From 4485cc0b5bd54437b451292135be77cc838c689b Mon Sep 17 00:00:00 2001
From: Pepijn <138571049+pkooij@users.noreply.github.com>
Date: Fri, 9 May 2025 11:00:25 +0200
Subject: [PATCH 1/4] docs: minor corrections and clean-up (#1089)

---
 docs/source/assemble_so101.mdx                   | 12 +++++++-----
 docs/source/getting_started_real_world_robot.mdx |  4 ++--
 examples/12_use_so101.md                         |  8 +++++---
 3 files changed, 14 insertions(+), 10 deletions(-)

diff --git a/docs/source/assemble_so101.mdx b/docs/source/assemble_so101.mdx
index 3150061bd..de280a392 100644
--- a/docs/source/assemble_so101.mdx
+++ b/docs/source/assemble_so101.mdx
@@ -96,8 +96,8 @@ Reconnect the usb cable.
 #### Update config file
 
 Now that you have your ports, update the **port** default values of [`SO101RobotConfig`](https://github.com/huggingface/lerobot/blob/main/lerobot/common/robot_devices/robots/configs.py).
-You will find something like, update the `port` values with your actual motor ports:
-```python
+You will find a class called `so101` where you can update the `port` values with your actual motor ports:
+```diff
 @RobotConfig.register_subclass("so101")
 @dataclass
 class So101RobotConfig(ManipulatorRobotConfig):
@@ -110,7 +110,8 @@ class So101RobotConfig(ManipulatorRobotConfig):
     leader_arms: dict[str, MotorsBusConfig] = field(
         default_factory=lambda: {
             "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem58760431091",  <-- UPDATE HERE
+-               port="/dev/tty.usbmodem58760431091",
++               port="{ADD YOUR LEADER PORT}",
                 motors={
                     # name: (index, model)
                     "shoulder_pan": [1, "sts3215"],
@@ -127,7 +128,8 @@ class So101RobotConfig(ManipulatorRobotConfig):
     follower_arms: dict[str, MotorsBusConfig] = field(
         default_factory=lambda: {
             "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem585A0076891",  <-- UPDATE HERE
+-                port="/dev/tty.usbmodem585A0076891",
++                port="{ADD YOUR FOLLOWER PORT}",
                 motors={
                     # name: (index, model)
                     "shoulder_pan": [1, "sts3215"],
@@ -297,7 +299,7 @@ Remove all support material from the 3D-printed parts, the easiest way to do thi
 ##### Wiring
 
 - Attach the motor controller on the back.
-- Then insert all wires, use the wire guides everywhere to make sure the wires don't unplug themself and stay in place.
+- Then insert all wires, use the wire guides everywhere to make sure the wires don't unplug themselves and stay in place.
 
 <div class="video-container">
   <video controls width="600">
diff --git a/docs/source/getting_started_real_world_robot.mdx b/docs/source/getting_started_real_world_robot.mdx
index dbc16d8a2..dc7bb7419 100644
--- a/docs/source/getting_started_real_world_robot.mdx
+++ b/docs/source/getting_started_real_world_robot.mdx
@@ -83,7 +83,7 @@ camera_01_frame_000047.png
 
 Note: Some cameras may take a few seconds to warm up, and the first frame might be black or green.
 
-Now that you have the camera indexes, you should specify the camera's in the config. TODO(pepijn): add more info about setting camera config, rotate etc..
+Now that you have the camera indexes, you should specify the camera's in the config.
 
