Metadata-Version: 2.4
Name: mjpl
Version: 0.0.0
Summary: MuJoCo motion planning library.
Project-URL: Homepage, https://github.com/adlarkin/mjpl
Author: Ashton Larkin
Maintainer: Ashton Larkin
License: MIT License
        
        Copyright (c) 2024 Ashton Larkin
        
        Permission is hereby granted, free of charge, to any person obtaining a copy
        of this software and associated documentation files (the "Software"), to deal
        in the Software without restriction, including without limitation the rights
        to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
        copies of the Software, and to permit persons to whom the Software is
        furnished to do so, subject to the following conditions:
        
        The above copyright notice and this permission notice shall be included in all
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        THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
        IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
        FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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        LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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        SOFTWARE.
License-File: LICENSE
Keywords: manipulation,motion,mujoco,planning,robotics
Classifier: Development Status :: 2 - Pre-Alpha
Classifier: Framework :: Robot Framework :: Library
Classifier: Intended Audience :: Developers
Classifier: Intended Audience :: Science/Research
Classifier: License :: OSI Approved :: MIT License
Classifier: Operating System :: OS Independent
Classifier: Programming Language :: Python :: 3
Classifier: Topic :: Scientific/Engineering
Requires-Python: >=3.10
Requires-Dist: mink>=0.0.8
Requires-Dist: mujoco>=3
Requires-Dist: numpy
Requires-Dist: ruckig
Requires-Dist: toppra>=0.6.3
Provides-Extra: dev
Requires-Dist: pre-commit; extra == 'dev'
Requires-Dist: robot-descriptions; extra == 'dev'
Requires-Dist: ruff; extra == 'dev'
Requires-Dist: scipy; extra == 'dev'
Provides-Extra: test
Requires-Dist: robot-descriptions; extra == 'test'
Requires-Dist: scipy; extra == 'test'
Description-Content-Type: text/markdown

# mjpl

MuJoCo motion planning library.

> [!Note]
> This project is under active development.
> APIs may change, and features are still a work in progress.

Features:
- Joint-space planning via bi-directional RRT, with support for constraints
- Cartesian-space planning
- [Constraint interface](./src/mjpl/constraint/constraint_interface.py), which allows for defining arbitrary constraints
- [IK Solver interface](./src/mjpl/inverse_kinematics/ik_solver_interface.py), which can be used for planning to pose targets
- Trajectory generation via a [Trajectory Generator interface](./src/mjpl/trajectory/trajectory_interface.py)

Limitations:
- This library is designed for manipulator models that are composed of hinge/slide joints, and will not work with models that have ball/free joints.

## Installation

```
pip install mjpl
```

## Development

For local development, clone the repository and install the developer dependencies:
```
pip install -e ".[dev]"
```

This project uses [Ruff](https://docs.astral.sh/ruff/) for linting and formatting.
Unit tests are written via the [unittest](https://docs.python.org/3/library/unittest.html) framework.

To run the linter, formatter, and tests locally:
```bash
# Check for linter errors
ruff check .
# Apply lint fixes
ruff check --fix .

# Check for format errors
ruff format --diff .
# Apply format fixes
ruff format .

# Run unit tests
python3 -m unittest -v
```

[Pre-commit](https://pre-commit.com/) hooks are also available which run the linter, formatter, and unit tests.
To trigger the hooks automatically on commit, install the pre-commit hooks:
```
pre-commit install
```

To trigger the hooks manually:
```
pre-commit run --all-files
```

To bypass installed pre-commit hooks on commit:
```
git commit --no-verify -m "your message"
```

## Acknowledgements:

Thank you Sebastian Castro for the guidance and support that has been offered throughout the early stages of this project.
If you find this library useful or interesting, consider checking out Sebastian's [pyroboplan](https://github.com/sea-bass/pyroboplan), which offers similar features via [Pinocchio](https://github.com/stack-of-tasks/pinocchio)!
