- VERSION (1.0.0) + build.sh: bump patch/minor/major e deploy via docker compose
- Dockerfile: ARG/ENV APP_VERSION + BUILD_TIME (iniettati come build-arg)
- version.build_info(): env in Docker, fallback file VERSION + '(local)' in dev
- GET /api/version; badge #appVersionPill nell'header (tooltip = build time)
- test_version.py: env vs fallback
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
L'overlay tag frontale (D435i) ri-eseguiva la detection ArUco ad ogni
tick di pollState() finche' il flag era attivo. Ora gira solo:
- al toggle on del checkbox
- a fine acquireClouds() (pulsante Acquisisci) se il flag e' attivo
Rimosso il piggyback in pollState() e lo stato front_tags.in_flight
ormai inutilizzato.
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
- Sidebar a 3 tab verticali (POSE / CAMERAS / MISC) per ridurre lo scroll
- Tag locator: POST /api/pose_3d/tag_offset/{save,} salva crocetta nel
viewport con snapshot giunti, current.json + archive rotation
- Front-camera tag overlay (MISC):
- GET /api/pose_3d/front_tags scansiona ArUco sul D435i e per ogni tag
misura i 4 corner 3D via depth sensor (indipendente da solvePnP);
outlier rejection ±20% dalla mediana per ignorare corner che catturano
background sul bordo del marker
- Rendering quad cyan + label compatta (id, edge_mm, distanza camera)
agganciato al d435_link, segue la camera anche in modalita' hand-eye
- Trigger via pollState() quando il flag e' on, niente timer separato
- Cloud cross-camera: memorizza step/max_depth/sizes/scale_xy/flip/handeye
in pose_3d.cloud_params al click di Acquisisci, ripopola UI da config
al primo poll (state.cloud_params_populated guard)
- D435i front cloud: applica nuwa_to_cv_frame (il servizio ritorna native,
non OpenCV come si pensava)
- Cache-bust per pose_3d.js e pose_3d.css
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Rimosso il modulo agent (LLM chat) e la relativa config OpenRouter.
La tab Pose 3D ora: espone i giunti reali via G1 /diagnostics per
specchiare l'URDF senza IK; acquisisce point cloud Nuwa+D435i
(/api/pose_3d/clouds); mostra il modello 3D della camera sul polso;
degrada gracefully a 200 (wrist=null) quando il robot è offline.
Il vecchio renderer canvas-2D (app.js view3d + diagnostic3d.js) è
stato consolidato nel viewport Three.js di pose_3d.js.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Sostituisce torso/head/hips/gambe/spalle primitive in tab Pose 3D con il
modello URDF G1 (g1_body29_hand14), caricato via urdf-loader 0.12.6.
Vendor:
- web/vendor/g1/g1.urdf + 64 mesh STL (~52 MB, copiati da
G1_API_Server/assets/g1/)
- web/vendor/three/addons/loaders/URDFLoader.js (npm urdf-loader@0.12.6),
import path adattato a 'three/addons/loaders/STLLoader.js' (importmap
del sito) e ColladaLoader stubbato (G1 URDF è solo STL)
- web/vendor/three/addons/loaders/URDFClasses.js (companion del loader)
pose_3d.js:
- Aggiunge loadG1Urdf(scene) async che configura loader.loadMeshCb per
servire le STL dal mount /static/vendor/g1/meshes/
- Best-effort: in caso di errore di parsing/fetch il body non viene
aggiunto ma la tab continua a funzionare (polsi, UCS, gizmo)
Lavoro accumulato nella sessione 2026-05-21 prima del brainstorming
della tab Pose 3D:
- compute_delta_wrist generalizzato con cam_to_wrist_perm: la mappa
cam->polso non e' solo sign-flip ma una permutazione (default
identita' per backward compat). DeltaOversize ora espone X/Y/Z
nella stringa d'errore. Test aggiornati.
- G1Client.wrist_absolute / wrist_relative: precise=True di default
(era False). Stessa cosa per wrist_routes.AbsoluteReq Pydantic
e per agent.tools move_wrist_*. Movimenti reali ora chiedono
controllo accurato salvo override esplicito.
- Tab Braccio DX:
- /verify_tag endpoint: snapshot wrist FK + tag id=1 dalla front
camera. Per verifica relativa moveto vs marker (no calibrazione).
- GUI: pannello "Verifica tag id=1" + campi camera_offset_wrist_mm.
- markUserTouchedOnInput esteso a raOff/raSgn/raCamOff.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Tre miglioramenti al move-toward dopo il primo uso live:
1. checkbox "force" accanto a "Muovi": bypassa max_step_m quando
l'utente sa che il delta richiesto e' grande ma corretto (es. primo
avvicinamento all'oggetto).
2. camera_offset_wrist_mm: il modello assumeva camera e TCP coincidenti
(sole sign flips). La camera Nuwa e' invece montata con traslazione
costante rispetto al polso. La formula diventa:
delta_wrist = sign * (centroid_cam - offset_cam) + t_wrist_cam
Esposto in config (default 0,0,0), GUI (3 input "Camera rispetto a
polso (mm)") e in /state. Il termine compensa il fatto che muovere
il polso porta la camera, non il TCP, sul punto di presa.
3. filter_nearest_cluster: il centroide era media di tutti i punti
SAM21 della mask. In presenza di sfondo lontano visibile attraverso
buchi della depth del primo piano la media veniva trascinata a
metri di distanza. Ora si tiene il cluster piu' vicino:
z_near = p5(Z)
keep = punti con Z <= z_near + cluster_depth_window_m
Default window 0.20 m, configurabile. La risposta di /detect/wrist
espone n_sam21_points, n_centroid_points e z_near/z_cutoff per
diagnosi.
