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examples(oxr): package under isaaccapture_examples - #1372
oxr moves to the layout in examples/README.md: pyproject.toml at the example root (dist isaaccapture-examples-oxr), sources under python/isaaccapture_examples/oxr/ (a PEP 420 namespace with no __init__.py at that level), and hatchling only-include + sources. The package holds the two demos, modular_example and modular_example_with_mcap, run with python -m. It has no __main__.py, because the two are peers. The C++ demos under cpp/ stay CMake and keep their install paths.
The nine test_*.py scripts are tests against an OpenXR runtime, not example code. They move to tests/python/xr_runtime/ instead of shipping in the package. CloudXR GPU CI runs the three listed in scripts/run_tests_with_cloudxr.sh. deps/cloudxr/Dockerfile.test copies the directory to /app/tests, so that list keeps the same bare names.
Run commands change. The old ones no longer work:
# before (from install/examples/oxr/python)
uv run modular_example.py
uv run modular_example_with_mcap.py
uv run test_modular.py
uv run test_oak_camera.py --mode schema-pusher
# after, from the repo root, in a venv made as in Build from source step 4# (X.Y is the first two numbers of VERSION)
uv pip install "isaaccapture[cloudxr]==X.Y+local" --find-links=./install/wheels/ --reinstall-package isaaccapture
uv pip install -e ./examples/oxr
python -m isaaccapture_examples.oxr.modular_example
python -m isaaccapture_examples.oxr.modular_example_with_mcap # writes recordings/tracking_recording_<timestamp>.mcap# the test scripts, in the same venv; they do not start CloudXR themselvessource~/.cloudxr/run/cloudxr.env
python tests/python/xr_runtime/test_modular.py
python tests/python/xr_runtime/test_oak_camera.py --mode schema-pusher # --plugin-root for another install prefix
The first commit is @jiwenc-nv's from #1046, cherry-picked onto current main. It conflicted in two places:
The commit message records both. #1177's message change to test_package_version.py carries over.
A second commit moves the test scripts and fixes what that leaves behind:
Dockerfile.test copies tests/python/xr_runtime/, and the runner's script list is back to bare names. The image's default command, python test_extensions.py, still resolves.
The device docs and the OAK plugin README link the scripts at their new path.
pyproject.toml depends on isaaccapture[cloudxr], because both modules import CloudXRLauncher. numpy is dropped because nothing in the package imports it.
A merge of main (bringing in #1367) and a third commit address review:
README, Python: the modules attach to the running CloudXR runtime or start one, and that overwrites XR_RUNTIME_JSON, so the README no longer exports it. It says how to stop the service and what --accept-eula does.
README, C++: the blocks source ~/.cloudxr/run/cloudxr.env, as references/cloudxr.rst says, instead of exporting a file name the runtime never writes.
README, install: isaaccapture installs as Build from source step 4 does: pinned to X.Y+local with --reinstall-package, into a venv made with the build's Python. The README also says which scripts CI runs and how to run one by hand.
Plugin lookup: the synthetic-hands, hand-inactive and OAK scripts take --plugin-root. It defaults to install_tree.plugins_dir(), which returns <checkout>/install/plugins (the checkout root is the nearest directory with VERSION and CMakeLists.txt) or, in the test image, /app/install/plugins. It no longer walks to /, so a nested worktree does not pick up another checkout's plugins. The old parent-directory count pointed at /plugins in the test image and at a missing <checkout>/plugins in the source tree.
modular_example_with_mcap and test_oak_camera.py write their MCAP under ./recordings/, which the root .gitignore covers. modular_example_with_mcap's docstring names McapRecordingConfig, not parameters DeviceIOSession.run() no longer takes.
The OAK page and plugin README call test_oak_camera.py a test script and give its run line.
A fourth commit completes the run instructions:
references/cloudxr.rst: a system OpenXR runtime also needs ISAAC_TELEOP_DISABLE_CXR_ENV_CHECKS, or OpenXRSession refuses to start without NV_CXR_RUNTIME_DIR. The oxr README links that section for --no-launch-cloudxr-runtime instead of restating part of it, and its C++ section starts the service with --accept-eula.
The OAK page and plugin README say the test script needs a full build and install, not only the camera_plugin_oak target, and isaaccapture in the active environment.
--plugin-root and --mode help print the real default through %(default)s. .gitignore describes what lands in /recordings/ instead of listing it.
trackers/index.rst only changes link targets; #1278 edits the same page and rebases after this PR. #1252 adds examples/oxr/python/test_ego_camera.py, which must move to tests/python/xr_runtime/ when it rebases. Git will not flag it, because nothing it touches conflicts.
