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Add live teleoperation and MCAP replay through OVXR - #8788
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Signed-off-by: Hougant Chen <hougantc@nvidia.com>
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Signed-off-by: Hougant Chen <hougantc@nvidia.com>
Declare SO101 IK OVPhysX and USD asset selection without replacing parent-tuned Kit/Newton presets. Restore the compatible NumPy override and lock; document source-build prerequisites and first-use runtime compilation. Signed-off-by: Hougant Chen <hougantc@nvidia.com>
Declare the versioned schema provider on the scoped OVXR extra and public index. Keep registered-task selector checks independent of the downstream teleop package. Signed-off-by: Hougant Chen <hougantc@nvidia.com>
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Reconcile the consuming isaaclab-ov Stage requirement before locking and refresh its editable metadata with ordinary uv. Keep default provider pins unchanged in product source. Signed-off-by: Hougant Chen <hougantc@nvidia.com>
Build the real clutch without the unsupported orientation_offset argument. Seed its engage-relative full pose from nominal asset FK and restore those joints on each IK reset, avoiding orientation jumps or randomized home mismatch. Exercise real graph outputs through movement, release, re-engage and reset; retain joint-position task randomization and physics gains. Signed-off-by: Hougant Chen <hougantc@nvidia.com>
Pass the existing absolute-grip calibration to isaacteleop1.4 only when its constructor explicitly supports it. Keep Capture1.7 engage-relative full-home behavior unchanged. Exercise selected API semantics through real graph outputs and retain reset, optional dependencies and physics behavior. Signed-off-by: Hougant Chen <hougantc@nvidia.com>
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Description
Connect Isaac Capture live tracking and recorded MCAP input to kitless XR. Support Play, Pause and Reset, update tracking relative to the robot, and close XR before releasing its scene. Add setup and usage documentation.
Builds on #8787 and NVIDIA/IsaacCapture#1294.
The required OV runtime upgrade is tracked in #8627. These PRs leave the package pins on
mainunchanged and remain draft until the upgrade and asset-importer compatibility work are ready.This draft targets
mainand includes the earlier PRs in this series. Review the changes added by this PR separately while those PRs are pending.Type of change
Testing
Checks used OVRTX 0.6.0.1791947691 and OVStage 0.3.0.1791986420. The current OVXR package requires those versions, which conflict with
main’s 0.5/0.2 pins. A default OVXR installation remains blocked until the runtime upgrade lands.Automated checks cover live-session setup, replay startup, command-line options, tracking frames and cleanup after failures. Tests that launch Isaac Sim were excluded. Headset and browser XR testing after this rebase is pending.
Repository formatting, lint and changelog checks passed.
Registered-task CLI checks cover SO101 physics selection and asset variants, preserving its existing Newton solver settings. The compatible NumPy selection passed lock and installed-dependency checks. These checks do not qualify a native simulation or XR session.
Task selector checks also pass without the optional teleop package. Resolving the documented optional installation metadata explicitly selects the external PhysX USD schema provider.
The premerge setup guide also aligns the local workspace Stage requirement and refreshes its editable metadata. Metadata checks cover the selected dependency declaration; this is not a native-runtime compatibility claim.
SO101 checks construct the actual Capture pipeline and verify all eight action values through motion, release/re-engage and reset. They preserve the supported isaacteleop 1.4 absolute-grip calibration and Capture 1.7 engage-relative full-home behavior. Five affected CPU tests pass, including the real reset event. The cached legacy clutch class also passes in the installed graph engine, and omitting its calibration fails the orientation assertion. This does not qualify the entire legacy wheel, Kit/XR runtime or grasp physics.
Screenshots
No screenshots included. Visual checks after the rebase are pending.
Checklist
pre-commitchecks withuv run isaaclab --formatsource/<pkg>/changelog.d/for every touched package (do not editCHANGELOG.rstor bump package versions — CI handles that)CONTRIBUTORS.mdor my name already exists thereThe warnings checkbox remains open while the dependency upgrade and full runtime checks are pending. Local tests still report warnings from dependencies.