fix: several fixes identified in the docs PR (#1181)

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

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
 

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
             ),
         }
     )

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):