Minor addition

Placed robot docs in robot folders and created symlink for docs
Check and improve spelling
2025-05-21 16:36:08 +02:00 · 2025-05-21 16:36:04 +02:00 · 2025-05-21 16:36:01 +02:00 · 2025-05-21 16:35:57 +02:00 · 2025-05-21 16:35:54 +02:00 · 2025-05-21 16:35:50 +02:00
134 changed files with 2483 additions and 3779 deletions
--- a/.cache/calibration/aloha_default/left_follower.json
+++ b/.cache/calibration/aloha_default/left_follower.json
@@ -1,68 +0,0 @@
-{
-    "homing_offset": [
-        2048,
-        3072,
-        3072,
-        -1024,
-        -1024,
-        2048,
-        -2048,
-        2048,
-        -2048
-    ],
-    "drive_mode": [
-        1,
-        1,
-        1,
-        0,
-        0,
-        1,
-        0,
-        1,
-        0
-    ],
-    "start_pos": [
-        2015,
-        3058,
-        3061,
-        1071,
-        1071,
-        2035,
-        2152,
-        2029,
-        2499
-    ],
-    "end_pos": [
-        -1008,
-        -1963,
-        -1966,
-        2141,
-        2143,
-        -971,
-        3043,
-        -1077,
-        3144
-    ],
-    "calib_mode": [
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "LINEAR"
-    ],
-    "motor_names": [
-        "waist",
-        "shoulder",
-        "shoulder_shadow",
-        "elbow",
-        "elbow_shadow",
-        "forearm_roll",
-        "wrist_angle",
-        "wrist_rotate",
-        "gripper"
-    ]
-}
--- a/.cache/calibration/aloha_default/left_leader.json
+++ b/.cache/calibration/aloha_default/left_leader.json
@@ -1,68 +0,0 @@
-{
-    "homing_offset": [
-        2048,
-        3072,
-        3072,
-        -1024,
-        -1024,
-        2048,
-        -2048,
-        2048,
-        -1024
-    ],
-    "drive_mode": [
-        1,
-        1,
-        1,
-        0,
-        0,
-        1,
-        0,
-        1,
-        0
-    ],
-    "start_pos": [
-        2035,
-        3024,
-        3019,
-        979,
-        981,
-        1982,
-        2166,
-        2124,
-        1968
-    ],
-    "end_pos": [
-        -990,
-        -2017,
-        -2015,
-        2078,
-        2076,
-        -1030,
-        3117,
-        -1016,
-        2556
-    ],
-    "calib_mode": [
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "LINEAR"
-    ],
-    "motor_names": [
-        "waist",
-        "shoulder",
-        "shoulder_shadow",
-        "elbow",
-        "elbow_shadow",
-        "forearm_roll",
-        "wrist_angle",
-        "wrist_rotate",
-        "gripper"
-    ]
-}
--- a/.cache/calibration/aloha_default/right_follower.json
+++ b/.cache/calibration/aloha_default/right_follower.json
@@ -1,68 +0,0 @@
-{
-    "homing_offset": [
-        2048,
-        3072,
-        3072,
-        -1024,
-        -1024,
-        2048,
-        -2048,
-        2048,
-        -2048
-    ],
-    "drive_mode": [
-        1,
-        1,
-        1,
-        0,
-        0,
-        1,
-        0,
-        1,
-        0
-    ],
-    "start_pos": [
-        2056,
-        2895,
-        2896,
-        1191,
-        1190,
-        2018,
-        2051,
-        2056,
-        2509
-    ],
-    "end_pos": [
-        -1040,
-        -2004,
-        -2006,
-        2126,
-        2127,
-        -1010,
-        3050,
-        -1117,
-        3143
-    ],
-    "calib_mode": [
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "LINEAR"
-    ],
-    "motor_names": [
-        "waist",
-        "shoulder",
-        "shoulder_shadow",
-        "elbow",
-        "elbow_shadow",
-        "forearm_roll",
-        "wrist_angle",
-        "wrist_rotate",
-        "gripper"
-    ]
-}
--- a/.cache/calibration/aloha_default/right_leader.json
+++ b/.cache/calibration/aloha_default/right_leader.json
@@ -1,68 +0,0 @@
-{
-    "homing_offset": [
-        2048,
-        3072,
-        3072,
-        -1024,
-        -1024,
-        2048,
-        -2048,
-        2048,
-        -2048
-    ],
-    "drive_mode": [
-        1,
-        1,
-        1,
-        0,
-        0,
-        1,
-        0,
-        1,
-        0
-    ],
-    "start_pos": [
-        2068,
-        3034,
-        3030,
-        1038,
-        1041,
-        1991,
-        1948,
-        2090,
-        1985
-    ],
-    "end_pos": [
-        -1025,
-        -2014,
-        -2015,
-        2058,
-        2060,
-        -955,
-        3091,
-        -940,
-        2576
-    ],
-    "calib_mode": [
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "LINEAR"
-    ],
-    "motor_names": [
-        "waist",
-        "shoulder",
-        "shoulder_shadow",
-        "elbow",
-        "elbow_shadow",
-        "forearm_roll",
-        "wrist_angle",
-        "wrist_rotate",
-        "gripper"
-    ]
-}
--- a/.gitattributes
+++ b/.gitattributes
@@ -18,4 +18,4 @@
 *.arrow filter=lfs diff=lfs merge=lfs -text
 *.json !text !filter !merge !diff
 tests/artifacts/cameras/*.png filter=lfs diff=lfs merge=lfs -text
-tests/artifacts/cameras/*.bag filter=lfs diff=lfs merge=lfs -text
+*.bag filter=lfs diff=lfs merge=lfs -text
--- a/.gitignore
+++ b/.gitignore
@@ -11,7 +11,10 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+
+# Dev scripts
 .dev
+
 # Logging
 logs
 tmp
@@ -91,10 +94,8 @@ coverage.xml
 .hypothesis/
 .pytest_cache/

-# Ignore .cache except calibration
+# Ignore .cache
 .cache/*
-!.cache/calibration/
-!.cache/calibration/**

 # Translations
 *.mo
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -269,9 +269,6 @@ Follow these steps to start contributing:
   the PR as a draft PR. These are useful to avoid duplicated work, and to differentiate
   it from PRs ready to be merged;
 4. Make sure existing tests pass;
-<!-- 5. Add high-coverage tests. No quality testing = no merge.
-
-See an example of a good PR here: https://github.com/huggingface/lerobot/pull/ -->

 ### Tests

--- a/docs/source/_toctree.yml
+++ b/docs/source/_toctree.yml
@@ -5,8 +5,22 @@
    title: Installation
  title: Get started
 - sections:
-  - local: assemble_so101
-    title: Assemble SO-101
  - local: getting_started_real_world_robot
    title: Getting Started with Real-World Robots
+  - local: cameras
+    title: Cameras
  title: "Tutorials"
+- sections:
+  - local: so101
+    title: SO-101
+  - local: so100
+    title: SO-100
+  - local: koch
+    title: Koch v1.1
+  - local: lekiwi
+    title: LeKiwi
+  title: "Robots"
+- sections:
+  - local: contributing
+    title: Contribute to LeRobot
+  title: "Contribute"
--- a/docs/source/assemble_so101.mdx
+++ b/docs/source/assemble_so101.mdx
@@ -1,348 +0,0 @@
-# Assemble SO-101
-
-In the steps below we explain how to assemble our flagship robot, the SO-101.
-
-## Source the parts
-
-Follow this [README](https://github.com/TheRobotStudio/SO-ARM100). It contains the bill of materials, with a link to source the parts, as well as the instructions to 3D print the parts,
-and advice if it's your first time printing or if you don't own a 3D printer.
-
-Before assembling, you will first need to configure your motors. To this end, we provide a nice script, so let's first install LeRobot. After configuration, we will also guide you through assembly.
-
-## Install LeRobot
-
-To install LeRobot follow our [Installation Guide](./installation)
-
-## Configure motors
-
-To configure the motors designate one bus servo adapter and 6 motors for your leader arm, and similarly the other bus servo adapter and 6 motors for the follower arm. It's convenient to label them and write on each motor if it's for the follower `F` or for the leader `L` and it's ID from 1 to 6.
-
-You now should plug the 5V or 12V power supply to the motor bus. 5V for the STS3215 7.4V motors and 12V for the STS3215 12V motors. Note that the leader arm always uses the 7.4V motors, so watch out that you plug in the right power supply if you have 12V and 7.4V motors, otherwise you might burn your motors! Now, connect the motor bus to your computer via USB. Note that the USB doesn't provide any power, and both the power supply and USB have to be plugged in.
-
-### Find the USB ports associated to each arm
-
-To find the port for each bus servo adapter, run this script:
-```bash
-python lerobot/scripts/find_motors_bus_port.py
-```
-##### Example outputs of script
-
-<hfoptions id="example">
-<hfoption id="Mac">
-
-Example output leader arm's port: `/dev/tty.usbmodem575E0031751`
-
-```bash
-Finding all available ports for the MotorBus.
-['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751']
-Remove the usb cable from your MotorsBus and press Enter when done.
-
-[...Disconnect leader arm and press Enter...]
-
-The port of this MotorsBus is /dev/tty.usbmodem575E0031751
-Reconnect the usb cable.
-```
-
-Example output follower arm port: `/dev/tty.usbmodem575E0032081`
-
-```
-Finding all available ports for the MotorBus.
-['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751']
-Remove the usb cable from your MotorsBus and press Enter when done.
-
-[...Disconnect follower arm and press Enter...]
-
-The port of this MotorsBus is /dev/tty.usbmodem575E0032081
-Reconnect the usb cable.
-```
-
-</hfoption>
-<hfoption id="Linux">
-
-On Linux, you might need to give access to the USB ports by running:
-```bash
-sudo chmod 666 /dev/ttyACM0
-sudo chmod 666 /dev/ttyACM1
-```
-
-Example output leader arm port: `/dev/ttyACM0`
-
-```bash
-Finding all available ports for the MotorBus.
-['/dev/ttyACM0', '/dev/ttyACM1']
-Remove the usb cable from your MotorsBus and press Enter when done.
-
-[...Disconnect leader arm and press Enter...]
-
-The port of this MotorsBus is /dev/ttyACM0
-Reconnect the usb cable.
-```
-
-Example output follower arm port: `/dev/ttyACM1`
-
-```
-Finding all available ports for the MotorBus.
-['/dev/ttyACM0', '/dev/ttyACM1']
-Remove the usb cable from your MotorsBus and press Enter when done.
-
-[...Disconnect follower arm and press Enter...]
-
-The port of this MotorsBus is /dev/ttyACM1
-Reconnect the usb cable.
-```
-</hfoption>
-</hfoptions>
-
-#### 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 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):
-    calibration_dir: str = ".cache/calibration/so101"
-    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
-    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
-    # the number of motors in your follower arms.
-    max_relative_target: int | None = None
-
-    leader_arms: dict[str, MotorsBusConfig] = field(
-        default_factory=lambda: {
-            "main": FeetechMotorsBusConfig(
-               port="/dev/tty.usbmodem58760431091",
-+               port="{ADD YOUR LEADER PORT}",
-                motors={
-                    # name: (index, model)
-                    "shoulder_pan": [1, "sts3215"],
-                    "shoulder_lift": [2, "sts3215"],
-                    "elbow_flex": [3, "sts3215"],
-                    "wrist_flex": [4, "sts3215"],
-                    "wrist_roll": [5, "sts3215"],
-                    "gripper": [6, "sts3215"],
-                },
-            ),
-        }
-    )
-
-    follower_arms: dict[str, MotorsBusConfig] = field(
-        default_factory=lambda: {
-            "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem585A0076891",
-+                port="{ADD YOUR FOLLOWER PORT}",
-                motors={
-                    # name: (index, model)
-                    "shoulder_pan": [1, "sts3215"],
-                    "shoulder_lift": [2, "sts3215"],
-                    "elbow_flex": [3, "sts3215"],
-                    "wrist_flex": [4, "sts3215"],
-                    "wrist_roll": [5, "sts3215"],
-                    "gripper": [6, "sts3215"],
-                },
-            ),
-        }
-    )
-```
-
-Here is a video of the process:
-<div class="video-container">
-  <video controls width="600">
-    <source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/lerobot-find-motorbus.mp4" type="video/mp4" />
-  </video>
- </div>
-
-## Step-by-Step Assembly Instructions
-
-The follower arm uses 6x STS3215 motors with 1/345 gearing. The leader however uses three differently geared motors to make sure it can both sustain its own weight and it can be moved without requiring much force. Which motor is needed for which joint is shown in table below.
-
-| Leader-Arm Axis | Motor | Gear Ratio |
-|-----------------|:-------:|:----------:|
-| Base / Shoulder Yaw | 1 | 1 / 191 |
-| Shoulder Pitch      | 2 | 1 / 345 |
-| Elbow               | 3 | 1 / 191 |
-| Wrist Roll          | 4 | 1 / 147 |
-| Wrist Pitch         | 5 | 1 / 147 |
-| Gripper             | 6 | 1 / 147 |
-
-### Set motor IDs
-
-Plug your motor in one of the two ports of the motor bus and run this script to set its ID to 1. Replace the text after --port to the corresponding control board port.
-```bash
-python lerobot/scripts/configure_motor.py \
-  --port /dev/tty.usbmodem58760432961 \
-  --brand feetech \
-  --model sts3215 \
-  --baudrate 1000000 \
-  --ID 1
-```
-
-Then unplug your motor and plug the second motor and set its ID to 2.
-```bash
-python lerobot/scripts/configure_motor.py \
-  --port /dev/tty.usbmodem58760432961 \
-  --brand feetech \
-  --model sts3215 \
-  --baudrate 1000000 \
-  --ID 2
-```
-
-Redo this process for all your motors until ID 6. Do the same for the 6 motors of the leader arm, but make sure to change the power supply if you use motors with different voltage and make sure you give the right ID to the right motor according to the table above.
-
-Here is a video of the process:
-<div class="video-container">
-  <video controls width="600">
-    <source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/lerobot-configure-motor.mp4" type="video/mp4" />
-  </video>
-</div>
-
-### Clean Parts
-Remove all support material from the 3D-printed parts, the easiest way to do this is using a small screwdriver to get underneath the support material.
-
-### Joint 1
-
- Place the first motor into the base.
- Fasten the motor with 4 M2x6mm screws (smallest screws). Two from the top and two from bottom.
- Slide over the first motor holder and fasten it using two M2x6mm screws (one on each side).
- Install both motor horns, securing the top horn with a M3x6mm screw.
- Attach the shoulder part.
- Tighten the shoulder part with 4 M3x6mm screws on top and 4 M3x6mm screws on the bottom
- Add the shoulder motor holder.
-
-<div class="video-container">
-  <video controls width="600">
-    <source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint1_v2.mp4" type="video/mp4" />
-  </video>
-</div>
-
-### Joint 2
-
- Slide the second motor in from the top.
- Fasten the second motor with 4 M2x6mm screws.
- Attach both motor horns to motor 2, again use the M3x6mm horn screw.
- Attach the upper arm with 4 M3x6mm screws on each side.
-
-<div class="video-container">
-  <video controls width="600">
-    <source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint2_v2.mp4" type="video/mp4" />
-  </video>
-</div>
-
-### Joint 3
-
- Insert motor 3 and fasten using 4 M2x6mm screws
- Attach both motor horns to motor 3 and secure one again with a M3x6mm horn screw.
- Connect the forearm to motor 3 using 4 M3x6mm screws on each side.
-
-<div class="video-container">
-  <video controls width="600">
-    <source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint3_v2.mp4" type="video/mp4" />
-  </video>
-</div>
-
-### Joint 4
-
- Slide over motor holder 4.
- Slide in motor 4.
- Fasten motor 4 with 4 M2x6mm screws and attach its motor horns, use a M3x6mm horn screw.
-
-<div class="video-container">
-  <video controls width="600">
-    <source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint4_v2.mp4" type="video/mp4" />
-  </video>
-</div>
-
-### Joint 5
-
- Insert motor 5 into the wrist holder and secure it with 2 M2x6mm front screws.
- Install only one motor horn on the wrist motor and secure it with a M3x6mm horn screw.
- Secure the wrist to motor 4 using 4 M3x6mm screws on both sides.
-
-<div class="video-container">
-  <video controls width="600">
-    <source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint5_v2.mp4" type="video/mp4" />
-  </video>
-</div>
-
-### Gripper / Handle
-
-<hfoptions id="assembly">
-<hfoption id="Follower">
-
- Attach the gripper to motor 5, attach it to the motor horn on the wrist using 4 M3x6mm screws.
- Insert the gripper motor and secure it with 2 M2x6mm screws on each side.
- Attach the motor horns and again use a M3x6mm horn screw.
- Install the gripper claw and secure it with 4 M3x6mm screws on both sides.
-
-<div class="video-container">
-  <video controls width="600">
-    <source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Gripper_v2.mp4" type="video/mp4" />
-  </video>
-</div>
-
-</hfoption>
-<hfoption id="Leader">
-
- Mount the leader holder onto the wrist and secure it with 4 M3x6mm screws.
- Attach the handle to motor 5 using 1 M2x6mm screw.
- Insert the gripper motor, secure it with 2 M2x6mm screws on each side, attach a motor horn using a M3x6mm horn screw.
- Attach the follower trigger with 4 M3x6mm screws.
-
-<div class="video-container">
-  <video controls width="600">
-    <source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Leader_v2.mp4" type="video/mp4" />
-  </video>
-</div>
-
-</hfoption>
-</hfoptions>
-
-##### 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 themselves and stay in place.
-
-<div class="video-container">
-  <video controls width="600">
-    <source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Wiring_v2.mp4" type="video/mp4" />
-  </video>
-</div>
-
-## Calibrate
-
-Next, you'll need to calibrate your SO-101 robot to ensure that the leader and follower arms have the same position values when they are in the same physical position.
-The calibration process is very important because it allows a neural network trained on one SO-101 robot to work on another.
-
-#### Manual calibration of follower arm
-
-You will need to move the follower arm to these positions sequentially, note that the rotated position is on the right side of the robot and you have to open the gripper fully.
-
-| 1. Middle position | 2. Zero position                                                                                                                                       | 3. Rotated position                                                                                                                                             | 4. Rest position                                                                                                                                       |
-| ------------ |------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| <img src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/follower_middle.webp?raw=true" alt="SO-101 leader arm middle position" title="SO-101 leader arm middle position" style="width:100%;"> | <img src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/follower_zero.webp?raw=true" alt="SO-101 leader arm zero position" title="SO-101 leader arm zero position" style="width:100%;"> | <img src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/follower_rotated.webp?raw=true" alt="SO-101 leader arm rotated position" title="SO-101 leader arm rotated position" style="width:100%;"> | <img src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/follower_rest.webp?raw=true" alt="SO-101 leader arm rest position" title="SO-101 leader arm rest position" style="width:100%;"> |
-
-Make sure both arms are connected and run this script to launch manual calibration:
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=so101 \
-  --robot.cameras='{}' \
-  --control.type=calibrate \
-  --control.arms='["main_follower"]'
-```
-
-#### Manual calibration of leader arm
-You will also need to move the leader arm to these positions sequentially:
-
-| 1. Middle position | 2. Zero position                                                                                                                                       | 3. Rotated position                                                                                                                                             | 4. Rest position                                                                                                                                       |
-| ------------ |------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| <img src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/leader_middle.webp?raw=true" alt="SO-101 leader arm middle position" title="SO-101 leader arm middle position" style="width:100%;"> | <img src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/leader_zero.webp?raw=true" alt="SO-101 leader arm zero position" title="SO-101 leader arm zero position" style="width:100%;"> | <img src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/leader_rotated.webp?raw=true" alt="SO-101 leader arm rotated position" title="SO-101 leader arm rotated position" style="width:100%;"> | <img src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/leader_rest.webp?raw=true" alt="SO-101 leader arm rest position" title="SO-101 leader arm rest position" style="width:100%;"> |
-
-Run this script to launch manual calibration:
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=so101 \
-  --robot.cameras='{}' \
-  --control.type=calibrate \
-  --control.arms='["main_leader"]'
-```
-
-Congrats 🎉, your robot is all set to learn a task on its own. Start training it by following this tutorial: [Getting started with real-world robots](./getting_started_real_world_robot)
--- a/docs/source/cameras.mdx
+++ b/docs/source/cameras.mdx
@@ -0,0 +1,190 @@
+# Cameras
+
+Here we describe how to set up and use a camera with LeRobot. We support different ways of capturing videos in LeRobot, such as using a phone camera, an integrated laptop camera, an external webcam, or an Intel realsense camera.
+## Set up Cameras
+
+There are three ways to connect and use a camera with LeRobot:
+1. Use [Camera Class](./setup_cameras?use+phone=Mac#use-opencvcamera), which allows you to use any camera: usb, realsense, laptop webcam
+2. Use [iPhone camera](./setup_cameras?use+phone=Mac#use-your-phone) with MacOS
+3. Use [Phone camera](./setup_cameras?use+phone=Linux#use-your-phone) on Linux
+
+### Use Camera Class
+
+In LeRobot, you can efficiently record frames from most cameras using either the OpenCVCamera class or the RealSenseCamera class. For more details on compatibility for the OpenCVCamera class, see [Video I/O with OpenCV Overview](https://docs.opencv.org/4.x/d0/da7/videoio_overview.html).
+
+To instantiate a camera, you need a camera index. When you only have one camera like a webcam of a laptop, the camera index is usually `0` but it might differ, and the camera index might change if you reboot your computer or re-plug your camera. This behavior depends on your operating system.
+
+To find the camera indices, run the following script:
+```bash
+python lerobot/find_cameras.py list-cameras
+```
+
+The output will look something like this if you have two cameras connected:
+```
+--- Detected Cameras ---
+Camera #0:
+  Name: OpenCV Camera @ 0
+  Type: OpenCV
+  Id: 0
+  Backend api: AVFOUNDATION
+  Default stream profile:
+    Format: 16.0
+    Width: 1920
+    Height: 1080
+    Fps: 15.0
+--------------------
+Camera #1:
+  Name: OpenCV Camera @ 1
+  Type: OpenCV
+  Id: 1
+  Backend api: AVFOUNDATION
+  Default stream profile:
+    Format: 16.0
+    Width: 1920
+    Height: 1080
+    Fps: 1.0
+--------------------
+```
+
+> [!WARNING]
+> On , you could get this error: `Error finding RealSense cameras: failed to set power state`, this can be solved by running the same command with `sudo` permissions.
+
+### Use your phone
+<hfoptions id="use phone">
+<hfoption id="Mac">
+
+To use your iPhone as a camera on macOS, enable the Continuity Camera feature:
+- Ensure your Mac is running macOS 13 or later, and your iPhone is on iOS 16 or later.
+- Sign in both devices with the same Apple ID.
+- Connect your devices with a USB cable or turn on Wi-Fi and Bluetooth for a wireless connection.
+
+For more details, visit [Apple support](https://support.apple.com/en-gb/guide/mac-help/mchl77879b8a/mac).
+
+Your iPhone should be detected automatically when running the camera setup script in the next section.
+
+</hfoption>
+<hfoption id="Linux">
+
+If you want to use your phone as a camera on Linux, follow these steps to set up a virtual camera
+
+1. *Install `v4l2loopback-dkms` and `v4l-utils`*. Those packages are required to create virtual camera devices (`v4l2loopback`) and verify their settings with the `v4l2-ctl` utility from `v4l-utils`. Install them using:
+```python
+sudo apt install v4l2loopback-dkms v4l-utils
+```
+2. *Install [DroidCam](https://droidcam.app) on your phone*. This app is available for both iOS and Android.
+3. *Install [OBS Studio](https://obsproject.com)*. This software will help you manage the camera feed. Install it using [Flatpak](https://flatpak.org):
+```python
+flatpak install flathub com.obsproject.Studio
+```
+4. *Install the DroidCam OBS plugin*. This plugin integrates DroidCam with OBS Studio. Install it with:
+```python
+flatpak install flathub com.obsproject.Studio.Plugin.DroidCam
+```
+5. *Start OBS Studio*. Launch with:
+```python
+flatpak run com.obsproject.Studio
+```
+6. *Add your phone as a source*. Follow the instructions [here](https://droidcam.app/obs/usage). Be sure to set the resolution to `640x480`.
+7. *Adjust resolution settings*. In OBS Studio, go to `File > Settings > Video`. Change the `Base(Canvas) Resolution` and the `Output(Scaled) Resolution` to `640x480` by manually typing it in.
+8. *Start virtual camera*. In OBS Studio, follow the instructions [here](https://obsproject.com/kb/virtual-camera-guide).
+9. *Verify the virtual camera setup*. Use `v4l2-ctl` to list the devices:
+```python
+v4l2-ctl --list-devices
+```
+You should see an entry like:
+```
+VirtualCam (platform:v4l2loopback-000):
+/dev/video1
+```
+10. *Check the camera resolution*. Use `v4l2-ctl` to ensure that the virtual camera output resolution is `640x480`. Change `/dev/video1` to the port of your virtual camera from the output of `v4l2-ctl --list-devices`.
+```python
+v4l2-ctl -d /dev/video1 --get-fmt-video
+```
+You should see an entry like:
+```
+>>> Format Video Capture:
+>>>	Width/Height      : 640/480
+>>>	Pixel Format      : 'YUYV' (YUYV 4:2:2)
+```
+
+Troubleshooting: If the resolution is not correct you will have to delete the Virtual Camera port and try again as it cannot be changed.
+
+If everything is set up correctly, you can proceed with the rest of the tutorial.
+
+</hfoption>
+</hfoptions>
+
+## Use Cameras
+
+Below are two examples, demonstrating how to work with the API.
+
+- **Asynchronous frame capture** using an OpenCV-based camera
+- **Color and depth capture** using an Intel RealSense camera
+
+### Asynchronous OpenCV Camera
+
+This snippet shows how to:
+
+* Construct an `OpenCVCameraConfig` with your desired FPS, resolution, color mode, and rotation.
+* Instantiate and connect an `OpenCVCamera`, performing a warm-up read.
+* Read frames asynchronously in a loop via `async_read(timeout_ms)`.
+
+```python
+from lerobot.common.cameras.opencv.configuration_opencv import OpenCVCameraConfig
+from lerobot.common.cameras.opencv.camera_opencv import OpenCVCamera
+from lerobot.common.cameras.configs import ColorMode, Cv2Rotation
+
+config = OpenCVCameraConfig(
+    index_or_path=0,
+    fps=15,
+    width=1920,
+    height=1080,
+    color_mode=ColorMode.RGB,
+    rotation=Cv2Rotation.NO_ROTATION
+)
+
+camera = OpenCVCamera(config)
+camera.connect(do_warmup_read=True)
+
+try:
+    for i in range(10):
+        frame = camera.async_read(timeout_ms=1000)
+        print(f"Async frame {i} shape:", frame.shape)
+finally:
+    camera.disconnect()
+```
+
+### Intel RealSense Camera (Color + Depth)
+
+This snippet shows how to:
+
+* Create a `RealSenseCameraConfig` specifying your camera’s serial number and enabling depth.
+* Instantiate and connect a `RealSenseCamera` with warm-up.
+* Capture a color frame via `read()` and a depth map via `read_depth()`.
+
+```python
+from lerobot.common.cameras.intel.configuration_realsense import RealSenseCameraConfig
+from lerobot.common.cameras.intel.camera_realsense import RealSenseCamera
+from lerobot.common.cameras.configs import ColorMode, Cv2Rotation
+
+config = RealSenseCameraConfig(
+    serial_number="233522074606",
+    fps=15,
+    width=640,
+    height=480,
+    color_mode=ColorMode.RGB,
+    use_depth=True,
+    rotation=Cv2Rotation.NO_ROTATION
+)
+
+camera = RealSenseCamera(config)
+camera.connect(do_warmup_read=True)
+
+try:
+    color_frame = camera.read()
+    depth_map = camera.read_depth()
+    print("Color frame shape:", color_frame.shape)
+    print("Depth map shape:", depth_map.shape)
+finally:
+    camera.disconnect()
+```
--- a/docs/source/contributing.md
+++ b/docs/source/contributing.md
@@ -0,0 +1 @@
+../../CONTRIBUTING.md
--- a/docs/source/getting_started_real_world_robot.mdx
+++ b/docs/source/getting_started_real_world_robot.mdx
@@ -1,173 +1,189 @@
 # Getting Started with Real-World Robots

-This tutorial will explain you how to train a neural network to autonomously control a real robot.
+This tutorial will explain how to train a neural network to control a real robot autonomously.

 **You'll learn:**
 1. How to record and visualize your dataset.
 2. How to train a policy using your data and prepare it for evaluation.
 3. How to evaluate your policy and visualize the results.

-By following these steps, you'll be able to replicate tasks like picking up a Lego block and placing it in a bin with a high success rate, as demonstrated in [this video](https://x.com/RemiCadene/status/1814680760592572934).
+By following these steps, you'll be able to replicate tasks, such as picking up a Lego block and placing it in a bin with a high success rate, as shown in [this video](https://x.com/RemiCadene/status/1814680760592572934).

-This tutorial is specifically made for the affordable [SO-101](https://github.com/TheRobotStudio/SO-ARM100) robot, but it contains additional information to be easily adapted to various types of robots like [Aloha bimanual robot](https://aloha-2.github.io) by changing some configurations. The SO-101 consists of a leader arm and a follower arm, each with 6 motors. It can work with one or several cameras to record the scene, which serve as visual sensors for the robot.
+This tutorial isn’t tied to a specific robot: we walk you through the commands and API snippets you can adapt for any supported platform.

-During the data collection phase, you will control the follower arm by moving the leader arm. This process is known as "teleoperation." This technique is used to collect robot trajectories. Afterward, you'll train a neural network to imitate these trajectories and deploy the network to enable your robot to operate autonomously.
+During data collection, you’ll use a “teloperation” device, such as a leader arm or keyboard to teleoperate the robot and record its motion trajectories.

-If you encounter any issues at any step of the tutorial, feel free to seek help on [Discord](https://discord.com/invite/s3KuuzsPFb) or don't hesitate to iterate with us on the tutorial by creating issues or pull requests.
+Once you’ve gathered enough trajectories, you’ll train a neural network to imitate these trajectories and deploy the trained model so your robot can perform the task autonomously.

-## Setup and Calibrate
+If you run into any issues at any point, jump into our [Discord community](https://discord.com/invite/s3KuuzsPFb) for support.

-If you haven't yet setup and calibrate the SO-101 follow these steps:
-1. [Find ports and update config file](./assemble_so101#find-the-usb-ports-associated-to-each-arm)
-2. [Calibrate](./assemble_so101#calibrate)
+## Set up and Calibrate
+
+If you haven't yet set up and calibrated your robot and teleop device, please do so by following the robot-specific tutorial.

