From 4a6d7f44f1dc132cdc83cb355aeb5cac420a0ee4 Mon Sep 17 00:00:00 2001
From: Nikodem Bartnik <nikodem.bartnik@gmail.com>
Date: Mon, 18 May 2026 09:37:16 +0200
Subject: [PATCH] update teleoperate with cameras

---
 docs/source/il_robots.mdx | 44 ++++++++++++++++++++++++++-------------
 1 file changed, 29 insertions(+), 15 deletions(-)

diff --git a/docs/source/il_robots.mdx b/docs/source/il_robots.mdx
index a12bda1ee..a99938c70 100644
--- a/docs/source/il_robots.mdx
+++ b/docs/source/il_robots.mdx
@@ -122,34 +122,48 @@ lerobot-teleoperate \
 
 <!-- prettier-ignore-start -->
 ```python
+import time
+from lerobot.teleoperators.so_leader import SO101Leader, SO101LeaderConfig
+from lerobot.robots.so_follower import SO101Follower, SO101FollowerConfig
 from lerobot.cameras.opencv import OpenCVCameraConfig
-from lerobot.teleoperators.koch_leader import KochLeader, KochLeaderConfig
-from lerobot.robots.koch_follower import KochFollower, KochFollowerConfig
+from lerobot.utils.visualization_utils import init_rerun, log_rerun_data, shutdown_rerun
 
-camera_config = {
-    "front": OpenCVCameraConfig(index_or_path=0, width=1920, height=1080, fps=30)
-}
-
-robot_config = KochFollowerConfig(
-    port="/dev/tty.usbmodem585A0076841",
-    id="my_red_robot_arm",
-    cameras=camera_config
+robot_config = SO101FollowerConfig(
+    port="/dev/tty.usbmodem5AB90687491",
+    id="my_follower_arm",
+    cameras={
+        "wrist": OpenCVCameraConfig(index_or_path=0, width=640, height=480, fps=30),
+        "top": OpenCVCameraConfig(index_or_path=1, width=640, height=480, fps=30)
+    }
 )
 
-teleop_config = KochLeaderConfig(
-    port="/dev/tty.usbmodem58760431551",
-    id="my_blue_leader_arm",
+teleop_config = SO101LeaderConfig(
+    port="/dev/tty.usbmodem5AB90689011",
+    id="my_leader_arm",
 )
 
-robot = KochFollower(robot_config)
-teleop_device = KochLeader(teleop_config)
+init_rerun(session_name="teleoperation")
+
+robot = SO101Follower(robot_config)
+teleop_device = SO101Leader(teleop_config)
 robot.connect()
 teleop_device.connect()
 
+TARGET_HZ = 30
+TIME_PER_FRAME = 1.0 / TARGET_HZ
+
 while True:
+    start_time = time.perf_counter()
+
     observation = robot.get_observation()
     action = teleop_device.get_action()
     robot.send_action(action)
+    log_rerun_data(observation=observation, action=action)
+
+    elapsed_time = time.perf_counter() - start_time
+    sleep_time = TIME_PER_FRAME - elapsed_time
+    if sleep_time > 0:
+        time.sleep(sleep_time)
 ```
 <!-- prettier-ignore-end -->