refactor: cleanup GUI + AI movement controls + depth-correction polish

GUI:
- Rimossa tab "Calibrazione" (sostituita dalla calibrazione via AI con saved
  task `calibrazione_dx`/`calibrazione_sx`, oppure dalla tab "Auto-
  Calibrazione" per il flusso a griglia automatica). Backend
  calibration_routes invariato — tool AI continuano a usarlo.

AI tools:
- Esposto `precise` su `move_wrist_absolute` e `move_wrist_relative`
  (forwarded al campo omonimo del bridge robot, controlla la modalità di
  controllo: false=veloce/tolleranza ampia, true=lento/posa accurata).
- Aggiunto `arms_go_neutral` come tool dedicato (POST /arms/go_neutral del
  bridge): usato dall'AI per "torna a casa / posizione di riposo". Niente
  side, agisce su entrambe le braccia.
- Fix `device_status`: ora wrappa la risposta con `_ok(...)` così il
  dispatcher la classifica correttamente.

Prompt:
- System prompt aggiornato: l'AI ora passa SEMPRE `precise=true` di default
  sui movimenti, escluso quando l'utente chiede esplicitamente velocità.
  Sezione dedicata su come tornare a riposo (arms_go_neutral).
- Documentato che `measured_side_mm` (ritornato da get_marker_3d) viene
  distorto dalla correzione affine sul depth — non usarlo per validare la
  size_mm dichiarata.

Saved tasks:
- `calibrazione_dx` e `calibrazione_sx` ora partono e finiscono con
  `arms_go_neutral`, cancellano i sample preesistenti per quel lato, e
  acquisiscono ≥10 sample con `precise=true` su una griglia ±80mm + ±15° di
  rotazione attorno alla posa home.

Config:
- Marker corrente: id=10, size=40mm (cambiato il tag fisico sul polso).
- Addendum prompt allentato: niente più "max 3 righe", ora chiede di
  riportare il risultato di OGNI tool chiamato.

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

config.yaml

@@ -20,8 +20,8 @@ services:
 aruco:
   dictionary: DICT_4X4_50
   wrist_marker:
-    id: 20
+    id: 10
-    size_mm: 103.0
+    size_mm: 40.0
 robot:
   wrist_side: right
   active: h1
@@ -53,5 +53,6 @@ chat:
     api_key_env: OPENROUTER_API_KEY
     referer: http://localhost:8890
     title: presa-mano
-    user_prompt_addendum: L'operatore preferisce risposte molto telegrafiche, max
+    user_prompt_addendum: Misure sempre in mm interi. Sii conciso ma riporta i risultati
-      3 righe se possibile. Misure sempre in mm interi.
+      di OGNI tool che hai chiamato (anche solo in una riga compatta), non saltare
+      informazioni rilevanti.

src/presa_mano/agent/prompt.py

@@ -52,11 +52,25 @@ un robot umanoide (Unitree G1 o H1) con una camera depth Nuwa-HP60C fissa.
 - Movimenti **relativi**: `move_wrist_relative(side, delta_position)` —
   delta in metri, frame base. Se l'utente dice "muovi di 200 mm in X+", passa
   delta=[0.2, 0, 0]. Conferma sempre il risultato leggendo la nuova posa.
+- **Modalità precise**: per default passa SEMPRE `precise=true` su
+  `move_wrist_absolute` e `move_wrist_relative`. Imposta `precise=false`
+  solo se l'utente lo chiede esplicitamente (es. "muovi veloce",
+  "avvicinati grossomodo"). Lo `precise=true` garantisce che il controller
+  raggiunga la posa target con accuratezza fine — necessario per
+  acquisizione sample di calibrazione, avvicinamento al grasp, e in generale
+  ogni movimento dove la posa finale conta.
 - Default `dry_run=true` su tutte le operazioni di motion: NON fai mai partire
   un movimento reale senza che l'utente l'abbia chiesto esplicitamente.
 - Le mani: `hand_action(side, action)` con `action ∈
   {{LEFT_OPEN, LEFT_CLOSE, RIGHT_OPEN, RIGHT_CLOSE}}`.
 
