fix: typos and grammar (#1148)

Author: DeVikingMark

examples/11_use_moss.md

@@ -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

lerobot/common/datasets/image_writer.py

@@ -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`.

lerobot/common/datasets/lerobot_dataset.py

@@ -944,7 +944,7 @@ def start_image_writer(self, num_processes: int = 0, num_threads: int = 4) -> No
     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()

lerobot/common/datasets/video_utils.py

@@ -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

lerobot/common/policies/pi0/modeling_pi0.py

@@ -357,7 +357,7 @@ def prepare_images(self, batch):
             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]

lerobot/common/policies/pi0fast/modeling_pi0fast.py

@@ -516,7 +516,7 @@ def prepare_images(self, batch):
                         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]