Add gym-aloha, rename simxarm -> xarm, refactor

lerobot/configs/env/aloha.yaml

@@ -4,7 +4,7 @@ eval_episodes: 50
 eval_freq: 7500
 save_freq: 75000
 log_freq: 250
-# TODO: same as simxarm, need to adjust
+# TODO: same as xarm, need to adjust
 offline_steps: 25000
 online_steps: 25000
 
@@ -14,6 +14,8 @@ dataset_id: aloha_sim_insertion_human
 
 env:
   name: aloha
+  handle: AlohaInsertion-v0
+  # TODO(aliberts): replace task with handle
   task: insertion
   from_pixels: True
   pixels_only: False

lerobot/configs/env/pusht.yaml

@@ -4,7 +4,7 @@ eval_episodes: 50
 eval_freq: 7500
 save_freq: 75000
 log_freq: 250
-# TODO: same as simxarm, need to adjust
+# TODO: same as xarm, need to adjust
 offline_steps: 25000
 online_steps: 25000
 
@@ -14,6 +14,8 @@ dataset_id: pusht
 
 env:
   name: pusht
+  handle: PushT-v0
+  # TODO(aliberts): replace task with handle
   task: pusht
   from_pixels: True
   pixels_only: False

lerobot/configs/env/xarm.yaml

@@ -12,7 +12,9 @@ fps: 15
 dataset_id: xarm_lift_medium
 
 env:
-  name: simxarm
+  name: xarm
+  handle: XarmLift-v0
+  # TODO(aliberts): replace task with handle
   task: lift
   from_pixels: True
   pixels_only: False