Add camera panels and a desktop mirror for OVXR

docs/source/features/isaac_teleop.rst

@@ -1162,9 +1162,10 @@ can be referenced via constants:
      - ``0``
      - ``0``
 
-All three profiles set ``NV_CXR_ENABLE_PUSH_DEVICES=0``, which is correct for headset optical hand
-tracking (the most common setup). For external push-device peripherals such as Manus gloves, set
-this to ``1`` in a custom profile (see below).
+The ``cloudxrjs`` profile sets ``NV_CXR_ENABLE_PUSH_DEVICES=1`` to admit its WebXR
+input path. The AVP and standalone profiles set it to ``0`` for headset optical
+hand tracking. Custom profiles for external push-device peripherals such as
+Manus gloves must enable this setting.
 They also set ``NV_ENABLE_POSE_WAIT=0`` so CloudXR does not throttle the application when frame
 times spike. This favors lower latency over CloudXR's pose-wait smoothing.
 
@@ -1204,8 +1205,9 @@ Copy a shipped profile and edit it:
    cp $(uv run --extra teleop,isaacsim python -c \
        "from isaaclab_teleop import CLOUDXR_JS_ENV; print(CLOUDXR_JS_ENV)") ~/my-cloudxr.env
 
-Edit ``~/my-cloudxr.env`` to change any values (e.g. ``NV_CXR_ENABLE_PUSH_DEVICES=1`` for
-Manus gloves), then pass it via ``--cloudxr_env ~/my-cloudxr.env``.
+Edit ``~/my-cloudxr.env`` to change any values, then pass it via
+``--cloudxr_env ~/my-cloudxr.env``. Keep ``NV_CXR_ENABLE_PUSH_DEVICES=0`` for headset optical hands;
+enable it only for external push-device peripherals such as Manus gloves.
 
 Disable auto-launch
 ~~~~~~~~~~~~~~~~~~~
@@ -1266,6 +1268,33 @@ through this variable -- later runs no longer prompt. The variable applies to ev
 that launches the runtime, including the process-scoped launcher in
 ``teleop_replay_agent.py``.
 
+.. _isaac-teleop-ovxr-mcap:
+
+Replay MCAP with a Kitless OVXR Viewer
+--------------------------------------
+
+The MCAP replay entrypoint can present recorded input through an independent
+OVXR viewer. Follow the :ref:`kitless XR guide <kitless-xr>` to install Isaac
+Capture with its OVXR extra and select the compatible rendering dependencies.
+
+.. code-block:: bash
+
+   uv run --extra ovxr python \
+       scripts/environments/teleoperation/teleop_replay_agent.py \
+       --task IsaacContrib-PickPlace-GR1T2-Abs --physics ovphysx \
+       --device cpu --num_envs 1 --ovxr \
+       --replay_file /absolute/path/to/session.mcap
+
+Use ``--physics newton_mjwarp`` for Newton. MCAP supplies tracker and control
+input; the connected client supplies the view. A recorded STOP, task success
+or failure, or the replay duration limit ends the run. The separate
+``isaaclab teleop replay`` command replays HDF5 demonstrations through Kit.
+
+Add ``--ovxr_pip_camera robot_pov_cam --ovxr_pip_head_locked`` for a camera
+panel, or ``--ovxr_desktop_mirror`` for the optional desktop window. See the
+kitless XR guide for build prerequisites, camera selection and display requirements.
+
+
 .. _isaac-teleop-xr-anchor:
 
 Configure the XR Anchor
@@ -1518,8 +1547,10 @@ Kit Scene UI presentation
 PiP presentation uses Kit Scene UI and ``SpatialSource`` placement. Kit imports are deferred until
 an enabled feed is requested. If the Scene UI modules cannot be imported, the scripts log a warning
 and continue without PiP; task-owned cameras and recording observations remain unchanged. This keeps
-the camera selection configuration usable when a future kitless entry point no longer provides
-Scene UI. Render-product tuning is also best-effort: backends without a compatible render product
+the camera selection configuration usable without Scene UI. The
+:ref:`kitless XR guide <kitless-xr>` uses separate OpenXR quad
+layers and does not import Scene UI; those layers are visible in the headset/client, not in the
+passive eye-image desktop mirror. Render-product tuning is also best-effort: backends without a compatible render product
 keep the Camera-buffer path, and schema-authoring failures warn while PiP continues. Other
 configuration, camera-buffer, and panel-initialization errors still fail during startup.
 

docs/source/how-to/cloudxr_teleoperation.rst

@@ -145,9 +145,10 @@ to capture demonstrations, and ``replay`` to play a dataset back. :ref:`The next
 
 .. note::
 
-   ``teleop`` cannot be combined with ``ov`` or ``ovphysx`` in a single ``uv run``: the
-   bundled Isaac Sim pins ``packaging==26.0`` while those runtimes require ``<24``. Install
-   the OV runtimes separately when you need them.
+   For XR teleoperation without Isaac Sim, follow the
+   :ref:`kitless XR guide <kitless-xr>`. It explains how to select a source-built
+   Isaac Capture wheel and its optional OVXR dependencies. The Kit setup below
+   uses the published ``teleop`` extra.
 
 Complete these steps first:
 
@@ -695,10 +696,9 @@ Launch a teleoperation session paired with a hand-tracking task, as shown in
 
 .. important::
 
-   Manus gloves and other external push-device peripherals require
-   ``NV_CXR_ENABLE_PUSH_DEVICES=1``. The shipped ``.env`` profiles set this to ``0``
-   (optimised for headset optical hand tracking). Create a custom ``.env`` file with the value set
-   to ``1`` and pass it via ``--cloudxr_env`` instead of the plain command above:
+   The shipped ``cloudxrjs`` profile sets ``NV_CXR_ENABLE_PUSH_DEVICES=0`` for headset optical
+   hands. Manus gloves and other external push-device peripherals instead require a custom
+   ``.env`` file with push devices enabled, passed via ``--cloudxr_env``:
 
    .. tab-set::
 

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",