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_envs.py

@@ -83,6 +83,7 @@ def test_pusht(from_pixels, pixels_only):
     [
         # "simxarm",
         "pusht",
+        "aloha",
     ],
 )
 def test_factory(env_name):