fix(fold): require a settled hinge before reporting half-open - #2734
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`fold half-open` accepted the requested category as the answer whenever its four-read budget happened to end on a half-open angle. A hinge travelling between the end stops passes through that interval on every fold, so the command could report a Book pose for a hinge that was still moving and had no intention of resting at 130 degrees. An angle inside the open interval proves the category and nothing else, so the pose is now the hinge *resting* there: two consecutive readings that both classify as half-open and differ by at most the existing 0.5-degree tolerance. Numerical proximity is not agreement when a pair straddles a category boundary, so `isSettledHalfOpenPair` tests both readings, not just their distance. `closed` and `open` keep the end-stop rule, and the attempt count, per-read timeout, and cancellation behaviour are untouched. A budget that ends on an unsettled half-open angle fails with COMMAND_FAILED and `details.reason: "fold-pose-unsettled"`, carrying requestedPose, observedPose, hingeAngleDegrees and the previous reading, and says the hinge was observed half-open and did not settle — its own observed pose refutes "did not reach". A budget ending on another pose keeps `fold-pose-unverified`. This supersedes ADR 0025's budget-end exception, recorded there as an amendment with the Duo run taken under the new rule. Closes #2730
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This was referenced Sep 21, 2026
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Summary
fold half-openreported the pose whenever its four-read budget happened to end on a half-open angle. The interval is open, so a hinge travelling between the end stops passes through it on every fold: an observed category was being returned as a settled pose.half-opennow succeeds only on two consecutive readings that both classify as half-open and differ by at most the existing 0.5°.closedandopenkeep the end-stop rule; attempt count, per-read timeout, and cancellation are unchanged. A budget ending on an unsettled half-open angle fails withdetails.reason: "fold-pose-unsettled"plusrequestedPose,observedPose,hingeAngleDegrees,previousHingeAngleDegrees, saying the hinge was observed half-open and did not settle; a budget ending on another pose keepsfold-pose-unverified. Supersedes ADR 0025's budget-end exception, recorded there as an amendment.Six files: implementation, colocated tests, ADR 0025, versioned help, user docs, CHANGELOG. Closes #2730.
Validation
pnpm check:affected --runpassed on4d3654a8b;pose.test.ts11/11.Regression evidence: against the pre-fix
pose.ts, the two new cases fail (promise resolved "{ pose: 'half-open', ... }" instead of rejecting) and pass after the fix. Mutations killed: dropping the previous-reading category check, restoring the budget-end success, routingclosedthrough the settle rule, removing the loop's abort guard.Live on an iPhone Duo (iOS 27.1) at this head:
fold openreported 180°;fold half-openfrom that open pose reported 130° namingLCD-1at669x951pt; a manualdevicectl device motion hinge-anglestream then readAngle:130,0° Velocity:+0,0°/s, so the reported angle is where the hinge rests. Thefold-pose-unsettledpath itself is proven only by the mocked counterexample (170 → 150 → 120 → 90) — it cannot be forced on hardware on demand. Manual session closed, daemon stopped, no stale device claims. Provider integration and coverage run on CI.