[hougantc-nvda]

Description

Adds an optional desktop mirror for OVXR teleoperation using OVUI. Users can select a headset-eye or camera render product, limit the mirror update rate and display application-provided status text.

Applications inject the mirror through OvxrFrameConsumer. OvxrSession calls generic startup, frame and shutdown hooks; mirror configuration, product selection, image storage, UI worker state and status stay in the mirror component. The mirror displays completed images and retains their buffers until GPU uploads finish. Closing OvxrSession retires the UI worker before releasing the borrowed rendering resources. Headset-eye images exclude separately submitted picture-in-picture layers; camera views can be selected directly.

OVUI is an optional dependency provided by the desktop-mirror extra and is imported only when the mirror is enabled. The mirror defaults OMNIUI_BACKEND to opengl when unset, preserves an explicit application setting and reports unsupported copy backends clearly. It requires a usable desktop display.

The session, frame-consumer and mirror modules live under isaaccapture.ovxr_session_manager, with matching tests 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, OVXR session-manager and mirror tests: 422 passed against the rebuilt, installed wheel, including interrupted startup, caller-thread consumer preparation, worker failure propagation, mirror startup failure and resource retirement.
• Local public IWER with GR1T2 and CPU OVPhysX: Play, hand-driven simulation, camera PiP, desktop-mirror eye/camera selection, recovery after a full browser restart and mirror-driven application shutdown were exercised. The tested IWER build exited with code 0 and no pending async task; mirror closure drains its update and UI tasks before releasing resources.
• Standalone OVUI mirror smoke test: opened with the default OpenGL backend, presented six frames and shut down without errors.
• Installed-SDK configuration, static CUDA linkage, native camera-layer contract and wheel-delivery checks passed.
• Native core and camera-layer tests: 218 passed.
• CUDA mapping and cleanup comparison: 57 cases passed.
• Shutdown/publication stress checks: 110 passed across 10 fresh processes.
• Real headless GPU rendering: 12 frames; owned GPU copies matched both CPU readback and the original GPU implementation, including a geometry change and resource retirement.
• Wheel package and metadata checks: 6 passed; the 2 plugin-binary checks do not apply with plugins disabled. Camera-helper inclusion passed ON → OFF → ON after relocation.
• Required pre-commit checks and the warning-as-error documentation build passed.

Physical-headset regression checks before the API rename, with the complete PR stack passed GR1T2/Newton, G1 locomanipulation, three-camera fixed-base G1, and headless Kit-backed GR1T2 with the desktop mirror disabled. Physical-headset testing with the desktop mirror enabled remains pending. The scene-specific screenshot thresholds and tab-close reconnect automation did not pass in the local IWER checks; full-browser disconnect/reconnect recovered successfully.

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 an optional desktop mirror for viewing selected rendered images, including camera and auxiliary outputs, in a desktop window.
  • The mirror displays status and frame-rate information, and supports host- and GPU-backed images.
  • Added the desktop-mirror optional installation extra. The mirror requires a display and a compatible CUDA device.
• Documentation
  • Added setup guidance, including renderer initialization and graphics-backend requirements.

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📝 Walkthrough

The changes add an optional desktop-mirror dependency group and document its installation and runtime requirements. OVXR now accepts frame consumers and provides output, submission, completion, and shutdown callbacks. The desktop mirror selects render products, captures bounded snapshots, and displays them through OVUI. The implementation includes reusable CUDA image copies, mailbox ownership and cleanup, worker status and cadence reporting, and tests for session lifecycle, image capture, GPU operations, and UI behavior.

Priority: ➖ Normal

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

Sequence Diagram(s)

sequenceDiagram
  participant OvxrSession
  participant OwnedDesktopMirror
  participant OwnedMirrorMailbox
  participant OwnedDesktopMirrorWorker
  participant OVUI
  OvxrSession->>OwnedDesktopMirror: on_session_started(binding, config, request_shutdown)
  OvxrSession->>OwnedDesktopMirror: on_outputs(renderer, outputs, shared)
  OwnedDesktopMirror->>OwnedMirrorMailbox: capture selected output
  OvxrSession->>OwnedDesktopMirror: on_frame_submitted after successful submission
  OwnedDesktopMirror->>OwnedDesktopMirrorWorker: start on first submitted frame
  OwnedDesktopMirrorWorker->>OwnedMirrorMailbox: acquire snapshot
  OwnedMirrorMailbox-->>OwnedDesktopMirrorWorker: selected image snapshot
  OwnedDesktopMirrorWorker->>OVUI: upload image and update status

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Merge Risk: 🔵 Low · up to b3290

The optional desktop mirror sets an environment default from a background thread while native teleoperation threads run, which can very rarely crash the process. Moving the default to an application-thread step before the session worker starts is a small fix; the rest of the change looks mergeable.

Pre-merge checks: 4 · 1

Failed checks: 1 warning

Check name	Status	Explanation	Resolution
Docstring Coverage		Docstring coverage is 7.72% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 246 functions across 12 files. (7 skipped:…	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 clearly and concisely describes the primary change: adding a desktop mirror to OVXR teleoperation.
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: Docstring Coverage

Explanation

Docstring coverage is 7.72% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 246 functions across 12 files. (7 skipped: 7 unsupported.)

Resolution

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

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Actionable comments posted: 1

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• 🪄 Fix comments: Fix CodeRabbit comments on this PR

🤖 Prompt to fix review comments

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Inline comments:
Review comments at
@src/python/isaaccapture/ovxr_session_manager/owned_mirror.py:
- Line 503: Move the OMNIUI_BACKEND default out of
OwnedDesktopMirrorWorker._run() to an application-thread preparation hook on
OwnedDesktopMirror, and invoke that hook from OvxrSession.start() immediately
before starting the OVXR worker. Keep the setdefault behavior and update the
test that currently expects a direct _run() call to set the environment
variable.

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• Source mode: Auto
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📥 Commits

Reviewing files that changed from the base of the PR and between c6efde9 and b3290d9.

📒 Files selected for processing: 19

• README.md
• docs/source/getting_started/ovxr.rst
• pyproject.toml
• src/compat/pyproject.toml
• src/core/python/CMakeLists.txt
• src/core/python/pyproject.toml.in
• src/core/python/requirements-desktop-mirror.txt
• src/python/isaaccapture/ovxr_session_manager/__init__.py
• src/python/isaaccapture/ovxr_session_manager/desktop_mirror.py
• src/python/isaaccapture/ovxr_session_manager/gpu_output.py
• src/python/isaaccapture/ovxr_session_manager/ovxr_session.py
• src/python/isaaccapture/ovxr_session_manager/owned_mirror.py
• tests/python/core/ovxr_session_manager/conftest.py
• tests/python/core/ovxr_session_manager/test_desktop_mirror.py
• tests/python/core/ovxr_session_manager/test_gpu_mirror.py
• tests/python/core/ovxr_session_manager/test_mirror_swap_interval.py
• tests/python/core/ovxr_session_manager/test_ovxr_session.py
• tests/python/core/ovxr_session_manager/test_owned_mirror.py
• tests/python/core/ovxr_session_manager/test_passive_mirror.py

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