feat(pose_3d): router skeleton + GET /state

config.yaml

@@ -48,11 +48,15 @@ tab_right_arm:
     x: 1
     y: -1
     z: -1
+  cam_to_wrist_perm: [z, x, y]  # wrist_X<-cam_Z, wrist_Y<-cam_X, wrist_Z<-cam_Y
   camera_offset_wrist_mm:
     x: 0.0
     y: 0.0
     z: 100.0
-  cluster_depth_window_m: 0.20
+  cluster_depth_window_m: 0.2
+  verify_marker:
+    id: 1
+    size_mm: 40.0
   max_step_m: 0.15
   z_floor_m: null
   home_pose:
@@ -73,6 +77,9 @@ tab_right_arm:
     - 0
     - 0
     - 0
+pose_3d:
+  live_max_step_m: 0.15
+  named_poses: {}
 grasp:
   approach_offset_m: 0.1
   pre_grasp_clearance_m: 0.05