convert to pyproject.toml

.github/build-wheels.sh

-#!/bin/bash
-set -e -u -x
-
-function repair_wheel {
-    wheel="$1"
-    if ! auditwheel show "$wheel"; then
-        echo "Skipping non-platform wheel $wheel"
-    else
-        auditwheel repair "$wheel" --plat "$PLAT" -w /io/wheelhouse/
-    fi
-}
-
-cd ./io
-
-# Compile wheels
-for PYBIN in /opt/python/cp3*/bin; do
-#     "${PYBIN}/pip" install .
-#     "${PYBIN}/pip" install pytest
-    "${PYBIN}/pip" wheel /io/ --no-deps -w wheelhouse/
-done
-
-# Bundle external shared libraries into the wheels
-for whl in wheelhouse/*.whl; do
-    repair_wheel "$whl"
-done
-
-# Install packages and test
-#for PYBIN in /opt/python/cp3[6-8]*/bin/; do
-#    "${PYBIN}/pip" install roboticstoolbox-python[dev,collision,vpython] --no-index -f /io/wheelhouse
-#    ("${PYBIN}/pytest")
-#done
-
-ls ./wheelhouse

.github/workflows/cibuildwheel.yml

+name: Build all Wheels
+
+on:
+  release:
+    types: [created]
+  workflow_dispatch:
+
+jobs:
+  build_wheels:
+    name: Build wheels on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+      
+    strategy:
+      matrix:
+        os: [ubuntu-20.04, windows-2019, macos-11]
+        include:
+          - os: ubuntu-20.04
+            cibw_archs: "aarch64"
+            
+    steps:
+    
+      # Set up emulation for arm on linux
+      - name: Set up QEMU
+        if: matrix.cibw_archs == 'aarch64'
+        uses: docker/setup-qemu-action@v2
+        with:
+          platforms: arm64
+      - uses: actions/checkout@v3
+
+      - name: Build wheels
+        uses: pypa/cibuildwheel@v2.11.3
+
+      - uses: actions/upload-artifact@v3
+        with:
+          path: ./wheelhouse/*.whl
+
+  build_sdist:
+    name: Build source distribution
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: Build sdist
+        run: pipx run build --sdist
+
+      - uses: actions/upload-artifact@v3
+        with:
+          path: dist/*.tar.gz
+          
+  upload_pypi:
+    needs: [build_wheels, build_sdist]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/download-artifact@v3
+        with:
+          # unpacks default artifact into dist/
+          name: artifact
+          path: dist
+
+      - uses: pypa/gh-action-pypi-publish@v1.5.0
+        with:
+          user: __token__
+          password: ${{ secrets.PYPI_PASSWORD }}
+          
+          

.github/workflows/python-publish.yml

-# This workflows will upload a Python Package using Twine when a release is created
-# For more information see: https://help.github.com/en/actions/language-and-framework-guides/using-python-with-github-actions#publishing-to-package-registries
-
-name: Upload Python Package
-
-on:
-  release:
-    types: [created]
-  workflow_dispatch:
-
-jobs:
-  deploy:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      max-parallel: 2
-      matrix:
-        os: [macos-latest, windows-latest]
-        python-version: [3.7, 3.8, 3.9, "3.10"]
-
-    steps:
-      - uses: actions/checkout@v2
-      - name: Set up Python
-        uses: actions/setup-python@v2
-        with:
-          python-version: ${{ matrix.python-version }}
-      - name: Install dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install -U setuptools wheel twine
-      - name: Build and publish
-        env:
-          TWINE_USERNAME: ${{ secrets.PYPI_USERNAME }}
-          TWINE_PASSWORD: ${{ secrets.PYPI_PASSWORD }}
-        run: |
-          python setup.py sdist bdist_wheel
-          ls ./dist/*.whl
-          twine upload dist/*.whl

.github/workflows/python_publish_linux.yml

-# This is a basic workflow that is manually triggered
-
-name: Linux Build and Publish
-
-on:
-  release:
-    types: [created]
-  workflow_dispatch:
-
-
-# A workflow run is made up of one or more jobs that can run sequentially or in parallel
-jobs:
-  # This workflow contains a single job called "greet"
-  deploy:
-    # The type of runner that the job will run on
-    runs-on: ubuntu-latest
-
-    # Steps represent a sequence of tasks that will be executed as part of the job
-    steps:
-    - name: Set up Python 3.7
-      uses: actions/setup-python@v1
-      with:
-        python-version: 3.7
-    # Runs a single command using the runners shell
-    - uses: actions/checkout@v2
-    - name: Make wheels
-      run: |
-        sudo docker run -e PLAT=manylinux2010_x86_64 -v ${{ github.workspace }}:/io quay.io/pypa/manylinux2010_x86_64 /io/.github/build-wheels.sh
-    - name: Install dependencies
-      run: |
-        python -m pip install --upgrade pip
-        pip install -U setuptools wheel twine
-    - name: Build and publish
-      env:
-        TWINE_USERNAME: ${{ secrets.PYPI_USERNAME }}
-        TWINE_PASSWORD: ${{ secrets.PYPI_PASSWORD }}
-      run: |
-        twine upload wheelhouse/*manylinux*