+## Posizione di riposo (home) delle braccia
+- Quando l'operatore dice **"torna a casa"**, **"home"**, **"posizione di
+  riposo"** o simili, chiama `arms_go_neutral()`. Agisce su entrambe le
+  braccia simultaneamente (è un comando del bridge, niente side da scegliere).
+- Default `dry_run=true` come per gli altri movimenti — chiedi conferma
+  prima di mandarlo dal vivo.
+
 ## Calibrazione hand-eye (eye-to-hand)
 La calibrazione lega `T_base_camera`. È **specifica per braccio**: dx e sx
 hanno file separati. Procedura completa quando l'utente dice "calibra":

src/presa_mano/agent/tools.py

@@ -89,7 +89,10 @@ def _h_set_active_robot(args: dict[str, Any]) -> dict[str, Any]:
 def _h_device_status(_: dict[str, Any]) -> dict[str, Any]:
     """Reuses the home_routes implementation to avoid duplicating the ping logic."""
     from ..api.home_routes import status as _status
-    return _status()
+    try:
+        return _ok(**_status())
+    except Exception as e:
+        return _err(str(e))
 
 
 # ----- tool: wrist read/move ------------------------------------------------
@@ -118,11 +121,12 @@ def _h_move_wrist_absolute(args: dict[str, Any]) -> dict[str, Any]:
             return _err("position deve avere 3 float (m), quaternion 4 float (xyzw)")
         dry_run = bool(args.get("dry_run", True))
         timeout_s = float(args.get("timeout_s", 5.0))
+        precise = bool(args.get("precise", False))
         result = _deps.g1(dry_run=dry_run).wrist_absolute(
             side=side, position=position, quaternion=quaternion,
-            wait=True, timeout_s=timeout_s,
+            wait=True, timeout_s=timeout_s, precise=precise,
         )
-        return _ok(dry_run=dry_run, side=side, response=result)
+        return _ok(dry_run=dry_run, side=side, precise=precise, response=result)
     except (G1Unavailable, G1StatusError) as e:
         return _err(f"motion failed: {e}")
     except Exception as e:
@@ -140,19 +144,34 @@ def _h_move_wrist_relative(args: dict[str, Any]) -> dict[str, Any]:
             return _err("delta_quaternion deve avere 4 float (xyzw) o essere null")
         dry_run = bool(args.get("dry_run", True))
         timeout_s = float(args.get("timeout_s", 5.0))
+        precise = bool(args.get("precise", False))
         result = _deps.g1(dry_run=dry_run).wrist_relative(
             side=side,
             delta_position=list(dp) if dp is not None else None,
             delta_quaternion=list(dq) if dq is not None else None,
-            wait=True, timeout_s=timeout_s,
+            wait=True, timeout_s=timeout_s, precise=precise,
         )
-        return _ok(dry_run=dry_run, side=side, response=result)
+        return _ok(dry_run=dry_run, side=side, precise=precise, response=result)
     except (G1Unavailable, G1StatusError) as e:
         return _err(f"motion failed: {e}")
     except Exception as e:
         return _err(str(e))
 
