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examples(noitom, oglo_tactile): package under isaaccapture_examples - #1367
Part of #985. Supersedes the noitom and oglo_tactile commits of #1040 (camera_viz moves in #1369); original commits by @jiwenc-nv.
Both examples move to the layout in examples/README.md: pyproject.toml at the example root (dists isaaccapture-examples-noitom and isaaccapture-examples-oglo-tactile), sources under python/isaaccapture_examples/<name>/ (a PEP 420 namespace with no __init__.py at that level), hatchling only-include + sources, and relative sibling imports.
Run commands change. The old ones no longer work:
# before
uv run python examples/noitom/record_noitom_full_body.py 10 examples/noitom/recordings/noitom_full_body.mcap
PYTHONPATH=~/IsaacTeleop/examples/noitom:$PYTHONPATH ./isaaclab.sh -p ... --external_callback noitom_tasks.register_tasks
cd examples/oglo_tactile && python oglo_teleop_record.py
# after (from the repo root)
uv pip install -e ./examples/noitom
python -m isaaccapture_examples.noitom.record_noitom_full_body 10 recordings/noitom_full_body.mcap
uv pip install -e ./examples/oglo_tactile
python -m isaaccapture_examples.oglo_tactile.oglo_teleop_record
python -m isaaccapture_examples.oglo_tactile.oglo_heatmap
# after (Isaac Lab 3.0.0 or later): build with -DISAAC_TELEOP_PYTHON_VERSION=3.12,# then, with no venv active, install into Isaac Lab's interpreter once
./isaaclab.sh -p -m pip install "isaaccapture[cloudxr]==X.Y+local" --find-links <repo>/install/wheels
./isaaclab.sh -p -m pip install -e <repo>/examples/noitom
./isaaclab.sh -p ... --external_callback isaaccapture_examples.noitom.noitom_tasks.register_tasks
The first two commits are @jiwenc-nv's from #1040, cherry-picked unchanged onto current main. A third commit fixes what the move left stale:
The oglo_tactile module docstrings, which still ran python oglo_*.py.
The Noitom record and replay commands in both READMEs, which still wrote into examples/noitom/recordings/. The recorder now defaults to ./recordings/, which the root .gitignore already covers; the comment over that rule now names this example too.
The install-prefix case in the Noitom plugin-path comment (CMake does not install this example), and the README's mention of the old PYTHONPATH= prefix.
A fourth commit fixes what review found:
The Isaac Lab task registered its env config as noitom_tasks:…, which only resolved with the example on PYTHONPATH. It now uses the package's module name, so the documented --external_callback command can load it.
The Noitom example declares scipy, which two of its modules import, and isaaccapture[cloudxr], since the recorder starts the CloudXR service. The pyproject comment no longer claims isaaclab and gymnasium are missing from PyPI.
The Noitom plugin search looks only under the checkout's install/plugins. Its comment and both not-found errors say this needs a checkout or an editable install.
The OGLO gpu extra is gone: isaaccapture[cloudxr] already brings CuPy and Pillow on Linux. The OGLO README installs the example after the build, from the repo root and the local wheels, and drops a step that installed isaaccapture[cloudxr] from PyPI.
A fifth commit fixes what a second review round found:
The Noitom README's Isaac Lab steps could not produce a working isaaccapture. A stock Isaac Lab env has only isaacteleop 1.4, so isaaccapture[cloudxr] resolved to the empty PyPI placeholder, and Isaac Lab 3.0 runs Python 3.12 while the build defaults to 3.11. The README now builds for 3.12, installs the local wheel by version into Isaac Lab's interpreter with no venv active, and says this replaces Isaac Lab's isaacteleop 1.4 with the compatibility shim.
noitom_tasks imports LocomanipulationG1EnvCfg from isaaclab_tasks.contrib.locomanip_pick_place, where Isaac Lab 3.0.0 moved it. Its other Isaac Lab imports still resolve at v3.0.0. The README names Isaac Lab 3.0.0 as the minimum.
OGLO writes its default MCAP and the heatmap preview under recordings/, as the Noitom recorder does, and the root .gitignore comment names it. The README documents the preview command and names the module in the flags heading.
The READMEs use <repo> and <isaaclab> placeholders instead of personal checkout paths. Both pyproject files point at the packaging rules in examples/README.md instead of restating them.
A sixth commit, from CodeRabbit's review, has the Noitom build step also build python_wheel: python_package alone leaves install/wheels empty for the pinned install.
Merging main after #1361 conflicted in the OGLO README's system-deps block. The merge keeps #1361's prerequisites link and its narrowed apt line, and drops the pip install lines, since the example's pyproject.toml and isaaccapture[cloudxr] now bring Pillow, NumPy and CuPy.
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 the old run commands, the Isaac Lab --external_callback path and the Noitom and OGLO recorders' default output paths, and the Noitom task now needs Isaac Lab 3.0.0 or later; no library or build change.
Testing
x86_64 / Ubuntu 24.04, Python 3.12, against a local isaaccapture 1.7 wheel.
