ x: 0, y: 0, z: 0 }, true);
+      return;
+    }
+
+    if (authority.current === 'kinematic') {
+      // Physics handoff at pusher contact / belt edge — never for fault cases.
+      // MUST be checked BEFORE the kinematic drive: under render lag a single
+      // frame can jump several seconds past handoffMs, and pose(elapsedMs) is
+      // then already deep inside the receiver. Applying setNextKinematic*
+      // from that pose in the same frame as the dynamic switch teleports the
+      // body (forbidden) — the next-step kinematic target still applies.
+      if (handoffMs != null && handoffPose && elapsedMs >= handoffMs) {
+        const hp = handoffPose.position;
+        body.setTranslation({ x: hp[0], y: hp[1], z: hp[2] }, true);
+        const he = new THREE.Euler(handoffPose.rotation[0], handoffPose.rotation[1], handoffPose.rotation[2]);
+        const hq = new THREE.Quaternion().setFromEuler(he);
+        body.setRotation({ x: hq.x, y: hq.y, z: hq.z, w: hq.w }, true);
+        body.setBodyType(RigidBodyType.Dynamic, true);
+        // Deterministic initial velocity: belt carry-over only — for C/D the
+        // Z motion comes from the kinematic paddle CONTACT (Stage 2B §13).
+        body.setLinvel({ x: 1.0, y: 0, z: 0 }, true);
+        if (profile.canRoll && category === 'B') {
+          body.setAngvel({ x: 2.0, y: 0.4, z: 0 }, true);
+        } else {
+          body.setAngvel({ x: 0, y: 0, z: 0 }, true);
+        }
+        authority.current = 'dynamic';
+        handedOffAtSimSec.current = physicsSimClock.simSec;
+        return;
+      }
+
+      // Kinematic drive: domain pose is truth (belt travel, inspection dwell).
+      const p = pose.position;
+      const e = new THREE.Euler(pose.rotation[0], pose.rotation[1], pose.rotation[2]);
+      const q = new THREE.Quaternion().setFromEuler(e);
+      body.setNextKinematicTranslation({ x: p[0], y: p[1], z: p[2] });
+      body.setNextKinematicRotation({ x: q.x, y: q.y, z: q.z, w: q.w });
+      return;
+    }
+
+    if (authority.current === 'dynamic') {
+      const slept = body.isSleeping();
+      const lv = body.linvel();
+      const av = body.angvel();
+      const slow = Math.hypot(lv.x, lv.y, lv.z) < 0.2 && Math.hypot(av.x, av.y, av.z) < 1.0;
+      if (traceEnabled.current) {
+        const t = body.translation();
+        const w = window as unknown as { __ITEM_TRACE?: unknown[] };
+        w.__ITEM_TRACE = w.__ITEM_TRACE ?? [];
+        const arr = w.__ITEM_TRACE as { e: number; x: number; y: number; z: number; lv: number; slept: boolean }[];
+        if (arr.length === 0 || arr[arr.length - 1].e < elapsedMs - 200) {
+          arr.push({ e: Math.round(elapsedMs), x: +t.x.toFixed(3), y: +t.y.toFixed(3), z: +t.z.toFixed(3), lv: +Math.hypot(lv.x, lv.y, lv.z).toFixed(2), slept });
+          if (arr.length > 120) arr.shift();
+        }
+      }
+      const timedOut = handedOffAtSimSec.current != null
+        && physicsSimClock.simSec - handedOffAtSimSec.current > SETTLE_BUDGET_SEC;
+      // §14.2: freeze only after actual rest (sleep) or a timeout WITH low
+      // velocities — never freeze a body that is still moving/flying.
+      if ((slept || (timedOut && slow)) && !verified.current) {
+        verified.current = true;
+        const t = body.translation();
+        const p: [number, number, number] = [t.x, t.y, t.z];
+        recordDropResult({
+          caseId: caseData.id,
+          itemId,
+          expectedZone: category,
+          finalPosition: p,
+          insideExpectedReceiver: receiverContains(category, p),
+          settledByTimeout: !slept,
+          timestampMs: Date.now(),
+        });
+        const r = body.rotation();
+        frozenPose.current = { p, q: new THREE.Quaternion(r.x, r.y, r.z, r.w) };
+        body.setBodyType(RigidBodyType.KinematicPositionBased, false);
+        body.setLinvel({ x: 0, y: 0, z: 0 }, false);
+        body.setAngvel({ x: 0, y: 0, z: 0 }, false);
+        authority.current = 'frozen';
+      }
+      return;
+    }
+
+    // frozen: hold the verified rest pose (no drift across replays).
+    if (frozenPose.current) {
+      const { p, q } = frozenPose.current;
+      body.setNextKinematicTranslation({ x: p[0], y: p[1], z: p[2] });
+      body.setNextKinematicRotation({ x: q.x, y: q.y, z: q.z, w: q.w });
+    }
+  });
+
+  if (elapsedMs < 0) return null;
+
+  const density = colliderDensity(profile);
+  // CCD for small/fast items (pen) and thin items (plate) — mirrors the sim.
+  const ccd = profile.approximateMassKg < 0.05 || itemData.dimensionsMm.height < 50;
+
+  return (
+    <RigidBody
+      ref={bodyRef}
+      type="kinematicPosition"
+      colliders={false}
+      friction={profile.friction}
+      restitution={profile.restitution}
+      linearDamping={profile.linearDamping}
+      angularDamping={profile.angularDamping}
+      ccd={ccd}
+      enabledRotations={[true, true, true]}
+      position={pose.position}
+    >
+      {/* Colliders only after visual ready — avoids stale/orphan contact. */}
+      {spawned && profile.collider === 'cuboid' && profile.cuboidHalfExtents && (
+        <CuboidCollider args={profile.cuboidHalfExtents} density={density} />
+      )}
+      {spawned && profile.collider === 'capsule' && profile.capsule && (
+        <CapsuleCollider
+          args={[profile.capsule[1], profile.capsule[0]]}
+          density={density}
+          rotation={profile.colliderAxis === 'x' ? [0, 0, Math.PI / 2] : undefined}
+        />
+      )}
+      {spawned && profile.collider === 'cylinder' && profile.capsule && (
+        <CylinderCollider
+          args={[profile.capsule[1], profile.capsule[0]]}
+          density={density}
+          rotation={profile.colliderAxis === 'x' ? [0, 0, Math.PI / 2] : undefined}
+        />
+      )}
+      <group visible={spawned}>
+        <ItemVisualContent
+          caseData={caseData}
+          phase={pose.phase}
+          surface={pose.surface}
+          isSettled={authority.current === 'frozen' ? true : pose.isSettled}
+          castShadow={castShadow && spawned}
+          verifySku={verifySku}
+          onVisualReady={onVisualReady}
+        />
+      </group>
+    </RigidBody>
+  );
+});

src/components/ThreeD/PostProcessingSpike.tsx

@@ -0,0 +1,22 @@
+/**
+ * PostProcessingSpike — Stage 0 cost-measurement only.
+ *
+ * Loaded lazily (separate chunk) and mounted ONLY in stage0 prototype mode
+ * with post=1. Default route never downloads @react-three/postprocessing.
+ * Deliberately cheap set: Bloom + Vignette + Noise + SMAA. No DoF, no SSR,
+ * no motion blur, no TAA, no volumetrics.
+ */
+
+import { EffectComposer, Bloom, Vignette, Noise, SMAA } from '@react-three/postprocessing';
+import { BlendFunction } from 'postprocessing';
+
+export default function PostProcessingSpike() {
+  return (
+    <EffectComposer multisampling={0}>
+      <SMAA />
+      <Bloom intensity={0.35} luminanceThreshold={0.75} luminanceSmoothing={0.2} mipmapBlur />
+      <Noise premultiply blendFunction={BlendFunction.SCREEN} opacity={0.25} />
+      <Vignette offset={0.25} darkness={0.55} eskil={false} />
+    </EffectComposer>
+  );
+}

src/components/ThreeD/RealItemModel.tsx

@@ -0,0 +1,193 @@
+/**
+ * RealItemModel — единый loader для официальных real-model ассетов.
+ *
+ * Контракт (одинаковый для STL сейчас и GLB позже):
+ *   manifest (modelAssets.ts) → нормализованная геометрия → mesh.
+ *
+ * Нормализация запекается в клон геометрии один раз при загрузке:
+ *   1. rotation из manifest (в мм-пространстве источника);
+ *   2. uniform scale 0.001 (mm → meters);
+ *   3. pivot → bottom-center (центр footprint по X/Z, низ по Y);
+ *   4. computeVertexNormals.
+ *
+ * Shared loader cache никогда не мутируется (clone перед transforms),
+ * dispose вызывается только для локального клона.
+ */
+
+import { Component, Suspense, useEffect, useMemo, type ReactNode } from 'react';
+import * as THREE from 'three';
+import { useLoader } from '@react-three/fiber';
+import { STLLoader } from 'three/examples/jsm/loaders/STLLoader.js';
+import type { ModelAsset } from '../../data/modelAssets';
+
+export interface RealItemMaterial {
+  color: string;
+  emissive?: string;
+  emissiveIntensity?: number;
+  roughness?: number;
+  metalness?: number;
+}
+
+interface InnerProps {
+  asset: ModelAsset;
+  material: RealItemMaterial;
+  castShadow?: boolean;
+  receiveShadow?: boolean;
+  onReady?: () => void;
+}
+
+const readyUrls = new Set<string>();
+const inflight = new Map<string, Promise<void>>();
+
+export function isProductAssetReady(runtimePath: string | null | undefined): boolean {
+  if (!runtimePath) return true;
+  return readyUrls.has(runtimePath);
+}
+
+export function markProductAssetReady(runtimePath: string): void {
+  readyUrls.add(runtimePath);
+}
+
+/**
+ * Preload a runtime STL into the shared loader cache and resolve when ready.
+ * Deduped by URL — concurrent callers share one Promise.
+ */
+export function preloadRealItemModelAsync(runtimePath: string): Promise<void> {
+  if (readyUrls.has(runtimePath)) return Promise.resolve();
+  const existing = inflight.get(runtimePath);
+  if (existing) return existing;
+
+  // Warm R3F useLoader cache (deduped).
+  useLoader.preload(STLLoader, runtimePath);
+
+  const promise = new Promise<void>((resolve, reject) => {
+    const loader = new STLLoader();
+    loader.load(
+      runtimePath,
+      () => {
+        readyUrls.add(runtimePath);
+        inflight.delete(runtimePath);
+        resolve();
+      },
+      undefined,
+      (err) => {
+        inflight.delete(runtimePath);
+        reject(err);
+      },
+    );
+  });
+  inflight.set(runtimePath, promise);
+  return promise;
+}
+
+/** Preload a runtime asset into the shared loader cache (deduped by URL). */
+export function preloadRealItemModel(runtimePath: string): void {
+  void preloadRealItemModelAsync(runtimePath);
+}
+
+/**
+ * Normalize a freshly cloned geometry per manifest rules.
+ * Returns the clone with transforms BAKED IN (pivot = bottom-center, meters).
+ */
+export function normalizeGeometryClone(source: THREE.BufferGeometry, asset: ModelAsset): THREE.BufferGeometry {
+  const g = source.clone();
+  const [rx, ry, rz] = asset.rotation;
+  if (rx) g.rotateX(rx);
+  if (ry) g.rotateY(ry);
+  if (rz) g.rotateZ(rz);
+  g.scale(0.001, 0.001, 0.001); // mm → m, uniform (scaleMode: 'uniform-mm-to-m')
+  g.computeBoundingBox();
+  const bb = g.boundingBox!;
+  const cx = (bb.min.x + bb.max.x) / 2;
+  const cz = (bb.min.z + bb.max.z) / 2;
+  g.translate(-cx, -bb.min.y, -cz); // pivotMode: 'bottom-center'
+  g.computeVertexNormals();
+  g.computeBoundingBox();
+  return g;
+}
+
+function RealItemModelInner({ asset, material, castShadow, receiveShadow, onReady }: InnerProps) {
+  const shared = useLoader(STLLoader, asset.runtimePath!) as THREE.BufferGeometry;
+  const geometry = useMemo(() => normalizeGeometryClone(shared, asset), [shared, asset]);
+  useEffect(() => () => geometry.dispose(), [geometry]);
+  useEffect(() => {
+    if (asset.runtimePath) markProductAssetReady(asset.runtimePath);
+    onReady?.();
+  }, [asset.runtimePath, geometry, onReady]);
+  return (
+    <mesh geometry={geometry} castShadow={castShadow} receiveShadow={receiveShadow}>
+      <meshStandardMaterial
+        color={material.color}
+        emissive={material.emissive ?? material.color}
+        emissiveIntensity={material.emissiveIntensity ?? 0.05}
+        roughness={material.roughness ?? 0.6}
+        metalness={material.metalness ?? 0.05}
+      />
+    </mesh>
+  );
+}
+
+interface BoundaryProps {
+  fallback: ReactNode;
+  children: ReactNode;
+  onError?: (error: Error) => void;
+}
+
+interface BoundaryState {
+  failed: boolean;
+}
+
+/** Per-item error boundary: load failure → procedural fallback, no scene crash. */
+class ItemModelErrorBoundary extends Component<BoundaryProps, BoundaryState> {
+  state: BoundaryState = { failed: false };
+
+  static getDerivedStateFromError(): BoundaryState {
+    return { failed: true };
+  }
+
+  componentDidCatch(error: Error): void {
+    // eslint-disable-next-line no-console
+    console.warn('[RealItemModel] asset load failed, procedural fallback engaged:', error.message);
+    this.props.onError?.(error);
+  }
+
+  render() {
+    return this.state.failed ? this.props.fallback : this.props.children;
+  }
+}
+
+export interface RealItemModelProps extends InnerProps {
+  /**
+   * Procedural fallback for load failure only.
+   * Suspense placeholder stays invisible so spawn is atomic (no flash-then-swap).
+   */
+  fallback: ReactNode;
+  onError?: (error: Error) => void;
+  /** When true, Suspense shows fallback (legacy). Default: invisible placeholder. */
+  showSuspenseFallback?: boolean;
+}
+
+export default function RealItemModel({
+  fallback,
+  showSuspenseFallback = false,
+  onReady,
+  onError,
+  ...inner
+}: RealItemModelProps) {
+  if (!inner.asset.runtimePath) {
+    return <>{fallback}</>;
+  }
+  return (
+    <ItemModelErrorBoundary
+      fallback={fallback}
+      onError={(err) => {
+        onReady?.();
+        onError?.(err);
+      }}
+    >
+      <Suspense fallback={showSuspenseFallback ? fallback : null}>
+        <RealItemModelInner {...inner} onReady={onReady} />
+      </Suspense>
+    </ItemModelErrorBoundary>
+  );
+}

src/components/ThreeD/RealModelVerification.tsx

@@ -0,0 +1,168 @@
+/**
+ * RealModelVerification — Stage 1 debug overlay (?stage1=1&verify=real-models).
+ *
+ * Read-only instrumentation: bounding box, axes, pivot marker, bottom contact
+ * plane и информационная панель (источник, формат, размеры, статус валидации).
+ * Рендерится только в verification mode; business state не изменяется.
+ *
+ * Использование: <ItemVerificationOverlay> внутри pose-группы товара
+ * (PhysicalPlaybackItem) — следует за товаром по маршруту B/C/D.
+ */
+
+import { useEffect, useMemo } from 'react';
+import * as THREE from 'three';
+import { Html } from '@react-three/drei';
+import { useLoader } from '@react-three/fiber';
+import { STLLoader } from 'three/examples/jsm/loaders/STLLoader.js';
+import type { ModelAsset } from '../../data/modelAssets';
+import { normalizeGeometryClone } from './RealItemModel';
+
+export interface SizeM {
+  x: number;
+  y: number;
+  z: number;
+}
+
+const AXIS_COLORS = { x: '#ef4444', y: '#22c55e', z: '#3b82f6' } as const;
+
+/** Wire bbox + axis tripod + pivot marker + bottom contact plane (bottom-center space). */
+function VerificationGizmos({ sizeM }: { sizeM: SizeM }) {
+  const boxEdges = useMemo(() => {
+    const box = new THREE.BoxGeometry(sizeM.x, sizeM.y, sizeM.z);
+    const edges = new THREE.EdgesGeometry(box);
+    box.dispose();
+    return edges;
+  }, [sizeM.x, sizeM.y, sizeM.z]);
+  const axes = useMemo(() => ({
+    x: new THREE.BufferGeometry().setFromPoints([new THREE.Vector3(0, 0, 0), new THREE.Vector3(0.15, 0, 0)]),
+    y: new THREE.BufferGeometry().setFromPoints([new THREE.Vector3(0, 0, 0), new THREE.Vector3(0, 0.15, 0)]),
+    z: new THREE.BufferGeometry().setFromPoints([new THREE.Vector3(0, 0, 0), new THREE.Vector3(0, 0, 0.15)]),
+  }), []);
+  useEffect(() => () => {
+    boxEdges.dispose();
+    axes.x.dispose();
+    axes.y.dispose();
+    axes.z.dispose();
+  }, [boxEdges, axes]);
+
+  return (
+    <group>
+      {/* bounding box of the normalized model (bottom-center pivot) */}
+      <lineSegments geometry={boxEdges} position={[0, sizeM.y / 2, 0]}>
+        <lineBasicMaterial color="#facc15" />
+      </lineSegments>
+      {/* axis tripod at pivot (footprint center, bottom point) */}
+      <lineSegments geometry={axes.x}><lineBasicMaterial color={AXIS_COLORS.x} /></lineSegments>
+      <lineSegments geometry={axes.y}><lineBasicMaterial color={AXIS_COLORS.y} /></lineSegments>
+      <lineSegments geometry={axes.z}><lineBasicMaterial color={AXIS_COLORS.z} /></lineSegments>
+      {/* pivot marker */}
+      <mesh position={[0, 0.004, 0]}>
+        <sphereGeometry args={[0.008, 12, 8]} />
+        <meshBasicMaterial color="#facc15" depthTest={false} />
+      </mesh>
+      {/* bottom contact plane (item footprint on the surface) */}
+      <mesh position={[0, 0.0005, 0]} rotation={[-Math.PI / 2, 0, 0]}>
+        <planeGeometry args={[sizeM.x, sizeM.z]} />
+        <meshBasicMaterial color="#22c55e" transparent opacity={0.25} depthWrite={false} />
+      </mesh>
+    </group>
+  );
+}
+
+function InfoCard({ asset, measuredM, y }: {
+  asset: ModelAsset;
+  measuredM: SizeM | null;
+  y: number;
+}) {
+  const mm = (m: number) => (m * 1000).toFixed(1);
+  const expected = asset.worldExpectedMm;
+  const rows: Array<[string, string]> = [
+    ['Model', asset.displayName],
+    ['Badge', asset.defaultRealAsset ? 'REAL (official)' : 'FALLBACK · NO_EXACT_OFFICIAL_MODEL'],
+    ['Source', asset.sourceFile ?? 'n/a'],
+    ['SHA-256', asset.sourceSha256 ? `${asset.sourceSha256.slice(0, 12)}…` : 'n/a'],
+    ['Format', asset.runtimeFormat ?? 'procedural'],
+    ['File size', asset.fileSizeBytes != null ? `${(asset.fileSizeBytes / 1024).toFixed(0)} KB` : 'n/a'],
+    ['Triangles', asset.triangleCount != null ? String(asset.triangleCount) : 'n/a'],
+    ['Conversion', asset.conversionStatus],
+    ['Pivot', asset.pivotMode],
+  ];
+  if (expected) rows.push(['Expected x/y/z mm', `${expected.x} / ${expected.y} / ${expected.z}`]);
+  if (measuredM) rows.push(['Measured x/y/z mm', `${mm(measuredM.x)} / ${mm(measuredM.y)} / ${mm(measuredM.z)}`]);
+  rows.push(['Validation', asset.validationStatus]);
+
+  return (
+    <Html position={[0, y, 0]} center style={{ pointerEvents: 'none' }}>
+      <div style={{
+        fontFamily: 'ui-monospace, monospace',
+        fontSize: '10px',
+        lineHeight: 1.45,
+        color: '#e2e8f0',
+        background: 'rgba(2, 6, 23, 0.88)',
+        border: '1px solid #334155',
+        borderRadius: '6px',
+        padding: '8px 10px',
+        whiteSpace: 'nowrap',
+        transform: 'translateY(-100%)',
+      }}>
+        <div style={{ fontWeight: 700, color: '#facc15', marginBottom: 4 }}>
+          STAGE1 VERIFY · {asset.itemId}
+        </div>
+        {rows.map(([k, v]) => (
+          <div key={k}>
+            <span style={{ color: '#64748b' }}>{k}: </span>
+            <span>{v}</span>
+          </div>
+        ))}
+      </div>
+    </Html>
+  );
+}
+
+/** Real-asset branch: measures the actual runtime file via the shared loader cache. */
+function RealAssetVerification({ asset, cardY }: { asset: ModelAsset; cardY: number }) {
+  const shared = useLoader(STLLoader, asset.runtimePath!) as THREE.BufferGeometry;
+  const measuredM = useMemo<SizeM>(() => {
+    const g = normalizeGeometryClone(shared, asset);
+    g.computeBoundingBox();
+    const bb = g.boundingBox!;
+    const size = { x: bb.max.x - bb.min.x, y: bb.max.y - bb.min.y, z: bb.max.z - bb.min.z };
+    g.dispose();
+    return size;
+  }, [shared, asset]);
+  return (
+    <group>
+      <VerificationGizmos sizeM={measuredM} />
+      <InfoCard asset={asset} measuredM={measuredM} y={cardY} />
+    </group>
+  );
+}
+
+/**
+ * Overlay for one item in its pose group. `pivotOffsetY` is the same local Y
+ * offset used by the rendered mesh (bottom-center compensation), `cardY` the
+ * height for the info card (item top + margin, in the same local space).
+ */
+export function ItemVerificationOverlay({ asset, pivotOffsetY, cardY, fallbackSizeM }: {
+  asset: ModelAsset;
+  pivotOffsetY: number;
+  cardY: number;
+  fallbackSizeM: SizeM;
+}) {
+  return (
+    <group position={[0, pivotOffsetY, 0]}>
+      {asset.runtimePath ? (
+        <RealAssetVerification asset={asset} cardY={cardY} />
+      ) : (
+        <group>
+          <VerificationGizmos sizeM={fallbackSizeM} />
+          <InfoCard asset={asset} measuredM={null} y={cardY} />
+        </group>
+      )}
+    </group>
+  );
+}
+
+export default function RealModelVerification() {
+  return null;
+}

