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>
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/* ---- Posture & Stati ---- */
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/* ---- Accensione e Stati ---- */
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margin-bottom: 14px;
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||||
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||||
.gated.disabled-group::after {
|
||||
content: "🔒 Disponibile solo con FSM = start";
|
||||
position: absolute;
|
||||
top: 4px; right: 8px;
|
||||
font-size: 11px;
|
||||
color: var(--warn);
|
||||
pointer-events: none;
|
||||
}
|
||||
pre.log.err {
|
||||
border-color: var(--danger);
|
||||
color: var(--danger);
|
||||
}
|
||||
|
||||
/* Diagnostic 3D tab */
|
||||
.diag3d-toolbar {
|
||||
display: flex;
|
||||
flex-wrap: wrap;
|
||||
gap: 14px;
|
||||
align-items: center;
|
||||
background: var(--panel);
|
||||
border: 1px solid var(--border);
|
||||
border-radius: 6px;
|
||||
padding: 8px 12px;
|
||||
margin-bottom: 16px;
|
||||
}
|
||||
#diag3dStatus { margin-left: auto; font: 12px ui-monospace, monospace; color: var(--dim); }
|
||||
.diag3d-layout .canvas-wrap { position: relative; }
|
||||
#diag3dCanvas { cursor: grab; background: #0d1014; width: 100%; height: auto; }
|
||||
#diag3dCanvas:active { cursor: grabbing; }
|
||||
.diag3d-tooltip {
|
||||
position: absolute;
|
||||
background: rgba(13,16,20,.95);
|
||||
border: 1px solid var(--border);
|
||||
border-radius: 4px;
|
||||
color: var(--fg);
|
||||
padding: 6px 8px;
|
||||
font: 11px ui-monospace, monospace;
|
||||
pointer-events: none;
|
||||
z-index: 10;
|
||||
min-width: 160px;
|
||||
max-width: 260px;
|
||||
}
|
||||
.diag3d-tooltip.hidden { display: none; }
|
||||
.diag3d-tooltip .tt-title { font-weight: 700; margin-bottom: 4px; color: var(--accent); }
|
||||
.diag3d-tooltip .tt-row { display: flex; justify-content: space-between; gap: 10px; }
|
||||
.diag3d-tooltip .tt-row .k { color: var(--dim); }
|
||||
.diag3d-tooltip.warn .tt-title { color: var(--warn); }
|
||||
.diag3d-tooltip.err .tt-title { color: var(--danger); }
|
||||
|
||||
.diag3d-legend {
|
||||
display: flex;
|
||||
flex-wrap: wrap;
|
||||
gap: 10px 18px;
|
||||
margin-top: 10px;
|
||||
font-size: 12px;
|
||||
color: var(--dim);
|
||||
}
|
||||
.diag3d-legend .legend-sw {
|
||||
display: inline-block;
|
||||
width: 14px; height: 14px;
|
||||
border-radius: 3px;
|
||||
margin-right: 6px;
|
||||
vertical-align: middle;
|
||||
}
|
||||
#diag3dPinned table, #diag3dSummary table {
|
||||
width: 100%;
|
||||
border-collapse: collapse;
|
||||
font: 12px ui-monospace, monospace;
|
||||
}
|
||||
#diag3dPinned td, #diag3dSummary td {
|
||||
padding: 3px 8px;
|
||||
border-top: 1px solid var(--border);
|
||||
}
|
||||
#diag3dPinned td:first-child, #diag3dSummary td:first-child { color: var(--dim); width: 130px; }
|
||||
#diag3dPinned tr.warn td { color: var(--warn); }
|
||||
#diag3dPinned tr.err td { color: var(--danger); }
|
||||
|
||||
.autocal-chart {
|
||||
width: 100%;
|
||||
background: #0d1014;
|
||||
border: 1px solid var(--border);
|
||||
border-radius: 4px;
|
||||
display: block;
|
||||
margin-bottom: 10px;
|
||||
}
|
||||
|
||||
/* Button feedback flash */
|
||||
button.flash-ok {
|
||||
animation: flashOk 0.8s ease-out;
|
||||
}
|
||||
button.flash-err {
