chore(examples): homogenize style across example files (#1955)

* chore(examples): homogenize style across example files

* chore(examples): homogenize style across example files eval + replay

* chore(examples): homogenize headers

examples/lekiwi/evaluate.py

@@ -1,7 +1,24 @@
+# !/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# 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.
+
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.utils import hw_to_dataset_features
 from lerobot.policies.act.modeling_act import ACTPolicy
 from lerobot.policies.factory import make_pre_post_processors
+from lerobot.processor import make_default_processors
 from lerobot.record import record_loop
 from lerobot.robots.lekiwi import LeKiwiClient, LeKiwiClientConfig
 from lerobot.utils.control_utils import init_keyboard_listener
@@ -15,10 +32,12 @@ TASK_DESCRIPTION = "My task description"
 HF_MODEL_ID = "<hf_username>/<model_repo_id>"
 HF_DATASET_ID = "<hf_username>/<eval_dataset_repo_id>"
 
-# Create the robot and teleoperator configurations
+# Create the robot configuration & robot
 robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="lekiwi")
+
 robot = LeKiwiClient(robot_config)
 
+# Create policy
 policy = ACTPolicy.from_pretrained(HF_MODEL_ID)
 
 # Configure the dataset features
@@ -36,41 +55,50 @@ dataset = LeRobotDataset.create(
     image_writer_threads=4,
 )
 
-# To connect you already should have this script running on LeKiwi: `python -m lerobot.robots.lekiwi.lekiwi_host --robot.id=my_awesome_kiwi`
-robot.connect()
-
-_init_rerun(session_name="recording")
-
-listener, events = init_keyboard_listener()
-
-if not robot.is_connected:
-    raise ValueError("Robot is not connected!")
-
+# Build Policy Processors
 preprocessor, postprocessor = make_pre_post_processors(
     policy_cfg=policy,
     pretrained_path=HF_MODEL_ID,
     dataset_stats=dataset.meta.stats,
 )
 
+# Connect the robot
+# To connect you already should have this script running on LeKiwi: `python -m lerobot.robots.lekiwi.lekiwi_host --robot.id=my_awesome_kiwi`
+robot.connect()
+
+# TODO(Steven): Update this example to use pipelines
+teleop_action_processor, robot_action_processor, robot_observation_processor = make_default_processors()
+
+# Initialize the keyboard listener and rerun visualization
+listener, events = init_keyboard_listener()
+_init_rerun(session_name="lekiwi_evaluate")
+
+if not robot.is_connected:
+    raise ValueError("Robot is not connected!")
+
+print("Starting evaluate loop...")
 recorded_episodes = 0
 while recorded_episodes < NUM_EPISODES and not events["stop_recording"]:
     log_say(f"Running inference, recording eval episode {recorded_episodes} of {NUM_EPISODES}")
 
-    # Run the policy inference loop
+    # Main record loop
     record_loop(
         robot=robot,
         events=events,
         fps=FPS,
         policy=policy,
-        preprocessor=preprocessor,
+        preprocessor=preprocessor,  # Pass the pre and post policy processors
         postprocessor=postprocessor,
         dataset=dataset,
         control_time_s=EPISODE_TIME_SEC,
         single_task=TASK_DESCRIPTION,
         display_data=True,
+        teleop_action_processor=teleop_action_processor,
+        robot_action_processor=robot_action_processor,
+        robot_observation_processor=robot_observation_processor,
     )
 
-    # Logic for reset env
+    # Reset the environment if not stopping or re-recording
     if not events["stop_recording"] and (
         (recorded_episodes < NUM_EPISODES - 1) or events["rerecord_episode"]
     ):
@@ -82,6 +110,9 @@ while recorded_episodes < NUM_EPISODES and not events["stop_recording"]:
             control_time_s=EPISODE_TIME_SEC,
             single_task=TASK_DESCRIPTION,
             display_data=True,
+            teleop_action_processor=teleop_action_processor,
+            robot_action_processor=robot_action_processor,
+            robot_observation_processor=robot_observation_processor,
         )
 
     if events["rerecord_episode"]:
@@ -91,11 +122,12 @@ while recorded_episodes < NUM_EPISODES and not events["stop_recording"]:
         dataset.clear_episode_buffer()
         continue
 
