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feat(cts): conformance test suite and docs for full-body device integrations - #1341
Adds the full-body suite of the CTS under src/python/isaaccapture/cts/full_body/, next to the hand suite and the shared core already on main, and its pages in the Device Conformance docs. A vendor records one scripted take with their device; the checker reads the MCAP and returns a verdict: pass, fail (the device is at fault), retake (the take was not performed as scripted) or insufficient_data. A browser panel replays the take alongside the results and packages it for submission.
The suite
Full body (cts/full_body): core.FullBodyPoseRecord, 24 joints, from headset body tracking or a mocap suit through a vendor backend. Recorded standing with a ten-step script the performer paces: they press when ready, then hold the pose or do the motion.
The suite has capture/, which records a take through TeleopSession; checker/, which judges it using only mcap and flatbuffers (no isaaccapture import); and oracle/, which generates synthetic recordings with known defects for the checker's tests.
Takes are stored under ~/isaaccapture-cts/<device>_<date>_<time>/.
The replay panel has a package for submission button.
Without aplay, the capture panel says so and records with on-screen cues only.
The checker CLI exits 0-3 for the verdict, and 4 when the check could not run (a usage error, an unknown check, or a recording or labels file that cannot be read, including a payload that cannot be decoded).
cts/common gains the two shared checks (coverage.validity_trend, timestamps.device_clock_distinct) and the two vector helpers that only this suite uses.
The docs
Full-Body Suite page in docs/source/conformance/: a pacing diagram; one card per scripted step with an animation, the spoken cue, what to do and what the checker looks at; rehearsal tips; record, check and view commands with real checker output and a viewer screenshot from the synthetic reference take; troubleshooting.
Overview, Set Up the Tools and Submit Your Results cover both suites, and the root README.md and device/add_device.rst point to both.
docs/tools/cts_media/ also regenerates the full-body step animations from the full-body oracle.
Type of change
Bug fix (non-breaking change which fixes an issue)
New feature (non-breaking change which adds functionality)
Breaking change (fix or feature that would cause existing functionality to change)
Documentation update
Testing
Linux x86_64, Python 3.12, in the venvs the suites' setup_env.sh scripts build.
CTS: common 11, full_body/checker 196, full_body/capture 20, hand/checker 118, hand/capture 18, all passing. The oracle tests ran against fixtures freshly generated by both oracle/generate.sh scripts.
SKIP=check-copyright-year pre-commit run --all-files.
The full-body capture panel installs against the 1.7 wheel and serves its page with --no-launch-cloudxr-runtime.
Docs: make -C docs current-docs (sphinx-build -W --keep-going, as CI runs it) builds with no warnings.
…rations
Add the full-body suite under src/python/isaaccapture/cts/full_body
(capture, checker, oracle) on top of the shared core. A take is one
recording of a ten-step script the performer paces; the checker reads
its core.FullBodyPoseRecord channel with only mcap and flatbuffers and
returns pass, fail, retake or insufficient_data.
cts/common gains the shared checks and vector helpers only this suite
uses. The Device Conformance section gains the Full-Body Suite page,
and the overview, setup and submission pages, the docs media tools,
the root README and add_device.rst cover both suites.
As in the hand suite, an undecodable payload makes the checker exit 4,
and the viewer's rate filter uses math.isnan.
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
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Walkthrough
This pull request adds a full-body CTS suite for recording and checking 24-joint body poses. It adds a ten-step capture workflow, label generation, a checker with signal, geometry, orientation, posture, and segmentation checks, and an optional playback and submission panel. It also adds oracle recordings and verification tools. Shared CTS documentation and media tools now cover both hand and full-body suites.
sequenceDiagram
participant Operator
participant CapturePanel
participant Recording
participant FullBodyChecker
Operator->>CapturePanel: Start take and provide step inputs
CapturePanel->>Recording: Save full-body frames
CapturePanel->>Recording: Write labels after capture
FullBodyChecker->>Recording: Read frames and labels
FullBodyChecker->>Operator: Report verdict and check results
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Possibly related PRs
NVIDIA/IsaacCapture#1301: Adds the hand CTS framework and shared checker foundation that this pull request extends with a full-body suite.
