diff --git a/config.yaml b/config.yaml index 475be3f..1311d2f 100644 --- a/config.yaml +++ b/config.yaml @@ -48,7 +48,10 @@ tab_right_arm: x: 1 y: -1 z: -1 - cam_to_wrist_perm: [z, x, y] # wrist_X<-cam_Z, wrist_Y<-cam_X, wrist_Z<-cam_Y + cam_to_wrist_perm: + - z + - x + - y camera_offset_wrist_mm: x: 0.0 y: 0.0 @@ -79,7 +82,66 @@ tab_right_arm: - 0 pose_3d: live_max_step_m: 0.15 - named_poses: {} + right_wrist_camera: + enabled: true + mesh_url: /static/assets/nuwa/nuwa-hp60c.stl + offset_m: + - 0.05 + - 0 + - 0.1 + rpy_deg: + - 0 + - -90 + - -90 + clouds: + nuwa: + use_nuwa_camera_transform: true + extra_offset_m: + - 0.0 + - 0.0 + - 0.0 + extra_rpy_deg: + - 0 + - 0 + - 0 + d435: + offset_m: + - -0.01 + - 0 + - 0 + rpy_deg: + - -90 + - 86 + - 0 + transform_pelvis_4x4: + - - -0.011344227963137242 + - -0.9974094742471121 + - -0.07103273311663486 + - 0.007340882385689307 + - - -0.5556320632728338 + - 0.06534842452974676 + - -0.8288561960163252 + - 0.3109738415126284 + - - 0.8313508998943191 + - 0.03006533042523672 + - -0.5549340115286931 + - 0.2869260834772309 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + named_poses: + Base: + side: left + position: + - 0.2561414814483791 + - 0.14648003458557432 + - 0.10874469031742239 + quaternion: + - -0.005339006082777725 + - -0.047703617194205114 + - -0.005110044879619669 + - 0.9988341941293186 grasp: approach_offset_m: 0.1 pre_grasp_clearance_m: 0.05 @@ -103,16 +165,3 @@ calibration: method: DANIILIDIS file: data/calibration.yaml samples_file: data/samples.json -chat: - openrouter: - base_url: https://openrouter.ai/api/v1 - model: anthropic/claude-sonnet-4.5 - timeout_s: 60.0 - max_tool_iterations: 8 - temperature: 0.1 - api_key_env: OPENROUTER_API_KEY - referer: http://localhost:8890 - title: presa-mano - user_prompt_addendum: Misure sempre in mm interi. Sii conciso ma riporta i risultati - di OGNI tool che hai chiamato (anche solo in una riga compatta), non saltare - informazioni rilevanti. diff --git a/docs/bug_d435i_intrinsics_mismatch.md b/docs/bug_d435i_intrinsics_mismatch.md new file mode 100644 index 0000000..b7eb03f --- /dev/null +++ b/docs/bug_d435i_intrinsics_mismatch.md @@ -0,0 +1,144 @@ +# Bug report — D435i camera service: intrinsics mismatch nel back-projection 3D + +**Servizio:** `front_camera` (RealSense D435i) — `http://192.168.123.99:8878` +**Severità:** alta — punti 3D ritornati con XY sovrastimati di ~54% +**Endpoint affetti:** almeno `/api/measure`; molto probabilmente anche `/api/pointcloud` e `/api/pointcloud/roi` +**Endpoint NON affetti:** `/api/intrinsics` (espone i parametri corretti) +**Data test:** 2026-05-27 +**Reporter:** sviluppo presa-mano + +--- + +## 1. Sintomo + +Le coordinate 3D `(X, Y, Z)` ritornate dal back-projection lato server sono **stirate** lateralmente di un fattore **~1.54** sugli assi X e Y, mentre Z (depth) è plausibile. + +Conseguenza: oggetti di dimensioni note appaiono ~50% più grandi del reale in qualsiasi misurazione 3D, e i point cloud non si sovrappongono ad altre camere correttamente calibrate. + +--- + +## 2. Test di verifica + +Marker ArUco fisico di **lato 103.0 mm** (`id=20`, dictionary DICT_4X4_50) posizionato davanti al D435i a ~735 mm. + +### 2.1 Intrinsics riportate dal servizio (`GET /api/intrinsics`) + +```json +{ + "ir": { "fx": 392.30963134765625, "fy": 392.30963134765625, + "cx": 318.48004150390625, "cy": 242.43441772460938 }, + "rgb": { "fx": 603.88037109375, "fy": 603.6130981445312, + "cx": 320.6182556152344, "cy": 250.35804748535156 }, + "extrinsics_ir_to_rgb": { "rotation": [...], "translation": [14.68, -0.07, 0.29] } +} +``` + +### 2.2 Detect del marker (su RGB image del D435i) + +Marker-finder ritorna le 4 corner del tag nel sistema **pixel del frame RGB**: + +``` +corners (RGB px): [(377, 68), (372, 152), (289, 147), (294, 63)] +``` + +### 2.3 `GET /api/measure?u=&v=&radius=3` per ciascuna corner + +``` +pixel (377, 68) → x=+0.1092 y=-0.3255 z=0.732 m +pixel (372, 152) → x=+0.0999 y=-0.1687 z=0.732 m +pixel (289, 147) → x=-0.0554 y=-0.1793 z=0.737 m +pixel (294, 63) → x=-0.0461 y=-0.3375 z=0.738 m +``` + +### 2.4 Misurazioni geometriche dai punti 3D ritornati + +| Misura | Atteso | Ottenuto | Errore | +|-----------------|---------------|---------------|----------| +| Lato C0–C1 | 103.00 mm | 157.13 mm | **+52.6%** | +| Lato C1–C2 | 103.00 mm | 155.71 mm | **+51.2%** | +| Lato C2–C3 | 103.00 mm | 158.48 mm | **+53.9%** | +| Lato C3–C0 | 103.00 mm | 155.92 mm | **+51.4%** | +| Diagonale 0–2 | 145.66 mm | 220.19 mm | **+51.2%** | +| Diagonale 1–3 | 145.66 mm | 223.32 mm | **+53.3%** | +| Z medio (depth) | — | 735 mm | plausibile | + +L'errore è **omogeneo ~52%** su tutte le coppie. Z (depth) è coerente — l'errore è confinato a X, Y. + +--- + +## 3. Diagnosi (root cause) + +Il rapporto fra le focali è esattamente: + +``` +fx_rgb / fx_ir = 603.88037 / 392.30963 = 1.5393 +``` + +L'errore osservato sui lati è **1.524 ± 0.014**. + +Verifica numerica della corner `(u=377, v=68)`, depth `z=0.732 m`: + +``` +Con RGB intrinsics (corretto): X = (377 − 320.62) × 0.732 / 603.88 = 0.0683 m +Con IR intrinsics (errato): X = (377 − 318.48) × 0.732 / 392.31 = 0.1091 m +Server ritorna: = 0.1092 m ← coincide con IR +``` + +**Conclusione:** il servizio sta usando le **intrinsics IR** (`fx=392.31, cx=318.48`) per back-projettare pixel che sono in **coordinate RGB** (allineamento depth-to-color attivo). Il risultato è X e Y inflati di `fx_rgb/fx_ir ≈ 1.54×`. + +Il Z è corretto perché dipende solo dal valore di depth letto al pixel, non dalle intrinsics. + +--- + +## 4. Fix consigliato + +Nella routine di back-projection (probabilmente in `/api/measure`, `/api/pointcloud`, `/api/pointcloud/roi`): + +```python +# ERRATO (sospetto attuale): +X = (u - cx_ir) * z / fx_ir +Y = (v - cy_ir) * z / fy_ir + +# CORRETTO (depth allineata al frame color → usa RGB intrinsics): +X = (u - cx_rgb) * z / fx_rgb +Y = (v - cy_rgb) * z / fy_rgb +``` + +Se la pipeline NON sta facendo `align_to(color)` sul depth stream, allora il fix opposto: i pixel passati devono essere quelli del frame IR e si usano le intrinsics IR. Ma la semantica attuale (`/api/rgb` espone il frame color, `/api/measure` accetta `(u,v)` con range coerente col color frame ~640×480) suggerisce che l'API è progettata per RGB-aligned depth — quindi è il back-projection lato server che ha l'intrinsics sbagliata. + +--- + +## 5. Test di non-regressione consigliati + +Dopo il fix, verificare che: + +1. **Tag di dimensione nota** (es. 103mm): le 4 corner back-proiettate formano un quadrato con lato `103.00 ± 5 mm` a 0.7m di distanza. +2. **Coerenza con `/api/intrinsics`**: per ogni pixel `(u, v)` con depth `z`, vale: + ``` + x_returned ≈ (u - cx_rgb) * z / fx_rgb (entro tolleranza distorsione) + y_returned ≈ (v - cy_rgb) * z / fy_rgb + ``` +3. **Cross-camera consistency**: il point cloud del D435i di un oggetto sovrapposto al cloud Nuwa (eye-in-hand polso DX) dello stesso oggetto deve avere errore residuo `< 30 mm` dopo hand-eye calibration. + +--- + +## 6. Workaround temporaneo (lato client) + +Nel viewport 3D di presa-mano è stato aggiunto un campo `D435i scale XY` con default **0.65** (`= fx_ir / fx_rgb`) che riscala il cloud per compensare il bug. Da rimuovere/portare a 1.0 quando il server è fixato. + +--- + +## 7. Comandi per riprodurre + +```bash +# 1) Verifica intrinsics +curl -sS http://192.168.123.99:8878/api/intrinsics + +# 2) Detect marker (presuppone marker-finder a :8082 e tag 20 visibile) +curl -sS -X POST http://localhost:8082/detect \ + -F "image_url=http://192.168.123.99:8878/api/rgb" \ + -F 'markers=[{"id":20,"size_mm":103}]' + +# 3) Per ogni corner (u,v) ritornata, misura 3D +curl -sS "http://192.168.123.99:8878/api/measure?u=377&v=68&radius=3" +``` diff --git a/src/presa_mano/agent/__init__.py b/src/presa_mano/agent/__init__.py deleted file mode 100644 index 33f8788..0000000 --- a/src/presa_mano/agent/__init__.py +++ /dev/null @@ -1,10 +0,0 @@ -"""Conversational AI assistant for presa-mano. - -Talks to OpenRouter (OpenAI-compatible chat-completions API) and orchestrates -robot/perception actions via a curated set of tools defined in `tools.py`. The -LLM never sees the raw upstream services — it only sees high-level functions -that wrap our existing FastAPI endpoints, with safety guards (default dry-run -on motion, side validation, calibration-side awareness).""" - -from .runner import AgentRunner # noqa: F401 -from .tools import TOOL_DEFINITIONS, dispatch_tool # noqa: F401 diff --git a/src/presa_mano/agent/prompt.py b/src/presa_mano/agent/prompt.py deleted file mode 100644 index 99cc041..0000000 --- a/src/presa_mano/agent/prompt.py +++ /dev/null @@ -1,121 +0,0 @@ -"""System prompt for the presa-mano AI assistant. - -Built dynamically so it always reflects the currently-active robot and the -real list of tools the model can call.""" - -from __future__ import annotations - -from typing import Any - - -def build_system_prompt() -> str: - # Late imports to avoid the circular dependency: - # api/__init__.py imports agent_routes -> agent.runner -> agent.prompt, - # so agent.prompt must NOT import from `..api` at module load time. - from ..config import get_config - from ..api import _deps - - cfg = get_config() - active = _deps.active_robot_key() - default_side = _deps.default_side() - aruco = cfg.get("aruco", {}).get("wrist_marker", {}) - min_samples = int(cfg.get("calibration", {}).get("min_samples", 5)) - - return f"""Sei l'assistente di **presa-mano**, un orchestratore FastAPI che pilota -un robot umanoide (Unitree G1 o H1) con una camera depth Nuwa-HP60C fissa. - -## Stile di risposta — REGOLE OBBLIGATORIE -- Rispondi in italiano, **diretto e conciso**: niente preamboli ("ecco i risultati…"), - niente paragrafi di chiusura ("se vuoi posso…"), niente emoji. -- Riporta SOLO i fatti che derivano dai tool eseguiti. **NON inventare valori - numerici, posizioni, dimensioni, spiegazioni di errori che il tool non ha - ritornato.** Se un tool ritorna `ok=false`, riporta letteralmente l'errore. -- Se manca un'informazione, dillo invece di indovinare. Non aggiungere - "possibili cause" speculative se non sono nel risultato del tool. -- Niente disclaimers o suggerimenti non richiesti. L'operatore ti dirà se - vuole un consiglio. -- Per dati numerici usa tabelle compatte; per istruzioni passi numerati brevi. -- Per tutto ciò che è azione su robot/camera/calibrazione DEVI usare i tool. - **Vietato simulare risultati.** - -## Stato corrente -- Robot attivo: **{active.upper()}** (puoi cambiarlo con `set_active_robot`). -- Lato di default per le operazioni di braccio: **{default_side}**. Se l'utente - non specifica `right`/`left`, usa questo default. -- Marker ArUco al polso: id={aruco.get('id', 10)}, lato={aruco.get('size_mm', 40)} mm. - -## Convenzioni -- Le posizioni sono in **metri** nel frame base del robot, gli orientamenti - in quaternioni `[x, y, z, w]`. Le rotazioni "in gradi" che l'utente cita - vanno convertite tu (le tool accettano sempre quaternioni). -- Movimenti **assoluti**: `move_wrist_absolute(side, position, quaternion)`. -- Movimenti **relativi**: `move_wrist_relative(side, delta_position)` — - delta in metri, frame base. Se l'utente dice "muovi di 200 mm in X+", passa - delta=[0.2, 0, 0]. Conferma sempre il risultato leggendo la nuova posa. -- **Modalità precise**: per default passa SEMPRE `precise=true` su - `move_wrist_absolute` e `move_wrist_relative`. Imposta `precise=false` - solo se l'utente lo chiede esplicitamente (es. "muovi veloce", - "avvicinati grossomodo"). Lo `precise=true` garantisce che il controller - raggiunga la posa target con accuratezza fine — necessario per - acquisizione sample di calibrazione, avvicinamento al grasp, e in generale - ogni movimento dove la posa finale conta. -- Default `dry_run=true` su tutte le operazioni di motion: NON fai mai partire - un movimento reale senza che l'utente l'abbia chiesto esplicitamente. -- Le mani: `hand_action(side, action)` con `action ∈ - {{LEFT_OPEN, LEFT_CLOSE, RIGHT_OPEN, RIGHT_CLOSE}}`. - -## Posizione di riposo (home) delle braccia -- Quando l'operatore dice **"torna a casa"**, **"home"**, **"posizione di - riposo"** o simili, chiama `arms_go_neutral()`. Agisce su entrambe le - braccia simultaneamente (è un comando del bridge, niente side da scegliere). -- Default `dry_run=true` come per gli altri movimenti — chiedi conferma - prima di mandarlo dal vivo. - -## Calibrazione hand-eye (eye-to-hand) -La calibrazione lega `T_base_camera`. È **specifica per braccio**: dx e sx -hanno file separati. Procedura completa quando l'utente dice "calibra": -1. Determina `side` (chiedi se ambiguo). -2. `calibration_clear(side)` per partire da zero (chiedi prima conferma). -3. Ripeti almeno {min_samples} volte (consigliato 8–15): - a. `move_wrist_relative` o `move_wrist_absolute` per portare il polso in - una posa nuova ben visibile dalla camera (varia X, Y, Z e l'orientamento - del marker — più diversità = miglior calibrazione). - b. Aspetta l'assestamento (tool `sleep` non disponibile: passa al sample; - `move_wrist_*` di default attende). - c. `calibration_add_sample(side)` — questa cattura RGB+pose+marker. - d. Se il marker non è stato trovato (errore 422), riprova con una posa - diversa. -4. `calibration_solve(side, method='TSAI')` — richiede ≥{min_samples} sample. -5. Riporta all'utente i residui (`residual_translation_mm`, `residual_rotation_deg`). - Se i residui sono > 5 mm o > 1° suggerisci più sample. - -## Percezione (per planning grasp) -- `detect_object(class_name, confidence)` → bbox + score. -- `get_point_cloud_roi(bbox)` → statistiche nuvola 3D (mean/min/max in **frame camera Nuwa**: X-right, Y-up, Z-back; Z<0 = davanti). -- `get_marker(marker_id, size_mm)` → posa marker **da PnP** nel **frame camera OpenCV** (X-right, Y-down, Z-forward; Z>0 = davanti). PnP eseguita da marker-finder con gli intrinseci veri della Nuwa. È il metodo più affidabile per **posizione assoluta** quando size_mm è dichiarata correttamente. -- `get_marker_3d(marker_id, size_mm)` → posa marker **dal sensore depth** (no PnP). Restituisce anche `measured_side_mm`. ATTENZIONE: se la correzione depth (affine, vedi sotto) è attiva, le dimensioni geometriche misurate vengono distorte — `measured_side_mm` può differire significativamente da `declared_size_mm` anche se la size dichiarata è corretta. **NON usare measured_side_mm come ground truth della size dichiarata.