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examples(haptic_feedback, cloudxr_mujoco_teleop): package under isaaccapture_examples - #1366
Part of #985. Brings #1044 and #1045, which merged only into jiwenc-nv/examples-lerobot, onto main; original commits by @jiwenc-nv.
Both examples move to the layout in examples/README.md: pyproject.toml at the example root, sources under python/isaaccapture_examples/<name>/ (a PEP 420 namespace with no __init__.py at that level), and hatchling only-include + sources. vive_assets/ moves inside the cloudxr_mujoco_teleop package, because both MuJoCo scripts resolve it from __file__, so the meshes now ship in the wheel beside them. The REUSE.toml override for examples/cloudxr_mujoco_teleop/** still covers the nested paths, and the assets stay in Git LFS.
Usages that stop working
cd examples/haptic_feedback/python && uv run controller_haptic_example.py (and hand_pinch_haptic_example.py): neither pyproject.toml nor the scripts are in python/ any more.
uv run visualize_poses_mujoco_example.py / uv run visualize_hands_mujoco_example.py (the old README's form) and python <script>.py, both run from examples/cloudxr_mujoco_teleop/: the scripts moved into the package.
uv run <script>.py in the CMake install tree: haptic_feedback now installs to install/examples/haptic_feedback/, with pyproject.toml at that level and the modules under python/isaaccapture_examples/haptic_feedback/. It no longer installs to install/examples/haptic_feedback/python/. cloudxr_mujoco_teleop is not installed by CMake.
New run commands (from the repo root)
Install isaaccapture built from this tree into the active environment first, for example uv pip install "isaaccapture[cloudxr]" --find-links=./install/wheels/. Public PyPI has only a 0.0.0a0 placeholder.
Both examples now depend on isaaccapture[cloudxr] instead of isaaccapture. controller_haptic_example and both MuJoCo viewers enter CloudXRLauncher.launch_context(), which launches the CloudXR runtime by default, and its service exits without websockets. The installed-copy pin in cmake/InstallPythonExample.cmake keeps the extra.
Docs and stale references
#1044's edit to docs/source/device/haptic_feedback.rst conflicted, because main has since replaced that page with a redirect to docs/source/references/haptic_feedback.rst. The redirect stays as it is, and a separate commit applies the run-command change to the references page. That commit also fixes the other references to the old paths:
The haptic_feedback README's docs link, which was one level too deep after the README moved up and pointed at the redirect page.
examples/robot_viz/README.md and src/viz/robot_twin/cpp/frames.hpp, which cite visualize_poses_mujoco_example.py.
The MuJoCo modules' Usage docstrings, which are also their --help text, and the --assets-dir default, which read as relative to the working directory.
The commit with the dependency change also adds the install-isaaccapture-first step to both READMEs and the reference page, and lists __init__.py in the MuJoCo README's layout tree.
A last commit makes two more changes. It replaces the packaging-rule comments in both pyproject.toml files with the one-line pointer to examples/README.md that the other converted examples use. It also removes the MuJoCo README's claim that [ / ] cycle to play_area and follow_head cameras. Neither generated model defines a camera, so there is nothing to cycle to; the claim was already wrong on main.
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
Testing
x86_64 / Ubuntu, Python 3.12, against a local isaaccapture 1.7 wheel.
SKIP=check-copyright-year pre-commit run --all-files passes; clang-format-14 --dry-run --Werror is clean on frames.hpp.
make -C docs current-docs (sphinx-build -W) passes; the rendered references page shows the new commands.
uv build --wheel for both examples. Neither wheel contains isaaccapture_examples/__init__.py. The cloudxr_mujoco_teleop wheel carries all vive_assets/* files as real binaries, not LFS pointers.
Both wheels declare Requires-Dist: isaaccapture[cloudxr]. Installing them resolves the extra against the local wheel, and isaaccapture.cloudxr.wss (which needs websockets) imports.
Building both MuJoCo models (visualize_hands_mujoco_example with and without the head) gives ncam == 0, and neither module defines play_area or follow_head.
From the built wheels and from uv pip install -e of both examples together: python -m ... --help exits 0 for controller_haptic_example, visualize_poses_mujoco_example and visualize_hands_mujoco_example; hand_pinch_haptic_example (no CLI) imports; ASSETS_DIR resolves to the packaged vive_assets/.
No new tests: apart from --help text the code is unchanged, and the wheel, dependency and --help checks above cover the move and the new extra.
Not covered yet: live runs on hardware.
controller_haptic_example with a controller: pulling a trigger rumbles that controller.
hand_pinch_haptic_example with a haptic glove plugin (such as Manus) running: pinching a fingertip toward the thumb vibrates that finger.
visualize_poses_mujoco_example and visualize_hands_mujoco_example with a headset over CloudXR: the meshes load from the packaged vive_assets/.
The CMake install tree was not built here: the installed haptic_feedback layout described above comes from cmake/InstallPythonExample.cmake.
Make the haptic examples installable and runnable with the shared example package convention.
Part of #985.
