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

tests/test_envs.py

@@ -41,25 +41,21 @@ from .utils import DEVICE, DEFAULT_CONFIG_PATH
 #     print("data from rollout:", simple_rollout(100))
 
 
-@pytest.mark.skip("TODO")
 @pytest.mark.parametrize(
-    "task,from_pixels,pixels_only",
+    "env_task, obs_type",
     [
-        ("sim_insertion", True, False),
-        ("sim_insertion", True, True),
-        ("sim_transfer_cube", True, False),
-        ("sim_transfer_cube", True, True),
+        # ("AlohaInsertion-v0", "state"),
+        ("AlohaInsertion-v0", "pixels"),
+        ("AlohaInsertion-v0", "pixels_agent_pos"),
+        ("AlohaTransferCube-v0", "pixels"),
+        ("AlohaTransferCube-v0", "pixels_agent_pos"),
     ],
 )
-def test_aloha(task, from_pixels, pixels_only):
-    env = AlohaEnv(
-        task,
-        from_pixels=from_pixels,
-        pixels_only=pixels_only,
-        image_size=[3, 480, 640] if from_pixels else None,
-    )
-    # print_spec_rollout(env)
-    check_env_specs(env)
+def test_aloha(env_task, obs_type):
+    from lerobot.common.envs import aloha as gym_aloha  # noqa: F401
+    env = gym.make(f"gym_aloha/{env_task}", obs_type=obs_type)
+    check_env(env)
+
 
 
 @pytest.mark.parametrize(