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feat(script): add entry point for find joints limits (#2010)

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Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
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Steven Palma
2025-09-24 11:28:56 +02:00
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parent bd09b2153f
commit a4178f385b
4 changed files with 22 additions and 17 deletions
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docs/source/hilserl.mdx
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@@ -304,19 +304,19 @@ Before collecting demonstrations, you need to determine the appropriate operatio
This helps simplify the problem of learning on the real robot in two ways: 1) by limiting the robot's operational space to a specific region that solves the task and avoids unnecessary or unsafe exploration, and 2) by allowing training in end-effector space rather than joint space. Empirically, learning in joint space for reinforcement learning in manipulation is often a harder problem - some tasks are nearly impossible to learn in joint space but become learnable when the action space is transformed to end-effector coordinates.
**Using find_joint_limits.py**
**Using lerobot-find-joint-limits**
This script helps you find the safe operational bounds for your robot's end-effector. Given that you have a follower and leader arm, you can use the script to find the bounds for the follower arm that will be applied during training.
Bounding the action space will reduce the redundant exploration of the agent and guarantees safety.
```bash
python -m lerobot.scripts.find_joint_limits \
--robot.type=so100_follower \
--robot.port=/dev/tty.usbmodem58760431541 \
--robot.id=black \
--teleop.type=so100_leader \
--teleop.port=/dev/tty.usbmodem58760431551 \
--teleop.id=blue
lerobot-find-joint-limits \
--robot.type=so100_follower \
--robot.port=/dev/tty.usbmodem58760431541 \
--robot.id=black \
--teleop.type=so100_leader \
--teleop.port=/dev/tty.usbmodem58760431551 \
--teleop.id=blue
```
**Workflow**