- Added JointMaskingActionSpace wrapper in gym_manipulator in order to select which joints will be controlled. For example, we can disable the gripper actions for some tasks.

- Added Nan detection mechanisms in the actor, learner and gym_manipulator for the case where we encounter nans in the loop.
- changed the non-blocking in the `.to(device)` functions to only work for the case of cuda because they were causing nans when running the policy on mps
- Added some joint clipping and limits in the env, robot and policy configs. TODO clean this part and make the limits in one config file only.

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

lerobot/scripts/server/find_joint_limits.py

@@ -40,6 +40,7 @@ def find_joint_bounds(
             min = np.min(np.stack(pos_list), 0)
             print(f"Max angle position per joint {max}")
             print(f"Min angle position per joint {min}")
+            break
 
 
 if __name__ == "__main__":