example(mcap): Add live replay and use CloudXRLauncher

[jiwenc-nv]

Description

Add live replay and use CloudXRLauncher for the mcap record / replay examples.

Fixes #(issue)

Type of change

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)
• Documentation update

Testing

Checklist

• I have read and understood the contribution guidelines
• I have run the linter and formatter with SKIP=check-copyright-year pre-commit run --all-files
• I have made corresponding changes to the documentation
• I have added tests that prove my fix/feature works (or explained why not)
• I have signed off all my commits (git commit -s) per the DCO

Summary by CodeRabbit

• New Features

  • Added three new example scripts for real-time visualization of hand tracking, controller tracking, and full-body skeleton poses
  • Added option to automatically launch CloudXR runtime when recording data
  • Added CloudXR environment configuration file with preset settings

• Refactor

  • Consolidated visualization components into shared utilities for consistency across examples

[github-actions]

📝 Docs preview is not auto-deployed for fork PRs.

A maintainer with write access to NVIDIA/IsaacTeleop can deploy a preview by
commenting /preview-docs on this PR. Once deployed, the preview
will live at:

https://nvidia.github.io/IsaacTeleop/preview/pr-695/

[coderabbitai]

Important

Review skipped

Auto incremental reviews are disabled on this repository.

Please check the settings in the CodeRabbit UI or the .coderabbit.yaml file in this repository. To trigger a single review, invoke the @coderabbitai review command.

⚙️ Run configuration

Configuration used: Path: .coderabbit.yaml

Review profile: CHILL

Plan: Enterprise

Run ID: 52563940-d5d3-4dca-9439-83cb8e56cd91

You can disable this status message by setting the reviews.review_status to false in the CodeRabbit configuration file.

Use the checkbox below for a quick retry:

• 🔍 Trigger review

📝 Walkthrough

Walkthrough

This PR centralizes all Viser visualization primitives — HandViz, ControllerViz, FullBodyViz, color constants, and geometry helpers — into common.py, removing duplicate implementations previously scattered across the three replay scripts. Three new live example scripts (live_hand.py, live_controller.py, live_full_body.py) are added, each connecting a TeleopSession to the shared viz classes at ~60 Hz. All record scripts are migrated from positional argv parsing to argparse, gaining --accept-eula, --install-dir, --env-file, and --launch-cloudxr-runtime flags backed by an optional CloudXRLauncher context manager. A default.env file is introduced with CloudXR environment variable defaults.

Estimated code review effort

🎯 3 (Moderate) | ⏱️ ~25 minutes

🚥 Pre-merge checks | ✅ 4 | ❌ 1

❌ Failed checks (1 warning)

Check name	Status	Explanation	Resolution
Docstring Coverage	⚠️ Warning	Docstring coverage is 34.62% which is insufficient. The required threshold is 80.00%.	Write docstrings for the functions missing them to satisfy the coverage threshold.

✅ Passed checks (4 passed)

Check name	Status	Explanation
Title check	✅ Passed	The title accurately describes the main changes: adding live replay capabilities and integrating CloudXRLauncher into the MCAP example scripts.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.

_{✏️ Tip: You can configure your own custom pre-merge checks in the settings.}

✨ Finishing Touches

🧪 Generate unit tests (beta)

• Create PR with unit tests

---

_{Comment @coderabbitai help to get the list of available commands.}