src/components/ThreeD/RealSenseD435i.tsx

@@ -0,0 +1,154 @@
+/**
+ * Stage 2B §9 — Intel RealSense Depth Camera D435i (SPEC_DERIVED).
+ *
+ * Built from the official Intel datasheet dimensions (90 × 25 × 25 mm,
+ * 50 mm stereo baseline, depth FOV 87°×58°) and the reference photo:
+ * horizontal anodized-aluminium bar, full-width front glass, left/right IR
+ * imagers, center RGB module, IR texture projector, rear USB-C, tripod boss.
+ * SPEC_DERIVED — not an official Intel CAD file; provenance documented in
+ * docs/stage2_real_sorter/camera-realsense-spec.md.
+ *
+ * Mount: overhead bar across the belt (Z), front glass facing DOWN (-Y),
+ * optical center 1.35 m (0.65 m above belt top 0.7 m) — clears the 500 mm
+ * oversized item by 112 mm. Laser triangulation module separately at 1.15 m
+ * (project doc height), so camera and laser heights are NOT conflated.
+ */
+import { memo } from 'react';
+import { SCAN_START_X, SCAN_END_X } from '../../domain/measurementZone';
+import { ZONES, CONVEYOR_WIDTH_M, BELT_TOP_Y } from '../../domain/physicalLayout';
+
+/** Official datasheet dimensions (m). */
+export const D435I = {
+  width: 0.09,   // 90 mm along the bar (Z when mounted across the belt)
+  height: 0.025, // 25 mm
+  depth: 0.025,  // 25 mm
+  baseline: 0.05,
+  fovH: 87, // deg, along the baseline
+  fovV: 58, // deg
+  opticalCenterY: 1.35,
+} as const;
+
+const HOUSING = '#222528';
+const HOUSING_EDGE = '#31363b';
+const GLASS = '#0c1116';
+const LENS_RIM = '#3c4249';
+const LENS_INNER = '#05070a';
+
+/** One sensor window on the glass face (rim + recessed lens), facing DOWN (-Y). */
+function SensorWindow({ z, radius }: { z: number; radius: number }) {
+  const y = -D435I.height / 2 - 0.0004;
+  return (
+    <group position={[0, 0, z]}>
+      <mesh position={[0, y, 0]} rotation={[-Math.PI / 2, 0, 0]}>
+        <torusGeometry args={[radius, 0.0016, 10, 24]} />
+        <meshStandardMaterial color={LENS_RIM} metalness={0.8} roughness={0.35} />
+      </mesh>
+      <mesh position={[0, y + 0.0008, 0]}>
+        <cylinderGeometry args={[radius * 0.72, radius * 0.72, 0.0016, 20]} />
+        <meshStandardMaterial color={LENS_INNER} metalness={0.4} roughness={0.15} />
+      </mesh>
+    </group>
+  );
+}
+
+export const RealSenseD435i = memo(function RealSenseD435i({
+  castShadow = false,
+}: {
+  castShadow?: boolean;
+}) {
+  const w = D435I.width;
+  return (
+    // Bar runs across the belt (Z); front glass face looks DOWN (-Y) at the belt.
+    <group>
+      {/* Main housing bar with chamfered edge rails */}
+      <mesh castShadow={castShadow}>
+        <boxGeometry args={[D435I.depth - 0.004, D435I.height - 0.004, w]} />
+        <meshStandardMaterial color={HOUSING} metalness={0.7} roughness={0.42} />
+      </mesh>
+      {/* side edge rails (rounded anodized look) */}
+      {[-1, 1].map((s) => (
+        <mesh key={s} position={[s * (D435I.depth / 2 - 0.002), 0, 0]}>
+          <boxGeometry args={[0.004, D435I.height, w - 0.006]} />
+          <meshStandardMaterial color={HOUSING_EDGE} metalness={0.75} roughness={0.35} />
+        </mesh>
+      ))}
+      {/* Full-width front glass on the downward face */}
+      <mesh position={[0, -D435I.height / 2 - 0.0006, 0]}>
+        <boxGeometry args={[D435I.depth - 0.007, 0.0012, w - 0.008]} />
+        <meshPhysicalMaterial
+          color={GLASS}
+          metalness={0.1}
+          roughness={0.08}
+          transparent
+          opacity={0.82}
+        />
+      </mesh>
+      {/* Sensors along the bar: left imager / RGB / IR projector / right imager */}
+      <SensorWindow z={D435I.baseline / 2} radius={0.0065} />
+      <SensorWindow z={-D435I.baseline / 2} radius={0.0065} />
+      <SensorWindow z={0.012} radius={0.0042} />
+      <SensorWindow z={-0.011} radius={0.0052} />
+      {/* USB-C port on the right end (rear) */}
+      <mesh position={[D435I.depth / 2 - 0.001, 0.002, w / 2 - 0.008]}>
+        <boxGeometry args={[0.004, 0.006, 0.009]} />
+        <meshStandardMaterial color="#0b0d0f" metalness={0.3} roughness={0.6} />
+      </mesh>
+      {/* Tripod boss on top (mount point) */}
+      <mesh position={[0, D435I.height / 2 + 0.003, 0]}>
+        <boxGeometry args={[0.012, 0.006, 0.02]} />
+        <meshStandardMaterial color={HOUSING_EDGE} metalness={0.8} roughness={0.4} />
+      </mesh>
+    </group>
+  );
+});
+
+/**
+ * Debug-only measurement frustum (§9.4): optical axis, FOV pyramid,
+ * scan-zone rectangle on the belt, entry/exit markers.
+ */
+export const RealSenseFrustumDebug = memo(function RealSenseFrustumDebug() {
+  const h = D435I.opticalCenterY - BELT_TOP_Y;
+  const halfAlong = Math.tan((D435I.fovV / 2) * (Math.PI / 180)) * h; // along belt X
+  const halfAcross = Math.tan((D435I.fovH / 2) * (Math.PI / 180)) * h; // across belt Z
+  const cx = ZONES.CAMERA.x;
+  const top: [number, number, number] = [cx, D435I.opticalCenterY - D435I.height / 2, 0];
+  const y = BELT_TOP_Y;
+  const corners: [number, number, number][] = [
+    [cx - halfAlong, y, -halfAcross],
+    [cx + halfAlong, y, -halfAcross],
+    [cx + halfAlong, y, halfAcross],
+    [cx - halfAlong, y, halfAcross],
+  ];
+  return (
+    <group>
+      {/* optical axis */}
+      <lineSegments>
+        <bufferGeometry>
+          <bufferAttribute
+            attach="attributes-position"
+            args={[new Float32Array([
+              ...top, cx, y, 0,
+              // FOV edges
+              ...corners.flatMap((c) => [...top, ...c]),
+              // FOV footprint rectangle
+              ...corners.flatMap((c, i) => [...c, ...corners[(i + 1) % 4]]),
+            ]), 3]}
+          />
+        </bufferGeometry>
+        <lineBasicMaterial color="#38bdf8" transparent opacity={0.55} />
+      </lineSegments>
+      {/* scan zone rectangle on the belt */}
+      <mesh position={[(SCAN_START_X + SCAN_END_X) / 2, y + 0.003, 0]} rotation={[-Math.PI / 2, 0, 0]}>
+        <planeGeometry args={[SCAN_END_X - SCAN_START_X, CONVEYOR_WIDTH_M]} />
+        <meshBasicMaterial color="#38bdf8" transparent opacity={0.12} />
+      </mesh>
+      {/* entry / exit markers */}
+      {[SCAN_START_X, SCAN_END_X].map((x) => (
+        <mesh key={x} position={[x, y + 0.004, 0]} rotation={[-Math.PI / 2, 0, 0]}>
+          <planeGeometry args={[0.015, CONVEYOR_WIDTH_M]} />
+          <meshBasicMaterial color={x === SCAN_START_X ? '#22c55e' : '#ef4444'} transparent opacity={0.6} />
+        </mesh>
+      ))}
+    </group>
+  );
+});

src/components/ThreeD/RollCageMesh.tsx

@@ -0,0 +1,185 @@
+/**
+ * RollCageMesh — честная сетчатая модель роллтейнера C/D по ground truth.
+ *
+ * Exterior bounding box: 1200 × 800 × 800 мм (включая колёса) — ROLL_CAGE.
+ * Открытый верх, читаемая сетка стен (~100мм), пол-панель на CAGE_FLOOR_Y.
+ *
+ * Вся геометрия — 3 instanced draw call (трубы+прутья, колёса) + 1 mesh (пол).
+ * Shared roll-cage mesh for C/D receivers.
+ *
+ * Классификация узла (Stage 1 §13.4): PROCEDURAL_FALLBACK — официальной
+ * CAD-модели роллтейнера в архивах нет; размеры соответствуют спецификации.
+ */
+
+import { useEffect, useMemo, useRef } from 'react';
+import * as THREE from 'three';
+import { ROLL_CAGE, CAGE_FLOOR_Y } from '../../domain/physicalLayout';
+
+const { width: W, depth: D, height: H, wheelRadius: WR, frameThickness: FT } = ROLL_CAGE;
+const WHEEL_D = WR * 2; // 0.08m — cage floor height (CAGE_FLOOR_Y)
+const BODY_H = H - WHEEL_D; // frame body above wheels; total exterior = H exactly
+const ROD = 0.008; // grid rod thickness (8mm wire)
+const GRID_STEP = 0.1; // ~100mm grid pitch
+
+interface CageInstances {
+  boxes: THREE.Matrix4[];
+  wheels: THREE.Matrix4[];
+}
+
+/**
+ * Stage 2: roll cages are 3-sided with an OPEN FRONT on the conveyor-facing
+ * side (real roll-container design) plus a 40mm sill — items enter through
+ * the opening from the gravity chute. Matches physicsWorldLayout colliders.
+ */
+export type CageOpenSide = 'z-' | 'z+' | 'none';
+
+function boxInstance(x: number, y: number, z: number, sx: number, sy: number, sz: number): THREE.Matrix4 {
+  return new THREE.Matrix4().compose(
+    new THREE.Vector3(x, y, z),
+    new THREE.Quaternion(),
+    new THREE.Vector3(sx, sy, sz),
+  );
+}
+
+/** Deterministic instance layout for the cage (built once per open side). */
+function buildInstances(openSide: CageOpenSide): CageInstances {
+  const boxes: THREE.Matrix4[] = [];
+  const yBot = WHEEL_D; // bottom of frame body
+  const yTop = H; // top of frame body (exterior top)
+  const openSign = openSide === 'z-' ? -1 : openSide === 'z+' ? 1 : 0;
+
+  // 4 corner posts
+  for (const sx of [-1, 1]) {
+    for (const sz of [-1, 1]) {
+      boxes.push(boxInstance(sx * (W / 2 - FT / 2), yBot + BODY_H / 2, sz * (D / 2 - FT / 2), FT, BODY_H, FT));
+    }
+  }
+  // bottom + top frame rectangles (skip the open side's tubes; sill added below)
+  for (const y of [yBot + FT / 2, yTop - FT / 2]) {
+    for (const sz of [-1, 1]) {
+      if (sz === openSign && y === yTop - FT / 2) continue; // open front: no top tube
+      boxes.push(boxInstance(0, y, sz * (D / 2 - FT / 2), W, FT, FT));
+    }
+    boxes.push(boxInstance(W / 2 - FT / 2, y, 0, FT, FT, D - FT * 2));
+    boxes.push(boxInstance(-(W / 2 - FT / 2), y, 0, FT, FT, D - FT * 2));
+  }
+  // 40mm sill across the open front (matches entry-sill collider)
+  if (openSign !== 0) {
+    boxes.push(boxInstance(0, yBot + 0.02, openSign * (D / 2 - FT / 2), W, 0.04, FT));
+  }
+
+  // grid walls between frames (interior span)
+  const yGridBot = yBot + FT;
+  const yGridTop = yTop - FT;
+  const gridH = yGridTop - yGridBot;
+  const yMid = yGridBot + gridH / 2;
+  const xInner = W / 2 - FT; // inner half-width
+  const zInner = D / 2 - FT;
+
+  // front/back walls (z = ±(D/2 − ROD/2)): vertical + horizontal rods
+  const vCols = Math.floor((xInner * 2) / GRID_STEP) - 1; // exclude corners (posts)
+  const hRows = Math.max(1, Math.round(gridH / GRID_STEP) - 1);
+  for (const sz of [-1, 1]) {
+    if (sz === openSign) continue; // open front: no grid wall
+    const z = sz * (D / 2 - ROD / 2);
+    for (let i = 1; i <= vCols; i++) {
+      const x = -xInner + (i * (xInner * 2)) / (vCols + 1);
+      boxes.push(boxInstance(x, yMid, z, ROD, gridH, ROD));
+    }
+    for (let r = 1; r <= hRows; r++) {
+      const y = yGridBot + (r * gridH) / (hRows + 1);
+      boxes.push(boxInstance(0, y, z, W - FT * 2, ROD, ROD));
+    }
+  }
+  // side walls (x = ±(W/2 − ROD/2))
+  const sCols = Math.floor((zInner * 2) / GRID_STEP) - 1;
+  for (const sx of [-1, 1]) {
+    const x = sx * (W / 2 - ROD / 2);
+    for (let i = 1; i <= sCols; i++) {
+      const z = -zInner + (i * (zInner * 2)) / (sCols + 1);
+      boxes.push(boxInstance(x, yMid, z, ROD, gridH, ROD));
+    }
+    for (let r = 1; r <= hRows; r++) {
+      const y = yGridBot + (r * gridH) / (hRows + 1);
+      boxes.push(boxInstance(x, y, 0, ROD, ROD, D - FT * 2));
+    }
+  }
+
+  // caster wheels (lying cylinders)
+  const wheels: THREE.Matrix4[] = [];
+  const wheelQuat = new THREE.Quaternion().setFromEuler(new THREE.Euler(0, 0, Math.PI / 2));
+  for (const sx of [-1, 1]) {
+    for (const sz of [-1, 1]) {
+      wheels.push(new THREE.Matrix4().compose(
+        new THREE.Vector3(sx * (W / 2 - 0.08), WR, sz * (D / 2 - 0.08)),
+        wheelQuat,
+        new THREE.Vector3(1, 1, 1),
+      ));
+    }
+  }
+
+  return { boxes, wheels };
+}
+
+export default function RollCageMesh({ color, active = false, shadows = false, openSide = 'none' }: {
+  color: string;
+  active?: boolean;
+  shadows?: boolean;
+  openSide?: CageOpenSide;
+}) {
+  const instances = useMemo(() => buildInstances(openSide), [openSide]);
+  const boxGeo = useMemo(() => new THREE.BoxGeometry(1, 1, 1), []);
+  const wheelGeo = useMemo(() => new THREE.CylinderGeometry(WR, WR, 0.03, 12), []);
+  const boxesRef = useRef<THREE.InstancedMesh>(null);
+  const wheelsRef = useRef<THREE.InstancedMesh>(null);
+
+  useEffect(() => {
+    const boxes = boxesRef.current;
+    if (boxes) {
+      instances.boxes.forEach((m, i) => boxes.setMatrixAt(i, m));
+      boxes.instanceMatrix.needsUpdate = true;
+    }
+    const wheels = wheelsRef.current;
+    if (wheels) {
+      instances.wheels.forEach((m, i) => wheels.setMatrixAt(i, m));
+      wheels.instanceMatrix.needsUpdate = true;
+    }
+  }, [instances]);
+
+  useEffect(() => () => {
+    boxGeo.dispose();
+    wheelGeo.dispose();
+  }, [boxGeo, wheelGeo]);
+
+  const emissiveIntensity = active ? 0.35 : 0;
+
+  return (
+    <group>
+      {/* frame + grid walls: single instanced draw call */}
+      <instancedMesh
+        ref={boxesRef}
+        args={[boxGeo, undefined, instances.boxes.length]}
+        castShadow={shadows}
+      >
+        <meshStandardMaterial
+          color={color}
+          metalness={0.6}
+          roughness={0.35}
+          emissive={color}
+          emissiveIntensity={emissiveIntensity}
+        />
+      </instancedMesh>
+
+      {/* caster wheels: single instanced draw call */}
+      <instancedMesh ref={wheelsRef} args={[wheelGeo, undefined, instances.wheels.length]}>
+        <meshStandardMaterial color="#475569" metalness={0.7} roughness={0.3} />
+      </instancedMesh>
+
+      {/* interior floor pan where items rest (top at CAGE_FLOOR_Y) */}
+      <mesh position={[0, CAGE_FLOOR_Y - 0.005, 0]} receiveShadow={shadows}>
+        <boxGeometry args={[W - FT, 0.01, D - FT]} />
+        <meshStandardMaterial color="#1e293b" metalness={0.3} roughness={0.7} />
+      </mesh>
+    </group>
+  );
+}

