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c383fd3143
feat(version): mostra build time nel badge (non solo tooltip); bump 1.0.2
main
AdrianoandClaude Opus 4.8
2026-06-03 14:49:22 +02:00
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054ad103df
chore: bump VERSION 1.0.0 -> 1.0.1 (deploy)
AdrianoandClaude Opus 4.8
2026-06-03 14:44:25 +02:00
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7b4dc6ce8c
docs: build.sh deploy workflow + badge versione (CLAUDE.md, README)
AdrianoandClaude Opus 4.8
2026-06-03 14:43:07 +02:00
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cf726b479e
feat: badge versione build in GUI + build.sh con auto-bump
AdrianoandClaude Opus 4.8
2026-06-03 14:40:52 +02:00
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a88a064aa8
docs: spec badge versione build in GUI
AdrianoandClaude Opus 4.8
2026-06-03 14:40:52 +02:00
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8084b87261
Merge: allineamento cross-camera + overlay tag multi-camera (Pose 3D)
AdrianoandClaude Opus 4.8
2026-06-03 13:58:06 +02:00
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0ee3ef244b
chore(pose_3d): tieni config.yaml allineato a main (drift runtime non versionato)
AdrianoandClaude Opus 4.8
2026-06-03 12:43:34 +02:00
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d9213ca19a
docs(pose_3d): tags multi-camera + calibrazione cross-camera
AdrianoandClaude Sonnet 4.6
2026-06-03 12:41:12 +02:00
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47ae8a6b2c
feat(pose_3d): doAlign + persistenza/caricamento calibrazione cross-camera
AdrianoandClaude Opus 4.8
2026-06-03 12:38:25 +02:00
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746662d534
feat(pose_3d): piazzamento Nuwa allineato nel frame D435i (matrice)
AdrianoandClaude Opus 4.8
2026-06-03 12:35:30 +02:00
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2f0dc69cdd
feat(pose_3d): rinomina sezione Tags + controlli Allinea cross-camera
AdrianoandClaude Sonnet 4.6
2026-06-03 12:33:55 +02:00
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edc4430c67
feat(pose_3d): overlay tag su entrambe le camere (Nuwa rosso, D435i ciano)
AdrianoandClaude Sonnet 4.6
2026-06-03 12:31:16 +02:00
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79f587567e
feat(pose_3d): /state espone blocco cross_camera
AdrianoandClaude Sonnet 4.6
2026-06-03 12:28:52 +02:00
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5ab808accd
feat(pose_3d): POST /align fit Umeyama cross-camera + persistenza
AdrianoandClaude Sonnet 4.6
2026-06-03 12:22:15 +02:00
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8b01ae123f
feat(pose_3d): GET /tags multi-camera, rimuovi /front_tags
AdrianoandClaude Sonnet 4.6
2026-06-03 12:15:59 +02:00
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77fb0f8fc0
feat(geometry): umeyama_similarity (rot+trasl+scala uniforme)
AdrianoandClaude Sonnet 4.6
2026-06-03 12:11:11 +02:00
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9189700f34
docs(pose_3d): piano implementazione allineamento cross-camera
AdrianoandClaude Opus 4.8
2026-06-03 12:06:25 +02:00
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80625cc281
docs(pose_3d): spec allineamento cross-camera + overlay tag multi-camera
AdrianoandClaude Opus 4.8
2026-06-03 12:02:26 +02:00
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b4922fe01b
fix(pose_3d): front-tag detection solo al cambio immagine, non in loop
AdrianoandClaude Opus 4.8
2026-06-03 10:05:51 +02:00
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fb0e9b9112
feat(pose_3d): tag locator save, front-tag overlay, sidebar tabs, cloud params persist
AdrianoandClaude Opus 4.7
2026-06-01 16:53:26 +02:00
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ae8e609b7e
docs: aggiorna README.md e CLAUDE.md con tab Braccio DX, Pose 3D, cloud, diagnostics
Adriano Dal PastroandClaude Opus 4.7
2026-05-27 18:01:28 +02:00
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6c2452fe20
refactor(pose_3d): rimuovi agent/chat, aggiungi cloud+diagnostics+camera polso
Adriano Dal PastroandClaude Opus 4.7
2026-05-27 17:34:42 +02:00
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9d30073d57
fix(pose_3d): zero scena al centro robot (pelvi), griglia sotto i piedi a Z=-0.793
Adriano Dal Pastro
2026-05-21 18:06:38 +02:00
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38848ad53c
feat(pose_3d): IK 2-bone su URDF dopo Apply/Jog/GoPose (polso modello segue il target)
Adriano Dal Pastro
2026-05-21 17:47:12 +02:00
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7f60238be9
fix(pose_3d): URDF feet a terra (+0.793m) + sfere polso a zero-pose (Z=0.45)
