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")

src/presa_mano/clients/nuwa.py

@@ -39,7 +39,9 @@ class NuwaClient:
         return self._get("/api/rgb").content
 
     def intrinsics(self) -> dict[str, Any]:
-        """Returns {fx, fy, cx, cy, width, height, dist_coeffs?}."""
+        """Nuwa /api/intrinsics shape: {ir:{...}, rgb:{...}, extrinsics_ir_to_rgb:{...}}.
+        Width/height are NOT included here — use `image_size()` (or read them
+        from the decoded frame) when you need pixel dimensions."""
         data = self._get("/api/intrinsics").json()
         if isinstance(data, dict) and "data" in data:
             payload = data.get("data") or {}
@@ -48,6 +50,17 @@ class NuwaClient:
             return payload
         return data
 
+    def image_size(self) -> tuple[int, int]:
+        """Returns (width, height) of the RGB stream from /api/status."""
+        data = self._get("/api/status").json()
+        if isinstance(data, dict) and "data" in data:
+            data = data.get("data") or {}
+        res = (data or {}).get("resolution") or {}
+        w, h = res.get("width"), res.get("height")
+        if not (isinstance(w, int) and isinstance(h, int)):
+            raise NuwaError(f"status missing resolution.width/height: {res!r}")
+        return w, h
+
     def depth_png(self) -> bytes:
         """16-bit depth PNG (values in mm)."""
         return self._get("/api/depth").content

tests/test_right_arm_routes.py

@@ -49,19 +49,6 @@ def test_state_502_when_g1_unavailable():
         assert r.status_code == 502
 
 
-def test_activate_sets_robot_active_g1_and_side_right():
-    # /activate è idempotente: chiama PUT /api/config e ritorna /state
-    with patch("presa_mano.api.right_arm_routes._deps.g1") as g1_factory:
-        g1 = MagicMock()
-        g1.wrist.return_value = _fake_wrist_response()
-        g1_factory.return_value = g1
-        r = client.post("/api/right_arm/activate")
-        assert r.status_code == 200
-        body = r.json()
-        assert body["robot_active"] == "g1"
-        assert body["side"] == "right"
-
-
 def test_snapshot_front_returns_jpeg():
     fake_jpeg = b"\xff\xd8\xff" + b"\x00" * 100  # magic JPEG bytes
     with patch("presa_mano.api.right_arm_routes._deps.front_camera") as factory:
@@ -112,7 +99,7 @@ def test_detect_front_filters_class_and_returns_top():
         ying.return_value = yolo
         cam = MagicMock()
         cam.rgb_url.return_value = "http://192.168.123.99:8878/api/rgb"
-        cam.intrinsics.return_value = {"width": 640, "height": 480}
+        cam.image_size.return_value = (640, 480)
         cam_f.return_value = cam
 
         r = client.post("/api/right_arm/detect/front",
@@ -123,6 +110,40 @@ def test_detect_front_filters_class_and_returns_top():
         assert body["image_size"] == [640, 480]
 
 
+def test_detect_front_normalizes_real_yolo_envelope_with_list_bbox():
+    """Regressione: il YOLO server reale ritorna bbox come lista [x1,y1,x2,y2]
+    dentro {success, data, error}. Il router deve normalizzare in {x1,y1,x2,y2}."""
+    real_payload = {
+        "success": True,
+        "data": {
+            "detections": [
+                {"bbox": [376.7, 17.1, 500.7, 193.7],
+                 "confidence": 0.949, "class": "Pestello"},
+                {"bbox": [95.6, 134.8, 207.7, 231.3],
+                 "confidence": 0.917, "class": "Mortaio"},
+            ],
+        },
+        "error": None,
+    }
+    with patch("presa_mano.api.right_arm_routes._deps.yolo") as ying, \
+         patch("presa_mano.api.right_arm_routes._deps.front_camera") as cam_f:
+        yolo = MagicMock()
+        yolo.detect_url.return_value = real_payload
+        ying.return_value = yolo
+        cam = MagicMock()
+        cam.rgb_url.return_value = "http://192.168.123.99:8878/api/rgb"
+        cam.image_size.return_value = (640, 480)
+        cam_f.return_value = cam
+
+        r = client.post("/api/right_arm/detect/front",
+                        json={"class_name": "Pestello"})
+        assert r.status_code == 200
+        body = r.json()
+        top = body["detections"][0]
+        assert top["class"] == "Pestello"
+        assert top["bbox"] == {"x1": 376.7, "y1": 17.1, "x2": 500.7, "y2": 193.7}
+
+
 def test_detect_front_404_when_no_match():
     with patch("presa_mano.api.right_arm_routes._deps.yolo") as ying, \
          patch("presa_mano.api.right_arm_routes._deps.front_camera") as cam_f:
@@ -131,7 +152,7 @@ def test_detect_front_404_when_no_match():
         ying.return_value = yolo
         cam = MagicMock()
         cam.rgb_url.return_value = "http://x/api/rgb"
-        cam.intrinsics.return_value = {"width": 640, "height": 480}
+        cam.image_size.return_value = (640, 480)
         cam_f.return_value = cam
         r = client.post("/api/right_arm/detect/front",
                         json={"class_name": "pestello"})
@@ -155,7 +176,7 @@ def test_detect_front_falls_back_to_proxy_url_on_yolo_failure():
         ying.return_value = yolo
         cam = MagicMock()
         cam.rgb_url.return_value = "http://192.168.123.99:8878/api/rgb"
-        cam.intrinsics.return_value = {"width": 640, "height": 480}
+        cam.image_size.return_value = (640, 480)
         cam_f.return_value = cam
 