+    # Save episode
     dataset.save_episode()
     recorded_episodes += 1
 
-# Upload to hub and clean up
-dataset.push_to_hub()
-
+# Clean up
+log_say("Stop recording")
 robot.disconnect()
 listener.stop()
+dataset.push_to_hub()

examples/lekiwi/record.py

@@ -1,5 +1,22 @@
+# !/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# 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.
+
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.utils import hw_to_dataset_features
+from lerobot.processor import make_default_processors
 from lerobot.record import record_loop
 from lerobot.robots.lekiwi.config_lekiwi import LeKiwiClientConfig
 from lerobot.robots.lekiwi.lekiwi_client import LeKiwiClient
@@ -14,16 +31,21 @@ FPS = 30
 EPISODE_TIME_SEC = 30
 RESET_TIME_SEC = 10
 TASK_DESCRIPTION = "My task description"
+HF_REPO_ID = "<hf_username>/<dataset_repo_id>"
 
 # Create the robot and teleoperator configurations
 robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="lekiwi")
 leader_arm_config = SO100LeaderConfig(port="/dev/tty.usbmodem585A0077581", id="my_awesome_leader_arm")
 keyboard_config = KeyboardTeleopConfig()
 
+# Initialize the robot and teleoperator
 robot = LeKiwiClient(robot_config)
 leader_arm = SO100Leader(leader_arm_config)
 keyboard = KeyboardTeleop(keyboard_config)
 
+# TODO(Steven): Update this example to use pipelines
+teleop_action_processor, robot_action_processor, robot_observation_processor = make_default_processors()
+
 # Configure the dataset features
 action_features = hw_to_dataset_features(robot.action_features, "action")
 obs_features = hw_to_dataset_features(robot.observation_features, "observation")
@@ -31,7 +53,7 @@ dataset_features = {**action_features, **obs_features}
 
 # Create the dataset
 dataset = LeRobotDataset.create(
-    repo_id="<hf_username>/<dataset_repo_id>",
+    repo_id=HF_REPO_ID,
     fps=FPS,
     features=dataset_features,
     robot_type=robot.name,
@@ -39,23 +61,25 @@ dataset = LeRobotDataset.create(
     image_writer_threads=4,
 )
 
+# Connect the robot and teleoperator
 # To connect you already should have this script running on LeKiwi: `python -m lerobot.robots.lekiwi.lekiwi_host --robot.id=my_awesome_kiwi`
 robot.connect()
 leader_arm.connect()
 keyboard.connect()
 
+# Initialize the keyboard listener and rerun visualization
+listener, events = init_keyboard_listener()
 _init_rerun(session_name="lekiwi_record")
 
-listener, events = init_keyboard_listener()
-
 if not robot.is_connected or not leader_arm.is_connected or not keyboard.is_connected:
-    raise ValueError("Robot, leader arm of keyboard is not connected!")
+    raise ValueError("Robot or teleop is not connected!")
 
+print("Starting record loop...")
 recorded_episodes = 0
 while recorded_episodes < NUM_EPISODES and not events["stop_recording"]:
     log_say(f"Recording episode {recorded_episodes}")
 
-    # Run the record loop
+    # Main record loop
     record_loop(
         robot=robot,
         events=events,
@@ -65,9 +89,12 @@ while recorded_episodes < NUM_EPISODES and not events["stop_recording"]:
         control_time_s=EPISODE_TIME_SEC,
         single_task=TASK_DESCRIPTION,
         display_data=True,
+        teleop_action_processor=teleop_action_processor,
+        robot_action_processor=robot_action_processor,
+        robot_observation_processor=robot_observation_processor,
     )
 
-    # Logic for reset env
+    # Reset the environment if not stopping or re-recording
     if not events["stop_recording"] and (
         (recorded_episodes < NUM_EPISODES - 1) or events["rerecord_episode"]
     ):
@@ -80,6 +107,9 @@ while recorded_episodes < NUM_EPISODES and not events["stop_recording"]:
             control_time_s=RESET_TIME_SEC,
             single_task=TASK_DESCRIPTION,
             display_data=True,
+            teleop_action_processor=teleop_action_processor,
+            robot_action_processor=robot_action_processor,
+            robot_observation_processor=robot_observation_processor,
         )
 
     if events["rerecord_episode"]:
@@ -89,13 +119,14 @@ while recorded_episodes < NUM_EPISODES and not events["stop_recording"]:
         dataset.clear_episode_buffer()
         continue
 
