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Robot Modifications Log — Pre-Wipe Snapshot

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

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

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)

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:

Creates a VuerProxy session
Calls self.bound_fn(vuer_proxy) which returns a generator
Calls await generator.__anext__() to get the first server event
Enters async for msg in ws: loop to process incoming client messages
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.

4. Key Findings to Preserve

Vuer JS WebSocket port bug — MUST fix in any vuer version used with HTTPS on non-443 port
aiohttp SSL assertion bug — MUST fix for aiohttp 3.10.5 on aarch64
display-mode pass-through is required when Vision Pro can't reach robot's internal network (192.168.123.164) for WebRTC
IK rotation cost = 0 was set for position-only tracking during debugging — should be restored to original values once rotation corrections are working
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

5.0 KiB Raw Blame History