build: Replace setup.py with setup.cfg

Author: luator

CHANGELOG

@@ -1,6 +1,12 @@
 trifinger_simulation Changelog
 ==============================
 
+master
+------
+
+- Switch from setup.py to setup.cfg
+
+
 Version 1.4.0
 -------------
 

pyproject.toml

@@ -1,5 +1,5 @@
 [build-system]
-requires = ["setuptools", "wheel"]
+requires = ["setuptools>=42", "wheel"]
 
 [tool.black]
 line-length = 79

setup.cfg

@@ -2,3 +2,64 @@
 script-dir=$base/lib/trifinger_simulation
 [install]
 install-scripts=$base/lib/trifinger_simulation
+
+[metadata]
+name = trifinger_simulation
+version = attr: trifinger_simulation.__version__
+description = TriFinger Robot Simulation
+long_description = file: README.md
+author = Felix Widmaier
+author_email = [email protected]
+license = BSD 3-Clause License
+license_files = LICENSE
+url = https://open-dynamic-robot-initiative.github.io/trifinger_simulation
+project_urls =
+    Documentation = https://open-dynamic-robot-initiative.github.io/trifinger_simulation
+    Source Code = https://github.com/open-dynamic-robot-initiative/trifinger_simulation
+    Bug Tracker = https://github.com/open-dynamic-robot-initiative/trifinger_simulation/issues
+keywords = TriFinger, Simulation, Robotics, Robot
+classifiers =
+    Development Status :: 5 - Production/Stable
+    License :: OSI Approved :: BSD License
+    Programming Language :: Python :: 3
+    Topic :: Scientific/Engineering
+
+[options]
+packages = find:
+install_requires =
+    numpy >=1.19.1
+    scipy >=1.5.4
+    pin >=2.4.7  # pinocchio
+    pybullet >=3.0.8
+    gym >=0.23.1
+    opencv-python >=4.2.0.34
+    pyyaml >=5.3.1
+
+scripts =
+    demos/demo_cameras.py
+    demos/demo_control.py
+    demos/demo_inverse_kinematics.py
+    demos/demo_load_gym_env.py
+    demos/demo_plain_torque_control.py
+    demos/demo_random_policy.py
+    demos/demo_trifinger_platform.py
+    scripts/check_position_control_accuracy.py
+    scripts/profiling.py
+
+[options.extras_require]
+test = pytest
+
+[options.package_data]
+trifinger_simulation =
+    data/camera_params/*.yml
+    data/cube_v2/*.blend
+    data/cube_v2/*.urdf
+    data/cube_v2/*.png
+    data/cube_v2/*.mtl
+    data/cube_v2/*.obj
+    robot_properties_fingers/**/*.stl
+    robot_properties_fingers/**/*.urdf
+
+[options.data_files]
+share/ament_index/resource_index/packages = resource/trifinger_simulation
+share/trifinger_simulation = package.xml

setup.py

@@ -1,89 +1,5 @@
-import os
-from setuptools import setup
+# Dummy setup.py needed for colon
+import setuptools
 
-package_name = "trifinger_simulation"
-
-
-def find_package_data(base_dir, data_dir):
-    """Get list of all files in base_dir/data_dir, relative to base_dir."""
-    paths = []
-    for (path, _directories, filenames) in os.walk(
-        os.path.join(base_dir, data_dir)
-    ):
-        for filename in filenames:
-            paths.append(
-                os.path.relpath(os.path.join(path, filename), base_dir)
-            )
-    return paths
-
-
-setup(
-    name=package_name,
-    version="1.4.0",
-    packages=[
-        package_name,
-        package_name + ".gym_wrapper",
-        package_name + ".gym_wrapper.envs",
-        package_name + ".tasks",
-        package_name + ".tasks.move_cube",
-        package_name + ".tasks.move_cube_on_trajectory",
-        package_name + ".tasks.rearrange_dice",
-    ],
-    data_files=[
-        (
-            "share/ament_index/resource_index/packages",
-            ["resource/" + package_name],
-        ),
-        ("share/" + package_name, ["package.xml"]),
-    ],
-    zip_safe=False,  # <- TODO Could this be True?
-    maintainer="Felix Widmaier",
-    maintainer_email="[email protected]",
-    url="https://open-dynamic-robot-initiative.github.io/trifinger_simulation",
-    description="TriFinger Robot Simulation",
-    classifiers=[
-        "Development Status :: 5 - Production/Stable",
-        "License :: OSI Approved :: BSD License",
-        "Programming Language :: Python :: 3",
-        "Topic :: Scientific/Engineering",
-    ],
-    license="BSD 3-Clause",
-    install_requires=[
-        "numpy >=1.19.1",
-        "scipy >=1.5.4",
-        "pin >=2.4.7",  # pinocchio
-        "pybullet >=3.0.8",
-        "gym >=0.23.1",
-        "opencv-python >=4.2.0.34",
-        "pyyaml >=5.3.1",
-    ],
-    extras_require={
-        "test": ["pytest"],
-    },
-    # entry_points={
-    #    'console_scripts': [
-    #            'my_node = my_py_pkg.my_node:main'
-    #    ],
-    #  },
-    # TODO: use entry_points instead of scripts to get rid of the .py extension
-    # on the executables.
-    scripts=[
-        "demos/demo_cameras.py",
-        "demos/demo_control.py",
-        "demos/demo_inverse_kinematics.py",
-        "demos/demo_load_gym_env.py",
-        "demos/demo_plain_torque_control.py",
-        "demos/demo_random_policy.py",
-        "demos/demo_trifinger_platform.py",
-        "scripts/check_position_control_accuracy.py",
-        "scripts/profiling.py",
-    ],
-    package_data={
-        "": (
-            find_package_data("trifinger_simulation", "data")
-            + find_package_data(
-                "trifinger_simulation", "robot_properties_fingers"
-            )
-        )
-    },
-)
+if __name__ == "__main__":
+    setuptools.setup()