** -- Per validare se `size_mm` dichiarato è corretto, confronta `get_marker` Z con la distanza vera misurata col metro: il PnP scala linearmente con size_mm dichiarata. -- Per stimare la posa **nel frame base del robot** dopo la calibrazione, considera che la matrice `T_base_camera` salvata da `calibration_solve` è quella che mappa il frame camera OpenCV nel frame base. - -## Sensore depth e correzione -Il sensore depth Nuwa ha un bias che è stato calibrato come trasformazione affine (`depth_corrected = (raw - offset) / scale`). Quando attiva, migliora l'accuratezza della **distanza** ma distorce le **dimensioni** misurate dai 4 corner 3D del marker. Lo stato della correzione è leggibile da `GET /api/perception/depth_correction` (non esposto come tool: chiedi all'utente se serve verificarla). - -## Sicurezza -- Prima di QUALSIASI movimento reale (dry_run=false), conferma con l'utente - l'azione e il valore numerico. -- Non chiamare mai `emergency_stop` o `unlock` se non te lo chiede l'utente. -- Se l'utente ti dà un task vago ("muovi il braccio") chiedi precisazioni. - -Comincia ascoltando la richiesta dell'operatore e usa i tool quando servono. -Se rispondi con testo soltanto (nessun tool call), assicurati che l'utente -abbia tutte le informazioni che ha chiesto. -""" + _addendum(cfg) - - -def _addendum(cfg: dict[str, Any]) -> str: - """Optional extra instructions that the operator can edit from the GUI - without recompiling the base prompt. Stored in chat.openrouter.user_prompt_addendum.""" - txt = (cfg.get("chat", {}).get("openrouter", {}).get("user_prompt_addendum") or "").strip() - if not txt: - return "" - return f"\n\n## Istruzioni aggiuntive dell'operatore\n{txt}\n" diff --git a/src/presa_mano/agent/runner.py b/src/presa_mano/agent/runner.py deleted file mode 100644 index 36badb0..0000000 --- a/src/presa_mano/agent/runner.py +++ /dev/null @@ -1,174 +0,0 @@ -"""OpenRouter chat runner with multi-turn tool calling. - -OpenRouter speaks the OpenAI chat-completions API verbatim, so we use -`httpx` directly and re-implement the tool-call loop. We don't take a hard -dep on the openai SDK — the protocol is small enough to inline and this -keeps Docker layers slim. -""" - -from __future__ import annotations - -import json -import logging -import os -import time -from dataclasses import dataclass, field -from typing import Any - -import httpx - -from ..config import get_config -from .prompt import build_system_prompt -from .tools import TOOL_DEFINITIONS, dispatch_tool - -log = logging.getLogger(__name__) - - -class OpenRouterError(RuntimeError): - pass - - -@dataclass -class ToolCallTrace: - name: str - arguments: dict[str, Any] - result: dict[str, Any] - latency_ms: float - - -@dataclass -class AgentResult: - reply: str - iterations: int - tool_calls: list[ToolCallTrace] = field(default_factory=list) - finish_reason: str | None = None - model: str | None = None - usage: dict[str, Any] | None = None - - -class AgentRunner: - """Stateless: one runner per request. Caller is responsible for keeping - the conversation history and passing it back in via `messages`. - - The run loop: send messages → if tool_calls in response, execute each, - append the assistant message + tool messages, repeat. Up to - `max_tool_iterations` rounds (configurable in chat.openrouter).""" - - def __init__(self) -> None: - cfg = get_config().get("chat", {}).get("openrouter") or {} - self.base_url = str(cfg.get("base_url") or "https://openrouter.ai/api/v1").rstrip("/") - self.model = str(cfg.get("model") or "anthropic/claude-sonnet-4.5") - self.timeout_s = float(cfg.get("timeout_s") or 60.0) - self.max_tool_iterations = int(cfg.get("max_tool_iterations") or 8) - # Default low so the model doesn't invent values when summarising - # tool results. Override in chat.openrouter.temperature if needed. - self.temperature = float(cfg.get("temperature") if cfg.get("temperature") is not None else 0.1) - self.referer = cfg.get("referer") or "http://localhost:8890" - self.title = cfg.get("title") or "presa-mano" - env_var = str(cfg.get("api_key_env") or "OPENROUTER_API_KEY") - self.api_key = os.environ.get(env_var, "") - self.api_key_env = env_var - - def has_credentials(self) -> bool: - return bool(self.api_key) - - # ------------------------------------------------------------------ - - def run(self, user_message: str, - history: list[dict[str, Any]] | None = None, - ) -> tuple[AgentResult, list[dict[str, Any]]]: - """Returns (result, updated_history). `history` is the full message - list as it appears in the OpenAI API (excluding the system prompt; - we always inject it ourselves so it reflects current state).""" - if not self.has_credentials(): - raise OpenRouterError(f"OpenRouter API key non impostata (env var {self.api_key_env}).") - - system = {"role": "system", "content": build_system_prompt()} - messages: list[dict[str, Any]] = [system] - if history: - messages.extend(m for m in history if m.get("role") != "system") - messages.append({"role": "user", "content": user_message}) - - traces: list[ToolCallTrace] = [] - iterations = 0 - finish_reason: str | None = None - usage: dict[str, Any] | None = None - - while iterations < self.max_tool_iterations: - iterations += 1 - resp = self._chat_completion(messages) - usage = resp.get("usage") or usage - choices = resp.get("choices") or [] - if not choices: - raise OpenRouterError(f"empty choices in response: {resp}") - msg = choices[0].get("message") or {} - finish_reason = choices[0].get("finish_reason") - messages.append(msg) - tool_calls = msg.get("tool_calls") or [] - if not tool_calls: - # Final assistant turn — no further tools requested. - reply = msg.get("content") or "" - history_out = [m for m in messages if m.get("role") != "system"] - return AgentResult(reply=reply, iterations=iterations, - tool_calls=traces, finish_reason=finish_reason, - model=resp.get("model"), usage=usage), history_out - - # Execute each tool call and append the result back. - for call in tool_calls: - fn = (call.get("function") or {}) - name = fn.get("name") or "?" - raw_args = fn.get("arguments") or "{}" - try: - args = json.loads(raw_args) if isinstance(raw_args, str) else (raw_args or {}) - except json.JSONDecodeError: - args = {} - t0 = time.perf_counter() - result = dispatch_tool(name, args) - latency = round((time.perf_counter() - t0) * 1000.0, 1) - traces.append(ToolCallTrace(name=name, arguments=args, - result=result, latency_ms=latency)) - messages.append({ - "role": "tool", - "tool_call_id": call.get("id"), - "name": name, - "content": json.dumps(result, ensure_ascii=False, default=str), - }) - - # Hit the iteration cap with tool calls still pending — degrade gracefully. - history_out = [m for m in messages if m.get("role") != "system"] - return AgentResult( - reply="Limite di iterazioni raggiunto: rivedi il task o chiedimi di continuare.", - iterations=iterations, tool_calls=traces, finish_reason="iteration_cap", - model=self.model, usage=usage, - ), history_out - - # ------------------------------------------------------------------ - - def _chat_completion(self, messages: list[dict[str, Any]]) -> dict[str, Any]: - url = f"{self.base_url}/chat/completions" - body = { - "model": self.model, - "messages": messages, - "tools": TOOL_DEFINITIONS, - "tool_choice": "auto", - "temperature": self.temperature, - } - headers = { - "Authorization": f"Bearer {self.api_key}", - "Content-Type": "application/json", - # OpenRouter analytics — optional but recommended. - "HTTP-Referer": self.referer, - "X-Title": self.title, - } - try: - with httpx.Client(timeout=self.timeout_s) as c: - r = c.post(url, json=body, headers=headers) - except httpx.HTTPError as e: - raise OpenRouterError(f"OpenRouter unreachable: {e}") from e - if r.status_code >= 400: - try: - detail = r.json() - except Exception: - detail = r.text - raise OpenRouterError(f"OpenRouter HTTP {r.status_code}: {detail}") - return r.json() diff --git a/src/presa_mano/agent/tools.py b/src/presa_mano/agent/tools.py deleted file mode 100644 index c2414e7..0000000 --- a/src/presa_mano/agent/tools.py +++ /dev/null @@ -1,732 +0,0 @@ -"""Tools the AI assistant can invoke. - -Each tool is defined twice: -1. As a JSON-schema entry in `TOOL_DEFINITIONS` (sent to OpenRouter / the LLM - so it knows the function signature). -2. As a Python handler keyed by tool name in `_HANDLERS` that wraps existing - internal endpoints/clients. - -Handlers are intentionally thin and well-validated: they enforce side ∈ -{right,left}, default dry_run=True for every motion call, and reuse the -existing per-request client construction (so a `set_active_robot` call mid- -conversation actually changes which robot subsequent tool calls hit). - -Tool results are returned as dicts and serialised to JSON before being sent -back to the model. Errors are reported as `{"error": "..."}` rather than -raising, so the model can recover (e.g. retry with a different pose). -""" - -from __future__ import annotations - -import logging -import time -from dataclasses import asdict -from typing import Any, Callable - -import numpy as np - -from ..calibration import CalibrationSampler, CalibrationStore, HandEyeSolver, SamplesStore -from ..clients import G1StatusError, G1Unavailable -from ..config import get_config, update_config -from ..perception import ObjectDetector - -log = logging.getLogger(__name__) - - -# Lazy proxy for `..api._deps` to break the import cycle: -# api/__init__.py loads agent_routes which loads agent.runner which loads us. -# Importing `..api._deps` at module load would trigger api/__init__.py while -# it's already mid-init. Attribute access via this proxy defers the import -# until the first tool actually runs, by which time everything is loaded. -class _LazyDeps: - def __getattr__(self, name: str) -> Any: - from ..api import _deps as _m - return getattr(_m, name) - - -_deps = _LazyDeps() - - -# ----- helpers -------------------------------------------------------------- - -def _ok(**kw: Any) -> dict[str, Any]: - out = {"ok": True} - out.update(kw) - return out - - -def _err(msg: str, **kw: Any) -> dict[str, Any]: - out = {"ok": False, "error": msg} - out.update(kw) - return out - - -def _validate_side(side: str | None) -> str: - s = (side or _deps.default_side()).lower() - if s not in {"right", "left"}: - raise ValueError(f"side must be 'right' or 'left', got: {side!r}") - return s - - -# ----- tool: home / robot selection ---------------------------------------- - -def _h_get_active_robot(_: dict[str, Any]) -> dict[str, Any]: - return _ok(active=_deps.active_robot_key(), - default_side=_deps.default_side()) - - -def _h_set_active_robot(args: dict[str, Any]) -> dict[str, Any]: - target = str(args.get("robot", "")).lower() - if target not in {"g1", "h1"}: - return _err(f"robot must be 'g1' or 'h1', got: {target!r}") - services = (get_config().get("services") or {}) - if not (services.get(target) or {}).get("base_url"): - return _err(f"services.