Quest 3 teleop: rcsv1 IRIS APK shows no UI and never appears in pyzlc get_nodes_info

[Jasper1004]

Hi — I'm setting up the Quest 3 teleoperation from examples/teleop in simulation
(DuoBench tasks) and the headset never gets discovered. I've ruled out the networking
side, so I suspect a version pairing issue and would appreciate some guidance.

Setup

• IRIS APK: rcsv1 release (2026-04-09, built from main)
• SimPublisher: RobotControlStack fork, 56e5ea5a (2026-05-05)
• pyzlc: 2.2.0
• rcs-core: 0.7.2 (PyPI wheel)
• OS / Python: Ubuntu 24.04, Python 3.11
• Network: Quest and PC on the PC's own Wi-Fi hotspot — PC 10.42.0.1, Quest 10.42.0.214, ufw inactive

Symptoms

1. The app runs but renders nothing. logcat confirms it starts correctly
   (Unity + OpenXR initialised, VrMode=1, PT=1, hand tracking services connected),
   but inside the headset there is only passthrough — no UI or panels anywhere in view.
   It also cannot be launched from the Library ("app unavailable"); it only starts via
   adb shell monkey -p com.IntuitiveRobotsLab.IRISMetaQuest3 -c android.intent.category.LAUNCHER 1.

2. The headset never appears in pyzlc.get_nodes_info(ZLC_GROUP_NAME), so
   quest_align_frame.py prints None indefinitely and the Dashboard's Scan finds nothing.

What I've already ruled out

Networking is fine in both directions.

• tcpdump on the hotspot interface shows multicast to 239.255.10.10:7720 from both
  10.42.0.1 and 10.42.0.214.
• The TCP port advertised in the Quest's heartbeat is reachable (nc -zv succeeds).
• ip maddr show confirms the PC joined 239.255.10.10 on the correct interface.
• Two pyzlc processes on the PC discover each other without problems.

It doesn't look like a version mismatch. The APK was built 2026-04-09, and pyzlc 2.2.0
(released 2026-03-15) was the latest release at that time — which is exactly what's installed.
Checking out SimPublisher 7819186 (2026-04-03) doesn't help either: uv then resolves pyzlc
to 2.2.4 and pyzlc.init() raises TypeError: init() got an unexpected keyword argument 'sub_group'.

For reference, the Quest's heartbeat payload contains two UUIDs and a TCP port, but no name
or topic list.

Questions

1. Which SimPublisher / pyzlc versions is the rcsv1 APK meant to be paired with?
2. Is a newer APK build available anywhere? The link in examples/teleop/README.md points to
   Actions run 25190284304, whose artifact expired on 2026-07-29 — and every artifact in that
   repo is now past the 90-day retention window, so there's currently no downloadable build
   from that link. (I tried building it myself from a fork, but the workflow needs the
   UNITY_LICENSE secret.)
3. Does the IRIS app require any in-headset configuration before it registers as a node?

Happy to run any further diagnostics. Thanks for open-sourcing this — the rest of the stack has been
working well for us.

[Jasper1004]

Update: I found #320, which has very similar symptoms — and the fix there was to use the
patched APK from Actions run 25190284304 instead of the upstream one.

I'm already using an APK from your fork, but a different build: the rcsv1 release
(2026-04-09, from main), because the artifact from run 25190284304 expired on 2026-07-29
and is no longer downloadable. That run was built from feat/stereo-eye-camera-routing
on 2026-04-30 — three weeks after rcsv1 — so I suspect the fixes you mentioned in #320
aren't included in the rcsv1 release.

Would it be possible to either re-run that workflow to produce a fresh artifact, or publish
a new release from the current main (which is now four months newer)? That would likely
resolve this.