test_envs.py are passing, remove simxarm and pusht directories

lerobot/common/envs/factory.py

@@ -6,32 +6,27 @@ def make_env(cfg, num_parallel_envs=0) -> gym.Env | gym.vector.SyncVectorEnv:
     Note: When `num_parallel_envs > 0`, this function returns a `SyncVectorEnv` which takes batched action as input and
     returns batched observation, reward, terminated, truncated of `num_parallel_envs` items.
     """
-    kwargs = {}
+    kwargs = {
+        "obs_type": "pixels_agent_pos",
+        "max_episode_steps": cfg.env.episode_length,
+        "visualization_width": 384,
+        "visualization_height": 384,
+    }
 
     if cfg.env.name == "simxarm":
         import gym_xarm  # noqa: F401
 
         assert cfg.env.task == "lift"
-        env_fn = lambda: gym.make(
+        env_fn = lambda: gym.make(  # noqa: E731
             "gym_xarm/XarmLift-v0",
-            render_mode="rgb_array",
-            max_episode_steps=cfg.env.episode_length,
             **kwargs,
         )
     elif cfg.env.name == "pusht":
         import gym_pusht  # noqa: F401
 
         # assert kwargs["seed"] > 200, "Seed 0-200 are used for the demonstration dataset, so we don't want to seed the eval env with this range."
-        kwargs.update(
-            {
-                "obs_type": "pixels_agent_pos",
-                "render_action": False,
-            }
-        )
         env_fn = lambda: gym.make(  # noqa: E731
             "gym_pusht/PushTPixels-v0",
-            render_mode="rgb_array",
-            max_episode_steps=cfg.env.episode_length,
             **kwargs,
         )
     elif cfg.env.name == "aloha":