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nvddr merged 1 commit into from
Feb 27, 2026
+1,646 −1,413
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Create tracked types to handle inactive input sources #167

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24 changes: 15 additions & 9 deletions examples/lerobot/record.py
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Original file line number Diff line number Diff line change
Expand Up @@ -115,31 +115,37 @@ def main():
break

# Get hand data
left: schema.HandPoseT = hand_tracker.get_left_hand(session)
right: schema.HandPoseT = hand_tracker.get_right_hand(session)
head: schema.HeadPoseT = head_tracker.get_head(session)
left_tracked: schema.HandPoseTrackedT = hand_tracker.get_left_hand(
session
)
right_tracked: schema.HandPoseTrackedT = (
hand_tracker.get_right_hand(session)
)
head_tracked: schema.HeadPoseTrackedT = head_tracker.get_head(
session
)

# Extract positions and orientations (with defaults for invalid data)
left_pos = np.zeros(3, dtype=np.float32)
right_pos = np.zeros(3, dtype=np.float32)

if left.is_active and left.joints:
wrist = left.joints[deviceio.JOINT_WRIST]
if left_tracked.data is not None and left_tracked.data.joints:
wrist = left_tracked.data.joints.poses(deviceio.JOINT_WRIST)
if wrist.is_valid:
pos = wrist.pose.position
left_pos = np.array([pos.x, pos.y, pos.z], dtype=np.float32)

if right.is_active and right.joints:
wrist = right.joints[deviceio.JOINT_WRIST]
if right_tracked.data is not None and right_tracked.data.joints:
wrist = right_tracked.data.joints.poses(deviceio.JOINT_WRIST)
if wrist.is_valid:
pos = wrist.pose.position
right_pos = np.array(
[pos.x, pos.y, pos.z], dtype=np.float32
)

head_pos = np.zeros(3, dtype=np.float32)
if head.is_valid and head.pose:
pos = head.pose.position
if head_tracked.data is not None and head_tracked.data.is_valid:
pos = head_tracked.data.pose.position
head_pos = np.array([pos.x, pos.y, pos.z], dtype=np.float32)

# STEP 3: Record frame to dataset
Expand Down
12 changes: 6 additions & 6 deletions examples/oxr/cpp/oxr_session_sharing.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -89,17 +89,17 @@ try
}

// Get data from both trackers
const auto& left = hand_tracker->get_left_hand(*session1);
const auto& head = head_tracker->get_head(*session2);
const auto& left_tracked = hand_tracker->get_left_hand(*session1);
const auto& head_tracked = head_tracker->get_head(*session2);

if (i % 3 == 0)
{
std::cout << "Frame " << i << ": "
<< "Hands=" << (left.is_active ? "ACTIVE" : "INACTIVE") << " | "
<< "Head=" << (head.is_valid ? "VALID" : "INVALID");
if (head.is_valid && head.pose)
<< "Hands=" << (left_tracked.data ? "ACTIVE" : "INACTIVE") << " | "
<< "Head=" << ((head_tracked.data && head_tracked.data->is_valid) ? "VALID" : "INVALID");
if (head_tracked.data && head_tracked.data->is_valid && head_tracked.data->pose)
{
const auto& pos = head.pose->position();
const auto& pos = head_tracked.data->pose->position();
std::cout << " [" << pos.x() << ", " << pos.y() << ", " << pos.z() << "]";
}
std::cout << std::endl;
Expand Down
17 changes: 9 additions & 8 deletions examples/oxr/cpp/oxr_simple_api_demo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,18 +82,19 @@ try
}

// External user only uses public query methods
const auto& left = hand_tracker->get_left_hand(*session);
const auto& right = hand_tracker->get_right_hand(*session);
const auto& head = head_tracker->get_head(*session);
const auto& left_tracked = hand_tracker->get_left_hand(*session);
const auto& right_tracked = hand_tracker->get_right_hand(*session);
const auto& head_tracked = head_tracker->get_head(*session);

std::cout << "Frame " << i << ":" << std::endl;
std::cout << " Left hand: " << (left.is_active ? "ACTIVE" : "INACTIVE") << std::endl;
std::cout << " Right hand: " << (right.is_active ? "ACTIVE" : "INACTIVE") << std::endl;
std::cout << " Head pose: " << (head.is_valid ? "VALID" : "INVALID") << std::endl;
std::cout << " Left hand: " << (left_tracked.data ? "ACTIVE" : "INACTIVE") << std::endl;
std::cout << " Right hand: " << (right_tracked.data ? "ACTIVE" : "INACTIVE") << std::endl;
std::cout << " Head pose: " << ((head_tracked.data && head_tracked.data->is_valid) ? "VALID" : "INVALID")
<< std::endl;

if (head.is_valid && head.pose)
if (head_tracked.data && head_tracked.data->is_valid && head_tracked.data->pose)
{
const auto& pos = head.pose->position();
const auto& pos = head_tracked.data->pose->position();
std::cout << " Position: [" << pos.x() << ", " << pos.y() << ", " << pos.z() << "]" << std::endl;
}
std::cout << std::endl;
Expand Down
52 changes: 33 additions & 19 deletions examples/oxr/python/modular_example.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
import time
import isaacteleop.deviceio as deviceio
import isaacteleop.oxr as oxr
import isaacteleop.schema as schema


def main():
Expand Down Expand Up @@ -70,31 +71,44 @@ def main():
print(f"[{elapsed:4.1f}s] Frame {frame_count}")

