From 4e97bf0a79a8586c0053afe3930c12f86b80db91 Mon Sep 17 00:00:00 2001
From: Max Spahn <m.spahn@tudelft.nl>
Date: Mon, 25 Jul 2022 11:42:21 +0200
Subject: [PATCH 01/10] Replaces the whole config files with the pyproject toml
 and the poetry.lock.

---
 poetry.lock    | 750 +++++++++++++++++++++++++++++++++++++++++++++++++
 pyproject.toml |  34 ++-
 setup.cfg      | 132 ---------
 setup.py       |  21 --
 tox.ini        |  72 -----
 5 files changed, 777 insertions(+), 232 deletions(-)
 create mode 100644 poetry.lock
 delete mode 100644 setup.cfg
 delete mode 100644 setup.py
 delete mode 100644 tox.ini

diff --git a/poetry.lock b/poetry.lock
new file mode 100644
index 0000000..957a6cc
--- /dev/null
+++ b/poetry.lock
@@ -0,0 +1,750 @@
+[[package]]
+name = "alabaster"
+version = "0.7.12"
+description = "A configurable sidebar-enabled Sphinx theme"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "atomicwrites"
+version = "1.4.1"
+description = "Atomic file writes."
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+
+[[package]]
+name = "attrs"
+version = "21.4.0"
+description = "Classes Without Boilerplate"
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+
+[package.extras]
+dev = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "zope.interface", "furo", "sphinx", "sphinx-notfound-page", "pre-commit", "cloudpickle"]
+docs = ["furo", "sphinx", "zope.interface", "sphinx-notfound-page"]
+tests = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "zope.interface", "cloudpickle"]
+tests_no_zope = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "cloudpickle"]
+
+[[package]]
+name = "babel"
+version = "2.10.3"
+description = "Internationalization utilities"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+pytz = ">=2015.7"
+
+[[package]]
+name = "certifi"
+version = "2022.6.15"
+description = "Python package for providing Mozilla's CA Bundle."
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[[package]]
+name = "charset-normalizer"
+version = "2.1.0"
+description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet."
+category = "dev"
+optional = false
+python-versions = ">=3.6.0"
+
+[package.extras]
+unicode_backport = ["unicodedata2"]
+
+[[package]]
+name = "colorama"
+version = "0.4.5"
+description = "Cross-platform colored terminal text."
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+
+[[package]]
+name = "coverage"
+version = "6.4.2"
+description = "Code coverage measurement for Python"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+tomli = {version = "*", optional = true, markers = "python_full_version <= \"3.11.0a6\" and extra == \"toml\""}
+
+[package.extras]
+toml = ["tomli"]
+
+[[package]]
+name = "docutils"
+version = "0.17.1"
+description = "Docutils -- Python Documentation Utilities"
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+
+[[package]]
+name = "idna"
+version = "3.3"
+description = "Internationalized Domain Names in Applications (IDNA)"
+category = "dev"
+optional = false
+python-versions = ">=3.5"
+
+[[package]]
+name = "imagesize"
+version = "1.4.1"
+description = "Getting image size from png/jpeg/jpeg2000/gif file"
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+
+[[package]]
+name = "importlib-metadata"
+version = "4.12.0"
+description = "Read metadata from Python packages"
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+typing-extensions = {version = ">=3.6.4", markers = "python_version < \"3.8\""}
+zipp = ">=0.5"
+
+[package.extras]
+docs = ["sphinx", "jaraco.packaging (>=9)", "rst.linker (>=1.9)"]
+perf = ["ipython"]
+testing = ["pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-flake8", "pytest-cov", "pytest-enabler (>=1.3)", "packaging", "pyfakefs", "flufl.flake8", "pytest-perf (>=0.9.2)", "pytest-black (>=0.3.7)", "pytest-mypy (>=0.9.1)", "importlib-resources (>=1.3)"]
+
+[[package]]
+name = "iniconfig"
+version = "1.1.1"
+description = "iniconfig: brain-dead simple config-ini parsing"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "jinja2"
+version = "3.1.2"
+description = "A very fast and expressive template engine."
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+MarkupSafe = ">=2.0"
+
+[package.extras]
+i18n = ["Babel (>=2.7)"]
+
+[[package]]
+name = "lxml"
+version = "4.9.1"
+description = "Powerful and Pythonic XML processing library combining libxml2/libxslt with the ElementTree API."
+category = "main"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, != 3.4.*"
+
+[package.extras]
+cssselect = ["cssselect (>=0.7)"]
+html5 = ["html5lib"]
+htmlsoup = ["beautifulsoup4"]
+source = ["Cython (>=0.29.7)"]
+
+[[package]]
+name = "markupsafe"
+version = "2.1.1"
+description = "Safely add untrusted strings to HTML/XML markup."
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[[package]]
+name = "numpy"
+version = "1.21.1"
+description = "NumPy is the fundamental package for array computing with Python."
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
+[[package]]
+name = "packaging"
+version = "21.3"
+description = "Core utilities for Python packages"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+pyparsing = ">=2.0.2,<3.0.5 || >3.0.5"
+
+[[package]]
+name = "pluggy"
+version = "1.0.0"
+description = "plugin and hook calling mechanisms for python"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+importlib-metadata = {version = ">=0.12", markers = "python_version < \"3.8\""}
+
+[package.extras]
+dev = ["pre-commit", "tox"]
+testing = ["pytest", "pytest-benchmark"]
+
+[[package]]
+name = "pockets"
+version = "0.9.1"
+description = "A collection of helpful Python tools!"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+six = ">=1.5.2"
+
+[[package]]
+name = "py"
+version = "1.11.0"
+description = "library with cross-python path, ini-parsing, io, code, log facilities"
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+
+[[package]]
+name = "pygments"
+version = "2.12.0"
+description = "Pygments is a syntax highlighting package written in Python."
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[[package]]
+name = "pyparsing"
+version = "3.0.9"
+description = "pyparsing module - Classes and methods to define and execute parsing grammars"
+category = "dev"
+optional = false
+python-versions = ">=3.6.8"
+
+[package.extras]
+diagrams = ["railroad-diagrams", "jinja2"]
+
+[[package]]
+name = "pytest"
+version = "7.1.2"
+description = "pytest: simple powerful testing with Python"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+atomicwrites = {version = ">=1.0", markers = "sys_platform == \"win32\""}
+attrs = ">=19.2.0"
+colorama = {version = "*", markers = "sys_platform == \"win32\""}
+importlib-metadata = {version = ">=0.12", markers = "python_version < \"3.8\""}
+iniconfig = "*"
+packaging = "*"
+pluggy = ">=0.12,<2.0"
+py = ">=1.8.2"
+tomli = ">=1.0.0"
+
+[package.extras]
+testing = ["argcomplete", "hypothesis (>=3.56)", "mock", "nose", "pygments (>=2.7.2)", "requests", "xmlschema"]
+
+[[package]]
+name = "pytest-cov"
+version = "3.0.0"
+description = "Pytest plugin for measuring coverage."
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+coverage = {version = ">=5.2.1", extras = ["toml"]}
+pytest = ">=4.6"
+
+[package.extras]
+testing = ["fields", "hunter", "process-tests", "six", "pytest-xdist", "virtualenv"]
+
+[[package]]
+name = "pytz"
+version = "2022.1"
+description = "World timezone definitions, modern and historical"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "requests"
+version = "2.28.1"
+description = "Python HTTP for Humans."