Merge Risk: Low · up to e3f6d
If the closing cue asset is missing or is an unhydrated LFS pointer, a completed take can lose its label sidecar. Reordering two lines fixes this. The validity-trend check can also pass on short recordings, but this is a narrow edge case. Neither issue is severe, and both are cheap to fix.
Pre-merge checks: 4 · 1
Failed checks: 1 inconclusive
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Resolution
Docstring Coverage
Docstring coverage is 21.09% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 403 functions across 50 files. (39 skippe…
Write docstrings for the functions missing them to satisfy the coverage threshold.
Passed checks: 4 passed
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Title check
The title clearly and concisely identifies the primary change: adding a conformance test suite and documentation for full-body device integrations.
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Check skipped because no linked issues were found for this pull request.
Full details: Docstring Coverage
Explanation
Docstring coverage is 21.09% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 403 functions across 50 files. (39 skipped: 26 unsupported, 13 over the file limit.)
Resolution
Write docstrings for the functions missing them to satisfy the coverage threshold.
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Actionable comments posted: 2
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Inline comments:
Review comments at
@src/python/isaaccapture/cts/common/src/cts_common/checks/coverage.py:
- Around line 60-75: In the coverage tracker, update _update to count each frame
carrying joints, and make _result return INSUFFICIENT_DATA until that count
reaches 2 * WINDOW. This ensures the head and tail windows contain enough
joint-carrying frames to be non-overlapping.
Review comments at
@src/python/isaaccapture/cts/full_body/capture/capture_panel.py:
- Around line 213-214: In the capture flow, call self._label(take) before
resolving and playing the closing cue with cues.wav and cues.play. Preserve the
existing closing-cue behavior while ensuring the label sidecar is written first.
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…osing cue at startup
coverage.validity_trend answered once its head and tail windows each held
120 frames carrying joints, so a take with fewer than 240 such frames
compared overlapping samples and understated a decay. It now needs 240
frames carrying joints before it answers.
Both capture panels resolved the closing cue only after the take, where a
stale or missing closing.wav exited before the labels were written. They
now resolve it with the step cues at startup.
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
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Description
Adds the full-body suite of the CTS under
src/python/isaaccapture/cts/full_body/, next to the hand suite and the shared core already onmain, and its pages in the Device Conformance docs. A vendor records one scripted take with their device; the checker reads the MCAP and returns a verdict:pass,fail(the device is at fault),retake(the take was not performed as scripted) orinsufficient_data. A browser panel replays the take alongside the results and packages it for submission.The suite
cts/full_body):core.FullBodyPoseRecord, 24 joints, from headset body tracking or a mocap suit through a vendor backend. Recorded standing with a ten-step script the performer paces: they press when ready, then hold the pose or do the motion.The suite has
capture/, which records a take throughTeleopSession;checker/, which judges it using onlymcapandflatbuffers(noisaaccaptureimport); andoracle/, which generates synthetic recordings with known defects for the checker's tests.~/isaaccapture-cts/<device>_<date>_<time>/.aplay, the capture panel says so and records with on-screen cues only.cts/commongains the two shared checks (coverage.validity_trend,timestamps.device_clock_distinct) and the two vector helpers that only this suite uses.The docs
docs/source/conformance/: a pacing diagram; one card per scripted step with an animation, the spoken cue, what to do and what the checker looks at; rehearsal tips; record, check and view commands with real checker output and a viewer screenshot from the synthetic reference take; troubleshooting.README.mdanddevice/add_device.rstpoint to both.docs/tools/cts_media/also regenerates the full-body step animations from the full-body oracle.Type of change
Testing
Linux x86_64, Python 3.12, in the venvs the suites'
setup_env.shscripts build.common11,full_body/checker196,full_body/capture20,hand/checker118,hand/capture18, all passing. The oracle tests ran against fixtures freshly generated by bothoracle/generate.shscripts.SKIP=check-copyright-year pre-commit run --all-files.--no-launch-cloudxr-runtime.make -C docs current-docs(sphinx-build -W --keep-going, as CI runs it) builds with no warnings.Checklist
SKIP=check-copyright-year pre-commit run --all-filesgit commit -s) per the DCOSummary by CodeRabbit