Add Aloha env and ACT policy

WIP Aloha env tests pass

Rendering works (fps look fast tho? TODO action bounding is too wide [-1,1])

Update README

Copy past from act repo

Remove download.py add a WIP for Simxarm

Remove download.py add a WIP for Simxarm

Add act yaml (TODO: try train.py)

Training can runs (TODO: eval)

Add tasks without end_effector that are compatible with dataset, Eval can run (TODO: training and pretrained model)

Add AbstractEnv, Refactor AlohaEnv, Add rendering_hook in env, Minor modifications, (TODO: Refactor Pusht and Simxarm)

pyproject.toml

@@ -41,13 +41,14 @@ mpmath = "^1.3.0"
 torch = "^2.2.1"
 tensordict = {git = "https://github.com/pytorch/tensordict"}
 torchrl = {git = "https://github.com/pytorch/rl", rev = "13bef426dcfa5887c6e5034a6e9697993fa92c37"}
-mujoco = "^3.1.2"
+mujoco = "2.3.7"
 mujoco-py = "^2.1.2.14"
 gym = "^0.26.2"
 opencv-python = "^4.9.0.80"
 diffusers = "^0.26.3"
 torchvision = "^0.17.1"
 h5py = "^3.10.0"
+dm-control = "1.0.14"
 
 
 [tool.poetry.group.dev.dependencies]