+category = "dev"
+optional = false
+python-versions = ">=3.7, <4"
+
+[package.dependencies]
+certifi = ">=2017.4.17"
+charset-normalizer = ">=2,<3"
+idna = ">=2.5,<4"
+urllib3 = ">=1.21.1,<1.27"
+
+[package.extras]
+socks = ["PySocks (>=1.5.6,!=1.5.7)"]
+use_chardet_on_py3 = ["chardet (>=3.0.2,<6)"]
+
+[[package]]
+name = "six"
+version = "1.16.0"
+description = "Python 2 and 3 compatibility utilities"
+category = "main"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*"
+
+[[package]]
+name = "snowballstemmer"
+version = "2.2.0"
+description = "This package provides 29 stemmers for 28 languages generated from Snowball algorithms."
+category = "dev"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "sphinx"
+version = "5.0.2"
+description = "Python documentation generator"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+alabaster = ">=0.7,<0.8"
+babel = ">=1.3"
+colorama = {version = ">=0.3.5", markers = "sys_platform == \"win32\""}
+docutils = ">=0.14,<0.19"
+imagesize = "*"
+importlib-metadata = {version = ">=4.4", markers = "python_version < \"3.10\""}
+Jinja2 = ">=2.3"
+packaging = "*"
+Pygments = ">=2.0"
+requests = ">=2.5.0"
+snowballstemmer = ">=1.1"
+sphinxcontrib-applehelp = "*"
+sphinxcontrib-devhelp = "*"
+sphinxcontrib-htmlhelp = ">=2.0.0"
+sphinxcontrib-jsmath = "*"
+sphinxcontrib-qthelp = "*"
+sphinxcontrib-serializinghtml = ">=1.1.5"
+
+[package.extras]
+docs = ["sphinxcontrib-websupport"]
+lint = ["flake8 (>=3.5.0)", "isort", "mypy (>=0.950)", "docutils-stubs", "types-typed-ast", "types-requests"]
+test = ["pytest (>=4.6)", "html5lib", "cython", "typed-ast"]
+
+[[package]]
+name = "sphinx-rtd-theme"
+version = "1.0.0"
+description = "Read the Docs theme for Sphinx"
+category = "dev"
+optional = false
+python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*"
+
+[package.dependencies]
+docutils = "<0.18"
+sphinx = ">=1.6"
+
+[package.extras]
+dev = ["transifex-client", "sphinxcontrib-httpdomain", "bump2version"]
+
+[[package]]
+name = "sphinxcontrib-applehelp"
+version = "1.0.2"
+description = "sphinxcontrib-applehelp is a sphinx extension which outputs Apple help books"
+category = "dev"
+optional = false
+python-versions = ">=3.5"
+
+[package.extras]
+lint = ["flake8", "mypy", "docutils-stubs"]
+test = ["pytest"]
+
+[[package]]
+name = "sphinxcontrib-devhelp"
+version = "1.0.2"
+description = "sphinxcontrib-devhelp is a sphinx extension which outputs Devhelp document."
+category = "dev"
+optional = false
+python-versions = ">=3.5"
+
+[package.extras]
+lint = ["flake8", "mypy", "docutils-stubs"]
+test = ["pytest"]
+
+[[package]]
+name = "sphinxcontrib-htmlhelp"
+version = "2.0.0"
+description = "sphinxcontrib-htmlhelp is a sphinx extension which renders HTML help files"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.extras]
+lint = ["flake8", "mypy", "docutils-stubs"]
+test = ["pytest", "html5lib"]
+
+[[package]]
+name = "sphinxcontrib-jsmath"
+version = "1.0.1"
+description = "A sphinx extension which renders display math in HTML via JavaScript"
+category = "dev"
+optional = false
+python-versions = ">=3.5"
+
+[package.extras]
+test = ["pytest", "flake8", "mypy"]
+
+[[package]]
+name = "sphinxcontrib-napoleon"
+version = "0.7"
+description = "Sphinx \"napoleon\" extension."
+category = "dev"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+pockets = ">=0.3"
+six = ">=1.5.2"
+
+[[package]]
+name = "sphinxcontrib-qthelp"
+version = "1.0.3"
+description = "sphinxcontrib-qthelp is a sphinx extension which outputs QtHelp document."
+category = "dev"
+optional = false
+python-versions = ">=3.5"
+
+[package.extras]
+lint = ["flake8", "mypy", "docutils-stubs"]
+test = ["pytest"]
+
+[[package]]
+name = "sphinxcontrib-serializinghtml"
+version = "1.1.5"
+description = "sphinxcontrib-serializinghtml is a sphinx extension which outputs \"serialized\" HTML files (json and pickle)."
+category = "dev"
+optional = false
+python-versions = ">=3.5"
+
+[package.extras]
+lint = ["flake8", "mypy", "docutils-stubs"]
+test = ["pytest"]
+
+[[package]]
+name = "tomli"
+version = "2.0.1"
+description = "A lil' TOML parser"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[[package]]
+name = "trimesh"
+version = "3.12.9"
+description = "Import, export, process, analyze and view triangular meshes."
+category = "main"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+numpy = "*"
+
+[package.extras]
+all = ["pycollada", "msgpack", "scikit-image", "xatlas", "networkx", "svg.path", "lxml", "glooey", "pillow", "mapbox-earcut", "triangle", "python-fcl", "sympy", "psutil", "setuptools", "meshio", "xxhash", "requests", "colorlog", "pyglet", "rtree", "shapely", "jsonschema", "chardet", "scipy"]
+easy = ["setuptools", "pycollada", "msgpack", "xxhash", "requests", "networkx", "pyglet", "rtree", "lxml", "svg.path", "colorlog", "shapely", "pillow", "jsonschema", "chardet", "scipy", "sympy"]
+test = ["pytest", "coveralls", "pyinstrument", "pytest-cov", "ezdxf"]
+
+[[package]]
+name = "typing-extensions"
+version = "4.3.0"
+description = "Backported and Experimental Type Hints for Python 3.7+"
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
+[[package]]
+name = "urllib3"
+version = "1.26.10"
+description = "HTTP library with thread-safe connection pooling, file post, and more."
