diff --git a/.github/workflows/build-ubuntu.yml b/.github/workflows/build-ubuntu.yml
index 9761e7f440..53e72da834 100644
--- a/.github/workflows/build-ubuntu.yml
+++ b/.github/workflows/build-ubuntu.yml
@@ -741,7 +741,7 @@ 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:=$hand_retargeter -p mcap_replay_path:=$REPLAY_MCAP" >/dev/null
+            "source /usr/local/bin/teleop-env-setup && exec uv run --no-sync python -m isaacteleop_examples.teleop_ros2 --ros-args -p mode:=$mode -p hand_retargeter:=$hand_retargeter -p mcap_replay_path:=$REPLAY_MCAP" >/dev/null
 
           deadline=$((SECONDS + READINESS_TIMEOUT_SEC))
           while [ "$SECONDS" -lt "$deadline" ]; do
@@ -767,7 +767,7 @@ jobs:
             if docker exec \
               -e PYTHONUNBUFFERED=1 \
               "$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"; then
+              "source /usr/local/bin/teleop-env-setup && exec uv run --no-sync python -m isaacteleop_examples.teleop_ros2.integration_tests.teleop_ros2_topic_verifier --mode $mode --hand-retargeter $hand_retargeter"; then
               verifier_rc=0
             else
               verifier_rc=$?
@@ -848,7 +848,7 @@ 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:=$HAND_RETARGETER -p hand_tracking_plugin:=$HAND_TRACKING_PLUGIN -p cloudxr_accept_eula:=true" >/dev/null
+          "source /usr/local/bin/teleop-env-setup && exec uv run --no-sync python -m isaacteleop_examples.teleop_ros2 --ros-args -p mode:=$MODE -p hand_retargeter:=$HAND_RETARGETER -p hand_tracking_plugin:=$HAND_TRACKING_PLUGIN -p cloudxr_accept_eula:=true" >/dev/null
 
         fail() {
           echo "Error: $1"
diff --git a/docs/source/device/trackers.rst b/docs/source/device/trackers.rst
index ba6bbfcfed..a8ccc1c818 100644
--- a/docs/source/device/trackers.rst
+++ b/docs/source/device/trackers.rst
@@ -260,9 +260,9 @@ reads the PICO ``XR_BD_body_tracking`` extension directly.
 
   - :code-file:`examples/schemaio/full_body_printer.cpp`
   - :code-file:`examples/mcap_record_replay/cpp/record_full_body.cpp`
-  - :code-file:`examples/mcap_record_replay/python/live_full_body.py`
-  - :code-file:`examples/mcap_record_replay/python/record_full_body.py`
-  - :code-file:`examples/mcap_record_replay/python/replay_full_body.py`
+  - :code-file:`examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/live_full_body.py`
+  - :code-file:`examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/record_full_body.py`
+  - :code-file:`examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/replay_full_body.py`
 
 .. note::
 
diff --git a/docs/source/references/mcap_record_replay.rst b/docs/source/references/mcap_record_replay.rst
index 241e4e2774..30614d8701 100644
--- a/docs/source/references/mcap_record_replay.rst
+++ b/docs/source/references/mcap_record_replay.rst
@@ -130,7 +130,7 @@ Runnable Example
 ----------------
 
 A complete record / replay example lives at
-``examples/mcap_record_replay/python/``:
+``examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/``:
 
 - ``common.py`` — pipeline builders (``build_hand_pipeline()``,
   ``build_controller_pipeline()``, ``build_full_body_pipeline()``) plus the
@@ -178,10 +178,9 @@ From the example directory:
 
 .. code-block:: bash
 
-   cd examples/mcap_record_replay/python
-   uv sync
-   uv run python live_full_body.py --accept-eula
-   uv run python live_full_body.py --port 8090 --accept-eula  # change viser port
+   uv pip install -e ./examples/mcap_record_replay
+   python -m isaacteleop_examples.mcap_record_replay.live_full_body --accept-eula
+   python -m isaacteleop_examples.mcap_record_replay.live_full_body --port 8090 --accept-eula
 
 Open the printed URL (default ``http://localhost:8080``) in a browser.  The
 viewers bind every interface, since they run where the headset is and get
@@ -194,19 +193,21 @@ From the example directory:
 
 .. code-block:: bash
 
-   cd examples/mcap_record_replay/python
-   uv sync
-   uv run python record_hand.py            # 5 s → ../recordings/hands_<timestamp>.mcap
-   uv run python record_hand.py 10         # record for 10 seconds
-   uv run python record_hand.py 10 out.mcap  # custom output path
+   uv pip install -e ./examples/mcap_record_replay
+   R="python -m isaacteleop_examples.mcap_record_replay.record_hand"
+   $R              # 5 s → ./recordings/hands_<timestamp>.mcap
+   $R 10           # record for 10 seconds
+   $R 10 out.mcap  # custom output path
+
+Recordings are written to ``./recordings/`` relative to where you run the
+command, and the replay scripts look there when given no path.
 
 The example never downloads a published wheel — it runs against the
-``isaacteleop`` next to it.  Above, ``uv sync`` builds it from this checkout; the
-first sync compiles the extension modules and takes a few minutes, later ones
-reuse the cached build, and the install is editable, so edits under
-``src/python/`` need no rebuild.  From
-``install/examples/mcap_record_replay/python`` (after ``cmake --install``) it
-picks up the wheel you just built instead — see
+``isaacteleop`` next to it, built from this checkout.  The first install
+compiles the extension modules and takes a few minutes; later ones reuse the
+cached build, and the install is editable, so edits under ``src/python/`` need
+no rebuild.  From ``install/examples/mcap_record_replay`` (after ``cmake
+--install``) it picks up the wheel you just built instead — see
 :doc:`/getting_started/build_from_source/index`.
 
