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feat(mcap): add SOMA body and hand recording, replay, and live preview - #1253
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| Check name | Status | Explanation | Resolution |
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| Docstring Coverage |  |
Docstring coverage is 3.39% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 59 functions across 13 files. (6 skipped: … | Write docstrings for the functions missing them to satisfy the coverage threshold. |
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Check name Status Explanation Linked Issues check Check skipped because no linked issues were found for this pull request. Out of Scope Changes check Check skipped because no linked issues were found for this pull request. Description Check Check skipped - CodeRabbit’s high-level summary is enabled. Title check The title clearly and concisely summarizes the main change: adding SOMA body and hand MCAP recording, replay, and live preview workflows.
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Docstring coverage is 3.39% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 59 functions across 13 files. (6 skipped: 6 unsupported.)
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Extend the existing body and hand commands with SOMA schema selection and support for joint-rotations and joint-poses. Preserve received FlatBuffer payloads in MCAP and render native SOMA skeletons through the existing sources. Share recording, replay, and visualization helpers while preserving legacy defaults and core replay behavior. Keep controllers opt-in for SOMA body workflows. Add round-trip, sparse-data, channel-selection, EOF, and repeatability tests, and document installation and usage. Signed-off-by: Michael Haselton <mhaselton@nvidia.com>
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Description
Extend the existing full-body and hand MCAP commands with selectable SOMA inputs for recording, offline replay, and live preview. Preserve the FullBodyPose and OpenXR hand defaults. SOMA body recording includes controllers only when explicitly enabled with
--controllers.joint-rotationsandjoint-posesrepresentations.Core schemas and replay ticking remain unchanged. Left and right hand trackers advance independently, following existing replay behavior. This does not introduce timestamp synchronization, resampling, or body/hand fusion.
Type of change
Testing
Validated live publishing, recording, and offline replay for body and hands in both representations. Repeated replay of each capture produced identical evaluated outputs.
Setup
For a fresh development environment, run from the repository root:
These examples use Viser and do not require the native Televiz build.
Automated checks
Tests cover repeated native MCAP round trips, payload and timestamp preservation, sparse joints, tracked-channel selection, EOF behavior, independent hand playback, and visualization.
Interactive validation
Follow the MCAP example README for complete publisher, live viewer, recorder, and replay commands.
For body joint-rotations:
--body-representation joint-rotations--body-schema soma --soma-body-representation joint-rotationsFor hand joint-rotations:
--hand-representation joint-rotations--hand-schema soma --soma-hand-representation joint-rotationsRepeat both workflows with
joint-posesinstead ofjoint-rotations. Match the representation across all commands and use a separate recording file for each mode. Offline replay does not require a CloudXR runtime or client.Checklist
SKIP=check-copyright-year pre-commit run --all-filesgit commit -s) per the DCOSummary by CodeRabbit