[hougantc-nvda]

Description

Enables applications to present an existing OVRTX renderer and OVStage scene through OVXR while using Isaac Capture for teleoperation input. The application owns simulation and scene updates; Isaac Capture manages XR frame submission, CloudXR startup, input/reset handling and shutdown.

OvxrSession uses OvxrApplicationInterface to coordinate scene publication with rendering and keeps borrowed resources alive until XR work has drained. Startup can be cancelled, failed cleanup preserves the original error, and invalid world scale is rejected before provider initialization. OpenXR extensions come from DeviceIO requirements and explicit application extras.

OVXR support is optional through the ovxr extra and defaults to a tested OVXR build. The installation guide explains how applications can explicitly select another OVXR build with uv, validate compatibility, and use separate environments for different provider versions.

The public OVXR API lives in isaaccapture.ovxr_session_manager, separately from teleoperation pipeline management. Its tests live under tests/python/core/ovxr_session_manager.

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.

• Teleoperation and OVXR session-manager tests: 301 passed against the installed wheel, including device extension selection, application extras, interrupted startup and worker failure propagation.
• CloudXR tests: 601 passed, 2 skipped.
• Import and CLI compatibility checks: 17 passed.
• Required pre-commit checks and the warning-as-error documentation build passed.

Physical-headset checks before the API rename, with the complete PR stack passed GR1T2 with Newton/CUDA, G1 locomanipulation and G1 fixed-base with OVPhysX/CPU, and headless Kit-backed GR1T2. Play, Reset and clean shutdown were confirmed. A full disconnect/reconnect followed by resumed control remains unverified.

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 per the DCO

Summary by CodeRabbit

• New Features
  • Added optional OVXR support, including installation guidance and an application-neutral session lifecycle for rendering and shutdown.
  • Added runtime interruption controls for CloudXR.
• Bug Fixes
  • Reset events in pipelined teleoperation remain pending until successfully delivered.
  • Cleanup failures are recorded, and sessions that cannot be safely reused surface the stored error.
• Documentation
  • Clarified licensing terms, OVXR setup and compatibility considerations, and session cleanup and reset behavior.

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📝 Walkthrough

The changes add optional OVXR dependencies and documentation, plus an application-neutral OVXR session manager for rendering and resource teardown. CloudXR runtime interruption and stop now share serialized termination. Teleop sessions preserve reset edges until successful delivery and retain cleanup failures that prevent safe reuse.

Priority: ➖ Normal

Estimated code review effort: 4 (Complex) | ~60 minutes

Sequence Diagram(s)

sequenceDiagram
  participant Application
  participant OvxrSession
  participant RenderThread
  participant Host
  participant OVXRContext
  participant StageOrdinalLedger
  Application->>OvxrSession: start
  RenderThread->>Host: attach renderer and Stage
  RenderThread->>OVXRContext: create and start context
  Application->>OvxrSession: request render
  OvxrSession->>Host: publish complete scene
  OvxrSession->>RenderThread: queue published ordinal
  RenderThread->>StageOrdinalLedger: reserve and reconcile ordinal
  RenderThread->>OVXRContext: bind and submit frame
  Application->>OvxrSession: close
  OvxrSession->>RenderThread: request shutdown
  RenderThread->>OVXRContext: destroy context

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Merge Risk: 🔵 Low · up to 90820

If startup is interrupted while waiting for the headset to connect, a background render thread can stay alive and keep the process from exiting. The fix is small. This is not a merge blocker, but it is worth fixing soon.

Pre-merge checks: 4 · 1

Failed checks: 1 warning

Check name	Status	Explanation	Resolution
Docstring Coverage		Docstring coverage is 24.23% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 194 functions across 12 files. (13 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 "Enable OVXR teleoperation with an application-owned renderer and scene" matches the main change. The PR adds optional OVXR support through the new OvxrSession and OvxrApplicationInterface, …
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: Title check

Explanation

The title "Enable OVXR teleoperation with an application-owned renderer and scene" matches the main change. The PR adds optional OVXR support through the new OvxrSession and OvxrApplicationInterface, which let an application that owns an OVRTX renderer and OVStage scene drive XR frame submission. The changeset also includes the ovxr extra, docs, CloudXR interrupt handling, and reset-latching changes, which the title does not mention but which are secondary to the main change.

Full details: Docstring Coverage

Explanation

Docstring coverage is 24.23% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 194 functions across 12 files. (13 skipped: 13 unsupported.)

Resolution

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

✨ Finishing Touches: 💡 1

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Actionable comments posted: 1

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• 🪄 Fix comments: Fix CodeRabbit comments on this PR

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Inline comments:
Review comments at
@src/python/isaaccapture/ovxr_session_manager/ovxr_session.py:
- Around line 336-347: In start(), guard the unbounded
_worker_condition.wait_for() for XR readiness so that any BaseException triggers
_request_worker_shutdown() before being re-raised. Preserve the existing
readiness checks and normal return behavior.

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• Source mode: Auto
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📥 Commits

Reviewing files that changed from the base of the PR and between 725b1a9 and 908205f.

📒 Files selected for processing: 25

• README.md
• docs/source/getting_started/ovxr.rst
• docs/source/index.rst
• docs/source/references/build.rst
• docs/source/teleop/teleop_session.rst
• pyproject.toml
• src/compat/pyproject.toml
• src/core/python/CMakeLists.txt
• src/core/python/pyproject.toml.in
• src/core/python/requirements-ovxr.txt
• src/python/isaaccapture/__init__.py
• src/python/isaaccapture/cloudxr/launcher.py
• src/python/isaaccapture/cloudxr/service/_service.py
• src/python/isaaccapture/ovxr_session_manager/__init__.py
• src/python/isaaccapture/ovxr_session_manager/ovxr_session.py
• src/python/isaaccapture/teleop_session_manager/async_retarget_runner.py
• src/python/isaaccapture/teleop_session_manager/config.py
• src/python/isaaccapture/teleop_session_manager/teleop_session.py
• tests/python/core/CMakeLists.txt
• tests/python/core/cloudxr/test_service.py
• tests/python/core/cloudxr/test_service_oob_status.py
• tests/python/core/ovxr_session_manager/CMakeLists.txt
• tests/python/core/ovxr_session_manager/pyproject.toml
• tests/python/core/ovxr_session_manager/test_ovxr_session.py
• tests/python/core/teleop_session_manager/test_teleop_session.py

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