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/clients/g1.py

@@ -61,7 +61,7 @@ class G1Client:
     # ----- mutating -----
 
     def wrist_absolute(self, side: str, position: list[float], quaternion: list[float],
-                       wait: bool = True, timeout_s: float = 5.0, precise: bool = False) -> dict[str, Any]:
+                       wait: bool = True, timeout_s: float = 5.0, precise: bool = True) -> dict[str, Any]:
         body = {
             "side": side, "position": position, "quaternion": quaternion,
             "wait": wait, "timeout_s": timeout_s, "precise": precise,
@@ -70,7 +70,7 @@ class G1Client:
 
     def wrist_relative(self, side: str, delta_position: list[float] | None = None,
                        delta_quaternion: list[float] | None = None, wait: bool = True,
-                       timeout_s: float = 5.0, precise: bool = False) -> dict[str, Any]:
+                       timeout_s: float = 5.0, precise: bool = True) -> dict[str, Any]:
         # `precise` is forwarded but the bridge silently ignores it on
         # /wrist/relative if not supported — safer to always send it.
         body: dict[str, Any] = {"side": side, "wait": wait, "timeout_s": timeout_s,