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>

web/right_arm.js

@@ -211,6 +211,60 @@ function readPoseFields(prefix) {
   };
 }
 
+// ---------------- Verifica tag (relativa) ----------------
+
+let verifySnapshots = [];
+
+function norm3(a) { return Math.sqrt(a[0]*a[0] + a[1]*a[1] + a[2]*a[2]); }
+function sub3(a, b) { return [a[0]-b[0], a[1]-b[1], a[2]-b[2]]; }
+
+function renderVerifyTable() {
+  const n = verifySnapshots.length;
+  $('raVerifyCount').textContent = `${n} snapshot`;
+  if (n === 0) {
+    $('raVerifyResult').textContent = '— nessuno snapshot';
+    $('raVerifyResult').classList.add('dim');
+    return;
+  }
+  $('raVerifyResult').classList.remove('dim');
+  let out = '';
+  for (let i = 0; i < n; i++) {
+    const s = verifySnapshots[i];
+    out += `#${i+1}  wrist=(${s.wrist_position_m.map(v=>(v*1000).toFixed(0)).join(',')})mm  ` +
+           `tag=(${s.tag_position_m_in_front_cam.map(v=>(v*1000).toFixed(0)).join(',')})mm\n`;
+  }
+  if (n >= 2) {
+    out += '\nConfronti consecutivi (Δ in mm):\n';
+    for (let i = 1; i < n; i++) {
+      const dw = sub3(verifySnapshots[i].wrist_position_m,
+                       verifySnapshots[i-1].wrist_position_m);
+      const dt = sub3(verifySnapshots[i].tag_position_m_in_front_cam,
+                       verifySnapshots[i-1].tag_position_m_in_front_cam);
+      const nw = norm3(dw) * 1000, nt = norm3(dt) * 1000;
+      const err = Math.abs(nw - nt);
+      const pct = nw > 0 ? (err / nw * 100) : 0;
+      out += `  #${i}→#${i+1}  ‖Δpolso‖=${nw.toFixed(1)}  ‖Δtag‖=${nt.toFixed(1)}  ` +
+             `err=${err.toFixed(1)} (${pct.toFixed(1)}%)\n`;
+    }
+  }
+  $('raVerifyResult').textContent = out;
+}
+
+async function onVerifySnap() {
+  try {
+    const res = await jsonFetch('/api/right_arm/verify_tag', { method: 'POST' });
+    verifySnapshots.push(res);
+    renderVerifyTable();
+  } catch (e) {
+    alert(`Verifica fallita: ${e.message}`);
+  }
+}
+
+function onVerifyReset() {
+  verifySnapshots = [];
+  renderVerifyTable();
+}
+
 // ---------------- Offset save ----------------
 
 async function onSaveOffset() {
@@ -348,6 +402,8 @@ function init() {
   $('raWristDetectBtn').addEventListener('click', onDetectWrist);
   $('raMoveBtn').addEventListener('click', onMove);
   $('raSaveOffsetBtn').addEventListener('click', onSaveOffset);
+  $('raVerifySnapBtn').addEventListener('click', onVerifySnap);
+  $('raVerifyResetBtn').addEventListener('click', onVerifyReset);
   $('raHomeBtn').addEventListener('click', onHome);
   $('raCustomGoBtn').addEventListener('click', onCustomGo);
   $('raCustomSaveBtn').addEventListener('click', onCustomSave);