 ## Teleoperate

-Run this simple script to teleoperate your robot (it won't connect and display the cameras):
+In this example, we’ll demonstrate how to teleoperate the SO101 robot. For each command, we also provide a corresponding API example.
+
+<hfoptions id="teleoperate_so101">
+<hfoption id="Command">
 ```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=so101 \
-  --robot.cameras='{}' \
-  --control.type=teleoperate
+python -m lerobot.teleoperate \
+    --robot.type=so101_follower \
+    --robot.port=/dev/tty.usbmodem58760431541 \
+    --robot.cameras="{}" \
+    --robot.id=my_red_robot_arm \
+    --teleop.type=so101_leader \
+    --teleop.port=/dev/tty.usbmodem58760431551 \
+    --teleop.id=my_blue_leader_arm
 ```
-
-The teleoperate command will automatically:
-1. Identify any missing calibrations and initiate the calibration procedure.
-2. Connect the robot and start teleoperation.
-
-## Setup Cameras
-
-To connect a camera you have three options:
-1. OpenCVCamera which allows us to use any camera: usb, realsense, laptop webcam
-2. iPhone camera with MacOS
-3. Phone camera on Linux
-
-### Use OpenCVCamera
-
-The [`OpenCVCamera`](../lerobot/common/robot_devices/cameras/opencv.py) class allows you to efficiently record frames from most cameras using the [`opencv2`](https://docs.opencv.org) library.  For more details on compatibility, see [Video I/O with OpenCV Overview](https://docs.opencv.org/4.x/d0/da7/videoio_overview.html).
-
-To instantiate an [`OpenCVCamera`](../lerobot/common/robot_devices/cameras/opencv.py), you need a camera index (e.g. `OpenCVCamera(camera_index=0)`). When you only have one camera like a webcam of a laptop, the camera index is usually `0` but it might differ, and the camera index might change if you reboot your computer or re-plug your camera. This behavior depends on your operating system.
-
-To find the camera indices, run the following utility script, which will save a few frames from each detected camera:
-```bash
-python lerobot/common/robot_devices/cameras/opencv.py \
-    --images-dir outputs/images_from_opencv_cameras
-```
-
-The output will look something like this if you have two cameras connected:
-```
-Mac or Windows detected. Finding available camera indices through scanning all indices from 0 to 60
-[...]
-Camera found at index 0
-Camera found at index 1
-[...]
-Connecting cameras
-OpenCVCamera(0, fps=30.0, width=1920.0, height=1080.0, color_mode=rgb)
-OpenCVCamera(1, fps=24.0, width=1920.0, height=1080.0, color_mode=rgb)
-Saving images to outputs/images_from_opencv_cameras
-Frame: 0000	Latency (ms): 39.52
-[...]
-Frame: 0046	Latency (ms): 40.07
-Images have been saved to outputs/images_from_opencv_cameras
-```
-
-Check the saved images in `outputs/images_from_opencv_cameras` to identify which camera index corresponds to which physical camera (e.g. `0` for `camera_00` or `1` for `camera_01`):
-```
-camera_00_frame_000000.png
-[...]
-camera_00_frame_000047.png
-camera_01_frame_000000.png
-[...]
-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.
-
-### Use your phone
-<hfoptions id="use phone">
-<hfoption id="Mac">
-
-To use your iPhone as a camera on macOS, enable the Continuity Camera feature:
- Ensure your Mac is running macOS 13 or later, and your iPhone is on iOS 16 or later.
- Sign in both devices with the same Apple ID.
- Connect your devices with a USB cable or turn on Wi-Fi and Bluetooth for a wireless connection.
-
-For more details, visit [Apple support](https://support.apple.com/en-gb/guide/mac-help/mchl77879b8a/mac).
-
-Your iPhone should be detected automatically when running the camera setup script in the next section.
-
 </hfoption>
-<hfoption id="Linux">
+<hfoption id="API example">
+```python
+from lerobot.common.teleoperators.so101_leader import SO101LeaderConfig, SO101Leader
+from lerobot.common.robots.so101_follower import SO101FollowerConfig, SO101Follower

-If you want to use your phone as a camera on Linux, follow these steps to set up a virtual camera
+robot_config = SO101FollowerConfig(
+    port="/dev/tty.usbmodem58760431541",
+    id="my_red_robot_arm",
+)

-1. *Install `v4l2loopback-dkms` and `v4l-utils`*. Those packages are required to create virtual camera devices (`v4l2loopback`) and verify their settings with the `v4l2-ctl` utility from `v4l-utils`. Install them using:
-```python
-sudo apt install v4l2loopback-dkms v4l-utils
-```
-2. *Install [DroidCam](https://droidcam.app) on your phone*. This app is available for both iOS and Android.
-3. *Install [OBS Studio](https://obsproject.com)*. This software will help you manage the camera feed. Install it using [Flatpak](https://flatpak.org):
-```python
-flatpak install flathub com.obsproject.Studio
-```
-4. *Install the DroidCam OBS plugin*. This plugin integrates DroidCam with OBS Studio. Install it with:
-```python
-flatpak install flathub com.obsproject.Studio.Plugin.DroidCam
-```
-5. *Start OBS Studio*. Launch with:
-```python
-flatpak run com.obsproject.Studio
-```
-6. *Add your phone as a source*. Follow the instructions [here](https://droidcam.app/obs/usage). Be sure to set the resolution to `640x480`.
-7. *Adjust resolution settings*. In OBS Studio, go to `File > Settings > Video`. Change the `Base(Canvas) Resolution` and the `Output(Scaled) Resolution` to `640x480` by manually typing it in.
-8. *Start virtual camera*. In OBS Studio, follow the instructions [here](https://obsproject.com/kb/virtual-camera-guide).
-9. *Verify the virtual camera setup*. Use `v4l2-ctl` to list the devices:
-```python
-v4l2-ctl --list-devices
-```
-You should see an entry like:
-```
-VirtualCam (platform:v4l2loopback-000):
-/dev/video1
-```
-10. *Check the camera resolution*. Use `v4l2-ctl` to ensure that the virtual camera output resolution is `640x480`. Change `/dev/video1` to the port of your virtual camera from the output of `v4l2-ctl --list-devices`.
-```python
-v4l2-ctl -d /dev/video1 --get-fmt-video
-```
-You should see an entry like:
-```
->>> Format Video Capture:
->>>	Width/Height      : 640/480
->>>	Pixel Format      : 'YUYV' (YUYV 4:2:2)
-```
+teleop_config = SO101LeaderConfig(
+    port="/dev/tty.usbmodem58760431551",
+    id="my_blue_leader_arm",
+)

-Troubleshooting: If the resolution is not correct you will have to delete the Virtual Camera port and try again as it cannot be changed.
-
-If everything is set up correctly, you can proceed with the rest of the tutorial.
+robot = SO101Follower(robot_config)
+teleop_device = SO101Leader(teleop_config)
+robot.connect()
+teleop_device.connect()

+while True:
+    action = teleop_device.get_action()
+    robot.send_action(action)
+```
 </hfoption>
 </hfoptions>

+The teleoperate command will automatically:
+1. Identify any missing calibrations and initiate the calibration procedure.
+2. Connect the robot and teleop device and start teleoperation.
+
+## Cameras
+
+To add cameras to your setup, follow this [Guide](./cameras#setup-cameras).
+
 ## Teleoperate with cameras

-We can now teleoperate again while at the same time visualizing the cameras and joint positions with `rerun`.
+With `rerun`, you can teleoperate again while simultaneously visualizing the camera feeds and joint positions. In this example, we’re using the Koch arm.

+<hfoptions id="teleoperate_koch_camera">
+<hfoption id="Command">
 ```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=so101 \
-  --control.type=teleoperate
-  --control.display_data=true
+python -m lerobot.teleoperate \
+    --robot.type=koch_follower \
+    --robot.port=/dev/tty.usbmodem58760431541 \
+    --robot.id=my_koch_robot \
+    --robot.cameras="{ front: {type: opencv, index_or_path: 0, width: 1920, height: 1080, fps: 30}}" \
+    --teleop.type=koch_leader \
+    --teleop.port=/dev/tty.usbmodem58760431551 \
+    --teleop.id=my_koch_teleop \
+    --display_data=true
 ```
+</hfoption>
+<hfoption id="API example">
+```python
+from lerobot.common.cameras.opencv.configuration_opencv import OpenCVCameraConfig
+from lerobot.common.teleoperators.koch_leader import KochLeaderConfig, KochLeader
+from lerobot.common.robots.koch_follower import KochFollowerConfig, KochFollower
+
+camera_config = {
+    "front": OpenCVCameraConfig(index_or_path=0, width=1920, height=1080, fps=30)
+}
+
+robot_config = KochFollowerConfig(
+    port="/dev/tty.usbmodem585A0076841",
+    id="my_red_robot_arm",
+    cameras=camera_config
+)
+
+teleop_config = KochLeaderConfig(
+    port="/dev/tty.usbmodem58760431551",
+    id="my_blue_leader_arm",
+)
+
+robot = KochFollower(robot_config)
+teleop_device = KochLeader(teleop_config)
+robot.connect()
+teleop_device.connect()
+
+while True:
+    observation = robot.get_observation()
+    action = teleop_device.get_action()
+    robot.send_action(action)
+```
+</hfoption>
+</hfoptions>
+
+## Teleoperate LeKiwi
+
+> [!TIP]
+> If you're using a Mac, you might need to give Terminal permission to access your keyboard for teleoperation. 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 on your laptop.

 ## Record a dataset

-Once you're familiar with teleoperation, you can record your first dataset with SO-101.
+Once you're familiar with teleoperation, you can record your first dataset.

 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).

-Add your token to the cli by running this command:
+Add your token to the CLI by running this command:
 ```bash
 huggingface-cli login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential
 ```
@@ -178,20 +194,20 @@ HF_USER=$(huggingface-cli whoami | head -n 1)
 echo $HF_USER
 ```

-Now you can record a dataset, to record 2 episodes and upload your dataset to the hub execute this command:
+Now you can record a dataset. To record 2 episodes and upload your dataset to the hub, execute this command tailored to the SO101.
 ```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}/so101_test \
-  --control.tags='["so101","tutorial"]' \
-  --control.warmup_time_s=5 \
-  --control.episode_time_s=30 \
-  --control.reset_time_s=30 \
-  --control.num_episodes=2 \
-  --control.push_to_hub=true
+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/record-test \
+    --dataset.num_episodes=2 \
+    --dataset.single_task="Grab the black cube"
 ```

 You will see a lot of lines appearing like this one:
@@ -212,7 +228,7 @@ INFO 2024-08-10 15:02:58 ol_robot.py:219 dt:33.34 (30.0hz) dtRlead: 5.06 (197.5h


 #### Dataset upload
-Locally your dataset is stored in this folder: `~/.cache/huggingface/lerobot/{repo-id}` (e.g. `data/cadene/so101_test`). At the end of data recording, your dataset will be uploaded on your Hugging Face page (e.g. https://huggingface.co/datasets/cadene/so101_test) that you can obtain by running:
+Locally, your dataset is stored in this folder: `~/.cache/huggingface/lerobot/{repo-id}` (e.g. `data/cadene/so101_test`). At the end of data recording, your dataset will be uploaded on your Hugging Face page (e.g. https://huggingface.co/datasets/cadene/so101_test) that you can obtain by running:
 ```bash
 echo https://huggingface.co/datasets/${HF_USER}/so101_test
 ```
@@ -224,33 +240,29 @@ You can look for other LeRobot datasets on the hub by searching for `LeRobot` [t

 The `record` function provides a suite of tools for capturing and managing data during robot operation:

-##### 1. Frame Capture and Video Encoding
- Frames from cameras are saved to disk during recording.
- At the end of each episode, frames are encoded into video files.
+##### 1. Data Storage
+- Data is stored using the `LeRobotDataset` format and is stored on disk during recording.
+- By default, the dataset is pushed to your Hugging Face page after recording.
+  - To disable uploading, use `--dataset.push_to_hub=False`.

-##### 2. Data Storage
- Data is stored using the `LeRobotDataset` format.
- By default, the dataset is pushed to your Hugging Face page.
-  - To disable uploading, use `--control.push_to_hub=false`.
-
-##### 3. Checkpointing and Resuming
+##### 2. Checkpointing and Resuming
 - Checkpoints are automatically created during recording.
 - If an issue occurs, you can resume by re-running the same command with `--control.resume=true`.
 - To start recording from scratch, **manually delete** the dataset directory.

-##### 4. Recording Parameters
+##### 3. Recording Parameters
 Set the flow of data recording using command-line arguments:
- `--control.warmup_time_s=10`
+- `--warmup_time_s=10`
  Number of seconds before starting data collection (default: **10 seconds**).
  Allows devices to warm up and synchronize.
- `--control.episode_time_s=60`
+- `--dataset.episode_time_s=60`
  Duration of each data recording episode (default: **60 seconds**).
- `--control.reset_time_s=60`
+- `--dataset.reset_time_s=60`
  Duration for resetting the environment after each episode (default: **60 seconds**).
- `--control.num_episodes=50`
+- `--dataset.num_episodes=50`
  Total number of episodes to record (default: **50**).

-##### 5. Keyboard Controls During Recording
+##### 4. Keyboard Controls During Recording
 Control the data recording flow using keyboard shortcuts:
 - Press **Right Arrow (`→`)**: Early stop the current episode or reset time and move to the next.
 - Press **Left Arrow (`←`)**: Cancel the current episode and re-record it.
@@ -264,6 +276,8 @@ In the following sections, you’ll train your neural network. After achieving r

 Avoid adding too much variation too quickly, as it may hinder your results.

+If you want to dive deeper into this important topic, you can check out the [blog post](https://huggingface.co/blog/lerobot-datasets#what-makes-a-good-dataset) we wrote on what makes a good dataset.
+

 #### Troubleshooting:
 - On Linux, if the left and right arrow keys and escape key don't have any effect during data recording, make sure you've set the `$DISPLAY` environment variable. See [pynput limitations](https://pynput.readthedocs.io/en/latest/limitations.html#linux).
@@ -289,16 +303,16 @@ This will launch a local web server that looks like this:

 ## Replay an episode

-A useful feature is the `replay` function, which allows to replay on your robot any episode that you've recorded or episodes from any dataset out there. This function helps you test the repeatability of your robot's actions and assess transferability across robots of the same model.
+A useful feature is the `replay` function, which allows you to replay any episode that you've recorded or episodes from any dataset out there. This function helps you test the repeatability of your robot's actions and assess transferability across robots of the same model.

 You can replay the first episode on your robot with:
 ```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=so101 \
-  --control.type=replay \
-  --control.fps=30 \
-  --control.repo_id=${HF_USER}/so101_test \
-  --control.episode=0
+python -m lerobot.replay \
+    --robot.type=so101_follower \
+    --robot.port=/dev/tty.usbmodem58760431541 \
+    --robot.id=black \
+    --dataset.repo_id=aliberts/record-test \
+    --dataset.episode=2
 ```

 Your robot should replicate movements similar to those you recorded. For example, check out [this video](https://x.com/RemiCadene/status/1793654950905680090) where we use `replay` on a Aloha robot from [Trossen Robotics](https://www.trossenrobotics.com).
@@ -348,21 +362,21 @@ huggingface-cli upload ${HF_USER}/act_so101_test${CKPT} \

 ## Evaluate your policy

-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:
+TODO(pepijn): modify this command further
+
+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:
--- a/docs/source/installation.mdx
+++ b/docs/source/installation.mdx
@@ -55,7 +55,7 @@ conda install ffmpeg -c conda-forge

 Install 🤗 LeRobot:
 ```bash
-cd lerobot && pip install ".[feetech]"
+cd lerobot && pip install
 ```

 ## Troubleshooting
@@ -77,6 +77,22 @@ For instance, to install 🤗 LeRobot with aloha and pusht, use:
 pip install -e ".[aloha, pusht]"
 ```

