Add real robot devices and scripts to control real robot (#288)

Co-authored-by: Simon Alibert <alibert.sim@gmail.com>

docker/lerobot-cpu/Dockerfile

@@ -21,7 +21,7 @@ RUN echo "source /opt/venv/bin/activate" >> /root/.bashrc
 COPY . /lerobot
 WORKDIR /lerobot
 RUN pip install --upgrade --no-cache-dir pip
-RUN pip install --no-cache-dir ".[test, aloha, xarm, pusht]" \
+RUN pip install --no-cache-dir ".[test, aloha, xarm, pusht, koch]" \
     --extra-index-url https://download.pytorch.org/whl/cpu
 
 # Set EGL as the rendering backend for MuJoCo

docker/lerobot-gpu-dev/Dockerfile

@@ -43,7 +43,6 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     libsvtav1-dev libsvtav1enc-dev libsvtav1dec-dev \
     libdav1d-dev
 
-
 # Install gh cli tool
 RUN (type -p wget >/dev/null || (apt update && apt-get install wget -y)) \
     && mkdir -p -m 755 /etc/apt/keyrings \

docker/lerobot-gpu/Dockerfile

@@ -9,7 +9,7 @@ ARG DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && apt-get install -y --no-install-recommends \
     build-essential cmake \
     libglib2.0-0 libgl1-mesa-glx libegl1-mesa ffmpeg \
-    python${PYTHON_VERSION} python${PYTHON_VERSION}-venv \
+    python${PYTHON_VERSION}-dev python${PYTHON_VERSION}-venv \
     && apt-get clean && rm -rf /var/lib/apt/lists/*
 
 
@@ -23,7 +23,7 @@ RUN echo "source /opt/venv/bin/activate" >> /root/.bashrc
 COPY . /lerobot
 WORKDIR /lerobot
 RUN pip install --upgrade --no-cache-dir pip
-RUN pip install --no-cache-dir ".[test, aloha, xarm, pusht]"
+RUN pip install --no-cache-dir ".[test, aloha, xarm, pusht, koch]"
 
 # Set EGL as the rendering backend for MuJoCo
 ENV MUJOCO_GL="egl"