|
||||
animation: flashErr 1.2s ease-out;
|
||||
}
|
||||
@keyframes flashOk {
|
||||
0% { background: var(--ok); color: #000; box-shadow: 0 0 0 3px rgba(62,207,142,.6); }
|
||||
100% {}
|
||||
}
|
||||
@keyframes flashErr {
|
||||
0%, 30% { background: var(--danger); color: #fff; box-shadow: 0 0 0 3px rgba(231,76,60,.6); }
|
||||
100% {}
|
||||
}
|
||||
|
||||
/* Global alert banner (visible across all tabs) */
|
||||
.global-alert {
|
||||
display: block;
|
||||
width: 100%;
|
||||
text-align: left;
|
||||
background: var(--panel);
|
||||
color: var(--dim);
|
||||
border: 0;
|
||||
border-top: 1px solid var(--border);
|
||||
border-bottom: 1px solid var(--border);
|
||||
padding: 6px 20px;
|
||||
font: 600 12px ui-monospace, monospace;
|
||||
cursor: pointer;
|
||||
margin: 0 -20px;
|
||||
}
|
||||
.global-alert.hidden { display: none; }
|
||||
.global-alert.warn { background: rgba(240,173,78,.18); color: var(--warn); border-color: var(--warn); }
|
||||
.global-alert.err { background: rgba(231,76,60,.22); color: var(--danger); border-color: var(--danger); animation: alertPulse 1.4s infinite; }
|
||||
@keyframes alertPulse { 50% { background: rgba(231,76,60,.40); } }
|
||||
|
||||
/* Diagnostica panel on Accensione tab */
|
||||
.diag-banner {
|
||||
background: var(--panel);
|
||||
border: 1px solid var(--border);
|
||||
border-left: 4px solid var(--dim);
|
||||
border-radius: 6px;
|
||||
padding: 8px 12px;
|
||||
font-size: 12px;
|
||||
margin-bottom: 10px;
|
||||
}
|
||||
.diag-banner.hidden { display: none; }
|
||||
.diag-banner.warn { border-left-color: var(--warn); color: var(--warn); }
|
||||
.diag-banner.err { border-left-color: var(--danger); color: var(--danger); }
|
||||
.diag-banner.ok { border-left-color: var(--ok); color: var(--ok); }
|
||||
.diag-table {
|
||||
display: grid;
|
||||
grid-template-columns: 28px 170px 1fr auto;
|
||||
gap: 4px 10px;
|
||||
align-items: center;
|
||||
background: var(--panel);
|
||||
border: 1px solid var(--border);
|
||||
border-radius: 6px;
|
||||
padding: 8px 10px;
|
||||
font-size: 12px;
|
||||
margin-bottom: 14px;
|
||||
}
|
||||
.diag-row {
|
||||
display: contents;
|
||||
}
|
||||
.diag-row > * {
|
||||
padding: 3px 0;
|
||||
border-top: 1px solid var(--border);
|
||||
}
|
||||
.diag-row:first-child > * { border-top: 0; }
|
||||
.diag-pill {
|
||||
display: inline-block;
|
||||
width: 18px; height: 18px;
|
||||
border-radius: 50%;
|
||||
text-align: center;
|
||||
line-height: 18px;
|
||||
font-size: 11px;
|
||||
background: var(--border);
|
||||
color: var(--dim);
|
||||
font-weight: 700;
|
||||
}
|
||||
.diag-row.ok .diag-pill { background: var(--ok); color: #000; }
|
||||
.diag-row.warn .diag-pill { background: var(--warn); color: #000; }
|
||||
.diag-row.err .diag-pill { background: var(--danger); color: #fff; }
|
||||
.diag-row.na .diag-pill { background: transparent; color: var(--dim); border: 1px dashed var(--border); }
|
||||
.diag-label { color: var(--fg); font-weight: 600; }
|
||||
.diag-value { font-family: ui-monospace, monospace; color: var(--dim); overflow: hidden; text-overflow: ellipsis; }
|
||||
.diag-row.ok .diag-value { color: var(--ok); }
|
||||
.diag-row.warn .diag-value { color: var(--warn); }
|
||||
.diag-row.err .diag-value { color: var(--danger); }
|
||||
.diag-hint { color: var(--dim); font-size: 11px; text-align: right; }
