feat(right_arm): /home, /custom_pose, PUT /custom_pose, PUT /offset + fixture conftest

tests/conftest.py

@@ -7,3 +7,29 @@ from pathlib import Path
 _SRC = Path(__file__).resolve().parent.parent / "src"
 if str(_SRC) not in sys.path:
     sys.path.insert(0, str(_SRC))
+
+import pytest
+
+_CFG_PATH = Path(__file__).resolve().parent.parent / "config.yaml"
+
+
+@pytest.fixture(autouse=True)
+def _restore_config_yaml():
+    """Snapshot/restore config.yaml + in-memory singleton.
+    Any test that triggers update_config() would otherwise leave the file
+    cosmetically reformatted (compact flow-style -> block-style) AND/OR
+    semantically mutated. This fixture keeps the working tree clean."""
+    if not _CFG_PATH.exists():
+        yield
+        return
+    snapshot = _CFG_PATH.read_bytes()
+    try:
+        yield
+    finally:
+        _CFG_PATH.write_bytes(snapshot)
+        # Reset in-memory singleton so subsequent tests re-read disk
+        try:
+            from presa_mano import config as _cfg_mod
+            _cfg_mod._STATE["config"] = None  # type: ignore[attr-defined]
+        except Exception:
+            pass  # if internals change, we still get the disk reset

tests/test_right_arm_routes.py

@@ -326,3 +326,56 @@ def test_move_toward_412_when_not_g1_right():
         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):
+        calls.append(kw)
+        return {"ok": True}
+    with patch("presa_mano.api.right_arm_routes._deps.g1") as g1_f, \
+         patch("presa_mano.api.right_arm_routes._deps.active_robot_key", return_value="g1"), \
+         patch("presa_mano.api.right_arm_routes._deps.default_side", return_value="right"):
+        g1 = MagicMock(); g1.wrist_absolute.side_effect = _abs; g1_f.return_value = g1
+        r = client.post("/api/right_arm/home", json={"dry_run": True})
+        assert r.status_code == 200
+        assert len(calls) == 1
+        assert calls[0]["side"] == "right"
+        assert len(calls[0]["position"]) == 3
+        assert len(calls[0]["quaternion"]) == 4
+
+
+def test_custom_pose_executes_pose_with_dry_run_default_false():
+    calls = []
+    def _abs(**kw):
+        calls.append(kw); return {"ok": True}
+    with patch("presa_mano.api.right_arm_routes._deps.g1") as g1_f, \
+         patch("presa_mano.api.right_arm_routes._deps.active_robot_key", return_value="g1"), \
+         patch("presa_mano.api.right_arm_routes._deps.default_side", return_value="right"):
+        g1 = MagicMock(); g1.wrist_absolute.side_effect = _abs; g1_f.return_value = g1
+        r = client.post("/api/right_arm/custom_pose", json={})
+        assert r.status_code == 200
+        assert len(calls) == 1
+
+
+def test_put_custom_pose_updates_config():
+    new_pos = [0.40, -0.15, 0.25]
+    new_rpy = [10.0, -5.0, 90.0]
+    r = client.put("/api/right_arm/custom_pose",
+                   json={"position": new_pos, "rpy_deg": new_rpy})
+    assert r.status_code == 200
+    r2 = client.get("/api/config")
+    cp = r2.json()["tab_right_arm"]["custom_pose"]
+    assert cp["position"] == new_pos
+    assert cp["rpy_deg"] == new_rpy
+
+
+def test_put_offset_updates_config():
+    r = client.put("/api/right_arm/offset",
+                   json={"move_offset_camera_mm": {"x": 5, "y": -3, "z": 75},
+                         "axis_sign_cam_to_wrist": {"x": -1, "y": 1, "z": -1}})
+    assert r.status_code == 200
+    r2 = client.get("/api/config")
+    body = r2.json()["tab_right_arm"]
+    assert body["move_offset_camera_mm"] == {"x": 5, "y": -3, "z": 75}
+    assert body["axis_sign_cam_to_wrist"] == {"x": -1, "y": 1, "z": -1}