Adriano Dal Pastro
2026-05-21 17:41:31 +02:00
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bfd4cc13fb
fix(pose_3d): URDFLoader path resolution (rimuovi doppio prefisso /static/vendor/g1/)
Adriano Dal Pastro
2026-05-21 17:37:25 +02:00
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d5bb9cebd3
feat(pose_3d): workspace check client-side (ghost verde/rosso) + SHOULDER da URDF
Adriano Dal Pastro
2026-05-21 17:21:09 +02:00
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8c09d79505
feat(pose_3d): modello reale G1 (URDF + STL meshes) al posto della silhouette finta
Adriano Dal Pastro
2026-05-21 17:14:16 +02:00
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18dce0d951
feat(pose_3d): bottone Sincronizza con robot (refetch state + reset target)
Adriano Dal Pastro
2026-05-21 17:08:09 +02:00
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b852976a4a
feat(pose_3d): readout XYZ/RPY editabili (input number, drive il ghost)
Adriano Dal Pastro
2026-05-21 17:01:03 +02:00
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8b722ca729
feat(pose_3d): silhouette robot completa (testa+gambe+spalle) + FRONT come marker terra
Adriano Dal Pastro
2026-05-21 16:46:44 +02:00
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d4cd82551e
fix(pose_3d): ghost fallback alla posa dell'arm quando /state e' offline
Adriano Dal Pastro
2026-05-21 16:44:57 +02:00
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fd506dff9b
feat(pose_3d): etichette DX/SX sulle sfere e FRONT al base
Adriano Dal Pastro
2026-05-21 16:41:08 +02:00
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25c94d3861
fix(pose_3d): gizmo visibility (use getHelper for r160) + larger wrist hitbox + diagnostics
Adriano Dal Pastro
2026-05-21 16:36:09 +02:00
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0a3ee61007
chore: ignore tmp/ (scratch directory)
Adriano Dal Pastro
2026-05-21 16:15:48 +02:00
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71baf829e6
feat(pose_3d): bottone Sblocca braccia
Adriano Dal Pastro
2026-05-21 16:06:43 +02:00
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bb6796bfe3
feat(pose_3d): save/load/delete named poses
Adriano Dal Pastro
2026-05-21 16:03:38 +02:00
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a81fc9acf9
feat(pose_3d): Jog mode auto-apply + safety + Precise toggle
Adriano Dal Pastro
2026-05-21 16:01:56 +02:00
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5b2239e307
feat(pose_3d): Editor mode Apply + Cancel
Adriano Dal Pastro
2026-05-21 16:00:15 +02:00
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64500944d6
feat(pose_3d): selezione polso + gizmo translate/rotate sul ghost
Adriano Dal Pastro
2026-05-21 15:58:41 +02:00
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7a561cfa67
feat(pose_3d): polling /state + readout sidebar
Adriano Dal Pastro
2026-05-21 15:56:34 +02:00
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f161894d53
feat(pose_3d): scene Three.js base (torso, polsi, UCS, grid)
Adriano Dal Pastro
2026-05-21 15:54:29 +02:00
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c4124a2983
feat(pose_3d): markup HTML + CSS della tab
Adriano Dal Pastro
2026-05-21 15:50:49 +02:00
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433edc0974
chore(web): vendor TransformControls (per tab Pose 3D)
Adriano Dal Pastro
2026-05-21 15:48:01 +02:00
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0ab0e5691c
feat(pose_3d): POST /unlock proxy + non-regression check
Adriano Dal Pastro
2026-05-21 15:46:24 +02:00
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feaab2aae7
docs(pose_3d): implementation plan
Adriano Dal PastroandClaude Opus 4.7
2026-05-21 15:44:55 +02:00
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57954b5c8d
feat(right_arm): perm assi cam->polso, precise=true default, verify_tag UI
Adriano Dal PastroandClaude Opus 4.7
2026-05-21 15:44:48 +02:00
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8d40ebaf89
feat(pose_3d): POST /poses/{name}/go
Adriano Dal PastroandClaude Opus 4.7
2026-05-21 15:43:50 +02:00
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d124a7c896
refactor(config): add set_config_value for non-merge replacement
Adriano Dal Pastro
2026-05-21 15:42:14 +02:00
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fb05409403
feat(pose_3d): named poses GET/PUT/DELETE
Adriano Dal PastroandClaude Opus 4.7
2026-05-21 15:39:37 +02:00
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df949c6989
refactor(pose_3d): move normalize_quaternion to geometry module
Adriano Dal Pastro
2026-05-21 15:37:14 +02:00
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40c3fff755
feat(pose_3d): POST /apply + quaternion normalization
Adriano Dal Pastro
2026-05-21 15:33:47 +02:00
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71f2ef596e
feat(pose_3d): router skeleton + GET /state
Adriano Dal Pastro
2026-05-21 15:27:43 +02:00
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19fba42876
docs: spec design tab "Pose 3D" (editor visuale + jog dei polsi)
Adriano Dal PastroandClaude Opus 4.7
2026-05-21 15:14:46 +02:00
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360755144c
chore(config): valori iniziali per camera_offset_wrist_mm e cluster window
Adriano Dal PastroandClaude Opus 4.7
2026-05-21 12:18:29 +02:00
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1fa7d12ad7
feat(right_arm): force, camera↔polso offset, cluster filter sul centroide
Adriano Dal PastroandClaude Opus 4.7
2026-05-21 12:18:24 +02:00
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fcd921ff32
chore(config): seleziona G1 right come robot attivo
Adriano Dal PastroandClaude Opus 4.7
2026-05-21 11:43:14 +02:00
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2f6444c0a5
fix(right_arm): bbox dict, image_size da /api/status, tab non seleziona robot
Adriano Dal PastroandClaude Opus 4.7
2026-05-21 11:43:05 +02:00
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3284cd0424
feat(home): aggiungi 'Camera fronte robot' a Stato dispositivi
Adriano Dal PastroandClaude Opus 4.7
2026-05-20 16:04:56 +02:00
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848cd962c4
fix(gui): conferma esplicita su Muovi quando dry-run off
Adriano Dal PastroandClaude Opus 4.7
2026-05-20 12:47:34 +02:00
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8297abb61d
feat(gui): right_arm.js — auto-refresh, detect, move, home, custom
Adriano Dal Pastro
2026-05-20 12:43:55 +02:00
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03ecbbae4e
fix(gui): allinea CSS tab Braccio DX al tema dark esistente
Adriano Dal PastroandClaude Opus 4.7
2026-05-20 12:40:55 +02:00
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2f8c7006ba
feat(gui): markup + CSS tab Braccio DX
Adriano Dal Pastro
2026-05-20 12:38:01 +02:00
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59f7f66d77
feat(right_arm): /home, /custom_pose, PUT /custom_pose, PUT /offset + fixture conftest
Adriano Dal Pastro
2026-05-20 12:33:03 +02:00
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afbfd55bca
feat(right_arm): /move/toward con sign flips, max-step e z-floor
Adriano Dal Pastro
2026-05-20 12:27:38 +02:00
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bd4eb8b929
feat(right_arm): /detect/wrist con YOLO + SAM21 + centroide camera
Adriano Dal Pastro
2026-05-20 12:23:10 +02:00
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3e4e8055db
feat(right_arm): /detect/front con proxy fallback per YOLO
Adriano Dal Pastro
2026-05-20 12:20:02 +02:00
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22e13435b1
feat(right_arm): endpoint /snapshot/{front,wrist}
Adriano Dal Pastro
2026-05-20 12:16:33 +02:00
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dd2053cc47
feat(right_arm): router skeleton con /state e /activate
Adriano Dal PastroandClaude Opus 4.7
2026-05-20 12:13:33 +02:00
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55e84778d8
feat(right_arm): math puro per delta-toward (sign flips + z-floor)
Adriano Dal Pastro
2026-05-20 12:09:35 +02:00
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757eb01200
feat(deps): aggiungi front_camera() e tab_right_arm_cfg()
Adriano Dal Pastro
2026-05-20 12:07:11 +02:00
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04cc5fc345
feat(geometry): aggiungi conversioni RPY (deg) ↔ quaternion xyzw
Adriano Dal Pastro
2026-05-20 12:04:39 +02:00
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64742479b1
feat(config): aggiungi services.front_camera e blocco tab_right_arm
Adriano Dal Pastro
2026-05-20 12:01:14 +02:00
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779f506701
docs(plan): implementation plan tab Braccio DX
Adriano Dal PastroandClaude Opus 4.7
2026-05-20 11:33:06 +02:00
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53c0e03219
docs(spec): design tab Braccio DX (G1 right, front + wrist Nuwa)
Adriano Dal PastroandClaude Opus 4.7
2026-05-20 11:04:08 +02:00
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491d1b60aa
revert(find_model): drop plane filter — pass full SAM21 cluster to Open3DModel
Adriano Dal PastroandClaude Opus 4.7
2026-05-13 11:59:15 +02:00
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b0a2d7141d
feat(find_model gui): toggle to overlay work plane as a violet polygon
Adriano Dal PastroandClaude Opus 4.7
2026-05-13 11:53:16 +02:00
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f1f9d8f638
feat(find_model): zero below-plane depth before SAM21 segmentation
Adriano Dal PastroandClaude Opus 4.7
2026-05-13 11:50:01 +02:00
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2fe7a7a7fa
feat(find_model gui): toggle to overlay full SAM21 cluster (yellow)
Adriano Dal PastroandClaude Opus 4.7
2026-05-13 11:40:24 +02:00
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767d91acdc
feat(work_plane gui): show fit inliers as blue scatter in 3D, drop wrong plane mesh
Adriano Dal PastroandClaude Opus 4.7
2026-05-13 11:20:03 +02:00
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4a83305b5e
fix(work_plane): project fit inliers from CV-frame pts_cv (not raw pc)
Adriano Dal PastroandClaude Opus 4.7
2026-05-13 11:13:20 +02:00
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ae510e4387
feat(work_plane gui): overlay inliers used for fit as blue dots on RGB
Adriano Dal PastroandClaude Opus 4.7
2026-05-13 11:10:25 +02:00
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76e0739620
fix(work_plane): allow negative offset_mm + readable validation errors
Adriano Dal PastroandClaude Opus 4.7
2026-05-13 11:03:36 +02:00
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92506d62c6
fix(work_plane gui): preserve ROI overlay across RGB live-refresh
Adriano Dal PastroandClaude Opus 4.7
2026-05-13 10:58:41 +02:00
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1bdf407072
chore(config): set wrist_side=left to match calibrated H1 arm
Adriano Dal PastroandClaude Opus 4.7
2026-05-13 10:17:48 +02:00
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cb940dc1cd
fix(open3dmodel): unwrap {success,data,error} envelope from /api/recipes
Adriano Dal PastroandClaude Opus 4.7
2026-05-13 10:17:48 +02:00
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33d66019ee
feat(web): Cerca modello — model picker + find_model overlay handlers
Adriano Dal PastroandClaude Opus 4.7
2026-05-13 10:12:46 +02:00
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af8d4d6fc4
feat(web): rebuild Cerca modello tab — model picker + result canvas
Adriano Dal PastroandClaude Opus 4.7
2026-05-13 10:10:35 +02:00
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3857ef533a
feat(api): POST /api/grasp/find_model with pose-fit + overlay projection
Adriano Dal PastroandClaude Opus 4.7
2026-05-13 10:09:47 +02:00
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5d9166ed77
feat(api): GET /api/models/recipes proxy to Open3DModel
Adriano Dal PastroandClaude Opus 4.7
2026-05-13 10:08:11 +02:00
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430e342c48
feat(api): _deps factories for Open3DModel client + recipe cache
Adriano Dal PastroandClaude Opus 4.7
2026-05-13 10:07:18 +02:00
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87abe26476
refactor(sam21_bridge): extract segment_with_sam21 (no plane filter)
Adriano Dal PastroandClaude Opus 4.7
2026-05-13 10:06:41 +02:00
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684bd2de5e
feat(clients): LRU mesh cache for Open3DModel recipes (etag-validated)
Adriano Dal PastroandClaude Opus 4.7
2026-05-13 10:05:05 +02:00
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16ffe6ac20
feat(clients): Open3DModel client (list_recipes, estimate_pose, get_stl_bytes)
Adriano Dal PastroandClaude Opus 4.7
2026-05-13 10:03:41 +02:00
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b85f4b9a48
feat(perception): project camera-frame 3D points to image pixels
Adriano Dal PastroandClaude Opus 4.7
2026-05-13 10:02:20 +02:00
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d1b27433d5
feat(perception): parse STL + uniform surface sampling
Adriano Dal PastroandClaude Opus 4.7
2026-05-13 10:01:25 +02:00
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876224a71d
feat(perception): partition_by_plane returns accepted + excluded sets
Adriano Dal PastroandClaude Opus 4.7
2026-05-13 10:00:09 +02:00
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9ae3e00f65
build: add numpy-stl + Open3DModel config block for find_model
Adriano Dal PastroandClaude Opus 4.7
2026-05-13 09:57:52 +02:00
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edbd5b5136
docs: implementation plan for Cerca modello 3D pose-fit overlay
Adriano Dal PastroandClaude Opus 4.7
2026-05-11 18:42:33 +02:00
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ba5be511d2
docs: design spec for Cerca modello 3D pose-fit overlay
Adriano Dal PastroandClaude Opus 4.7
2026-05-11 18:35:53 +02:00