examples(teleop_ros2): package under isaaccapture_examples

.github/workflows/build-ubuntu.yml

@@ -782,7 +782,7 @@ jobs:
             -v /tmp:/tmp \
             -e PYTHONUNBUFFERED=1 \
             --entrypoint bash teleop_ros2_ref:${{ env.ROS_DISTRO }} -c \
-            "source /usr/local/bin/teleop-env-setup && exec uv run --no-sync teleop_ros2_node.py --ros-args -p mode:=$mode -p hand_retargeter:=$hand_retargeter -p hand_tracking_provider:=$hand_tracking_provider -p mcap_replay_path:=$REPLAY_MCAP" >/dev/null
+            "source /usr/local/bin/teleop-env-setup && exec uv run --no-sync python -m isaaccapture_examples.teleop_ros2 --ros-args -p mode:=$mode -p hand_retargeter:=$hand_retargeter -p hand_tracking_provider:=$hand_tracking_provider -p mcap_replay_path:=$REPLAY_MCAP" >/dev/null
 
           deadline=$((SECONDS + READINESS_TIMEOUT_SEC))
           while [ "$SECONDS" -lt "$deadline" ]; do
@@ -808,7 +808,7 @@ jobs:
             if docker exec \
               -e PYTHONUNBUFFERED=1 \
               "$RUN_NAME" bash -c \
-              "source /usr/local/bin/teleop-env-setup && exec uv run --no-sync python -m integration_tests.teleop_ros2_topic_verifier --mode $mode --hand-retargeter $hand_retargeter --hand-tracking-provider $hand_tracking_provider"; then
+              "source /usr/local/bin/teleop-env-setup && exec uv run --no-sync python -m isaaccapture_examples.teleop_ros2.integration_tests.teleop_ros2_topic_verifier --mode $mode --hand-retargeter $hand_retargeter --hand-tracking-provider $hand_tracking_provider"; then
               verifier_rc=0
             else
               verifier_rc=$?
@@ -889,7 +889,7 @@ jobs:
           -e PYTHONUNBUFFERED=1 \
           -e ACCEPT_CLOUDXR_EULA=Y \
           --entrypoint bash "$IMAGE" -c \
-          "source /usr/local/bin/teleop-env-setup && exec uv run --no-sync teleop_ros2_node.py --ros-args -p mode:=$MODE -p hand_retargeter:=$HAND_RETARGETER -p hand_tracking_provider:=$HAND_TRACKING_PROVIDER -p cloudxr_accept_eula:=true" >/dev/null
+          "source /usr/local/bin/teleop-env-setup && exec uv run --no-sync python -m isaaccapture_examples.teleop_ros2 --ros-args -p mode:=$MODE -p hand_retargeter:=$HAND_RETARGETER -p hand_tracking_provider:=$HAND_TRACKING_PROVIDER -p cloudxr_accept_eula:=true" >/dev/null
 
         fail() {
           echo "Error: $1"

examples/teleop_ros2/AGENTS.md

@@ -12,7 +12,7 @@ core library. Consumed by Isaac ROS Teleop.
 ## Docker Validation
 
 - This reference integration needs ROS 2 plus the built `isaaccapture` wheel, which are not present in the dev container. Run/validate it inside the `examples/teleop_ros2/Dockerfile` image (the same path CI's `test-teleop-ros2` job uses), not directly on the host.
-- To exercise it without live XR hardware, replay an MCAP fixture: build the image, run the installed `teleop_ros2_mcap_generator` to write a fixture, then run `teleop_ros2_node.py` with `-p mode:=<mode> -p mcap_replay_path:=<file>` and check topics (e.g. via `integration_tests/teleop_ros2_topic_verifier.py`). Replay mode does not launch CloudXR, so no GPU/NGC runtime is required. Share the fixture across containers with `-v /tmp:/tmp` and `--network host` for ROS 2 discovery.
+- To exercise it without live XR hardware, replay an MCAP fixture: build the image, run the installed `teleop_ros2_mcap_generator` to write a fixture, then run `python -m isaaccapture_examples.teleop_ros2` with `-p mode:=<mode> -p mcap_replay_path:=<file>` and check topics (e.g. via `python -m isaaccapture_examples.teleop_ros2.integration_tests.teleop_ros2_topic_verifier`). Replay mode does not launch CloudXR, so no GPU/NGC runtime is required. Share the fixture across containers with `-v /tmp:/tmp` and `--network host` for ROS 2 discovery.
 - The image build disables some CI gates (`-DENABLE_CLANG_FORMAT_CHECK=OFF`, `-DBUILD_TESTING=OFF`), so a green Docker build does not mean C++ formatting or ctest pass. Validate those separately.
 - When creating temporary Docker images for `examples/teleop_ros2` validation, remove them before finishing the task unless the user explicitly asks to keep them.
 

