feat(cam-clear): blend-corridor engagement re-certification #82

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patman wants to merge 1 commit from patman/clear-corridor into patman/blend-symmetric AGit

patman commented

2026-07-17 06:11:20 +00:00

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Retires #79's honest boundary "engagement certified on nominal path only". ClearParams gains blend_corridor: the plan's certified/reported engagement now covers ANY execution whose per-pass realized tool-center path stays within the corridor of nominal -- exactly what blend_pass enforces when called with max_deviation = blend_corridor (the corridor width does double duty with the blend deviation certificate).

Mechanism: every per-feature penetration in the certified-engagement machinery is evaluated at pen + 2c (c for the blended tool straying outward -- 1-Lipschitz; c for the prior pass's inward undercut leaving stock proud -- disk-inclusion), vertex blend-zone reach widens to r + 2c, and the Case-A/B innermost "proven zero" becomes an honest closed-form two-circle bound at penetration 2c (the inclusion proof only holds on the nominal path). Validation caps 2c <= 0.05 * tool_radius. Corridor 0 reproduces the nominal plan bitwise (pinned on the three standard fixtures).

Tests: bitwise-zero identity, monotonicity in c, flagship adversarial brute-force (independent StockState ground truth vs eroded-envelope stock + outward-pushed tool samples -- a missing margin would exceed the slack by ~3 orders), Case-A bump, validation, and an e2e in cam-drive (plan -> blend within budget -> drive_plan_fourth).

Caller contract (disclosed in cam-drive docs): the certificate holds only when blending uses max_deviation <= the planning corridor; RingPlan does not retain the corridor, so this is not runtime-enforced.

Adversarially reviewed (independent re-derivation of the Lipschitz/undercut/2c arguments, all 8 margin call sites audited, reach widening, sect. 3(b) survival, flagship independence + non-vacuity by magnitude): PASS; one MEDIUM doc-wording finding (certified_error invariance justification) corrected per the reviewer's exact wording.

Retires #79's honest boundary "engagement certified on nominal path only". `ClearParams` gains `blend_corridor`: the plan's certified/reported engagement now covers ANY execution whose per-pass realized tool-center path stays within the corridor of nominal -- exactly what `blend_pass` enforces when called with `max_deviation = blend_corridor` (the corridor width does double duty with the blend deviation certificate). Mechanism: every per-feature penetration in the certified-engagement machinery is evaluated at `pen + 2c` (c for the blended tool straying outward -- 1-Lipschitz; c for the prior pass's inward undercut leaving stock proud -- disk-inclusion), vertex blend-zone reach widens to `r + 2c`, and the Case-A/B innermost "proven zero" becomes an honest closed-form two-circle bound at penetration 2c (the inclusion proof only holds on the nominal path). Validation caps `2c <= 0.05 * tool_radius`. Corridor 0 reproduces the nominal plan bitwise (pinned on the three standard fixtures). Tests: bitwise-zero identity, monotonicity in c, flagship adversarial brute-force (independent StockState ground truth vs eroded-envelope stock + outward-pushed tool samples -- a missing margin would exceed the slack by ~3 orders), Case-A bump, validation, and an e2e in cam-drive (plan -> blend within budget -> drive_plan_fourth). Caller contract (disclosed in cam-drive docs): the certificate holds only when blending uses `max_deviation <= ` the planning corridor; `RingPlan` does not retain the corridor, so this is not runtime-enforced. Adversarially reviewed (independent re-derivation of the Lipschitz/undercut/2c arguments, all 8 margin call sites audited, reach widening, sect. 3(b) survival, flagship independence + non-vacuity by magnitude): PASS; one MEDIUM doc-wording finding (certified_error invariance justification) corrected per the reviewer's exact wording.

patman added 1 commit

2026-07-17 06:11:20 +00:00

feat(cam-clear): blend-corridor engagement re-certification

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9652e21d7d

Co-authored-by: patman-assist <patrick-ai@kgroo.co>

patman-assist referenced this pull request

2026-07-17 06:12:02 +00:00

feat(cam-blend): symmetric two-way deviation certificate for junction blends #81

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2026-07-17 06:12:03 +00:00

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git switch patman/blend-symmetric

git merge --no-ff patman/clear-corridor

git switch patman/clear-corridor

git rebase patman/blend-symmetric

git switch patman/blend-symmetric

git merge --ff-only patman/clear-corridor

git switch patman/clear-corridor

git rebase patman/blend-symmetric

git switch patman/blend-symmetric

git merge --no-ff patman/clear-corridor

git switch patman/blend-symmetric

git merge --squash patman/clear-corridor