PyTorch Version of Modern Robotics package

README.md

@@ -20,6 +20,7 @@ Some unofficial versions in other languages are being developed:
 * [C++ version](https://github.com/Le0nX/ModernRoboticsCpp)
 * [Julia version](https://github.com/ferrolho/ModernRoboticsBook.jl)
 * [Nim version](https://github.com/Nimbotics/ModernRoboticsNim)
+* [PyTorch version](https://github.com/Agaggar/PyTorch_MR) in `packages/PyTorch`, installable as `pip install -e packages/PyTorch` and used as `import pytorch_mr as pmr`
 
 Some libraries built on ours:
 * [KinematicsFromDescriptionTool](https://github.com/Interbotix/kinematics_from_description), which calculates the kinematics input parameters from a robot's URDF or robot_description parameter using ROS and Python3.

packages/PyTorch/.gitignore

@@ -0,0 +1,8 @@
+dist/
+build/
+*.egg-info/
+.eggs/
+.pytest_cache/
+__pycache__/
+*.pyc
+src/*.egg-info/

packages/PyTorch/LICENSE

@@ -0,0 +1,21 @@
+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
+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
+copies or substantial portions of the Software.
+
+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
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

packages/PyTorch/README.md

@@ -0,0 +1,58 @@
+# 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
+```

packages/PyTorch/pyproject.toml

@@ -0,0 +1,51 @@
+[build-system]
+requires = ["setuptools>=61", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "pytorch_mr"
+description = "PyTorch implementation of Modern Robotics: Mechanics, Planning, and Control"
+readme = "README.md"
+requires-python = ">=3.6"
+license = { file = "LICENSE" }
+authors = [
+    { name = "Ayush Gaggar", email = "agaggar@u.northwestern.edu" }
+]
+keywords = ["robotics", "kinematics", "dynamics", "pytorch", "modern robotics"]
+classifiers = [
+    "Development Status :: 3 - Alpha",
+    "Intended Audience :: Education",
+    "Intended Audience :: Science/Research",
+    "License :: OSI Approved :: MIT License",
+    "Natural Language :: English",
+    "Programming Language :: Python :: 3",
+    "Topic :: Education",
+    "Topic :: Scientific/Engineering",
+    "Programming Language :: Python :: 3",
+    "Operating System :: OS Independent",
+]
+dependencies = [
+    "numpy>=1.20",
+    "torch>=1.10",
+]
+dynamic = ["version"]
+
+[project.urls]
+Homepage = "https://github.com/Agaggar/PyTorch_MR/tree/master/packages/PyTorch"
+Documentation = "http://modernrobotics.org/"
+Repository = "https://github.com/Agaggar/PyTorch_MR.git"
+Issues = "https://github.com/Agaggar/PyTorch_MR/issues"
+
+[project.optional-dependencies]
+dev = ["pytest>=7"]
+
+[tool.setuptools.packages.find]
+where = ["src"]
+
+# Read version from the lightweight module only (avoid importing core.py -> torch in isolated builds).
+[tool.setuptools.dynamic]
+version = { attr = "pytorch_mr.__version__.__version__" }
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]
+pythonpath = ["src"]

packages/PyTorch/setup.py

@@ -0,0 +1,46 @@
+from setuptools import find_packages, setup
+
+exec(open('src/pytorch_mr/__version__.py').read())
+
+long_description = """
+# Modern Robotics (PyTorch)
+
+PyTorch implementation of the mathematical routines from
+_Modern Robotics: Mechanics, Planning, and Control_.
+
+This package mirrors the reference NumPy `modern_robotics` library with batched tensor support.
+
+Install the NumPy reference separately from `packages/Python` if you need parity tests or side-by-side use:
+`pip install -e ../Python` (from this directory's parent) or `pip install modern_robotics`.
+"""
+
+setup(
+    name="pytorch_mr",
+    version=__version__,
+    author="Ayush Gaggar, Huan Weng, Mikhail Todes, Jarvis Schultz, Bill Hunt, ",
+    author_email="agaggar@u.northwestern.edu",
+    description=(
+        "Modern Robotics: Mechanics, Planning, and Control — PyTorch implementation"
+    ),
+    license="MIT",
+    long_description=long_description,
+    long_description_content_type="text/markdown",
+    keywords="kinematics robotics dynamics pytorch",
+    url="http://modernrobotics.org/",
+    packages=find_packages(include=["pytorch_mr", "pytorch_mr.*"]),
+    classifiers=[
+        "Development Status :: 3 - Alpha",
+        "Intended Audience :: Education",
+        "Intended Audience :: Science/Research",
+        "License :: OSI Approved :: MIT License",
+        "Natural Language :: English",
+        "Programming Language :: Python :: 3",
+        "Topic :: Education",
+        "Topic :: Scientific/Engineering",
+    ],
+    install_requires=[
+        "numpy",
+        "torch",
+    ],
+    platforms="Linux, Mac, Windows",
+)

packages/PyTorch/src/pytorch_mr/__init__.py

@@ -0,0 +1,3 @@
+from .__version__ import __version__
+
+from .core import *

packages/PyTorch/src/pytorch_mr/__version__.py

@@ -0,0 +1,2 @@
+
+__version__ = '0.0.1'