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

Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>

docs/source/hilserl.mdx

@@ -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 \
+lerobot-find-joint-limits \
-    --robot.type=so100_follower \
+  --robot.type=so100_follower \
-    --robot.port=/dev/tty.usbmodem58760431541 \
+  --robot.port=/dev/tty.usbmodem58760431541 \
-    --robot.id=black \
+  --robot.id=black \
-    --teleop.type=so100_leader \
+  --teleop.type=so100_leader \
-    --teleop.port=/dev/tty.usbmodem58760431551 \
+  --teleop.port=/dev/tty.usbmodem58760431551 \
-    --teleop.id=blue
+  --teleop.id=blue
 ```
 
 **Workflow**

pyproject.toml

@@ -173,6 +173,7 @@ lerobot-eval="lerobot.scripts.eval:main"
 lerobot-train="lerobot.scripts.train:main"
 lerobot-dataset-viz="lerobot.scripts.lerobot_dataset_viz:main"
 lerobot-info="lerobot.scripts.lerobot_info:main"
+lerobot-find-joint-limits="lerobot.scripts.lerobot_find_joint_limits:main"
 lerobot-imgtransform-viz="lerobot.scripts.lerobot_imgtransform_viz:main"
 
 # ---------------- Tool Configurations ----------------

src/lerobot/rl/actor.py

@@ -35,7 +35,7 @@ gamepad to take control of the robot during training. Initially intervene freque
 reduce interventions as the policy improves.
 
 **WORKFLOW**:
-1. Determine robot workspace bounds using `find_joint_limits.py`
+1. Determine robot workspace bounds using `lerobot-find-joint-limits`
 2. Record demonstrations with `gym_manipulator.py` in record mode
 3. Process the dataset and determine camera crops with `crop_dataset_roi.py`
 4. Start the learner server with the training configuration

src/lerobot/scripts/lerobot_find_joint_limits.py

@@ -20,13 +20,13 @@ Simple script to control a robot from teleoperation.
 Example:
 
 ```shell
-python -m lerobot.scripts.server.find_joint_limits \
+lerobot-find-joint-limits \
-    --robot.type=so100_follower \
+  --robot.type=so100_follower \
-    --robot.port=/dev/tty.usbmodem58760431541 \
+  --robot.port=/dev/tty.usbmodem58760431541 \
-    --robot.id=black \
+  --robot.id=black \
-    --teleop.type=so100_leader \
+  --teleop.type=so100_leader \
-    --teleop.port=/dev/tty.usbmodem58760431551 \
+  --teleop.port=/dev/tty.usbmodem58760431551 \
-    --teleop.id=blue
+  --teleop.id=blue
 ```
 """
 
@@ -117,5 +117,9 @@ def find_joint_and_ee_bounds(cfg: FindJointLimitsConfig):
         busy_wait(0.01)
 
 
-if __name__ == "__main__":
+def main():
     find_joint_and_ee_bounds()
+
+
+if __name__ == "__main__":
+    main()