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examples(teleop): package under isaaccapture_examples - #1374
teleop moves to the layout in examples/README.md: pyproject.toml at the example root (dist isaaccapture-examples-teleop), sources under python/isaaccapture_examples/teleop/ (a PEP 420 namespace with no __init__.py at that level), hatchling only-include + sources, and relative sibling imports. config/dex_retargeting/ moves into the package, so the bimanual examples find their YAML and URDF from __file__ in an installed wheel as well as in the checkout.
Direct invocations change. The old ones no longer work:
# before (from the repository root)
python examples/teleop/python/gripper_retargeting_example_simple.py
# after (from the repository root, once per environment)
uv pip install -e ./examples/teleop
python -m isaaccapture_examples.teleop.gripper_retargeting_example_simple
Every module runs as python -m isaaccapture_examples.teleop.<module>; the new examples/teleop/README.md lists them.
The first commit is @jiwenc-nv's from #1047, cherry-picked onto current main. The docs had moved since (the guide reorganization and #1290), leaving redirect stubs at the old paths (#1348): I kept them and main's text, reapplied only paths and commands at device/trackers/index.rst and teleop/{quick_start,teleop_session}.rst, kept main's glfw dependency through the pyproject.toml modify/delete conflict, and moved the modules main added since (_example_loop.py and the gamepad, keyboard and SpaceMouse examples) into the package. The commit message records this in a bracketed note.
A second commit fixes what the move left behind:
se3_retargeting_example and gripper_retargeting_example_simple import the shared _example_loop relatively.
pyproject.toml declares the cloudxr extra, since every module starts CloudXR through CloudXRLauncher. The bimanual examples' ImGui tuning window comes from the example's optional ui extra and is imported only under --enable-tuning: imgui 2.0.0 has no wheel past CPython 3.11 and fails to build on 3.13, so a base dependency would break every example's install there.
examples/teleop/CMakeLists.txt goes: examples/CMakeLists.txt never adds it, so nothing installs teleop.
The Quick Start and the CloudXR reference install the example before running it, and the Quick Start's list of other examples names runnable modules. The commands and paths main added since examples(teleop): package under isaaccapture_examples #1047 (the Quick Start's --duration run, teleop_session, CloudXR's --no-launch-cloudxr-runtime, the gamepad and SpaceMouse pages) point at the new layout.
joint_space_device_example's default --plugin-bin tries build/, then install/plugins, then PATH, like oglo_tactile's, so a wheel install still finds a built plugin.
The teleop and teleop_keyboard tests import through isaaccapture_examples.teleop; the keyboard tests' conftest resolves it with repo_paths.py, like camera_viz.
A third commit names both ways to install isaaccapture (a source build, or the package index) in the example README and the Teleop Session page, and makes the bimanual examples check for the ui extra right after parsing arguments, so --enable-tuning without it exits with the install command before the retargeters load and CloudXR starts. A merge of main brings in #1372, which also edited CloudXR's "Use a system OpenXR runtime" block; it keeps #1372's ISAAC_TELEOP_DISABLE_CXR_ENV_CHECKS export with this branch's python -m command.
Not changed: PLUGIN_ROOT_DIR is still six levels above the module, <repo root>/plugins. A checkout has no such directory and nothing installs teleop, so these examples run without the synthetic-hands plugin, as they did before.
#1292, #1255 and #1153 add or edit files under examples/teleop/python/ and need them moved when they rebase.
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
Breaks direct python examples/teleop/python/<file>.py invocations (migration above); the isaaccapture library is unchanged.
Testing
x86_64 / Ubuntu 24.04, Python 3.12, against isaaccapture built from this branch.
SKIP=check-copyright-year pre-commit run --all-files passes.
make -C docs current-docs (sphinx-build -W) passes.
uv build --wheel examples/teleop: every file sits under isaaccapture_examples/teleop/, config/dex_retargeting/ (YAML, URDF) is in it, and it has no isaaccapture_examples/__init__.py.
In a fresh venv with the local isaaccapture[cloudxr,retargeters] wheel, uv pip install -e ./examples/teleop keeps that wheel and adds only glfw; python -m isaaccapture_examples.teleop.<module> --help then works for all 14 modules, run from /, with no imgui installed (also checked against isaaccapture 1.7.79a1 from pypi.nvidia.com). Adding './examples/teleop[ui]' installs imgui and the tuning window imports; without it, --enable-tuning stops with the library's install hint. Installed as a wheel instead, both bimanual examples import and find their four config files inside site-packages.
joint_space_device_example's default --plugin-bin, against a stand-in tree: it picks build/, then install/plugins, then the bare name for PATH. From the checkout, --launch-plugin found the built plugin and received live actions from its synthetic backend.
