feat(pose_3d): router skeleton + GET /state

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(),
+    }

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():