Fix small issues in docs and refactor (#1194)

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

docs/source/getting_started_real_world_robot.mdx

@@ -36,16 +36,18 @@ If you haven't yet set up and calibrated your robot and teleop device, please do
 
 In this example, we’ll demonstrate how to teleoperate the SO101 robot. For each command, we also provide a corresponding API example.
 
+Note that the `id` associated with a robot is used to store the calibration file. It's important to use the same `id` when teleoperating, recording, and evaluating when using the same setup.
+
 <hfoptions id="teleoperate_so101">
 <hfoption id="Command">
 ```bash
 python -m lerobot.teleoperate \
     --robot.type=so101_follower \
     --robot.port=/dev/tty.usbmodem58760431541 \
-    --robot.id=my_red_robot_arm \
+    --robot.id=my_awesome_follower_arm \
     --teleop.type=so101_leader \
     --teleop.port=/dev/tty.usbmodem58760431551 \
-    --teleop.id=my_blue_leader_arm
+    --teleop.id=my_awesome_leader_arm
 ```
 </hfoption>
 <hfoption id="API example">
@@ -93,11 +95,11 @@ With `rerun`, you can teleoperate again while simultaneously visualizing the cam
 python -m lerobot.teleoperate \
     --robot.type=koch_follower \
     --robot.port=/dev/tty.usbmodem58760431541 \
-    --robot.id=my_koch_robot \
+    --robot.id=my_awesome_follower_arm \
     --robot.cameras="{ front: {type: opencv, index_or_path: 0, width: 1920, height: 1080, fps: 30}}" \
     --teleop.type=koch_leader \
     --teleop.port=/dev/tty.usbmodem58760431551 \
-    --teleop.id=my_koch_teleop \
+    --teleop.id=my_awesome_leader_arm \
     --display_data=true
 ```
 </hfoption>
@@ -157,13 +159,13 @@ Now you can record a dataset. To record 2 episodes and upload your dataset to th
 python -m lerobot.record \
     --robot.type=so101_follower \
     --robot.port=/dev/tty.usbmodem585A0076841 \
-    --robot.id=my_red_robot_arm \
+    --robot.id=my_awesome_follower_arm \
     --robot.cameras="{ front: {type: opencv, index_or_path: 0, width: 1920, height: 1080, fps: 30}}" \
     --teleop.type=so101_leader \
     --teleop.port=/dev/tty.usbmodem58760431551 \
-    --teleop.id=my_blue_leader_arm \
+    --teleop.id=my_awesome_leader_arm \
     --display_data=true \
-    --dataset.repo_id=aliberts/record-test \
+    --dataset.repo_id=${HF_USER}/record-test \
     --dataset.num_episodes=2 \
     --dataset.single_task="Grab the black cube"
 ```
@@ -227,18 +229,6 @@ If you uploaded your dataset to the hub with `--control.push_to_hub=true`, you c
 echo ${HF_USER}/so101_test
 ```
 
-If you didn't upload with `--control.push_to_hub=false`, you can visualize it locally with (via a window in the browser `http://127.0.0.1:9090` with the visualization tool):
-```bash
-python lerobot/scripts/visualize_dataset_html.py \
-  --repo-id ${HF_USER}/so101_test \
-  --local-files-only 1
-```
-
-This will launch a local web server that looks like this:
-<div style="text-align:center;">
-  <img src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/visualize_dataset_html.webp?raw=true" alt="Koch v1.1 leader and follower arms" title="Koch v1.1 leader and follower arms" width="100%"></img>
-</div>
-
 ## Replay an episode
 
 A useful feature is the `replay` function, which allows you to replay any episode that you've recorded or episodes from any dataset out there. This function helps you test the repeatability of your robot's actions and assess transferability across robots of the same model.
@@ -248,9 +238,9 @@ You can replay the first episode on your robot with:
 python -m lerobot.replay \
     --robot.type=so101_follower \
     --robot.port=/dev/tty.usbmodem58760431541 \
-    --robot.id=black \
-    --dataset.repo_id=aliberts/record-test \
-    --dataset.episode=2
+    --robot.id=my_awesome_follower_arm \
+    --dataset.repo_id=${HF_USER}/record-test \
+    --dataset.episode=0 # choose the episode you want to replay
 ```
 
 Your robot should replicate movements similar to those you recorded. For example, check out [this video](https://x.com/RemiCadene/status/1793654950905680090) where we use `replay` on a Aloha robot from [Trossen Robotics](https://www.trossenrobotics.com).
@@ -306,14 +296,14 @@ python -m lerobot.record  \
   --robot.type=so100_follower \
   --robot.port=/dev/ttyACM1 \
   --robot.cameras="{ up: {type: opencv, index_or_path: /dev/video10, width: 640, height: 480, fps: 30}, side: {type: intelrealsense, serial_number_or_name: 233522074606, width: 640, height: 480, fps: 30}}" \
-  --robot.id=blue_follower_arm \
+  --robot.id=my_awesome_follower_arm \
   --teleop.type=so100_leader \
   --teleop.port=/dev/ttyACM0 \
-  --teleop.id=red_leader_arm \
+  --teleop.id=my_awesome_leader_arm \
   --display_data=false \
-  --dataset.repo_id=$HF_USER/eval_lego_${EPOCHREALTIME/[^0-9]/} \
+  --dataset.repo_id=$HF_USER/eval_so100 \
   --dataset.single_task="Put lego brick into the transparent box" \
-  --policy.path=${HF_USER}/act_johns_arm
+  --policy.path=${HF_USER}/my_policy
 ```
 
 As you can see, it's almost the same command as previously used to record your training dataset. Two things changed: