Jakob/port examples to cloudxrlauncher#703
Open
nv-jakob wants to merge 2 commits into
Open
Conversation
Expose argparse helpers so embedding apps and examples can default to launching the CloudXR runtime and WSS proxy, with --no-launch-cloudxr-runtime for environments where the runtime is already running. Signed-off-by: Jakob Bornecrantz <tbornecrantz@nvidia.com>
Wrap examples that need a running CloudXR runtime with CloudXRLauncher, using the new --launch-cloudxr-runtime / --no-launch-cloudxr-runtime flags where argparse is already present. Skips synthetic-plugin and mcap replay examples that do not require a live runtime. Signed-off-by: Jakob Bornecrantz <tbornecrantz@nvidia.com>
Contributor
|
📝 Docs preview is not auto-deployed for fork PRs. A maintainer with write access to |
Contributor
📝 WalkthroughWalkthroughCloudXRLauncher now exposes CLI helper methods and a Sequence Diagram(s)sequenceDiagram
participant ExampleMain as "main()"
participant CloudXRLauncher
participant CloudXRRuntime as "CloudXR runtime"
participant TeleopSession
participant OpenXRSession as "oxr.OpenXRSession"
ExampleMain->>CloudXRLauncher: launch_context(args)
CloudXRLauncher->>CloudXRRuntime: start runtime
alt teleop example
ExampleMain->>TeleopSession: run session loop
else OpenXR example
ExampleMain->>OpenXRSession: create and run session
end
ExampleMain->>CloudXRLauncher: exit context
CloudXRLauncher->>CloudXRRuntime: stop runtime
Estimated code review effort🎯 4 (Complex) | ⏱️ ~60 minutes 🚥 Pre-merge checks | ✅ 4 | ❌ 1❌ Failed checks (1 warning)
✅ Passed checks (4 passed)
✏️ Tip: You can configure your own custom pre-merge checks in the settings. ✨ Finishing Touches🧪 Generate unit tests (beta)
Comment |
![coderabbitai[bot]](https://avatars.githubusercontent.com/in/347564?s=60&v=4){kind=small}
Contributor
There was a problem hiding this comment.
Actionable comments posted: 1
Caution
Some comments are outside the diff and can’t be posted inline due to platform limitations.
⚠️ Outside diff range comments (1)
examples/teleop/python/joint_space_device_example.py (1)
217-229: 🩺 Stability & Availability | 🟠 Major | ⚡ Quick winStart CloudXR before spawning the synthetic plugin.
The default flow now launches
so101_leader_pluginbefore enteringCloudXRLauncher.launch_context(args), so the plugin is asked to create/push against an OpenXR runtime that is not running yet. That makes--launch-pluginrace or time out unless the user manually disables launcher startup and pre-starts CloudXR.Suggested fix
plugin_proc = None - if args.launch_plugin: - if not Path(args.plugin_bin).exists(): - raise SystemExit( - f"plugin binary not found: {args.plugin_bin} (build it first)" - ) - print(f"launching plugin: {args.plugin_bin}") - # Empty device_path -> synthetic backend; collection id must match the source. - plugin_proc = subprocess.Popen([args.plugin_bin, "", _COLLECTION_ID]) - time.sleep(1.5) # let it create its OpenXR session and start pushing try: with CloudXRLauncher.launch_context(args): + if args.launch_plugin: + if not Path(args.plugin_bin).exists(): + raise SystemExit( + f"plugin binary not found: {args.plugin_bin} (build it first)" + ) + print(f"launching plugin: {args.plugin_bin}") + plugin_proc = subprocess.Popen([args.plugin_bin, "", _COLLECTION_ID]) + time.sleep(1.5) run_live(args.mode, args.frames, args.urdf, args.ee_link, args.timeout)🤖 Prompt for AI Agents
Verify each finding against current code. Fix only still-valid issues, skip the rest with a brief reason, keep changes minimal, and validate. In `@examples/teleop/python/joint_space_device_example.py` around lines 217 - 229, Move the CloudXR startup in joint_space_device_example.py so CloudXRLauncher.launch_context(args) is entered before spawning the synthetic plugin process. The current launch order in the main flow starts plugin_proc via subprocess.Popen before the OpenXR runtime is available, which can make --launch-plugin fail or race. Keep the existing plugin launch logic and cleanup, but wrap the plugin startup and subsequent run_live call inside the CloudXRLauncher.launch_context(args) block so the plugin sees a running CloudXR/OpenXR session.
🤖 Prompt for all review comments with AI agents
Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.
Inline comments:
In `@examples/oxr/python/modular_example.py`:
- Around line 80-108: The hand and head pose printing in modular_example.py only
checks data is not None, which still leaves possible missing joints or invalid
poses; update the left_tracked, right_tracked, and head_tracker handling to
verify the relevant pose/joints validity before dereferencing. Use the existing
tracker access points and the schema.HeadPoseTrackedT / hand tracking objects to
add the same stricter guard pattern used elsewhere, then only read pose.position
and print coordinates when the pose is valid.
