examples(lerobot): package under isaaccapture_examples

.gitignore

@@ -67,6 +67,10 @@ MUJOCO_LOG.TXT
 # and its README has you run from the repo root.
 /recordings/
 
+# examples/lerobot writes here by default (Path.cwd() / "local_datasets"),
+# and its README has you run from the repo root.
+/local_datasets/
+
 # Runtime device files injected by MCP server infrastructure
 .mcp.json
 

docs/source/device/haptic_feedback.rst

@@ -50,7 +50,7 @@ graph outputs and writes them *out* to a device after the graph runs.
 Example
 -------
 
-``examples/haptic_feedback/python/controller_haptic_example.py`` is the minimal
+``examples/haptic_feedback`` provides the minimal
 end-to-end wiring: pull a controller's trigger and that **same** controller
 rumbles. ``TriggerToTactile`` turns the trigger value into a ``TactileVector``,
 ``TactileVectorToControllerPulse`` turns that into a ``ControllerHapticPulse``,
@@ -67,12 +67,12 @@ Running
 
 The example connects through the CloudXR / OpenXR runtime, which it starts
 itself if nothing is serving (see :ref:`dedicated-cloudxr-runtime` to manage
-that service yourself). Run it from the ``examples/haptic_feedback/python``
-directory:
+that service yourself). Install the example, then run it:
 
 .. code-block:: bash
 
-   uv run controller_haptic_example.py
+   uv pip install -e ./examples/haptic_feedback
+   python -m isaaccapture_examples.haptic_feedback.controller_haptic_example
 
 No arguments — pull either trigger to rumble that controller. Press Ctrl+C to
 exit. Runtimes that do not expose ``xrApplyHapticFeedback`` silently no-op rather
@@ -94,6 +94,6 @@ foundation.
 See also
 --------
 
-- Example + tests: ``examples/haptic_feedback/python/`` and
+- Example + tests: ``examples/haptic_feedback`` and
   ``tests/python/core/retargeting_engine/test_haptic_devices.py`` /
   ``test_haptic_sink.py``.

examples/cloudxr_mujoco_teleop/README.md

@@ -13,8 +13,8 @@ works with any CloudXR / OpenXR-compatible HMD.
 
 | Example | What it shows |
 |---------|---------------|
-| `visualize_poses_mujoco_example.py` | HMD + left/right controller as textured mocap bodies. |
-| `visualize_hands_mujoco_example.py`  | Both hands as 26-joint skeletons (spheres + capsule bones), with the HMD as optional context. |
+| `visualize_poses_mujoco_example` | HMD + left/right controller as textured mocap bodies. |
+| `visualize_hands_mujoco_example`  | Both hands as 26-joint skeletons (spheres + capsule bones), with the HMD as optional context. |
 
 ## Prerequisites
 
@@ -24,9 +24,11 @@ Assumes IsaacTeleop is already built and installed in this tree.
    ```bash
    curl -LsSf https://astral.sh/uv/install.sh | sh
    ```
-   On first launch, `uv run` fetches this example's Python dependencies
-   (`mujoco`, `numpy`, `scipy` — see `pyproject.toml`) into an isolated
-   environment.
+   Install the example once; this pulls its Python dependencies
+   (`mujoco`, `numpy`, `scipy` — see `pyproject.toml`):
+   ```bash
+   uv pip install -e ./examples/cloudxr_mujoco_teleop
+   ```
 
 2. **CloudXR environment loaded**, so OpenXR resolves to the CloudXR
    runtime. Source the setup script that ships with your CloudXR install:
@@ -41,12 +43,12 @@ limit, no recording.
 
 ## Examples
 
-### `visualize_poses_mujoco_example.py`
+### `visualize_poses_mujoco_example`
 
 HMD + left + right controller, each rendered as a textured mesh mocap body.
 
 ```bash
-uv run visualize_poses_mujoco_example.py
+python -m isaaccapture_examples.cloudxr_mujoco_teleop.visualize_poses_mujoco_example
 ```
 
 | Flag | Default | Description |
@@ -55,15 +57,15 @@ uv run visualize_poses_mujoco_example.py
 | `--pose {grip,aim}` | `grip` | Which controller pose drives the mesh — natural "hold" pose or the aim ray. |
 | `--debug` | off | Print `mocap_pos` for all three devices once per second. |
 