Signed-off-by: Jiwen Cai <jiwenc@nvidia.com>
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
Package the CloudXR MuJoCo examples with the assets their modules locate beside themselves.
Part of #985.
Signed-off-by: Jiwen Cai <jiwenc@nvidia.com>
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
The packaging commits moved both examples under python/isaaccapture_examples/
but left references to the old paths and run commands:
- docs/source/references/haptic_feedback.rst, which main now hosts in place
of the device page, still ran `uv run controller_haptic_example.py` from
examples/haptic_feedback/python.
- The haptic_feedback README linked the device page stub through a relative
path that was one level too deep after the README moved up.
- examples/robot_viz/README.md and src/viz/robot_twin/cpp/frames.hpp cited
visualize_poses_mujoco_example.py at its old path.
- The cloudxr_mujoco_teleop module docstrings, which double as --help text,
still showed `python <script>.py`, and the --assets-dir default read as
cwd-relative.
Part of #985.
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
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Walkthrough
The CloudXR MuJoCo teleoperation example now uses Hatchling packaging and documents editable installation and module-based launch commands. Its documented package layout and related references were updated. The haptic feedback example now has root-level packaging and documentation, and its CMake install destination changed. Its reference documentation now describes installing and launching the example as a module.
NVIDIA/IsaacCapture#1348: Updates the legacy haptic feedback page to redirect to the reference page changed here.
Merge Risk: Low · previous review dadbc
The documented install command for the haptic feedback example can fail to find the locally built isaaccapture wheel when run from the install prefix. Fix the command in the docs before merging; the rest of the packaging move looks sound.
Pre-merge checks: 4 · 1
Failed checks: 1 warning
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Write docstrings for the functions missing them to satisfy the coverage threshold.
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Title check
The title names the two examples (haptic_feedback and cloudxr_mujoco_teleop) and the main change, which is moving them into the isaaccapture_examples package layout. The raw summary and PR objectives …
Full details: Title check
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The title names the two examples (haptic_feedback and cloudxr_mujoco_teleop) and the main change, which is moving them into the isaaccapture_examples package layout. The raw summary and PR objectives confirm this: each example gets a pyproject.toml, sources move under python/isaaccapture_examples/<name>/, and run commands and docs are updated to match. The title is specific and accurate, and it is 85 characters, which is slightly long but still readable.
Full details: Docstring Coverage
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Docstring coverage is 0.00% 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 1 functions across 5 files. (7 skipped: 7 unsupported.)
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Write docstrings for the functions missing them to satisfy the coverage threshold.
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Review comments at @docs/source/references/haptic_feedback.rst:
- Line 74: Update the editable-install command in the haptic feedback
instructions to run from the examples/haptic_feedback directory so uv loads its
pyproject.toml configuration, or explicitly pass the wheels directory as a
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examples/cloudxr_mujoco_teleop/python/isaaccapture_examples/cloudxr_mujoco_teleop/vive_assets/generic_hmd.obj is excluded by !**/*.obj
examples/cloudxr_mujoco_teleop/python/isaaccapture_examples/cloudxr_mujoco_teleop/vive_assets/generic_hmd_color.png is excluded by !**/*.png
examples/cloudxr_mujoco_teleop/python/isaaccapture_examples/cloudxr_mujoco_teleop/vive_assets/vive_focus3_controller_left.obj is excluded by !**/*.obj
examples/cloudxr_mujoco_teleop/python/isaaccapture_examples/cloudxr_mujoco_teleop/vive_assets/vive_focus3_controller_left_color.png is excluded by !**/*.png
examples/cloudxr_mujoco_teleop/python/isaaccapture_examples/cloudxr_mujoco_teleop/vive_assets/vive_focus3_controller_right.obj is excluded by !**/*.obj
examples/cloudxr_mujoco_teleop/python/isaaccapture_examples/cloudxr_mujoco_teleop/vive_assets/vive_focus3_controller_right_color.png is excluded by !**/*.png
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…mples
controller_haptic_example and both MuJoCo viewers enter
CloudXRLauncher.launch_context(), which launches the CloudXR runtime by
default. Its service imports websockets and exits without it, so depend on
the cloudxr extra. The installed-copy pin in InstallPythonExample.cmake
keeps the extra.
The READMEs and the haptic feedback reference page now say to install the
isaaccapture wheel built from this tree before the example, since the
dependency does not resolve to it on its own. The MuJoCo README's layout
tree also lists the package __init__.py.
Part of #985.
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
ivany-nv
changed the title
examples: package haptic_feedback and cloudxr_mujoco_teleop under isaaccapture_examples
examples(haptic_feedback, cloudxr_mujoco_teleop): package under isaaccapture_examples
Oct 28, 2026
Both pyproject.toml files restated the packaging rules that
examples/README.md owns. They now carry the one-line pointer the other
converted examples use. The vive_assets comment no longer counts the
modules that resolve it.
The MuJoCo README said `[` / `]` cycle to `play_area` and `follow_head`
cameras, but neither generated model defines a camera, so there is
nothing to cycle to. The line is removed.
Part of #985.
