Enable G1 and GR1T2 tasks with kitless XR

docs/source/how-to/index.rst

@@ -500,6 +500,12 @@ How-to Guides
 
             :guide-tag:`PhysX` :guide-tag:`Isaac Sim`
 
+      .. container:: guide-entry
+
+         :doc:`Source-built Capture with optional OVXR </source/how-to/kitless_xr>`
+
+         Select public OVXR providers and replay MCAP with a source-built Capture wheel.
+
       .. container:: guide-entry
 
          :doc:`Setting up Haply teleoperation </source/how-to/haply_teleoperation>`
@@ -546,3 +552,8 @@ How-to Guides
 
       This collection is a work in progress. If a question is not answered here, open an issue on the
       `Isaac Lab GitHub repository <https://github.com/isaac-sim/IsaacLab>`_.
+
+.. toctree::
+   :hidden:
+
+   kitless_xr

docs/source/how-to/kitless_xr.md

@@ -0,0 +1,10 @@
+<!--
+Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+All rights reserved.
+SPDX-License-Identifier: BSD-3-Clause
+-->
+
+(kitless-xr)=
+
+```{include} ../../../source/isaaclab_teleop/docs/OVXR_RUNTIME.md
+```

pyproject.toml

@@ -410,7 +410,8 @@ environments = [
 # ``importers`` extras pin older versions of these packages, so the overrides prevent downgrades.
 # Direct torch-stack pins also apply to published wheels; overrides reconcile Isaac Sim's older pins.
 override-dependencies = [
-    "numpy>=2",
+    # Numba requires <2.5; cmeel-boost used by teleop requires >=2.3,<2.4.
+    "numpy>=2.3,<2.4",
     "mujoco~=3.15.0",
     "mujoco-warp~=3.15.0",
     "newton[sim] @ git+https://github.com/newton-physics/newton.git@71eeba16a717d4dcf0b9dd7056a7b6f863054dc3",