 
+def _h_arms_go_neutral(args: dict[str, Any]) -> dict[str, Any]:
+    """Riporta entrambe le braccia alla posa di home / riposo built-in del
+    bridge (POST /arms/go_neutral). È l'unico modo standard di "tornare a
+    casa" — non serve registrare pose custom."""
+    try:
+        dry_run = bool(args.get("dry_run", True))
+        result = _deps.g1(dry_run=dry_run).arms_go_neutral()
+        return _ok(dry_run=dry_run, response=result)
+    except (G1Unavailable, G1StatusError) as e:
+        return _err(f"go_neutral failed: {e}")
+    except Exception as e:
+        return _err(str(e))
+
+
 def _h_hand_action(args: dict[str, Any]) -> dict[str, Any]:
     try:
         action = str(args.get("action", "")).upper()
@@ -422,6 +441,7 @@ _HANDLERS: dict[str, Callable[[dict[str, Any]], dict[str, Any]]] = {
     "move_wrist_absolute": _h_move_wrist_absolute,
     "move_wrist_relative": _h_move_wrist_relative,
     "hand_action": _h_hand_action,
+    "arms_go_neutral": _h_arms_go_neutral,
     "get_marker": _h_get_marker,
     "get_marker_3d": _h_get_marker_3d,
     "detect_object": _h_detect_object,
@@ -479,7 +499,13 @@ TOOL_DEFINITIONS: list[dict[str, Any]] = [
         "type": "function",
         "function": {
             "name": "move_wrist_absolute",
-            "description": "Sposta il polso a una posa assoluta nel frame base. Default dry_run=true: il robot NON si muove davvero finché dry_run=false.",
+            "description": (
+                "Sposta il polso a una posa assoluta nel frame base. Default dry_run=true: "
+                "il robot NON si muove davvero finché dry_run=false. Usa precise=true per "
+                "movimenti che richiedono accuratezza fine (es. acquisizione sample di "
+                "calibrazione, avvicinamento finale al grasp); precise=false è il default, "
+                "più veloce ma con tolleranza maggiore."
+            ),
             "parameters": {
                 "type": "object",
                 "required": ["side", "position", "quaternion"],
@@ -490,6 +516,8 @@ TOOL_DEFINITIONS: list[dict[str, Any]] = [
                     "quaternion": {"type": "array", "items": {"type": "number"}, "minItems": 4, "maxItems": 4,
                                     "description": "x,y,z,w"},
                     "dry_run": {"type": "boolean", "default": True},
+                    "precise": {"type": "boolean", "default": False,
+                                "description": "true = controllo accurato (più lento)"},
                     "timeout_s": {"type": "number", "default": 5.0},
                 },
             },
@@ -499,7 +527,11 @@ TOOL_DEFINITIONS: list[dict[str, Any]] = [
         "type": "function",
         "function": {
             "name": "move_wrist_relative",
-            "description": "Sposta il polso di un delta rispetto alla posa attuale. delta_position in metri (frame base), delta_quaternion opzionale. Default dry_run=true.",
+            "description": (
+                "Sposta il polso di un delta rispetto alla posa attuale. delta_position "
+                "in metri (frame base), delta_quaternion opzionale. Default dry_run=true. "
+                "Usa precise=true se serve accuratezza fine."
+            ),
             "parameters": {
                 "type": "object",
                 "required": ["side"],
@@ -508,11 +540,27 @@ TOOL_DEFINITIONS: list[dict[str, Any]] = [
                     "delta_position": {"type": "array", "items": {"type": "number"}, "minItems": 3, "maxItems": 3},
                     "delta_quaternion": {"type": "array", "items": {"type": "number"}, "minItems": 4, "maxItems": 4},
                     "dry_run": {"type": "boolean", "default": True},
+                    "precise": {"type": "boolean", "default": False},
                     "timeout_s": {"type": "number", "default": 5.0},
                 },
             },
         },
     },
+    {
+        "type": "function",
+        "function": {
+            "name": "arms_go_neutral",
+            "description": (
+                "Riporta ENTRAMBE le braccia alla posa di home/riposo del robot "
+                "(POST /arms/go_neutral sul bridge). Usa quando l'utente dice "
+                "'torna a casa', 'home', 'posizione di riposo'. Default dry_run=true."
+            ),
+            "parameters": {
+                "type": "object",
+                "properties": {"dry_run": {"type": "boolean", "default": True}},
+            },
+        },
+    },
     {
         "type": "function",
         "function": {

src/presa_mano/clients/g1.py

@@ -70,8 +70,11 @@ class G1Client:
 
     def wrist_relative(self, side: str, delta_position: list[float] | None = None,
                        delta_quaternion: list[float] | None = None, wait: bool = True,
-                       timeout_s: float = 5.0) -> dict[str, Any]:
+                       timeout_s: float = 5.0, precise: bool = False) -> dict[str, Any]:
-        body: dict[str, Any] = {"side": side, "wait": wait, "timeout_s": timeout_s}
+        # `precise` is forwarded but the bridge silently ignores it on
+        # /wrist/relative if not supported — safer to always send it.
+        body: dict[str, Any] = {"side": side, "wait": wait, "timeout_s": timeout_s,
+                                 "precise": precise}
         if delta_position is not None:
             body["delta_position"] = delta_position
         if delta_quaternion is not None:

web/app.js

@@ -109,259 +109,6 @@ async function api(method, path, body = null) {
   return data;
 }
 
