Expose is_tracked for OpenXR tracking loss by sgrizan-nv · Pull Request #909 · NVIDIA/IsaacTeleop

sgrizan-nv · 2026-08-05T20:18:45Z

Require VALID and TRACKED bits for head is_valid so CloudXR client disconnect no longer leaves a placeholder pose marked valid.

Summary by CodeRabbit

New Features
- Added separate head-pose validity and active-tracking status indicators.
- Valid pose data remains available during temporary tracking loss, while tracking status accurately reflects inactivity.
- Exposed tracking status through head-pose inputs, outputs, transformations, and Python interfaces.
Bug Fixes
- Improved handling of invalid head poses by providing a default pose when pose data is unavailable.
Documentation
- Clarified the difference between valid pose data and active tracking.

coderabbitai · 2026-08-05T20:19:13Z

📝 Walkthrough

Walkthrough

LiveHeadTrackerImpl::update now separates pose validity from active tracking. It preserves valid pose data when tracking is inactive and uses a default pose when the pose is invalid. The schema, Python bindings, source node, tensor types, and transforms propagate is_tracked. Tests cover serialization, untracked samples, and tracking-state preservation.

Estimated code review effort: 3 (Moderate) | ~20 minutes

Sequence Diagram(s)

sequenceDiagram
  participant OpenXR
  participant LiveHeadTrackerImpl
  participant HeadSource
  participant HeadTransform
  OpenXR->>LiveHeadTrackerImpl: provide pose validity and tracking flags
  LiveHeadTrackerImpl->>HeadSource: provide pose, is_valid, and is_tracked
  HeadSource->>HeadTransform: provide head input fields
  HeadTransform->>HeadSource: preserve validity and tracking state

🚥 Pre-merge checks | ✅ 5

✅ Passed checks (5 passed)

Check name	Status	Explanation
Docstring Coverage	✅ Passed	Docstring coverage is 100.00% which is sufficient. The required threshold is 80.00%.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title clearly and concisely describes exposing `is_tracked` to represent OpenXR tracking loss.

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Commit unit tests in branch sgrizan/branch1

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coderabbitai

Actionable comments posted: 1

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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 `@src/core/retargeting_engine_tests/python/test_sources.py`:
- Around line 270-275: Update the HeadSource documentation in output_spec and
_compute_fn to define missing output solely as tracked.data being None, and
explicitly require consumers to inspect HeadInputIndex.IS_VALID before using the
pose. Ensure the documented contract supports non-null placeholder or stale pose
data when is_valid is False.

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ℹ️ Review info

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📥 Commits

Reviewing files that changed from the base of the PR and between 805b95f and 9bab5fd.

📒 Files selected for processing (3)

src/core/live_trackers/cpp/live_head_tracker_impl.cpp
src/core/retargeting_engine_tests/python/test_sources.py
src/core/schema/fbs/head.fbs

Map VALID/TRACKED bits separately so is_valid stays readable-pose semantics while is_tracked clears on CloudXR disconnect / tracking loss. Signed-off-by: Sergey Grizan <sgrizan@nvidia.com>

coderabbitai · 2026-08-05T20:55:49Z

Note

GitHub couldn't provide a complete incremental comparison for this pull request, so CodeRabbit is performing a full review instead. This review may take a little longer.

coderabbitai

Actionable comments posted: 1

🤖 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 `@src/core/schema_tests/cpp/test_head.cpp`:
- Line 183: Update the test setup before core::HeadPoseRecord::Pack to
initialize the source record’s data is_tracked field to true, so the existing
deserialized->data()->is_tracked() == true assertion in the test remains valid.

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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: 15300e9d-dbd9-4e6c-931b-e9ed69b5f442

📥 Commits

Reviewing files that changed from the base of the PR and between 805b95f and f49cb46.

📒 Files selected for processing (11)

examples/teleop_ros2/python/tests/test_messages.py
src/core/live_trackers/cpp/live_head_tracker_impl.cpp
src/core/retargeting_engine_tests/python/test_sources.py
src/core/retargeting_engine_tests/python/test_transforms.py
src/core/schema/fbs/head.fbs
src/core/schema/python/head_bindings.h
src/core/schema_tests/cpp/test_head.cpp
src/core/schema_tests/python/test_head.py
src/python/isaacteleop/retargeting_engine/deviceio_source_nodes/head_source.py
src/python/isaacteleop/retargeting_engine/tensor_types/standard_types.py
src/python/isaacteleop/retargeting_engine/utilities/head_transform.py

🚧 Files skipped from review as they are similar to previous changes (1)

src/core/live_trackers/cpp/live_head_tracker_impl.cpp

jiwenc-nv · 2026-08-05T21:27:58Z

+    // separate so is_valid stays OpenXR-faithful (CloudXR may leave VALID set after disconnect).
+    const bool position_valid = (location.locationFlags & XR_SPACE_LOCATION_POSITION_VALID_BIT) != 0;
+    const bool orientation_valid = (location.locationFlags & XR_SPACE_LOCATION_ORIENTATION_VALID_BIT) != 0;
+    const bool position_tracked = (location.locationFlags & XR_SPACE_LOCATION_POSITION_TRACKED_BIT) != 0;


see #866: I don't think we are setting XR_SPACE_LOCATION_POSITION_TRACKED_BIT correctly...

Doesn't the bug mention that the head poses are unaffected and forward the client's flags faithfully?

Signed-off-by: Sergey Grizan <sgrizan@nvidia.com>

sgrizan-nv requested review from jiwenc-nv and nv-jakob August 5, 2026 20:18

sgrizan-nv self-assigned this Aug 5, 2026

sgrizan-nv added this to Isaac Teleop Planning Aug 5, 2026

github-project-automation Bot moved this to TBD in Isaac Teleop Planning Aug 5, 2026

coderabbitai Bot reviewed Aug 5, 2026

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Comment thread src/core/retargeting_engine_tests/python/test_sources.py Outdated

sgrizan-nv force-pushed the sgrizan/branch1 branch from 9bab5fd to 81f787e Compare August 5, 2026 20:48

fix(head): expose is_tracked for OpenXR tracking loss

f49cb46

Map VALID/TRACKED bits separately so is_valid stays readable-pose semantics while is_tracked clears on CloudXR disconnect / tracking loss. Signed-off-by: Sergey Grizan <sgrizan@nvidia.com>

sgrizan-nv force-pushed the sgrizan/branch1 branch from 81f787e to f49cb46 Compare August 5, 2026 20:55

coderabbitai Bot reviewed Aug 5, 2026

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Comment thread src/core/schema_tests/cpp/test_head.cpp

jiwenc-nv reviewed Aug 5, 2026

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sgrizan-nv added 2 commits August 6, 2026 00:06

test(head): set is_tracked in HeadPoseRecord serialization fixture

add012a

Signed-off-by: Sergey Grizan <sgrizan@nvidia.com>

test(head): set is_tracked in numpy version smoke fixture

ae61348

Signed-off-by: Sergey Grizan <sgrizan@nvidia.com>

sgrizan-nv changed the title ~~fix(head): set is_valid false when OpenXR tracking is lost~~ Expose is_tracked for OpenXR tracking loss Aug 6, 2026

sgrizan-nv had a problem deploying to dev August 6, 2026 00:42 — with GitHub Actions Error

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Expose is_tracked for OpenXR tracking loss - #909

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