Enable G1 and GR1T2 tasks with kitless XR

docs/conf.py

@@ -294,6 +294,7 @@ def _read_pinned_versions() -> dict:
     "ipywidgets",
     "mpl_toolkits",
     "isaacteleop",
+    "isaaccapture",
     "scipy",
     "hydra",
     "hydra.core",

docs/source/_static/css/environment-browser.js

@@ -99,11 +99,11 @@
             ["IsaacContrib-Open-Drawer-Franka-IK-Abs", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", "environment-previews/franka_open_drawer.jpg", false, {}, {}, "", null, ["||", "isaacsim_physx||", "newton_mjwarp||", "ovphysx||"]],
             ["IsaacContrib-Open-Drawer-Franka-IK-Rel", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", "environment-previews/franka_open_drawer.jpg", false, {}, {}, "", null, ["||", "isaacsim_physx||", "newton_mjwarp||", "ovphysx||"]],
             ["IsaacContrib-Open-Drawer-OpenArm", "rl_games,rsl_rl", "", "", "", "environment-previews/openarm_uni_open_drawer.jpg"],
-            ["IsaacContrib-PickPlace-FixedBaseUpperBodyIK-G1-Abs", "", "", "isaacsim_rtx,newton_renderer", "", "environment-previews/g1_pick_place_fixed_base.jpg", false, {}, {}, "", null, ["||", "|isaacsim_rtx|", "|newton_renderer|"]],
+            ["IsaacContrib-PickPlace-FixedBaseUpperBodyIK-G1-Abs", "", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "", "environment-previews/g1_pick_place_fixed_base.jpg", false, {}, {}, "", null, ["||", "|isaacsim_rtx|", "|newton_renderer|", "isaacsim_physx||", "isaacsim_physx|isaacsim_rtx|", "isaacsim_physx|newton_renderer|", "newton_mjwarp||", "newton_mjwarp|isaacsim_rtx|", "newton_mjwarp|newton_renderer|", "newton_mjwarp|ovrtx|", "ovphysx|newton_renderer|", "ovphysx|ovrtx|"]],
             ["IsaacContrib-PickPlace-G1-InspireFTP-Abs", "", "", "", "", "environment-previews/g1_pick_place.jpg"],
-            ["IsaacContrib-PickPlace-GR1T2-Abs", "", "", "isaacsim_rtx,newton_renderer", "", "environment-previews/gr_1_pick_place.jpg", false, {}, {}, "", null, ["||", "|isaacsim_rtx|", "|newton_renderer|"]],
-            ["IsaacContrib-PickPlace-GR1T2-WaistEnabled-Abs", "", "", "", "", "environment-previews/gr_1_pick_place_waist.jpg"],
-            ["IsaacContrib-PickPlace-Locomanipulation-G1-Abs", "", "", "isaacsim_rtx,newton_renderer", "", "environment-previews/g1_pick_place_locomanipulation.jpg", false, {}, {}, "", null, ["||", "|isaacsim_rtx|", "|newton_renderer|"]],
+            ["IsaacContrib-PickPlace-GR1T2-Abs", "", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "", "environment-previews/gr_1_pick_place.jpg", false, {}, {}, "", null, ["||", "|isaacsim_rtx|", "|newton_renderer|", "isaacsim_physx||", "isaacsim_physx|isaacsim_rtx|", "isaacsim_physx|newton_renderer|", "newton_mjwarp||", "newton_mjwarp|isaacsim_rtx|", "newton_mjwarp|newton_renderer|", "newton_mjwarp|ovrtx|", "ovphysx|newton_renderer|", "ovphysx|ovrtx|"]],
+            ["IsaacContrib-PickPlace-GR1T2-WaistEnabled-Abs", "", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", "environment-previews/gr_1_pick_place_waist.jpg", false, {}, {}, "", null, ["||", "isaacsim_physx||", "newton_mjwarp||", "ovphysx||"]],
+            ["IsaacContrib-PickPlace-Locomanipulation-G1-Abs", "", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "", "environment-previews/g1_pick_place_locomanipulation.jpg", false, {}, {}, "", null, ["||", "|isaacsim_rtx|", "|newton_renderer|", "isaacsim_physx||", "isaacsim_physx|isaacsim_rtx|", "isaacsim_physx|newton_renderer|", "newton_mjwarp||", "newton_mjwarp|isaacsim_rtx|", "newton_mjwarp|newton_renderer|", "newton_mjwarp|ovrtx|", "ovphysx|newton_renderer|", "ovphysx|ovrtx|"]],
             ["IsaacContrib-Place-Mug-Agibot-Left-Arm-RmpFlow", "", "isaacsim_physx", "", "", "environment-previews/agibot_place_mug.jpg", false, {}, {}, "", null, ["||", "isaacsim_physx||"]],
             ["IsaacContrib-Place-Toy2Box-Agibot-Right-Arm-RmpFlow", "", "isaacsim_physx", "", "", "environment-previews/agibot_place_toy.jpg", false, {}, {}, "", null, ["||", "isaacsim_physx||"]],
             ["IsaacContrib-Reach-OpenArm", "rl_games,rsl_rl,skrl", "", "", "", "environment-previews/openarm_uni_reach.jpg"],
@@ -130,7 +130,7 @@
             ["IsaacContrib-Stack-Cube-Instance-Randomize-Franka-IK-Rel", "", "", "", "", "environment-previews/franka_instance_randomize_stack.jpg"],
             ["IsaacContrib-Stack-Cube-RedGreen-Franka-IK-Rel", "", "isaacsim_physx", "", "", "environment-previews/franka_stack.jpg", false, {}, {}, "", null, ["||", "isaacsim_physx||"]],
             ["IsaacContrib-Stack-Cube-RedGreenBlue-Franka-IK-Rel", "", "isaacsim_physx", "", "", "environment-previews/franka_stack.jpg", false, {}, {}, "", null, ["||", "isaacsim_physx||"]],
-            ["IsaacContrib-Stack-Cube-SO101-IK-Abs-v0", "", "isaacsim_physx", "", "", "environment-previews/so101_stack.jpg", false, {}, {}, "", null, ["||", "isaacsim_physx||"]],
+            ["IsaacContrib-Stack-Cube-SO101-IK-Abs-v0", "", "isaacsim_physx,ovphysx", "", "", "environment-previews/so101_stack.jpg", false, {}, {}, "", null, ["||", "isaacsim_physx||", "ovphysx||"]],
             ["IsaacContrib-Stack-Cube-SO101-Joint-Teleop-v0", "", "isaacsim_physx", "", "", "environment-previews/so101_stack.jpg", false, {}, {}, "", null, ["||", "isaacsim_physx||"]],
             ["IsaacContrib-Stack-Cube-SO101-v0", "", "isaacsim_physx", "", "", "environment-previews/so101_stack.jpg", false, {}, {}, "", null, ["||", "isaacsim_physx||"]],
             ["IsaacContrib-Stack-Cube-UR10-Long-Suction-IK-Rel", "", "isaacsim_physx", "", "", "environment-previews/ur10_stack_surface_gripper.jpg", false, {}, {}, "", null, ["||", "isaacsim_physx||"]],