-// ==================== CALIBRAZIONE ====================
-const calibCanvas = $('calibCanvas');
-const calibCtx = calibCanvas.getContext('2d');
-let displayedRgb = null;       // last successfully loaded Image (stays on screen)
-let rgbInFlight = false;
-let previewInFlight = false;
-let lastMarker = null;
-let lastMarkerTs = 0;
-const MARKER_STALE_MS = 1500;  // keep overlay this long across hiccups
-
-function drawCalibFrame() {
-  if (displayedRgb) {
-    if (calibCanvas.width !== displayedRgb.naturalWidth) {
-      calibCanvas.width = displayedRgb.naturalWidth;
-      calibCanvas.height = displayedRgb.naturalHeight;
-    }
-    calibCtx.drawImage(displayedRgb, 0, 0);
-  } else {
-    calibCtx.fillStyle = '#000';
-    calibCtx.fillRect(0, 0, calibCanvas.width, calibCanvas.height);
-    calibCtx.fillStyle = '#666';
-    calibCtx.font = '14px sans-serif';
-    calibCtx.fillText('no RGB', 20, 30);
-  }
-  const fresh = lastMarker && lastMarker.found && (performance.now() - lastMarkerTs < MARKER_STALE_MS);
-  if (fresh) {
-    const c = lastMarker.corners;
-    calibCtx.strokeStyle = '#3ecf8e';
-    calibCtx.lineWidth = 3;
-    calibCtx.beginPath();
-    calibCtx.moveTo(c[0][0], c[0][1]);
-    for (let i = 1; i < c.length; i++) calibCtx.lineTo(c[i][0], c[i][1]);
-    calibCtx.closePath();
-    calibCtx.stroke();
-    calibCtx.fillStyle = '#3ecf8e';
-    c.forEach(p => { calibCtx.beginPath(); calibCtx.arc(p[0], p[1], 4, 0, 2 * Math.PI); calibCtx.fill(); });
-    const cx = lastMarker.center_px[0], cy = lastMarker.center_px[1];
-    calibCtx.font = 'bold 14px sans-serif';
-    const d = lastMarker.pose_camera && lastMarker.pose_camera.distance_m;
-    calibCtx.fillText(`ID ${lastMarker.marker_id}` + (d ? ` · ${(d*100).toFixed(1)} cm` : ''), cx + 10, cy - 10);
-  }
-}
-
-function refreshRgb() {
-  if (rgbInFlight) return;
-  rgbInFlight = true;
-  const img = new Image();
-  img.onload = () => {
-    displayedRgb = img;
-    rgbInFlight = false;
-    drawCalibFrame();
-  };
-  img.onerror = () => { rgbInFlight = false; /* keep previous frame */ };
-  img.src = `/api/calibration/rgb.jpg?t=${Date.now()}`;
-}
-
-async function previewMarker() {
-  if (previewInFlight) return;
-  if (!$('livePreview').checked) {
-    if (lastMarker) { lastMarker = null; drawCalibFrame(); }
-    return;
-  }
-  previewInFlight = true;
-  try {
-    const body = { marker_id: +$('arucoId').value, size_mm: +$('arucoSize').value };
-    const data = await api('POST', '/api/calibration/preview', body);
-    lastMarker = data;
-    lastMarkerTs = performance.now();
-    const info = $('markerInfo');
-    const t = fmtTimings(data.timings_ms);
-    if (data.found) {
-      const d = data.pose_camera && data.pose_camera.distance_m;
-      info.textContent = `marker ${data.marker_id} @ ${(d*100).toFixed(1)} cm · ${t}`;
-      info.style.color = 'var(--ok)';
-    } else {
-      info.textContent = `marker ${data.marker_id} non trovato · ${t}`;
-      info.style.color = 'var(--warn)';
-    }
-  } catch (e) {
-    // transient failure — don't wipe the overlay
-    $('markerInfo').textContent = `preview: ${e.message}`;
-    $('markerInfo').style.color = 'var(--danger)';
-  } finally {
-    previewInFlight = false;
-    drawCalibFrame();
-  }
-}
-
-// Two independent loops so a slow preview doesn't starve the RGB redraw,
-// and a slow RGB doesn't block the marker polling.
-setInterval(() => {
-  if ($('tab-calibration').classList.contains('active')) refreshRgb();
-}, 150);
-setInterval(() => {
-  if ($('tab-calibration').classList.contains('active')) previewMarker();
