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/so100_to_so100_EE/evaluate.py

@@ -14,7 +14,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
 from lerobot.configs.types import FeatureType, PolicyFeature
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
@@ -54,7 +53,7 @@ TASK_DESCRIPTION = "My task description"
 HF_MODEL_ID = "<hf_username>/<model_repo_id>"
 HF_DATASET_ID = "<hf_username>/<dataset_repo_id>"
 
-# Initialize the robot with degrees
+# Create the robot configuration & robot
 camera_config = {"front": OpenCVCameraConfig(index_or_path=0, width=640, height=480, fps=FPS)}
 robot_config = SO100FollowerConfig(
     port="/dev/tty.usbmodem5A460814411",
@@ -63,9 +62,11 @@ robot_config = SO100FollowerConfig(
     use_degrees=True,
 )
 
-# Initialize the robot
 robot = SO100Follower(robot_config)
 
+# Create policy
+policy = ACTPolicy.from_pretrained(HF_MODEL_ID)
+
 # NOTE: It is highly recommended to use the urdf in the SO-ARM100 repo: https://github.com/TheRobotStudio/SO-ARM100/blob/main/Simulation/SO101/so101_new_calib.urdf
 kinematics_solver = RobotKinematics(
     urdf_path="./src/lerobot/teleoperators/sim/so101_new_calib.urdf",
@@ -73,7 +74,7 @@ kinematics_solver = RobotKinematics(
     joint_names=list(robot.bus.motors.keys()),
 )
 
-# Build pipeline to convert ee pose action to joint action
+# Build pipeline to convert EE action to joints action
 robot_ee_to_joints_processor = RobotProcessorPipeline[RobotAction, RobotAction](
     steps=[
         AddRobotObservationAsComplimentaryData(robot=robot),
@@ -87,7 +88,7 @@ robot_ee_to_joints_processor = RobotProcessorPipeline[RobotAction, RobotAction](
     to_output=transition_to_robot_action,
 )
 
-# Build pipeline to convert joint observation to ee pose observation
+# Build pipeline to convert joints observation to EE observation
 robot_joints_to_ee_pose_processor = RobotProcessorPipeline[RobotObservation, RobotObservation](
     steps=[
         ForwardKinematicsJointsToEE(kinematics=kinematics_solver, motor_names=list(robot.bus.motors.keys()))
@@ -125,31 +126,35 @@ dataset = LeRobotDataset.create(
     image_writer_threads=4,
 )
 
-# Initialize the keyboard listener and rerun visualization
-_, events = init_keyboard_listener()
-_init_rerun(session_name="recording_phone")
-
-# Connect the robot and teleoperator
-robot.connect()
-
-episode_idx = 0
-
-policy = ACTPolicy.from_pretrained(HF_MODEL_ID)
+# 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 and teleoperator
+robot.connect()
+
+# Initialize the keyboard listener and rerun visualization
+listener, events = init_keyboard_listener()
+_init_rerun(session_name="so100_so100_evaluate")
+
+if not robot.is_connected:
+    raise ValueError("Robot is not connected!")
+
+print("Starting evaluate loop...")
+episode_idx = 0
 for episode_idx in range(NUM_EPISODES):
     log_say(f"Running inference, recording eval episode {episode_idx + 1} of {NUM_EPISODES}")
 
+    # 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,
@@ -159,9 +164,35 @@ for episode_idx in range(NUM_EPISODES):
         robot_action_processor=robot_ee_to_joints_processor,
         robot_observation_processor=robot_joints_to_ee_pose_processor,
     )
+
+    # Reset the environment if not stopping or re-recording
+    if not events["stop_recording"] and ((episode_idx < NUM_EPISODES - 1) or events["rerecord_episode"]):
+        log_say("Reset the environment")
+        record_loop(
+            robot=robot,
+            events=events,
+            fps=FPS,
+            control_time_s=EPISODE_TIME_SEC,
+            single_task=TASK_DESCRIPTION,
+            display_data=True,
+            teleop_action_processor=make_default_teleop_action_processor(),
+            robot_action_processor=robot_ee_to_joints_processor,
+            robot_observation_processor=robot_joints_to_ee_pose_processor,
+        )
+
+    if events["rerecord_episode"]:
+        log_say("Re-record episode")
+        events["rerecord_episode"] = False
+        events["exit_early"] = False
+        dataset.clear_episode_buffer()
+        continue
+
+    # Save episode
     dataset.save_episode()
+    episode_idx += 1
 
