update record API example for consistency

docs/source/il_robots.mdx

@@ -68,13 +68,13 @@ from lerobot.teleoperators.so_leader import SO101Leader, SO101LeaderConfig
 from lerobot.robots.so_follower import SO101Follower, SO101FollowerConfig
 
 robot_config = SO101FollowerConfig(
-    port="/dev/tty.usbmodem58760431541",
+    port="/dev/tty.usbmodem5AB90687491",
-    id="my_red_robot_arm",
+    id="my_follower_arm",
 )
 
 teleop_config = SO101LeaderConfig(
-    port="/dev/tty.usbmodem58760431551",
+    port="/dev/tty.usbmodem5AB90689011",
-    id="my_blue_leader_arm",
+    id="my_leader_arm",
 )
 
 robot = SO101Follower(robot_config)
@@ -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.utils.visualization_utils import init_rerun, log_rerun_data, shutdown_rerun
-from lerobot.robots.koch_follower import KochFollower, KochFollowerConfig
 
-camera_config = {
+robot_config = SO101FollowerConfig(
-    "front": OpenCVCameraConfig(index_or_path=0, width=1920, height=1080, fps=30)
+    port="/dev/tty.usbmodem5AB90687491",
-}
+    id="my_follower_arm",
-
+    cameras={
-robot_config = KochFollowerConfig(
+        "wrist": OpenCVCameraConfig(index_or_path=0, width=640, height=480, fps=30),
-    port="/dev/tty.usbmodem585A0076841",
+        "top": OpenCVCameraConfig(index_or_path=1, width=640, height=480, fps=30)
-    id="my_red_robot_arm",
+    }
-    cameras=camera_config
 )
 
-teleop_config = KochLeaderConfig(
+teleop_config = SO101LeaderConfig(
-    port="/dev/tty.usbmodem58760431551",
+    port="/dev/tty.usbmodem5AB90689011",
-    id="my_blue_leader_arm",
+    id="my_leader_arm",
 )
 
-robot = KochFollower(robot_config)
+init_rerun(session_name="teleoperation")
-teleop_device = KochLeader(teleop_config)
+
+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 -->
 