-}, 500);
-
-$('sampleBtn').addEventListener('click', async () => {
-  try {
-    setStatus('Acquisisco sample…');
-    const body = {
-      marker_id: +$('arucoId').value,
-      size_mm: +$('arucoSize').value,
-      side: $('side').value,
-    };
-    const r = await api('POST', '/api/calibration/sample', body);
-    setStatus(`Sample #${r.total} acquisito · ${fmtTimings(r.timings_ms)}`, 'ok');
-    await loadSamples();
-  } catch (e) { setStatus(e.message, 'err'); }
-});
-
-$('solveBtn').addEventListener('click', async () => {
-  try {
-    setStatus('Calcolo matrice…');
-    const side = $('side').value;
-    const r = await api('POST', '/api/calibration/solve', { method: $('method').value, side });
-    renderCalibResult(r);
-    setStatus(`Matrice calcolata (${side}) · ${fmtTimings(r.timings_ms)}`, 'ok');
-  } catch (e) { setStatus(e.message, 'err'); }
-});
-
-$('clearSamplesBtn').addEventListener('click', async () => {
-  const side = $('side').value;
-  if (!confirm(`Rimuovere tutti i sample del braccio ${side}?`)) return;
-  await api('DELETE', `/api/calibration/samples?side=${encodeURIComponent(side)}`);
-  await loadSamples();
-});
-
-$('saveConfigBtn').addEventListener('click', async () => {
-  const patch = {
-    aruco: { wrist_marker: { id: +$('arucoId').value, size_mm: +$('arucoSize').value } },
-    robot: { wrist_side: $('side').value },
-    calibration: { method: $('method').value },
-  };
-  try {
-    await api('PUT', '/api/config', patch);
-    setStatus('Configurazione salvata', 'ok');
-  } catch (e) { setStatus(e.message, 'err'); }
-});
-
-// When the user changes the side dropdown, reload per-side samples/result.
-$('side').addEventListener('change', async () => {
-  await loadSamples().catch(() => {});
-  await loadCalibResult().catch(() => {});
-});
-
-// index -> { reason, detail } for samples the last solve dropped
-const lastDrops = new Map();
-
-async function loadSamples() {
-  const side = $('side') ? $('side').value : 'right';
-  const r = await api('GET', `/api/calibration/samples?side=${encodeURIComponent(side)}`);
-  $('sampleCount').textContent = r.total;
-  const ul = $('sampleList');
-  ul.innerHTML = '';
-  // Display newest first while keeping the server-side index (used in drop reports).
-  for (let i = r.samples.length - 1; i >= 0; i--) {
-    const s = r.samples[i];
-    const t = s.T_base_wrist;
-    const p = [t[0][3], t[1][3], t[2][3]].map(v => v.toFixed(3)).join(', ');
-    const li = document.createElement('li');
-    const drop = lastDrops.get(i);
-    let line = `#${i+1}  side=${s.side}  pos=[${p}]  ${s.note || ''}`;
-    if (drop) {
-      line += `  · scartato (${drop.reason}: ${drop.detail})`;
-      li.classList.add('sample-dropped');
-    }
-    li.textContent = line;
-    ul.appendChild(li);
-  }
-}
-
-function renderCalibResult(r) {
-  const m = r.T_base_camera;
-  const fmt = (v) => (v >= 0 ? ' ' : '') + v.toFixed(4);
-  const rows = m.map(row => row.map(fmt).join('  '));
-  $('calibMatrix').textContent = rows.join('\n');
-  const meta = [
-    `method=${r.method}`,
-    `n=${r.n_samples}`,
-    `residual: ${r.residual_translation_mm.toFixed(2)} mm / ${r.residual_rotation_deg.toFixed(2)}°`,
-  ];
-  const sc = r.sanity_check;
-  lastDrops.clear();
-  if (sc && sc.applied) {
-    const drops = [];
-    const pa = sc.dropped_by_pair_angle || [];
-    const wm = sc.dropped_by_wm_cluster || [];
-    const pq = sc.dropped_by_pose_quality || [];
-    for (const d of pq) {
-      const key = d.reprojection_px != null ? 'reproj' : 'ambiguity';
