Mujoco bindings and update to gym v0.26

[rodrigodelazcano]

This PR makes the following changes:

• Add new mujoco (v2.2.2) python bindings to latest version of the environments. Versions of environments that depend on mujoco_py have been kept.
• Update environments to gym v0.26 API (step, render, reset)
• Add pre-commit tests: black, pyright, pyupgrade, isort
• Fixed py.Docker and tests for new environments
• Rename Hand Touch Sensor environments to distinguish between Boolean Touch Sensor and Continuous Touch Sensor
• Update README.md
• Add utils for mujoco bindings and mujoco_py under utils/mujoco_py_utils.py and utils/mujoco_utils.py
• Add compute_terminated and compute_truncated utility methods to GoalEnv as suggested by [Proposal] Add compute_done method on GoalEnv #16

The new versions of the environments that depend on mujoco bindings were validated with respect to the old versions of mujoco_py. The benchmark was performed using TQC + HER (sb3 implementation) with the same hyperparameters for both environment versions. The results can be seen here: https://wandb.ai/rodrigodelazcano/gym_robotics/reports/Benchmark-Gym-Robotics-SB3--VmlldzoyMjc3Mzkw

[leonasting]

Hi @rodrigodelazcano do you have any expected time for the manipulate env of gym robotics?

[rodrigodelazcano]

Hey @leonasting are you asking about the fetch environments in this repo? A new release has been made and you'll be able to use them with pip install gym_robotics

[leonasting]

Thanks a lot, @rodrigodelazcano . I got confused with the rotation script being moved to utils. I have one more query if the package is compatible with the windows operating system?

[rodrigodelazcano]

No worries @leonasting . Currently we do all of the development under Linux and we don't assure that it will work under other platforms. However, we welcome PR's for compatibility with other OS like Windows