Add initial docs for lekiwi teleop

docs/source/getting_started_real_world_robot.mdx

@@ -127,7 +127,55 @@ while True:
 
 ## Teleoperate LeKiwi
 
-TODO(pepijn): show how to teleoperate lekiwi
+> [!TIP]
+> If you're using a Mac, you might need to give Terminal permission to access your keyboard. Go to System Preferences > Security & Privacy > Input Monitoring and check the box for Terminal.
+
+TODO(pepijn): modify these commands with new API, and explain you can also map the arms to a keyboard with the new API now
+
+To teleoperate SSH into your Raspberry Pi, and run `conda activate lerobot` and this script:
+```bash
+python -m lerobot.common.robots.lekiwi.lekiwi_host
+```
+
+Then on your laptop, also run `conda activate lerobot` and this script:
+```bash
+python -m lerobot.teleoperate \
+    --robot.type=lekiwi \
+    --robot.port=/dev/tty.usbmodem58760431541 \
+    --robot.cameras="{}" \
+    --robot.id=my_lekiwi \
+    --teleop.type=so101_leader \
+    --teleop.port=/dev/tty.usbmodem58760431551 \
+    --teleop.id=my_blue_leader_arm
+```
+
+> **NOTE:** To visualize the data, enable `--control.display_data=true`. This streams the data using `rerun`. For the `--control.type=remote_robot` you will also need to set `--control.viewer_ip` and `--control.viewer_port`
+
+You should see on your laptop something like this: ```[INFO] Connected to remote robot at tcp://172.17.133.91:5555 and video stream at tcp://172.17.133.91:5556.``` Now you can move the leader arm and use the keyboard (w,a,s,d) to drive forward, left, backwards, right. And use (z,x) to turn left or turn right. You can use (r,f) to increase and decrease the speed of the mobile robot. There are three speed modes, see the table below:
+
+| Speed Mode | Linear Speed (m/s) | Rotation Speed (deg/s) |
+| ---------- | ------------------ | ---------------------- |
+| Fast       | 0.4                | 90                     |
+| Medium     | 0.25               | 60                     |
+| Slow       | 0.1                | 30                     |
+
+
+| Key | Action         |
+| --- | -------------- |
+| W   | Move forward   |
+| A   | Move left      |
+| S   | Move backward  |
+| D   | Move right     |
+| Z   | Turn left      |
+| X   | Turn right     |
+| R   | Increase speed |
+| F   | Decrease speed |
+
+> [!TIP]
+>  If you use a different keyboard you can change the keys for each command in the [`LeKiwiConfig`](../lerobot/common/robot_devices/robots/configs.py).
+
+### Wired version
+If you have the **wired** LeKiwi version please run all commands including both these teleoperation commands on your laptop.
 
 ## Record a dataset
 
@@ -314,23 +362,21 @@ huggingface-cli upload ${HF_USER}/act_so101_test${CKPT} \
 
 ## Evaluate your policy
 
-TODO(pepijn): modify this command
+TODO(pepijn): modify this command further
 
-You can use the `record` function from [`lerobot/scripts/control_robot.py`](../lerobot/scripts/control_robot.py) but with a policy checkpoint as input. For instance, run this command to record 10 evaluation episodes:
+You can use the `record` script from [`lerobot/record.py`](https://github.com/huggingface/lerobot/blob/main/lerobot/record.py) but with a policy checkpoint as input. For instance, run this command to record 10 evaluation episodes:
 ```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=so101 \
-  --control.type=record \
-  --control.fps=30 \
-  --control.single_task="Grasp a lego block and put it in the bin." \
-  --control.repo_id=${HF_USER}/eval_act_so101_test \
-  --control.tags='["tutorial"]' \
-  --control.warmup_time_s=5 \
-  --control.episode_time_s=30 \
-  --control.reset_time_s=30 \
-  --control.num_episodes=10 \
-  --control.push_to_hub=true \
-  --control.policy.path=outputs/train/act_so101_test/checkpoints/last/pretrained_model
+python -m lerobot.record \
+    --robot.type=so101_follower \
+    --robot.port=/dev/tty.usbmodem585A0076841 \
+    --robot.id=my_red_robot_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 \
+    --display_data=true \
+    --dataset.repo_id=aliberts/eval_act \
+    --policy.checkpoint_path=outputs/train/act_so101_test/checkpoints/last/pretrained_model \
 ```
 
 As you can see, it's almost the same command as previously used to record your training dataset. Two things changed: