feat(pose_3d): modello reale G1 (URDF + STL meshes) al posto della silhouette finta

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Sostituisce torso/head/hips/gambe/spalle primitive in tab Pose 3D con il
modello URDF G1 (g1_body29_hand14), caricato via urdf-loader 0.12.6.

Vendor:
- web/vendor/g1/g1.urdf + 64 mesh STL (~52 MB, copiati da
  G1_API_Server/assets/g1/)
- web/vendor/three/addons/loaders/URDFLoader.js (npm urdf-loader@0.12.6),
  import path adattato a 'three/addons/loaders/STLLoader.js' (importmap
  del sito) e ColladaLoader stubbato (G1 URDF è solo STL)
- web/vendor/three/addons/loaders/URDFClasses.js (companion del loader)

pose_3d.js:
- Aggiunge loadG1Urdf(scene) async che configura loader.loadMeshCb per
  servire le STL dal mount /static/vendor/g1/meshes/
- Best-effort: in caso di errore di parsing/fetch il body non viene
  aggiunto ma la tab continua a funzionare (polsi, UCS, gizmo)

...

This commit is contained in:

Adriano Dal Pastro committed 2026-05-21 17:14:16 +02:00

1 parent 18dce0d951

commit 8c09d79505

68 files changed

+2651 -37

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