examples(noitom): package under isaacteleop_examples

examples/noitom/README.md

@@ -45,10 +45,11 @@ MCAP script because the recording uses the standard `full_body` channel.
 
 ![Noitom full-body recording](assets/record.gif)
 
-Record the Noitom full-body stream:
+Install the example once, then record the Noitom full-body stream:
 
 ```bash
-uv run python examples/noitom/record_noitom_full_body.py \
+uv pip install -e ./examples/noitom
+python -m isaacteleop_examples.noitom.record_noitom_full_body \
   10 examples/noitom/recordings/noitom_full_body.mcap
 ```
 
@@ -70,14 +71,22 @@ uv run python replay_full_body.py ../../noitom/recordings/noitom_full_body.mcap
 Run Isaac Lab with the external task registration callback. The task launches
 `noitom_mocap_plugin` through IsaacTeleop's plugin manager by default.
 
+The callback runs inside Isaac Lab's own interpreter, so install the example
+into *that* environment rather than a venv of your own — this replaces the
+`PYTHONPATH=` prefix these commands used to carry:
+
+```bash
+cd ~/dependence/IsaacLab3-0
+./isaaclab.sh -p -m pip install -e ~/IsaacTeleop/examples/noitom
+```
+
 ```bash
 cd ~/dependence/IsaacLab3-0
-PYTHONPATH=~/IsaacTeleop/examples/noitom:$PYTHONPATH \
-  ./isaaclab.sh -p scripts/environments/teleoperation/teleop_se3_agent.py \
+./isaaclab.sh -p scripts/environments/teleoperation/teleop_se3_agent.py \
   --task Isaac-PickPlace-Locomanipulation-G1-Noitom-Abs-v0 \
   --visualizer kit \
   --xr \
-  --external_callback noitom_tasks.register_tasks
+  --external_callback isaacteleop_examples.noitom.noitom_tasks.register_tasks
 ```
 
 For advanced manual plugin control, start the plugin yourself and disable
@@ -87,12 +96,11 @@ auto-launch in the Isaac Lab terminal:
 ./install/plugins/noitom_mocap/noitom_mocap_plugin
 
 NOITOM_MOCAP_AUTO_LAUNCH=0 \
-PYTHONPATH=~/IsaacTeleop/examples/noitom:$PYTHONPATH \
-  ./isaaclab.sh -p scripts/environments/teleoperation/teleop_se3_agent.py \
+./isaaclab.sh -p scripts/environments/teleoperation/teleop_se3_agent.py \
   --task Isaac-PickPlace-Locomanipulation-G1-Noitom-Abs-v0 \
   --visualizer kit \
   --xr \
-  --external_callback noitom_tasks.register_tasks
+  --external_callback isaacteleop_examples.noitom.noitom_tasks.register_tasks
 ```
 
 If you run a dedicated CloudXR runtime yourself, source its environment before

examples/noitom/pyproject.toml

@@ -0,0 +1,29 @@
+# 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-noitom"
+version = "0.0.0"  # Internal example - not versioned
+description = "Noitom mocap suit examples: retargeting, Isaac Lab task, MCAP recording"
+requires-python = ">=3.11,<3.14"
+# isaaclab and gymnasium are deliberately absent: noitom_tasks.py runs inside an
+# Isaac Lab environment that already provides them, and neither installs from
+# PyPI. Install this example into that interpreter, not a fresh venv.
+dependencies = [
+    "isaacteleop",
+    "numpy>=1.23.0",
+]
+
+# `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 `noitom/`.
+[tool.hatch.build.targets.wheel]
+only-include = ["python/isaacteleop_examples/noitom"]
+sources = ["python"]

examples/noitom/python/isaacteleop_examples/noitom/__init__.py

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

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

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

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

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

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

@@ -37,13 +37,13 @@
 from isaacteleop.retargeting_engine.tensor_types import DLDataType, NDArrayType
 from isaacteleop.teleop_session_manager import PluginConfig
 
-from noitom_retargeting import (
+from .noitom_retargeting import (
     ArmIkTargets,
     NoitomG1Retargeter,
     NoitomRetargetingSettings,
     noitom_position_to_isaac,
 )
-from noitom_reference_draw import (
+from .noitom_reference_draw import (
     ReferenceSkeletonLengths,
     aligned_reference_skeleton_from_frame,
 )
@@ -168,7 +168,9 @@ def _noitom_settings_from_env() -> NoitomG1Settings:
 
 
 def _plugin_search_paths() -> list[Path]:
-    base = Path(__file__).resolve().parents[2]
+    # Six levels up is the repo root -- or the install prefix, which has the
+    # same shape under examples/<name>/python/isaacteleop_examples/<name>/.
+    base = Path(__file__).resolve().parents[5]
     candidates = [
         base / "plugins",
         base / "install" / "plugins",

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

@@ -37,7 +37,9 @@
 
 
 def _plugin_search_paths() -> list[Path]:
-    base = Path(__file__).resolve().parents[2]
+    # Six levels up is the repo root -- or the install prefix, which has the
+    # same shape under examples/<name>/python/isaacteleop_examples/<name>/.
+    base = Path(__file__).resolve().parents[5]
     candidates = [
         base / "plugins",
         base / "install" / "plugins",
@@ -70,7 +72,9 @@ def _resolve_output(path_arg: str | None) -> Path:
     if path_arg:
         path = Path(path_arg)
     else:
-        out_dir = Path(__file__).resolve().parent / "recordings"
+        # CWD-relative, matching mcap_record_replay: anchoring to __file__ would
+        # write inside the package, and into site-packages once installed.
+        out_dir = Path.cwd() / "recordings"
         path = out_dir / f"noitom_full_body_{datetime.now():%Y%m%d_%H%M%S}.mcap"
     path.parent.mkdir(parents=True, exist_ok=True)
     return path

src/plugins/noitom_mocap/README.md

@@ -60,7 +60,8 @@ Record through the Noitom example wrapper and replay with the shared MCAP
 script:
 
 ```bash
-uv run python examples/noitom/record_noitom_full_body.py \
+uv pip install -e ./examples/noitom
+python -m isaacteleop_examples.noitom.record_noitom_full_body \
   10 examples/noitom/recordings/noitom_full_body.mcap
 
 uv pip install -e ./examples/mcap_record_replay