pyproject.toml

[project]

name = "roboticstoolbox-python"

description = "A Python library for robotics education and research"

version = "1.1.1"

authors = [
    { name = "Jesse Haviland", email = "j.haviland@qut.edu.au" },
    { name = "Peter Corke", email = "rvc@petercorke.com" },
]

dependencies = [
    "numpy>=1.17.4",
    "spatialmath-python>=1.1.5",
    "spatialgeometry>=1.0.0",
    "pgraph-python",
    "scipy",
    "matplotlib",
    "ansitable",
    "swift-sim>=1.0.0",
    "rtb-data",
    "progress",
    "typing_extensions",
]

license = { file = "LICENSE" }

readme = "README.md"

requires-python = ">=3.7"

keywords = [
    "python",
    "robotics",
    "robotics-toolbox",
    "kinematics",
    "dynamics",
    "motion-planning",
    "trajectory-generation",
    "jacobian",
    "hessian",
    "control",
    "simulation",
    "robot-manipulator",
    "mobile-robot",
]

classifiers = [
    "Development Status :: 5 - Production/Stable",
    # Indicate who your project is intended for
    "Intended Audience :: Developers",
    # Pick your license as you wish (should match "license" above)
    "License :: OSI Approved :: MIT License",
    # Specify the Python versions you support here.
    "Programming Language :: Python :: 3.7",
    "Programming Language :: Python :: 3.8",
    "Programming Language :: Python :: 3.9",
    "Programming Language :: Python :: 3.10",
    "Programming Language :: Python :: 3.11",
]


[project.urls]
homepage = "https://github.com/petercorke/robotics-toolbox-python"
documentation = "https://petercorke.github.io/robotics-toolbox-python/"
repository = "https://github.com/petercorke/robotics-toolbox-python"


[project.optional-dependencies]

collision = ["pybullet"]

dev = [
    "black",
    "pytest",
    "pytest-cov",
    "flake8",
    "pyyaml",
    "sympy",
    "qpsolvers",
    "quadprog",
    "pybullet",
    "bdsim",
]

docs = [
    "sphinx",
    "sphinx_rtd_theme",
    "sphinx-autorun",
    "sphinx_autodoc_typehints",
    "sphinx-favicon",
]


[project.scripts]

eigdemo = "roboticstoolbox.examples.eigdemo:main"
tripleangledemo = "roboticstoolbox.examples.tripleangledemo:main"
twistdemo = "roboticstoolbox.examples.twistdemo:main"
rtbtool = "roboticstoolbox.bin.rtbtool:main"


[build-system]

requires = ["setuptools", "oldest-supported-numpy"]
build-backend = "setuptools.build_meta"


[tool.setuptools]

packages = [
    "roboticstoolbox",
    "roboticstoolbox.backends",
    "roboticstoolbox.backends.PyPlot",
    "roboticstoolbox.backends.swift",
    "roboticstoolbox.bin",
    "roboticstoolbox.blocks",
    "roboticstoolbox.examples",
    "roboticstoolbox.bin",
    "roboticstoolbox.robot",
    "roboticstoolbox.mobile",
    "roboticstoolbox.models",
    "roboticstoolbox.models.DH",
    "roboticstoolbox.models.ETS",
    "roboticstoolbox.models.URDF",
    "roboticstoolbox.tools",
    "roboticstoolbox.tools.urdf",
    "roboticstoolbox.tools.xacro",
]


[tool.black]

line-length = 88
target_version = ['py37']
args = '--experimental-string-processing'

include = '\.pyi?$'
exclude = '''

(
  /(
      \.eggs         # exclude a few common directories in the
    | \.git          # root of the project
    | \.hg
    | \.mypy_cache
    | \.tox
    | \.venv
    | \.github
    | _build
    | buck-out
    | build
    | dist
    | docs
  )/
)
'''


[tool.flake8]

ignore = ['F821', 'W503', 'E741']
max-line-length = 88
extend-ignore = 'E203'


[tool.cibuildwheel]

# Will cause the wheel to be installed with `pip install <wheel_file>[dev,collision]`
# test-extras = ["dev", "collision"]
# test-requires = "pytest"
# test-command = "pytest {project}/tests"

manylinux-x86_64-image = "manylinux2014"
manylinux-aarch64-image = "manylinux2014"

# Build CPython 3.7 - 3.11
build = ["cp37-*", "cp38-*", "cp39-*", "cp310-*", "cp311-*"]

# Disable building musllinux wheels on all platforms
skip = ["pp*", "*musllinux*"]


[tool.cibuildwheel.macos]

# Build `x86_64` and `arm64` wheels on an Intel runner.
# Note that the `arm64` wheel cannot be tested in this configuration.
archs = ["x86_64", "arm64"]

[tool.cibuildwheel.linux]

# On an Linux Intel runner with qemu installed, build Intel and ARM wheels
archs = ["x86_64", "aarch64"]

[tool.cibuildwheel.windows]

# On an Windows Intel runner build wheels
archs = ["AMD64", "x86"]


[tool.coverage.run]
omit = ["roboticstoolbox/examples/*", "test_*.py"]