SKIP=check-copyright-year pre-commit run --all-files passes.
make -C docs current-docs (sphinx-build -W) passes. No docs page needed a change: the only reference, the OGLO page's link to examples/oglo_tactile, still resolves.
uv build --wheel for both examples. Every file sits under isaaccapture_examples/<name>/, and neither wheel contains isaaccapture_examples/__init__.py.
Installed together, as wheels and as uv pip install -e, both examples resolve isaaccapture_examples as one namespace.
In a fresh venv holding only the two wheels and the dependencies they declare (isaaccapture from the local build), every module imports except noitom_tasks, which needs Isaac Lab, and --help exits 0 for both recorders through python -m, run from /.
python -m isaaccapture_examples.oglo_tactile.oglo_heatmap writes the 1024x512 RGBA preview to recordings/oglo_heatmap_demo.png.
Against the IsaacLab v3.0.0 tag on GitHub: every Isaac Lab import in noitom_tasks resolves after the contrib move, the nested config fields it sets exist, and teleop_se3_agent.py takes --task and --external_callback.
No new tests: these examples have none, and the change is a file move plus path fixes.
Not covered yet: live runs on hardware.
Noitom: record with the suit and Hybrid Data Server, then replay with replay_full_body.
Noitom: on Isaac Lab 3.0.0, the README's install steps, then the teleop task with the packaged callback. This also exercises the env_cfg_entry_point and isaaclab_tasks.contrib fixes.
OGLO: oglo_teleop_record with both gloves and a Quest. The plugin binary is found under build/, the heatmap shows in the headset, and the MCAP lands in recordings/.
Package the Noitom examples so sibling imports work outside the source directory.
Part of #985.
Signed-off-by: Jiwen Cai <jiwenc@nvidia.com>
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
Package the OGLO examples so sibling imports work outside the source directory.
Part of #985.
Signed-off-by: Jiwen Cai <jiwenc@nvidia.com>
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
Point the oglo_tactile module docstrings at `python -m`, and record the
Noitom example to the repo-root `recordings/` the recorder now defaults
to, which .gitignore already covers. Drop the install-prefix case from the
Noitom plugin-path comment, since CMake does not install this example, and
the README's note on the old PYTHONPATH prefix.
Part of #985.
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
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Walkthrough
The Noitom and OGLO examples now have package metadata and package-qualified imports. Their documentation uses package installation and module-based commands. Runtime changes update plugin discovery and place default recordings under the current working directory’s recordings/ folder.
NVIDIA/IsaacCapture#1293: Packages the Synthetic XR example under isaaccapture_examples and uses module-based entry points.
NVIDIA/IsaacCapture#1366: Moves other examples into isaaccapture_examples and changes script execution to package modules.
NVIDIA/IsaacCapture#1272: Packages tactile examples with pyproject.toml files and the isaaccapture_examples namespace.
Merge Risk: Moderate · previous review 3ee06
Following the new Noitom Isaac Lab instructions on a clean checkout fails, because the documented build never produces the wheel the next step installs. Build python_wheel instead before merging. The remaining changes are packaging and path updates with no other established problems.
Pre-merge checks: 4 · 1
Failed checks: 1 warning
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Docstring coverage is 20.00% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff with cyclomatic complexity of at least 2. Documenta…
Write docstrings for the functions missing them to satisfy the coverage threshold.
Passed checks: 4 passed
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The title clearly and concisely describes the main change: packaging the Noitom and OGLO tactile examples under isaaccapture_examples.
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Full details: Docstring Coverage
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Docstring coverage is 20.00% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff with cyclomatic complexity of at least 2. Documentation-only edits and deletions within surviving functions are included; unchanged diff context and fully deleted functions are excluded. Analyzed 10 functions across 8 files. (6 skipped: 6 unsupported.)
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Write docstrings for the functions missing them to satisfy the coverage threshold.
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…endencies
- Register the Noitom env config under the package's module name; the
bare `noitom_tasks` only resolved with the example on PYTHONPATH.
- Declare scipy and the cloudxr extra for the Noitom example, and say
why isaaclab and gymnasium stay out.
- Search for plugins only under install/plugins, and say in the comment
and the not-found errors that this needs a checkout or an editable
install.
- Drop the OGLO `gpu` extra: isaaccapture[cloudxr] already brings CuPy
and Pillow on Linux. Install the example after the build, from the
repo root, from the local wheels.
Part of #985.
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
…puts
- Noitom README: build for Python 3.12 and install the local
isaaccapture wheel by version, then the example, into Isaac Lab's
interpreter with no venv active. Say this replaces Isaac Lab's
isaacteleop 1.4 with the compatibility shim, and name Isaac Lab 3.0.0
as the minimum.
- Import LocomanipulationG1EnvCfg from isaaclab_tasks.contrib, where
Isaac Lab 3.0 moved it.
- OGLO: write the default MCAP and the heatmap preview under
recordings/, document the preview command, and name the module in the
flags heading.
- Use placeholders for the checkout directories, and point the
pyproject packaging comments at examples/README.md.
Part of #985.
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
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Actionable comments posted: 1
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Inline comments:
Review comments at @examples/noitom/README.md:
- Line 28: Update the README build command to build the python_wheel target
before the subsequent cmake --install build step; retain the existing
python_package and noitom_mocap_plugin targets.
