wrap dm_control aloha into gymnasium (TODO: properly seeding the env)

lerobot/common/envs/factory.py

@@ -30,7 +30,14 @@ def make_env(cfg, num_parallel_envs=0) -> gym.Env | gym.vector.SyncVectorEnv:
             **kwargs,
         )
     elif cfg.env.name == "aloha":
+        from lerobot.common.envs import aloha as gym_aloha  # noqa: F401
+
         kwargs["task"] = cfg.env.task
+
+        env_fn = lambda: gym.make(  # noqa: E731
+            "gym_aloha/AlohaInsertion-v0",
+            **kwargs,
+        )
     else:
         raise ValueError(cfg.env.name)