         r = client.post("/api/right_arm/detect/front",
@@ -319,15 +340,6 @@ def test_move_toward_422_oversize_delta_without_force():
         assert "delta" in r.json()["detail"].lower()
 
 
-def test_move_toward_412_when_not_g1_right():
-    """Se config attiva != g1 o side != right, rifiuta con 412."""
-    with patch("presa_mano.api.right_arm_routes._deps.active_robot_key", return_value="h1"), \
-         patch("presa_mano.api.right_arm_routes._deps.default_side", return_value="left"):
-        r = client.post("/api/right_arm/move/toward",
-                        json={"class_name": "pestello", "dry_run": True})
-        assert r.status_code == 412
-
-
 def test_home_calls_wrist_absolute_with_home_pose():
     calls = []
     def _abs(**kw):

web/index.html

@@ -336,11 +336,6 @@
 
 <!-- ============================== BRACCIO DX ============================== -->
 <section class="panel" id="tab-right-arm">
-  <div id="raStatusBanner" class="ra-banner ra-banner-warn" hidden>
-    <span id="raStatusLabel">Braccio DX non attivo</span>
-    <button id="raActivateBtn" type="button">Attiva G1 right</button>
-  </div>
-
   <div class="ra-grid">
     <!-- FRONTE -->
     <div class="ra-card">

web/right_arm.js

@@ -48,40 +48,6 @@ function clearCanvas(canvas) {
   ctx.clearRect(0, 0, canvas.width, canvas.height);
 }
 
-// ---------------- Banner stato ----------------
-
-async function refreshBanner() {
-  let state;
-  try {
-    state = await jsonFetch('/api/right_arm/state');
-  } catch (e) {
-    $('raStatusLabel').textContent = `Errore stato: ${e.message}`;
-    $('raStatusBanner').hidden = false;
-    $('raStatusBanner').className = 'ra-banner ra-banner-warn';
-    return;
-  }
-  const ok = state.robot_active === 'g1' && state.side === 'right';
-  const banner = $('raStatusBanner');
-  if (ok) {
-    banner.hidden = true;
-  } else {
-    banner.hidden = false;
-    banner.className = 'ra-banner ra-banner-warn';
-    $('raStatusLabel').textContent = `Robot attivo: ${state.robot_active} / ${state.side}. Per usare questa tab serve G1 / right.`;
-  }
-  return state;
-}
-
-async function onActivateClick() {
-  try {
-    await jsonFetch('/api/right_arm/activate', { method: 'POST' });
-    await refreshBanner();
-    await refreshPose();
-  } catch (e) {
-    alert(`Attivazione fallita: ${e.message}`);
-  }
-}
-
 // ---------------- Immagini ----------------
 
 function urlWithBust(path) { return `${path}?t=${Date.now()}`; }
@@ -356,7 +322,6 @@ function markUserTouchedOnInput(prefix) {
 
 function init() {
   if (!$('tab-right-arm')) return;
-  $('raActivateBtn').addEventListener('click', onActivateClick);
   $('raFrontDetectBtn').addEventListener('click', onDetectFront);
   $('raWristDetectBtn').addEventListener('click', onDetectWrist);
   $('raMoveBtn').addEventListener('click', onMove);
@@ -374,7 +339,6 @@ function init() {
   populateClassDropdowns();
   startFrontLoop();
   startWristLoop();
-  refreshBanner();
   refreshPose();
   if (poseTimer) clearInterval(poseTimer);
   poseTimer = setInterval(refreshPose, POSE_REFRESH_MS);