Add tactile tool

pyproject.toml

@@ -49,6 +49,11 @@ dev = [
 ]
 ui = [
     "imgui[glfw]>=2.0.0",
+    "numpy>=2,<3",
+    "viser==1.1.1",
+    "yourdfpy==0.0.60",
+    "trimesh==5.1.1",
+    "rtree>=1.3,<2",
 ]
 retargeters = [
     "dex-retargeting>=0.4.6,<0.6.0",

scripts/tactile_metadata/AGENTS.md

@@ -0,0 +1,41 @@
+<!--
+SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+SPDX-License-Identifier: Apache-2.0
+-->
+
+# Tactile metadata editor agent notes
+
+- 工具设计必须明确界面操作、持久化字段、坐标转换、绑定生成和 SDK 接入，不能把需求清单作为完整设计交给实现代理。
+- 设计按用户界面与功能、依赖、代码架构、模块内部实现及约定、代理执行规范分类；正确性、性能和扩展性归入相应类别，不与设计层级并列。代理执行规范与工具设计分开组织。
+- 用户要求完全重写时，从用户操作与数据流重新建立规格和实现提示词，不以搬运原段落或更换标题代替重写。
+- 多语言文档以 REUSE 实际识别的授权信息为准；钩子生成 `.license` 附属文件时，核对并随文档一起暂存，再执行完整检查。
+- 实现以本目录的 `DESIGN.md` 为依据；协议事实以仓库 schema、绑定和共享校验器为准。发现冲突时提供具体代码证据，并同步修正设计与实现提示词。
+- 首版的手套规则留在手部适配层；左右配置独立，通用编辑状态不使用 `HandJoint` 枚举作为内部标识。
+- 评审改变输入范围、术语或编辑实体时，同时更新界面、持久化、算法、验收与实现提示词；已取消的产品概念不能留作隐藏的数据模型。
+- 评审替代性 UI 规格时，以当前稿为产品范围，只把 schema/API 约束视为阻塞；不要把旧功能、状态增强或可接受的瞬态覆盖升级为要求，并逐字核对交互手势。
+- 对设计文档的结构与表达要求应直接落实到目标文档；页面布局按区块列出具体控件，不以聊天中的补充说明代替文档修改。
+- Keep URDF driving separate from taxel deformation: HandPose supplies skeleton and LBS poses, while live URDF motion uses JointState only. Remove obsolete driver controls, persisted options, algorithms, and acceptance cases together.
+- Draft forms always read the editable Document. Validation reports errors without blocking draft edits or replacements; received metadata replaces only explicitly selected sections and never becomes a form source by changing the visualization.
+- New documents initialize every OpenXR HandJoint segment in the neutral hand pose, mirroring the left hand before visualization-space conversion; loading replaces these defaults instead of merging with them.
+- Preserve slot order and repeated segment indices. Normalize all four weights only on explicit user weight edits and reject negative edit values; loading, recording received values, checking, saving, and exporting preserve raw weights. Distinguish receiver failures from sender behavior, and keep all editor operations local.
+- SDK process isolation specifies where SDK classes are called; document the actual tracker/session calls required for live reception as well as export encoding.
+- Keep tool implementation inside this subtree; add missing dependencies to Isaac Capture's existing requirements and matching package metadata. Run checks only from this directory or its descendants; never run repository-wide fixing hooks that can change other directories.
+- Explain this standalone tool's setup from the user's prerequisites: define external libraries before packaging terms, and distinguish requirement files, generated version records, and installation commands. Identify inspected environments by their Python executable path; distinguish declared requirements from packages actually installed there.
+- Reuse the launching Python environment and its SDK through sys.executable. Do not create tool-specific project metadata, lockfiles, environments or SDK installations, and do not infer runtime requirements from old local build artifacts.
+- Missing packages in the agent's inspection environment limit verification; report the unavailable checks. Do not turn verification requirements into proposals to install dependencies, provision environments, or substitute interpreters; maintain Isaac Capture's shared dependency declarations instead.
+- Use Viser's standard controls and public callbacks, with document changes serialized through State. Apply the same explicit weight-normalization rule to sliders and numeric fields.
+- Client-side helpers may hide only their exact bridge input and label; never hide an ancestor container that can contain the entire Viser control panel.
+- Drain cross-thread UI events with nonblocking reads and `queue.Empty`; `Queue.empty()` is not a synchronization boundary. Give no-op-looking actions such as creating an empty document visible completion status.
+- Keep metadata/force alignment with the producer and user; do not add source-row mappings, correspondence tracking across reordering, or alignment baselines to the editor.
+- JSON follows tactile_metadata.fbs and the existing bindings. Treat array and enum conversion for encoding as routine implementation rather than a separate product-format decision.
+- Persist only schema-defined tactile metadata fields. Keep model configuration, calibration, source mappings and internal IDs in session state; audit actual save/export output rather than inferring persistence requirements from editing needs.
+- Simplify persistence by deleting unsupported branches in place; do not relocate serialization into Document or introduce new state abstractions for a narrower file format.
+- For local editor checks using a cached Ruff executable, match the version in the repository hook configuration; older binaries may not understand the shared lint rules. Keep every check and formatter target inside this subtree.
+- Keep the GUI a thin adapter over shared document, geometry, storage and SDK operations. Prefer explicit native Viser widgets and one reusable property inspector; avoid widget-type inference, duplicate field editors in dialogs, and rebuilding scene nodes on every frame. Moving logic between files alone does not reduce implementation size.
+- Use URDF base opacity 0.4 multiplied by the rendered dataset layer opacity, with color-based link highlighting; do not add per-link visibility or opacity controls or state.
+- Under a hard code budget, finish and count a complete executable slice before expanding the UI. Refactoring dispatch or moving functions is not evidence that the implementation fits; verify the formatted total and retain budget for integration fixes.
+- Treat metadata wrist coordinates, Viser scene coordinates and camera screen orientation as distinct; diagnose an upside-down display from the scene/camera mapping, not URDF alignment.
+- Separate OpenXR schema/reference-space contracts from provider basis conversion; verify the plugin conversion before claiming injected HandPose follows OpenXR joint axes.
+- Rebase both the raw live skeleton and metadata deformation by the same full inverse WRIST pose; never reattach the world-space wrist transform when the live view is wrist-relative.
+- Render viewport direction indicators in client-side screen space from the render camera; perspective scene nodes and server camera callbacks introduce distortion, delay and jumps.
+- When reporting a captured protocol frame, include every row in protocol order; a summary may follow but must not replace the requested raw frame.