Plan dettagliato per la tab "Pose 3D" (writing-plans skill),
basato sullo spec del 2026-05-21. 15 task suddivisi in backend
(routes + tests TDD) e frontend (Three.js viewport + gizmo +
mode toggle Editor/Jog).
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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>
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>
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>
Tuning da prima sessione live: move_offset_camera_mm.x=100 (lateral
verso il pestello), camera_offset_wrist_mm.z=100 (mounting verticale
della Nuwa sopra il TCP destro), cluster_depth_window_m=0.20.
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>
YAML riformattato (block style) dal side-effect di update_config —
contenuto invariato a parte robot.{active,wrist_side}.
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>
Ping anche services.front_camera in /api/home/status. Etichetta nuwa
rinominata in 'Nuwa-HP60C (camera polso)' per chiarezza ora che ci sono
due camere distinte.
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>
13 task TDD per il nuovo tab: config, geometry, math puro, 6 endpoint
router /api/right_arm/*, markup HTML + CSS, JS module. Spec:
docs/superpowers/specs/2026-05-20-right-arm-tab-design.md
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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>
The pre-SAM21 depth filter and post-SAM21 partition_by_plane were
fighting each other and drowning the actual object cluster. Per
operator request, send Open3DModel the raw SAM21 cluster and let
RANSAC handle outliers itself. The accepted/excluded/SAM21 overlays
in the GUI continue to work; excluded is now always empty and
accepted == SAM21 cluster.
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>
Previously SAM21 ran on the raw aligned depth and frequently leaked the
mask onto the table around the object: ~88% of segmented points (2136
of 2440 in a sample run) were table pixels filtered away by the post
partition_by_plane step. Open3DModel got a noisy cluster mostly off
the object.
New pipeline: with a calibrated work plane, depth pixels whose 3D
back-projection sits below the plane are zeroed BEFORE SAM21 sees the
depth PNG. SAM21 cannot back-project zero-depth pixels, so only true
above-plane points end up in the cloud regardless of mask outline.
Same sample run after the change: 513 SAM21 -> 513 accepted, 0 excluded.
The post-partition still runs (now a no-op on a calibrated plane), so
the find_model response shape is unchanged.
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>
NuwaClient.pointcloud_roi's docstring claims OpenCV frame, but in
practice the raw payload arrives in Nuwa native frame (Z<0 forward).
nuwa_to_cv_frame is what actually flips it. Using `pts_cv` (post-flip
+ post-outlier-mask) makes the projection drop none of the inliers.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
