pytorch-mr 0.0.1

PyTorch implementation of Modern Robotics: Mechanics, Planning, and Control

PyTorch Modern Robotics (pytorch_mr)

PyTorch implementation of the routines from Modern Robotics: Mechanics, Planning, and Control, aligned with the NumPy modern_robotics reference in packages/Python.

Install (global)

pip install pytorch-mr

Install (local / editable)

From this directory (packages/PyTorch):

pip install -e .

Dependencies are declared in pyproject.toml (numpy, torch).

Import

import pytorch_mr as pmr
# or
from pytorch_mr.core import MatrixExp3, FKinBody

Tests (NumPy parity)

Install the reference modern_robotics (local tree or PyPI) and pytest:

pip install -e ../Python   # local reference
# or
pip install modern_robotics
pip install pytest

From packages/PyTorch (uses [tool.pytest.ini_options] pythonpath = ["src"]):

cd packages/PyTorch
python -m pytest tests -q

From packages/ with explicit PYTHONPATH:

cd packages
PYTHONPATH=PyTorch/src:Python python -m pytest PyTorch/tests -q

Chapter summary:

cd packages
PYTHONPATH=PyTorch/src:Python python PyTorch/tests/run_tests_by_chapter.py