[sgrizan-nv]

Summary

• require active head tracking before computing head-relative end-effector targets
• keep readable-but-untracked head poses from becoming stale robot commands
• add regression coverage for valid but untracked head input

NVBugs: https://nvbugspro.nvidia.com/bug/6928390

Testing

• Built the repository-provided examples/teleop_ros2/Dockerfile test image
• Ran all teleop_ros2 Python unit tests
• Ran the untracked-head regression test directly
• Ran SKIP=check-copyright-year pre-commit run --all-files

Summary by CodeRabbit

• Bug Fixes

  • Improved head-frame controller tracking by requiring the head to be tracked before calculating wrist poses.
  • When head tracking is unavailable, wrist poses are marked invalid and no transforms are emitted.

• Tests

  • Added coverage to verify safe handling of untracked head data in head-frame mode.

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ℹ️ Recent review info

⚙️ Run configuration

• Configuration used: Repository: NVIDIA/IsaacCapture/.coderabbit.yaml
• Review profile: CHILL
• Plan: Enterprise
• Run ID: 680fc120-b2a0-4ee5-998e-46f5cb0e1231

📥 Commits

Reviewing files that changed from the base of the PR and between 1a99e9d and 67c3166.

📒 Files selected for processing: 3

• examples/teleop_ros2/python/isaaccapture_examples/teleop_ros2/messages.py
• examples/teleop_ros2/python/isaaccapture_examples/teleop_ros2/tensor_group_helpers.py
• tests/python/examples/teleop_ros2/test_messages.py

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📝 Walkthrough

The change adds head_is_tracked to check the head group’s tracking flag. In head-frame mode, the code computes head-relative wrist poses only when the head is present and tracked. Otherwise, both wrist poses are invalidated. A regression test verifies that an untracked head produces invalid, zero-position wrist poses and no transforms.

Priority: ⬇️ Low

Estimated code review effort: 2 (Simple) | ~8 minutes

Merge Risk: ⚪ Minimal · up to 67c31

The intended untracked-head safety behavior is implemented without an identified merge-blocking risk.

Pre-merge checks: 4 · 1

Failed checks: 1 warning

Check name	Status	Explanation	Resolution
Docstring Coverage		Docstring coverage is 0.00% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 7 functions across 3 files.	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 main change: rejecting untracked head-relative targets in ROS 2.
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.

✨ Finishing Touches: 💡 1

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