+    # Save episode
     dataset.save_episode()
     recorded_episodes += 1
 
-# Upload to hub and clean up
-dataset.push_to_hub()
-
+# Clean up
+log_say("Stop recording")
 robot.disconnect()
 leader_arm.disconnect()
 keyboard.disconnect()
 listener.stop()
+dataset.push_to_hub()

examples/lekiwi/replay.py

@@ -1,3 +1,19 @@
+# !/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# 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.
+
 import time
 
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
@@ -8,25 +24,34 @@ from lerobot.utils.utils import log_say
 
 EPISODE_IDX = 0
 
+# Initialize the robot config
 robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="lekiwi")
+
+# Initialize the robot
 robot = LeKiwiClient(robot_config)
 
+# Fetch the dataset to replay
 dataset = LeRobotDataset("<hf_username>/<dataset_repo_id>", episodes=[EPISODE_IDX])
 actions = dataset.hf_dataset.select_columns("action")
 
+# Connect to the robot
 robot.connect()
 
 if not robot.is_connected:
     raise ValueError("Robot is not connected!")
 
+print("Starting replay loop...")
 log_say(f"Replaying episode {EPISODE_IDX}")
 for idx in range(dataset.num_frames):
     t0 = time.perf_counter()
 
+    # Get recorded action from dataset
     action = {
         name: float(actions[idx]["action"][i]) for i, name in enumerate(dataset.features["action"]["names"])
     }
-    robot.send_action(action)
+
+    # Send action to robot
+    _ = robot.send_action(action)
 
     busy_wait(max(1.0 / dataset.fps - (time.perf_counter() - t0), 0.0))
 

examples/lekiwi/teleoperate.py

@@ -1,3 +1,19 @@
+# !/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# 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.
+
 import time
 
 from lerobot.robots.lekiwi import LeKiwiClient, LeKiwiClientConfig
@@ -13,35 +29,44 @@ robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="my_lekiwi")
 teleop_arm_config = SO100LeaderConfig(port="/dev/tty.usbmodem585A0077581", id="my_awesome_leader_arm")
 keyboard_config = KeyboardTeleopConfig(id="my_laptop_keyboard")
 
+# Initialize the robot and teleoperator
 robot = LeKiwiClient(robot_config)
 leader_arm = SO100Leader(teleop_arm_config)
 keyboard = KeyboardTeleop(keyboard_config)
 
+# Connect to the robot and teleoperator
 # To connect you already should have this script running on LeKiwi: `python -m lerobot.robots.lekiwi.lekiwi_host --robot.id=my_awesome_kiwi`
 robot.connect()
 leader_arm.connect()
 keyboard.connect()
 
+# Init rerun viewer
 _init_rerun(session_name="lekiwi_teleop")
 
 if not robot.is_connected or not leader_arm.is_connected or not keyboard.is_connected:
-    raise ValueError("Robot, leader arm of keyboard is not connected!")
+    raise ValueError("Robot or teleop is not connected!")
 
+print("Starting teleop loop...")
 while True:
     t0 = time.perf_counter()
 
+    # Get robot observation
     observation = robot.get_observation()
 
+    # Get teleop action
+    # Arm
     arm_action = leader_arm.get_action()
     arm_action = {f"arm_{k}": v for k, v in arm_action.items()}
-
+    # Keyboard
     keyboard_keys = keyboard.get_action()
     base_action = robot._from_keyboard_to_base_action(keyboard_keys)
 
-    log_rerun_data(observation=observation, action={**arm_action, **base_action})
-
     action = {**arm_action, **base_action} if len(base_action) > 0 else arm_action
 
-    robot.send_action(action)
+    # Send action to robot
+    _ = robot.send_action(action)
+
+    # Visualize
+    log_rerun_data(observation=observation, action=action)
 
     busy_wait(max(1.0 / FPS - (time.perf_counter() - t0), 0.0))