Python 3.13: uv pip install -e ./examples/teleop against isaaccapture 1.7.79a1 resolves without imgui (dry run); imgui 2.0.0 itself fails to build there.
Without the ui extra, both bimanual examples' --help works and --enable-tuning exits 2 with --enable-tuning needs the ui extra: uv pip install -e './examples/teleop[ui]', before any CloudXR output. With './examples/teleop[ui]' installed, --help works and the tuning UI imports.
tests/python/examples/teleop (50 passed) and tests/python/examples/teleop_keyboard (9 + 15 passed), one pytest per file, and the same three through ctest -R.
cmake --install puts no teleop under install/examples/.
References: git grep over docs/source/ (pages, _data/, toctrees), every README and AGENTS.md, src/, tests/, scripts/, .github/ and deps/ for examples/teleop, each module name, python <module>.py, cd examples/teleop, python/pyproject.toml and the old run commands. Every remaining hit uses the new path or command; add_subdirectory(examples/teleop) in tests/python/CMakeLists.txt is the test directory and stays.
Docs preview (https://NVIDIA.github.io/IsaacCapture/preview/pr-1374/), read page by page: Quick Start, Teleop Session, Joint-Space Retargeting, Retargeting, Spatial Trackers, Gamepad, SpaceMouse and CloudXR. No old path or command remains. Every command shown is uv pip install -e ./examples/teleop or python -m isaaccapture_examples.teleop.<module>, and each flag it passes (--duration, --no-launch-cloudxr-runtime, --launch-plugin, --mode, --frames, --urdf) appears in that module's --help. Every source link targets a file on this branch; the links point at main, so they resolve once this merges.
Not covered yet: runs that need a headset or a device.
Quick Start step 6 as written with a headset: uv pip install -e ./examples/teleop, then gripper_retargeting_example_simple with and without --duration 20.
se3_retargeting_example, dex_bimanual_example and full_bimanual_reordering_example with hand tracking (the bimanual ones load the packaged config).
dex_bimanual_example --enable-tuning with './examples/teleop[ui]' installed: the ImGui window opens.
gamepad_printer_example with a gamepad.
spacemouse_printer_example with a SpaceMouse.
foot_pedal_locomotion_example with a foot pedal.
joint_space_device_example --launch-plugin with an SO-101 leader.
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Walkthrough
The teleop examples are now packaged as an installable Python project. Example imports, launch commands, plugin path resolution, tests, and documentation references are updated to use the package layout.
The teleop examples may not install on Python 3.13 because the required UI dependency lacks compatible packages. The CloudXR reference page also omits the examples install step, so its commands fail for readers who follow only that page. Resolve the dependency issue before merging; the documentation fix is small.
Pre-merge checks: 4 · 1
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Write docstrings for the functions missing them to satisfy the coverage threshold.
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The title clearly summarizes the main change: packaging the teleoperation examples under the isaacapture_examples namespace.
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Write docstrings for the functions missing them to satisfy the coverage threshold.
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Inline comments:
Review comments at @docs/source/references/cloudxr.rst:
- Line 222: Add the missing examples-package installation to the CloudXR
instructions before the first teleop command. Reuse the install step from the
teleop quick start’s run-teleop-example section so the examples are available
before invoking gripper_retargeting_example_simple.
Review comments at @examples/teleop/pyproject.toml:
- Line 16: Update the isaaccapture dependency extras in the examples
configuration so installing examples on Python 3.13 does not require an
incompatible imgui build; use a Python 3.13-compatible UI dependency or make the
UI extra optional and defer UI imports in the bimanual examples until needed.
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Package the teleoperation examples with their configuration assets and update plugin discovery for the nested layout.
Part of #985.
Signed-off-by: Jiwen Cai <jiwenc@nvidia.com>
[Ivan Yang: rebased onto main past the guide reorganization, which moved
getting_started/quick_start.rst and getting_started/teleop_session.rst,
and #1290, which moved device/trackers.rst; #1348 turned the stubs they
left into redirects. The stubs keep main's
text; the same path edits are applied to teleop/quick_start.rst,
teleop/teleop_session.rst and device/trackers/index.rst. joint_space.rst
keeps main's text (the URDF note) with only the path and commands
reapplied. The pyproject.toml modify/delete conflict keeps main's glfw
dependency in the new root pyproject.toml. The modules main added since
(_example_loop.py and the gamepad, keyboard and SpaceMouse examples) move
into the package unchanged.]
