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fix: typos and grammar (#1148)

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This commit is contained in:
Ragnar
2025-05-25 17:20:45 +02:00
committed by GitHub
parent 6163daaaa4
commit bed90e3a41
6 changed files with 6 additions and 6 deletions
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2
examples/11_use_moss.md
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@@ -141,7 +141,7 @@ python lerobot/scripts/configure_motor.py \
--ID 1
```
Note: These motors are currently limitated. They can take values between 0 and 4096 only, which corresponds to a full turn. They can't turn more than that. 2048 is at the middle of this range, so we can take -2048 steps (180 degrees anticlockwise) and reach the maximum range, or take +2048 steps (180 degrees clockwise) and reach the maximum range. The configuration step also sets the homing offset to 0, so that if you misassembled the arm, you can always update the homing offset to account for a shift up to ± 2048 steps (± 180 degrees).
Note: These motors are currently limited. They can take values between 0 and 4096 only, which corresponds to a full turn. They can't turn more than that. 2048 is at the middle of this range, so we can take -2048 steps (180 degrees anticlockwise) and reach the maximum range, or take +2048 steps (180 degrees clockwise) and reach the maximum range. The configuration step also sets the homing offset to 0, so that if you misassembled the arm, you can always update the homing offset to account for a shift up to ± 2048 steps (± 180 degrees).
Then unplug your motor and plug the second motor and set its ID to 2.
```bash

2
lerobot/common/datasets/image_writer.py
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@@ -106,7 +106,7 @@ def worker_process(queue: queue.Queue, num_threads: int):
class AsyncImageWriter:
"""
This class abstract away the initialisation of processes or/and threads to
save images on disk asynchrounously, which is critical to control a robot and record data
save images on disk asynchronously, which is critical to control a robot and record data
at a high frame rate.
When `num_processes=0`, it creates a threads pool of size `num_threads`.

2
lerobot/common/datasets/lerobot_dataset.py
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@@ -944,7 +944,7 @@ class LeRobotDataset(torch.utils.data.Dataset):
def stop_image_writer(self) -> None:
"""
Whenever wrapping this dataset inside a parallelized DataLoader, this needs to be called first to
remove the image_writer in order for the LeRobotDataset object to be pickleable and parallelized.
remove the image_writer in order for the LeRobotDataset object to be picklable and parallelized.
"""
if self.image_writer is not None:
self.image_writer.stop()

2
lerobot/common/datasets/video_utils.py
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@@ -101,7 +101,7 @@ def decode_video_frames_torchvision(
keyframes_only = False
torchvision.set_video_backend(backend)
if backend == "pyav":
keyframes_only = True # pyav doesnt support accuracte seek
keyframes_only = True # pyav doesn't support accurate seek
# set a video stream reader
# TODO(rcadene): also load audio stream at the same time

2
lerobot/common/policies/pi0/modeling_pi0.py
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@@ -357,7 +357,7 @@ class PI0Policy(PreTrainedPolicy):
if self.config.resize_imgs_with_padding is not None:
img = resize_with_pad(img, *self.config.resize_imgs_with_padding, pad_value=0)
# Normalize from range [0,1] to [-1,1] as expacted by siglip
# Normalize from range [0,1] to [-1,1] as expected by siglip
img = img * 2.0 - 1.0
bsize = img.shape[0]

2
lerobot/common/policies/pi0fast/modeling_pi0fast.py
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@@ -516,7 +516,7 @@ class PI0FAST(nn.Module):
interpolate_like_pi=self.config.interpolate_like_pi,
)
# Normalize from range [0,1] to [-1,1] as expacted by siglip
# Normalize from range [0,1] to [-1,1] as expected by siglip
img = img * 2.0 - 1.0
bsize = img.shape[0]