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5.*, <4"
+
+[package.extras]
+brotli = ["brotlicffi (>=0.8.0)", "brotli (>=1.0.9)", "brotlipy (>=0.6.0)"]
+secure = ["pyOpenSSL (>=0.14)", "cryptography (>=1.3.4)", "idna (>=2.0.0)", "certifi", "ipaddress"]
+socks = ["PySocks (>=1.5.6,!=1.5.7,<2.0)"]
+
+[[package]]
+name = "zipp"
+version = "3.8.1"
+description = "Backport of pathlib-compatible object wrapper for zip files"
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
+[package.extras]
+docs = ["sphinx", "jaraco.packaging (>=9)", "rst.linker (>=1.9)", "jaraco.tidelift (>=1.4)"]
+testing = ["pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-flake8", "pytest-cov", "pytest-enabler (>=1.3)", "jaraco.itertools", "func-timeout", "pytest-black (>=0.3.7)", "pytest-mypy (>=0.9.1)"]
+
+[metadata]
+lock-version = "1.1"
+python-versions = "^3.7"
+content-hash = "3e179689c6069b389e5773d50271e143147ce17e2d9bcec9db85610890cb808e"
+
+[metadata.files]
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+atomicwrites = []
+attrs = [
+    {file = "attrs-21.4.0-py2.py3-none-any.whl", hash = "sha256:2d27e3784d7a565d36ab851fe94887c5eccd6a463168875832a1be79c82828b4"},
+    {file = "attrs-21.4.0.tar.gz", hash = "sha256:626ba8234211db98e869df76230a137c4c40a12d72445c45d5f5b716f076e2fd"},
+]
+babel = []
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+    {file = "certifi-2022.6.15.tar.gz", hash = "sha256:84c85a9078b11105f04f3036a9482ae10e4621616db313fe045dd24743a0820d"},
+]
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+    {file = "charset_normalizer-2.1.0-py3-none-any.whl", hash = "sha256:5189b6f22b01957427f35b6a08d9a0bc45b46d3788ef5a92e978433c7a35f8a5"},
+]
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+    {file = "colorama-0.4.5.tar.gz", hash = "sha256:e6c6b4334fc50988a639d9b98aa429a0b57da6e17b9a44f0451f930b6967b7a4"},
+]
+coverage = []
+docutils = []
+idna = [
+    {file = "idna-3.3-py3-none-any.whl", hash = "sha256:84d9dd047ffa80596e0f246e2eab0b391788b0503584e8945f2368256d2735ff"},
+    {file = "idna-3.3.tar.gz", hash = "sha256:9d643ff0a55b762d5cdb124b8eaa99c66322e2157b69160bc32796e824360e6d"},
+]
+imagesize = []
+importlib-metadata = [
+    {file = "importlib_metadata-4.12.0-py3-none-any.whl", hash = "sha256:7401a975809ea1fdc658c3aa4f78cc2195a0e019c5cbc4c06122884e9ae80c23"},
+    {file = "importlib_metadata-4.12.0.tar.gz", hash = "sha256:637245b8bab2b6502fcbc752cc4b7a6f6243bb02b31c5c26156ad103d3d45670"},
+]
+iniconfig = [
+    {file = "iniconfig-1.1.1-py2.py3-none-any.whl", hash = "sha256:011e24c64b7f47f6ebd835bb12a743f2fbe9a26d4cecaa7f53bc4f35ee9da8b3"},
+    {file = "iniconfig-1.1.1.tar.gz", hash = "sha256:bc3af051d7d14b2ee5ef9969666def0cd1a000e121eaea580d4a313df4b37f32"},
+]
+jinja2 = []
+lxml = [
+    {file = "lxml-4.9.1-cp27-cp27m-macosx_10_15_x86_64.whl", hash = "sha256:98cafc618614d72b02185ac583c6f7796202062c41d2eeecdf07820bad3295ed"},
+    {file = "lxml-4.9.1-cp27-cp27m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:c62e8dd9754b7debda0c5ba59d34509c4688f853588d75b53c3791983faa96fc"},
+    {file = "lxml-4.9.1-cp27-cp27m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:21fb3d24ab430fc538a96e9fbb9b150029914805d551deeac7d7822f64631dfc"},
+    {file = "lxml-4.9.1-cp27-cp27m-win32.whl", hash = "sha256:86e92728ef3fc842c50a5cb1d5ba2bc66db7da08a7af53fb3da79e202d1b2cd3"},
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diff --git a/pyproject.toml b/pyproject.toml
index 2c63dbb..6587ae3 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,8 +1,28 @@
-[build-system]
-# AVOID CHANGING REQUIRES: IT WILL BE UPDATED BY PYSCAFFOLD!
-requires = ["setuptools>=46.1.0", "setuptools_scm[toml]>=5", "wheel"]
-build-backend = "setuptools.build_meta"
+[tool.poetry]
+name = "yourdfpy"
+version = "0.0.52"
+description = ""
+authors = ["Clemens Eppner <clemens.eppner@gmail.com>"]
+license = "MIT"
+
+[tool.poetry.dependencies]
+python = "^3.7"
+lxml = "^4.9.1"
+numpy = "^1.19.1"
+trimesh = "^3.12.9"
+importlib-metadata = "^4.12.0"
+zipp = "^3.8.1"
+typing-extensions = "^4.3.0"
+six = "^1.16.0"
 
-[tool.setuptools_scm]
-# See configuration details in https://github.com/pypa/setuptools_scm
-version_scheme = "no-guess-dev"
+[tool.poetry.dev-dependencies]
+setuptools = "^63.2.0"
+pytest = "^7.1.2"
+pytest-cov = "^3.0.0"
+Sphinx = "^5.0.2"
+sphinx-rtd-theme = "^1.0.0"
+sphinxcontrib-napoleon = "^0.7"
+
+[build-system]
+requires = ["poetry-core>=1.0.0"]
+build-backend = "poetry.core.masonry.api"
diff --git a/setup.cfg b/setup.cfg
deleted file mode 100644
index 1c04295..0000000
--- a/setup.cfg
+++ /dev/null
@@ -1,132 +0,0 @@
-# This file is used to configure your project.
-# Read more about the various options under:
-# https://setuptools.readthedocs.io/en/stable/userguide/declarative_config.html
-
-[metadata]
-name = yourdfpy
-description = A simpler and easier-to-use library for loading, manipulating, saving, and visualizing URDF files.
-author = Clemens Eppner
-author_email = clemens.eppner@gmail.com
-license = MIT
-long_description = file: README.md
-long_description_content_type = text/markdown; charset=UTF-8; variant=GFM
-url = https://github.com/clemense/yourdfpy/
-# Add here related links, for example:
-project_urls =
-    # Documentation = https://pyscaffold.org/
-   Source = https://github.com/clemense/yourdfpy/
-#    Changelog = https://pyscaffold.org/en/latest/changelog.html
-#    Tracker = https://github.com/pyscaffold/pyscaffold/issues
-#    Conda-Forge = https://anaconda.org/conda-forge/pyscaffold
-#    Download = https://pypi.org/project/PyScaffold/#files
-
-# Change if running only on Windows, Mac or Linux (comma-separated)
-platforms = any
-
-# Add here all kinds of additional classifiers as defined under
-# https://pypi.org/classifiers/
-classifiers =
-    Development Status :: 4 - Beta
-    Programming Language :: Python
-    Programming Language :: Python :: 3
-    Programming Language :: Python :: 3.7
-    Programming Language :: Python :: 3.8
-    Intended Audience :: Developers
-    License :: OSI Approved :: MIT License
-    Operating System :: POSIX :: Linux
-    Operating System :: Unix
-    Operating System :: MacOS
-    Operating System :: Microsoft :: Windows
-
-
-[options]
-zip_safe = False
-packages = find_namespace:
-include_package_data = True
-package_dir =
-    =src
-
-# Require a min/specific Python version (comma-separated conditions)
-python_requires = >=3.7
-
-# Add here dependencies of your project (line-separated), e.g. requests>=2.2,<3.0.
-# Version specifiers like >=2.2,<3.0 avoid problems due to API changes in
-# new major versions. This works if the required packages follow Semantic Versioning.
-# For more information, check out https://semver.org/.
-install_requires =
-    importlib-metadata; python_version<"3.8"
-    lxml
-    trimesh>=3.11.2
-    numpy
-    six
-
-
-[options.packages.find]
-where = src
-exclude =
-    tests
-
-[options.extras_require]
-# Add here additional requirements for extra features, to install with:
-# `pip install yourdfpy[PDF]` like:
-# PDF = ReportLab; RXP
-
-# Add here test requirements (semicolon/line-separated)
-testing =
-    setuptools
-    pytest
-    pytest-cov
-
-[options.entry_points]
-# Add here console scripts like:
-console_scripts =
-    yourdfpy = yourdfpy.viz:run
-# And any other entry points, for example:
-# pyscaffold.cli =
-#     awesome = pyscaffoldext.awesome.extension:AwesomeExtension
-
-[tool:pytest]
-# Specify command line options as you would do when invoking pytest directly.
