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feat(revohuman): add the RevoHuman glove plugin - #1407
Adds an optional, Linux-only plugin for BrainCo RevoHuman exoskeleton gloves, built on the RevoHuman C SDK.
Maps each glove's SDK hand points to the 26 OpenXR hand joints and injects them into the OpenXR hand-tracking layer, placed at a wrist pose from optical hand tracking or a controller aim pose (REVOHUMAN_WRIST_SOURCE).
Pushes the 21 encoder angles as joint states and the tactile readings with the common tactile contract, under a TactileMetadata built at start-up from the SDK's taxel layout of each hand.
Supports both glove products the SDK identifies (PTV1 with tactile sensors, P1 without). The OpenXR mapping was reviewed on both hand models, and the plugin refuses an SDK model with another SHA-256.
Opens two gloves together as one time-synced kit, a single glove on its own, and retries a missing glove every two seconds. Publishes <id>/device_status, and TeleopSession monitors it, as it does manus_hand_plugin, spacemouse and gamepad.
Recording and playback use the DeviceIO MCAP session, as for the other trackers.
install.sh downloads the pinned C SDK release, checks its per-arch SHA-256 and installs the plugin with the SDK library and its licence. BUILD_PLUGIN_REVOHUMAN is OFF by default, and the plugin is skipped when the SDK is missing.
Adds the device page under hand tracking and a row in the ecosystem device table.
Outside src/plugins/revohuman: the BUILD_PLUGIN_REVOHUMAN option in the root CMakeLists.txt, its add_subdirectory gates in src/plugins/ and tests/cpp/plugins/, a clang-format exclusion for the downloaded SDK, and the revohuman entry in the plugins TeleopSession monitors, with its test case.
The glove's WRIST is a point of its mechanical model, not the anatomical wrist centre. The device page and the plugin README give the nominal offset between the two and how to set the wrist source for it.
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
On Ubuntu 22.04 x86_64 at this commit:
install.sh with no arguments downloads the pinned SDK anonymously and installs the plugin; install.sh --sdk-root <dir> installs from an extracted package.
Configure without the SDK: the plugin is skipped and nothing RevoHuman is built.
Full build with no warnings from the plugin, and the C++ format check.
revohuman_core_tests, revohuman_live_tests and revohuman_integration_tests pass, also in 20 random orders each; full ctest passes.
SKIP=check-copyright-year pre-commit run --all-files: all hooks pass.
make current-docs (sphinx-build -W --keep-going): build succeeded.
With two RevoHuman PTV1 gloves on x86_64, on an earlier revision of this branch, before WRIST was moved to the depth of PALM: a 300 s two-hand session, tactile presses on each hand, and unplugging and replugging a glove, which reconnects within a few seconds.
A Linux-only plugin for BrainCo RevoHuman exoskeleton gloves. It reads
each glove's 21 encoder angles and its tactile forces through the
RevoHuman C SDK, maps the SDK's hand points to the 26 OpenXR hand joints
and injects them into the OpenXR hand-tracking layer, placed at a wrist
pose from optical hand tracking or a controller aim pose
(REVOHUMAN_WRIST_SOURCE). It pushes the encoder angles as joint states
and the forces with the common tactile contract, under a
TactileMetadata it builds at start-up from the SDK's taxel layout of
each hand; a hand model without a layout pushes no tactile.
Each glove's mechanical model follows the product the SDK identifies; P1
gloves have no tactile sensors. The OpenXR mapping was reviewed on the
hand model of each product, and the plugin refuses an SDK model with
another SHA-256. The glove's WRIST is its palm_link origin moved 12.6 mm
towards the palm, to the depth of PALM, and every hand point and taxel
is relative to it. It is a point of the glove's model, not the
anatomical wrist centre; the README gives the nominal offset between the
two, which the plugin does not correct.
Gloves are found through the SDK, at most one per side. Both gloves
plugged in open together in one two-hand kit with time sync on, so
their samples come from the same USB frame; a glove plugged in alone
opens on its own until its partner arrives. A missing glove is looked
for again every two seconds; one of a product, hand model or firmware
the plugin does not support is reported as failed and not retried.
Recording and playback are left to the DeviceIO MCAP session
(McapRecordingConfig, McapReplayConfig), as for the other trackers.
The plugin publishes <id>/device_status when launched with a plugin
root id, and TeleopSession monitors it like manus_hand_plugin,
spacemouse and gamepad.
install.sh downloads the pinned C SDK release (c-sdk-v0.1.3), verifies
its per-arch SHA-256 and installs the plugin with the SDK library and
its licence next to it. BUILD_PLUGIN_REVOHUMAN is OFF by default; the
plugin is skipped when the SDK is missing, and only its libraries
build when the SDK has no library to link.