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
- Import _example_loop relatively in the two examples that share it.
- Declare the cloudxr extra: every module starts CloudXR through
CloudXRLauncher. The bimanual examples' ImGui tuning window comes from
the example's optional ui extra and is imported only under
--enable-tuning: imgui 2.0.0 does not build on Python 3.13, so a base
dependency would break every example's install there.
- Remove examples/teleop/CMakeLists.txt. examples/CMakeLists.txt never
adds it, so nothing installs teleop; the plugin-dir comments say the
repo root has no plugins/ directory instead of naming an install path.
- joint_space_device_example's default --plugin-bin tries build/, then
install/plugins, then PATH, as oglo_tactile's does, so a wheel install
still finds a built plugin.
- Add a README that lists the modules and the command that runs them.
- Docs: the commands and paths main added since the original commit
(Quick Start --duration, teleop_session, CloudXR
--no-launch-cloudxr-runtime, gamepad, SpaceMouse), the Quick Start and
CloudXR install steps, runnable module names in the Quick Start's list
of other examples, and the retargeting page's directory link.
- Tests import the examples through isaaccapture_examples.teleop.
Part of #985.
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
- The README and the Teleop Session page say how to install isaaccapture
from a source build as well as from the package index.
- dex_bimanual_example and full_bimanual_reordering_example check for the
ui extra right after parsing arguments, so --enable-tuning without it
exits with the install command before the retargeters load and
CloudXR starts.
- The README says imgui 2.0.0 has wheels only for Python 3.11: 3.12
builds it from source with a C++ toolchain, and 3.13 cannot build it.
Part of #985.
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
Brings in #1372. Both edited the "Use a system OpenXR runtime" block of
docs/source/references/cloudxr.rst: keep #1372's
ISAAC_TELEOP_DISABLE_CXR_ENV_CHECKS export and this branch's python -m
command.
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
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Description
Part of #985. Supersedes #1047; original commit by @jiwenc-nv.
teleop moves to the layout in
examples/README.md:pyproject.tomlat the example root (distisaaccapture-examples-teleop), sources underpython/isaaccapture_examples/teleop/(a PEP 420 namespace with no__init__.pyat that level), hatchlingonly-include+sources, and relative sibling imports.config/dex_retargeting/moves into the package, so the bimanual examples find their YAML and URDF from__file__in an installed wheel as well as in the checkout.Direct invocations change. The old ones no longer work:
Every module runs as
python -m isaaccapture_examples.teleop.<module>; the newexamples/teleop/README.mdlists them.The first commit is @jiwenc-nv's from #1047, cherry-picked onto current
main. The docs had moved since (the guide reorganization and #1290), leaving redirect stubs at the old paths (#1348): I kept them andmain's text, reapplied only paths and commands atdevice/trackers/index.rstandteleop/{quick_start,teleop_session}.rst, keptmain'sglfwdependency through thepyproject.tomlmodify/delete conflict, and moved the modulesmainadded since (_example_loop.pyand the gamepad, keyboard and SpaceMouse examples) into the package. The commit message records this in a bracketed note.A second commit fixes what the move left behind:
se3_retargeting_exampleandgripper_retargeting_example_simpleimport the shared_example_looprelatively.pyproject.tomldeclares thecloudxrextra, since every module starts CloudXR throughCloudXRLauncher. The bimanual examples' ImGui tuning window comes from the example's optionaluiextra and is imported only under--enable-tuning:imgui2.0.0 has no wheel past CPython 3.11 and fails to build on 3.13, so a base dependency would break every example's install there.examples/teleop/CMakeLists.txtgoes:examples/CMakeLists.txtnever adds it, so nothing installs teleop.mainadded since examples(teleop): package under isaaccapture_examples #1047 (the Quick Start's--durationrun,teleop_session, CloudXR's--no-launch-cloudxr-runtime, the gamepad and SpaceMouse pages) point at the new layout.joint_space_device_example's default--plugin-bintriesbuild/, theninstall/plugins, thenPATH, likeoglo_tactile's, so a wheel install still finds a built plugin.teleopandteleop_keyboardtests import throughisaaccapture_examples.teleop; the keyboard tests' conftest resolves it withrepo_paths.py, like camera_viz.A third commit names both ways to install
