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)

tests/test_datasets.py

@@ -12,10 +12,10 @@ from .utils import init_config
         # ("simxarm", "lift"),
         ("pusht", "pusht"),
         # TODO(aliberts): add aloha when dataset is available on hub
-        # ("aloha", "sim_insertion_human"),
-        # ("aloha", "sim_insertion_scripted"),
-        # ("aloha", "sim_transfer_cube_human"),
-        # ("aloha", "sim_transfer_cube_scripted"),
+        ("aloha", "sim_insertion_human"),
+        ("aloha", "sim_insertion_scripted"),
+        ("aloha", "sim_transfer_cube_human"),
+        ("aloha", "sim_transfer_cube_scripted"),
     ],
 )
 def test_factory(env_name, dataset_id):