examples/teleop_ros2/CMakeLists.txt

@@ -8,7 +8,7 @@ include(${CMAKE_SOURCE_DIR}/cmake/InstallPythonExample.cmake)
 
 add_subdirectory(cpp/integration_tests)
 
-install_python_example(DESTINATION examples/teleop_ros2/python)
+install_python_example(DESTINATION examples/teleop_ros2)
 
 install(FILES README.md Dockerfile
     DESTINATION examples/teleop_ros2

examples/teleop_ros2/Dockerfile

@@ -194,7 +194,7 @@ RUN if [ "${MANUS_ACCEPT_EULA}" = "YES" ] && [ "${TARGETARCH}" = "amd64" ]; then
         && rm -rf /var/lib/apt/lists/*; \
     fi
 
-WORKDIR /opt/isaaccapture/install/examples/teleop_ros2/python
+WORKDIR /opt/isaaccapture/install/examples/teleop_ros2
 
 # The node launches the CloudXR runtime in-process via CloudXRLauncher, so this
 # image needs GPU access and the NVIDIA Vulkan/EGL ICDs. Run with --gpus all.
@@ -263,4 +263,5 @@ COPY tests/python/examples/teleop_ros2/ tests/
 FROM runtime_base AS runtime
 
 # Use --no-sync because the venv is already provisioned above.
-ENTRYPOINT ["/usr/local/bin/teleop-entrypoint", "uv", "run", "--no-sync", "teleop_ros2_node.py"]
+ENTRYPOINT ["/usr/local/bin/teleop-entrypoint", "uv", "run", "--no-sync", \
+            "python", "-m", "isaaccapture_examples.teleop_ros2"]

examples/teleop_ros2/README.md

@@ -61,7 +61,7 @@ Source-tree users can populate the same local asset directory from the repo root
 python3 examples/teleop_ros2/scripts/fetch_sharpa_wave_urdfs.py
 ```
 
-Robot assets are never downloaded by `teleop_ros2_node.py` at runtime.
+Robot assets are never downloaded by the node at runtime.
 
 ### OpenXR hand input sources
 

examples/teleop_ros2/assets/urdf/sharpa_standalone/README.md

@@ -18,4 +18,4 @@ Source-tree users can populate this directory from the repo root:
 python3 examples/teleop_ros2/scripts/fetch_sharpa_wave_urdfs.py
 ```
 
-These robot model assets are not fetched at runtime by `teleop_ros2_node.py`.
+These robot model assets are not fetched at runtime by the node.

examples/teleop_ros2/pyproject.toml

@@ -0,0 +1,38 @@
+# 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-teleop-ros2"
+version = "0.1.0"
+description = "Isaac Teleop ROS 2 reference publisher"
+requires-python = ">=3.11,<3.14"
+dependencies = [
+    "isaaccapture[cloudxr,grounding,retargeters,wuji]",
+    "msgpack",
+    "msgpack-numpy",
+    # The ROS node installs pink_ik and dexpilot together. Require nlopt>=2.8 so
+    # dex-retargeting resolves to 0.5.x, keeping the env on NumPy 2 / Pinocchio 3.
+    "nlopt>=2.8.0",
+]
+
+[project.optional-dependencies]
+dev = [
+    "pytest",
+]
+
+[tool.pytest.ini_options]
+testpaths = ["../../tests/python/examples/teleop_ros2"]
+
+# `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 `teleop_ros2/`.
+[tool.hatch.build.targets.wheel]
+only-include = ["python/isaaccapture_examples/teleop_ros2"]
+sources = ["python"]

examples/teleop_ros2/python/isaaccapture_examples/teleop_ros2/__init__.py

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

examples/teleop_ros2/python/isaaccapture_examples/teleop_ros2/__main__.py

@@ -0,0 +1,6 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+from .teleop_ros2_node import main
+
+raise SystemExit(main())

examples/teleop_ros2/python/integration_tests/teleop_ros2_topic_verifier.py → examples/teleop_ros2/python/isaaccapture_examples/teleop_ros2/integration_tests/teleop_ros2_topic_verifier.py

@@ -16,7 +16,7 @@
 
 import msgpack
 import rclpy
-from constants import (
+from ..constants import (
     HAND_RETARGETERS,
     HAND_TRACKING_PROVIDERS,
     LEFT_SHARPA_WAVE_JOINT_NAMES,

examples/teleop_ros2/python/messages.py → examples/teleop_ros2/python/isaaccapture_examples/teleop_ros2/messages.py

@@ -25,20 +25,20 @@
     HeadInputIndex,
 )
 