# Get hand data
left = hand_tracker.get_left_hand(session)
right = hand_tracker.get_right_hand(session)

print(
f" Hands: Left={'ACTIVE' if left.is_active else 'INACTIVE':8s} | "
f"Right={'ACTIVE' if right.is_active else 'INACTIVE':8s}"
left_tracked: schema.HandPoseTrackedT = (
hand_tracker.get_left_hand(session)
)
right_tracked: schema.HandPoseTrackedT = (
hand_tracker.get_right_hand(session)
)

if left.is_active:
wrist = left.joints[deviceio.JOINT_WRIST]
if wrist.is_valid:
pos = wrist.pose.position
print(
f" Left wrist: [{pos.x:6.3f}, {pos.y:6.3f}, {pos.z:6.3f}]"
)
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")

# Get head data (returns HeadPoseT from schema)
head = head_tracker.get_head(session)
print(f" Head: {'VALID' if head.is_valid else 'INVALID':8s}")
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")

if head.is_valid and head.pose:
pos = head.pose.position
# 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 position: [{pos.x:6.3f}, {pos.y:6.3f}, {pos.z:6.3f}]"
f" Head pos: [{pos.x:6.3f}, {pos.y:6.3f}, {pos.z:6.3f}]"
)
else:
print(" Head: inactive")

print()

Expand Down
133 changes: 50 additions & 83 deletions examples/oxr/python/test_controller_tracker.py
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Original file line number Diff line number Diff line change
Expand Up @@ -57,22 +57,20 @@

# Test 5: Check initial controller state
print("[Test 5] Checking controller state...")
left_snapshot = controller_tracker.get_left_controller(session)
right_snapshot = controller_tracker.get_right_controller(session)
print(
f" Left controller: {'ACTIVE' if left_snapshot.is_active else 'INACTIVE'}"
)
print(
f" Right controller: {'ACTIVE' if right_snapshot.is_active else 'INACTIVE'}"
)

if left_snapshot.is_active and left_snapshot.grip_pose.is_valid:
pos = left_snapshot.grip_pose.pose.position
print(f" Left grip position: [{pos.x:.3f}, {pos.y:.3f}, {pos.z:.3f}]")

if right_snapshot.is_active and right_snapshot.grip_pose.is_valid:
pos = right_snapshot.grip_pose.pose.position
print(f" Right grip position: [{pos.x:.3f}, {pos.y:.3f}, {pos.z:.3f}]")
left_tracked = controller_tracker.get_left_controller(session)
right_tracked = controller_tracker.get_right_controller(session)

if left_tracked.data is not None and left_tracked.data.grip_pose.is_valid:
pos = left_tracked.data.grip_pose.pose.position
print(f" Left grip: [{pos.x:.3f}, {pos.y:.3f}, {pos.z:.3f}]")
else:
print(" Left: inactive")

if right_tracked.data is not None and right_tracked.data.grip_pose.is_valid:
pos = right_tracked.data.grip_pose.pose.position
print(f" Right grip: [{pos.x:.3f}, {pos.y:.3f}, {pos.z:.3f}]")
else:
print(" Right: inactive")
print()

# Test 6: Available inputs
Expand Down Expand Up @@ -100,48 +98,32 @@
current_time = time.time()
if current_time - last_status_print >= 0.5: # Print every 0.5 seconds
elapsed = current_time - start_time
left_snapshot = controller_tracker.get_left_controller(session)
right_snapshot = controller_tracker.get_right_controller(session)

# Show current state
left_trigger = left_snapshot.inputs.trigger_value
left_squeeze = left_snapshot.inputs.squeeze_value
left_stick_x = left_snapshot.inputs.thumbstick_x
left_stick_y = left_snapshot.inputs.thumbstick_y
left_primary = left_snapshot.inputs.primary_click
left_secondary = left_snapshot.inputs.secondary_click

right_trigger = right_snapshot.inputs.trigger_value
right_squeeze = right_snapshot.inputs.squeeze_value
right_stick_x = right_snapshot.inputs.thumbstick_x
right_stick_y = right_snapshot.inputs.thumbstick_y
right_primary = right_snapshot.inputs.primary_click
right_secondary = right_snapshot.inputs.secondary_click

