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/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))