feat(right_arm): perm assi cam->polso, precise=true default, verify_tag UI

Lavoro accumulato nella sessione 2026-05-21 prima del brainstorming
della tab Pose 3D:

- compute_delta_wrist generalizzato con cam_to_wrist_perm: la mappa
  cam->polso non e' solo sign-flip ma una permutazione (default
  identita' per backward compat). DeltaOversize ora espone X/Y/Z
  nella stringa d'errore. Test aggiornati.

- G1Client.wrist_absolute / wrist_relative: precise=True di default
  (era False). Stessa cosa per wrist_routes.AbsoluteReq Pydantic
  e per agent.tools move_wrist_*. Movimenti reali ora chiedono
  controllo accurato salvo override esplicito.

- Tab Braccio DX:
  - /verify_tag endpoint: snapshot wrist FK + tag id=1 dalla front
    camera. Per verifica relativa moveto vs marker (no calibrazione).
  - GUI: pannello "Verifica tag id=1" + campi camera_offset_wrist_mm.
  - markUserTouchedOnInput esteso a raOff/raSgn/raCamOff.

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

src/presa_mano/api/right_arm_routes.py

@@ -42,6 +42,7 @@ def _state_payload(sw: Stopwatch) -> dict[str, Any]:
         "offset_camera_mm": cfg.get("move_offset_camera_mm"),
         "axis_signs": cfg.get("axis_sign_cam_to_wrist"),
         "camera_offset_wrist_mm": cfg.get("camera_offset_wrist_mm"),
+        "cam_to_wrist_perm": cfg.get("cam_to_wrist_perm"),
         "cluster_depth_window_m": cfg.get("cluster_depth_window_m"),
         "max_step_m": cfg.get("max_step_m"),
         "z_floor_m": cfg.get("z_floor_m"),
@@ -211,6 +212,7 @@ def move_toward(req: MoveTowardReq) -> dict[str, Any]:
     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})
     cam_off_mm = cfg.get("camera_offset_wrist_mm", {"x": 0, "y": 0, "z": 0})
+    perm_cfg = cfg.get("cam_to_wrist_perm", ["x", "y", "z"])
     max_step_m = float(cfg.get("max_step_m", 0.15))
     z_floor = cfg.get("z_floor_m")
     z_floor_m = float(z_floor) if z_floor is not None else None
@@ -221,9 +223,16 @@ def move_toward(req: MoveTowardReq) -> dict[str, Any]:
     cam_offset_wrist_m = np.array(
         [cam_off_mm["x"], cam_off_mm["y"], cam_off_mm["z"]], dtype=np.float64) / 1000.0
     signs = (int(sign["x"]), int(sign["y"]), int(sign["z"]))
+    _AXIS_IDX = {"x": 0, "y": 1, "z": 2}
+    try:
+        perm = tuple(_AXIS_IDX[str(p).lower()] for p in perm_cfg)
+    except KeyError as e:
+        raise HTTPException(status_code=422,
+                            detail=f"cam_to_wrist_perm: asse sconosciuto {e}")
 
     try:
         delta = compute_delta_wrist(centroid, offset_m, signs,
+                                    cam_to_wrist_perm=perm,
                                     camera_offset_wrist_m=cam_offset_wrist_m,
                                     max_step_m=max_step_m, force=req.force)
     except DeltaOversize as e:
@@ -340,6 +349,67 @@ def put_custom_pose(req: PoseUpdateReq) -> dict[str, Any]:
     return {"custom_pose": _deps.tab_right_arm_cfg().get("custom_pose")}
 
 
+def _front_cam_marker_intrinsics() -> dict[str, Any]:
+    """Estrae le intrinsics RGB della front camera nel formato marker-finder
+    (camera_matrix + dist_coeffs). marker-finder ha intrinsics 'baked-in'
+    della D435i che non combaciano con la Nuwa: passarle per-call evita
+    errori di scala sistematici sulla posa del tag."""
+    intr = _deps.front_camera().intrinsics()
+    rgb = (intr or {}).get("rgb") or {}
+    K = [[float(rgb.get("fx", 0)), 0.0, float(rgb.get("cx", 0))],
+         [0.0, float(rgb.get("fy", 0)), float(rgb.get("cy", 0))],
+         [0.0, 0.0, 1.0]]
+    dist = rgb.get("distortion") or {}
+    d = [float(dist.get("k1", 0.0)), float(dist.get("k2", 0.0)),
+         float(dist.get("p1", 0.0)), float(dist.get("p2", 0.0)),
+         float(dist.get("k3", 0.0))]
+    return {"camera_matrix": K, "dist_coeffs": d}
+
+
+@router.post("/verify_tag")
+def post_verify_tag() -> dict[str, Any]:
+    """Snapshot per verifica relativa: posa polso (G1 FK) + posa tag (marker
+    finder sulla front camera). Da chiamare ripetutamente con il polso in
+    posizioni diverse; il client confronta i moduli dei delta consecutivi.
+
+    Niente calibrazione assoluta richiesta: il tag e' rigidamente attaccato
+    al polso, quindi ||Δtag|| dovrebbe approssimare ||Δwrist|| (a meno di
+    qualche % di errore intrinsics)."""
+    sw = Stopwatch()
+    cfg = _deps.tab_right_arm_cfg()
+    vm = cfg.get("verify_marker") or {"id": 1, "size_mm": 40.0}
+    try:
+        with sw.step("g1_wrist"):
+            wrist = _deps.g1().wrist()["right_wrist"]
+    except G1Unavailable as e:
+        raise HTTPException(status_code=502, detail=f"G1 unavailable: {e}")
+    try:
+        with sw.step("front_intr"):
+            intr = _front_cam_marker_intrinsics()
+        with sw.step("marker_detect"):
+            image_url = _deps.front_camera().rgb_url()
+            res = _deps.marker().detect_url(
+                markers=[{"id": int(vm["id"]), "size_mm": float(vm["size_mm"])}],
+                image_url=image_url,
+                intrinsics=intr,
+            )
+    except Exception as e:
+        raise HTTPException(status_code=502, detail=f"marker-finder: {e}")
+    found = (res or {}).get("found") or []
+    if not found:
+        raise HTTPException(status_code=404,
+                            detail=f"tag id={vm['id']} non rilevato dalla front camera")
+    tag = found[0]
+    return {
+        "marker_id": int(vm["id"]),
+        "wrist_position_m": list(wrist["position"]),
+        "wrist_quaternion": list(wrist["quaternion"]),
+        "tag_position_m_in_front_cam": list(tag["position_m"]),
+        "tag_quaternion": list(tag.get("quaternion_xyzw") or []),
+        "timings_ms": sw.as_dict(),
+    }
+
+
 @router.put("/offset")
 def put_offset(req: OffsetUpdateReq) -> dict[str, Any]:
     patch: dict[str, Any] = {}