tangger/lerobot
1
0
Fork 1
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity

Refactor kinematics and switch to using placo (#1322)

Browse Source 
Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: leo-berte <leonardo.bertelli96@gmail.com>
This commit is contained in:
Michel Aractingi
2025-07-02 15:20:04 +02:00
committed by GitHub
parent 6047bbee10
commit 596e9050bd
10 changed files with 181 additions and 522 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
pyproject.toml
View File

@@ -68,7 +68,6 @@ dependencies = [
"pyserial>=3.5",
"pyzmq>=26.2.1",
"rerun-sdk>=0.21.0",
"scipy>=1.14.0",
"termcolor>=2.4.0",
"torch>=2.2.1",
"torchcodec>=0.2.1; 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')",
@@ -87,6 +86,7 @@ dora = [
dynamixel = ["dynamixel-sdk>=3.7.31"]
feetech = ["feetech-servo-sdk>=1.0.0"]
gamepad = ["pygame>=2.5.1", "hidapi>=0.14.0"]
kinematics = ["placo>=0.9.6"]
intelrealsense = [
"pyrealsense2>=2.55.1.6486 ; sys_platform != 'darwin'",
"pyrealsense2-macosx>=2.54 ; sys_platform == 'darwin'",
@@ -100,7 +100,7 @@ stretch = [
"pyrealsense2>=2.55.1.6486 ; sys_platform != 'darwin'"
]
test = ["pytest>=8.1.0", "pytest-timeout>=2.4.0", "pytest-cov>=5.0.0", "pyserial>=3.5", "mock-serial>=0.0.1 ; sys_platform != 'win32'"]
hilserl = ["transformers>=4.50.3", "gym-hil>=0.1.8", "protobuf>=5.29.3", "grpcio==1.71.0"]
hilserl = ["transformers>=4.50.3", "gym-hil>=0.1.9", "protobuf>=5.29.3", "grpcio==1.71.0", "placo>=0.9.6"]
umi = ["imagecodecs>=2024.1.1"]
video_benchmark = ["scikit-image>=0.23.2", "pandas>=2.2.2"]
xarm = ["gym-xarm>=0.1.1 ; python_version < '4.0'"]