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Add an in-process, focus-scoped keyboard device - #1135
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Included review availability: This review used your included allowance. Your plan provides up to 12 included reviews per hour; 11 remain after this review. 📝 WalkthroughWalkthroughThis change adds an in-process keyboard tracker with provider-based key state, W3C-to-evdev mappings, and serialized keyboard output. Live sessions publish and can record keyboard state; replay sessions return recorded samples. Python APIs expose keyboard sources, bitmaps, and retargeters for SE(2), SE(3), and gripper control. GLFW and terminal examples provide keyboard input, with tests for tracker behavior, session recording and replay, retargeting, and example parsing. Priority: ⬇️ Low Estimated code review effort: 4 (Complex) | ~60 minutes Sequence Diagram(s)sequenceDiagram
participant KeyEventSource
participant KeyboardSource
participant KeyboardProvider
participant KeyboardTracker
participant KeyboardRetargeter
KeyEventSource->>KeyboardSource: deliver key or focus-loss event
KeyboardSource->>KeyboardProvider: forward key transition
KeyboardSource->>KeyboardTracker: poll session data
KeyboardTracker-->>KeyboardSource: return held keys and events
KeyboardSource->>KeyboardRetargeter: provide held-key and pressed-key bitmaps
Merge Risk: ⚪ Minimal · up to This change adds an in-process keyboard tracker, recording and replay support, Python sources, retargeters, and examples. The review found no outstanding concrete defect that blocks merging. 🚥 Pre-merge checks | ✅ 4 | ❌ 1❌ Failed checks (1 warning)
✅ Passed checks (4 passed)
Full details: Docstring CoverageExplanation Docstring coverage is 22.27% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 256 functions across 47 files. (24 skipped: 24 unsupported.) ✨ Finishing Touches 💡 2📝 Generate docstrings 💡
🧪 Generate unit tests (beta)
🛠️ Fix failing CI checks 💡
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Inline comments:
Review comments at @examples/teleop/python/keyboard_terminal_example.py:
- Around line 96-106: Update __enter__ so setup after saving _saved_attrs is
protected by a try/except; if any setup operation raises, restore the saved
terminal attributes and disable focus reporting with the matching escape
sequence, then re-raise the original exception.
Review comments at
@src/python/isaaccapture/retargeting_engine/deviceio_source_nodes/keyboard_source.py:
- Around line 166-168: In the attach flow, if
surface.set_keyboard_captured(True) raises after add_key_listener registers the
listener, call unsubscribe() and provider.close() before propagating the
exception. Leave normal attachment and detach behavior unchanged.
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📒 Files selected for processing (59)
LICENSES/BSD-3-Clause.txtREUSE.tomlexamples/teleop/python/keyboard_printer_example.pyexamples/teleop/python/keyboard_terminal_example.pyexamples/teleop/python/pyproject.tomlsrc/core/deviceio_base/cpp/inc/deviceio_base/keyboard_tracker_base.hppsrc/core/deviceio_session/AGENTS.mdsrc/core/deviceio_session/cpp/deviceio_session.cppsrc/core/deviceio_session/cpp/inc/deviceio_session/deviceio_session.hppsrc/core/deviceio_session/python/session_bindings.cppsrc/core/deviceio_trackers/AGENTS.mdsrc/core/deviceio_trackers/cpp/CMakeLists.txtsrc/core/deviceio_trackers/cpp/inc/deviceio_trackers/keyboard_tracker.hppsrc/core/deviceio_trackers/cpp/keyboard_tracker.cppsrc/core/deviceio_trackers/cpp/third_party/chromium/LICENSEsrc/core/deviceio_trackers/cpp/third_party/chromium/README.mdsrc/core/deviceio_trackers/cpp/third_party/chromium/dom_code_data.incsrc/core/deviceio_trackers/python/tracker_bindings.cppsrc/core/live_trackers/cpp/CMakeLists.txtsrc/core/live_trackers/cpp/inc/live_trackers/live_deviceio_factory.hppsrc/core/live_trackers/cpp/live_deviceio_factory.cppsrc/core/live_trackers/cpp/live_keyboard_tracker_impl.cppsrc/core/live_trackers/cpp/live_keyboard_tracker_impl.hppsrc/core/mcap/cpp/inc/mcap/recording_traits.hppsrc/core/replay_trackers/AGENTS.mdsrc/core/replay_trackers/cpp/CMakeLists.txtsrc/core/replay_trackers/cpp/inc/replay_trackers/replay_deviceio_factory.hppsrc/core/replay_trackers/cpp/replay_deviceio_factory.cppsrc/core/replay_trackers/cpp/replay_keyboard_tracker_impl.cppsrc/core/replay_trackers/cpp/replay_keyboard_tracker_impl.hppsrc/core/schema/fbs/keyboard.fbssrc/core/schema/golden/keyboard.bfbssrc/core/schema/python/CMakeLists.txtsrc/core/schema/python/keyboard_bindings.hsrc/core/schema/python/schema_module.cppsrc/python/isaaccapture/deviceio/__init__.pysrc/python/isaaccapture/deviceio_trackers/__init__.pysrc/python/isaaccapture/retargeters/__init__.pysrc/python/isaaccapture/retargeters/keyboard_se2_retargeter.pysrc/python/isaaccapture/retargeters/keyboard_se3_retargeter.pysrc/python/isaaccapture/retargeting_engine/deviceio_source_nodes/__init__