Fix: tasks.parquet uses task strings as DataFrame index (LeRobot convention)

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v1 full sweep: 60 configs (45 standard + 15 SC-only), 166 episodes, 46-dim state with force/contact/joint vel/eff, 7-dim pose action. CheatCode demos with narrowed SC translations (Path B), grasp pose noise within spec, full +/-10 deg NIC yaw range, randomized Zone 3/4 layout.