+## Motor SDK
+For Koch v1.1 install the Dynamixel SDK, for SO100/SO101/Moss install the Feetech SDK.
+
+<hfoptions id="install motors">
+<hfoption id="Feetech">
+```bash
+pip install -e ".[feetech]"
+```
+</hfoption>
+<hfoption id="Dynamixel">
+```bash
+pip install -e ".[dynamixel]"
+```
+</hfoption>
+</hfoptions>
+
 ## W&B
 To use [Weights and Biases](https://docs.wandb.ai/quickstart) for experiment tracking, log in with
 ```bash
--- a/docs/source/koch.md
+++ b/docs/source/koch.md
@@ -0,0 +1 @@
+../../lerobot/common/robots/koch_follower/koch.md
--- a/docs/source/lekiwi.md
+++ b/docs/source/lekiwi.md
@@ -0,0 +1 @@
+../../lerobot/common/robots/lekiwi/lekiwi.md
--- a/docs/source/so100.md
+++ b/docs/source/so100.md
@@ -0,0 +1 @@
+../../lerobot/common/robots/so100_follower/so100.md
--- a/docs/source/so101.md
+++ b/docs/source/so101.md
@@ -0,0 +1 @@
+../../lerobot/common/robots/so101_follower/so101.md
--- a/lerobot/calibrate.py
+++ b/lerobot/calibrate.py
@@ -31,22 +31,27 @@ from pprint import pformat

 import draccus

+from lerobot.common.cameras.opencv.configuration_opencv import OpenCVCameraConfig  # noqa: F401
+from lerobot.common.cameras.realsense.configuration_realsense import RealSenseCameraConfig  # noqa: F401
 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:
--- a/lerobot/common/cameras/init.py
+++ b/lerobot/common/cameras/init.py
@@ -13,5 +13,5 @@
 # limitations under the License.

 from .camera import Camera
-from .configs import CameraConfig
+from .configs import CameraConfig, ColorMode, Cv2Rotation
 from .utils import make_cameras_from_configs
--- a/lerobot/common/cameras/camera.py
+++ b/lerobot/common/cameras/camera.py
@@ -15,6 +15,7 @@
 # limitations under the License.

 import abc
+from typing import Any, Dict, List

 import numpy as np

@@ -22,28 +23,100 @@ from .configs import CameraConfig, ColorMode


 class Camera(abc.ABC):
+    """Base class for camera implementations.
+
+    Defines a standard interface for camera operations across different backends.
+    Subclasses must implement all abstract methods.
+
+    Manages basic camera properties (FPS, resolution) and core operations:
+    - Connection/disconnection
+    - Frame capture (sync/async)
+
+    Attributes:
+        fps (int | None): Configured frames per second
+        width (int | None): Frame width in pixels
+        height (int | None): Frame height in pixels
+        warmup_time (int | None): Time reading frames before returning from connect (in seconds)
+
+    Example:
+        class MyCamera(Camera):
+            def __init__(self, config): ...
+            @property
+            def is_connected(self) -> bool: ...
+            def connect(self, warmup=True): ...
+            # Plus other required methods
+    """
+
    def __init__(self, config: CameraConfig):
+        """Initialize the camera with the given configuration.
+
+        Args:
+            config: Camera configuration containing FPS and resolution.
+        """
        self.fps: int | None = config.fps
        self.width: int | None = config.width
        self.height: int | None = config.height
+        self.warmup_time: int | None = config.warmup_time

    @property
    @abc.abstractmethod
    def is_connected(self) -> bool:
+        """Check if the camera is currently connected.
+
+        Returns:
+            bool: True if the camera is connected and ready to capture frames,
+                  False otherwise.
+        """
+        pass
+
+    @staticmethod
+    @abc.abstractmethod
+    def find_cameras() -> List[Dict[str, Any]]:
+        """Detects available cameras connected to the system.
+        Returns:
+            List[Dict[str, Any]]: A list of dictionaries,
+            where each dictionary contains information about a detected camera.
+        """
        pass

    @abc.abstractmethod
-    def connect(self, do_warmup_read: bool = True) -> None:
+    def connect(self, warmup: bool = True) -> None:
+        """Establish connection to the camera.
+
+        Args:
+            warmup: If True (default), captures a warmup frame before returning. Useful
+                   for cameras that require time to adjust capture settings.
+                   If False, skips the warmup frame.
+        """
        pass

    @abc.abstractmethod
    def read(self, color_mode: ColorMode | None = None) -> np.ndarray:
+        """Capture and return a single frame from the camera.
+
+        Args:
+            color_mode: Desired color mode for the output frame. If None,
+                        uses the camera's default color mode.
+
+        Returns:
+            np.ndarray: Captured frame as a numpy array.
+        """
        pass

    @abc.abstractmethod
-    def async_read(self, timeout_ms: float = 2000) -> np.ndarray:
+    def async_read(self, timeout_ms: float = ...) -> np.ndarray:
+        """Asynchronously capture and return a single frame from the camera.
+
+        Args:
+            timeout_ms: Maximum time to wait for a frame in milliseconds.
+                        Defaults to implementation-specific timeout.
+
+        Returns:
+            np.ndarray: Captured frame as a numpy array.
+        """
        pass

    @abc.abstractmethod
    def disconnect(self) -> None:
+        """Disconnect from the camera and release resources."""
        pass
--- a/lerobot/common/cameras/configs.py
+++ b/lerobot/common/cameras/configs.py
@@ -21,12 +21,12 @@ from enum import Enum
 import draccus


-class ColorMode(Enum):
+class ColorMode(str, Enum):
    RGB = "rgb"
    BGR = "bgr"


-class Cv2Rotation(Enum):
+class Cv2Rotation(int, Enum):
    NO_ROTATION = 0
    ROTATE_90 = 90
    ROTATE_180 = 180
@@ -38,6 +38,7 @@ class CameraConfig(draccus.ChoiceRegistry, abc.ABC):
    fps: int | None = None
    width: int | None = None
    height: int | None = None
+    warmup_time: int | None = None

    @property
    def type(self) -> str:
--- a/lerobot/common/cameras/opencv/camera_opencv.py
+++ b/lerobot/common/cameras/opencv/camera_opencv.py
@@ -30,10 +30,9 @@ import cv2
 import numpy as np

 from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
-from lerobot.common.utils.utils import capture_timestamp_utc

 from ..camera import Camera
-from ..utils import IndexOrPath, get_cv2_backend, get_cv2_rotation
+from ..utils import get_cv2_backend, get_cv2_rotation
 from .configuration_opencv import ColorMode, OpenCVCameraConfig

 # NOTE(Steven): The maximum opencv device index depends on your operating system. For instance,
@@ -59,20 +58,16 @@ class OpenCVCamera(Camera):
    or port changes, especially on Linux. Use the provided utility script to find
    available camera indices or paths:
    ```bash
-    python -m lerobot.find_cameras
+    python -m lerobot.find_cameras opencv
    ```

    The camera's default settings (FPS, resolution, color mode) are used unless
    overridden in the configuration.

-    Args:
-        config (OpenCVCameraConfig): Configuration object containing settings like
-            camera index/path, desired FPS, width, height, color mode, and rotation.
-
    Example:
        ```python
        from lerobot.common.cameras.opencv import OpenCVCamera
-        from lerobot.common.cameras.configuration_opencv import OpenCVCameraConfig, ColorMode
+        from lerobot.common.cameras.configuration_opencv import OpenCVCameraConfig, ColorMode, Cv2Rotation

        # Basic usage with camera index 0
        config = OpenCVCameraConfig(index_or_path=0)
@@ -97,7 +92,7 @@ class OpenCVCamera(Camera):
            width=1280,
            height=720,
            color_mode=ColorMode.RGB,
-            rotation=90
+            rotation=Cv2Rotation.ROTATE_90
        )
        custom_camera = OpenCVCamera(custom_config)
        # ... connect, read, disconnect ...
@@ -114,37 +109,79 @@ class OpenCVCamera(Camera):
        super().__init__(config)

        self.config = config
-        self.index_or_path: IndexOrPath = config.index_or_path
+        self.index_or_path = config.index_or_path

-        self.fps: int | None = config.fps
-        self.channels: int = config.channels
-        self.color_mode: ColorMode = config.color_mode
+        self.fps = config.fps
+        self.color_mode = config.color_mode
+        self.warmup_time = config.warmup_time

-        self.videocapture_camera: cv2.VideoCapture | None = None
+        self.videocapture: cv2.VideoCapture | None = None

        self.thread: Thread | None = None
        self.stop_event: Event | None = None
        self.frame_queue: queue.Queue = queue.Queue(maxsize=1)

-        self.logs: dict = {}  # NOTE(Steven): Might be removed in the future
-
        self.rotation: int | None = get_cv2_rotation(config.rotation)
-        self.backend: int = get_cv2_backend()  # NOTE(Steven): If we specify backend the opencv open fails
+        self.backend: int = get_cv2_backend()

        if self.height and self.width:
            if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]:
-                self.prerotated_width, self.prerotated_height = self.height, self.width
+                self.capture_width, self.capture_height = self.height, self.width
            else:
-                self.prerotated_width, self.prerotated_height = self.width, self.height
+                self.capture_width, self.capture_height = self.width, self.height

    def __str__(self) -> str:
-        """Returns a string representation of the camera instance."""
        return f"{self.__class__.__name__}({self.index_or_path})"

    @property
    def is_connected(self) -> bool:
        """Checks if the camera is currently connected and opened."""
-        return isinstance(self.videocapture_camera, cv2.VideoCapture) and self.videocapture_camera.isOpened()
+        return isinstance(self.videocapture, cv2.VideoCapture) and self.videocapture.isOpened()
+
+    def connect(self, warmup: bool = True):
+        """
+        Connects to the OpenCV camera specified in the configuration.
+
+        Initializes the OpenCV VideoCapture object, sets desired camera properties
+        (FPS, width, height), and performs initial checks.
+
+        Raises:
+            DeviceAlreadyConnectedError: If the camera is already connected.
+            ValueError: If the specified camera index/path is not found or accessible.
+            ConnectionError: If the camera is found but fails to open.
+            RuntimeError: If the camera opens but fails to apply requested FPS/resolution settings.
+        """
+        if self.is_connected:
+            raise DeviceAlreadyConnectedError(f"{self} is already connected.")
+
+        # Use 1 thread for OpenCV operations to avoid potential conflicts or
+        # blocking in multi-threaded applications, especially during data collection.
+        cv2.setNumThreads(1)
+
+        self.videocapture = cv2.VideoCapture(self.index_or_path, self.backend)
+
+        if not self.videocapture.isOpened():
+            self.videocapture.release()
+            self.videocapture = None
+            raise ConnectionError(
+                f"Failed to open OpenCV camera {self.index_or_path}."
+                f"Run 'python -m lerobot.find_cameras opencv' for details about the available cameras in your system."
+            )
+
+        self._configure_capture_settings()
+
+        if warmup:
+            if self.warmup_time is None:
+                raise ValueError(
+                    f"Warmup time is not set for {self}. Please set a warmup time in the configuration."
+                )
+            logger.debug(f"Reading a warm-up frames for {self} for {self.warmup_time} seconds...")
+            start_time = time.time()
+            while time.time() - start_time < self.warmup_time:
+                self.read()
+                time.sleep(0.1)
+
+        logger.debug(f"Camera {self.index_or_path} connected and configured successfully.")

    def _configure_capture_settings(self) -> None:
        """
@@ -167,120 +204,65 @@ class OpenCVCamera(Camera):
        if not self.is_connected:
            raise DeviceNotConnectedError(f"Cannot configure settings for {self} as it is not connected.")

-        self._validate_fps()
-        self._validate_width_and_height()
+        if self.fps is None:
+            self.fps = self.videocapture.get(cv2.CAP_PROP_FPS)
+            logger.info(f"FPS set to camera default: {self.fps}.")
+        else:
+            self._validate_fps()

-    def connect(self, do_warmup_read: bool = True):
-        """
-        Connects to the OpenCV camera specified in the configuration.
+        default_width = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_WIDTH)))
+        default_height = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_HEIGHT)))

-        Initializes the OpenCV VideoCapture object, sets desired camera properties
-        (FPS, width, height), and performs initial checks.
-
-        Raises:
-            DeviceAlreadyConnectedError: If the camera is already connected.
-            ValueError: If the specified camera index/path is not found or accessible.
-            ConnectionError: If the camera is found but fails to open.
-            RuntimeError: If the camera opens but fails to apply requested FPS/resolution settings.
-        """
-        if self.is_connected:
-            raise DeviceAlreadyConnectedError(f"{self} is already connected.")
-
-        # Use 1 thread for OpenCV operations to avoid potential conflicts or
-        # blocking in multi-threaded applications, especially during data collection.
-        cv2.setNumThreads(1)
-
-        logger.debug(f"Attempting to connect to camera {self.index_or_path} using backend {self.backend}...")
-        self.videocapture_camera = cv2.VideoCapture(self.index_or_path)
-
-        if not self.videocapture_camera.isOpened():
-            self.videocapture_camera.release()
-            self.videocapture_camera = None
-            raise ConnectionError(
-                f"Failed to open OpenCV camera {self.index_or_path}."
-                f"Run 'python -m find_cameras list-cameras' for details."
-            )
-
-        logger.debug(f"Successfully opened camera {self.index_or_path}. Applying configuration...")
-        self._configure_capture_settings()
-
-        if do_warmup_read:
-            logger.debug(f"Reading a warm-up frame for {self.index_or_path}...")
-            self.read()  # NOTE(Steven): For now we just read one frame, we could also loop for X frames/secs
-
-        logger.debug(f"Camera {self.index_or_path} connected and configured successfully.")
+        if self.width is None or self.height is None:
+            if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]:
+                self.width, self.height = default_height, default_width
+                self.capture_width, self.capture_height = default_width, default_height
+            else:
+                self.width, self.height = default_width, default_height
+                self.capture_width, self.capture_height = default_width, default_height
+            logger.info(f"Capture width set to camera default: {self.width}.")
+            logger.info(f"Capture height set to camera default: {self.height}.")
+        else:
+            self._validate_width_and_height()

    def _validate_fps(self) -> None:
        """Validates and sets the camera's frames per second (FPS)."""

-        if self.fps is None:
-            self.fps = self.videocapture_camera.get(cv2.CAP_PROP_FPS)
-            logger.info(f"FPS set to camera default: {self.fps}.")
-            return
-
-        success = self.videocapture_camera.set(cv2.CAP_PROP_FPS, float(self.fps))
-        actual_fps = self.videocapture_camera.get(cv2.CAP_PROP_FPS)
+        success = self.videocapture.set(cv2.CAP_PROP_FPS, float(self.fps))
+        actual_fps = self.videocapture.get(cv2.CAP_PROP_FPS)
        # Use math.isclose for robust float comparison
        if not success or not math.isclose(self.fps, actual_fps, rel_tol=1e-3):
-            logger.warning(
-                f"Requested FPS {self.fps} for {self}, but camera reported {actual_fps} (set success: {success}). "
-                "This might be due to camera limitations."
-            )
            raise RuntimeError(
-                f"Failed to set requested FPS {self.fps} for {self}. Actual value reported: {actual_fps}."
+                f"Failed to set requested FPS {self.fps} for {self}. Actual value reported: {actual_fps} set success: {success})."
            )
        logger.debug(f"FPS set to {actual_fps} for {self}.")

    def _validate_width_and_height(self) -> None:
        """Validates and sets the camera's frame capture width and height."""

-        actual_width = int(round(self.videocapture_camera.get(cv2.CAP_PROP_FRAME_WIDTH)))
-        actual_height = int(round(self.videocapture_camera.get(cv2.CAP_PROP_FRAME_HEIGHT)))
-
-        if self.width is None or self.height is None:
-            if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]:
-                self.width, self.height = actual_height, actual_width
-                self.prerotated_width, self.prerotated_height = actual_width, actual_height
-            else:
-                self.width, self.height = actual_width, actual_height
-                self.prerotated_width, self.prerotated_height = actual_width, actual_height
-            logger.info(f"Capture width set to camera default: {self.width}.")
-            logger.info(f"Capture height set to camera default: {self.height}.")
-            return
-
-        success = self.videocapture_camera.set(cv2.CAP_PROP_FRAME_WIDTH, float(self.prerotated_width))
-        if not success or self.prerotated_width != actual_width:
-            logger.warning(
-                f"Requested capture width {self.prerotated_width} for {self}, but camera reported {actual_width} (set success: {success})."
-            )
+        success = self.videocapture.set(cv2.CAP_PROP_FRAME_WIDTH, float(self.capture_width))
+        actual_width = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_WIDTH)))
+        if not success or self.capture_width != actual_width:
            raise RuntimeError(
-                f"Failed to set requested capture width {self.prerotated_width} for {self}. Actual value: {actual_width}."
+                f"Failed to set requested capture width {self.capture_width} for {self}. Actual value: {actual_width} (set success: {success})."
            )
        logger.debug(f"Capture width set to {actual_width} for {self}.")

-        success = self.videocapture_camera.set(cv2.CAP_PROP_FRAME_HEIGHT, float(self.prerotated_height))
-        if not success or self.prerotated_height != actual_height:
-            logger.warning(
-                f"Requested capture height {self.prerotated_height} for {self}, but camera reported {actual_height} (set success: {success})."
-            )
+        success = self.videocapture.set(cv2.CAP_PROP_FRAME_HEIGHT, float(self.capture_height))
+        actual_height = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_HEIGHT)))
+        if not success or self.capture_height != actual_height:
            raise RuntimeError(
-                f"Failed to set requested capture height {self.prerotated_height} for {self}. Actual value: {actual_height}."
+                f"Failed to set requested capture height {self.capture_height} for {self}. Actual value: {actual_height} (set success: {success})."
            )
        logger.debug(f"Capture height set to {actual_height} for {self}.")

    @staticmethod
-    def find_cameras(
-        max_index_search_range=MAX_OPENCV_INDEX, raise_when_empty: bool = True
-    ) -> List[Dict[str, Any]]:
+    def find_cameras() -> List[Dict[str, Any]]:
        """
        Detects available OpenCV cameras connected to the system.

        On Linux, it scans '/dev/video*' paths. On other systems (like macOS, Windows),
-        it checks indices from 0 up to `max_index_search_range`.
-
-        Args:
-            max_index_search_range (int): The maximum index to check on non-Linux systems.
-            raise_when_empty (bool): If True, raises an OSError if no cameras are found.
+        it checks indices from 0 up to `MAX_OPENCV_INDEX`.

        Returns:
            List[Dict[str, Any]]: A list of dictionaries,
@@ -290,16 +272,12 @@ class OpenCVCamera(Camera):
        found_cameras_info = []

        if platform.system() == "Linux":
-            logger.info("Linux detected. Scanning '/dev/video*' device paths...")
            possible_paths = sorted(Path("/dev").glob("video*"), key=lambda p: p.name)
            targets_to_scan = [str(p) for p in possible_paths]
-            logger.debug(f"Found potential paths: {targets_to_scan}")
        else:
-            logger.info(
-                f"{platform.system()} system detected. Scanning indices from 0 to {max_index_search_range}..."
-            )
-            targets_to_scan = list(range(max_index_search_range))
+            targets_to_scan = list(range(MAX_OPENCV_INDEX))

+        logger.debug(f"Found potential paths: {targets_to_scan}")
        for target in targets_to_scan:
            camera = cv2.VideoCapture(target)
            if camera.isOpened():
@@ -321,13 +299,10 @@ class OpenCVCamera(Camera):
                }

                found_cameras_info.append(camera_info)
-                logger.debug(f"Found OpenCV camera:: {camera_info}")
                camera.release()

        if not found_cameras_info:
            logger.warning("No OpenCV devices detected.")
-            if raise_when_empty:
-                raise OSError("No OpenCV devices detected. Ensure cameras are connected.")

        logger.info(f"Detected OpenCV cameras: {[cam['id'] for cam in found_cameras_info]}")
        return found_cameras_info
@@ -361,7 +336,7 @@ class OpenCVCamera(Camera):
        start_time = time.perf_counter()

        # NOTE(Steven): Are we okay with this blocking an undefined amount of time?
-        ret, frame = self.videocapture_camera.read()
+        ret, frame = self.videocapture.read()

        if not ret or frame is None:
            raise RuntimeError(
@@ -374,7 +349,6 @@ class OpenCVCamera(Camera):
        read_duration_ms = (time.perf_counter() - start_time) * 1e3
        logger.debug(f"{self} synchronous read took: {read_duration_ms:.1f}ms")

-        self.logs["timestamp_utc"] = capture_timestamp_utc()
        return processed_frame

    def _postprocess_image(self, image: np.ndarray, color_mode: ColorMode | None = None) -> np.ndarray:
@@ -403,13 +377,9 @@ class OpenCVCamera(Camera):

        h, w, c = image.shape

-        if h != self.prerotated_height or w != self.prerotated_width:
+        if h != self.capture_height or w != self.capture_width:
            raise RuntimeError(
-                f"Captured frame dimensions ({h}x{w}) do not match configured capture dimensions ({self.prerotated_height}x{self.prerotated_width}) for {self}."
-            )
-        if c != self.channels:
-            logger.warning(
-                f"Captured frame channels ({c}) do not match configured channels ({self.channels}) for {self}."
+                f"Captured frame dimensions ({h}x{w}) do not match configured capture dimensions ({self.capture_height}x{self.capture_width}) for {self}."
            )

        processed_image = image
@@ -449,7 +419,7 @@ class OpenCVCamera(Camera):

        logger.debug(f"Stopping read loop thread for {self}.")

-    def _ensure_read_thread_running(self):
+    def _start_read_thread(self) -> None:
        """Starts or restarts the background read thread if it's not running."""
        if self.thread is not None and self.thread.is_alive():
            self.thread.join(timeout=0.1)
@@ -464,6 +434,22 @@ class OpenCVCamera(Camera):
        self.thread.start()
        logger.debug(f"Read thread started for {self}.")

+    def _stop_read_thread(self) -> None:
+        """Signals the background read thread to stop and waits for it to join."""
+        if self.stop_event is not None:
+            self.stop_event.set()
+
+        if self.thread is not None and self.thread.is_alive():
+            self.thread.join(timeout=2.0)
+            if self.thread.is_alive():
+                logger.warning(f"Read thread for {self} did not terminate gracefully after 2 seconds.")
+            else:
+                logger.debug(f"Read thread for {self} joined successfully.")
+
+        self.thread = None
+        self.stop_event = None
+        logger.debug(f"Read thread stopped for {self}.")
+
    def async_read(self, timeout_ms: float = 2000) -> np.ndarray:
        """
        Reads the latest available frame asynchronously.
@@ -490,41 +476,20 @@ class OpenCVCamera(Camera):
            raise DeviceNotConnectedError(f"{self} is not connected.")

        if self.thread is None or not self.thread.is_alive():
-            self._ensure_read_thread_running()
+            self._start_read_thread()

        try:
            return self.frame_queue.get(timeout=timeout_ms / 1000.0)
        except queue.Empty as e:
            thread_alive = self.thread is not None and self.thread.is_alive()
-            logger.error(
-                f"Timeout waiting for frame from {self} queue after {timeout_ms}ms. "
-                f"(Read thread alive: {thread_alive})"
-            )
            raise TimeoutError(
-                f"Timed out waiting for frame from camera {self.index_or_path} after {timeout_ms} ms. "
+                f"Timed out waiting for frame from camera {self} after {timeout_ms} ms. "
                f"Read thread alive: {thread_alive}."
            ) from e
        except Exception as e:
            logger.exception(f"Unexpected error getting frame from queue for {self}: {e}")
            raise RuntimeError(f"Error getting frame from queue for camera {self.index_or_path}: {e}") from e

-    def _shutdown_read_thread(self):
-        """Signals the background read thread to stop and waits for it to join."""
-        if self.stop_event is not None:
-            logger.debug(f"Signaling stop event for read thread of {self}.")
-            self.stop_event.set()
-
-        if self.thread is not None and self.thread.is_alive():
-            logger.debug(f"Waiting for read thread of {self} to join...")
-            self.thread.join(timeout=2.0)
-            if self.thread.is_alive():
-                logger.warning(f"Read thread for {self} did not terminate gracefully after 2 seconds.")
-            else:
-                logger.debug(f"Read thread for {self} joined successfully.")
-
-        self.thread = None
-        self.stop_event = None
-
    def disconnect(self):
        """
        Disconnects from the camera and cleans up resources.
@@ -536,18 +501,13 @@ class OpenCVCamera(Camera):
            DeviceNotConnectedError: If the camera is already disconnected.
        """
        if not self.is_connected and self.thread is None:
-            raise DeviceNotConnectedError(
-                f"Attempted to disconnect {self}, but it appears already disconnected."
-            )
-
-        logger.debug(f"Disconnecting from camera {self.index_or_path}...")
+            raise DeviceNotConnectedError(f"{self} not connected.")

        if self.thread is not None:
-            self._shutdown_read_thread()
+            self._stop_read_thread()

-        if self.videocapture_camera is not None:
-            logger.debug(f"Releasing OpenCV VideoCapture object for {self}.")
-            self.videocapture_camera.release()
-            self.videocapture_camera = None
+        if self.videocapture is not None:
+            self.videocapture.release()
+            self.videocapture = None

-        logger.info(f"Camera {self.index_or_path} disconnected successfully.")
+        logger.info(f"{self} disconnected.")
--- a/lerobot/common/cameras/opencv/configuration_opencv.py
+++ b/lerobot/common/cameras/opencv/configuration_opencv.py
@@ -44,7 +44,6 @@ class OpenCVCameraConfig(CameraConfig):
        width: Requested frame width in pixels for the color stream.
        height: Requested frame height in pixels for the color stream.
        color_mode: Color mode for image output (RGB or BGR). Defaults to RGB.
-        channels: Number of color channels (currently only 3 is supported).
        rotation: Image rotation setting (0°, 90°, 180°, or 270°). Defaults to no rotation.

    Note:
@@ -53,7 +52,6 @@ class OpenCVCameraConfig(CameraConfig):

    index_or_path: int | Path
    color_mode: ColorMode = ColorMode.RGB
-    channels: int = 3  # NOTE(Steven): Why is this a config?
    rotation: Cv2Rotation = Cv2Rotation.NO_ROTATION

    def __post_init__(self):
@@ -71,6 +69,3 @@ class OpenCVCameraConfig(CameraConfig):
            raise ValueError(
                f"`rotation` is expected to be in {(Cv2Rotation.NO_ROTATION, Cv2Rotation.ROTATE_90, Cv2Rotation.ROTATE_180, Cv2Rotation.ROTATE_270)}, but {self.rotation} is provided."
            )
-
-        if self.channels != 3:
-            raise NotImplementedError(f"Unsupported number of channels: {self.channels}")
--- a/lerobot/common/cameras/realsense/init.py
+++ b/lerobot/common/cameras/realsense/init.py
--- a/lerobot/common/cameras/realsense/camera_realsense.py
+++ b/lerobot/common/cameras/realsense/camera_realsense.py
@@ -18,7 +18,6 @@ Provides the RealSenseCamera class for capturing frames from Intel RealSense cam

 import contextlib
 import logging
-import math
 import queue
 import time
 from threading import Event, Thread
@@ -26,10 +25,13 @@ from typing import Any, Dict, List

 import cv2
 import numpy as np
-import pyrealsense2 as rs
+
+try:
+    import pyrealsense2 as rs
+except Exception as e:
+    logging.info(f"Could not import realsense: {e}")

 from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
-from lerobot.common.utils.utils import capture_timestamp_utc

 from ..camera import Camera
 from ..configs import ColorMode
@@ -51,7 +53,7 @@ class RealSenseCamera(Camera):

    Use the provided utility script to find available camera indices and default profiles:
    ```bash
-    python -m lerobot.find_cameras
+    python -m lerobot.find_cameras realsense
    ```

    A `RealSenseCamera` instance requires a configuration object specifying the
@@ -61,53 +63,46 @@ class RealSenseCamera(Camera):
    The camera's default settings (FPS, resolution, color mode) from the stream
    profile are used unless overridden in the configuration.

-    Args:
-        config (RealSenseCameraConfig): Configuration object containing settings like
-            serial number or name, desired FPS, width, height, color mode, rotation,
-            and whether to capture depth.
-
    Example:
        ```python
-        from lerobot.common.cameras.intel.camera_realsense import RealSenseCamera
-        from lerobot.common.cameras.intel.configuration_realsense import RealSenseCameraConfig
-        from lerobot.common.cameras.configs import ColorMode
+        from lerobot.common.cameras.realsense import RealSenseCamera, RealSenseCameraConfig
+        from lerobot.common.cameras import ColorMode, Cv2Rotation

        # Basic usage with serial number
-        config = RealSenseCameraConfig(serial_number="1234567890") # Replace with actual SN
+        config = RealSenseCameraConfig(serial_number_or_name="1234567890") # Replace with actual SN
        camera = RealSenseCamera(config)
-        try:
-            camera.connect()
-            print(f"Connected to {camera}")
-            color_image = camera.read() # Synchronous read (color only)
-            print(f"Read frame shape: {color_image.shape}")
-            async_image = camera.async_read() # Asynchronous read
-            print(f"Async read frame shape: {async_image.shape}")
-        except Exception as e:
-            print(f"An error occurred: {e}")
-        finally:
-            camera.disconnect()
-            print(f"Disconnected from {camera}")
+        camera.connect()
+
+        # Read 1 frame synchronously
+        color_image = camera.read()
+        print(color_image.shape)
+
+        # Read 1 frame asynchronously
+        async_image = camera.async_read()
+
+        # When done, properly disconnect the camera using
+        camera.disconnect()

        # Example with depth capture and custom settings
        custom_config = RealSenseCameraConfig(
-            serial_number="1234567890", # Replace with actual SN
+            serial_number_or_name="1234567890", # Replace with actual SN
            fps=30,
            width=1280,
            height=720,
            color_mode=ColorMode.BGR, # Request BGR output
-            rotation=0,
+            rotation=Cv2Rotation.NO_ROTATION,
            use_depth=True
        )
        depth_camera = RealSenseCamera(custom_config)
        try:
            depth_camera.connect()
-            color_image, depth_map = depth_camera.read() # Returns tuple
-            print(f"Color shape: {color_image.shape}, Depth shape: {depth_map.shape}")
+            depth_map = depth_camera.read_depth()
+            print(f"Depth shape: {depth_map.shape}")
        finally:
            depth_camera.disconnect()

        # Example using a unique camera name
-        name_config = RealSenseCameraConfig(name="Intel RealSense D435") # If unique
+        name_config = RealSenseCameraConfig(serial_number_or_name="Intel RealSense D435") # If unique
        name_camera = RealSenseCamera(name_config)
        # ... connect, read, disconnect ...
        ```
@@ -125,17 +120,15 @@ class RealSenseCamera(Camera):

        self.config = config

-        if config.name is not None:  # NOTE(Steven): Do we want to continue supporting this?
-            self.serial_number = self._find_serial_number_from_name(config.name)
-        elif config.serial_number is not None:
-            self.serial_number = str(config.serial_number)
+        if isinstance(config.serial_number_or_name, int):
+            self.serial_number = str(config.serial_number_or_name)
        else:
-            raise ValueError("RealSenseCameraConfig must provide either 'serial_number' or 'name'.")
+            self.serial_number = self._find_serial_number_from_name(config.serial_number_or_name)

-        self.fps: int | None = config.fps
-        self.channels: int = config.channels
-        self.color_mode: ColorMode = config.color_mode
-        self.use_depth: bool = config.use_depth
+        self.fps = config.fps
+        self.color_mode = config.color_mode
+        self.use_depth = config.use_depth
+        self.warmup_time = config.warmup_time

        self.rs_pipeline: rs.pipeline | None = None
        self.rs_profile: rs.pipeline_profile | None = None
@@ -144,18 +137,15 @@ class RealSenseCamera(Camera):
        self.stop_event: Event | None = None
        self.frame_queue: queue.Queue = queue.Queue(maxsize=1)

-        self.logs: dict = {}  # For timestamping or other metadata
-
        self.rotation: int | None = get_cv2_rotation(config.rotation)

        if self.height and self.width:
            if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]:
-                self.prerotated_width, self.prerotated_height = self.height, self.width
+                self.capture_width, self.capture_height = self.height, self.width
            else:
-                self.prerotated_width, self.prerotated_height = self.width, self.height
+                self.capture_width, self.capture_height = self.width, self.height

    def __str__(self) -> str:
-        """Returns a string representation of the camera instance."""
        return f"{self.__class__.__name__}({self.serial_number})"

    @property
@@ -163,36 +153,69 @@ class RealSenseCamera(Camera):
        """Checks if the camera pipeline is started and streams are active."""
        return self.rs_pipeline is not None and self.rs_profile is not None

+    def connect(self, warmup: bool = True):
+        """
+        Connects to the RealSense camera specified in the configuration.
+
+        Initializes the RealSense pipeline, configures the required streams (color
+        and optionally depth), starts the pipeline, and validates the actual stream settings.
+
+        Raises:
+            DeviceAlreadyConnectedError: If the camera is already connected.
+            ValueError: If the configuration is invalid (e.g., missing serial/name, name not unique).
+            ConnectionError: If the camera is found but fails to start the pipeline or no RealSense devices are detected at all.
+            RuntimeError: If the pipeline starts but fails to apply requested settings.
+        """
+        if self.is_connected:
+            raise DeviceAlreadyConnectedError(f"{self} is already connected.")
+
+        self.rs_pipeline = rs.pipeline()
+        rs_config = self._make_rs_pipeline_config()
+
+        try:
+            self.rs_profile = self.rs_pipeline.start(rs_config)
+            logger.debug(f"Successfully started pipeline for camera {self.serial_number}.")
+        except RuntimeError as e:
+            self.rs_profile = None
+            self.rs_pipeline = None
+            raise ConnectionError(
+                f"Failed to open {self} camera. Run 'python -m lerobot.find_cameras realsense' for details about the available cameras in your system."
+            ) from e
+
+        logger.debug(f"Validating stream configuration for {self}...")
+        self._validate_capture_settings()
+
+        if warmup:
+            if self.warmup_time is None:
+                raise ValueError(
+                    f"Warmup time is not set for {self}. Please set a warmup time in the configuration."
+                )
+            logger.debug(f"Reading a warm-up frames for {self} for {self.warmup_time} seconds...")
+            start_time = time.time()
+            while time.time() - start_time < self.warmup_time:
+                self.read()
+                time.sleep(0.1)
+
+        logger.info(f"{self} connected.")
+
    @staticmethod
-    def find_cameras(raise_when_empty: bool = True) -> List[Dict[str, Any]]:
+    def find_cameras() -> List[Dict[str, Any]]:
        """
        Detects available Intel RealSense cameras connected to the system.

-        Args:
-            raise_when_empty (bool): If True, raises an OSError if no cameras are found.
-
        Returns:
            List[Dict[str, Any]]: A list of dictionaries,
            where each dictionary contains 'type', 'id' (serial number), 'name',
            firmware version, USB type, and other available specs, and the default profile properties (width, height, fps, format).

        Raises:
-            OSError: If `raise_when_empty` is True and no cameras are detected,
-                     or if pyrealsense2 is not installed.
+            OSError: If pyrealsense2 is not installed.
            ImportError: If pyrealsense2 is not installed.
        """
        found_cameras_info = []
        context = rs.context()
        devices = context.query_devices()

-        if not devices:
-            logger.warning("No RealSense devices detected.")
-            if raise_when_empty:
-                raise OSError(
-                    "No RealSense devices detected. Ensure cameras are connected, "
-                    "library (`pyrealsense2`) is installed, and firmware is up-to-date."
-                )
-
        for device in devices:
            camera_info = {
                "name": device.get_info(rs.camera_info.name),
@@ -223,14 +246,13 @@ class RealSenseCamera(Camera):
                        camera_info["default_stream_profile"] = stream_info

            found_cameras_info.append(camera_info)
-            logger.debug(f"Found RealSense camera: {camera_info}")

        logger.info(f"Detected RealSense cameras: {[cam['id'] for cam in found_cameras_info]}")
        return found_cameras_info

    def _find_serial_number_from_name(self, name: str) -> str:
        """Finds the serial number for a given unique camera name."""
-        camera_infos = self.find_cameras(raise_when_empty=True)
+        camera_infos = self.find_cameras()
        found_devices = [cam for cam in camera_infos if str(cam["name"]) == name]

        if not found_devices:
@@ -250,24 +272,24 @@ class RealSenseCamera(Camera):
        logger.info(f"Found serial number '{serial_number}' for camera name '{name}'.")
        return serial_number

-    def _configure_realsense_settings(self) -> rs.config:
+    def _make_rs_pipeline_config(self) -> rs.config:
        """Creates and configures the RealSense pipeline configuration object."""
        rs_config = rs.config()
        rs.config.enable_device(rs_config, self.serial_number)

        if self.width and self.height and self.fps:
            logger.debug(
-                f"Requesting Color Stream: {self.prerotated_width}x{self.prerotated_height} @ {self.fps} FPS, Format: {rs.format.rgb8}"
+                f"Requesting Color Stream: {self.capture_width}x{self.capture_height} @ {self.fps} FPS, Format: {rs.format.rgb8}"
            )
            rs_config.enable_stream(
-                rs.stream.color, self.prerotated_width, self.prerotated_height, rs.format.rgb8, self.fps
+                rs.stream.color, self.capture_width, self.capture_height, rs.format.rgb8, self.fps
            )
            if self.use_depth:
                logger.debug(
-                    f"Requesting Depth Stream: {self.prerotated_width}x{self.prerotated_height} @ {self.fps} FPS, Format: {rs.format.z16}"
+                    f"Requesting Depth Stream: {self.capture_width}x{self.capture_height} @ {self.fps} FPS, Format: {rs.format.z16}"
                )
                rs_config.enable_stream(
-                    rs.stream.depth, self.prerotated_width, self.prerotated_height, rs.format.z16, self.fps
+                    rs.stream.depth, self.capture_width, self.capture_height, rs.format.z16, self.fps
                )
        else:
            logger.debug(f"Requesting Color Stream: Default settings, Format: {rs.stream.color}")
@@ -295,111 +317,47 @@ class RealSenseCamera(Camera):
        if not self.is_connected:
            raise DeviceNotConnectedError(f"Cannot validate settings for {self} as it is not connected.")

-        self._validate_fps(self.rs_profile.get_stream(rs.stream.color).as_video_stream_profile())
-        self._validate_width_and_height(self.rs_profile.get_stream(rs.stream.color).as_video_stream_profile())
-
-        if self.use_depth:
-            self._validate_fps(self.rs_profile.get_stream(rs.stream.depth).as_video_stream_profile())
-            self._validate_width_and_height(
-                self.rs_profile.get_stream(rs.stream.depth).as_video_stream_profile()
-            )
-
-    def connect(self, do_warmup_read: bool = True):
-        """
-        Connects to the RealSense camera specified in the configuration.
-
-        Initializes the RealSense pipeline, configures the required streams (color
-        and optionally depth), starts the pipeline, and validates the actual stream settings.
-
-        Raises:
-            DeviceAlreadyConnectedError: If the camera is already connected.
-            ValueError: If the configuration is invalid (e.g., missing serial/name, name not unique).
-            ConnectionError: If the camera is found but fails to start the pipeline.
-            RuntimeError: If the pipeline starts but fails to apply requested settings.
-            OSError: If no RealSense devices are detected at all.
-        """
-        if self.is_connected:
-            raise DeviceAlreadyConnectedError(f"{self} is already connected.")
-
-        logger.debug(f"Attempting to connect to camera {self.serial_number}...")
-        self.rs_pipeline = rs.pipeline()
-        rs_config = self._configure_realsense_settings()
-
-        try:
-            self.rs_profile = self.rs_pipeline.start(rs_config)
-            logger.debug(f"Successfully started pipeline for camera {self.serial_number}.")
-        except RuntimeError as e:
-            self.rs_profile = None
-            self.rs_pipeline = None
-            raise ConnectionError(
-                f"Failed to open RealSense camera {self.serial_number}. Error: {e}. "
-                f"Run 'python -m find_cameras list-cameras' for details."
-            ) from e
-
-        logger.debug(f"Validating stream configuration for {self.serial_number}...")
-        self._validate_capture_settings()
-
-        if do_warmup_read:
-            logger.debug(f"Reading a warm-up frame for {self.serial_number}...")
-            self.read()  # NOTE(Steven): For now we just read one frame, we could also loop for X frames/secs
-
-        logger.info(f"Camera {self.serial_number} connected and configured successfully.")
-
-    def _validate_fps(self, stream) -> None:
-        """Validates and sets the internal FPS based on actual stream FPS."""
-        actual_fps = stream.fps()
+        stream = self.rs_profile.get_stream(rs.stream.color).as_video_stream_profile()

        if self.fps is None:
-            self.fps = actual_fps
-            logger.info(f"FPS not specified, using camera default: {self.fps} FPS.")
-            return
+            self.fps = stream.fps()

-        # Use math.isclose for robust float comparison
-        if not math.isclose(self.fps, actual_fps, rel_tol=1e-3):
-            logger.warning(
-                f"Requested FPS {self.fps} for {self}, but camera reported {actual_fps}. "
-                "This might be due to camera limitations."
-            )
-            raise RuntimeError(
-                f"Failed to set requested FPS {self.fps} for {self}. Actual value reported: {actual_fps}."
