diff --git a/.github/poetry/cpu/poetry.lock b/.github/poetry/cpu/poetry.lock
index 52fce3da..5d039c69 100644
--- a/.github/poetry/cpu/poetry.lock
+++ b/.github/poetry/cpu/poetry.lock
@@ -2911,6 +2911,22 @@ pymunk = ">=6.6.0,<7.0.0"
 scikit-image = ">=0.22.0,<0.23.0"
 shapely = ">=2.0.3,<3.0.0"
 
+[[package]]
+name = "sim-xarm"
+version = "0.1.0"
+description = "xArm environment for LeRobot"
+optional = true
+python-versions = "<4.0,>=3.10"
+files = [
+    {file = "sim_xarm-0.1.0-py3-none-any.whl", hash = "sha256:2771ca0e8d775dc7d9ccb3360e7fcf42507c5d4791525692e409f53ff5c83eaa"},
+    {file = "sim_xarm-0.1.0.tar.gz", hash = "sha256:90342394369ab37636a8c41a995ba20f1dac79c50563b1b1e4b38eeffbc5588d"},
+]
+
+[package.dependencies]
+gymnasium = ">=0.29.1,<0.30.0"
+gymnasium-robotics = ">=1.2.4,<2.0.0"
+mujoco = ">=2.3.7,<3.0.0"
+
 [[package]]
 name = "six"
 version = "1.16.0"
@@ -3348,8 +3364,9 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 
 [extras]
 pusht = ["sim-pusht"]
+xarm = ["sim-xarm"]
 
 [metadata]
 lock-version = "2.0"
 python-versions = "^3.10"
-content-hash = "1111059e284866eabaf47b85fbb7b3785b10317feb6439f7616da3a485a17520"
+content-hash = "752a57c1613f2d61365c5f3e7653bba392056b5413dc944cf44050c7adb5b178"
diff --git a/.github/poetry/cpu/pyproject.toml b/.github/poetry/cpu/pyproject.toml
index 32d197a5..5408c361 100644
--- a/.github/poetry/cpu/pyproject.toml
+++ b/.github/poetry/cpu/pyproject.toml
@@ -7,6 +7,7 @@ authors = [
 ]
 maintainers = [
     "Alexander Soare <alexander.soare159@gmail.com>",
+    "Quentin Gallouédec <quentin.gallouedec@ec-lyon.fr>",
     "Simon Alibert <alibert.sim@gmail.com>",
 ]
 repository = "https://github.com/Cadene/lerobot"
@@ -58,10 +59,12 @@ gymnasium-robotics = "^1.2.4"
 gymnasium = "^0.29.1"
 cmake = "^3.29.0.1"
 sim-pusht = { version = "^0.1.0", optional = true}
+sim-xarm = { version = "^0.1.0", optional = true}
 
 
 [tool.poetry.extras]
 pusht = ["sim-pusht"]
+xarm = ["sim-xarm"]
 
 
 [tool.poetry.group.dev.dependencies]
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index dbcc8f81..92a0e9ff 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -87,7 +87,7 @@ jobs:
           TMP: ~/tmp
         run: |
           mkdir ~/tmp
-          poetry install --no-interaction --no-root --without dev --extras pusht
+          poetry install --no-interaction --no-root --without dev --all-extras
 
       - name: Save cached venv
         if: |
@@ -106,7 +106,7 @@ jobs:
       #             install project
       #----------------------------------------------
       - name: Install project
-        run: poetry install --no-interaction --without dev --extras pusht
+        run: poetry install --no-interaction --without dev --all-extras
 
       #----------------------------------------------
       #            run tests & coverage