pyproject.toml

[project]

name = "roboticstoolbox-python"

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

version = "1.4.2"

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

dependencies = [
    "numpy",
    "spatialmath-python>=1.1.16",
    "spatialgeometry>=1.4.0",
    "pgraph-python",
    "scipy",
    "matplotlib",
    "ansitable",
    "rtb-data>=2.0",
    "progress",
    "typing_extensions",
    "colored>2.0.0",
    "xacrodoc",
    "robot_descriptions>=2.0,<3.0",
]

license = { file = "LICENSE" }

readme = "README.md"

requires-python = ">=3.10"

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 :: 3.10",
    "Programming Language :: Python :: 3.11",
    "Programming Language :: Python :: 3.12",
    "Programming Language :: Python :: 3.13",
    "Programming Language :: Python :: 3.14",
]


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


[project.optional-dependencies]

swift = ["swift-sim>=2.0.0", "websockets"]

collision = ["coal; sys_platform != 'win32'", "trimesh"]

qp = ["qpsolvers", "quadprog"]

tool = ["ipython", "pygments"]

all = [
    "swift-sim>=2.0.0",
    "websockets",
    "qpsolvers",
    "quadprog",
    "coal; sys_platform != 'win32'",
    "trimesh",
    "ipython",
    "pygments",
]

dev = [
    "pytest",
    "pytest-cov",
    "pytest-timeout",
    "pyyaml",
    "sympy",
    "qpsolvers",
    "quadprog",
    "bdsim",
    "ruff",
    "coal; sys_platform != 'win32'",
    "trimesh",
    "nbmake",
]

# Backward-compatible alias; notebook tooling is included in "dev".
nb = ["nbmake"]

docs = [
    "sphinx",
    "sphinx_rtd_theme",
    "sphinx-pyrunblock",
    "sphinx_autodoc_typehints",
    "sphinx-favicon",
    "sphinxcontrib-bibtex",
    "sphinx-copybutton",
    "sphinx-codeautolink",
]


[project.scripts]

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


[build-system]

requires = ["scikit-build-core>=0.9", "numpy", "nanobind>=2"]
build-backend = "scikit_build_core.build"


[tool.scikit-build]
wheel.packages = ["src/roboticstoolbox"]
sdist.include = [
    "src/roboticstoolbox",
    "tests",
    "CMakeLists.txt",
    "README.md",
    "LICENSE",
]
sdist.exclude = ["rtb-data/**"]

# Set RTB_PURE_WHEEL=1 to build a genuinely pure-Python wheel: skips both
# compiled extensions (CMakeLists.txt's RTB_BUILD_EXTENSIONS option) and
# forces the wheel tag to py3-none-any (wheel.platlib=false — confirmed by
# reading scikit-build-core's own wheel_tag.py: root_is_purelib forces
# plats=["any"], abi="none", pyvers=["py3"]). Used for the Pyodide/
# JupyterLite build (see release.yml's build_pyodide job) -- both _fknm_c
# and _frne_c have complete, tested pure-Python fallbacks (fknm.py/frne.py,
# tests/test_fknm_fallback.py), so there's nothing missing at runtime.
# pip always prefers a platform-specific compiled wheel over py3-none-any
# when both are published (packaging.tags ranks specific tags higher) --
# this wheel is only ever selected where no compiled wheel exists, i.e.
# Pyodide today.
[[tool.scikit-build.overrides]]
if.env.RTB_PURE_WHEEL = true
wheel.platlib = false
cmake.define.RTB_BUILD_EXTENSIONS = "OFF"


[tool.ruff]
line-length = 88
exclude = [".git", "build", "dist", "docs", ".venv", ".tox"]

[tool.ruff.lint]
ignore = ["F821", "E741", "E203"]

[tool.ruff.format]
quote-style = "double"
indent-style = "space"


[tool.cibuildwheel]

build = ["cp310-*", "cp311-*", "cp312-*", "cp313-*", "cp314-*"]
skip = ["*musllinux*"]

[tool.cibuildwheel.macos]
archs = ["auto"] # arm64 only from macos-latest; x86_64 EOL

[tool.cibuildwheel.linux]
archs = [
    "auto",
] # native arch only; arm64 uses ubuntu-24.04-arm runner (no QEMU)

[tool.cibuildwheel.windows]
archs = ["AMD64"]

# No [tool.cibuildwheel.pyodide] section -- the wasm/Pyodide wheel is no
# longer built via cibuildwheel's Pyodide platform (cross-compiling for a
# specific Emscripten/Pyodide ABI version was the whole source of the
# JSPI/tag-matching saga, see git history on this file and release.yml).
# It's built as an ordinary pure-Python wheel on a normal runner instead --
# see the RTB_PURE_WHEEL override above and release.yml's build_pyodide job.


[tool.pytest.ini_options]
pythonpath = ["."]
filterwarnings = [
    "ignore:FigureCanvasAgg is non-interactive:UserWarning",
]

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