{target}.base_url not configured") - update_config({"robot": {"active": target}}) - return _ok(active=_deps.active_robot_key()) - - -def _h_device_status(_: dict[str, Any]) -> dict[str, Any]: - """Reuses the home_routes implementation to avoid duplicating the ping logic.""" - from ..api.home_routes import status as _status - try: - return _ok(**_status()) - except Exception as e: - return _err(str(e)) - - -# ----- tool: wrist read/move ------------------------------------------------ - -def _h_get_wrist_pose(args: dict[str, Any]) -> dict[str, Any]: - try: - side = _validate_side(args.get("side")) - data = _deps.g1().wrist() - body = data.get("data") if isinstance(data.get("data"), dict) else data - pose = body.get(f"{side}_wrist") or body.get(side) or {} - return _ok(side=side, - position=pose.get("position"), - quaternion=pose.get("quaternion")) - except (G1Unavailable, G1StatusError) as e: - return _err(f"robot non raggiungibile: {e}") - except Exception as e: - return _err(str(e)) - - -def _h_move_wrist_absolute(args: dict[str, Any]) -> dict[str, Any]: - try: - side = _validate_side(args.get("side")) - position = list(args.get("position") or []) - quaternion = list(args.get("quaternion") or []) - if len(position) != 3 or len(quaternion) != 4: - return _err("position deve avere 3 float (m), quaternion 4 float (xyzw)") - dry_run = bool(args.get("dry_run", True)) - timeout_s = float(args.get("timeout_s", 5.0)) - precise = bool(args.get("precise", True)) - result = _deps.g1(dry_run=dry_run).wrist_absolute( - side=side, position=position, quaternion=quaternion, - wait=True, timeout_s=timeout_s, precise=precise, - ) - return _ok(dry_run=dry_run, side=side, precise=precise, response=result) - except (G1Unavailable, G1StatusError) as e: - return _err(f"motion failed: {e}") - except Exception as e: - return _err(str(e)) - - -def _h_move_wrist_relative(args: dict[str, Any]) -> dict[str, Any]: - try: - side = _validate_side(args.get("side")) - dp = args.get("delta_position") - dq = args.get("delta_quaternion") - if dp is not None and len(list(dp)) != 3: - return _err("delta_position deve avere 3 float (m) o essere null") - if dq is not None and len(list(dq)) != 4: - return _err("delta_quaternion deve avere 4 float (xyzw) o essere null") - dry_run = bool(args.get("dry_run", True)) - timeout_s = float(args.get("timeout_s", 5.0)) - precise = bool(args.get("precise", True)) - result = _deps.g1(dry_run=dry_run).wrist_relative( - side=side, - delta_position=list(dp) if dp is not None else None, - delta_quaternion=list(dq) if dq is not None else None, - wait=True, timeout_s=timeout_s, precise=precise, - ) - return _ok(dry_run=dry_run, side=side, precise=precise, response=result) - except (G1Unavailable, G1StatusError) as e: - return _err(f"motion failed: {e}") - except Exception as e: - return _err(str(e)) - - -def _h_arms_go_neutral(args: dict[str, Any]) -> dict[str, Any]: - """Riporta entrambe le braccia alla posa di home / riposo built-in del - bridge (POST /arms/go_neutral). È l'unico modo standard di "tornare a - casa" — non serve registrare pose custom.""" - try: - dry_run = bool(args.get("dry_run", True)) - result = _deps.g1(dry_run=dry_run).arms_go_neutral() - return _ok(dry_run=dry_run, response=result) - except (G1Unavailable, G1StatusError) as e: - return _err(f"go_neutral failed: {e}") - except Exception as e: - return _err(str(e)) - - -def _h_hand_action(args: dict[str, Any]) -> dict[str, Any]: - try: - action = str(args.get("action", "")).upper() - valid = {"LEFT_OPEN", "LEFT_CLOSE", "RIGHT_OPEN", "RIGHT_CLOSE"} - if action not in valid: - return _err(f"action deve essere uno di {sorted(valid)}") - dry_run = bool(args.get("dry_run", True)) - result = _deps.g1(dry_run=dry_run).hand_action(action) - return _ok(dry_run=dry_run, response=result) - except (G1Unavailable, G1StatusError) as e: - return _err(f"hand action failed: {e}") - except Exception as e: - return _err(str(e)) - - -# ----- tool: perception ----------------------------------------------------- - -def _h_get_marker(args: dict[str, Any]) -> dict[str, Any]: - """Detect ArUco marker and return its pose in the camera frame. - - Da quando marker-finder accetta intrinseci OpenCV via API e presa-mano - gli pusha quelli veri della Nuwa al boot, possiamo fidarci direttamente - di `position_m`/`quaternion_xyzw` ritornati dal servizio. Niente più - re-PnP locale qui: per la diagnostica di ambiguità c'è il sampler - (CalibrationSampler) che la calcola sui sample reali.""" - try: - cfg = get_config() - marker_id = int(args.get("marker_id") or cfg["aruco"]["wrist_marker"]["id"]) - size_mm = float(args.get("size_mm") or cfg["aruco"]["wrist_marker"]["size_mm"]) - result = _deps.marker().detect_url( - markers=[{"id": marker_id, "size_mm": size_mm}], - image_url=_deps.nuwa().rgb_url(), - ) - found = result.get("found", []) - entry = next((m for m in found if int(m["id"]) == marker_id), None) - if entry is None: - return _err(f"marker id={marker_id} non trovato", - not_found=result.get("not_found")) - - img_pts = np.asarray(entry["corners"], dtype=np.float64).reshape(-1, 2) - tvec = np.asarray(entry.get("position_m") or [0, 0, 0], dtype=np.float64).flatten() - return _ok( - marker_id=marker_id, - position_m=tvec.tolist(), - distance_m=float(np.linalg.norm(tvec)), - quaternion_xyzw=entry.get("quaternion_xyzw"), - rotation_matrix=entry.get("rotation_matrix"), - corners=entry.get("corners"), - center_px=img_pts.mean(axis=0).tolist(), - ) - except Exception as e: - return _err(str(e)) - - -def _h_detect_object(args: dict[str, Any]) -> dict[str, Any]: - try: - nuwa = _deps.nuwa() - yolo = _deps.yolo() - detector = ObjectDetector(yolo, nuwa) - conf = args.get("confidence") - conf = float(conf) if conf is not None else None - class_name = args.get("class_name") - dets = detector.detect(conf=conf) - if class_name: - dets = [d for d in dets if str(d.get("class_name", "")).lower() == str(class_name).lower()] - if not dets: - return _ok(found=False, detections=[]) - return _ok(found=True, detections=dets[:5]) - except Exception as e: - return _err(str(e)) - - -def _h_get_marker_3d(args: dict[str, Any]) -> dict[str, Any]: - """Pose marker da DEPTH (no PnP). - - Detection 2D dei corner dal marker-finder, poi back-projection di - ciascun corner usando la depth con registrazione RGB↔IR. Centro = media - dei 4 corner 3D; orientamento = base ortonormale costruita dai lati del - marker. Più affidabile di PnP quando si conosce bene la depth e meno - sensibile a errori di size_mm dichiarata.""" - try: - from ..perception.depth_to_rgb import ( - CameraRegistration, back_project_rgb_pixel, fetch_depth_mm, - ) - from ..perception.depth_correction import load as _load_dc_state - cfg = get_config() - marker_id = int(args.get("marker_id") or cfg["aruco"]["wrist_marker"]["id"]) - size_mm = float(args.get("size_mm") or cfg["aruco"]["wrist_marker"]["size_mm"]) - - nuwa = _deps.nuwa() - result = _deps.marker().detect_url( - markers=[{"id": marker_id, "size_mm": size_mm}], - image_url=nuwa.rgb_url(), - ) - entry = next((m for m in result.get("found", []) if int(m["id"]) == marker_id), None) - if entry is None: - return _err(f"marker id={marker_id} non trovato", - not_found=result.get("not_found")) - - reg = CameraRegistration.from_nuwa(nuwa.intrinsics()) - depth = fetch_depth_mm(nuwa) - dc_state = _load_dc_state(_deps.depth_correction_path()) - corners_2d = np.asarray(entry["corners"], dtype=np.float64).reshape(-1, 2) - - corners_3d = [] - per_corner = [] - for u, v in corners_2d: - r = back_project_rgb_pixel(u, v, depth, reg, sample_radius=4, n_iters=2, - depth_correction=dc_state) - per_corner.append({"rgb_pixel": r["rgb_pixel"], "ok": r["ok"], - "ir_pixel": r.get("ir_pixel"), - "depth_mm": r.get("depth_mm"), - "point_rgb_m": r.get("point_rgb_m"), - **({"error": r["error"]} if "error" in r else {})}) - if r["ok"]: - corners_3d.append(r["point_rgb_m"]) - - if len(corners_3d) < 3: - return _err(f"depth mancante su {4 - len(corners_3d)} corner: marker fuori range o riflesso", - per_corner=per_corner) - - pts = np.asarray(corners_3d, dtype=np.float64) - center = pts.mean(axis=0) - - # Build an orthonormal frame from the marker plane: - # x-axis = (TR - TL) (top edge), y-axis = (BL - TL) (left edge), - # z-axis = x × y (outward normal). - out_pose: dict[str, Any] = {"center_m": center.tolist()} - if len(corners_3d) == 4: - tl, tr, br, bl = pts - x_axis = tr - tl - y_axis = bl - tl - x_axis /= (np.linalg.norm(x_axis) + 1e-12) - # Re-orthogonalize y against x: - y_axis = y_axis - (y_axis @ x_axis) * x_axis - y_axis /= (np.linalg.norm(y_axis) + 1e-12) - z_axis = np.cross(x_axis, y_axis) - R = np.column_stack([x_axis, y_axis, z_axis]) - from ..geometry import R_to_quat_xyzw - out_pose["rotation_matrix"] = R.tolist() - out_pose["quaternion_xyzw"] = R_to_quat_xyzw(R).tolist() - # Side measured vs declared — sanity check - measured_side_mm = float(np.linalg.norm(tr - tl) * 1000) - out_pose["measured_side_mm"] = round(measured_side_mm, 1) - out_pose["declared_size_mm"] = size_mm - - return _ok( - marker_id=marker_id, - distance_m=float(np.linalg.norm(center)), - n_corners_with_depth=len(corners_3d), - pose=out_pose, - per_corner=per_corner, - corners_2d=corners_2d.tolist(), - ) - except Exception as e: - return _err(str(e)) - - -def _h_get_point_cloud_roi(args: dict[str, Any]) -> dict[str, Any]: - try: - bbox = args.get("bbox") - if not bbox or len(list(bbox)) != 4: - return _err("bbox deve essere [x1,y1,x2,y2] in pixel") - x1, y1, x2, y2 = (int(v) for v in bbox) - nuwa = _deps.nuwa() - cloud = nuwa.pointcloud_roi(x1=x1, y1=y1, x2=x2, y2=y2) - # Cloud is potentially huge — return only summary stats so we don't - # blow up the LLM context. - pts = np.asarray(cloud, dtype=np.float64).reshape(-1, 6) if len(cloud) else np.zeros((0, 6)) - if pts.size == 0: - return _ok(n_points=0, summary=None) - xyz = pts[:, :3] - return _ok( - n_points=int(pts.shape[0]), - mean=xyz.mean(axis=0).tolist(), - min=xyz.min(axis=0).tolist(), - max=xyz.max(axis=0).tolist(), - std_mm=(1000.0 * xyz.std(axis=0)).tolist(), - ) - except Exception as e: - return _err(str(e)) - - -# ----- tool: calibration --------------------------------------------------- - -def _h_calibration_add_sample(args: dict[str, Any]) -> dict[str, Any]: - try: - side = _validate_side(args.get("side")) - cfg = get_config() - marker_id = int(args.get("marker_id") or cfg["aruco"]["wrist_marker"]["id"]) - size_mm = float(args.get("size_mm") or cfg["aruco"]["wrist_marker"]["size_mm"]) - sampler = CalibrationSampler(_deps.nuwa(), _deps.marker(), _deps.g1()) - sample = sampler.acquire(marker_id=marker_id, size_mm=size_mm, - side=side, note=str(args.get("note", ""))) - store = SamplesStore(_deps.samples_file_path(side)) - items = store.append(sample) - return _ok(side=side, total=len(items), sample=asdict(sample)) - except Exception as e: - return _err(str(e)) - - -def _h_calibration_solve(args: dict[str, Any]) -> dict[str, Any]: - try: - side = _validate_side(args.get("side")) - cfg = get_config() - method = str(args.get("method") or cfg.get("calibration", {}).get("method") or "TSAI").upper() - min_n = int(cfg.get("calibration", {}).get("min_samples", 5)) - samples = SamplesStore(_deps.samples_file_path(side)).load() - if len(samples) < min_n: - return _err(f"servono almeno {min_n} sample per side='{side}', ce ne sono {len(samples)}") - result = HandEyeSolver.solve(samples, method=method) - CalibrationStore(_deps.calibration_file_path(side)).save(result) - # Strip the heavy matrix from what we return to the model — keep summary. - slim = { - "side": side, - "method": result.get("method"), - "n_samples": result.get("n_samples"), - "residual_translation_mm": result.get("residual_translation_mm"), - "residual_rotation_deg": result.get("residual_rotation_deg"), - } - return _ok(**slim, saved=True) - except Exception as e: - return _err(str(e)) - - -def _h_calibration_clear(args: dict[str, Any]) -> dict[str, Any]: - try: - side = _validate_side(args.get("side")) - SamplesStore(_deps.samples_file_path(side)).clear() - return _ok(side=side, total=0) - except Exception as e: - return _err(str(e)) - - -def _h_calibration_get_result(args: dict[str, Any]) -> dict[str, Any]: - try: - side = _validate_side(args.get("side")) - doc = CalibrationStore(_deps.calibration_file_path(side)).load() - if doc is None: - return _err(f"nessuna calibrazione salvata per side='{side}'") - return _ok(side=side, - saved_at=doc.get("saved_at"), - method=doc.get("method"), - n_samples=doc.get("n_samples"), - residual_translation_mm=doc.get("residual_translation_mm"), - residual_rotation_deg=doc.get("residual_rotation_deg")) - except Exception as e: - return _err(str(e)) - - -def _h_calibration_count_samples(args: dict[str, Any]) -> dict[str, Any]: - try: - side = _validate_side(args.get("side")) - samples = SamplesStore(_deps.samples_file_path(side)).load() - return _ok(side=side, total=len(samples)) - except Exception as e: - return _err(str(e)) - - -# ----- registry ------------------------------------------------------------- - -_HANDLERS: dict[str, Callable[[dict[str, Any]], dict[str, Any]]] = { - "get_active_robot": _h_get_active_robot, - "set_active_robot": _h_set_active_robot, - "device_status": _h_device_status, - "get_wrist_pose": _h_get_wrist_pose, - "move_wrist_absolute": _h_move_wrist_absolute, - "move_wrist_relative": _h_move_wrist_relative, - "hand_action": _h_hand_action, - "arms_go_neutral": _h_arms_go_neutral, - "get_marker": _h_get_marker, - "get_marker_3d": _h_get_marker_3d, - "detect_object": _h_detect_object, - "get_point_cloud_roi": _h_get_point_cloud_roi, - "calibration_add_sample": _h_calibration_add_sample, - "calibration_solve": _h_calibration_solve, - "calibration_clear": _h_calibration_clear, - "calibration_get_result": _h_calibration_get_result, - "calibration_count_samples": _h_calibration_count_samples, -} - - -# OpenRouter / OpenAI tool-calling format. Each entry is a 'function' tool. -TOOL_DEFINITIONS: list[dict[str, Any]] = [ - { - "type": "function", - "function": { - "name": "get_active_robot", - "description": "Quale robot è attualmente collegato (g1 o h1) e quale lato è il default.", - "parameters": {"type": "object", "properties": {}}, - }, - }, - { - "type": "function", - "function": { - "name": "set_active_robot", - "description": "Cambia il robot attivo (g1 o h1). Tutti i comandi successivi useranno questo robot.", - "parameters": { - "type": "object", - "required": ["robot"], - "properties": {"robot": {"type": "string", "enum": ["g1", "h1"]}}, - }, - }, - }, - { - "type": "function", - "function": { - "name": "device_status", - "description": "Stato di comunicazione (online/offline + latenza) dei microservizi: Nuwa, marker-finder, YOLO, robot.", - "parameters": {"type": "object", "properties": {}}, - }, - }, - { - "type": "function", - "function": { - "name": "get_wrist_pose", - "description": "Posa attuale del polso (position xyz in metri, quaternion xyzw) nel frame base.", - "parameters": { - "type": "object", - "properties": {"side": {"type": "string", "enum": ["right", "left"]}}, - }, - }, - }, - { - "type": "function", - "function": { - "name": "move_wrist_absolute", - "description": ( - "Sposta il polso a una posa assoluta nel frame base. Default dry_run=true: " - "il robot NON si muove davvero finché dry_run=false. Usa precise=true per " - "movimenti che richiedono accuratezza fine (es. acquisizione sample di " - "calibrazione, avvicinamento finale al grasp); precise=false è il default, " - "più veloce ma con tolleranza maggiore." - ), - "parameters": { - "type": "object", - "required": ["side", "position", "quaternion"], - "properties": { - "side": {"type": "string", "enum": ["right", "left"]}, - "position": {"type": "array", "items": {"type": "number"}, "minItems": 3, "maxItems": 3, - "description": "x,y,z in metri (frame base)"}, - "quaternion": {"type": "array", "items": {"type": "number"}, "minItems": 4, "maxItems": 4, - "description": "x,y,z,w"}, - "dry_run": {"type": "boolean", "default": True}, - "precise": {"type": "boolean", "default": True, - "description": "true = controllo accurato (più lento, default)"}, - "timeout_s": {"type": "number", "default": 5.0}, - }, - }, - }, - }, - { - "type": "function", - "function": { - "name": "move_wrist_relative", - "description": ( - "Sposta il polso di un delta rispetto alla posa attuale. delta_position " - "in metri (frame base), delta_quaternion opzionale. Default dry_run=true. " - "Usa precise=true se serve accuratezza fine." - ), - "parameters": { - "type": "object", - "required": ["side"], - "properties": { - "side": {"type": "string", "enum": ["right", "left"]}, - "delta_position": {"type": "array", "items": {"type": "number"}, "minItems": 3, "maxItems": 3}, - "delta_quaternion": {"type": "array", "items": {"type": "number"}, "minItems": 4, "maxItems": 4}, - "dry_run": {"type": "boolean", "default": True}, - "precise": {"type": "boolean", "default": True}, - "timeout_s": {"type": "number", "default": 5.0}, - }, - }, - }, - }, - { - "type": "function", - "function": { - "name": "arms_go_neutral", - "description": ( - "Riporta ENTRAMBE le braccia alla posa di home/riposo del robot " - "(POST /arms/go_neutral sul bridge). Usa quando l'utente dice " - "'torna a casa', 'home', 'posizione di riposo'. Default dry_run=true." - ), - "parameters": { - "type": "object", - "properties": {"dry_run": {"type": "boolean", "default": True}}, - }, - }, - }, - { - "type": "function", - "function": { - "name": "hand_action", - "description": "Apre o chiude una mano. action ∈ {LEFT_OPEN, LEFT_CLOSE, RIGHT_OPEN, RIGHT_CLOSE}. Default dry_run=true.", - "parameters": { - "type": "object", - "required": ["action"], - "properties": { - "action": {"type": "string", "enum": ["LEFT_OPEN", "LEFT_CLOSE", "RIGHT_OPEN", "RIGHT_CLOSE"]}, - "dry_run": {"type": "boolean", "default": True}, - }, - }, - }, - }, - { - "type": "function", - "function": { - "name": "get_marker", - "description": ( - "Rileva il marker ArUco nell'RGB corrente di Nuwa e ne ritorna la " - "posa nel frame camera OpenCV (X-right, Y-down, Z-forward, Z>0=davanti). " - "Restituisce position_m, quaternion_xyzw, rotation_matrix, distance_m, " - "corners 2D e center_px. La PnP è eseguita da marker-finder con gli " - "intrinseci veri della Nuwa (pushati al boot di presa-mano)." - ), - "parameters": { - "type": "object", - "properties": { - "marker_id": {"type": "integer", "description": "default = id del marker polso da config"}, - "size_mm": {"type": "number", "description": "default = size del marker polso da config"}, - }, - }, - }, - }, - { - "type": "function", - "function": { - "name": "get_marker_3d", - "description": ( - "Posa marker calcolata dal sensore depth (no PnP). Detection " - "2D dei 4 corner via marker-finder, poi per ogni corner " - "back-projection corretta usando depth IR + extrinsics IR↔RGB. " - "Centro = media 3D dei corner; orientamento da base ortonormale " - "del piano marker. Restituisce anche `measured_side_mm` (utile " - "per verificare che size_mm dichiarata sia giusta) e una entry " - "per_corner con qualità della depth a ciascuno dei 4 corner." - ), - "parameters": { - "type": "object", - "properties": { - "marker_id": {"type": "integer"}, - "size_mm": {"type": "number"}, - }, - }, - }, - }, - { - "type": "function", - "function": { - "name": "detect_object", - "description": "Rileva oggetti via YOLO sull'RGB di Nuwa. class_name opzionale per filtrare; restituisce massimo 5 detection.", - "parameters": { - "type": "object", - "properties": { - "class_name": {"type": "string"}, - "confidence": {"type": "number"}, - }, - }, - }, - }, - { - "type": "function", - "function": { - "name": "get_point_cloud_roi", - "description": "Statistiche della nuvola punti (frame camera) all'interno di un bbox in pixel. Restituisce conteggio + media/min/max/std, NON i punti raw.", - "parameters": { - "type": "object", - "required": ["bbox"], - "properties": { - "bbox": {"type": "array", "items": {"type": "number"}, "minItems": 4, "maxItems": 4, - "description": "[x1,y1,x2,y2] in pixel"}, - }, - }, - }, - }, - { - "type": "function", - "function": { - "name": "calibration_add_sample", - "description": "Cattura un sample di calibrazione hand-eye per il braccio indicato (RGB + posa polso + posa marker). Richiede il marker visibile.", - "parameters": { - "type": "object", - "properties": { - "side": {"type": "string", "enum": ["right", "left"]}, - "marker_id": {"type": "integer"}, - "size_mm": {"type": "number"}, - "note": {"type": "string"}, - }, - }, - }, - }, - { - "type": "function", - "function": { - "name": "calibration_solve", - "description": "Risolve hand-eye calibration per il braccio dato e SALVA la matrice T_base_camera_.yaml. Riporta residui.", - "parameters": { - "type": "object", - "properties": { - "side": {"type": "string", "enum": ["right", "left"]}, - "method": {"type": "string", "enum": ["TSAI", "PARK", "HORAUD", "ANDREFF", "DANIILIDIS"]}, - }, - }, - }, - }, - { - "type": "function", - "function": { - "name": "calibration_clear", - "description": "Cancella tutti i sample di calibrazione per il braccio indicato.", - "parameters": { - "type": "object", - "properties": {"side": {"type": "string", "enum": ["right", "left"]}}, - }, - }, - }, - { - "type": "function", - "function": { - "name": "calibration_get_result", - "description": "Riporta la calibrazione salvata per il braccio indicato (residui + saved_at).", - "parameters": { - "type": "object", - "properties": {"side": {"type": "string", "enum": ["right", "left"]}}, - }, - }, - }, - { - "type": "function", - "function": { - "name": "calibration_count_samples", - "description": "Numero di sample attualmente memorizzati per il braccio indicato.", - "parameters": { - "type": "object", - "properties": {"side": {"type": "string", "enum": ["right", "left"]}}, - }, - }, - }, -] - - -def dispatch_tool(name: str, args: dict[str, Any]) -> dict[str, Any]: - """Run the named tool with the provided arguments. Always returns a dict. - - The runner serialises this to JSON and feeds it back to the model as a - `tool` role message. Any exception is converted to {"ok": false, ...}. - """ - h = _HANDLERS.get(name) - if h is None: - return _err(f"tool sconosciuto: {name}") - t0 = time.perf_counter() - try: - out = h(args or {}) - except Exception as e: - log.exception("tool %s raised", name) - out = _err(f"{type(e).__name__}: {e}") - out["_latency_ms"] = round((time.perf_counter() - t0) * 1000.0, 1) - return out diff --git a/src/presa_mano/api/__init__.py b/src/presa_mano/api/__init__.py index 830b132..5df2cb8 100644 --- a/src/presa_mano/api/__init__.py +++ b/src/presa_mano/api/__init__.py @@ -1,9 +1,8 @@ # Load `_deps` first so it is registered as an attribute of this package -# before any of the route modules (which reach into the agent module which -# in turn imports `from ..api import _deps`) start executing. +# before any of the route modules (which import `from ..api import _deps`) +# start executing. from . import _deps # noqa: F401 from . import ( - agent_routes, calibration_routes, config_routes, grasp_routes, @@ -16,7 +15,6 @@ from . import ( ) __all__ = [ - "agent_routes", "calibration_routes", "config_routes", "grasp_routes", diff --git a/src/presa_mano/api/agent_routes.py b/src/presa_mano/api/agent_routes.py deleted file mode 100644 index adfa38d..0000000 --- a/src/presa_mano/api/agent_routes.py +++ /dev/null @@ -1,203 +0,0 @@ -"""AI assistant routes. - -- `POST /api/agent/chat` — send a user message, get back the assistant reply - and the trace of every tool the model invoked. Stateless on the server side: - the GUI keeps the rolling history and posts it back in `history`. - -- `GET /api/agent/tools` — list of tools exposed to the model (debug aid). - -- `GET/POST/DELETE /api/agent/tasks` — persistent registry of named prompt - templates so frequently-used tasks ("calibra braccio dx", "sposta a home - position", …) can be re-launched in one click without retyping the prompt. -""" - -from __future__ import annotations - -import json -import re -import time -from dataclasses import asdict -from typing import Any, Optional - -from fastapi import APIRouter, HTTPException -from pydantic import BaseModel, Field - -# Submodule imports (not `from ..agent import …`) to break a circular import: -# api/__init__.py is loaded first by main.py and pulls in agent_routes; if we -# imported via the agent package, agent/__init__.py would try to load -# agent.runner → agent.tools → ..api._deps while ..api is still mid-init. -from ..agent.runner import AgentRunner, OpenRouterError -from ..agent.tools import TOOL_DEFINITIONS -from ..config import data_dir, get_config - -router = APIRouter() - - -# ---------- chat ---------- - -class ChatMessage(BaseModel): - role: str - content: Optional[str] = None - # Pass-through fields used by the OpenAI tool-calling protocol. - tool_calls: Optional[list[dict[str, Any]]] = None - tool_call_id: Optional[str] = None - name: Optional[str] = None - - -class