Document code deployment workflow, update launch/pull scripts

- CLAUDE.md: Add CODE DEPLOYMENT WORKFLOW section — git push to Gitea
  then pull on robot, never SFTP. Document repo layout and two
  xr_teleoperate locations on robot.
- pull_on_robot.py: Updated verification markers (webcam, head_R_at_cal,
  hasattr guards)
- start_teleop_webcam_full.py: Use standalone ~/xr_teleoperate path

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

CLAUDE.md

@@ -103,6 +103,29 @@ When the user asks you to reason about something novel:
 - Robot SSH: `unitree@10.0.0.64` password `123`
 - GB10 SSH: `mitchaiet@10.0.0.68` password `Strat3*gb10`
 
+## CODE DEPLOYMENT WORKFLOW — CRITICAL
+
+**NEVER deploy code to the robot via direct SFTP upload.** Always use the git workflow:
+
+1. **Edit locally** in `apps/xr_teleoperate/` (this is a separate git repo, gitignored by unitree-g1)
+2. **Commit and push** to Gitea: `cd apps/xr_teleoperate && git push gitea main`
+3. **Pull on robot** via paramiko: `cd ~/xr_teleoperate && git pull origin main`
+
+The helper script `scripts/pull_on_robot.py` automates step 3.
+
+### Repository layout
+
+| Location | Repo | Purpose |
+|---|---|---|
+| `C:\git\unitree-g1` | `gitea.opentesla.org/epilectrik/unitree-g1` | Knowledge base, context, scripts |
+| `C:\git\unitree-g1\apps\xr_teleoperate` | `gitea.opentesla.org/epilectrik/teleop` | Teleop source code (forked from unitreerobotics/xr_teleoperate) |
+| Robot: `~/xr_teleoperate` | same `epilectrik/teleop` | Standalone clone — **this is the one we run** |
+| Robot: `~/g1-control/repos/xr-teleoperate` | Unitree stock | **DO NOT MODIFY** — used by stock `start_teleop.sh` |
+
+### Launching teleop
+
+Use `scripts/start_teleop_webcam_full.py` to launch teleop from the standalone `~/xr_teleoperate` path. This bypasses `start_teleop.sh` (which kills the USB webcam driver via `modprobe -r uvcvideo`).
+
 ## DO NOT
 
 - Do not assume G1 specs are the same as H1 or other Unitree robots — they differ significantly.

scripts/pull_on_robot.py

@@ -6,7 +6,7 @@ ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())
 ssh.connect('10.0.0.64', username='unitree', password='123',
             timeout=15, look_for_keys=False, allow_agent=False)
 
-# Check current remotes - origin already points to gitea
+# Check current remotes
 print('=== Current remotes ===')
 _, o, _ = ssh.exec_command('cd ~/xr_teleoperate && git remote -v', timeout=10)
 print(o.read().decode().strip())
@@ -17,7 +17,7 @@ _, o, _ = ssh.exec_command('cd ~/xr_teleoperate && git status --short', timeout=
 status = o.read().decode().strip()
 print(status if status else '(clean)')
 
-# Pull from origin (which is already gitea)
+# Pull from origin (which is gitea)
 print('\n=== Pulling from origin main ===')
 _, o, e = ssh.exec_command('cd ~/xr_teleoperate && git pull origin main', timeout=30)
 pull_out = o.read().decode().strip()
@@ -26,21 +26,21 @@ print(pull_out)
 if pull_err:
     print(pull_err)
 
-# Verify the changes are present
-print('\n=== Verifying compute_fk exists ===')
-_, o, _ = ssh.exec_command('grep -n "def compute_fk" ~/xr_teleoperate/teleop/robot_control/robot_arm_ik.py', timeout=5)
-print(o.read().decode().strip() or 'NOT FOUND')
+# Verify key markers
+print('\n=== Verifying webcam support ===')
+_, o, _ = ssh.exec_command('grep -c "webcam" ~/xr_teleoperate/teleop/teleop_hand_and_arm.py', timeout=5)
+print(f"webcam references: {o.read().decode().strip()}")
 
-print('\n=== Verifying --ki arg exists ===')
-_, o, _ = ssh.exec_command('grep -n "\\-\\-ki" ~/xr_teleoperate/teleop/teleop_hand_and_arm.py', timeout=5)
-print(o.read().decode().strip() or 'NOT FOUND')
+print('\n=== Verifying head_R_at_cal ===')
+_, o, _ = ssh.exec_command('grep -c "head_R_at_cal" ~/xr_teleoperate/teleop/teleop_hand_and_arm.py', timeout=5)
+print(f"head_R_at_cal references: {o.read().decode().strip()}")
 
-print('\n=== Verifying I-term logic exists ===')
-_, o, _ = ssh.exec_command('grep -n "I-term" ~/xr_teleoperate/teleop/teleop_hand_and_arm.py', timeout=5)
-print(o.read().decode().strip() or 'NOT FOUND')
+print('\n=== Verifying hasattr guard ===')
+_, o, _ = ssh.exec_command('grep -c "hasattr.*get_wireless_remote" ~/xr_teleoperate/teleop/teleop_hand_and_arm.py', timeout=5)
+print(f"hasattr guards: {o.read().decode().strip()}")
 
