Add RLBench

[eugeneteoh]

What this does

Add RLBench as a benchmark. https://github.com/stepjam/RLBench

How it was tested

How to checkout & try? (for the reviewer)

conda create -y -n lerobot python=3.10 && conda activate lerobot
conda env config vars set COPPELIASIM_ROOT=/path/to/coppeliasim
conda env config vars set LD_LIBRARTY_PATH=$LD_LIBRARY_PATH:$COPPELIASIM_ROOT QT_QPA_PLATFORM_PLUGIN_PATH=$COPPELIASIM_ROOT 
conda activate lerobot
pip install -e ".[rlbench]"
# First, generate raw rlbench data
rlbench-generate-data --save_path=data/raw/rlbench --tasks=reach_target --episodes_per_task=100 --variations=1 --processes=4
# Push dataset to huggingface hub
python lerobot/scripts/push_dataset_to_hub.py --raw-dir data/raw/rlbench/open_drawer/variation0 --raw-format rlbench --repo-id eugeneteoh/rlbench_reach_target_variation_0 --local-dir data/eugeneteoh/rlbench_open_drawer_variation_0 --push-to-hub=1
# Run training
python lerobot/scripts/train.py policy=act_rlbench env=rlbench