-# e.g. --cov-report html (or xml) for html/xml output or --junitxml junit.xml
-# in order to write a coverage file that can be read by Jenkins.
-# CAUTION: --cov flags may prohibit setting breakpoints while debugging.
-#          Comment those flags to avoid this pytest issue.
-addopts =
-    --cov yourdfpy --cov-report term-missing
-    --verbose
-norecursedirs =
-    dist
-    build
-    .tox
-testpaths = tests
-# Use pytest markers to select/deselect specific tests
-# markers =
-#     slow: mark tests as slow (deselect with '-m "not slow"')
-#     system: mark end-to-end system tests
-
-[devpi:upload]
-# Options for the devpi: PyPI server and packaging tool
-# VCS export must be deactivated since we are using setuptools-scm
-no_vcs = 1
-formats = bdist_wheel
-
-[flake8]
-# Some sane defaults for the code style checker flake8
-max_line_length = 88
-extend_ignore = E203, W503
-# ^  Black-compatible
-#    E203 and W503 have edge cases handled by black
-exclude =
-    .tox
-    build
-    dist
-    .eggs
-    docs/conf.py
-
-[pyscaffold]
-# PyScaffold's parameters when the project was created.
-# This will be used when updating. Do not change!
-version = 4.1
-package = yourdfpy
-extensions =
-    markdown
diff --git a/setup.py b/setup.py
deleted file mode 100644
index 82a0f8c..0000000
--- a/setup.py
+++ /dev/null
@@ -1,21 +0,0 @@
-"""
-    Setup file for yourdfpy.
-    Use setup.cfg to configure your project.
-
-    This file was generated with PyScaffold 4.1.
-    PyScaffold helps you to put up the scaffold of your new Python project.
-    Learn more under: https://pyscaffold.org/
-"""
-from setuptools import setup
-
-if __name__ == "__main__":
-    try:
-        setup(use_scm_version={"version_scheme": "no-guess-dev"})
-    except:  # noqa
-        print(
-            "\n\nAn error occurred while building the project, "
-            "please ensure you have the most updated version of setuptools, "
-            "setuptools_scm and wheel with:\n"
-            "   pip install -U setuptools setuptools_scm wheel\n\n"
-        )
-        raise
diff --git a/tox.ini b/tox.ini
deleted file mode 100644
index fe005ad..0000000
--- a/tox.ini
+++ /dev/null
@@ -1,72 +0,0 @@
-# Tox configuration file
-# Read more under https://tox.readthedocs.io/
-# THIS SCRIPT IS SUPPOSED TO BE AN EXAMPLE. MODIFY IT ACCORDING TO YOUR NEEDS!
-
-[tox]
-minversion = 3.15
-envlist = default
-isolated_build = True
-
-
-[testenv]
-description = Invoke pytest to run automated tests
-setenv =
-    TOXINIDIR = {toxinidir}
-passenv =
-    HOME
-extras =
-    testing
-commands =
-    pytest {posargs}
-
-
-[testenv:{build,clean}]
-description =
-    build: Build the package in isolation according to PEP517, see https://github.com/pypa/build
-    clean: Remove old distribution files and temporary build artifacts (./build and ./dist)
-# NOTE: build is still experimental, please refer to the links for updates/issues
-# https://setuptools.readthedocs.io/en/stable/build_meta.html#how-to-use-it
-# https://github.com/pypa/pep517/issues/91
-skip_install = True
-changedir = {toxinidir}
-deps =
-    build: build[virtualenv]
-commands =
-    clean: python -c 'from shutil import rmtree; rmtree("build", True); rmtree("dist", True)'
-    build: python -m build .
-# By default `build` produces wheels, you can also explicitly use the flags `--sdist` and `--wheel`
-
-
-[testenv:{docs,doctests,linkcheck}]
-description =
-    docs: Invoke sphinx-build to build the docs
-    doctests: Invoke sphinx-build to run doctests
-    linkcheck: Check for broken links in the documentation
-setenv =
-    DOCSDIR = {toxinidir}/docs
-    BUILDDIR = {toxinidir}/docs/_build
-    docs: BUILD = html
-    doctests: BUILD = doctest
-    linkcheck: BUILD = linkcheck
-deps =
-    -r {toxinidir}/docs/requirements.txt
-    # ^  requirements.txt shared with Read The Docs
-commands =
-    sphinx-build --color -b {env:BUILD} -d "{env:BUILDDIR}/doctrees" "{env:DOCSDIR}" "{env:BUILDDIR}/{env:BUILD}" {posargs}
-
-
-[testenv:publish]
-description =
-    Publish the package you have been developing to a package index server.
-    By default, it uses testpypi. If you really want to publish your package
-    to be publicly accessible in PyPI, use the `-- --repository pypi` option.
-skip_install = True
-changedir = {toxinidir}
-passenv =
-    TWINE_USERNAME
-    TWINE_PASSWORD
-    TWINE_REPOSITORY
-deps = twine
-commands =
-    python -m twine check dist/*
-    python -m twine upload {posargs:--repository testpypi} dist/*

From 4aa87440ba7c0848cf4963b7033adf28654b7e40 Mon Sep 17 00:00:00 2001
From: Max Spahn <m.spahn@tudelft.nl>
Date: Mon, 25 Jul 2022 11:55:04 +0200
Subject: [PATCH 02/10] Adds non-working example.

