From 03080789db6b5c8482da1b857ec9615f0103cbbd Mon Sep 17 00:00:00 2001
From: Shravan Tata <shravantr@gmail.com>
Date: Sun, 17 Aug 2025 14:27:40 -0400
Subject: [PATCH 1/2] [MAIN] Added pyproject toml setup for pep517

---
 pyproject.toml | 63 ++++++++++++++++++++++++++++++++++++++++++++++++++
 setup.py       | 58 +++++++++++++++++++---------------------------
 2 files changed, 87 insertions(+), 34 deletions(-)
 create mode 100644 pyproject.toml

diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000..839046d
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,63 @@
+[build-system]
+requires = [
+     "setuptools", "numpy <= 1.26.4", "Cython>=0.15.1"
+]
+build-backend = "setuptools.build_meta"
+
+[project]
+version = "0.1.0"
+name = "farms_bullet"
+description = "FARMS package for running simulations with Bullet physics"
+readme = "README.md"
+license = "Apache-2.0"
+license-files = ["LICENSE"]
+requires-python = ">= 3.11"
+dependencies = [
+    "numpy <= 1.26.4",
+    "matplotlib",
+    "cython",
+    "scipy",
+    "tqdm",
+    "trimesh",
+    "pybullet",
+    "imageio",
+    # "farms_core @ git+https://github.com/farmsim/farms_core.git",
+    # "farms_sim @ git+https://github.com/farmsim/farms_sim.git",
+]
+keywords = ["farms", "framework", "animals", "robot", " modeling", "simulation"]
+classifiers = [
+  "Development Status :: 3 - Beta",
+  # Indicate who your project is intended for
+  "Intended Audience :: Science/Research",
+  "ScieTopic :: Scientific/Engineering",
+  "Topic :: Scientific/Engineering :: Artificial Intelligence",
+  "Topic :: Scientific/Engineering :: Artificial Life",
+  # Specify the Python versions you support here.
+  "Programming Language :: Python :: 3.11",
+]
+
+[project.urls]
+Homepage = "https://farmsim.dev"
+Documentation = "https://farmsim.dev"
+Repository = "https://github.com/farmsim/farms_bullet.git"
+Issues = "https://github.com/farmsim/farms_bullet/issues"
+Changelog = "https://github.com/me/spam/blob/master/CHANGELOG.md"
+
+[project.optional-dependencies]
+analysis = []
+
+[tool.setuptools.packages.find]
+# This is equivalent to find_packages() with no arguments
+
+[tool.setuptools]
+include-package-data = true
+
+[tool.setuptools.package-dir]
+farms_bullet = "farms_bullet"
+
+[tool.setuptools.package-data]
+farms_bullet = [
+   "*.pxd",
+   "sensors/*.pxd",
+   "swimming/*.pxd"
+]
\ No newline at end of file
diff --git a/setup.py b/setup.py
index 5ec1113..b32bb7a 100755
--- a/setup.py
+++ b/setup.py
@@ -1,37 +1,37 @@
-#!/usr/bin/env python
 """Setup script"""
 
-from setuptools import setup, find_packages
-from setuptools.extension import Extension
-from setuptools import dist
-
-dist.Distribution().fetch_build_eggs(['numpy'])
 import numpy as np
+from Cython.Build import cythonize  # pylint: disable=wrong-import-position
+from Cython.Compiler import Options  # pylint: disable=wrong-import-position
+from farms_core import get_include_paths  # pylint: disable=wrong-import-position
+from setuptools import setup
+from setuptools.extension import Extension
 
-dist.Distribution().fetch_build_eggs(['Cython>=0.15.1'])
-from Cython.Build import cythonize
-
-dist.Distribution().fetch_build_eggs(['farms_core'])
-from farms_core import get_include_paths
 
+# Cython options
 DEBUG = False
+Options.docstrings = True
+Options.embed_pos_in_docstring = False
+Options.generate_cleanup_code = False
+Options.clear_to_none = True
+Options.annotate = False
+Options.fast_fail = False
+Options.warning_errors = False
+Options.error_on_unknown_names = True
+Options.error_on_uninitialized = True
+Options.convert_range = True
+Options.cache_builtins = True
+Options.gcc_branch_hints = True
+Options.lookup_module_cpdef = False
+Options.embed = None
+Options.cimport_from_pyx = False
+Options.buffer_max_dims = 8
+Options.closure_freelist_size = 8
 
 
 setup(
     name='farms_bullet',
-    version='0.1',
-    author='farmsdev',
-    author_email='biorob-farms@groupes.epfl.ch',
-    description='FARMS package for running simulation with the Bullet engine',
-    keywords='farms simulation bullet',
-    packages=find_packages(),
-    package_dir={'farms_bullet': 'farms_bullet'},
-    package_data={'farms_bullet': [
-        f'{folder}/*.pxd'
-        for folder in ['sensors', 'swimming']
-    ]},
-    include_package_data=True,
-    include_dirs=[np.get_include()],
+    include_dirs=[np.get_include()] + get_include_paths(),
     ext_modules=cythonize(
         [
             Extension(
@@ -57,14 +57,4 @@
         }
     ),
     zip_safe=False,
-    install_requires=[
-        'farms_core',
-        'cython',
-        'numpy',
-        'scipy',
-        'matplotlib',
-        'tqdm',
-        'trimesh',
-        'pybullet',
-    ],
 )

From 63c4d1aac6095d2a0bf98e65b3c5170abe041834 Mon Sep 17 00:00:00 2001
From: Shravan Tata <shravantr@gmail.com>
Date: Thu, 21 Aug 2025 14:07:42 -0400
Subject: [PATCH 2/2] [SETUP] Added farms dependencies in pyproject

---
 pyproject.toml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 839046d..4226d7c 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -21,8 +21,8 @@ dependencies = [
     "trimesh",
     "pybullet",
     "imageio",
-    # "farms_core @ git+https://github.com/farmsim/farms_core.git",
-    # "farms_sim @ git+https://github.com/farmsim/farms_sim.git",
+    "farms_core",
+    "farms_sim",
 ]
 keywords = ["farms", "framework", "animals", "robot", " modeling", "simulation"]
 classifiers = [