isaaccapture(a source build, or the package index) in the example README and the Teleop Session page, and makes the bimanual examples check for theuiextra right after parsing arguments, so--enable-tuningwithout it exits with the install command before the retargeters load and CloudXR starts. A merge ofmainbrings in #1372, which also edited CloudXR's "Use a system OpenXR runtime" block; it keeps #1372'sISAAC_TELEOP_DISABLE_CXR_ENV_CHECKSexport with this branch'spython -mcommand.Not changed:
PLUGIN_ROOT_DIRis still six levels above the module,<repo root>/plugins. A checkout has no such directory and nothing installs teleop, so these examples run without the synthetic-hands plugin, as they did before.#1292, #1255 and #1153 add or edit files under
examples/teleop/python/and need them moved when they rebase.Type of change
Breaks direct
python examples/teleop/python/<file>.pyinvocations (migration above); theisaaccapturelibrary is unchanged.Testing
x86_64/ Ubuntu 24.04, Python 3.12, againstisaaccapturebuilt from this branch.SKIP=check-copyright-year pre-commit run --all-filespasses.make -C docs current-docs(sphinx-build -W) passes.uv build --wheel examples/teleop: every file sits underisaaccapture_examples/teleop/,config/dex_retargeting/(YAML, URDF) is in it, and it has noisaaccapture_examples/__init__.py.isaaccapture[cloudxr,retargeters]wheel,uv pip install -e ./examples/teleopkeeps that wheel and adds onlyglfw;python -m isaaccapture_examples.teleop.<module> --helpthen works for all 14 modules, run from/, with noimguiinstalled (also checked againstisaaccapture1.7.79a1 frompypi.nvidia.com). Adding'./examples/teleop[ui]'installsimguiand the tuning window imports; without it,--enable-tuningstops with the library's install hint. Installed as a wheel instead, both bimanual examples import and find their four config files insidesite-packages.joint_space_device_example's default--plugin-bin, against a stand-in tree: it picksbuild/, theninstall/plugins, then the bare name forPATH. From the checkout,--launch-pluginfound the built plugin and received live actions from its synthetic backend.uv pip install -e ./examples/teleopagainstisaaccapture1.7.79a1 resolves withoutimgui(dry run);imgui2.0.0 itself fails to build there.uiextra, both bimanual examples'--helpworks and--enable-tuningexits 2 with--enable-tuning needs the ui extra: uv pip install -e './examples/teleop[ui]', before any CloudXR output. With'./examples/teleop[ui]'installed,--helpworks and the tuning UI imports.tests/python/examples/teleop(50 passed) andtests/python/examples/teleop_keyboard(9 + 15 passed), onepytestper file, and the same three throughctest -R.cmake --installputs noteleopunderinstall/examples/.git grepoverdocs/source/(pages,_data/, toctrees), every README andAGENTS.md,src/,tests/,scripts/,.github/anddeps/forexamples/teleop, each module name,python <module>.py,cd examples/teleop,python/pyproject.tomland the old run commands. Every remaining hit uses the new path or command;add_subdirectory(examples/teleop)intests/python/CMakeLists.txtis the test directory and stays.uv pip install -e ./examples/teleoporpython -m isaaccapture_examples.teleop.<module>, and each flag it passes (--duration,--no-launch-cloudxr-runtime,--launch-plugin,--mode,--frames,--urdf) appears in that module's--help. Every source link targets a file on this branch; the links point atmain, so they resolve once this merges.Not covered yet: runs that need a headset or a device.
uv pip install -e ./examples/teleop, thengripper_retargeting_example_simplewith and without--duration 20.se3_retargeting_example,dex_bimanual_exampleandfull_bimanual_reordering_examplewith hand tracking (the bimanual ones load the packaged config).dex_bimanual_example --enable-tuningwith'./examples/teleop[ui]'installed: the ImGui window opens.gamepad_printer_examplewith a gamepad.spacemouse_printer_examplewith a SpaceMouse.foot_pedal_locomotion_examplewith a foot pedal.joint_space_device_example --launch-pluginwith an SO-101 leader.Checklist
SKIP=check-copyright-year pre-commit run --all-filesgit commit -s) per the DCOSummary by CodeRabbit