Two-segment penprobe lookup demo: run on servo_only-derived maps#5
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…ed maps The two-segment penprobe chasing demo could not run on a map built from the big collected dataset: that dataset is servo_only and never recorded a physical_assembly, so the built map carries empty bottom/top segment keys. The controller's check_compatibility() treated empty keys as a *mismatch* against the live bench (segment_b/segment_a), blocking the demo in precheck. Distinguish an UNKNOWN (empty) map assembly from a genuine CONFLICT: - Controller (two_segment_lookup_controller.py): add LookupControllerConfig.allow_unknown_map_assembly (default False = strict). check_compatibility() now reports bottom/top_segment_key_unknown_in_map for an empty map assignment (relaxable via the flag) while a present-but-different assignment still hard-blocks as ..._mismatch. Add map_assembly_is_unknown. - Demo experiment (two_segment_penprobe_lookup_demo.py): add allow_unknown_map_assembly (default True, mirrors allow_unknown_map_tip_tool), thread it into the controller, and record a loud map_assembly_unknown warning + flags into the run metrics. A genuine conflict is still blocked; servo IDs, per-servo tick envelope, nearest-distance hard stop and current limits are unchanged. GUI (TwoSegmentPenprobeLookupDemoPage): add "Use Latest Built Map" + "Browse…" buttons (scan data/experiments/two_segment_workspace_lookup_maps/), a CLI build hint, and an "Allow unknown bottom/top assignment" checkbox so the demo is operable without hand-editing the map path. Verified end-to-end against a real map built from 20260526_235950_two_segment_collect_pose_command_dataset (2493 points): the demo runs, issues commands for on-manifold targets, and records the warning. Tests: controller unknown-vs-conflict matrix, demo runs on an unknown-assembly map (and blocks when opted out), and a GUI page-construction test. Also add the lookup + penprobe-demo test files to scripts/run_tests.sh two-segment so they run in the bench-day net (267 pass). quick (126) and hardware-safe green. Note: pre-existing unrelated failure test_shipped_system_yaml_carries_slowdown_profile expects default_profile_velocity>=5 but the operator set it to 3; untouched here. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
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Summary
servo_onlydataset (which never recorded aphysical_assembly).allow_unknown_map_assembly(demo default on, mirrorsallow_unknown_map_tip_tool); a real conflicting assignment still hard-blocks. Servo-ID match, per-servo tick envelope, nearest-distance hard stop, and current limits are unchanged; a loud warning is recorded into the run.TwoSegmentPenprobeLookupDemoPage): "Use Latest Built Map" + "Browse…" buttons, a CLI build hint, and an "allow unknown bottom/top assignment" checkbox.scripts/run_tests.sh two-segmentso they run in the bench-day net.Verified end-to-end against a real 2493-point map built from
20260526_235950_two_segment_collect_pose_command_dataset.Test plan
test_two_segment_penprobe_lookup_demo.py+test_two_segment_workspace_lookup.py— 41 pass on top of main#4🤖 Generated with Claude Code