docs/source/api/lab_ov/isaaclab_ov.cloner.rst

@@ -23,6 +23,10 @@ both OVPhysX and Newton. OVPhysX also retains native physics cloning.
 ``0`` selects native OVRTX cloning. Set the flag before creating the simulation. Reset retains the
 selected route. This flag alone never enables physics/rendering stage sharing.
 
+An active :class:`~isaaclab_ov.renderers.OvLibrariesRenderLease` makes OVStage rendering the
+unset default for every OVRTX renderer in that simulation, and rejects
+``ISAAC_LAB_OVRTX_USE_OVSTAGE=0`` and ``ISAAC_LAB_SHARE_OVSTAGE=1``.
+
 To share one OVStage with OVPhysX and OVRTX, set ``ISAAC_LAB_SHARE_OVSTAGE=1``. Sharing requires
 OVPhysX and selects OVStage rendering regardless of ``ISAAC_LAB_OVRTX_USE_OVSTAGE``.
 

docs/source/api/lab_ov/isaaclab_ov.renderers.rst

@@ -16,16 +16,36 @@ The following classes are part of the public :mod:`isaaclab_ov.renderers` API.
    OVRTXRenderer
    OVRTXRendererCfg
    OVRTXBackendCfg
+   OvLibrariesRenderLease
+   OvLibrariesScenePublisher
 