-            )
-        logger.debug(f"FPS set to {actual_fps} for {self}.")
+        if self.width is None or self.height is None:
+            actual_width = int(round(stream.width()))
+            actual_height = int(round(stream.height()))
+            if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]:
+                self.width, self.height = actual_height, actual_width
+                self.capture_width, self.capture_height = actual_width, actual_height
+            else:
+                self.width, self.height = actual_width, actual_height
+                self.capture_width, self.capture_height = actual_width, actual_height
+            logger.info(f"Capture width set to camera default: {self.width}.")
+            logger.info(f"Capture height set to camera default: {self.height}.")
+        else:
+            self._validate_width_and_height(stream)
+
+        if self.use_depth:
+            stream = self.rs_profile.get_stream(rs.stream.depth).as_video_stream_profile()
+            self._validate_width_and_height(stream)

    def _validate_width_and_height(self, stream) -> None:
        """Validates and sets the internal capture width and height based on actual stream width."""
        actual_width = int(round(stream.width()))
        actual_height = int(round(stream.height()))

-        if self.width is None or self.height is None:
-            if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]:
-                self.width, self.height = actual_height, actual_width
-                self.prerotated_width, self.prerotated_height = actual_width, actual_height
-            else:
-                self.width, self.height = actual_width, actual_height
-                self.prerotated_width, self.prerotated_height = actual_width, actual_height
-            logger.info(f"Capture width set to camera default: {self.width}.")
-            logger.info(f"Capture height set to camera default: {self.height}.")
-            return
-
-        if self.prerotated_width != actual_width:
-            logger.warning(
-                f"Requested capture width {self.prerotated_width} for {self}, but camera reported {actual_width}."
-            )
+        if self.capture_width != actual_width:
            raise RuntimeError(
-                f"Failed to set requested capture width {self.prerotated_width} for {self}. Actual value: {actual_width}."
+                f"Failed to set requested capture width {self.capture_width} for {self}. Actual value: {actual_width}."
            )
        logger.debug(f"Capture width set to {actual_width} for {self}.")

-        if self.prerotated_height != actual_height:
-            logger.warning(
-                f"Requested capture height {self.prerotated_height} for {self}, but camera reported {actual_height}."
-            )
+        if self.capture_height != actual_height:
            raise RuntimeError(
-                f"Failed to set requested capture height {self.prerotated_height} for {self}. Actual value: {actual_height}."
+                f"Failed to set requested capture height {self.capture_height} for {self}. Actual value: {actual_height}."
            )
        logger.debug(f"Capture height set to {actual_height} for {self}.")

-    def read_depth(self, timeout_ms: int = 5000) -> np.ndarray:
+    def read_depth(self, timeout_ms: int = 100) -> np.ndarray:
        """
        Reads a single frame (depth) synchronously from the camera.

@@ -407,7 +365,7 @@ class RealSenseCamera(Camera):
        from the camera hardware via the RealSense pipeline.

        Args:
-            timeout_ms (int): Maximum time in milliseconds to wait for a frame. Defaults to 5000ms.
+            timeout_ms (int): Maximum time in milliseconds to wait for a frame. Defaults to 100ms.

        Returns:
            np.ndarray: The depth map as a NumPy array (height, width)
@@ -420,35 +378,29 @@ class RealSenseCamera(Camera):

        if not self.is_connected:
            raise DeviceNotConnectedError(f"{self} is not connected.")
-
        if not self.use_depth:
            raise RuntimeError(
-                f"Failed to capture depth frame from {self}. '.read_depth()'. Depth stream is not enabled."
+                f"Failed to capture depth frame '.read_depth()'. Depth stream is not enabled for {self}."
            )

        start_time = time.perf_counter()

-        ret, frame = self.rs_pipeline.try_wait_for_frames(
-            timeout_ms=timeout_ms
-        )  # NOTE(Steven): This read has a timeout
+        ret, frame = self.rs_pipeline.try_wait_for_frames(timeout_ms=timeout_ms)

        if not ret or frame is None:
-            raise RuntimeError(
-                f"Failed to capture frame from {self}. '.read_depth()' returned status={ret} and frame is None."
-            )
+            raise RuntimeError(f"{self} failed to capture frame. Returned status='{ret}'.")

        depth_frame = frame.get_depth_frame()
        depth_map = np.asanyarray(depth_frame.get_data())

-        depth_map_processed = self._postprocess_image(depth_map)
+        depth_map_processed = self._postprocess_image(depth_map, depth_frame=True)

        read_duration_ms = (time.perf_counter() - start_time) * 1e3
        logger.debug(f"{self} synchronous read took: {read_duration_ms:.1f}ms")

-        self.logs["timestamp_utc"] = capture_timestamp_utc()
        return depth_map_processed

-    def read(self, color_mode: ColorMode | None = None, timeout_ms: int = 5000) -> np.ndarray:
+    def read(self, color_mode: ColorMode | None = None, timeout_ms: int = 100) -> np.ndarray:
        """
        Reads a single frame (color) synchronously from the camera.

@@ -456,7 +408,7 @@ class RealSenseCamera(Camera):
        from the camera hardware via the RealSense pipeline.

        Args:
-            timeout_ms (int): Maximum time in milliseconds to wait for a frame. Defaults to 5000ms.
+            timeout_ms (int): Maximum time in milliseconds to wait for a frame. Defaults to 100ms.

        Returns:
            np.ndarray: The captured color frame as a NumPy array
@@ -490,10 +442,11 @@ class RealSenseCamera(Camera):
        read_duration_ms = (time.perf_counter() - start_time) * 1e3
        logger.debug(f"{self} synchronous read took: {read_duration_ms:.1f}ms")

-        self.logs["timestamp_utc"] = capture_timestamp_utc()
        return color_image_processed

-    def _postprocess_image(self, image: np.ndarray, color_mode: ColorMode | None = None) -> np.ndarray:
+    def _postprocess_image(
+        self, image: np.ndarray, color_mode: ColorMode | None = None, depth_frame: bool = False
+    ) -> np.ndarray:
        """
        Applies color conversion, dimension validation, and rotation to a raw color frame.

@@ -516,15 +469,14 @@ class RealSenseCamera(Camera):
                f"Invalid requested color mode '{color_mode}'. Expected {ColorMode.RGB} or {ColorMode.BGR}."
            )

-        h, w, c = image.shape
+        if depth_frame:
+            h, w = image.shape
+        else:
+            h, w, _c = image.shape

-        if h != self.prerotated_height or w != self.prerotated_width:
+        if h != self.capture_height or w != self.capture_width:
            raise RuntimeError(
-                f"Captured frame dimensions ({h}x{w}) do not match configured capture dimensions ({self.prerotated_height}x{self.prerotated_width}) for {self}."
-            )
-        if c != self.channels:
-            logger.warning(
-                f"Captured frame channels ({c}) do not match configured channels ({self.channels}) for {self}."
+                f"Captured frame dimensions ({h}x{w}) do not match configured capture dimensions ({self.capture_height}x{self.capture_width}) for {self}."
            )

        processed_image = image
@@ -564,7 +516,7 @@ class RealSenseCamera(Camera):

        logger.debug(f"Stopping read loop thread for {self}.")

-    def _ensure_read_thread_running(self):
+    def _start_read_thread(self) -> None:
        """Starts or restarts the background read thread if it's not running."""
        if self.thread is not None and self.thread.is_alive():
            self.thread.join(timeout=0.1)
@@ -572,15 +524,29 @@ class RealSenseCamera(Camera):
            self.stop_event.set()

        self.stop_event = Event()
-        self.thread = Thread(
-            target=self._read_loop, args=(), name=f"RealSenseReadLoop-{self}-{self.serial_number}"
-        )
+        self.thread = Thread(target=self._read_loop, args=(), name=f"{self}_read_loop")
        self.thread.daemon = True
        self.thread.start()
        logger.debug(f"Read thread started for {self}.")

+    def _stop_read_thread(self):
+        """Signals the background read thread to stop and waits for it to join."""
+        if self.stop_event is not None:
+            self.stop_event.set()
+
+        if self.thread is not None and self.thread.is_alive():
+            self.thread.join(timeout=2.0)
+            if self.thread.is_alive():
+                logger.warning(f"Read thread for {self} did not terminate gracefully after 2 seconds.")
+            else:
+                logger.debug(f"Read thread for {self} joined successfully.")
+
+        self.thread = None
+        self.stop_event = None
+        logger.debug(f"Read thread stopped for {self}.")
+
    # NOTE(Steven): Missing implementation for depth for now
-    def async_read(self, timeout_ms: float = 2000) -> np.ndarray:
+    def async_read(self, timeout_ms: float = 100) -> np.ndarray:
        """
        Reads the latest available frame data (color or color+depth) asynchronously.

@@ -591,7 +557,7 @@ class RealSenseCamera(Camera):

        Args:
            timeout_ms (float): Maximum time in milliseconds to wait for a frame
-                to become available in the queue. Defaults to 2000ms (2 seconds).
+                to become available in the queue. Defaults to 100ms (0.1 seconds).

        Returns:
            np.ndarray:
@@ -606,42 +572,18 @@ class RealSenseCamera(Camera):
            raise DeviceNotConnectedError(f"{self} is not connected.")

        if self.thread is None or not self.thread.is_alive():
-            self._ensure_read_thread_running()
+            self._start_read_thread()

        try:
            return self.frame_queue.get(timeout=timeout_ms / 1000.0)
        except queue.Empty as e:
            thread_alive = self.thread is not None and self.thread.is_alive()
-            logger.error(
-                f"Timeout waiting for frame from {self} queue after {timeout_ms}ms. "
-                f"(Read thread alive: {thread_alive})"
-            )
            raise TimeoutError(
-                f"Timed out waiting for frame from camera {self.serial_number} after {timeout_ms} ms. "
+                f"Timed out waiting for frame from camera {self} after {timeout_ms} ms. "
                f"Read thread alive: {thread_alive}."
            ) from e
        except Exception as e:
-            logger.exception(f"Unexpected error getting frame data from queue for {self}: {e}")
-            raise RuntimeError(
-                f"Error getting frame data from queue for camera {self.serial_number}: {e}"
-            ) from e
-
-    def _shutdown_read_thread(self):
-        """Signals the background read thread to stop and waits for it to join."""
-        if self.stop_event is not None:
-            logger.debug(f"Signaling stop event for read thread of {self}.")
-            self.stop_event.set()
-
-        if self.thread is not None and self.thread.is_alive():
-            logger.debug(f"Waiting for read thread of {self} to join...")
-            self.thread.join(timeout=2.0)
-            if self.thread.is_alive():
-                logger.warning(f"Read thread for {self} did not terminate gracefully after 2 seconds.")
-            else:
-                logger.debug(f"Read thread for {self} joined successfully.")
-
-        self.thread = None
-        self.stop_event = None
+            raise RuntimeError(f"Error getting frame data from queue for camera {self}: {e}") from e

    def disconnect(self):
        """
@@ -658,10 +600,8 @@ class RealSenseCamera(Camera):
                f"Attempted to disconnect {self}, but it appears already disconnected."
            )

-        logger.debug(f"Disconnecting from camera {self.serial_number}...")
-
        if self.thread is not None:
-            self._shutdown_read_thread()
+            self._stop_read_thread()

        if self.rs_pipeline is not None:
            logger.debug(f"Stopping RealSense pipeline object for {self}.")
@@ -669,4 +609,4 @@ class RealSenseCamera(Camera):
            self.rs_pipeline = None
            self.rs_profile = None

-        logger.info(f"Camera {self.serial_number} disconnected successfully.")
+        logger.info(f"{self} disconnected.")
--- a/lerobot/common/cameras/realsense/configuration_realsense.py
+++ b/lerobot/common/cameras/realsense/configuration_realsense.py
@@ -40,25 +40,20 @@ class RealSenseCameraConfig(CameraConfig):
        fps: Requested frames per second for the color stream.
        width: Requested frame width in pixels for the color stream.
        height: Requested frame height in pixels for the color stream.
-        name: Optional human-readable name to identify the camera.
-        serial_number: Optional unique serial number to identify the camera.
-                      Either name or serial_number must be provided.
+        serial_number_or_name: Unique serial number or human-readable name to identify the camera.
        color_mode: Color mode for image output (RGB or BGR). Defaults to RGB.
-        channels: Number of color channels (currently only 3 is supported).
        use_depth: Whether to enable depth stream. Defaults to False.
        rotation: Image rotation setting (0°, 90°, 180°, or 270°). Defaults to no rotation.

    Note:
-        - Either name or serial_number must be specified, but not both.
+        - Either name or serial_number must be specified.
        - Depth stream configuration (if enabled) will use the same FPS as the color stream.
        - The actual resolution and FPS may be adjusted by the camera to the nearest supported mode.
-        - Only 3-channel color output (RGB/BGR) is currently supported.
+        - For `fps`, `width` and `height`, either all of them need to be set, or none of them.
    """

-    name: str | None = None
-    serial_number: int | None = None
+    serial_number_or_name: int | str
    color_mode: ColorMode = ColorMode.RGB
-    channels: int | None = 3
    use_depth: bool = False
    rotation: Cv2Rotation = Cv2Rotation.NO_ROTATION  # NOTE(Steven): Check if draccus can parse to an enum

@@ -78,10 +73,8 @@ class RealSenseCameraConfig(CameraConfig):
                f"`rotation` is expected to be in {(Cv2Rotation.NO_ROTATION, Cv2Rotation.ROTATE_90, Cv2Rotation.ROTATE_180, Cv2Rotation.ROTATE_270)}, but {self.rotation} is provided."
            )

-        if self.channels != 3:
-            raise NotImplementedError(f"Unsupported number of channels: {self.channels}")
-
-        if bool(self.name) and bool(self.serial_number):
+        values = (self.fps, self.width, self.height)
+        if any(v is not None for v in values) and any(v is None for v in values):
            raise ValueError(
-                f"One of them must be set: name or serial_number, but {self.name=} and {self.serial_number=} provided."
+                "For `fps`, `width` and `height`, either all of them need to be set, or none of them."
            )
--- a/lerobot/common/cameras/utils.py
+++ b/lerobot/common/cameras/utils.py
@@ -37,7 +37,7 @@ def make_cameras_from_configs(camera_configs: dict[str, CameraConfig]) -> dict[s
            cameras[key] = OpenCVCamera(cfg)

        elif cfg.type == "intelrealsense":
-            from .intel.camera_realsense import RealSenseCamera
+            from .realsense.camera_realsense import RealSenseCamera

            cameras[key] = RealSenseCamera(cfg)
        else:
@@ -46,24 +46,26 @@ def make_cameras_from_configs(camera_configs: dict[str, CameraConfig]) -> dict[s
    return cameras


-def get_cv2_rotation(rotation: Cv2Rotation) -> int:
+def get_cv2_rotation(rotation: Cv2Rotation) -> int | None:
    import cv2

-    return {
-        Cv2Rotation.ROTATE_270: cv2.ROTATE_90_COUNTERCLOCKWISE,
-        Cv2Rotation.ROTATE_90: cv2.ROTATE_90_CLOCKWISE,
-        Cv2Rotation.ROTATE_180: cv2.ROTATE_180,
-    }.get(rotation)
+    if rotation == Cv2Rotation.ROTATE_90:
+        return cv2.ROTATE_90_CLOCKWISE
+    elif rotation == Cv2Rotation.ROTATE_180:
+        return cv2.ROTATE_180
+    elif rotation == Cv2Rotation.ROTATE_270:
+        return cv2.ROTATE_90_COUNTERCLOCKWISE
+    else:
+        return None


 def get_cv2_backend() -> int:
    import cv2

-    return {
-        "Linux": cv2.CAP_DSHOW,
-        "Windows": cv2.CAP_AVFOUNDATION,
-        "Darwin": cv2.CAP_ANY,
-    }.get(platform.system(), cv2.CAP_V4L2)
+    if platform.system() == "Windows":
+        return cv2.CAP_AVFOUNDATION
+    else:
+        return cv2.CAP_ANY


 def save_image(img_array: np.ndarray, camera_index: int, frame_index: int, images_dir: Path):
--- a/lerobot/common/envs/configs.py
+++ b/lerobot/common/envs/configs.py
@@ -32,7 +32,8 @@ class EnvConfig(draccus.ChoiceRegistry, abc.ABC):
    def type(self) -> str:
        return self.get_choice_name(self.__class__)

-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
    def gym_kwargs(self) -> dict:
        raise NotImplementedError()

--- a/lerobot/common/motors/motors_bus.py
+++ b/lerobot/common/motors/motors_bus.py
@@ -749,7 +749,10 @@ class MotorsBus(abc.ABC):
                # Move cursor up to overwrite the previous output
                move_cursor_up(len(motors) + 3)

-        # TODO(Steven, aliberts): add check to ensure mins and maxes are different
+        same_min_max = [motor for motor in motors if mins[motor] == maxes[motor]]
+        if same_min_max:
+            raise ValueError(f"Some motors have the same min and max values:\n{pformat(same_min_max)}")
+
        return mins, maxes

    def _normalize(self, data_name: str, ids_values: dict[int, int]) -> dict[int, float]:
--- a/lerobot/common/robots/config.py
+++ b/lerobot/common/robots/config.py
@@ -27,15 +27,13 @@ class RobotConfig(draccus.ChoiceRegistry, abc.ABC):
    calibration_dir: Path | None = None

    def __post_init__(self):
-        if hasattr(self, "cameras"):
-            cameras = self.cameras
-            if cameras:
-                for cam_name, cam_config in cameras.items():
-                    for attr in ["width", "height", "fps"]:
-                        if getattr(cam_config, attr) is None:
-                            raise ValueError(
-                                f"Camera config for '{cam_name}' has None value for required attribute '{attr}'"
-                            )
+        if hasattr(self, "cameras") and self.cameras:
+            for _, config in self.cameras.items():
+                for attr in ["width", "height", "fps"]:
+                    if getattr(config, attr) is None:
+                        raise ValueError(
+                            f"Specifying '{attr}' is required for the camera to be used in a robot"
+                        )

    @property
    def type(self) -> str:
--- a/lerobot/common/robots/koch_follower/README.md
+++ b/lerobot/common/robots/koch_follower/README.md
@@ -1,328 +0,0 @@
-# Using the [Koch v1.1](https://github.com/jess-moss/koch-v1-1) with LeRobot
-
-## Table of Contents
-
-  - [A. Order and Assemble the parts](#a-order-and-assemble-the-parts)
-  - [B. Install LeRobot](#b-install-lerobot)
-  - [C. Configure the Motors](#c-configure-the-motors)
-  - [D. Calibrate](#d-calibrate)
-  - [E. Teleoperate](#e-teleoperate)
-  - [F. Record a dataset](#f-record-a-dataset)
-  - [G. Visualize a dataset](#g-visualize-a-dataset)
-  - [H. Replay an episode](#h-replay-an-episode)
-  - [I. Train a policy](#i-train-a-policy)
-  - [J. Evaluate your policy](#j-evaluate-your-policy)
-  - [K. More Information](#k-more-information)
-
-## A. Order and Assemble the parts
-
-Follow the sourcing and assembling instructions provided on the [Koch v1.1 Github page](https://github.com/jess-moss/koch-v1-1). This will guide you through setting up both the follower and leader arms, as shown in the image below.
-
-<div style="text-align:center;">
-  <img src="../media/tutorial/koch_v1_1_leader_follower.webp?raw=true" alt="Koch v1.1 leader and follower arms" title="Koch v1.1 leader and follower arms" width="50%">
-</div>
-
-For a visual walkthrough of the assembly process, you can refer to [this video tutorial](https://youtu.be/8nQIg9BwwTk).
-
-> [!IMPORTANT]
-> Since the production of this video, we simplified the configuration phase (detailed in [section C](#c-configure-the-motors)) of the motors.
-> Because of this, two things differ from the instructions in that video:
-> - Don't plug all the motors cables right away and wait for being instructed to do so in [section C](#c-configure-the-motors).
-> - Don't screw in the controller board (PCB) to the base right away and wait for being instructed to do so in [section C](#c-configure-the-motors).
-
-
-## B. Install LeRobot
-
-> [!TIP]
-> We use the Command Prompt (cmd) quite a lot. If you are not comfortable using the cmd or want to brush up using the command line you can have a look here: [Command line crash course](https://developer.mozilla.org/en-US/docs/Learn_web_development/Getting_started/Environment_setup/Command_line)
-
-Follow instructions on our [README](https://github.com/huggingface/lerobot) to install LeRobot.
-
-In addition to these instructions, you need to install the dynamixel sdk:
-```bash
-pip install -e ".[dynamixel]"
-```
-
-## C. Configure the motors
-
-### 1. Find the USB ports associated to each arm
-
-For each controller board (Waveshare Serial Bus Servo Driver Board, one for the leader arm and one for the follower), connect it first to your computer through usb. To then find the internal port its connected to -which we will need later on- run the utility script:
-```bash
-python -m lerobot.find_port
-```
-
-> [!NOTE]
-> Note: On Linux, you might need to give access to the USB ports by running:
-> ```bash
-> sudo chmod 666 /dev/ttyACM0
-> sudo chmod 666 /dev/ttyACM1
-> ```
-
-This will first display all currently available ports on your computer. As prompted by the script, unplug the controller board usb cable from your computer. The script will then detect which port has been disconnected and will display it.
-
-
-Example output when identifying the leader arm's port (e.g., `/dev/tty.usbmodem575E0031751` on Mac, or possibly `/dev/ttyACM0` on Linux):
-```
-Finding all available ports for the MotorBus.
-['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751']
-Remove the usb cable from your MotorsBus and press Enter when done.
-
-[...Disconnect leader arm and press Enter...]
-
-The port of this MotorsBus is /dev/tty.usbmodem575E0031751
-Reconnect the usb cable.
-```
-
-You can now reconnect the usb cable to your computer.
-
-### 2. Set the motors ids and baudrate
-
-Each motor is identified by a unique id on the bus. When brand new, motors usually come with a default id of `1`. For the communication to work properly between the motors and the controller, we first need to set a unique, different id to each motor. Additionally, the speed at which data is transmitted on the bus is determined by the baudrate. In order to talk to each other, the controller and all the motors need to be configured with the same baudrate.
-
-To that end, we first need to connect to each motor individually with the controller in order to set these. Since we will write these parameters in the non-volatile section of the motors' internal memory (EEPROM), we'll only need to do this once.
-
-> [!NOTE]
-> Note: If you are repurposing motors from another robot, you will probably also need to perform this step as the ids and baudrate likely won't match.
-
-Connect the usb cable from your computer and the 5V power supply to the leader arm's controller board. Then, run the following command with the port you got from the previous step. You'll also need to give your leader arm a name with the `id` parameter.
-
-```bash
-python -m lerobot.setup_motors \
-    --device.type=so100_leader \
-    --device.port=/dev/tty.usbmodem575E0031751  # <- paste here the port found at previous step
-```
-
-Note that the command above is equivalent to running the following script:
-<details>
-<summary>Setup script</summary>
-
-  ```python
-  from lerobot.common.teleoperators.koch import KochLeader, KochLeaderConfig
-
-  config = KochLeaderConfig(
-      port="/dev/tty.usbmodem575E0031751",
-  )
-  leader = KochLeader(config)
-  leader.setup_motors()
-  ```
-</details>
-
-
-You should see the following instruction
-```
-Connect the controller board to the 'gripper' motor only and press enter.
-```
-
-As instructed, plug the gripper's motor. Make sure it's the only motor connected to the board, and that the motor itself is not yet daisy chained to any other motor. As you press `[Enter]`, the script will automatically set the id and baudrate for that motor.
-
-
-<details>
-<summary>Troubleshooting</summary>
-
-  If you get an error at that point, check your cables and make sure they are plugged-in properly:
-  - Power supply
-  - USB cable between from your computer to the controller board
-  - The 3-pin cable from the controller board to the motor.
-
-  If you are using a Waveshare controller board, make sure that the two jumpers are set on the `B` channel (USB).
-</details>
-
-You should then see the following message:
-```
-'gripper' motor id set to 6
-```
-
-Followed by the next instruction:
-```
-Connect the controller board to the 'wrist_roll' motor only and press enter.
-```
-
-You can disconnect the 3-pin cable from the controller board but you can leave it connected to the gripper motor on the other end as it will already be in the right place. Now, plug-in another 3-pin cable to the wrist roll motor and connect it to the controller board. As with the previous motor, make sure it is the only motor connected to the board and that the motor itself isn't connected to any other one.
-
-Repeat the operation for each motor as instructed.
-
-> [!TIP]
-> Check your cabling at each step before pressing Enter. For instance, the power supply cable is not solidly anchored to the board and might disconnect easily as you manipulate the board.
-
-When you are done, the script will simply finish, at which point the motors are ready to be used. You can now plug the 3-pin cable from each motor to the next one, and the cable from the first motor (the 'shoulder pan' with id=1) to the controller board, which can now be attached to the base of the arm.
-
-## D. Calibrate
-
-Next, you'll need to calibrate your SO-100 robot to ensure that the leader and follower arms have the same position values when they are in the same physical position. This calibration is essential because it allows a neural network trained on one SO-100 robot to work on another.
-
-#### a. Manual calibration of follower arm
-
-> [!IMPORTANT]
-> Contrarily to step 6 of the [assembly video](https://youtu.be/FioA2oeFZ5I?t=724) which illustrates the auto calibration, we will actually do manual calibration of follower for now.
-
-You will need to move the follower arm to these positions sequentially:
-
-| 1. Zero position                                                                                                                                             | 2. Rotated position                                                                                                                                                   | 3. Rest position                                                                                                                                             |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| <img src="../media/so100/follower_zero.webp?raw=true" alt="SO-100 follower arm zero position" title="SO-100 follower arm zero position" style="width:100%;"> | <img src="../media/so100/follower_rotated.webp?raw=true" alt="SO-100 follower arm rotated position" title="SO-100 follower arm rotated position" style="width:100%;"> | <img src="../media/so100/follower_rest.webp?raw=true" alt="SO-100 follower arm rest position" title="SO-100 follower arm rest position" style="width:100%;"> |
-
-Make sure both arms are connected and run this script to launch manual calibration:
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=so100 \
-  --robot.cameras='{}' \
-  --control.type=calibrate \
-  --control.arms='["main_follower"]'
-```
-
-#### b. Manual calibration of leader arm
-Follow step 6 of the [assembly video](https://youtu.be/FioA2oeFZ5I?t=724) which illustrates the manual calibration. You will need to move the leader arm to these positions sequentially:
-
-| 1. Zero position                                                                                                                                       | 2. Rotated position                                                                                                                                             | 3. Rest position                                                                                                                                       |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| <img src="../media/so100/leader_zero.webp?raw=true" alt="SO-100 leader arm zero position" title="SO-100 leader arm zero position" style="width:100%;"> | <img src="../media/so100/leader_rotated.webp?raw=true" alt="SO-100 leader arm rotated position" title="SO-100 leader arm rotated position" style="width:100%;"> | <img src="../media/so100/leader_rest.webp?raw=true" alt="SO-100 leader arm rest position" title="SO-100 leader arm rest position" style="width:100%;"> |
-
-Run this script to launch manual calibration:
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=so100 \
-  --robot.cameras='{}' \
-  --control.type=calibrate \
-  --control.arms='["main_leader"]'
-```
-
-## E. Teleoperate
-
-**Simple teleop**
-Then you are ready to teleoperate your robot! Run this simple script (it won't connect and display the cameras):
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=so100 \
-  --robot.cameras='{}' \
-  --control.type=teleoperate
-```
-
-
-#### a. Teleop with displaying cameras
-Follow [this guide to setup your cameras](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#c-add-your-cameras-with-opencvcamera). Then you will be able to display the cameras on your computer while you are teleoperating by running the following code. This is useful to prepare your setup before recording your first dataset.
-
-> **NOTE:** To visualize the data, enable `--control.display_data=true`. This streams the data using `rerun`.
-
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=so100 \
-  --control.type=teleoperate
-```
-
-## F. Record a dataset
-
-Once you're familiar with teleoperation, you can record your first dataset with SO-100.
-
-If you want to use the Hugging Face hub features for uploading your dataset and you haven't previously done it, make sure you've logged in using a write-access token, which can be generated from the [Hugging Face settings](https://huggingface.co/settings/tokens):
-```bash
-huggingface-cli login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential
-```
-
-Store your Hugging Face repository name in a variable to run these commands:
-```bash
-HF_USER=$(huggingface-cli whoami | head -n 1)
-echo $HF_USER
-```
-
-Record 2 episodes and upload your dataset to the hub:
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=so100 \
-  --control.type=record \
-  --control.fps=30 \
-  --control.single_task="Grasp a lego block and put it in the bin." \
-  --control.repo_id=${HF_USER}/so100_test \
-  --control.tags='["so100","tutorial"]' \
-  --control.warmup_time_s=5 \
-  --control.episode_time_s=30 \
-  --control.reset_time_s=30 \
-  --control.num_episodes=2 \
-  --control.push_to_hub=true
-```
-
-Note: You can resume recording by adding `--control.resume=true`.
-
-## G. Visualize a dataset
-
-If you uploaded your dataset to the hub with `--control.push_to_hub=true`, you can [visualize your dataset online](https://huggingface.co/spaces/lerobot/visualize_dataset) by copy pasting your repo id given by:
-```bash
-echo ${HF_USER}/so100_test
-```
-
-If you didn't upload with `--control.push_to_hub=false`, you can also visualize it locally with (a window can be opened in the browser `http://127.0.0.1:9090` with the visualization tool):
-```bash
-python lerobot/scripts/visualize_dataset_html.py \
-  --repo-id ${HF_USER}/so100_test \
-  --local-files-only 1
-```
-
-## H. Replay an episode
-
-Now try to replay the first episode on your robot:
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=so100 \
-  --control.type=replay \
-  --control.fps=30 \
-  --control.repo_id=${HF_USER}/so100_test \
-  --control.episode=0
-```
-
-## I. Train a policy
-
-To train a policy to control your robot, use the [`python lerobot/scripts/train.py`](../lerobot/scripts/train.py) script. A few arguments are required. Here is an example command:
-```bash
-python lerobot/scripts/train.py \
-  --dataset.repo_id=${HF_USER}/so100_test \
-  --policy.type=act \
-  --output_dir=outputs/train/act_so100_test \
-  --job_name=act_so100_test \
-  --policy.device=cuda \
-  --wandb.enable=true
-```
-
-Let's explain it:
-1. We provided the dataset as argument with `--dataset.repo_id=${HF_USER}/so100_test`.
-2. We provided the policy with `policy.type=act`. This loads configurations from [`configuration_act.py`](../lerobot/common/policies/act/configuration_act.py). Importantly, this policy will automatically adapt to the number of motor sates, motor actions and cameras of your robot (e.g. `laptop` and `phone`) which have been saved in your dataset.
-4. We provided `policy.device=cuda` since we are training on a Nvidia GPU, but you could use `policy.device=mps` to train on Apple silicon.
-5. We provided `wandb.enable=true` to use [Weights and Biases](https://docs.wandb.ai/quickstart) for visualizing training plots. This is optional but if you use it, make sure you are logged in by running `wandb login`.
-
-Training should take several hours. You will find checkpoints in `outputs/train/act_so100_test/checkpoints`.
-
-To resume training from a checkpoint, below is an example command to resume from `last` checkpoint of the `act_so100_test` policy:
-```bash
-python lerobot/scripts/train.py \
-  --config_path=outputs/train/act_so100_test/checkpoints/last/pretrained_model/train_config.json \
-  --resume=true
-```
-
-## J. Evaluate your policy
-
-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:
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=so100 \
-  --control.type=record \
-  --control.fps=30 \
-  --control.single_task="Grasp a lego block and put it in the bin." \
-  --control.repo_id=${HF_USER}/eval_act_so100_test \
-  --control.tags='["tutorial"]' \
-  --control.warmup_time_s=5 \
-  --control.episode_time_s=30 \
-  --control.reset_time_s=30 \
-  --control.num_episodes=10 \
-  --control.push_to_hub=true \
-  --control.policy.path=outputs/train/act_so100_test/checkpoints/last/pretrained_model
-```
-
-As you can see, it's almost the same command as previously used to record your training dataset. Two things changed:
-1. There is an additional `--control.policy.path` argument which indicates the path to your policy checkpoint with (e.g. `outputs/train/eval_act_so100_test/checkpoints/last/pretrained_model`). You can also use the model repository if you uploaded a model checkpoint to the hub (e.g. `${HF_USER}/act_so100_test`).
-2. The name of dataset begins by `eval` to reflect that you are running inference (e.g. `${HF_USER}/eval_act_so100_test`).
-
-## K. More Information
-
-Follow this [previous tutorial](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#4-train-a-policy-on-your-data) for a more in-depth tutorial on controlling real robots with LeRobot.
-
-> [!TIP]
->  If you have any questions or need help, please reach out on [Discord](https://discord.com/invite/s3KuuzsPFb) in the channel [`#so100-arm`](https://discord.com/channels/1216765309076115607/1237741463832363039).
--- a/lerobot/common/robots/koch_follower/koch.md
+++ b/lerobot/common/robots/koch_follower/koch.md
@@ -0,0 +1,250 @@
+# Koch v1.1
+
+In the steps below, we explain how to assemble the Koch v1.1 robot.
+
+## Order and assemble the parts
+
+Follow the sourcing and assembling instructions provided in this [README](https://github.com/jess-moss/koch-v1-1). This will guide you through setting up both the follower and leader arms, as shown in the image below.
+
+For a visual walkthrough of the assembly process, you can refer to [this video tutorial](https://youtu.be/8nQIg9BwwTk).
+
+> [!WARNING]
+> Since the production of this video, we simplified the configuration phase. Because of this, two things differ from the instructions in that video:
+> - Don't plug in all the motor cables right away and wait to be instructed to do so in [Configure the motors](#configure-the-motors).
+> - Don't screw in the controller board (PCB) to the base right away and wait for being instructed to do so in [Configure the motors](#configure-the-motors).
+
+
+## Install LeRobot 🤗
+
+To install LeRobot follow, our [Installation Guide](./installation)
+
+In addition to these instructions, you need to install the Dynamixel SDK:
+```bash
+pip install -e ".[dynamixel]"
+```
+
+## Configure the motors
+
+### 1. Find the USB ports associated with each arm
+
+To find the port for each bus servo adapter, run this script:
+```bash
+python lerobot/find_port.py
+```
+
+<hfoptions id="example">
+<hfoption id="Mac">
+
+Example output:
+
+```
+Finding all available ports for the MotorBus.
+['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751']
+Remove the USB cable from your MotorsBus and press Enter when done.
+
+[...Disconnect corresponding leader or follower arm and press Enter...]
+
+The port of this MotorsBus is /dev/tty.usbmodem575E0032081
+Reconnect the USB cable.
+```
+
+Where the found port is: `/dev/tty.usbmodem575E0032081` corresponding to your leader or follower arm.
+
+</hfoption>
+<hfoption id="Linux">
+
+On Linux, you might need to give access to the USB ports by running:
+```bash
+sudo chmod 666 /dev/ttyACM0
+sudo chmod 666 /dev/ttyACM1
+```
+
+Example output:
+
+```
+Finding all available ports for the MotorBus.
+['/dev/ttyACM0', '/dev/ttyACM1']
+Remove the usb cable from your MotorsBus and press Enter when done.
+
+[...Disconnect corresponding leader or follower arm and press Enter...]
+
+The port of this MotorsBus is /dev/ttyACM1
+Reconnect the USB cable.
+```
+
+Where the found port is: `/dev/ttyACM1` corresponding to your leader or follower arm.
+
+</hfoption>
+</hfoptions>
+
+### 2. Set the motors ids and baudrates
+
+Each motor is identified by a unique id on the bus. When brand new, motors usually come with a default id of `1`. For the communication to work properly between the motors and the controller, we first need to set a unique, different id to each motor. Additionally, the speed at which data is transmitted on the bus is determined by the baudrate. In order to talk to each other, the controller and all the motors need to be configured with the same baudrate.
+
+To that end, we first need to connect to each motor individually with the controller in order to set these. Since we will write these parameters in the non-volatile section of the motors' internal memory (EEPROM), we'll only need to do this once.
+
+If you are repurposing motors from another robot, you will probably also need to perform this step, as the ids and baudrate likely won't match.
+
+#### Follower
+
+Connect the usb cable from your computer and the 5V power supply to the follower arm's controller board. Then, run the following command or run the API example with the port you got from the previous step. You'll also need to give your leader arm a name with the `id` parameter.
+
+For a visual reference on how to set the motor ids please refer to [this video](http://localhost:5173/so101#setup-motors-video) where we follow the process for the SO101 arm.
+
+<hfoptions id="setup_motors">
+<hfoption id="Command">
+```bash
+python -m lerobot.setup_motors \
+    --robot.type=koch_follower \
+    --robot.port=/dev/tty.usbmodem575E0031751 # <- paste here the port found at previous step
+```
+</hfoption>
+<hfoption id="API example">
+```python
+from lerobot.common.robots.koch_follower import KochFollower, KochFollowerConfig
+
+config = KochFollowerConfig(
+    port="/dev/tty.usbmodem575E0031751",
+    id="my_awesome_follower_arm",
+)
+follower = KochFollower(config)
+follower.setup_motors()
+```
+</hfoption>
+</hfoptions>
+
+You should see the following instruction.
+```
+Connect the controller board to the 'gripper' motor only and press enter.
+```
+
+As instructed, plug the gripper's motor. Make sure it's the only motor connected to the board, and that the motor itself is not yet daisy-chained to any other motor. As you press `[Enter]`, the script will automatically set the id and baudrate for that motor.
+
+<details>
+<summary>Troubleshooting</summary>
+
+  If you get an error at that point, check your cables and make sure they are plugged in properly:
+  <ul>
+    <li>Power supply</li>
+    <li>USB cable between your computer and the controller board</li>
+    <li>The 3-pin cable from the controller board to the motor</li>
+  </ul>
+
+  If you are using a Waveshare controller board, make sure that the two jumpers are set on the `B` channel (USB).
+</details>
+
+You should then see the following message:
+```
+'gripper' motor id set to 6
+```
+
+Followed by the next instruction:
+```
+Connect the controller board to the 'wrist_roll' motor only and press enter.
+```
+
+You can disconnect the 3-pin cable from the controller board but you can leave it connected to the gripper motor on the other end as it will already be in the right place. Now, plug in another 3-pin cable to the wrist roll motor and connect it to the controller board. As with the previous motor, make sure it is the only motor connected to the board and that the motor itself isn't connected to any other one.
+
+Repeat the operation for each motor as instructed.
+
+> [!TIP]
+> Check your cabling at each step before pressing Enter. For instance, the power supply cable might disconnect as you manipulate the board.
+
+When you are done, the script will simply finish, at which point the motors are ready to be used. You can now plug the 3-pin cable from each motor to the next one, and the cable from the first motor (the 'shoulder pan' with id=1) to the controller board, which can now be attached to the base of the arm.
+
+#### Leader
+Do the same steps for the leader arm but modify the command or script accordingly.
+
+<hfoptions id="setup_motors">
+<hfoption id="Command">
+```bash
+python -m lerobot.setup_motors \
+    --teleop.type=koch_leader \
+    --teleop.port=/dev/tty.usbmodem575E0031751 \  # <- paste here the port found at previous step
+```
+</hfoption>
+<hfoption id="API example">
+```python
+from lerobot.common.teleoperators.koch_leader import KochLeader, KochLeaderConfig
+
+config = KochLeaderConfig(
+    port="/dev/tty.usbmodem575E0031751",
+    id="my_awesome_leader_arm",
+)
+leader = KochLeader(config)
+leader.setup_motors()
+```
+</hfoption>
+</hfoptions>
+
+## Calibrate
+
+Next, you'll need to calibrate your robot to ensure that the leader and follower arms have the same position values when they are in the same physical position.
+The calibration process is very important because it allows a neural network trained on one robot to work on another.
+
+#### Follower
+
+Run the following command or API example to calibrate the follower arm:
+
+<hfoptions id="calibrate_follower">
+<hfoption id="Command">
+```bash
+python -m lerobot.calibrate \
+    --robot.type=koch_follower \
+    --robot.port=/dev/tty.usbmodem58760431551 \ # <- The port of your robot
+    --robot.id=my_awesome_follower_arm  # <- Give the robot a unique name
+```
+</hfoption>
+<hfoption id="API example">
+```python
+from lerobot.common.robots.koch_follower import KochFollowerConfig, KochFollower
+
+config = KochFollowerConfig(
+    port="/dev/tty.usbmodem585A0076891",
+    id="my_awesome_follower_arm",
+)
+
+follower = KochFollower(config)
+follower.connect(calibrate=False)
+follower.calibrate()
+follower.disconnect()
+```
+</hfoption>
+</hfoptions>
+
+We unified the calibration method for most robots. Thus, the calibration steps for this Koch arm are the same as the steps for the SO100 and SO101. First, we have to move the robot to the position where each joint is in the middle of its range, then we press `Enter`. Secondly, we move all joints through their full range of motion. A video of this same process for the SO101 as reference can be found [here](http://localhost:5173/so101#calibration-video)
+
+#### Leader
+
+Do the same steps to calibrate the leader arm, run the following command or API example:
+
+<hfoptions id="calibrate_leader">
+<hfoption id="Command">
+```bash
+python -m lerobot.calibrate \
+    --teleop.type=koch_leader \
+    --teleop.port=/dev/tty.usbmodem58760431551 \ # <- The port of your robot
+    --teleop.id=my_awesome_leader_arm  # <- Give the robot a unique name
+```
+</hfoption>
+<hfoption id="API example">
+```python
+from lerobot.common.teleoperators.koch_leader import KochLeaderConfig, KochLeader
+
+config = KochLeaderConfig(
+    port="/dev/tty.usbmodem575E0031751",
+    id="my_awesome_leader_arm",
+)
+
+leader = KochLeader(config)
+leader.connect(calibrate=False)
+leader.calibrate()
+leader.disconnect()
+```
+</hfoption>
+</hfoptions>
+
+Congrats 🎉, your robot is all set to learn a task on its own. Start training it by following this tutorial: [Getting started with real-world robots](./getting_started_real_world_robot)
+
+> [!TIP]
+>  If you have any questions or need help, please reach out on [Discord](https://discord.com/invite/s3KuuzsPFb).
--- a/lerobot/common/robots/lekiwi/README.md
+++ b/lerobot/common/robots/lekiwi/README.md
@@ -1,597 +0,0 @@
-# Using the [LeKiwi](https://github.com/SIGRobotics-UIUC/LeKiwi) Robot with LeRobot
-
-## Table of Contents
-
-  - [A. Source the parts](#a-source-the-parts)
-  - [B. Install software Pi](#b-install-software-on-pi)
-  - [C. Setup LeRobot laptop/pc](#c-install-lerobot-on-laptop)
-  - [D. Assemble the arms](#d-assembly)
-  - [E. Calibrate](#e-calibration)
-  - [F. Teleoperate](#f-teleoperate)
-  - [G. Record a dataset](#g-record-a-dataset)
-  - [H. Visualize a dataset](#h-visualize-a-dataset)
-  - [I. Replay an episode](#i-replay-an-episode)
-  - [J. Train a policy](#j-train-a-policy)
-  - [K. Evaluate your policy](#k-evaluate-your-policy)
-
-> [!TIP]
->  If you have any questions or need help, please reach out on [Discord](https://discord.com/invite/s3KuuzsPFb) in the channel [`#mobile-so-100-arm`](https://discord.com/channels/1216765309076115607/1318390825528332371).
-
-## A. Source the parts
-
-Follow this [README](https://github.com/SIGRobotics-UIUC/LeKiwi). It contains the bill of materials, with a link to source the parts, as well as the instructions to 3D print the parts, and advice if it's your first time printing or if you don't own a 3D printer.
-
-Before assembling, you will first need to configure your motors. To this end, we provide a nice script, so let's first install LeRobot. After configuration, we will also guide you through assembly.
-
-### Wired version
-If you have the **wired** LeKiwi version you can skip the installation of the Raspberry Pi and setting up SSH. You can also run all commands directly on your PC for both the LeKiwi scripts and the leader arm scripts for teleoperating.
-
-## B. Install software on Pi
-Now we have to setup the remote PC that will run on the LeKiwi Robot. This is normally a Raspberry Pi, but can be any PC that can run on 5V and has enough usb ports (2 or more) for the cameras and motor control board.
-
-### Install OS
-For setting up the Raspberry Pi and its SD-card see: [Setup PI](https://www.raspberrypi.com/documentation/computers/getting-started.html). Here is explained how to download the [Imager](https://www.raspberrypi.com/software/) to install Raspberry Pi OS or Ubuntu.
-
-### Setup SSH
-After setting up your Pi, you should enable and setup [SSH](https://www.raspberrypi.com/news/coding-on-raspberry-pi-remotely-with-visual-studio-code/) (Secure Shell Protocol) so you can login into the Pi from your laptop without requiring a screen, keyboard and mouse in the Pi. A great tutorial on how to do this can be found [here](https://www.raspberrypi.com/documentation/computers/remote-access.html#ssh). Logging into your Pi can be done in your Command Prompt (cmd) or if you use VSCode you can use [this](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-ssh) extension.
-
-### Install LeRobot
-
-On your Raspberry Pi:
-
-#### 1. [Install Miniconda](https://docs.anaconda.com/miniconda/install/#quick-command-line-install):
-
-#### 2. Restart shell
-Copy paste in your shell: `source ~/.bashrc` or for Mac: `source ~/.bash_profile` or `source ~/.zshrc` if you're using zshell
-
-#### 3. Create and activate a fresh conda environment for lerobot
-
-<details>
-<summary><strong>Video install instructions</strong></summary>
-
-<video src="https://github.com/user-attachments/assets/17172d3b-3b64-4b80-9cf1-b2b7c5cbd236"></video>
-
-</details>
-
-```bash
-conda create -y -n lerobot python=3.10
-```
-
-Then activate your conda environment (do this each time you open a shell to use lerobot!):
-```bash
-conda activate lerobot
-```
-
-#### 4. Clone LeRobot:
-```bash
-git clone https://github.com/huggingface/lerobot.git ~/lerobot
-```
-
-#### 5. Install ffmpeg in your environment:
-When using `miniconda`, install `ffmpeg` in your environment:
-```bash
-conda install ffmpeg -c conda-forge
-```
-
-#### 6. Install LeRobot with dependencies for the feetech motors:
-```bash
-cd ~/lerobot && pip install -e ".[feetech]"
-```
-
-## C. Install LeRobot on laptop
-If you already have install LeRobot on your laptop you can skip this step, otherwise please follow along as we do the same steps we did on the Pi.
-
-> [!TIP]
-> We use the Command Prompt (cmd) quite a lot. If you are not comfortable using the cmd or want to brush up using the command line you can have a look here: [Command line crash course](https://developer.mozilla.org/en-US/docs/Learn_web_development/Getting_started/Environment_setup/Command_line)
-
-On your computer:
-
-#### 1. [Install Miniconda](https://docs.anaconda.com/miniconda/install/#quick-command-line-install):
-
-#### 2. Restart shell
-Copy paste in your shell: `source ~/.bashrc` or for Mac: `source ~/.bash_profile` or `source ~/.zshrc` if you're using zshell
-
-#### 3. Create and activate a fresh conda environment for lerobot
-
-<details>
-<summary><strong>Video install instructions</strong></summary>
-
-<video src="https://github.com/user-attachments/assets/17172d3b-3b64-4b80-9cf1-b2b7c5cbd236"></video>
-
-</details>
-
-```bash
-conda create -y -n lerobot python=3.10
-```
-
-Then activate your conda environment (do this each time you open a shell to use lerobot!):
-```bash
-conda activate lerobot
-```
-
-#### 4. Clone LeRobot:
-```bash
-git clone https://github.com/huggingface/lerobot.git ~/lerobot
-```
-
-#### 5. Install ffmpeg in your environment:
-When using `miniconda`, install `ffmpeg` in your environment:
-```bash
-conda install ffmpeg -c conda-forge
-```
-
-#### 6. Install LeRobot with dependencies for the feetech motors:
-```bash
-cd ~/lerobot && pip install -e ".[feetech]"
-```
-
-Great :hugs:! You are now done installing LeRobot and we can begin assembling the SO100 arms and Mobile base :robot:.
-Every time you now want to use LeRobot you can go to the `~/lerobot` folder where we installed LeRobot and run one of the commands.
-
-# D. Assembly
-
-First we will assemble the two SO100 arms. One to attach to the mobile base and one for teleoperation. Then we will assemble the mobile base.
-
-## SO100 Arms
-### Configure motors
-The instructions for configuring the motors can be found [Here](https://github.com/huggingface/lerobot/blob/main/examples/10_use_so100.md#c-configure-the-motors) in step C of the SO100 tutorial. Besides the ID's for the arm motors we also need to set the motor ID's for the mobile base. These need to be in a specific order to work. Below an image of the motor ID's and motor mounting positions for the mobile base. Note that we only use one Motor Control board on LeKiwi. This means the motor ID's for the wheels are 7, 8 and 9.
-
-<img src="../media/lekiwi/motor_ids.webp?raw=true" alt="Motor ID's for mobile robot" title="Motor ID's for mobile robot" width="60%">
-
-### Assemble arms
-[Assemble arms instruction](https://github.com/huggingface/lerobot/blob/main/examples/10_use_so100.md#d-assemble-the-arms)
-
-## Mobile base (LeKiwi)
-[Assemble LeKiwi](https://github.com/SIGRobotics-UIUC/LeKiwi)
-
-### Update config
-Both config files on the LeKiwi LeRobot and on the laptop should be the same. First we should find the Ip address of the Raspberry Pi of the mobile manipulator. This is the same Ip address used in SSH. We also need the usb port of the control board of the leader arm on the laptop and the port of the control board on LeKiwi. We can find these ports with the following script.
-
-#### a. Run the script to find port
-
-<details>
-<summary><strong>Video finding port</strong></summary>
-  <video src="https://github.com/user-attachments/assets/4a21a14d-2046-4805-93c4-ee97a30ba33f"></video>
-  <video src="https://github.com/user-attachments/assets/1cc3aecf-c16d-4ff9-aec7-8c175afbbce2"></video>
-</details>
-
-To find the port for each bus servo adapter, run the utility script:
-```bash
-python lerobot/scripts/find_motors_bus_port.py
-```
-
-#### b. Example outputs
-
-Example output when identifying the leader arm's port (e.g., `/dev/tty.usbmodem575E0031751` on Mac, or possibly `/dev/ttyACM0` on Linux):
-```
-Finding all available ports for the MotorBus.
-['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751']
-Remove the usb cable from your DynamixelMotorsBus and press Enter when done.
-
-[...Disconnect leader arm and press Enter...]
-
-The port of this DynamixelMotorsBus is /dev/tty.usbmodem575E0031751
-Reconnect the usb cable.
-```
-Example output when identifying the follower arm's port (e.g., `/dev/tty.usbmodem575E0032081`, or possibly `/dev/ttyACM1` on Linux):
-```
-Finding all available ports for the MotorBus.
-['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751']
-Remove the usb cable from your DynamixelMotorsBus and press Enter when done.
-
-[...Disconnect follower arm and press Enter...]
-
-The port of this DynamixelMotorsBus is /dev/tty.usbmodem575E0032081
-Reconnect the usb cable.
-```
-
-#### c. Troubleshooting
-On Linux, you might need to give access to the USB ports by running:
-```bash
-sudo chmod 666 /dev/ttyACM0
-sudo chmod 666 /dev/ttyACM1
-```
-
-#### d. Update config file
-
-IMPORTANTLY: Now that you have your ports of leader and follower arm and ip address of the mobile-so100, update the **ip** in Network configuration, **port** in leader_arms and **port** in lekiwi. In the [`LeKiwiConfig`](../lerobot/common/robot_devices/robots/configs.py) file. Where you will find something like:
-```python
-@RobotConfig.register_subclass("lekiwi")
-@dataclass
-class LeKiwiConfig(RobotConfig):
-    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
-    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
-    # the number of motors in your follower arms.
-    max_relative_target: int | None = None
-
-    # Network Configuration
-    ip: str = "172.17.133.91"
-    port: int = 5555
-    video_port: int = 5556
-
-    cameras: dict[str, CameraConfig] = field(
-        default_factory=lambda: {
-            "mobile": OpenCVCameraConfig(camera_index="/dev/video0", fps=30, width=640, height=480),
-            "mobile2": OpenCVCameraConfig(camera_index="/dev/video2", fps=30, width=640, height=480),
-        }
-    )
-
-    calibration_dir: str = ".cache/calibration/lekiwi"
-
-    leader_arms: dict[str, MotorsBusConfig] = field(
-        default_factory=lambda: {
-            "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem585A0077581",
-                motors={
-                    # name: (index, model)
-                    "shoulder_pan": [1, "sts3215"],
-                    "shoulder_lift": [2, "sts3215"],
-                    "elbow_flex": [3, "sts3215"],
-                    "wrist_flex": [4, "sts3215"],
-                    "wrist_roll": [5, "sts3215"],
-                    "gripper": [6, "sts3215"],
-                },
-            ),
-        }
-    )
-
-    follower_arms: dict[str, MotorsBusConfig] = field(
-        default_factory=lambda: {
-            "main": FeetechMotorsBusConfig(
-                port="/dev/ttyACM0",
-                motors={
-                    # name: (index, model)
-                    "shoulder_pan": [1, "sts3215"],
-                    "shoulder_lift": [2, "sts3215"],
-                    "elbow_flex": [3, "sts3215"],
-                    "wrist_flex": [4, "sts3215"],
-                    "wrist_roll": [5, "sts3215"],
-                    "gripper": [6, "sts3215"],
-                    "left_wheel": (7, "sts3215"),
-                    "back_wheel": (8, "sts3215"),
-                    "right_wheel": (9, "sts3215"),
-                },
-            ),
-        }
-    )
-
-    teleop_keys: dict[str, str] = field(
-        default_factory=lambda: {
-            # Movement
-            "forward": "w",
-            "backward": "s",
-            "left": "a",
-            "right": "d",
-            "rotate_left": "z",
-            "rotate_right": "x",
-            # Speed control
-            "speed_up": "r",
-            "speed_down": "f",
-            # quit teleop
-            "quit": "q",
-        }
-    )
-
-    mock: bool = False
-```
-
-## Wired version
-
-For the wired LeKiwi version your configured IP address should refer to your own laptop (127.0.0.1), because leader arm and LeKiwi are in this case connected to own laptop. Below and example configuration for this wired setup:
-```python
-@RobotConfig.register_subclass("lekiwi")
-@dataclass
-class LeKiwiConfig(RobotConfig):
-    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
-    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
-    # the number of motors in your follower arms.
-    max_relative_target: int | None = None
-
-    # Network Configuration
-    ip: str = "127.0.0.1"
-    port: int = 5555
-    video_port: int = 5556
-
-    cameras: dict[str, CameraConfig] = field(
-        default_factory=lambda: {
-            "front": OpenCVCameraConfig(
-                camera_index=0, fps=30, width=640, height=480, rotation=90
-            ),
-            "wrist": OpenCVCameraConfig(
-                camera_index=1, fps=30, width=640, height=480, rotation=180
-            ),
-        }
-    )
-
-    calibration_dir: str = ".cache/calibration/lekiwi"
-
-    leader_arms: dict[str, MotorsBusConfig] = field(
-        default_factory=lambda: {
-            "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem585A0077581",
-                motors={
-                    # name: (index, model)
-                    "shoulder_pan": [1, "sts3215"],
-                    "shoulder_lift": [2, "sts3215"],
-                    "elbow_flex": [3, "sts3215"],
-                    "wrist_flex": [4, "sts3215"],
-                    "wrist_roll": [5, "sts3215"],
-                    "gripper": [6, "sts3215"],
-                },
-            ),
-        }
-    )
-
-    follower_arms: dict[str, MotorsBusConfig] = field(
-        default_factory=lambda: {
-            "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem58760431061",
-                motors={
-                    # name: (index, model)
-                    "shoulder_pan": [1, "sts3215"],
-                    "shoulder_lift": [2, "sts3215"],
-                    "elbow_flex": [3, "sts3215"],
-                    "wrist_flex": [4, "sts3215"],
-                    "wrist_roll": [5, "sts3215"],
-                    "gripper": [6, "sts3215"],
-                    "left_wheel": (7, "sts3215"),
-                    "back_wheel": (8, "sts3215"),
-                    "right_wheel": (9, "sts3215"),
-                },
-            ),
-        }
-    )
-
-    teleop_keys: dict[str, str] = field(
-        default_factory=lambda: {
-            # Movement
-            "forward": "w",
-            "backward": "s",
-            "left": "a",
-            "right": "d",
-            "rotate_left": "z",
-            "rotate_right": "x",
-            # Speed control
-            "speed_up": "r",
-            "speed_down": "f",
-            # quit teleop
-            "quit": "q",
-        }
-    )
-
-    mock: bool = False
-```
-
-# E. Calibration
-Now we have to calibrate the leader arm and the follower arm. The wheel motors don't have to be calibrated.
-
-
-### Calibrate follower arm (on mobile base)
-> [!IMPORTANT]
-> Contrarily to step 6 of the [assembly video](https://youtu.be/FioA2oeFZ5I?t=724) which illustrates the auto calibration, we will actually do manual calibration of follower for now.
-
-You will need to move the follower arm to these positions sequentially:
-
-| 1. Zero position                                                                                                                                                  | 2. Rotated position                                                                                                                                                        | 3. Rest position                                                                                                                                                  |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <img src="../media/lekiwi/mobile_calib_zero.webp?raw=true" alt="SO-100 follower arm zero position" title="SO-100 follower arm zero position" style="width:100%;"> | <img src="../media/lekiwi/mobile_calib_rotated.webp?raw=true" alt="SO-100 follower arm rotated position" title="SO-100 follower arm rotated position" style="width:100%;"> | <img src="../media/lekiwi/mobile_calib_rest.webp?raw=true" alt="SO-100 follower arm rest position" title="SO-100 follower arm rest position" style="width:100%;"> |
-
-Make sure the arm is connected to the Raspberry Pi and run this script (on the Raspberry Pi) to launch manual calibration:
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=lekiwi \
-  --robot.cameras='{}' \
-  --control.type=calibrate \
-  --control.arms='["main_follower"]'
-```
-
-### Wired version
-If you have the **wired** LeKiwi version please run all commands including this calibration command on your laptop.
-
-### Calibrate leader arm
-Then to calibrate the leader arm (which is attached to the laptop/pc). You will need to move the leader arm to these positions sequentially:
-
-| 1. Zero position                                                                                                                                       | 2. Rotated position                                                                                                                                             | 3. Rest position                                                                                                                                       |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| <img src="../media/so100/leader_zero.webp?raw=true" alt="SO-100 leader arm zero position" title="SO-100 leader arm zero position" style="width:100%;"> | <img src="../media/so100/leader_rotated.webp?raw=true" alt="SO-100 leader arm rotated position" title="SO-100 leader arm rotated position" style="width:100%;"> | <img src="../media/so100/leader_rest.webp?raw=true" alt="SO-100 leader arm rest position" title="SO-100 leader arm rest position" style="width:100%;"> |
-
-Run this script (on your laptop/pc) to launch manual calibration:
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=lekiwi \
-  --robot.cameras='{}' \
-  --control.type=calibrate \
-  --control.arms='["main_leader"]'
-```
-
-# F. Teleoperate
-
-> [!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.
-
-To teleoperate SSH into your Raspberry Pi, and run `conda activate lerobot` and this script:
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=lekiwi \
-  --control.type=remote_robot
-```
-
-Then on your laptop, also run `conda activate lerobot` and this script:
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=lekiwi \
-  --control.type=teleoperate \
-  --control.fps=30
-```
-
-> **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.
-
-## Troubleshoot communication
-
-If you are having trouble connecting to the Mobile SO100, follow these steps to diagnose and resolve the issue.
-
-### 1. Verify IP Address Configuration
-Make sure that the correct ip for the Pi is set in the configuration file. To check the Raspberry Pi's IP address, run (on the Pi command line):
-```bash
-hostname -I
-```
-
-### 2. Check if Pi is reachable from laptop/pc
-Try pinging the Raspberry Pi from your laptop:
-```bach
-ping <your_pi_ip_address>
-```
-
-If the ping fails:
- Ensure the Pi is powered on and connected to the same network.
- Check if SSH is enabled on the Pi.
-
-### 3. Try SSH connection
-If you can't SSH into the Pi, it might not be properly connected. Use:
-```bash
-ssh <your_pi_user_name>@<your_pi_ip_address>
-```
-If you get a connection error:
- Ensure SSH is enabled on the Pi by running:
-  ```bash
-  sudo raspi-config
-  ```
-  Then navigate to: **Interfacing Options -> SSH** and enable it.
-
-### 4. Same config file
-Make sure the configuration file on both your laptop/pc and the Raspberry Pi is the same.
-
-# G. Record a dataset
-Once you're familiar with teleoperation, you can record your first dataset with LeKiwi.
-
-To start the program on LeKiwi, SSH into your Raspberry Pi, and run `conda activate lerobot` and this script:
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=lekiwi \
-  --control.type=remote_robot
-```
-
-If you want to use the Hugging Face hub features for uploading your dataset and you haven't previously done it, make sure you've logged in using a write-access token, which can be generated from the [Hugging Face settings](https://huggingface.co/settings/tokens):
-```bash
-huggingface-cli login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential
-```
-
-Store your Hugging Face repository name in a variable to run these commands:
-```bash
-HF_USER=$(huggingface-cli whoami | head -n 1)
-echo $HF_USER
-```
-On your laptop then run this command to record 2 episodes and upload your dataset to the hub:
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=lekiwi \
-  --control.type=record \
-  --control.fps=30 \
-  --control.single_task="Grasp a lego block and put it in the bin." \
-  --control.repo_id=${HF_USER}/lekiwi_test \
-  --control.tags='["tutorial"]' \
-  --control.warmup_time_s=5 \
-  --control.episode_time_s=30 \
-  --control.reset_time_s=30 \
-  --control.num_episodes=2 \
-  --control.push_to_hub=true
-```
-
-Note: You can resume recording by adding `--control.resume=true`.
-
-### Wired version
-If you have the **wired** LeKiwi version please run all commands including both these record dataset commands on your laptop.
-
-# H. Visualize a dataset
-
-If you uploaded your dataset to the hub with `--control.push_to_hub=true`, you can [visualize your dataset online](https://huggingface.co/spaces/lerobot/visualize_dataset) by copy pasting your repo id given by:
-```bash
-echo ${HF_USER}/lekiwi_test
-```
-
-If you didn't upload with `--control.push_to_hub=false`, you can also visualize it locally with (a window can be opened in the browser `http://127.0.0.1:9090` with the visualization tool):
-```bash
-python lerobot/scripts/visualize_dataset_html.py \
-  --repo-id ${HF_USER}/lekiwi_test \
-  --local-files-only 1
-```
-
-# I. Replay an episode
-Now try to replay the first episode on your robot:
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=lekiwi \
-  --control.type=replay \
-  --control.fps=30 \
-  --control.repo_id=${HF_USER}/lekiwi_test \
-  --control.episode=0
-```
-
-## J. Train a policy
-
-To train a policy to control your robot, use the [`python lerobot/scripts/train.py`](../lerobot/scripts/train.py) script. A few arguments are required. Here is an example command:
-```bash
-python lerobot/scripts/train.py \
-  --dataset.repo_id=${HF_USER}/lekiwi_test \
-  --policy.type=act \
-  --output_dir=outputs/train/act_lekiwi_test \
-  --job_name=act_lekiwi_test \
-  --policy.device=cuda \
-  --wandb.enable=true
-```
-
-Let's explain it:
-1. We provided the dataset as argument with `--dataset.repo_id=${HF_USER}/lekiwi_test`.
-2. We provided the policy with `policy.type=act`. This loads configurations from [`configuration_act.py`](../lerobot/common/policies/act/configuration_act.py). Importantly, this policy will automatically adapt to the number of motor states, motor actions and cameras of your robot (e.g. `laptop` and `phone`) which have been saved in your dataset.
-4. We provided `policy.device=cuda` since we are training on a Nvidia GPU, but you could use `policy.device=mps` to train on Apple silicon.
-5. We provided `wandb.enable=true` to use [Weights and Biases](https://docs.wandb.ai/quickstart) for visualizing training plots. This is optional but if you use it, make sure you are logged in by running `wandb login`.
-
-Training should take several hours. You will find checkpoints in `outputs/train/act_lekiwi_test/checkpoints`.
-
-## K. Evaluate your policy
-
-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:
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=lekiwi \
-  --control.type=record \
-  --control.fps=30 \
-  --control.single_task="Drive to the red block and pick it up" \
-  --control.repo_id=${HF_USER}/eval_act_lekiwi_test \
-  --control.tags='["tutorial"]' \
-  --control.warmup_time_s=5 \
-  --control.episode_time_s=30 \
-  --control.reset_time_s=30 \
-  --control.num_episodes=10 \
-  --control.push_to_hub=true \
-  --control.policy.path=outputs/train/act_lekiwi_test/checkpoints/last/pretrained_model
-```
-
-As you can see, it's almost the same command as previously used to record your training dataset. Two things changed:
-1. There is an additional `--control.policy.path` argument which indicates the path to your policy checkpoint with  (e.g. `outputs/train/eval_act_lekiwi_test/checkpoints/last/pretrained_model`). You can also use the model repository if you uploaded a model checkpoint to the hub (e.g. `${HF_USER}/act_lekiwi_test`).
-2. The name of dataset begins by `eval` to reflect that you are running inference (e.g. `${HF_USER}/eval_act_lekiwi_test`).
--- 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_90
            ),
        }
    )
--- a/lerobot/common/robots/lekiwi/lekiwi.md
+++ b/lerobot/common/robots/lekiwi/lekiwi.md
@@ -0,0 +1,153 @@
+# LeKiwi
+
+In the steps below, we explain how to assemble the LeKiwi mobile robot.
+
+## Source the parts
+
+Follow this [README](https://github.com/SIGRobotics-UIUC/LeKiwi). It contains the bill of materials, with a link to source the parts, as well as the instructions to 3D print the parts.
+And advise if it's your first time printing or if you don't own a 3D printer.
+
+### Wired version
+If you have the **wired** LeKiwi version, you can skip the installation of the Raspberry Pi and setting up SSH. You can also run all commands directly on your PC for both the LeKiwi scripts and the leader arm scripts for teleoperating.
+
+## Install software on Pi
+Now we have to set up the remote PC that will run on the LeKiwi Robot. This is normally a Raspberry Pi, but can be any PC that can run on 5V and has enough usb ports (2 or more) for the cameras and motor control board.
+
+### Install OS
+For setting up the Raspberry Pi and its SD-card see: [Setup PI](https://www.raspberrypi.com/documentation/computers/getting-started.html). Here is explained how to download the [Imager](https://www.raspberrypi.com/software/) to install Raspberry Pi OS or Ubuntu.
+
+### Setup SSH
+After setting up your Pi, you should enable and set up [SSH](https://www.raspberrypi.com/news/coding-on-raspberry-pi-remotely-with-visual-studio-code/) (Secure Shell Protocol) so you can log in to the Pi from your laptop without requiring a screen, keyboard, and mouse on the Pi. A great tutorial on how to do this can be found [here](https://www.raspberrypi.com/documentation/computers/remote-access.html#ssh). Logging into your Pi can be done in your Command Prompt (cmd) or, if you use VSCode you can use [this](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-ssh) extension.
+
+### Install LeRobot on Pi 🤗
+
+On your Raspberry Pi install LeRobot using our [Installation Guide](./installation)
+
+In addition to these instructions, you need to install the Feetech sdk on your Pi:
+```bash
+pip install -e ".[feetech]"
+```
+
+## Install LeRobot locally
+If you already have installed LeRobot on your laptop/pc you can skip this step; otherwise, please follow along as we do the same steps we did on the Pi.
+
+Follow our [Installation Guide](./installation)
+
+Great :hugs:! You are now done installing LeRobot, and we can begin assembling the SO100/SO101 arms and the mobile base :robot:.
+Every time you now want to use LeRobot, you can go to the `~/lerobot` folder where we installed LeRobot and run one of the commands.
+
+# Step-by-Step Assembly Instructions
+
+First, we will assemble the two SO100/SO101 arms. One to attach to the mobile base and one for teleoperation. Then we will assemble the mobile base. The instructions for assembling can be found on these two pages:
+
+- [Assemble SO101](./so101#step-by-step-assembly-instructions)
+- [Assemble LeKiwi](https://github.com/SIGRobotics-UIUC/LeKiwi/blob/main/Assembly.md)
+
+### Configure motors
+The instructions for configuring the motors can be found in the SO101 [docs](./so101#configure-the-motors). Besides the ids for the arm motors, we also need to set the motor ids for the mobile base. These need to be in a specific order to work. Below an image of the motor ids and motor mounting positions for the mobile base. Note that we only use one Motor Control board on LeKiwi. This means the motor ids for the wheels are 7, 8 and 9.
+
+<img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/motor_ids.webp" alt="Motor ID's for mobile robot" title="Motor ID's for mobile robot" width="60%">
+
+### Troubleshoot communication
+
+If you are having trouble connecting to the Mobile SO100, follow these steps to diagnose and resolve the issue.
+
+#### 1. Verify IP Address Configuration
+Make sure that the correct IP for the Pi is used in the commands or in your code. To check the Raspberry Pi's IP address, run (on the Pi command line):
+```bash
+hostname -I
+```
+
+#### 2. Check if Pi is reachable from laptop/pc
+Try pinging the Raspberry Pi from your laptop:
+```bach
+ping <your_pi_ip_address>
+```
+
+If the ping fails:
+- Ensure the Pi is powered on and connected to the same network.
+- Check if SSH is enabled on the Pi.
+
+#### 3. Try SSH connection
+If you can't SSH into the Pi, it might not be properly connected. Use:
+```bash
+ssh <your_pi_user_name>@<your_pi_ip_address>
+```
+If you get a connection error:
+- Ensure SSH is enabled on the Pi by running:
+  ```bash
+  sudo raspi-config
+  ```
+  Then navigate to: **Interfacing Options -> SSH** and enable it.
+
+### Calibration
+
+Now we have to calibrate the leader arm and the follower arm. The wheel motors don't have to be calibrated.
+The calibration process is very important because it allows a neural network trained on one robot to work on another.
+
+### Calibrate follower arm (on mobile base)
+
+Make sure the arm is connected to the Raspberry Pi and run this script or API example (on the Raspberry Pi via SSH) to launch calibration of the follower arm:
+<hfoptions id="calibrate_follower">
+<hfoption id="Command">
+```bash
+python -m lerobot.calibrate \
+    --robot.type=lekiwi \
+    --robot.port=/dev/ttyACM0 \ # <- The port of your robot
+    --robot.id=my_awesome_kiwi # <- Give the robot a unique name
+```
+</hfoption>
+<hfoption id="API example">
+```python
+from lerobot.common.robots.lekiwi import LeKiwiClient, LeKiwiClientConfig
+
+config = LeKiwiClientConfig(
+    remote_ip="192.168.0.23",
+    id="my_awesome_kiwi",
+)
+
+lekiwi = LeKiwiClient(config)
+lekiwi.connect(calibrate=False)
+lekiwi.calibrate()
+lekiwi.disconnect()
+```
+</hfoption>
+</hfoptions>
+
+We unified the calibration method for most robots, thus, the calibration steps for this SO100 arm are the same as the steps for the Koch and SO101. First, we have to move the robot to the position where each joint is in the middle of its range, then we press `Enter`. Secondly, we move all joints through their full range of motion. A video of this same process for the SO101 as reference can be found [here](http://localhost:5173/so101#calibration-video)
+
+### Wired version
+If you have the **wired** LeKiwi version, please run all commands on your laptop.
+
+### Calibrate leader arm
+Then, to calibrate the leader arm (which is attached to the laptop/pc). Run the following command of API example on your laptop:
+<hfoptions id="calibrate_leader">
+<hfoption id="Command">
+```bash
+python -m lerobot.calibrate \
+    --teleop.type=so100_leader \
+    --teleop.port=/dev/tty.usbmodem58760431551 \ # <- The port of your robot
+    --teleop.id=my_awesome_leader_arm # <- Give the robot a unique name
+```
+</hfoption>
+<hfoption id="API example">
+```python
+from lerobot.common.teleoperators.so100_leader import SO100LeaderConfig, SO100Leader
+
+config = SO100LeaderConfig(
+    port="/dev/tty.usbmodem58760431551",
+    id="my_awesome_leader_arm",
+)
+
+leader = SO100Leader(config)
+leader.connect(calibrate=False)
+leader.calibrate()
+leader.disconnect()
+```
+</hfoption>
+</hfoptions>
+
+Congrats 🎉, your robot is all set to learn a task on its own. Start training it by following this tutorial: [Getting started with real-world robots](./getting_started_real_world_robot)
+
+> [!TIP]
+>  If you have any questions or need help, please reach out on [Discord](https://discord.com/invite/s3KuuzsPFb).
--- a/lerobot/common/robots/lekiwi/lekiwi.py
+++ b/lerobot/common/robots/lekiwi/lekiwi.py
@@ -16,6 +16,7 @@

 import logging
 import time
+from itertools import chain
 from typing import Any

 from lerobot.common.cameras.utils import make_cameras_from_configs
@@ -183,6 +184,12 @@ class LeKiwi(Robot):

        self.bus.enable_torque()

+    def setup_motors(self) -> None:
+        for motor in chain(reversed(self.arm_motors), reversed(self.base_motors)):
+            input(f"Connect the controller board to the '{motor}' motor only and press enter.")
+            self.bus.setup_motor(motor)
+            print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
+
    def get_observation(self) -> dict[str, Any]:
        if not self.is_connected:
            raise DeviceNotConnectedError(f"{self} is not connected.")
--- a/lerobot/common/robots/robot.py
+++ b/lerobot/common/robots/robot.py
@@ -49,15 +49,18 @@ class Robot(abc.ABC):
        return f"{self.id} {self.__class__.__name__}"

    # TODO(aliberts): create a proper Feature class for this that links with datasets
-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
    def observation_features(self) -> dict:
        pass

-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
    def action_features(self) -> dict:
        pass

-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
    def is_connected(self) -> bool:
        pass

@@ -66,7 +69,8 @@ class Robot(abc.ABC):
        """Connects to the robot."""
        pass

-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
    def is_calibrated(self) -> bool:
        pass

--- a/lerobot/common/robots/so100_follower/README.md
+++ b/lerobot/common/robots/so100_follower/README.md
@@ -1,624 +0,0 @@
-# Using the [SO-100](https://github.com/TheRobotStudio/SO-ARM100) with LeRobot
-
-## Table of Contents
-
-  - [A. Source the parts](#a-source-the-parts)
-  - [B. Install LeRobot](#b-install-lerobot)
-  - [C. Configure the Motors](#c-configure-the-motors)
-  - [D. Step-by-Step Assembly Instructions](#d-step-by-step-assembly-instructions)
-  - [E. Calibrate](#e-calibrate)
-  - [F. Teleoperate](#f-teleoperate)
-  - [G. Record a dataset](#g-record-a-dataset)
-  - [H. Visualize a dataset](#h-visualize-a-dataset)
-  - [I. Replay an episode](#i-replay-an-episode)
-  - [J. Train a policy](#j-train-a-policy)
-  - [K. Evaluate your policy](#k-evaluate-your-policy)
-  - [L. More Information](#l-more-information)
-
-## A. Source the parts
-
-Follow this [README](https://github.com/TheRobotStudio/SO-ARM100). It contains the bill of materials, with a link to source the parts, as well as the instructions to 3D print the parts,
-and advice if it's your first time printing or if you don't own a 3D printer.
-
-Before assembling, you will first need to configure your motors. To this end, we provide a nice script, so let's first install LeRobot. After configuration, we will also guide you through assembly.
-
-## B. Install LeRobot
-
-> [!TIP]
-> We use the Command Prompt (cmd) quite a lot. If you are not comfortable using the cmd or want to brush up using the command line you can have a look here: [Command line crash course](https://developer.mozilla.org/en-US/docs/Learn_web_development/Getting_started/Environment_setup/Command_line)
-
-On your computer:
-
-#### 1. [Install Miniconda](https://docs.anaconda.com/miniconda/install/#quick-command-line-install):
-
-#### 2. Restart shell
-Copy paste in your shell: `source ~/.bashrc` or for Mac: `source ~/.bash_profile` or `source ~/.zshrc` if you're using zshell
-
-#### 3. Create and activate a fresh conda environment for lerobot
-
-<details>
-<summary><strong>Video install instructions</strong></summary>
-
-<video src="https://github.com/user-attachments/assets/17172d3b-3b64-4b80-9cf1-b2b7c5cbd236"></video>
-
-</details>
-
-```bash
-conda create -y -n lerobot python=3.10
-```
-
-Then activate your conda environment (do this each time you open a shell to use lerobot!):
-```bash
-conda activate lerobot
-```
-
-#### 4. Clone LeRobot:
-```bash
-git clone https://github.com/huggingface/lerobot.git ~/lerobot
-```
-
-#### 5. Install ffmpeg in your environment:
-When using `miniconda`, install `ffmpeg` in your environment:
-```bash
-conda install ffmpeg -c conda-forge
-```
-
-#### 6. Install LeRobot with dependencies for the feetech motors:
-```bash
-cd ~/lerobot && pip install -e ".[feetech]"
-```
-
-Great :hugs:! You are now done installing LeRobot and we can begin assembling the SO100 arms :robot:.
-Every time you now want to use LeRobot you can go to the `~/lerobot` folder where we installed LeRobot and run one of the commands.
-
-## C. Configure the motors
-
-> [!NOTE]
-> Throughout this tutorial you will find videos on how to do the steps, the full video tutorial can be found here: [assembly video](https://www.youtube.com/watch?v=FioA2oeFZ5I).
-
-### 1. Find the USB ports associated to each arm
-
-Designate one bus servo adapter and 6 motors for your leader arm, and similarly the other bus servo adapter and 6 motors for the follower arm. It's convenient to label them and write on each motor if it's for the follower `F` or for the leader `L` and it's ID from 1 to 6 (F1...F6 and L1...L6).
-
-#### a. Run the script to find port
-
-<details>
-<summary><strong>Video finding port</strong></summary>
-  <video src="https://github.com/user-attachments/assets/4a21a14d-2046-4805-93c4-ee97a30ba33f"></video>
-  <video src="https://github.com/user-attachments/assets/1cc3aecf-c16d-4ff9-aec7-8c175afbbce2"></video>
-</details>
-
-To find the port for each bus servo adapter, run the utility script:
-```bash
-python lerobot/scripts/find_motors_bus_port.py
-```
-
-#### b. Example outputs
-
-Example output when identifying the leader arm's port (e.g., `/dev/tty.usbmodem575E0031751` on Mac, or possibly `/dev/ttyACM0` on Linux):
-```
-Finding all available ports for the MotorBus.
-['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751']
-Remove the usb cable from your MotorsBus and press Enter when done.
-
-[...Disconnect leader arm and press Enter...]
-
-The port of this MotorsBus is /dev/tty.usbmodem575E0031751
-Reconnect the usb cable.
-```
-Example output when identifying the follower arm's port (e.g., `/dev/tty.usbmodem575E0032081`, or possibly `/dev/ttyACM1` on Linux):
-```
-Finding all available ports for the MotorBus.
-['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751']
-Remove the usb cable from your MotorsBus and press Enter when done.
-
-[...Disconnect follower arm and press Enter...]
-
-The port of this MotorsBus is /dev/tty.usbmodem575E0032081
-Reconnect the usb cable.
-```
-
-#### c. Troubleshooting
-On Linux, you might need to give access to the USB ports by running:
-```bash
-sudo chmod 666 /dev/ttyACM0
-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:
-```diff
-@RobotConfig.register_subclass("so100")
-@dataclass
-class So100RobotConfig(ManipulatorRobotConfig):
-    calibration_dir: str = ".cache/calibration/so100"
-    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
-    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
-    # the number of motors in your follower arms.
-    max_relative_target: int | None = None
-
-    leader_arms: dict[str, MotorsBusConfig] = field(
-        default_factory=lambda: {
-            "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem58760431091",
-+                port="{ADD YOUR LEADER PORT}",
-                motors={
-                    # name: (index, model)
-                    "shoulder_pan": [1, "sts3215"],
-                    "shoulder_lift": [2, "sts3215"],
-                    "elbow_flex": [3, "sts3215"],
-                    "wrist_flex": [4, "sts3215"],
-                    "wrist_roll": [5, "sts3215"],
-                    "gripper": [6, "sts3215"],
-                },
-            ),
-        }
-    )
-
-    follower_arms: dict[str, MotorsBusConfig] = field(
-        default_factory=lambda: {
-            "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem585A0076891",
-+                port="{ADD YOUR FOLLOWER PORT}",
-                motors={
-                    # name: (index, model)
-                    "shoulder_pan": [1, "sts3215"],
-                    "shoulder_lift": [2, "sts3215"],
-                    "elbow_flex": [3, "sts3215"],
-                    "wrist_flex": [4, "sts3215"],
-                    "wrist_roll": [5, "sts3215"],
-                    "gripper": [6, "sts3215"],
-                },
-            ),
-        }
-    )
-```
-
-### 2. Assembling the Base
-Let's begin with assembling the follower arm base
-
-#### a. Set IDs for all 12 motors
-
-<details>
-<summary><strong>Video configuring motor</strong></summary>
-  <video src="https://github.com/user-attachments/assets/ef9b3317-2e11-4858-b9d3-f0a02fb48ecf"></video>
-  <video src="https://github.com/user-attachments/assets/f36b5ed5-c803-4ebe-8947-b39278776a0d"></video>
-</details>
-
-Plug your first motor F1 and run this script to set its ID to 1. It will also set its present position to 2048, so expect your motor to rotate. Replace the text after --port to the corresponding follower control board port and run this command in cmd:
-```bash
-python lerobot/scripts/configure_motor.py \
-  --port /dev/tty.usbmodem58760432961 \
-  --brand feetech \
-  --model sts3215 \
-  --baudrate 1000000 \
-  --id 1
-```
-
-> [!NOTE]
-> These motors are currently limited. They can take values between 0 and 4096 only, which corresponds to a full turn. They can't turn more than that. 2048 is at the middle of this range, so we can take -2048 steps (180 degrees anticlockwise) and reach the maximum range, or take +2048 steps (180 degrees clockwise) and reach the maximum range. The configuration step also sets the homing offset to 0, so that if you misassembled the arm, you can always update the homing offset to account for a shift up to ± 2048 steps (± 180 degrees).
-
-Then unplug your motor and plug the second motor and set its ID to 2.
-```bash
-python lerobot/scripts/configure_motor.py \
-  --port /dev/tty.usbmodem58760432961 \
-  --brand feetech \
-  --model sts3215 \
-  --baudrate 1000000 \
-  --id 2
-```
-
-Redo the process for all your motors until ID 6. Do the same for the 6 motors of the leader arm.
-
-
-#### b. Remove the gears of the 6 leader motors
-
-<details>
-<summary><strong>Video removing gears</strong></summary>
-
-<video src="https://github.com/user-attachments/assets/0c95b88c-5b85-413d-ba19-aee2f864f2a7"></video>
-
-</details>
-
-
-Follow the video for removing gears. You need to remove the gear for the motors of the leader arm. As a result, you will only use the position encoding of the motor and reduce friction to more easily operate the leader arm.
-
-## D. Step-by-Step Assembly Instructions
-
-**Step 1: Clean Parts**
- Remove all support material from the 3D-printed parts.
---
-
-### Additional Guidance
-
-<details>
-<summary><strong>Video assembling arms</strong></summary>
-
-<video src="https://github.com/user-attachments/assets/488a39de-0189-4461-9de3-05b015f90cca"></video>
-
-</details>
-
-**Note:**
-This video provides visual guidance for assembling the arms, but it doesn't specify when or how to do the wiring. Inserting the cables beforehand is much easier than doing it afterward. The first arm may take a bit more than 1 hour to assemble, but once you get used to it, you can assemble the second arm in under 1 hour.
-
---
-
-### First Motor
-
-**Step 2: Insert Wires**
- Insert two wires into the first motor.
-
-  <img src="../media/tutorial/img1.jpg" style="height:300px;">
-
-**Step 3: Install in Base**
- Place the first motor into the base.
-
-  <img src="../media/tutorial/img2.jpg" style="height:300px;">
-
-**Step 4: Secure Motor**
- Fasten the motor with 4 screws. Two from the bottom and two from top.
-
-**Step 5: Attach Motor Holder**
- Slide over the first motor holder and fasten it using two screws (one on each side).
-
-  <img src="../media/tutorial/img4.jpg" style="height:300px;">
-
-**Step 6: Attach Motor Horns**
- Install both motor horns, securing the top horn with a screw. Try not to move the motor position when attaching the motor horn, especially for the leader arms, where we removed the gears.
-
-  <img src="../media/tutorial/img5.jpg" style="height:300px;">