---
 examples/panda.urdf     | 246 ++++++++++++++++++++++++++++++++++++++++
 examples/parse_panda.py |  10 ++
 2 files changed, 256 insertions(+)
 create mode 100644 examples/panda.urdf
 create mode 100644 examples/parse_panda.py

diff --git a/examples/panda.urdf b/examples/panda.urdf
new file mode 100644
index 0000000..d64eaf8
--- /dev/null
+++ b/examples/panda.urdf
@@ -0,0 +1,246 @@
+<?xml version="1.0"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from panda_arm.urdf.xacro           | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="panda">
+  <link name="world"/>
+  <joint name="panda_joint_world" type="fixed">
+    <parent link="world"/>
+    <child link="panda_link0"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <link name="panda_link0">
+    <inertial>
+      <mass value="2.92"/>
+      <origin rpy="0 0 0" xyz="-0.025566 -2.88e-05 0.057332"/>
+      <inertia ixx="0.00782229414331" ixy="-1.56191622996e-05" ixz="-0.00126005738123" iyy="0.0109027971813" iyz="1.08233858202e-05" izz="0.0102355503949"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/link0.dae"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/link0.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="panda_link1">
+    <inertial>
+      <mass value="2.74"/>
+      <origin rpy="0 0 0" xyz="0 -0.0324958 -0.0675818"/>
+      <inertia ixx="0.0180416958283" ixy="0.0" ixz="0.0" iyy="0.0159136071891" iyz="0.0046758424612" izz="0.00620690827127"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/link1.obj"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/link1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint1" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="0 0 0" xyz="0 0 0.333"/>
+    <parent link="panda_link0"/>
+    <child link="panda_link1"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link2">
+    <inertial>
+      <mass value="2.74"/>
+      <origin rpy="0 0 0" xyz="0 -0.06861 0.0322285"/>
+      <inertia ixx="0.0182856182281" ixy="0.0" ixz="0.0" iyy="0.00621358421175" iyz="-0.00472844221905" izz="0.0161514346309"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/link2.obj"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/link2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint2" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
+    <origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link1"/>
+    <child link="panda_link2"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link3">
+    <inertial>
+      <mass value="2.38"/>
+      <origin rpy="0 0 0" xyz="0.0469893 0.0316374 -0.031704"/>
+      <inertia ixx="0.00771376630908" ixy="-0.00248490625138" ixz="-0.00332147581033" iyy="0.00989108008727" iyz="-0.00217796151484" izz="0.00811723558464"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/link3.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/link3.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint3" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
+    <parent link="panda_link2"/>
+    <child link="panda_link3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link4">
+    <inertial>
+      <mass value="2.38"/>
+      <origin rpy="0 0 0" xyz="-0.0360446 0.0336853 0.031882"/>
+      <inertia ixx="0.00799663881132" ixy="0.00347095570217" ixz="-0.00241222942995" iyy="0.00825390705278" iyz="0.00235774044121" izz="0.0102515004345"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/link4.obj"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/link4.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint4" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="0.0698"/>
+    <!-- soft_upper_limitr should be -0.0698, but that brakes simulation when initial position for this joint is 0.0 -->
+    <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
+    <parent link="panda_link3"/>
+    <child link="panda_link4"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-3.0718" upper="0.0698" velocity="2.1750"/>
+    <!-- upper should be -0.0698, but that brakes simulation when initial position for this joint is 0.0 -->
+  </joint>
+  <link name="panda_link5">
+    <inertial>
+      <mass value="2.74"/>
+      <origin rpy="0 0 0" xyz="0 0.0610427 -0.104176"/>
+      <inertia ixx="0.030371374513" ixy="6.50283587108e-07" ixz="-1.05129179916e-05" iyy="0.0288752887402" iyz="-0.00775653445787" izz="0.00444134056164"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/link5.obj"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/link5.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint5" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
+    <parent link="panda_link4"/>
+    <child link="panda_link5"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link6">
+    <inertial>
+      <mass value="1.55"/>
+      <origin rpy="0 0 0" xyz="0.0510509 0.009108 0.0106343"/>
+      <inertia ixx="0.00303336450376" ixy="-0.000437276865508" ixz="0.000629257294877" iyy="0.00404479911567" iyz="0.000130472021025" izz="0.00558234286039"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/link6.obj"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/link6.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint6" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link5"/>
+    <child link="panda_link6"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link7">
+    <inertial>
+      <mass value="0.54"/>
+      <origin rpy="0 0 0" xyz="0.0109695 0.0107965 0.0650411"/>
+      <inertia ixx="0.000888868887021" ixy="-0.00012239074652" ixz="3.98699829666e-05" iyy="0.000888001373233" iyz="-9.33825115206e-05" izz="0.0007176834609"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/link7.dae"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/link7.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint7" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
+    <parent link="panda_link6"/>
+    <child link="panda_link7"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+  </joint>
+</robot>
+
diff --git a/examples/parse_panda.py b/examples/parse_panda.py
new file mode 100644
index 0000000..7bcff47
--- /dev/null
+++ b/examples/parse_panda.py
@@ -0,0 +1,10 @@
+import yourdfpy as urdf
+
+def parse_panda():
+    urdf_file = "panda.urdf"
+    __import__('pdb').set_trace()
+    my_urdf = urdf.URDF.load(urdf_file)
+
+
+if __name__ == "__main__":
+    parse_panda()

From 6c27e33edbe17c1e3d64a0e643c28b4ccc1789f9 Mon Sep 17 00:00:00 2001
From: Max Spahn <m.spahn@tudelft.nl>
Date: Mon, 1 Aug 2022 08:45:30 +0200
Subject: [PATCH 03/10] Adds setup.py file to allow installation with pip in
 editable mode.

---
 README.md      |  12 ++++
 poetry.lock    | 183 +++++++++++++++++++++++++++++++++++++++++++++++--
 pyproject.toml |   7 +-
 setup.py       |   2 +
 4 files changed, 196 insertions(+), 8 deletions(-)
 create mode 100644 setup.py

diff --git a/README.md b/README.md
index daafabf..ffd438e 100644
--- a/README.md
+++ b/README.md
@@ -16,6 +16,18 @@ You can install yourdfpy directly from pip:
 pip install yourdfpy
 ```
 
+## Installation Developpers
+
+You can install the package via [poetry](https://python-poetry.org/docs/).
+```bash
+poetry install
+```
+
+Then, enter the virtual enviroment that was created with 
+```bash
+poetry shell
+```
+
 ## Visualization
 
 Once installed, you can visualize a URDF model from the command line:
diff --git a/poetry.lock b/poetry.lock
index 957a6cc..49a16a7 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -39,6 +39,14 @@ python-versions = ">=3.6"
 [package.dependencies]
 pytz = ">=2015.7"
 
+[[package]]
+name = "casadi"
+version = "3.5.6.pre2"