Signed-off-by: Ivan Yang <yifanyang@nvidia.com>
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Description
Part of #985. Brings #1044 and #1045, which merged only into
jiwenc-nv/examples-lerobot, ontomain; original commits by @jiwenc-nv.Both examples move to the layout in
examples/README.md:pyproject.tomlat the example root, sources underpython/isaaccapture_examples/<name>/(a PEP 420 namespace with no__init__.pyat that level), and hatchlingonly-include+sources.vive_assets/moves inside thecloudxr_mujoco_teleoppackage, because both MuJoCo scripts resolve it from__file__, so the meshes now ship in the wheel beside them. TheREUSE.tomloverride forexamples/cloudxr_mujoco_teleop/**still covers the nested paths, and the assets stay in Git LFS.Usages that stop working
cd examples/haptic_feedback/python && uv run controller_haptic_example.py(andhand_pinch_haptic_example.py): neitherpyproject.tomlnor the scripts are inpython/any more.uv run visualize_poses_mujoco_example.py/uv run visualize_hands_mujoco_example.py(the old README's form) andpython <script>.py, both run fromexamples/cloudxr_mujoco_teleop/: the scripts moved into the package.uv run <script>.pyin the CMake install tree:haptic_feedbacknow installs toinstall/examples/haptic_feedback/, withpyproject.tomlat that level and the modules underpython/isaaccapture_examples/haptic_feedback/. It no longer installs toinstall/examples/haptic_feedback/python/.cloudxr_mujoco_teleopis not installed by CMake.New run commands (from the repo root)
Install
isaaccapturebuilt from this tree into the active environment first, for exampleuv pip install "isaaccapture[cloudxr]" --find-links=./install/wheels/. Public PyPI has only a0.0.0a0placeholder.Dependency
Both examples now depend on
isaaccapture[cloudxr]instead ofisaaccapture.controller_haptic_exampleand both MuJoCo viewers enterCloudXRLauncher.launch_context(), which launches the CloudXR runtime by default, and its service exits withoutwebsockets. The installed-copy pin incmake/InstallPythonExample.cmakekeeps the extra.Docs and stale references
#1044's edit to
docs/source/device/haptic_feedback.rstconflicted, becausemainhas since replaced that page with a redirect todocs/source/references/haptic_feedback.rst. The redirect stays as it is, and a separate commit applies the run-command change to the references page. That commit also fixes the other references to the old paths:haptic_feedbackREADME's docs link, which was one level too deep after the README moved up and pointed at the redirect page.examples/robot_viz/README.mdandsrc/viz/robot_twin/cpp/frames.hpp, which citevisualize_poses_mujoco_example.py.Usagedocstrings, which are also their--helptext, and the--assets-dirdefault, which read as relative to the working directory.The commit with the dependency change also adds the install-
isaaccapture-first step to both READMEs and the reference page, and lists__init__.pyin the MuJoCo README's layout tree.A last commit makes two more changes. It replaces the packaging-rule comments in both
pyproject.tomlfiles with the one-line pointer toexamples/README.mdthat the other converted examples use. It also removes the MuJoCo README's claim that[/]cycle toplay_areaandfollow_headcameras. Neither generated model defines a camera, so there is nothing to cycle to; the claim was already wrong onmain.Type of change
Testing
x86_64/ Ubuntu, Python 3.12, against a localisaaccapture1.7 wheel.SKIP=check-copyright-year pre-commit run --all-filespasses;clang-format-14 --dry-run --Werroris clean onframes.hpp.make -C docs current-docs(sphinx-build -W) passes; the rendered references page shows the new commands.uv build --wheelfor both examples. Neither wheel containsisaaccapture_examples/__init__.py. Thecloudxr_mujoco_teleopwheel carries allvive_assets/*files as real binaries, not LFS pointers.Requires-Dist: isaaccapture[cloudxr]. Installing them resolves the extra against the local wheel, andisaaccapture.cloudxr.wss(which needswebsockets) imports.visualize_hands_mujoco_examplewith and without the head) givesncam == 0, and neither module definesplay_areaorfollow_head.uv pip install -eof both examples together:python -m ... --helpexits 0 forcontroller_haptic_example,visualize_poses_mujoco_exampleandvisualize_hands_mujoco_example;hand_pinch_haptic_example(no CLI) imports;ASSETS_DIRresolves to the packagedvive_assets/.--helptext the code is unchanged, and the wheel, dependency and--helpchecks above cover the move and the new extra.Not covered yet: live runs on hardware.
controller_haptic_examplewith a controller: pulling a trigger rumbles that controller.hand_pinch_haptic_examplewith a haptic glove plugin (such as Manus) running: pinching a fingertip toward the thumb vibrates that finger.visualize_poses_mujoco_exampleandvisualize_hands_mujoco_examplewith a headset over CloudXR: the meshes load from the packagedvive_assets/.The CMake install tree was not built here: the installed
haptic_feedbacklayout described above comes fromcmake/InstallPythonExample.cmake.Checklist
SKIP=check-copyright-year pre-commit run --all-filesgit commit -s) per the DCOSummary by CodeRabbit