rename handle -> task

lerobot/configs/env/aloha.yaml

@@ -14,9 +14,7 @@ dataset_id: aloha_sim_insertion_human
 
 env:
   name: aloha
-  handle: AlohaInsertion-v0
-  # TODO(aliberts): replace task with handle
-  task: insertion
+  task: AlohaInsertion-v0
   from_pixels: True
   pixels_only: False
   image_size: [3, 480, 640]

lerobot/configs/env/pusht.yaml

@@ -14,9 +14,7 @@ dataset_id: pusht
 
 env:
   name: pusht
-  handle: PushT-v0
-  # TODO(aliberts): replace task with handle
-  task: pusht
+  task: PushT-v0
   from_pixels: True
   pixels_only: False
   image_size: 96

lerobot/configs/env/xarm.yaml

@@ -13,9 +13,7 @@ dataset_id: xarm_lift_medium
 
 env:
   name: xarm
-  handle: XarmLift-v0
-  # TODO(aliberts): replace task with handle
-  task: lift
+  task: XarmLift-v0
   from_pixels: True
   pixels_only: False
   image_size: 84