 # Clean up
 log_say("Stop recording")
 robot.disconnect()
+listener.stop()
 dataset.push_to_hub()

examples/so100_to_so100_EE/record.py

@@ -14,7 +14,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import time
 from typing import Any
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
@@ -49,30 +48,34 @@ FPS = 30
 EPISODE_TIME_SEC = 60
 RESET_TIME_SEC = 30
 TASK_DESCRIPTION = "My task description"
-HF_REPO_ID = "imstevenpmwork/kin_chadil" + str(time.time())
+HF_REPO_ID = "<hf_username>/<dataset_repo_id>"
 
+# Create the robot and teleoperator configurations
 camera_config = {"front": OpenCVCameraConfig(index_or_path=0, width=640, height=480, fps=FPS)}
 follower_config = SO100FollowerConfig(
     port="/dev/tty.usbmodem5A460814411", id="my_awesome_follower_arm", cameras=camera_config, use_degrees=True
 )
-
 leader_config = SO100LeaderConfig(port="/dev/tty.usbmodem5A460819811", id="my_awesome_leader_arm")
 
+# Initialize the robot and teleoperator
 follower = SO100Follower(follower_config)
 leader = SO100Leader(leader_config)
 
+# NOTE: It is highly recommended to use the urdf in the SO-ARM100 repo: https://github.com/TheRobotStudio/SO-ARM100/blob/main/Simulation/SO101/so101_new_calib.urdf
 follower_kinematics_solver = RobotKinematics(
     urdf_path="./examples/phone_to_so100/SO101/so101_new_calib.urdf",
     target_frame_name="gripper_frame_link",
     joint_names=list(follower.bus.motors.keys()),
 )
 
+# NOTE: It is highly recommended to use the urdf in the SO-ARM100 repo: https://github.com/TheRobotStudio/SO-ARM100/blob/main/Simulation/SO101/so101_new_calib.urdf
 leader_kinematics_solver = RobotKinematics(
     urdf_path="./examples/phone_to_so100/SO101/so101_new_calib.urdf",
     target_frame_name="gripper_frame_link",
     joint_names=list(leader.bus.motors.keys()),
 )
 
+# Build pipeline to convert follower joints to EE observation
 follower_joints_to_ee = RobotProcessorPipeline[dict[str, Any], dict[str, Any]](
     steps=[
         ForwardKinematicsJointsToEE(
@@ -83,6 +86,7 @@ follower_joints_to_ee = RobotProcessorPipeline[dict[str, Any], dict[str, Any]](
     to_output=transition_to_observation,
 )
 
+# Build pipeline to convert leader joints to EE action
 leader_joints_to_ee = RobotProcessorPipeline[RobotAction, RobotAction](
     steps=[
         ForwardKinematicsJointsToEE(
@@ -93,7 +97,7 @@ leader_joints_to_ee = RobotProcessorPipeline[RobotAction, RobotAction](
     to_output=transition_to_robot_action,
 )
 
-
+# Build pipeline to convert EE action to follower joints
 ee_to_follower_joints = RobotProcessorPipeline[RobotAction, RobotAction](
     [
         AddRobotObservationAsComplimentaryData(robot=follower),
@@ -116,6 +120,8 @@ dataset = LeRobotDataset.create(
     repo_id=HF_REPO_ID,
     fps=FPS,
     features=combine_feature_dicts(
+        # Run the feature contract of the pipelines
+        # This tells you how the features would look like after the pipeline steps
         aggregate_pipeline_dataset_features(
             pipeline=leader_joints_to_ee,
             initial_features=create_initial_features(action=leader.action_features),
@@ -132,18 +138,24 @@ dataset = LeRobotDataset.create(
     image_writer_threads=4,
 )
 
