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feat(soma): add body and hand pose transport - #1207
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📝 WalkthroughWalkthroughThe change adds SOMA body and hand transport in joint-rotation and evaluated-joint-pose forms. It adds FlatBuffers schemas, Python bindings, DeviceIO sources and evaluators, and publisher examples. The live viewer can select SOMA or existing body and hand sources and renders joints using layout-specific validity. Documentation describes payload conventions, setup, and representation selection. Priority: ➖ Normal Estimated code review effort: 4 (Complex) | ~60 minutes Sequence Diagram(s)sequenceDiagram
participant BodyPublisher
participant BodyPusher
participant SchemaPusher
BodyPublisher->>BodyPusher: Send framed body FlatBuffer and timestamp
BodyPusher->>BodyPusher: Verify selected representation and packet
BodyPusher->>SchemaPusher: Publish verified body record
sequenceDiagram
participant DeviceIOSession
participant SomaBodySource
participant SomaBodyEvaluator
DeviceIOSession->>SomaBodySource: Poll configured tracker
SomaBodySource->>SomaBodyEvaluator: Evaluate rotation payload
SomaBodyEvaluator-->>SomaBodySource: Joint positions, orientations, and validity
SomaBodySource-->>DeviceIOSession: SOMA body tensor output
Merge Risk: 🔵 Low · up to The SOMA transport additions look mergeable. One known follow-up remains: if the native pusher fails, the body demo publisher shows a pipe traceback instead of a clear error that points to the pusher's diagnostics. 🚥 Pre-merge checks | ✅ 4 | ❓ 1❌ Failed checks (1 inconclusive)
✅ Passed checks (4 passed)
Full details: Docstring CoverageExplanation Docstring coverage is 11.92% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 193 functions across 50 files. (36 skipped: 33 unsupported, 3 over the file limit.) ✨ Finishing Touches 💡 1🧪 Generate unit tests (beta)
🛠️ Fix failing CI checks 💡
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Review comments at
@examples/soma_body_publisher/python/isaaccapture_examples/soma_body_publisher/publisher.py:
- Around line 187-191: Handle BrokenPipeError in the pusher input-writing flow
and when closing process.stdin, so an early pusher exit does not interrupt
process.wait() or the subsequent exit-code check that reports its diagnostics.
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docs/source/device/soma.rstdocs/source/device/trackers.rstdocs/source/index.rstdocs/source/references/generated_trackers.rstdocs/source/references/retargeting/index.rstexamples/CMakeLists.txtexamples/deviceio_live_view/README.mdexamples/deviceio_live_view/pyproject.tomlexamples/deviceio_live_view/python/isaaccapture_examples/deviceio_live_view/body_pipeline.pyexamples/deviceio_live_view/python/isaaccapture_examples/deviceio_live_view/deviceio_pipeline.pyexamples/deviceio_live_view/python/isaaccapture_examples/deviceio_live_view/deviceio_viser.pyexamples/deviceio_live_view/python/isaaccapture_examples/deviceio_live_view/full_body_pose.pyexamples/deviceio_live_view/python/isaaccapture_examples/deviceio_live_view/hand_pipeline.pyexamples/deviceio_live_view/python/isaaccapture_examples/deviceio_live_view/live_deviceio.pyexamples/deviceio_live_view/python/isaaccapture_examples/deviceio_live_view/openxr_hand_pose.pyexamples/deviceio_live_view/python/isaaccapture_examples/deviceio_live_view/soma_body.pyexamples/deviceio_live_view/python/isaaccapture_examples/deviceio_live_view/soma_hand.pyexamples/soma_body_publisher/CMakeLists.txtexamples/soma_body_publisher/README.mdexamples/soma_body_publisher/cpp/soma_body_pusher/CMakeLists.txtexamples/soma_body_publisher/cpp/soma_body_pusher/soma_body_pusher.cppexamples/soma_body_publisher/pyproject.tomlexamples/soma_body_publisher/python/isaaccapture_examples/soma_body_publisher/__init__.pyexamples/soma_body_publisher/python/isaaccapture_examples/soma_body_publisher/__main__.pyexamples/soma_body_publisher/python/isaaccapture_examples/soma_body_publisher/publisher.pyexamples/soma_hand_publisher/CMakeLists.txtexamples/soma_hand_publisher/README.mdexamples/soma_hand_publisher/cpp/soma_hand_pusher/CMakeLists.txtexamples/soma_hand_publisher/cpp/soma_hand_pusher/soma_hand_pusher.cppexamples/soma_hand_publisher/pyproject.tomlexamples/soma_hand_publisher/python/isaaccapture_examples/soma_hand_publisher/__init__.pyexamples/soma_hand_publisher/python/isaaccapture_examples/soma_hand_publisher/__main__.pyexamples/soma_hand_publisher/python/isaaccapture_examples/soma_hand_publisher/publisher.pysrc/core/deviceio_trackers/trackers.tomlsrc/core/schema/fbs/soma_body_common.fbssrc/core/schema/fbs/soma_body_joint_poses.fbssrc/core/schema/fbs/soma_body_joint_rotations.fbssrc/core/