feat(deps): aggiungi front_camera() e tab_right_arm_cfg()

src/presa_mano/api/_deps.py

@@ -26,6 +26,12 @@ def nuwa() -> NuwaClient:
     return NuwaClient(c["base_url"], timeout_s=c.get("timeout_s", 5.0), api_key=c.get("api_key"))
 
 
+def front_camera() -> NuwaClient:
+    """Camera depth montata sulla fronte del robot (servizio Nuwa-like in docker)."""
+    c = _svc(get_config(), "front_camera")
+    return NuwaClient(c["base_url"], timeout_s=c.get("timeout_s", 5.0))
+
+
 def marker() -> MarkerClient:
     c = _svc(get_config(), "marker_finder")
     return MarkerClient(c["base_url"], timeout_s=c.get("timeout_s", 5.0))
@@ -132,3 +138,8 @@ def samples_file_path(side: str | None = None) -> Path:
 def depth_correction_path() -> Path:
     """Where the depth-bias correction state (params + samples) is persisted."""
     return data_dir() / "depth_correction.json"
+
+
+def tab_right_arm_cfg() -> dict[str, Any]:
+    """Blocco di config per la tab Braccio DX. Restituisce {} se mancante."""
+    return get_config().get("tab_right_arm", {}) or {}

tests/test_deps_right_arm.py

@@ -0,0 +1,23 @@
+"""Verifica che _deps esponga front_camera() e tab_right_arm_cfg()."""
+from __future__ import annotations
+
+from presa_mano.api import _deps
+from presa_mano.clients import NuwaClient
+
+
+def test_front_camera_returns_nuwa_client_with_config_base_url():
+    cam = _deps.front_camera()
+    assert isinstance(cam, NuwaClient)
+    # base_url da config.yaml (stripped della trailing slash dal client)
+    assert cam.base_url.startswith("http")
+    # Deve essere DIVERSO dall'URL della nuwa principale
+    assert cam.base_url != _deps.nuwa().base_url
+
+
+def test_tab_right_arm_cfg_returns_dict_with_required_keys():
+    cfg = _deps.tab_right_arm_cfg()
+    assert cfg["yolo_class"] == "pestello"
+    for key in ("yolo_conf_front", "yolo_conf_wrist", "move_offset_camera_mm",
+                "axis_sign_cam_to_wrist", "max_step_m", "z_floor_m",
+                "home_pose", "custom_pose"):
+        assert key in cfg