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Add opt-in desktop Synthetic XR teleoperation. Scripted controller poses and buttons pass through IWER → WebXR → CloudXR → native retargeting → Lab IK, preserving the robot-control path used by a human operator.
Synthetic XR panel/API, trace recording/replay, input validation and release on stop/disconnect; native immersive XR remains unchanged.
Franka task sessions with read-only scene feedback, world-space tool targets, native success callbacks/export, ownership and bounded shutdown. Endpoint, orientation, reset and fresh-step guards reject invalid motion.
Reusable pick-and-place task logic with XR and optional Lab-native keyboard/gamepad adapters. Native adapters take application-owned observation/input callbacks; they are not Capture keyboard/gamepad device support and bypass WebXR/CloudXR.
One stacking-first tutorial. A short paragraph under “Bring your own task logic” explains input reuse; source contracts and the runnable XR pick-and-place example live in the example README.
Review: docs/source/teleop/synthetic_xr.rst, examples/synthetic_xr/README.md, examples/synthetic_xr/python/isaaccapture_examples/synthetic_xr/franka/, and deps/cloudxr/webxr_client/src/syntheticXR/.
85 Python checks from source and installed wheel; 130 client checks and 4 real-IWER/mock-CloudXR browser checks.
Strict docs build, TypeScript, production client build and repository pre-commit pass. Existing webpack performance warnings retained.
Prior prepared-host native runs: XR stacking and pick-and-place exported successful episodes; shared keyboard/gamepad pick-and-place passed 40/40 and 41/41 checks. Source reviews and sampled-frame/native telemetry evaluation are recorded separately.
Fresh packaged XR pick-and-place: one native export, 23/23 independent checks, 1,412 samples, 109 input/action correlations and 0.310 mm placement error. The initial export failure and diagnostic retry are retained; a paused-reset snapshot repair is regression-tested and independently source-reviewed.
Final example modules and rebased client ran on the prepared Capture83e2598e/Labcb9628be backend. This is not a complete rebuild of rebased SDK main; keyboard/gamepad native evidence remains prepackaging. See examples/synthetic_xr/VALIDATION.txt for exact scope.
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Walkthrough
This pull request adds synthetic XR controller controls to the WebXR client and a Python package with Franka teleoperation examples. The examples send browser commands, publish simulation observations, and validate task execution and native episode export. The change also adds tests, package configuration, validation records, and user and developer documentation.
Observer failures at completion now surface immediately with their real error instead of being hidden behind a long timeout. No concrete merge-blocking risk remains from the reviewed changes.
Pre-merge checks: 4 · 1
Failed checks: 1 warning
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Docstring Coverage
Docstring coverage is 3.11% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 225 functions across 31 files. (7 skipped:…
Write docstrings for the functions missing them to satisfy the coverage threshold.
Passed checks: 4 passed
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Title check
The title clearly and concisely summarizes the primary changes: desktop Synthetic XR teleoperation and the Franka task tutorial.
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Full details: Docstring Coverage
Explanation
Docstring coverage is 3.11% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 225 functions across 31 files. (7 skipped: 7 unsupported.)
Resolution
Write docstrings for the functions missing them to satisfy the coverage threshold.
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Files skipped from review as they are similar to previous changes: 4
docs/source/index.rst
docs/AGENTS.md
README.md
examples/synthetic_xr/VALIDATION.txt
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Actionable comments posted: 1
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Review comments at
@examples/synthetic_xr/python/isaaccapture_examples/synthetic_xr/franka/session.py:
- Around line 102-105: Update the snapshot handling around the phase check so
ObserverUnavailable is raised only when value.get("phase") is not "completed".
For completed snapshots with completion_error, allow the existing terminal-error
handling near the surrounding observer logic to raise the descriptive observer
failure instead of continuing to poll.
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Heads-up: #1394 just merged. It moves only-include from [tool.hatch.build.targets.wheel] to [tool.hatch.build], so the sdist gets the same file list as the wheel. Without that, uv build packs the whole example directory into the sdist: media, recordings, a local uv.lock, build trees. Wheels and editable installs are unchanged.
Could you switch examples/synthetic_xr/pyproject.toml to the layout in Adding an example?
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Description
Add opt-in desktop Synthetic XR teleoperation. Scripted controller poses and buttons pass through IWER → WebXR → CloudXR → native retargeting → Lab IK, preserving the robot-control path used by a human operator.
Review:
docs/source/teleop/synthetic_xr.rst,examples/synthetic_xr/README.md,examples/synthetic_xr/python/isaaccapture_examples/synthetic_xr/franka/, anddeps/cloudxr/webxr_client/src/syntheticXR/.Shared task recordings and validation
Type of change
Testing
examples/synthetic_xr/VALIDATION.txtfor exact scope.Checklist
For maintainer review; no merge or automatic merge requested.
Summary by CodeRabbit
New Features
Bug Fixes
Documentation