-from constants import (
+from .constants import (
     BODY_JOINT_NAMES,
     HAND_POSE_JOINT_INDICES,
     HAND_POSE_NAMES,
     EePoseFrame,
 )
-from geometry import (
+from .geometry import (
     apply_manus_controller_to_hand_pose,
     apply_relative_pose,
     apply_transform_to_pose,
     make_transform,
     to_pose,
 )
-from tensor_group_helpers import (
+from .tensor_group_helpers import (
     controller_aim_is_valid,
     hand_wrist_is_valid,
     head_is_valid,

examples/teleop_ros2/python/node_parameters.py → examples/teleop_ros2/python/isaaccapture_examples/teleop_ros2/node_parameters.py

@@ -19,7 +19,7 @@
 from pathlib import Path
 
 import numpy as np
-from constants import (
+from .constants import (
     HAND_RETARGETERS,
     HAND_TRACKING_PROVIDERS,
     TELEOP_MODES,
@@ -232,7 +232,9 @@ def _load_config_asset_root(node: Node) -> Path:
                 f"config_asset_root directory not found: {config_asset_root}"
             )
     else:
-        config_asset_root = Path(__file__).resolve().parents[1]
+        # Four levels up is the example root, where configs/ and assets/ sit --
+        # in the source tree and in the install tree alike.
+        config_asset_root = Path(__file__).resolve().parents[3]
     node.get_logger().info(f"Config/asset root: {config_asset_root}")
     return config_asset_root
 

examples/teleop_ros2/python/session_config.py → examples/teleop_ros2/python/isaaccapture_examples/teleop_ros2/session_config.py

@@ -6,12 +6,12 @@
 
 from collections.abc import Sequence
 
-from assets import (
+from .assets import (
     resolve_dex_sharpa_config,
     resolve_dex_sharpa_urdf,
     resolve_sharpa_mjcf,
 )
-from constants import (
+from .constants import (
     DEX_HANDTRACKING_TO_BASELINK_FRAME_TRANSFORM,
     LEFT_FINGER_JOINT_NAMES,
     LEFT_SHARPA_WAVE_JOINT_NAMES,
@@ -49,12 +49,12 @@
     SessionMode,
     TeleopSessionConfig,
 )
-from node_parameters import NodeParameters
-from teleop_ros2_retargeters import (
+from .node_parameters import NodeParameters
+from .teleop_ros2_retargeters import (
     HandTrackingGateRetargeter,
     JointNameAliasRetargeter,
 )
-from tensor_group_helpers import joint_names_from_group_type
+from .tensor_group_helpers import joint_names_from_group_type
 
 
 def _maybe_alias_hand_joints(

examples/teleop_ros2/python/teleop_profiles.py → examples/teleop_ros2/python/isaaccapture_examples/teleop_ros2/teleop_profiles.py

@@ -8,7 +8,7 @@
 from dataclasses import dataclass, replace
 from typing import TypedDict, cast
 
-from constants import (
+from .constants import (
     TRACKED_HAND_RETARGETERS,
     HandRetargeter,
     HandTrackingProvider,

examples/teleop_ros2/python/teleop_ros2_node.py → examples/teleop_ros2/python/isaaccapture_examples/teleop_ros2/teleop_ros2_node.py

@@ -58,7 +58,7 @@
 from isaaccapture.cloudxr import CloudXRLauncher
 from isaaccapture.cloudxr.oob_teleop_env import TELEOP_CLIENT_ROUTE_ENV
 from isaaccapture.teleop_session_manager import SessionMode, TeleopSession
-from messages import (
+from .messages import (
     build_controller_msg,
     build_ee_output_from_controllers,
     build_ee_output_from_hands,
@@ -68,17 +68,17 @@
     build_head_output,
     build_root_command_output,
 )
-from teleop_profiles import (
+from .teleop_profiles import (
     PublishType,
     SessionResult,
     resolve_teleop_profile_spec,
     validate_session_result,
 )
-from node_parameters import (
+from .node_parameters import (
     NodeParameters,
     create_node_parameters,
 )
-from session_config import build_session_config
+from .session_config import build_session_config
 
 
 class TeleopRos2Node(Node):

tests/python/examples/teleop_ros2/CMakeLists.txt

@@ -3,7 +3,7 @@
 #
 # teleop_ros2 unit tests. Each test_*.py registers as its own ctest entry under
 # the ``teleop_ros2`` label. BUILD_EXAMPLE_TELEOP_ROS2 supplies the required ROS
-# environment; the example source directory supplies its importable modules.
+# environment; conftest.py puts the example's namespace root on sys.path.
 