|
||||
|
||||
/* Per-joint temperature grid */
|
||||
details.joint-temps {
|
||||
background: var(--panel);
|
||||
border: 1px solid var(--border);
|
||||
border-radius: 6px;
|
||||
padding: 8px 12px;
|
||||
margin-bottom: 14px;
|
||||
}
|
||||
details.joint-temps summary { cursor: pointer; font-weight: 600; font-size: 12px; color: var(--fg); }
|
||||
.joint-temps-grid {
|
||||
display: grid;
|
||||
grid-template-columns: repeat(auto-fill, minmax(230px, 1fr));
|
||||
gap: 4px 14px;
|
||||
margin-top: 10px;
|
||||
font: 11px ui-monospace, monospace;
|
||||
}
|
||||
.joint-row {
|
||||
display: grid;
|
||||
grid-template-columns: 28px 1fr 44px 90px;
|
||||
align-items: center;
|
||||
gap: 6px;
|
||||
padding: 2px 0;
|
||||
}
|
||||
.joint-row .j-idx { color: var(--dim); text-align: right; }
|
||||
.joint-row .j-name { color: var(--fg); overflow: hidden; text-overflow: ellipsis; white-space: nowrap; }
|
||||
.joint-row .j-temp { color: var(--dim); text-align: right; }
|
||||
.joint-row .j-bar {
|
||||
background: #0d1014;
|
||||
border: 1px solid var(--border);
|
||||
border-radius: 3px;
|
||||
height: 12px;
|
||||
position: relative;
|
||||
overflow: hidden;
|
||||
}
|
||||
.joint-row .j-fill {
|
||||
position: absolute; top: 0; left: 0; bottom: 0;
|
||||
background: var(--ok);
|
||||
transition: width .2s ease, background .2s ease;
|
||||
}
|
||||
.joint-row .j-mark {
|
||||
position: absolute; top: -1px; bottom: -1px;
|
||||
width: 2px;
|
||||
margin-left: -1px;
|
||||
background: var(--fg);
|
||||
opacity: 0.85;
|
||||
pointer-events: none;
|
||||
transition: left .2s ease;
|
||||
}
|
||||
.joint-row.warn .j-fill { background: var(--warn); }
|
||||
.joint-row.err .j-fill { background: var(--danger); }
|
||||
.joint-row.warn .j-temp { color: var(--warn); }
|
||||
.joint-row.err .j-temp { color: var(--danger); }
|
||||
.joint-row.faulted { outline: 1px solid var(--danger); border-radius: 3px; }
|
||||
.joint-row.disabled .j-name { color: var(--dim); }
|
||||
|
||||
/* Toast shown globally on each command outcome */
|
||||
.toast-host {
|
||||
position: fixed;
|
||||
right: 16px;
|
||||
bottom: 16px;
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
gap: 6px;
|
||||
z-index: 10000;
|
||||
pointer-events: none;
|
||||
}
|
||||
.toast {
|
||||
background: var(--panel);
|
||||
color: var(--fg);
|
||||
border: 1px solid var(--border);
|
||||
border-left: 4px solid var(--dim);
|
||||
padding: 8px 12px;
|
||||
border-radius: 6px;
|
||||
font-size: 12px;
|
||||
min-width: 260px;
|
||||
max-width: 520px;
|
||||
box-shadow: 0 4px 14px rgba(0,0,0,.4);
|
||||
animation: toastIn 0.2s ease-out;
|
||||
}
|
||||
.toast.ok { border-left-color: var(--ok); }
|
||||
.toast.err { border-left-color: var(--danger); color: var(--danger); }
|
||||
.toast.fade { transition: opacity 0.4s ease-in; opacity: 0; }
|
||||
.toast .t-title { font-weight: 700; margin-bottom: 2px; }
|
||||
.toast .t-body { font-family: ui-monospace, monospace; color: var(--dim); white-space: pre-wrap; }
|
||||
@keyframes toastIn { from { transform: translateY(8px); opacity: 0; } to { transform: none; opacity: 1; } }
|
||||
|
||||
/* ---------- Home tab ---------- */
|
||||
.device-status-table { width: 100%; border-collapse: collapse; margin-top: 8px; font-size: 13px; }
|
||||