The tests are one suite per plugin library. revohuman_core_tests covers
the pipeline, the tactile contract, the device status and the other
core helpers. revohuman_live_tests runs the live source against a fake
of the C SDK library, compiled against the SDK's own revohuman.h.
revohuman_integration_tests checks the reviewed OpenXR mapping and the
tactile layout against the SDK's hand points on both hand models. The
tests are skipped with the plugin when the SDK is missing; with an SDK
whose library does not link, only the core and live suites build. Two
ctest cases run the plugin binary to check how the wrist source
variable and flag are refused.
The device page covers the data flow, the published collections,
prerequisites, the C SDK installation, running the plugin, wrist-pose
calibration, the tactile layout and troubleshooting. The hand-tracking
index lists it, and the ecosystem device table has a row for the glove.
Co-authored-by: chenwenjun <1131359622@qq.com>
Co-authored-by: ljt-brainco <2275816616@qq.com>
Co-authored-by: woltim <woltim233@gmail.com>
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Signed-off-by: chenwenjun <1131359622@qq.com>
Signed-off-by: woltim <woltim233@gmail.com>
Signed-off-by: ljt-brainco <2275816616@qq.com>
Signed-off-by: HAOTianGa03 <2022280352@email.szu.edu.cn>
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Walkthrough
This change adds a Linux RevoHuman glove plugin. It discovers gloves through the RevoHuman C SDK, converts glove frames into hand, joint-state, and tactile data, and publishes these outputs through OpenXR. It adds SDK-based hand mapping, tactile metadata generation, per-hand lifecycle and status handling, build and installation support, documentation, and tests.
sequenceDiagram
participant LiveSource
participant RevoHumanPlugin
participant HandPipeline
participant OpenXR
LiveSource->>RevoHumanPlugin: Poll and return metadata and glove samples
RevoHumanPlugin->>HandPipeline: Dispatch records and tick pipelines
HandPipeline->>OpenXR: Publish joint, hand, shape, and tactile outputs
RevoHumanPlugin->>OpenXR: Publish changed device status when configured
Loading
Possibly related issues
NVIDIA/IsaacCapture#1319 — Adds RevoHuman device-status rows and includes the plugin in TeleopSession monitoring, though the requested granular health semantics are not fully confirmed by the change summary.
NVIDIA/IsaacCapture#1382 — Adds hand and tactile sample-time handling in the plugin data paths, which is related to the issue’s concern about SDK sample timestamps.
Merge Risk: Low · previous review 0b98b
The RevoHuman glove plugin is optional, off by default and skipped when the SDK is missing, so the code changes carry little merge risk. The documentation should be corrected: the test instructions skip building the test targets, and the direct-launch example does not show how to enable device status.
Pre-merge checks: 4 · 1
Failed checks: 1 inconclusive
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Resolution
Docstring Coverage
Docstring coverage is 18.64% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff with cyclomatic complexity of at least 2. Documenta…
Write docstrings for the functions missing them to satisfy the coverage threshold.
Passed checks: 4 passed
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Title check
The title "feat(revohuman): add the RevoHuman glove plugin" matches the main change. The changeset adds a new Linux-only RevoHuman glove plugin, its SDK-backed live source, core pipeline, kinematics, …
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Full details: Title check
Explanation
The title "feat(revohuman): add the RevoHuman glove plugin" matches the main change. The changeset adds a new Linux-only RevoHuman glove plugin, its SDK-backed live source, core pipeline, kinematics, build options, installer, docs, and tests. The title is short, specific, and uses the Conventional Commits style.
Full details: Docstring Coverage
Explanation
Docstring coverage is 18.64% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff with cyclomatic complexity of at least 2. Documentation-only edits and deletions within surviving functions are included; unchanged diff context and fully deleted functions are excluded. Analyzed 177 functions across 50 files. (21 skipped: 20 unsupported, 1 over the file limit.)
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Write docstrings for the functions missing them to satisfy the coverage threshold.
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Major · Functional Correctness · Quick win
Build the test targets before running CTest.
install.sh builds only revohuman_plugin; it does not build the separate test executables. After the documented installation, the CTest command cannot run those suites. Add a build command for the three test targets before CTest. (raw.githubusercontent.com)
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Review comment at @src/plugins/revohuman/README.md around lines 212 - 213:
Update the README testing instructions to build the three test targets before
invoking CTest, using the target names defined by the project; preserve the
existing CTest command and clarify that install.sh builds only revohuman_plugin.
