Remove pick tuning panel from teleop cockpit

[theo-michel]

Summary

• Delete webapp/js/teleop/pickPanel.js — the per-stage slider panel (wrench button, o shortcut) for live-tuning pick_any_object params; we no longer want to expose this option
• Unwire it from the teleop cockpit in main.js
• Remove its CSS section (.picktune-panel*) from app.css

Left intact on purpose: the pick overlay (pickOverlay.js) and its .picktune-* CSS, the PICK_DEBUG_TOPIC/PICK_TUNING_TOPIC constants, and the skill-side tuning handler — the overlay's draggable wrist box still uses them.

Test plan

• grep -rn 'pickPanel\|picktune-panel\|createPickPanel' webapp/ returns nothing
• Load the teleop page: cockpit renders without the wrench button; o no longer toggles anything; pick overlay still works

[greptile-apps]

Greptile Summary

This PR adds a visual pick-and-grasp workflow and shared robot-control helpers. The main changes are:

• A new pick_any_object skill with live tuning and grasp verification.
• Teleop overlays for head- and wrist-camera aiming.
• Shared arm, mobility, vision, geometry, and Gemini helpers.
• New arm-rest and gripper skills plus arm-zero refactoring.
• Skill-library reload support, typing configuration, and update-script permission repair.

Confidence Score: 4/5

The pick workflow can remain cancelled across runs, retain stale ROS callbacks after reload, and consume unsafe tuning values.

• A cancelled singleton can abort later executions without a new cancel request.
• Reloads can accumulate tuning subscribers owned by retired skill instances.
• Unchecked tuning values flow directly into timing and physical-motion calculations.

workspace/innate_skills/pick_any_object.py

Security Review

The new ROS tuning subscriber accepts unrestricted values that directly control physical-motion parameters. Publishers on the ROS graph can inject invalid gains, limits, durations, and loop bounds; each key needs finite type and safe-range validation.

Important Files Changed

Filename	Overview
workspace/innate_skills/pick_any_object.py	Adds the pick workflow, but run cancellation state, ROS subscription cleanup, and tuning validation can fail during normal use.
webapp/js/teleop/pickOverlay.js	Adds camera-aware aim overlays, wrist-target dragging, and browser-side cleanup.
workspace/skill_lib/arm.py	Adds shared arm movement, gripper, recovery, and verification helpers.
ros2_ws/src/brain/brain_client/brain_client/skills/catalog.py	Evicts cached skill-library modules before full and selective skill reloads.
scripts/update/post_update.sh	Normalizes ownership and permissions for the system environment file.

Sequence Diagram

%%{init: {'theme': 'neutral'}}%%
sequenceDiagram
    participant UI as Teleop overlay
    participant ROS as ROS topics
    participant Current as Current pick skill
    participant Retired as Retired pick skill
    participant Robot as Robot interfaces
    UI->>ROS: Publish wrist tuning
    ROS->>Current: _on_tuning(payload)
    ROS->>Retired: Stale _on_tuning(payload)
    Current->>ROS: Params event
    Retired->>ROS: Competing params event
    Current->>Robot: Motion using live values

Loading

%%{init: {'theme': 'base', 'themeVariables': {"darkMode": true, "background": "#0d1117", "primaryColor": "#21262d", "primaryTextColor": "#e6edf3", "primaryBorderColor": "#8b949e", "lineColor": "#8b949e", "textColor": "#e6edf3", "edgeLabelBackground": "#161b22", "actorBkg": "#21262d", "actorBorder": "#8b949e", "actorTextColor": "#e6edf3", "actorLineColor": "#8b949e", "signalColor": "#8b949e", "signalTextColor": "#e6edf3", "noteBkgColor": "#373320", "noteBorderColor": "#d4a72c", "noteTextColor": "#f0e6c0", "labelBoxBkgColor": "#21262d", "labelBoxBorderColor": "#8b949e", "labelTextColor": "#e6edf3", "loopTextColor": "#e6edf3", "activationBkgColor": "#30363d", "activationBorderColor": "#8b949e"}}}%%
sequenceDiagram
    participant UI as Teleop overlay
    participant ROS as ROS topics
    participant Current as Current pick skill
    participant Retired as Retired pick skill
    participant Robot as Robot interfaces
    UI->>ROS: Publish wrist tuning
    ROS->>Current: _on_tuning(payload)
    ROS->>Retired: Stale _on_tuning(payload)
    Current->>ROS: Params event
    Retired->>ROS: Competing params event
    Current->>Robot: Motion using live values

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Comments Outside Diff (3)

1. workspace/innate_skills/pick_any_object.py, line 1845 (link)

   Cancellation State Carries Between Runs

   Unlike the other new arm skills, this entry point never resets _cancelled. After one call to cancel(), the same singleton skill instance starts every later execution with the latch still set; the first cancellation checkpoint then aborts the new pick even though nobody cancelled that run.

2. workspace/innate_skills/pick_any_object.py, line 1279 (link)

   Reload Leaves Stale ROS Callbacks

   This subscription is created on the shared server node with a bound method, but the skill has no shutdown() cleanup. Replacing the skill during reload therefore leaves the retired instance subscribed; later tuning messages update every old instance and emit competing params events while the subscriptions and instances accumulate.

3. workspace/innate_skills/pick_any_object.py, line 1287 (link)

   Unbounded Tuning Reaches Motion Code

   Any ROS publisher can replace motion and timing parameters with unrestricted numeric values. Inputs such as negative sleep durations, zero or negative step counts, non-finite gains, or reversed velocity bounds then flow into sleeps, loops, and physical-motion helpers, causing exceptions, skipped positioning, or incorrectly directed movement.

_{Reviews (1): Last reviewed commit: "Remove pick tuning panel from teleop coc..." | Re-trigger Greptile}

[theo-michel]

Folded into #542 (merge a7515d9c) so the whole pick + skills story lands as one PR.