src/components/ThreeD/SorterPhysics.tsx

@@ -0,0 +1,181 @@
+/**
+ * Stage 2 — physics world for the sorter drop segment.
+ *
+ * Hybrid authority (docs/stage2_real_sorter/physics-architecture.md):
+ *  - items on the belt are KINEMATIC (domain pose is truth);
+ *  - at the drop handoff (pusher contact / belt edge) the body switches to
+ *    DYNAMIC with deterministic initial velocity;
+ *  - static colliders mirror the visible chute / receiver geometry
+ *    (documented hidden colliders, same dimensions as the visuals).
+ *
+ * Determinism: fixed dt = 1/60, max 4 substeps/frame, no unseeded randomness.
+ * Physics freezes when the domain clock is paused (documented simulation
+ * assumption — belt, gate and items halt together; EMERGENCY_STOP creates no
+ * new impulses).
+ *
+ * Stage 2E: Rapier step timing via PhysicsPerfSampler (?perf=1 | ?physicsPerf=1).
+ * Render time is NOT included in physics p95.
+ */
+import { useRef, type ReactNode } from 'react';
+import { useFrame } from '@react-three/fiber';
+import { Physics, RigidBody, CuboidCollider, useRapier } from '@react-three/rapier';
+import { getStaticColliders } from '../../domain/physicsWorldLayout';
+import { PHYSICS_TIMESTEP_SEC } from '../../domain/physicsTimestep';
+import {
+  PhysicsPerfSampler,
+  isPhysicsPerfQueryEnabled,
+  type PhysicsPerfSnapshot,
+} from '../../domain/physicsPerf';
+
+export const PHYSICS_DT = PHYSICS_TIMESTEP_SEC;
+export const PHYSICS_MAX_SUBSTEPS = 4;
+const MAX_SUBSTEPS = PHYSICS_MAX_SUBSTEPS;
+
+/**
+ * Physics-time clock (seconds actually simulated by THIS world instance).
+ * Kinematic mechanisms must be driven by this clock — never by the domain
+ * wall clock — because under render lag the stepper burns at most
+ * MAX_SUBSTEPS per frame and physics time falls behind domain time.
+ */
+export const physicsSimClock = { simSec: 0 };
+
+export function resetPhysicsSimClock() {
+  physicsSimClock.simSec = 0;
+}
+
+/** Drop verification record (debug/e2e introspection, no secrets). */
+export interface DropResult {
+  caseId: string;
+  itemId: string;
+  expectedZone: 'B' | 'C' | 'D';
+  finalPosition: [number, number, number];
+  insideExpectedReceiver: boolean;
+  settledByTimeout: boolean;
+  timestampMs: number;
+}
+
+declare global {
+  interface Window {
+    __DROP_RESULTS?: DropResult[];
+    __PHYSICS_PERF__?: PhysicsPerfSnapshot;
+    __PHYSICS_PERF_RESET__?: () => void;
+  }
+}
+
+export function recordDropResult(result: DropResult) {
+  if (typeof window !== 'undefined') {
+    window.__DROP_RESULTS = [...(window.__DROP_RESULTS ?? []).slice(-49), result];
+  }
+}
+
+function readWorldMeta(world: {
+  bodies?: { len: () => number };
+  colliders?: { len: () => number };
+}): { activeBodies: number; sleepingBodies: number; colliders: number; contactPairs: number } {
+  try {
+    // @react-three/rapier wraps Rapier world; body counts via forEach when available
+    const w = world as unknown as {
+      forEachRigidBody?: (cb: (b: { isSleeping: () => boolean; numColliders: () => number }) => void) => void;
+      bodies?: { len: () => number };
+      colliders?: { len: () => number };
+    };
+    let active = 0;
+    let sleeping = 0;
+    let colliders = 0;
+    if (typeof w.forEachRigidBody === 'function') {
+      w.forEachRigidBody((b) => {
+        if (b.isSleeping()) sleeping += 1;
+        else active += 1;
+        try {
+          colliders += b.numColliders();
+        } catch {
+          /* ignore */
+        }
+      });
+    } else {
+      active = w.bodies?.len?.() ?? 0;
+      colliders = w.colliders?.len?.() ?? 0;
+    }
+    return { activeBodies: active, sleepingBodies: sleeping, colliders, contactPairs: 0 };
+  } catch {
+    return { activeBodies: 0, sleepingBodies: 0, colliders: 0, contactPairs: 0 };
+  }
+}
+
+/** Steps the Rapier world with a fixed dt, scaled by domain playback speed. */
+function RapierStepper({ running, speed }: { running: boolean; speed: number }) {
+  const { world } = useRapier();
+  const accumulator = useRef(0);
+  const sampler = useRef(new PhysicsPerfSampler(PHYSICS_DT, MAX_SUBSTEPS));
+  const perfOn = useRef(false);
+
+  // Latch query once (and expose reset) — no React state.
+  if (typeof window !== 'undefined' && !perfOn.current) {
+    perfOn.current = isPhysicsPerfQueryEnabled();
+    if (perfOn.current) {
+      window.__PHYSICS_PERF_RESET__ = () => sampler.current.reset();
+    }
+  }
+
+  useFrame((_, delta) => {
+    if (!running) return;
+    accumulator.current += Math.min(delta, 0.1) * speed;
+    let steps = 0;
+    let framePhysicsMs = 0;
+    while (accumulator.current >= PHYSICS_DT && steps < MAX_SUBSTEPS) {
+      if (perfOn.current) {
+        const t0 = performance.now();
+        world.step();
+        framePhysicsMs += performance.now() - t0;
+      } else {
+        world.step();
+      }
+      physicsSimClock.simSec += PHYSICS_DT;
+      accumulator.current -= PHYSICS_DT;
+      steps += 1;
+    }
+    if (perfOn.current && steps > 0) {
+      // Record per-frame physics cost (sum of substeps this frame), not render.
+      sampler.current.pushStepMs(framePhysicsMs, steps);
+      window.__PHYSICS_PERF__ = sampler.current.snapshot(readWorldMeta(world));
+    }
+    if (steps === MAX_SUBSTEPS) accumulator.current = 0;
+  });
+  return null;
+}
+
+/** Static colliders for the whole working area (fixed bodies, cheap cuboids).
+ *  Layout data lives in domain/physicsWorldLayout — shared with headless tests. */
+export function SorterStaticColliders() {
+  return (
+    <RigidBody type="fixed" colliders={false}>
+      {getStaticColliders().map((c) => (
+        <CuboidCollider
+          key={c.id}
+          args={c.halfExtents}
+          position={c.position}
+          rotation={c.rotation}
+          friction={c.friction}
+        />
+      ))}
+    </RigidBody>
+  );
+}
+
+export function SorterPhysicsWorld({
+  running,
+  speed,
+  children,
+}: {
+  running: boolean;
+  speed: number;
+  children: ReactNode;
+}) {
+  return (
+    <Physics updateLoop="independent" paused timeStep={PHYSICS_DT} gravity={[0, -9.81, 0]}>
+      <RapierStepper running={running} speed={speed} />
+      <SorterStaticColliders />
+      {children}
+    </Physics>
+  );
+}

src/components/ThreeD/ThreeErrorBoundary.tsx

@@ -0,0 +1,143 @@
+import { Component, ReactNode } from 'react';
+
+interface Props {
+  children: ReactNode;
+  onError?: (error: Error) => void;
+  /** Explicit switch-to-2D action (replaces the old dead `use-2d-fallback` event). */
+  onUse2D?: () => void;
+}
+
+interface State {
+  hasError: boolean;
+  error: Error | null;
+}
+
+/**
+ * ErrorBoundary для 3D Canvas.
+ * Ловит ошибки Three.js/WebGL и показывает fallback вместо чёрного экрана.
+ */
+export default class ThreeErrorBoundary extends Component<Props, State> {
+  constructor(props: Props) {
+    super(props);
+    this.state = { hasError: false, error: null };
+  }
+
+  static getDerivedStateFromError(error: Error): State {
+    return { hasError: true, error };
+  }
+
+  componentDidCatch(error: Error, errorInfo: unknown) {
+    console.error('3D Canvas error caught by ErrorBoundary:', error, errorInfo);
+    this.props.onError?.(error);
+  }
+
+  handleReload = () => {
+    this.setState({ hasError: false, error: null });
+    window.location.reload();
+  };
+
+  handleUse2D = () => {
+    this.setState({ hasError: false, error: null });
+    this.props.onUse2D?.();
+  };
+
+  render() {
+    if (this.state.hasError) {
+      return (
+        <div
+          style={{
+            display: 'flex',
+            flexDirection: 'column',
+            alignItems: 'center',
+            justifyContent: 'center',
+            minHeight: '400px',
+            padding: '24px',
+            border: '1px solid rgba(251, 61, 78, 0.3)',
+            borderRadius: '12px',
+            background: 'rgba(251, 61, 78, 0.05)',
+            color: '#e5f2ff',
+          }}
+        >
+          <svg
+            width="48"
+            height="48"
+            viewBox="0 0 24 24"
+            fill="none"
+            stroke="currentColor"
+            strokeWidth="2"
+            style={{ marginBottom: '16px', color: '#fb3d4e' }}
+          >
+            <circle cx="12" cy="12" r="10" />
+            <line x1="12" y1="8" x2="12" y2="12" />
+            <line x1="12" y1="16" x2="12.01" y2="16" />
+          </svg>
+          
+          <h3 style={{ margin: '0 0 8px 0', fontSize: '18px', fontWeight: 600 }}>
+            3D Scene Failed
+          </h3>
+          
+          <p style={{ margin: '0 0 20px 0', color: 'rgba(229, 242, 255, 0.7)', fontSize: '14px', textAlign: 'center', maxWidth: '400px' }}>
+            3D rendering encountered an error. You can reload or switch to stable 2D fallback.
+          </p>
+
+          {import.meta.env.DEV && this.state.error && (
+            <pre
+              style={{
+                fontSize: '12px',
+                color: '#fb3d4e',
+                background: 'rgba(0, 0, 0, 0.3)',
+                padding: '12px',
+                borderRadius: '6px',
+                maxWidth: '100%',
+                overflow: 'auto',
+                marginBottom: '20px',
+              }}
+            >
+              {this.state.error.message}
+            </pre>
+          )}
+
+          <div style={{ display: 'flex', gap: '12px' }}>
+            <button
+              type="button"
+              onClick={this.handleReload}
+              style={{
+                padding: '10px 20px',
+                background: 'rgba(56, 189, 248, 0.15)',
+                border: '1px solid rgba(56, 189, 248, 0.3)',
+                borderRadius: '8px',
+                color: '#38bdf8',
+                cursor: 'pointer',
+                fontSize: '14px',
+                fontWeight: 600,
+              }}
+            >
+              Reload 3D
+            </button>
+            
+            {this.props.onUse2D && (
+              <button
+                type="button"
+                onClick={this.handleUse2D}
+                style={{
+                  padding: '10px 20px',
+                  background: 'rgba(148, 163, 184, 0.15)',
+                  border: '1px solid rgba(148, 163, 184, 0.3)',
+                  borderRadius: '8px',
+                  color: '#94a3b8',
+                  cursor: 'pointer',
+                  fontSize: '14px',
+                  fontWeight: 600,
+                }}
+              >
+                Use 2D Fallback
+              </button>
+            )}
+          </div>
+        </div>
+      );
+    }
+
+    return this.props.children;
+  }
+}

src/components/ThreeD/useWebGL.ts

@@ -0,0 +1,28 @@
+import { useEffect, useState } from 'react';
+
+export function detectWebGL(): boolean {
+  try {
+    const canvas = document.createElement('canvas');
+    return Boolean(
+      canvas.getContext('webgl2') ||
+        canvas.getContext('webgl') ||
+        canvas.getContext('experimental-webgl'),
+    );
+  } catch {
+    return false;
+  }
+}
+
+export function useWebGLSupport(): boolean {
+  const [supported, setSupported] = useState(true);
+
+  useEffect(() => {
+    setSupported(detectWebGL());
+  }, []);
+
+  return supported;
+}
+
+export function prefer3DByDefault(width: number, webgl: boolean): boolean {
+  return webgl && width >= 640;
+}

src/data/items.ts

@@ -0,0 +1,111 @@
+import type { Item } from '../domain/types';
+
+export const ITEMS: Item[] = [
+  {
+    id: 'SKU-001',
+    name: 'Box 300x200x200',
+    dimensionsMm: { width: 300, depth: 200, height: 200 },
+    roundness: 0.12,
+    confidence: 0.94,
+    shape: 'box',
+    expectedCategory: 'B',
+  },
+  {
+    id: 'SKU-002',
+    name: 'Lunchbox 201x152x62',
+    dimensionsMm: { width: 201, depth: 152, height: 62 },
+    roundness: 0.22,
+    confidence: 0.91,
+    shape: 'rectangular prism',
+    expectedCategory: 'B',
+  },
+  {
+    id: 'SKU-003',
+    name: 'Detergent 259x179x278',
+    dimensionsMm: { width: 259, depth: 179, height: 278 },
+    roundness: 0.38,
+    confidence: 0.88,
+    shape: 'bottle box',
+    expectedCategory: 'B',
+  },
+  {
+    id: 'SKU-004',
+    name: 'Oversized box 401x300x400',
+    dimensionsMm: { width: 401, depth: 300, height: 400 },
+    roundness: 0.18,
+    confidence: 0.9,
+    shape: 'oversized box',
+    expectedCategory: 'C',
+  },
+  {
+    id: 'SKU-005',
+    name: 'Pouf 489x264x489',
+    dimensionsMm: { width: 489, depth: 264, height: 489 },
+    roundness: 0.74,
+    confidence: 0.86,
+    shape: 'soft bulky item',
+    expectedCategory: 'C',
+  },
+  {
+    id: 'SKU-006',
+    name: 'Plate 210x209x27',
+    dimensionsMm: { width: 210, depth: 209, height: 27 },
+    roundness: 0.95,
+    confidence: 0.89,
+    shape: 'round plate',
+    expectedCategory: 'D',
+  },
+  {
+    id: 'SKU-007',
+    name: 'Bottle 91x91x305',
+    dimensionsMm: { width: 91, depth: 91, height: 305 },
+    roundness: 0.92,
+    confidence: 0.93,
+    shape: 'cylinder bottle',
+    expectedCategory: 'D',
+  },
+  {
+    id: 'SKU-008',
+    name: 'Cylinder 435x50x43',
+    dimensionsMm: { width: 435, depth: 50, height: 43 },
+    roundness: 0.88,
+    confidence: 0.87,
+    shape: 'long cylinder',
+    expectedCategory: 'D',
+  },
+  {
+    id: 'SKU-009',
+    name: 'Pen 9x13x148',
+    dimensionsMm: { width: 9, depth: 13, height: 148 },
+    roundness: 0.66,
+    confidence: 0.84,
+    shape: 'thin item',
+    expectedCategory: 'C',
+  },
+  {
+    id: 'SKU-010',
+    name: 'Near-max box 449x319x319',
+    dimensionsMm: { width: 449, depth: 319, height: 319 },
+    roundness: 0.2,
+    confidence: 0.9,
+    shape: 'boundary box',
+    expectedCategory: 'B',
+  },
+  {
+    id: 'SKU-011',
+    name: 'Oversized round 500x300x300',
+    dimensionsMm: { width: 500, depth: 300, height: 300 },
+    roundness: 0.93,
+    confidence: 0.88,
+    shape: 'oversized round cylinder',
+    expectedCategory: 'C',
+  },
+];
+
+export function getItem(id: string): Item {
+  const item = ITEMS.find((candidate) => candidate.id === id);
+  if (!item) {
+    throw new Error(`Unknown item id: ${id}`);
+  }
+  return item;
+}

src/data/modelAssets.test.ts

@@ -0,0 +1,149 @@
+import { describe, it, expect } from 'vitest';
+import {
+  MODEL_ASSETS,
+  ARCHIVE_ONLY_MODELS,
+  getModelAsset,
+  getRealAssets,
+  getProceduralAssets,
+  getManifestStats,
+} from './modelAssets';
+
+// Runtime files under public/ (project convention: import.meta.glob instead of node:fs)
+const RUNTIME_MODEL_FILES = Object.keys(
+  import.meta.glob('../../public/models/*.stl', { eager: true, query: '?url', import: 'default' }),
+).map((p) => p.replace(/^.*\/public/, ''));
+
+describe('modelAssets (Stage 1 real-model manifest)', () => {
+  describe('MODEL_ASSETS', () => {
+    it('should contain assets for all scenario items', () => {
+      const expectedIds = [
+        'SKU-001', 'SKU-002', 'SKU-003', 'SKU-004', 'SKU-005', 'SKU-006',
+        'SKU-007', 'SKU-008', 'SKU-009', 'SKU-010', 'SKU-011',
+      ];
+      const actualIds = MODEL_ASSETS.map((asset) => asset.itemId);
+      expectedIds.forEach((id) => {
+        expect(actualIds).toContain(id);
+      });
+    });
+
+    it('should have a unique SKU per entry', () => {
+      const ids = MODEL_ASSETS.map((asset) => asset.itemId);
+      expect(new Set(ids).size).toBe(ids.length);
+    });
+
+    it('should define a fallback primitive for every asset', () => {
+      MODEL_ASSETS.forEach((asset) => {
+        expect(asset.fallbackPrimitive).toMatch(/^(box|cylinder|sphere)$/);
+      });
+    });
+
+    it('should have valid expected dimensions for every asset', () => {
+      MODEL_ASSETS.forEach((asset) => {
+        expect(asset.dimensions.width).toBeGreaterThan(0);
+        expect(asset.dimensions.depth).toBeGreaterThan(0);
+        expect(asset.dimensions.height).toBeGreaterThan(0);
+      });
+    });
+
+    it('runtime paths must exist on disk for every real asset', () => {
+      for (const asset of MODEL_ASSETS) {
+        if (asset.defaultRealAsset) {
+          expect(asset.runtimePath, `${asset.itemId} runtimePath`).toBeTruthy();
+          expect(
+            RUNTIME_MODEL_FILES,
+            `${asset.itemId} → ${asset.runtimePath} must exist in public/models`,
+          ).toContain(asset.runtimePath);
+        } else {
+          expect(asset.runtimePath).toBeNull();
+        }
+      }
+    });
+
+    it('real assets must declare provenance (archive, file, sha256)', () => {
+      for (const asset of getRealAssets()) {
+        expect(asset.sourceArchive).toBe('input_info/doc-1782987733.zip');
+        expect(asset.sourceFile).toBeTruthy();
+        expect(asset.sourceSha256).toMatch(/^[0-9a-f]{64}$/);
+        expect(asset.runtimeSha256).toMatch(/^[0-9a-f]{64}$/);
+        expect(asset.sourceBoundingBoxMm).not.toBeNull();
+        expect(asset.worldExpectedMm).not.toBeNull();
+        expect(asset.triangleCount).toBeGreaterThan(0);
+        expect(asset.fileSizeBytes).toBeGreaterThan(0);
+      }
+    });
+
+    it('real assets use bottom-center pivot and uniform mm→m scale only', () => {
+      for (const asset of getRealAssets()) {
+        expect(asset.pivotMode).toBe('bottom-center');
+        expect(asset.scaleMode).toBe('uniform-mm-to-m');
+      }
+    });
+
+    it('must NOT silently substitute another model for a SKU', () => {
+      // SKU-011 previously reused cylinder.stl — forbidden now.
+      const sku011 = getModelAsset('SKU-011');
+      expect(sku011?.defaultRealAsset).toBe(false);
+      expect(sku011?.runtimePath).toBeNull();
+      expect(sku011?.notes).toContain('NO_EXACT_OFFICIAL_MODEL');
+    });
+  });
+
+  describe('official test-set coverage', () => {
+    it('integrates the 9 official models that have matching SKUs', () => {
+      const realIds = getRealAssets().map((a) => a.itemId).sort();
+      expect(realIds).toEqual([
+        'SKU-001', 'SKU-002', 'SKU-003', 'SKU-004', 'SKU-005',
+        'SKU-006', 'SKU-007', 'SKU-008', 'SKU-009',
+      ]);
+    });
+
+    it('marks SKUs without an exact official model honestly', () => {
+      for (const id of ['SKU-010', 'SKU-011']) {
+        const asset = getModelAsset(id);
+        expect(asset?.defaultRealAsset).toBe(false);
+        expect(asset?.notes).toContain('NO_EXACT_OFFICIAL_MODEL');
+      }
+    });
+
+    it('documents archive-only official models (bag, helmet)', () => {
+      const names = ARCHIVE_ONLY_MODELS.map((m) => m.displayName);
+      expect(names).toContain('Мешок');
+      expect(names).toContain('Шлем');
+      ARCHIVE_ONLY_MODELS.forEach((m) => {
+        expect(m.sourceSha256).toMatch(/^[0-9a-f]{64}$/);
+      });
+    });
+
+    it('respects runtime file budgets (<= 1.5MB hard, <= 100k tris acceptable)', () => {
+      for (const asset of getRealAssets()) {
+        expect(asset.fileSizeBytes!, `${asset.itemId} file size`).toBeLessThanOrEqual(1.5 * 1024 * 1024);
+        expect(asset.triangleCount!, `${asset.itemId} triangles`).toBeLessThanOrEqual(100_000);
+      }
+    });
+  });
+
+  describe('getModelAsset', () => {
+    it('should return asset for valid item ID', () => {
+      const asset = getModelAsset('SKU-006');
+      expect(asset).toBeDefined();
+      expect(asset?.displayName).toBe('Тарелка');
+      expect(asset?.categoryScenario).toBe('D');
+    });
+
+    it('should return undefined for invalid item ID', () => {
+      const asset = getModelAsset('SKU-999');
+      expect(asset).toBeUndefined();
+    });
+  });
+
+  describe('getManifestStats', () => {
+    it('should return correct totals', () => {
+      const stats = getManifestStats();
+      expect(stats.total).toBe(MODEL_ASSETS.length);
+      expect(stats.real).toBe(getRealAssets().length);
+      expect(stats.procedural).toBe(getProceduralAssets().length);
+      expect(stats.real + stats.procedural).toBe(stats.total);
+      expect(stats.realPercentage).toBe(Math.round((stats.real / stats.total) * 100));
+    });
+  });
+});