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
This PR breaks the direct invocations above. The installed Python example moves from install/examples/oxr/python/ to install/examples/oxr/, and the test scripts are no longer installed. The plugin scripts find the checkout's install/plugins by default and take --plugin-root for another prefix. The C++ binaries, the isaaccapture library and the test-cloudxr script list are unchanged.
Testing
x86_64 / Ubuntu 24.04, Python 3.12, against a local isaaccapture 1.7 build.
SKIP=check-copyright-year pre-commit run --all-files passes.
make -C docs current-docs (sphinx-build -W) passes. The rendered trackers, body tracking and OAK pages link tests/python/xr_runtime/ and the packaged modular_example.py, and the OAK page's CloudXR reference resolves.
uv build --wheel examples/oxr produces a wheel with only isaaccapture_examples/oxr/{__init__,modular_example,modular_example_with_mcap}.py, no isaaccapture_examples/__init__.py, and Requires-Dist: isaaccapture[cloudxr].
In a fresh venv with the local isaaccapture[cloudxr] wheel, python -m isaaccapture_examples.oxr.modular_example --help and ... .modular_example_with_mcap --help work from /, installed both as a wheel and with uv pip install -e ./examples/oxr. modular_example_with_mcap --no-launch-cloudxr-runtime creates recordings/ in its working directory before it needs a runtime.
The three CI scripts import and run up to the OpenXR session, which needs a runtime. test_package_version.py passes. The three plugin scripts' --help show --plugin-root and its default, also from a checkout path containing %. From a worktree nested inside another checkout, the default is the worktree's own install/plugins.
I built deps/cloudxr/Dockerfile.test (Python 3.12) from a repo-shaped context holding this branch's tests/python/xr_runtime/ and the local install tree. /app/tests holds all nine scripts and install_tree.py, and the three CXR_PYTHON_GPU_TESTS names resolve from the compose working directory. test_package_version.py passes against the version derived from the wheel name, and --plugin-root defaults to /app/install/plugins.
No new tests: this moves existing scripts. test-cloudxr runs three of them on the GPU runners.
Not covered yet:
test-cloudxr on the self-hosted GPU runners: test_package_version.py, test_extensions.py and test_modular.py against the CloudXR runtime, from the new image. Passed for Python 3.11, 3.12 and 3.13 on 0a8435d (run 40637463761).
modular_example and modular_example_with_mcap with a headset over CloudXR.
test_synthetic_hands.py and test_hand_inactive_on_plugin_stop.py from the checkout after cmake --install build, which find install/plugins/controller_synthetic_hands.
test_oak_camera.py --mode schema-pusher with an OAK camera.
Package the OpenXR examples while preserving the GPU test runner paths and plugin discovery.
Part of #985.
Signed-off-by: Jiwen Cai <jiwenc@nvidia.com>
[Ivan Yang: rebased onto main past #1348, which moved body_tracking.rst,
oak.rst and trackers.rst into subdirectories and left redirect stubs. The
stubs keep main's text; the same path edits are applied to
body_tracking/index.rst, cameras/oak.rst and trackers/index.rst.
python/README.md is deleted as in the original; the prerequisites link
that #1361 added to it is already in examples/oxr/README.md.]
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
The test_*.py scripts are CI checks, not example code, so they move to
tests/python/xr_runtime/ instead of shipping in the example package. The
package keeps modular_example and modular_example_with_mcap.
- deps/cloudxr/Dockerfile.test copies tests/python/xr_runtime/ to
/app/tests, so run_tests_with_cloudxr.sh lists the scripts by bare name
again and the image's default command still finds test_extensions.py.
- The synthetic-hands, hand-inactive and OAK scripts find plugins through
install_tree.plugins_dir(): the nearest install/plugins above the
script, which is <checkout>/install/plugins or /app/install/plugins in
the test image. They are no longer installed beside install/plugins.
- Docs and the OAK plugin README link the scripts at their new path.
- The example depends on isaaccapture[cloudxr], which both modules import
for CloudXRLauncher, and no longer on numpy, which none imports. Its
README lists the two modules and says to install isaaccapture first.
- tests/AGENTS.md says what the directory is and who runs it.
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
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Walkthrough
The OpenXR examples now use a root-level Python package configuration and module-based run instructions. CloudXR scripts are referenced and copied from tests/python/xr_runtime/. Three test scripts now use a shared function to locate the install plugins directory.
NVIDIA/IsaacCapture#1272: Packages the tactile example at the example root and uses the isaaccapture_examples namespace.
NVIDIA/IsaacCapture#1369: Migrates camera_viz to a root-level Python package and module-based commands.
