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refactor(dependencies): remove scipy dependency and introduce custom rotation utilities (#1863)

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- Removed the scipy dependency from the project to streamline requirements.
- Added a new `rotation.py` module containing a custom `Rotation` class that replicates essential functionalities of `scipy.spatial.transform.Rotation`, allowing for rotation vector, matrix, and quaternion conversions without external dependencies.
- Updated the `robot_kinematic_processor.py` to utilize the new custom rotation utilities.
This commit is contained in:
Adil Zouitine
2025-09-04 16:26:28 +02:00
committed by GitHub
parent 332ca4ccc5
commit 99963b6968
3 changed files with 175 additions and 2 deletions
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pyproject.toml
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@@ -73,7 +73,6 @@ dependencies = [
"pynput>=1.7.7",
"pyserial>=3.5",
"wandb>=0.20.0",
"scipy>=1.15.2",
"torch>=2.2.1,<2.8.0", # TODO: Bumb dependency
"torchcodec>=0.2.1,<0.6.0; sys_platform != 'win32' and (sys_platform != 'linux' or (platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l')) and (sys_platform != 'darwin' or platform_machine != 'x86_64')", # TODO: Bumb dependency