feat(pose_3d): POST /poses/{name}/go

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

src/presa_mano/api/pose_3d_routes.py

@@ -48,6 +48,11 @@ class ApplyReq(BaseModel):
     precise: bool = True
 
 
+class GoReq(BaseModel):
+    dry_run: bool = True
+    precise: bool = True
+
+
 @router.get("/state")
 def get_state() -> dict[str, Any]:
     sw = Stopwatch()
@@ -129,6 +134,33 @@ def put_pose(name: str, req: NamedPose) -> dict[str, Any]:
     return {"name": name, "pose": pose}
 
 
+@router.post("/poses/{name}/go")
+def post_go_pose(name: str, req: GoReq) -> dict[str, Any]:
+    _validate_name(name)
+    cfg = get_config().get("pose_3d", {}) or {}
+    poses = cfg.get("named_poses") or {}
+    pose = poses.get(name)
+    if pose is None:
+        raise HTTPException(status_code=404, detail=f"pose '{name}' non trovata")
+    sw = Stopwatch()
+    try:
+        with sw.step("wrist_absolute"):
+            res = _deps.g1(dry_run=req.dry_run).wrist_absolute(
+                side=pose["side"],
+                position=list(pose["position"]),
+                quaternion=list(pose["quaternion"]),
+                precise=req.precise,
+            )
+    except G1Unavailable as e:
+        raise HTTPException(status_code=502, detail=f"G1 unavailable: {e}")
+    return {
+        "name": name,
+        "result": res,
+        "applied": not req.dry_run,
+        "timings_ms": sw.as_dict(),
+    }
+
+
 @router.delete("/poses/{name}")
 def delete_pose(name: str) -> dict[str, Any]:
     _validate_name(name)

tests/test_pose_3d_routes.py

@@ -160,3 +160,30 @@ def test_delete_pose_removes_it():
 def test_delete_pose_404_when_missing():
     r = client.delete("/api/pose_3d/poses/nonexistent")
     assert r.status_code == 404
+
+
+def test_go_pose_404_when_missing():
+    r = client.post("/api/pose_3d/poses/missing/go", json={"dry_run": True})
+    assert r.status_code == 404
+
+
+def test_go_pose_executes_via_g1_with_stored_values():
+    captured = {}
+    def _abs(**kw):
+        captured.update(kw)
+        return {"ok": True}
+    # salva una posa
+    client.put("/api/pose_3d/poses/test_go", json={
+        "side": "left",
+        "position": [0.11, 0.22, 0.33],
+        "quaternion": [0, 0, 0, 1],
+    })
+    with patch("presa_mano.api.pose_3d_routes._deps.g1") as g1_factory:
+        g1 = MagicMock(); g1.wrist_absolute.side_effect = _abs
+        g1_factory.return_value = g1
+        r = client.post("/api/pose_3d/poses/test_go/go",
+                        json={"dry_run": False, "precise": True})
+        assert r.status_code == 200
+        assert captured["side"] == "left"
+        assert captured["position"] == [0.11, 0.22, 0.33]
+        assert captured["precise"] is True