 An active OpenXR runtime / headset must be connected, just like any other
diff --git a/examples/mcap_record_replay/CMakeLists.txt b/examples/mcap_record_replay/CMakeLists.txt
index 7a977c5e27..d59cf24f12 100644
--- a/examples/mcap_record_replay/CMakeLists.txt
+++ b/examples/mcap_record_replay/CMakeLists.txt
@@ -7,4 +7,4 @@ cmake_minimum_required(VERSION 3.20)
 add_subdirectory(cpp)
 
 include(${CMAKE_SOURCE_DIR}/cmake/InstallPythonExample.cmake)
-install_python_example(DESTINATION examples/mcap_record_replay/python)
+install_python_example(DESTINATION examples/mcap_record_replay)
diff --git a/examples/mcap_record_replay/README.md b/examples/mcap_record_replay/README.md
new file mode 100644
index 0000000000..f77976d153
--- /dev/null
+++ b/examples/mcap_record_replay/README.md
@@ -0,0 +1,35 @@
+<!--
+SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+SPDX-License-Identifier: Apache-2.0
+-->
+
+# MCAP record / replay
+
+Record DeviceIO tracking to an MCAP file and replay it into a viser 3D view.
+Live viewers are included for watching without recording.
+
+```bash
+uv pip install -e ./examples/mcap_record_replay
+python -m isaacteleop_examples.mcap_record_replay.record_hand      # 5 s
+python -m isaacteleop_examples.mcap_record_replay.replay_hand      # newest take
+```
+
+Recordings are written to `./recordings/` relative to where you run the
+command; a replay given no path picks the newest file there.
+
+The live and replay viewers bind every interface, so a browser on another
+machine can reach them at `http://<this-host>:8080`. Pass `--host 127.0.0.1` to
+keep a viewer local.
+
+| Channel | Live | Record | Replay |
+| --- | --- | --- | --- |
+| Hands | `live_hand` | `record_hand` | `replay_hand` |
+| Controllers | `live_controller` | `record_controller` | `replay_controller` |
+| Full body | `live_full_body` | `record_full_body` | `replay_full_body` |
+| VIVE SE3 trackers | — | `record_se3_vive` | `replay_se3_vive` |
+
+`record_*` takes an optional duration in seconds and an optional output path.
+Recording needs a live OpenXR runtime; replay needs only the file.
+
+A C++ recorder lives in `cpp/`. Docs:
+`docs/source/references/mcap_record_replay.rst`.
diff --git a/examples/mcap_record_replay/python/pyproject.toml b/examples/mcap_record_replay/pyproject.toml
similarity index 53%
rename from examples/mcap_record_replay/python/pyproject.toml
rename to examples/mcap_record_replay/pyproject.toml
index 440fe3d8c2..9bed222988 100644
--- a/examples/mcap_record_replay/python/pyproject.toml
+++ b/examples/mcap_record_replay/pyproject.toml
@@ -1,8 +1,14 @@
 # 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]
-name = "mcap-record-replay-example"
+# The dist name mirrors the import path, so an installed example claims no bare
+# top-level name in site-packages.
+name = "isaacteleop-examples-mcap-record-replay"
 version = "0.0.0"  # Internal example - not versioned
 description = "Isaac Teleop MCAP record / replay example with viser visualization"
 requires-python = ">=3.11,<3.14"
@@ -15,8 +21,16 @@ dependencies = [
     "viser>=0.2.0",
 ]
 
+# `isaacteleop_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 `mcap_record_replay/`.
+[tool.hatch.build.targets.wheel]
+only-include = ["python/isaacteleop_examples/mcap_record_replay"]
+sources = ["python"]
+
 [tool.uv.sources]
 # Editable, so edits under src/python/ need no rebuild. Dropped from the
 # installed copy, which has no repo above it.
 # TODO(#880): nothing runs this example in CI; neither path is covered.
-isaacteleop = { path = "../../..", editable = true }
+isaacteleop = { path = "../..", editable = true }
diff --git a/examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/__init__.py b/examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/__init__.py
new file mode 100644
index 0000000000..52a7a9daf0
--- /dev/null
+++ b/examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/__init__.py
@@ -0,0 +1,2 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
diff --git a/examples/mcap_record_replay/python/common.py b/examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/common.py
similarity index 86%
rename from examples/mcap_record_replay/python/common.py
rename to examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/common.py
index 835db44bd8..76bf5340bb 100644
--- a/examples/mcap_record_replay/python/common.py
+++ b/examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/common.py
@@ -48,6 +48,71 @@
 )
 
 
+class GroundGrid:
+    """The ground plane and the default camera, anchored to what is tracked.
+
+    The session asks OpenXR for a stage (floor-relative) space, but a runtime
+    that cannot supply one falls back to a head-relative origin: y=0 then sits
+    at eye height and the skeleton hangs below a grid drawn at zero. Following
+    the lowest tracked joint puts the grid on the floor in either space, and
+    the camera is framed against that floor rather than against y=0 -- aiming
+    at a fixed height leaves the subject at the bottom of the viewport in a
+    head-relative space.
+    """
+
+    def __init__(self, server, handle, smoothing: float = 0.05):
+        self._server = server
+        self._handle = handle
+        self._smoothing = smoothing
+        self._y: float | None = None
+
+        @server.on_client_connect
+        def _(client) -> None:
+            self._frame(client)
+
+    def _frame(self, client) -> None:
+        """Stand back from the floor at eye height, looking at torso height."""
+        floor = 0.0 if self._y is None else self._y
+        client.camera.position = (0.0, floor + 1.5, 2.5)
+        client.camera.look_at = (0.0, floor + 0.9, 0.0)
+
+    def follow(self, positions: np.ndarray, valid: np.ndarray) -> None:
+        points = np.asarray(positions, dtype=np.float32)[np.asarray(valid, dtype=bool)]
+        if points.size == 0:
+            return
+        lowest = float(np.min(points[:, 1]))
+        # Ease toward it: a single mistracked frame should not drop the floor.
+        first = self._y is None
+        self._y = lowest if first else self._y + self._smoothing * (lowest - self._y)
+        self._handle.position = (0.0, self._y, 0.0)
+
+        # Re-aim once, when the floor is first known. Doing it every frame would
+        # fight the mouse.
+        if first:
+            for client in self._server.get_clients().values():
+                self._frame(client)
+
+
+def setup_scene(server) -> GroundGrid:
+    """Up axis, ground grid and a starting camera, shared by every viewer here.
+
+    viser's ``add_grid`` defaults to the XY plane, which stands up as a wall
+    once the up direction is +y -- it has to be ``xz`` to lie on the ground.
+    Returns the grid so a caller with tracked joints can keep it on the floor.
+    """
+    server.scene.set_up_direction("+y")
+    grid = server.scene.add_grid(
+        name="/grid",
+        width=6.0,
+        height=6.0,
+        plane="xz",
+        cell_size=0.25,
+        section_size=1.0,
+    )
+
+    return GroundGrid(server, grid)
+
+
 _ZERO_POSITIONS = np.zeros((NUM_HAND_JOINTS, 3), dtype=np.float32)
 
 
@@ -456,7 +521,8 @@ def update(self, state: dict) -> None:
 class FullBodyViz:
     """Viser handles for full-body skeleton (joint cloud + skeleton segments)."""
 
-    def __init__(self, server: viser.ViserServer):
+    def __init__(self, server: viser.ViserServer, ground: "GroundGrid | None" = None):
+        self._ground = ground
         self.color = np.array(TRACKED_COLOR, dtype=np.float32)
         zero_pts = np.zeros((len(BODY_JOINT_NAMES), 3), dtype=np.float32)
         zero_segs = np.zeros((0, 2, 3), dtype=np.float32)
@@ -494,3 +560,6 @@ def update(self, positions: np.ndarray | None, valid: np.ndarray | None) -> None
         segs = _valid_bone_segments(positions, valid_bool)
         self.bones.points = segs
         self.bones.colors = np.tile(self.color, (segs.shape[0], 2, 1))
+
+        if self._ground is not None:
+            self._ground.follow(positions, valid_bool)
diff --git a/examples/mcap_record_replay/python/live_controller.py b/examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/live_controller.py
similarity index 93%
rename from examples/mcap_record_replay/python/live_controller.py
rename to examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/live_controller.py
index 850fe12802..ffaeb769eb 100644
--- a/examples/mcap_record_replay/python/live_controller.py
+++ b/examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/live_controller.py
@@ -5,7 +5,8 @@
 Visualize live OpenXR controller poses in real time with viser.
 
 ``CloudXRLauncher`` starts the CloudXR runtime and WSS proxy automatically.
-Open the URL viser prints (default http://localhost:8080) in a browser to see
+Open the URL viser prints in a browser (binds all interfaces, so another
+machine can reach it at http://<this-host>:8080) to see
 aim / grip points for both controllers, a ray between them, and a live HUD
 showing thumbstick, trigger, squeeze, and button state.
 
@@ -26,7 +27,8 @@
 from isaacteleop.cloudxr import CloudXRLauncher
 from isaacteleop.teleop_session_manager import TeleopSession, TeleopSessionConfig
 
-from common import (
+from .common import (
+    setup_scene,
     ControllerViz,
     LEFT_COLOR,
     RIGHT_COLOR,
@@ -47,8 +49,7 @@ def main(argv: list[str]) -> int:
     args = parser.parse_args(argv[1:])
 
     server = viser.ViserServer(host=args.host, port=args.port)
-    server.scene.set_up_direction("+y")
-    server.scene.add_grid(name="/grid", width=2.0, height=2.0, cell_size=0.1)
+    setup_scene(server)
 
     config = TeleopSessionConfig(
         app_name="LiveControllerExample",
diff --git a/examples/mcap_record_replay/python/live_full_body.py b/examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/live_full_body.py
similarity index 91%
rename from examples/mcap_record_replay/python/live_full_body.py
rename to examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/live_full_body.py
index 883a1f39d9..fcd699146d 100644
--- a/examples/mcap_record_replay/python/live_full_body.py
+++ b/examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/live_full_body.py
@@ -5,7 +5,8 @@
 Visualize live OpenXR full-body pose tracking in real time with viser.
 
 ``CloudXRLauncher`` starts the CloudXR runtime and WSS proxy automatically.
-Open the URL viser prints (default http://localhost:8080) in a browser to see
+Open the URL viser prints in a browser (binds all interfaces, so another
+machine can reach it at http://<this-host>:8080) to see
 the full PICO body skeleton — joints colored green when valid, red when lost —
 updating live as you move.
 
@@ -28,7 +29,7 @@
 from isaacteleop.retargeting_engine.tensor_types.indices import FullBodyInputIndex
 from isaacteleop.teleop_session_manager import TeleopSession, TeleopSessionConfig
 
-from common import BODY_JOINT_NAMES, FullBodyViz, build_full_body_pipeline
+from .common import BODY_JOINT_NAMES, FullBodyViz, build_full_body_pipeline, setup_scene
 
 
 def main(argv: list[str]) -> int:
@@ -43,8 +44,7 @@ def main(argv: list[str]) -> int:
     args = parser.parse_args(argv[1:])
 
     server = viser.ViserServer(host=args.host, port=args.port)
-    server.scene.set_up_direction("+y")
-    server.scene.add_grid(name="/grid", width=2.0, height=2.0, cell_size=0.1)
+    ground = setup_scene(server)
 
     config = TeleopSessionConfig(
         app_name="LiveFullBodyExample",
@@ -57,7 +57,7 @@ def main(argv: list[str]) -> int:
         print("[live] waiting for headset connection… (Ctrl+C to stop)")
 
         with TeleopSession(config) as session:
-            viz = FullBodyViz(server)
+            viz = FullBodyViz(server, ground)
             print(
                 f"[live] viser listening on {args.host}:{args.port} "
                 f"(http://localhost:{args.port})"
diff --git a/examples/mcap_record_replay/python/live_hand.py b/examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/live_hand.py
similarity index 92%
rename from examples/mcap_record_replay/python/live_hand.py
rename to examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/live_hand.py
index 7349dea622..cf946f5c2e 100644
--- a/examples/mcap_record_replay/python/live_hand.py
+++ b/examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/live_hand.py
@@ -5,7 +5,8 @@
 Visualize live OpenXR hand-tracking in real time with viser.
 
 ``CloudXRLauncher`` starts the CloudXR runtime and WSS proxy automatically.
-Open the URL viser prints (default http://localhost:8080) in a browser to see
+Open the URL viser prints in a browser (binds all interfaces, so another
+machine can reach it at http://<this-host>:8080) to see
 both hands rendered as joint clouds + bone segments, updating live as you move.
 