NVIDIA/IsaacCapture#1366: Migrates other Python examples to root-level Hatchling projects and module-based execution.
Merge Risk: Moderate · previous review d5576
The Python example instructions can fail to run the installed package or run an older build. Correct the environment and wheel-install steps before merging.
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deps/cloudxr/Dockerfile.test-28-28: 1
28-28: Minor · Security & Privacy · Quick win
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Run the test container as a non-root user.
The image has no USER directive, so the copied Python tests and loaded plugins run as root. A compromised wheel or plugin would then receive root privileges inside the container. Create an unprivileged user, grant it access to /app, and switch to it before CMD. Trivy reports this as DS-0002.
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Inline comments:
Review comments at @examples/oxr/README.md:
- Line 50: Update the `uv pip install` commands in the README, including the
matching command in the Quick Test section, to use `--reinstall-package
isaaccapture` so the locally built wheel replaces an already installed package.
- Line 104: Add a shared prerequisite before both Python example sequences in
the README: create a virtual environment with the build’s Python version (3.11)
using uv, then activate it before the `uv pip install` and unqualified `python
-m` commands.
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- README: the Python modules attach to or start CloudXR through
CloudXRLauncher, which overwrites XR_RUNTIME_JSON, so the export is gone
from both Python blocks. The README says how to stop the service, what
--accept-eula does and how to use another runtime. The C++ blocks source
~/.cloudxr/run/cloudxr.env, as references/cloudxr.rst says, instead of
exporting a file name the runtime never writes.
- README: install isaaccapture as Build from source step 4 does, pinned to
X.Y+local with --reinstall-package, into a venv made with the build's
Python. CI runs only the scripts listed in run_tests_with_cloudxr.sh,
and the README says so and how to run one by hand.
- install_tree.plugins_dir() stops at the checkout root (VERSION plus
CMakeLists.txt) or the test image's /app instead of walking to /, so a
nested worktree no longer picks up another checkout's plugins. The three
plugin scripts take --plugin-root for any other install prefix.
- modular_example_with_mcap and test_oak_camera write their MCAP under
./recordings/, which the root .gitignore covers, and create it.
- modular_example_with_mcap's docstring names McapRecordingConfig, not
parameters DeviceIOSession.run() no longer takes.
- The OAK page and plugin README call test_oak_camera.py a test script
and give its run line; tests/AGENTS.md uses a repo-root path.
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
- references/cloudxr.rst: a system runtime also needs
ISAAC_TELEOP_DISABLE_CXR_ENV_CHECKS, or OpenXRSession refuses to start
without NV_CXR_RUNTIME_DIR. The oxr README links that section instead
of restating half of it.
- oxr README: the C++ examples start the service with --accept-eula, as
references/cloudxr.rst does.
- OAK page and plugin README: test_oak_camera.py loads the plugin from
install/plugins, so it needs a full build and install, not only the
camera_plugin_oak target, and isaaccapture in the active environment.
- --plugin-root and --mode help use %(default)s, so --mode shows its real
default and a '%' in the checkout path no longer breaks --help.
- .gitignore describes what lands in /recordings/ instead of listing it;
test_oak_camera's docstring says the MCAP goes under the current
directory.
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
could be a follow up PR. But I don't think most of the examples in oxr makes sense. @nv-jakob@aristarkhovNV@ivany-nv can 2~3 of you huddle and review all the examples we have and decide what to keep / drop / rewrite? thanks.
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>
Both READMEs gained an inline `uv venv` line in #1372 and #1375. uv refuses
an existing .venv without --clear, so say to skip the line when .venv already
runs that Python, as noitom and oglo_tactile do.
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
#1377)
* docs(examples): install the local isaaccapture build the canonical way
The converted examples installed the local build with an unpinned
--find-links command and no --reinstall-package, and none said to
activate a venv. A local build is always X.Y+local, so uv kept the old
wheel after a rebuild, and an unpinned resolve could pick another wheel
from install/wheels.
examples/README.md now states the rule once and points at step 4 of
Build from source. Each example README, its docs-site page and the
plugin READMEs that install an example link to it; noitom and
oglo_tactile inline the step 4 command with the cloudxr extra. The pip
form in references/build.rst gains --force-reinstall to match step 4.
Part of #985.
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
* docs(examples): cover rebuilds of editable examples and Isaac Lab
Examples that point [tool.uv.sources] at the checkout keep uv's cached
editable build, so a C++ rebuild never reached them. examples/README.md
and the mcap_record_replay page now say to reinstall such an example
with --reinstall-package isaaccapture, and the README says to rerun the
step 4 install after each rebuild.
noitom's Isaac Lab install gains a rebuild command: pip treats an
installed X.Y+local as satisfied, so it needs --force-reinstall, and
--no-deps keeps Isaac Lab's other packages in place.
