examples(noitom, oglo_tactile): package under isaaccapture_examples

.gitignore

@@ -63,8 +63,9 @@ project.spdx
 # MuJoCo writes this to the working directory, not next to the model.
 MUJOCO_LOG.TXT
 
-# examples/mcap_record_replay writes here by default (Path.cwd() / "recordings"),
-# and its README has you run from the repo root.
+# examples/mcap_record_replay, examples/noitom and examples/oglo_tactile write here
+# by default (Path.cwd() / "recordings"), and their READMEs have you run from the
+# repo root.
 /recordings/
 
 # Runtime device files injected by MCP server infrastructure

examples/noitom/README.md

@@ -25,12 +25,15 @@ The Noitom SDK is not vendored in this repository. Complete the
 optional plugin when you need Noitom support:
 
 ```bash
-cmake -B build -DBUILD_PLUGIN_NOITOM_MOCAP=ON
-cmake --build build --target python_package noitom_mocap_plugin --parallel
+cmake -B build -DBUILD_PLUGIN_NOITOM_MOCAP=ON -DISAAC_TELEOP_PYTHON_VERSION=3.12
+cmake --build build --target python_package python_wheel noitom_mocap_plugin --parallel
 cmake --install build
 uv pip install --find-links=install/wheels "isaaccapture[cloudxr]"
 ```
 
+Python 3.12 matches Isaac Lab 3.0, which Example 2 needs. The wheel installs
+only on the Python it was built for, so use a 3.12 venv for Example 1 too.
+
 Run `cmake --install build` again whenever `plugin.yaml` changes so the updated
 configuration is copied to `install/plugins/noitom_mocap/plugin.yaml`.
 
@@ -46,11 +49,12 @@ MCAP script because the recording uses the standard `full_body` channel.
 
 ![Noitom full-body recording](assets/record.gif)
 
-Record the Noitom full-body stream:
+Install the example once, then record the Noitom full-body stream:
 
 ```bash
-uv run python examples/noitom/record_noitom_full_body.py \
-  10 examples/noitom/recordings/noitom_full_body.mcap
+uv pip install -e ./examples/noitom
+python -m isaaccapture_examples.noitom.record_noitom_full_body \
+  10 recordings/noitom_full_body.mcap
 ```
 
 The resulting MCAP uses the standard `core.FullBodyPoseRecord` schema and
@@ -61,39 +65,59 @@ the standard `full_body` channel, so the generic replay script can play it back:
 ```bash
 uv pip install -e ./examples/mcap_record_replay
 python -m isaaccapture_examples.mcap_record_replay.replay_full_body \
-  examples/noitom/recordings/noitom_full_body.mcap
+  recordings/noitom_full_body.mcap
 ```
 
 ## Example 2: Teleop
 
 ![Noitom G1 live teleoperation](assets/teleop.gif)
 
-Run Isaac Lab with the external task registration callback. The task launches
-`noitom_mocap_plugin` through IsaacTeleop's plugin manager by default.
+Run Isaac Lab 3.0.0 or later with the external task registration callback.
+The task launches `noitom_mocap_plugin` through IsaacTeleop's plugin manager by
+default. Below, `<repo>` is your IsaacCapture checkout and `<isaaclab>` your
+Isaac Lab checkout.
+
+The callback runs inside Isaac Lab's own interpreter, so install isaaccapture
+and this example into *that* environment rather than a venv of your own. Build
+with `-DISAAC_TELEOP_PYTHON_VERSION=3.12` as above: Isaac Lab 3.0 runs Python
+3.12, and pip skips a wheel built for another version. Deactivate any venv
+first, because `isaaclab.sh -p` uses `$VIRTUAL_ENV` when it is set. `X.Y` is
+your build's version, the first two numbers of the repository's `VERSION` file.
+
+```bash
+deactivate    # only if a venv is active
+cd <isaaclab>
+./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
+```
+
+This replaces the `isaacteleop` 1.4 that Isaac Lab installs with the `1!X.Y`
+compatibility shim from your build, which maps `isaacteleop` to
+`isaaccapture`. Isaac Lab pins `isaacteleop~=1.4.145`, so pip may warn about
+that conflict.
 
 ```bash
-cd ~/dependence/IsaacLab3-0
-PYTHONPATH=~/IsaacTeleop/examples/noitom:$PYTHONPATH \
-  ./isaaclab.sh -p scripts/environments/teleoperation/teleop_se3_agent.py \
+cd <isaaclab>
+./isaaclab.sh -p scripts/environments/teleoperation/teleop_se3_agent.py \
   --task Isaac-PickPlace-Locomanipulation-G1-Noitom-Abs-v0 \
   --visualizer kit \
   --xr \
-  --external_callback noitom_tasks.register_tasks
+  --external_callback isaaccapture_examples.noitom.noitom_tasks.register_tasks
 ```
 
