Update 2026-04-21 10:34:53

README.md

@@ -218,62 +218,5 @@ The reliable path is **serial**: `speak()` → `wait_for_audio_done()` →
 want). Parallel is kept behind `audio_lead_s` for latency-sensitive
 demos where occasional dropped audio is acceptable.
 
-## Current status (2026-04-21)
-
-Snapshot of what is and isn't working, so whoever picks this up next
-doesn't have to rediscover it.
-
-**Working:**
-
-- End-to-end flow: RealSense → YOLO11n → tracker → compliance →
-  UNSAFE/SAFE/PARTIAL events → robot voice + recorded arm motion.
-- Wireless-remote gated start/stop (R2+X / R2+Y) via `rt/lowstate`.
-- Recorded arm replay from [assets/motions/adnoc1.jsonl](assets/motions/)
-  via [robot/arm_replay.py](robot/arm_replay.py) — custom teach-and-replay
-  trajectory instead of the canned `reject` action.
-- Recorded WAV library under [assets/audio/](assets/audio/) with a
-  `recorded_or_tts` mode that can be toggled via `tts.mode` in config.
-- TtsMaker path hardened: `AUDIO_STOP_PLAY` reset + retry + 3 s RPC
-  timeout + index-bug workaround (see [Audio pipeline](#audio-pipeline)).
-- MJPEG stream on port 8080 for remote visual QA.
-- Fully config-driven — no hard-coded IPs, paths, or thresholds in code
-  beyond `SAQR_ROOT` fallback and firmware API ids.
-- systemd unit + `start_saqr.sh` = single entry point, survives reboots.
-
-**Known broken / in tension:**
-
-- **Audio ↔ arm firmware contention** (see [Known limitations](#known-limitations)).
-  Current default is parallel via `audio_lead_s=0.3` — ~50 % of UNSAFE
-  alerts drop their audio when arm sdk is publishing. Mitigations tested
-  and **none of them fix the root cause** (it's a firmware limitation).
-  The deterministic fix is to serialise audio-then-arm; pending decision.
-- **Track-ID churn** — each re-acquisition of the same person generates a
-  new track id, which bypasses the per-`(track_id, status)` cooldown and
-  triggers a fresh UNSAFE alert. Not yet quantified, but visible in
-  rapid-fire `ID 0001 → 0002 → 0003` sequences for what appears to be
-  one worker.
-
-**Configuration right now:**
-
-- `tts.mode = "tts_only"` (firmware TTS, no recorded WAVs used).
-- `motion.enabled = true`, `motion.unsafe_file = "adnoc1.jsonl"` — the
-  custom 7-second trajectory with 60 frames of smooth move-in and 180
-  frames of smooth return-to-home.
-- `bridge.audio_lead_s = 0.3` — parallel mode.
-- `bridge.cooldown = 8.0` — per (track_id, status).
-
-**Next-session picks (prioritised):**
-
-1. Decide parallel-vs-serial for audio+arm and wire it in. Serial is
-   safer for safety-critical alerts.
-2. Stabilise track-IDs or make the cooldown per-identity instead of
-   per-track so one worker doesn't trigger N alerts.
-3. Add a boot-time self-check (camera reachable, DDS iface up, model
-   file present, motion JSONL parseable) so failures surface before the
-   first event rather than during it.
-4. Rotate `logs/` — currently grows unbounded.
-5. Add a `logs/events.jsonl` audit trail (one structured line per
-   UNSAFE/SAFE event) for post-hoc compliance review.
-
 See [docs/ARCHITECTURE.md](docs/ARCHITECTURE.md) for the full component
 map and data flow.