.github/workflows/upload_tar.yml

-# This workflows will upload a Python Package using Twine when a release is created
-# For more information see: https://help.github.com/en/actions/language-and-framework-guides/using-python-with-github-actions#publishing-to-package-registries
-
-# name: Upload tar to PyPI
-
-on:
-  release:
-    types: [created]
-  workflow_dispatch:
-
-jobs:
-  deploy:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      max-parallel: 2
-      matrix:
-        os: [ubuntu-latest]
-        python-version: [3.9]
-
-    steps:
-      - uses: actions/checkout@v2
-      - name: Set up Python
-        uses: actions/setup-python@v2
-        with:
-          python-version: ${{ matrix.python-version }}
-      - name: Install dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install -U setuptools wheel twine
-      - name: Build and publish
-        env:
-          TWINE_USERNAME: ${{ secrets.PYPI_USERNAME }}
-          TWINE_PASSWORD: ${{ secrets.PYPI_PASSWORD }}
-        run: |
-          python setup.py sdist bdist_wheel
-          twine upload dist/*.gz

pyproject.toml

+[project]
+
+name = "swift-sim"
+
+description = "A Python/Javascript Robot Simulator and Visualiser"
+
+version = "1.0.1"
+
+authors = [
+    { name = "Jesse Haviland", email = "j.haviland@qut.edu.au" },
+    { name = "Peter Corke", email = "rvc@petercorke.com" },
+]
+
+dependencies = [
+    "numpy>=1.17.4",
+    "spatialgeometry~=1.0.0",
+    "websockets",
+]
+
+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/jhavl/swift"
+documentation = "https://jhavl.github.io/swift/"
+repository = "https://github.com/jhavl/swift"
+
+
+
+[project.optional-dependencies]
+
+dev = [
+    "black",
+    "roboticstoolbox-python~=1.0.0",
+    "swift-sim",
+    "pytest",
+    "pytest-cov",
+    "flake8",
+    "pyyaml",
+]
+
+docs = [
+    "sphinx",
+    "sphinx_rtd_theme",
+    "sphinx-autorun", 
+]
+
+
+
+[build-system]
+
+requires = [
+    "setuptools",
+    "oldest-supported-numpy"
+]
+
+build-backend = "setuptools.build_meta"
+
+
+
+[tool.setuptools]
+
+packages = ["swift"]
+
+
+
+[tool.black]
+
+line-length = 88
+target_version = ['py37']
+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]
+
+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"]
+
+
+

setup.py

 from setuptools import setup, find_packages, Extension
 from os import path
 import os
-
-# fmt: off
-import pip
-pip.main(['install', 'numpy>=1.17.4'])
 import numpy
-# fmt: on
-
-here = path.abspath(path.dirname(__file__))
-
-req = ["numpy>=1.17.4", "spatialgeometry~=1.0.0", "websockets"]
-
-# Get the long description from the README file
-with open(path.join(here, "README.md"), encoding="utf-8") as f:
-    long_description = f.read()
 
 
 def package_files(directory):
@@ -35,44 +22,12 @@ for extra_folder in extra_folders:
     extra_files += package_files(extra_folder)
 
 phys = Extension(
-    "phys",
+    "swift.phys",
     sources=["./swift/core/phys.cpp"],
     include_dirs=["./swift/core/", numpy.get_include()],
 )
 
 setup(
-    name="swift-sim",
-    version="1.0.0",
-    description="A Python/Javascript Visualiser",
-    long_description=long_description,
-    long_description_content_type="text/markdown",
-    url="https://github.com/jhavl/swift",
-    author="Jesse Haviland",
-    license="MIT",
-    classifiers=[
-        #   3 - Alpha
-        #   4 - Beta
-        #   5 - Production/Stable
-        "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. In particular, ensure
-        # that you indicate whether you support Python 2, Python 3 or both.
-        "Programming Language :: Python :: 3.6",
-        "Programming Language :: Python :: 3.7",
-        "Programming Language :: Python :: 3.8",
-        "Programming Language :: Python :: 3.9",
-        "Programming Language :: Python :: 3.10",
-    ],
-    python_requires=">=3.6",
-    keywords="python robotics robotics-toolbox kinematics dynamics"
-    " motion-planning trajectory-generation jacobian hessian"
-    " control simulation robot-manipulator mobile-robot",
-    packages=find_packages(exclude=["tests", "examples"]),
     package_data={"swift": extra_files},
-    # include_package_data=True,
     ext_modules=[phys],
-    install_requires=req,
 )

swift/Swift.py

@@ -11,7 +11,7 @@ import time
 from queue import Queue
 import json
 from swift import start_servers, SwiftElement, Button
-import phys
+from swift.phys import step_v, step_shape
 
 rtb = None
 
@@ -567,9 +567,7 @@ class Swift:
 
         elif robot._control_mode == "v":
 
-            phys.step_v(
-                robot._n, robot._valid_qlim, dt, robot._q, robot._qd, robot._qlim
-            )
+            step_v(robot._n, robot._valid_qlim, dt, robot._q, robot._qd, robot._qlim)
 
             # _v(robot._q, robot._qd, dt, robot._qlim, robot._valid_qlim)
 
@@ -600,7 +598,7 @@ class Swift:
             id = self.swift_objects.index(shape)
             self._send_socket("shape_update", [id, shape.to_dict()])
 
-        phys.step_shape(
+        step_shape(
             dt, shape.v, shape._SceneNode__T, shape._SceneNode__wT, shape._SceneNode__wq
         )
         if shape.collision: