Remove pick tuning panel from teleop cockpit

pyproject.toml

@@ -20,7 +20,7 @@ ignore = [
 ]
 
 [tool.ruff.lint.isort]
-known-first-party = ["mars_nav", "mars_control", "mars_cam", "mars_arm", "brain_client", "manipulation"]
+known-first-party = ["mars_nav", "mars_control", "mars_cam", "mars_arm", "brain_client", "manipulation", "workspace"]
 
 [tool.ruff.format]
 quote-style = "double"

pyrightconfig.json

@@ -0,0 +1,14 @@
+{
+  "pythonVersion": "3.10",
+  "pythonPlatform": "Linux",
+  "extraPaths": [
+    "ros2_ws/src/brain/brain_client",
+    "ros2_ws/src/cloud/clients/proxy-client",
+    "ros2_ws/install/brain_client/local/lib/python3.10/dist-packages",
+    "ros2_ws/install/brain_messages/local/lib/python3.10/dist-packages",
+    "ros2_ws/install/innate_cloud_msgs/local/lib/python3.10/dist-packages",
+    "ros2_ws/install/mars_msgs/local/lib/python3.10/dist-packages",
+    "/opt/ros/humble/lib/python3.10/site-packages",
+    "/opt/ros/humble/local/lib/python3.10/dist-packages"
+  ]
+}

ros2_ws/src/brain/brain_client/brain_client/skills/catalog.py

@@ -15,6 +15,7 @@
 import os
 import re
 import shutil
+import sys
 import threading
 import time
 import types
@@ -269,8 +270,22 @@ def _compute_skill_id(self, path: str | Path) -> str:
         return f"{prefix}/{basename}"
 
     # --- reload ---
+    @staticmethod
+    def _evict_skill_lib() -> None:
+        """Drop cached workspace.skill_lib modules so a skills reload picks up
+        lib edits too — skill files re-import the lib as they load. Without
+        this, sys.modules keeps serving the pre-edit lib to reloaded skills.
+
+        After a selective reload, skills NOT on the reload list keep the module
+        objects they imported at their own load time — two lib copies coexist.
+        Fine while the lib is stateless helpers; revisit if it ever holds state
+        shared across skills."""
+        for name in [m for m in sys.modules if m.startswith("workspace.skill_lib")]:
+            del sys.modules[name]
+
     def reload_all(self) -> None:
         self._logger.info("Reloading skills...")
+        self._evict_skill_lib()
         self._skills_directories = self._resolve_skills_directories()
         new_code_skills = self._load_code_skills(self._skills_directories)
         new_physical, new_in_training = self._load_physical_skills(self._skills_directories)
@@ -291,6 +306,7 @@ def reload_selective(self, skill_ids: list[str]) -> list[str]:
                 return list(self._code_skills.keys()) + list(self._physical_skills.keys())
 
         self._logger.info(f"Selectively reloading skills: {skill_ids}")
+        self._evict_skill_lib()
         reloaded = []
         for skill_id in skill_ids:
             basename = skill_id.split("/", 1)[-1] if "/" in skill_id else skill_id

ros2_ws/src/brain/brain_client/brain_client/skills/types.py

@@ -208,15 +208,15 @@ def __init__(self, logger):
 
     @property
     @abstractmethod
-    def name(self):
+    def name(self) -> str:
         """
         The name of the skill.
         Must be defined by every subclass.
         """
         pass
 
     @abstractmethod
-    def execute(self, *args, **kwargs):
+    def execute(self, *args, **kwargs) -> tuple:
         """
         Execute the skill.
 
@@ -389,14 +389,14 @@ def inject_interface(self, interface_type: InterfaceType, interface_instance):
                 return True
         return False
 
-    def guidelines(self):
+    def guidelines(self) -> str | None:
         """
         Optionally provide guidelines for this skill.
         Subclasses may override this method if guidelines are available.
         """
         return None
 
-    def guidelines_when_running(self):
+    def guidelines_when_running(self) -> str | None:
         """
         Optionally provide guidelines for this skill when it is running.
         Subclasses may override this method if guidelines are available.

scripts/update/post_update.sh

@@ -228,6 +228,19 @@ if [ -f "$ENV_FILE" ]; then
     fi
 fi
 
+# Enforce ownership/mode on an existing /etc/innate.env no matter how it got there:
+# a hand-created file (sudo redirect/tee) ends up 600 root:root, which the non-root
+# launch readers can't open — print_runtime_env.py then treats it as absent and the
+# service key silently drops out of the runtime env (proxy "not configured").
+# Idempotent; matches the seeded state above. Contents are never touched.
+if [ -f "$SYSTEM_ENV_FILE" ]; then
+    if [ "$(stat -c '%U:%G %a' "$SYSTEM_ENV_FILE")" != "root:$ACTUAL_USER 640" ]; then
+        chown "root:$ACTUAL_USER" "$SYSTEM_ENV_FILE"
+        chmod 640 "$SYSTEM_ENV_FILE"
+        log "Fixed $SYSTEM_ENV_FILE ownership/mode to root:$ACTUAL_USER 640 so launch readers can read the service key"
+    fi
+fi
+
 # -----------------------------------------------------------------------------
 # 0a. Migrate user-created data into the post-refactor layout.
 # The refactor moved agents/skills/inputs under workspace/ and maps + nav-state

webapp/css/app.css

@@ -872,6 +872,96 @@ button {
   color: var(--accent);
 }
 
+/* ---- pick overlays (Teleop) ---------------------------------------------- */
+
+/* Grasp reticle over the live head video: the skill's grasp pixel, centered
+   on (left,top) set in JS. Lives in .video-stage, drawn above the frame but
+   below the glass overlays. */
+.picktune-grab {
+  position: absolute;
+  z-index: 1;
+  transform: translate(-50%, -50%);
+  color: var(--accent);
+  pointer-events: none;
+  filter: drop-shadow(0 0 2px rgb(0 0 0 / 70%));
+}
+
+.picktune-grab-tag {
+  position: absolute;
+  top: 50%;
+  left: calc(100% + 4px);
+  transform: translateY(-50%);
+  font-size: 10px;
+  color: inherit;
+  white-space: nowrap;
+}
+
+/* Detection marker (box corners at Gemini's pixel) — green to read apart
+   from the amber grasp target. Its tag hangs left so the two labels don't
+   collide when detection and grasp target sit centimeters apart (the usual
+   case: they differ only by the fingertip offset). */
+.picktune-seen {
+  color: var(--ok);
+}
+
+.picktune-seen .picktune-grab-tag {
+  left: auto;
+  right: calc(100% + 4px);
+}
+
+/* The positioning goal square on the video: put the detection inside this and
+   the base stops. Green while the skill reports the detection inside. */
+.picktune-boxgoal {
+  position: absolute;
+  z-index: 1;
+  transform: translate(-50%, -50%);
+  border: 1.5px dashed var(--accent-dim);
+  border-radius: 2px;
+  pointer-events: none;
+}
+
+/* Inner accept box: the point must land in THIS to stop positioning. Solid
+   amber guide; greens (with the tag) when the skill reports the point inside. */
+.picktune-boxaccept {
+  position: absolute;
+  left: 50%;
+  top: 50%;
+  transform: translate(-50%, -50%);
+  border: 1.5px solid var(--accent-dim);
+  border-radius: 2px;
+  pointer-events: none;
+}
+
+.picktune-boxgoal.inside .picktune-boxaccept {
+  border-color: var(--ok);
+}
+
+.picktune-boxgoal-tag {
+  position: absolute;
+  bottom: calc(100% + 3px);
+  left: 0;
+  font-size: 10px;
+  color: var(--accent-dim);
+  white-space: nowrap;
+}
+
+.picktune-boxgoal.inside .picktune-boxgoal-tag {
+  color: var(--ok);
+}
+
+/* The wrist goal box is the one interactive overlay: drag it to re-aim the
+   wrist servo (publishes wrist_box_u/v as a live tuning override). */
+.picktune-wristbox {
+  pointer-events: auto;
+  cursor: grab;
+  touch-action: none; /* pointer events own the gesture on touch screens */
+}
+
+.picktune-wristbox.dragging {
+  cursor: grabbing;
+  border-style: solid;
+}
+
 /* ---- record HUD (Collect page) ------------------------------------------ */
 
 .overlay-record {

webapp/js/constants.js

@@ -132,6 +132,13 @@ export const PINNED_SKILLS = ["navigate with vision", "navigate with position",
 export const EXECUTE_SKILL_ACTION = "/execute_skill";
 export const EXECUTE_SKILL_ACTION_TYPE = "brain_messages/action/ExecuteSkill";
 
+// pick_any_object stage events (std_msgs/String JSON: {ev, t, ...}) — drive
+// the Teleop aim overlays. The tuning panel and draggable wrist box publish
+// partial TUNABLE dicts (String JSON) back on the tuning topic; the running
+// skill applies them mid-run and acks with a params event.
+export const PICK_DEBUG_TOPIC = "/pick_any_object/debug";
+export const PICK_TUNING_TOPIC = "/pick_any_object/tuning";
+
 export const HEAD_MIN_DEG = -40;
 export const HEAD_MAX_DEG = 70;
 

webapp/js/teleop/main.js

@@ -23,6 +23,7 @@ import { createTtsBar } from "./ttsBar.js";
 import { createTelemetry } from "./telemetry.js";
 import { createArmPanel } from "./armPanel.js";
 import { createProfilingPanel } from "./profilingPanel.js";
+import { createPickOverlay } from "./pickOverlay.js";
 import { createSkillsMenu } from "./skillsMenu.js";
 import { createCameraSwitch } from "./cameraSwitch.js";
 
@@ -92,6 +93,7 @@ function buildCockpit(root) {
     createSkillsMenu(ttsOverlay, ros),
     createArmPanel(armOverlay, ros, { hideServices: !!config.simControls }),
     ...(config.simControls ? [] : [createProfilingPanel(root, session)]),
+    createPickOverlay(root, ros, session),
     createCameraSwitch(root, session, ros),
     keyboard,
   );