[zihanjiang321]

Description

Fixes #1319

Add standard device-health reporting to the Sharpa Avatar plugin.

• Report the Avatar USB dongle separately using Linux USB enumeration.
• Report left- and right-glove health independently.
• Publish health for the hand, raw-joint, and robot-joint manifest paths.
• Register avatar_hand_plugin for TeleopSession status monitoring.
• Add --print-health to the existing Sharpa Viser example so health changes can be inspected from the terminal.
• Keep health collection and publication failures isolated from the tracking data path.

The pinned production Avatar SDK 1.7.3 does not expose independent “physically connected” and “data streaming” signals in wireless mode. DeviceInfo.online follows recent joint-frame activity, so this PR exposes it as the available glove health signal and uses sample freshness to prevent stale data from being reported as healthy. Dongle presence is reported independently.

No new health UI is added to Viser. Applications can consume the status through the existing TeleopSession.get_status() / get_device_status() interface, while --print-health provides a test and debugging view.

Summary by CodeRabbit

• New Features
  • Added Sharpa device health reporting for left and right gloves and the wireless dongle, including connection status and whether HUMAN, RAW, and ROBOT data is arriving.
  • The Sharpa avatar example can now print health information at startup and when it changes. Health is also checked when an update encounters an error.
  • Sharpa avatar devices are now included in session health monitoring.
• Bug Fixes
  • The --plugin-root-id option now configures status reporting.
  • The example exits quietly when interrupted with Ctrl+C.
• Documentation
  • Updated Sharpa avatar health-reporting and example usage guidance.
• Chores
  • Local dependency directories are excluded from version control.

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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.

Priority: Normal

Estimated code review effort: 4 (Complex) | ~45 minutes

Severity of issue fixed: Medium

Sequence Diagram(s)

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 · up to 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 · 3

Failed checks: 3 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.
Docstring Coverage		Docstring coverage is 7.14% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 28 functions across 10 files. (9 skipped: …	Write docstrings for the functions missing them to satisfy the coverage threshold.

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.

Full details: Docstring Coverage

Explanation

Docstring coverage is 7.14% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 28 functions across 10 files. (9 skipped: 9 unsupported.)

Resolution

Write docstrings for the functions missing them to satisfy the coverage threshold.

Finishing Touches

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Actionable comments posted: 1

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• 🪄 Fix comments: Fix CodeRabbit comments on this PR

Prompt to fix review comments

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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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Review info

Run configuration

• Source mode: Auto
• Repository: NVIDIA/IsaacCapture
• Branch: main
• File: .coderabbit.yaml
• Commit: 0b84679
• Layers: Repository YAML
• Review profile: CHILL
• Plan: Enterprise
• Run ID: e897eedf-d70f-4d54-bfb9-85084b73319f

Commits

Reviewing files that changed from the base of the PR and between 0b84679 and 4778f30.

Files selected for processing: 19

• .gitignore
• AGENTS.md
• examples/sharpa_avatar/README.md
• examples/sharpa_avatar/python/isaaccapture_examples/sharpa_avatar/__main__.py
• examples/sharpa_avatar/python/isaaccapture_examples/sharpa_avatar/live_view.py
• src/plugins/sharpa_avatar/AGENTS.md
• src/plugins/sharpa_avatar/README.md
• src/plugins/sharpa_avatar/app/main.cpp
• src/plugins/sharpa_avatar/core/CMakeLists.txt
• src/plugins/sharpa_avatar/core/avatar_hand_tracking_plugin.cpp
• src/plugins/sharpa_avatar/core/avatar_health.cpp
• src/plugins/sharpa_avatar/core/inc/avatar/avatar_hand_tracking_plugin.hpp
• src/plugins/sharpa_avatar/core/inc/avatar/avatar_health.hpp
• src/plugins/sharpa_avatar/plugin.yaml.in
• src/python/isaaccapture/teleop_session_manager/teleop_session.py
• tests/cpp/plugins/CMakeLists.txt
• tests/cpp/plugins/sharpa_avatar/CMakeLists.txt
• tests/cpp/plugins/sharpa_avatar/test_avatar_health.cpp
• tests/python/core/teleop_session_manager/test_teleop_session.py

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