 ### Use your phone
 <hfoptions id="use phone">
@@ -152,7 +152,7 @@ If everything is set up correctly, you can proceed with the rest of the tutorial
 
 ## Teleoperate with cameras
 
-We can now teleoperate again while at the same time visualizing the camera's and joint positions with `rerun`.
+We can now teleoperate again while at the same time visualizing the cameras and joint positions with `rerun`.
 
 ```bash
 python lerobot/scripts/control_robot.py \
diff --git a/examples/12_use_so101.md b/examples/12_use_so101.md
index 0886d988d..3f50b0b51 100644
--- a/examples/12_use_so101.md
+++ b/examples/12_use_so101.md
@@ -146,7 +146,7 @@ Reconnect the usb cable.
 
 Now that you have your ports, update the **port** default values of [`SO101RobotConfig`](https://github.com/huggingface/lerobot/blob/main/lerobot/common/robot_devices/robots/configs.py).
 You will find something a class called `so101` where you can update the `port` values with your actual motor ports:
-```python
+```diff
 @RobotConfig.register_subclass("so101")
 @dataclass
 class So101RobotConfig(ManipulatorRobotConfig):
@@ -159,7 +159,8 @@ class So101RobotConfig(ManipulatorRobotConfig):
     leader_arms: dict[str, MotorsBusConfig] = field(
         default_factory=lambda: {
             "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem58760431091",  <-- UPDATE HERE
+-               port="/dev/tty.usbmodem58760431091",
++               port="{ADD YOUR LEADER PORT}",
                 motors={
                     # name: (index, model)
                     "shoulder_pan": [1, "sts3215"],
@@ -176,7 +177,8 @@ class So101RobotConfig(ManipulatorRobotConfig):
     follower_arms: dict[str, MotorsBusConfig] = field(
         default_factory=lambda: {
             "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem585A0076891",  <-- UPDATE HERE
+-                port="/dev/tty.usbmodem585A0076891",
++                port="{ADD YOUR FOLLOWER PORT}",
                 motors={
                     # name: (index, model)
                     "shoulder_pan": [1, "sts3215"],

From 7598aeaad7cd4c705100cc257d816952b0282f50 Mon Sep 17 00:00:00 2001
From: Mishig <dmishig@gmail.com>
Date: Fri, 9 May 2025 11:01:12 +0200
Subject: [PATCH 2/4] Update 10_use_so100.md; use diff syntax (#944)

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
---
 examples/10_use_so100.md | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/examples/10_use_so100.md b/examples/10_use_so100.md
index 7f6430d7d..62164cf5f 100644
--- a/examples/10_use_so100.md
+++ b/examples/10_use_so100.md
@@ -128,7 +128,7 @@ sudo chmod 666 /dev/ttyACM1
 #### d. Update config file
 
 IMPORTANTLY: Now that you have your ports, update the **port** default values of [`SO100RobotConfig`](../lerobot/common/robot_devices/robots/configs.py). You will find something like:
-```python
+```diff
 @RobotConfig.register_subclass("so100")
 @dataclass
 class So100RobotConfig(ManipulatorRobotConfig):
@@ -141,7 +141,8 @@ class So100RobotConfig(ManipulatorRobotConfig):
     leader_arms: dict[str, MotorsBusConfig] = field(
         default_factory=lambda: {
             "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem58760431091",  <-- UPDATE HERE
+-                port="/dev/tty.usbmodem58760431091",
++                port="{ADD YOUR LEADER PORT}",
                 motors={
                     # name: (index, model)
                     "shoulder_pan": [1, "sts3215"],
@@ -158,7 +159,8 @@ class So100RobotConfig(ManipulatorRobotConfig):
     follower_arms: dict[str, MotorsBusConfig] = field(
         default_factory=lambda: {
             "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem585A0076891",  <-- UPDATE HERE
+-                port="/dev/tty.usbmodem585A0076891",
++                port="{ADD YOUR FOLLOWER PORT}",
                 motors={
                     # name: (index, model)
                     "shoulder_pan": [1, "sts3215"],

From f24030d4d8e4af75ba905f12d2eb5a62e20de744 Mon Sep 17 00:00:00 2001
From: CharlesCNorton <135471798+CharlesCNorton@users.noreply.github.com>
Date: Fri, 9 May 2025 05:04:25 -0400
Subject: [PATCH 3/4] Update 12_use_so101.md (#1081)

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
---
 examples/12_use_so101.md | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/examples/12_use_so101.md b/examples/12_use_so101.md
index 3f50b0b51..60e5e6ad2 100644
--- a/examples/12_use_so101.md
+++ b/examples/12_use_so101.md
@@ -145,7 +145,7 @@ Reconnect the usb cable.
 #### Update config file
 
 Now that you have your ports, update the **port** default values of [`SO101RobotConfig`](https://github.com/huggingface/lerobot/blob/main/lerobot/common/robot_devices/robots/configs.py).
-You will find something a class called `so101` where you can update the `port` values with your actual motor ports:
+You will find a class called `so101` where you can update the `port` values with your actual motor ports:
 ```diff
 @RobotConfig.register_subclass("so101")
 @dataclass
@@ -310,7 +310,7 @@ Remove all support material from the 3D-printed parts.
 ##### Wiring
 
