examples(lerobot): package under isaacteleop_examples

.gitignore

@@ -63,5 +63,9 @@ MUJOCO_LOG.TXT
 # and its README has you run from the repo root.
 /recordings/
 
+# examples/lerobot writes here by default (Path.cwd() / "local_datasets"),
+# and its README has you run from the repo root.
+/local_datasets/
+
 # Runtime device files injected by MCP server infrastructure
 .mcp.json

examples/lerobot/README.md

@@ -3,32 +3,30 @@ SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES.
 SPDX-License-Identifier: Apache-2.0
 -->
 
-# LeRobot Example Datasets
+# LeRobot example datasets
 
-This directory contains minimal usage examples for recording, visualizing and
-analyzing LeRobot datasets.
+Minimal examples for recording, visualizing and analyzing
+[LeRobot](https://github.com/huggingface/lerobot) datasets from Isaac Teleop.
 
-## Prerequisite
-
-```
-pip install lerobot
+```bash
+uv pip install -e ./examples/lerobot          # add [viz] for the rerun viewer
+python -m isaacteleop_examples.lerobot.record
 ```
 
-## Examples
-
-- **record.py**
-  Record a dataset in the LeRobot format from live human data. Currently it only
-  captures head and hands position for demonstrations purpose.
+| Module | What it does |
+| --- | --- |
+| `record` | Records a LeRobot-format dataset from live human data — head and hand positions only, for demonstration |
+| `visualize` | Plots a dataset with [rerun](https://rerun.io) (needs the `viz` extra) |
+| `analyze` | Parses and summarizes a recorded dataset |
 
-  Note: the record.py script always create a new dataset. You must remove
-  existing one before running it again:
+Datasets are written to `./local_datasets/` relative to where you run the
+command, and the other two modules read from the same place. `record` always
+creates a new dataset, so remove an old one before re-running:
 
-  ```bash
-  rm -rf local_datasets
-  ```
-
-- **visualize.py**
-  A basic rerun visualizer to plot out the dataset.
+```bash
+rm -rf local_datasets
+```
 
-- **analyze.py**
-  A quick sample to parse and analyze the LeRobot dataset.
+> The SO-101 teleoperation example referenced from the Isaac Teleop docs lives
+> in the [LeRobot repository](https://github.com/huggingface/lerobot) under
+> `examples/isaac_teleop_to_so101/`, not here.

examples/lerobot/pyproject.toml

@@ -0,0 +1,31 @@
+# SPDX-FileCopyrightText: Copyright (c) 2025-2026 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-lerobot"
+version = "0.0.0"  # Internal example - not versioned
+description = "Record, visualize and analyze LeRobot datasets from Isaac Teleop"
+requires-python = ">=3.11,<3.14"
+dependencies = [
+    "isaacteleop[cloudxr]",
+    "lerobot",
+    "numpy>=1.23.0",
+]
+
+[project.optional-dependencies]
+# visualize.py only; recording and analysis need no viewer.
+viz = ["rerun-sdk"]
+
+# `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 `lerobot/` -- which would sit next to the real `lerobot`.
+[tool.hatch.build.targets.wheel]
+only-include = ["python/isaacteleop_examples/lerobot"]
+sources = ["python"]

examples/lerobot/python/isaacteleop_examples/lerobot/__init__.py

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

examples/lerobot/record.py → examples/lerobot/python/isaacteleop_examples/lerobot/record.py

@@ -69,7 +69,9 @@ def main():
     # STEP 2: Create LeRobot dataset
     # Use a timestamped directory so repeated runs create unique datasets
     timestamp = time.strftime("%Y%m%d_%H%M%S")
-    dataset_path = Path(__file__).parent / f"local_datasets/teleop_tracking_{timestamp}"
+    # CWD-relative, matching what visualize.py and analyze.py read. Anchoring
+    # this to __file__ would write inside the installed package.
+    dataset_path = Path.cwd() / f"local_datasets/teleop_tracking_{timestamp}"
     dataset = LeRobotDataset.create(
         repo_id="teleop/tracking_demo",
         fps=60,  # ~60 FPS tracking