-      const val = d.reprojection_px != null ? `${d.reprojection_px.toFixed(2)} px` : `amb ${(d.ambiguity_ratio*100).toFixed(0)}%`;
-      lastDrops.set(d.sample_index, { reason: key, detail: val });
-    }
-    for (const d of pa) {
-      lastDrops.set(d.sample_index,
-        { reason: 'pair-angle', detail: `${d.pair_angle_err_deg.toFixed(1)}°` });
-    }
-    for (const d of wm) {
-      // A sample can fail both checks; prefer the wm message (happens after solve).
-      lastDrops.set(d.sample_index,
-        { reason: 'T_wrist_marker', detail: `${d.wm_translation_dev_mm.toFixed(1)} mm` });
-    }
-    if (pq.length) drops.push(`pose-quality: ${pq.map(d => `#${d.sample_index+1}(${d.reprojection_px != null ? d.reprojection_px.toFixed(2)+'px' : (d.ambiguity_ratio*100).toFixed(0)+'%'})`).join(', ')}`);
-    if (pa.length) drops.push(`pair-angle: ${pa.map(d => `#${d.sample_index+1}(${d.pair_angle_err_deg.toFixed(1)}°)`).join(', ')}`);
-    if (wm.length) drops.push(`T_wrist_marker: ${wm.map(d => `#${d.sample_index+1}(${d.wm_translation_dev_mm.toFixed(1)}mm)`).join(', ')}`);
-    const totalDropped = (sc.dropped_by_pose_quality || []).length + pa.length + wm.length;
-    if (drops.length) {
-      meta.push(`\n⚠ scartati ${totalDropped}/${sc.n_input}: ${drops.join(' · ')}`);
-    } else {
-      meta.push(`\n✓ nessun outlier (${sc.n_input} sample usati)`);
-    }
-  }
-  $('calibMeta').textContent = meta.join('  ');
-  $('calibMeta').style.whiteSpace = 'pre-wrap';
-  // Refresh the list so dropped rows turn red (if already visible).
-  loadSamples().catch(() => {});
-}
-
-async function loadCalibResult() {
-  const side = $('side') ? $('side').value : 'right';
-  try { renderCalibResult(await api('GET', `/api/calibration/result?side=${encodeURIComponent(side)}`)); } catch {}
-}
-
-// auto-grid
-$('runGridBtn').addEventListener('click', async () => {
-  const quat = $('gridQuat').value.split(',').map(Number);
-  if (quat.length !== 4) { setStatus('quat deve avere 4 valori', 'err'); return; }
-  const body = {
-    start_position: [+$('gridX0').value, +$('gridY0').value, +$('gridZ0').value],
-    orientation_quaternion_xyzw: quat,
-    step_x_m: +$('gridDX').value,
-    step_y_m: +$('gridDY').value,
-    step_z_m: +$('gridDZ').value,
-    n_x: 3, n_y: 3, n_z: 3,
-    min_z_m: +$('gridMinZ').value,
-    settle_s: +$('gridSettle').value,
-    dry_run: $('gridDryRun').checked,
-    auto_solve: true,
-  };
-  $('gridLog').textContent = 'run in progress…';
-  try {
-    const r = await api('POST', '/api/calibration/auto_grid', body);
-    $('gridLog').textContent = JSON.stringify(r, null, 2);
-    if (r.calibration) renderCalibResult(r.calibration);
-    await loadSamples();
-    setStatus(body.dry_run ? 'auto-grid dry-run completato' : 'auto-grid completato', 'ok');
-  } catch (e) {
-    $('gridLog').textContent = e.message;
-    setStatus(e.message, 'err');
-  }
-});
-
 // ==================== TROVA UTENSILE ====================
 const graspCanvas = $('graspCanvas');
 const graspCtx = graspCanvas.getContext('2d');
@@ -1374,15 +1121,9 @@ startHomePoll();
 (async () => {
   try {
     const cfg = await api('GET', '/api/config');
-    $('arucoId').value = cfg.aruco.wrist_marker.id;
+    if ($('eeSide')) $('eeSide').value = cfg.robot.wrist_side;
-    $('arucoSize').value = cfg.aruco.wrist_marker.size_mm;
-    $('side').value = cfg.robot.wrist_side;
-    $('eeSide').value = cfg.robot.wrist_side;
   } catch {}
-  await loadSamples();
-  await loadCalibResult();
   refreshWrist();
-  refreshRgb();
 })();
 
