Merge pull request #18 from UM-ARM-Lab/mjcf_optional

make the dm_control dependency opt-in

.github/workflows/python-package.yml

@@ -27,7 +27,7 @@ jobs:
     - name: Install dependencies
       run: |
         python -m pip install --upgrade pip
-        python -m pip install .
+        python -m pip install .[test]
         python -m pip install flake8 pytest
         if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
     - name: Lint with flake8

README.md

@@ -6,6 +6,8 @@
 # Installation
 ```shell
 pip install pytorch-kinematics
+# Alternatively, if you want to load from mujoco's XML format, use:
+pip install pytorch-kinematics[mujoco]
 ```
 
 For development, clone repository somewhere, then `pip3 install -e .` to install in editable mode.

pyproject.toml

@@ -57,7 +57,6 @@ dependencies = [# Optional
     'transformations',
     'absl-py',
     'lxml',
-    'dm_control',
     'pyyaml'
 ]
 
@@ -70,7 +69,8 @@ dependencies = [# Optional
 # Similar to `dependencies` above, these must be valid existing
 # projects.
 [project.optional-dependencies] # Optional
-test = ["pytest"]
+test = ["pytest", "dm_control"]
+mujoco = ["dm_control"]
 
 # List URLs that are relevant to your project
 #
@@ -102,4 +102,4 @@ test = ["pytest"]
 # These are the assumed default build requirements from pip:
 # https://pip.pypa.io/en/stable/reference/pip/#pep-517-and-518-support
 requires = ["setuptools>=43.0.0", "wheel"]
-build-backend = "setuptools.build_meta"
+build-backend = "setuptools.build_meta"

src/pytorch_kinematics/mjcf.py

@@ -1,5 +1,3 @@
-from dm_control import mjcf
-
 import pytorch_kinematics.transforms as tf
 from . import chain
 from . import frame
@@ -59,6 +57,8 @@ def build_chain_from_mjcf(data):
     chain.Chain
         Chain object created from MJCF.
     """
+    from dm_control import mjcf
+
     model = mjcf.from_xml_string(data)
     root_body = model.worldbody.body[0]
     root_frame = frame.Frame(root_body.name + "_frame",