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Author SHA1 Message Date
AdrianoandClaude Opus 4.8 a88a064aa8 docs: spec badge versione build in GUI 
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
 2026-06-03 14:40:52 +02:00
AdrianoandClaude Opus 4.8 80625cc281 docs(pose_3d): spec allineamento cross-camera + overlay tag multi-camera 
Design per: detection tag su tutte le camere attive (Nuwa rosso + D435i),
rinomina "Tag camera frontale" -> "Tags", calibrazione persistente
Nuwa->frontale via tag condiviso (Umeyama similarity), flag+pulsante
"Allinea" nella sezione Cloud cross-camera.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
 2026-06-03 12:02:26 +02:00
Adriano Dal PastroandClaude Opus 4.7 19fba42876 docs: spec design tab "Pose 3D" (editor visuale + jog dei polsi) 
Specifica per nuova tab GUI con viewport Three.js, gizmo
translate/rotate sui polsi DX e SX, modalita' Editor (preview) /
Jog (auto-move al mouseup), safety guard sui movimenti grandi,
checkbox precise toggle, save/load named poses in config.yaml.

Brainstorming nella sessione 2026-05-21.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-05-21 15:14:46 +02:00
Adriano Dal PastroandClaude Opus 4.7 53c0e03219 docs(spec): design tab Braccio DX (G1 right, front + wrist Nuwa) 
Design del nuovo tab "Braccio DX": fronte (depth cam fissa sul robot)
+ polso (Nuwa eye-in-hand) + controlli move/home/custom-pose. Router
/api/right_arm/*, JS dedicato, persistenza in config tab_right_arm.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-05-20 11:04:08 +02:00
Adriano Dal PastroandClaude Opus 4.7 ba5be511d2 docs: design spec for Cerca modello 3D pose-fit overlay 
Brainstorming → approved spec for the GUI/backend redesign of tab "Cerca
modello": YOLO+SAM21 cluster feeds Open3DModel /api/pose, presa-mano
samples the recipe STL, projects onto a snapshot RGB with togglable
overlays for accepted/excluded points and the fitted model points.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-05-11 18:35:53 +02:00
Adriano Dal PastroandClaude Opus 4.7 f7661a782a docs: design work-plane calibration + below-plane filter 
Repurpose the "Servo Visuale" tab into "Calibrazione Piano". Reuses the
existing WorkPlane + fit_plane_svd infrastructure (moved out of
grasp/visual_servo.py into perception/work_plane.py), extends WorkPlane
with offset_mm, splits fit (preview) from save (commit), and applies a
below-plane + offset filter to every object cloud (sam21_bridge,
_points_via_bbox, _object_cloud_cv bbox branch). Visual-servo feature
removed entirely; the only survivors are the plane bits.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-05-11 16:27:39 +02:00
Adriano Dal PastroandClaude Opus 4.7 e2f06d2624 docs: implementation plan for SAM21 segmentation in grasp pipeline 
7 task TDD-first: pytest scaffold, depth_align (vectorised IR→RGB),
Sam21Client (httpx mock unit tests), _deps + config wiring, refactor
estraendo _points_via_bbox, branch SAM21 con fallback, verifica live.
Allinea config key a base_url (consistente con altri servizi).

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-05-11 12:42:27 +02:00
Adriano Dal PastroandClaude Opus 4.7 adefc93949 docs: design SAM21 segmentation in grasp pipeline 
Spec brainstorming validato: SAM21 si inserisce tra YOLO bbox e PCA con
fallback automatico al path bbox legacy. Tre componenti nuovi
(clients/sam21.py, perception/depth_align.py, helper _points_via_sam21)
e due modifiche minori (config.yaml, api/_deps.py). Out-of-scope: scan/
object_points, mask UI, nuwa_to_cv_frame cleanup.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-05-11 12:30:08 +02:00