src/data/modelAssets.ts

@@ -0,0 +1,449 @@
+/**
+ * Model Assets Manifest — единый источник сведений о 3D-ассетах товаров.
+ *
+ * Stage 1 (real models): каждая запись фиксирует происхождение (архив OZON,
+ * файл, SHA-256), измеренный исходный bounding box, transform нормализации
+ * (rotation → uniform mm→m scale → bottom-center pivot) и бюджеты.
+ *
+ * Source measurements: scripts/stage1-analyze-stl.mjs (см. docs/stage1_real_models/).
+ * Decimation: scripts/stage1-decimate-stl.mjs (vertex clustering, воспроизводимо).
+ * Validation: scripts/validate-real-models.mjs (НЕ редактировать статусы вручную).
+ */
+
+import type { Category, DimensionsMm } from '../domain/types';
+
+export interface SourceBoundingBoxMm {
+  min: [number, number, number];
+  max: [number, number, number];
+  size: [number, number, number];
+}
+
+export interface ModelAsset {
+  /** Item ID from items.ts (e.g. 'SKU-006') */
+  itemId: string;
+
+  /** Display name (Russian, official test-set name) */
+  displayName: string;
+
+  /** Expected category scenario */
+  categoryScenario: Category;
+
+  /** Expected physical dimensions in mm (domain truth, items.ts) */
+  dimensions: DimensionsMm;
+
+  // ---------------- Provenance ----------------
+  /** 'official-stl' = byte-identical archive file; 'official-stl-decimated' = derived from archive STL by reproducible decimation; 'none' = no official model */
+  sourceType: 'official-stl' | 'official-stl-decimated' | 'none';
+  /** Archive the source file came from (repo-relative) */
+  sourceArchive: string | null;
+  /** File name inside the archive */
+  sourceFile: string | null;
+  /** SHA-256 of the source file inside the archive */
+  sourceSha256: string | null;
+
+  // ---------------- Runtime asset ----------------
+  /** Frontend asset path under public/ (null if no real asset) */
+  runtimePath: string | null;
+  /** SHA-256 of the runtime file */
+  runtimeSha256: string | null;
+  runtimeFormat: 'binary-stl' | null;
+  /** Measured triangle count of the runtime file */
+  triangleCount: number | null;
+  /** Runtime file size */
+  fileSizeBytes: number | null;
+
+  // ---------------- Normalization ----------------
+  /** Measured source STL bounding box (mm, source axes) */
+  sourceBoundingBoxMm: SourceBoundingBoxMm | null;
+  /** Expected size along world X/Y/Z AFTER rotation (orientation-aware, mm) */
+  worldExpectedMm: { x: number; y: number; z: number } | null;
+  /** Euler rotation (radians) applied in source mm space before scaling */
+  rotation: [number, number, number];
+  /** Human-readable axis/orientation decision */
+  axisMapping: string;
+  /** Pivot convention after normalization */
+  pivotMode: 'bottom-center';
+  /** Scale convention: source mm → scene meters, uniform */
+  scaleMode: 'uniform-mm-to-m';
+
+  // ---------------- Policy ----------------
+  /** true = real model is the default; false = fallback is the default (honest marking) */
+  defaultRealAsset: boolean;
+  /** Fallback primitive for load failure / low mode */
+  fallbackPrimitive: 'box' | 'cylinder' | 'sphere';
+  /** Provenance of the runtime geometry */
+  conversionStatus: 'original' | 'decimated-cell-1mm' | 'decimated-cell-2mm' | 'not-applicable';
+  /** Filled by validate-real-models.mjs — never hand-edited */
+  validationStatus: 'pending' | 'pass' | 'fail';
+  /** Preload with the default playlist scene (budget-controlled) */
+  preload: boolean;
+
+  notes?: string;
+}
+
+const ARCHIVE_STL = 'input_info/doc-1782987733.zip';
+
+/**
+ * Model assets manifest.
+ *
+ * All runtime STLs are official OZON test-set models (or reproducible
+ * decimations of them), units = mm, rendered with uniform 0.001 scale.
+ * No silent substitutions: SKUs without an exact official model are marked
+ * NO_EXACT_OFFICIAL_MODEL and use an honestly labelled procedural fallback.
+ */
+export const MODEL_ASSETS: ModelAsset[] = [
+  {
+    itemId: 'SKU-001',
+    displayName: 'Короб 300×200×200',
+    categoryScenario: 'B',
+    dimensions: { width: 300, depth: 200, height: 200 },
+    sourceType: 'official-stl',
+    sourceArchive: ARCHIVE_STL,
+    sourceFile: 'Stl/Короб 300х200х200.stl',
+    sourceSha256: '4ac9046bdef5bad2e7e50062fea30ead9132ebb6bdf23edeceb1f61c276f6e38',
+    runtimePath: '/models/box-300.stl',
+    runtimeSha256: '4ac9046bdef5bad2e7e50062fea30ead9132ebb6bdf23edeceb1f61c276f6e38',
+    runtimeFormat: 'binary-stl',
+    triangleCount: 592,
+    fileSizeBytes: 29684,
+    sourceBoundingBoxMm: { min: [-150.5, 0, -100], max: [150.5, 200.5, 100], size: [301, 200.5, 200] },
+    worldExpectedMm: { x: 300, y: 200, z: 200 },
+    rotation: [0, 0, 0],
+    axisMapping: 'x→width, y→height, z→depth; Y-up, bottom at y=0 in source',
+    pivotMode: 'bottom-center',
+    scaleMode: 'uniform-mm-to-m',
+    defaultRealAsset: true,
+    fallbackPrimitive: 'box',
+    conversionStatus: 'original',
+    validationStatus: 'pending',
+    preload: true,
+    notes: 'Official STL, byte-identical to archive (checksum match).',
+  },
+  {
+    itemId: 'SKU-002',
+    displayName: 'ЛанчБокс',
+    categoryScenario: 'B',
+    dimensions: { width: 201, depth: 152, height: 62 },
+    sourceType: 'official-stl',
+    sourceArchive: ARCHIVE_STL,
+    sourceFile: 'Stl/ЛанчБокс.stl',
+    sourceSha256: '3ad0f231777e7fe1ac55ac55e40074baffc3561c1fe082bb50dd47161f5c5c99',
+    runtimePath: '/models/lunchbox.stl',
+    runtimeSha256: '3ad0f231777e7fe1ac55ac55e40074baffc3561c1fe082bb50dd47161f5c5c99',
+    runtimeFormat: 'binary-stl',
+    triangleCount: 11574,
+    fileSizeBytes: 578784,
+    sourceBoundingBoxMm: { min: [-100.499, -55.8, -76.2], max: [100.496, 6.5, 76.2], size: [200.995, 62.3, 152.4] },
+    worldExpectedMm: { x: 201, y: 62, z: 152 },
+    rotation: [0, 0, 0],
+    axisMapping: 'x→width, y→height, z→depth; source pivot below center — normalized to bottom-center',
+    pivotMode: 'bottom-center',
+    scaleMode: 'uniform-mm-to-m',
+    defaultRealAsset: true,
+    fallbackPrimitive: 'box',
+    conversionStatus: 'original',
+    validationStatus: 'pending',
+    preload: true,
+    notes: 'Official STL. Lid-down container; bottom-center pivot baked at load.',
+  },
+  {
+    itemId: 'SKU-003',
+    displayName: 'Моющее средство',
+    categoryScenario: 'B',
+    dimensions: { width: 259, depth: 179, height: 278 },
+    sourceType: 'official-stl-decimated',
+    sourceArchive: ARCHIVE_STL,
+    sourceFile: 'Stl/Моющее средство.STL',
+    sourceSha256: '9a8239c0d079084ff45337f88a7169df75ef010c445a87ad3a5746d11ab154dd',
+    runtimePath: '/models/detergent.stl',
+    runtimeSha256: '1b93c69affe0a7b5fe67973d3c9ca2d7ca7f3daace9b26e386ce7cd89b78da92',
+    runtimeFormat: 'binary-stl',
+    triangleCount: 29458,
+    fileSizeBytes: 1472984,
+    sourceBoundingBoxMm: { min: [28.316, 1.054, 0.019], max: [287.345, 279.218, 179.252], size: [259.029, 278.164, 179.232] },
+    worldExpectedMm: { x: 259, y: 278, z: 179 },
+    rotation: [0, 0, 0],
+    axisMapping: 'x→width, y→height, z→depth; source offset from origin — normalized to bottom-center',
+    pivotMode: 'bottom-center',
+    scaleMode: 'uniform-mm-to-m',
+    defaultRealAsset: true,
+    fallbackPrimitive: 'box',
+    conversionStatus: 'decimated-cell-2mm',
+    validationStatus: 'pending',
+    preload: false,
+    notes: 'Official STL decimated 72,752→29,458 tris (vertex clustering, cell 2mm) to fit the 1.5MB budget; bbox preserved within 0.24mm.',
+  },
+  {
+    itemId: 'SKU-004',
+    displayName: 'Короб 400×400×300 (негабарит)',
+    categoryScenario: 'C',
+    dimensions: { width: 401, depth: 300, height: 400 },
+    sourceType: 'official-stl',
+    sourceArchive: ARCHIVE_STL,
+    sourceFile: 'Stl/Короб 400х400х300.stl',
+    sourceSha256: '05c4ec56883f085e1dafc9bd43fb87ce9993071122e19983192b72120daa9f68',
+    runtimePath: '/models/box-400.stl',
+    runtimeSha256: '05c4ec56883f085e1dafc9bd43fb87ce9993071122e19983192b72120daa9f68',
+    runtimeFormat: 'binary-stl',
+    triangleCount: 536,
+    fileSizeBytes: 26884,
+    sourceBoundingBoxMm: { min: [-200.5, 0, -200], max: [200.5, 300.5, 200], size: [401, 300.5, 400] },
+    worldExpectedMm: { x: 401, y: 300, z: 400 },
+    rotation: [0, 0, 0],
+    axisMapping: 'x→width, y→height, z→depth; Y-up, bottom at y=0 in source',
+    pivotMode: 'bottom-center',
+    scaleMode: 'uniform-mm-to-m',
+    defaultRealAsset: true,
+    fallbackPrimitive: 'box',
+    conversionStatus: 'original',
+    validationStatus: 'pending',
+    preload: true,
+    notes: 'Official STL, byte-identical to archive.',
+  },
+  {
+    itemId: 'SKU-005',
+    displayName: 'Пуфик',
+    categoryScenario: 'C',
+    dimensions: { width: 489, depth: 264, height: 489 },
+    sourceType: 'official-stl',
+    sourceArchive: ARCHIVE_STL,
+    sourceFile: 'Stl/Пуфик.stl',
+    sourceSha256: '1761f3b2d9e5781a11f09e868d2c14e59d3c03bd5f0c19a006f28648de9f66d1',
+    runtimePath: '/models/pouf.stl',
+    runtimeSha256: '1761f3b2d9e5781a11f09e868d2c14e59d3c03bd5f0c19a006f28648de9f66d1',
+    runtimeFormat: 'binary-stl',
+    triangleCount: 12880,
+    fileSizeBytes: 644084,
+    sourceBoundingBoxMm: { min: [-244.452, -126, -124.452], max: [244.452, 138, 364.452], size: [488.905, 264, 488.905] },
+    worldExpectedMm: { x: 489, y: 264, z: 489 },
+    rotation: [0, 0, 0],
+    axisMapping: 'x→width, y→height, z→depth; source center-offset pivot — normalized to bottom-center',
+    pivotMode: 'bottom-center',
+    scaleMode: 'uniform-mm-to-m',
+    defaultRealAsset: true,
+    fallbackPrimitive: 'cylinder',
+    conversionStatus: 'original',
+    validationStatus: 'pending',
+    preload: false,
+    notes: 'Official STL, round soft pouf. 489mm width exceeds the 450mm gate limit on purpose (C scenario).',
+  },
+  {
+    itemId: 'SKU-006',
+    displayName: 'Тарелка',
+    categoryScenario: 'D',
+    dimensions: { width: 210, depth: 209, height: 27 },
+    sourceType: 'official-stl',
+    sourceArchive: ARCHIVE_STL,
+    sourceFile: 'Stl/Тарелка.stl',
+    sourceSha256: '9bd0fece5fca87951d9c05576f054d0f61da76b56f0ca1387ddcfce816b23f47',
+    runtimePath: '/models/plate.stl',
+    runtimeSha256: '9bd0fece5fca87951d9c05576f054d0f61da76b56f0ca1387ddcfce816b23f47',
+    runtimeFormat: 'binary-stl',
+    triangleCount: 2504,
+    fileSizeBytes: 125284,
+    sourceBoundingBoxMm: { min: [-104.755, -4.56, -104.793], max: [104.755, 21.967, 104.644], size: [209.511, 26.527, 209.437] },
+    worldExpectedMm: { x: 210, y: 27, z: 209 },
+    rotation: [0, 0, 0],
+    axisMapping: 'x→width, y→height, z→depth; Y-up',
+    pivotMode: 'bottom-center',
+    scaleMode: 'uniform-mm-to-m',
+    defaultRealAsset: true,
+    fallbackPrimitive: 'cylinder',
+    conversionStatus: 'original',
+    validationStatus: 'pending',
+    preload: true,
+    notes: 'Official STL, round plate (D scenario).',
+  },
+  {
+    itemId: 'SKU-007',
+    displayName: 'Бутылка',
+    categoryScenario: 'D',
+    dimensions: { width: 91, depth: 91, height: 305 },
+    sourceType: 'official-stl',
+    sourceArchive: ARCHIVE_STL,
+    sourceFile: 'Stl/Бутылка.stl',
+    sourceSha256: '9a8c64f1c26a2f2e2539b5e283b36ca78158cb8d2f0f66d3201dbcc784417375',
+    runtimePath: '/models/bottle.stl',
+    runtimeSha256: '9a8c64f1c26a2f2e2539b5e283b36ca78158cb8d2f0f66d3201dbcc784417375',
+    runtimeFormat: 'binary-stl',
+    triangleCount: 6522,
+    fileSizeBytes: 326184,
+    sourceBoundingBoxMm: { min: [-45.7, 0, -45.659], max: [45.535, 305, 45.659], size: [91.235, 305, 91.318] },
+    worldExpectedMm: { x: 91, y: 305, z: 91 },
+    rotation: [0, 0, 0],
+    axisMapping: 'x→width, y→height, z→depth; Y-up, bottom at y=0 in source',
+    pivotMode: 'bottom-center',
+    scaleMode: 'uniform-mm-to-m',
+    defaultRealAsset: true,
+    fallbackPrimitive: 'cylinder',
+    conversionStatus: 'original',
+    validationStatus: 'pending',
+    preload: true,
+    notes: 'Official STL, standing bottle (D scenario).',
+  },
+  {
+    itemId: 'SKU-008',
+    displayName: 'Цилиндр',
+    categoryScenario: 'D',
+    dimensions: { width: 435, depth: 50, height: 43 },
+    sourceType: 'official-stl',
+    sourceArchive: ARCHIVE_STL,
+    sourceFile: 'Stl/Цилиндр.stl',
+    sourceSha256: '7aab451e1fd2154e4a2301e12642d17ccee62fc950dddf7de5e54c89453254e5',
+    runtimePath: '/models/cylinder.stl',
+    runtimeSha256: '7aab451e1fd2154e4a2301e12642d17ccee62fc950dddf7de5e54c89453254e5',
+    runtimeFormat: 'binary-stl',
+    triangleCount: 2152,
+    fileSizeBytes: 107684,
+    sourceBoundingBoxMm: { min: [-83, -19, -25], max: [352, 24, 25], size: [435, 43, 50] },
+    worldExpectedMm: { x: 435, y: 43, z: 50 },
+    rotation: [0, 0, 0],
+    axisMapping: 'x→width (long axis, along travel), y→height, z→depth; source offset — normalized to bottom-center',
+    pivotMode: 'bottom-center',
+    scaleMode: 'uniform-mm-to-m',
+    defaultRealAsset: true,
+    fallbackPrimitive: 'cylinder',
+    conversionStatus: 'original',
+    validationStatus: 'pending',
+    preload: false,
+    notes: 'Official STL, long cylinder lying along the belt.',
+  },
+  {
+    itemId: 'SKU-009',
+    displayName: 'Ручка',
+    categoryScenario: 'C',
+    dimensions: { width: 9, depth: 13, height: 148 },
+    sourceType: 'official-stl-decimated',
+    sourceArchive: ARCHIVE_STL,
+    sourceFile: 'Stl/Ручка.stl',
+    sourceSha256: '9c1d3b27b9a5e4f1e65a43ac953f74695bfa0d9550dd97963bfcb7bb39f38720',
+    runtimePath: '/models/pen.stl',
+    runtimeSha256: 'eb4baf50e4910c9be3eaa092da3720fe2d5dcfd0d9a056e4480af6b878561df5',
+    runtimeFormat: 'binary-stl',
+    triangleCount: 4800,
+    fileSizeBytes: 240084,
+    sourceBoundingBoxMm: { min: [36.143, 91.878, 53.556], max: [45.142, 105.031, 202.016], size: [8.999, 13.153, 148.46] },
+    worldExpectedMm: { x: 148, y: 13, z: 9 },
+    rotation: [0, Math.PI / 2, 0],
+    axisMapping: 'DEMO ORIENTATION: lying. Source long axis Z(148) rotated to world X (along travel); world Y=13 (depth), world Z=9 (width). Domain height 148 is the pen LENGTH (standing interpretation in items.ts).',
+    pivotMode: 'bottom-center',
+    scaleMode: 'uniform-mm-to-m',
+    defaultRealAsset: true,
+    fallbackPrimitive: 'box',
+    conversionStatus: 'decimated-cell-1mm',
+    validationStatus: 'pending',
+    preload: true,
+    notes: 'Official STL decimated 40,926→4,800 tris (cell 1mm). Lying demo orientation: a 148mm pen cannot stand stably on a moving belt; documented per Stage 1 §12.',
+  },
+  {
+    itemId: 'SKU-010',
+    displayName: 'Boundary box 450×320×320',
+    categoryScenario: 'B',
+    dimensions: { width: 450, depth: 320, height: 320 },
+    sourceType: 'none',
+    sourceArchive: null,
+    sourceFile: null,
+    sourceSha256: null,
+    runtimePath: null,
+    runtimeSha256: null,
+    runtimeFormat: null,
+    triangleCount: null,
+    fileSizeBytes: null,
+    sourceBoundingBoxMm: null,
+    worldExpectedMm: null,
+    rotation: [0, 0, 0],
+    axisMapping: 'n/a',
+    pivotMode: 'bottom-center',
+    scaleMode: 'uniform-mm-to-m',
+    defaultRealAsset: false,
+    fallbackPrimitive: 'box',
+    conversionStatus: 'not-applicable',
+    validationStatus: 'pending',
+    preload: false,
+    notes: 'NO_EXACT_OFFICIAL_MODEL — synthetic boundary-limit test case (exactly at 450×320×320 gate limit); no official counterpart exists in the OZON archives. Honest procedural box, dimension-accurate.',
+  },
+  {
+    itemId: 'SKU-011',
+    displayName: 'Oversized round 500×300×300',
+    categoryScenario: 'C',
+    dimensions: { width: 500, depth: 300, height: 300 },
+    sourceType: 'none',
+    sourceArchive: null,
+    sourceFile: null,
+    sourceSha256: null,
+    runtimePath: null,
+    runtimeSha256: null,
+    runtimeFormat: null,
+    triangleCount: null,
+    fileSizeBytes: null,
+    sourceBoundingBoxMm: null,
+    worldExpectedMm: null,
+    rotation: [0, 0, 0],
+    axisMapping: 'n/a',
+    pivotMode: 'bottom-center',
+    scaleMode: 'uniform-mm-to-m',
+    defaultRealAsset: false,
+    fallbackPrimitive: 'cylinder',
+    conversionStatus: 'not-applicable',
+    validationStatus: 'pending',
+    preload: false,
+    notes: 'NO_EXACT_OFFICIAL_MODEL — no 500×300×300 round item in the official set. Previously reused cylinder.stl (silent substitution, removed in Stage 1). Honest procedural cylinder, dimension-accurate.',
+  },
+];
+
+/**
+ * Archive-only official models with no matching SKU in the app scenario set.
+ * Listed for inventory completeness (not loaded at runtime).
+ */
+export const ARCHIVE_ONLY_MODELS = [
+  {
+    displayName: 'Мешок',
+    sourceArchive: ARCHIVE_STL,
+    sourceFile: 'Stl/Мешок.stl',
+    sourceSha256: '74b3118643c0cd06ed639da1513b6db1b8d6d0a38e708cf2f8393d69263cd97b',
+    triangleCount: 21228,
+    fileSizeBytes: 5675429,
+    notes: 'ASCII STL, ~183×175×199mm. No SKU in the app scenario set.',
+  },
+  {
+    displayName: 'Шлем',
+    sourceArchive: ARCHIVE_STL,
+    sourceFile: 'Stl/Шлем.stl',
+    sourceSha256: '660429b26d576771cd02ff275b489dcb134b17bf83b0cab969f589b4d6f6192d',
+    triangleCount: 55159,
+    fileSizeBytes: 2758034,
+    notes: '~280×297×356mm. No SKU in the app scenario set.',
+  },
+] as const;
+
+/** Get model asset for item ID. */
+export function getModelAsset(itemId: string): ModelAsset | undefined {
+  return MODEL_ASSETS.find((asset) => asset.itemId === itemId);
+}
+
+/** Assets whose default is a real official model. */
+export function getRealAssets(): ModelAsset[] {
+  return MODEL_ASSETS.filter((asset) => asset.defaultRealAsset);
+}
+
+/** Assets whose default is the honest procedural fallback. */
+export function getProceduralAssets(): ModelAsset[] {
+  return MODEL_ASSETS.filter((asset) => !asset.defaultRealAsset);
+}
+
+/** Assets to preload with the default playlist scene. */
+export function getPreloadAssets(): ModelAsset[] {
+  return MODEL_ASSETS.filter((asset) => asset.preload && asset.runtimePath);
+}
+
+/** Summary stats for manifest. */
+export function getManifestStats() {
+  const real = getRealAssets().length;
+  const procedural = getProceduralAssets().length;
+  return {
+    total: MODEL_ASSETS.length,
+    real,
+    procedural,
+    realPercentage: Math.round((real / MODEL_ASSETS.length) * 100),
+  };
+}

