Merge branch 'main' into feat/RaC

docs/source/il_robots.mdx

@@ -165,7 +165,7 @@ huggingface-cli login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential
 Then store your Hugging Face repository name in a variable:
 
 ```bash
-HF_USER=$(hf auth whoami | head -n 1)
+HF_USER=$(hf auth whoami | awk -F': *' 'NR==1 {print $2}')
 echo $HF_USER
 ```
 

docs/source/installation.mdx

@@ -40,6 +40,13 @@ conda install ffmpeg -c conda-forge
 >
 > - _[On Linux only]_ If you want to bring your own ffmpeg: Install [ffmpeg build dependencies](https://trac.ffmpeg.org/wiki/CompilationGuide/Ubuntu#GettheDependencies) and [compile ffmpeg from source with libsvtav1](https://trac.ffmpeg.org/wiki/CompilationGuide/Ubuntu#libsvtav1), and make sure you use the corresponding ffmpeg binary to your install with `which ffmpeg`.
 
+> [!NOTE]
+> When installing LeRobot inside WSL (Windows Subsystem for Linux), make sure to install `evdev` with the following command:
+>
+> ```bash
+> conda install evdev -c conda-forge
+> ```
+
 ## Step 3: Install LeRobot 🤗
 
 ### From Source

docs/source/phone_teleop.mdx

@@ -66,12 +66,13 @@ Run on of the examples scripts to teleoperate, record a dataset, replay a datase
 
 All scripts assume you configured your robot (e.g., SO-100 follower) and set the correct serial port.
 
-Additionally you need to **copy the urdf of the robot to the examples folder**. For the examples in this tutorial (Using SO100/SO101) 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)
+Additionally you need to **copy the URDF of the robot into the examples folder**. For the examples in this tutorial (using SO100/SO101), copy the `SO101` folder from the [SO-ARM100 repo](https://github.com/TheRobotStudio/SO-ARM100/blob/main/Simulation/SO101) into the `examples/phone_to_so100/` directory, so that the URDF file path becomes `examples/phone_to_so100/SO101/so101_new_calib.urdf`.
 
 - Run this example to teleoperate:
 
   ```bash
-  python examples/phone_to_so100/teleoperate.py
+  cd examples/phone_to_so100
+  python teleoperate.py
   ```
 
 After running the example:
@@ -84,19 +85,22 @@ Additionally you can customize mapping or safety limits by editing the processor
 - Run this example to record a dataset, which saves absolute end effector observations and actions:
 
   ```bash
-  python examples/phone_to_so100/record.py
+  cd examples/phone_to_so100
+  python record.py
   ```
 
 - Run this example to replay recorded episodes:
 
   ```bash
-  python examples/phone_to_so100/replay.py
+  cd examples/phone_to_so100
+  python replay.py
   ```
 
 - Run this example to evaluate a pretrained policy:
 
   ```bash
-  python examples/phone_to_so100/evaluate.py
+  cd examples/phone_to_so100
+  python evaluate.py
   ```
 
 ### Important pipeline steps and options