fix(sharpa-avatar): address three glove integration tickets

docs/source/device/sharpa_avatar.rst

@@ -5,9 +5,9 @@ Sharpa AvatarExo Glove
 ======================
 
 A Linux-only plugin for integrating Sharpa AvatarExo (AE) Gloves into the
-Isaac Teleop framework. The gloves stream IMU and encoder data through the
-official Avatar SDK over USB. The plugin maps that stream into Isaac Teleop's
-usual surfaces: OpenXR hand tracking for the HUMAN skeleton,
+Isaac Teleop framework. The gloves stream IMU and encoder data wirelessly
+through a USB dongle and the official Avatar SDK. The plugin maps that stream
+into Isaac Teleop's usual surfaces: OpenXR hand tracking for the HUMAN skeleton,
 ``JointStateOutput`` tensors for the RAW and ROBOT 22-DoF joint sets, and
 inbound per-finger vibration on a haptic collection.
 
@@ -33,7 +33,7 @@ named joint-state collections:
 
 .. code-block:: text
 
-   Sharpa AvatarExo Gloves (USB)
+   Sharpa AvatarExo Gloves (wireless via USB dongle)
            │
            ▼
    avatar_hand_plugin  (Avatar SDK, production package)
@@ -56,9 +56,7 @@ Prerequisites
 - **Pinned production Avatar SDK** (``avatar-sdk`` 1.7.3-17) from Sharpa's
   signed APT repository. ``install_avatar_sdk.sh`` retrieves it; do not substitute
   ``avatar-sdk-dev`` or ``avatar-sdk-beta``.
-- **Sharpa AvatarExo Gloves** powered and connected over USB. Transport settings
-  are selected in ``<sdk-root>/share/sdk_config.json`` (default root
-  ``/opt/avatar-sdk``).
+- **Sharpa AvatarExo Gloves** powered and paired with the USB wireless dongle.
 - **CloudXR runtime** on the plugin host, unless a ``TeleopSession`` example
   launches it for you.
 - A built Isaac Teleop checkout. CMake 3.24 or newer is required.

examples/sharpa_avatar/README.md

@@ -48,8 +48,14 @@ above first. `uv pip install -e` pulls `viser`; CloudXR comes from the
 --no-launch-cloudxr-runtime   connect to an already running CloudXR runtime
 --world-frame                 display the unmodified OpenXR poses
 --plugin-search-path DIR      directory that contains sharpa_avatar/
+--sdk-config FILE             Avatar SDK configuration file
+--datasets LIST               comma-separated human,raw,robot,haptic selection
 ```
 
+All four datasets and haptics are enabled by default, so they do not need to be
+listed for a normal run. The supported workflow uses the USB dongle for a
+wireless glove connection. This plugin does not accept a `--transport` option.
+
 ## Behavior
 
 `live_view.py` launches the plugin through `TeleopSession`, reads `/hand/left`

examples/sharpa_avatar/python/isaacteleop_examples/sharpa_avatar/live_view.py

@@ -157,8 +157,8 @@ def _finger_chain(root: int, *joints: int) -> list[tuple[int, int]]:
         HandJointIndex.WRIST,
         HandJointIndex.LITTLE_METACARPAL,
         HandJointIndex.LITTLE_PROXIMAL,
-        HandJointIndex.LITTLE_INTERMEDIATE,
-        HandJointIndex.LITTLE_DISTAL,
+        # Avatar HUMAN has no little intermediate/distal landmarks; connect
+        # the real proximal and tip poses directly for display.
         HandJointIndex.LITTLE_TIP,
     )
 )

src/plugins/sharpa_avatar/AGENTS.md

@@ -3,7 +3,7 @@ SPDX-FileCopyrightText: Copyright (c) 2025-2026 Avatar SDK contributors. All rig
 SPDX-License-Identifier: Apache-2.0
 -->
 
-# Sharpa Avatar plugin — agent notes
+# Sharpa AvatarExo plugin — agent notes
 
 **CRITICAL:** Before editing this tree, read this file and the repo root
 [`AGENTS.md`](../../../AGENTS.md).
@@ -34,6 +34,9 @@ SPDX-License-Identifier: Apache-2.0
 - Installers must not delete files derived from a configured install prefix.
 - Do not mutate loader environment variables or SDK configuration at runtime.
   Runtime paths come from the selected SDK root and its `sdk_config.json`.
+- Document the supported user workflow as wireless through the USB dongle. Do
+  not advertise wired, Ethernet, USB Type-C, or SDK link names outside focused
+  diagnostics.
 - Carry Avatar SDK enums such as `DeviceSide` and `DeviceDataCategory` through
   plugin internals; convert only at an existing external API boundary.
 - Adapt this plugin to shared APIs; do not refactor other plugins or shared
@@ -48,11 +51,18 @@ SPDX-License-Identifier: Apache-2.0
 - OpenXR setup is required for publication; initialization errors must abort
   construction instead of leaving an Avatar-only idle plugin.
 - Keep initialization non-blocking; `update()` owns retries for absent gloves.
+- Reconcile glove handles from the SDK manager's discovery inventory, not the
+  handle's cached `online` snapshot. Gate publication and haptics on a fresh
+  ingress callback; do not add transport-specific parameter probes for liveness.
+- Keep each side's HUMAN injector and RAW/ROBOT collections alive only while
+  that glove is streaming; destroy them on disconnect and recreate them after
+  fresh ingress so consumers cannot retain stale online data.
 - Keep the static HUMAN-to-OpenXR index table synchronized with the pinned
   production SDK's landmark order. Do not read joint names from
   `sdk_config.json` at runtime or fill unsupported OpenXR slots with neighbouring
-  poses. Refresh that table and the example's RAW/ROBOT name snapshots together
-  with the package pin.
+  poses. Publish RAW/ROBOT with their pinned semantic name tables, never the
+  SDK frame's positional `joint_<index>` names. Refresh those tables and the
+  example's RAW/ROBOT name snapshots together with the package pin.
 - When reconciling the maintained feature branch, use it as the baseline and
   retain local divergence only for an explicit API or correctness requirement.
 - Keep this plugin tree C++-only (`core/` + `app/`). The TeleopSession sample

src/plugins/sharpa_avatar/README.md

@@ -22,7 +22,7 @@ The visualization example is separate:
 
 - Linux x86_64 (Ubuntu 22.04)
 - A built Isaac Teleop checkout
-- Sharpa AvatarExo Gloves connected through a USB dongle or USB cable
+- Sharpa AvatarExo Gloves connected wirelessly through the USB dongle
 
 `install_avatar_sdk.sh` retrieves a pinned production `avatar-sdk` version from Sharpa's
 signed production APT repository, without selecting the `avatar-sdk-dev` or
@@ -72,8 +72,10 @@ or dongle:
 udev does not run inside containers, so this command must run on the host.
 The plugin follows the Sharpa host application layout and uses the SDK,
 configuration, and runtime assets directly from the selected SDK root
-(`AVATAR_SDK_ROOT`, default `/opt/avatar-sdk`). Transport selection, including
-wired Ethernet, is controlled by `<sdk-root>/share/sdk_config.json`.
+(`AVATAR_SDK_ROOT`, default `/opt/avatar-sdk`). The supported workflow uses the
+USB dongle for a wireless glove connection. This plugin does not accept a
+`--transport` option and must not run concurrently with `avatar-backend` or
+Avatar Desktop.
 
 ## Run