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Fixes terminal output in Manus OpenXR device #3430

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Merged
merged 4 commits into from
Sep 11, 2025
Merged

Fixes terminal output in Manus OpenXR device #3430

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816cdb8
fix terminal output - add information and get rid of unnecessary erro…
cathyliyuanchen Sep 10, 2025
d547997
format
cathyliyuanchen Sep 10, 2025
913cc6c
switch carb.log to omni.log
cathyliyuanchen Sep 10, 2025
40b9af0
Merge branch 'main' into manus-vive-fix
Mayankm96 Sep 11, 2025
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27 changes: 19 additions & 8 deletions source/isaaclab/isaaclab/devices/openxr/manus_vive_utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
import numpy as np
from time import time

import carb
import omni.log
from isaacsim.core.utils.extensions import enable_extension

# For testing purposes, we need to mock the XRCore
Expand Down Expand Up @@ -144,7 +144,7 @@ def update_vive(self):
if self.scene_T_lighthouse_static is None:
self._initialize_coordinate_transformation()
except Exception as e:
carb.log_error(f"Vive tracker update failed: {e}")
omni.log.error(f"Vive tracker update failed: {e}")

def _initialize_coordinate_transformation(self):
"""
Expand Down Expand Up @@ -214,8 +214,12 @@ def _initialize_coordinate_transformation(self):
choose_A = True
elif errB < errA and errB < tolerance:
choose_A = False
elif len(self._pairA_trans_errs) % 10 == 0 or len(self._pairB_trans_errs) % 10 == 0:
print("Computing pairing of Vive trackers with wrists")
omni.log.info(
f"Pairing Vive trackers with wrists: error of pairing A: {errA}, error of pairing B: {errB}"
)
if choose_A is None:
carb.log_info(f"error A: {errA}, error B: {errB}")
return

if choose_A:
Expand All @@ -227,14 +231,21 @@ def _initialize_coordinate_transformation(self):

if len(chosen_list) >= min_frames:
cluster = select_mode_cluster(chosen_list)
carb.log_info(f"Wrist calibration: formed size {len(cluster)} cluster from {len(chosen_list)} samples")
if len(chosen_list) % 10 == 0:
print(
f"Computing wrist calibration: formed size {len(cluster)} cluster from"
f" {len(chosen_list)} samples"
)
if len(cluster) >= min_frames // 2:
averaged = average_transforms(cluster)
self.scene_T_lighthouse_static = averaged
carb.log_info(f"Resolved mapping: {self._vive_left_id}->Left, {self._vive_right_id}->Right")
print(
f"Wrist calibration computed. Resolved mapping: {self._vive_left_id}->Left,"
f" {self._vive_right_id}->Right"
)

except Exception as e:
carb.log_error(f"Failed to initialize coordinate transformation: {e}")
omni.log.error(f"Failed to initialize coordinate transformation: {e}")

def _transform_vive_data(self, device_data: dict) -> dict:
"""Transform Vive tracker poses to scene coordinates.
Expand Down Expand Up @@ -304,7 +315,7 @@ def _get_palm(self, transformed_data: dict, hand: str) -> dict:
Pose dictionary with 'position' and 'orientation'.
"""
if f"{hand}_6" not in transformed_data or f"{hand}_7" not in transformed_data:
carb.log_error(f"Joint data not found for {hand}")
# Joint data not arrived yet
return self.default_pose
metacarpal = transformed_data[f"{hand}_6"]
proximal = transformed_data[f"{hand}_7"]
Expand Down Expand Up @@ -422,7 +433,7 @@ def get_openxr_wrist_matrix(hand: str) -> Gf.Matrix4d:
return None
return joint.pose_matrix
except Exception as e:
carb.log_warn(f"OpenXR {hand} wrist fetch failed: {e}")
omni.log.warn(f"OpenXR {hand} wrist fetch failed: {e}")
return None


Expand Down
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