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Building only python_package stages the package but produces no wheel, so
on a clean build install/wheels has nothing for the pinned
isaaccapture install to find. Build python_wheel as well.
Part of #985.
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
#1361 rewrote the oglo_tactile system-deps block that this branch also
edited. Keep its prerequisites link and narrowed apt line, and drop the
pip lines: the example's pyproject and isaaccapture[cloudxr] now bring
Pillow, NumPy and CuPy.
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
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Description
Part of #985. Supersedes the noitom and oglo_tactile commits of #1040 (camera_viz moves in #1369); original commits by @jiwenc-nv.
Both examples move to the layout in
examples/README.md:pyproject.tomlat the example root (distsisaaccapture-examples-noitomandisaaccapture-examples-oglo-tactile), sources underpython/isaaccapture_examples/<name>/(a PEP 420 namespace with no__init__.pyat that level), hatchlingonly-include+sources, and relative sibling imports.Run commands change. The old ones no longer work:
The first two commits are @jiwenc-nv's from #1040, cherry-picked unchanged onto current
main. A third commit fixes what the move left stale:python oglo_*.py.examples/noitom/recordings/. The recorder now defaults to./recordings/, which the root.gitignorealready covers; the comment over that rule now names this example too.PYTHONPATH=prefix.A fourth commit fixes what review found:
noitom_tasks:…, which only resolved with the example onPYTHONPATH. It now uses the package's module name, so the documented--external_callbackcommand can load it.scipy, which two of its modules import, andisaaccapture[cloudxr], since the recorder starts the CloudXR service. The pyproject comment no longer claims isaaclab and gymnasium are missing from PyPI.install/plugins. Its comment and both not-found errors say this needs a checkout or an editable install.gpuextra is gone:isaaccapture[cloudxr]already brings CuPy and Pillow on Linux. The OGLO README installs the example after the build, from the repo root and the local wheels, and drops a step that installedisaaccapture[cloudxr]from PyPI.A fifth commit fixes what a second review round found:
isaacteleop1.4, soisaaccapture[cloudxr]resolved to the empty PyPI placeholder, and Isaac Lab 3.0 runs Python 3.12 while the build defaults to 3.11. The README now builds for 3.12, installs the local wheel by version into Isaac Lab's interpreter with no venv active, and says this replaces Isaac Lab'sisaacteleop1.4 with the compatibility shim.noitom_tasksimportsLocomanipulationG1EnvCfgfromisaaclab_tasks.contrib.locomanip_pick_place, where Isaac Lab 3.0.0 moved it. Its other Isaac Lab imports still resolve at v3.0.0. The README names Isaac Lab 3.0.0 as the minimum.recordings/, as the Noitom recorder does, and the root.gitignorecomment names it. The README documents the preview command and names the module in the flags heading.<repo>and<isaaclab>placeholders instead of personal checkout paths. Both pyproject files point at the packaging rules inexamples/README.mdinstead of restating them.A sixth commit, from CodeRabbit's review, has the Noitom build step also build
python_wheel:python_packagealone leavesinstall/wheelsempty for the pinned install.Merging
mainafter #1361 conflicted in the OGLO README's system-deps block. The merge keeps #1361's prerequisites link and its narrowedaptline, and drops thepip installlines, since the example'spyproject.tomlandisaaccapture[cloudxr]now bring Pillow, NumPy and CuPy.Type of change
Breaks the old run commands, the Isaac Lab
--external_callbackpath and the Noitom and OGLO recorders' default output paths, and the Noitom task now needs Isaac Lab 3.0.0 or later; no library or build change.Testing
x86_64/ Ubuntu 24.04, Python 3.12, against a localisaaccapture1.7 wheel.SKIP=check-copyright-year pre-commit run --all-filespasses.make -C docs current-docs(sphinx-build -W) passes. No docs page needed a change: the only reference, the OGLO page's link toexamples/oglo_tactile, still resolves.uv build --wheelfor both examples. Every file sits underisaaccapture_examples/<name>/, and neither wheel containsisaaccapture_examples/__init__.py.uv pip install -e, both examples resolveisaaccapture_examplesas one namespace.noitom_tasks, which needs Isaac Lab, and--helpexits 0 for both recorders throughpython -m, run from/.python -m isaaccapture_examples.oglo_tactile.oglo_heatmapwrites the 1024x512 RGBA preview torecordings/oglo_heatmap_demo.png.v3.0.0tag on GitHub: every Isaac Lab import innoitom_tasksresolves after thecontribmove, the nested config fields it sets exist, andteleop_se3_agent.pytakes--taskand--external_callback.Not covered yet: live runs on hardware.
replay_full_body.env_cfg_entry_pointandisaaclab_tasks.contribfixes.oglo_teleop_recordwith both gloves and a Quest. The plugin binary is found underbuild/, the heatmap shows in the headset, and the MCAP lands inrecordings/.Checklist
SKIP=check-copyright-year pre-commit run --all-filesgit commit -s) per the DCOSummary by CodeRabbit
New Features
Documentation
recordings/directory, with updated replay and verification commands.