[hougantc-nvda]

Description

Connect live Capture tracking and recorded MCAP input to kitless simulation through the OVXR adapter from #8787. SO101 gains CPU OvPhysX selection and the current Capture home-transform, clutch and gripper integration.

• Teleop integration: isaaclab_teleop owns control events, target-frame rebasing, input policy and session cleanup; task-specific action preparation remains with the task.
• Runtime selection: reuse upstream Run the teleop scripts without Kit when nothing needs it #8828's non-Kit keyboard/gamepad/SpaceMouse support and Capture 1.7 APIs. Kit keeps its separate --xr path; kitless uses --ovxr.
• Replay: MCAP supplies tracker/control input while the connected headset supplies the view. Reset resets the environment without rewinding the recording. HDF5 recording/replay remains on the Kit path.

Shared fixes address empty CPU Warp arrays, Newton graph capture overlapping legacy-stream uploads, and simulation-context ownership after a failed asynchronous drain. Kit fixes defer native USD imports until runtime launch and keep headless XR updating without changing ordinary headless on-demand capture.

See the live/replay runtime guide.

Builds on #8787. This draft targets main and includes its predecessors; review the incremental diff.

Dependencies: compatible Capture OVXR packages and the provider upgrade in #8627. Native-provider defaults are unchanged; use the source-build setup until matching packages and metadata are released.

The CloudXR.js push-device default remains 0. Root pyproject.toml and uv.lock retain upstream policy; NumPy compatibility for the source-built OVXR environment is explicit local setup, not a project-wide pin.

Type of change

• New feature
• Bug fix
• Documentation update

Testing

Results cover the cumulative stack, not an independent full-suite run of this PR.

• The cumulative stack passed 1,062 cases across 51 selected Lab/Kit test files, including control/replay/bootstrap and failure cleanup, CPU Warp conversion, GPU Newton and 52 Kit teleop startup cases.
• IWER/headset trials exercised SO101 clutch/gripper/Reset and humanoid control; SO101 cube retention remains unresolved. Kit headless and Scene UI/camera checks passed; Kit Franka XR passed stereo, motion, Reset, reconnect and shutdown.

Formatting, changelog, incremental warning-as-error Sphinx and the kitless dependency check passed. The clean Sphinx check was blocked by external-inventory DNS failures.

Open limits: cold attach over 300 seconds, intermittent GR1T2 first-Play/Reset recovery, SO101 cube retention and eight Kit SDK metadata mismatches remain unresolved. Full-repository, hosted-CI, arm64 and full task-success coverage are not claimed. See #8791 for the exact validation checkpoint, performance samples and limitations.

Checklist

• I have read and understood the contribution guidelines
• I have run the pre-commit checks with uv run isaaclab --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have validated the changed behavior with focused coverage and applied the test-audit criteria to any test changes
• I have added a changelog fragment under source/<pkg>/changelog.d/ for every touched package (do not edit CHANGELOG.rst or bump package versions — CI handles that)
• I have added my name to the CONTRIBUTORS.md or my name already exists there

The warnings checkbox remains open: dependency warnings and the separate Kit metadata audit are unresolved.