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Signed-off-by: Yanzi Zhu <yanziz@nvidia.com>
Signed-off-by: Yanzi Zhu <yanziz@nvidia.com>
Signed-off-by: Yanzi Zhu <yanziz@nvidia.com>
Signed-off-by: Yanzi Zhu <yanziz@nvidia.com>
Signed-off-by: Yanzi Zhu <yanziz@nvidia.com>
PR NVIDIA#1063 'fix(webxr): replay without live input and preserve alignment' is an unmerged draft upstream, but the unattended-replay work depends on it: it adds xrReplaySession.ts and the synthetic input sources that let a recording drive the stream with no hands in the camera's view. Merged at its head 277846c.
The Start Teleop, record, replay, save and reset controls are xrButtons drawn into the WebXR canvas, so nothing outside the headset can reach them: there is no DOM node for a host-side automation driver to click. That makes an unattended benchmark run impossible to drive from the machine running the sim. Bind them to keys instead, which a driver can synthesise over CDP: T Start Teleop C Record / Stop Record P Play / Stop Replay S Save Recording X Reset Teleop Record is on C, not the more obvious R, because CloudXRUI already binds 'r' on window to resetPanelRelativeToHead - the only way to recover the in-headset panel once it and its drag handle are left behind out of reach. Both listeners would fire on one keypress. Panel recovery is the more important of the two, so it keeps the letter. The handler keys off event.code so the bindings survive non-QWERTY layouts, and bails out on repeats, modifier chords and edits in text inputs. preventDefault runs only when a binding actually handled the event, leaving every other key to the page. Signed-off-by: Emily Ma <yuhanm@nvidia.com>
three.js pins WebXRManager to 'local-floor', whose origin is on the floor, while CloudXR requests config.referenceSpaceType, which defaults to 'local' and puts the origin at the headset. Recording in one frame and streaming in the other makes recorded hand poses absolute heights above the floor while the scene stays anchored to the headset, so entering a session at a different height moves the table out from under a replayed trajectory and the grasp misses. Resolve the streaming space the same way CloudXRComponent does, including the 'auto' fallback order, and record in it. Recorded poses are then already expressed in the frame the scene is anchored to. Note this is the client half of a contract with the server: XrCfg.anchor_pos is defined as "this position appears at the origin of the XR device's local frame", so the two sides have to agree on which space that is. Forcing the client to 'local-floor' instead raises the viewpoint by roughly one eye height. Signed-off-by: Emily Ma <yuhanm@nvidia.com>
Calibration holds replay until an operator physically returns to the recording's
starting pose and confirms. That puts a human back in the loop, which is exactly
what unattended replay exists to avoid, so the feature comes out rather than
being short-circuited: a bypassed gate leaves unreachable code and tests that
assert behaviour the product no longer has.
Replayed poses are now the recorded coordinates themselves. That is sound
because of the previous commit: recording and streaming share one reference
space, so a recording is already expressed in the frame the scene is anchored
to and needs no cross-session transform.
Removed: Recording.calibration and its import validation, captureViewerCalibration,
gravityAlignedViewerPose, sceneAlignment, replayNeedsCalibration, calibrateReplay,
the context fields that surfaced them and the in-headset Calibrate button.
Deliberately kept:
* _replaySceneAlignment / _currentFromInitial / _alignmentCache. These are not
calibration - they preserve world placement across *within-session*
reference-space resets, which still happen and still matter. The alignment
is still cached against the origin observed at entry so a later reset shifts
replay with the scene instead of stranding it.
* "Wait for a viewer pose before the first recorded frame". The behaviour was
expressed through calibration capture; it is now explicit, because a
recording that starts before tracking settles has no origin to be relative to.
The reference-space reset tests stay and keep their coverage; their expected
positions lose the +10 viewer term that the removed alignment used to add, and
are re-derived from recorded coordinates plus accumulated reset translation.
