feat(pose_3d): named poses GET/PUT/DELETE

Adds CRUD for named wrist poses persisted in config.yaml under
pose_3d.named_poses. PUT validates the name against ^[A-Za-z0-9_-]{1,40}$
and normalizes the quaternion. DELETE returns 404 if the pose is missing.

Bypasses update_config's deep-merge for wholesale named_poses replacement
(deep-merge cannot remove nested keys) via a small helper that mutates
the in-memory singleton then persists with an empty patch.

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

src/presa_mano/api/pose_3d_routes.py

@@ -2,13 +2,15 @@
 from __future__ import annotations
 
 import logging
+import re
 from typing import Any, Literal, Optional
 
 from fastapi import APIRouter, HTTPException
 from pydantic import BaseModel, Field
 
+from .. import config as _config_mod
 from ..clients import G1Unavailable
-from ..config import get_config
+from ..config import get_config, update_config
 from ..geometry import normalize_quaternion
 from ..timing import Stopwatch
 from . import _deps
@@ -16,6 +18,31 @@ from . import _deps
 router = APIRouter()
 log = logging.getLogger(__name__)
 
+_NAME_RE = re.compile(r"^[A-Za-z0-9_-]{1,40}$")
+
+
+def _validate_name(name: str) -> None:
+    if not _NAME_RE.match(name):
+        raise HTTPException(
+            status_code=422,
+            detail=f"name must match {_NAME_RE.pattern}",
+        )
+
+
+def _replace_named_poses(poses: dict[str, Any]) -> None:
+    """Wholesale replace pose_3d.named_poses.
+    update_config does a recursive deep-merge so a dict patch can't remove
+    keys from a nested dict. We bypass it by mutating the in-memory state
+    directly, then call update_config with an empty patch to persist."""
+    with _config_mod._LOCK:
+        if _config_mod._STATE["config"] is None:
+            _config_mod.load_config()
+        cfg = _config_mod._STATE["config"]
+        if "pose_3d" not in cfg or not isinstance(cfg["pose_3d"], dict):
+            cfg["pose_3d"] = {}
+        cfg["pose_3d"]["named_poses"] = poses
+    update_config({})  # persist to disk
+
 
 class WristPose(BaseModel):
     position: list[float]
@@ -89,3 +116,42 @@ def post_apply(req: ApplyReq) -> dict[str, Any]:
         "quaternion": quat_norm,
         "timings_ms": sw.as_dict(),
     }
+
+
+@router.get("/poses")
+def get_poses() -> dict[str, Any]:
+    cfg = get_config().get("pose_3d", {}) or {}
+    return cfg.get("named_poses") or {}
+
+
+@router.put("/poses/{name}")
+def put_pose(name: str, req: NamedPose) -> dict[str, Any]:
+    _validate_name(name)
+    try:
+        quat_norm = normalize_quaternion(req.quaternion)
+    except ValueError as e:
+        raise HTTPException(status_code=422, detail=str(e))
+    pose: dict[str, Any] = {
+        "side": req.side,
+        "position": list(req.position),
+        "quaternion": quat_norm,
+    }
+    if req.note is not None:
+        pose["note"] = req.note
+    cfg = get_config().get("pose_3d", {}) or {}
+    poses = dict(cfg.get("named_poses") or {})
+    poses[name] = pose
+    _replace_named_poses(poses)
+    return {"name": name, "pose": pose}
+
+
+@router.delete("/poses/{name}")
+def delete_pose(name: str) -> dict[str, Any]:
+    _validate_name(name)
+    cfg = get_config().get("pose_3d", {}) or {}
+    poses = dict(cfg.get("named_poses") or {})
+    if name not in poses:
+        raise HTTPException(status_code=404, detail=f"pose '{name}' non trovata")
+    del poses[name]
+    _replace_named_poses(poses)
+    return {"deleted": name}

tests/test_pose_3d_routes.py

@@ -117,3 +117,46 @@ def test_apply_normalizes_quaternion_before_forwarding():
         q = captured["quaternion"]
         norm = sum(x*x for x in q) ** 0.5
         assert abs(norm - 1.0) < 1e-6
+
+
+def test_put_pose_persists_in_config():
+    payload = {
+        "side": "right",
+        "position": [0.30, -0.20, 0.30],
+        "quaternion": [0, 0, 0, 1],
+        "note": "test pose",
+    }
+    r = client.put("/api/pose_3d/poses/test1", json=payload)
+    assert r.status_code == 200
+    body = r.json()
+    assert body["pose"]["side"] == "right"
+    assert body["pose"]["note"] == "test pose"
+    # Verifica che sia anche in GET /poses
+    r2 = client.get("/api/pose_3d/poses")
+    assert "test1" in r2.json()
+
+
+def test_put_pose_422_bad_name():
+    r = client.put("/api/pose_3d/poses/with spaces!", json={
+        "side": "right", "position": [0,0,0], "quaternion": [0,0,0,1],
+    })
+    assert r.status_code == 422
+    assert "name" in r.json()["detail"].lower()
+
+
+def test_delete_pose_removes_it():
+    # prima salva
+    client.put("/api/pose_3d/poses/todelete", json={
+        "side": "left", "position": [0,0,0], "quaternion": [0,0,0,1],
+    })
+    # poi cancella
+    r = client.delete("/api/pose_3d/poses/todelete")
+    assert r.status_code == 200
+    # verifica non presente
+    r2 = client.get("/api/pose_3d/poses")
+    assert "todelete" not in r2.json()
+
+
+def test_delete_pose_404_when_missing():
+    r = client.delete("/api/pose_3d/poses/nonexistent")
+    assert r.status_code == 404