Add koch bimanual

[Cadene]

What this does

Title

How it was tested

Folded some shirts: https://x.com/RemiCadene/status/1828006677528137977

Visualized the dataset
https://huggingface.co/spaces/cadene/visualize_dataset_koch_bimanual_folding

How to checkout & try? (for the reviewer)

python lerobot/scripts/control_robot.py teleoperate \
  --robot-path lerobot/configs/robot/koch_bimanual.yaml 

python lerobot/scripts/train.py \
  dataset_repo_id=cadene/koch_bimanual_folding \
  policy=act_koch_real \
  env=koch_real \
  hydra.run.dir=outputs/train/act_koch_bimanual_folding \
  hydra.job.name=act_koch_bimanual_folding \
  device=cuda \
  wandb.enable=true \
  env.state_dim=12 \
  env.action_dim=12 \
  training.num_workers=8 \
  training.batch_size=32 \
  policy.n_decoder_layers=4

huggingface-cli upload cadene/act_koch_bimanual_folding \
  outputs/train/act_koch_bimanual_folding/checkpoints/last/pretrained_model

python lerobot/scripts/control_robot.py record \
  --robot-path lerobot/configs/robot/koch_bimanual.yaml \
  --fps 30 \
  --root data \
  --repo-id cadene/eval_act_koch_bimanual_folding_080000 \
  --num-episodes 4 \
  --run-compute-stats 0 \
  --warmup-time-s 10 \
  --episode-time-s 360 \
  --reset-time-s 360 \
  --force-override 0 \
  -p cadene/act_koch_bimanual_folding_080000 \
  --policy-overrides device=mps

python lerobot/scripts/visualize_dataset_html.py \
  --root data \
  --repo-id cadene/eval_act_koch_bimanual_folding_080000