@@ -202,10 +216,11 @@ lerobot-record \
 <!-- prettier-ignore-start -->
 ```python
 from lerobot.cameras.opencv import OpenCVCameraConfig
-from lerobot.datasets import LeRobotDataset
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.utils.feature_utils import hw_to_dataset_features
-from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
+from lerobot.robots.so_follower import SO101Follower, SO101FollowerConfig
-from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
+from lerobot.teleoperators.so_leader.config_so_leader import SO101LeaderConfig
+from lerobot.teleoperators.so_leader.so_leader import SO101Leader
 from lerobot.common.control_utils import init_keyboard_listener
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun
@@ -218,71 +233,56 @@ EPISODE_TIME_SEC = 60
 RESET_TIME_SEC = 10
 TASK_DESCRIPTION = "My task description"
 
-# Create robot configuration
+def main():
-robot_config = SO100FollowerConfig(
+    # Create robot configuration
-    id="my_awesome_follower_arm",
+    robot_config = SO101FollowerConfig(
-    cameras={
+        port="/dev/tty.usbmodem5AB90687491",
-        "front": OpenCVCameraConfig(index_or_path=0, width=640, height=480, fps=FPS) # Optional: fourcc="MJPG" for troubleshooting OpenCV async error.
+        id="my_follower_arm",
-    },
+        cameras={
-    port="/dev/tty.usbmodem58760434471",
+            "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 = SO100LeaderConfig(
-    id="my_awesome_leader_arm",
-    port="/dev/tty.usbmodem585A0077581",
-)
-
-# Initialize the robot and teleoperator
-robot = SO100Follower(robot_config)
-teleop = SO100Leader(teleop_config)
-
-# Configure the dataset features
-action_features = hw_to_dataset_features(robot.action_features, "action")
-obs_features = hw_to_dataset_features(robot.observation_features, "observation")
-dataset_features = {**action_features, **obs_features}
-
-# Create the dataset
-dataset = LeRobotDataset.create(
-    repo_id="<hf_username>/<dataset_repo_id>",
-    fps=FPS,
-    features=dataset_features,
-    robot_type=robot.name,
-    use_videos=True,
-    image_writer_threads=4,
-)
-
-# Initialize the keyboard listener and rerun visualization
-_, events = init_keyboard_listener()
-init_rerun(session_name="recording")
-
-# Connect the robot and teleoperator
-robot.connect()
-teleop.connect()
-
-# Create the required processors
-teleop_action_processor, robot_action_processor, robot_observation_processor = make_default_processors()
-
-episode_idx = 0
-while episode_idx < NUM_EPISODES and not events["stop_recording"]:
-    log_say(f"Recording episode {episode_idx + 1} of {NUM_EPISODES}")
-
-    record_loop(
-        robot=robot,
-        events=events,
-        fps=FPS,
-        teleop_action_processor=teleop_action_processor,
-        robot_action_processor=robot_action_processor,
-        robot_observation_processor=robot_observation_processor,
-        teleop=teleop,
-        dataset=dataset,
-        control_time_s=EPISODE_TIME_SEC,
-        single_task=TASK_DESCRIPTION,
-        display_data=True,
     )
 
-    # Reset the environment if not stopping or re-recording
+    teleop_config = SO101LeaderConfig(
-    if not events["stop_recording"] and (episode_idx < NUM_EPISODES - 1 or events["rerecord_episode"]):
+        port="/dev/tty.usbmodem5AB90689011",
-        log_say("Reset the environment")
+        id="my_leader_arm",
+    )
+
+    # Initialize the robot and teleoperator
+    robot = SO101Follower(robot_config)
+    teleop = SO101Leader(teleop_config)
+
+    # Configure the dataset features
+    action_features = hw_to_dataset_features(robot.action_features, "action")
+    obs_features = hw_to_dataset_features(robot.observation_features, "observation")
+    dataset_features = {**action_features, **obs_features}
+
+    # Create the dataset
+    dataset = LeRobotDataset.create(
+        repo_id="<hf_username>/<dataset_repo_id>",
+        fps=FPS,
+        features=dataset_features,
+        robot_type=robot.name,
+        use_videos=True,
+        image_writer_threads=4,
+    )
+
+    # Initialize the keyboard listener and rerun visualization
+    _, events = init_keyboard_listener()
+    init_rerun(session_name="recording")
+
+    # Connect the robot and teleoperator
+    robot.connect()
+    teleop.connect()
+
+    # Create the required processors
+    teleop_action_processor, robot_action_processor, robot_observation_processor = make_default_processors()
+
+    episode_idx = 0
+    while episode_idx < NUM_EPISODES and not events["stop_recording"]:
+        log_say(f"Recording episode {episode_idx + 1} of {NUM_EPISODES}")
+
         record_loop(
             robot=robot,
             events=events,
@@ -291,26 +291,50 @@ while episode_idx < NUM_EPISODES and not events["stop_recording"]:
             robot_action_processor=robot_action_processor,
             robot_observation_processor=robot_observation_processor,
             teleop=teleop,
-            control_time_s=RESET_TIME_SEC,
+            dataset=dataset,
+            control_time_s=EPISODE_TIME_SEC,
             single_task=TASK_DESCRIPTION,
             display_data=True,
         )
 
-    if events["rerecord_episode"]:
+        # Reset the environment if not stopping or re-recording
-        log_say("Re-recording episode")
+        if not events["stop_recording"] and (episode_idx < NUM_EPISODES - 1 or events["rerecord_episode"]):
-        events["rerecord_episode"] = False
+            log_say("Reset the environment")
-        events["exit_early"] = False
+            record_loop(
-        dataset.clear_episode_buffer()
+                robot=robot,
-        continue
+                events=events,
+                fps=FPS,
+                teleop_action_processor=teleop_action_processor,
+                robot_action_processor=robot_action_processor,
+                robot_observation_processor=robot_observation_processor,
+                teleop=teleop,
+                control_time_s=RESET_TIME_SEC,
+                single_task=TASK_DESCRIPTION,
+                display_data=True,
+            )
 
-    dataset.save_episode()
+        if events["rerecord_episode"]:
-    episode_idx += 1
+            log_say("Re-recording episode")
+            events["rerecord_episode"] = False
+            events["exit_early"] = False
+            dataset.clear_episode_buffer()
+            continue
 
-# Clean up
+        dataset.save_episode()
-log_say("Stop recording")
+        episode_idx += 1
-robot.disconnect()
+
-teleop.disconnect()
+    # finalize dataset
-dataset.push_to_hub()
+    log_say("Finalizing dataset...")
+    dataset.finalize()
+    # Clean up
+    log_say("Stop recording")
+    robot.disconnect()
+    teleop.disconnect()
+    dataset.push_to_hub()
+
+
+if __name__ == "__main__":
+    main()
 ```
 <!-- prettier-ignore-end -->
 
@@ -422,7 +446,7 @@ from lerobot.utils.utils import log_say
 
 episode_idx = 0
 
-robot_config = SO100FollowerConfig(port="/dev/tty.usbmodem58760434471", id="my_awesome_follower_arm")
+robot_config = SO100FollowerConfig(port="/dev/tty.usbmodem5AB90687491", id="my_follower_arm")
 
 robot = SO100Follower(robot_config)
 robot.connect()