-<details>
-  <summary><strong>Video adding motor horn</strong></summary>
-  <video src="https://github.com/user-attachments/assets/ef3391a4-ad05-4100-b2bd-1699bf86c969"></video>
-</details>
-
-**Step 7: Attach Shoulder Part**
- Route one wire to the back of the robot and the other to the left or in photo towards you (see photo).
- Attach the shoulder part.
-
-  <img src="../media/tutorial/img6.jpg" style="height:300px;">
-
-**Step 8: Secure Shoulder**
- Tighten the shoulder part with 4 screws on top and 4 on the bottom
-*(access bottom holes by turning the shoulder).*
-
---
-
-### Second Motor Assembly
-
-**Step 9: Install Motor 2**
- Slide the second motor in from the top and link the wire from motor 1 to motor 2.
-
-  <img src="../media/tutorial/img8.jpg" style="height:300px;">
-
-**Step 10: Attach Shoulder Holder**
- Add the shoulder motor holder.
- Ensure the wire from motor 1 to motor 2 goes behind the holder while the other wire is routed upward (see photo).
- This part can be tight to assemble, you can use a workbench like the image or a similar setup to push the part around the motor.
-
-  <div style="display: flex;">
-    <img src="../media/tutorial/img9.jpg" style="height:250px;">
-    <img src="../media/tutorial/img10.jpg" style="height:250px;">
-    <img src="../media/tutorial/img12.jpg" style="height:250px;">
-  </div>
-
-**Step 11: Secure Motor 2**
- Fasten the second motor with 4 screws.
-
-**Step 12: Attach Motor Horn**
- Attach both motor horns to motor 2, again use the horn screw.
-
-**Step 13: Attach Base**
- Install the base attachment using 2 screws.
-
-  <img src="../media/tutorial/img11.jpg" style="height:300px;">
-
-**Step 14: Attach Upper Arm**
- Attach the upper arm with 4 screws on each side.
-
-  <img src="../media/tutorial/img13.jpg" style="height:300px;">
-
---
-
-### Third Motor Assembly
-
-**Step 15: Install Motor 3**
- Route the motor cable from motor 2 through the cable holder to motor 3, then secure motor 3 with 4 screws.
-
-**Step 16: Attach Motor Horn**
- Attach both motor horns to motor 3 and secure one again with a horn screw.
-
-  <img src="../media/tutorial/img14.jpg" style="height:300px;">
-
-**Step 17: Attach Forearm**
- Connect the forearm to motor 3 using 4 screws on each side.
-
-  <img src="../media/tutorial/img15.jpg" style="height:300px;">
-
---
-
-### Fourth Motor Assembly
-
-**Step 18: Install Motor 4**
- Slide in motor 4, attach the cable from motor 3, and secure the cable in its holder with a screw.
-
-  <div style="display: flex;">
-    <img src="../media/tutorial/img16.jpg" style="height:300px;">
-    <img src="../media/tutorial/img19.jpg" style="height:300px;">
-  </div>
-
-**Step 19: Attach Motor Holder 4**
- Install the fourth motor holder (a tight fit). Ensure one wire is routed upward and the wire from motor 3 is routed downward (see photo).
-
-  <img src="../media/tutorial/img17.jpg" style="height:300px;">
-
-**Step 20: Secure Motor 4 & Attach Horn**
- Fasten motor 4 with 4 screws and attach its motor horns, use for one a horn screw.
-
-  <img src="../media/tutorial/img18.jpg" style="height:300px;">
-
---
-
-### Wrist Assembly
-
-**Step 21: Install Motor 5**
- Insert motor 5 into the wrist holder and secure it with 2 front screws.
-
-  <img src="../media/tutorial/img20.jpg" style="height:300px;">
-
-**Step 22: Attach Wrist**
- Connect the wire from motor 4 to motor 5. And already insert the other wire for the gripper.
- Secure the wrist to motor 4 using 4 screws on both sides.
-
-  <img src="../media/tutorial/img22.jpg" style="height:300px;">
-
-**Step 23: Attach Wrist Horn**
- Install only one motor horn on the wrist motor and secure it with a horn screw.
-
-  <img src="../media/tutorial/img23.jpg" style="height:300px;">
-
---
-
-### Follower Configuration
-
-**Step 24: Attach Gripper**
- Attach the gripper to motor 5.
-
-  <img src="../media/tutorial/img24.jpg" style="height:300px;">
-
-**Step 25: Install Gripper Motor**
- Insert the gripper motor, connect the motor wire from motor 5 to motor 6, and secure it with 3 screws on each side.
-
-  <img src="../media/tutorial/img25.jpg" style="height:300px;">
-
-**Step 26: Attach Gripper Horn & Claw**
- Attach the motor horns and again use a horn screw.
- Install the gripper claw and secure it with 4 screws on both sides.
-
-  <img src="../media/tutorial/img26.jpg" style="height:300px;">
-
-**Step 27: Mount Controller**
- Attach the motor controller on the back.
-
-  <div style="display: flex;">
-    <img src="../media/tutorial/img27.jpg" style="height:300px;">
-    <img src="../media/tutorial/img28.jpg" style="height:300px;">
-  </div>
-
-*Assembly complete – proceed to Leader arm assembly.*
-
---
-
-### Leader Configuration
-
-For the leader configuration, perform **Steps 1–23**. Make sure that you removed the motor gears from the motors.
-
-**Step 24: Attach Leader Holder**
- Mount the leader holder onto the wrist and secure it with a screw.
-
-  <img src="../media/tutorial/img29.jpg" style="height:300px;">
-
-**Step 25: Attach Handle**
- Attach the handle to motor 5 using 4 screws.
-
-  <img src="../media/tutorial/img30.jpg" style="height:300px;">
-
-**Step 26: Install Gripper Motor**
- Insert the gripper motor, secure it with 3 screws on each side, attach a motor horn using a horn screw, and connect the motor wire.
-
-  <img src="../media/tutorial/img31.jpg" style="height:300px;">
-
-**Step 27: Attach Trigger**
- Attach the follower trigger with 4 screws.
-
-  <img src="../media/tutorial/img32.jpg" style="height:300px;">
-
-**Step 28: Mount Controller**
- Attach the motor controller on the back.
-
-  <div style="display: flex;">
-    <img src="../media/tutorial/img27.jpg" style="height:300px;">
-    <img src="../media/tutorial/img28.jpg" style="height:300px;">
-  </div>
-
-*Assembly complete – proceed to calibration.*
-
-
-## E. Calibrate
-
-Next, you'll need to calibrate your SO-100 robot to ensure that the leader and follower arms have the same position values when they are in the same physical position.
-The calibration process is very important because it allows a neural network trained on one SO-100 robot to work on another.
-
-#### Manual calibration of follower arm
-
-You will need to move the follower arm to these positions sequentially, note that the rotated position is on the right side of the robot and you have to open the gripper fully.
-
-| 1. Middle position | 2. Zero position                                                                                                                                       | 3. Rotated position                                                                                                                                             | 4. Rest position                                                                                                                                       |
-| ------------ |------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| <img src="../media/so101/follower_middle.webp?raw=true" alt="SO-101 leader arm middle position" title="SO-101 leader arm middle position" style="width:100%;"> | <img src="../media/so101/follower_zero.webp?raw=true" alt="SO-101 leader arm zero position" title="SO-101 leader arm zero position" style="width:100%;"> | <img src="../media/so101/follower_rotated.webp?raw=true" alt="SO-101 leader arm rotated position" title="SO-101 leader arm rotated position" style="width:100%;"> | <img src="../media/so101/follower_rest.webp?raw=true" alt="SO-101 leader arm rest position" title="SO-101 leader arm rest position" style="width:100%;"> |
-
-Make sure both arms are connected and run this script to launch manual calibration:
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=so100 \
-  --robot.cameras='{}' \
-  --control.type=calibrate \
-  --control.arms='["main_follower"]'
-```
-
-#### Manual calibration of leader arm
-You will also need to move the leader arm to these positions sequentially:
-
-| 1. Middle position | 2. Zero position                                                                                                                                       | 3. Rotated position                                                                                                                                             | 4. Rest position                                                                                                                                       |
-| ------------ |------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| <img src="../media/so101/leader_middle.webp?raw=true" alt="SO-100 leader arm middle position" title="SO-100 leader arm middle position" style="width:100%;"> | <img src="../media/so101/leader_zero.webp?raw=true" alt="SO-100 leader arm zero position" title="SO-100 leader arm zero position" style="width:100%;"> | <img src="../media/so101/leader_rotated.webp?raw=true" alt="SO-100 leader arm rotated position" title="SO-100 leader arm rotated position" style="width:100%;"> | <img src="../media/so101/leader_rest.webp?raw=true" alt="SO-100 leader arm rest position" title="SO-100 leader arm rest position" style="width:100%;"> |
-
-Run this script to launch manual calibration:
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=so100 \
-  --robot.cameras='{}' \
-  --control.type=calibrate \
-  --control.arms='["main_leader"]'
-```
-
-## F. Teleoperate
-
-**Simple teleop**
-Then you are ready to teleoperate your robot! Run this simple script (it won't connect and display the cameras):
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=so100 \
-  --robot.cameras='{}' \
-  --control.type=teleoperate
-```
-
-
-#### a. Teleop with displaying cameras
-Follow [this guide to setup your cameras](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#c-add-your-cameras-with-opencvcamera). Then you will be able to display the cameras on your computer while you are teleoperating by running the following code. This is useful to prepare your setup before recording your first dataset.
-
-> **NOTE:** To visualize the data, enable `--control.display_data=true`. This streams the data using `rerun`.
-
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=so100 \
-  --control.type=teleoperate
-```
-
-## G. Record a dataset
-
-Once you're familiar with teleoperation, you can record your first dataset with SO-100.
-
-If you want to use the Hugging Face hub features for uploading your dataset and you haven't previously done it, make sure you've logged in using a write-access token, which can be generated from the [Hugging Face settings](https://huggingface.co/settings/tokens):
-```bash
-huggingface-cli login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential
-```
-
-Store your Hugging Face repository name in a variable to run these commands:
-```bash
-HF_USER=$(huggingface-cli whoami | head -n 1)
-echo $HF_USER
-```
-
-Record 2 episodes and upload your dataset to the hub:
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=so100 \
-  --control.type=record \
-  --control.fps=30 \
-  --control.single_task="Grasp a lego block and put it in the bin." \
-  --control.repo_id=${HF_USER}/so100_test \
-  --control.tags='["so100","tutorial"]' \
-  --control.warmup_time_s=5 \
-  --control.episode_time_s=30 \
-  --control.reset_time_s=30 \
-  --control.num_episodes=2 \
-  --control.push_to_hub=true
-```
-
-Note: You can resume recording by adding `--control.resume=true`.
-
-## H. Visualize a dataset
-
-If you uploaded your dataset to the hub with `--control.push_to_hub=true`, you can [visualize your dataset online](https://huggingface.co/spaces/lerobot/visualize_dataset) by copy pasting your repo id given by:
-```bash
-echo ${HF_USER}/so100_test
-```
-
-If you didn't upload with `--control.push_to_hub=false`, you can also visualize it locally with (a window can be opened in the browser `http://127.0.0.1:9090` with the visualization tool):
-```bash
-python lerobot/scripts/visualize_dataset_html.py \
-  --repo-id ${HF_USER}/so100_test \
-  --local-files-only 1
-```
-
-## I. Replay an episode
-
-Now try to replay the first episode on your robot:
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=so100 \
-  --control.type=replay \
-  --control.fps=30 \
-  --control.repo_id=${HF_USER}/so100_test \
-  --control.episode=0
-```
-
-## J. Train a policy
-
-To train a policy to control your robot, use the [`python lerobot/scripts/train.py`](../lerobot/scripts/train.py) script. A few arguments are required. Here is an example command:
-```bash
-python lerobot/scripts/train.py \
-  --dataset.repo_id=${HF_USER}/so100_test \
-  --policy.type=act \
-  --output_dir=outputs/train/act_so100_test \
-  --job_name=act_so100_test \
-  --policy.device=cuda \
-  --wandb.enable=true
-```
-
-Let's explain it:
-1. We provided the dataset as argument with `--dataset.repo_id=${HF_USER}/so100_test`.
-2. We provided the policy with `policy.type=act`. This loads configurations from [`configuration_act.py`](../lerobot/common/policies/act/configuration_act.py). Importantly, this policy will automatically adapt to the number of motor states, motor actions and cameras of your robot (e.g. `laptop` and `phone`) which have been saved in your dataset.
-4. We provided `policy.device=cuda` since we are training on a Nvidia GPU, but you could use `policy.device=mps` to train on Apple silicon.
-5. We provided `wandb.enable=true` to use [Weights and Biases](https://docs.wandb.ai/quickstart) for visualizing training plots. This is optional but if you use it, make sure you are logged in by running `wandb login`.
-
-Training should take several hours. You will find checkpoints in `outputs/train/act_so100_test/checkpoints`.
-
-To resume training from a checkpoint, below is an example command to resume from `last` checkpoint of the `act_so100_test` policy:
-```bash
-python lerobot/scripts/train.py \
-  --config_path=outputs/train/act_so100_test/checkpoints/last/pretrained_model/train_config.json \
-  --resume=true
-```
-
-## K. Evaluate your policy
-
-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:
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=so100 \
-  --control.type=record \
-  --control.fps=30 \
-  --control.single_task="Grasp a lego block and put it in the bin." \
-  --control.repo_id=${HF_USER}/eval_act_so100_test \
-  --control.tags='["tutorial"]' \
-  --control.warmup_time_s=5 \
-  --control.episode_time_s=30 \
-  --control.reset_time_s=30 \
-  --control.num_episodes=10 \
-  --control.push_to_hub=true \
-  --control.policy.path=outputs/train/act_so100_test/checkpoints/last/pretrained_model
-```
-
-As you can see, it's almost the same command as previously used to record your training dataset. Two things changed:
-1. There is an additional `--control.policy.path` argument which indicates the path to your policy checkpoint with  (e.g. `outputs/train/eval_act_so100_test/checkpoints/last/pretrained_model`). You can also use the model repository if you uploaded a model checkpoint to the hub (e.g. `${HF_USER}/act_so100_test`).
-2. The name of dataset begins by `eval` to reflect that you are running inference (e.g. `${HF_USER}/eval_act_so100_test`).
-
-## L. More Information
-
-Follow this [previous tutorial](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#4-train-a-policy-on-your-data) for a more in-depth tutorial on controlling real robots with LeRobot.
-
-> [!TIP]
->  If you have any questions or need help, please reach out on [Discord](https://discord.com/invite/s3KuuzsPFb) in the channel [`#so100-arm`](https://discord.com/channels/1216765309076115607/1237741463832363039).
--- a/lerobot/common/robots/so100_follower/so100.md
+++ b/lerobot/common/robots/so100_follower/so100.md
@@ -0,0 +1,470 @@
+# SO-100
+
+In the steps below, we explain how to assemble the SO-100 robot.
+
+## Source the parts
+
+Follow this [README](https://github.com/TheRobotStudio/SO-ARM100/blob/main/SO100.md). It contains the bill of materials, with a link to source the parts, as well as the instructions to 3D print the parts. And advise if it's your first time printing or if you don't own a 3D printer.
+
+## Install LeRobot 🤗
+
+To install LeRobot, follow our [Installation Guide](./installation)
+
+In addition to these instructions, you need to install the Feetech SDK:
+```bash
+pip install -e ".[feetech]"
+```
+
+## Step-by-Step Assembly Instructions
+
+## Remove the gears of the 6 leader motors
+
+<details>
+<summary><strong>Video removing gears</strong></summary>
+
+<video src="https://github.com/user-attachments/assets/0c95b88c-5b85-413d-ba19-aee2f864f2a7"></video>
+
+</details>
+
+Follow the video for removing gears. You need to remove the gear for the motors of the leader arm. As a result, you will only use the position encoding of the motor and reduce friction to more easily operate the leader arm.
+
+### Clean Parts
+Remove all support material from the 3D-printed parts. The easiest way to do this is using a small screwdriver to get underneath the support material.
+
+### Additional Guidance
+
+<details>
+<summary><strong>Video assembling arms</strong></summary>
+
+<video src="https://github.com/user-attachments/assets/488a39de-0189-4461-9de3-05b015f90cca"></video>
+
+</details>
+
+**Note:**
+This video provides visual guidance for assembling the arms, but it doesn't specify when or how to do the wiring. Inserting the cables beforehand is much easier than doing it afterward. The first arm may take a bit more than 1 hour to assemble, but once you get used to it, you can assemble the second arm in under 1 hour.
+
+---
+
+### First Motor
+
+**Step 2: Insert Wires**
+- Insert two wires into the first motor.
+
+  <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_1.jpg" style="height:300px;">
+
+**Step 3: Install in Base**
+- Place the first motor into the base.
+
+  <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_2.jpg" style="height:300px;">
+
+**Step 4: Secure Motor**
+- Fasten the motor with 4 screws. Two from the bottom and two from top.
+
+**Step 5: Attach Motor Holder**
+- Slide over the first motor holder and fasten it using two screws (one on each side).
+
+  <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_4.jpg" style="height:300px;">
+
+**Step 6: Attach Motor Horns**
+- Install both motor horns, securing the top horn with a screw. Try not to move the motor position when attaching the motor horn, especially for the leader arms, where we removed the gears.
+
+  <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_5.jpg" style="height:300px;">
+<details>
+  <summary><strong>Video adding motor horn</strong></summary>
+  <video src="https://github.com/user-attachments/assets/ef3391a4-ad05-4100-b2bd-1699bf86c969"></video>
+</details>
+
+**Step 7: Attach Shoulder Part**
+- Route one wire to the back of the robot and the other to the left or towards you (see photo).
+- Attach the shoulder part.
+
+  <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_6.jpg" style="height:300px;">
+
+**Step 8: Secure Shoulder**
+- Tighten the shoulder part with 4 screws on top and 4 on the bottom
+*(access bottom holes by turning the shoulder).*
+
+---
+
+### Second Motor Assembly
+
+**Step 9: Install Motor 2**
+- Slide the second motor in from the top and link the wire from motor 1 to motor 2.
+
+  <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_8.jpg" style="height:300px;">
+
+**Step 10: Attach Shoulder Holder**
+- Add the shoulder motor holder.
+- Ensure the wire from motor 1 to motor 2 goes behind the holder while the other wire is routed upward (see photo).
+- This part can be tight to assemble, you can use a workbench like the image or a similar setup to push the part around the motor.
+
+  <div style="display: flex;">
+    <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_9.jpg" style="height:250px;">
+    <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_10.jpg" style="height:250px;">
+    <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_12.jpg" style="height:250px;">
+  </div>
+
+**Step 11: Secure Motor 2**
+- Fasten the second motor with 4 screws.
+
+**Step 12: Attach Motor Horn**
+- Attach both motor horns to motor 2, again use the horn screw.
+
+**Step 13: Attach Base**
+- Install the base attachment using 2 screws.
+
+  <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_11.jpg" style="height:300px;">
+
+**Step 14: Attach Upper Arm**
+- Attach the upper arm with 4 screws on each side.
+
+  <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_13.jpg" style="height:300px;">
+
+---
+
+### Third Motor Assembly
+
+**Step 15: Install Motor 3**
+- Route the motor cable from motor 2 through the cable holder to motor 3, then secure motor 3 with 4 screws.
+
+**Step 16: Attach Motor Horn**
+- Attach both motor horns to motor 3 and secure one again with a horn screw.
+
+  <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_14.jpg" style="height:300px;">
+
+**Step 17: Attach Forearm**
+- Connect the forearm to motor 3 using 4 screws on each side.
+
+  <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_15.jpg" style="height:300px;">
+
+---
+
+### Fourth Motor Assembly
+
+**Step 18: Install Motor 4**
+- Slide in motor 4, attach the cable from motor 3, and secure the cable in its holder with a screw.
+
+  <div style="display: flex;">
+    <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_16.jpg" style="height:300px;">
+    <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_19.jpg" style="height:300px;">
+  </div>
+
+**Step 19: Attach Motor Holder 4**
+- Install the fourth motor holder (a tight fit). Ensure one wire is routed upward and the wire from motor 3 is routed downward (see photo).
+
+  <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_17.jpg" style="height:300px;">
+
+**Step 20: Secure Motor 4 & Attach Horn**
+- Fasten motor 4 with 4 screws and attach its motor horns, use for one a horn screw.
+
+  <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_18.jpg" style="height:300px;">
+
+---
+
+### Wrist Assembly
+
+**Step 21: Install Motor 5**
+- Insert motor 5 into the wrist holder and secure it with 2 front screws.
+
+  <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_20.jpg" style="height:300px;">
+
+**Step 22: Attach Wrist**
+- Connect the wire from motor 4 to motor 5. And already insert the other wire for the gripper.
+- Secure the wrist to motor 4 using 4 screws on both sides.
+
+  <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_22.jpg" style="height:300px;">
+
+**Step 23: Attach Wrist Horn**
+- Install only one motor horn on the wrist motor and secure it with a horn screw.
+
+  <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_23.jpg" style="height:300px;">
+
+---
+
+### Follower Configuration
+
+**Step 24: Attach Gripper**
+- Attach the gripper to motor 5.
+
+  <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_24.jpg" style="height:300px;">
+
+**Step 25: Install Gripper Motor**
+- Insert the gripper motor, connect the motor wire from motor 5 to motor 6, and secure it with 3 screws on each side.
+
+  <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_25.jpg" style="height:300px;">
+
+**Step 26: Attach Gripper Horn & Claw**
+- Attach the motor horns and again use a horn screw.
+- Install the gripper claw and secure it with 4 screws on both sides.
+
+  <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_26.jpg" style="height:300px;">
+
+**Step 27: Mount Controller**
+- Attach the motor controller to the back of the robot.
+
+  <div style="display: flex;">
+    <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_27.jpg" style="height:300px;">
+    <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_28.jpg" style="height:300px;">
+  </div>
+
+*Assembly complete – proceed to Leader arm assembly.*
+
+---
+
+### Leader Configuration
+
+For the leader configuration, perform **Steps 1–23**. Make sure that you removed the motor gears from the motors.
+
+**Step 24: Attach Leader Holder**
+- Mount the leader holder onto the wrist and secure it with a screw.
+
+  <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_29.jpg" style="height:300px;">
+
+**Step 25: Attach Handle**
+- Attach the handle to motor 5 using 4 screws.
+
+  <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_30.jpg" style="height:300px;">
+
+**Step 26: Install Gripper Motor**
+- Insert the gripper motor, secure it with 3 screws on each side, attach a motor horn using a horn screw, and connect the motor wire.
+
+  <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_31.jpg" style="height:300px;">
+
+**Step 27: Attach Trigger**
+- Attach the follower trigger with 4 screws.
+
+  <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_32.jpg" style="height:300px;">
+
+**Step 28: Mount Controller**
+- Attach the motor controller to the back of the robot.
+
+  <div style="display: flex;">
+    <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_27.jpg" style="height:300px;">
+    <img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_28.jpg" style="height:300px;">
+  </div>
+
+## Configure the motors
+
+### 1. Find the USB ports associated with each arm
+
+To find the port for each bus servo adapter, run this script:
+```bash
+python lerobot/find_port.py
+```
+
+<hfoptions id="example">
+<hfoption id="Mac">
+
+Example output:
+
+```
+Finding all available ports for the MotorBus.
+['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751']
+Remove the USB cable from your MotorsBus and press Enter when done.
+
+[...Disconnect corresponding leader or follower arm and press Enter...]
+
+The port of this MotorsBus is /dev/tty.usbmodem575E0032081
+Reconnect the USB cable.
+```
+
+Where the found port is: `/dev/tty.usbmodem575E0032081` corresponding to your leader or follower arm.
+
+</hfoption>
+<hfoption id="Linux">
+
+On Linux, you might need to give access to the USB ports by running:
+```bash
+sudo chmod 666 /dev/ttyACM0
+sudo chmod 666 /dev/ttyACM1
+```
+
+Example output:
+
+```
+Finding all available ports for the MotorBus.
+['/dev/ttyACM0', '/dev/ttyACM1']
+Remove the usb cable from your MotorsBus and press Enter when done.
+
+[...Disconnect corresponding leader or follower arm and press Enter...]
+
+The port of this MotorsBus is /dev/ttyACM1
+Reconnect the USB cable.
+```
+
+Where the found port is: `/dev/ttyACM1` corresponding to your leader or follower arm.
+
+</hfoption>
+</hfoptions>
+
+### 2. Set the motors ids and baudrates
+
+Each motor is identified by a unique id on the bus. When brand new, motors usually come with a default id of `1`. For the communication to work properly between the motors and the controller, we first need to set a unique, different id to each motor. Additionally, the speed at which data is transmitted on the bus is determined by the baudrate. In order to talk to each other, the controller and all the motors need to be configured with the same baudrate.
+
+To that end, we first need to connect to each motor individually with the controller in order to set these. Since we will write these parameters in the non-volatile section of the motors' internal memory (EEPROM), we'll only need to do this once.
+
+If you are repurposing motors from another robot, you will probably also need to perform this step as the ids and baudrate likely won't match.
+
+#### Follower
+
+Connect the usb cable from your computer and the power supply to the follower arm's controller board. Then, run the following command or run the API example with the port you got from the previous step. You'll also need to give your leader arm a name with the `id` parameter.
+
+For a visual reference on how to set the motor ids please refer to [this video](http://localhost:5173/so101#setup-motors-video) where we follow the process for the SO101 arm.
+
+<hfoptions id="setup_motors">
+<hfoption id="Command">
+```bash
+python -m lerobot.setup_motors \
+    --robot.type=so100_follower \
+    --robot.port=/dev/tty.usbmodem585A0076841  # <- paste here the port found at previous step
+```
+</hfoption>
+<hfoption id="API example">
+```python
+from lerobot.common.robots.so100_follower import SO100Follower, SO100FollowerConfig
+
+config = SO100FollowerConfig(
+    port="/dev/tty.usbmodem585A0076841",
+    id="my_awesome_follower_arm",
+)
+follower = SO100Follower(config)
+follower.setup_motors()
+```
+</hfoption>
+</hfoptions>
+
+You should see the following instruction
+```
+Connect the controller board to the 'gripper' motor only and press enter.
+```
+
+As instructed, plug the gripper's motor. Make sure it's the only motor connected to the board, and that the motor itself is not yet daisy-chained to any other motor. As you press `[Enter]`, the script will automatically set the id and baudrate for that motor.
+
+<details>
+<summary>Troubleshooting</summary>
+
+  If you get an error at that point, check your cables and make sure they are plugged in properly:
+  <ul>
+    <li>Power supply</li>
+    <li>USB cable between your computer and the controller board</li>
+    <li>The 3-pin cable from the controller board to the motor</li>
+  </ul>
+
+If you are using a Waveshare controller board, make sure that the two jumpers are set on the `B` channel (USB).
+</details>
+
+You should then see the following message:
+```
+'gripper' motor id set to 6
+```
+
+Followed by the next instruction:
+```
+Connect the controller board to the 'wrist_roll' motor only and press enter.
+```
+
+You can disconnect the 3-pin cable from the controller board, but you can leave it connected to the gripper motor on the other end, as it will already be in the right place. Now, plug in another 3-pin cable to the wrist roll motor and connect it to the controller board. As with the previous motor, make sure it is the only motor connected to the board and that the motor itself isn't connected to any other one.
+
+Repeat the operation for each motor as instructed.
+
+> [!TIP]
+> Check your cabling at each step before pressing Enter. For instance, the power supply cable might disconnect as you manipulate the board.
+
+When you are done, the script will simply finish, at which point the motors are ready to be used. You can now plug the 3-pin cable from each motor to the next one, and the cable from the first motor (the 'shoulder pan' with id=1) to the controller board, which can now be attached to the base of the arm.
+
+#### Leader
+Do the same steps for the leader arm.
+
+<hfoptions id="setup_motors">
+<hfoption id="Command">
+```bash
+python -m lerobot.setup_motors \
+    --teleop.type=so100_leader \
+    --teleop.port=/dev/tty.usbmodem575E0031751  # <- paste here the port found at previous step
+```
+</hfoption>
+<hfoption id="API example">
+```python
+from lerobot.common.teleoperators.so100_leader import SO100Leader, SO100LeaderConfig
+
+config = SO100LeaderConfig(
+    port="/dev/tty.usbmodem585A0076841",
+    id="my_awesome_leader_arm",
+)
+leader = SO100Leader(config)
+leader.setup_motors()
+```
+</hfoption>
+</hfoptions>
+
+## Calibrate
+
+Next, you'll need to calibrate your robot to ensure that the leader and follower arms have the same position values when they are in the same physical position.
+The calibration process is very important because it allows a neural network trained on one robot to work on another.
+
+#### Follower
+
+Run the following command or API example to calibrate the follower arm:
+
+<hfoptions id="calibrate_follower">
+<hfoption id="Command">
+```bash
+python -m lerobot.calibrate \
+    --robot.type=so100_follower \
+    --robot.port=/dev/tty.usbmodem58760431551 \ # <- The port of your robot
+    --robot.id=my_awesome_follower_arm # <- Give the robot a unique name
+```
+</hfoption>
+<hfoption id="API example">
+```python
+from lerobot.common.robots.so100_follower import SO100FollowerConfig, SO100Follower
+
+config = SO100FollowerConfig(
+    port="/dev/tty.usbmodem585A0076891",
+    id="my_awesome_follower_arm",
+)
+
+follower = SO100Follower(config)
+follower.connect(calibrate=False)
+follower.calibrate()
+follower.disconnect()
+```
+</hfoption>
+</hfoptions>
+
+We unified the calibration method for most robots. Thus, the calibration steps for this SO100 arm are the same as the steps for the Koch and SO101. First, we have to move the robot to the position where each joint is in the middle of its range, then we press `Enter`. Secondly, we move all joints through their full range of motion. A video of this same process for the SO101 as reference can be found [here](http://localhost:5173/so101#calibration-video)
+
+#### Leader
+
+Do the same steps to calibrate the leader arm, run the following command or API example:
+
+<hfoptions id="calibrate_leader">
+<hfoption id="Command">
+```bash
+python -m lerobot.calibrate \
+    --teleop.type=so100_leader \
+    --teleop.port=/dev/tty.usbmodem58760431551 \ # <- The port of your robot
+    --teleop.id=my_awesome_leader_arm # <- Give the robot a unique name
+```
+</hfoption>
+<hfoption id="API example">
+```python
+from lerobot.common.teleoperators.so100_leader import SO100LeaderConfig, SO100Leader
+
+config = SO100LeaderConfig(
+    port="/dev/tty.usbmodem58760431551",
+    id="my_awesome_leader_arm",
+)
+
+leader = SO100Leader(config)
+leader.connect(calibrate=False)
+leader.calibrate()
+leader.disconnect()
+```
+</hfoption>
+</hfoptions>
+
+Congrats 🎉, your robot is all set to learn a task on its own. Start training it by following this tutorial: [Getting started with real-world robots](./getting_started_real_world_robot)
+
+> [!TIP]
+>  If you have any questions or need help, please reach out on [Discord](https://discord.com/invite/s3KuuzsPFb).
--- a/lerobot/common/robots/so101_follower/README.md
+++ b/lerobot/common/robots/so101_follower/README.md
@@ -1,711 +0,0 @@
-# Assemble and use SO-101
-
-In the steps below we explain how to assemble and use our flagship robot, the SO-101 with LeRobot 🤗.
-
-## Source the parts
-
-Follow this [README](https://github.com/TheRobotStudio/SO-ARM100). It contains the bill of materials, with a link to source the parts, as well as the instructions to 3D print the parts,
-and advice if it's your first time printing or if you don't own a 3D printer.
-
-Before assembling, you will first need to configure your motors. To this end, we provide a nice script, so let's first install LeRobot. After configuration, we will also guide you through assembly.
-
-## Install LeRobot
-
-> [!TIP]
-> We use the Command Prompt (cmd) quite a lot. If you are not comfortable using the cmd or want to brush up using the command line you can have a look here: [Command line crash course](https://developer.mozilla.org/en-US/docs/Learn_web_development/Getting_started/Environment_setup/Command_line)
-
-Download our source code:
-```bash
-git clone https://github.com/huggingface/lerobot.git
-cd lerobot
-```
-
-Create a virtual environment with Python 3.10 and activate it, e.g. with [`miniconda`](https://docs.anaconda.com/miniconda/install/#quick-command-line-install):
-```bash
-conda create -y -n lerobot python=3.10
-```
-Now restart the shell by running:
-
-##### Windows:
-```bash
-`source ~/.bashrc`
-```
-
-##### Mac:
-```bash
-`source ~/.bash_profile`
-```
-
-##### zshell:
-```bash
-`source ~/.zshrc`
-```
-
-Then activate your conda environment, you have to do this each time you open a shell to use lerobot:
-```bash
-conda activate lerobot
-```
-
-When using `miniconda`, install `ffmpeg` in your environment:
-```bash
-conda install ffmpeg -c conda-forge
-```
-
-> [!NOTE]
-> This usually installs `ffmpeg 7.X` for your platform compiled with the `libsvtav1` encoder. If `libsvtav1` is not supported (check supported encoders with `ffmpeg -encoders`), you can:
->  - _[On any platform]_ Explicitly install `ffmpeg 7.X` using:
->  ```bash
->  conda install ffmpeg=7.1.1 -c conda-forge
->  ```
->  - _[On Linux only]_ Install [ffmpeg build dependencies](https://trac.ffmpeg.org/wiki/CompilationGuide/Ubuntu#GettheDependencies) and [compile ffmpeg from source with libsvtav1](https://trac.ffmpeg.org/wiki/CompilationGuide/Ubuntu#libsvtav1), and make sure you use the corresponding ffmpeg binary to your install with `which ffmpeg`.
-
-Install 🤗 LeRobot:
-```bash
-cd lerobot && pip install ".[feetech]"
-```
-
-> [!NOTE]
-> If you encounter build errors, you may need to install additional dependencies (`cmake`, `build-essential`, and `ffmpeg libs`). On Linux, run: `sudo apt-get install cmake build-essential python3-dev pkg-config libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev libswscale-dev libswresample-dev libavfilter-dev pkg-config`. For other systems, see: [Compiling PyAV](https://pyav.org/docs/develop/overview/installation.html#bring-your-own-ffmpeg)
-
-
-## Configure motors
-
-To configure the motors designate one bus servo adapter and 6 motors for your leader arm, and similarly the other bus servo adapter and 6 motors for the follower arm. It's convenient to label them and write on each motor if it's for the follower `F` or for the leader `L` and it's ID from 1 to 6.
-
-You now should plug the 5V or 12V power supply to the motor bus. 5V for the STS3215 7.4V motors and 12V for the STS3215 12V motors. Note that the leader arm always uses the 7.4V motors, so watch out that you plug in the right power supply if you have 12V and 7.4V motors, otherwise you might burn your motors! Now, connect the motor bus to your computer via USB. Note that the USB doesn't provide any power, and both the power supply and USB have to be plugged in.
-
-### Find the USB ports associated to each arm
-
-To find the port for each bus servo adapter, run this script:
-```bash
-python lerobot/scripts/find_motors_bus_port.py
-```
-#### Example outputs of script
-
-##### Mac:
-Example output leader arm's port: `/dev/tty.usbmodem575E0031751`
-
-```bash
-Finding all available ports for the MotorBus.
-['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751']
-Remove the usb cable from your MotorsBus and press Enter when done.
-
-[...Disconnect leader arm and press Enter...]
-
-The port of this MotorsBus is /dev/tty.usbmodem575E0031751
-Reconnect the usb cable.
-```
-
-Example output follower arm port: `/dev/tty.usbmodem575E0032081`
-
-```
-Finding all available ports for the MotorBus.
-['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751']
-Remove the usb cable from your MotorsBus and press Enter when done.
-
-[...Disconnect follower arm and press Enter...]
-
-The port of this MotorsBus is /dev/tty.usbmodem575E0032081
-Reconnect the usb cable.
-```
-
-##### Linux:
-On Linux, you might need to give access to the USB ports by running:
-```bash
-sudo chmod 666 /dev/ttyACM0
-sudo chmod 666 /dev/ttyACM1
-```
-
-Example output leader arm port: `/dev/ttyACM0`
-
-```bash
-Finding all available ports for the MotorBus.
-['/dev/ttyACM0', '/dev/ttyACM1']
-Remove the usb cable from your MotorsBus and press Enter when done.
-
-[...Disconnect leader arm and press Enter...]
-
-The port of this MotorsBus is /dev/ttyACM0
-Reconnect the usb cable.
-```
-
-Example output follower arm port: `/dev/ttyACM1`
-
-```
-Finding all available ports for the MotorBus.
-['/dev/ttyACM0', '/dev/ttyACM1']
-Remove the usb cable from your MotorsBus and press Enter when done.
-
-[...Disconnect follower arm and press Enter...]
-
-The port of this MotorsBus is /dev/ttyACM1
-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 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):
-    calibration_dir: str = ".cache/calibration/so101"
-    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
-    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
-    # the number of motors in your follower arms.
-    max_relative_target: int | None = None
-
-    leader_arms: dict[str, MotorsBusConfig] = field(
-        default_factory=lambda: {
-            "main": FeetechMotorsBusConfig(
-               port="/dev/tty.usbmodem58760431091",
-+               port="{ADD YOUR LEADER PORT}",
-                motors={
-                    # name: (index, model)
-                    "shoulder_pan": [1, "sts3215"],
-                    "shoulder_lift": [2, "sts3215"],
-                    "elbow_flex": [3, "sts3215"],
-                    "wrist_flex": [4, "sts3215"],
-                    "wrist_roll": [5, "sts3215"],
-                    "gripper": [6, "sts3215"],
-                },
-            ),
-        }
-    )
-
-    follower_arms: dict[str, MotorsBusConfig] = field(
-        default_factory=lambda: {
-            "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem585A0076891",
-+                port="{ADD YOUR FOLLOWER PORT}",
-                motors={
-                    # name: (index, model)
-                    "shoulder_pan": [1, "sts3215"],
-                    "shoulder_lift": [2, "sts3215"],
-                    "elbow_flex": [3, "sts3215"],
-                    "wrist_flex": [4, "sts3215"],
-                    "wrist_roll": [5, "sts3215"],
-                    "gripper": [6, "sts3215"],
-                },
-            ),
-        }
-    )
-```
-
-Here is a video of the process:
-
-<video controls width="640" src="https://github.com/user-attachments/assets/fc45d756-31bb-4a61-b973-a87d633d08a7" type="video/mp4"></video>
-
-### Set motor IDs
-
-Now we need to set the motor ID for each motor. Plug your motor in only one of the two ports of the motor bus and run this script to set its ID to 1. Replace the text after --port to the corresponding control board port.
-```bash
-python lerobot/scripts/configure_motor.py \
-  --port /dev/tty.usbmodem58760432961 \
-  --brand feetech \
-  --model sts3215 \
-  --baudrate 1000000 \
-  --ID 1
-```
-
-Then unplug your motor and plug the second motor and set its ID to 2.
-```bash
-python lerobot/scripts/configure_motor.py \
-  --port /dev/tty.usbmodem58760432961 \
-  --brand feetech \
-  --model sts3215 \
-  --baudrate 1000000 \
-  --ID 2
-```
-
-Redo this process for all your motors until ID 6. Do the same for the 6 motors of the leader arm, but make sure to change the power supply if you use motors with different voltage.
-
-Here is a video of the process:
-
-<video controls width="640" src="https://github.com/user-attachments/assets/b31c115f-e706-4dcd-b7f1-4535da62416d" type="video/mp4"></video>
-
-## Step-by-Step Assembly Instructions
-
-The follower arm uses 6x STS3215 motors with 1/345 gearing. The leader however uses three differently geared motors to make sure it can both sustain its own weight and it can be moved without requiring much force. Which motor is needed for which joint is shown in table below.
-
-| Leader-Arm Axis | Motor | Gear Ratio |
-|-----------------|:-------:|:----------:|
-| Base / Shoulder Yaw | 1 | 1 / 191 |
-| Shoulder Pitch      | 2 | 1 / 345 |
-| Elbow               | 3 | 1 / 191 |
-| Wrist Roll          | 4 | 1 / 147 |
-| Wrist Pitch         | 5 | 1 / 147 |
-| Gripper             | 6 | 1 / 147 |
-
-
-### Clean Parts
-Remove all support material from the 3D-printed parts.
-
-### Joint 1
-
- Place the first motor into the base.
- Fasten the motor with 4 M2x6mm screws (smallest screws). Two from the top and two from bottom.
- Slide over the first motor holder and fasten it using two M2x6mm screws (one on each side).
- Install both motor horns, securing the top horn with a M3x6mm screw.
- Attach the shoulder part.
- Tighten the shoulder part with 4 M3x6mm screws on top and 4 M3x6mm screws on the bottom
- Add the shoulder motor holder.
-
-<video controls width="640" src="https://github.com/user-attachments/assets/b0ee9dee-a2d0-445b-8489-02ebecb3d639" type="video/mp4"></video>
-
-### Joint 2
-
- Slide the second motor in from the top.
- Fasten the second motor with 4 M2x6mm screws.
- Attach both motor horns to motor 2, again use the M3x6mm horn screw.
- Attach the upper arm with 4 M3x6mm screws on each side.
-
-<video controls width="640" src="https://github.com/user-attachments/assets/32453dc2-5006-4140-9f56-f0d78eae5155" type="video/mp4"></video>
-
-### Joint 3
-
- Insert motor 3 and fasten using 4 M2x6mm screws
- Attach both motor horns to motor 3 and secure one again with a M3x6mm horn screw.
- Connect the forearm to motor 3 using 4 M3x6mm screws on each side.
-
-<video controls width="640" src="https://github.com/user-attachments/assets/7384b9a7-a946-440c-b292-91391bcc4d6b" type="video/mp4"></video>
-
-### Joint 4
-
- Slide over motor holder 4.
- Slide in motor 4.
- Fasten motor 4 with 4 M2x6mm screws and attach its motor horns, use a M3x6mm horn screw.
-
-<video controls width="640" src="https://github.com/user-attachments/assets/dca78ad0-7c36-4bdf-8162-c9ac42a1506f" type="video/mp4"></video>
-
-### Joint 5
-
- Insert motor 5 into the wrist holder and secure it with 2 M2x6mm front screws.
- Install only one motor horn on the wrist motor and secure it with a M3x6mm horn screw.
- Secure the wrist to motor 4 using 4 M3x6mm screws on both sides.
-
-<video controls width="640" src="https://github.com/user-attachments/assets/55f5d245-976d-49ff-8b4a-59843c441b12" type="video/mp4"></video>
-
-### Gripper / Handle
-
-#### Follower:
-
- Attach the gripper to motor 5, attach it to the motor horn on the wrist using 4 M3x6mm screws.
- Insert the gripper motor and secure it with 2 M2x6mm screws on each side.
- Attach the motor horns and again use a M3x6mm horn screw.
- Install the gripper claw and secure it with 4 M3x6mm screws on both sides.
-
-<video controls width="640" src="https://github.com/user-attachments/assets/6f766aa9-cfae-4388-89e7-0247f198c086" type="video/mp4"></video>
-