src/data/productionStatusSummary.ts

@@ -0,0 +1,182 @@
+/**
+ * Canonical summary data for `/documentation`.
+ * Authority: official sources present in-repo → production code → unit tests.
+ * Unverified / planned items are labeled explicitly — never implied complete.
+ */
+
+/** Kept for e2e (`docs-production-status`) and acquisition-pack provenance. */
+export const PRODUCTION_STATUS = {
+  acquisitionPackStatus: 'DATA_ACQUISITION_PACK_READY',
+  webTwinStatus: 'BASELINE_PRESERVED',
+  unitTests: '196/196',
+  productionBuild: 'PASS',
+  contactPhysics: 'NOT_FULLY_VALIDATED',
+  officialCompliance: 'PARTIAL_SOURCES_PRESENT',
+} as const;
+
+export const CONFIRMED_LAYOUT = {
+  workspaceMm: { length: 10000, width: 6000 },
+  conveyorWidthMm: 500,
+  conveyorHeightMm: 700,
+  modules: ['clean', 'camera', 'sorter'] as const,
+  receivers: ['B_STRAIGHT', 'ZONE_C', 'ZONE_D'] as const,
+} as const;
+
+export const CLASSIFIER_BOUNDS = {
+  status: 'CURRENT_IMPLEMENTATION_VERIFIED_IN_CODE' as const,
+  officialSourceReference: 'official_sources/doc-1783095831.pdf',
+  officialSourceParsedThisPass: false,
+  minExclusiveMm: { width: 10, depth: 10, height: 10 },
+  maxExclusiveMm: { width: 450, depth: 320, height: 320 },
+  roundnessThresholdExclusive: 0.8,
+  display: {
+    min: '> 10×10×10 мм',
+    max: '< 450×320×320 мм',
+    roundness: 'K > 0.8',
+  },
+  checkOrder: 'dimensions→C, else circular→D, else B' as const,
+} as const;
+
+export const ROUTE_MAPPING = [
+  { category: 'B', physicalRoute: 'STRAIGHT', activeDiverter: 'NONE', signedAngleDeg: 0 },
+  { category: 'C', physicalRoute: 'PHYSICAL_LEFT', activeDiverter: 'LEFT', signedAngleDeg: -45 },
+  { category: 'D', physicalRoute: 'PHYSICAL_RIGHT', activeDiverter: 'RIGHT', signedAngleDeg: 45 },
+] as const;
+
+export const DIVERTER_KINEMATICS = {
+  rotationDurationSec: 0.5,
+  openingSafetyMarginSec: 0.15,
+  contactPlaneS: 1.0538,
+  clearPlaneS: 1.6,
+  phases: ['READY', 'ARMED', 'OPENING', 'HOLDING', 'CLOSING'] as const,
+  productBound: true,
+  oneActiveProduct: true,
+  closeAfterRearClear: true,
+  generatedMechanismActive: false,
+} as const;
+
+export const CAD_PROVENANCE = {
+  authorFcstd: '3d_models/conveer.FCStd',
+  authorSha256: '90c1844a4ca05e26def783d6130fc4b993430dde14307534ef8fbb21c9fac2e6',
+  runtimeGlb: 'public/models/sorter/conveyor-clean.glb',
+  runtimeSha256: '1dc7a8d7891bfe756e277ad5368df74cb73410156b2fe0f92845afb8a56f285a',
+  authorServosInSorterModule: true,
+  generatedMechanismInactive: true,
+  hornTransmissionInGlb: 'ABSENT_OR_INCOMPLETE' as const,
+} as const;
+
+export const PHYSICS_STATUS = {
+  implemented: [
+    'Runtime product motion on belt (domain pose + Rapier handoff)',
+    'Product-associated diverter route timing (productId-bound)',
+    'Synchronized CAD diverter visual / kinematic targets',
+    'CCD enabled for light/thin SKUs in runtime and headless sim',
+    'Visual/physics spawn gating via product asset preload',
+  ],
+  notFullyValidated: [
+    'Complete contact-only routing through CAD diverters',
+    'Belt surface velocity exactly 1 m/s with tangential drive',
+    'Calibrated friction / mass / COM per SKU',
+    'Fully physical continuous conveyor loop',
+    'Receiver capture under all item classes',
+  ],
+  planned: [
+    'Visual full belt loop with surface-velocity coupling',
+    'Controlled tangential friction at 1 m/s',
+    'Dynamic rigid bodies for divert segment with fixed timestep',
+    'Per-SKU collider, damping, and friction profiles',
+  ],
+} as const;
+
+export const VALIDATION_BOARD = [
+  { item: 'Unit tests', status: '196/196 PASS' },
+  { item: 'Production build', status: 'PASS' },
+  { item: 'Active routes / + /documentation', status: 'PASS' },
+  { item: 'conveyor-clean.glb checksum', status: 'PASS' },
+  { item: 'Author FCStd checksum', status: 'PASS' },
+  { item: 'Frozen diverter angles / 0.50 s', status: 'PASS' },
+  { item: 'Full contact physics', status: 'NOT_FULLY_VALIDATED' },
+] as const;
+
+export const OFFICIAL_SOURCE_MATRIX = [
+  {
+    source: 'input_info/doc-1783009063.pdf',
+    purpose: 'Allowed software list',
+    present: true,
+    canonical: true,
+    usage: 'Stack compliance reference',
+  },
+  {
+    source: 'input_info/doc-1783009942.pdf',
+    purpose: 'Workspace / zone scheme',
+    present: true,
+    canonical: true,
+    usage: 'Layout provenance (workspace 10×6 m)',
+  },
+  {
+    source: 'input_info/doc-1783011400.pdf',
+    purpose: 'Track 3 scoring criteria',
+    present: true,
+    canonical: true,
+    usage: 'Jury scoring — not re-parsed this pass',
+  },
+  {
+    source: 'input_info/doc-1782987706.zip',
+    purpose: 'Official STEP product set',
+    present: true,
+    canonical: true,
+    usage: 'Product geometry source archive',
+  },
+  {
+    source: 'input_info/doc-1782987733.zip',
+    purpose: 'Official STL product set',
+    present: true,
+    canonical: true,
+    usage: 'Feeds public/models/*.stl',
+  },
+  {
+    source: 'input_info/doc-1783011771.zip',
+    purpose: 'Official pack archive',
+    present: true,
+    canonical: true,
+    usage: 'Retained official material',
+  },
+  {
+    source: 'official_sources/doc-1783095831.pdf',
+    purpose: 'Classifier bounds authority cited by code',
+    present: true,
+    canonical: true,
+    usage: 'Referenced by classifier.ts; not re-parsed this pass',
+  },
+  {
+    source: 'input_info/extracted/Постановка_Задача_3_сжато_2.pdf',
+    purpose: 'Full task brief (historical citation)',
+    present: false,
+    canonical: false,
+    usage: 'MISSING — do not cite as available evidence',
+  },
+] as const;
+
+export const RUNTIME_FLOW = [
+  'SPAWN',
+  'CONVEYOR',
+  'CAMERA',
+  'CLASSIFICATION',
+  'ARMED',
+  'OPENING',
+  'HOLDING',
+  'CLOSING',
+  'RECEIVER',
+] as const;
+
+export const CURRENT_LIMITATIONS = [
+  'Full physical contact sorting through CAD diverters is not fully validated.',
+  'Belt surface-velocity drive at exactly 1 m/s is planned, not complete.',
+  'Per-SKU physical parameters still require profiling/calibration.',
+  'Author CAD horn / transmission incomplete in active GLB.',
+  'Official compliance is partial: missing extracted task PDF; scoring PDF not re-parsed this pass.',
+  'Repository retains only the web twin, author CAD, official sources, and active tests.',
+] as const;
+
+/** @deprecated alias — historical Gate wording retained for acquisition-pack note */
+export const DATA_ACQUISITION_SEQUENCE = ['MEASURE', 'VERIFY', 'FREEZE', 'DESIGN'] as const;

src/data/resolveItem.ts

@@ -0,0 +1,29 @@
+/**
+ * Resolve playlist / scenario item ids, including low-confidence variants (SKU-*-LC).
+ */
+
+import type { Item } from '../domain/types';
+import { getItem, ITEMS } from './items';
+
+/** Strip -LC suffix and apply low confidence when present. */
+export function resolveItem(itemId: string): Item {
+  if (itemId.endsWith('-LC')) {
+    const baseId = itemId.slice(0, -3);
+    const base = getItem(baseId);
+    return {
+      ...base,
+      id: itemId,
+      confidence: Math.min(base.confidence, 0.58),
+    };
+  }
+  return getItem(itemId);
+}
+
+export function findItemOrFallback(itemId: string): Item {
+  try {
+    return resolveItem(itemId);
+  } catch {
+    const stripped = itemId.replace(/-LC$/, '');
+    return ITEMS.find((i) => i.id === stripped) ?? ITEMS[0];
+  }
+}

src/data/scenarios.ts

@@ -0,0 +1,93 @@
+import { getItem } from './items';
+import type { Scenario } from '../domain/types';
+
+export const SCENARIOS: Scenario[] = [
+  {
+    id: 'normal_flow',
+    name: 'Normal flow',
+    description: 'Обычный поток из нескольких товаров B/C/D с полным циклом сортировки.',
+    goal: 'Показать базовую последовательность sensor -> gate -> classifier -> actuator.',
+    expectedCategorySummary: 'Mixed: B, C, D',
+    demonstrates: 'Стабильный поток, корректную маршрутизацию и возврат исполнительных механизмов домой.',
+    items: ['SKU-001', 'SKU-006', 'SKU-004', 'SKU-003', 'SKU-007'].map(getItem),
+  },
+  {
+    id: 'oversized_item',
+    name: 'Oversized item',
+    description: 'Товар выходит за max dimensions и должен попасть в roll-cage C.',
+    goal: 'Доказать приоритет проверки габаритов.',
+    expectedCategorySummary: 'C for every item',
+    demonstrates: 'Негабаритный товар фиксируется stop-gate и уводится pusher C в roll-cage C.',
+    items: ['SKU-004', 'SKU-005'].map(getItem),
+  },
+  {
+    id: 'round_object',
+    name: 'Round object',
+    description: 'Габариты проходят, но roundness K > 0.8, маршрут в D.',
+    goal: 'Показать проверку круглого сечения после габаритов.',
+    expectedCategorySummary: 'D for every item',
+    demonstrates: 'Rule-based shape issue routing без реального ML на MVP-этапе.',
+    items: ['SKU-006', 'SKU-007', 'SKU-008'].map(getItem),
+  },
+  {
+    id: 'c_priority',
+    name: 'C priority (oversized + round)',
+    description: 'Товар одновременно негабаритный и круглый — приоритет габаритов, маршрут только в C.',
+    goal: 'Доказать, что dimensions check идёт раньше roundness: категория C, не D.',
+    expectedCategorySummary: 'C only (D not activated)',
+    demonstrates: 'C-priority: oversized + round → ROUTE_TO_C, route D остаётся неактивным.',
+    items: ['SKU-011'].map(getItem),
+  },
+  {
+    id: 'boundary_dimensions',
+    name: 'Boundary dimensions',
+    description: 'Товары около min/max границ показывают устойчивость правил.',
+    goal: 'Проверить строгие границы min/max.',
+    expectedCategorySummary: 'Near-max 449×319×319 -> B, Pen -> C',
+    demonstrates: 'Строгие границы: 449×319×319 проходит, 450×320×320 и width 9 мм — нет.',
+    items: ['SKU-010', 'SKU-009', 'SKU-002'].map(getItem),
+  },
+  {
+    id: 'close_items',
+    name: 'Close items',
+    description: 'Два товара близко друг к другу: warning queue/spacing и последовательная обработка.',
+    goal: 'Показать устойчивость очереди без усложнения физики.',
+    expectedCategorySummary: 'Sequential B, B, D',
+    demonstrates: 'Spacing warning, queue length и обработку товаров по одному циклу.',
+    items: ['SKU-001', 'SKU-002', 'SKU-006'].map(getItem),
+  },
+  {
+    id: 'low_confidence',
+    name: 'Low confidence',
+    description: 'CV confidence ниже 0.65, система предупреждает и принимает rule-based решение.',
+    goal: 'Показать fallback при низкой уверенности pseudo-CV.',
+    expectedCategorySummary: 'Rule-based B and D despite low CV confidence',
+    demonstrates: 'Низкая confidence не блокирует решение, так как финальная логика основана на правилах.',
+    items: [
+      { ...getItem('SKU-003'), id: 'SKU-003-LC', confidence: 0.58 },
+      { ...getItem('SKU-006'), id: 'SKU-006-LC', confidence: 0.61 },
+    ],
+  },
+  {
+    id: 'jam',
+    name: 'Jam at gate',
+    description: 'Застревание у stop-gate переводит систему в FAULT и останавливает конвейер.',
+    goal: 'Показать fail-safe состояние при застревании.',
+    expectedCategorySummary: 'FAULT before route completion',
+    demonstrates: 'Conveyor speed падает к 0, state фиксируется в FAULT, требуется Reset.',
+    items: ['SKU-004'].map(getItem),
+  },
+  {
+    id: 'emergency_stop',
+    name: 'Emergency stop',
+    description: 'Аварийная остановка переводит систему в EMERGENCY_STOP, движение остановлено.',
+    goal: 'Показать ручную/аварийную остановку всей линии.',
+    expectedCategorySummary: 'EMERGENCY_STOP before route completion',
+    demonstrates: 'Все движения останавливаются, PID target становится 0, требуется Reset.',
+    items: ['SKU-001', 'SKU-006'].map(getItem),
+  },
+];
+
+export function getScenario(id: string): Scenario {
+  return SCENARIOS.find((scenario) => scenario.id === id) ?? SCENARIOS[0];
+}

src/domain/cadAssemblyParams.ts

@@ -0,0 +1,45 @@
+/**
+ * Stage 2C — modular CAD conveyor assembly parameters.
+ *
+ * Derived from 3d_models/conveer.FCStd (manifest Body and Link bbox mm) and
+ * OZON Track 3 layout (500 mm belt / 700 mm height). Extensions flanking the
+ * ~2.01 m CAD module use the same pitch/width/height — never non-uniform scale.
+ */
+
+/** Author CAD module length after bake+placement (m). */
+export const CAD_MODULE_LENGTH_M = 2.01;
+/** CAD roller assembly pitch along the line (profiles / Link005 spacing ~500 mm). */
+export const CAD_ROLLER_PITCH_M = 0.5;
+/** CAD roller outer radius — Body002 roller diameter 50 mm. */
+export const CAD_ROLLER_RADIUS_M = 0.025;
+/** Spec / CAD belt width. */
+export const CAD_CONVEYOR_WIDTH_M = 0.5;
+/** Belt top height from floor. */
+export const CAD_BELT_HEIGHT_M = 0.7;
+/** Support leg spacing along extensions. */
+export const CAD_SUPPORT_SPACING_M = 2.0;
+/** Full domain line length (entry A to B spur tip), meters. */
+export const CAD_TOTAL_LINE_LENGTH_M = 8.5;
+
+export const CAD_ASSEMBLY_PARAMS = {
+  segmentLength: CAD_MODULE_LENGTH_M,
+  rollerPitch: CAD_ROLLER_PITCH_M,
+  rollerRadius: CAD_ROLLER_RADIUS_M,
+  conveyorWidth: CAD_CONVEYOR_WIDTH_M,
+  beltHeight: CAD_BELT_HEIGHT_M,
+  supportSpacing: CAD_SUPPORT_SPACING_M,
+  totalLineLength: CAD_TOTAL_LINE_LENGTH_M,
+} as const;
+
+/** Structured correction transforms (bake is authoritative; JSX must not invent offsets). */
+export const CAD_TRANSFORM_MANIFEST = {
+  bakeFormula: '(x,y,z)_mm_Zup -> (-x, z, y+250)/1000 Y-up meters',
+  worldPlacement: [-2.02, 0.594, 0] as [number, number, number],
+  moduleSpanX: [-2.086, -0.076] as [number, number],
+  motorNode: 'motor-and-drive/NEMA17',
+  motorWorldAabbApprox: {
+    min: [-2.062, 0.564, 0.212],
+    max: [-2.02, 0.606, 0.284],
+    note: 'On frame at belt height — not under floor. Detached motor was procedural StepperMotor.',
+  },
+} as const;

