huge end-to-end latency (observed when using viser-based live pose preview)
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- Dominant language
- Python
- Stars
- 385
- Forks
- 88
- Avg merge
- 3d 23h
- Merged PRs (30d)
- 82
Description
Describe the bug
https://github.com/user-attachments/assets/c7478d15-0000-4e6e-b7ca-54a13d6106a4
To reproduce
Steps to reproduce the behavior:
- cd examples/mcap_record_replay/python
- python live_hand.py
https://github.com/NVIDIA/IsaacTeleop/blob/main/examples/mcap_record_replay/python/live_hand.py
Expected behavior
Minimum latency (up to 100ms)
Observed behavior
1~2 seconds of latency
Screenshots
If applicable, add screenshots to help explain your problem.
Platforms
- Isaac Teleop Version: [e.g. 1.0.23]
- OS: [e.g. Ubuntu X86, ARM64]
- Integrations: [e.g. Isaac Lab, Isaac Sim, ROS2]
- XR Device: [e.g. Quest 3, Pico 4 Ultra]
- Additional Devices [e.g. Manus]
Additional context
Add any other context about the problem here.
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start by running python live_hand.py from examples/mcap_record_replay/python and inspect the live_hand.py entry point while measuring end-to-end pose latency. Compare the observed 1–2 seconds with the expected maximum of 100 ms; the issue is complete when the live pose preview meets that target.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- python
- Domain
- robotics
- Issue type
- Bug
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Quiet
- Clarity
- Needs clarification
- Newbie friendliness
- 42/100