 Usage:
@@ -26,7 +27,7 @@
 from isaacteleop.cloudxr import CloudXRLauncher
 from isaacteleop.teleop_session_manager import TeleopSession, TeleopSessionConfig
 
-from common import HandViz, LEFT_COLOR, RIGHT_COLOR, build_hand_pipeline
+from .common import HandViz, LEFT_COLOR, RIGHT_COLOR, build_hand_pipeline, setup_scene
 
 
 def main(argv: list[str]) -> int:
@@ -41,8 +42,7 @@ def main(argv: list[str]) -> int:
     args = parser.parse_args(argv[1:])
 
     server = viser.ViserServer(host=args.host, port=args.port)
-    server.scene.set_up_direction("+y")
-    server.scene.add_grid(name="/grid", width=2.0, height=2.0, cell_size=0.1)
+    setup_scene(server)
 
     config = TeleopSessionConfig(
         app_name="LiveHandExample",
diff --git a/examples/mcap_record_replay/python/record_controller.py b/examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/record_controller.py
similarity index 94%
rename from examples/mcap_record_replay/python/record_controller.py
rename to examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/record_controller.py
index 87fb58bce3..9fef543089 100644
--- a/examples/mcap_record_replay/python/record_controller.py
+++ b/examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/record_controller.py
@@ -12,7 +12,7 @@
 Usage:
     python record_controller.py [duration_seconds] [output.mcap] [--accept-eula]
 
-Defaults: 5 seconds → ../recordings/controllers_<timestamp>.mcap
+Defaults: 5 seconds → ./recordings/controllers_<timestamp>.mcap
 
 See: https://nvidia.github.io/IsaacTeleop/main/references/mcap_record_replay.html
 """
@@ -28,7 +28,7 @@
 from isaacteleop.retargeting_engine.tensor_types.indices import ControllerInputIndex
 from isaacteleop.teleop_session_manager import TeleopSession, TeleopSessionConfig
 
-from common import build_controller_pipeline
+from .common import build_controller_pipeline
 
 
 def main(argv: list[str]) -> int:
@@ -46,7 +46,7 @@ def main(argv: list[str]) -> int:
         mcap_path = Path(args.output)
         mcap_path.parent.mkdir(parents=True, exist_ok=True)
     else:
-        out_dir = Path(__file__).resolve().parent.parent / "recordings"
+        out_dir = Path.cwd() / "recordings"
         out_dir.mkdir(exist_ok=True)
         mcap_path = out_dir / f"controllers_{datetime.now():%Y%m%d_%H%M%S}.mcap"
 
diff --git a/examples/mcap_record_replay/python/record_full_body.py b/examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/record_full_body.py
similarity index 94%
rename from examples/mcap_record_replay/python/record_full_body.py
rename to examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/record_full_body.py
index d2c76c3577..0c6a03bb92 100644
--- a/examples/mcap_record_replay/python/record_full_body.py
+++ b/examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/record_full_body.py
@@ -12,7 +12,7 @@
 Usage:
     python record_full_body.py [duration_seconds] [output.mcap] [--accept-eula]
 
-Defaults: 5 seconds → ../recordings/full_body_<timestamp>.mcap
+Defaults: 5 seconds → ./recordings/full_body_<timestamp>.mcap
 
 See: https://nvidia.github.io/IsaacTeleop/main/references/mcap_record_replay.html
 """
@@ -30,7 +30,7 @@
 from isaacteleop.retargeting_engine.tensor_types.indices import FullBodyInputIndex
 from isaacteleop.teleop_session_manager import TeleopSession, TeleopSessionConfig
 
-from common import BODY_JOINT_NAMES, build_full_body_pipeline
+from .common import BODY_JOINT_NAMES, build_full_body_pipeline
 
 
 def main(argv: list[str]) -> int:
@@ -48,7 +48,7 @@ def main(argv: list[str]) -> int:
         mcap_path = Path(args.output)
         mcap_path.parent.mkdir(parents=True, exist_ok=True)
     else:
-        out_dir = Path(__file__).resolve().parent.parent / "recordings"
+        out_dir = Path.cwd() / "recordings"
         out_dir.mkdir(exist_ok=True)
         mcap_path = out_dir / f"full_body_{datetime.now():%Y%m%d_%H%M%S}.mcap"
 
diff --git a/examples/mcap_record_replay/python/record_hand.py b/examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/record_hand.py
similarity index 94%
rename from examples/mcap_record_replay/python/record_hand.py
rename to examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/record_hand.py
index cefa06ee8a..af39998253 100644
--- a/examples/mcap_record_replay/python/record_hand.py
+++ b/examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/record_hand.py
@@ -12,7 +12,7 @@
 Usage:
     python record_hand.py [duration_seconds] [output.mcap] [--accept-eula]
 
-Defaults: 5 seconds → ../recordings/hands_<timestamp>.mcap
+Defaults: 5 seconds → ./recordings/hands_<timestamp>.mcap
 
 See: https://nvidia.github.io/IsaacTeleop/main/references/mcap_record_replay.html
 """
@@ -27,7 +27,7 @@
 from isaacteleop.deviceio import McapRecordingConfig
 from isaacteleop.teleop_session_manager import TeleopSession, TeleopSessionConfig
 
-from common import build_hand_pipeline
+from .common import build_hand_pipeline
 
 
 def main(argv: list[str]) -> int:
@@ -45,7 +45,7 @@ def main(argv: list[str]) -> int:
         mcap_path = Path(args.output)
         mcap_path.parent.mkdir(parents=True, exist_ok=True)
     else:
-        out_dir = Path(__file__).resolve().parent.parent / "recordings"
+        out_dir = Path.cwd() / "recordings"
         out_dir.mkdir(exist_ok=True)
         mcap_path = out_dir / f"hands_{datetime.now():%Y%m%d_%H%M%S}.mcap"
 
diff --git a/examples/mcap_record_replay/python/record_se3_vive.py b/examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/record_se3_vive.py
similarity index 97%
rename from examples/mcap_record_replay/python/record_se3_vive.py
rename to examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/record_se3_vive.py
index 3e19b47c7d..aba35c90e0 100644
--- a/examples/mcap_record_replay/python/record_se3_vive.py
+++ b/examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/record_se3_vive.py
@@ -15,7 +15,7 @@
      (VIVEHub tracker_server running, or VIVE_SE3_SYNTHETIC=1 for a smoke test)
 
 With no arguments it records 10 s of every collection the pusher currently
-advertises (see --collections), to a timestamped file under ../recordings/.
+advertises (see --collections), to a timestamped file under ./recordings/.
 
