fix(right_arm): bbox dict, image_size da /api/status, tab non seleziona robot

Tre problemi della tab Braccio DX dopo il primo rodaggio:

1. /detect/front e /detect/wrist ritornavano bbox raw dal YOLO server,
   che lo manda come lista [x1,y1,x2,y2]; la GUI legge bbox.x1 e mostra
   NaN. Ora il router normalizza il payload via perception/detector
   ._normalize, allineandosi al resto del codice. Aggiunta regressione
   con payload reale del server.

2. La tab gateava su robot.active==g1 && wrist_side==right con banner
   "Attiva G1 right" e POST /activate. Confonde: la selezione del
   robot e' globale e non si flippa per-feature. Rimossi banner,
   bottone, endpoint /activate e _guard_g1_right(); gli endpoint
   operano sul polso destro del robot attivo qualunque esso sia.

3. image_size: [0,0] perche' Nuwa /api/intrinsics non include
   width/height; vivono in /api/status > data.resolution. Aggiunto
   NuwaClient.image_size() e usato in detect_front. Aggiornato
   docstring di intrinsics() per coerenza con il payload reale.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

src/presa_mano/api/right_arm_routes.py

@@ -13,6 +13,7 @@ import numpy as np
 from ..clients import G1Unavailable
 from ..config import update_config
 from ..geometry import quaternion_xyzw_to_rpy_deg, rpy_deg_to_quaternion_xyzw
+from ..perception.detector import _normalize as _normalize_yolo
 from ..perception.sam21_bridge import Sam21Fallback, segment_with_sam21
 from ..right_arm.move import DeltaOversize, apply_z_floor, compute_delta_wrist
 from ..timing import Stopwatch
@@ -54,17 +55,6 @@ def get_state() -> dict[str, Any]:
         raise HTTPException(status_code=502, detail=str(e))
 
 
-@router.post("/activate")
-def post_activate() -> dict[str, Any]:
-    sw = Stopwatch()
-    with sw.step("config_update"):
-        update_config({"robot": {"active": "g1", "wrist_side": "right"}})
-    try:
-        return _state_payload(sw)
-    except G1Unavailable as e:
-        raise HTTPException(status_code=502, detail=str(e))
-
-
 @router.get("/snapshot/front")
 def snapshot_front() -> Response:
     try:
@@ -109,7 +99,7 @@ def _yolo_detect_with_fallback(image_url: str, conf: float | None,
 
 
 def _top_detection(payload: dict[str, Any], class_name: str | None) -> dict[str, Any] | None:
-    dets = payload.get("detections") or payload.get("data", {}).get("detections") or []
+    dets = _normalize_yolo(payload)
     if class_name:
         dets = [d for d in dets if (d.get("class") or "").lower() == class_name.lower()]
     if not dets:
@@ -127,7 +117,7 @@ def detect_front(req: DetectFrontReq) -> dict[str, Any]:
     if req.proxy_base_url:
         proxy_url = f"{req.proxy_base_url.rstrip('/')}/api/right_arm/snapshot/front"
     res = _yolo_detect_with_fallback(image_url, req.conf, proxy_url, sw)
-    dets_raw = res.get("detections") or res.get("data", {}).get("detections") or []
+    dets_raw = _normalize_yolo(res)
     if req.class_name:
         dets_filtered = [d for d in dets_raw
                          if (d.get("class") or "").lower() == req.class_name.lower()]
@@ -136,10 +126,11 @@ def detect_front(req: DetectFrontReq) -> dict[str, Any]:
     if not dets_filtered:
         raise HTTPException(status_code=404, detail=f"no '{req.class_name or 'object'}' detected")
     dets_filtered.sort(key=lambda d: float(d.get("confidence", 0.0)), reverse=True)
-    intr = cam.intrinsics()
+    with sw.step("front_size"):
+        w, h = cam.image_size()
     return {
         "detections": dets_filtered,
-        "image_size": [int(intr.get("width", 0)), int(intr.get("height", 0))],
+        "image_size": [w, h],
         "timings_ms": sw.as_dict(),
     }
 
@@ -197,19 +188,9 @@ class MoveTowardReq(BaseModel):
     force: bool = False
 
 
-def _guard_g1_right() -> None:
-    if _deps.active_robot_key() != "g1":
-        raise HTTPException(status_code=412,
-                            detail=f"activate G1 right first (active={_deps.active_robot_key()})")
-    if _deps.default_side() != "right":
-        raise HTTPException(status_code=412,
-                            detail=f"activate G1 right first (side={_deps.default_side()})")
-
-
 @router.post("/move/toward")
 def move_toward(req: MoveTowardReq) -> dict[str, Any]:
     sw = Stopwatch()
-    _guard_g1_right()
     cfg = _deps.tab_right_arm_cfg()
     off_mm = cfg.get("move_offset_camera_mm", {"x": 0, "y": 0, "z": 0})
     sign = cfg.get("axis_sign_cam_to_wrist", {"x": 1, "y": 1, "z": 1})
@@ -291,7 +272,6 @@ class OffsetUpdateReq(BaseModel):
 
 
 def _exec_named_pose(pose_key: str, dry_run: bool, sw: Stopwatch) -> dict[str, Any]:
-    _guard_g1_right()
     cfg = _deps.tab_right_arm_cfg()
     pose = cfg.get(pose_key) or {}
     pos = pose.get("position")