feat(config): aggiungi services.front_camera e blocco tab_right_arm

config.yaml

@@ -25,6 +25,9 @@ services:
     timeout_s: 30.0
     api_key_env: OPEN3D_API_KEY
     max_stl_bytes: 20000000
+  front_camera:
+    base_url: http://192.168.123.99:8878
+    timeout_s: 5.0
 aruco:
   dictionary: DICT_4X4_50
   wrist_marker:
@@ -33,6 +36,20 @@ aruco:
 robot:
   wrist_side: left
   active: h1
+tab_right_arm:
+  yolo_class: pestello
+  yolo_conf_front: 0.4
+  yolo_conf_wrist: 0.4
+  move_offset_camera_mm: { x: 0, y: 0, z: 100 }
+  axis_sign_cam_to_wrist:  { x: 1, y: -1, z: -1 }
+  max_step_m: 0.15
+  z_floor_m: null
+  home_pose:
+    position:   [0.30, -0.20, 0.30]
+    rpy_deg:    [0, 0, 0]
+  custom_pose:
+    position:   [0.30, -0.20, 0.30]
+    rpy_deg:    [0, 0, 0]
 grasp:
   approach_offset_m: 0.1
   pre_grasp_clearance_m: 0.05

tests/test_config_right_arm.py

@@ -0,0 +1,37 @@
+"""Verifica che config.yaml contenga le chiavi attese per la tab Braccio DX."""
+from __future__ import annotations
+
+import yaml
+from pathlib import Path
+
+
+CFG = Path(__file__).resolve().parents[1] / "config.yaml"
+
+
+def _cfg() -> dict:
+    return yaml.safe_load(CFG.read_text())
+
+
+def test_front_camera_service_present():
+    c = _cfg()
+    fc = c["services"]["front_camera"]
+    assert fc["base_url"].startswith("http")
+    assert isinstance(fc.get("timeout_s"), (int, float))
+
+
+def test_tab_right_arm_block_present():
+    c = _cfg()
+    t = c["tab_right_arm"]
+    assert t["yolo_class"] == "pestello"
+    assert 0 < t["yolo_conf_front"] <= 1
+    assert 0 < t["yolo_conf_wrist"] <= 1
+    off = t["move_offset_camera_mm"]
+    assert set(off.keys()) == {"x", "y", "z"}
+    sgn = t["axis_sign_cam_to_wrist"]
+    assert all(sgn[k] in (-1, 1) for k in ("x", "y", "z"))
+    assert isinstance(t["max_step_m"], (int, float))
+    assert "z_floor_m" in t
+    for k in ("home_pose", "custom_pose"):
+        p = t[k]
+        assert len(p["position"]) == 3
+        assert len(p["rpy_deg"]) == 3