-#### Leader:
-
- Mount the leader holder onto the wrist and secure it with 4 M3x6mm screws.
- Attach the handle to motor 5 using 1 M2x6mm screw.
- Insert the gripper motor, secure it with 2 M2x6mm screws on each side, attach a motor horn using a M3x6mm horn screw.
- Attach the follower trigger with 4 M3x6mm screws.
-
-<video controls width="640" src="https://github.com/user-attachments/assets/1308c93d-2ef1-4560-8e93-a3812568a202" type="video/mp4"></video>
-
-##### 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 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>
-
-## Calibrate
-
-Next, you'll need to calibrate your SO-101 robot to ensure that the leader and follower arms have the same position values when they are in the same physical position.
-The calibration process is very important because it allows a neural network trained on one SO-101 robot to work on another.
-
-#### Manual calibration of follower arm
-
-You will need to move the follower arm to these positions sequentially, note that the rotated position is on the right side of the robot and you have to open the gripper fully.
-
-| 1. Middle position | 2. Zero position                                                                                                                                       | 3. Rotated position                                                                                                                                             | 4. Rest position                                                                                                                                       |
-| ------------ |------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| <img src="../media/so101/follower_middle.webp?raw=true" alt="SO-101 leader arm middle position" title="SO-101 leader arm middle position" style="width:100%;"> | <img src="../media/so101/follower_zero.webp?raw=true" alt="SO-101 leader arm zero position" title="SO-101 leader arm zero position" style="width:100%;"> | <img src="../media/so101/follower_rotated.webp?raw=true" alt="SO-101 leader arm rotated position" title="SO-101 leader arm rotated position" style="width:100%;"> | <img src="../media/so101/follower_rest.webp?raw=true" alt="SO-101 leader arm rest position" title="SO-101 leader arm rest position" style="width:100%;"> |
-
-Make sure both arms are connected and run this script to launch manual calibration:
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=so101 \
-  --robot.cameras='{}' \
-  --control.type=calibrate \
-  --control.arms='["main_follower"]'
-```
-
-#### Manual calibration of leader arm
-You will also need to move the leader arm to these positions sequentially:
-
-| 1. Middle position | 2. Zero position                                                                                                                                       | 3. Rotated position                                                                                                                                             | 4. Rest position                                                                                                                                       |
-| ------------ |------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| <img src="../media/so101/leader_middle.webp?raw=true" alt="SO-101 leader arm middle position" title="SO-101 leader arm middle position" style="width:100%;"> | <img src="../media/so101/leader_zero.webp?raw=true" alt="SO-101 leader arm zero position" title="SO-101 leader arm zero position" style="width:100%;"> | <img src="../media/so101/leader_rotated.webp?raw=true" alt="SO-101 leader arm rotated position" title="SO-101 leader arm rotated position" style="width:100%;"> | <img src="../media/so101/leader_rest.webp?raw=true" alt="SO-101 leader arm rest position" title="SO-101 leader arm rest position" style="width:100%;"> |
-
-Run this script to launch manual calibration:
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=so101 \
-  --robot.cameras='{}' \
-  --control.type=calibrate \
-  --control.arms='["main_leader"]'
-```
-## Control your 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.
-2. How to train a policy using your data and prepare it for evaluation.
-3. How to evaluate your policy and visualize the results.
-
-By following these steps, you'll be able to replicate tasks like picking up a Lego block and placing it in a bin with a high success rate, as demonstrated in [this video](https://x.com/RemiCadene/status/1814680760592572934).
-
-This tutorial is specifically made for the affordable [SO-101](https://github.com/TheRobotStudio/SO-ARM100) robot, but it contains additional information to be easily adapted to various types of robots like [Aloha bimanual robot](https://aloha-2.github.io) by changing some configurations. The SO-101 consists of a leader arm and a follower arm, each with 6 motors. It can work with one or several cameras to record the scene, which serve as visual sensors for the robot.
-
-During the data collection phase, you will control the follower arm by moving the leader arm. This process is known as "teleoperation." This technique is used to collect robot trajectories. Afterward, you'll train a neural network to imitate these trajectories and deploy the network to enable your robot to operate autonomously.
-
-If you encounter any issues at any step of the tutorial, feel free to seek help on [Discord](https://discord.com/invite/s3KuuzsPFb) or don't hesitate to iterate with us on the tutorial by creating issues or pull requests.
-
-## Teleoperate
-
-Run this simple script to teleoperate your robot (it won't connect and display the cameras):
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=so101 \
-  --robot.cameras='{}' \
-  --control.type=teleoperate
-```
-
-The teleoperate command will automatically:
-1. Identify any missing calibrations and initiate the calibration procedure.
-2. Connect the robot and start teleoperation.
-
-## Setup Cameras
-
-To connect a camera you have three options:
-1. OpenCVCamera which allows us to use any camera: usb, realsense, laptop webcam
-2. iPhone camera with MacOS
-3. Phone camera on Linux
-
-### Use OpenCVCamera
-
-The [`OpenCVCamera`](../lerobot/common/robot_devices/cameras/opencv.py) class allows you to efficiently record frames from most cameras using the [`opencv2`](https://docs.opencv.org) library.  For more details on compatibility, see [Video I/O with OpenCV Overview](https://docs.opencv.org/4.x/d0/da7/videoio_overview.html).
-
-To instantiate an [`OpenCVCamera`](../lerobot/common/robot_devices/cameras/opencv.py), you need a camera index (e.g. `OpenCVCamera(camera_index=0)`). When you only have one camera like a webcam of a laptop, the camera index is usually `0` but it might differ, and the camera index might change if you reboot your computer or re-plug your camera. This behavior depends on your operating system.
-
-To find the camera indices, run the following utility script, which will save a few frames from each detected camera:
-```bash
-python lerobot/common/robot_devices/cameras/opencv.py \
-    --images-dir outputs/images_from_opencv_cameras
-```
-
-The output will look something like this if you have two cameras connected:
-```
-Mac or Windows detected. Finding available camera indices through scanning all indices from 0 to 60
-[...]
-Camera found at index 0
-Camera found at index 1
-[...]
-Connecting cameras
-OpenCVCamera(0, fps=30.0, width=1920.0, height=1080.0, color_mode=rgb)
-OpenCVCamera(1, fps=24.0, width=1920.0, height=1080.0, color_mode=rgb)
-Saving images to outputs/images_from_opencv_cameras
-Frame: 0000 Latency (ms): 39.52
-[...]
-Frame: 0046 Latency (ms): 40.07
-Images have been saved to outputs/images_from_opencv_cameras
-```
-
-Check the saved images in `outputs/images_from_opencv_cameras` to identify which camera index corresponds to which physical camera (e.g. `0` for `camera_00` or `1` for `camera_01`):
-```
-camera_00_frame_000000.png
-[...]
-camera_00_frame_000047.png
-camera_01_frame_000000.png
-[...]
-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 change them in the config. You can also change the fps, width or height of the camera.
-
-The camera config is defined per robot, can be found here [`RobotConfig`](https://github.com/huggingface/lerobot/blob/main/lerobot/common/robot_devices/robots/configs.py) and looks like this:
-```python
-cameras: dict[str, CameraConfig] = field(
-        default_factory=lambda: {
-            "wrist": OpenCVCameraConfig(
-                camera_index=0,  <-- UPDATE HERE
-                fps=30,
-                width=640,
-                height=480,
-            ),
-            "base": OpenCVCameraConfig(
-                camera_index=1,   <-- UPDATE HERE
-                fps=30,
-                width=640,
-                height=480,
-            ),
-        }
-    )
-```
-
-### Use your phone
-#### Mac:
-
-To use your iPhone as a camera on macOS, enable the Continuity Camera feature:
- Ensure your Mac is running macOS 13 or later, and your iPhone is on iOS 16 or later.
- Sign in both devices with the same Apple ID.
- Connect your devices with a USB cable or turn on Wi-Fi and Bluetooth for a wireless connection.
-
-For more details, visit [Apple support](https://support.apple.com/en-gb/guide/mac-help/mchl77879b8a/mac).
-
-Your iPhone should be detected automatically when running the camera setup script in the next section.
-
-#### Linux:
-
-If you want to use your phone as a camera on Linux, follow these steps to set up a virtual camera
-
-1. *Install `v4l2loopback-dkms` and `v4l-utils`*. Those packages are required to create virtual camera devices (`v4l2loopback`) and verify their settings with the `v4l2-ctl` utility from `v4l-utils`. Install them using:
-```python
-sudo apt install v4l2loopback-dkms v4l-utils
-```
-2. *Install [DroidCam](https://droidcam.app) on your phone*. This app is available for both iOS and Android.
-3. *Install [OBS Studio](https://obsproject.com)*. This software will help you manage the camera feed. Install it using [Flatpak](https://flatpak.org):
-```python
-flatpak install flathub com.obsproject.Studio
-```
-4. *Install the DroidCam OBS plugin*. This plugin integrates DroidCam with OBS Studio. Install it with:
-```python
-flatpak install flathub com.obsproject.Studio.Plugin.DroidCam
-```
-5. *Start OBS Studio*. Launch with:
-```python
-flatpak run com.obsproject.Studio
-```
-6. *Add your phone as a source*. Follow the instructions [here](https://droidcam.app/obs/usage). Be sure to set the resolution to `640x480`.
-7. *Adjust resolution settings*. In OBS Studio, go to `File > Settings > Video`. Change the `Base(Canvas) Resolution` and the `Output(Scaled) Resolution` to `640x480` by manually typing it in.
-8. *Start virtual camera*. In OBS Studio, follow the instructions [here](https://obsproject.com/kb/virtual-camera-guide).
-9. *Verify the virtual camera setup*. Use `v4l2-ctl` to list the devices:
-```python
-v4l2-ctl --list-devices
-```
-You should see an entry like:
-```
-VirtualCam (platform:v4l2loopback-000):
-/dev/video1
-```
-10. *Check the camera resolution*. Use `v4l2-ctl` to ensure that the virtual camera output resolution is `640x480`. Change `/dev/video1` to the port of your virtual camera from the output of `v4l2-ctl --list-devices`.
-```python
-v4l2-ctl -d /dev/video1 --get-fmt-video
-```
-You should see an entry like:
-```
->>> Format Video Capture:
->>> Width/Height      : 640/480
->>> Pixel Format      : 'YUYV' (YUYV 4:2:2)
-```
-
-Troubleshooting: If the resolution is not correct you will have to delete the Virtual Camera port and try again as it cannot be changed.
-
-If everything is set up correctly, you can proceed with the rest of the tutorial.
-
-### Add wrist camera
-If you have an additional camera you can add a wrist camera to the SO101. There are already many premade wrist camera holders that you can find in the SO101 repo: [Wrist camera's](https://github.com/TheRobotStudio/SO-ARM100#wrist-cameras)
-
-## Teleoperate with cameras
-
-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 \
-  --robot.type=so101 \
-  --control.type=teleoperate \
-  --control.display_data=true
-```
-
-## Record a dataset
-
-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).
-
-Add your token to the cli by running this command:
-```bash
-huggingface-cli login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential
-```
-
-Then store your Hugging Face repository name in a variable:
-```bash
-HF_USER=$(huggingface-cli whoami | head -n 1)
-echo $HF_USER
-```
-
-Now you can record a dataset, to record 2 episodes and upload your dataset to the hub execute this command:
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=so101 \
-  --control.type=record \
-  --control.fps=30 \
-  --control.single_task="Grasp a lego block and put it in the bin." \
-  --control.repo_id=${HF_USER}/so101_test \
-  --control.tags='["so101","tutorial"]' \
-  --control.warmup_time_s=5 \
-  --control.episode_time_s=30 \
-  --control.reset_time_s=30 \
-  --control.num_episodes=2 \
-  --control.display_data=true \
-  --control.push_to_hub=true
-```
-
-You will see a lot of lines appearing like this one:
-```
-INFO 2024-08-10 15:02:58 ol_robot.py:219 dt:33.34 (30.0hz) dtRlead: 5.06 (197.5hz) dtWfoll: 0.25 (3963.7hz) dtRfoll: 6.22 (160.7hz) dtRlaptop: 32.57 (30.7hz) dtRphone: 33.84 (29.5hz)
-```
-It contains:
- `2024-08-10 15:02:58` which is the date and time of the call to the print function,
- `ol_robot.py:219` which is the end of the file name and the line number where the print function is called  (`lerobot/scripts/control_robot.py` line `219`).
- `dt:33.34 (30.0hz)` which is the "delta time" or the number of milliseconds spent between the previous call to `robot.teleop_step(record_data=True)` and the current one, associated with the frequency (33.34 ms equals 30.0 Hz) ; note that we use `--fps 30` so we expect 30.0 Hz ; when a step takes more time, the line appears in yellow.
- `dtRlead: 5.06 (197.5hz)` which is the delta time of reading the present position of the leader arm.
- `dtWfoll: 0.25 (3963.7hz)` which is the delta time of writing the goal position on the follower arm ; writing is asynchronous so it takes less time than reading.
- `dtRfoll: 6.22 (160.7hz)` which is the delta time of reading the present position on the follower arm.
- `dtRlaptop:32.57 (30.7hz) ` which is the delta time of capturing an image from the laptop camera in the thread running asynchronously.
- `dtRphone:33.84 (29.5hz)` which is the delta time of capturing an image from the phone camera in the thread running asynchronously.
-
-#### Dataset upload
-Locally your dataset is stored in this folder: `~/.cache/huggingface/lerobot/{repo-id}` (e.g. `data/cadene/so101_test`). At the end of data recording, your dataset will be uploaded on your Hugging Face page (e.g. https://huggingface.co/datasets/cadene/so101_test) that you can obtain by running:
-```bash
-echo https://huggingface.co/datasets/${HF_USER}/so101_test
-```
-Your dataset will be automatically tagged with `LeRobot` for the community to find it easily, and you can also add custom tags (in this case `tutorial` for example).
-
-You can look for other LeRobot datasets on the hub by searching for `LeRobot` [tags](https://huggingface.co/datasets?other=LeRobot).
-
-#### Record function
-
-The `record` function provides a suite of tools for capturing and managing data during robot operation:
-1. Set the flow of data recording using command line arguments:
-   - `--control.warmup_time_s=10` defines the number of seconds before starting data collection. It allows the robot devices to warmup and synchronize (10 seconds by default).
-   - `--control.episode_time_s=60` defines the number of seconds for data recording for each episode (60 seconds by default).
-   - `--control.reset_time_s=60` defines the number of seconds for resetting the environment after each episode (60 seconds by default).
-   - `--control.num_episodes=50` defines the number of episodes to record (50 by default).
-2. Control the flow during data recording using keyboard keys:
-   - Press right arrow `->` at any time during episode recording to early stop and go to resetting. Same during resetting, to early stop and to go to the next episode recording.
-   - Press left arrow `<-` at any time during episode recording or resetting to early stop, cancel the current episode, and re-record it.
-   - Press escape `ESC` at any time during episode recording to end the session early and go straight to video encoding and dataset uploading.
-3. Checkpoints are done set during recording, so if any issue occurs, you can resume recording by re-running the same command again with `--control.resume=true`. You will need to manually delete the dataset directory if you want to start recording from scratch.
-
-#### Tips for gathering data
-
-Once you're comfortable with data recording, you can create a larger dataset for training. A good starting task is grasping an object at different locations and placing it in a bin. We suggest recording at least 50 episodes, with 10 episodes per location. Keep the cameras fixed and maintain consistent grasping behavior throughout the recordings. Also make sure the object you are manipulating is visible on the camera's. A good rule of thumb is you should be able to do the task yourself by only looking at the camera images.
-
-In the following sections, you’ll train your neural network. After achieving reliable grasping performance, you can start introducing more variations during data collection, such as additional grasp locations, different grasping techniques, and altering camera positions.
-
-Avoid adding too much variation too quickly, as it may hinder your results.
-
-#### Troubleshooting:
- On Linux, if the left and right arrow keys and escape key don't have any effect during data recording, make sure you've set the `$DISPLAY` environment variable. See [pynput limitations](https://pynput.readthedocs.io/en/latest/limitations.html#linux).
-
-## Visualize a dataset
-
-If you uploaded your dataset to the hub with `--control.push_to_hub=true`, you can [visualize your dataset online](https://huggingface.co/spaces/lerobot/visualize_dataset) by copy pasting your repo id given by:
-```bash
-echo ${HF_USER}/so101_test
-```
-
-If you didn't upload with `--control.push_to_hub=false`, you can visualize it locally with (via a window in the browser `http://127.0.0.1:9090` with the visualization tool):
-```bash
-python lerobot/scripts/visualize_dataset_html.py \
-  --repo-id ${HF_USER}/so101_test \
-  --local-files-only 1
-```
-
-This will launch a local web server that looks like this:
-
-<div style="text-align:center;">
-  <img src="../media/tutorial/visualize_dataset_html.webp?raw=true" alt="Koch v1.1 leader and follower arms" title="Koch v1.1 leader and follower arms" width="100%"></img>
-</div>
-
-## Replay an episode
-
-A useful feature is the `replay` function, which allows to replay on your robot any episode that you've recorded or episodes from any dataset out there. This function helps you test the repeatability of your robot's actions and assess transferability across robots of the same model.
-
-You can replay the first episode on your robot with:
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=so101 \
-  --control.type=replay \
-  --control.fps=30 \
-  --control.repo_id=${HF_USER}/so101_test \
-  --control.episode=0
-```
-
-Your robot should replicate movements similar to those you recorded. For example, check out [this video](https://x.com/RemiCadene/status/1793654950905680090) where we use `replay` on a Aloha robot from [Trossen Robotics](https://www.trossenrobotics.com).
-
-## Train a policy
-
-To train a policy to control your robot, use the [`python lerobot/scripts/train.py`](../lerobot/scripts/train.py) script. A few arguments are required. Here is an example command:
-```bash
-python lerobot/scripts/train.py \
-  --dataset.repo_id=${HF_USER}/so101_test \
-  --policy.type=act \
-  --output_dir=outputs/train/act_so101_test \
-  --job_name=act_so101_test \
-  --policy.device=cuda \
-  --wandb.enable=true
-```
-
-Let's explain the command:
-1. We provided the dataset as argument with `--dataset.repo_id=${HF_USER}/so101_test`.
-2. We provided the policy with `policy.type=act`. This loads configurations from [`configuration_act.py`](../lerobot/common/policies/act/configuration_act.py). Importantly, this policy will automatically adapt to the number of motor states, motor actions and cameras of your robot (e.g. `laptop` and `phone`) which have been saved in your dataset.
-4. We provided `policy.device=cuda` since we are training on a Nvidia GPU, but you could use `policy.device=mps` to train on Apple silicon.
-5. We provided `wandb.enable=true` to use [Weights and Biases](https://docs.wandb.ai/quickstart) for visualizing training plots. This is optional but if you use it, make sure you are logged in by running `wandb login`.
-
-Training should take several hours. You will find checkpoints in `outputs/train/act_so101_test/checkpoints`.
-
-To resume training from a checkpoint, below is an example command to resume from `last` checkpoint of the `act_so101_test` policy:
-```bash
-python lerobot/scripts/train.py \
-  --config_path=outputs/train/act_so101_test/checkpoints/last/pretrained_model/train_config.json \
-  --resume=true
-```
-
-#### Upload policy checkpoints
-
-Once training is done, upload the latest checkpoint with:
-```bash
-huggingface-cli upload ${HF_USER}/act_so101_test \
-  outputs/train/act_so101_test/checkpoints/last/pretrained_model
-```
-
-You can also upload intermediate checkpoints with:
-```bash
-CKPT=010000
-huggingface-cli upload ${HF_USER}/act_so101_test${CKPT} \
-  outputs/train/act_so101_test/checkpoints/${CKPT}/pretrained_model
-```
-
-## Evaluate your policy
-
-You can use the `record` function from [`lerobot/scripts/control_robot.py`](../lerobot/scripts/control_robot.py) but with a policy checkpoint as input. For instance, run this command to record 10 evaluation episodes:
-```bash
-python lerobot/scripts/control_robot.py \
-  --robot.type=so101 \
-  --control.type=record \
-  --control.fps=30 \
-  --control.single_task="Grasp a lego block and put it in the bin." \
-  --control.repo_id=${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
-```
-
-As you can see, it's almost the same command as previously used to record your training dataset. Two things changed:
-1. There is an additional `--control.policy.path` argument which indicates the path to your policy checkpoint with  (e.g. `outputs/train/eval_act_so101_test/checkpoints/last/pretrained_model`). You can also use the model repository if you uploaded a model checkpoint to the hub (e.g. `${HF_USER}/act_so101_test`).
-2. The name of dataset begins by `eval` to reflect that you are running inference (e.g. `${HF_USER}/eval_act_so101_test`).
--- a/lerobot/common/robots/so101_follower/so101.md
+++ b/lerobot/common/robots/so101_follower/so101.md
@@ -0,0 +1,373 @@
+# SO-101
+
+In the steps below, we explain how to assemble our flagship robot, the SO-101.
+
+## Source the parts
+
+Follow this [README](https://github.com/TheRobotStudio/SO-ARM100). It contains the bill of materials, with a link to source the parts, as well as the instructions to 3D print the parts.
+And advise if it's your first time printing or if you don't own a 3D printer.
+
+## Install LeRobot 🤗
+
+To install LeRobot, follow our [Installation Guide](./installation)
+
+In addition to these instructions, you need to install the Feetech SDK:
+```bash
+pip install -e ".[feetech]"
+```
+
+## Step-by-Step Assembly Instructions
+
+The follower arm uses 6x STS3215 motors with 1/345 gearing. The leader, however, uses three differently geared motors to make sure it can both sustain its own weight and it can be moved without requiring much force. Which motor is needed for which joint is shown in the table below.
+
+| Leader-Arm Axis | Motor | Gear Ratio |
+|-----------------|:-------:|:----------:|
+| Base / Shoulder Yaw | 1 | 1 / 191 |
+| Shoulder Pitch      | 2 | 1 / 345 |
+| Elbow               | 3 | 1 / 191 |
+| Wrist Roll          | 4 | 1 / 147 |
+| Wrist Pitch         | 5 | 1 / 147 |
+| Gripper             | 6 | 1 / 147 |
+
+### Clean Parts
+Remove all support material from the 3D-printed parts. The easiest way to do this is using a small screwdriver to get underneath the support material.
+
+### Joint 1
+
+- Place the first motor into the base.
+- Fasten the motor with 4 M2x6mm screws (smallest screws). Two from the top and two from the bottom.
+- Slide over the first motor holder and fasten it using two M2x6mm screws (one on each side).
+- Install both motor horns, securing the top horn with a M3x6mm screw.
+- Attach the shoulder part.
+- Tighten the shoulder part with 4 M3x6mm screws on top and 4 M3x6mm screws on the bottom
+- Add the shoulder motor holder.
+
+<div class="video-container">
+  <video controls width="600">
+    <source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint1_v2.mp4" type="video/mp4" />
+  </video>
+</div>
+
+### Joint 2
+
+- Slide the second motor in from the top.
+- Fasten the second motor with 4 M2x6mm screws.
+- Attach both motor horns to motor 2, again use the M3x6mm horn screw.
+- Attach the upper arm with 4 M3x6mm screws on each side.
+
+<div class="video-container">
+  <video controls width="600">
+    <source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint2_v2.mp4" type="video/mp4" />
+  </video>
+</div>
+
+### Joint 3
+
+- Insert motor 3 and fasten using 4 M2x6mm screws
+- Attach both motor horns to motor 3 and secure one again with a M3x6mm horn screw.
+- Connect the forearm to motor 3 using 4 M3x6mm screws on each side.
+
+<div class="video-container">
+  <video controls width="600">
+    <source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint3_v2.mp4" type="video/mp4" />
+  </video>
+</div>
+
+### Joint 4
+
+- Slide over motor holder 4.
+- Slide in motor 4.
+- Fasten motor 4 with 4 M2x6mm screws and attach its motor horns, use a M3x6mm horn screw.
+
+<div class="video-container">
+  <video controls width="600">
+    <source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint4_v2.mp4" type="video/mp4" />
+  </video>
+</div>
+
+### Joint 5
+
+- Insert motor 5 into the wrist holder and secure it with 2 M2x6mm front screws.
+- Install only one motor horn on the wrist motor and secure it with a M3x6mm horn screw.
+- Secure the wrist to motor 4 using 4 M3x6mm screws on both sides.
+
+<div class="video-container">
+  <video controls width="600">
+    <source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint5_v2.mp4" type="video/mp4" />
+  </video>
+</div>
+
+### Gripper / Handle
+
+<hfoptions id="assembly">
+<hfoption id="Follower">
+
+- Attach the gripper to motor 5, attach it to the motor horn on the wrist using 4 M3x6mm screws.
+- Insert the gripper motor and secure it with 2 M2x6mm screws on each side.
+- Attach the motor horns and again use a M3x6mm horn screw.
+- Install the gripper claw and secure it with 4 M3x6mm screws on both sides.
+
+<div class="video-container">
+  <video controls width="600">
+    <source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Gripper_v2.mp4" type="video/mp4" />
+  </video>
+</div>
+
+</hfoption>
+<hfoption id="Leader">
+
+- Mount the leader holder onto the wrist and secure it with 4 M3x6mm screws.
+- Attach the handle to motor 5 using 1 M2x6mm screw.
+- Insert the gripper motor, secure it with 2 M2x6mm screws on each side, attach a motor horn using a M3x6mm horn screw.
+- Attach the follower trigger with 4 M3x6mm screws.
+
+<div class="video-container">
+  <video controls width="600">
+    <source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Leader_v2.mp4" type="video/mp4" />
+  </video>
+</div>
+
+</hfoption>
+</hfoptions>
+
+## Configure the motors
+
+### 1. Find the USB ports associated with each arm
+
+To find the port for each bus servo adapter, run this script:
+```bash
+python lerobot/find_port.py
+```
+
+<hfoptions id="example">
+<hfoption id="Mac">
+
+Example output:
+
+```
+Finding all available ports for the MotorBus.
+['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751']
+Remove the USB cable from your MotorsBus and press Enter when done.
+
+[...Disconnect corresponding leader or follower arm and press Enter...]
+
+The port of this MotorsBus is /dev/tty.usbmodem575E0032081
+Reconnect the USB cable.
+```
+
+Where the found port is: `/dev/tty.usbmodem575E0032081` corresponding to your leader or follower arm.
+
+</hfoption>
+<hfoption id="Linux">
+
+On Linux, you might need to give access to the USB ports by running:
+```bash
+sudo chmod 666 /dev/ttyACM0
+sudo chmod 666 /dev/ttyACM1
+```
+
+Example output:
+
+```
+Finding all available ports for the MotorBus.
+['/dev/ttyACM0', '/dev/ttyACM1']
+Remove the usb cable from your MotorsBus and press Enter when done.
+
+[...Disconnect corresponding leader or follower arm and press Enter...]
+
+The port of this MotorsBus is /dev/ttyACM1
+Reconnect the USB cable.
+```
+
+Where the found port is: `/dev/ttyACM1` corresponding to your leader or follower arm.
+
+</hfoption>
+</hfoptions>
+
+### 2. Set the motors ids and baudrates
+
+Each motor is identified by a unique id on the bus. When brand new, motors usually come with a default id of `1`. For the communication to work properly between the motors and the controller, we first need to set a unique, different id to each motor. Additionally, the speed at which data is transmitted on the bus is determined by the baudrate. In order to talk to each other, the controller and all the motors need to be configured with the same baudrate.
+
+To that end, we first need to connect to each motor individually with the controller in order to set these. Since we will write these parameters in the non-volatile section of the motors' internal memory (EEPROM), we'll only need to do this once.
+
+If you are repurposing motors from another robot, you will probably also need to perform this step as the ids and baudrate likely won't match.
+
+The video below shows the sequence of steps for setting the motor ids.
+
+##### Setup motors video
+
+<div class="video-container">
+  <video controls width="600">
+    <source src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/setup_motors_so101-2-2.mp4" type="video/mp4" />
+  </video>
+</div>
+
+#### Follower
+
+Connect the usb cable from your computer and the power supply to the follower arm's controller board. Then, run the following command or run the API example with the port you got from the previous step. You'll also need to give your leader arm a name with the `id` parameter.
+
+<hfoptions id="setup_motors">
+<hfoption id="Command">
+```bash
+python -m lerobot.setup_motors \
+    --robot.type=so101_follower \
+    --robot.port=/dev/tty.usbmodem585A0076841  # <- paste here the port found at previous step
+```
+</hfoption>
+<hfoption id="API example">
+```python
+from lerobot.common.robots.so101_follower import SO101Follower, SO101FollowerConfig
+
+config = SO101FollowerConfig(
+    port="/dev/tty.usbmodem585A0076841",
+    id="my_awesome_follower_arm",
+)
+follower = SO101Follower(config)
+follower.setup_motors()
+```
+</hfoption>
+</hfoptions>
+
+You should see the following instruction
+```bash
+Connect the controller board to the 'gripper' motor only and press enter.
+```
+
+As instructed, plug the gripper's motor. Make sure it's the only motor connected to the board, and that the motor itself is not yet daisy-chained to any other motor. As you press `[Enter]`, the script will automatically set the id and baudrate for that motor.
+
+<details>
+<summary>Troubleshooting</summary>
+
+  If you get an error at that point, check your cables and make sure they are plugged in properly:
+  <ul>
+    <li>Power supply</li>
+    <li>USB cable between your computer and the controller board</li>
+    <li>The 3-pin cable from the controller board to the motor</li>
+  </ul>
+
+  If you are using a Waveshare controller board, make sure that the two jumpers are set on the `B` channel (USB).
+</details>
+
+You should then see the following message:
+```bash
+'gripper' motor id set to 6
+```
+
+Followed by the next instruction:
+```bash
+Connect the controller board to the 'wrist_roll' motor only and press enter.
+```
+
+You can disconnect the 3-pin cable from the controller board, but you can leave it connected to the gripper motor on the other end, as it will already be in the right place. Now, plug in another 3-pin cable to the wrist roll motor and connect it to the controller board. As with the previous motor, make sure it is the only motor connected to the board and that the motor itself isn't connected to any other one.
+
+Repeat the operation for each motor as instructed.
+
+> [!TIP]
+> Check your cabling at each step before pressing Enter. For instance, the power supply cable might disconnect as you manipulate the board.
+
+When you are done, the script will simply finish, at which point the motors are ready to be used. You can now plug the 3-pin cable from each motor to the next one, and the cable from the first motor (the 'shoulder pan' with id=1) to the controller board, which can now be attached to the base of the arm.
+
+#### Leader
+Do the same steps for the leader arm.
+
+<hfoptions id="setup_motors">
+<hfoption id="Command">
+```bash
+python -m lerobot.setup_motors \
+    --teleop.type=so101_leader \
+    --teleop.port=/dev/tty.usbmodem575E0031751  # <- paste here the port found at previous step
+```
+</hfoption>
+<hfoption id="API example">
+```python
+from lerobot.common.teleoperators.so101_leader import SO101Leader, SO101LeaderConfig
+
+config = SO101LeaderConfig(
+    port="/dev/tty.usbmodem585A0076841",
+    id="my_awesome_leader_arm",
+)
+leader = SO101Leader(config)
+leader.setup_motors()
+```
+</hfoption>
+</hfoptions>
+
+## Calibrate
+
+Next, you'll need to calibrate your robot to ensure that the leader and follower arms have the same position values when they are in the same physical position.
+The calibration process is very important because it allows a neural network trained on one robot to work on another.
+
+#### Follower
+
+Run the following command or API example to calibrate the follower arm:
+
+<hfoptions id="calibrate_follower">
+<hfoption id="Command">
+```bash
+python -m lerobot.calibrate \
+    --robot.type=so101_follower \
+    --robot.port=/dev/tty.usbmodem58760431551 \ # <- The port of your robot
+    --robot.id=my_awesome_follower_arm # <- Give the robot a unique name
+```
+</hfoption>
+<hfoption id="API example">
+```python
+from lerobot.common.robots.so101_follower import SO101FollowerConfig, SO101Follower
+
+config = SO101FollowerConfig(
+    port="/dev/tty.usbmodem585A0076891",
+    id="my_awesome_follower_arm",
+)
+
+follower = SO101Follower(config)
+follower.connect(calibrate=False)
+follower.calibrate()
+follower.disconnect()
+```
+</hfoption>
+</hfoptions>
+
+The video below shows how to perform the calibration. First you need to move the robot to the position where all joints are in the middle of their ranges. Then after pressing enter you have to move each joint through its full range of motion.
+
+##### Calibration video
+
+<div class="video-container">
+  <video controls width="600">
+    <source src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/calibrate_so101-2-2.mp4" type="video/mp4" />
+  </video>
+</div>
+
+#### Leader
+
+Do the same steps to calibrate the leader arm, run the following command or API example:
+
+<hfoptions id="calibrate_leader">
+<hfoption id="Command">
+```bash
+python -m lerobot.calibrate \
+    --teleop.type=so101_leader \
+    --teleop.port=/dev/tty.usbmodem58760431551 \ # <- The port of your robot
+    --teleop.id=my_awesome_leader_arm # <- Give the robot a unique name
+```
+</hfoption>
+<hfoption id="API example">
+```python
+from lerobot.common.teleoperators.so101_leader import SO101LeaderConfig, SO101Leader
+
+config = SO101LeaderConfig(
+    port="/dev/tty.usbmodem58760431551",
+    id="my_awesome_leader_arm",
+)
+
+leader = SO101Leader(config)
+leader.connect(calibrate=False)
+leader.calibrate()
+leader.disconnect()
+```
+</hfoption>
+</hfoptions>
+
+Congrats 🎉, your robot is all set to learn a task on its own. Start training it by following this tutorial: [Getting started with real-world robots](./getting_started_real_world_robot)
+
+> [!TIP]
+>  If you have any questions or need help, please reach out on [Discord](https://discord.com/invite/s3KuuzsPFb).
--- a/lerobot/common/robots/stretch3/configuration_stretch3.py
+++ b/lerobot/common/robots/stretch3/configuration_stretch3.py
@@ -15,8 +15,8 @@
 from dataclasses import dataclass, field

 from lerobot.common.cameras import CameraConfig
-from lerobot.common.cameras.intel import RealSenseCameraConfig
 from lerobot.common.cameras.opencv import OpenCVCameraConfig
+from lerobot.common.cameras.realsense import RealSenseCameraConfig

 from ..config import RobotConfig

--- 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):
--- a/lerobot/common/teleoperators/teleoperator.py
+++ b/lerobot/common/teleoperators/teleoperator.py
@@ -47,15 +47,18 @@ class Teleoperator(abc.ABC):
    def __str__(self) -> str:
        return f"{self.id} {self.__class__.__name__}"

-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
    def action_features(self) -> dict:
        pass

-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
    def feedback_features(self) -> dict:
        pass

-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
    def is_connected(self) -> bool:
        pass

@@ -64,7 +67,8 @@ class Teleoperator(abc.ABC):
        """Connects to the teleoperator."""
        pass

-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
    def is_calibrated(self) -> bool:
        pass

--- a/lerobot/common/utils/control_utils.py
+++ b/lerobot/common/utils/control_utils.py
@@ -38,7 +38,6 @@ from lerobot.common.utils.robot_utils import busy_wait
 from lerobot.common.utils.utils import get_safe_torch_device, has_method


-# NOTE(Steven): Consider integrating this in camera class
 def log_control_info(robot: Robot, dt_s, episode_index=None, frame_index=None, fps=None):
    log_items = []
    if episode_index is not None:
--- a/lerobot/configs/policies.py
+++ b/lerobot/configs/policies.py
@@ -78,15 +78,18 @@ class PreTrainedConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):
    def type(self) -> str:
        return self.get_choice_name(self.__class__)

-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
    def observation_delta_indices(self) -> list | None:
        raise NotImplementedError

-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
    def action_delta_indices(self) -> list | None:
        raise NotImplementedError

-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
    def reward_delta_indices(self) -> list | None:
        raise NotImplementedError

--- a/lerobot/find_cameras.py
+++ b/lerobot/find_cameras.py
@@ -14,6 +14,16 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.

+"""
+Helper to find the camera devices available in your system.
+
+Example:
+
+```shell
+python -m lerobot.find_cameras
+```
+"""
+
 import argparse
 import concurrent.futures
 import logging
@@ -26,13 +36,12 @@ import numpy as np
 from PIL import Image

 from lerobot.common.cameras.configs import ColorMode
-from lerobot.common.cameras.intel.camera_realsense import RealSenseCamera
-from lerobot.common.cameras.intel.configuration_realsense import RealSenseCameraConfig
 from lerobot.common.cameras.opencv.camera_opencv import OpenCVCamera
 from lerobot.common.cameras.opencv.configuration_opencv import OpenCVCameraConfig
+from lerobot.common.cameras.realsense.camera_realsense import RealSenseCamera
+from lerobot.common.cameras.realsense.configuration_realsense import RealSenseCameraConfig

 logger = logging.getLogger(__name__)
-# logging.basicConfig(level=logging.INFO, format="%(asctime)s - %(levelname)s - %(module)s - %(message)s")


 def find_all_opencv_cameras() -> List[Dict[str, Any]]:
@@ -45,7 +54,7 @@ def find_all_opencv_cameras() -> List[Dict[str, Any]]:
    all_opencv_cameras_info: List[Dict[str, Any]] = []
    logger.info("Searching for OpenCV cameras...")
    try:
-        opencv_cameras = OpenCVCamera.find_cameras(raise_when_empty=False)
+        opencv_cameras = OpenCVCamera.find_cameras()
        for cam_info in opencv_cameras:
            all_opencv_cameras_info.append(cam_info)
        logger.info(f"Found {len(opencv_cameras)} OpenCV cameras.")
@@ -65,7 +74,7 @@ def find_all_realsense_cameras() -> List[Dict[str, Any]]:
    all_realsense_cameras_info: List[Dict[str, Any]] = []
    logger.info("Searching for RealSense cameras...")
    try:
-        realsense_cameras = RealSenseCamera.find_cameras(raise_when_empty=False)
+        realsense_cameras = RealSenseCamera.find_cameras()
        for cam_info in realsense_cameras:
            all_realsense_cameras_info.append(cam_info)
        logger.info(f"Found {len(realsense_cameras)} RealSense cameras.")
@@ -170,7 +179,7 @@ def create_camera_instance(cam_meta: Dict[str, Any]) -> Dict[str, Any] | None:
            instance = OpenCVCamera(cv_config)
        elif cam_type == "RealSense":
            rs_config = RealSenseCameraConfig(
-                serial_number=str(cam_id),
+                serial_number_or_name=int(cam_id),
                color_mode=ColorMode.RGB,
            )
            instance = RealSenseCamera(rs_config)
@@ -180,7 +189,7 @@ def create_camera_instance(cam_meta: Dict[str, Any]) -> Dict[str, Any] | None:

        if instance:
            logger.info(f"Connecting to {cam_type} camera: {cam_id}...")
-            instance.connect(do_warmup_read=False)
+            instance.connect(warmup=False)
            return {"instance": instance, "meta": cam_meta}
    except Exception as e:
        logger.error(f"Failed to connect or configure {cam_type} camera {cam_id}: {e}")
@@ -293,28 +302,8 @@ if __name__ == "__main__":
    parser = argparse.ArgumentParser(
        description="Unified camera utility script for listing cameras and capturing images."
    )
-    subparsers = parser.add_subparsers(dest="command", help="Available commands")

-    # List cameras command
-    list_parser = subparsers.add_parser(
-        "list-cameras", help="Shows connected cameras. Optionally filter by type (realsense or opencv)."
-    )
-    list_parser.add_argument(
-        "camera_type",
-        type=str,
-        nargs="?",
-        default=None,
-        choices=["realsense", "opencv"],
-        help="Specify camera type to list (e.g., 'realsense', 'opencv'). Lists all if omitted.",
-    )
-    list_parser.set_defaults(func=lambda args: find_and_print_cameras(args.camera_type))
-
-    # Capture images command
-    capture_parser = subparsers.add_parser(
-        "capture-images",
-        help="Saves images from detected cameras (optionally filtered by type) using their default stream profiles.",
-    )
-    capture_parser.add_argument(
+    parser.add_argument(
        "camera_type",
        type=str,
        nargs="?",
@@ -322,19 +311,19 @@ if __name__ == "__main__":
        choices=["realsense", "opencv"],
        help="Specify camera type to capture from (e.g., 'realsense', 'opencv'). Captures from all if omitted.",
    )
-    capture_parser.add_argument(
+    parser.add_argument(
        "--output-dir",
        type=Path,
        default="outputs/captured_images",
        help="Directory to save images. Default: outputs/captured_images",
    )
-    capture_parser.add_argument(
+    parser.add_argument(
        "--record-time-s",
        type=float,
        default=6.0,
        help="Time duration to attempt capturing frames. Default: 6 seconds.",
    )
-    capture_parser.set_defaults(
+    parser.set_defaults(
        func=lambda args: save_images_from_all_cameras(
            output_dir=args.output_dir,
            record_time_s=args.record_time_s,
@@ -344,14 +333,4 @@ if __name__ == "__main__":

    args = parser.parse_args()

-    if args.command is None:
-        default_output_dir = capture_parser.get_default("output_dir")
-        default_record_time_s = capture_parser.get_default("record_time_s")
-
-        save_images_from_all_cameras(
-            output_dir=default_output_dir,
-            record_time_s=default_record_time_s,
-            camera_type_filter=None,
-        )
-    else:
-        args.func(args)
+    args.func(args)
--- a/lerobot/record.py
+++ b/lerobot/record.py
@@ -45,6 +45,8 @@ import rerun as rr
 from lerobot.common.cameras import (  # noqa: F401
    CameraConfig,  # noqa: F401
 )
+from lerobot.common.cameras.opencv.configuration_opencv import OpenCVCameraConfig  # noqa: F401
+from lerobot.common.cameras.realsense.configuration_realsense import RealSenseCameraConfig  # noqa: F401
 from lerobot.common.datasets.image_writer import safe_stop_image_writer
 from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.common.datasets.utils import build_dataset_frame, hw_to_dataset_features
@@ -56,6 +58,7 @@ 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,
@@ -79,7 +82,7 @@ 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
--- 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 (
--- 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",
 ]


--- 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
 ```
 """

