# Robot Modifications Log — Pre-Wipe Snapshot

**Date:** 2026-02-17
**Purpose:** Document all changes made to the robot before resetting to clean upstream code.

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## 1. xr_teleoperate (~/xr_teleoperate on robot)

**Upstream:** https://github.com/unitreerobotics/xr_teleoperate.git
**Robot commit:** 9fadc51 (upstream HEAD)

### Modified files (tracked, dirty):

#### teleop/teleop_hand_and_arm.py
- Added `import numpy as np` at top
- Added `--avp-ip` argparse flag (Vision Pro IP for avp_stream bypass)
- Added `--debug` argparse flag (enables per-frame file logging)
- Added `teleop_logger` import and `setup_teleop_logging()` call
- Added conditional: if `--avp-ip` given, uses `AVPStreamWrapper` instead of `TeleVuerWrapper`
- Added per-frame IK debug logging block (writes to `/tmp/teleop_debug_*.log`)
- Added `[IK_DBG]` print every 30 frames (sol_q, cur_q, delta)

#### teleop/robot_control/robot_arm_ik.py
- **IK cost function:** zeroed rotation cost (`0 * self.rotation_cost`) for position-only mode — applied to ALL 4 IK classes (G1_29, G1_23, H1_2, H1)
- Added `self.last_solve_info = {}` dict to all 4 classes
- Added solve info capture in try/except blocks (status, raw_sol, cost on success; status, error on fail)

### Untracked files (our additions):
- `teleop/avp_stream_wrapper.py` — Drop-in AVPStream wrapper using gRPC (Tracking Streamer app). Full coordinate transform pipeline matching TeleVuerWrapper.
- `teleop/teleop_logger.py` — Debug logging utility (setup_teleop_logging, fmt_arr, fmt_pos, fmt_rpy, rot_to_euler)
- `teleop/rotation_diagnostic.py` — Diagnostic script for rotation analysis
- `teleop/test_avp_stream.py` — Test script for avp_stream connectivity
- `teleop/robot_control/robot_arm_ik.py.bak_debug` — Backup before debug changes
- `teleop/teleop_hand_and_arm.py.bak_debug` — Backup before debug changes

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## 2. vuer package (~/miniforge3/envs/tv/lib/python3.10/site-packages/vuer/)

**Package:** vuer 0.0.60 (pip install)
**Upstream:** https://github.com/vuer-ai/vuer

### Patches applied (with .bak backups):

#### base_protocol.py (aiohttp, NOT vuer)
**File:** `~/miniforge3/envs/tv/lib/python3.10/site-packages/aiohttp/base_protocol.py`
**Bug:** `assert self._paused` in `resume_writing()` crashes on SSL WebSocket connections (aiohttp 3.10.5, Python 3.10, aarch64)
**Fix:** Changed line 36 from `assert self._paused` to `if not self._paused: return`
**Backup:** `.bak` exists

#### chunk-Dd3xtWba.js (Vuer client JS bundle)
**File:** `~/miniforge3/envs/tv/lib/python3.10/site-packages/vuer/client_build/assets/chunks/chunk-Dd3xtWba.js`
**Bug:** `getSocketURI()` uses `window.location.hostname` (no port) for HTTPS case, causing WebSocket to connect to port 443 instead of 8012
**Fix:** Changed `wss://${window.location.hostname}` to `wss://${window.location.host}`
**Backup:** `.bak` exists

#### index.html (Vuer client)
**File:** `~/miniforge3/envs/tv/lib/python3.10/site-packages/vuer/client_build/index.html`
**Change:** Added `?cb=1771359809` cache-busting to all JS/CSS references
**Backup:** `.bak` exists

#### server.py (Vuer server)
**File:** `~/miniforge3/envs/tv/lib/python3.10/site-packages/vuer/server.py`
**Change:** Added request logging line at start of `socket_index()`: `print(f"[REQ] {request.method} {request.path_qs} upgrade=...")`
**Backup:** No .bak (logging only, can be dropped)

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## 3. Current Issue (at time of wipe)

WebSocket connects then immediately disconnects in pass-through mode. 3 connect/disconnect cycles (react-use-websocket retries 3x then gives up). User sees hands (client-side WebXR) but no data flows to robot. Root cause investigation was in progress — examining Vuer's `downlink()` handler in `server.py` lines 597-670.

The `downlink()` handler:
1. Creates a VuerProxy session
2. Calls `self.bound_fn(vuer_proxy)` which returns a generator
3. Calls `await generator.__anext__()` to get the first server event
4. Enters `async for msg in ws:` loop to process incoming client messages
5. When client stops sending → "websocket is now disconnected"

**Hypothesis:** The pass-through handler pushes `Hands(stream=True)` then sleeps forever. The Vuer server's downlink expects the `socket_handler` (set by `@app.add_handler`) to be an async generator that yields events. If the handler is a plain async function (not a generator), the `hasattr(generator, "__anext__")` check may fail, causing it to call `next(generator)` on a coroutine, which could raise TypeError silently.

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## 4. Key Findings to Preserve

1. **Vuer JS WebSocket port bug** — MUST fix in any vuer version used with HTTPS on non-443 port
2. **aiohttp SSL assertion bug** — MUST fix for aiohttp 3.10.5 on aarch64
3. **display-mode pass-through** is required when Vision Pro can't reach robot's internal network (192.168.123.164) for WebRTC
4. **IK rotation cost = 0** was set for position-only tracking during debugging — should be restored to original values once rotation corrections are working
5. **avp_stream_wrapper.py** is a complete working wrapper for the native Tracking Streamer pipeline (gRPC, port 12345) — should be committed as a proper feature