# Build status strings
left_status = f"Trig={left_trigger:.2f} Sq={left_squeeze:.2f}"
if abs(left_stick_x) > 0.1 or abs(left_stick_y) > 0.1:
left_status += (
f" Stick=({left_stick_x:+.2f},{left_stick_y:+.2f})"
left_tracked = controller_tracker.get_left_controller(session)
right_tracked = controller_tracker.get_right_controller(session)

print(f" [{elapsed:5.2f}s] Frame {frame_count:4d}")

left_data = left_tracked.data
if left_data is not None:
li = left_data.inputs
print(
f" L: Trig={li.trigger_value:.2f} Sq={li.squeeze_value:.2f}"
f" Stick=({li.thumbstick_x:+.2f},{li.thumbstick_y:+.2f})"
f" Btn=[{int(li.primary_click)}{int(li.secondary_click)}{int(li.thumbstick_click)}]"
)
if left_primary:
left_status += " [X]"
if left_secondary:
left_status += " [Y]"

right_status = f"Trig={right_trigger:.2f} Sq={right_squeeze:.2f}"
if abs(right_stick_x) > 0.1 or abs(right_stick_y) > 0.1:
right_status += (
f" Stick=({right_stick_x:+.2f},{right_stick_y:+.2f})"
else:
print(" L: INACTIVE")

right_data = right_tracked.data
if right_data is not None:
ri = right_data.inputs
print(
f" R: Trig={ri.trigger_value:.2f} Sq={ri.squeeze_value:.2f}"
f" Stick=({ri.thumbstick_x:+.2f},{ri.thumbstick_y:+.2f})"
f" Btn=[{int(ri.primary_click)}{int(ri.secondary_click)}{int(ri.thumbstick_click)}]"
)
if right_primary:
right_status += " [A]"
if right_secondary:
right_status += " [B]"

print(
f" [{elapsed:5.2f}s] Frame {frame_count:4d} | L: {left_status} | R: {right_status}"
)
else:
print(" R: INACTIVE")
last_status_print = current_time

frame_count += 1
Expand All @@ -157,29 +139,14 @@
# Test 8: Show final statistics
print("[Test 8] Final controller state...")

def print_controller_summary(hand_name, snapshot):
def print_controller_summary(hand_name, tracked):
print(f" {hand_name} Controller:")
if snapshot.is_active:
print(" Status: ACTIVE")

# Poses from snapshot
grip = snapshot.grip_pose
aim = snapshot.aim_pose

if grip.is_valid:
pos = grip.pose.position
print(
f" Grip position: [{pos.x:+.3f}, {pos.y:+.3f}, {pos.z:+.3f}]"
)

if aim.is_valid:
pos = aim.pose.position
print(
f" Aim position: [{pos.x:+.3f}, {pos.y:+.3f}, {pos.z:+.3f}]"
)

# Input values
inputs = snapshot.inputs
if tracked.data is not None:
pos = tracked.data.grip_pose.pose.position
print(f" Grip position: [{pos.x:+.3f}, {pos.y:+.3f}, {pos.z:+.3f}]")
pos = tracked.data.aim_pose.pose.position
print(f" Aim position: [{pos.x:+.3f}, {pos.y:+.3f}, {pos.z:+.3f}]")
inputs = tracked.data.inputs
print(f" Trigger: {inputs.trigger_value:.2f}")
print(f" Squeeze: {inputs.squeeze_value:.2f}")
print(
Expand All @@ -192,13 +159,13 @@ def print_controller_summary(hand_name, snapshot):
f" Secondary: {'PRESSED' if inputs.secondary_click else 'released'}"
)
else:
print(" Status: INACTIVE")
print(" inactive")

left_snapshot = controller_tracker.get_left_controller(session)
right_snapshot = controller_tracker.get_right_controller(session)
print_controller_summary("Left", left_snapshot)
left_tracked = controller_tracker.get_left_controller(session)
right_tracked = controller_tracker.get_right_controller(session)
print_controller_summary("Left", left_tracked)
print()
print_controller_summary("Right", right_snapshot)
print_controller_summary("Right", right_tracked)
print()

# Cleanup
Expand Down
16 changes: 12 additions & 4 deletions examples/oxr/python/test_extensions.py
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Original file line number Diff line number Diff line change
Expand Up @@ -88,11 +88,19 @@

# Quick update test
if session.update():
left = hand.get_left_hand(session)
head_pose = head.get_head(session)
left_tracked = hand.get_left_hand(session)
head_tracked = head.get_head(session)
print(" ✅ Update successful")
print(f" Hands: {'ACTIVE' if left.is_active else 'INACTIVE'}")
print(f" Head: {'VALID' if head_pose.is_valid else 'INVALID'}")
if left_tracked.data is not None:
pos = left_tracked.data.joints.poses(deviceio.JOINT_WRIST).pose.position
print(f" Left wrist: [{pos.x:.3f}, {pos.y:.3f}, {pos.z:.3f}]")
else:
print(" Left hand: inactive")
if head_tracked.data is not None:
pos = head_tracked.data.pose.position
print(f" Head pos: [{pos.x:.3f}, {pos.y:.3f}, {pos.z:.3f}]")
else:
print(" Head: inactive")

# Session will be cleaned up when exiting 'with' block (RAII)

Expand Down
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