 For advanced manual plugin control, start the plugin yourself and disable
 auto-launch in the Isaac Lab terminal:
 
 ```bash
-./install/plugins/noitom_mocap/noitom_mocap_plugin
+<repo>/install/plugins/noitom_mocap/noitom_mocap_plugin
 
 NOITOM_MOCAP_AUTO_LAUNCH=0 \
-PYTHONPATH=~/IsaacTeleop/examples/noitom:$PYTHONPATH \
-  ./isaaclab.sh -p scripts/environments/teleoperation/teleop_se3_agent.py \
+./isaaclab.sh -p scripts/environments/teleoperation/teleop_se3_agent.py \
   --task Isaac-PickPlace-Locomanipulation-G1-Noitom-Abs-v0 \
   --visualizer kit \
   --xr \
-  --external_callback noitom_tasks.register_tasks
+  --external_callback isaaccapture_examples.noitom.noitom_tasks.register_tasks
 ```
 
 If you run a dedicated CloudXR runtime yourself, source its environment before

examples/noitom/pyproject.toml

@@ -0,0 +1,27 @@
+# SPDX-FileCopyrightText: Copyright (c) 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-noitom"
+version = "0.0.0"  # Internal example - not versioned
+description = "Noitom mocap suit examples: retargeting, Isaac Lab task, MCAP recording"
+requires-python = ">=3.11,<3.14"
+# isaaclab and gymnasium are deliberately absent: only noitom_tasks imports them,
+# and it runs inside Isaac Lab's own interpreter, which provides them.
+dependencies = [
+    "isaaccapture[cloudxr]",
+    "numpy>=1.23.0",
+    "scipy",
+]
+
+# `only-include` + `sources`, not `packages`, and no __init__.py above
+# noitom -- see the packaging rules in examples/README.md.
+[tool.hatch.build.targets.wheel]
+only-include = ["python/isaaccapture_examples/noitom"]
+sources = ["python"]

examples/noitom/python/isaaccapture_examples/noitom/__init__.py

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

examples/noitom/noitom_reference_draw.py → examples/noitom/python/isaaccapture_examples/noitom/noitom_reference_draw.py

@@ -13,7 +13,7 @@
 
 from isaaccapture.schema import BodyJoint
 
-from noitom_retargeting import noitom_position_to_isaac
+from .noitom_retargeting import noitom_position_to_isaac
 
 # G1_29DOF_CFG spawn rot (0,0,0.7071,0.7071): pelvis +X aligns with world +Y (table forward).
 G1_ROBOT_FORWARD_XY = np.array([0.0, 1.0], dtype=np.float64)

examples/noitom/noitom_retargeting.py → examples/noitom/python/isaaccapture_examples/noitom/noitom_retargeting.py

@@ -1456,7 +1456,7 @@ def _aligned_skeleton_positions(
     settings: NoitomRetargetingSettings,
     calib_view: NoitomCalibrationView,
 ) -> dict[int, np.ndarray]:
-    from noitom_reference_draw import (
+    from .noitom_reference_draw import (
         ReferenceSkeletonLengths,
         aligned_reference_skeleton_from_frame,
     )

examples/noitom/noitom_tasks.py → examples/noitom/python/isaaccapture_examples/noitom/noitom_tasks.py

@@ -15,7 +15,7 @@
 from gymnasium.envs.registration import registry
 
 from isaaclab.utils.configclass import configclass
-from isaaclab_tasks.manager_based.locomanipulation.pick_place.locomanipulation_g1_env_cfg import (
+from isaaclab_tasks.contrib.locomanip_pick_place.locomanipulation_g1_env_cfg import (
     LocomanipulationG1EnvCfg,
 )
 from isaaccapture.schema import (
@@ -37,13 +37,13 @@
 from isaaccapture.retargeting_engine.tensor_types import DLDataType, NDArrayType
 from isaaccapture.teleop_session_manager import PluginConfig
 
