diff --git a/config.yaml b/config.yaml
index a918341..475be3f 100644
--- a/config.yaml
+++ b/config.yaml
@@ -48,11 +48,15 @@ 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
   camera_offset_wrist_mm:
     x: 0.0
     y: 0.0
     z: 100.0
-  cluster_depth_window_m: 0.20
+  cluster_depth_window_m: 0.2
+  verify_marker:
+    id: 1
+    size_mm: 40.0
   max_step_m: 0.15
   z_floor_m: null
   home_pose:
@@ -73,6 +77,9 @@ tab_right_arm:
     - 0
     - 0
     - 0
+pose_3d:
+  live_max_step_m: 0.15
+  named_poses: {}
 grasp:
   approach_offset_m: 0.1
   pre_grasp_clearance_m: 0.05
diff --git a/src/presa_mano/api/pose_3d_routes.py b/src/presa_mano/api/pose_3d_routes.py
new file mode 100644
index 0000000..63317bb
--- /dev/null
+++ b/src/presa_mano/api/pose_3d_routes.py
@@ -0,0 +1,55 @@
+"""Endpoint per la tab "Pose 3D": editor visuale + jog dei polsi."""
+from __future__ import annotations
+
+import logging
+from typing import Any, Literal, Optional
+
+from fastapi import APIRouter, HTTPException
+from pydantic import BaseModel, Field
+
+from ..clients import G1Unavailable
+from ..config import get_config
+from ..timing import Stopwatch
+from . import _deps
+
+router = APIRouter()
+log = logging.getLogger(__name__)
+
+
+class WristPose(BaseModel):
+    position: list[float]
+    quaternion: list[float]
+
+
+class NamedPose(BaseModel):
+    side: Literal["left", "right"]
+    position: list[float] = Field(min_length=3, max_length=3)
+    quaternion: list[float] = Field(min_length=4, max_length=4)
+    note: Optional[str] = None
+
+
+@router.get("/state")
+def get_state() -> dict[str, Any]:
+    sw = Stopwatch()
+    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": {
+            "left": {
+                "position": list(w["left_wrist"]["position"]),
+                "quaternion": list(w["left_wrist"]["quaternion"]),
+            },
+            "right": {
+                "position": list(w["right_wrist"]["position"]),
+                "quaternion": list(w["right_wrist"]["quaternion"]),
+            },
+        },
+        "poses": cfg.get("named_poses") or {},
+        "live_max_step_m": float(cfg.get("live_max_step_m", 0.15)),
+        "timings_ms": sw.as_dict(),
+    }
diff --git a/src/presa_mano/main.py b/src/presa_mano/main.py
index da7a172..7927383 100644
--- a/src/presa_mano/main.py
+++ b/src/presa_mano/main.py
@@ -17,6 +17,7 @@ from .api import (
     home_routes,
     models_routes,
     perception_routes,
+    pose_3d_routes,
     posture_routes,
     right_arm_routes,
     robot_routes,
@@ -48,6 +49,7 @@ app.include_router(posture_routes.router, prefix="/api/posture", tags=["posture"
 app.include_router(robot_routes.router, prefix="/api/robot", tags=["robot"])
 app.include_router(right_arm_routes.router, prefix="/api/right_arm", tags=["right_arm"])
 app.include_router(work_plane_routes.router, prefix="/api/work_plane", tags=["work_plane"])
+app.include_router(pose_3d_routes.router, prefix="/api/pose_3d", tags=["pose_3d"])
 
 WEB_DIR = Path(__file__).resolve().parents[2] / "web"
 if WEB_DIR.exists():
diff --git a/tests/test_pose_3d_routes.py b/tests/test_pose_3d_routes.py
new file mode 100644
index 0000000..09054ce
--- /dev/null
+++ b/tests/test_pose_3d_routes.py
@@ -0,0 +1,43 @@
+"""Integration test del router /api/pose_3d/*."""
+from __future__ import annotations
+
+from unittest.mock import patch, MagicMock
+
+from fastapi.testclient import TestClient
+
+from presa_mano.main import app
+
+client = TestClient(app)
+
+
+def _fake_wrist_pair():
+    return {
+        "left_wrist":  {"position": [0.10, 0.20, 0.30], "quaternion": [0, 0, 0, 1]},
+        "right_wrist": {"position": [0.30, -0.20, 0.30], "quaternion": [0, 0, 0, 1]},
+    }
+
+
+def test_state_returns_both_wrists():
+    with patch("presa_mano.api.pose_3d_routes._deps.g1") as g1_factory:
+        g1 = MagicMock()
+        g1.wrist.return_value = _fake_wrist_pair()
+        g1_factory.return_value = g1
+        r = client.get("/api/pose_3d/state")
+        assert r.status_code == 200
+        body = r.json()
+        assert "wrist" in body
+        assert body["wrist"]["left"]["position"] == [0.10, 0.20, 0.30]
+        assert body["wrist"]["right"]["position"] == [0.30, -0.20, 0.30]
+        assert "poses" in body
+        assert "live_max_step_m" in body
+        assert body["robot_active"] in ("g1", "h1")
+
+
+def test_state_502_when_g1_unavailable():
+    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