+description = "CasADi -- framework for algorithmic differentiation and numeric optimization"
+category = "main"
+optional = false
+python-versions = "*"
+
 [[package]]
 name = "certifi"
 version = "2022.6.15"
@@ -113,7 +121,6 @@ optional = false
 python-versions = ">=3.7"
 
 [package.dependencies]
-typing-extensions = {version = ">=3.6.4", markers = "python_version < \"3.8\""}
 zipp = ">=0.5"
 
 [package.extras]
@@ -184,6 +191,18 @@ python-versions = ">=3.6"
 [package.dependencies]
 pyparsing = ">=2.0.2,<3.0.5 || >3.0.5"
 
+[[package]]
+name = "pillow"
+version = "9.2.0"
+description = "Python Imaging Library (Fork)"
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
+[package.extras]
+docs = ["furo", "olefile", "sphinx (>=2.4)", "sphinx-copybutton", "sphinx-issues (>=3.0.1)", "sphinx-removed-in", "sphinxext-opengraph"]
+tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "packaging", "pyroma", "pytest", "pytest-cov", "pytest-timeout"]
+
 [[package]]
 name = "pluggy"
 version = "1.0.0"
@@ -192,9 +211,6 @@ category = "dev"
 optional = false
 python-versions = ">=3.6"
 
-[package.dependencies]
-importlib-metadata = {version = ">=0.12", markers = "python_version < \"3.8\""}
-
 [package.extras]
 dev = ["pre-commit", "tox"]
 testing = ["pytest", "pytest-benchmark"]
@@ -218,6 +234,29 @@ category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
 
+[[package]]
+name = "pycollada"
+version = "0.7.2"
+description = "python library for reading and writing collada documents"
+category = "main"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+python-dateutil = ">=2.2"
+
+[package.extras]
+prettyprint = ["lxml"]
+validation = ["lxml"]
+
+[[package]]
+name = "pyglet"
+version = "1.5.26"
+description = "Cross-platform windowing and multimedia library"
+category = "main"
+optional = false
+python-versions = "*"
+
 [[package]]
 name = "pygments"
 version = "2.12.0"
@@ -249,7 +288,6 @@ python-versions = ">=3.7"
 atomicwrites = {version = ">=1.0", markers = "sys_platform == \"win32\""}
 attrs = ">=19.2.0"
 colorama = {version = "*", markers = "sys_platform == \"win32\""}
-importlib-metadata = {version = ">=0.12", markers = "python_version < \"3.8\""}
 iniconfig = "*"
 packaging = "*"
 pluggy = ">=0.12,<2.0"
@@ -274,6 +312,17 @@ pytest = ">=4.6"
 [package.extras]
 testing = ["fields", "hunter", "process-tests", "six", "pytest-xdist", "virtualenv"]
 
+[[package]]
+name = "python-dateutil"
+version = "2.8.2"
+description = "Extensions to the standard Python datetime module"
+category = "main"
+optional = false
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,>=2.7"
+
+[package.dependencies]
+six = ">=1.5"
+
 [[package]]
 name = "pytz"
 version = "2022.1"
@@ -300,6 +349,17 @@ urllib3 = ">=1.21.1,<1.27"
 socks = ["PySocks (>=1.5.6,!=1.5.7)"]
 use_chardet_on_py3 = ["chardet (>=3.0.2,<6)"]
 
+[[package]]
+name = "scipy"
+version = "1.8.1"
+description = "SciPy: Scientific Library for Python"
+category = "main"
+optional = false
+python-versions = ">=3.8,<3.11"
+
+[package.dependencies]
+numpy = ">=1.17.3,<1.25.0"
+
 [[package]]
 name = "six"
 version = "1.16.0"
@@ -505,8 +565,8 @@ testing = ["pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-flake8", "pytest-
 
 [metadata]
 lock-version = "1.1"
-python-versions = "^3.7"
-content-hash = "3e179689c6069b389e5773d50271e143147ce17e2d9bcec9db85610890cb808e"
+python-versions = "^3.8,<3.11"
+content-hash = "1ea63d3cf54eb56424a3fd047c07628c817730136f34850dcc0a9f964026b404"
 
 [metadata.files]
 alabaster = []
@@ -516,6 +576,21 @@ attrs = [
     {file = "attrs-21.4.0.tar.gz", hash = "sha256:626ba8234211db98e869df76230a137c4c40a12d72445c45d5f5b716f076e2fd"},
 ]
 babel = []
+casadi = [
+    {file = "casadi-3.5.6.pre2-cp310-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:5f231311fd768bc7bcb3fdfd2e96bcf3f3964de52b2d8a1bc496340d67711728"},
+    {file = "casadi-3.5.6.pre2-cp310-none-manylinux_2_5_x86_64.whl", hash = "sha256:3f772526eabebf44a9e1ea59ba056a5dbdc15b7526d29c7d9f2f7e5e2713c6a1"},
+    {file = "casadi-3.5.6.pre2-cp310-none-win_amd64.whl", hash = "sha256:e8821dc203ad273023f565e6cc972f738f2e04fa8fed6ec2f9589271c6aeed1f"},
+    {file = "casadi-3.5.6.pre2-cp36-none-manylinux_2_5_x86_64.whl", hash = "sha256:710cc30fbaa4bf597fe002e1a9c1e6238459882192663e5a0ed553fe87e2cd12"},
+    {file = "casadi-3.5.6.pre2-cp37-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:4a521f224d3bf80a7df58eb77ac72321b36d5b512edabfc2dffaa39b4272a4fc"},
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+    {file = "scipy-1.8.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9c4e3ae8a716c8b3151e16c05edb1daf4cb4d866caa385e861556aff41300c14"},
+    {file = "scipy-1.8.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:23b22fbeef3807966ea42d8163322366dd89da9bebdc075da7034cee3a1441ca"},
+    {file = "scipy-1.8.1-cp38-cp38-win32.whl", hash = "sha256:4b93ec6f4c3c4d041b26b5f179a6aab8f5045423117ae7a45ba9710301d7e462"},
+    {file = "scipy-1.8.1-cp38-cp38-win_amd64.whl", hash = "sha256:70ebc84134cf0c504ce6a5f12d6db92cb2a8a53a49437a6bb4edca0bc101f11c"},
+    {file = "scipy-1.8.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:f3e7a8867f307e3359cc0ed2c63b61a1e33a19080f92fe377bc7d49f646f2ec1"},
+    {file = "scipy-1.8.1-cp39-cp39-macosx_12_0_arm64.whl", hash = "sha256:2ef0fbc8bcf102c1998c1f16f15befe7cffba90895d6e84861cd6c6a33fb54f6"},
+    {file = "scipy-1.8.1-cp39-cp39-macosx_12_0_universal2.macosx_10_9_x86_64.whl", hash = "sha256:83606129247e7610b58d0e1e93d2c5133959e9cf93555d3c27e536892f1ba1f2"},
+    {file = "scipy-1.8.1-cp39-cp39-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:93d07494a8900d55492401917a119948ed330b8c3f1d700e0b904a578f10ead4"},
+    {file = "scipy-1.8.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d3b3c8924252caaffc54d4a99f1360aeec001e61267595561089f8b5900821bb"},
+    {file = "scipy-1.8.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:70de2f11bf64ca9921fda018864c78af7147025e467ce9f4a11bc877266900a6"},
+    {file = "scipy-1.8.1-cp39-cp39-win32.whl", hash = "sha256:1166514aa3bbf04cb5941027c6e294a000bba0cf00f5cdac6c77f2dad479b434"},
+    {file = "scipy-1.8.1-cp39-cp39-win_amd64.whl", hash = "sha256:9dd4012ac599a1e7eb63c114d1eee1bcfc6dc75a29b589ff0ad0bb3d9412034f"},
+    {file = "scipy-1.8.1.tar.gz", hash = "sha256:9e3fb1b0e896f14a85aa9a28d5f755daaeeb54c897b746df7a55ccb02b340f33"},
+]
 six = [
     {file = "six-1.16.0-py2.py3-none-any.whl", hash = "sha256:8abb2f1d86890a2dfb989f9a77cfcfd3e47c2a354b01111771326f8aa26e0254"},
     {file = "six-1.16.0.tar.gz", hash = "sha256:1e61c37477a1626458e36f7b1d82aa5c9b094fa4802892072e49de9c60c4c926"},
diff --git a/pyproject.toml b/pyproject.toml
index 6587ae3..d1d66eb 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -6,7 +6,7 @@ authors = ["Clemens Eppner <clemens.eppner@gmail.com>"]
 license = "MIT"
 
 [tool.poetry.dependencies]
-python = "^3.7"
+python = "^3.8,<3.11"
 lxml = "^4.9.1"
 numpy = "^1.19.1"
 trimesh = "^3.12.9"
@@ -14,6 +14,11 @@ importlib-metadata = "^4.12.0"
 zipp = "^3.8.1"
 typing-extensions = "^4.3.0"
 six = "^1.16.0"
+pycollada = "^0.7.2"
+Pillow = "^9.2.0"
+pyglet = "^1.5.26"
+scipy = "^1.8.1"
+casadi = "3.5.6.pre2"
 
 [tool.poetry.dev-dependencies]
 setuptools = "^63.2.0"
diff --git a/setup.py b/setup.py
new file mode 100644
index 0000000..a4f49f9
--- /dev/null
+++ b/setup.py
@@ -0,0 +1,2 @@
+import setuptools
+setuptools.setup()

From b887bba86489c8d9b3adb8271cea19d74bba37db Mon Sep 17 00:00:00 2001
From: Max Spahn <m.spahn@tudelft.nl>
Date: Mon, 1 Aug 2022 08:51:34 +0200
Subject: [PATCH 04/10] Removes example as out-of-scope for this PR.