-from noitom_retargeting import (
+from .noitom_retargeting import (
     ArmIkTargets,
     NoitomG1Retargeter,
     NoitomRetargetingSettings,
     noitom_position_to_isaac,
 )
-from noitom_reference_draw import (
+from .noitom_reference_draw import (
     ReferenceSkeletonLengths,
     aligned_reference_skeleton_from_frame,
 )
@@ -168,12 +168,10 @@ def _noitom_settings_from_env() -> NoitomG1Settings:
 
 
 def _plugin_search_paths() -> list[Path]:
-    base = Path(__file__).resolve().parents[2]
-    candidates = [
-        base / "plugins",
-        base / "install" / "plugins",
-    ]
-    return [path for path in candidates if path.exists()]
+    # Six levels up is the repo root from a checkout or an editable install; a
+    # regular wheel install puts this file in site-packages and finds nothing.
+    plugins = Path(__file__).resolve().parents[5] / "install" / "plugins"
+    return [plugins] if plugins.exists() else []
 
 
 def _noitom_plugin_configs(settings: NoitomG1Settings) -> list[PluginConfig]:
@@ -182,7 +180,8 @@ def _noitom_plugin_configs(settings: NoitomG1Settings) -> list[PluginConfig]:
     search_paths = _plugin_search_paths()
     if not search_paths:
         raise RuntimeError(
-            "Noitom plugin directory not found. Run `cmake --install build` "
+            "Noitom plugin directory not found. Install this example editable "
+            "(`pip install -e`) from a checkout, run `cmake --install build` there, "
             "or set NOITOM_MOCAP_AUTO_LAUNCH=0 for a manually started plugin."
         )
     return [
@@ -340,7 +339,7 @@ def register_tasks() -> list[str]:
             id=TASK_ID,
             entry_point="isaaclab.envs:ManagerBasedRLEnv",
             kwargs={
-                "env_cfg_entry_point": ("noitom_tasks:NoitomLocomanipulationG1EnvCfg"),
+                "env_cfg_entry_point": f"{__name__}:NoitomLocomanipulationG1EnvCfg",
             },
             disable_env_checker=True,
         )

examples/noitom/record_noitom_full_body.py → examples/noitom/python/isaaccapture_examples/noitom/record_noitom_full_body.py

@@ -37,12 +37,10 @@
 
 
 def _plugin_search_paths() -> list[Path]:
-    base = Path(__file__).resolve().parents[2]
-    candidates = [
-        base / "plugins",
-        base / "install" / "plugins",
-    ]
-    return [path for path in candidates if path.exists()]
+    # Six levels up is the repo root from a checkout or an editable install; a
+    # regular wheel install puts this file in site-packages and finds nothing.
+    plugins = Path(__file__).resolve().parents[5] / "install" / "plugins"
+    return [plugins] if plugins.exists() else []
 
 
 def _build_pipeline(collection_id: str, max_flatbuffer_size: int) -> OutputCombiner:
@@ -70,7 +68,9 @@ def _resolve_output(path_arg: str | None) -> Path:
     if path_arg:
         path = Path(path_arg)
     else:
-        out_dir = Path(__file__).resolve().parent / "recordings"
+        # CWD-relative, matching mcap_record_replay: anchoring to __file__ would
+        # write inside the package, and into site-packages once installed.
+        out_dir = Path.cwd() / "recordings"
         path = out_dir / f"noitom_full_body_{datetime.now():%Y%m%d_%H%M%S}.mcap"
     path.parent.mkdir(parents=True, exist_ok=True)
     return path
@@ -100,8 +100,9 @@ def main(argv: list[str]) -> int:
         search_paths = _plugin_search_paths()
         if not search_paths:
             sys.exit(
-                "[record] error: no installed plugin directory found. "
-                "Run `cmake --install build` or pass `--no-plugin` for a manually "
+                "[record] error: no installed plugin directory found. Install "
+                "this example editable (`uv pip install -e ./examples/noitom`), run "
+                "`cmake --install build`, or pass `--no-plugin` for a manually "
                 "started plugin."
             )
         plugins.append(

examples/oglo_tactile/README.md

@@ -34,34 +34,39 @@ session, records, and draws the overlay). `oglo_heatmap.py` is the renderer.
    ```bash
    sudo apt install libdbus-1-dev          # BlueZ for the BLE plugin
    sudo apt install libvulkan-dev          # BUILD_VIZ=ON below; also needs the CUDA toolkit
-   pip install pillow numpy                 # heatmap renderer
-   pip install cupy-cuda12x                 # headset overlay GPU upload (match your CUDA)
    ```
-   `cupy` is only needed for the in-headset overlay; recording works without it.
 
