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refactor: remove visual-servo feature

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The marker-relative servo (endpoints /api/grasp/visual_servo/{plan,step,
plane/*}, helpers in grasp_routes.py, the bulk of grasp/visual_servo.py,
web/servo.js, and the Servo Visuale GUI tab) is gone. Plane fitting now
lives in /api/work_plane/* and perception/work_plane.py; Task 5 wires the
new Calibrazione Piano tab.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
Adriano Dal PastroandClaude Opus 4.7 committed 2026-05-11 17:04:00 +02:00
1 parent 565c3df2f4
commit eb53f30e23
5 files changed
+3 -1455
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web/index.html
-83
View File
@@ -14,7 +14,6 @@
<button class="tab" data-tab="agent">Assistente AI</button>
<button class="tab" data-tab="ai-settings">Impostazioni AI</button>
<button class="tab" data-tab="grasp">TrovaUtensile</button>
<button class="tab" data-tab="servo">Servo Visuale</button>
<button class="tab" data-tab="view3d">Vista 3D</button>
<button class="tab" data-tab="ee">Movimento EE</button>
</nav>
@@ -234,87 +233,6 @@
</div>
</section>
<!-- ============================== SERVO VISUALE ============================== -->
<section class="panel" id="tab-servo">
<div class="diag3d-toolbar">
<span class="post-health" id="servoStatus">—</span>
</div>
<div class="grid-2 diag3d-layout">
<div>
<div id="servoViewport" style="position:relative;width:min(100%,720px);height:440px;overflow:hidden;background:#000;border:1px solid var(--border);border-radius:4px;cursor:grab;user-select:none">
<div id="servoPanZoom" style="position:absolute;left:0;top:0;transform-origin:0 0;will-change:transform">
<img id="servoImg" alt="Nuwa RGB" style="display:block;max-width:none;pointer-events:none" draggable="false" />
<canvas id="servoOverlay" style="position:absolute;left:0;top:0;pointer-events:none"></canvas>
</div>
</div>
<div class="marker-info">RGB live · ciano = marker · giallo = oggetto · wheel zoom · drag pan · doppio click reset</div>
<h3 style="margin-top:14px">Vista 3D (frame camera)</h3>
<div class="canvas-wrap" style="width:min(100%,720px)">
<canvas id="servo3dCanvas" width="720" height="360" style="display:block;background:#0a0d11;border:1px solid var(--border);border-radius:4px"></canvas>
</div>
<div class="marker-info">origine = camera · piano viola · marker ciano · oggetto giallo · proiezioni più chiare · drag ruota · wheel zoom</div>
<div class="diag3d-legend">
<div><span class="legend-sw" style="background:#4dd0e1;border-radius:50%"></span> marker polso</div>
<div><span class="legend-sw" style="background:#ffd54f;border-radius:50%"></span> oggetto (centro bbox)</div>
</div>
</div>
<div>
<h2>Parametri</h2>
<div class="ctrl-block">
<div class="info-box">
Avvicinamento marker-relativo senza hand-eye calibration: la camera vede marker e oggetto nello stesso frame, ogni step sposta il polso della frazione indicata della distanza rimanente. Si ferma a <code>min_distance_m</code>.
</div>
<div class="kv compact">
<label>Classe (filtro) <input type="text" id="svClass" placeholder="(tutte)" /></label>
<label>Confidenza <input type="number" id="svConf" value="0.5" step="0.05" min="0" max="1" /></label>
<label>min dist (mm) <input type="number" id="svMinDist" value="100" step="10" min="20" max="500" /></label>
<label>frazione step <input type="number" id="svStepFrac" value="0.5" step="0.05" min="0.05" max="1.0" /></label>
<label>timeout (s) <input type="number" id="svTimeout" value="5" step="0.5" min="1" max="30" /></label>
<label>side
<select id="svSide">
<option value="">(config)</option>
<option value="right">right</option>
<option value="left">left</option>
</select>
</label>
<label class="inline"><input type="checkbox" id="svDryRun" checked /> dry-run (nessun moto reale)</label>
</div>
<div class="info-box" style="margin-top:8px">
<strong>Orientazione marker rispetto al polso</strong> (rvec in gradi). Se non allineato al frame polso il target risulta spostato: tuna finché marker, oggetto e target sono coerenti.
</div>
<div class="kv compact">
<label>rx (°) <input type="number" id="svRx" value="0" step="5" min="-180" max="180" /></label>
<label>ry (°) <input type="number" id="svRy" value="0" step="5" min="-180" max="180" /></label>
<label>rz (°) <input type="number" id="svRz" value="0" step="5" min="-180" max="180" /></label>
<button id="svSaveRvecBtn" title="Salva l'rvec corrente in config.yaml">Salva rvec in config</button>
</div>
<div class="actions">
<button id="svPlanBtn" class="primary">Rileva / ricalcola</button>
<button id="svStepBtn">▶ Vai al prossimo</button>
<button id="svResetBtn">Reset</button>
</div>
<div class="info-box" style="margin-top:8px">
<strong>Piano di lavoro</strong>. Clicca "Seleziona area", poi traccia un rettangolo sull'immagine con shift+drag: il backend calcola il piano dalla depth in quell'area. Marker e oggetto vengono poi proiettati su questo piano.
</div>
<div class="actions">
<button id="svPlaneSelBtn">Seleziona area</button>
<button id="svPlaneFitBtn">Calcola piano</button>
<button id="svPlaneClearBtn" class="danger">Rimuovi piano</button>
</div>
<div id="svPlaneInfo" class="marker-info">piano: —</div>
</div>
<h2>Stato</h2>
<div id="servoStats" class="ctrl-block">
<div class="dim">nessun piano calcolato</div>
</div>
<h2>Dettagli piano</h2>
<pre id="servoResult" class="log small">—</pre>
</div>
</div>
</section>
<!-- ============================== VISTA 3D ============================== -->
<section class="panel" id="tab-view3d">
<div class="grid-2">
@@ -419,6 +337,5 @@
}
</script>
<script src="/static/app.js"></script>
<script type="module" src="/static/servo.js"></script>
</body>
</html>