@@ -38,12 +39,15 @@ import draccus
 import numpy as np
 import rerun as rr

+from lerobot.common.cameras.opencv.configuration_opencv import OpenCVCameraConfig  # noqa: F401
+from lerobot.common.cameras.realsense.configuration_realsense import RealSenseCameraConfig  # noqa: F401
 from lerobot.common.robots import (  # noqa: F401
    Robot,
    RobotConfig,
    koch_follower,
    make_robot_from_config,
    so100_follower,
+    so101_follower,
 )
 from lerobot.common.teleoperators import (
    Teleoperator,
@@ -53,7 +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
--- a/media/aloha/follower_rest.webp
+++ b/media/aloha/follower_rest.webp
--- a/media/aloha/follower_rotated.webp
+++ b/media/aloha/follower_rotated.webp
--- a/media/aloha/follower_zero.webp
+++ b/media/aloha/follower_zero.webp
--- a/media/aloha/leader_rest.webp
+++ b/media/aloha/leader_rest.webp
--- a/media/aloha/leader_rotated.webp
+++ b/media/aloha/leader_rotated.webp
--- a/media/aloha/leader_zero.webp
+++ b/media/aloha/leader_zero.webp
--- a/media/koch/follower_rest.webp
+++ b/media/koch/follower_rest.webp
--- a/media/koch/follower_rotated.webp
+++ b/media/koch/follower_rotated.webp
--- a/media/koch/follower_zero.webp
+++ b/media/koch/follower_zero.webp
--- a/media/koch/leader_rest.webp
+++ b/media/koch/leader_rest.webp
--- a/media/koch/leader_rotated.webp
+++ b/media/koch/leader_rotated.webp
--- a/media/koch/leader_zero.webp
+++ b/media/koch/leader_zero.webp
--- a/media/lekiwi/mobile_calib_rest.webp
+++ b/media/lekiwi/mobile_calib_rest.webp
--- a/media/lekiwi/mobile_calib_rotated.webp
+++ b/media/lekiwi/mobile_calib_rotated.webp
--- a/media/lekiwi/mobile_calib_zero.webp
+++ b/media/lekiwi/mobile_calib_zero.webp
--- a/media/lekiwi/motor_ids.webp
+++ b/media/lekiwi/motor_ids.webp
--- a/media/moss/follower_initial.webp
+++ b/media/moss/follower_initial.webp
--- a/media/moss/follower_rest.webp
+++ b/media/moss/follower_rest.webp
--- a/media/moss/follower_rotated.webp
+++ b/media/moss/follower_rotated.webp
--- a/media/moss/follower_zero.webp
+++ b/media/moss/follower_zero.webp
--- a/media/moss/leader_rest.webp
+++ b/media/moss/leader_rest.webp
--- a/media/moss/leader_rotated.webp
+++ b/media/moss/leader_rotated.webp
--- a/media/moss/leader_zero.webp
+++ b/media/moss/leader_zero.webp
--- a/media/so100/follower_initial.webp
+++ b/media/so100/follower_initial.webp
--- a/media/so100/follower_rest.webp
+++ b/media/so100/follower_rest.webp
--- a/media/so100/follower_rotated.webp
+++ b/media/so100/follower_rotated.webp
--- a/media/so100/follower_zero.webp
+++ b/media/so100/follower_zero.webp
--- a/media/so100/leader_rest.webp
+++ b/media/so100/leader_rest.webp
--- a/media/so100/leader_rotated.webp
+++ b/media/so100/leader_rotated.webp
--- a/media/so100/leader_zero.webp
+++ b/media/so100/leader_zero.webp
--- a/media/so101/follower_middle.webp
+++ b/media/so101/follower_middle.webp
--- a/media/so101/follower_rest.webp
+++ b/media/so101/follower_rest.webp
--- a/media/so101/follower_rotated.webp
+++ b/media/so101/follower_rotated.webp
--- a/media/so101/follower_zero.webp
+++ b/media/so101/follower_zero.webp
--- a/media/so101/leader_middle.webp
+++ b/media/so101/leader_middle.webp
--- a/media/so101/leader_rest.webp
+++ b/media/so101/leader_rest.webp
--- a/media/so101/leader_rotated.webp
+++ b/media/so101/leader_rotated.webp
--- a/media/so101/leader_zero.webp
+++ b/media/so101/leader_zero.webp
--- a/media/tutorial/img1.jpg
+++ b/media/tutorial/img1.jpg
--- a/media/tutorial/img10.jpg
+++ b/media/tutorial/img10.jpg
--- a/media/tutorial/img11.jpg
+++ b/media/tutorial/img11.jpg
--- a/media/tutorial/img12.jpg
+++ b/media/tutorial/img12.jpg
--- a/media/tutorial/img13.jpg
+++ b/media/tutorial/img13.jpg
--- a/media/tutorial/img14.jpg
+++ b/media/tutorial/img14.jpg
--- a/media/tutorial/img15.jpg
+++ b/media/tutorial/img15.jpg
--- a/media/tutorial/img16.jpg
+++ b/media/tutorial/img16.jpg
--- a/media/tutorial/img17.jpg
+++ b/media/tutorial/img17.jpg
--- a/media/tutorial/img18.jpg
+++ b/media/tutorial/img18.jpg
--- a/media/tutorial/img19.jpg
+++ b/media/tutorial/img19.jpg
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Pepijn	b83892092f	Minor addition	2025-05-21 16:36:08 +02:00
Pepijn	3b8e714af6	Placed robot docs in robot folders and created symlink for docs	2025-05-21 16:36:04 +02:00
Pepijn	e8a0bbcfb1	Check and improve spelling	2025-05-21 16:36:01 +02:00
Pepijn	60cbde1a78	undo previous commit	2025-05-21 16:35:57 +02:00
Pepijn	95ebc27d32	rename to action_features	2025-05-21 16:35:54 +02:00
Pepijn	6fa290f961	add correct rotation lekiwi config	2025-05-21 16:35:50 +02:00
Pepijn	ca82e9aebf	fix for lekiwi config camera index name	2025-05-21 16:35:47 +02:00
Pepijn	5e160be3cc	Add initial docs for lekiwi teleop	2025-05-21 16:35:43 +02:00
Pepijn	54da1d8181	fix formatting issue contributing.md	2025-05-21 16:35:40 +02:00
Pepijn	7053cc6aaf	Use symlink in docs/ pointing to root CONTRIBUTING.md	2025-05-21 16:35:36 +02:00
Pepijn	8ce28a7d17	remove contributing symlink	2025-05-21 16:35:33 +02:00
Pepijn	c1196e350c	Create symlink to contributing	2025-05-21 16:35:28 +02:00
Pepijn	4a539b9d05	doc: Initial changes, removed media images, added robot docs (setup motors+calibration)	2025-05-21 16:35:19 +02:00
Pepijn	3c1b657fdd	Merge branch 'user/aliberts/2025_02_25_refactor_robots' into refactor/updated_api_docs	2025-05-21 16:31:38 +02:00
pre-commit-ci[bot]	65ad0650b0	[pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci	2025-05-21 14:13:06 +00:00
Steven Palma	0c411a6832	[skip ci] doc(tests): add comment related to test duration	2025-05-21 16:12:40 +02:00
Steven Palma	4d9825bb1d	fix(ci): change default opencv backend	2025-05-21 16:06:16 +02:00
Steven Palma	47d5008407	chore(cameras): address unresolved conversations	2025-05-21 15:41:52 +02:00
Steven Palma	95f3e53eba	chore(test): try import rs protect	2025-05-21 15:16:20 +02:00
Steven Palma	625bb9c9d8	chore(cameras): try import rs protect	2025-05-21 15:09:55 +02:00
Steven Palma	95a951883e	Merge branch 'user/aliberts/2025_02_25_refactor_robots' into refactor/camera_implementations_and_tests_improvements	2025-05-21 15:02:53 +02:00
Steven Palma	73bb9709a7	chore(cameras): remove 14 logs	2025-05-21 13:50:52 +02:00
Steven Palma	f8c7e59f83	test(cameras): use fixture for realsense patching + depth read test	2025-05-21 13:29:53 +02:00
Steven Palma	7f7c431061	docs(cameras): update find_cameras instructions	2025-05-21 13:29:30 +02:00
Steven Palma	76f661f8b5	chore(robots): fix pre-commit	2025-05-20 19:15:01 +02:00
pre-commit-ci[bot]	1c90cd1269	[pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci	2025-05-20 17:10:38 +00:00
Steven Palma	a36536dc07	Apply suggestions from code review 3 Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>	2025-05-20 19:10:06 +02:00
Steven Palma	33b8559060	refactor(cameras): move find_cameras to the base class	2025-05-20 19:01:13 +02:00
Steven Palma	91a5fafdae	feat(cameras): add check for fps, height and width in realsenseconfig (all or none)	2025-05-20 18:40:20 +02:00
Steven Palma	a653210173	chore(cameras): move _stop_thread under _start_thread methods	2025-05-20 18:31:55 +02:00
Steven Palma	eb2d967c85	docs(cameras): add explanation of warmup arg in connect	2025-05-20 18:18:13 +02:00
Steven Palma	7a4b9f0cbf	chore(cameras): rename prerotated_ to capture_ var names	2025-05-20 18:09:22 +02:00
Steven Palma	18b56e1533	refactor(cameras): realsense config arg serial_number_or_name	2025-05-20 18:03:53 +02:00
Steven Palma	39a93a7b28	docs(cameras): update arg in class doc	2025-05-20 17:49:19 +02:00
Steven Palma	b3dafcfb07	docs(cameras): update depth related example	2025-05-20 17:35:24 +02:00
Steven Palma	39f908e9db	chore(cameras): move if check out of _validate functions	2025-05-20 17:24:51 +02:00
Steven Palma	99ea24d6a3	chore(cameras): move connect under is_connected	2025-05-20 17:09:16 +02:00
Steven Palma	efd2849184	chore(tests): add ids to parametrize	2025-05-20 16:54:52 +02:00
Steven Palma	ab7565a666	chore(cameras): refactor utility function dictionary fetching style	2025-05-20 16:43:58 +02:00
Steven Palma	525cd68e62	chore(cameras): fix imports renamed folder + add camera configs in utility scripts	2025-05-20 16:39:17 +02:00
Steven Palma	9812f2db09	chore(cameras): rename intel -> realsense	2025-05-20 16:18:49 +02:00
Steven Palma	85b0dd0ec1	chore(tests): delete fakecam images	2025-05-20 14:43:23 +02:00
Steven Palma	41179d0996	chore(cameras): address review comments + make test pass again	2025-05-20 14:42:05 +02:00
pre-commit-ci[bot]	3a08eddeab	[pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci	2025-05-20 11:47:14 +00:00
Steven Palma	3890c38c12	Apply suggestions from code review camera_opencv Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>	2025-05-20 13:47:00 +02:00
pre-commit-ci[bot]	05d8825bcb	[pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci	2025-05-20 11:41:00 +00:00
Steven Palma	1f2cfd3828	Apply suggestions from code review camera_realsense.py Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>	2025-05-20 13:40:45 +02:00
Simon Alibert	8ab2227148	Replace deprecated abc.abstractproperty	2025-05-20 13:16:34 +02:00
pre-commit-ci[bot]	295b96c539	[pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci	2025-05-20 11:05:57 +00:00
Steven Palma	f27f5f84b0	Apply suggestions from code review 1 Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>	2025-05-20 13:05:41 +02:00
Simon Alibert	9dab08dfbc	Remove old .cache folder	2025-05-20 09:53:01 +02:00
Simon Alibert	05dfa26c54	Fix test	2025-05-19 11:24:10 +02:00
Simon Alibert	edbba48e81	Add so100_follower tests	2025-05-19 10:58:35 +02:00
Simon Alibert	10119c1a59	Move MockMotorsBus	2025-05-18 11:51:47 +02:00
Simon Alibert	c7ef189da0	Add check for same min and max during calibration	2025-05-16 10:48:45 +02:00
Steven Palma	5daf552127	fix(cameras): realsense depth post_process channel check	2025-05-15 16:48:52 +02:00
Steven Palma	6797e1d92b	fix(cameras): correct validate_width_height logic	2025-05-15 16:45:19 +02:00
Simon Alibert	51efe6dfee	Add setup_motors for lekiwi	2025-05-15 11:46:41 +02:00
				`@@ -0,0 +1 @@`
				`../../lerobot/common/robots/koch_follower/koch.md`
				`@@ -0,0 +1 @@`
				`../../lerobot/common/robots/lekiwi/lekiwi.md`
				`@@ -0,0 +1 @@`
				`../../lerobot/common/robots/so100_follower/so100.md`
				`@@ -0,0 +1 @@`
				`../../lerobot/common/robots/so101_follower/so101.md`