make mujoco required

Author: Peter

pyproject.toml

@@ -42,14 +42,14 @@ classifiers = [# Optional
 dependencies = [
     'absl-py',
     'lxml',
+    "mujoco",
     'numpy',
     'pyyaml',
     'torch',
 ]
 
 [project.optional-dependencies]
-test = ["pytest", "mujoco"]
-mujoco = ["mujoco"]
+test = ["pytest"]
 
 [project.urls]
 "Homepage" = "https://github.com/UM-ARM-Lab/pytorch_kinematics"

tests/test_rotation_conversions.py

@@ -23,6 +23,7 @@ def test_axis_angle_to_matrix_perf():
     dt2 = timeit.timeit(lambda: axis_and_angle_to_matrix_33(axis=axis_1d, theta=theta), number=number)
     print(f'New method: {dt2:.5f}')
 
+def test_quaternion_close
 
 def test_quaternion_from_euler():
     q = quaternion_from_euler(torch.tensor([0., 0, 0]))