Add desktop Synthetic XR teleoperation and Franka task tutorial

.github/workflows/pre-commit.yaml

@@ -39,3 +39,20 @@ jobs:
         python-version: "3.12"
     - name: Test preview selection
       run: python3 -m unittest discover -s tests/python/ci -p test_docs_preview.py -v
+
+  synthetic-xr-example-tests:
+    name: Test Synthetic XR task contracts
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+    steps:
+    - uses: actions/checkout@v6
+      with:
+        persist-credentials: false
+    - uses: actions/setup-python@v6
+      with:
+        python-version: "3.12"
+    - name: Install example package
+      run: python -m pip install './examples/synthetic_xr[franka]'
+    - name: Test task contracts without a GPU
+      run: python -m unittest discover -s examples/synthetic_xr/tests -v

.gitignore

@@ -7,6 +7,8 @@
 # Node.js
 node_modules/
 package-lock.json
+# Keep the tested Synthetic XR client dependency graph reproducible.
+!deps/cloudxr/webxr_client/package-lock.json
 
 # Build directories
 build/

README.md

@@ -76,6 +76,10 @@ Our [documentation page](https://nvidia.github.io/IsaacCapture) provides everyth
 The CTS records one scripted take from a hand-tracking or full-body device and checks it against the data a retargeter needs; start with the [hand](src/python/isaaccapture/cts/hand/README.md) or [full-body](src/python/isaaccapture/cts/full_body/README.md) guide.
 
 
+### Synthetic XR Teleoperation (Preview)
+
+Try desktop controller input without an XR headset using the [Synthetic XR example](examples/synthetic_xr/README.md). Build this checkout's WebXR client to enable the controls. Host CloudXR requirements still apply.
+
 ### Install & Run Isaac Lab
 
 The latest [NVIDIA Isaac Lab](https://github.com/isaac-sim/IsaacLab) release, [3.0.0 EA](https://github.com/isaac-sim/IsaacLab/releases/tag/v3.0.0-EA), includes Isaac Capture, previously released as Isaac Teleop.

deps/cloudxr/webxr_client/AGENTS.md

@@ -13,6 +13,12 @@ Keep `react` and `react-dom` on the same minor release supported by
 `@react-three/fiber`. Validate dependency-range changes with a clean npm install;
 do not bypass peer checks with `--force` or `--legacy-peer-deps`.
 
+Synthetic XR browser checks use the dev server's hot reload. Do not edit or format client files while those checks run: remounting the app invalidates the session and input ownership observations.
+
+Synthetic examples must start teleoperation through the existing client handler. Do not hard-code a controller ray to an assumed 3D panel position.
+
+Long-running synthetic-input tests against MockCloudXR must supply decoded mock frames. Preserve the production decoder startup watchdog and input release on disconnect.
+
 Complete client formatting before staging and running pre-commit; do not run
 formatters concurrently with hooks, which detect any file changes during a run.