setuptools => poetry

.github/workflows/main.yml

@@ -124,11 +124,7 @@ jobs:
         run: |
           apt-get update -o APT::Acquire::Retries=4 -qq
           apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends python3-pip git xvfb
-          pip3 install underactuated
-          # Upgrade drake to the nightlies to avoid deprecation errors.
-          # TODO(russt): point to the nightly in setup.cfg, pending
-          # https://github.com/RobotLocomotion/drake/issues/18792
-          pip3 install --upgrade https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20230903-cp310-cp310-manylinux_2_31_x86_64.whl
+          pip3 install underactuated --extra-index-url https://drake-packages.csail.mit.edu/whl/nightly/
         shell: bash
       - name: checkout
         uses: actions/checkout@v2

Developers.md

@@ -29,12 +29,10 @@ for now a work-around is:
 
 ## To update the pip wheels
 
-Update the version number in `setup.cfg`, then from the root directory, run:
+Update the version number in `pyproject.toml`, then from the root directory, run:
 ```
 rm -rf dist/*
-python3 -m pip install --upgrade build twine
-python3 -m build
-python3 -m twine upload dist/* -u __token__ 
+poetry publish --build
 ``` 
 
 ## Tips for developers

drake.html

@@ -150,7 +150,7 @@ <h1><a href="index.html" style="text-decoration:none;">Underactuated Robotics</a
   <section><h1>Running on your own machine</h1>
 
     <p>As you get more advanced, you will likely want to run (and extend) these examples on your own machine. On platforms that Drake supports (the latest two releases of Mac and Ubuntu), it should be as simple as running 
-      <pre><code class="python">pip install underactuated</code></pre>
+      <pre><code class="python">pip install underactuated --extra-index-url https://drake-packages.csail.mit.edu/whl/nightly/</code></pre>
     In general, I would strongly recommend running <code>pip</code>
     commands in a <a
     href="https://python-guide-cn.readthedocs.io/en/latest/dev/virtualenvs.html">virtualenv</a>.</p>

pyproject.toml

@@ -1,9 +1,65 @@
-[build-system]
-requires = [
-    "setuptools>=42",
-    "wheel"
+[tool.poetry]
+name = "underactuated"
+# Use e.g. 2023.10.4.rc0 if I need to release a release candidate.
+# Use e.g. 2023.10.4.post1 if I need to rerelease on the same day.
+version = "2023.10.5"
+description = "MIT 6.821 - Underactuated Robotics"
+authors = ["Russ Tedrake <russt@mit.edu>"]
+license = "BSD License"
+readme = "README.md"
+classifiers = [
+    "Programming Language :: Python :: 3",
+    "License :: OSI Approved :: BSD License"
+]
+include = [
+    "LICENSE.txt",
+    "README.md",
+    "pyproject.toml",
+    "underactuated/**/*.jpg",
+    "underactuated/**/*.md",
+    "underactuated/**/*.mtl",
+    "underactuated/**/*.npy",
+    "underactuated/**/*.obj",
+    "underactuated/**/*.py",
+    "underactuated/**/*.sdf",
+    "underactuated/**/*.txt",
+    "underactuated/**/*.urdf",
+    "underactuated/**/*.xml",
+    "underactuated/**/*.yaml"
 ]
-build-backend = "setuptools.build_meta"
+
+exclude = [
+    "*.egg-info/**",
+    "**/__pycache__/**",
+    "**/*.bazel",
+    "**/test/**",
+    "bazel-*",
+    "htmlbook/**",
+    "data/**",
+    "solutions/**",
+    "figures/**"
+]
+
+[build-system]
+requires = ["poetry-core>=1.0.0"]
+build-backend = "poetry.core.masonry.api"
+
+[[tool.poetry.source]]
+name = "drake-nightly"
+url = "https://drake-packages.csail.mit.edu/whl/nightly/"
+priority = "explicit"
+
+[tool.poetry.dependencies]
+python = ">=3.8"
+drake = { version = "==0.0.20231004", source = "drake-nightly" }
+gradescope-utils = ">=0.4.0"
+mpld3 = ">=0.5.1"
+pydot = ">=1.3.0"
+timeout-decorator = ">=0.4.1"
+
+[tool.poetry.dev-dependencies]
+# Add any development-specific dependencies here.
+
 [tool.black]
 line-length = 79
 include = '\.ipynb?$|\.pyi?$'
@@ -17,11 +73,11 @@ exclude = '''
   | dist
 )/
 '''
+
 [tool.isort]
 profile = "black"
 multi_line_output = 3
 line_length = 79
-skip_glob = [".gitignore", "bazel*", ".history"]
 [tool.autoflake]
 in-place = true
 recursive = true
@@ -30,4 +86,3 @@ ignore-init-module-imports = true
 remove-all-unused-imports = true
 remove-duplicate-keys = true
 remove-unused-variables = true
-exclude = ["bazel*", ".history"]