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Keep avatar_hand_plugin from main and revohuman in the TeleopSession
monitored plugins and in their test.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Signed-off-by: HAOTianGa03 <2022280352@email.szu.edu.cn>
install.sh builds only revohuman_plugin, so running ctest right after it
found no test executables. Say so in the README and add the command
that builds the three test targets.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Signed-off-by: HAOTianGa03 <2022280352@email.szu.edu.cn>
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Please test E2E with scripts/tactile_metadata tool, ensure the live tactile movement and tactile force values look correct, and attach a video to the PR description.
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Please cleanup the codes. Our regular plugin size is 1000-2000 lines. If there're too many functional codes, please consider whether they're more proper to locate in SDK or remains in plugin.
Please remove the sample app. We don't usually add sample app for every plugin.
@lotusl-code Could you point us to the sample app you mean? This PR adds nothing under examples/. The only app/ directory is src/plugins/revohuman/app/, which builds the plugin executable revohuman_plugin itself, the same app/ + core/ layout as the gamepad, spacemouse, manus and sharpa_avatar plugins.
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REVOHUMAN_LIVE_AVAILABLE is written four times in this file (9, 49, 79, 93) and this normal var shadows the cache one; keep the reset at 9, write 79 as CACHE INTERNAL (INTERNAL implies FORCE) and drop this one and 93
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this list mirrors the calls in live_source.cpp by hand and will drift; linking the plugin checks the same thing and fails loudly instead of silently dropping the executable
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the user asked for the plugin and the SDK is there but incomplete; fail the configure like sharpa_avatar does for a failed SDK check rather than quietly skipping the executable
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hash copied from openxr_model.inc, it will drift; name the file instead of repeating the value - same for the TRACKER_METADATA_MAX_SIZE literal at 25 and the kFingerMap table at 124
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written in two places and read once, only to compute changed next to error, and the error text already starts with the status name; changed = outcome.error != slot.error is enough, drop this
C SDK 0.1.3 was published again with one new function,
rh_hand_knuckles(), and its result struct. It returns the nominal MCP
joint centers of the four fingers in the tracker frame. The existing
API, error codes and hand models are the same as in the package pinned
now, so only the two SHA-256 values change in install.sh.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Signed-off-by: HAOTianGa03 <2022280352@email.szu.edu.cn>
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Description
Adds an optional, Linux-only plugin for BrainCo RevoHuman exoskeleton gloves, built on the RevoHuman C SDK.
REVOHUMAN_WRIST_SOURCE).TactileMetadatabuilt at start-up from the SDK's taxel layout of each hand.<id>/device_status, andTeleopSessionmonitors it, as it doesmanus_hand_plugin,spacemouseandgamepad.install.shdownloads the pinned C SDK release, checks its per-arch SHA-256 and installs the plugin with the SDK library and its licence.BUILD_PLUGIN_REVOHUMANis OFF by default, and the plugin is skipped when the SDK is missing.src/plugins/revohuman: theBUILD_PLUGIN_REVOHUMANoption in the rootCMakeLists.txt, itsadd_subdirectorygates insrc/plugins/andtests/cpp/plugins/, a clang-format exclusion for the downloaded SDK, and therevohumanentry in the pluginsTeleopSessionmonitors, with its test case.The glove's WRIST is a point of its mechanical model, not the anatomical wrist centre. The device page and the plugin README give the nominal offset between the two and how to set the wrist source for it.
Type of change
Testing
On Ubuntu 22.04 x86_64 at this commit:
install.shwith no arguments downloads the pinned SDK anonymously and installs the plugin;install.sh --sdk-root <dir>installs from an extracted package.revohuman_core_tests,revohuman_live_testsandrevohuman_integration_testspass, also in 20 random orders each; fullctestpasses.SKIP=check-copyright-year pre-commit run --all-files: all hooks pass.make current-docs(sphinx-build -W --keep-going): build succeeded.With two RevoHuman PTV1 gloves on x86_64, on an earlier revision of this branch, before WRIST was moved to the depth of PALM: a 300 s two-hand session, tactile presses on each hand, and unplugging and replugging a glove, which reconnects within a few seconds.
Checklist
SKIP=check-copyright-year pre-commit run --all-filesgit commit -s) per the DCO🤖 Generated with Claude Code
Summary by CodeRabbit