Streamline IL: unify sim episode control, simplify create_dataset#83
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- SimLeRobotRecorder gains start_keyboard() and tick() methods so the episode flags/keyboard/rate-limiting loop is owned by the recorder rather than duplicated across every teleop script. finalize() now stops the keyboard listener automatically. - All three teleop scripts (keyboard_teleop, so101_keyboard_teleop, so101_leader_teleop) drop ~15 lines each of flag-handling boilerplate; the per-step block reduces to recorder.tick(action, state, images). - create_dataset() simplified to a single required root: Path parameter; the dead record_root branch and get_next_experiment_path_with_gap import are removed from schema.py. LeRobotSink updated to match. https://claude.ai/code/session_01NFYSHfEmqNn7d75qCnzAEy
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https://claude.ai/code/session_01NFYSHfEmqNn7d75qCnzAEy