---
Outside diff comments:
In `@examples/teleop/python/joint_space_device_example.py`:
- Around line 217-229: Move the CloudXR startup in joint_space_device_example.py
so CloudXRLauncher.launch_context(args) is entered before spawning the synthetic
plugin process. The current launch order in the main flow starts plugin_proc via
subprocess.Popen before the OpenXR runtime is available, which can make
--launch-plugin fail or race. Keep the existing plugin launch logic and cleanup,
but wrap the plugin startup and subsequent run_live call inside the
CloudXRLauncher.launch_context(args) block so the plugin sees a running
CloudXR/OpenXR session.
🪄 Autofix (Beta)
Fix all unresolved CodeRabbit comments on this PR:
- Push a commit to this branch (recommended)
- Create a new PR with the fixes
ℹ️ Review info
⚙️ Run configuration
Configuration used: Path: .coderabbit.yaml
Review profile: CHILL
Plan: Enterprise
Run ID: 72b405bd-aa93-41ce-9e26-419f3684510e
📒 Files selected for processing (16)
examples/haptic_feedback/python/controller_haptic_example.pyexamples/lerobot/record.pyexamples/oxr/python/modular_example.pyexamples/oxr/python/modular_example_with_mcap.pyexamples/retargeting/python/dual_source_teleop_example.pyexamples/retargeting/python/sharpa_hand_retargeter_demo.pyexamples/retargeting/python/sources_example.pyexamples/teleop/python/dex_bimanual_example.pyexamples/teleop/python/full_bimanual_reordering_example.pyexamples/teleop/python/isaac_lab_gripper_example.pyexamples/teleop/python/joint_space_device_example.pyexamples/teleop/python/se3_retargeting_example.pyexamples/teleop_session_manager/python/message_channel_example.pyexamples/teleop_session_manager/python/teleop_controls_simple_example.pysrc/core/cloudxr/python/launcher.pysrc/core/cloudxr_tests/python/test_launcher.py
Comment on lines
+80
to
+108
| if left_tracked.data is not None: | ||
| pos = left_tracked.data.joints.poses( | ||
| deviceio.JOINT_WRIST | ||
| ).pose.position | ||
| print( | ||
| f" Left wrist: [{pos.x:6.3f}, {pos.y:6.3f}, {pos.z:6.3f}]" | ||
| ) | ||
| else: | ||
| print(" Left hand: inactive") | ||
|
|
||
| if right_tracked.data is not None: | ||
| pos = right_tracked.data.joints.poses( | ||
| deviceio.JOINT_WRIST | ||
| ).pose.position | ||
| print( | ||
| f" Right wrist: [{pos.x:6.3f}, {pos.y:6.3f}, {pos.z:6.3f}]" | ||
| ) | ||
| else: | ||
| print(" Right hand: inactive") | ||
|
|
||
| # Get head data | ||
| head_tracked: schema.HeadPoseTrackedT = head_tracker.get_head( | ||
| session | ||
| ) | ||
| if head_tracked.data is not None: | ||
| pos = head_tracked.data.pose.position | ||
| print( | ||
| f" Head pos: [{pos.x:6.3f}, {pos.y:6.3f}, {pos.z:6.3f}]" | ||
| ) |
Contributor
There was a problem hiding this comment.
🩺 Stability & Availability | 🟠 Major
🧩 Analysis chain
🏁 Script executed:
#!/bin/bash
set -euo pipefail
# Locate the reviewed file and the comparison file, then inspect relevant ranges.
git ls-files 'examples/oxr/python/modular_example.py' 'examples/lerobot/record.py' | cat
echo '--- modular_example.py ---'
wc -l examples/oxr/python/modular_example.py
sed -n '1,220p' examples/oxr/python/modular_example.py | cat -n | sed -n '1,180p'
echo '--- record.py ---'
wc -l examples/lerobot/record.py
sed -n '1,260p' examples/lerobot/record.py | cat -n | sed -n '1,220p'Repository: NVIDIA/IsaacTeleop
Length of output: 15884
🏁 Script executed:
#!/bin/bash
set -euo pipefail
# Search for the tracker and pose API definitions / usage to understand validity semantics.
rg -n "class .*HeadPoseTracked|class .*HandPoseTracked|def poses\(|is_valid|joints" \
examples src . -g '!**/.git/**' | sed -n '1,220p'Repository: NVIDIA/IsaacTeleop
Length of output: 25636
Guard invalid hand/head poses before reading them. data is not None still allows missing joints or invalid wrist/head poses, so these dereferences can raise or print bogus coordinates. Check joints/is_valid first, matching the stricter tracker handling used elsewhere.
🤖 Prompt for AI Agents
Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.
In `@examples/oxr/python/modular_example.py` around lines 80 - 108, The hand and
head pose printing in modular_example.py only checks data is not None, which
still leaves possible missing joints or invalid poses; update the left_tracked,
right_tracked, and head_tracker handling to verify the relevant pose/joints
validity before dereferencing. Use the existing tracker access points and the
schema.HeadPoseTrackedT / hand tracking objects to add the same stricter guard
pattern used elsewhere, then only read pose.position and print coordinates when
the pose is valid.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Description
Fixes #(issue)
Type of change
Testing
Checklist
SKIP=check-copyright-year pre-commit run --all-filesgit commit -s) per the DCOSummary by CodeRabbit
New Features
Documentation