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feat(sharpa-avatar): report glove and dongle health - #1347
This revision addresses all actionable review feedback raised on #1263, #1264, and the current PR.
Rather than continuing to add isolated health checks, it revises the Sharpa Avatar plugin lifecycle around three separate concepts:
Transport — whether the USB dongle is physically present and usable.
Physical gloves — whether each glove exists in the Avatar SDK inventory and is producing current ingress.
Dataset outputs — whether HUMAN, RAW, and ROBOT output streams are independently available and advancing.
This separation allows the plugin to distinguish dongle removal, glove power/link loss, stale data, dataset setup failures, and runtime SDK errors without conflating them into a single connected flag.
The implementation remains pinned to the production Avatar SDK 1.7.3.
Review feedback addressed
This revision covers the previous and current review comments, including:
Refreshing and rebinding XDev hand sources when devices appear after startup or receive new XDev IDs.
Resetting schema sample state when tensorCollectionId changes, even if the collection occupies the same list index.
Preserving independent health for HUMAN, RAW, ROBOT, and haptic-only configurations.
Reporting non-NO_VALID_DATA_RETURNED SDK failures as device errors instead of generic data staleness.
Avoiding publication of fresh-looking cached SDK health after an inventory refresh failure.
Keeping physical dongle detection independent from SDK inventory refresh.
Reporting incomplete Linux USB enumeration as UNKNOWN rather than disconnected.
Exercising all configured datasets and haptics across connect, disconnect, and reconnect transitions.
Lifecycle changes
The plugin lifecycle has been revised so that resources are associated with the hardware or data generation that owns them:
USB transport state is monitored independently from glove state.
Left and right gloves have independent lifecycle state and recovery.
Dataset publishers are created per glove and per data generation, and are withdrawn when their source becomes stale or disappears.
Dataset setup failures are isolated per side and retried without stopping the other glove.
Shared SDK callbacks use generation-scoped lifetime tokens rather than retaining raw plugin pointers.
Long-running consumers periodically refresh XDev topology and recover when the plugin or gloves come online after the consumer has already started.
Health collection and publication failures remain isolated from the tracking data path.
Haptics
Haptic handling now follows the same per-glove lifecycle:
Stale commands are stopped by the watchdog.
Glove reset, disappearance, plugin shutdown, and destruction explicitly request zero vibration.
A glove coming back online does not replay a command from the previous device generation.
Failed SDK haptic calls use a short retry backoff, preventing vendor log flooding while still allowing automatic recovery.
Haptic-only mode retains meaningful per-glove health through its internal liveness probe.
Health reporting
The plugin publishes health for:
sharpa_avatar/transport/dongle
sharpa_avatar/glove/left
sharpa_avatar/glove/right
HUMAN hand outputs
RAW joint outputs
ROBOT joint outputs
Physical USB presence is checked separately from the SDK transport state because Avatar SDK 1.7.3 may continue to report CONNECTED after the dongle has been physically removed. Glove inventory, ingress freshness, dataset progress, and the latest SDK error are then evaluated independently.
No new Viser health UI is introduced. Applications can consume the existing TeleopSession.get_status() / get_device_status() interface, while the Sharpa example can print health transitions in the terminal.
Validation
Validated with the production Avatar SDK 1.7.3 and physical wireless gloves:
Plugin startup with both gloves already online.
Plugin and Viser startup before hardware becomes available.
Independent left-glove power-off and recovery.
Dongle unplug and replug while the plugin remains running.
Automatic recovery of HUMAN, RAW, and ROBOT outputs.
Haptic operation before and after reconnect.
Immediate haptic stop on stale input and plugin shutdown.
Haptic failure retry throttling while the dongle is absent.
Long-running Viser/TeleopSession recovery without restarting the consumer.
Clean SIGINT shutdown.
During dongle removal, the Viser and CloudXR session intentionally remain alive while the hands disappear. The hands return automatically after the transport and gloves recover.
Automated validation includes the Sharpa plugin tests, live tracker tests, tracker metadata tests, C++ formatting checks, and the repository pre-commit suite.
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Walkthrough
The Sharpa Avatar plugin now reports dongle status and independent left- and right-glove health. It tracks HUMAN, RAW, and ROBOT sample freshness separately and publishes changed status entries when monitoring is configured. The Teleop session manager includes the Avatar plugin in status monitoring. The example adds an optional --print-health flag. Tests cover health mapping and USB presence detection.
sequenceDiagram
participant AvatarTracker
participant AvatarSDK
participant LinuxSysfs
participant PluginDeviceStatusPublisher
AvatarTracker->>AvatarSDK: Refresh glove inventory and online state
AvatarTracker->>LinuxSysfs: Check for configured USB vendor and product IDs
AvatarTracker->>AvatarTracker: Combine device state with per-category sample freshness
AvatarTracker->>PluginDeviceStatusPublisher: Publish changed dongle and glove status entries
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Possibly related PRs
NVIDIA/IsaacCapture#1346: It changes the same Sharpa Avatar health reporting, freshness tracking, example flag, and monitoring registration.