Signed-off-by: Emily Ma <yuhanm@nvidia.com>
… listener The shortcuts arrived as a second window keydown listener alongside the one CloudXRUI already installs for the panel-reset key, each with its own copy of the "is the operator typing?" guard. Two listeners deciding what a letter means is a standing invitation for them to disagree. useTeleopKeyboardShortcuts becomes useTeleopShortcutHandler: it returns a handler instead of registering a listener, and reports whether it consumed the event so CloudXRUI can skip its own key. isEditableKeyboardTarget is exported and now guards both, replacing the inline tagName check - one definition, so the two cannot drift apart. The shared guard is the stricter of the two, which changes the panel key slightly: a held key and a modifier chord no longer trigger it, so Ctrl+R reloads the page without also moving the panel. RESET_PANEL_KEY keeps its name and value; oob_teleop_adb.py synthesises that exact key over CDP and the two are documented as staying in sync. Signed-off-by: Emily Ma <yuhanm@nvidia.com>
RecorderComponent resolved its own reference space by copying CloudXRComponent's request - the same 'auto' fallback order, re-implemented. The copy was already incomplete: CloudXRComponent applies config.xrOffset* through getOffsetReferenceSpace after resolving, and falls back to the WebXRManager space when every request fails. Neither was mirrored, so any non-zero XR offset put recording back into a different frame from streaming - exactly the mismatch recording in the streaming space was meant to remove. CloudXRComponent gains an onReferenceSpace callback, fired once the space is final, and RecorderComponent takes it as a prop. The duplicated resolution, its session listeners and its local state go away. Deriving it twice could only ever agree by coincidence; there is one space the session streams in, and this is now the one the recorder uses. Signed-off-by: Emily Ma <yuhanm@nvidia.com>
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Check name Status Explanation Description Check Check skipped - CodeRabbit’s high-level summary is enabled. Title check The title accurately and concisely describes the primary change: unattended replay of recorded WebXR teleoperation sessions. 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.
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@deps/cloudxr/webxr_client/helpers/react/CloudXRComponent.tsx:
- Around line 734-736: Republish the configured streaming reference space
whenever a session is established, including reconnect retries. In the
reference-space setup currently used by handleSessionStart, retain the resolved
space in a value accessible to establishSession, then call onReferenceSpace with
it immediately after onSessionReady?.(cxrSession); keep the existing null-clear
and republish ordering paired.
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deps/cloudxr/webxr_client/helpers/react/CloudXRComponent.tsxdeps/cloudxr/webxr_client/src/App.tsxdeps/cloudxr/webxr_client/src/CloudXRUI.tsxdeps/cloudxr/webxr_client/src/RecorderComponent.tsxdeps/cloudxr/webxr_client/src/RecorderContext.test.tsxdeps/cloudxr/webxr_client/src/RecorderContext.tsxdeps/cloudxr/webxr_client/src/TraceVisualization.test.tsdeps/cloudxr/webxr_client/src/TraceVisualization.tsxdeps/cloudxr/webxr_client/src/xrInputRecorder.test.tsdeps/cloudxr/webxr_client/src/xrInputRecorder.tsdeps/cloudxr/webxr_client/src/xrReplaySession.ts
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onReferenceSpace fired once, from handleSessionStart. The reconnect path re-enters establishSession only, after clearing the parent's copy with onSessionReady(null), so from the first recoverable stream error onwards the recorder fell back to three.js' local-floor space while CloudXR kept streaming in the configured one - silently, and for the rest of the WebXR session. Publish per CloudXR session instead, right after onSessionReady(cxrSession), so the clear and the republish stay paired. Initial connect is unchanged. Signed-off-by: Emily Ma <yuhanm@nvidia.com>
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Description
Builds on @yanziz's #1063 (replay without live input), merged in so its history
stays intact.
We benchmark teleoperation by replaying a recorded JSON session, so the same
input goes in on every run. #1063 made replay possible without live input, but it
still needs a person in the headset to start it and replays in a frame the scene
is not anchored to. Three changes make it reproducible and unattended:
Keyboard shortcuts for the recorder and teleop controls. The controls are
drawn into the XR canvas, so they cannot be clicked programmatically. They
hang off CloudXRUI's existing keydown listener (webxr: fix missing/unreachable in-headset panel with head-relative reset + tracking #1140's panel key) and share
its typing guard, so Record is on C. The guard now also ignores held keys
and modifier chords, so
Ctrl+Rno longer moves the panel.Record in the reference space CloudXR streams in. three.js pins
WebXRManagertolocal-floorwhile CloudXR resolves its own space fromconfig.referenceSpaceTypeandxrOffset*, so recorded poses and the scenedrift apart. CloudXRComponent now publishes the space it resolved through an
onReferenceSpacecallback.Remove cross-session replay calibration (-335 lines). It waits for the
operator to physically return to the recording's starting pose, which
unattended replay cannot do.
Type of change
Testing
tsc,eslint,npm run buildclean;npm test146 passing;pre-commit run --all-filesall hooks passrelease/3.0.0, driven entirely over CDP with no operator in the headsetChecklist
SKIP=check-copyright-year pre-commit run --all-filesgit commit -s) per the DCOSummary by CodeRabbit
New Features
Bug Fixes