Add Vive teleop MuJoCo visualization examples

[jennyhtyu]

Description

Two MuJoCo passive-viewer samples that consume IsaacTeleop's HeadTracker / ControllerTracker / HandTracker streams (typically arriving from a Vive headset via CloudXR):

• visualize_poses_mujoco_example.py - HMD + L/R controller as textured mocap bodies; free camera auto-recentres on the head so mouse-wheel zoom always converges on the action.
• visualize_hands_mujoco_example.py - both hands as 26-joint skeletons drawn into viewer.user_scn each frame (no extra mocap bodies needed), with the HMD as optional context.

Both convert OpenXR's Y-up frame to MuJoCo's Z-up and reorder quaternions from xyzw to wxyz. Per-device mesh-frame rotations align the OBJ local frames to the OpenXR pose frame; values are tunable constants at the top of each script.

Bundled assets (visualize_poses_assets/, ~5.7 MB) are the generic HMD and Vive Focus 3 controllers with their *_color.png textures. Each sample degrades gracefully to coloured primitive boxes if assets are missing.

pyproject.toml declares mujoco / numpy / scipy so 'uv run' fetches them on first launch.

Summary by CodeRabbit

Release Notes

• New Features

  • Added two Vive/OpenXR teleoperation visualization examples for MuJoCo, enabling live hand tracking and headset/controller pose visualization.

• Documentation

  • Added setup guide and usage documentation for the new teleoperation examples, including prerequisites, CLI flags, and viewer controls.

[github-actions]

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ℹ️ Recent review info

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📥 Commits

Reviewing files that changed from the base of the PR and between e017437 and ec639fd.

⛔ Files ignored due to path filters (6)

• examples/vive_teleop/visualize_poses_assets/generic_hmd.obj is excluded by !**/*.obj
• examples/vive_teleop/visualize_poses_assets/generic_hmd_color.png is excluded by !**/*.png
• examples/vive_teleop/visualize_poses_assets/vive_focus3_controller_left.obj is excluded by !**/*.obj
• examples/vive_teleop/visualize_poses_assets/vive_focus3_controller_left_color.png is excluded by !**/*.png
• examples/vive_teleop/visualize_poses_assets/vive_focus3_controller_right.obj is excluded by !**/*.obj
• examples/vive_teleop/visualize_poses_assets/vive_focus3_controller_right_color.png is excluded by !**/*.png

📒 Files selected for processing (5)

• REUSE.toml
• examples/vive_teleop/README.md
• examples/vive_teleop/pyproject.toml
• examples/vive_teleop/visualize_hands_mujoco_example.py
• examples/vive_teleop/visualize_poses_mujoco_example.py

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📝 Walkthrough

Walkthrough

A new examples/vive_teleop/ package is introduced with two standalone MuJoCo visualization scripts. visualize_poses_mujoco_example.py subscribes to IsaacTeleop headset and controller trackers, converts OpenXR poses to MuJoCo coordinates using a static frame rotation, generates an MJCF scene with per-device mesh/texture assets (with box fallbacks), and updates three mocap bodies in a passive viewer at ~60 Hz. visualize_hands_mujoco_example.py subscribes to hand and optional head trackers, renders 26-joint hand skeletons per frame by appending spheres and capsules to viewer.user_scn, and optionally shows a head mocap body. Supporting files add REUSE/Apache-2.0 licensing metadata for HTC assets, a pyproject.toml with runtime dependencies, and a README covering setup, CLI flags, asset fallbacks, and coordinate-frame notes.

Estimated code review effort

🎯 3 (Moderate) | ⏱️ ~25 minutes

🚥 Pre-merge checks | ✅ 5

✅ Passed checks (5 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title accurately summarizes the main change: adding two MuJoCo visualization examples for Vive teleoperation. It is concise, clear, and directly related to the changeset.
Docstring Coverage	✅ Passed	No functions found in the changed files to evaluate docstring coverage. Skipping docstring coverage check.
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✨ Finishing Touches

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