feat: harden TG3 teleop and add right-B point gesture

tg3_local_teleop/config.toml

@@ -5,6 +5,11 @@ omnisocket_server = "175.178.116.187:14049"
 omnisocket_peer_id = "tg3-009027fa8190-robot"
 omnisocket_expected_sender = "tg3-009027fa8190-iarm"
 omnisocket_max_packet_age_ms = 300.0
+# The deployed OmniSocket receiver does not exchange a Hub heartbeat while idle.
+# Re-register periodically with make-before-break so a Hub restart cannot leave
+# a false connected state and healthy refreshes never create a routing gap.
+# Active traffic resets this timer and is never interrupted by this refresh.
+omnisocket_idle_session_refresh_s = 30.0
 # The native session can remain blocked on an old connection after the public
 # Hub disappears. Publication stops at source_timeout_s; after this longer
 # interval the process exits and systemd creates a completely fresh session.
@@ -52,8 +57,9 @@ joint_upper_rad = [
 ]
 
 [locomotion]
-# Right C remains an immediate deadman: while teleoperation is active, C plus
-# a left-stick command acts on the next 50 Hz tick. There is no second hold.
+# The two original immediate bindings are independent: right C + left-stick
+# vertical controls translation; left Z + right-stick horizontal controls
+# in-place yaw. Both act on the next 50 Hz tick, with no second hold.
 enabled = true
 command_topic = "/hric/robot/cmd_vel"
 # This bridge never publishes FSM commands. The robot must already report
@@ -63,6 +69,10 @@ frame_id = "pelvis"
 hold_seconds = 0.0
 joystick_deadzone = 0.2
 joystick_expo = 2.0
+# Turning is linear after the deadzone so medium right-stick travel is not
+# suppressed by the quadratic forward-motion curve. The official yaw cap is
+# unchanged.
+yaw_joystick_expo = 1.0
 # TianGong secondary-development /cmd_vel limits for full/half-body walking:
 # linear.x [-0.8, +1.0] m/s and angular.z [-0.8, +0.8] rad/s.
 max_forward_m_s = 1.0
@@ -99,6 +109,17 @@ invert_scalar = false
 open_normalized = [0.4, 0.4, 0.05, 0.05, 0.05, 0.05]
 closed_normalized = [0.9, 0.5, 0.45, 0.52, 0.52, 0.45]
 
+# Right B owns a robot-side, release-guarded pointing gesture while a teleop
+# session is armed. Both activation and deactivation require one continuous
+# 3-second hold, separated by at least 0.5 seconds of stable release. A new
+# session is always release-locked. The pose is xTELE GestureController's
+# BrainCoRevo2 gesture 2 ("single index finger"), state 0, in motor order:
+# thumb bend, thumb rotation, index, middle, ring, little.
+right_b_point_gesture_enabled = true
+right_b_point_gesture_hold_seconds = 3.0
+right_b_point_gesture_release_seconds = 0.5
+right_b_point_pose_normalized = [0.2, 0.688, 0.0, 0.98, 0.98, 0.98]
+
 [home]
 # Deliberately slower than manual teleoperation. This Home pose was captured
 # from the robot's real arm feedback on 2026-08-06. Joint order is 11..17,