[HIL SERL] Env management and add gym-hil (#1077)

Co-authored-by: Michel Aractingi <michel.aractingi@gmail.com>

lerobot/common/envs/configs.py

@@ -277,3 +277,56 @@ class ManiskillEnvConfig(EnvConfig):
             "sensor_configs": {"width": self.image_size, "height": self.image_size},
             "num_envs": 1,
         }
+
+
+@EnvConfig.register_subclass("hil")
+@dataclass
+class HILEnvConfig(EnvConfig):
+    """Configuration for the HIL environment."""
+
+    type: str = "hil"
+    name: str = "PandaPickCube"
+    task: str = "PandaPickCubeKeyboard-v0"
+    use_viewer: bool = True
+    gripper_penalty: float = 0.0
+    use_gamepad: bool = True
+    state_dim: int = 18
+    action_dim: int = 4
+    fps: int = 100
+    episode_length: int = 100
+    video_record: VideoRecordConfig = field(default_factory=VideoRecordConfig)
+    features: dict[str, PolicyFeature] = field(
+        default_factory=lambda: {
+            "action": PolicyFeature(type=FeatureType.ACTION, shape=(4,)),
+            "observation.image": PolicyFeature(type=FeatureType.VISUAL, shape=(3, 128, 128)),
+            "observation.state": PolicyFeature(type=FeatureType.STATE, shape=(18,)),
+        }
+    )
+    features_map: dict[str, str] = field(
+        default_factory=lambda: {
+            "action": ACTION,
+            "observation.image": OBS_IMAGE,
+            "observation.state": OBS_ROBOT,
+        }
+    )
+    ################# args from hilserlrobotenv
+    reward_classifier_pretrained_path: Optional[str] = None
+    robot: Optional[RobotConfig] = None
+    wrapper: Optional[EnvWrapperConfig] = None
+    mode: str = None  # Either "record", "replay", None
+    repo_id: Optional[str] = None
+    dataset_root: Optional[str] = None
+    num_episodes: int = 10  # only for record mode
+    episode: int = 0
+    device: str = "cuda"
+    push_to_hub: bool = True
+    pretrained_policy_name_or_path: Optional[str] = None
+    ############################
+
+    @property
+    def gym_kwargs(self) -> dict:
+        return {
+            "use_viewer": self.use_viewer,
+            "use_gamepad": self.use_gamepad,
+            "gripper_penalty": self.gripper_penalty,
+        }