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Expose per-glove health and data freshness in the Avatar SDK and Isaac Teleop plugin

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Valutazione

Difficoltà
5/5
Tempo stimato
Più di una settimana
Idoneità per principianti
35/100
Tipo di issue
Funzionalità
Chiarezza
Specificata chiaramente
Stato di attività
Attiva
Stack tecnologico
python
Ambito
api, backend, observability

Direzione di ricerca

Start by locating the Avatar SDK and Isaac Teleop plugin health reporting entry points, then read how existing device health entries are represented. Define per-glove identity, connection and streaming state, freshness semantics, and reason codes, and propagate them through the plugin. Done means the acceptance scenarios distinguish startup, glove and dongle failures, timeout, and recovery without robot actuation.

Scritto dal modello di indicizzazione a partire dal testo della issue.

Descrizione

Summary

Please expose machine-readable health information for each Avatar glove and surface it through the Isaac Teleop plugin's health reporting.

Downstream applications need to distinguish a running plugin from a glove that is connected and actively providing fresh data, without parsing console logs.

Current behavior

In our integration, the Avatar plugin appears only as:

  • Device entry: inventory:unmonitored:sharpa_avatar
  • Health: unknown

During a reported incident, both gloves logged "no data for 3 s", but the dropout was not reflected in the health output.

For comparison, the Manus integration reports individual devices as manus_hand_plugin/hand/{left,right}, with status and reason. We would like equivalent visibility for Avatar gloves.

Related troubleshooting has also encountered a missing/unresponsive USB dongle and absent hand data. These are additional scenarios the health interface should help diagnose, not a confirmed explanation for the dropout above.

Requested capability

Please provide a supported SDK API and/or callbacks exposing:

  • Per-glove identity and handedness, so left and right can be monitored independently.
  • Connection and streaming state, distinguishing connection from receipt of fresh samples.
  • Data freshness, such as the last valid sample timestamp or elapsed time since the last valid sample, with documented clock semantics.
  • Machine-readable reason codes, plus a human-readable explanation where available.
  • Transport/SDK status, distinguishing a shared dongle or initialization failure from a single-glove problem.

Please propagate this information into the plugin's health reporting so downstream applications can consume it alongside other device health entries.

If the SDK cannot determine the underlying cause, report a factual condition such as "no recent data" rather than assigning an unsupported diagnosis.

Acceptance criteria

  • Left and right gloves have independently identifiable health entries.
  • A glove with fresh valid data is distinguishable from one that is connected but not streaming.
  • Missing data beyond a documented timeout changes the affected glove's health and reports an actionable reason.
  • A one-glove failure does not incorrectly mark the other glove as failed.
  • A missing or disconnected dongle is visible through structured health information.
  • Health recovers when fresh valid data resumes—not merely when the process or transport reconnects.
  • Startup/waiting, unsupported health reporting, and an actual runtime failure remain distinguishable.

Validation

Please cover the following scenarios in a bench setup without robot actuation:

  1. Startup without gloves.
  2. Normal two-glove streaming.
  3. Loss of one glove.
  4. Loss of both gloves.
  5. Dongle removal and reconnection.
  6. Recovery after a data timeout.
Lingua principale
Python
Stelle
412
Fork
97
Merge medio
2g 3h
PR unite (30g)
141

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