Drop the mcap_record_replay note that offered `uv run --python 3.11`
instead of the activated venv. No lockfile is tracked, and on a build
for another Python it recreates the repo-root .venv.
robot_viz no longer claims an unpinned isaaccapture fails to resolve;
the package index serves a release that is not the local build.
Part of #985.
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
* docs(examples): add demo extras, venv reuse and drop soma's cmake step
The Sharpa and Wuji demos import their retargeters at startup, and step
4's extras include neither pink nor wuji_sdk, so both failed in the
step 4 venv. Their run sections now say to add grounding or wuji to the
extras step 4 installs, and the retargeting README table names them.
uv refuses to recreate an existing venv without --clear, even on the
same Python, so rerunning the step 4, noitom or oglo_tactile lines
failed. Step 4 now says to reuse a .venv on the build's Python and to
pass --clear only to switch Python.
soma's build block ran .venv/bin/cmake, which a step 4 venv lacks, to
stage isaacteleop_python into build/. The step 2 build already does
that, and the editable soma examples never read build/, so drop it.
Part of #985.
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
* fix(camera_viz): let setup --wheel find the isaacteleop transition wheel
The isaaccapture wheel depends on isaacteleop>=1!1.6.dev0, which only
the build's own wheel directory provides; the index serves isaacteleop
up to 1.5. setup installed the wheel by path with no --find-links, so
`camera_viz.sh setup --wheel` could not resolve any local build. Pass
the wheel's directory as --find-links.
Part of #985.
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
* docs(examples): reuse an existing venv, state editable rebuilds once
uv refuses to recreate an existing .venv without --clear, even on the
same Python, so the inline uv venv lines in noitom and oglo_tactile
now say to skip them on a matching venv and that --clear deletes its
packages.
Step 4 of Build from source now holds the one statement about examples
whose [tool.uv.sources] point at the checkout: they replace the wheel
with an editable build, and a C++ change needs --reinstall-package
isaaccapture. examples/README.md and the mcap_record_replay page link
to it instead of restating it, and the README names camera_viz and
vehicle_teleop as the examples that keep their own .venv.
camera_streaming's --wheel example named a glob, which expands to every
wheel in the directory, and relied on setup's default Python 3.12 while
a default build is cp311. It now names one install/wheels wheel with
--python 3.11, and the flag table lists --python.
noitom's Isaac Lab rebuild command moves after the launch block.
Part of #985.
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
* docs(examples): note when to skip uv venv in oxr and vehicle_teleop
Both READMEs gained an inline `uv venv` line in #1372 and #1375. uv refuses
an existing .venv without --clear, so say to skip the line when .venv already
runs that Python, as noitom and oglo_tactile do.
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
---------
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
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Description
Part of #985. Supersedes #1046; original commit by @jiwenc-nv.
oxr moves to the layout in
examples/README.md:pyproject.tomlat the example root (distisaaccapture-examples-oxr), sources underpython/isaaccapture_examples/oxr/(a PEP 420 namespace with no__init__.pyat that level), and hatchlingonly-include+sources. The package holds the two demos,modular_exampleandmodular_example_with_mcap, run withpython -m. It has no__main__.py, because the two are peers. The C++ demos undercpp/stay CMake and keep their install paths.The nine
test_*.pyscripts are tests against an OpenXR runtime, not example code. They move totests/python/xr_runtime/instead of shipping in the package. CloudXR GPU CI runs the three listed inscripts/run_tests_with_cloudxr.sh.deps/cloudxr/Dockerfile.testcopies the directory to/app/tests, so that list keeps the same bare names.Run commands change. The old ones no longer work:
The first commit is @jiwenc-nv's from #1046, cherry-picked onto current
main. It conflicted in two places:main's text, and his path edits are applied to the pages they moved to.examples/oxr/python/README.md, which the commit deletes and docs: point source-build entry points at the shared prerequisites #1361 had edited. It stays deleted, because the prerequisites link docs: point source-build entry points at the shared prerequisites #1361 added is already inexamples/oxr/README.md.The commit message records both. #1177's message change to
test_package_version.pycarries over.A second commit moves the test scripts and fixes what that leaves behind:
