Refactor datasets into LeRobotDataset (#91)

Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>

tests/data/lerobot/aloha_sim_insertion_scripted/meta_data/info.json

@@ -0,0 +1,3 @@
+{
+    "fps": 50
+}

tests/data/lerobot/aloha_sim_insertion_scripted/train/dataset_info.json

@@ -0,0 +1,47 @@
+{
+  "citation": "",
+  "description": "",
+  "features": {
+    "observation.images.top": {
+      "_type": "Image"
+    },
+    "observation.state": {
+      "feature": {
+        "dtype": "float32",
+        "_type": "Value"
+      },
+      "length": 14,
+      "_type": "Sequence"
+    },
+    "action": {
+      "feature": {
+        "dtype": "float32",
+        "_type": "Value"
+      },
+      "length": 14,
+      "_type": "Sequence"
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "_type": "Value"
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "_type": "Value"
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "_type": "Value"
+    },
+    "next.done": {
+      "dtype": "bool",
+      "_type": "Value"
+    },
+    "index": {
+      "dtype": "int64",
+      "_type": "Value"
+    }
+  },
+  "homepage": "",
+  "license": ""
+}

tests/data/lerobot/aloha_sim_insertion_scripted/train/state.json

@@ -0,0 +1,13 @@
+{
+  "_data_files": [
+    {
+      "filename": "data-00000-of-00001.arrow"
+    }
+  ],
+  "_fingerprint": "97c28d4ad1536e4c",
+  "_format_columns": null,
+  "_format_kwargs": {},
+  "_format_type": "torch",
+  "_output_all_columns": false,
+  "_split": null
+}