feat(pose_3d): tag locator save, front-tag overlay, sidebar tabs, cloud params persist

- Sidebar a 3 tab verticali (POSE / CAMERAS / MISC) per ridurre lo scroll
- Tag locator: POST /api/pose_3d/tag_offset/{save,} salva crocetta nel
  viewport con snapshot giunti, current.json + archive rotation
- Front-camera tag overlay (MISC):
  - GET /api/pose_3d/front_tags scansiona ArUco sul D435i e per ogni tag
    misura i 4 corner 3D via depth sensor (indipendente da solvePnP);
    outlier rejection ±20% dalla mediana per ignorare corner che catturano
    background sul bordo del marker
  - Rendering quad cyan + label compatta (id, edge_mm, distanza camera)
    agganciato al d435_link, segue la camera anche in modalita' hand-eye
  - Trigger via pollState() quando il flag e' on, niente timer separato
- Cloud cross-camera: memorizza step/max_depth/sizes/scale_xy/flip/handeye
  in pose_3d.cloud_params al click di Acquisisci, ripopola UI da config
  al primo poll (state.cloud_params_populated guard)
- D435i front cloud: applica nuwa_to_cv_frame (il servizio ritorna native,
  non OpenCV come si pensava)
- Cache-bust per pose_3d.js e pose_3d.css

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

config.yaml

@@ -82,6 +82,8 @@ tab_right_arm:
     - 0
 pose_3d:
   live_max_step_m: 0.15
+  tag_offset:
+    save_dir: /home/harry/robot/logging/wrist-tag-offset
   right_wrist_camera:
     enabled: true
     mesh_url: /static/assets/nuwa/nuwa-hp60c.stl
@@ -107,25 +109,25 @@ pose_3d:
     d435:
       offset_m:
       - -0.01
-      - 0
-      - 0
+      - 0.015
+      - -0.005
       rpy_deg:
       - -90
-      - 86
+      - 90
       - 0
       transform_pelvis_4x4:
-      - - -0.011344227963137242
-        - -0.9974094742471121
-        - -0.07103273311663486
-        - 0.007340882385689307
-      - - -0.5556320632728338
-        - 0.06534842452974676
-        - -0.8288561960163252
-        - 0.3109738415126284
-      - - 0.8313508998943191
-        - 0.03006533042523672
-        - -0.5549340115286931
-        - 0.2869260834772309
+      - - 0.03273746934835532
+        - -0.9960477706629303
+        - -0.0825657111522212
+        - -0.00771413467718246
+      - - -0.7734929889294071
+        - 0.027067579810660346
+        - -0.633226612043623
+        - 0.37547513731967447
+      - - 0.6329588092267278
+        - 0.08459423550455474
+        - -0.7695498431821574
+        - 0.33337005199505626
       - - 0.0
         - 0.0
         - 0.0
@@ -142,6 +144,21 @@ pose_3d:
       - -0.047703617194205114
       - -0.005110044879619669
       - 0.9988341941293186
+  cloud_params:
+    step: 2
+    max_depth_mm: 1000
+    nuwa_size_mm: 5
+    d435_size_mm: 5
+    d435_scale_xy: 1
+    flip_nuwa:
+    - false
+    - false
+    - false
+    flip_d435:
+    - false
+    - false
+    - false
+    d435_use_handeye: false
 grasp:
   approach_offset_m: 0.1
   pre_grasp_clearance_m: 0.05