fix: compare contact evals at report precision

Author: a-baran-orhan

packages/posecode-eval/src/checks.ts

@@ -58,6 +58,18 @@ export const CONTACT_ERROR_MAX = REACH_TOLERANCE;
  */
 export const LOCOMOTION_FOOT_CONTACT_MAX = 0.06;
 
+/**
+ * Compare contact residuals at the same millimetre precision shown in reports.
+ * This avoids displaying an apparent equality such as 0.030m ≤ 0.030m while
+ * failing because of a sub-millimetre solver difference.
+ */
+export function withinDisplayedContactTolerance(
+  error: number,
+  tolerance: number,
+): boolean {
+  return Math.round(error * 1000) <= Math.round(tolerance * 1000);
+}
+
 /** Find a phase by name; throws a failing outcome path if missing. */
 function phase(result: ProbeResult, name: string): PhasePose | null {
   return result.phases.find((p) => p.name === name) ?? null;
@@ -190,7 +202,7 @@ export function genericChecks(result: ProbeResult): CheckOutcome[] {
         clipTravels && footFloorContact ? LOCOMOTION_FOOT_CONTACT_MAX : CONTACT_ERROR_MAX;
       out.push({
         id: `contact-position:${suffix}`,
-        pass: contact.error <= tolerance,
+        pass: withinDisplayedContactTolerance(contact.error, tolerance),
         detail: `${contact.error.toFixed(3)}m residual (want ≤ ${tolerance.toFixed(3)}m)`,
       });
     });

packages/posecode-eval/src/index.ts

@@ -56,7 +56,13 @@ export {
   torsoForwardPitchDeg,
   torsoPitchDeg,
 } from "./metrics.js";
-export { CONTACT_ERROR_MAX, genericChecks, phaseCheck, MOVEMENT_CHECKS } from "./checks.js";
+export {
+  CONTACT_ERROR_MAX,
+  genericChecks,
+  phaseCheck,
+  withinDisplayedContactTolerance,
+  MOVEMENT_CHECKS,
+} from "./checks.js";
 export type { CheckOutcome, MovementChecks } from "./checks.js";
 export { runEval, renderReport } from "./report.js";
 export type { EvalOptions, EvalReport, MovementReport, MovementSource } from "./report.js";

packages/posecode-eval/test/eval.test.ts

@@ -17,6 +17,7 @@ import {
   palmFloorAngleDeg,
   phaseMaxLandmarkSpeed,
   spineCurlDeg,
+  withinDisplayedContactTolerance,
 } from "../src/index.js";
 
 const examplesDir = resolve(
@@ -25,6 +26,11 @@ const examplesDir = resolve(
 );
 
 describe("probe", () => {
+  it("judges contact residuals at the millimetre precision shown in reports", () => {
+    expect(withinDisplayedContactTolerance(0.03049, 0.03)).toBe(true);
+    expect(withinDisplayedContactTolerance(0.03051, 0.03)).toBe(false);
+  });
+
   it("reports parse errors instead of throwing", () => {
     const r = probeMovement("not posecode at all");
     expect(r.ok).toBe(false);