modify lerobot policy client to support lerobot v0.4.x policy server

[BotRunner64]

modify lerobot policy client to support lerobot v0.4.x policy server, will fix issue #89 and #83

Changes

• change lerobot helpers path
• add "rename_map" to RemotePolicyConfig
• remove skip send observation when recieve empty action mechanism, because this mechanism will block the communication between client and server

Testing

Tested with lerobot 0.4.2 policy server, client and server communicate success, the arm performs its task

Remark

this version not compatible with 0.3.3, not sure if we should use version with compatible design (would be redundant)🤔

[EverNorif]

@12e21 Thanks！Starting from lerobot 0.4.2, we plan to add it to leisaac as an optional dependency, like:

[project.optional-dependencies]
lerobot = ["lerobot==0.4.2"]

I suggest that running policy server inference in an environment where lerobot is installed, and cleaning up any unrelated code. We will push a commit soon to add support for optional dependencies.

[EverNorif]

@12e21 Thanks！Starting from lerobot 0.4.2, we plan to add it to leisaac as an optional dependency, like:

[project.optional-dependencies]
lerobot = ["lerobot==0.4.2"]

I suggest that running policy server inference in an environment where lerobot is installed, and cleaning up any unrelated code. We will push a commit soon to add support for optional dependencies.

This commit has already been merged.