CI nightlies cpu/gpu & cleanup (#75)

docker/lerobot-cpu/Dockerfile

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+# Configure image
+ARG PYTHON_VERSION=3.10
+
+FROM python:${PYTHON_VERSION}-slim
+ARG PYTHON_VERSION
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Install apt dependencies
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    build-essential cmake \
+    libglib2.0-0 libgl1-mesa-glx libegl1-mesa \
+    && apt-get clean && rm -rf /var/lib/apt/lists/*
+
+# Create virtual environment
+RUN ln -s /usr/bin/python${PYTHON_VERSION} /usr/bin/python
+RUN python -m venv /opt/venv
+ENV PATH="/opt/venv/bin:$PATH"
+RUN echo "source /opt/venv/bin/activate" >> /root/.bashrc
+
+# Install LeRobot
+COPY . /lerobot
+WORKDIR /lerobot
+RUN pip install --upgrade --no-cache-dir pip
+RUN pip install --no-cache-dir ".[test, aloha, xarm, pusht]" \
+    --extra-index-url https://download.pytorch.org/whl/cpu
+
+# Set EGL as the rendering backend for MuJoCo
+ENV MUJOCO_GL="egl"
+
+# Execute in bash shell rather than python
+CMD ["/bin/bash"]

docker/lerobot-gpu/Dockerfile

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+FROM nvidia/cuda:12.4.1-base-ubuntu22.04
+
+# Configure image
+ARG PYTHON_VERSION=3.10
+ARG DEBIAN_FRONTEND=noninteractive
+
+
+# Install apt dependencies
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    build-essential cmake \
+    libglib2.0-0 libgl1-mesa-glx libegl1-mesa \
+    python${PYTHON_VERSION} python${PYTHON_VERSION}-venv \
+    && apt-get clean && rm -rf /var/lib/apt/lists/*
+
+
+# Create virtual environment
+RUN ln -s /usr/bin/python${PYTHON_VERSION} /usr/bin/python
+RUN python -m venv /opt/venv
+ENV PATH="/opt/venv/bin:$PATH"
+RUN echo "source /opt/venv/bin/activate" >> /root/.bashrc
+
+# Install LeRobot
+COPY . /lerobot
+WORKDIR /lerobot
+RUN pip install --upgrade --no-cache-dir pip
+RUN pip install --no-cache-dir ".[test, aloha, xarm, pusht]"
+
+# Set EGL as the rendering backend for MuJoCo
+ENV MUJOCO_GL="egl"