When shape can be accessed from the SGIs, the BMRT stuff can be added to the SGIs in the exact same way shown above for the HPs. The old pegasys software was removed and the new stuff is in a different place so you might want to forward this to anyone who is currently running AL on the HPs. Try the left mouse button to move the camera and the right mouse button for the popup menu.
Ogre is the preferred program over icam now.
If ogre works out, icam will probably be removed from the distribution. It works on both SGIs and HPs.