-### `visualize_hands_mujoco_example.py`
+### `visualize_hands_mujoco_example`
 
 Both hands as 26-joint skeletons drawn directly into `viewer.user_scn` each
 frame (left = cyan, right = warm orange) — avoids paying for 52 mocap bodies
 in the model. The HMD is shown as context using the same mesh + texture as
 the poses example.
 
 ```bash
-uv run visualize_hands_mujoco_example.py
+python -m isaaccapture_examples.cloudxr_mujoco_teleop.visualize_hands_mujoco_example
 ```
 
 | Flag | Default | Description |
@@ -92,16 +94,17 @@ HMD will be visible.
 ```
 cloudxr_mujoco_teleop/
 ├── README.md
-├── pyproject.toml                            # uv dependency declaration
-├── visualize_poses_mujoco_example.py
-├── visualize_hands_mujoco_example.py
-└── vive_assets/
-    ├── generic_hmd.obj                       # HMD mesh (~500 KB)
-    ├── generic_hmd_color.png                 # HMD texture
-    ├── vive_focus3_controller_left.obj
-    ├── vive_focus3_controller_left_color.png
-    ├── vive_focus3_controller_right.obj
-    └── vive_focus3_controller_right_color.png
+├── pyproject.toml                            # the distribution
+└── python/isaaccapture_examples/cloudxr_mujoco_teleop/
+    ├── visualize_poses_mujoco_example.py
+    ├── visualize_hands_mujoco_example.py
+    └── vive_assets/
+        ├── generic_hmd.obj                   # HMD mesh (~500 KB)
+        ├── generic_hmd_color.png             # HMD texture
+        ├── vive_focus3_controller_left.obj
+        ├── vive_focus3_controller_left_color.png
+        ├── vive_focus3_controller_right.obj
+        └── vive_focus3_controller_right_color.png
 ```
 
 The bundled meshes are a generic HMD and the Vive Focus 3 controllers.

examples/cloudxr_mujoco_teleop/pyproject.toml

@@ -1,8 +1,14 @@
 # SPDX-FileCopyrightText: Copyright (c) 2026 HTC CORPORATION & AFFILIATES. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+
 [project]
-name = "cloudxr-mujoco-teleop-example"
+# The dist name mirrors the import path, so an installed example claims no bare
+# top-level name in site-packages.
+name = "isaaccapture-examples-cloudxr-mujoco-teleop"
 version = "0.1.0"
 description = "Visualize OpenXR / CloudXR headset + controller poses in MuJoCo."
 requires-python = ">=3.11,<3.14"
@@ -12,3 +18,14 @@ dependencies = [
     "numpy>=1.22.2",
     "scipy>=1.10",
 ]
+
+# `isaaccapture_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 `cloudxr_mujoco_teleop/`.
+#
+# vive_assets/ lives inside the package because both scripts resolve it from
+# __file__, so the meshes must travel with the modules.
+[tool.hatch.build.targets.wheel]
+only-include = ["python/isaaccapture_examples/cloudxr_mujoco_teleop"]
+sources = ["python"]

examples/cloudxr_mujoco_teleop/python/isaaccapture_examples/cloudxr_mujoco_teleop/__init__.py

@@ -0,0 +1,2 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 HTC CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0

examples/haptic_feedback/CMakeLists.txt

@@ -4,4 +4,4 @@
 cmake_minimum_required(VERSION 3.20)
 
 include(${CMAKE_SOURCE_DIR}/cmake/InstallPythonExample.cmake)
-install_python_example(DESTINATION examples/haptic_feedback/python)
+install_python_example(DESTINATION examples/haptic_feedback)

examples/haptic_feedback/python/README.md → examples/haptic_feedback/README.md

@@ -11,12 +11,13 @@ flushes to an `IHapticDevice` adapter each frame.
 
 | Example | What it demonstrates |
 | --- | --- |
-| `controller_haptic_example.py` | Pull a controller trigger to rumble that same controller — the minimal in-process `HapticSink` → `ControllerHapticDevice` wiring. |
-| `hand_pinch_haptic_example.py` | Pinch a fingertip toward the thumb to vibrate a haptic glove — the cross-process path (`HapticSink` → `PushTensorHapticDevice`, pushing a `HapticCommand` to a glove plugin such as Manus). |
+| `controller_haptic_example` | Pull a controller trigger to rumble that same controller — the minimal in-process `HapticSink` → `ControllerHapticDevice` wiring. |
+| `hand_pinch_haptic_example` | Pinch a fingertip toward the thumb to vibrate a haptic glove — the cross-process path (`HapticSink` → `PushTensorHapticDevice`, pushing a `HapticCommand` to a glove plugin such as Manus). |
 
 ```bash
-uv run controller_haptic_example.py     # motion-controller rumble
-uv run hand_pinch_haptic_example.py      # haptic glove (needs a glove plugin running)
+uv pip install -e ./examples/haptic_feedback
+python -m isaaccapture_examples.haptic_feedback.controller_haptic_example   # motion-controller rumble
+python -m isaaccapture_examples.haptic_feedback.hand_pinch_haptic_example  # haptic glove (needs a glove plugin running)
 ```
 
