feat(sim): add metaworld env (#2088)

* add metaworld

* smol update

Signed-off-by: Jade Choghari <chogharijade@gmail.com>

* update design

* Update src/lerobot/envs/metaworld.py

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Signed-off-by: Jade Choghari <chogharijade@gmail.com>

* update

* small changes

* iterate on review

* small fix

* small fix

* add docs

* update doc

* add better gif

* smol doc fix

* updage gymnasium

* add note

* depreciate gym-xarm

* more changes

* update doc

* comply with mypy

* more fixes

* update readme

* precommit

* update pusht

* add pusht instead

* changes

* style

* add changes

* update

* revert

* update v2

* chore(envs): move metaworld config to its own file + remove comments + simplify _format_raw_obs (#2200)

* update final changes

---------

Signed-off-by: Jade Choghari <chogharijade@gmail.com>
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>

src/lerobot/__init__.py

@@ -57,7 +57,6 @@ available_tasks_per_env = {
         "AlohaTransferCube-v0",
     ],
     "pusht": ["PushT-v0"],
-    "xarm": ["XarmLift-v0"],
 }
 available_envs = list(available_tasks_per_env.keys())
 
@@ -75,16 +74,6 @@ available_datasets_per_env = {
     # TODO(alexander-soare): Add "lerobot/pusht_keypoints". Right now we can't because this is too tightly
     # coupled with tests.
     "pusht": ["lerobot/pusht", "lerobot/pusht_image"],
-    "xarm": [
-        "lerobot/xarm_lift_medium",
-        "lerobot/xarm_lift_medium_replay",
-        "lerobot/xarm_push_medium",
-        "lerobot/xarm_push_medium_replay",
-        "lerobot/xarm_lift_medium_image",
-        "lerobot/xarm_lift_medium_replay_image",
-        "lerobot/xarm_push_medium_image",
-        "lerobot/xarm_push_medium_replay_image",
-    ],
 }
 
 available_real_world_datasets = [
@@ -195,7 +184,6 @@ available_motors = [
 available_policies_per_env = {
     "aloha": ["act"],
     "pusht": ["diffusion", "vqbet"],
-    "xarm": ["tdmpc"],
     "koch_real": ["act_koch_real"],
     "aloha_real": ["act_aloha_real"],
 }