.pysrc/python/isaaccapture/retargeting_engine/deviceio_source_nodes/deviceio_tensor_types.pysrc/python/isaaccapture/retargeting_engine/deviceio_source_nodes/key_event_testing.pysrc/python/isaaccapture/retargeting_engine/deviceio_source_nodes/keyboard_source.pysrc/python/isaaccapture/retargeting_engine/deviceio_source_nodes/source_lookup.pysrc/python/isaaccapture/schema/__init__.pysrc/python/isaaccapture/teleop_session_manager/teleop_session.pytests/cpp/core/CMakeLists.txttests/cpp/core/deviceio_trackers/CMakeLists.txttests/cpp/core/deviceio_trackers/test_keyboard_tracker.cpptests/cpp/core/live_trackers/CMakeLists.txttests/cpp/core/live_trackers/test_openxr_free_session.cpptests/cpp/core/replay_deviceio_session/test_replay_session.cpptests/python/core/retargeting_engine/test_keyboard_retargeter.pytests/python/core/retargeting_engine/test_keyboard_source.pytests/python/core/schema/test_keyboard.pytests/python/core/teleop_session_manager/test_keyboard_session.pytests/python/core/teleop_session_manager/test_session_reset.pytests/python/core/teleop_session_manager/test_teleop_session.py
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aristarkhovNV
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Oct 7, 2026
KeyboardTracker is a keyboard device that runs inside the host process and needs no OpenXR extension or plugin process. Each input surface (a focused window, a browser tab, ...) feeds it through its own KeyboardProvider, which reports physical keys by W3C KeyboardEvent.code or evdev code and releases everything it holds when its surface loses focus. The tracker merges every provider into one logical keyboard: a snapshot of held keys plus the ordered press/release transitions since the previous sample, recorded to MCAP and replayed like any other device. Key codes come from Chromium's physical key table (vendored under deps/third_party/chromium, BSD-3-Clause, with its notice shipped in both wheels), which also generates the Python EvdevKeyCode enum. Co-Authored-By: Claude Opus 5.5 (1M context) <noreply@anthropic.com> Signed-off-by: Rafael Wiltz <rwiltz@nvidia.com>
KeyboardSource is the retargeting-graph node for the in-process keyboard. It owns a KeyboardTracker and turns each frame into two bitmaps indexed by evdev code: keyboard_held (keys held at the end of the frame) and keyboard_pressed (keys pressed at least once during it, so a tap shorter than a frame still registers). A host feeds it by passing any KeyEventSource to attach(): a focused surface that reports key presses and releases, and focus loss, without importing Isaac Teleop types. The protocol spells out the rules that keep keys from getting stuck: report keys only while focused, release on blur or when the host UI takes the keyboard, and deliver one subscription's callbacks in order. Subscribing and capturing the host's key bindings each return a handle the source closes on detach. FakeKeyEventSource is a conforming surface for tests. KeyboardToSe3RelRetargeter / KeyboardToSe2Retargeter map held keys to motion commands, and KeyboardGripperRetargeter toggles a gripper on K. Co-Authored-By: Claude Opus 5.5 (1M context) <noreply@anthropic.com> Signed-off-by: Rafael Wiltz <rwiltz@nvidia.com>
keyboard_printer_example feeds a KeyboardSource from a small GLFW window, converting its X11 or Wayland scancodes to evdev codes, and prints the held and pressed keys. keyboard_terminal_example needs no window: it reads the terminal it runs in (kitty keyboard protocol for press and release, taps elsewhere) and restores the terminal on every exit path. Both take the CloudXR launcher arguments like the other examples; no headset needs to connect. The examples depend on glfw>=2.7 for the platform constants the GLFW example uses. The terminal example's test is not registered on Windows, which lacks pty/termios. Co-Authored-By: Claude Opus 5.5 (1M context) <noreply@anthropic.com> Signed-off-by: Rafael Wiltz <rwiltz@nvidia.com>
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Description
Adds KeyboardTracker, a keyboard read inside the teleop process. Each focused input surface (a window, a browser tab, a terminal) feeds it through its own KeyboardProvider. Keys count only while that
surface has focus, so no input group or plugin process is needed, and keys typed into other apps are never seen.
Sessions create OpenXR as usual; the keyboard impl never touches the handles, so its tests use placeholder handles.
Testing: tracker and session C++ tests (including record/replay), Python source, retargeter and session tests, and the example tests (split escape sequences, terminal restore).
Fixes #(issue)
Type of change
Testing
C++ and Python tests for providers, event merging, live/replay without OpenXR, the source node, retargeters, a keyboard-only
TeleopSession, the examples, and wheel contents.Checklist
SKIP=check-copyright-year pre-commit run --all-filesgit commit -s) per the DCOSummary by CodeRabbit