feat(right_arm): math puro per delta-toward (sign flips + z-floor)

tests/test_right_arm_move.py

@@ -0,0 +1,96 @@
+"""Unit test della logica pura del move-toward (no I/O)."""
+from __future__ import annotations
+
+import numpy as np
+import pytest
+
+from presa_mano.right_arm.move import (
+    DeltaOversize,
+    apply_z_floor,
+    compute_delta_wrist,
+)
+
+
+def test_zero_offset_returns_centroid_with_signs():
+    delta = compute_delta_wrist(
+        centroid_camera_m=np.array([0.0, 0.0, 1.0]),
+        offset_camera_m=np.array([0.0, 0.0, 0.0]),
+        axis_signs=(1, 1, 1),
+    )
+    assert np.allclose(delta, [0.0, 0.0, 1.0])
+
+
+def test_offset_subtracted_before_signs():
+    # centroid=(0,0,1) offset=(0,0,0.1) sign=(1,-1,-1) → (0, 0, -0.9)
+    delta = compute_delta_wrist(
+        centroid_camera_m=np.array([0.0, 0.0, 1.0]),
+        offset_camera_m=np.array([0.0, 0.0, 0.1]),
+        axis_signs=(1, -1, -1),
+    )
+    assert np.allclose(delta, [0.0, 0.0, -0.9])
+
+
+def test_signs_applied_componentwise():
+    delta = compute_delta_wrist(
+        centroid_camera_m=np.array([0.05, 0.10, 0.20]),
+        offset_camera_m=np.array([0.00, 0.00, 0.00]),
+        axis_signs=(1, -1, -1),
+    )
+    assert np.allclose(delta, [0.05, -0.10, -0.20])
+
+
+def test_oversize_raises_when_not_forced():
+    with pytest.raises(DeltaOversize):
+        compute_delta_wrist(
+            centroid_camera_m=np.array([0.0, 0.0, 0.5]),
+            offset_camera_m=np.array([0.0, 0.0, 0.0]),
+            axis_signs=(1, 1, 1),
+            max_step_m=0.15,
+            force=False,
+        )
+
+
+def test_oversize_passes_when_forced():
+    delta = compute_delta_wrist(
+        centroid_camera_m=np.array([0.0, 0.0, 0.5]),
+        offset_camera_m=np.array([0.0, 0.0, 0.0]),
+        axis_signs=(1, 1, 1),
+        max_step_m=0.15,
+        force=True,
+    )
+    assert np.allclose(delta, [0.0, 0.0, 0.5])
+
+
+def test_z_floor_clips_when_target_below():
+    # wrist_before.z=0.10, delta.z=-0.30, target=-0.20, floor=0.05 → clip a 0.05
+    # → delta.z = 0.05 - 0.10 = -0.05
+    new_delta, clipped = apply_z_floor(
+        wrist_z_m=0.10,
+        delta=np.array([0.01, -0.02, -0.30]),
+        z_floor_m=0.05,
+    )
+    assert clipped is True
+    assert new_delta[2] == pytest.approx(-0.05)
+    # X/Y invariati
+    assert new_delta[0] == pytest.approx(0.01)
+    assert new_delta[1] == pytest.approx(-0.02)
+
+
+def test_z_floor_noop_when_target_above():
+    new_delta, clipped = apply_z_floor(
+        wrist_z_m=0.30,
+        delta=np.array([0.0, 0.0, -0.10]),
+        z_floor_m=0.05,
+    )
+    assert clipped is False
+    assert np.allclose(new_delta, [0.0, 0.0, -0.10])
+
+
+def test_z_floor_none_disables_clip():
+    new_delta, clipped = apply_z_floor(
+        wrist_z_m=0.10,
+        delta=np.array([0.0, 0.0, -0.50]),
+        z_floor_m=None,
+    )
+    assert clipped is False
+    assert np.allclose(new_delta, [0.0, 0.0, -0.50])