Refactor kinematics and switch to using placo (#1322)

Co-authored-by: Caroline Pascal <[email protected]>
Co-authored-by: Adil Zouitine <[email protected]>
Co-authored-by: leo-berte <[email protected]>

Author: 4 people

docs/source/hilserl.mdx

@@ -24,6 +24,7 @@ This guide provides step-by-step instructions for training a robot policy using
 - A gamepad (recommended) or keyboard to control the robot
 - A Nvidia GPU
 - A real robot with a follower and leader arm (optional if you use the keyboard or the gamepad)
+- A URDF file for the robot for the kinematics package (check `lerobot/common/model/kinematics.py`)
 
 ## What kind of tasks can I train?
 

pyproject.toml

@@ -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'"]