ChatReq(BaseModel): - message: str = Field(..., min_length=1, max_length=4000) - history: list[ChatMessage] = Field(default_factory=list) - - -@router.get("/tools") -def list_tools() -> dict[str, Any]: - """Tools exposed to the LLM. Useful for debugging the system prompt.""" - return {"tools": TOOL_DEFINITIONS} - - -@router.get("/health") -def agent_health() -> dict[str, Any]: - """Reports whether OpenRouter credentials are available and which model - is configured. The frontend uses this to grey-out the chat input when - the env var is missing.""" - runner = AgentRunner() - return { - "configured": runner.has_credentials(), - "model": runner.model, - "api_key_env": runner.api_key_env, - "base_url": runner.base_url, - "temperature": runner.temperature, - "max_tool_iterations": runner.max_tool_iterations, - "timeout_s": runner.timeout_s, - } - - -@router.get("/system_prompt_preview") -def system_prompt_preview() -> dict[str, Any]: - """Returns the exact system prompt the model will receive at the next - chat. Useful for the AI Settings tab so the operator can preview the - effect of editing chat.openrouter.user_prompt_addendum or any other - state that influences the prompt (active robot, marker config…).""" - from ..agent.prompt import build_system_prompt - return {"system_prompt": build_system_prompt()} - - -# Curated list shown in the AI Settings model selector. Plus a free-text -# field on the GUI side for anything not in the list. Keep the list short -# and focused on models that we've verified support OpenRouter's tool-use. -_KNOWN_MODELS = [ - {"id": "anthropic/claude-sonnet-4.5", "label": "Claude Sonnet 4.5 (consigliato)"}, - {"id": "anthropic/claude-opus-4.1", "label": "Claude Opus 4.1 (più capace, più caro)"}, - {"id": "anthropic/claude-haiku-4.5", "label": "Claude Haiku 4.5 (veloce, economico)"}, - {"id": "openai/gpt-4o", "label": "GPT-4o"}, - {"id": "openai/gpt-4o-mini", "label": "GPT-4o mini"}, - {"id": "google/gemini-2.5-pro", "label": "Gemini 2.5 Pro"}, - {"id": "google/gemini-2.5-flash", "label": "Gemini 2.5 Flash"}, - {"id": "meta-llama/llama-3.3-70b-instruct", "label": "Llama 3.3 70B"}, - {"id": "mistralai/mistral-large-2411", "label": "Mistral Large 2411"}, -] - - -@router.get("/known_models") -def known_models() -> dict[str, Any]: - """Curated short-list of OpenRouter models that work with our tool-calling. - The GUI also offers a free-text input for anything not in this list.""" - return {"models": _KNOWN_MODELS} - - -@router.post("/chat") -def chat(req: ChatReq) -> dict[str, Any]: - runner = AgentRunner() - if not runner.has_credentials(): - raise HTTPException(status_code=412, - detail=f"OpenRouter API key non impostata (env var {runner.api_key_env}).") - history = [m.model_dump(exclude_none=True) for m in req.history] - try: - result, updated_history = runner.run(req.message, history=history) - except OpenRouterError as e: - raise HTTPException(status_code=502, detail=str(e)) - return { - "reply": result.reply, - "iterations": result.iterations, - "finish_reason": result.finish_reason, - "model": result.model, - "usage": result.usage, - "tool_calls": [asdict(t) for t in result.tool_calls], - "history": updated_history, - } - - -# ---------- saved task templates ---------- - -_NAME_RE = re.compile(r"^[a-zA-Z0-9 _\-àèéìòù]{1,80}$") - - -class TaskItem(BaseModel): - name: str = Field(..., min_length=1, max_length=80) - prompt: str = Field(..., min_length=1, max_length=4000) - description: Optional[str] = Field(None, max_length=400) - - -def _tasks_path(): - return data_dir() / "agent_tasks.json" - - -def _load_tasks() -> list[dict[str, Any]]: - p = _tasks_path() - if not p.exists(): - return [] - try: - with open(p, "r", encoding="utf-8") as f: - data = json.load(f) - return data if isinstance(data, list) else [] - except json.JSONDecodeError: - return [] - - -def _save_tasks(items: list[dict[str, Any]]) -> None: - p = _tasks_path() - p.parent.mkdir(parents=True, exist_ok=True) - with open(p, "w", encoding="utf-8") as f: - json.dump(items, f, ensure_ascii=False, indent=2) - - -@router.get("/tasks") -def list_tasks() -> dict[str, Any]: - return {"tasks": _load_tasks()} - - -@router.post("/tasks") -def save_task(req: TaskItem) -> dict[str, Any]: - if not _NAME_RE.match(req.name): - raise HTTPException(status_code=422, detail="nome non valido (max 80 char, alfanumerici/spazi/_-)") - items = _load_tasks() - now = time.time() - # Replace by name if already exists, otherwise append. - found = False - for it in items: - if it.get("name") == req.name: - it["prompt"] = req.prompt - it["description"] = req.description - it["updated_at"] = now - found = True - break - if not found: - items.append({ - "name": req.name, - "prompt": req.prompt, - "description": req.description, - "created_at": now, - "updated_at": now, - }) - _save_tasks(items) - return {"ok": True, "total": len(items), "name": req.name} - - -@router.delete("/tasks/{name}") -def delete_task(name: str) -> dict[str, Any]: - items = _load_tasks() - new_items = [it for it in items if it.get("name") != name] - if len(new_items) == len(items): - raise HTTPException(status_code=404, detail=f"task '{name}' non trovata") - _save_tasks(new_items) - return {"ok": True, "total": len(new_items)} diff --git a/src/presa_mano/api/pose_3d_routes.py b/src/presa_mano/api/pose_3d_routes.py index b3f9763..e9b9200 100644 --- a/src/presa_mano/api/pose_3d_routes.py +++ b/src/presa_mano/api/pose_3d_routes.py @@ -12,6 +12,7 @@ from pydantic import BaseModel, Field from ..clients import G1Unavailable from ..config import get_config, set_config_value from ..geometry import normalize_quaternion +from ..perception.pointcloud import nuwa_to_cv_frame from ..timing import Stopwatch from . import _deps @@ -57,15 +58,14 @@ class GoReq(BaseModel): @router.get("/state") def get_state() -> dict[str, Any]: sw = Stopwatch() + wrist_payload: dict[str, Any] | None = None + joints_payload: dict[str, float] | None = None + robot_error: str | None = None try: with sw.step("g1_wrist"): - w = _deps.g1().wrist() - except G1Unavailable as e: - raise HTTPException(status_code=502, detail=f"G1 unavailable: {e}") - cfg = get_config().get("pose_3d", {}) or {} - return { - "robot_active": _deps.active_robot_key(), - "wrist": { + g1 = _deps.g1() + w = g1.wrist() + wrist_payload = { "left": { "position": list(w["left_wrist"]["position"]), "quaternion": list(w["left_wrist"]["quaternion"]), @@ -74,9 +74,31 @@ def get_state() -> dict[str, Any]: "position": list(w["right_wrist"]["position"]), "quaternion": list(w["right_wrist"]["quaternion"]), }, - }, + } + # Tutti i giunti reali (mappa name → q in rad) per specchiare il robot + # nell'URDF senza ricorrere all'IK. + try: + with sw.step("g1_diagnostics"): + d = g1.diagnostics() + motors = d.get("motors") or [] + joints_payload = {m["name"]: float(m["q"]) for m in motors + if isinstance(m, dict) and "name" in m and "q" in m} + except Exception: + joints_payload = None + except G1Unavailable as e: + # Robot offline: la tab deve restare utilizzabile per editare config / + # pose salvate e visualizzare il modello (camera marker compreso). + robot_error = f"G1 unavailable: {e}" + cfg = get_config().get("pose_3d", {}) or {} + return { + "robot_active": _deps.active_robot_key(), + "wrist": wrist_payload, + "joints": joints_payload, + "robot_error": robot_error, "poses": cfg.get("named_poses") or {}, "live_max_step_m": float(cfg.get("live_max_step_m", 0.15)), + "right_wrist_camera": cfg.get("right_wrist_camera") or {}, + "clouds": cfg.get("clouds") or {}, "timings_ms": sw.as_dict(), } @@ -174,6 +196,51 @@ def delete_pose(name: str) -> dict[str, Any]: return {"deleted": name} +@router.get("/clouds") +def get_clouds(step: int = 8, max_depth_mm: int = 2000) -> dict[str, Any]: + """Acquisisce cloud da Nuwa-HP60C (eye-in-hand polso DX) e D435i (front + camera fissa sul torso) in parallelo. Ritorna entrambi in **OpenCV optical + frame** (X right, Y down, Z forward) come array `[N, 6]` con XYZ+RGB + (RGB in 0-255). Il client li attacca ai link URDF `right_wrist_yaw_link` + e `d435_link` rispettivamente, con offset/rpy configurabili. + """ + sw = Stopwatch() + result: dict[str, Any] = {"timings_ms": {}} + + def _pack(pts: "np.ndarray") -> list[list[float]]: + # Accetta sia (N,3) che (N,6). In caso di (N,3) aggiunge grigio neutro. + import numpy as np + if pts.ndim != 2: + return [] + if pts.shape[1] >= 6: + out = pts[:, :6] + else: + n = pts.shape[0] + rgb = np.full((n, 3), 180.0, dtype=pts.dtype) + out = np.hstack([pts[:, :3], rgb]) + return out.astype(float).tolist() + + # Nuwa: native frame (X right, Y up, Z back) → OpenCV optical via Y/Z flip + try: + with sw.step("nuwa_cloud"): + pts = _deps.nuwa().pointcloud(step=step, max_depth_mm=max_depth_mm) + pts_cv = nuwa_to_cv_frame(pts) + result["nuwa"] = {"n": int(pts_cv.shape[0]), "points": _pack(pts_cv)} + except Exception as e: + result["nuwa"] = {"error": f"{type(e).__name__}: {e}"} + + # D435i: stesso client NuwaClient ma backend RealSense, gia' in OpenCV + try: + with sw.step("d435_cloud"): + pts = _deps.front_camera().pointcloud(step=step, max_depth_mm=max_depth_mm) + result["d435"] = {"n": int(pts.shape[0]), "points": _pack(pts)} + except Exception as e: + result["d435"] = {"error": f"{type(e).__name__}: {e}"} + + result["timings_ms"] = sw.as_dict() + return result + + @router.post("/unlock") def post_unlock() -> dict[str, Any]: """Proxy a POST {bridge}/unlock. Recovery rapido da arms: error_timeout.""" diff --git a/src/presa_mano/clients/g1.py b/src/presa_mano/clients/g1.py index 8978fb2..ac7e9d5 100644 --- a/src/presa_mano/clients/g1.py +++ b/src/presa_mano/clients/g1.py @@ -58,6 +58,13 @@ class G1Client: """Hand finger state. Shape: {'left': {'fingers': {pinky,ring,middle,index,thumb_bend,thumb_rotation}, 'age_s'}, 'right': {...}}.""" return self._get("/hand") + def diagnostics(self) -> dict[str, Any]: + """Full motor state: {ok, demo, motors: [{name, q, dq, ...}, ...]}. + + `q` is the joint position in radians. Use for live URDF mirroring. + """ + return self._get("/diagnostics") + # ----- mutating ----- def wrist_absolute(self, side: str, position: list[float], quaternion: list[float], diff --git a/src/presa_mano/main.py b/src/presa_mano/main.py index 7927383..b4487e4 100644 --- a/src/presa_mano/main.py +++ b/src/presa_mano/main.py @@ -10,7 +10,6 @@ from fastapi.responses import HTMLResponse, JSONResponse from fastapi.staticfiles import StaticFiles from .api import ( - agent_routes, calibration_routes, config_routes, grasp_routes, @@ -39,7 +38,6 @@ app = FastAPI( app.include_router(config_routes.router, prefix="/api/config", tags=["config"]) app.include_router(home_routes.router, prefix="/api/home", tags=["home"]) -app.include_router(agent_routes.router, prefix="/api/agent", tags=["agent"]) app.include_router(calibration_routes.router, prefix="/api/calibration", tags=["calibration"]) app.include_router(perception_routes.router, prefix="/api/perception", tags=["perception"]) app.include_router(grasp_routes.router, prefix="/api/grasp", tags=["grasp"]) diff --git a/tests/test_pose_3d_routes.py b/tests/test_pose_3d_routes.py index 81e1f25..bf219a1 100644 --- a/tests/test_pose_3d_routes.py +++ b/tests/test_pose_3d_routes.py @@ -30,17 +30,26 @@ def test_state_returns_both_wrists(): assert body["wrist"]["right"]["position"] == [0.30, -0.20, 0.30] assert "poses" in body assert "live_max_step_m" in body + assert "right_wrist_camera" in body assert body["robot_active"] in ("g1", "h1") -def test_state_502_when_g1_unavailable(): +def test_state_returns_200_with_wrist_null_when_g1_unavailable(): + # La tab deve restare utilizzabile per editare config / pose salvate + # e visualizzare il modello anche senza robot vivo. from presa_mano.clients import G1Unavailable with patch("presa_mano.api.pose_3d_routes._deps.g1") as g1_factory: g1 = MagicMock() g1.wrist.side_effect = G1Unavailable("connection refused") g1_factory.return_value = g1 r = client.get("/api/pose_3d/state") - assert r.status_code == 502 + assert r.status_code == 200 + body = r.json() + assert body["wrist"] is None + assert "G1 unavailable" in (body.get("robot_error") or "") + # config esposta comunque + assert "right_wrist_camera" in body + assert "poses" in body def test_apply_dry_run_calls_g1_with_dry_run_true(): diff --git a/web/app.js b/web/app.js index bf8a86d..f68cc10 100644 --- a/web/app.js +++ b/web/app.js @@ -642,392 +642,6 @@ $('unlockBtn').addEventListener('click', async () => { } catch (e) { $('eeLog').textContent = e.message; } }); -// ==================== VISTA 3D ==================== -// Minimal canvas-2D 3D renderer: orthographic camera with yaw/pitch around a -// target point, painter's-algorithm depth sorting, mouse drag/zoom/pan. - -const view3dCanvas = $('view3dCanvas'); -const view3dCtx = view3dCanvas.getContext('2d'); - -const view3d = { - // camera - yaw: -0.6, // around base Z - pitch: 0.5, // 0 = horizontal, π/2 = top-down - scale: 350, // pixels per meter - target: [0.30, 0.0, 0.20], // world point at canvas center - // scene data - wrist: null, // { left:{position,quaternion}, right:{...