 .. autoclass:: OVRTXRenderer
    :show-inheritance:
+   :members: acquire_ov_libraries_render_lease
 
 .. autoclass:: OVRTXRendererCfg
    :show-inheritance:
 
 .. autoclass:: OVRTXBackendCfg
    :show-inheritance:
 
+Renderer leases
+---------------
+
+An external consumer, such as the OVXR teleoperation adapter, can borrow one exact OVRTX
+renderer and its private OVStage with :meth:`OVRTXRenderer.acquire_ov_libraries_render_lease`
+before clone preparation. While the lease is active, ordinary camera rendering, scene writes and
+renderer/stage destruction are rejected; eager scene updates are left to the lease's scene
+publisher, which :meth:`OvLibrariesRenderLease.capture_scene_publisher` returns. A failed leased
+publication poisons publication only; the borrower can still retire the pair, after which the
+renderer must be recreated.
+
+.. autoclass:: OvLibrariesRenderLease
+   :members:
+
+.. autoclass:: OvLibrariesScenePublisher
+   :members:
+
 Simulation-owned stages
 -----------------------
 

docs/source/api/lab_teleop/isaaclab_teleop.rst

@@ -22,6 +22,8 @@ isaaclab_teleop
     XrCfg
     XrAnchorRotationMode
     XrAnchorSynchronizer
+    OvLibrariesXrCfg
+    OvLibrariesXrSession
 
   .. rubric:: Functions
 
@@ -61,6 +63,15 @@ XR Camera Feedback
 .. autoclass:: XrCameraFeedSession
     :members:
 
+Kitless OVXR Session
+--------------------
+
+.. autoclass:: OvLibrariesXrCfg
+    :members:
+
+.. autoclass:: OvLibrariesXrSession
+    :members:
+
 Device
 ------
 

docs/source/concepts/physics-backends/ovphysx.rst

@@ -15,6 +15,10 @@ OvPhysX
 OvPhysX runs PhysX without Omniverse Kit. It reads scene-level solver settings
 from the USD ``PhysicsScene`` prim. :class:`~isaaclab_ov.physics.OvPhysxCfg` holds
 GPU buffer settings that USD does not represent.
+It can also author selected contact settings onto that prim:
+``bounce_threshold_velocity``, ``friction_correlation_distance`` and
+``solve_articulation_contact_last``. Contact settings left at ``None`` keep the
+stage value.
 
 OvPhysX is selected through :class:`~isaaclab_ov.physics.OvPhysxCfg`:
 

docs/source/features/isaac_teleop.rst

@@ -1344,6 +1344,26 @@ 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``.
 
+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.
+
 .. _isaac-teleop-xr-anchor:
 
 Configure the XR Anchor

docs/source/how-to/cloudxr_teleoperation.rst

@@ -150,6 +150,10 @@ to capture demonstrations, and ``replay`` to play a dataset back. :ref:`The next
    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 public Isaac Capture wheel and its optional OVXR dependencies. The Kit
+setup below uses the published ``teleop`` extra.
+
 Complete these steps first:
 
 #. Install the system libraries required by the CloudXR runtime:

docs/source/how-to/index.rst

@@ -510,6 +510,12 @@ How-to Guides
 
             :guide-tag:`PhysX` :guide-tag:`Isaac Sim`
 
+      .. container:: guide-entry
+
+         :doc:`Kitless XR with Isaac Capture </source/how-to/kitless_xr>`
+
+         Install Isaac Capture and OVXR packages for live teleoperation and MCAP replay.
+
       .. container:: guide-entry
 
          :doc:`Setting up Haply teleoperation </source/how-to/haply_teleoperation>`
@@ -556,3 +562,9 @@ 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
+   kitless_xr_source

docs/source/how-to/kitless_xr.md

@@ -0,0 +1,15 @@
+---
+myst:
+  heading_anchors: 2
+---
+
+<!--
+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/kitless_xr.md
+```

docs/source/how-to/kitless_xr_source.md

@@ -0,0 +1,8 @@
+<!--
+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
+-->
+
+```{include} ../../../source/isaaclab_teleop/docs/kitless_xr_source.md
+```

source/isaaclab/changelog.d/kitless-ovxr-lifecycle.added.rst

@@ -0,0 +1,2 @@
+* Added the ``cleanup_context`` keyword to :func:`~isaaclab.app.launch_simulation` so an
+  asynchronous XR owner can drain before the simulation context is released.

