From e698c709d86aa224261feb0e049b96addcc7d434 Mon Sep 17 00:00:00 2001 From: Steven Palma Date: Thu, 4 Sep 2025 16:44:18 +0200 Subject: [PATCH] fix(deps): use in-house rotation utils over scipy throughout the codebase --- src/lerobot/processor/converters.py | 2 +- src/lerobot/teleoperators/phone/teleop_phone.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/lerobot/processor/converters.py b/src/lerobot/processor/converters.py index 79db11a2e..7a8decb12 100644 --- a/src/lerobot/processor/converters.py +++ b/src/lerobot/processor/converters.py @@ -23,9 +23,9 @@ from typing import Any import numpy as np import torch -from scipy.spatial.transform import Rotation from lerobot.constants import ACTION, DONE, OBS_IMAGES, OBS_STATE, REWARD, TRUNCATED +from lerobot.utils.rotation import Rotation from .core import EnvTransition, TransitionKey diff --git a/src/lerobot/teleoperators/phone/teleop_phone.py b/src/lerobot/teleoperators/phone/teleop_phone.py index 3f6360725..f526e6398 100644 --- a/src/lerobot/teleoperators/phone/teleop_phone.py +++ b/src/lerobot/teleoperators/phone/teleop_phone.py @@ -24,12 +24,12 @@ import time import hebi import numpy as np -from scipy.spatial.transform import Rotation from teleop import Teleop from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError from lerobot.teleoperators.phone.config_phone import PhoneConfig, PhoneOS from lerobot.teleoperators.teleoperator import Teleoperator +from lerobot.utils.rotation import Rotation logger = logging.getLogger(__name__)