sharpa_avatar: RAW/ROBOT joint names are published as joint_0..joint_21, so name-based consumers (incl. the sharpa_avatar example) read all zeros

クローズ
  • 何か問題がありますか？
#1,173 コメント 0 件 リアクション 0 件 担当者 0 名 GitHub で見る

メンテナーはふだん 1 日以内に返信

まだ誰も着手していません。

評価

難易度
4/5
見積もり時間
3〜5日
初心者へのやさしさ
48/100
issue の種類
バグ
明瞭さ
おおむね明確
活発さ
活発
技術スタック
cpp, python
領域
robotics

調査の方向性

Start at src/plugins/sharpa_avatar/core/avatar_hand_tracking_plugin.cpp:593 and compare the published names with raw_joint_names and robot_joint_names in the pinned SDK configuration referenced by src/plugins/sharpa_avatar/install_avatar_sdk.sh. Read src/core/schema/fbs/joint_state.fbs, joint_state_source.py:111, and the example configuration at live_view.py:48-99. Done means RAW and ROBOT consumers receive the intended stable names or the plugin documentation and example consistently use positional names.

索引モデルが issue の本文から書いたものです。

説明

Describe the bug
With the pinned production Avatar SDK (avatar-sdk 1.7.3-17, production_version in
src/plugins/sharpa_avatar/install_avatar_sdk.sh), avatar_hand_plugin publishes RAW and ROBOT
JointStateOutput frames whose JointState.name values are joint_0 … joint_21. The plugin
forwards the SDK's per-DOF names verbatim
(src/plugins/sharpa_avatar/core/avatar_hand_tracking_plugin.cpp:593):

joint->name = i < hand.joint.name.size() ? hand.joint.name[i] : std::string{};

The schema defines JointState.name as a stable DOF name and the key consumers look joints up by
(src/core/schema/fbs/joint_state.fbs). The reference JointStateSource matches its configured
joint_names against the wire names and fills 0.0 for any name it cannot find
(src/python/isaaccapture/retargeting_engine/deviceio_source_nodes/joint_state_source.py:111).

The sharpa_avatar example configures its RAW/ROBOT JointStateSources with names "copied verbatim
from the pinned production SDK (avatar-sdk 1.7.3-17 share/sdk_config.json)": thumb_CMC_FE,
thumb_CMC_AA, … (examples/sharpa_avatar/python/isaaccapture_examples/sharpa_avatar/live_view.py:48-99,
used at :559). None of them match joint_<i>, so every RAW/ROBOT joint resolves to 0.0 without
any error.

To reproduce

  1. Install the pinned SDK (install_avatar_sdk.sh) and build/install the plugin with
    -DBUILD_PLUGIN_SHARPA_AVATAR=ON.
  2. Start a TeleopSession that launches avatar_hand_plugin with
    --datasets=human,raw,robot,haptic and reads avatar_robot_left with a JointStateTracker.
  3. Print [j.name for j in frame.joints] for a received frame.

Expected behavior
Either the SDK/plugin publishes the DOF names from the SDK's sdk_config.json
(raw_joint_names / robot_joint_names), which the example and the schema assume, or the
plugin README/example state that RAW/ROBOT names are positional (joint_<i>) and consumers must
read them by index.

Observed behavior

  • RAW and ROBOT names are joint_0, joint_1, …, joint_21, in index order.
  • An application configuring JointStateSource with the example's names received no usable
    RAW/ROBOT values while the HUMAN hand stream was valid. We did not run live_view.py itself; it
    uses the same JointStateSource mechanism and names.
  • JointStateSource zero-fills silently on a name mismatch, which makes this hard to notice.

Platforms

  • Isaac Teleop Version: main (sharpa_avatar plugin.yaml version 1.1.0)
  • Avatar SDK: avatar-sdk 1.7.3-17 (production)
  • OS: Ubuntu 22.04
  • Integrations: custom TeleopSession pipeline
  • XR Device: N/A
  • Additional Devices: Sharpa Avatar gloves

Additional context
Possible fixes: have the SDK fill Joint.name from its config, or keep a pinned RAW/ROBOT name
table in the plugin (as src/plugins/sharpa_avatar/AGENTS.md already requires for the
HUMAN→OpenXR table and the example's name snapshots) and publish those names.

主要言語
Python
スター
435
フォーク
105
平均マージ
1日 11時間
マージ済み PR（30日）
166

環境構築

はじめの一歩

  1. issue を最後まで読み、次にプロジェクトのコントリビューションガイドを読みます。
  2. 着手することを issue にコメントします — 二人が同じ作業をするのを防げます。
  3. リポジトリをフォークし、ブランチを切って変更します。
  4. issue 番号を参照したプルリクエストを送ります。

NVIDIA/IsaacCapture のほかの issue

NVIDIA/IsaacCapture の issue をすべて見る

似ている issue

Python の issue をもっと見る

新しい issue をメールで受け取る

初心者向けの GitHub issue を短くまとめたダイジェスト。