 file(GLOB TEST_FILES
     RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}"
@@ -20,7 +20,7 @@ foreach(test_file ${TEST_FILES})
     )
     set_tests_properties("teleop_ros2_${test_name}" PROPERTIES
         ENVIRONMENT
-            "PYTHONPATH=${CMAKE_BINARY_DIR}/python_package/$<CONFIG>:${CMAKE_SOURCE_DIR}/examples/teleop_ros2/python"
+            "PYTHONPATH=${CMAKE_BINARY_DIR}/python_package/$<CONFIG>"
         LABELS "teleop_ros2"
     )
 endforeach()

tests/python/examples/teleop_ros2/conftest.py

@@ -0,0 +1,27 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+# Resolve `isaaccapture_examples.teleop_ros2` against the in-tree source, so a
+# bare `pytest` works and the ctest ENVIRONMENT needs no example path.
+#
+# These files are also copied into the teleop_ros2 container
+# (Dockerfile: `COPY tests/python/examples/teleop_ros2/ tests/`), where
+# tests/python/repo_paths.py does not exist and the example is already installed
+# into the venv by `uv sync`. So the source-tree wiring is conditional: without
+# it, importing repo_paths raises and every test errors during collection.
+
+import sys
+from pathlib import Path
+
+_tests_python = Path(__file__).resolve().parents[2]
+
+if (_tests_python / "repo_paths.py").is_file():
+    if str(_tests_python) not in sys.path:
+        sys.path.insert(0, str(_tests_python))
+
+    from repo_paths import repo_root  # noqa: E402
+
+    # python/, not python/isaaccapture_examples/: that is a PEP 420 namespace. Do
+    # not add an __init__.py to make an import work -- it breaks the installed
+    # wheel's ability to share the namespace.
+    sys.path.insert(0, str(repo_root() / "examples" / "teleop_ros2" / "python"))

tests/python/examples/teleop_ros2/test_geometry.py

@@ -8,7 +8,7 @@
 import pytest
 from scipy.spatial.transform import Rotation
 
-from geometry import (
+from isaaccapture_examples.teleop_ros2.geometry import (
     apply_manus_controller_to_hand_pose,
     apply_relative_pose,
     apply_transform_to_pose,

tests/python/examples/teleop_ros2/test_hand_tracking_gate_retargeter.py

@@ -11,7 +11,9 @@
     TensorGroup,
     TensorGroupType,
 )
-from teleop_ros2_retargeters import HandTrackingGateRetargeter
+from isaaccapture_examples.teleop_ros2.teleop_ros2_retargeters import (
+    HandTrackingGateRetargeter,
+)
 
 JOINTS = ["thumb_j0", "thumb_j1"]
 

tests/python/examples/teleop_ros2/test_messages.py

@@ -31,8 +31,12 @@
     RobotHandJoints,
 )
 
-from constants import BODY_JOINT_NAMES, HAND_POSE_NAMES, EePoseFrame
-from messages import (
+from isaaccapture_examples.teleop_ros2.constants import (
+    BODY_JOINT_NAMES,
+    HAND_POSE_NAMES,
+    EePoseFrame,
+)
+from isaaccapture_examples.teleop_ros2.messages import (
     build_controller_msg,
     build_ee_output_from_controllers,
     build_ee_output_from_hands,

tests/python/examples/teleop_ros2/test_node_parameters.py

@@ -7,9 +7,15 @@
 from types import SimpleNamespace
 
 import pytest
-from constants import HandRetargeter, HandTrackingProvider, TeleopMode
+from isaaccapture_examples.teleop_ros2.constants import (
+    HandRetargeter,
+    HandTrackingProvider,
+    TeleopMode,
+)
 from isaaccapture.teleop_session_manager import SessionMode
-from node_parameters import _load_hand_tracking_provider
+from isaaccapture_examples.teleop_ros2.node_parameters import (
+    _load_hand_tracking_provider,
+)
 
 
 class _Logger:

tests/python/examples/teleop_ros2/test_teleop_profiles.py

@@ -7,8 +7,8 @@
 from types import SimpleNamespace
 
 import pytest
-import session_config
-from constants import (
+from isaaccapture_examples.teleop_ros2 import session_config
+from isaaccapture_examples.teleop_ros2.constants import (
     LEFT_WUJI_HAND_JOINT_NAMES,
     RIGHT_WUJI_HAND_JOINT_NAMES,
     TELEOP_MODES,
@@ -19,7 +19,7 @@
     resolve_hand_retargeter,
 )
 from isaaccapture.teleop_session_manager import SessionMode
-from teleop_profiles import (
+from isaaccapture_examples.teleop_ros2.teleop_profiles import (
     TELEOP_PROFILE_SPECS,
     PublishType,
     TeleopProfile,