feat: initial commit — orchestratore presa-mano con AI assistant + dual-robot

Pipeline completa per calibrazione hand-eye e grasp planning su robot
Unitree G1/H1 con camera depth Nuwa-HP60C. Esposta come FastAPI + GUI vanilla
JS, con assistente AI (OpenRouter + tool calling curato) per pilotare il
sistema in linguaggio naturale.

Architettura:
- FastAPI orchestrator (porta da .env, default 8890) che coordina 4
  microservizi upstream: Nuwa-HP60C, marker-finder, YOLO, robot bridge.
- Dual-robot: services.g1 e services.h1 in config.yaml; switchabili a
  runtime via PUT /api/home/robot.
- Calibrazione hand-eye eye-to-hand split per-side (right/left).
- Marker pose: marker-finder riceve gli intrinseci RGB della Nuwa al boot,
  PnP server-side con quei dati. Nessun re-PnP locale richiesto.
- Depth-to-RGB: registrazione iterativa IR↔RGB per back-projection 3D
  corretta (Nuwa /api/measure usa coords IR; il nostro /api/perception/
  measure_rgb prende pixel RGB e ritorna 3D nel frame RGB OpenCV).
- Correzione affine sul depth bias (calibrabile via marker come
  ground-truth) — riduce errore Z da ~6% a ~1.5% nei test.
- AI assistant: 16 tool curati (move_wrist_*, hand_action, get_marker[_3d],
  detect_object, calibration_*, set_active_robot…), system prompt
  dinamico che riflette robot attivo + marker config + addendum
  customizzabile da GUI. Temperature di default 0.1 per evitare invenzioni.

GUI (7 tab):
- Home: stato comunicazione device + selettore robot attivo G1/H1
- Assistente AI: chat con OpenRouter, history persistita lato browser,
  task riutilizzabili (prompt salvati), trace tool calls
- Impostazioni AI: modello da combo curata, temperature, max iterations,
  prompt addendum, anteprima system prompt
- Calibrazione, Auto-Calibrazione, TrovaUtensile, Servo Visuale, Vista 3D,
  Movimento EE — invariate dalle versioni precedenti

Setup:
- Variabili in presa-mano/.env (template in .env.example)
- OPENROUTER_API_KEY richiesta solo per il tab Assistente AI
- PRESA_MANO_PORT configurabile

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

src/presa_mano/clients/marker.py

@@ -0,0 +1,68 @@
+"""Client for the marker-finder service (port 8082).
+
+Marker-finder accepts OpenCV intrinsics (`camera_matrix` 3x3 + `dist_coeffs`)
+either as a per-request `intrinsics` form field on `/detect`, or as a stored
+default via `POST /intrinsics`. We push the live Nuwa intrinsics at startup
+(see main.py) so every subsequent `/detect` produces correct poses with no
+extra work, and we still expose a per-call override for unusual cases.
+"""
+
+from __future__ import annotations
+
+import json
+from typing import Any
+
+import httpx
+
+
+class MarkerClient:
+    def __init__(self, base_url: str, timeout_s: float = 5.0):
+        self.base_url = base_url.rstrip("/")
+        self.timeout_s = timeout_s
+
+    def detect_url(self, markers: list[dict[str, Any]], image_url: str,
+                   intrinsics: dict[str, Any] | None = None) -> dict[str, Any]:
+        """Returns {'found': [...], 'not_found': [...]}.
+
+        Each found item includes 'corners' (Nx2), 'id', 'size_mm', 'position_m',
+        'rotation_matrix', 'quaternion_xyzw'. Pose is computed by marker-finder
+        with the active default intrinsics (or the per-request override).
+
+        Args:
+            intrinsics: optional per-call override, OpenCV format
+                `{"camera_matrix": [[fx,0,cx],[0,fy,cy],[0,0,1]],
+                  "dist_coeffs": [k1,k2,p1,p2,k3]}`
+                (mostly unused now that we push the Nuwa defaults at startup;
+                kept for tools that want to detect against a custom camera).
+        """
+        data = {"markers": json.dumps(markers), "image_url": image_url}
+        if intrinsics is not None:
+            data["intrinsics"] = json.dumps(intrinsics)
+        with httpx.Client(timeout=self.timeout_s) as c:
+            r = c.post(f"{self.base_url}/detect", data=data)
+        r.raise_for_status()
+        return r.json()
+
+    def get_intrinsics(self) -> dict[str, Any]:
+        """Currently-active default intrinsics on marker-finder."""
+        with httpx.Client(timeout=self.timeout_s) as c:
+            r = c.get(f"{self.base_url}/intrinsics")
+        r.raise_for_status()
+        return r.json()
+
+    def set_intrinsics(self, camera_matrix: list[list[float]],
+                       dist_coeffs: list[float],
+                       persist: bool = False) -> dict[str, Any]:
+        """Replace marker-finder's default intrinsics.
+
+        `persist=True` writes them into marker-finder's config.yaml so they
+        survive a restart. We default to in-memory only — presa-mano repushes
+        them at every startup, so persisting would just create config drift.
+        """
+        body = {"camera_matrix": camera_matrix, "dist_coeffs": dist_coeffs}
+        with httpx.Client(timeout=self.timeout_s) as c:
+            r = c.post(f"{self.base_url}/intrinsics",
+                       params={"persist": "true" if persist else "false"},
+                       json=body)
+        r.raise_for_status()
+        return r.json()