jiwenc-nv · Sep 3, 2026 · Aug 28, 2026
diff --git a/docs/source/device/trackers.rst b/docs/source/device/trackers.rst
@@ -212,7 +212,7 @@ Tracks articulated hand joints (26 joints per hand, following the OpenXR
 
   - :code-file:`examples/oxr/cpp/oxr_simple_api_demo.cpp`
   - :code-file:`examples/oxr/python/modular_example.py`
-  - :code-file:`examples/retargeting/python/sources_example.py`
+  - :code-file:`examples/retargeting/python/isaacteleop_examples/retargeting/sources_example.py`
 
 ControllerTracker
 ~~~~~~~~~~~~~~~~~
@@ -232,7 +232,7 @@ axis inputs. Uses standard OpenXR action bindings.
 
 - Examples:
 
-  - :code-file:`examples/retargeting/python/sources_example.py`
+  - :code-file:`examples/retargeting/python/isaacteleop_examples/retargeting/sources_example.py`
   - :code-file:`examples/teleop/python/locomotion_retargeting_example.py`
   - :code-file:`examples/teleop/python/gripper_retargeting_example_simple.py`
 
@@ -382,6 +382,6 @@ For end-to-end usage patterns combining trackers with a ``DeviceIOSession``, see
 
 For higher-level usage with the teleop session manager and retargeting, see:
 
-- :code-file:`examples/retargeting/python/sources_example.py`
+- :code-file:`examples/retargeting/python/isaacteleop_examples/retargeting/sources_example.py`
 - :code-file:`examples/teleop/python/gripper_retargeting_example_simple.py`
 - :code-file:`examples/teleop/python/locomotion_retargeting_example.py`
diff --git a/docs/source/references/retargeting/sharpa.rst b/docs/source/references/retargeting/sharpa.rst
@@ -125,19 +125,20 @@ produced in your target joint order.
 Run the example
 ---------------
 
-The repo ships a bimanual demo at
-``examples/retargeting/python/sharpa_hand_retargeter_demo.py``:
+The repo ships a bimanual demo in ``examples/retargeting``:
 
 .. code-block:: console
 
+   $ uv pip install -e ./examples/retargeting
+
    # Synthetic curl animation (no headset, no GUI required):
-   $ python examples/retargeting/python/sharpa_hand_retargeter_demo.py --synthetic
+   $ python -m isaacteleop_examples.retargeting.sharpa_hand_retargeter_demo --synthetic
 
    # Live bimanual from a connected Quest headset:
-   $ python examples/retargeting/python/sharpa_hand_retargeter_demo.py
+   $ python -m isaacteleop_examples.retargeting.sharpa_hand_retargeter_demo
 
    # Custom MJCFs (e.g. the mesh-bearing variants):
-   $ python examples/retargeting/python/sharpa_hand_retargeter_demo.py \
+   $ python -m isaacteleop_examples.retargeting.sharpa_hand_retargeter_demo \
        --left-mjcf  /path/to/left_sharpawave.xml \
        --right-mjcf /path/to/right_sharpawave.xml
 

diff --git a/docs/source/references/retargeting/wuji.rst b/docs/source/references/retargeting/wuji.rst
@@ -69,16 +69,18 @@ real Wuji hand:
 
 .. code-block:: console
 
+   $ uv pip install -e ./examples/retargeting
+
    # Device-free smoke test
-   $ python examples/retargeting/python/wuji_hand_retargeter_demo.py \
+   $ python -m isaacteleop_examples.retargeting.wuji_hand_retargeter_demo \
        --mode synthetic --model wuji_hand_2 --hand right
 
    # Replay MediaPipe-format keypoints
-   $ python examples/retargeting/python/wuji_hand_retargeter_demo.py \
+   $ python -m isaacteleop_examples.retargeting.wuji_hand_retargeter_demo \
        --mode replay --replay my_take.pkl --model wuji_hand_2 --hand right
 
    # Drive real hardware and let TeleopSession launch the Wuji glove plugin
-   $ python examples/retargeting/python/wuji_hand_retargeter_demo.py \
+   $ python -m isaacteleop_examples.retargeting.wuji_hand_retargeter_demo \
        --mode drive --hand right --plugin-path build/src/plugins
 
 Drive mode needs a running CloudXR runtime, an OpenXR hand-tracking source, and

diff --git a/examples/retargeting/CMakeLists.txt b/examples/retargeting/CMakeLists.txt
@@ -1,7 +1,7 @@
-# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
 cmake_minimum_required(VERSION 3.20)
 
 include(${CMAKE_SOURCE_DIR}/cmake/InstallPythonExample.cmake)
-install_python_example(DESTINATION examples/retargeting/python)
+install_python_example(DESTINATION examples/retargeting)