Fixed issue severity
Merge Risk: Low · previous review 4778f
A transient USB identifier read failure can incorrectly report the dongle as disconnected. The remaining risk is bounded, but the scan should report uncertainty rather than confirmed absence.
Pre-merge checks: 2 · 2
Failed checks: 2 warnings
Check name
Status
Explanation
Resolution
Linked Issues check
Issue #1319 requires independent connection and streaming states. The implementation reports DeviceInfo.online and freshness, but the code and README state that SDK 1.7.3 derives online from recen…
Provide an independent physical or RF connection signal through the SDK or transport, and map it separately from fresh-sample state. If SDK 1.7.3 cannot provide that signal, add a distinct machine-readable unsupported status and update the …
Out of Scope Changes check
Most changes support issue #1319, including health construction, publication, monitoring registration, example output, configuration parsing, documentation, and focused tests. The .gitignore change …
Remove the unrelated .gitignore, AGENTS.md, and example entry-point changes, or submit them in a separate pull request.
Passed checks: 2 passed
Check name
Status
Explanation
Description Check
Check skipped - CodeRabbit’s high-level summary is enabled.
Title check
The title clearly and concisely summarizes the main change: adding glove and dongle health reporting for the Sharpa Avatar plugin.
Full details: Linked Issues check
Explanation
Issue #1319 requires independent connection and streaming states. The implementation reports DeviceInfo.online and freshness, but the code and README state that SDK 1.7.3 derives online from recent joint data. Therefore, a disconnected glove and a physically connected glove that stopped streaming are not independently identifiable. Issue #1319 also requires startup, unsupported reporting, and runtime failure to remain distinct. The implementation provides startup UNKNOWN and runtime DISCONNECTED or DEGRADED, but it has no distinct unsupported-reporting status. The PR does satisfy independent left/right and per-path entries, per-category freshness, dongle enumeration, and tracking-path isolation. The added tests cover status mapping and USB detection.
Resolution
Provide an independent physical or RF connection signal through the SDK or transport, and map it separately from fresh-sample state. If SDK 1.7.3 cannot provide that signal, add a distinct machine-readable unsupported status and update the implementation and tests so unsupported reporting is not represented as a runtime data failure. Add coverage for the connected-but-not-streaming and unsupported cases.
Full details: Out of Scope Changes check
Explanation
Most changes support issue #1319, including health construction, publication, monitoring registration, example output, configuration parsing, documentation, and focused tests. The .gitignore change for .local-deps/, the repository guidance changes in AGENTS.md, and the KeyboardInterrupt handling change in examples/sharpa_avatar/python/isaaccapture_examples/sharpa_avatar/__main__.py do not implement health reporting or its monitoring path. These are unrelated changes in this pull request.
Resolution
Remove the unrelated .gitignore, AGENTS.md, and example entry-point changes, or submit them in a separate pull request.
Finishing Touches
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Actionable comments posted: 1
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Inline comments:
Review comments at @src/plugins/sharpa_avatar/core/avatar_health.cpp:
- Around line 113-136: Update detect_usb_device_presence to skip interface
entries, track failures reading device-level idVendor or idProduct, and continue
scanning. Return PRESENT if any later device matches; if none does, return
UNKNOWN when a read failed and ABSENT otherwise.
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Fixes #1319.
Summary
This revision addresses all actionable review feedback raised on #1263, #1264, and the current PR.
Rather than continuing to add isolated health checks, it revises the Sharpa Avatar plugin lifecycle around three separate concepts:
This separation allows the plugin to distinguish dongle removal, glove power/link loss, stale data, dataset setup failures, and runtime SDK errors without conflating them into a single connected flag.
The implementation remains pinned to the production Avatar SDK 1.7.3.
Review feedback addressed
This revision covers the previous and current review comments, including:
tensorCollectionIdchanges, even if the collection occupies the same list index.NO_VALID_DATA_RETURNEDSDK failures as device errors instead of generic data staleness.UNKNOWNrather than disconnected.Lifecycle changes
The plugin lifecycle has been revised so that resources are associated with the hardware or data generation that owns them:
Haptics
Haptic handling now follows the same per-glove lifecycle:
Health reporting
The plugin publishes health for:
sharpa_avatar/transport/donglesharpa_avatar/glove/leftsharpa_avatar/glove/rightPhysical USB presence is checked separately from the SDK transport state because Avatar SDK 1.7.3 may continue to report
CONNECTEDafter the dongle has been physically removed. Glove inventory, ingress freshness, dataset progress, and the latest SDK error are then evaluated independently.No new Viser health UI is introduced. Applications can consume the existing
TeleopSession.get_status()/get_device_status()interface, while the Sharpa example can print health transitions in the terminal.Validation
Validated with the production Avatar SDK 1.7.3 and physical wireless gloves:
During dongle removal, the Viser and CloudXR session intentionally remain alive while the hands disappear. The hands return automatically after the transport and gloves recover.
Automated validation includes the Sharpa plugin tests, live tracker tests, tracker metadata tests, C++ formatting checks, and the repository pre-commit suite.