feat(twintouch): PR-TT-7 Mutual Self — PeerState, InteractionSelfSnapshot, agency (v4 §9/§10) - #175
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feat(twintouch): PR-TT-7 Mutual Self — PeerState, InteractionSelfSnapshot, agency (v4 §9/§10)#175shaoxiang wants to merge 2 commits into
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…shot, agency attribution (v4 §9/§10) The relationship layer over two independent bodies (never a merged body): read-only PeerState per side, InteractionSelfSnapshot per episode (relative geometry + expectations + contact state, content- hashed), and deterministic §10 agency attribution over measured evidence only — LEFT/RIGHT/MUTUAL/PEER_DISTURBANCE/SENSOR_FAULT/ UNKNOWN. SENSOR_FAULT (camera claims contact, both force channels disagree) and UNKNOWN never enter control learning (v4 §22); the sensor-fault check precedes generic UNKNOWN so a camera-vs-force disagreement is never swallowed. 7 tests green, ruff + mypy clean. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
The marquee contract approves the CANONICAL 9-pair sequence (TT-1's validator demands it); execution is gated pair-by-pair by T1 calibration with SKIPPED_UNCALIBRATED recorded explicitly, never silently dropped. First marquee run 20260731T165142Z: 5/5 CONTACT_CONFIRMED, sequence completed, 0 wrong/unintended/release failures, cycle 21.5±0.1s. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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Stacked on #174 (TT-6).
The relationship layer over two independent bodies (never a merged body): read-only PeerState per side, InteractionSelfSnapshot per episode (relative geometry + expectations + contact state, content-hashed), and deterministic §10 agency attribution over measured evidence only — LEFT/RIGHT/MUTUAL/PEER_DISTURBANCE/SENSOR_FAULT/UNKNOWN.
SENSOR_FAULT (camera claims contact, both force channels disagree) and UNKNOWN never enter control learning (v4 §22); the sensor-fault check precedes generic UNKNOWN so a camera-vs-force disagreement is never swallowed. 7 tests green, ruff + mypy clean.
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