Dockerfile.testcopiestests/python/xr_runtime/, and the runner's script list is back to bare names. The image's default command,python test_extensions.py, still resolves.pyproject.tomldepends onisaaccapture[cloudxr], because both modules importCloudXRLauncher. numpy is dropped because nothing in the package imports it.A merge of
main(bringing in #1367) and a third commit address review:XR_RUNTIME_JSON, so the README no longer exports it. It says how to stop the service and what--accept-euladoes.~/.cloudxr/run/cloudxr.env, asreferences/cloudxr.rstsays, instead of exporting a file name the runtime never writes.isaaccaptureinstalls as Build from source step 4 does: pinned toX.Y+localwith--reinstall-package, into a venv made with the build's Python. The README also says which scripts CI runs and how to run one by hand.--plugin-root. It defaults toinstall_tree.plugins_dir(), which returns<checkout>/install/plugins(the checkout root is the nearest directory withVERSIONandCMakeLists.txt) or, in the test image,/app/install/plugins. It no longer walks to/, so a nested worktree does not pick up another checkout's plugins. The old parent-directory count pointed at/pluginsin the test image and at a missing<checkout>/pluginsin the source tree.modular_example_with_mcapandtest_oak_camera.pywrite their MCAP under./recordings/, which the root.gitignorecovers.modular_example_with_mcap's docstring namesMcapRecordingConfig, not parametersDeviceIOSession.run()no longer takes.test_oak_camera.pya test script and give its run line.A fourth commit completes the run instructions:
references/cloudxr.rst: a system OpenXR runtime also needsISAAC_TELEOP_DISABLE_CXR_ENV_CHECKS, orOpenXRSessionrefuses to start withoutNV_CXR_RUNTIME_DIR. The oxr README links that section for--no-launch-cloudxr-runtimeinstead of restating part of it, and its C++ section starts the service with--accept-eula.camera_plugin_oaktarget, andisaaccapturein the active environment.--plugin-rootand--modehelp print the real default through%(default)s..gitignoredescribes what lands in/recordings/instead of listing it.trackers/index.rstonly changes link targets; #1278 edits the same page and rebases after this PR. #1252 addsexamples/oxr/python/test_ego_camera.py, which must move totests/python/xr_runtime/when it rebases. Git will not flag it, because nothing it touches conflicts.Type of change
This PR breaks the direct invocations above. The installed Python example moves from
install/examples/oxr/python/toinstall/examples/oxr/, and the test scripts are no longer installed. The plugin scripts find the checkout'sinstall/pluginsby default and take--plugin-rootfor another prefix. The C++ binaries, theisaaccapturelibrary and the test-cloudxr script list are unchanged.Testing
x86_64/ Ubuntu 24.04, Python 3.12, against a localisaaccapture1.7 build.SKIP=check-copyright-year pre-commit run --all-filespasses.make -C docs current-docs(sphinx-build -W) passes. The rendered trackers, body tracking and OAK pages linktests/python/xr_runtime/and the packagedmodular_example.py, and the OAK page's CloudXR reference resolves.uv build --wheel examples/oxrproduces a wheel with onlyisaaccapture_examples/oxr/{__init__,modular_example,modular_example_with_mcap}.py, noisaaccapture_examples/__init__.py, andRequires-Dist: isaaccapture[cloudxr].isaaccapture[cloudxr]wheel,python -m isaaccapture_examples.oxr.modular_example --helpand... .modular_example_with_mcap --helpwork from/, installed both as a wheel and withuv pip install -e ./examples/oxr.modular_example_with_mcap --no-launch-cloudxr-runtimecreatesrecordings/in its working directory before it needs a runtime.test_package_version.pypasses. The three plugin scripts'--helpshow--plugin-rootand its default, also from a checkout path containing%. From a worktree nested inside another checkout, the default is the worktree's owninstall/plugins.deps/cloudxr/Dockerfile.test(Python 3.12) from a repo-shaped context holding this branch'stests/python/xr_runtime/and the local install tree./app/testsholds all nine scripts andinstall_tree.py, and the threeCXR_PYTHON_GPU_TESTSnames resolve from the compose working directory.test_package_version.pypasses against the version derived from the wheel name, and--plugin-rootdefaults to/app/install/plugins.Not covered yet:
test_package_version.py,test_extensions.pyandtest_modular.pyagainst the CloudXR runtime, from the new image. Passed for Python 3.11, 3.12 and 3.13 on 0a8435d (run 40637463761).modular_exampleandmodular_example_with_mcapwith a headset over CloudXR.test_synthetic_hands.pyandtest_hand_inactive_on_plugin_stop.pyfrom the checkout aftercmake --install build, which findinstall/plugins/controller_synthetic_hands.test_oak_camera.py --mode schema-pusherwith an OAK camera.Checklist
SKIP=check-copyright-year pre-commit run --all-filesgit commit -s) per the DCOSummary by CodeRabbit
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