 // ==================== ASSISTENTE AI ====================

web/index.html

@@ -13,7 +13,6 @@
     <button class="tab active" data-tab="home">Home</button>
     <button class="tab" data-tab="agent">Assistente AI</button>
     <button class="tab" data-tab="ai-settings">Impostazioni AI</button>
-    <button class="tab" data-tab="calibration">Calibrazione</button>
     <button class="tab" data-tab="autocal">Auto-Calibrazione</button>
     <button class="tab" data-tab="grasp">TrovaUtensile</button>
     <button class="tab" data-tab="servo">Servo Visuale</button>
@@ -176,76 +175,6 @@
   </div>
 </section>
 
-<!-- ============================== CALIBRAZIONE ============================== -->
-<section class="panel" id="tab-calibration">
-  <div class="grid-2">
-    <div>
-      <h2>Vista camera</h2>
-      <div class="canvas-wrap">
-        <canvas id="calibCanvas" width="640" height="480"></canvas>
-      </div>
-      <div class="kv">
-        <label>ArUco ID <input type="number" id="arucoId" value="10" min="0" /></label>
-        <label>Size (mm) <input type="number" id="arucoSize" value="40" step="1" /></label>
-        <label>Side
-          <select id="side"><option value="right" selected>right</option><option value="left">left</option></select>
-        </label>
-        <label>Metodo
-          <select id="method">
-            <option value="TSAI" selected>TSAI</option>
-            <option value="PARK">PARK</option>
-            <option value="HORAUD">HORAUD</option>
-            <option value="ANDREFF">ANDREFF</option>
-            <option value="DANIILIDIS">DANIILIDIS</option>
-          </select>
-        </label>
-        <label class="inline"><input type="checkbox" id="livePreview" checked /> Preview marker</label>
-        <button id="saveConfigBtn">Salva configurazione</button>
-      </div>
-      <div class="marker-info" id="markerInfo">marker: —</div>
-    </div>
-    <div>
-      <h2>Sample e matrice</h2>
-      <div class="actions">
-        <button id="sampleBtn" class="primary">Memorizza posizione (sample)</button>
-        <button id="solveBtn" class="primary">Calcola matrice</button>
-        <button id="clearSamplesBtn" class="danger">Rimuovi tutti i sample</button>
-      </div>
-      <div class="samples">
-        <div class="samples-head">
-          <strong>Sample acquisiti</strong>
-          <span id="sampleCount">0</span>
-        </div>
-        <ul id="sampleList"></ul>
-      </div>
-      <div class="result">
-        <strong>T<sub>base ← camera</sub></strong>
-        <pre id="calibMatrix">(non ancora calcolata)</pre>
-        <div id="calibMeta"></div>
-      </div>
-    </div>
-  </div>
-
-  <details class="auto-grid">
-    <summary>Auto-grid (future update) — 3×3 × 3 altezze</summary>
-    <div class="kv">
-      <label>Start X (m) <input type="number" id="gridX0" value="0.25" step="0.01" /></label>
-      <label>Start Y (m) <input type="number" id="gridY0" value="0.0" step="0.01" /></label>
-      <label>Start Z (m) <input type="number" id="gridZ0" value="0.15" step="0.01" /></label>
-      <label>Step X (m) <input type="number" id="gridDX" value="0.05" step="0.005" /></label>
-      <label>Step Y (m) <input type="number" id="gridDY" value="0.05" step="0.005" /></label>
-      <label>Step Z (m) <input type="number" id="gridDZ" value="0.05" step="0.005" /></label>
-      <label>min Z tavolo (m) <input type="number" id="gridMinZ" value="0.10" step="0.005" /></label>
-      <label>Settle (s) <input type="number" id="gridSettle" value="1.0" step="0.1" /></label>
-      <label>Quat xyzw <input type="text" id="gridQuat" value="0,0,0,1" /></label>
-      <label class="inline"><input type="checkbox" id="gridDryRun" checked /> Dry-run (consigliato finché G1 down)</label>
-      <button id="runGridBtn">Esegui auto-grid</button>
-    </div>
-    <pre id="gridLog" class="log"></pre>
-  </details>
-</section>
-
-<!-- ============================== AUTO-CALIBRAZIONE ============================== -->
 <section class="panel" id="tab-autocal">
   <div class="diag3d-toolbar">
     <button id="acFitBtn">Auto-fit</button>