Sota Nakamura

Update PR #3631 fix #3626 A microsoft employee must use /azp run to validate using the pipelines below. WARNING: Comments made by azure-pipelines bot maybe inaccurate. Please see pipeline link...

## 現状の問題点 ros2_controlの使用方法が記載されていないため、MoveIt 2の代わりに独自の軌道生成プログラムを使用する方法やテレオペレーションのように直接関節角度を指定する方法が明確ではありません。 ## 改善案 ros2_controlの使用方法を記載します。コマンドラインから次を実行することで、関節角度を指定することができます。 ``` ros2 topic pub /right_arm_controller/joint_trajectory trajectory_msgs/msg/JointTrajectory "{joint_names: [r_arm_joint1, r_arm_joint2, r_arm_joint3, r_arm_joint4, r_arm_joint5, r_arm_joint6, r_arm_joint7], points: [{positions: [0,0,0,0,0,0,0]}]}" --once ```

Cannot visualize episodes whose indexes are not 0

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### System Info ```Shell - lerobot version: 0.4.2 - Platform: Linux-6.8.0-87-generic-x86_64-with-glibc2.35 - Python version: 3.10.12 - Huggingface Hub version: 0.35.3 - Datasets version: 4.1.1 - Numpy version: 2.2.6 - PyTorch...

## What this does This PR removes the unnecessary custom sampler for visualization. #2456 fixed the data access to the subset of the dataset. The custom sampler adjusting indexes is...

fix(scripts): finalize the dataset after recording

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## What this does This PR adds finalization of datasets after an exception is occurred while recording. fix #2495 ## How it was tested Tested with a real hardware. ##...

### System Info ```Shell - lerobot version: 0.4.2 - Platform: Linux-6.8.0-87-generic-x86_64-with-glibc2.35 - Python version: 3.10.12 - Huggingface Hub version: 0.35.3 - Datasets version: 4.1.1 - Numpy version: 2.2.6 - PyTorch...

## What this does This PR changes the the key from id to serial_number. The key "serial_number" is used in [`_find_serial_number_from_name`](https://github.com/sotanakamura/lerobot/blob/0f551df8f4bad4c504e395ea3df74fc5f714016f/src/lerobot/cameras/realsense/camera_realsense.py#L259) This also includes the fix for mypy type checks...

### System Info ```Shell - lerobot version: 0.4.2 - Platform: Linux-6.8.0-87-generic-x86_64-with-glibc2.35 - Python version: 3.10.12 - Huggingface Hub version: 0.35.3 - Datasets version: 4.1.1 - Numpy version: 2.2.6 - PyTorch...