 Usage:
     source ~/.cloudxr/run/cloudxr.env
@@ -85,7 +85,7 @@ def main(argv: list[str]) -> int:
         mcap_path = Path(args.output)
         mcap_path.parent.mkdir(parents=True, exist_ok=True)
     else:
-        out_dir = Path(__file__).resolve().parent.parent / "recordings"
+        out_dir = Path.cwd() / "recordings"
         out_dir.mkdir(exist_ok=True)
         mcap_path = out_dir / f"se3_vive_{datetime.now():%Y%m%d_%H%M%S}.mcap"
 
diff --git a/examples/mcap_record_replay/python/replay_controller.py b/examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/replay_controller.py
similarity index 94%
rename from examples/mcap_record_replay/python/replay_controller.py
rename to examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/replay_controller.py
index 426d9b7c3b..12e9d6d20f 100644
--- a/examples/mcap_record_replay/python/replay_controller.py
+++ b/examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/replay_controller.py
@@ -12,7 +12,7 @@
 Usage:
     python replay_controller.py [path/to/file.mcap] [--port 8080] [--loop]
 
-If no path is given, the newest file under ``../recordings/`` is used.
+If no path is given, the newest file under ``./recordings/`` is used.
 ``--loop`` keeps replaying the file end-to-end until the process is killed.
 
 See: https://nvidia.github.io/IsaacTeleop/main/references/mcap_record_replay.html
@@ -33,7 +33,8 @@
     TeleopSessionConfig,
 )
 
-from common import (
+from .common import (
+    setup_scene,
     ControllerViz,
     LEFT_COLOR,
     RIGHT_COLOR,
@@ -67,7 +68,7 @@ def resolve_mcap(path_arg: str | None) -> Path:
             sys.exit(f"[replay] error: {path} does not exist")
         return path
 
-    recordings = Path(__file__).resolve().parent.parent / "recordings"
+    recordings = Path.cwd() / "recordings"
     candidates = list(recordings.glob("*.mcap"))
     if not candidates:
         sys.exit(
@@ -136,8 +137,7 @@ def main(argv: list[str]) -> int:
     duration_s = mcap_duration_s(mcap_path)
 
     server = viser.ViserServer(host=args.host, port=args.port)
-    server.scene.set_up_direction("+y")
-    server.scene.add_grid(name="/grid", width=2.0, height=2.0, cell_size=0.1)
+    setup_scene(server)
 
     viz_left = ControllerViz(server, "controller_left", LEFT_COLOR)
     viz_right = ControllerViz(server, "controller_right", RIGHT_COLOR)
diff --git a/examples/mcap_record_replay/python/replay_full_body.py b/examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/replay_full_body.py
similarity index 93%
rename from examples/mcap_record_replay/python/replay_full_body.py
rename to examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/replay_full_body.py
index 336a2f4b03..1ddacb4e28 100644
--- a/examples/mcap_record_replay/python/replay_full_body.py
+++ b/examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/replay_full_body.py
@@ -11,7 +11,7 @@
 Usage:
     python replay_full_body.py [path/to/file.mcap] [--port 8080] [--loop]
 
-If no path is given, the newest file under ``../recordings/`` is used.
+If no path is given, the newest file under ``./recordings/`` is used.
 ``--loop`` keeps replaying the file end-to-end until the process is killed.
 
 See: https://nvidia.github.io/IsaacTeleop/main/references/mcap_record_replay.html
@@ -34,7 +34,7 @@
     TeleopSessionConfig,
 )
 
-from common import BODY_JOINT_NAMES, FullBodyViz, build_full_body_pipeline
+from .common import BODY_JOINT_NAMES, FullBodyViz, build_full_body_pipeline, setup_scene
 
 
 def mcap_duration_s(path: Path) -> float:
@@ -62,7 +62,7 @@ def resolve_mcap(path_arg: str | None) -> Path:
             sys.exit(f"[replay] error: {path} does not exist")
         return path
 
-    recordings = Path(__file__).resolve().parent.parent / "recordings"
+    recordings = Path.cwd() / "recordings"
     candidates = list(recordings.glob("*.mcap"))
     if not candidates:
         sys.exit(
@@ -137,9 +137,8 @@ def main(argv: list[str]) -> int:
     duration_s = mcap_duration_s(mcap_path)
 
     server = viser.ViserServer(host=args.host, port=args.port)
-    server.scene.set_up_direction("+y")
-    server.scene.add_grid(name="/grid", width=2.0, height=2.0, cell_size=0.1)
-    viz = FullBodyViz(server)
+    ground = setup_scene(server)
+    viz = FullBodyViz(server, ground)
 
     print(
         f"[replay] viser listening on {args.host}:{args.port} "
diff --git a/examples/mcap_record_replay/python/replay_hand.py b/examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/replay_hand.py
similarity index 93%
rename from examples/mcap_record_replay/python/replay_hand.py
rename to examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/replay_hand.py
index 0402badc68..e7f8c40f22 100644
--- a/examples/mcap_record_replay/python/replay_hand.py
+++ b/examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/replay_hand.py
@@ -11,7 +11,7 @@
 Usage:
     python replay_hand.py [path/to/file.mcap] [--port 8080] [--loop]
 
-If no path is given, the newest file under ``../recordings/`` is used.
+If no path is given, the newest file under ``./recordings/`` is used.
 ``--loop`` keeps replaying the file end-to-end until the process is killed.
 
