Fix small issues in docs and refactor (#1194)

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

examples/lekiwi/replay.py

@@ -0,0 +1,25 @@
+import time
+
+from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.common.robots.lekiwi.config_lekiwi import LeKiwiClientConfig
+from lerobot.common.robots.lekiwi.lekiwi_client import LeKiwiClient
+from lerobot.common.utils.robot_utils import busy_wait
+
+robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="lekiwi")
+robot = LeKiwiClient(robot_config)
+
+dataset = LeRobotDataset("pepijn223/lekiwi1749025613", episodes=[0])
+
+robot.connect()
+
+print("Replaying episode…")
+for _, action_array in enumerate(dataset.hf_dataset["action"]):
+    t0 = time.perf_counter()
+
+    action = {name: float(action_array[i]) for i, name in enumerate(dataset.features["action"]["names"])}
+    robot.send_action(action)
+
+    busy_wait(max(1.0 / dataset.fps - (time.perf_counter() - t0), 0.0))
+
+print("Disconnecting LeKiwi Client")
+robot.disconnect()