schema/fbs/soma_common.fbssrc/core/schema/fbs/soma_hand_joint_poses.fbssrc/core/schema/fbs/soma_hand_joint_rotations.fbssrc/core/schema/golden/soma_body_common.bfbssrc/core/schema/golden/soma_body_joint_poses.bfbssrc/core/schema/golden/soma_body_joint_rotations.bfbssrc/core/schema/golden/soma_common.bfbssrc/core/schema/golden/soma_hand_joint_poses.bfbssrc/core/schema/golden/soma_hand_joint_rotations.bfbssrc/core/schema/python/CMakeLists.txtsrc/core/schema/python/schema_module.cppsrc/core/schema/python/schema_serialized.hsrc/core/schema/python/soma_body_joint_poses_bindings.hsrc/core/schema/python/soma_body_joint_rotations_bindings.hsrc/core/schema/python/soma_common_bindings.hsrc/core/schema/python/soma_hand_joint_poses_bindings.hsrc/core/schema/python/soma_hand_joint_rotations_bindings.hsrc/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/soma_body_source.pysrc/python/isaaccapture/retargeting_engine/deviceio_source_nodes/soma_hand_source.pysrc/python/isaaccapture/retargeting_engine/tensor_types/__init__.pysrc/python/isaaccapture/retargeting_engine/tensor_types/indices.pysrc/python/isaaccapture/retargeting_engine/tensor_types/standard_types.pysrc/python/isaaccapture/retargeting_engine/utilities/__init__.pysrc/python/isaaccapture/retargeting_engine/utilities/soma_body_evaluator.pysrc/python/isaaccapture/retargeting_engine/utilities/soma_contract.pysrc/python/isaaccapture/retargeting_engine/utilities/soma_hand_evaluator.pysrc/python/isaaccapture/schema/__init__.pytests/AGENTS.mdtests/cpp/core/schema/CMakeLists.txttests/cpp/core/schema/test_soma_body_joint_poses.cpptests/cpp/core/schema/test_soma_body_joint_rotations.cpptests/cpp/core/schema/test_soma_hand_joint_poses.cpptests/cpp/core/schema/test_soma_hand_joint_rotations.cpptests/python/core/retargeting_engine/test_soma_body_evaluator.pytests/python/core/retargeting_engine/test_soma_body_source.pytests/python/core/retargeting_engine/test_soma_hand_source.pytests/python/core/schema/test_soma_body_joint_poses.pytests/python/core/schema/test_soma_body_joint_rotations.pytests/python/core/schema/test_soma_hand_joint_poses.pytests/python/core/schema/test_soma_hand_joint_rotations.pytests/python/examples/CMakeLists.txttests/python/examples/deviceio_live_view/CMakeLists.txttests/python/examples/deviceio_live_view/conftest.pytests/python/examples/deviceio_live_view/pyproject.tomltests/python/examples/deviceio_live_view/test_soma_viewer.pytests/python/examples/soma_body_publisher/CMakeLists.txttests/python/examples/soma_body_publisher/conftest.pytests/python/examples/soma_body_publisher/pyproject.tomltests/python/examples/soma_body_publisher/test_publisher.pytests/python/examples/soma_hand_publisher/CMakeLists.txttests/python/examples/soma_hand_publisher/conftest.pytests/python/examples/soma_hand_publisher/pyproject.tomltests/python/examples/soma_hand_publisher/test_publisher.py
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Add versioned SOMA V0 body joint-rotation and evaluated joint-pose schemas. Integrate generated trackers, Python bindings, schema goldens, documentation, and validation coverage. Add a typed SOMA body DeviceIO source that normalizes both body representations into evaluated joint poses. Use upstream FK for joint rotations and direct mapping for evaluated poses. Add a standalone body demo publisher and allow the DeviceIO viewer to select native SOMA or FullBodyPose while preserving each schema's joint order and topology. Signed-off-by: Michael Haselton <mhaselton@nvidia.com>
Add versioned SOMA V0 hand joint-rotation and evaluated joint-pose schemas. Extend the shared primitives with handedness and integrate generated trackers, Python bindings, schema goldens, documentation, and validation coverage. Normalize both hand representations into SomaHandInput using upstream FK or direct mapping. Add independent left and right trackers, a bundled-motion hand publisher, and DeviceIO viewer selection between OpenXR and native SOMA hands. Keep OpenXR hands as the default and keep body and hand source selection independent. Signed-off-by: Michael Haselton <mhaselton@nvidia.com>
- remove V0 suffixes from SOMA schemas, trackers, records, and channels - rename the body and hand rotation schemas to *_joint_rotations, drop V0 from SOMA API names, and regenerate schema goldens - remove redundant runtime version checks while retaining the pinned dependency - update examples, tests, bindings, and documentation for the renamed API Signed-off-by: Michael Haselton <mhaselton@nvidia.com>
Document SOMA body and hand data flows, representation choices, demo commands, schema locations, collection IDs, and current limitations. Rename the body demo collection and viewer option for symmetry with the standalone hand streams, and distinguish collection routing from tensor schema identifiers. Signed-off-by: Michael Haselton <mhaselton@nvidia.com>