.device-status-table th, .device-status-table td { padding: 8px 10px; border-bottom: 1px solid var(--border); text-align: left; vertical-align: middle; }
|
||||
.device-status-table th { font-weight: 600; color: var(--dim); background: rgba(255,255,255,0.02); }
|
||||
.device-status-table code { font-size: 12px; color: var(--dim); }
|
||||
.device-pill { display: inline-block; padding: 2px 8px; border-radius: 999px; font-size: 12px; font-weight: 600; }
|
||||
.device-pill.ok { background: rgba(62,207,142,0.15); color: var(--ok); border: 1px solid var(--ok); }
|
||||
.device-pill.err { background: rgba(231,76,60,0.15); color: var(--danger); border: 1px solid var(--danger); }
|
||||
.active-robot-pill { font-size: 12px; padding: 4px 10px; border-radius: 999px; background: rgba(77,163,255,0.15); color: var(--accent); border: 1px solid var(--accent); margin-left: 12px; }
|
||||
|
||||
/* ---------- Assistente AI tab ---------- */
|
||||
.agent-layout > div { display: flex; flex-direction: column; }
|
||||
.agent-chat {
|
||||
border: 1px solid var(--border);
|
||||
border-radius: 4px;
|
||||
padding: 10px;
|
||||
height: 420px;
|
||||
overflow-y: auto;
|
||||
background: rgba(0,0,0,0.15);
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
gap: 8px;
|
||||
}
|
||||
.agent-msg { padding: 8px 12px; border-radius: 6px; max-width: 90%; line-height: 1.4; font-size: 13px; white-space: pre-wrap; word-wrap: break-word; }
|
||||
.agent-msg.user { align-self: flex-end; background: rgba(77,163,255,0.15); border: 1px solid var(--accent); }
|
||||
.agent-msg.assistant { align-self: flex-start; background: rgba(255,255,255,0.04); border: 1px solid var(--border); }
|
||||
.agent-msg.system { align-self: stretch; background: rgba(240,173,78,0.08); border: 1px dashed var(--warn); color: var(--dim); font-style: italic; }
|
||||
.agent-msg.error { align-self: stretch; background: rgba(231,76,60,0.10); border: 1px solid var(--danger); color: var(--danger); }
|
||||
.agent-msg .meta { font-size: 10px; color: var(--dim); margin-top: 4px; }
|
||||
.agent-tool-pill { display: inline-block; padding: 1px 8px; margin: 2px 2px 0 0; font-size: 11px; border-radius: 999px; background: rgba(62,207,142,0.12); border: 1px solid var(--ok); color: var(--ok); }
|
||||
.agent-tool-pill.err { background: rgba(231,76,60,0.12); border-color: var(--danger); color: var(--danger); }
|
||||
.agent-input-row { display: flex; gap: 8px; align-items: stretch; margin-top: 8px; }
|
||||
.agent-input-row textarea { flex: 1; resize: vertical; font-family: ui-monospace, monospace; font-size: 13px; padding: 8px; background: #0e1116; color: inherit; border: 1px solid var(--border); border-radius: 4px; }
|
||||
.agent-input-row button { white-space: nowrap; }
|
||||
.agent-task-list { list-style: none; padding: 0; margin: 8px 0; max-height: 260px; overflow-y: auto; }
|
||||
.agent-task-list li { display: flex; gap: 6px; align-items: center; padding: 6px 8px; border-bottom: 1px solid var(--border); font-size: 12px; }
|
||||
.agent-task-list li:hover { background: rgba(255,255,255,0.03); }
|
||||
.agent-task-list .task-name { font-weight: 600; flex: 0 0 auto; }
|
||||
.agent-task-list .task-desc { color: var(--dim); flex: 1; overflow: hidden; text-overflow: ellipsis; white-space: nowrap; }
|
||||
.agent-task-list button.link-btn { font-size: 11px; padding: 2px 6px; }
|
||||
Reference in new issue
Block a user