-# Initialize the keyboard listener and rerun visualization
-_, events = init_keyboard_listener()
-_init_rerun(session_name="recording_phone")
 
 # Connect the robot and teleoperator
 leader.connect()
 follower.connect()
 
+# Initialize the keyboard listener and rerun visualization
+listener, events = init_keyboard_listener()
+_init_rerun(session_name="recording_phone")
+
+if not leader.is_connected or not follower.is_connected:
+    raise ValueError("Robot or teleop is not connected!")
+
+print("Starting record loop...")
 episode_idx = 0
 while episode_idx < NUM_EPISODES and not events["stop_recording"]:
     log_say(f"Recording episode {episode_idx + 1} of {NUM_EPISODES}")
 
+    # Main record loop
     record_loop(
         robot=follower,
         events=events,
@@ -181,6 +193,7 @@ while episode_idx < NUM_EPISODES and not events["stop_recording"]:
         dataset.clear_episode_buffer()
         continue
 
+    # Save episode
     dataset.save_episode()
     episode_idx += 1
 
@@ -188,4 +201,5 @@ while episode_idx < NUM_EPISODES and not events["stop_recording"]:
 log_say("Stop recording")
 leader.disconnect()
 follower.disconnect()
+listener.stop()
 dataset.push_to_hub()

examples/so100_to_so100_EE/replay.py

@@ -33,14 +33,13 @@ from lerobot.utils.utils import log_say
 EPISODE_IDX = 0
 HF_REPO_ID = "<hf_username>/<dataset_repo_id>"
 
+# Initialize the robot config
 robot_config = SO100FollowerConfig(
     port="/dev/tty.usbmodem5A460814411", id="my_awesome_follower_arm", use_degrees=True
 )
-robot = SO100Follower(robot_config)
-robot.connect()
 
-dataset = LeRobotDataset(HF_REPO_ID, episodes=[EPISODE_IDX])
-actions = dataset.hf_dataset.select_columns("action")
+# Initialize the robot
+robot = SO100Follower(robot_config)
 
 # NOTE: It is highly recommended to use the urdf in the SO-ARM100 repo: https://github.com/TheRobotStudio/SO-ARM100/blob/main/Simulation/SO101/so101_new_calib.urdf
 kinematics_solver = RobotKinematics(
@@ -49,7 +48,7 @@ kinematics_solver = RobotKinematics(
     joint_names=list(robot.bus.motors.keys()),
 )
 
-# Build pipeline to convert ee pose action to joint action
+# Build pipeline to convert EE action to joints action
 robot_ee_to_joints_processor = RobotProcessorPipeline[RobotAction, RobotAction](
     steps=[
         AddRobotObservationAsComplimentaryData(robot=robot),
@@ -63,17 +62,33 @@ robot_ee_to_joints_processor = RobotProcessorPipeline[RobotAction, RobotAction](
     to_output=transition_to_robot_action,
 )
 
+# Fetch the dataset to replay
+dataset = LeRobotDataset(HF_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
     ee_action = {
         name: float(actions[idx]["action"][i]) for i, name in enumerate(dataset.features["action"]["names"])
     }
 
+    # Dataset EE -> robot joints
     joint_action = robot_ee_to_joints_processor(ee_action)
-    action_sent = robot.send_action(joint_action)
+
+    # Send action to robot
+    _ = robot.send_action(joint_action)
 
     busy_wait(1.0 / dataset.fps - (time.perf_counter() - t0))
 
+# Clean up
 robot.disconnect()

examples/so100_to_so100_EE/teleoperate.py

@@ -1,6 +1,6 @@
-#!/usr/bin/env python
+# !/usr/bin/env python
 
-# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+# 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.
@@ -11,7 +11,8 @@
 # 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 specif
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
 import time
 
