Remove direct dependencies

.github/poetry/cpu/pyproject.toml

@@ -23,7 +23,6 @@ packages = [{include = "lerobot"}]
 python = "^3.10"
 termcolor = "^2.4.0"
 omegaconf = "^2.3.0"
-dm-env = "^1.6"
 pandas = "^2.2.1"
 wandb = "^0.16.3"
 moviepy = "^1.0.3"
@@ -34,21 +33,15 @@ einops = "^0.7.0"
 pygame = "^2.5.2"
 pymunk = "^6.6.0"
 zarr = "^2.17.0"
-shapely = "^2.0.3"
-scikit-image = "^0.22.0"
 numba = "^0.59.0"
 mpmath = "^1.3.0"
 torch = {version = "^2.2.1", source = "torch-cpu"}
-mujoco = "^2.3.7"
 opencv-python = "^4.9.0.80"
 diffusers = "^0.26.3"
 torchvision = {version = "^0.17.1", source = "torch-cpu"}
 h5py = "^3.10.0"
-dm = "^1.3"
-dm-control = "1.0.14"
 robomimic = "0.2.0"
 huggingface-hub = "^0.21.4"
-gymnasium-robotics = "^1.2.4"
 gymnasium = "^0.29.1"
 cmake = "^3.29.0.1"
 gym-pusht = { git = "git@github.com:huggingface/gym-pusht.git", optional = true}
@@ -58,6 +51,13 @@ gym-aloha = { git = "git@github.com:huggingface/gym-aloha.git", optional = true}
 # gym-xarm = { path = "../gym-xarm", develop = true, optional = true}
 # gym-aloha = { path = "../gym-aloha", develop = true, optional = true}
 
+
+[tool.poetry.extras]
+pusht = ["gym-pusht"]
+xarm = ["gym-xarm"]
+aloha = ["gym-aloha"]
+
+
 [tool.poetry.group.dev.dependencies]
 pre-commit = "^3.6.2"
 debugpy = "^1.8.1"