[Port HIL-SERL] Adjust Actor-Learner architecture & clean up dependency management for HIL-SERL (#722)

pyproject.toml

@@ -53,16 +53,19 @@ dependencies = [
     "einops>=0.8.0",
     "flask>=3.0.3",
     "gdown>=5.1.0",
+    "grpcio>=1.70.0",
     "gymnasium==0.29.1",                                                 # TODO(rcadene, aliberts): Make gym 1.0.0 work
     "h5py>=3.10.0",
     "huggingface-hub[hf-transfer,cli]>=0.27.1 ; python_version < '4.0'",
     "imageio[ffmpeg]>=2.34.0",
     "jsonlines>=4.0.0",
+    "mani-skill>=3.0.0b18",
     "numba>=0.59.0",
     "omegaconf>=2.3.0",
     "opencv-python-headless>=4.9.0",
     "packaging>=24.2",
     "av>=12.0.5",
+    "protobuf>=5.29.3",
     "pymunk>=6.6.0",
     "pynput>=1.7.7",
     "pyzmq>=26.2.1",
@@ -87,6 +90,7 @@ dynamixel = ["dynamixel-sdk>=3.7.31", "pynput>=1.7.7"]
 feetech = ["feetech-servo-sdk>=1.0.0", "pynput>=1.7.7"]
 hilserl = ["transformers>=4.48.0", "torchmetrics>=1.6.0"]
 intelrealsense = ["pyrealsense2>=2.55.1.6486 ; sys_platform != 'darwin'"]
+mani_skill = ["mani-skill"]
 pi0 = ["transformers>=4.48.0"]
 pusht = ["gym-pusht>=0.1.5 ; python_version < '4.0'"]
 stretch = [
@@ -107,7 +111,33 @@ requires-poetry = ">=2.1"
 [tool.ruff]
 line-length = 110
 target-version = "py310"
-exclude = ["tests/artifacts/**/*.safetensors"]
+exclude = [
+    "tests/data",
+    ".bzr",
+    ".direnv",
+    ".eggs",
+    ".git",
+    ".git-rewrite",
+    ".hg",
+    ".mypy_cache",
+    ".nox",
+    ".pants.d",
+    ".pytype",
+    ".ruff_cache",
+    ".svn",
+    ".tox",
+    ".venv",
+    "__pypackages__",
+    "_build",
+    "buck-out",
+    "build",
+    "dist",
+    "node_modules",
+    "venv",
+    "*_pb2.py",
+    "*_pb2_grpc.py",
+]
+
 
 [tool.ruff.lint]
 select = ["E4", "E7", "E9", "F", "I", "N", "B", "C4", "SIM"]