Add gym-aloha, rename simxarm -> xarm, refactor

lerobot/common/datasets/factory.py

@@ -19,10 +19,10 @@ def make_dataset(
     normalize=True,
     stats_path=None,
 ):
-    if cfg.env.name == "simxarm":
-        from lerobot.common.datasets.simxarm import SimxarmDataset
+    if cfg.env.name == "xarm":
+        from lerobot.common.datasets.xarm import XarmDataset
 
-        clsfunc = SimxarmDataset
+        clsfunc = XarmDataset
 
     elif cfg.env.name == "pusht":
         from lerobot.common.datasets.pusht import PushtDataset

lerobot/common/datasets/xarm.py

@@ -24,7 +24,7 @@ def download(raw_dir):
     zip_path.unlink()
 
 
-class SimxarmDataset(torch.utils.data.Dataset):
+class XarmDataset(torch.utils.data.Dataset):
     available_datasets = [
         "xarm_lift_medium",
     ]