 See: https://nvidia.github.io/IsaacTeleop/main/references/mcap_record_replay.html
@@ -33,7 +33,7 @@
     TeleopSessionConfig,
 )
 
-from common import HandViz, LEFT_COLOR, RIGHT_COLOR, build_hand_pipeline
+from .common import HandViz, LEFT_COLOR, RIGHT_COLOR, build_hand_pipeline, setup_scene
 
 
 def mcap_duration_s(path: Path) -> float:
@@ -61,7 +61,7 @@ def resolve_mcap(path_arg: str | None) -> Path:
             sys.exit(f"[replay] error: {path} does not exist")
         return path
 
-    recordings = Path(__file__).resolve().parent.parent / "recordings"
+    recordings = Path.cwd() / "recordings"
     candidates = list(recordings.glob("*.mcap"))
     if not candidates:
         sys.exit(
@@ -132,8 +132,7 @@ def main(argv: list[str]) -> int:
     duration_s = mcap_duration_s(mcap_path)
 
     server = viser.ViserServer(host=args.host, port=args.port)
-    server.scene.set_up_direction("+y")
-    server.scene.add_grid(name="/grid", width=2.0, height=2.0, cell_size=0.1)
+    setup_scene(server)
 
     viz_left = HandViz(server, "hand_left", LEFT_COLOR)
     viz_right = HandViz(server, "hand_right", RIGHT_COLOR)
diff --git a/examples/mcap_record_replay/python/replay_se3_vive.py b/examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/replay_se3_vive.py
similarity index 95%
rename from examples/mcap_record_replay/python/replay_se3_vive.py
rename to examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/replay_se3_vive.py
index cb8638d19d..772e39f9f9 100644
--- a/examples/mcap_record_replay/python/replay_se3_vive.py
+++ b/examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/replay_se3_vive.py
@@ -9,7 +9,7 @@
 tracker as a coordinate frame in a viser 3D view (browser). Replay needs no
 OpenXR runtime and no hardware.
 
-With no arguments it replays the most recent recording under ../recordings/,
+With no arguments it replays the most recent recording under ./recordings/,
 auto-discovers its collections, and plays back at the recording's own capture
 rate. Open the printed viser URL to see the trackers in 3D.
 
@@ -39,10 +39,10 @@ def _summary(mcap_path: Path):
 
 
 def resolve_mcap(path_arg: str | None) -> Path:
-    """Use the given path, or the newest .mcap under ../recordings/."""
+    """Use the given path, or the newest .mcap under ./recordings/."""
     if path_arg:
         return Path(path_arg)
-    recordings = Path(__file__).resolve().parent.parent / "recordings"
+    recordings = Path.cwd() / "recordings"
     candidates = list(recordings.glob("se3_vive_*.mcap")) or list(
         recordings.glob("*.mcap")
     )
@@ -112,8 +112,11 @@ class Se3Viz:
     def __init__(self, server, collections: list[str]):
         import viser  # noqa: F401  (import here so --no-viz runs without viser)
 
-        server.scene.set_up_direction("+y")
-        server.scene.add_grid(name="/grid", width=2.0, height=2.0, cell_size=0.1)
+        # Also deferred: common imports viser at module level, so a top-level
+        # import here would defeat --no-viz.
+        from .common import setup_scene
+
+        setup_scene(server)
         self._frames = {}
         self._labels = {}
         for i, cid in enumerate(collections):
@@ -178,7 +181,7 @@ def main(argv: list[str]) -> int:
     parser.add_argument(
         "mcap",
         nargs="?",
-        help="Recording to replay (default: newest under ../recordings/)",
+        help="Recording to replay (default: newest under ./recordings/)",
     )
     parser.add_argument(
         "--collections",
diff --git a/examples/teleop_ros2/AGENTS.md b/examples/teleop_ros2/AGENTS.md
index 1ae9f5a165..8875c0b95e 100644
--- a/examples/teleop_ros2/AGENTS.md
+++ b/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 `isaacteleop` 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 isaacteleop_examples.teleop_ros2` with `-p mode:=<mode> -p mcap_replay_path:=<file>` and check topics (e.g. via `python -m isaacteleop_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.
 
diff --git a/examples/teleop_ros2/CMakeLists.txt b/examples/teleop_ros2/CMakeLists.txt
index 7f0bdde568..0a2851e00e 100644
--- a/examples/teleop_ros2/CMakeLists.txt
+++ b/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
diff --git a/examples/teleop_ros2/Dockerfile b/examples/teleop_ros2/Dockerfile
index f85ffdffa6..2308b36b78 100644
--- a/examples/teleop_ros2/Dockerfile
+++ b/examples/teleop_ros2/Dockerfile
@@ -183,7 +183,7 @@ EOF
 FROM base AS runtime_base
 ARG PYTHON_VERSION
 
-WORKDIR /opt/isaacteleop/install/examples/teleop_ros2/python
+WORKDIR /opt/isaacteleop/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.
@@ -254,4 +254,5 @@ 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", "isaacteleop_examples.teleop_ros2"]
diff --git a/examples/teleop_ros2/README.md b/examples/teleop_ros2/README.md
index 96b4d0570d..14da2acce0 100644
--- a/examples/teleop_ros2/README.md
+++ b/examples/teleop_ros2/README.md
@@ -59,7 +59,7 @@ 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
 
