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

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

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