Signed-off-by: Michael Haselton <mhaselton@nvidia.com>
Select body and hand schemas explicitly, resolve rotation-FK assets through SOMA-X, and use static SOMA topology for evaluated joint poses. Signed-off-by: Michael Haselton <mhaselton@nvidia.com>
Replace fixed joint arrays with sorted, unique vectors keyed by typed SOMA joint identifiers. Treat absent entries as unavailable and reconstruct canonical dense arrays at the SOMA-X helper boundary. Update body and hand publishers, schema bindings, evaluators, tests, documentation, and schema goldens. Signed-off-by: Michael Haselton <mhaselton@nvidia.com>
Validate SOMA model semantics and resolve the supported reference before FK. Normalize usable quaternions and invalidate degenerate or non-finite body and hand measurements across rotation and evaluated-pose inputs. Add focused contract and numerical tests and document the resulting behavior. Signed-off-by: Michael Haselton <mhaselton@nvidia.com>
Resolve demo assets through SOMA-X and remove --data-root from both publishers. Add a first-use loading notice and simplify launch docs. Compare handedness by value and avoid float32 overflow when normalizing quaternions. Add focused regression coverage for these fixes and automatic publisher asset resolution. Signed-off-by: Michael Haselton <mhaselton@nvidia.com>
Declare both rotation and evaluated-pose tracker types so mypy passes against generated native stubs. Signed-off-by: Michael Haselton <mhaselton@nvidia.com>
- Use the existing Python tracker API for body and hand publishing. - Remove C++ demo senders, stdin framing, and the --pusher option. - Preserve schemas, collections, and representation selection. - Use session timestamps and retain paired hand publishing. - Update publisher tests, build configuration, and launch documentation. Signed-off-by: Michael Haselton <mhaselton@nvidia.com>
Signed-off-by: Michael Haselton <mhaselton@nvidia.com>
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Description
Adds SOMA body and standalone hand pose transport to IsaacCapture, alongside the existing FullBodyPose and OpenXR hand paths.
SomaBodyJointRotations,SomaBodyJointPoses,SomaHandJointRotations, andSomaHandJointPoses.TensorPushTrackerfrom Python, with native FlatBuffer serialization andSchemaPushertransport.Publishers map their native tracking data into SOMA joint identifiers and the expected hierarchy, reference-pose, and rotation conventions. Matching joints can map directly when these conventions agree. Rotation publishers do not need to compute global joint positions for transport; the consumer’s SOMA helper performs FK.
The joint-rotation representation follows SOMA-X's pose conventions. The joint-pose representation carries evaluated reference-frame positions and orientations for producers that already compute these transforms. Both use XYZW quaternions; positions and translations are in meters.
The rotation demos use standard SOMA model proportions for FK. Joint-pose consumers use the publisher-supplied joint transforms directly.
The examples use
py-soma-x==0.3.1, with assets downloaded and cached automatically on first use. The FlatBuffer contracts and generated transport trackers do not require SOMA-X or PyTorch.Body and standalone hand streams are not fused automatically. MCAP workflows and retargeting examples are outside this PR.
Type of change
Testing
Local asset-backed SOMA publisher tests passed for body and hands in both representations.
Body and hand demos were verified in both representations using the current in-process Python publishers. The existing PICO FullBodyPose and OpenXR hand viewer path was also verified.
Build and automated checks
If you do not already have a development environment, run these commands from the repository root:
Then install the examples and run the checks below.
Live checks
For each scenario, start the viewer and open its browser client before starting the publisher in a second terminal. Stop the previous scenario before switching representations. The publisher and viewer must select matching representations.
These checks require the CloudXR runtime.
Body: joint rotations
Viewer:
Publisher:
Body: evaluated joint poses
Viewer:
Publisher:
Hands: joint rotations
Viewer:
Publisher:
Hands: evaluated joint poses
Viewer:
Publisher:
For an offline encoding and transport-capacity check, replace
--loopwith--validate-only. This encodes every frame without starting OpenXR, the viewer, or the runtime.Checklist
SKIP=check-copyright-year pre-commit run --all-filesgit commit -s) per the DCOSummary by CodeRabbit