-2. **Build** (plugin + viz + python wheel)
+2. **Build and install** (plugin + viz + python wheel + this example)
 
    ```bash
-   cd IsaacTeleop
+   cd <repo>                       # your IsaacCapture checkout
    cmake -B build -DBUILD_PLUGIN_OGLO=ON -DBUILD_VIZ=ON
    cmake --build build --parallel
    cmake --install build           # builds the isaaccapture python wheel/package
+   uv pip install --find-links=install/wheels "isaaccapture[cloudxr]"
+   uv pip install -e ./examples/oglo_tactile
    ctest --test-dir build -R oglo_packet_parser --output-on-failure   # parser sanity
    ```
    The BLE backend (BlueZ via libdbus, permissive) connects out of the box.
+   CuPy for the in-headset overlay comes with `isaaccapture[cloudxr]`.
+
+   To check the heatmap renderer without gloves or a headset, render a synthetic
+   frame to `recordings/oglo_heatmap_demo.png`:
+
+   ```bash
+   python -m isaaccapture_examples.oglo_tactile.oglo_heatmap
+   ```
 
 3. **Gloves**: confirm both run schema-5 firmware, are charged, and
    advertise `OGLO LEFT` / `OGLO RIGHT` (check with `bluetoothctl scan on`).
 
-4. **CloudXR**: install per the IsaacTeleop Quick Start (`pip install 'isaaccapture[cloudxr]'`).
-
 ---
 
 ## B. Demo scenario (run in order)
 
 **Start the CloudXR runtime** — a background service, so this shell stays free
 ```bash
-cd ~/Documents/IsaacTeleop
+cd <repo>
 source scripts/setup_cloudxr_env.sh
 python -m isaaccapture.cloudxr.service start --accept-eula   # flag needed on first run only
 # Note the printed web-client URL, e.g.  https://<laptop-ip>:48322/
@@ -76,14 +81,13 @@ python -m isaaccapture.cloudxr.service start --accept-eula   # flag needed on fi
 
 **Gloves + recording + overlay**
 ```bash
-cd ~/Documents/IsaacTeleop
+cd <repo>
 source scripts/setup_cloudxr_env.sh
 source ~/.cloudxr/run/cloudxr.env          # path printed by step above
-cd examples/oglo_tactile
-python oglo_teleop_record.py
+python -m isaaccapture_examples.oglo_tactile.oglo_teleop_record
 ```
 The script: connects both gloves over BLE, starts recording to
-`oglo_teleop_<timestamp>.mcap`, and shows the **two-hand tactile heatmap** in the
+`recordings/oglo_teleop_<timestamp>.mcap`, and shows the **two-hand tactile heatmap** in the
 headset. **Keep hands relaxed for ~1 s** at start so the baseline tares.
 
 Press a glove → the matching finger/taxel lights up (YlOrRd) on the Quest screen.
@@ -96,20 +100,20 @@ Press a glove → the matching finger/taxel lights up (YlOrRd) on the Quest scre
 ## C. Verify the recording
 
 ```bash
-mcap info oglo_teleop_*.mcap
+mcap info recordings/oglo_teleop_*.mcap
 # channels: hands/{left,right}_hand, head/head, oglo_{left,right}/oglo(+_tracked)
 ```
 All streams share `sample_time_local_common_clock`, so Quest pose and OGLO
 tactile align in time.
 
 ---
 
-## Useful flags (`oglo_teleop_record.py`)
+## Useful flags (`isaaccapture_examples.oglo_tactile.oglo_teleop_record`)
 
 | Flag | Purpose |
 |------|---------|
 | `--plugin-bin PATH` | Path to `oglo_tactile_plugin` (auto-detected under `build/`). |
-| `--mcap PATH` | Output file (default timestamped). |
+| `--mcap PATH` | Output file (default `recordings/oglo_teleop_<timestamp>.mcap`). |
 | `--duration S` | Auto-stop after S seconds (0 = until Ctrl+C). |
 | `--raw` | Raw-ADC heatmap (no baseline subtraction). |
 | `--no-overlay` | Record only (skip headset heatmap). |

examples/oglo_tactile/pyproject.toml

@@ -0,0 +1,25 @@
+# SPDX-FileCopyrightText: Copyright (c) 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-oglo-tactile"
+version = "0.0.0"  # Internal example - not versioned
+description = "OGLO tactile glove: heatmap renderer and teleop recording"
+requires-python = ">=3.11,<3.14"
+dependencies = [
+    "isaaccapture[cloudxr]",
+    "numpy>=1.23.0",
+    "pillow",
+]
+
+# `only-include` + `sources`, not `packages`, and no __init__.py above
+# oglo_tactile -- see the packaging rules in examples/README.md.
+[tool.hatch.build.targets.wheel]
+only-include = ["python/isaaccapture_examples/oglo_tactile"]
+sources = ["python"]

examples/oglo_tactile/python/isaaccapture_examples/oglo_tactile/__init__.py

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