 Both connect through the CloudXR / OpenXR runtime, so start the runtime first.

examples/haptic_feedback/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 = "isaaccapture-examples-haptic-feedback"
+version = "0.0.0"  # Internal examples - not versioned
+description = "Isaac Teleop haptic feedback CLI examples (OpenXR controller)."
+requires-python = ">=3.11,<3.14"
+dependencies = [
+    "isaaccapture",
+    "numpy>=1.23.0",
+]
+
+# `isaaccapture_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 `haptic_feedback/`.
+[tool.hatch.build.targets.wheel]
+only-include = ["python/isaaccapture_examples/haptic_feedback"]
+sources = ["python"]

examples/haptic_feedback/python/isaaccapture_examples/haptic_feedback/__init__.py

@@ -0,0 +1,2 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0

examples/lerobot/README.md

@@ -3,32 +3,30 @@ SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES.
 SPDX-License-Identifier: Apache-2.0
 -->
 
-# LeRobot Example Datasets
+# LeRobot example datasets
 
-This directory contains minimal usage examples for recording, visualizing and
-analyzing LeRobot datasets.
+Minimal examples for recording, visualizing and analyzing
+[LeRobot](https://github.com/huggingface/lerobot) datasets from Isaac Teleop.
 
-## Prerequisite
-
-```
-pip install lerobot
+```bash
+uv pip install -e ./examples/lerobot          # add [viz] for the rerun viewer
+python -m isaaccapture_examples.lerobot.record
 ```
 
-## Examples
-
-- **record.py**
-  Record a dataset in the LeRobot format from live human data. Currently it only
-  captures head and hands position for demonstrations purpose.
+| Module | What it does |
+| --- | --- |
+| `record` | Records a LeRobot-format dataset from live human data — head and hand positions only, for demonstration |
+| `visualize` | Plots a dataset with [rerun](https://rerun.io) (needs the `viz` extra) |
+| `analyze` | Parses and summarizes a recorded dataset |
 
-  Note: the record.py script always create a new dataset. You must remove
-  existing one before running it again:
+Datasets are written to `./local_datasets/` relative to where you run the
+command, and the other two modules read from the same place. `record` always
+creates a new dataset, so remove an old one before re-running:
 
-  ```bash
-  rm -rf local_datasets
-  ```
-
-- **visualize.py**
-  A basic rerun visualizer to plot out the dataset.
+```bash
+rm -rf local_datasets
+```
 
-- **analyze.py**
-  A quick sample to parse and analyze the LeRobot dataset.
+> The SO-101 teleoperation example referenced from the Isaac Teleop docs lives
+> in the [LeRobot repository](https://github.com/huggingface/lerobot) under
+> `examples/isaac_teleop_to_so101/`, not here.

examples/lerobot/pyproject.toml

@@ -0,0 +1,31 @@
+# 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 = "isaaccapture-examples-lerobot"
+version = "0.0.0"  # Internal example - not versioned
+description = "Record, visualize and analyze LeRobot datasets from Isaac Teleop"
+requires-python = ">=3.11,<3.14"
+dependencies = [
+    "isaaccapture[cloudxr]",
+    "lerobot",
+    "numpy>=1.23.0",
+]
+
+[project.optional-dependencies]
+# visualize.py only; recording and analysis need no viewer.
+viz = ["rerun-sdk"]
+
+# `isaaccapture_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 `lerobot/` -- which would sit next to the real `lerobot`.
+[tool.hatch.build.targets.wheel]
+only-include = ["python/isaaccapture_examples/lerobot"]
+sources = ["python"]

examples/lerobot/python/isaaccapture_examples/lerobot/__init__.py

@@ -0,0 +1,2 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0

examples/lerobot/record.py → examples/lerobot/python/isaaccapture_examples/lerobot/record.py

@@ -69,7 +69,9 @@ def main():
     # STEP 2: Create LeRobot dataset
     # Use a timestamped directory so repeated runs create unique datasets
     timestamp = time.strftime("%Y%m%d_%H%M%S")
-    dataset_path = Path(__file__).parent / f"local_datasets/teleop_tracking_{timestamp}"
+    # CWD-relative, matching what visualize.py and analyze.py read. Anchoring
+    # this to __file__ would write inside the installed package.
+    dataset_path = Path.cwd() / f"local_datasets/teleop_tracking_{timestamp}"
     dataset = LeRobotDataset.create(
         repo_id="teleop/tracking_demo",
         fps=60,  # ~60 FPS tracking