feat(cts): conformance test suite and docs for hand device integrations by ivany-nv · Pull Request #1301 · NVIDIA/IsaacCapture

ivany-nv · 2026-10-20T20:24:18Z

Description

Adds the CTS, a conformance test suite for device integrations, under src/python/isaaccapture/cts/, and a Device Conformance section on the docs site that walks an integrator through it. A vendor records one scripted take with their device; the checker reads the MCAP and returns a verdict: pass, fail (the device is at fault), retake (the take was not performed as scripted) or insufficient_data. A browser panel replays the take alongside the results and packages it for submission.

The full-body suite follows in its own PR once this one merges.

The suite

Hand (cts/hand): core.HandPoseRecord from glove plugins or headset optical hands, recorded seated at a table with an eleven-step timed script. Marked as a preview: its tolerances are provisional until calibrated on glove recordings.
Shared core (cts/common): MCAP reading by schema name, the accumulator check model, the envelope and payload checks, verdict aggregation, the label sidecar, and the replay panel's parts and submission archive. It holds nothing schema-specific; a suite subclasses the shared checks to place them in its own groups.

The hand suite has capture/, which records a take through TeleopSession; checker/, which judges it using only mcap and flatbuffers (no isaaccapture import); and oracle/, which generates synthetic recordings with known defects for the checker's tests.

Takes are stored under ~/isaaccapture-cts/<device>_<date>_<time>/.
The replay panel has a package for submission button.
Without aplay, the capture panel says so and records with on-screen cues only.
The checker CLI exits 0-3 for the verdict, and 4 when the check could not run (a usage error, an unknown check, or a recording or labels file that cannot be read).

Outside cts/:

src/python/CMakeLists.txt and pyproject.toml keep cts/ out of the wheel; tests/python/packaging/test_wheel_contents.py asserts it.
.gitattributes tracks *.wav and *.mp3 through Git LFS.
The root README.md links the operator guide.

The docs

A Device Conformance section in docs/source/conformance/, listed under Devices after Add a New Device, four pages:

Overview: the six-step flow (integrate, set up, rehearse, record, check, submit), the hand suite, what the checker looks at, and what each verdict means.
Set Up the Tools: requirements, the tool environments, connecting the headset, troubleshooting.
Hand Suite (marked Preview): a pacing diagram; one card per scripted step with an animation, the spoken cue, what to do and what is checked; rehearsal tips, including a downloadable audio track for the timer-paced script; record, check and view commands with real checker output and a viewer screenshot from the synthetic reference take; troubleshooting.
Submit Your Results: package a take with the viewer's button, send it through the submission form, and describe it in the pull request.

Also: docs/tools/cts_media/ regenerates the step animations from the oracle and the rehearsal track from the capture panel's cue audio; device/add_device.rst links to the new section; docs/AGENTS.md notes that the conformance pages name no device maker; a small Sphinx extension, docs/source/_ext/breakable_literals.py, lets long check names wrap inside the step cards.

Type of change

Bug fix (non-breaking change which fixes an issue)
New feature (non-breaking change which adds functionality)
Breaking change (fix or feature that would cause existing functionality to change)
Documentation update

Testing

Linux x86_64, Python 3.12, in the venvs the suite's setup_env.sh scripts build.

CTS: common 11, hand/checker 115, hand/capture 17, all passing. The oracle tests ran against fixtures freshly generated by hand/oracle/generate.sh.
SKIP=check-copyright-year pre-commit run --all-files.
The capture panel installs against the 1.7 wheel and serves its page with --no-launch-cloudxr-runtime.
Docs: make -C docs current-docs (sphinx-build -W --keep-going, as CI runs it) builds with no warnings.

Checklist

I have read and understood the contribution guidelines
I have run the linter and formatter with SKIP=check-copyright-year pre-commit run --all-files
I have made corresponding changes to the documentation
I have added tests that prove my fix/feature works (or explained why not)
I have signed off all my commits (git commit -s) per the DCO

Summary by CodeRabbit

New Features
- Added a complete hand conformance testing suite for recording, checking, visualization, reporting, and submission packaging.
- Added timed hand-capture workflows with live tracking, pacing cues, progress feedback, labels, and provenance metadata.
- Added command-line checking with JSON/text reports, deterministic verdicts, selectable checks, and documented exit statuses.
- Added an interactive panel for playback, skeleton inspection, plots, report review, and archive downloads.
Documentation
- Added setup, recording, checking, troubleshooting, submission, media-generation, and conformance guides.
Chores
- CTS tooling is excluded from distributable Python wheels.

Add the CTS under src/python/isaaccapture/cts/: the hand suite in cts/hand (capture, checker, oracle) and the shared core in cts/common (MCAP reading, the check model, verdicts, the replay panel parts and the submission archive). A take is one scripted recording; the checker reads its MCAP with only mcap and flatbuffers and returns pass, fail, retake or insufficient_data. The docs gain a Device Conformance section under Devices: overview, setup, the hand suite and submission. docs/tools/cts_media regenerates the step animations and the hand rehearsal track. cts/ stays out of the wheel, and *.wav and *.mp3 go through Git LFS. Signed-off-by: Ivan Yang <yifanyang@nvidia.com>

coderabbitai · 2026-10-20T20:24:42Z

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📝 Walkthrough

This pull request adds a hand device conformance suite. It provides timed capture, MCAP-based checks, verdict reports, a viewer with submission packaging, and generated oracle fixtures. It also adds setup and submission guides, hand media-generation tools, Sphinx support for long literals, and build exclusions that keep CTS files out of Python wheels.

Priority: ➖ Normal

Estimated code review effort: 5 (Critical) | ~120 minutes

Sequence Diagram(s)

sequenceDiagram
  participant CapturePanel
  participant LiveHands
  participant MCAPRecording
  participant HandCTSCLI
  participant McapFrameSource
  participant CheckRegistry
  CapturePanel->>LiveHands: sample left and right hand poses
  LiveHands->>CapturePanel: return hand frames
  CapturePanel->>MCAPRecording: record the take
  HandCTSCLI->>McapFrameSource: open recording and load hand frames
  McapFrameSource->>CheckRegistry: provide decoded frames
  CheckRegistry->>HandCTSCLI: return check outcomes

Possibly related PRs

NVIDIA/IsaacCapture#1241: Adds documentation for the Device Conformance workflow and hand suite covered here.
NVIDIA/IsaacCapture#1239: Implements related CTS hand checker, capture, oracle, packaging, and wheel-exclusion components.

Merge Risk: 🔵 Low · up to 4d4b4

This PR adds a self-contained device conformance toolkit that does not ship in the Python wheel. Three edge cases remain:

The replay viewer can show a distorted timeline when a recording mixes timestamped and untimestamped frames.
A malformed hand payload makes the checker crash instead of returning an error status.
A failure during the post-capture label audit can discard a take's step labels, which forces a re-record.

The change is mergeable with owner awareness. These fixes are small and worth making soon.

Pre-merge checks: 4 · 1

Failed checks: 1 inconclusive

Check name	Status	Explanation	Resolution
Docstring Coverage		Docstring coverage is 21.75% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 285 functions across 50 files. (66 skippe…	Write docstrings for the functions missing them to satisfy the coverage threshold.

Passed checks: 4 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 primary changes: adding a CTS conformance test suite and documentation for hand-device integrations.
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.

Full details: Docstring Coverage

Explanation

Docstring coverage is 21.75% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 285 functions across 50 files. (66 skipped: 33 unsupported, 33 over the file limit.)

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

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github-actions · 2026-10-20T20:26:04Z

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Actionable comments posted: 3

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Inline comments:
Review comments at
@src/python/isaaccapture/cts/common/src/cts_common/panel/track.py:
- Around line 98-106: Update TrackBuilder._stamp and Track.update so each track
uses a single clock domain when computing times_s and interval_ms. Handle frames
with sample_time_ns=None without mixing log_time_ns values into an established
sample-time sequence; either normalize every log-time fallback with one fixed
sample/log offset, including buffered frames, or reuse the previous sample
timestamp and set that frame’s interval to None. Preserve correct behavior for
clock tracking, origin, index_at, duration, and rate calculations.

Review comments at @src/python/isaaccapture/cts/hand/capture/make_labels.py:
- Around line 84-86: Update write() to persist the windows-only sidecar before
running audit(recording, windows), while preserving the no-windows early return.
Wrap the audit call so any failure still retains the windows and produces a BAD
audit row, then use a safe fallback for first_ns and info.get("records") when
derived fields are unavailable.

Review comments at
@src/python/isaaccapture/cts/hand/checker/src/hand_cts/mcap_source.py:
- Around line 94-101: Update the message-decoding loop around decode_record to
catch struct.error and IndexError only during payload decoding, then raise
mcap_reader.UnreadableRecording with the path, sequence, topic, schema, and
original error chained. Yield the decoded frame after the guarded call, keeping
mcap_reader.messages and downstream checks outside the wrapper so faults inside
checks still propagate.

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src/python/isaaccapture/cts/hand/oracle/generate_fixtures.py
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src/python/isaaccapture/cts/hand/oracle/script.py
src/python/isaaccapture/cts/hand/oracle/toolchain.py
src/python/isaaccapture/cts/hand/oracle/verify_fixtures.py
tests/python/packaging/test_wheel_contents.py

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…udit fails A hand record whose FlatBuffer cannot be decoded raised struct.error out of the checker, which then exited 1, the status of a fail. The frame source now raises UnreadableRecording for it, so the CLI exits 4. make_labels wrote the sidecar only after the audit had read the take, so an unreadable take lost its step windows, which the recording cannot regenerate. The windows are written first, and an unreadable take is reported as one BAD row. The panel's rate filters use math.isnan instead of comparing a value with itself. Signed-off-by: Ivan Yang <yifanyang@nvidia.com>

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feat(cts): conformance test suite and docs for hand device integrations - #1301

feat(cts): conformance test suite and docs for hand device integrations#1301
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ivany-nv commented Oct 20, 2026 •

edited by coderabbitai Bot

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coderabbitai Bot commented Oct 20, 2026 •

edited

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github-actions Bot commented Oct 20, 2026 •

edited

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