Okay, reviving a dead thread since I also wanted to figure this out and asked around, to no avail. So, after a bit of googling, I found this handy post from 1987 which basically helped a lot.
http://www.verycomputer.com/80_ac98b089ee5eea9e_1.htm
In short, to get this to work on a FreHD (or presumably any hard drive emulator, I'm using the TRS-IO with FreHD emulation), you basically need to do the following.
First, from a PC, you need to extract the DAT and CMD files from the disks, that's it. Trstools is the easiest way to do that. Now, the older games had some rudimentary naming scheme that will likely be a problem, so what I recommend is just copying the DAT file from the older disk over to your hard drive and rename it to something you can understand (like Z.DAT to ZORK1.DAT). Ignore the rest of the files. Now, from a later infocom game, such as Lurking Horror, copy the CMD from that disk (LURKING.CMD in this case). You can use this same CMD file for all of your games, the CMD file just needs to be copied and named to match the DAT file of the appropriate game (in this came, rename LURKING.CMD to ZORK1.CMD).
Next, copy the two files (DAT and CMD) over to your FreHD SD card (or SMB share for TRS-IO).
Finally, from the TRS-80, do the following (use appropriate names for whatever game you want to copy):
IMPORT2 ZORK1.DAT ZORK1/DAT
IMPORT2 ZORK1.CMD ZORK1/CMD
ATTRIB ZORK1/DAT (ACC=SMC,UPD=SMC,PROT=EXEC)
The Trs80 will respond with some message about file has no access password, just ignore that. Basically this was the 'copy protection' that infocom used.. it needed a password on the DAT file which is why it wasn't working when you copied it off the disk. I haven't yet tried this on every disk, and no idea if there were multi-disk infocom games or how one would handle that, but whatever.. I'll let someone else figure that out.