diff --git a/lerobot/calibrate.py b/lerobot/calibrate.py
index 088aee299..6780577ff 100644
--- a/lerobot/calibrate.py
+++ b/lerobot/calibrate.py
@@ -37,18 +37,21 @@ from lerobot.common.robots import (  # noqa: F401
     Robot,
     RobotConfig,
     koch_follower,
+    lekiwi,
     make_robot_from_config,
     so100_follower,
+    so101_follower,
 )
 from lerobot.common.teleoperators import (  # noqa: F401
     Teleoperator,
     TeleoperatorConfig,
+    koch_leader,
     make_teleoperator_from_config,
+    so100_leader,
+    so101_leader,
 )
 from lerobot.common.utils.utils import init_logging
 
-from .common.teleoperators import koch_leader, so100_leader  # noqa: F401
-
 
 @dataclass
 class CalibrateConfig:
diff --git a/lerobot/common/datasets/utils.py b/lerobot/common/datasets/utils.py
index a16fe8acd..542daf2aa 100644
--- a/lerobot/common/datasets/utils.py
+++ b/lerobot/common/datasets/utils.py
@@ -400,15 +400,22 @@ def hw_to_dataset_features(
     joint_fts = {key: ftype for key, ftype in hw_features.items() if ftype is float}
     cam_fts = {key: shape for key, shape in hw_features.items() if isinstance(shape, tuple)}
 
-    if joint_fts:
-        features[f"{prefix}.joints"] = {
+    if joint_fts and prefix == "action":
+        features[prefix] = {
+            "dtype": "float32",
+            "shape": (len(joint_fts),),
+            "names": list(joint_fts),
+        }
+
+    if joint_fts and prefix == "observation":
+        features[f"{prefix}.state"] = {
             "dtype": "float32",
             "shape": (len(joint_fts),),
             "names": list(joint_fts),
         }
 
     for key, shape in cam_fts.items():
-        features[f"{prefix}.cameras.{key}"] = {
+        features[f"{prefix}.images.{key}"] = {
             "dtype": "video" if use_video else "image",
             "shape": shape,
             "names": ["height", "width", "channels"],
@@ -428,7 +435,7 @@ def build_dataset_frame(
         elif ft["dtype"] == "float32" and len(ft["shape"]) == 1:
             frame[key] = np.array([values[name] for name in ft["names"]], dtype=np.float32)
         elif ft["dtype"] in ["image", "video"]:
-            frame[key] = values[key.removeprefix(f"{prefix}.cameras.")]
+            frame[key] = values[key.removeprefix(f"{prefix}.images.")]
 
     return frame
 
diff --git a/lerobot/common/robots/lekiwi/config_lekiwi.py b/lerobot/common/robots/lekiwi/config_lekiwi.py
index 946718a15..97c8060d5 100644
--- a/lerobot/common/robots/lekiwi/config_lekiwi.py
+++ b/lerobot/common/robots/lekiwi/config_lekiwi.py
@@ -14,7 +14,7 @@
 
 from dataclasses import dataclass, field
 
-from lerobot.common.cameras.configs import CameraConfig
+from lerobot.common.cameras.configs import CameraConfig, Cv2Rotation
 from lerobot.common.cameras.opencv.configuration_opencv import OpenCVCameraConfig
 
 from ..config import RobotConfig
@@ -34,11 +34,9 @@ class LeKiwiConfig(RobotConfig):
 
     cameras: dict[str, CameraConfig] = field(
         default_factory=lambda: {
-            "front": OpenCVCameraConfig(
-                camera_index="/dev/video0", fps=30, width=640, height=480, rotation=None
-            ),
+            "front": OpenCVCameraConfig(index_or_path="/dev/video0", fps=30, width=640, height=480),
             "wrist": OpenCVCameraConfig(
-                camera_index="/dev/video2", fps=30, width=640, height=480, rotation=180
+                index_or_path="/dev/video2", fps=30, width=640, height=480, rotation=Cv2Rotation.ROTATE_180
             ),
         }
     )
diff --git a/lerobot/common/teleoperators/koch_leader/koch_leader.py b/lerobot/common/teleoperators/koch_leader/koch_leader.py
index 6821e0200..820acc87c 100644
--- a/lerobot/common/teleoperators/koch_leader/koch_leader.py
+++ b/lerobot/common/teleoperators/koch_leader/koch_leader.py
@@ -140,7 +140,8 @@ class KochLeader(Teleoperator):
         self.bus.write("Operating_Mode", "gripper", OperatingMode.CURRENT_POSITION.value)
         # Set gripper's goal pos in current position mode so that we can use it as a trigger.
         self.bus.enable_torque("gripper")
-        self.bus.write("Goal_Position", "gripper", self.config.gripper_open_pos)
+        if self.is_calibrated:
+            self.bus.write("Goal_Position", "gripper", self.config.gripper_open_pos)
 
     def setup_motors(self) -> None:
         for motor in reversed(self.bus.motors):
diff --git a/lerobot/record.py b/lerobot/record.py
index 6b1fdeb78..348d43567 100644
--- a/lerobot/record.py
+++ b/lerobot/record.py
@@ -57,6 +57,7 @@ from lerobot.common.robots import (  # noqa: F401
     koch_follower,
     make_robot_from_config,
     so100_follower,
+    so101_follower,
 )
 from lerobot.common.teleoperators import (  # noqa: F401
     Teleoperator,
@@ -80,7 +81,7 @@ from lerobot.common.utils.visualization_utils import _init_rerun
 from lerobot.configs import parser
 from lerobot.configs.policies import PreTrainedConfig
 
-from .common.teleoperators import koch_leader, so100_leader  # noqa: F401
+from .common.teleoperators import koch_leader, so100_leader, so101_leader  # noqa: F401
 
 
 @dataclass
diff --git a/lerobot/replay.py b/lerobot/replay.py
index 5b8f86190..36eb0864d 100644
--- a/lerobot/replay.py
+++ b/lerobot/replay.py
@@ -42,6 +42,7 @@ from lerobot.common.robots import (  # noqa: F401
     koch_follower,
     make_robot_from_config,
     so100_follower,
+    so101_follower,
 )
 from lerobot.common.utils.robot_utils import busy_wait
 from lerobot.common.utils.utils import (
@@ -77,16 +78,16 @@ def replay(cfg: ReplayConfig):
 
     robot = make_robot_from_config(cfg.robot)
     dataset = LeRobotDataset(cfg.dataset.repo_id, root=cfg.dataset.root, episodes=[cfg.dataset.episode])
-    actions = dataset.hf_dataset.select_columns("action.joints")
+    actions = dataset.hf_dataset.select_columns("action")
     robot.connect()
 
     log_say("Replaying episode", cfg.play_sounds, blocking=True)
     for idx in range(dataset.num_frames):
         start_episode_t = time.perf_counter()
 
-        action_array = actions[idx]["action.joints"]
+        action_array = actions[idx]["action"]
         action = {}
-        for i, name in enumerate(dataset.features["action.joints"]["names"]):
+        for i, name in enumerate(dataset.features["action"]["names"]):
             action[name] = action_array[i]
 
         robot.send_action(action)
diff --git a/lerobot/setup_motors.py b/lerobot/setup_motors.py
index a42b9cac1..7909dc68d 100644
--- a/lerobot/setup_motors.py
+++ b/lerobot/setup_motors.py
@@ -28,12 +28,20 @@ from dataclasses import dataclass
 
 import draccus
 
-from .common.robots import RobotConfig, koch_follower, make_robot_from_config, so100_follower  # noqa: F401
+from .common.robots import (  # noqa: F401
+    RobotConfig,
+    koch_follower,
+    lekiwi,
+    make_robot_from_config,
+    so100_follower,
+    so101_follower,
+)
 from .common.teleoperators import (  # noqa: F401
     TeleoperatorConfig,
     koch_leader,
     make_teleoperator_from_config,
     so100_leader,
+    so101_leader,
 )
 
 COMPATIBLE_DEVICES = [
@@ -41,6 +49,9 @@ COMPATIBLE_DEVICES = [
     "koch_leader",
     "so100_follower",
     "so100_leader",
+    "so101_follower",
+    "so101_leader",
+    "lekiwi",
 ]
 
 
diff --git a/lerobot/teleoperate.py b/lerobot/teleoperate.py
index f3496a69c..84acfdc5b 100644
--- a/lerobot/teleoperate.py
+++ b/lerobot/teleoperate.py
@@ -19,13 +19,14 @@ Example:
 
 ```shell
 python -m lerobot.teleoperate \
-    --robot.type=so100_follower \
+    --robot.type=so101_follower \
     --robot.port=/dev/tty.usbmodem58760431541 \
-    --robot.cameras="{laptop: {type: opencv, camera_index: 0}}" \
+    --robot.cameras="{ front: {type: opencv, index_or_path: 0, width: 1920, height: 1080, fps: 30}}" \
     --robot.id=black \
-    --teleop.type=so100_leader \
+    --teleop.type=so101_leader \
     --teleop.port=/dev/tty.usbmodem58760431551 \
-    --teleop.id=blue
+    --teleop.id=blue \
+    --display_data=true
 ```
 """
 
@@ -46,6 +47,7 @@ from lerobot.common.robots import (  # noqa: F401
     koch_follower,
     make_robot_from_config,
     so100_follower,
+    so101_follower,
 )
 from lerobot.common.teleoperators import (
     Teleoperator,
@@ -55,7 +57,7 @@ from lerobot.common.teleoperators import (
 from lerobot.common.utils.utils import init_logging, move_cursor_up
 from lerobot.common.utils.visualization_utils import _init_rerun
 
-from .common.teleoperators import koch_leader, so100_leader  # noqa: F401
+from .common.teleoperators import koch_leader, so100_leader, so101_leader  # noqa: F401
 
 
 @dataclass