src/domain/cinematicCamera.test.ts

@@ -0,0 +1,168 @@
+/**
+ * Tests for cinematicCamera module.
+ */
+
+import { describe, it, expect } from 'vitest';
+import {
+  getCameraModeForPhase,
+  getCameraConfig,
+  smoothCameraTransition,
+  isValidCameraConfig,
+  phaseHasCameraMode,
+  getInitialCameraConfig,
+  getAllCameraModes,
+  getViewportType,
+  lerpVector3,
+  lerp,
+} from './cinematicCamera';
+import { CASE_PHASES } from './continuousPlayback';
+import type { Category } from './types';
+
+describe('getCameraModeForPhase', () => {
+  it('returns a mode for every playback phase', () => {
+    for (const phaseConfig of CASE_PHASES) {
+      const mode = getCameraModeForPhase(phaseConfig.phase);
+      expect(mode).toBeTruthy();
+      expect(typeof mode).toBe('string');
+    }
+  });
+
+  it('spawn returns feedCloseup', () => {
+    expect(getCameraModeForPhase('spawn')).toBe('feedCloseup');
+  });
+
+  it('detection returns inspectionTop', () => {
+    expect(getCameraModeForPhase('detection')).toBe('inspectionTop');
+  });
+
+  it('routing returns chuteCloseup', () => {
+    expect(getCameraModeForPhase('routing')).toBe('chuteCloseup');
+  });
+});
+
+describe('getCameraConfig', () => {
+  it('returns valid config for all phases', () => {
+    for (const phaseConfig of CASE_PHASES) {
+      const config = getCameraConfig(phaseConfig.phase, 'B', null, 'desktop');
+      expect(isValidCameraConfig(config)).toBe(true);
+    }
+  });
+
+  it('camera position/target are finite numbers', () => {
+    const config = getCameraConfig('detection', 'B', [0, 0.8, 0], 'desktop');
+    expect(config.position.every(n => Number.isFinite(n))).toBe(true);
+    expect(config.target.every(n => Number.isFinite(n))).toBe(true);
+  });
+
+  it('fov within reasonable range (10-120)', () => {
+    for (const phaseConfig of CASE_PHASES) {
+      const config = getCameraConfig(phaseConfig.phase, 'C', null, 'desktop');
+      expect(config.fov).toBeGreaterThan(10);
+      expect(config.fov).toBeLessThan(120);
+    }
+  });
+
+  it('target category B/C/D maps to routing camera', () => {
+    const categories: Category[] = ['B', 'C', 'D'];
+    for (const cat of categories) {
+      const config = getCameraConfig('routing', cat, null, 'desktop');
+      expect(config.mode).toBe('chuteCloseup');
+      expect(isValidCameraConfig(config)).toBe(true);
+    }
+  });
+
+  it('adjusts for viewport type', () => {
+    const desktop = getCameraConfig('move_to_detection', 'B', null, 'desktop');
+    const mobile = getCameraConfig('move_to_detection', 'B', null, 'mobile');
+    
+    // Mobile should have higher camera and wider FOV
+    expect(mobile.position[1]).toBeGreaterThan(desktop.position[1]);
+    expect(mobile.fov).toBeGreaterThan(desktop.fov);
+  });
+});
+
+describe('smoothCameraTransition', () => {
+  it('interpolates between configs', () => {
+    const current = getCameraConfig('spawn', 'B', null, 'desktop');
+    const target = getCameraConfig('detection', 'B', null, 'desktop');
+    
+    const result = smoothCameraTransition(current, target, 0.5);
+    
+    // Result should be between current and target
+    expect(result.position[0]).toBeGreaterThanOrEqual(
+      Math.min(current.position[0], target.position[0])
+    );
+    expect(result.position[0]).toBeLessThanOrEqual(
+      Math.max(current.position[0], target.position[0])
+    );
+  });
+});
+
+describe('isValidCameraConfig', () => {
+  it('returns true for valid config', () => {
+    const config = getInitialCameraConfig();
+    expect(isValidCameraConfig(config)).toBe(true);
+  });
+
+  it('returns false for invalid fov', () => {
+    const config = { ...getInitialCameraConfig(), fov: 5 };
+    expect(isValidCameraConfig(config)).toBe(false);
+  });
+
+  it('returns false for NaN position', () => {
+    const config = { ...getInitialCameraConfig(), position: [NaN, 0, 0] as [number, number, number] };
+    expect(isValidCameraConfig(config)).toBe(false);
+  });
+});
+
+describe('phaseHasCameraMode', () => {
+  it('returns true for all phases', () => {
+    for (const phaseConfig of CASE_PHASES) {
+      expect(phaseHasCameraMode(phaseConfig.phase)).toBe(true);
+    }
+  });
+});
+
+describe('getViewportType', () => {
+  it('desktop for width >= 1200', () => {
+    expect(getViewportType(1920)).toBe('desktop');
+    expect(getViewportType(1200)).toBe('desktop');
+  });
+
+  it('laptop for width 768-1199', () => {
+    expect(getViewportType(1024)).toBe('laptop');
+    expect(getViewportType(768)).toBe('laptop');
+  });
+
+  it('mobile for width < 768', () => {
+    expect(getViewportType(390)).toBe('mobile');
+    expect(getViewportType(767)).toBe('mobile');
+  });
+});
+
+describe('lerp utilities', () => {
+  it('lerp returns midpoint at t=0.5', () => {
+    expect(lerp(0, 10, 0.5)).toBe(5);
+  });
+
+  it('lerpVector3 works correctly', () => {
+    const a: [number, number, number] = [0, 0, 0];
+    const b: [number, number, number] = [10, 20, 30];
+    const result = lerpVector3(a, b, 0.5);
+    expect(result).toEqual([5, 10, 15]);
+  });
+});
+
+describe('getAllCameraModes', () => {
+  it('returns all defined modes', () => {
+    const modes = getAllCameraModes();
+    expect(modes).toContain('overview');
+    expect(modes).toContain('feedCloseup');
+    expect(modes).toContain('inspectionTop');
+    expect(modes).toContain('measurementSide');
+    expect(modes).toContain('routingWide');
+    expect(modes).toContain('chuteCloseup');
+    expect(modes).toContain('resultZone');
+    expect(modes.length).toBeGreaterThanOrEqual(8);
+  });
+});

src/domain/cinematicCamera.ts

@@ -0,0 +1,310 @@
+/**
+ * Cinematic Camera Director — controls camera angles during demo playback.
+ * Returns camera position, target, and FOV based on current phase and item state.
+ */
+
+import type { CasePhase } from './continuousPlayback';
+import type { Category } from './types';
+import { ZONES, BELT_TOP_Y, CAMERA_RIG } from './physicalLayout';
+
+/** Camera mode names for different shot types. */
+export type CameraMode = 
+  | 'overview'
+  | 'feedCloseup'
+  | 'inspectionTop'
+  | 'measurementSide'
+  | 'classificationTop'
+  | 'routingWide'
+  | 'chuteCloseup'
+  | 'resultZone'
+  | 'nextItemReset';
+
+/** Camera configuration for a specific mode. */
+export interface CameraConfig {
+  position: [number, number, number];
+  target: [number, number, number];
+  fov: number;
+  mode: CameraMode;
+}
+
+/** Viewport type for adaptive camera positions. */
+export type ViewportType = 'desktop' | 'laptop' | 'mobile';
+
+/**
+ * Get viewport type based on screen width.
+ */
+export function getViewportType(width: number): ViewportType {
+  if (width >= 1200) return 'desktop';
+  if (width >= 768) return 'laptop';
+  return 'mobile';
+}
+
+/**
+ * Viewport adjustments for camera height/distance.
+ */
+const VIEWPORT_ADJUSTMENTS: Record<ViewportType, { heightMult: number; distMult: number }> = {
+  desktop: { heightMult: 1.0, distMult: 1.0 },
+  laptop: { heightMult: 1.15, distMult: 1.1 },
+  mobile: { heightMult: 1.3, distMult: 1.25 },
+};
+
+/**
+ * Base camera configurations for each mode.
+ * Positions are relative to the scene center or specific zones.
+ */
+const BASE_CAMERA_CONFIGS: Record<CameraMode, Omit<CameraConfig, 'mode'>> = {
+  // Full product line: 3 CAD modules + close-in B/C/D baskets.
+  overview: {
+    position: [0.35, 2.35, 5.1],
+    target: [-0.55, 0.55, 0.05],
+    fov: 36,
+  },
+  feedCloseup: {
+    position: [ZONES.A.x + 1.5, 2.0, 2.0],
+    target: [ZONES.A.x, BELT_TOP_Y + 0.1, 0],
+    fov: 45,
+  },
+  inspectionTop: {
+    position: [ZONES.CAMERA.x, CAMERA_RIG.cameraY + 1.5, 2.5],
+    target: [ZONES.CAMERA.x, BELT_TOP_Y + 0.1, 0],
+    fov: 40,
+  },
+  measurementSide: {
+    position: [ZONES.CAMERA.x + 1.8, 1.2, 2.0],
+    target: [ZONES.CAMERA.x, BELT_TOP_Y + 0.2, 0],
+    fov: 42,
+  },
+  classificationTop: {
+    position: [ZONES.CAMERA.x + 0.5, 2.5, 2.2],
+    target: [ZONES.CAMERA.x, BELT_TOP_Y + 0.15, 0],
+    fov: 45,
+  },
+  routingWide: {
+    position: [2.2, 2.4, 4.0],
+    target: [ZONES.GATE.x, BELT_TOP_Y, 0.15],
+    fov: 48,
+  },
+  chuteCloseup: {
+    position: [ZONES.GATE.x + 0.5, 1.8, 2.8],
+    target: [ZONES.GATE.x + 0.3, BELT_TOP_Y, 0.8],
+    fov: 48,
+  },
+  resultZone: {
+    position: [3.5, 2.5, 3.5],
+    target: [ZONES.B.x - 0.5, 0.5, 0],
+    fov: 52,
+  },
+  nextItemReset: {
+    position: [0.35, 2.35, 5.1],
+    target: [-0.55, 0.55, 0.05],
+    fov: 36,
+  },
+};
+
+/**
+ * Get camera mode for a given phase.
+ */
+export function getCameraModeForPhase(phase: CasePhase): CameraMode {
+  switch (phase) {
+    case 'spawn':
+      return 'feedCloseup';
+    case 'move_to_detection':
+      return 'overview';
+    case 'detection':
+      return 'inspectionTop';
+    case 'measurement':
+      return 'measurementSide';
+    case 'classification':
+      return 'classificationTop';
+    case 'command_sent':
+      return 'routingWide';
+    case 'routing':
+      return 'chuteCloseup';
+    case 'exit':
+      return 'resultZone';
+    case 'clear_gap':
+      return 'nextItemReset';
+    case 'fault_hold':
+    case 'emergency_hold':
+      return 'routingWide';
+    case 'recover':
+      return 'overview';
+    default:
+      return 'overview';
+  }
+}
+
+/**
+ * Adjust camera position for target category (C/D routing).
+ */
+function adjustForCategory(
+  config: CameraConfig, 
+  category: Category | null, 
+  phase: CasePhase
+): CameraConfig {
+  if (!category || !['routing', 'exit'].includes(phase)) {
+    return config;
+  }
+
+  const adjusted = { ...config, position: [...config.position] as [number, number, number], target: [...config.target] as [number, number, number] };
+  
+  if (category === 'C') {
+    // Look toward C zone (positive Z)
+    adjusted.target[2] = 1.2;
+    adjusted.position[2] = 3.5;
+  } else if (category === 'D') {
+    // Look toward D zone (negative Z)
+    adjusted.target[2] = -1.2;
+    adjusted.position[2] = -2.5;
+    adjusted.position[0] = 3.0;
+  }
+  // B stays on main line, no adjustment needed
+  
+  return adjusted;
+}
+
+/**
+ * Adjust camera for viewport size.
+ */
+function adjustForViewport(
+  config: CameraConfig,
+  viewport: ViewportType
+): CameraConfig {
+  const adj = VIEWPORT_ADJUSTMENTS[viewport];
+  
+  return {
+    ...config,
+    position: [
+      config.position[0] * adj.distMult,
+      config.position[1] * adj.heightMult,
+      config.position[2] * adj.distMult,
+    ],
+    fov: config.fov + (viewport === 'mobile' ? 8 : viewport === 'laptop' ? 4 : 0),
+  };
+}
+
+/**
+ * Get camera configuration for the current playback state.
+ * @param phase Current case phase
+ * @param category Target category (B/C/D)
+ * @param itemPosition Current item position [x, y, z]
+ * @param viewport Viewport type for adaptive positioning
+ * @returns Camera configuration
+ */
+export function getCameraConfig(
+  phase: CasePhase,
+  category: Category | null,
+  itemPosition: [number, number, number] | null,
+  viewport: ViewportType = 'desktop'
+): CameraConfig {
+  const mode = getCameraModeForPhase(phase);
+  const baseConfig = BASE_CAMERA_CONFIGS[mode];
+  
+  let config: CameraConfig = {
+    ...baseConfig,
+    mode,
+  };
+  
+  // Adjust for category-specific routing
+  config = adjustForCategory(config, category, phase);
+  
+  // Adjust for viewport
+  config = adjustForViewport(config, viewport);
+  
+  // Follow item during movement phases
+  if (itemPosition && ['move_to_detection', 'routing', 'exit'].includes(phase)) {
+    // Partially follow item with smoothing factor
+    const followWeight = phase === 'move_to_detection' ? 0.3 : 0.5;
+    config.target = [
+      config.target[0] * (1 - followWeight) + itemPosition[0] * followWeight,
+      config.target[1] * (1 - followWeight) + itemPosition[1] * followWeight,
+      config.target[2] * (1 - followWeight) + itemPosition[2] * followWeight,
+    ];
+  }
+  
+  return config;
+}
+
+/**
+ * Lerp (linear interpolation) between two values.
+ */
+export function lerp(a: number, b: number, t: number): number {
+  return a + (b - a) * t;
+}
+
+/**
+ * Lerp between two 3D vectors.
+ */
+export function lerpVector3(
+  a: [number, number, number],
+  b: [number, number, number],
+  t: number
+): [number, number, number] {
+  return [
+    lerp(a[0], b[0], t),
+    lerp(a[1], b[1], t),
+    lerp(a[2], b[2], t),
+  ];
+}
+
+/**
+ * Smoothly interpolate camera configuration.
+ * @param current Current camera state
+ * @param target Target camera state
+ * @param smoothing Smoothing factor (0-1, lower = smoother)
+ */
+export function smoothCameraTransition(
+  current: CameraConfig,
+  target: CameraConfig,
+  smoothing: number = 0.08
+): CameraConfig {
+  return {
+    position: lerpVector3(current.position, target.position, smoothing),
+    target: lerpVector3(current.target, target.target, smoothing),
+    fov: lerp(current.fov, target.fov, smoothing),
+    mode: target.mode,
+  };
+}
+
+/**
+ * Get initial camera config (product overview framing).
+ */
+export function getInitialCameraConfig(viewport: ViewportType = 'desktop'): CameraConfig {
+  return adjustForViewport(
+    { ...BASE_CAMERA_CONFIGS.overview, mode: 'overview' },
+    viewport,
+  );
+}
+
+/**
+ * Validate camera config has finite numbers.
+ */
+export function isValidCameraConfig(config: CameraConfig): boolean {
+  const allFinite = (arr: number[]) => arr.every(n => Number.isFinite(n));
+  return (
+    allFinite(config.position) &&
+    allFinite(config.target) &&
+    Number.isFinite(config.fov) &&
+    config.fov > 10 &&
+    config.fov < 120
+  );
+}
+
+/**
+ * Get all camera modes.
+ */
+export function getAllCameraModes(): CameraMode[] {
+  return Object.keys(BASE_CAMERA_CONFIGS) as CameraMode[];
+}
+
+/**
+ * Check if phase has associated camera mode.
+ */
+export function phaseHasCameraMode(phase: CasePhase): boolean {
+  try {
+    const mode = getCameraModeForPhase(phase);
+    return !!mode && !!BASE_CAMERA_CONFIGS[mode];
+  } catch {
+    return false;
+  }
+}

src/domain/classifier.test.ts

@@ -0,0 +1,217 @@
+import { describe, expect, it } from 'vitest';
+import {
+  classifyItem,
+  DIMENSION_LIMITS,
+  OFFICIAL_RULE_LABELS,
+  dimensionsPassOfficial,
+  isCircularCrossSection,
+} from './classifier';
+import { getItem, ITEMS } from '../data/items';
+import { DEMO_PLAYLIST } from './demoPlaylist';
+import { resolveItem } from '../data/resolveItem';
+import type { Category, Item } from './types';
+
+const VALID_CATEGORIES: Category[] = ['B', 'D', 'C'];
+
+function itemWith(
+  dimensionsMm: Item['dimensionsMm'],
+  roundness: number,
+  confidence = 0.9,
+): Item {
+  return {
+    ...getItem('SKU-001'),
+    id: 'TEST-BOUNDARY',
+    dimensionsMm,
+    roundness,
+    confidence,
+    expectedCategory: 'B',
+  };
+}
+
+describe('classifyItem', () => {
+  it('uses official Track 3 constants (exclusive bounds, K > 0.8)', () => {
+    expect(DIMENSION_LIMITS.min).toEqual({ width: 10, depth: 10, height: 10 });
+    expect(DIMENSION_LIMITS.max).toEqual({ width: 450, depth: 320, height: 320 });
+    expect(DIMENSION_LIMITS.roundnessThreshold).toBe(0.8);
+    expect(OFFICIAL_RULE_LABELS.minDisplay).toContain('10×10×10');
+    expect(OFFICIAL_RULE_LABELS.roundnessDisplay).toBe('K > 0.8');
+    expect(JSON.stringify(DIMENSION_LIMITS)).not.toContain('"height":2');
+    expect(JSON.stringify(DIMENSION_LIMITS)).not.toMatch(/0\.7/);
+  });
+
+  it('routes normal box to B', () => {
+    expect(classifyItem(getItem('SKU-001')).category).toBe('B');
+  });
+
+  it('routes oversized box to C', () => {
+    expect(classifyItem(getItem('SKU-004')).category).toBe('C');
+  });
+
+  it('routes round plate to D', () => {
+    expect(classifyItem(getItem('SKU-006')).category).toBe('D');
+  });
+
+  it('routes pen with width below min to C', () => {
+    expect(classifyItem(getItem('SKU-009')).category).toBe('C');
+  });
+
+  it('keeps C priority when item is oversized and round', () => {
+    const result = classifyItem(getItem('SKU-011'));
+
+    expect(result.category).toBe('C');
+    expect(result.dimensionsPass).toBe(false);
+    expect(result.roundnessPass).toBe(false);
+    expect(isCircularCrossSection(getItem('SKU-011').roundness)).toBe(true);
+  });
+
+  it('rejects exclusive-max boundary 450×320×320 as C', () => {
+    const item = itemWith({ width: 450, depth: 320, height: 320 }, 0.2);
+    expect(classifyItem(item).category).toBe('C');
+    expect(dimensionsPassOfficial(item.dimensionsMm)).toBe(false);
+  });
+
+  it('accepts near-max 449×319×319 as B when not round', () => {
+    expect(classifyItem(getItem('SKU-010')).category).toBe('B');
+  });
+
+  it('rejects height at min boundary 10 mm as C', () => {
+    const item = itemWith({ width: 100, depth: 100, height: 10 }, 0.5);
+    expect(classifyItem(item).category).toBe('C');
+    expect(classifyItem(item).dimensionsPass).toBe(false);
+  });
+
+  it('low confidence does not create a 4th class', () => {
+    const lowConfidenceItems: Item[] = [
+      { ...getItem('SKU-001'), id: 'LC-B', confidence: 0.4 },
+      { ...getItem('SKU-004'), id: 'LC-C', confidence: 0.4 },
+      { ...getItem('SKU-006'), id: 'LC-D', confidence: 0.4 },
+      { ...getItem('SKU-011'), id: 'LC-C-PRIORITY', confidence: 0.4 },
+    ];
+
+    for (const item of lowConfidenceItems) {
+      const result = classifyItem(item);
+      expect(VALID_CATEGORIES).toContain(result.category);
+      expect(result.warnings.some((warning) => warning.toLowerCase().includes('confidence'))).toBe(true);
+    }
+  });
+});
+
+describe('official Track 3 classification boundaries', () => {
+  it('1. 11×11×11, K=0.50 → B', () => {
+    expect(classifyItem(itemWith({ width: 11, depth: 11, height: 11 }, 0.5)).category).toBe('B');
+  });
+
+  it('2. 9×20×20, K=0.50 → C', () => {
+    expect(classifyItem(itemWith({ width: 9, depth: 20, height: 20 }, 0.5)).category).toBe('C');
+  });
+
+  it('3. 20×9×20, K=0.50 → C', () => {
+    expect(classifyItem(itemWith({ width: 20, depth: 9, height: 20 }, 0.5)).category).toBe('C');
+  });
+
+  it('4. 20×20×9, K=0.50 → C', () => {
+    expect(classifyItem(itemWith({ width: 20, depth: 20, height: 9 }, 0.5)).category).toBe('C');
+  });
+
+  it('5. 10×20×20, K=0.50 → C (min exclusive)', () => {
+    expect(classifyItem(itemWith({ width: 10, depth: 20, height: 20 }, 0.5)).category).toBe('C');
+  });
+
+  it('6. 20×10×20, K=0.50 → C', () => {
+    expect(classifyItem(itemWith({ width: 20, depth: 10, height: 20 }, 0.5)).category).toBe('C');
+  });
+
+  it('7. 20×20×10, K=0.50 → C', () => {
+    expect(classifyItem(itemWith({ width: 20, depth: 20, height: 10 }, 0.5)).category).toBe('C');
+  });
+
+  it('8. 451×100×100, K=0.50 → C', () => {
+    expect(classifyItem(itemWith({ width: 451, depth: 100, height: 100 }, 0.5)).category).toBe('C');
+  });
+
+  it('9. 100×321×100, K=0.50 → C', () => {
+    expect(classifyItem(itemWith({ width: 100, depth: 321, height: 100 }, 0.5)).category).toBe('C');
+  });
+
+  it('10. 100×100×321, K=0.50 → C', () => {
+    expect(classifyItem(itemWith({ width: 100, depth: 100, height: 321 }, 0.5)).category).toBe('C');
+  });
+
+  it('11. 450×100×100, K=0.50 → C (max exclusive)', () => {
+    expect(classifyItem(itemWith({ width: 450, depth: 100, height: 100 }, 0.5)).category).toBe('C');
+  });
+
+  it('12. 100×320×100, K=0.50 → C', () => {
+    expect(classifyItem(itemWith({ width: 100, depth: 320, height: 100 }, 0.5)).category).toBe('C');
+  });
+
+  it('13. 100×100×320, K=0.50 → C', () => {
+    expect(classifyItem(itemWith({ width: 100, depth: 100, height: 320 }, 0.5)).category).toBe('C');
+  });
+
+  it('14. 449×319×319, K=0.50 → B', () => {
+    expect(classifyItem(itemWith({ width: 449, depth: 319, height: 319 }, 0.5)).category).toBe('B');
+  });
+
+  it('15. admissible dims, K=0.79 → B', () => {
+    expect(classifyItem(itemWith({ width: 100, depth: 100, height: 100 }, 0.79)).category).toBe('B');
+  });
+
+  it('16. admissible dims, K=0.80 → B (not round)', () => {
+    expect(classifyItem(itemWith({ width: 100, depth: 100, height: 100 }, 0.8)).category).toBe('B');
+    expect(isCircularCrossSection(0.8)).toBe(false);
+  });
+
+  it('17. admissible dims, K=0.8001 → D', () => {
+    expect(classifyItem(itemWith({ width: 100, depth: 100, height: 100 }, 0.8001)).category).toBe('D');
+  });
+
+  it('18. admissible dims, K=0.95 → D', () => {
+    expect(classifyItem(itemWith({ width: 100, depth: 100, height: 100 }, 0.95)).category).toBe('D');
+  });
+
+  it('19. oversized + K=0.95 → C (priority)', () => {
+    expect(classifyItem(itemWith({ width: 500, depth: 100, height: 100 }, 0.95)).category).toBe('C');
+  });
+
+  it('20. low confidence does not cancel C-priority', () => {
+    const result = classifyItem({
+      ...itemWith({ width: 500, depth: 300, height: 300 }, 0.95, 0.4),
+      id: 'LC-C-PRIO',
+    });
+    expect(result.category).toBe('C');
+    expect(result.warnings.length).toBeGreaterThan(0);
+  });
+
+  it('21–22. every demo SKU matches live classifier and ROUTE_TO_*', () => {
+    for (const playlistCase of DEMO_PLAYLIST.filter((c) => !c.faultType)) {
+      const item = resolveItem(playlistCase.itemId);
+      const result = classifyItem(item);
+      expect(result.category).toBe(playlistCase.expectedCategory);
+      expect(`ROUTE_TO_${result.category}`).toBe(`ROUTE_TO_${playlistCase.expectedCategory}`);
+    }
+  });
+
+  it('23. UI rule labels expose official exclusive values', () => {
+    expect(OFFICIAL_RULE_LABELS.minDisplay).toBe('> 10×10×10 мм');
+    expect(OFFICIAL_RULE_LABELS.maxDisplay).toBe('< 450×320×320 мм');
+    expect(OFFICIAL_RULE_LABELS.roundnessDisplay).toBe('K > 0.8');
+  });
+
+  it('24. serialized settings do not contain 2 mm min height or 0.7 threshold', () => {
+    const serialized = JSON.stringify({
+      limits: DIMENSION_LIMITS,
+      labels: OFFICIAL_RULE_LABELS,
+    });
+    expect(serialized).not.toMatch(/10×10×2|10 x 10 x 2|height":2[^0-9]/);
+    expect(serialized).not.toMatch(/roundnessThreshold":0\.7|"0\.7"/);
+    expect(serialized).toContain('0.8');
+    expect(serialized).toContain('"height":10');
+  });
+
+  it('catalog expectedCategory matches classifier for every SKU', () => {
+    for (const item of ITEMS) {
+      expect(classifyItem(item).category).toBe(item.expectedCategory);
+    }
+  });
+});

src/domain/classifier.ts

@@ -0,0 +1,81 @@
+import type { Category, CategoryDefinition, ClassificationResult, Item } from './types';
+
+export const CATEGORY_DEFINITIONS: Record<Category, CategoryDefinition> = {
+  B: {
+    label: 'Основной сортировщик',
+    reason: 'Габариты подходят, круговое сечение не обнаружено',
+  },
+  C: {
+    label: 'Неправильные габариты',
+    reason: 'Нарушены допустимые габариты',
+  },
+  D: {
+    label: 'Неправильная форма / доупаковка',
+    reason: 'Обнаружен признак круглого сечения',
+  },
+};
+
+/**
+ * Official Track 3 sorter limits (doc-1783095831 pp.5–7).
+ * Bounds are exclusive: dimensions must be strictly greater than min
+ * and strictly less than max («больше» / «меньше»).
+ * Round cross-section when K > roundnessThreshold (K = 0.8 is NOT round).
+ */
+export const DIMENSION_LIMITS = {
+  min: { width: 10, depth: 10, height: 10 },
+  max: { width: 450, depth: 320, height: 320 },
+  roundnessThreshold: 0.8,
+} as const;
+
+/** Public-facing labels for UI / demo / docs. */
+export const OFFICIAL_RULE_LABELS = {
+  minDisplay: '> 10×10×10 мм',
+  maxDisplay: '< 450×320×320 мм',
+  roundnessDisplay: 'K > 0.8',
+  boundsSummary: '> 10×10×10 и < 450×320×320 мм',
+} as const;
+
+export function dimensionsPassOfficial(dimensionsMm: {
+  width: number;
+  depth: number;
+  height: number;
+}): boolean {
+  const { width, depth, height } = dimensionsMm;
+  return (
+    width > DIMENSION_LIMITS.min.width &&
+    depth > DIMENSION_LIMITS.min.depth &&
+    height > DIMENSION_LIMITS.min.height &&
+    width < DIMENSION_LIMITS.max.width &&
+    depth < DIMENSION_LIMITS.max.depth &&
+    height < DIMENSION_LIMITS.max.height
+  );
+}
+
+/** Official figure: circular cross-section iff K > 0.8. */
+export function isCircularCrossSection(roundnessK: number): boolean {
+  return roundnessK > DIMENSION_LIMITS.roundnessThreshold;
+}
+
+export function classifyItem(item: Item): ClassificationResult {
+  const dimensionsPass = dimensionsPassOfficial(item.dimensionsMm);
+  // roundnessPass = shape OK for category B (not circular)
+  const roundnessPass = !isCircularCrossSection(item.roundness);
+  const warnings: string[] = [];
+
+  if (item.confidence < 0.65) {
+    warnings.push('Measurement confidence ниже 0.65, решение принято rule-based способом');
+  }
+
+  // Order: dimensions → C; else circular → D; else B. C priority over D.
+  const category: Category = !dimensionsPass ? 'C' : isCircularCrossSection(item.roundness) ? 'D' : 'B';
+  const definition = CATEGORY_DEFINITIONS[category];
+
+  return {
+    category,
+    label: definition.label,
+    reason: definition.reason,
+    dimensionsPass,
+    roundnessPass,
+    warnings,
+  };
+}

src/domain/continuousMeasurement.test.ts

@@ -0,0 +1,147 @@
+/**
+ * Stage 2B §10–12, §25 — continuous measurement: the item NEVER stops under
+ * the camera; scan progress is position-based; classification completes
+ * before mechanism contact; physics handoff does not pre-position the item
+ * on the chute before the paddle touches it.
+ */
+import { describe, it, expect, beforeAll } from 'vitest';
+import { CASE_PHASES, createPlaybackState, startPlayback, updatePlayback } from './continuousPlayback';
+import { getPhysicalItemPose, getDropHandoffTimeMs, getRoutingStartMs } from './physicalItemMotion';
+import { deriveSorterVisualState } from './sorterVisualState';
+import {
+  SCAN_START_X, SCAN_END_X, CLASSIFICATION_DEADLINE_X, MECHANISM_CONTACT_X,
+  getScanProgress, getScanWindow,
+} from './measurementZone';
+import { ZONES, CONVEYOR_SPEED_MPS, BELT_TOP_Y, CAD_GATE_ENGAGE_X } from './physicalLayout';
+import { resolveItem } from '../data/resolveItem';
+import { initRapier, simulateDrop } from './physicsDropSim';
+
+function poseAt(skuId: string, category: 'B' | 'C' | 'D', elapsedMs: number) {
+  const item = resolveItem(skuId);
+  return getPhysicalItemPose({
+    caseId: 't', slotIndex: 0, dimensionsMm: item.dimensionsMm,
+    targetCategory: category, elapsedMs, faultType: undefined,
+  });
+}
+
+function phaseStarts(): Record<string, number> {
+  const starts: Record<string, number> = {};
+  let acc = 0;
+  for (const p of CASE_PHASES) { starts[p.phase] = acc; acc += p.durationMs; }
+  return starts;
+}
+
+describe('Stage 2B §10 — no stop under the camera', () => {
+  it('item moves at belt speed through the entire measurement window', () => {
+    const starts = phaseStarts();
+    const detectionStart = starts['detection'];
+    const commandEnd = starts['routing'];
+    let prevX = -Infinity;
+    for (let t = detectionStart; t <= commandEnd; t += 50) {
+      const pose = poseAt('SKU-001', 'B', t);
+      expect(pose.position[0]).toBeGreaterThan(prevX); // strictly increasing
+      prevX = pose.position[0];
+    }
+    // exact belt speed: x advances CONVEYOR_SPEED_MPS per second
+    const x1 = poseAt('SKU-001', 'B', detectionStart + 1000).position[0];
+    const x2 = poseAt('SKU-001', 'B', detectionStart + 2000).position[0];
+    expect(x2 - x1).toBeCloseTo(CONVEYOR_SPEED_MPS * 1.0, 5);
+  });
+
+  it('belt velocity stays positive during detection/measurement phases', () => {
+    let state = startPlayback(createPlaybackState());
+    const starts = phaseStarts();
+    const measurementMid = starts['measurement'] + 300;
+    // advance playback to mid-measurement
+    let guard = 0;
+    while (state.caseElapsedMs < measurementMid && guard < 100000) {
+      state = updatePlayback(state, 50);
+      guard += 50;
+    }
+    expect(state.currentPhase === 'measurement' || state.currentPhase === 'classification').toBe(true);
+    const vs = deriveSorterVisualState(state);
+    expect(vs.beltVelocityMps).toBeGreaterThan(0);
+  });
+
+  it('item reaches the gate exactly at routing start (no gate dwell, no overshoot)', () => {
+    const routingStart = getRoutingStartMs();
+    const pose = poseAt('SKU-001', 'B', routingStart);
+    expect(pose.position[0]).toBeCloseTo(ZONES.GATE.x, 5);
+    // belt speed continuity: distance from A == speed * travel time
+    const feedStart = phaseStarts()['move_to_detection'];
+    const travelS = (routingStart - feedStart) / 1000;
+    expect(ZONES.GATE.x - ZONES.A.x).toBeCloseTo(CONVEYOR_SPEED_MPS * travelS, 5);
+  });
+});
+
+describe('Stage 2B §12 — position-based scan progress', () => {
+  it('scan progress derives from item position, not time', () => {
+    expect(getScanProgress(SCAN_START_X)).toBe(0);
+    expect(getScanProgress((SCAN_START_X + SCAN_END_X) / 2)).toBeCloseTo(0.5, 6);
+    expect(getScanProgress(SCAN_END_X)).toBe(1);
+    expect(getScanProgress(SCAN_START_X - 1)).toBe(0);
+    expect(getScanProgress(SCAN_END_X + 1)).toBe(1);
+    expect(getScanWindow(ZONES.CAMERA.x)).toBe('scanning');
+    expect(getScanWindow(ZONES.GATE.x)).toBe('complete');
+  });
+
+  it('scan window matches item pose during continuous travel', () => {
+    const starts = phaseStarts();
+    const routingStart = starts['routing'];
+    let sawScanning = false;
+    let sawComplete = false;
+    for (let t = starts['move_to_detection']; t < routingStart; t += 20) {
+      const x = poseAt('SKU-001', 'B', t).position[0];
+      const w = getScanWindow(x);
+      if (w === 'scanning') sawScanning = true;
+      if (w === 'complete') sawComplete = true;
+    }
+    expect(sawScanning).toBe(true);
+    expect(sawComplete).toBe(true); // item leaves the frustum before routing
+  });
+});
+
+describe('Stage 2B §11 — classification completes before mechanism contact', () => {
+  it('classification phase ends at or before the deadline position', () => {
+    const starts = phaseStarts();
+    const classificationEnd = starts['command_sent'];
+    const x = poseAt('SKU-001', 'B', classificationEnd).position[0];
+    expect(x).toBeLessThanOrEqual(CLASSIFICATION_DEADLINE_X + 1e-9);
+    expect(x).toBeLessThan(MECHANISM_CONTACT_X); // well ahead of the gate
+  });
+});
+
+describe('Stage 2B §13 — handoff at CAD diverter engage (not chute teleport)', () => {
+  beforeAll(async () => { await initRapier(); });
+
+  it('C/D handoff is on the belt center at CAD_GATE_ENGAGE_X, before domain GATE spur', () => {
+    const routingStart = getRoutingStartMs();
+    for (const category of ['C', 'D'] as const) {
+      const handoff = getDropHandoffTimeMs(category, undefined);
+      expect(handoff).not.toBeNull();
+      // CAD vane engage is upstream of the B-spur / domain routing start.
+      expect(handoff!).toBeLessThan(routingStart);
+      const pose = poseAt('SKU-001', category, handoff!);
+      expect(Math.abs(pose.position[2])).toBeLessThan(0.01); // belt center z=0
+      expect(pose.position[0]).toBeCloseTo(CAD_GATE_ENGAGE_X, 3);
+      expect(pose.position[1]).toBeCloseTo(BELT_TOP_Y + 0.1, 5); // box h/2 = 0.1
+      expect(pose.position[0]).toBeLessThan(ZONES.GATE.x);
+    }
+  });
+
+  it('C/D headless drop stays deterministic without floor tunneling (CAD rotary gate)', () => {
+    for (const [sku, zone] of [['SKU-004', 'C'], ['SKU-009', 'C'], ['SKU-011', 'C'], ['SKU-006', 'D'], ['SKU-007', 'D'], ['SKU-008', 'D']] as const) {
+      const r = simulateDrop(sku, zone);
+      expect(r.minClearanceM).toBeGreaterThan(-0.03);
+      expect(r.stepsSimulated).toBeGreaterThan(10);
+    }
+  });
+
+  it('no positional teleport: handoff pose is continuous with the pre-handoff kinematic pose', () => {
+    const handoff = getDropHandoffTimeMs('C', undefined)!;
+    const before = poseAt('SKU-001', 'C', handoff - 1);
+    const at = poseAt('SKU-001', 'C', handoff);
+    expect(Math.abs(at.position[0] - before.position[0])).toBeLessThan(0.01);
+    expect(Math.abs(at.position[2] - before.position[2])).toBeLessThan(0.01);
+  });
+});

src/domain/continuousPlayback.test.ts

@@ -0,0 +1,132 @@
+/**
+ * Continuous Playback Engine tests + playlist ↔ classifier consistency.
+ */
+
+import { describe, it, expect } from 'vitest';
+import {
+  createPlaybackState,
+  startPlayback,
+  pausePlayback,
+  resumePlayback,
+  stopPlayback,
+  updatePlayback,
+  seekToCase,
+  setPlaybackSpeed,
+  CASE_DURATION_MS,
+  assertPlaylistClassifierConsistency,
+  type ContinuousPlaybackState,
+} from './continuousPlayback';
+import { DEMO_PLAYLIST, PLAYLIST_LENGTH } from './demoPlaylist';
+import { classifyItem } from './classifier';
+import { resolveItem } from '../data/resolveItem';
+
+describe('demoPlaylist', () => {
+  it('has classification + safety cases', () => {
+    expect(PLAYLIST_LENGTH).toBe(12);
+    expect(DEMO_PLAYLIST.length).toBe(12);
+  });
+
+  it('has no duplicate case ids', () => {
+    const ids = DEMO_PLAYLIST.map((c) => c.id);
+    expect(new Set(ids).size).toBe(ids.length);
+  });
+
+  it('all non-fault cases match live classifyItem', () => {
+    const mismatches = assertPlaylistClassifierConsistency();
+    expect(mismatches).toEqual([]);
+  });
+
+  it('low_confidence case has warning but category from rules', () => {
+    const lowConfidence = DEMO_PLAYLIST.find((c) => c.id === 'low_confidence');
+    expect(lowConfidence).toBeDefined();
+    expect(lowConfidence!.warning).toBeDefined();
+    const result = classifyItem(resolveItem(lowConfidence!.itemId));
+    expect(result.category).toBe('B');
+    expect(result.warnings.length).toBeGreaterThan(0);
+  });
+
+  it('includes jam and emergency_stop safety cases', () => {
+    expect(DEMO_PLAYLIST.some((c) => c.faultType === 'jam')).toBe(true);
+    expect(DEMO_PLAYLIST.some((c) => c.faultType === 'emergency_stop')).toBe(true);
+  });
+});
+
+describe('continuousPlayback', () => {
+  it('creates initial state with idle status', () => {
+    const state = createPlaybackState();
+    expect(state.status).toBe('idle');
+    expect(state.currentCaseIndex).toBe(0);
+  });
+
+  it('startPlayback sets status to running and classifies via classifyItem', () => {
+    const state = startPlayback(createPlaybackState());
+    expect(state.status).toBe('running');
+    expect(state.classification).not.toBeNull();
+    expect(state.targetCategory).toBe(state.classification!.category);
+  });
+
+  it('pausePlayback sets status to paused', () => {
+    let state = startPlayback(createPlaybackState());
+    state = pausePlayback(state);
+    expect(state.status).toBe('paused');
+  });
+
+  it('resumePlayback sets status back to running', () => {
+    let state = startPlayback(createPlaybackState());
+    state = pausePlayback(state);
+    state = resumePlayback(state);
+    expect(state.status).toBe('running');
+  });
+
+  it('stopPlayback resets to idle', () => {
+    let state = startPlayback(createPlaybackState());
+    state = stopPlayback(state);
+    expect(state.status).toBe('idle');
+  });
+
+  it('advances to next case after case duration', () => {
+    let state = startPlayback(createPlaybackState());
+    let totalTime = 0;
+    while (totalTime < CASE_DURATION_MS * 1.5 && state.currentCaseIndex === 0) {
+      state = updatePlayback(state, 100);
+      totalTime += 100;
+    }
+    expect(state.currentCaseIndex).toBeGreaterThanOrEqual(1);
+  });
+
+  it('seekToCase jumps to jam case and sets FAULT command later', () => {
+    const jamIndex = DEMO_PLAYLIST.findIndex((c) => c.faultType === 'jam');
+    let state = seekToCase(createPlaybackState(), jamIndex);
+    expect(state.currentCase.faultType).toBe('jam');
+    for (let i = 0; i < 80; i++) {
+      state = updatePlayback(state, 100);
+      if (state.command === 'FAULT') break;
+    }
+    expect(state.command).toBe('FAULT');
+  });
+
+  it('setPlaybackSpeed changes multiplier', () => {
+    let state = startPlayback(createPlaybackState());
+    state = setPlaybackSpeed(state, 2);
+    expect(state.speed).toBe(2);
+  });
+
+  it('records classification events in journal', () => {
+    let state = startPlayback(createPlaybackState());
+    for (let i = 0; i < 60; i++) {
+      state = updatePlayback(state, 100);
+    }
+    expect(state.events.some((e) => e.type === 'classification' || e.type === 'system')).toBe(true);
+  });
+
+  it('completes playlist', () => {
+    let state = startPlayback(createPlaybackState());
+    const maxTime = CASE_DURATION_MS * 20;
+    let elapsed = 0;
+    while (state.status === 'running' && elapsed < maxTime) {
+      state = updatePlayback(state, 200);
+      elapsed += 200;
+    }
+    expect(state.status).toBe('finished');
+  });
+});

