[Feature Request] Add Maniskill3 Custom Env

Motivation

Maniskill3 is gaining a lot of taction recently and it offers great features like parallel GPU vectorized environments, a great set of tasks from simpler to complex and it is quite performant.
You can find more about it here

Currently it is not possible to use Maniskill3 with Gym wrappers since Maniskill3 actually returns torch tensors directly (very nice) but the TorchRL gym wrappers epxect numpy arrays.
There is also some custom logic needed to make Maniskill3 work therefore I do not think a simple Gym wrapper would be enough and in this case a custom env is probably more appropriate.

Solution

I would like to have a Maniskill3 env available as custom TorchRL env.

Alternatives

I actually have a custom env already, this is what I currently use but it needs to be cleaned up to fit everybody's needs and be cleaner for TorchRL repo.

Checklist

• I have checked that there is no similar issue in the repo (required)