Metadata-Version: 2.1
Name: pytorch_mr
Version: 0.0.1
Summary: PyTorch implementation of Modern Robotics: Mechanics, Planning, and Control
Home-page: http://modernrobotics.org/
Author: Ayush Gaggar, Huan Weng, Mikhail Todes, Jarvis Schultz, Bill Hunt, 
Author-email: Ayush Gaggar <agaggar@u.northwestern.edu>
License: MIT License
        
        Copyright (c) 2026 Northwestern University CRB
        
        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
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        copies of the Software, and to permit persons to whom the Software is
        furnished to do so, subject to the following conditions:
        
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Project-URL: Homepage, https://github.com/Agaggar/PyTorch_MR/tree/master/packages/PyTorch
Project-URL: Documentation, http://modernrobotics.org/
Project-URL: Repository, https://github.com/Agaggar/PyTorch_MR.git
Project-URL: Issues, https://github.com/Agaggar/PyTorch_MR/issues
Keywords: robotics,kinematics,dynamics,pytorch,modern robotics
Platform: Linux
Platform: Mac
Platform: Windows
Classifier: Development Status :: 3 - Alpha
Classifier: Intended Audience :: Education
Classifier: Intended Audience :: Science/Research
Classifier: License :: OSI Approved :: MIT License
Classifier: Natural Language :: English
Classifier: Programming Language :: Python :: 3
Classifier: Topic :: Education
Classifier: Topic :: Scientific/Engineering
Classifier: Programming Language :: Python :: 3
Classifier: Operating System :: OS Independent
Requires-Python: >=3.6
Description-Content-Type: text/markdown
License-File: LICENSE
Requires-Dist: numpy>=1.20
Requires-Dist: torch>=1.10
Provides-Extra: dev
Requires-Dist: pytest>=7; extra == "dev"

# 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)
```bash
pip install pytorch-mr
```

## Install (local / editable)

From this directory (`packages/PyTorch`):

```bash
pip install -e .
```

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

## Import

```python
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`:

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

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

```bash
cd packages/PyTorch
python -m pytest tests -q
```

From `packages/` with explicit `PYTHONPATH`:

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

Chapter summary:

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