-print('\n=== Latest commit ===')
-_, o, _ = ssh.exec_command('cd ~/xr_teleoperate && git log --oneline -3', timeout=5)
+print('\n=== Latest commits ===')
+_, o, _ = ssh.exec_command('cd ~/xr_teleoperate && git log --oneline -5', timeout=5)
 print(o.read().decode().strip())
 
 ssh.close()

scripts/start_teleop_webcam_full.py

@@ -0,0 +1,111 @@
+"""Launch full teleop with webcam (no image server, with hand drivers).
+
+Replicates start_teleop.sh but skips the image server that kills the UVC driver.
+"""
+import paramiko
+import sys
+import time
+
+sys.stdout.reconfigure(encoding='utf-8', errors='replace')
+
+ssh = paramiko.SSHClient()
+ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())
+ssh.connect('10.0.0.64', username='unitree', password='123',
+            timeout=15, look_for_keys=False, allow_agent=False)
+
+# ── Step 0: Kill any existing teleop / hand driver processes ──
+print("Cleaning up old processes...")
+_, o, _ = ssh.exec_command(
+    'ps aux | grep -E "teleop_hand_and_arm|ModbusDataHandler|image_server" | grep -v grep',
+    timeout=5)
+procs = o.read().decode().strip()
+if procs:
+    print(f"  Found:\n{procs}")
+    for line in procs.split('\n'):
+        parts = line.split()
+        if len(parts) > 1:
+            ssh.exec_command(f'kill {parts[1]}', timeout=5)
+    time.sleep(1)
+    print("  Killed stale processes")
+else:
+    print("  No stale processes")
+
+# ── Step 1: Start Inspire hand Modbus-to-DDS drivers ──
+print("\nStarting Inspire hand drivers...")
+
+TELEOP_DIR = "/home/unitree/xr_teleoperate/teleop"
+CYCLONE_HOME = "/home/unitree/g1-control/repos/cyclonedds/install/cyclonedds"
+CYCLONE_URI = "file:///home/unitree/g1-control/repos/cyclonedds/cyclonedds.xml"
+PYTHON = "/home/unitree/miniforge3/envs/tv/bin/python"
+
+env_prefix = (
+    f'export CYCLONEDDS_HOME="{CYCLONE_HOME}" && '
+    f'export CYCLONEDDS_URI="{CYCLONE_URI}" && '
+)
+
+# Right hand (also initializes DDS)
+right_hand_cmd = (
+    f'{env_prefix} '
+    f'cd {TELEOP_DIR} && '
+    f'nohup {PYTHON} -m inspire_hand.ModbusDataHandler '
+    f'--ip 192.168.123.211 --initDDS True > /tmp/right_hand.log 2>&1 &'
+)
+ssh.exec_command(right_hand_cmd, timeout=10)
+print("  Right hand driver started (192.168.123.211)")
+time.sleep(2)
+
+# Left hand (check reachability first)
+_, o, _ = ssh.exec_command('ping -c 1 -W 1 192.168.123.210 2>&1 | grep "1 received"', timeout=5)
+left_reachable = bool(o.read().decode().strip())
+if left_reachable:
+    left_hand_cmd = (
+        f'{env_prefix} '
+        f'cd {TELEOP_DIR} && '
+        f'nohup {PYTHON} -m inspire_hand.ModbusDataHandler '
+        f'--ip 192.168.123.210 > /tmp/left_hand.log 2>&1 &'
+    )
+    ssh.exec_command(left_hand_cmd, timeout=10)
+    print("  Left hand driver started (192.168.123.210)")
+else:
+    print("  Left hand not reachable (skipped)")
+
+time.sleep(2)
+
+# ── Step 2: Launch teleop with webcam ──
+print("\nStarting teleop with webcam...")
+print("=" * 60)
+
+teleop_cmd = (
+    f'{env_prefix} '
+    f'cd {TELEOP_DIR} && '
+    f'{PYTHON} teleop_hand_and_arm.py '
+    f'--arm=G1_29 --ee=inspire_ftp --webcam 0 --webcam-res 720p'
+)
+
+stdin, stdout, stderr = ssh.exec_command(teleop_cmd, timeout=300, get_pty=True)
+
+# Stream output in real-time
+start_time = time.time()
+while time.time() - start_time < 120:
+    if stdout.channel.recv_ready():
+        data = stdout.channel.recv(4096).decode('utf-8', errors='replace')
+        print(data, end='')
+    if stderr.channel.recv_stderr_ready():
+        data = stderr.channel.recv_stderr(4096).decode('utf-8', errors='replace')
+        print(f"[err] {data}", end='')
+    if stdout.channel.exit_status_ready():
+        remaining = stdout.channel.recv(65536).decode('utf-8', errors='replace')
+        if remaining:
+            print(remaining, end='')
+        remaining_err = stderr.channel.recv_stderr(65536).decode('utf-8', errors='replace')
+        if remaining_err:
+            print(f"[err] {remaining_err}", end='')
+        exit_code = stdout.channel.recv_exit_status()
+        print(f"\n\nProcess exited with code {exit_code}")
+        break
+    time.sleep(0.1)
+else:
+    print("\n\nTeleop is running! (2 min output window elapsed)")
+    print("Connect Quest 3 to: https://10.0.0.64:8012")
+
+ssh.close()