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

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