Create mujoco Gym (#5)

[mdc1314]

• 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