examples(vehicle_teleop): package under isaaccapture_examples

examples/vehicle_teleop/.gitignore

@@ -1,3 +1,3 @@
 logs/
 thirdparty/
-python/.venv/
+.venv/

examples/vehicle_teleop/CMakeLists.txt

@@ -4,7 +4,7 @@
 cmake_minimum_required(VERSION 3.20)
 
 include(${CMAKE_SOURCE_DIR}/cmake/InstallPythonExample.cmake)
-install_python_example(DESTINATION examples/vehicle_teleop/python)
+install_python_example(DESTINATION examples/vehicle_teleop)
 
 if(BUILD_TESTING AND BUILD_PYTHON_BINDINGS AND CMAKE_SYSTEM_NAME STREQUAL "Linux")
     add_subdirectory(tests)

examples/vehicle_teleop/README.md

@@ -26,20 +26,24 @@ cmake --build build --parallel 4
 cmake --install build
 ```
 
-Create the example virtual environment from this directory. The scripts use
-`.venv/bin/python` directly, so keep the virtual environment at
-`examples/vehicle_teleop/.venv`.
+Create the example virtual environment in this directory, install the
+`isaaccapture` build into it, then install the example:
 
 ```bash
 cd examples/vehicle_teleop
-uv venv --python 3.11 .venv
-uv pip install --python .venv/bin/python --find-links ../../build/wheels "isaaccapture[cloudxr]"
+# Replace 3.11 with your ISAAC_TELEOP_PYTHON_VERSION and X.Y with the first two numbers of VERSION.
+uv venv --python 3.11 --seed .venv
 source .venv/bin/activate
-cd python
-uv sync --active --inexact --no-install-project --no-install-package isaaccapture
-cd ..
+uv pip install "isaaccapture[cloudxr]==X.Y+local" --find-links=../../install/wheels/ --reinstall-package isaaccapture
+uv pip install -e .
 ```
 
+This is the install from [step 4 of Build from source](https://nvidia.github.io/IsaacCapture/main/development/build_from_source/index.html#install-the-isaaccapture-pip-package),
+which [Running an example](../README.md#running-an-example) also uses, except
+that the venv lives in this directory because the scripts call
+`.venv/bin/python`. Rerun the `isaaccapture` line after every rebuild to replace
+the installed wheel.
+
 Clone the vehicle-side dependencies into this example's `thirdparty` directory. These repositories are intentionally not added as git submodules.
 
 ```bash
@@ -119,10 +123,29 @@ If the remote worker was started with `--log-mcap`, replay the recorded commands
 
 The replay command prints the retargeted vehicle command values. It does not write to PandaRunner.
 
+## Running the Modules Directly
+
+The example has no single entry point: each script in `scripts/` runs one module
+with `.venv/bin/python -m`. To run a module yourself, from this directory:
+
+```bash
+.venv/bin/python -m isaaccapture_examples.vehicle_teleop.isaac_remote_steering_worker
+.venv/bin/python -m isaaccapture_examples.vehicle_teleop.isaac_keyboard_control_worker
+PYTHONPATH=thirdparty/opendbc:thirdparty/panda .venv/bin/python -m isaaccapture_examples.vehicle_teleop.panda_worker --connect "tcp://<remote-ip>:5555"
+.venv/bin/python -m isaaccapture_examples.vehicle_teleop.replay_command_mcap logs/vehicle_control.mcap
+```
+
+The Panda worker needs `thirdparty/opendbc` and `thirdparty/panda` on
+`PYTHONPATH`; `run_panda_worker.sh` sets that for you.
+
 ## Troubleshooting
 
 If the steering worker cannot find the native plugin, pass `--plugin-binary` explicitly. In a source build, the default location is usually `build/src/plugins/steering_wheel/steering_wheel_plugin`. In an install tree, it is usually `plugins/steering_wheel/steering_wheel_plugin`.
 
+The default `--config` and `--plugin-binary` are found relative to this example directory, so they resolve in a source checkout set up as in [Setup](#setup) and in an install tree. If you installed the example as a regular, non-editable package, pass both explicitly, with `--config` pointing at this directory's `config/steering_wheel_config.yaml`.
+
 If the worker fails while creating the OpenXR session, confirm that the CloudXR runtime is running, the CloudXR environment has been sourced in the worker terminal, and the OpenXR client is connected.
 
 If the Panda worker cannot import `opendbc` or `panda`, confirm the two dependency repositories were cloned under `examples/vehicle_teleop/thirdparty/`.
+
+If `python -m` reports `No module named 'isaaccapture_examples'`, the example is not installed in that virtual environment. Rerun `uv pip install -e .` from [Setup](#setup).

examples/vehicle_teleop/python/pyproject.toml → examples/vehicle_teleop/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 = "vehicle-teleop-example"
+# The dist name mirrors the import path, so an installed example claims no bare
+# top-level name in site-packages.
+name = "isaaccapture-examples-vehicle-teleop"
 version = "0.0.0"
 description = "Isaac Teleop vehicle steering and Panda control example"
 requires-python = ">=3.11,<3.14"
@@ -21,5 +27,11 @@ dependencies = [
     "websockets>=17.3",
 ]
 
+# `only-include` + `sources`, not `packages`, and no __init__.py above
+# vehicle_teleop -- see the packaging rules in examples/README.md.
+[tool.hatch.build.targets.wheel]
+only-include = ["python/isaaccapture_examples/vehicle_teleop"]
+sources = ["python"]
+
 [[tool.uv.index]]
 url = "https://pypi.nvidia.com"

examples/vehicle_teleop/python/vehicle_teleop/command_log.py → examples/vehicle_teleop/python/isaaccapture_examples/vehicle_teleop/command_log.py

@@ -11,7 +11,7 @@
 from mcap.reader import make_reader
 from mcap.writer import CompressionType, Writer
 
-from vehicle_teleop.vehicle_command import VehicleControlCommand
+from .vehicle_command import VehicleControlCommand
 
 
 @dataclass(frozen=True)

examples/vehicle_teleop/python/vehicle_teleop/isaac_keyboard_control_worker.py → examples/vehicle_teleop/python/isaaccapture_examples/vehicle_teleop/isaac_keyboard_control_worker.py

@@ -19,7 +19,7 @@
 )
 from isaaccapture.schema import SteeringWheelOutput
 
-from vehicle_teleop.vehicle_command import (
+from .vehicle_command import (
     VehicleControlCommand,
     clamp,
     isaac_command_to_wire_command,

examples/vehicle_teleop/python/vehicle_teleop/isaac_remote_steering_worker.py → examples/vehicle_teleop/python/isaaccapture_examples/vehicle_teleop/isaac_remote_steering_worker.py

@@ -25,8 +25,8 @@
 )
 from isaaccapture.schema import SteeringWheelOutput
 
-from vehicle_teleop.command_log import McapCommandLogger, SteeringWheelSample
-from vehicle_teleop.vehicle_command import (
+from .command_log import McapCommandLogger, SteeringWheelSample
+from .vehicle_command import (
     VehicleControlCommand,
     isaac_command_to_wire_command,
 )
@@ -46,7 +46,9 @@
 
 
 def example_root() -> Path:
-    return Path(__file__).resolve().parents[2]
+    # Four levels up is the example root, where config/ sits -- in the source
+    # tree and in the install tree alike.
+    return Path(__file__).resolve().parents[3]
 
 
 def default_config_path() -> Path:

examples/vehicle_teleop/python/vehicle_teleop/panda_worker.py → examples/vehicle_teleop/python/isaaccapture_examples/vehicle_teleop/panda_worker.py

@@ -11,7 +11,7 @@
 
 import zmq
 
-from vehicle_teleop.vehicle_command import VehicleControlCommand, clamp
+from .vehicle_command import VehicleControlCommand, clamp
 
 
 DEFAULT_CONNECT = "tcp://127.0.0.1:5555"

examples/vehicle_teleop/python/vehicle_teleop/replay_command_mcap.py → examples/vehicle_teleop/python/isaaccapture_examples/vehicle_teleop/replay_command_mcap.py

@@ -5,7 +5,7 @@
 import argparse
 import time
 
-from vehicle_teleop.command_log import McapCommandLogReader
+from .command_log import McapCommandLogReader
 
 
 class CommandMcapReplay:

examples/vehicle_teleop/scripts/replay_command_mcap.sh

@@ -8,11 +8,11 @@ PYTHON="${EXAMPLE_ROOT}/.venv/bin/python"
 
 if [[ ! -x "${PYTHON}" ]]; then
     echo "Missing example virtual environment: ${EXAMPLE_ROOT}/.venv" >&2
-    echo "Create it with: uv venv --python 3.11 .venv" >&2
+    echo "Set it up as in Setup in ${EXAMPLE_ROOT}/README.md" >&2
     exit 1
 fi
 
 export PYTHONPATH="${EXAMPLE_ROOT}/python${PYTHONPATH:+:${PYTHONPATH}}"
 
-exec "${PYTHON}" -m vehicle_teleop.replay_command_mcap \
+exec "${PYTHON}" -m isaaccapture_examples.vehicle_teleop.replay_command_mcap \
     "$@"

examples/vehicle_teleop/scripts/run_isaac_keyboard_control_worker.sh

@@ -8,12 +8,12 @@ PYTHON="${EXAMPLE_ROOT}/.venv/bin/python"
 
 if [[ ! -x "${PYTHON}" ]]; then
     echo "Missing example virtual environment: ${EXAMPLE_ROOT}/.venv" >&2
-    echo "Create it with: uv venv --python 3.11 .venv" >&2
+    echo "Set it up as in Setup in ${EXAMPLE_ROOT}/README.md" >&2
     exit 1
 fi
 
 export PYTHONPATH="${EXAMPLE_ROOT}/python${PYTHONPATH:+:${PYTHONPATH}}"
 
-exec "${PYTHON}" -m vehicle_teleop.isaac_keyboard_control_worker \
+exec "${PYTHON}" -m isaaccapture_examples.vehicle_teleop.isaac_keyboard_control_worker \
     --rate-hz 50 \
     "$@"

examples/vehicle_teleop/scripts/run_isaac_remote_steering_worker.sh

@@ -8,12 +8,12 @@ PYTHON="${EXAMPLE_ROOT}/.venv/bin/python"
 
 if [[ ! -x "${PYTHON}" ]]; then
     echo "Missing example virtual environment: ${EXAMPLE_ROOT}/.venv" >&2
-    echo "Create it with: uv venv --python 3.11 .venv" >&2
+    echo "Set it up as in Setup in ${EXAMPLE_ROOT}/README.md" >&2
     exit 1
 fi
 
 export PYTHONPATH="${EXAMPLE_ROOT}/python${PYTHONPATH:+:${PYTHONPATH}}"
 
-exec "${PYTHON}" -m vehicle_teleop.isaac_remote_steering_worker \
+exec "${PYTHON}" -m isaaccapture_examples.vehicle_teleop.isaac_remote_steering_worker \
     --rate-hz 50 \
     "$@"

examples/vehicle_teleop/scripts/run_panda_worker.sh

@@ -8,11 +8,11 @@ PYTHON="${EXAMPLE_ROOT}/.venv/bin/python"
 
 if [[ ! -x "${PYTHON}" ]]; then
     echo "Missing example virtual environment: ${EXAMPLE_ROOT}/.venv" >&2
-    echo "Create it with: uv venv --python 3.11 .venv" >&2
+    echo "Set it up as in Setup in ${EXAMPLE_ROOT}/README.md" >&2
     exit 1
 fi
 
 export PYTHONPATH="${EXAMPLE_ROOT}/python:${EXAMPLE_ROOT}/thirdparty/opendbc:${EXAMPLE_ROOT}/thirdparty/panda${PYTHONPATH:+:${PYTHONPATH}}"
 
-exec "${PYTHON}" -m vehicle_teleop.panda_worker \
+exec "${PYTHON}" -m isaaccapture_examples.vehicle_teleop.panda_worker \
     "$@"

examples/vehicle_teleop/tests/pyproject.toml

@@ -11,3 +11,7 @@ dev = ["pytest", "numpy", "mcap>=1.2.0", "pyyaml", "pyzmq"]
 
 [tool.pytest.ini_options]
 pythonpath = ["../python"]
+
+# uv reads settings from the nearest [tool.uv], so this empty table keeps the
+# example's pypi.nvidia.com index one directory up out of the test run.
+[tool.uv]

examples/vehicle_teleop/tests/test_workers.py

@@ -13,16 +13,16 @@
     VehicleControlRetargeterConfig,
 )
 
-from vehicle_teleop.isaac_keyboard_control_worker import (
+from isaaccapture_examples.vehicle_teleop.isaac_keyboard_control_worker import (
     IsaacKeyboardControlState,
     IsaacKeyboardControlWorker,
     TerminalKeyReader,
 )
-from vehicle_teleop.isaac_remote_steering_worker import (
+from isaaccapture_examples.vehicle_teleop.isaac_remote_steering_worker import (
     IsaacRemoteSteeringWorker,
     build_parser,
 )
-from vehicle_teleop.vehicle_command import VehicleControlCommand
+from isaaccapture_examples.vehicle_teleop.vehicle_command import VehicleControlCommand
 
 
 @pytest.fixture