feat(pose_3d): silhouette robot completa (testa+gambe+spalle) + FRONT come marker terra

web/pose_3d.js

@@ -109,18 +109,53 @@ function initScene() {
   const baseUCS = makeUCS(0.2);
   scene.add(baseUCS);
 
-  const frontArrow = makeLabelSprite('FRONT', '#ffd54f');
+  // "FRONT" label sul piano del pavimento (Z=0.01, sotto tutto) per indicare
-  frontArrow.position.set(0.30, 0, 0.05);
+  // la direzione +X del base frame. Solo marker visivo, NON interagibile
+  // (la raycaster considera solo le sfere dei polsi).
+  const frontArrow = makeLabelSprite('▲ FRONT (base +X)', '#ffd54f');
+  frontArrow.position.set(0.30, 0, 0.01);
+  frontArrow.scale.set(0.18, 0.045, 1);  // più largo ma sottile, "etichetta a terra"
   scene.add(frontArrow);
 
-  // Torso
+  // Body silhouette: torso + head + legs + shoulders
-  const torso = new THREE.Mesh(
+  const bodyMat = new THREE.MeshStandardMaterial({
-    new THREE.BoxGeometry(0.20, 0.40, 0.50),
+    color: 0x4a5560, transparent: true, opacity: 0.6,
-    new THREE.MeshStandardMaterial({ color: 0x4a5560, transparent: true, opacity: 0.7 }),
+  });
-  );
+
+  // Torso: 20cm x 40cm x 50cm, centered at TORSO_POS
+  const torso = new THREE.Mesh(new THREE.BoxGeometry(0.20, 0.40, 0.50), bodyMat);
   torso.position.copy(TORSO_POS);
   scene.add(torso);
 
+  // Head: sfera 12cm sopra il torso
+  const head = new THREE.Mesh(
+    new THREE.SphereGeometry(0.09, 24, 16), bodyMat,
+  );
+  head.position.set(TORSO_POS.x, TORSO_POS.y, TORSO_POS.z + 0.25 + 0.09);
+  scene.add(head);
+
+  // Hips (rectangle) just below torso
+  const hips = new THREE.Mesh(new THREE.BoxGeometry(0.22, 0.36, 0.10), bodyMat);
+  hips.position.set(TORSO_POS.x, TORSO_POS.y, TORSO_POS.z - 0.25 - 0.05);
+  scene.add(hips);
+
+  // Gambe: 2 cilindri verticali, da hip a Z=0
+  const legGeom = new THREE.CylinderGeometry(0.06, 0.06, 0.55, 16);
+  for (const ly of [-0.10, 0.10]) {
+    const leg = new THREE.Mesh(legGeom, bodyMat);
+    leg.rotation.x = Math.PI / 2;  // asse cilindro su Z
+    leg.position.set(TORSO_POS.x, TORSO_POS.y + ly, (TORSO_POS.z - 0.30 - 0.275));
+    scene.add(leg);
+  }
+
+  // Spalle: 2 sferette in corrispondenza degli SHOULDER
+  const shoulderGeom = new THREE.SphereGeometry(0.04, 16, 12);
+  for (const side of ['right', 'left']) {
+    const sh = new THREE.Mesh(shoulderGeom, bodyMat);
+    sh.position.copy(SHOULDER[side]);
+    scene.add(sh);
+  }
+
   // Arms
   for (const side of ['right', 'left']) {
     const wrist = makeWristMarker(side === 'right' ? 0x4da3ff : 0xff5e7e);