feat: make torch an optional dependency for the batched simulator - #38
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torch, torchdiffeq, roma, and opt-einsum are only required for the batched simulator (BatchedMultirotor, simulate_batch, BatchedSE3Control, etc.). Moving them to an optional extra avoids forcing all users to install PyTorch (~2 GB) when they only need the standard single-drone simulator. - pyproject.toml: remove the four packages from core dependencies and add a new `batched` extra; also include them in `all` - Wrap top-level torch/roma/torchdiffeq imports with try/except in every file that mixes batched and non-batched classes, so those modules remain importable without the extra installed Install the batched simulator with: pip install rotorpy[batched] Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
added 2 commits
April 16, 2026 22:44
- Relax batched sim tolerance from 2e-2 to 5e-2 to account for numerical divergence between batched and sequential ODE integration - Wrap filterpy imports in wind_ukf.py with try/except so the estimators module loads without the filter extra - Skip example scripts in test_examples.py when they fail due to missing optional dependencies (ModuleNotFoundError/NameError)
The testing workflow runs `pip install -e .[testing]`, which no longer includes torch/torchdiffeq/roma/opt-einsum after they were moved to the batched extra. Add them to the testing extra so test_batched_sims and test_gymenv can run in CI.
Tuxliri
marked this pull request as ready for review
April 16, 2026 23:00
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Summary
torch>=1.11.0,torchdiffeq,roma, andopt-einsummoved out ofcore
dependenciesinto a newbatchedoptional extra inpyproject.tomltorch/roma/torchdiffeq imports in
try/except ImportError: pass, so thosemodules remain importable without the extra installed
allextra is updated to include the batched depsMotivation
PyTorch (~2 GB) is only needed for the batched simulator. Users who only need
the standard single-drone
simulate()workflow were forced to install it.With this change:
Test plan
simulate,Multirotor,SE3Control, etc.)work without torch installed
simulate_batch,BatchedMultirotor, etc.)continue to work with
rotorpy[batched]