diff --git a/examples/retargeting/README.md b/examples/retargeting/README.md
@@ -0,0 +1,25 @@
+<!--
+SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+SPDX-License-Identifier: Apache-2.0
+-->
+
+# Retargeting engine examples
+
+Standalone demos of the retargeting engine. Install once, then run whichever
+one you want:
+
+```bash
+uv pip install -e ./examples/retargeting
+python -m isaacteleop_examples.retargeting.sources_example
+```
+
+| Module | What it shows |
+| --- | --- |
+| `sources_example` | Wiring DeviceIO sources into a retargeting graph |
+| `dual_source_teleop_example` | Two input sources driving one session |
+| `example_retargeters` | `GainOffsetRetargeter`, a minimal custom retargeter |
+| `multi_retargeter_tuning_demo_imgui` | Tuning several retargeters live, with an ImGui panel |
+| `sharpa_hand_retargeter_demo` | Bimanual Sharpa hands; `--synthetic` needs no headset |
+| `wuji_hand_retargeter_demo` | Wuji hand, in `synthetic` / `replay` / `drive` modes |
+
+Docs: `docs/source/references/retargeting/`.
diff --git a/examples/retargeting/pyproject.toml b/examples/retargeting/pyproject.toml
@@ -0,0 +1,26 @@
+# SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+
+[project]
+# The dist name mirrors the import path, so an installed example claims no bare
+# top-level name in site-packages.
+name = "isaacteleop-examples-retargeting"
+version = "0.0.0"  # Internal examples - not versioned
+description = "Retargeting Engine Python Examples"
+requires-python = ">=3.11,<3.14"
+dependencies = [
+    "isaacteleop[ui,retargeters-lite]",
+    "numpy>=1.23.0",
+]
+
+# `isaacteleop_examples` is a PEP 420 namespace shared by every example dist and
+# must stay without an __init__.py. `only-include` + `sources`, not `packages`:
+# the latter keeps only the last path component and would root the wheel at a
+# bare top-level `retargeting/`.
+[tool.hatch.build.targets.wheel]
+only-include = ["python/isaacteleop_examples/retargeting"]
+sources = ["python"]
diff --git a/examples/retargeting/python/isaacteleop_examples/retargeting/__init__.py b/examples/retargeting/python/isaacteleop_examples/retargeting/__init__.py
@@ -0,0 +1,2 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
diff --git a/...ting/python/dual_source_teleop_example.py → ...retargeting/dual_source_teleop_example.py b/...ting/python/dual_source_teleop_example.py → ...retargeting/dual_source_teleop_example.py
@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
 """

diff --git a/...retargeting/python/example_retargeters.py → ...amples/retargeting/example_retargeters.py b/...retargeting/python/example_retargeters.py → ...amples/retargeting/example_retargeters.py
@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
 """

diff --git a/...hon/multi_retargeter_tuning_demo_imgui.py → ...ing/multi_retargeter_tuning_demo_imgui.py b/...hon/multi_retargeter_tuning_demo_imgui.py → ...ing/multi_retargeter_tuning_demo_imgui.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
 """
@@ -25,7 +25,7 @@
 
 import numpy as np
 
-from example_retargeters import GainOffsetRetargeter
+from .example_retargeters import GainOffsetRetargeter
 from isaacteleop.retargeting_engine.interface import TensorGroup
 from isaacteleop.retargeting_engine_ui import (
     MultiRetargeterTuningUIImGui,

diff --git a/...ing/python/sharpa_hand_retargeter_demo.py → ...etargeting/sharpa_hand_retargeter_demo.py b/...ing/python/sharpa_hand_retargeter_demo.py → ...etargeting/sharpa_hand_retargeter_demo.py
diff --git a/...les/retargeting/python/sources_example.py → ...p_examples/retargeting/sources_example.py b/...les/retargeting/python/sources_example.py → ...p_examples/retargeting/sources_example.py
diff --git a/...eting/python/wuji_hand_retargeter_demo.py → .../retargeting/wuji_hand_retargeter_demo.py b/...eting/python/wuji_hand_retargeter_demo.py → .../retargeting/wuji_hand_retargeter_demo.py
diff --git a/examples/retargeting/python/pyproject.toml b/examples/retargeting/python/pyproject.toml
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
		# SPDX-License-Identifier: Apache-2.0