} } - object: null, // { points:[[x,y,z],...], centroid:[x,y,z], n_points } - plan: null, // { grasp:{position,quaternion_xyzw}, pre_grasp:{position} } - calibrated: true, // false → object data unavailable - lastErr: null, -}; - -// ---- math helpers ---- -function quatToR(q) { - const x=q[0], y=q[1], z=q[2], w=q[3]; - const n = x*x + y*y + z*z + w*w; - if (n === 0) return [[1,0,0],[0,1,0],[0,0,1]]; - const s = 2/n; - return [ - [1 - s*(y*y + z*z), s*(x*y - z*w), s*(x*z + y*w)], - [s*(x*y + z*w), 1 - s*(x*x + z*z), s*(y*z - x*w)], - [s*(x*z - y*w), s*(y*z + x*w), 1 - s*(x*x + y*y)], - ]; -} - -// Project world point → {sx, sy, depth}. depth = camera-axis distance for sorting. -function project(p) { - const dx = p[0] - view3d.target[0]; - const dy = p[1] - view3d.target[1]; - const dz = p[2] - view3d.target[2]; - const cy = Math.cos(view3d.yaw), sy = Math.sin(view3d.yaw); - // Yaw around Z - const x1 = cy*dx + sy*dy; - const y1 = -sy*dx + cy*dy; - const z1 = dz; - // Pitch around X (camera looks roughly toward +Y after yaw, tilting down by pitch) - const cp = Math.cos(view3d.pitch), sp = Math.sin(view3d.pitch); - const y2 = cp*y1 + sp*z1; - const z2 = -sp*y1 + cp*z1; - // Orthographic: screen X = +x1; screen Y = -z2 (so +Z up on screen) - const sx = view3dCanvas.width / 2 + view3d.scale * x1; - const sxy = view3dCanvas.height / 2 - view3d.scale * z2; - // depth: y2 increases away from viewer → larger y2 = farther - return { sx, sy: sxy, depth: y2 }; -} - -function drawSegment(items, p1, p2, color, width = 2) { - const a = project(p1), b = project(p2); - items.push({ depth: (a.depth + b.depth) / 2, draw: () => { - view3dCtx.strokeStyle = color; - view3dCtx.lineWidth = width; - view3dCtx.beginPath(); - view3dCtx.moveTo(a.sx, a.sy); - view3dCtx.lineTo(b.sx, b.sy); - view3dCtx.stroke(); - }}); -} - -function drawDot(items, p, color, radius = 3) { - const a = project(p); - items.push({ depth: a.depth, draw: () => { - view3dCtx.fillStyle = color; - view3dCtx.beginPath(); - view3dCtx.arc(a.sx, a.sy, radius, 0, 2 * Math.PI); - view3dCtx.fill(); - }}); -} - -function drawLabel(items, p, text, color, dx = 8, dy = -8) { - const a = project(p); - items.push({ depth: a.depth - 1e-6, draw: () => { - view3dCtx.fillStyle = color; - view3dCtx.font = 'bold 11px ui-monospace, monospace'; - view3dCtx.fillText(text, a.sx + dx, a.sy + dy); - }}); -} - -function drawTriad(items, position, R, len = 0.06) { - // Columns of R = axis directions in base frame. - const axes = [ - { col: 0, color: '#e74c3c' }, // X - { col: 1, color: '#3ecf8e' }, // Y - { col: 2, color: '#4da3ff' }, // Z - ]; - for (const a of axes) { - const tip = [ - position[0] + R[0][a.col] * len, - position[1] + R[1][a.col] * len, - position[2] + R[2][a.col] * len, - ]; - drawSegment(items, position, tip, a.color, 2); - } -} - -function drawGroundGrid(items) { - if (!$('view3dShowGrid').checked) return; - const half = 0.6, step = 0.05; - const minor = '#1a1f27', major = '#2a2f37'; - for (let x = -half; x <= half + 1e-6; x += step) { - const isMajor = Math.abs(x % 0.10) < 1e-6; - drawSegment(items, [x, -half, 0], [x, half, 0], isMajor ? major : minor, 1); - } - for (let y = -half; y <= half + 1e-6; y += step) { - const isMajor = Math.abs(y % 0.10) < 1e-6; - drawSegment(items, [-half, y, 0], [half, y, 0], isMajor ? major : minor, 1); - } -} - -function drawBaseAxes(items) { - drawTriad(items, [0,0,0], [[1,0,0],[0,1,0],[0,0,1]], 0.12); - drawLabel(items, [0.12, 0, 0], 'X', '#e74c3c'); - drawLabel(items, [0, 0.12, 0], 'Y', '#3ecf8e'); - drawLabel(items, [0, 0, 0.12], 'Z', '#4da3ff'); - drawLabel(items, [0,0,0], 'BASE', '#9aa0a6', 8, 14); -} - -function drawWrist(items, side, pose, color) { - if (!pose || !pose.position || !pose.quaternion) return; - const p = pose.position; - const R = quatToR(pose.quaternion); - drawTriad(items, p, R, 0.08); - drawDot(items, p, color, 5); - drawLabel(items, p, `polso ${side}`, color, 10, -6); -} - -function drawObject(items) { - if (!view3d.object) return; - if ($('view3dShowCloud').checked && view3d.object.points) { - // Cap render to avoid huge per-frame work. - const max = 1500; - const pts = view3d.object.points; - const stride = Math.max(1, Math.ceil(pts.length / max)); - for (let i = 0; i < pts.length; i += stride) { - drawDot(items, pts[i], '#aaaaaa', 1.4); - } - } - if (view3d.object.centroid) { - drawDot(items, view3d.object.centroid, '#ffd54f', 6); - drawLabel(items, view3d.object.centroid, 'oggetto', '#ffd54f', 10, -8); - } -} - -function drawPlan(items) { - if (!view3d.plan) return; - const g = view3d.plan.grasp, pg = view3d.plan.pre_grasp; - if (!g || !g.position) return; - const R = quatToR(g.quaternion_xyzw); - // grasp pose triad + marker - drawTriad(items, g.position, R, 0.07); - drawDot(items, g.position, '#ff5e7e', 6); - drawLabel(items, g.position, 'grasp', '#ff5e7e', 10, -8); - // pre-grasp marker + approach line - if (pg && pg.position) { - drawDot(items, pg.position, '#ffffff', 4); - drawLabel(items, pg.position, 'pre-grasp', '#ffffff', 10, -8); - drawSegment(items, pg.position, g.position, '#ffffff', 1.5); - } -} - -function renderView3d() { - const ctx = view3dCtx; - ctx.fillStyle = '#0d1014'; - ctx.fillRect(0, 0, view3dCanvas.width, view3dCanvas.height); - - const items = []; - drawGroundGrid(items); - drawBaseAxes(items); - if (view3d.wrist) { - drawWrist(items, 'right', view3d.wrist.right, '#f0ad4e'); - drawWrist(items, 'left', view3d.wrist.left, '#9b59b6'); - } - drawObject(items); - drawPlan(items); - - // Painter's algorithm: far first. - items.sort((a, b) => b.depth - a.depth); - items.forEach(it => it.draw()); - - // HUD - ctx.fillStyle = '#9aa0a6'; - ctx.font = '11px ui-monospace, monospace'; - ctx.fillText(`yaw=${(view3d.yaw*180/Math.PI).toFixed(0)}° pitch=${(view3d.pitch*180/Math.PI).toFixed(0)}° scale=${view3d.scale.toFixed(0)} px/m`, 8, 14); - ctx.fillText(`target=[${view3d.target.map(v => v.toFixed(2)).join(', ')}]`, 8, 28); - if (!view3d.calibrated) { - ctx.fillStyle = '#f0ad4e'; - ctx.fillText('⚠ calibrazione mancante: punti oggetto non disponibili in frame base', 8, view3dCanvas.height - 8); - } - if (view3d.lastErr) { - ctx.fillStyle = '#e74c3c'; - ctx.fillText(view3d.lastErr, 8, view3dCanvas.height - 22); - } -} - -// ---- mouse interaction ---- -let drag3d = null; -view3dCanvas.addEventListener('mousedown', (ev) => { - drag3d = { x: ev.clientX, y: ev.clientY, pan: ev.shiftKey }; -}); -window.addEventListener('mouseup', () => { drag3d = null; }); -window.addEventListener('mousemove', (ev) => { - if (!drag3d) return; - const dx = ev.clientX - drag3d.x; - const dy = ev.clientY - drag3d.y; - drag3d.x = ev.clientX; drag3d.y = ev.clientY; - if (drag3d.pan) { - // Pan in screen plane → world XY (approx, ignoring pitch foreshortening on Z) - const cy = Math.cos(view3d.yaw), sy = Math.sin(view3d.yaw); - const wx = cy*dx - sy*(-dy) * Math.cos(view3d.pitch); - const wy = sy*dx + cy*(-dy) * Math.cos(view3d.pitch); - view3d.target[0] -= wx / view3d.scale; - view3d.target[1] -= wy / view3d.scale; - // also let vertical drag move target Z when looking near horizontal - view3d.target[2] += (-dy) * Math.sin(view3d.pitch) / view3d.scale; - } else { - view3d.yaw += dx * 0.01; - view3d.pitch += dy * 0.01; - view3d.pitch = Math.max(-Math.PI/2 + 0.05, Math.min(Math.PI/2 - 0.05, view3d.pitch)); - } - renderView3d(); -}); -view3dCanvas.addEventListener('wheel', (ev) => { - ev.preventDefault(); - const f = Math.exp(-ev.deltaY * 0.001); - view3d.scale = Math.max(50, Math.min(3000, view3d.scale * f)); - renderView3d(); -}, { passive: false }); -view3dCanvas.addEventListener('dblclick', () => resetView3d()); - -function resetView3d() { - view3d.yaw = -0.6; - view3d.pitch = 0.5; - view3d.scale = 350; - view3d.target = [0.30, 0.0, 0.20]; - renderView3d(); -} -$('view3dResetBtn').addEventListener('click', resetView3d); - -function autoFitView3d() { - if (!$('view3dAutoFit').checked) return; - const pts = []; - if (view3d.wrist) { - if (view3d.wrist.right && view3d.wrist.right.position) pts.push(view3d.wrist.right.position); - if (view3d.wrist.left && view3d.wrist.left.position) pts.push(view3d.wrist.left.position); - } - if (view3d.object && view3d.object.centroid) pts.push(view3d.object.centroid); - if (view3d.plan && view3d.plan.grasp && view3d.plan.grasp.position) pts.push(view3d.plan.grasp.position); - if (pts.length === 0) return; - const min = [Infinity, Infinity, Infinity], max = [-Infinity, -Infinity, -Infinity]; - for (const p of pts) for (let i = 0; i < 3; i++) { - if (p[i] < min[i]) min[i] = p[i]; - if (p[i] > max[i]) max[i] = p[i]; - } - view3d.target = [(min[0]+max[0])/2, (min[1]+max[1])/2, (min[2]+max[2])/2]; - const span = Math.max(0.15, max[0]-min[0], max[1]-min[1], max[2]-min[2]); - // fit ~70% of canvas width - view3d.scale = Math.min(2000, (view3dCanvas.width * 0.7) / (span * 2.5)); -} - -// ---- data fetching ---- -async function refreshView3d() { - view3d.lastErr = null; - const out = { wrist: null, object: null, plan: null, calibrated: true }; - const summary = []; - // Wrist (always; doesn't need calibration — already in base frame). - try { - const w = await api('GET', '/api/wrist'); - // Server returns {left_wrist, right_wrist}; tolerate {left,right} too. - const data = (w && w.data) || w || {}; - out.wrist = { - left: data.left_wrist || data.left || null, - right: data.right_wrist || data.right || null, - }; - summary.push(`wrist: ${out.wrist.right ? 'R✓' : 'R—'} ${out.wrist.left ? 'L✓' : 'L—'}`); - } catch (e) { - summary.push(`wrist: err (${e.message})`); - } - // Object points + centroid in base frame. - try { - const body = { - conf: +$('view3dConf').value || null, - class_name: $('view3dClass').value || null, - max_points: 3000, - }; - const r = await api('POST', '/api/perception/object_points', body); - const pts = r.points_base || null; - if (!pts) { - out.calibrated = false; - summary.push('oggetto: serve calibrazione'); - } else { - let cx=0, cy=0, cz=0; - for (const p of pts) { cx+=p[0]; cy+=p[1]; cz+=p[2]; } - const n = Math.max(1, pts.length); - out.object = { - points: pts, - centroid: [cx/n, cy/n, cz/n], - n_points: pts.length, - detection: r.detection, - }; - summary.push(`oggetto: ${pts.length} pt`); - } - } catch (e) { - if (/^412\b/.test(e.message)) out.calibrated = false; - summary.push(`oggetto: ${e.message}`); - } - // Grasp plan (optional). - if ($('view3dShowPlan').checked && out.calibrated && out.object) { - try { - const body = { - conf: +$('view3dConf').value || null, - class_name: $('view3dClass').value || null, - }; - const r = await api('POST', '/api/grasp/plan', body); - out.plan = r.plan || null; - if (out.plan && out.plan.grasp) { - const p = out.plan.grasp.position; - summary.push(`grasp: [${p.map(v => v.toFixed(2)).join(', ')}]`); - } - } catch (e) { - summary.push(`plan: ${e.message}`); - } - } - Object.assign(view3d, out); - autoFitView3d(); - renderView3d(); - $('view3dStatusLine').textContent = summary.join(' · '); - $('view3dStatusLine').style.color = view3d.lastErr ? 'var(--danger)' : 'var(--dim)'; - $('view3dOut').textContent = JSON.stringify({ - wrist: out.wrist, - object: out.object && { - n_points: out.object.n_points, - centroid: out.object.centroid, - detection: out.object.detection, - }, - plan: out.plan, - }, null, 2); -} - -$('view3dRefreshBtn').addEventListener('click', async () => { - setStatus('Aggiorno scena 3D…'); - try { await refreshView3d(); setStatus('Scena 3D aggiornata', 'ok'); } - catch (e) { setStatus(e.message, 'err'); } -}); - -// loop -let view3dTimer = null; -let view3dInFlight = false; -async function view3dTick() { - if (view3dInFlight) return; - view3dInFlight = true; - try { await refreshView3d(); } catch {} finally { view3dInFlight = false; } -} -function startView3dLoop() { - if (view3dTimer) return; - const rate = Math.max(200, +$('view3dRateMs').value || 800); - view3dTick(); - view3dTimer = setInterval(view3dTick, rate); - const b = $('view3dLoopBtn'); - b.textContent = '■ Stop loop'; - b.classList.add('running'); -} -function stopView3dLoop() { - if (view3dTimer) { clearInterval(view3dTimer); view3dTimer = null; } - const b = $('view3dLoopBtn'); - b.textContent = '▶ Loop'; - b.classList.remove('running'); -} -$('view3dLoopBtn').addEventListener('click', () => view3dTimer ? stopView3dLoop() : startView3dLoop()); - -// Pause loop when leaving the tab (mirrors the grasp-tab behavior). -document.querySelectorAll('.tab').forEach(btn => btn.addEventListener('click', () => { - if (btn.dataset.tab !