Merge master back to upstream (#24)

* Create mujoco Gym   (#5)

* gym dev

* README update

* add mujoco docker image

* change CI

* update Readme

* change evaluation method

* remove sapien

* remove sapien dependency

* change IoU threshold

* mojuco env

* remove sapien

* add commands in README

* add new parameters

* remove sapien in README

* Evaluation in Mujoco

* remove sapien and its dependency in README

* Update readme (#6)

* build only mujoco image

* fix .github workflow

* correct typos

* minor changes in README.md

* Language gym (#7)

* Create mujoco Gym   (#5) (#22)

* gym dev

* README update

* add mujoco docker image

* change CI

* update Readme

* change evaluation method

* remove sapien

* remove sapien dependency

* change IoU threshold

* mojuco env

* remove sapien

* add commands in README

* add new parameters

* remove sapien in README

* Evaluation in Mujoco

* remove sapien and its dependency in README

* update mujoco to 3.1.3, add language tasks envs

* remove ROS and pybullet

* remove mujoco 2.x

* remove ROS and Pybullet

* remove legacy keyboard control code

* update dockerfile

* change keyboard control strategy

* change camera pose

* update Docker

* remove gymnasium robotics

* change keyboard controller

* minor change in workflow

* change dockerfile and fix merge bugs

* adjust workflow pipeline

* fix syntax

* fix merge error

* fix push error

* fix missing docekr tag variable

* change image version

* change number of object

* update readme and clean code

* remove absolute path

* Language evaluation (#8)

- Create language evaluation score
- Clean up and fix small bugs

Author: mdc1314

README.md

@@ -96,11 +96,7 @@ c -> close gripper
 m -> task done
 ```
 
-### Mujoco
-We provide a solution using keyboard to control the robot. In the following we show how to run it in the Mujoco simulator on your local machine.
-```bash
-# Enter the docker container
-bash tools/exec_container.sh
+## Build Your Own Solution
 
 
 ### Object 6D Poses in Simulation
@@ -116,11 +112,6 @@ The `run.py` is the entry point of evaluation. Each time you run `ocrtoc_gym/run
 
 In our evaluation server, we will overwrite the `ocrtoc_gym/ocrtov_env` folder and modify the task parameters in the `agent_config.yml` file. So please make sure To implement your solution in the `ocrtoc_gym/ocrtoc_agent` folder.
 
-### Mujoco 
-Each time you run `ocrtoc_gym/run.py` script, your agent will be automatically evaluated. The score will be written into `ocrtoc_gym/ocrtov_env/result` folder. Besides, you can check details for specific tasks in `ocrtoc_gym/ocrtov_env/evaluation` folder. 
-
-In the qualifying phase, we will overwrite `ocrtoc_gym/ocrtov_env` folder. Please **only write your code into `ocrtoc_gym/ocrtoc_agent` folder**. And we will overwrite existing parameters in  `agent_config.yml`. Please add your parameters below these existing parameters.
-
 ## Submission
 
 ### Prepare the Docker Image