chore(deps): make scipy an optional dependency#232
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scipy was a required install for just two call sites: a z-axis rotation matrix in normalization_3d.py (now pure numpy, numerically identical) and cubic spline interpolation in NumPyPoseBody.interpolate, which already imports scipy lazily with an install hint. Dropping it from required dependencies shrinks the install footprint; scipy stays in the dev extra so tests still cover interpolation. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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Summary
PoseNormalizer.rotateusedscipy.spatial.transform.Rotationonly to build a z-axis rotation matrix — replaced with an explicit cos/sin matrix in pure numpy, verified numerically identical to scipy's output.NumPyPoseBody.interpolategenuinely needsscipy.interpolate.interp1dfor quadratic/cubic splines, but it already imports scipy lazily and raises a helpfulImportError— left as-is, so scipy is now needed only if you callinterpolate().pyproject.toml: removed scipy fromdependencies, added it to thedevextra so tests still cover interpolation.Test Plan
pytest tests pose_format— 176 passed (tf/torch tests skipped locally: frameworks not installed)Rotation.from_euler('z', ...).as_matrix()for arbitrary anglespylint pose_format/utils/normalization_3d.pyclean🤖 Generated with Claude Code