Several fixes to move the actor_server and learner_server code from the maniskill environment to the real robot environment.

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

lerobot/configs/default.yaml

@@ -2,6 +2,7 @@ defaults:
   - _self_
   - env: pusht
   - policy: diffusion
+  - robot: so100
 
 hydra:
   run:

lerobot/configs/env/so100_real.yaml

@@ -8,3 +8,20 @@ env:
   state_dim: 6
   action_dim: 6
   fps: ${fps}
+  device: mps
+  
+  wrapper:
+    crop_params_dict:
+      observation.images.laptop: [58, 89, 357, 455]
+      observation.images.phone: [3, 4, 471, 633]
+    resize_size: [128, 128]
+    control_time_s: 20
+    reset_follower_pos: true
+    use_relative_joint_positions: true
+    reset_time_s: 10
+    display_cameras: false
+    delta_action: 0.1
+
+  reward_classifier:
+    pretrained_path: outputs/classifier/checkpoints/best/pretrained_model
+    config_path: lerobot/configs/policy/hilserl_classifier.yaml