Add end effector action space to hil-serl (#861)

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

lerobot/common/envs/factory.py

@@ -135,6 +135,7 @@ class PixelWrapper(gym.Wrapper):
         return self._get_obs(obs), reward, terminated, truncated, info
 
 
+# TODO: Remove this
 class ConvertToLeRobotEnv(gym.Wrapper):
     def __init__(self, env, num_envs):
         super().__init__(env)

lerobot/common/policies/sac/configuration_sac.py

@@ -103,6 +103,6 @@ class SACConfig:
             "use_tanh_squash": True,
             "log_std_min": -5,
             "log_std_max": 2,
-            "init_final": 0.005,
+            "init_final": 0.05,
         }
     )

lerobot/common/robot_devices/control_utils.py

@@ -338,7 +338,7 @@ def reset_environment(robot, events, reset_time_s, fps):
 def reset_follower_position(robot: Robot, target_position):
     current_position = robot.follower_arms["main"].read("Present_Position")
     trajectory = torch.from_numpy(
-        np.linspace(current_position, target_position, 30)
+        np.linspace(current_position, target_position, 50)
     )  # NOTE: 30 is just an aribtrary number
     for pose in trajectory:
         robot.send_action(pose)