== 'view3d' && view3dTimer) stopView3dLoop(); - if (btn.dataset.tab === 'view3d') renderView3d(); -})); - -// Initial empty render so the canvas isn't blank when first shown. -renderView3d(); - // ==================== HOME ==================== // Shows reachability + latency for every upstream microservice and lets the // user switch the active robot (G1 ↔ H1). The orchestrator runs the actual @@ -1136,349 +750,3 @@ startHomePoll(); } catch {} refreshWrist(); })(); - -// ==================== ASSISTENTE AI ==================== -// Curated tool-use chat: l'utente parla in linguaggio naturale, il backend -// passa la richiesta a OpenRouter con i tool definiti in agent/tools.py. -// La cronologia è tenuta lato browser e ribaltata indietro a ogni POST. -const agentState = { - history: [], // OpenAI-format messages (escluso system, ricostruito server-side) - visualMessages: [], // {role, content, traceIdx?} per il render - busy: false, - health: null, -}; - -function agentEscape(s) { - return String(s == null ? '' : s) - .replace(/&/g, '&').replace(//g, '>'); -} - -function renderAgentChat() { - const host = $('agentChat'); - host.innerHTML = ''; - if (agentState.visualMessages.length === 0) { - const sys = document.createElement('div'); - sys.className = 'agent-msg system'; - sys.textContent = 'Conversazione vuota. Scrivi una richiesta sotto.'; - host.appendChild(sys); - return; - } - for (const m of agentState.visualMessages) { - const div = document.createElement('div'); - div.className = `agent-msg ${m.role}`; - div.textContent = m.content || ''; - if (m.tools && m.tools.length) { - const meta = document.createElement('div'); - meta.className = 'meta'; - for (const t of m.tools) { - const pill = document.createElement('span'); - pill.className = 'agent-tool-pill' + (t.ok ? '' : ' err'); - pill.textContent = `${t.name} · ${t.latency_ms}ms`; - pill.title = JSON.stringify(t.args || {}, null, 2); - meta.appendChild(pill); - } - div.appendChild(meta); - } - host.appendChild(div); - } - host.scrollTop = host.scrollHeight; -} - -async function refreshAgentHealth() { - try { - const h = await api('GET', '/api/agent/health'); - agentState.health = h; - const el = $('agentHealth'); - if (h.configured) { - el.textContent = `pronto · modello ${h.model}`; - el.style.color = 'var(--ok)'; - $('agentSendBtn').disabled = false; - } else { - el.textContent = `API key mancante (env ${h.api_key_env}): chat disabilitata`; - el.style.color = 'var(--danger)'; - $('agentSendBtn').disabled = true; - } - } catch (e) { - $('agentHealth').textContent = `errore: ${e.message}`; - $('agentHealth').style.color = 'var(--danger)'; - } - // mirror del robot attivo nella pill della tab - try { - const r = await api('GET', '/api/home/robot'); - const pill = $('agentActiveRobotPill'); - if (pill) pill.textContent = `robot: ${(r.active || '—').toUpperCase()}`; - } catch {} -} - -async function sendAgentMessage() { - if (agentState.busy) return; - const input = $('agentInput'); - const message = input.value.trim(); - if (!message) return; - agentState.busy = true; - $('agentSendBtn').disabled = true; - $('agentStatus').textContent = 'invio…'; - $('agentStatus').style.color = 'var(--dim)'; - - agentState.visualMessages.push({ role: 'user', content: message }); - renderAgentChat(); - input.value = ''; - - try { - const r = await api('POST', '/api/agent/chat', { - message, - history: agentState.history, - }); - agentState.history = r.history || []; - const tools = (r.tool_calls || []).map(tc => ({ - name: tc.name, ok: tc.result && tc.result.ok !== false, - latency_ms: tc.latency_ms, args: tc.arguments, - })); - agentState.visualMessages.push({ - role: 'assistant', content: r.reply || '(nessuna risposta)', - tools, - }); - renderAgentChat(); - // Tool trace dettagliata nel pannello di destra. - if (r.tool_calls && r.tool_calls.length) { - $('agentTrace').textContent = JSON.stringify(r.tool_calls, null, 2); - } else { - $('agentTrace').textContent = '(nessuna chiamata)'; - } - const usage = r.usage || {}; - const u = usage.total_tokens != null ? `· ${usage.total_tokens} tokens` : ''; - $('agentStatus').textContent = `ok · ${r.iterations} iterazioni · ${tools.length} tool ${u}`; - $('agentStatus').style.color = 'var(--ok)'; - // se la risposta ha cambiato robot attivo, aggiorna pill - refreshAgentHealth().catch(() => {}); - } catch (e) { - agentState.visualMessages.push({ - role: 'error', content: e.message, - }); - renderAgentChat(); - $('agentStatus').textContent = `errore: ${e.message}`; - $('agentStatus').style.color = 'var(--danger)'; - } finally { - agentState.busy = false; - $('agentSendBtn').disabled = !(agentState.health && agentState.health.configured); - } -} - -$('agentSendBtn').addEventListener('click', sendAgentMessage); -$('agentInput').addEventListener('keydown', (e) => { - if (e.ctrlKey && e.key === 'Enter') { - e.preventDefault(); - sendAgentMessage(); - } -}); - -$('agentClearBtn').addEventListener('click', () => { - if (agentState.visualMessages.length === 0 && agentState.history.length === 0) return; - if (!confirm('Resetta la conversazione corrente?')) return; - agentState.history = []; - agentState.visualMessages = []; - renderAgentChat(); - $('agentTrace').textContent = '(nessuna chiamata)'; - $('agentStatus').textContent = 'conversazione svuotata'; -}); - -// ----- Task salvati ----- -async function loadAgentTasks() { - const ul = $('agentTaskList'); - try { - const r = await api('GET', '/api/agent/tasks'); - const items = r.tasks || []; - ul.innerHTML = ''; - if (items.length === 0) { - ul.innerHTML = '
  • (nessun task salvato)
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([...$('aiModelSelect').options].some(opt => opt.value === model)) { - $('aiModelSelect').value = model; - $('aiModelCustom').value = ''; - } else { - $('aiModelCustom').value = model; - } - $('aiTemperature').value = (o.temperature != null) ? o.temperature : 0.1; - $('aiMaxIterations').value = o.max_tool_iterations || 8; - $('aiTimeout').value = o.timeout_s || 60; - $('aiPromptAddendum').value = o.user_prompt_addendum || ''; - $('aiSettingsStatus').textContent = 'caricato da config'; - $('aiSettingsStatus').style.color = 'var(--dim)'; - } catch (e) { - $('aiSettingsStatus').textContent = `errore: ${e.message}`; - $('aiSettingsStatus').style.color = 'var(--danger)'; - } -} - -async function saveAiSettings(btn) { - const customModel = $('aiModelCustom').value.trim(); - const model = customModel || $('aiModelSelect').value; - if (!model) { toast('Modello mancante', 'Seleziona o scrivi un modello', false); return; } - const temperature = parseFloat($('aiTemperature').value); - const max_tool_iterations = parseInt($('aiMaxIterations').value, 10); - const timeout_s = parseFloat($('aiTimeout').value); - if (Number.isNaN(temperature) || temperature < 0 || temperature > 2) { - toast('Temperature non valido', '0..2', false); return; - } - if (Number.isNaN(max_tool_iterations) || max_tool_iterations < 1) { - toast('Max iterations non valido', '>=1', false); return; - } - const patch = { - chat: { openrouter: { - model, - temperature, - max_tool_iterations, - timeout_s, - user_prompt_addendum: $('aiPromptAddendum').value, - }}, - }; - try { - await api('PUT', '/api/config', patch); - flashBtn(btn, true); - toast('Salvato', `model=${model}, T=${temperature}`, true); - $('aiSettingsStatus').textContent = `salvato · model=${model} · T=${temperature}`; - $('aiSettingsStatus').style.color = 'var(--ok)'; - refreshAgentHealth().catch(() => {}); - } catch (e) { - flashBtn(btn, false); - toast('Errore salvataggio', e.message, false); - $('aiSettingsStatus').textContent = 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mode 100644 index b098c3c..0000000 --- a/web/diagnostic3d.js +++ /dev/null @@ -1,479 +0,0 @@ -/* G1 3D diagnostic viewer. - * - * Loads the URDF, builds the scene graph with two-level groups per joint - * (outer = , inner = motion driven by diagnostic q), renders meshes - * tinted by per-motor temperature and colored spheres at joint origins. - * Exposes a tiny global API consumed by app.js powerPollOnce: - * window.g1Diag3d.update(diagData) - * - * Deliberately avoids depending on any URDF library — the URDF subset we - * need (fixed/revolute/continuous/prismatic joints, single mesh per visual, - * relative mesh paths) is small enough to parse in ~50 lines. - */ - -import * as THREE from 'three'; -import { OrbitControls } from 'three/addons/controls/OrbitControls.js'; -import { STLLoader } from 'three/addons/loaders/STLLoader.js'; - -const URDF_URL = '/static/assets/g1/g1_body29_hand14.urdf'; -const MESH_BASE = '/static/assets/g1/'; - -const WARN_C_DEFAULT = 75; -const CRIT_C_DEFAULT = 85; - -function parseOrigin(el) { - if (!el) return { xyz: [0, 0, 0], rpy: [0, 0, 0] }; - const parse = (s) => s ? s.trim().split(/\s+/).map(Number) : [0, 0, 0]; - return { - xyz: parse(el.getAttribute('xyz')), - rpy: parse(el.getAttribute('rpy')), - }; -} -function parseAxis(el) { - if (!el) return [1, 0, 0]; - const s = el.getAttribute('xyz'); - return s ? s.trim().split(/\s+/).map(Number) : [1, 0, 0]; -} - -async function parseURDF(xmlText) { - const doc = new DOMParser().parseFromString(xmlText, 'application/xml'); - const links = {}; - for (const el of doc.querySelectorAll('link')) { - const name = el.getAttribute('name'); - if (!name) continue; - const v = el.querySelector('visual'); - let mesh = null, visualOrigin = { xyz: [0,0,0], rpy: [0,0,0] }; - if (v) { - visualOrigin = parseOrigin(v.querySelector('origin')); - const me = v.querySelector('geometry mesh'); - if (me) mesh = me.getAttribute('filename'); - } - links[name] = { name, mesh, visualOrigin }; - } - const joints = []; - for (const el of doc.querySelectorAll('joint')) { - const parent = el.querySelector('parent'); - const child = el.querySelector('child'); - if (!parent || !child) continue; - joints.push({ - name: el.getAttribute('name'), - type: el.getAttribute('type') || 'fixed', - parent: parent.getAttribute('link'), - child: child.getAttribute('link'), - origin: parseOrigin(el.querySelector('origin')), - axis: parseAxis(el.querySelector('axis')), - }); - } - return { links, joints }; -} - -function applyTransform(obj, o) { - obj.position.set(o.xyz[0], o.xyz[1], o.xyz[2]); - obj.rotation.order = 'ZYX'; // URDF RPY: intrinsic rotations yaw * pitch * roll - obj.rotation.set(o.rpy[0], o.rpy[1], o.rpy[2]); -} - -function tempToColor(t, warn, crit) { - if (!Number.isFinite(t)) return 0x888888; - if (t >= crit) return 0xe74c3c; - if (t >= warn) return 0xf0ad4e; - // green->yellow interpolation below warn - const u = Math.max(0, Math.min(1, (t - 30) / (warn - 30))); - const r = Math.round(0x3e + u * (0xf0 - 0x3e)); - const g = Math.round(0xcf - u * (0xcf - 0xad)); - const b = Math.round(0x8e - u * (0x8e - 0x4e)); - return (r << 16) | (g << 8) | b; -} - -class G1Viewer { - constructor(canvas) { - this.canvas = canvas; - this.renderer = new THREE.WebGLRenderer({ canvas, antialias: true }); - this.renderer.setPixelRatio(window.devicePixelRatio || 1); - this.scene = new THREE.Scene(); - this.scene.background = new THREE.Color(0x0d1014); - - // URDF is Z-up. Keep Z-up throughout for coherence with the robot base frame. - this.camera = new THREE.PerspectiveCamera(45, canvas.clientWidth / canvas.clientHeight, 0.05, 20); - this.camera.up.set(0, 0, 1); - this.camera.position.set(1.8, -1.8, 1.2); - this.camera.lookAt(0, 0, 0.4); - - this.controls = new OrbitControls(this.camera, canvas); - this.controls.target.set(0, 0, 0.4); - this.controls.update(); - - const hemi = new THREE.HemisphereLight(0xffffff, 0x222233, 0.6); - this.scene.add(hemi); - const dir = new THREE.DirectionalLight(0xffffff, 0.8); - dir.position.set(2, 2, 4); - this.scene.add(dir); - const dir2 = new THREE.DirectionalLight(0xffffff, 0.3); - dir2.position.set(-2, -1, 2); - this.scene.add(dir2); - - this.grid = new THREE.GridHelper(2, 20, 0x444444, 0x222233); - this.grid.rotation.x = Math.PI / 2; // grid is XY plane in Z-up - this.scene.add(this.grid); - - this.robotRoot = new THREE.Group(); - this.scene.add(this.robotRoot); - - this.linkGroups = {}; - this.linkMeshes = {}; - this.jointGroups = {}; // static holders - this.jointMotions = {}; // inner motion-driven holders - this.jointIndicators = {}; // sphere at joint origin - this.motorByJointName = {}; // joint_name -> motor dict (from /diagnostics) - this.warnC = WARN_C_DEFAULT; - this.critC = CRIT_C_DEFAULT; - this.showMeshTint = true; - this.showSpheres = true; - this.pinnedJoint = null; - - this.raycaster = new THREE.Raycaster(); - this.mouseNDC = new THREE.Vector2(); - - this._onResize = () => this.resize(); - window.addEventListener('resize', this._onResize); - this.canvas.addEventListener('pointermove', (ev) => this._onHover(ev)); - this.canvas.addEventListener('click', (ev) => this._onClick(ev)); - - this._animate = this._animate.bind(this); - this.resize(); - this._animate(); - } - - resize() { - const w = this.canvas.clientWidth || 720; - const h = this.canvas.clientHeight || 560; - this.renderer.setSize(w, h, false); - this.camera.aspect = w / h; - this.camera.updateProjectionMatrix(); - } - - _animate() { - this._raf = requestAnimationFrame(this._animate); - this.controls.update(); - this.renderer.render(this.scene, this.camera); - } - - async load() { - const res = await fetch(URDF_URL); - if (!res.ok) throw new Error(`URDF fetch ${res.status}`); - const xml = await res.text(); - const urdf = await parseURDF(xml); - this._urdf = urdf; - this._build(urdf); - await this._loadMeshes(urdf); - this._placeFloor(); - } - - _build(urdf) { - const childSet = new Set(urdf.joints.map(j => j.child)); - const rootName = Object.keys(urdf.links).find(n => !childSet.has(n)); - const buildLink = (name) => { - const link = urdf.links[name]; - const g = new THREE.Group(); - g.name = `link:${name}`; - g.userData.linkName = name; - this.linkGroups[name] = g; - // child joints - for (const j of urdf.joints.filter(x => x.parent === name)) { - const origin = new THREE.Group(); - applyTransform(origin, j.origin); - origin.userData.joint = j; - this.jointGroups[j.name] = origin; - const motion = new THREE.Group(); - origin.add(motion); - this.jointMotions[j.name] = motion; - // sphere indicator at joint origin (in origin's local frame → origin(0,0,0)) - const sphere = new THREE.Mesh( - new THREE.SphereGeometry(0.012, 16, 12), - new THREE.MeshBasicMaterial({ color: 0x888888, depthTest: false, transparent: true, opacity: 0.9 }), - ); - sphere.renderOrder = 999; - sphere.userData.jointName = j.name; - origin.add(sphere); - this.jointIndicators[j.name] = sphere; - motion.add(buildLink(j.child)); - g.add(origin); - } - return g; - }; - this.robotRoot.add(buildLink(rootName)); - } - - async _loadMeshes(urdf) { - const loader = new STLLoader(); - const tasks = []; - for (const name of Object.keys(urdf.links)) { - const link = urdf.links[name]; - if (!link.mesh) continue; - const url = MESH_BASE + link.mesh; - tasks.push(new Promise((resolve) => { - loader.load(url, (geom) => { - geom.computeVertexNormals(); - const mat = new THREE.MeshStandardMaterial({ - color: 0x888888, metalness: 0.1, roughness: 0.6, - flatShading: false, - }); - const mesh = new THREE.Mesh(geom, mat); - mesh.userData.linkName = name; - applyTransform(mesh, link.visualOrigin); - this.linkMeshes[name] = mesh; - this.linkGroups[name].add(mesh); - resolve(); - }, undefined, (err) => { - console.warn('STL load failed:', url, err); - resolve(); - }); - })); - } - await Promise.all(tasks); - } - - _placeFloor() { - // position grid at model's feet (min z of bounding box). - const box = new THREE.Box3().setFromObject(this.robotRoot); - if (isFinite(box.min.z)) this.grid.position.z = box.min.z; - } - - setShowGrid(v) { this.grid.visible = v; } - setShowSpheres(v) { - this.showSpheres = v; - for (const s of Object.values(this.jointIndicators)) s.visible = v; - } - setShowMeshTint(v) { - this.showMeshTint = v; - this._applyColors(); - } - - fitView() { - const box = new THREE.Box3().setFromObject(this.robotRoot); - if (!isFinite(box.min.z)) return; - const c = new THREE.Vector3(); - box.getCenter(c); - const s = new THREE.Vector3(); - box.getSize(s); - const d = Math.max(s.x, s.y, s.z) * 1.8; - this.controls.target.copy(c); - const dir = new THREE.Vector3(1, -1, 0.4).normalize(); - this.camera.position.copy(c).addScaledVector(dir, d); - this.controls.update(); - } - resetView() { - this.controls.target.set(0, 0, 0.4); - this.camera.position.set(1.8, -1.8, 1.2); - this.controls.update(); - } - - update(diagData) { - if (!diagData || !Array.isArray(diagData.motors)) return; - this.warnC = Number(diagData.warn_temp_c ?? WARN_C_DEFAULT); - this.critC = Number(diagData.crit_temp_c ?? CRIT_C_DEFAULT); - this.motorByJointName = {}; - for (const m of diagData.motors) { - const jn = m.name + '_joint'; - this.motorByJointName[jn] = m; - // Apply joint angle. - const jg = this.jointMotions[jn]; - if (jg) { - const joint = this.jointGroups[jn].userData.joint; - const ax = new THREE.Vector3(...joint.axis).normalize(); - if (joint.type === 'revolute' || joint.type === 'continuous') { - jg.quaternion.setFromAxisAngle(ax, Number(m.q) || 0); - } else if (joint.type === 'prismatic') { - jg.position.copy(ax.multiplyScalar(Number(m.q) || 0)); - } - } - } - this._applyColors(); - if (this.pinnedJoint) this._renderPinned(); - this._renderSummary(diagData); - } - - _applyColors() { - for (const [jointName, motor] of Object.entries(this.motorByJointName)) { - const joint = this.jointGroups[jointName]; - if (!joint) continue; - const temp = motor.temperature_motor; - const faulted = !!motor.faulted; - const enabled = motor.enabled !== false; - let color = tempToColor(temp, this.warnC, this.critC); - if (!enabled) color = 0x333333; - // sphere - const sph = this.jointIndicators[jointName]; - if (sph) { - sph.material.color.setHex(color); - if (faulted) sph.material.color.setHex(0xe74c3c); - } - // mesh tint on child link - const childLink = joint.userData.joint.child; - const mesh = this.linkMeshes[childLink]; - if (mesh) { - if (this.showMeshTint) { - mesh.material.color.setHex(color); - mesh.material.emissive.setHex(faulted ? 0x330000 : 0x000000); - mesh.material.emissiveIntensity = faulted ? 0.8 : 0; - } else { - mesh.material.color.setHex(0x888888); - mesh.material.emissiveIntensity = 0; - } - } - } - } - - _pickJointAt(clientX, clientY) { - const rect = this.canvas.getBoundingClientRect(); - this.mouseNDC.x = ((clientX - rect.left) / rect.width) * 2 - 1; - this.mouseNDC.y = -((clientY - rect.top) / rect.height) * 2 + 1; - this.raycaster.setFromCamera(this.mouseNDC, this.camera); - // Prefer hits on joint spheres first (small but always on top). - const sphHits = this.raycaster.intersectObjects(Object.values(this.jointIndicators), false); - if (sphHits.length) return sphHits[0].object.userData.jointName; - // Fall back to mesh hits (walk up the tree to find the joint whose motion group is the ancestor). - const meshHits = this.raycaster.intersectObjects(Object.values(this.linkMeshes), false); - if (!meshHits.length) return null; - const linkName = meshHits[0].object.userData.linkName; - // Find the joint whose child == linkName. - const joint = this._urdf.joints.find(j => j.child === linkName && this.motorByJointName[j.name]); - return joint ? joint.name : null; - } - - _onHover(ev) { - const tt = document.getElementById('diag3dTooltip'); - const joint = this._pickJointAt(ev.clientX, ev.clientY); - if (!joint) { tt.classList.add('hidden'); return; } - const m = this.motorByJointName[joint]; - if (!m) { tt.classList.add('hidden'); return; } - const cls = m.faulted ? 'err' : (m.temperature_motor >= this.critC ? 'err' : - m.temperature_motor >= this.warnC ? 'warn' : ''); - tt.className = 'diag3d-tooltip ' + cls; - tt.innerHTML = this._tooltipHTML(m); - const rect = this.canvas.getBoundingClientRect(); - tt.style.left = (ev.clientX - rect.left + 14) + 'px'; - tt.style.top = (ev.clientY - rect.top + 14) + 'px'; - } - - _onClick(ev) { - const joint = this._pickJointAt(ev.clientX, ev.clientY); - if (!joint) return; - this.pinnedJoint = joint; - this._renderPinned(); - } - - _tooltipHTML(m) { - const rows = [ - ['T motore', `${m.temperature_motor}°C`], - ['T ctrl', `${m.temperature_ctrl}°C`], - ['q', Number(m.q).toFixed(3) + ' rad'], - ['dq', Number(m.dq).toFixed(3) + ' rad/s'], - ['tau_est', Number(m.tau_est).toFixed(2) + ' Nm'], - ['V', Number(m.voltage).toFixed(2) + ' V'], - ['mode', m.mode + (m.enabled === false ? ' (OFF)' : '')], - ['fault', m.faulted ? ('0x' + Number(m.motorstate).toString(16)) : 'no'], - ]; - const body = rows.map(([k, v]) => `
    ${k}${v}
    `).join(''); - return `
    #${m.index} · ${m.name}
    ${body}`; - } - - _renderPinned() { - const host = document.getElementById('diag3dPinned'); - if (!host) return; - if (!this.pinnedJoint) return; - const m = this.motorByJointName[this.pinnedJoint]; - if (!m) { - host.innerHTML = `
    giunto ${this.pinnedJoint}: nessun motore associato
    `; - return; - } - const statusCls = m.faulted ? 'err' : - m.temperature_motor >= this.critC ? 'err' : - m.temperature_motor >= this.warnC ? 'warn' : ''; - const rows = [ - ['nome', m.name], - ['indice', m.index], - ['T motore (°C)', m.temperature_motor], - ['T ctrl (°C)', m.temperature_ctrl], - ['q (rad)', Number(m.q).toFixed(4)], - ['dq (rad/s)', Number(m.dq).toFixed(4)], - ['tau_est (Nm)', Number(m.tau_est).toFixed(3)], - ['voltaggio (V)', Number(m.voltage).toFixed(3)], - ['mode', m.mode], - ['enabled', m.enabled ? 'sì' : 'no'], - ['motorstate raw', '0x' + Number(m.motorstate).toString(16)], - ['faulted', m.faulted ? 'SÌ' : 'no'], - ['derating', m.derating ? 'sì' : 'no'], - ]; - host.innerHTML = - `
    #${m.index} · ${m.name} (giunto: ${this.pinnedJoint})
    ` + - `${rows.map(([k,v]) => - ``).join('')}
    ${k}${v}
    `; - } - - _renderSummary(d) { - const host = document.getElementById('diag3dSummary'); - if (!host) return; - const s = d.summary || {}; - const fmt = (arr) => (arr && arr.length) ? arr.join(', ') : '—'; - const rows = [ - ['lowstate', d.stale ? 'STALE' : (d.tick != null ? `tick ${d.tick}` : 'ok')], - ['max temp (°C)', s.max_motor_temp_c != null ? `${s.max_motor_temp_c} @ ${s.max_motor_temp_joint}` : '—'], - ['warn / crit (°C)', `${d.warn_temp_c} / ${d.crit_temp_c}`], - ['derating', fmt(s.derating_joints)], - ['critical', fmt(s.critical_joints)], - ['faulted', fmt(s.faulted_joints)], - ['disabled', fmt(s.disabled_joints)], - ['min V', s.min_voltage != null ? Number(s.min_voltage).toFixed(2) + ' V' : '—'], - ]; - host.innerHTML = `${rows.map(([k,v]) => - ``).join('')}
    ${k}${v}
    `; - } -} - -// ---- Boot and expose global hook. ---- - -const canvas = document.getElementById('diag3dCanvas'); -const statusEl = document.getElementById('diag3dStatus'); -let viewer = null; - -async function boot() { - if (!canvas) return; - try { - statusEl.textContent = 'caricamento URDF + mesh…'; - viewer = new G1Viewer(canvas); - await viewer.load(); - statusEl.textContent = 'URDF caricato · in attesa di /diagnostics…'; - // Wire up toolbar controls. - const by = (id) => document.getElementById(id); - by('diag3dMeshTint').addEventListener('change', (e) => viewer.setShowMeshTint(e.target.checked)); - by('diag3dSpheres').addEventListener('change', (e) => viewer.setShowSpheres(e.target.checked)); - by('diag3dGrid').addEventListener('change', (e) => viewer.setShowGrid(e.target.checked)); - by('diag3dResetBtn').addEventListener('click', () => viewer.resetView()); - by('diag3dFitBtn').addEventListener('click', () => viewer.fitView()); - // Re-size when the diagnostic tab becomes active (canvas may have 0 size while hidden). - document.querySelectorAll('.tab').forEach(btn => btn.addEventListener('click', () => { - if (btn.dataset.tab === 'diagnostic') setTimeout(() => viewer && viewer.resize(), 50); - })); - // Global hook for app.js to push diagnostic updates. - window.g1Diag3d = { - update: (d) => { - try { viewer.update(d); statusEl.textContent = - d.stale ? 'lowstate STALE' : - d.available === false ? (d.reason || '/diagnostics non disponibile') : - `motori aggiornati · tick ${d.tick ?? '?'}`; } - catch (e) { console.warn('g1Diag3d.update:', e); } - }, - }; - } catch (e) { - console.error('diag3d boot failed:', e); - statusEl.textContent = 'errore caricamento: ' + e.message; - } -} - -// Defer boot until the tab is first opened — avoids eager CDN fetch and STL load -// for users who never visit this tab. -let booted = false; -document.querySelectorAll('.tab').forEach(btn => btn.addEventListener('click', () => { - if (btn.dataset.tab === 'diagnostic' && !booted) { booted = true; boot(); } -})); diff --git a/web/index.html b/web/index.html index 8a9e58a..662c436 100644 --- a/web/index.html +++ b/web/index.html @@ -12,11 +12,8 @@

    presa-mano