 - Attach the motor controller on the back.
-- Then insert all wires, use the wire guides everywhere to make sure the wires don't unplug themself and stay in place.
+- Then insert all wires, use the wire guides everywhere to make sure the wires don't unplug themselves and stay in place.
 
 <video controls width="640" src="https://github.com/user-attachments/assets/4c2cacfd-9276-4ee4-8bf2-ba2492667b78" type="video/mp4"></video>
 
@@ -353,7 +353,7 @@ python lerobot/scripts/control_robot.py \
 ```
 ## Control your robot
 
-Congrats 🎉, your robot is all set to learn a task on its own. Next we will explain you how to train a neural network to autonomously control a real robot.
+Congrats 🎉, your robot is all set to learn a task on its own. Next we will explain to you how to train a neural network to autonomously control a real robot.
 
 **You'll learn to:**
 1. How to record and visualize your dataset.
@@ -517,7 +517,7 @@ If you have an additional camera you can add a wrist camera to the SO101. There
 
 ## Teleoperate with cameras
 
-We can now teleoperate again while at the same time visualizing the camera's and joint positions with `rerun`.
+We can now teleoperate again while at the same time visualizing the cameras and joint positions with `rerun`.
 
 ```bash
 python lerobot/scripts/control_robot.py \
@@ -528,7 +528,7 @@ python lerobot/scripts/control_robot.py \
 
 ## Record a dataset
 
-Once you're familiar with teleoperation, you can record your first dataset with SO-100.
+Once you're familiar with teleoperation, you can record your first dataset with SO-101.
 
 We use the Hugging Face hub features for uploading your dataset. If you haven't previously used the Hub, make sure you can login via the cli using a write-access token, this token can be generated from the [Hugging Face settings](https://huggingface.co/settings/tokens).
 

From a445d9c9da6bea99a8972daa4fe1fdd053d711d2 Mon Sep 17 00:00:00 2001
From: masato-ka <jp6uzv@gmail.com>
Date: Fri, 9 May 2025 23:53:40 +0900
Subject: [PATCH 4/4] bug fix for #1071 When --display_data=true, Failed
 running control_robot. (#1073)

---
 lerobot/common/robot_devices/control_utils.py | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/lerobot/common/robot_devices/control_utils.py b/lerobot/common/robot_devices/control_utils.py
index 4e42a9896..76e264999 100644
--- a/lerobot/common/robot_devices/control_utils.py
+++ b/lerobot/common/robot_devices/control_utils.py
@@ -250,6 +250,7 @@ def control_loop(
             observation, action = robot.teleop_step(record_data=True)
         else:
             observation = robot.capture_observation()
+            action = None
 
             if policy is not None:
                 pred_action = predict_action(
@@ -266,9 +267,10 @@ def control_loop(
 
         # TODO(Steven): This should be more general (for RemoteRobot instead of checking the name, but anyways it will change soon)
         if (display_data and not is_headless()) or (display_data and robot.robot_type.startswith("lekiwi")):
-            for k, v in action.items():
-                for i, vv in enumerate(v):
-                    rr.log(f"sent_{k}_{i}", rr.Scalar(vv.numpy()))
+            if action is not None:
+                for k, v in action.items():
+                    for i, vv in enumerate(v):
+                        rr.log(f"sent_{k}_{i}", rr.Scalar(vv.numpy()))
 
             image_keys = [key for key in observation if "image" in key]
             for key in image_keys: