docs: drop the removed CMake presets from the mujoco_xr example

cmake/SetupPython.cmake

@@ -83,9 +83,9 @@ if(ISAAC_TELEOP_PYTHON_CONFIGURED AND
     message(FATAL_ERROR
         "This build directory is configured for Python ${ISAAC_TELEOP_PYTHON_CONFIGURED}, "
         "but ISAAC_TELEOP_PYTHON_VERSION is now ${ISAAC_TELEOP_PYTHON_VERSION}. The Python "
-        "version is baked into the CMake cache and the build venv; configure a different "
-        "build directory instead (cmake -B build-py${ISAAC_TELEOP_PYTHON_VERSION} "
-        "-DISAAC_TELEOP_PYTHON_VERSION=${ISAAC_TELEOP_PYTHON_VERSION}), or delete this one.")
+        "version is baked into the CMake cache and the build venv; delete this build "
+        "directory and configure again with "
+        "-DISAAC_TELEOP_PYTHON_VERSION=${ISAAC_TELEOP_PYTHON_VERSION}.")
 endif()
 
 # Guard to prevent multiple inclusions from overwriting our settings

docs/source/getting_started/build_from_source/index.rst

@@ -154,13 +154,13 @@ Add any other options as ``-D`` flags on the configure line, for example
 
    The Python version is baked into a build directory's CMake cache and its build
    venv, so ``ISAAC_TELEOP_PYTHON_VERSION`` cannot be changed on an existing tree —
-   configuring again with a different value fails with an explanatory error. Give
-   each version its own directory:
+   configuring again with a different value fails with an explanatory error. Select
+   it on the first configure, and delete the tree to switch later:
 
    .. code-block:: bash
 
-      cmake -B build-py3.12 -DISAAC_TELEOP_PYTHON_VERSION=3.12
-      cmake --build build-py3.12 --parallel
+      cmake -B build -DISAAC_TELEOP_PYTHON_VERSION=3.12
+      cmake --build build --parallel
 
 This will:
 
@@ -260,13 +260,13 @@ The CMake options (defined in root :code-file:`CMakeLists.txt` and :code-file:`c
 Examples
 ~~~~~~~~
 
-Build for a different Python version — each needs its own build directory
-(``3.11``, ``3.12``, ``3.13`` are supported):
+Build for a different Python version (``3.11``, ``3.12``, ``3.13`` are supported;
+delete ``build/`` first if it is already configured for another one):
 
 .. code-block:: bash
 
-   cmake -B build-py3.12 -DISAAC_TELEOP_PYTHON_VERSION=3.12
-   cmake --build build-py3.12 --parallel
+   cmake -B build -DISAAC_TELEOP_PYTHON_VERSION=3.12
+   cmake --build build --parallel
 
 Debug build:
 

docs/source/references/build.rst

@@ -95,15 +95,15 @@ two build paths therefore never share a directory:
 - **classic CMake** → whatever you pass to ``-B``, ``build/`` by convention.
   ``ISAAC_TELEOP_PYTHON_VERSION`` selects the interpreter (default ``3.11``), and
   changing it on an existing tree is rejected with an error rather than silently
-  reusing the old one — give each version its own directory.
+  reusing the old one — delete the tree to switch versions.
 
   .. code-block:: bash
 
-     cmake -B build
+     cmake -B build                                            # default 3.11
      cmake --build build --parallel
      cmake --install build
 
-     cmake -B build-py3.12 -DISAAC_TELEOP_PYTHON_VERSION=3.12   # a second version
+     cmake -B build -DISAAC_TELEOP_PYTHON_VERSION=3.12         # after rm -rf build
 
 - **pip / scikit-build-core** → ``build-wheel/<cache-tag>/`` (e.g.
   ``build-wheel/cpython-312/``), set by ``build-dir`` in

examples/mujoco_xr/CMakeLists.txt

@@ -126,7 +126,7 @@ if(NOT _mujoco_probe_rc EQUAL 0)
     # example, so it names the exact command. Configure CREATES that
     # interpreter, hence the re-configure step in the README.
     message(STATUS "mujoco_xr: skipped -- '${Python3_EXECUTABLE}' cannot import mujoco. "
-                   "Install it and re-run cmake --preset with: "
+                   "Install it and re-run cmake -B ${CMAKE_BINARY_DIR} with: "
                    "uv pip install --python ${Python3_EXECUTABLE} \"mujoco==${_mujoco_declared_pin}\"")
     return()
 endif()

examples/mujoco_xr/README.md

@@ -174,23 +174,23 @@ wheel is there.
 ```bash
 # 1. Configure once to create the build venv. This first pass necessarily
 #    reports `-- mujoco_xr: skipped ...` — expected, not a failure.
-cmake --preset py3.12 -DBUILD_VIZ=ON
+cmake -B build -DBUILD_VIZ=ON
 
 # 2. Install mujoco into the interpreter configure just created. `python -m pip`
 #    does not work: that venv has no pip.
-uv pip install --python build/cmake-cpython-312/teleop_build_venv/bin/python "mujoco==3.11.0"
+uv pip install --python build/teleop_build_venv/bin/python "mujoco==3.11.0"
 
 # 3. Re-configure. NOW the probe finds mujoco and the example is added.
-cmake --preset py3.12 -DBUILD_VIZ=ON
+cmake -B build -DBUILD_VIZ=ON
 
 # 4. Build. There is no `cmake --install` step for this example.
-cmake --build --preset py3.12 --parallel
+cmake --build build --parallel
 ```
 
 A green build does **not** mean this example compiled. The reliable check:
 
 ```bash
-cmake --preset py3.12 -DBUILD_VIZ=ON 2>&1 | grep '^-- mujoco_xr:'
+cmake -B build -DBUILD_VIZ=ON 2>&1 | grep '^-- mujoco_xr:'
 ```
 
 The `ON` line names the exact `libmujoco.so.*` that was linked. There is no
@@ -820,7 +820,7 @@ alpha. No C++ renderer change is needed or wanted for it.
 ## Tests
 
 ```bash
-ctest --test-dir build/cmake-cpython-312 -L mujoco_xr --output-on-failure
+ctest --test-dir build -L mujoco_xr --output-on-failure
 ```
 
 | file | covers |

examples/mujoco_xr/python/isaacteleop_examples/mujoco_xr/__init__.py

@@ -28,7 +28,7 @@
         "and project.dependencies) must name one version, and reinstalling recompiles against it: "
         "uv pip install --reinstall ./examples/mujoco_xr. (If you hit this from the in-tree ctest "
         "path instead, the extension came from the root build: install that same version into "
-        "build/<preset-dir>/teleop_build_venv/bin/python and re-run cmake --preset.) "
+        "build/teleop_build_venv/bin/python and re-run cmake -B build.) "
         "mjModel* / mjData* pointers cannot cross this boundary otherwise."
     )
 

examples/mujoco_xr/tests/pyproject.toml

@@ -11,9 +11,9 @@
 # file rather than this field.
 name = "isaacteleop-examples-mujoco-xr-tests"
 version = "0.0.0"
-# Pinned because these tests import the ABI-specific _mujoco_xr*.so built by the
-# preset's interpreter.
-requires-python = "==3.12.*"
+# Matches ../pyproject.toml. The ABI match with _mujoco_xr*.so comes from
+# CMakeLists.txt passing the build interpreter to `uv run --python`.
+requires-python = ">=3.11,<3.14"
 
 [project.optional-dependencies]
 dev = [

src/python/isaacteleop/rig/launcher.py

@@ -84,9 +84,9 @@
 _CMAKE_CACHE = "CMakeCache.txt"
 
 #: Directories that hold build trees: a hand-made ``cmake -B build``, and the
-#: managed preset/wheel trees, which are one level down (``build-cmake/
-#: cpython-311``). Only used to sharpen an error message, so an unknown
-#: layout costs nothing but a less specific remedy.
+#: managed wheel trees, which are one level down (``build-wheel/cpython-311``).
+#: Only used to sharpen an error message, so an unknown layout costs nothing
+#: but a less specific remedy.
 _BUILD_DIRS = ("build", "build-cmake", "build-wheel")