Aggiornata anche la persistenza: /offset accetta camera_offset_wrist_mm.
GUI: i campi Offset/Sign/CamOff rispettano "user touched" (refresh non
li cancella mentre l'utente digita).
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Tre problemi della tab Braccio DX dopo il primo rodaggio:
1. /detect/front e /detect/wrist ritornavano bbox raw dal YOLO server,
che lo manda come lista [x1,y1,x2,y2]; la GUI legge bbox.x1 e mostra
NaN. Ora il router normalizza il payload via perception/detector
._normalize, allineandosi al resto del codice. Aggiunta regressione
con payload reale del server.
2. La tab gateava su robot.active==g1 && wrist_side==right con banner
"Attiva G1 right" e POST /activate. Confonde: la selezione del
robot e' globale e non si flippa per-feature. Rimossi banner,
bottone, endpoint /activate e _guard_g1_right(); gli endpoint
operano sul polso destro del robot attivo qualunque esso sia.
3. image_size: [0,0] perche' Nuwa /api/intrinsics non include
width/height; vivono in /api/status > data.resolution. Aggiunto
NuwaClient.image_size() e usato in detect_front. Aggiornato
docstring di intrinsics() per coerenza con il payload reale.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
- Sostituisce colori hardcoded con CSS variables (--bg/--panel/--border/--dim/--warn/--ok/--danger)
- Scope .dim a #tab-right-arm per non alterare altre tab che usano la classe
- Aggiunge white-space pre-wrap a .ra-result per testi multi-riga
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
The find_model response now returns plane_polygon_px (4 corners of a
30 cm square anchored at the work plane centroid, projected to RGB
pixels via the same K used for the SAM21 cloud). The GUI gains a
'Piano (viola)' checkbox that draws the polygon as a translucent
violet quad with an outline, helping the operator see whether the
plane sits where expected relative to the object.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Adds a 4th checkbox 'Punti SAM21 (gialli)' that draws the full SAM21
segmentation (input to both the plane partition and Open3DModel) on
the RGB result canvas. The backend now returns sam21_points_px and
n_sam21 alongside the existing accepted/excluded splits.
Useful as a sanity check: visualise what was actually segmented vs
what the plane filter kept/rejected vs where the STL got placed.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
The 0.4x0.4 PlaneGeometry square was a fixed-size proxy that did not
reflect the actual ROI extent — visually misleading. Replace it with
an explicit blue point cloud of the inliers fed to fit_plane_svd, so
the user can see *exactly* which depth pixels the plane was fit on.
- Backend: fit response now returns fit_points_camera (CV frame) instead
of the (parallax-shifted) RGB pixel projection.
- Frontend: drop the purple plane mesh; new three.setFitInliers paints
the inliers in blue. The RGB overlay no longer carries blue dots.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
The fit endpoint now returns fit_points_px (the post-outlier-filter
inliers projected to RGB pixels via Nuwa's RGB intrinsics). The GUI
draws them on the same overlay as the ROI rectangle so the user can
visually verify which depth pixels were fed to fit_plane_svd.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
- Drop the ge=0 constraint on FitReq.offset_mm (negative values are a
documented usage: aggressive noise cull above the plane).
- HTML input min lowered to -200 to match.
- Render FastAPI 422 validation arrays as a human-readable string in the
status chip (was showing "[object Object]").
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Setting canvas.width/height clears its bitmap; the live RGB tick was
firing the img.load handler every second, wiping the ROI rectangle and
breaking the two-click flow (third click was interpreted as restart).
- Only mutate canvas size when image resolution actually changes.
- Re-paint the overlay after each load so the ROI persists.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
- Camera at origin (CV frame) looking at +Z with screen-up = CV −Y, so
the rendered scene matches the camera's vantage point. OrbitControls
retargets to the plane centroid on fit so rotation feels natural.
- Simplify scatter coloring to two tones: red for filter-excluded points
(signed_distance < −offset_mm/1000), cyan-white for everything kept.
Matches the backend filter contract exactly.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
User asked for "2 punti" — replace the drag-to-rectangle interaction with
two discrete clicks: first click places corner A (cross marker), second
click defines the rectangle, third click starts a new selection.
Rectangles smaller than 10×10 px are rejected. Status chip guides the
flow.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Direct fetch to http://localhost:8877/api/rgb fails from the browser due
to CORS (page is served from :8890). Switch to /api/calibration/rgb.jpg
which presa-mano already proxies same-origin.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
- Rename "TrovaUtensile" tab → "Cerca modello".
- Remove the "Precisione (ultime 5 detection)" stats panel and the
"Dettagli" JSON dump from the grasp tab; keep hidden stubs so the
existing app.js continuous-loop code doesn't null-deref.
- Add work_plane_routes to api/__init__.py imports + __all__ (consistency
with the other routers).
- Trim the misleading "drag = pan · wheel = zoom · doppio click = reset"
hint from the Calibrazione Piano RGB label — pan/zoom isn't wired.
- Disable wpClearBtn initially so it doesn't flash clickable before
fetchSaved() resolves.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
New tab replaces the removed Servo Visuale. Shift+drag on the RGB image
defines a rectangle, 'Calcola piano' calls POST /api/work_plane/fit and
renders the plane + a colored scatter in 3D. Adjusting the offset slider
re-colors the scatter client-side. 'Salva piano' persists; 'Rimuovi piano
salvato' clears.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