@@ -31,29 +32,36 @@ from lerobot.robots.so100_follower.robot_kinematic_processor import (
 from lerobot.robots.so100_follower.so100_follower import SO100Follower
 from lerobot.teleoperators.so100_leader.config_so100_leader import SO100LeaderConfig
 from lerobot.teleoperators.so100_leader.so100_leader import SO100Leader
+from lerobot.utils.robot_utils import busy_wait
+from lerobot.utils.visualization_utils import _init_rerun, log_rerun_data
 
+FPS = 30
+
+# Initialize the robot and teleoperator config
 follower_config = SO100FollowerConfig(
     port="/dev/tty.usbmodem5A460814411", id="my_awesome_follower_arm", use_degrees=True
 )
-
 leader_config = SO100LeaderConfig(port="/dev/tty.usbmodem5A460819811", id="my_awesome_leader_arm")
 
+# Initialize the robot and teleoperator
 follower = SO100Follower(follower_config)
 leader = SO100Leader(leader_config)
 
+# NOTE: It is highly recommended to use the urdf in the SO-ARM100 repo: https://github.com/TheRobotStudio/SO-ARM100/blob/main/Simulation/SO101/so101_new_calib.urdf
 follower_kinematics_solver = RobotKinematics(
     urdf_path="./examples/phone_to_so100/SO101/so101_new_calib.urdf",
     target_frame_name="gripper_frame_link",
     joint_names=list(follower.bus.motors.keys()),
 )
 
+# NOTE: It is highly recommended to use the urdf in the SO-ARM100 repo: https://github.com/TheRobotStudio/SO-ARM100/blob/main/Simulation/SO101/so101_new_calib.urdf
 leader_kinematics_solver = RobotKinematics(
     urdf_path="./examples/phone_to_so100/SO101/so101_new_calib.urdf",
     target_frame_name="gripper_frame_link",
     joint_names=list(leader.bus.motors.keys()),
 )
 
-
+# Build pipeline to convert teleop joints to EE action
 leader_to_ee = RobotProcessorPipeline[RobotAction, RobotAction](
     steps=[
         ForwardKinematicsJointsToEE(
@@ -64,6 +72,7 @@ leader_to_ee = RobotProcessorPipeline[RobotAction, RobotAction](
     to_output=transition_to_robot_action,
 )
 
+# build pipeline to convert EE action to robot joints
 ee_to_follower_joints = RobotProcessorPipeline[RobotAction, RobotAction](
     [
         AddRobotObservationAsComplimentaryData(robot=follower),
@@ -75,28 +84,36 @@ ee_to_follower_joints = RobotProcessorPipeline[RobotAction, RobotAction](
         InverseKinematicsEEToJoints(
             kinematics=follower_kinematics_solver,
             motor_names=list(follower.bus.motors.keys()),
-            initial_guess_current_joints=False,
         ),
     ],
     to_transition=robot_action_to_transition,
     to_output=transition_to_robot_action,
 )
 
+# Connect to the robot and teleoperator
 follower.connect()
 leader.connect()
 
-print("Starting teleop loop. Move your phone to teleoperate the robot.")
+# Init rerun viewer
+_init_rerun(session_name="so100_so100_EE_teleop")
+
+print("Starting teleop loop...")
 while True:
-    # Get leader joints observations
+    t0 = time.perf_counter()
+
+    # Get teleop observation
     leader_joints_obs = leader.get_action()
 
-    # Convert them to EE
+    # teleop joints -> teleop EE action
     leader_ee_act = leader_to_ee(leader_joints_obs)
 
-    # Convert EE to follower joints actions
+    # teleop EE -> robot joints
     follower_joints_act = ee_to_follower_joints(leader_ee_act)
 
-    if follower_joints_act:
-        follower.send_action(follower_joints_act)
+    # Send action to robot
+    _ = follower.send_action(follower_joints_act)
 
-    time.sleep(0.01)
+    # Visualize
+    log_rerun_data(observation=leader_ee_act, action=follower_joints_act)
+
+    busy_wait(max(1.0 / FPS - (time.perf_counter() - t0), 0.0))