diff --git a/examples/teleop_ros2/assets/urdf/sharpa_standalone/README.md b/examples/teleop_ros2/assets/urdf/sharpa_standalone/README.md
index a00745b700..cbd5eb9459 100644
--- a/examples/teleop_ros2/assets/urdf/sharpa_standalone/README.md
+++ b/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.
diff --git a/examples/teleop_ros2/pyproject.toml b/examples/teleop_ros2/pyproject.toml
new file mode 100644
index 0000000000..2ac72d3593
--- /dev/null
+++ b/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 = "isaacteleop-examples-teleop-ros2"
+version = "0.1.0"
+description = "Isaac Teleop ROS 2 reference publisher"
+requires-python = ">=3.11,<3.14"
+dependencies = [
+    "isaacteleop[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"]
+
+# `isaacteleop_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/isaacteleop_examples/teleop_ros2"]
+sources = ["python"]
diff --git a/examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/__init__.py b/examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/__init__.py
new file mode 100644
index 0000000000..52a7a9daf0
--- /dev/null
+++ b/examples/teleop_ros2/python/isaacteleop_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
diff --git a/examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/__main__.py b/examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/__main__.py
new file mode 100644
index 0000000000..a52b943b84
--- /dev/null
+++ b/examples/teleop_ros2/python/isaacteleop_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())
diff --git a/examples/teleop_ros2/python/assets.py b/examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/assets.py
similarity index 100%
rename from examples/teleop_ros2/python/assets.py
rename to examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/assets.py
diff --git a/examples/teleop_ros2/python/constants.py b/examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/constants.py
similarity index 100%
rename from examples/teleop_ros2/python/constants.py
rename to examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/constants.py
diff --git a/examples/teleop_ros2/python/geometry.py b/examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/geometry.py
similarity index 100%
rename from examples/teleop_ros2/python/geometry.py
rename to examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/geometry.py
diff --git a/examples/teleop_ros2/python/integration_tests/__init__.py b/examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/integration_tests/__init__.py
similarity index 100%
rename from examples/teleop_ros2/python/integration_tests/__init__.py
rename to examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/integration_tests/__init__.py
diff --git a/examples/teleop_ros2/python/integration_tests/teleop_ros2_topic_verifier.py b/examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/integration_tests/teleop_ros2_topic_verifier.py
similarity index 99%
rename from examples/teleop_ros2/python/integration_tests/teleop_ros2_topic_verifier.py
rename to examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/integration_tests/teleop_ros2_topic_verifier.py
index 6d93a5d7a7..223ff53989 100755
--- a/examples/teleop_ros2/python/integration_tests/teleop_ros2_topic_verifier.py
+++ b/examples/teleop_ros2/python/isaacteleop_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,
     LEFT_SHARPA_WAVE_JOINT_NAMES,
     LEFT_WUJI_HAND_JOINT_NAMES,
diff --git a/examples/teleop_ros2/python/messages.py b/examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/messages.py
similarity index 99%
rename from examples/teleop_ros2/python/messages.py
rename to examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/messages.py
index e1457181af..a8c65d1829 100644
--- a/examples/teleop_ros2/python/messages.py
+++ b/examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/messages.py
@@ -25,14 +25,14 @@
     HeadInputIndex,
 )
 
-from constants import BODY_JOINT_NAMES, HAND_POSE_JOINT_INDICES, HAND_POSE_NAMES
-from geometry import (
+from .constants import BODY_JOINT_NAMES, HAND_POSE_JOINT_INDICES, HAND_POSE_NAMES
+from .geometry import (
     apply_manus_controller_to_hand_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,
diff --git a/examples/teleop_ros2/python/node_parameters.py b/examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/node_parameters.py
similarity index 98%
rename from examples/teleop_ros2/python/node_parameters.py
rename to examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/node_parameters.py
index 2a78d195a5..7f7ae0c7b2 100644
--- a/examples/teleop_ros2/python/node_parameters.py
+++ b/examples/teleop_ros2/python/isaacteleop_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_PLUGINS,
     TELEOP_MODES,
@@ -228,7 +228,9 @@ 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
 
diff --git a/examples/teleop_ros2/python/session_config.py b/examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/session_config.py
similarity index 98%
rename from examples/teleop_ros2/python/session_config.py
rename to examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/session_config.py
index f8da4a691d..5fcbd58d4a 100644
--- a/examples/teleop_ros2/python/session_config.py
+++ b/examples/teleop_ros2/python/isaacteleop_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(
diff --git a/examples/teleop_ros2/python/teleop_profiles.py b/examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/teleop_profiles.py
similarity index 99%
rename from examples/teleop_ros2/python/teleop_profiles.py
rename to examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/teleop_profiles.py
index 93ad8bb03f..1ee26cf92c 100644
--- a/examples/teleop_ros2/python/teleop_profiles.py
+++ b/examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/teleop_profiles.py
@@ -8,7 +8,7 @@
 from dataclasses import dataclass
 from typing import TypedDict, cast
 
-from constants import (
+from .constants import (
     SHARPA_HAND_RETARGETERS,
     HandRetargeter,
     HandTrackingPlugin,
diff --git a/examples/teleop_ros2/python/teleop_ros2_node.py b/examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/teleop_ros2_node.py
similarity index 99%
rename from examples/teleop_ros2/python/teleop_ros2_node.py
rename to examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/teleop_ros2_node.py
index d804c48e01..332a2f1e07 100755
--- a/examples/teleop_ros2/python/teleop_ros2_node.py
+++ b/examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/teleop_ros2_node.py
@@ -55,7 +55,7 @@
 from isaacteleop.cloudxr import CloudXRLauncher
 from isaacteleop.cloudxr.oob_teleop_env import TELEOP_CLIENT_ROUTE_ENV
 from isaacteleop.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,
@@ -65,17 +65,17 @@
     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):
diff --git a/examples/teleop_ros2/python/teleop_ros2_retargeters/__init__.py b/examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/teleop_ros2_retargeters/__init__.py
similarity index 100%
rename from examples/teleop_ros2/python/teleop_ros2_retargeters/__init__.py
rename to examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/teleop_ros2_retargeters/__init__.py
diff --git a/examples/teleop_ros2/python/teleop_ros2_retargeters/hand_tracking_gate_retargeter.py b/examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/teleop_ros2_retargeters/hand_tracking_gate_retargeter.py
similarity index 100%
rename from examples/teleop_ros2/python/teleop_ros2_retargeters/hand_tracking_gate_retargeter.py
rename to examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/teleop_ros2_retargeters/hand_tracking_gate_retargeter.py
diff --git a/examples/teleop_ros2/python/teleop_ros2_retargeters/joint_name_alias_retargeter.py b/examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/teleop_ros2_retargeters/joint_name_alias_retargeter.py
similarity index 100%
rename from examples/teleop_ros2/python/teleop_ros2_retargeters/joint_name_alias_retargeter.py
rename to examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/teleop_ros2_retargeters/joint_name_alias_retargeter.py
diff --git a/examples/teleop_ros2/python/tensor_group_helpers.py b/examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/tensor_group_helpers.py
similarity index 100%
rename from examples/teleop_ros2/python/tensor_group_helpers.py
rename to examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/tensor_group_helpers.py
diff --git a/examples/teleop_ros2/python/pyproject.toml b/examples/teleop_ros2/python/pyproject.toml
deleted file mode 100644
index d6d31f5cd0..0000000000
--- a/examples/teleop_ros2/python/pyproject.toml
+++ /dev/null
@@ -1,25 +0,0 @@
-# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
-# SPDX-License-Identifier: Apache-2.0
-
-[project]
-name = "teleop-ros2-ref"
-version = "0.1.0"
-description = "Isaac Teleop ROS 2 reference publisher"
-requires-python = ">=3.11,<3.14"
-dependencies = [
-    "isaacteleop[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]
-pythonpath = ["."]
-testpaths = ["../../../tests/python/examples/teleop_ros2"]
diff --git a/rigs/full_body.yaml b/rigs/full_body.yaml
index a764eac1c0..d31cd6d390 100644
--- a/rigs/full_body.yaml
+++ b/rigs/full_body.yaml
@@ -16,7 +16,7 @@
 # fresh full_body_<timestamp>.mcap into examples/mcap_record_replay/recordings/
 # (gitignored; created if missing; recorder args: [duration_seconds, default
 # 5 s] [output.mcap | output_dir/]); exiting after ~5 s is SUCCESS — replay
-# headless with examples/mcap_record_replay/python/replay_full_body.py, which
+# headless with `python -m isaacteleop_examples.mcap_record_replay.replay_full_body`, which
 # picks up the newest recording there by default.
 # See rigs/se3_tracker.yaml for the fully annotated exemplar of every key.
 name: full_body
diff --git a/src/plugins/noitom_mocap/README.md b/src/plugins/noitom_mocap/README.md
index 636ec5fdf2..f6d8cc750a 100644
--- a/src/plugins/noitom_mocap/README.md
+++ b/src/plugins/noitom_mocap/README.md
@@ -63,7 +63,7 @@ script:
 uv run python examples/noitom/record_noitom_full_body.py \
   10 examples/noitom/recordings/noitom_full_body.mcap
 
