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