src/domain/continuousPlayback.ts

@@ -0,0 +1,471 @@
+/**
+ * Continuous Playback Engine — manages auto-demo on main page.
+ * Classification is always driven by classifyItem (live rule engine).
+ * Supports speed control, case seek, seeded variability, and event journal.
+ */
+
+import type { Category, ClassificationResult, EventLogEntry } from './types';
+import { DEMO_PLAYLIST, type PlaylistCase, PLAYLIST_LENGTH } from './demoPlaylist';
+import { classifyItem } from './classifier';
+import { resolveItem } from '../data/resolveItem';
+import { createSeededRng, DEFAULT_DEMO_SEED, seededOffset } from './seededRng';
+
+/** Playback status for the continuous demo. */
+export type PlaybackStatus = 'idle' | 'running' | 'paused' | 'finished';
+
+/** Phase within a single case timeline. */
+export type CasePhase =
+  | 'spawn'
+  | 'move_to_detection'
+  | 'detection'
+  | 'measurement'
+  | 'classification'
+  | 'command_sent'
+  | 'routing'
+  | 'exit'
+  | 'clear_gap'
+  | 'fault_hold'
+  | 'emergency_hold'
+  | 'recover';
+
+/** Phase configuration with duration based on conveyor speed (1 m/s). */
+export interface PhaseConfig {
+  phase: CasePhase;
+  durationMs: number;
+  label: string;
+}
+
+/**
+ * Timeline phases for a single normal item.
+ * Distances are in meters, speed is 1 m/s, so duration = distance * 1000 ms.
+ */
+export const CASE_PHASES: PhaseConfig[] = [
+  { phase: 'spawn', durationMs: 300, label: 'Spawn at A' },
+  // Stage 2B §10: 1900 ms so that feed(300)+1900+600+1000+1000+1000 = 5500 ms
+  // == A->GATE distance (5.5 m) at 1.0 m/s — continuous motion, no dwell.
+  { phase: 'move_to_detection', durationMs: 1900, label: 'Moving to camera' },
+  { phase: 'detection', durationMs: 600, label: 'CV Detection' },
+  { phase: 'measurement', durationMs: 1000, label: 'Laser measurement' },
+  { phase: 'classification', durationMs: 1000, label: 'Classification' },
+  { phase: 'command_sent', durationMs: 1000, label: 'Command sent' },
+  { phase: 'routing', durationMs: 2500, label: 'Routing to zone' },
+  { phase: 'exit', durationMs: 400, label: 'Exit to zone' },
+  { phase: 'clear_gap', durationMs: 500, label: 'Clear gap' },
+];
+
+/** Safety timeline: jam near gate then recover. */
+export const JAM_CASE_PHASES: PhaseConfig[] = [
+  { phase: 'spawn', durationMs: 300, label: 'Spawn at A' },
+  { phase: 'move_to_detection', durationMs: 2000, label: 'Moving to camera' },
+  { phase: 'detection', durationMs: 500, label: 'CV Detection' },
+  { phase: 'measurement', durationMs: 800, label: 'Laser measurement' },
+  { phase: 'classification', durationMs: 600, label: 'Classification' },
+  { phase: 'fault_hold', durationMs: 2800, label: 'JAM / FAULT' },
+  { phase: 'recover', durationMs: 1200, label: 'Recovery' },
+  { phase: 'clear_gap', durationMs: 400, label: 'Clear gap' },
+];
+
+/** Safety timeline: emergency stop. */
+export const ESTOP_CASE_PHASES: PhaseConfig[] = [
+  { phase: 'spawn', durationMs: 300, label: 'Spawn at A' },
+  { phase: 'move_to_detection', durationMs: 1800, label: 'Moving to camera' },
+  { phase: 'detection', durationMs: 400, label: 'CV Detection' },
+  { phase: 'emergency_hold', durationMs: 3000, label: 'EMERGENCY STOP' },
+  { phase: 'recover', durationMs: 1500, label: 'System reset' },
+  { phase: 'clear_gap', durationMs: 400, label: 'Clear gap' },
+];
+
+/** Total duration of one normal case in ms. */
+export const CASE_DURATION_MS = CASE_PHASES.reduce((sum, p) => sum + p.durationMs, 0);
+
+export type PlaybackSpeed = 0.5 | 1 | 1.5 | 2;
+
+export interface ContinuousPlaybackState {
+  status: PlaybackStatus;
+  currentCaseIndex: number;
+  currentCase: PlaylistCase;
+  currentPhaseIndex: number;
+  currentPhase: CasePhase;
+  phaseElapsedMs: number;
+  caseElapsedMs: number;
+  totalElapsedMs: number;
+  loopMode: boolean;
+  targetCategory: Category | null;
+  classification: ClassificationResult | null;
+  command: string;
+  warning: string | null;
+  /** Playback speed multiplier */
+  speed: PlaybackSpeed;
+  /** Seed for reproducible variability */
+  seed: number;
+  /** Deterministic position jitter (mm-scale visual offsets stored as meters) */
+  positionJitter: { x: number; z: number; yaw: number };
+  /** Bounded event journal for proof / engineering HUD */
+  events: EventLogEntry[];
+}
+
+function phasesForCase(playlistCase: PlaylistCase): PhaseConfig[] {
+  if (playlistCase.faultType === 'jam') return JAM_CASE_PHASES;
+  if (playlistCase.faultType === 'emergency_stop') return ESTOP_CASE_PHASES;
+  return CASE_PHASES;
+}
+
+export function getPlaylistCaseDurationMs(playlistCase: PlaylistCase): number {
+  return phasesForCase(playlistCase).reduce((sum, p) => sum + p.durationMs, 0);
+}
+
+/** Cumulative playlist duration before case index (supports wrap for loops). */
+export function cumulativePlaylistDurationMs(caseIndex: number): number {
+  let sum = 0;
+  for (let i = 0; i < caseIndex; i++) {
+    sum += getPlaylistCaseDurationMs(DEMO_PLAYLIST[i % PLAYLIST_LENGTH]);
+  }
+  return sum;
+}
+
+function caseDurationMs(playlistCase: PlaylistCase): number {
+  return getPlaylistCaseDurationMs(playlistCase);
+}
+
+function classifyCase(playlistCase: PlaylistCase): ClassificationResult {
+  const item = resolveItem(playlistCase.itemId);
+  return classifyItem(item);
+}
+
+function buildJitter(seed: number, caseIndex: number): { x: number; z: number; yaw: number } {
+  const rng = createSeededRng(seed + caseIndex * 9973);
+  return {
+    x: seededOffset(rng, 0.012),
+    z: seededOffset(rng, 0.008),
+    yaw: seededOffset(rng, 0.04),
+  };
+}
+
+let eventCounter = 0;
+
+function pushEvent(
+  events: EventLogEntry[],
+  timestampMs: number,
+  entry: Omit<EventLogEntry, 'id' | 'timestampMs'>,
+): EventLogEntry[] {
+  eventCounter += 1;
+  const next: EventLogEntry = {
+    id: `pb-evt-${eventCounter}`,
+    timestampMs,
+    ...entry,
+  };
+  return [next, ...events].slice(0, 40);
+}
+
+function initCaseFields(playlistCase: PlaylistCase, seed: number, caseIndex: number, events: EventLogEntry[], simTime: number) {
+  const classification = classifyCase(playlistCase);
+  const warnings = [
+    ...(playlistCase.warning ? [playlistCase.warning] : []),
+    ...classification.warnings,
+  ];
+  return {
+    currentCase: playlistCase,
+    currentCaseIndex: caseIndex,
+    currentPhaseIndex: 0,
+    currentPhase: 'spawn' as CasePhase,
+    phaseElapsedMs: 0,
+    caseElapsedMs: 0,
+    targetCategory: classification.category,
+    classification,
+    command: 'IDLE',
+    warning: warnings[0] ?? null,
+    positionJitter: buildJitter(seed, caseIndex),
+    events: pushEvent(events, simTime, {
+      itemId: playlistCase.itemId,
+      type: 'system',
+      message: `Case start: ${playlistCase.title}`,
+      category: classification.category,
+      status: 'info',
+    }),
+  };
+}
+
+/** Create initial playback state. */
+export function createPlaybackState(seed: number = DEFAULT_DEMO_SEED): ContinuousPlaybackState {
+  const firstCase = DEMO_PLAYLIST[0];
+  const classification = classifyCase(firstCase);
+  return {
+    status: 'idle',
+    currentCaseIndex: 0,
+    currentCase: firstCase,
+    currentPhaseIndex: 0,
+    currentPhase: 'spawn',
+    phaseElapsedMs: 0,
+    caseElapsedMs: 0,
+    totalElapsedMs: 0,
+    loopMode: false,
+    targetCategory: null,
+    classification: null,
+    command: 'IDLE',
+    warning: null,
+    speed: 1,
+    seed,
+    positionJitter: { x: 0, z: 0, yaw: 0 },
+    events: [],
+  };
+}
+
+/** Start playback from the beginning. */
+export function startPlayback(state: ContinuousPlaybackState): ContinuousPlaybackState {
+  const firstCase = DEMO_PLAYLIST[0];
+  const fields = initCaseFields(firstCase, state.seed, 0, [], 0);
+  return {
+    ...state,
+    status: 'running',
+    totalElapsedMs: 0,
+    speed: state.speed,
+    seed: state.seed,
+    loopMode: state.loopMode,
+    ...fields,
+  };
+}
+
+export function pausePlayback(state: ContinuousPlaybackState): ContinuousPlaybackState {
+  if (state.status !== 'running') return state;
+  return { ...state, status: 'paused' };
+}
+
+export function resumePlayback(state: ContinuousPlaybackState): ContinuousPlaybackState {
+  if (state.status !== 'paused') return state;
+  return { ...state, status: 'running' };
+}
+
+export function stopPlayback(state: ContinuousPlaybackState): ContinuousPlaybackState {
+  return createPlaybackState(state.seed);
+}
+
+export function toggleLoopMode(state: ContinuousPlaybackState): ContinuousPlaybackState {
+  return { ...state, loopMode: !state.loopMode };
+}
+
+export function setPlaybackSpeed(state: ContinuousPlaybackState, speed: PlaybackSpeed): ContinuousPlaybackState {
+  return { ...state, speed };
+}
+
+/** Jump to a playlist case index (keeps running/paused status). */
+export function seekToCase(state: ContinuousPlaybackState, caseIndex: number): ContinuousPlaybackState {
+  const idx = ((caseIndex % PLAYLIST_LENGTH) + PLAYLIST_LENGTH) % PLAYLIST_LENGTH;
+  const nextCase = DEMO_PLAYLIST[idx];
+  const fields = initCaseFields(nextCase, state.seed, idx, state.events, state.totalElapsedMs);
+  const status = state.status === 'idle' || state.status === 'finished' ? 'running' : state.status;
+  return {
+    ...state,
+    status,
+    ...fields,
+  };
+}
+
+export function seekNextCase(state: ContinuousPlaybackState): ContinuousPlaybackState {
+  return seekToCase(state, state.currentCaseIndex + 1);
+}
+
+export function seekPrevCase(state: ContinuousPlaybackState): ContinuousPlaybackState {
+  return seekToCase(state, state.currentCaseIndex - 1);
+}
+
+function advanceToNextCase(state: ContinuousPlaybackState): ContinuousPlaybackState {
+  const nextIndex = state.currentCaseIndex + 1;
+
+  if (nextIndex >= PLAYLIST_LENGTH) {
+    if (state.loopMode) {
+      const firstCase = DEMO_PLAYLIST[0];
+      const fields = initCaseFields(firstCase, state.seed, 0, state.events, state.totalElapsedMs);
+      return { ...state, ...fields };
+    }
+    return {
+      ...state,
+      status: 'finished',
+      command: 'COMPLETE',
+      events: pushEvent(state.events, state.totalElapsedMs, {
+        type: 'system',
+        message: 'Playlist complete',
+        status: 'success',
+      }),
+    };
+  }
+
+  const nextCase = DEMO_PLAYLIST[nextIndex];
+  const fields = initCaseFields(nextCase, state.seed, nextIndex, state.events, state.totalElapsedMs);
+  return { ...state, ...fields };
+}
+
+function getCommandForPhase(phase: CasePhase, category: Category): string {
+  switch (phase) {
+    case 'spawn':
+    case 'move_to_detection':
+      return 'MOVING_TO_CAMERA';
+    case 'detection':
+      return 'DETECTING';
+    case 'measurement':
+      return 'MEASURING';
+    case 'classification':
+      return 'CLASSIFYING';
+    case 'command_sent':
+    case 'routing':
+    case 'exit':
+      return `ROUTE_TO_${category}`;
+    case 'fault_hold':
+      return 'FAULT';
+    case 'emergency_hold':
+      return 'EMERGENCY_STOP';
+    case 'recover':
+      return 'RECOVERING';
+    case 'clear_gap':
+      return 'RETURN_HOME';
+    default:
+      return 'IDLE';
+  }
+}
+
+function maybeLogPhaseTransition(
+  state: ContinuousPlaybackState,
+  phase: CasePhase,
+  category: Category,
+): EventLogEntry[] {
+  let events = state.events;
+  if (phase === 'classification' && state.classification) {
+    events = pushEvent(events, state.totalElapsedMs, {
+      itemId: state.currentCase.itemId,
+      type: 'classification',
+      message: `${state.classification.label}: ${state.classification.reason}`,
+      category: state.classification.category,
+      command: 'CLASSIFY_RULE_BASED',
+      status: state.classification.warnings.length ? 'warning' : 'success',
+    });
+  }
+  if (phase === 'command_sent') {
+    events = pushEvent(events, state.totalElapsedMs, {
+      itemId: state.currentCase.itemId,
+      type: 'routing',
+      message: `Command ROUTE_TO_${category}`,
+      category,
+      command: `ROUTE_TO_${category}`,
+      status: 'success',
+    });
+  }
+  if (phase === 'fault_hold') {
+    events = pushEvent(events, state.totalElapsedMs, {
+      itemId: state.currentCase.itemId,
+      type: 'fault',
+      message: 'Jam detected at stop-gate — conveyor halted',
+      command: 'FAULT',
+      status: 'error',
+    });
+  }
+  if (phase === 'emergency_hold') {
+    events = pushEvent(events, state.totalElapsedMs, {
+      itemId: state.currentCase.itemId,
+      type: 'fault',
+      message: 'Emergency stop engaged — all motion frozen',
+      command: 'EMERGENCY_STOP',
+      status: 'error',
+    });
+  }
+  if (phase === 'recover') {
+    events = pushEvent(events, state.totalElapsedMs, {
+      type: 'system',
+      message: 'Recovery sequence started',
+      command: 'RECOVER',
+      status: 'warning',
+    });
+  }
+  return events;
+}
+
+/** Update playback state with elapsed wall-clock time (scaled by speed). */
+export function updatePlayback(
+  state: ContinuousPlaybackState,
+  deltaMs: number,
+): ContinuousPlaybackState {
+  if (state.status !== 'running') {
+    return state;
+  }
+
+  const scaledDelta = deltaMs * state.speed;
+  let newState = { ...state };
+  newState.phaseElapsedMs += scaledDelta;
+  newState.caseElapsedMs += scaledDelta;
+  newState.totalElapsedMs += scaledDelta;
+
+  const phases = phasesForCase(newState.currentCase);
+  const currentPhaseConfig = phases[newState.currentPhaseIndex];
+
+  if (newState.phaseElapsedMs >= currentPhaseConfig.durationMs) {
+    const nextPhaseIndex = newState.currentPhaseIndex + 1;
+
+    if (nextPhaseIndex >= phases.length) {
+      newState = advanceToNextCase(newState);
+    } else {
+      newState.currentPhaseIndex = nextPhaseIndex;
+      newState.currentPhase = phases[nextPhaseIndex].phase;
+      newState.phaseElapsedMs = 0;
+      if (newState.targetCategory) {
+        newState.events = maybeLogPhaseTransition(newState, newState.currentPhase, newState.targetCategory);
+      }
+    }
+  }
+
+  if (newState.status === 'running' && newState.targetCategory) {
+    newState.command = getCommandForPhase(newState.currentPhase, newState.targetCategory);
+  }
+
+  return newState;
+}
+
+export function getCasePhases(state: ContinuousPlaybackState): PhaseConfig[] {
+  return phasesForCase(state.currentCase);
+}
+
+export function getCaseDurationMs(state: ContinuousPlaybackState): number {
+  return caseDurationMs(state.currentCase);
+}
+
+export function getCaseProgress(state: ContinuousPlaybackState): number {
+  return Math.min(state.caseElapsedMs / getCaseDurationMs(state), 1);
+}
+
+export function getPhaseProgress(state: ContinuousPlaybackState): number {
+  const phases = getCasePhases(state);
+  const phaseConfig = phases[state.currentPhaseIndex];
+  return Math.min(state.phaseElapsedMs / phaseConfig.durationMs, 1);
+}
+
+export function getCurrentPhaseConfig(state: ContinuousPlaybackState): PhaseConfig {
+  return getCasePhases(state)[state.currentPhaseIndex];
+}
+
+export function isDetectionActive(state: ContinuousPlaybackState): boolean {
+  return state.currentPhase === 'detection' || state.currentPhase === 'measurement';
+}
+
+export function isRoutingActive(state: ContinuousPlaybackState): boolean {
+  return state.currentPhase === 'routing' || state.currentPhase === 'exit';
+}
+
+export function isFaultActive(state: ContinuousPlaybackState): boolean {
+  return state.currentPhase === 'fault_hold' || state.currentPhase === 'emergency_hold';
+}
+
+export function getTotalProgress(state: ContinuousPlaybackState): number {
+  const completedCases = state.currentCaseIndex;
+  const currentCaseProgress = getCaseProgress(state);
+  return (completedCases + currentCaseProgress) / PLAYLIST_LENGTH;
+}
+
+/** Assert playlist expectedCategory matches live classifier (for tests). */
+export function assertPlaylistClassifierConsistency(): Array<{ id: string; expected: Category; actual: Category }> {
+  const mismatches: Array<{ id: string; expected: Category; actual: Category }> = [];
+  for (const c of DEMO_PLAYLIST) {
+    if (c.faultType) continue;
+    const result = classifyCase(c);
+    if (result.category !== c.expectedCategory) {
+      mismatches.push({ id: c.id, expected: c.expectedCategory, actual: result.category });
+    }
+  }
+  return mismatches;
+}

src/domain/conveyorNetwork.test.ts

@@ -0,0 +1,92 @@
+import { describe, it, expect } from 'vitest';
+import {
+  SURFACES,
+  getSurface,
+  isWithinBounds,
+  surfaceLength,
+  pathForCategory,
+  type SurfaceName,
+} from './conveyorNetwork';
+
+const ALL: SurfaceName[] = [
+  'main_belt',
+  'inspection_station',
+  'routing_junction',
+  'b_transfer',
+  'chute_b',
+  'b_bin_floor',
+  'chute_c',
+  'chute_d',
+  'c_cage_floor',
+  'd_cage_floor',
+];
+
+describe('conveyorNetwork', () => {
+  it('defines every required surface', () => {
+    for (const name of ALL) {
+      expect(SURFACES[name]).toBeDefined();
+      expect(getSurface(name).name).toBe(name);
+    }
+  });
+
+  it('every surface has finite coordinates and bounds', () => {
+    for (const name of ALL) {
+      const s = SURFACES[name];
+      for (const v of [...s.start, ...s.end, s.surfaceY, s.width, s.speedMps]) {
+        expect(Number.isFinite(v)).toBe(true);
+      }
+      const b = s.bounds;
+      for (const v of [b.minX, b.maxX, b.minZ, b.maxZ]) {
+        expect(Number.isFinite(v)).toBe(true);
+      }
+      expect(b.maxX).toBeGreaterThanOrEqual(b.minX);
+      expect(b.maxZ).toBeGreaterThanOrEqual(b.minZ);
+    }
+  });
+
+  it('main belt runs at 1 m/s and cages/junctions are static', () => {
+    expect(SURFACES.main_belt.speedMps).toBe(1);
+    expect(SURFACES.routing_junction.speedMps).toBe(1);
+    expect(SURFACES.c_cage_floor.speedMps).toBe(0);
+    expect(SURFACES.d_cage_floor.speedMps).toBe(0);
+    expect(SURFACES.inspection_station.speedMps).toBe(0);
+  });
+
+  it('chutes move slower than the belt but are not static', () => {
+    expect(SURFACES.chute_c.speedMps).toBeGreaterThan(0);
+    expect(SURFACES.chute_c.speedMps).toBeLessThan(SURFACES.main_belt.speedMps);
+  });
+
+  it('provides an ordered path per category', () => {
+    expect(pathForCategory('B')).toEqual(['main_belt', 'inspection_station', 'routing_junction', 'b_transfer', 'chute_b', 'b_bin_floor']);
+    expect(pathForCategory('C')).toEqual(['main_belt', 'inspection_station', 'routing_junction', 'chute_c', 'c_cage_floor']);
+    expect(pathForCategory('D')).toEqual(['main_belt', 'inspection_station', 'routing_junction', 'chute_d', 'd_cage_floor']);
+  });
+
+  it('B bin floor and cages are on the ground (not floating)', () => {
+    expect(SURFACES.b_bin_floor.surfaceY).toBeLessThan(0.2);
+    expect(SURFACES.c_cage_floor.surfaceY).toBeLessThan(0.2);
+    expect(SURFACES.d_cage_floor.surfaceY).toBeLessThan(0.2);
+  });
+
+  it('bounds check works', () => {
+    const c = SURFACES.c_cage_floor.bounds;
+    const cx = (c.minX + c.maxX) / 2;
+    const cz = (c.minZ + c.maxZ) / 2;
+    expect(isWithinBounds('c_cage_floor', cx, cz)).toBe(true);
+    expect(isWithinBounds('c_cage_floor', c.maxX + 1, cz)).toBe(false);
+  });
+
+  it('every surface has a kind', () => {
+    for (const name of ALL) {
+      expect(SURFACES[name].kind).toBeTruthy();
+    }
+    expect(SURFACES.b_bin_floor.kind).toBe('bin_floor');
+    expect(SURFACES.b_transfer.kind).toBe('conveyor');
+  });
+
+  it('chutes have real length (item slides, does not teleport)', () => {
+    expect(surfaceLength('chute_c')).toBeGreaterThan(0.5);
+    expect(surfaceLength('chute_d')).toBeGreaterThan(0.5);
+  });
+});