- Added lerobot/scripts/server/gym_manipulator.py that contains all the necessary wrappers to run a gym-style env around the real robot.

- Added `lerobot/scripts/server/find_joint_limits.py` to test the min and max angles of the motion you wish the robot to explore during RL training.
- Added logic in `manipulator.py` to limit the maximum possible joint angles to allow motion within a predefined joint position range. The limits are specified in the yaml config for each robot. Checkout the so100.yaml.

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>

lerobot/scripts/server/find_joint_limits.py

@@ -0,0 +1,64 @@
+import argparse
+import time
+
+import cv2
+import numpy as np
+
+from lerobot.common.robot_devices.control_utils import is_headless
+from lerobot.common.robot_devices.robots.factory import make_robot
+from lerobot.common.utils.utils import init_hydra_config
+
+
+def find_joint_bounds(
+    robot,
+    control_time_s=20,
+    display_cameras=False,
+):
+    # TODO(rcadene): Add option to record logs
+    if not robot.is_connected:
+        robot.connect()
+
+        control_time_s = float("inf")
+
+    timestamp = 0
+    start_episode_t = time.perf_counter()
+    pos_list = []
+    while timestamp < control_time_s:
+        observation, action = robot.teleop_step(record_data=True)
+
+        pos_list.append(robot.follower_arms["main"].read("Present_Position"))
+
+        if display_cameras and not is_headless():
+            image_keys = [key for key in observation if "image" in key]
+            for key in image_keys:
+                cv2.imshow(key, cv2.cvtColor(observation[key].numpy(), cv2.COLOR_RGB2BGR))
+            cv2.waitKey(1)
+
+        timestamp = time.perf_counter() - start_episode_t
+        if timestamp > 60:
+            max = np.max(np.stack(pos_list), 0)
+            min = np.min(np.stack(pos_list), 0)
+            print(f"Max angle position per joint {max}")
+            print(f"Min angle position per joint {min}")
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--robot-path",
+        type=str,
+        default="lerobot/configs/robot/koch.yaml",
+        help="Path to robot yaml file used to instantiate the robot using `make_robot` factory function.",
+    )
+    parser.add_argument(
+        "--robot-overrides",
+        type=str,
+        nargs="*",
+        help="Any key=value arguments to override config values (use dots for.nested=overrides)",
+    )
+    parser.add_argument("--control-time-s", type=float, default=20, help="Maximum episode length in seconds")
+    args = parser.parse_args()
+    robot_cfg = init_hydra_config(args.robot_path, args.robot_overrides)
+
+    robot = make_robot(robot_cfg)
+    find_joint_bounds(robot, control_time_s=args.control_time_s)