-cd examples/mcap_record_replay/python
-uv sync
-uv run python replay_full_body.py ../../noitom/recordings/noitom_full_body.mcap
+uv pip install -e ./examples/mcap_record_replay
+python -m isaacteleop_examples.mcap_record_replay.replay_full_body \
+  examples/noitom/recordings/noitom_full_body.mcap
 ```
diff --git a/src/plugins/vive_se3_tracker/README.md b/src/plugins/vive_se3_tracker/README.md
index 4ff1b95f57..23ddfba7d3 100644
--- a/src/plugins/vive_se3_tracker/README.md
+++ b/src/plugins/vive_se3_tracker/README.md
@@ -102,16 +102,15 @@ with no arguments. Stale files from a crashed run are cleared on the next startu
 
 ## Recording / replay (Python examples)
 
-Both run with no arguments once the plugin is up (from the example directory, so
-`uv` picks up its `pyproject.toml`):
+Both run with no arguments once the plugin is up:
 
 ```bash
-cd examples/mcap_record_replay/python
-# records 10 s of every advertised collection to ../recordings/<timestamp>.mcap
-uv run record_se3_vive.py
+uv pip install -e ./examples/mcap_record_replay
+# records 10 s of every advertised collection to ./recordings/<timestamp>.mcap
+python -m isaacteleop_examples.mcap_record_replay.record_se3_vive
 # replays the newest recording, auto-discovering collections + capture rate,
 # and serves a viser 3D view at http://localhost:8080
-uv run replay_se3_vive.py
+python -m isaacteleop_examples.mcap_record_replay.replay_se3_vive
 ```
 
 Under the hood this is just the standard MCAP tooling — a `core::Se3Tracker(cid)`
diff --git a/tests/python/examples/teleop_ros2/CMakeLists.txt b/tests/python/examples/teleop_ros2/CMakeLists.txt
index 6262a3568b..202e5faa39 100644
--- a/tests/python/examples/teleop_ros2/CMakeLists.txt
+++ b/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()
diff --git a/tests/python/examples/teleop_ros2/conftest.py b/tests/python/examples/teleop_ros2/conftest.py
new file mode 100644
index 0000000000..e94dc66882
--- /dev/null
+++ b/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 `isaacteleop_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/isaacteleop_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"))
diff --git a/tests/python/examples/teleop_ros2/test_geometry.py b/tests/python/examples/teleop_ros2/test_geometry.py
index d191fe9d2c..c57120459f 100644
--- a/tests/python/examples/teleop_ros2/test_geometry.py
+++ b/tests/python/examples/teleop_ros2/test_geometry.py
@@ -8,7 +8,7 @@
 import pytest
 from scipy.spatial.transform import Rotation
 
-from geometry import (
+from isaacteleop_examples.teleop_ros2.geometry import (
     apply_manus_controller_to_hand_pose,
     apply_transform_to_pose,
     to_pose,
diff --git a/tests/python/examples/teleop_ros2/test_messages.py b/tests/python/examples/teleop_ros2/test_messages.py
index 37df919f2a..faed1651b3 100644
--- a/tests/python/examples/teleop_ros2/test_messages.py
+++ b/tests/python/examples/teleop_ros2/test_messages.py
@@ -31,8 +31,8 @@
     RobotHandJoints,
 )
 
-from constants import BODY_JOINT_NAMES, HAND_POSE_NAMES
-from messages import (
+from isaacteleop_examples.teleop_ros2.constants import BODY_JOINT_NAMES, HAND_POSE_NAMES
+from isaacteleop_examples.teleop_ros2.messages import (
     build_controller_msg,
     build_ee_output_from_controllers,
     build_ee_output_from_hands,
diff --git a/tests/python/examples/teleop_ros2/test_teleop_profiles.py b/tests/python/examples/teleop_ros2/test_teleop_profiles.py
index 26ba576d67..7451c54b77 100644
--- a/tests/python/examples/teleop_ros2/test_teleop_profiles.py
+++ b/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 isaacteleop_examples.teleop_ros2 import session_config
+from isaacteleop_examples.teleop_ros2.constants import (
     LEFT_WUJI_HAND_JOINT_NAMES,
     RIGHT_WUJI_HAND_JOINT_NAMES,
     TELEOP_MODES,
@@ -18,7 +18,7 @@
     TeleopMode,
     resolve_hand_retargeter,
 )
-from teleop_profiles import (
+from isaacteleop_examples.teleop_ros2.teleop_profiles import (
     TELEOP_PROFILE_SPECS,
     PublishType,
     TeleopProfile,