source/isaaclab/changelog.d/kitless-ovxr-lifecycle.fixed.rst

@@ -0,0 +1,2 @@
+* Fixed ``wp.to_torch`` failing on empty CPU Warp arrays, whose null data pointer NumPy rejects.
+  They now convert through DLPack.

source/isaaclab/changelog.d/pink-hand-joint-order.fixed.rst

@@ -0,0 +1,2 @@
+* Fixed Pink hand targets being applied to the wrong joints when the articulation's joint order differs
+  from ``hand_joint_names`` (for example, Newton's G1 order).

source/isaaclab/isaaclab/app/sim_launcher.py

@@ -412,12 +412,19 @@ def validate_launch(  # noqa: C901
 def launch_simulation(
     cfg,
     launcher_args: argparse.Namespace | dict | None = None,
+    *,
+    cleanup_context: bool = True,
 ) -> Generator[PhysicsCfg | None, None, None]:
     """Context manager that launches the appropriate simulation runtime for *cfg*.
 
     Resolves configured consumers before starting their required runtimes. Each runtime starts
     once and closes on exit. Cameras are auto-enabled for Kit-renderer sensors.
 
+    On exit, stops and releases a simulation context created inside the scope before closing
+    its runtimes. An existing context owned by the caller is preserved. Applications
+    with asynchronous resource owners can set ``cleanup_context=False`` and take
+    responsibility for context cleanup, including failed construction and drain.
+
     Resolve viewer and physics choices on the same config used to construct the simulation::
 
         sim_cfg = SimulationCfg()
@@ -437,6 +444,10 @@ def launch_simulation(
               a tool that reaches a Kit-only extension API. This is additive -- it can only turn a
               kitless launch into a Kit one, never the reverse, so a config that already needs Kit
               still launches it when the key is absent or ``False``.
+        cleanup_context: Automatically release a context created inside this scope.
+            Disable only when the application owns its cleanup and must retain it
+            if asynchronous consumers cannot prove they have drained. This controls
+            context release only; configured runtime launchers still close on exit.
     """
     launcher_args = {} if launcher_args is None else launcher_args
     launcher_args = vars(launcher_args) if isinstance(launcher_args, argparse.Namespace) else launcher_args
@@ -500,7 +511,7 @@ def launch_simulation(
         finally:
             # Release runtime consumers before a launcher can terminate the process.
             context = SimulationContext.instance()
-            if context is not None and context is not previous_context:
+            if cleanup_context and context is not None and context is not previous_context:
                 SimulationContext.clear_instance()
     except KeyboardInterrupt:
         exit_code = 130

source/isaaclab/isaaclab/envs/mdp/actions/pink_actions_cfg.py

@@ -29,7 +29,10 @@ class PinkInverseKinematicsActionCfg(ActionTermCfg):
     """List of joint names or regular expression patterns that specify the joints controlled by pink IK."""
 
     hand_joint_names: list[str] = MISSING
-    """List of joint names or regular expression patterns that specify the joints controlled by hand retargeting."""
+    """List of joint names or regular expression patterns that specify the joints controlled by hand retargeting.
+
+    Hand targets in the action are applied in this order.
+    """
 
     controller: PinkIKControllerCfg = MISSING
     """Configuration for the Pink IK controller that will be used to solve the inverse kinematics."""

source/isaaclab/isaaclab/envs/mdp/actions/pink_task_space_actions.py

@@ -73,7 +73,12 @@ def _initialize_joint_info(self) -> None:
         self.cfg.controller.all_joint_names = self._asset.data.joint_names
 
         # Resolve hand joints
-        self._hand_joint_ids, self._hand_joint_names = self._asset.find_joints(self.cfg.hand_joint_names)
+        # Hand targets occupy the action tensor in configuration order. Newton's
+        # articulation order groups these joints differently, so preserve the
+        # declared order when resolving ids instead of silently permuting targets.
+        self._hand_joint_ids, self._hand_joint_names = self._asset.find_joints(
+            self.cfg.hand_joint_names, preserve_order=True
+        )
 
         # Combine all joint information
         self._controlled_joint_ids = self._isaaclab_controlled_joint_ids + self._hand_joint_ids

source/isaaclab/isaaclab/utils/warp/__init__.py

@@ -22,6 +22,8 @@
 from .proxy_array import ProxyArray  # noqa: E402
 
 _WP_TO_TORCH_ORIGINAL = wp.to_torch
+# Bound at import so a later ``wp.array`` patch cannot break the empty-array check.
+_WP_ARRAY = wp.array
 _WP_TO_TORCH_WARNED = False
 
 
@@ -37,8 +39,9 @@ def _wp_to_torch_with_proxyarray(a, requires_grad=None):
 
     The shim routes :class:`ProxyArray` arguments to their cached ``.torch``
     view (a zero-copy :class:`torch.Tensor` of the same underlying memory) and
-    emits a one-shot :class:`DeprecationWarning`. For any other input type,
-    the original :func:`warp.to_torch` handles the call as before.
+    emits a one-shot :class:`DeprecationWarning`. Empty CPU arrays use DLPack
+    because NumPy rejects their null-pointer array interface. Other native
+    arrays keep the original :func:`warp.to_torch` conversion.
     """
     global _WP_TO_TORCH_WARNED
     if isinstance(a, ProxyArray):
@@ -51,6 +54,19 @@ def _wp_to_torch_with_proxyarray(a, requires_grad=None):
                 stacklevel=2,
             )
         return a.torch
+    if isinstance(a, _WP_ARRAY) and a.size == 0 and a.device is not None and a.device.is_cpu:
+        # Preserve Warp's structured-array rejection before the DLPack fallback.
+        if isinstance(a.dtype, wp._src.codegen.Struct):  # noqa: SLF001
+            return _WP_TO_TORCH_ORIGINAL(a, requires_grad=requires_grad)
+        import torch
+
+        if requires_grad is None:
+            requires_grad = a.requires_grad
+        tensor = torch.from_dlpack(wp.to_dlpack(a))
+        tensor.requires_grad = requires_grad
+        if requires_grad and a.requires_grad:
+            tensor.grad = torch.from_dlpack(wp.to_dlpack(a.grad))
+        return tensor
     return _WP_TO_TORCH_ORIGINAL(a, requires_grad=requires_grad)
 
 

source/isaaclab/test/app/test_launch_simulation_require_kit.py

@@ -256,3 +256,40 @@ def test_legacy_recording_reuses_the_display_producer(kit_branch_taken, visualiz
         assert cfg.sim.visualizer_cfgs[0].headless == (not visualizers)
         assert args.get("enable_cameras", False) == (source == "kit")
     assert kit_branch_taken == [True] * (source == "kit")
+
+
+@pytest.mark.parametrize(
+    "application_owns_cleanup,drain_failed", [(False, False), (False, True), (True, False), (True, True)]
+)
+def test_context_cleanup_respects_application_drain_ownership(monkeypatch, application_owns_cleanup, drain_failed):
+    """An outer launcher must not release a context retained by a failed native drain."""
+    from isaaclab.sim import SimulationContext
+
+    state = {"context": None}
+    released = []
+
+    def clear():
+        released.append(state["context"])
+        state["context"] = None
+
+    monkeypatch.setattr(SimulationContext, "instance", lambda: state["context"])
+    monkeypatch.setattr(SimulationContext, "clear_instance", clear)
+    context = object()
+
+    def run():
+        with launch_simulation(PhysicsCfg(), cleanup_context=not application_owns_cleanup):
+            state["context"] = context
+            if drain_failed:
+                raise RuntimeError("consumer drain unproved")
+            if application_owns_cleanup:
+                # The already-owning environment/worker performs normal release.
+                SimulationContext.clear_instance()
+
+    if drain_failed:
+        with pytest.raises(RuntimeError, match="consumer drain unproved"):
+            run()
+    else:
+        run()
+    retained = application_owns_cleanup and drain_failed
+    assert released == ([] if retained else [context])
+    assert state["context"] is (context if retained else None)