Update ManiSkill configuration and replay buffer to support truncation and dataset handling

- Reduced image size in ManiSkill environment configuration from 128 to 64
- Added support for truncation in replay buffer and actor server
- Updated SAC policy configuration to use a specific dataset and modify vision encoder settings
- Improved dataset conversion process with progress tracking and task naming
- Added flexibility for joint action space masking in learner server

lerobot/scripts/server/actor_server.py

@@ -373,6 +373,7 @@ def act_with_policy(
                 reward=reward,
                 next_state=next_obs,
                 done=done,
+                truncated=truncated,  # TODO: (azouitine) Handle truncation properly
                 complementary_info=info,  # TODO Handle information for the transition, is_demonstraction: bool
             )
         )