---
 examples/panda.urdf     | 246 ----------------------------------------
 examples/parse_panda.py |  10 --
 2 files changed, 256 deletions(-)
 delete mode 100644 examples/panda.urdf
 delete mode 100644 examples/parse_panda.py

diff --git a/examples/panda.urdf b/examples/panda.urdf
deleted file mode 100644
index d64eaf8..0000000
--- a/examples/panda.urdf
+++ /dev/null
@@ -1,246 +0,0 @@
-<?xml version="1.0"?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from panda_arm.urdf.xacro           | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<robot name="panda">
-  <link name="world"/>
-  <joint name="panda_joint_world" type="fixed">
-    <parent link="world"/>
-    <child link="panda_link0"/>
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-  </joint>
-  <link name="panda_link0">
-    <inertial>
-      <mass value="2.92"/>
-      <origin rpy="0 0 0" xyz="-0.025566 -2.88e-05 0.057332"/>
-      <inertia ixx="0.00782229414331" ixy="-1.56191622996e-05" ixz="-0.00126005738123" iyy="0.0109027971813" iyz="1.08233858202e-05" izz="0.0102355503949"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/visual/link0.dae"/>
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/collision/link0.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="panda_link1">
-    <inertial>
-      <mass value="2.74"/>
-      <origin rpy="0 0 0" xyz="0 -0.0324958 -0.0675818"/>
-      <inertia ixx="0.0180416958283" ixy="0.0" ixz="0.0" iyy="0.0159136071891" iyz="0.0046758424612" izz="0.00620690827127"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/visual/link1.obj"/>
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/collision/link1.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="panda_joint1" type="revolute">
-    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
-    <origin rpy="0 0 0" xyz="0 0 0.333"/>
-    <parent link="panda_link0"/>
-    <child link="panda_link1"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
-  </joint>
-  <link name="panda_link2">
-    <inertial>
-      <mass value="2.74"/>
-      <origin rpy="0 0 0" xyz="0 -0.06861 0.0322285"/>
-      <inertia ixx="0.0182856182281" ixy="0.0" ixz="0.0" iyy="0.00621358421175" iyz="-0.00472844221905" izz="0.0161514346309"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/visual/link2.obj"/>
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/collision/link2.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="panda_joint2" type="revolute">
-    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
-    <origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
-    <parent link="panda_link1"/>
-    <child link="panda_link2"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
-  </joint>
-  <link name="panda_link3">
-    <inertial>
-      <mass value="2.38"/>
-      <origin rpy="0 0 0" xyz="0.0469893 0.0316374 -0.031704"/>
-      <inertia ixx="0.00771376630908" ixy="-0.00248490625138" ixz="-0.00332147581033" iyy="0.00989108008727" iyz="-0.00217796151484" izz="0.00811723558464"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/visual/link3.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/collision/link3.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="panda_joint3" type="revolute">
-    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
-    <origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
-    <parent link="panda_link2"/>
-    <child link="panda_link3"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
-  </joint>
-  <link name="panda_link4">
-    <inertial>
-      <mass value="2.38"/>
-      <origin rpy="0 0 0" xyz="-0.0360446 0.0336853 0.031882"/>
-      <inertia ixx="0.00799663881132" ixy="0.00347095570217" ixz="-0.00241222942995" iyy="0.00825390705278" iyz="0.00235774044121" izz="0.0102515004345"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/visual/link4.obj"/>
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/collision/link4.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="panda_joint4" type="revolute">
-    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="0.0698"/>
-    <!-- soft_upper_limitr should be -0.0698, but that brakes simulation when initial position for this joint is 0.0 -->
-    <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
-    <parent link="panda_link3"/>
-    <child link="panda_link4"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="87" lower="-3.0718" upper="0.0698" velocity="2.1750"/>
-    <!-- upper should be -0.0698, but that brakes simulation when initial position for this joint is 0.0 -->
-  </joint>
-  <link name="panda_link5">
-    <inertial>
-      <mass value="2.74"/>
-      <origin rpy="0 0 0" xyz="0 0.0610427 -0.104176"/>
-      <inertia ixx="0.030371374513" ixy="6.50283587108e-07" ixz="-1.05129179916e-05" iyy="0.0288752887402" iyz="-0.00775653445787" izz="0.00444134056164"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/visual/link5.obj"/>
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/collision/link5.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="panda_joint5" type="revolute">
-    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
-    <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
-    <parent link="panda_link4"/>
-    <child link="panda_link5"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
-  </joint>
-  <link name="panda_link6">
-    <inertial>
-      <mass value="1.55"/>
-      <origin rpy="0 0 0" xyz="0.0510509 0.009108 0.0106343"/>
-      <inertia ixx="0.00303336450376" ixy="-0.000437276865508" ixz="0.000629257294877" iyy="0.00404479911567" iyz="0.000130472021025" izz="0.00558234286039"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/visual/link6.obj"/>
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/collision/link6.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="panda_joint6" type="revolute">
-    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
-    <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
-    <parent link="panda_link5"/>
-    <child link="panda_link6"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
-  </joint>
-  <link name="panda_link7">
-    <inertial>
-      <mass value="0.54"/>
-      <origin rpy="0 0 0" xyz="0.0109695 0.0107965 0.0650411"/>
-      <inertia ixx="0.000888868887021" ixy="-0.00012239074652" ixz="3.98699829666e-05" iyy="0.000888001373233" iyz="-9.33825115206e-05" izz="0.0007176834609"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/visual/link7.dae"/>
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/collision/link7.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="panda_joint7" type="revolute">
-    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
-    <origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
-    <parent link="panda_link6"/>
-    <child link="panda_link7"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
-  </joint>
-</robot>
-
diff --git a/examples/parse_panda.py b/examples/parse_panda.py
deleted file mode 100644
index 7bcff47..0000000
--- a/examples/parse_panda.py
+++ /dev/null
@@ -1,10 +0,0 @@
-import yourdfpy as urdf
-
-def parse_panda():
-    urdf_file = "panda.urdf"
-    __import__('pdb').set_trace()
-    my_urdf = urdf.URDF.load(urdf_file)
-
-
-if __name__ == "__main__":
-    parse_panda()

From 67d39e269e898889d6d20296f64172e390d8753b Mon Sep 17 00:00:00 2001
From: Clemens Eppner <clemens.eppner@gmail.com>
Date: Mon, 1 Aug 2022 17:54:48 -0700
Subject: [PATCH 05/10] Fix typo

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 47251f0..d13881e 100644
--- a/README.md
+++ b/README.md
@@ -16,7 +16,7 @@ You can install yourdfpy directly from pip:
 pip install yourdfpy
 ```
 
-## Installation Developpers
+## Installation Developers
 
 You can install the package via [poetry](https://python-poetry.org/docs/).
 ```bash

From 4af273cf4689eae52d7ab12a138a467e719adc77 Mon Sep 17 00:00:00 2001
From: Max Spahn <m.spahn@tudelft.nl>
Date: Tue, 2 Aug 2022 09:00:36 +0200
Subject: [PATCH 06/10] Corrects accepted version to include 3.7.1. Adds github
 actions.

---
 .github/workflows/test_yourdfpy.yml |  65 ++++++
 poetry.lock                         | 325 +++++++++++++++++++---------
 pyproject.toml                      |   4 +-
 3 files changed, 289 insertions(+), 105 deletions(-)
 create mode 100644 .github/workflows/test_yourdfpy.yml

diff --git a/.github/workflows/test_yourdfpy.yml b/.github/workflows/test_yourdfpy.yml
new file mode 100644
index 0000000..f435faf
--- /dev/null
+++ b/.github/workflows/test_yourdfpy.yml
@@ -0,0 +1,65 @@
+name: Testing yourdfy
+
+# Controls when the workflow will run
+on: 
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix: 
+        python-version: ['3.7', '3.8', '3.9']
+    steps:
+      #----------------------------------------------
+      #       check-out repo and set-up python
+      #----------------------------------------------
+      - name: Check out repository
+        uses: actions/checkout@v3
+      - name: Set up python
+        id: setup-python
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
+      #----------------------------------------------
+      #  -----  install & configure poetry  -----
+      #----------------------------------------------
+      - name: Install Poetry
+        uses: snok/install-poetry@v1
+        with:
+          virtualenvs-create: true
+          virtualenvs-in-project: true
+          installer-parallel: true
+
+       #----------------------------------------------
+      #       load cached venv if cache exists
+      #----------------------------------------------
+      - name: Load cached virtual environment
+        id: cached-poetry-dependencies
+        uses: actions/cache@v2
+        with:
+          path: .venv
+          key: venv-${{ runner.os }}-${{ steps.setup-python.outputs.python-version }}-${{ hashFiles('**/poetry.lock') }}
+      #----------------------------------------------
+      # install dependencies if cache does not exist
+      #----------------------------------------------
+      - name: Install dependencies
+        if: steps.cached-poetry-dependencies.outputs.cache-hit != 'true'
+        run: poetry install --no-interaction --no-root
+      #----------------------------------------------
+      # install your root project, if required
+      #----------------------------------------------
+      - name: Install library
+        run: poetry install --no-interaction
+      #----------------------------------------------
+      #              run test suite
+      #----------------------------------------------
+      # Runs a set of commands using the runners shell
+      - name: Run pytest
+        run: PYTHONPATH=src/ poetry run python -m pytest --cov=yourdfpy tests/
+
diff --git a/poetry.lock b/poetry.lock
index 49a16a7..e7a836a 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -16,17 +16,17 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 
 [[package]]
 name = "attrs"
-version = "21.4.0"
+version = "22.1.0"
 description = "Classes Without Boilerplate"
 category = "dev"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+python-versions = ">=3.5"
 
 [package.extras]
-dev = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "zope.interface", "furo", "sphinx", "sphinx-notfound-page", "pre-commit", "cloudpickle"]
+dev = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "mypy (>=0.900,!=0.940)", "pytest-mypy-plugins", "zope.interface", "furo", "sphinx", "sphinx-notfound-page", "pre-commit", "cloudpickle"]
 docs = ["furo", "sphinx", "zope.interface", "sphinx-notfound-page"]
-tests = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "zope.interface", "cloudpickle"]
-tests_no_zope = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "cloudpickle"]
+tests = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "mypy (>=0.900,!=0.940)", "pytest-mypy-plugins", "zope.interface", "cloudpickle"]
+tests_no_zope = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "mypy (>=0.900,!=0.940)", "pytest-mypy-plugins", "cloudpickle"]
 
 [[package]]
 name = "babel"
@@ -121,6 +121,7 @@ optional = false
 python-versions = ">=3.7"
 
 [package.dependencies]
+typing-extensions = {version = ">=3.6.4", markers = "python_version < \"3.8\""}
 zipp = ">=0.5"
 
 [package.extras]
@@ -174,11 +175,11 @@ python-versions = ">=3.7"
 
 [[package]]
 name = "numpy"
-version = "1.21.1"
+version = "1.21.6"
 description = "NumPy is the fundamental package for array computing with Python."
 category = "main"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.7,<3.11"
 
 [[package]]
 name = "packaging"
@@ -211,9 +212,12 @@ category = "dev"
 optional = false
 python-versions = ">=3.6"
 
+[package.dependencies]
+importlib-metadata = {version = ">=0.12", markers = "python_version < \"3.8\""}
+
 [package.extras]
-dev = ["pre-commit", "tox"]
-testing = ["pytest", "pytest-benchmark"]
+testing = ["pytest-benchmark", "pytest"]
+dev = ["tox", "pre-commit"]
 
 [[package]]
 name = "pockets"
@@ -288,6 +292,7 @@ python-versions = ">=3.7"
 atomicwrites = {version = ">=1.0", markers = "sys_platform == \"win32\""}
 attrs = ">=19.2.0"
 colorama = {version = "*", markers = "sys_platform == \"win32\""}
+importlib-metadata = {version = ">=0.12", markers = "python_version < \"3.8\""}
 iniconfig = "*"
 packaging = "*"
 pluggy = ">=0.12,<2.0"
@@ -310,7 +315,7 @@ coverage = {version = ">=5.2.1", extras = ["toml"]}
 pytest = ">=4.6"
 
 [package.extras]
-testing = ["fields", "hunter", "process-tests", "six", "pytest-xdist", "virtualenv"]
+testing = ["virtualenv", "pytest-xdist", "six", "process-tests", "hunter", "fields"]
 
 [[package]]
 name = "python-dateutil"
@@ -351,14 +356,14 @@ use_chardet_on_py3 = ["chardet (>=3.0.2,<6)"]
 
 [[package]]
 name = "scipy"
-version = "1.8.1"
+version = "1.7.3"
 description = "SciPy: Scientific Library for Python"
 category = "main"
 optional = false
-python-versions = ">=3.8,<3.11"
+python-versions = ">=3.7,<3.11"
 
 [package.dependencies]
-numpy = ">=1.17.3,<1.25.0"
+numpy = ">=1.16.5,<1.23.0"
 
 [[package]]
 name = "six"
@@ -378,7 +383,7 @@ python-versions = "*"
 
 [[package]]
 name = "sphinx"
-version = "5.0.2"
+version = "5.1.1"
 description = "Python documentation generator"
 category = "dev"
 optional = false
@@ -388,7 +393,7 @@ python-versions = ">=3.6"
 alabaster = ">=0.7,<0.8"
 babel = ">=1.3"
 colorama = {version = ">=0.3.5", markers = "sys_platform == \"win32\""}
-docutils = ">=0.14,<0.19"
+docutils = ">=0.14,<0.20"
 imagesize = "*"
 importlib-metadata = {version = ">=4.4", markers = "python_version < \"3.10\""}
 Jinja2 = ">=2.3"
@@ -405,7 +410,7 @@ sphinxcontrib-serializinghtml = ">=1.1.5"
 
 [package.extras]
 docs = ["sphinxcontrib-websupport"]
-lint = ["flake8 (>=3.5.0)", "isort", "mypy (>=0.950)", "docutils-stubs", "types-typed-ast", "types-requests"]
+lint = ["flake8 (>=3.5.0)", "flake8-comprehensions", "flake8-bugbear", "isort", "mypy (>=0.971)", "sphinx-lint", "docutils-stubs", "types-typed-ast", "types-requests"]
 test = ["pytest (>=4.6)", "html5lib", "cython", "typed-ast"]
 
 [[package]]
@@ -421,7 +426,7 @@ docutils = "<0.18"
 sphinx = ">=1.6"
 
 [package.extras]
-dev = ["transifex-client", "sphinxcontrib-httpdomain", "bump2version"]
+dev = ["bump2version", "sphinxcontrib-httpdomain", "transifex-client"]
 
 [[package]]
 name = "sphinxcontrib-applehelp"
@@ -432,8 +437,8 @@ optional = false
 python-versions = ">=3.5"
 
 [package.extras]
-lint = ["flake8", "mypy", "docutils-stubs"]
 test = ["pytest"]
+lint = ["docutils-stubs", "mypy", "flake8"]
 
 [[package]]
 name = "sphinxcontrib-devhelp"
@@ -444,8 +449,8 @@ optional = false
 python-versions = ">=3.5"
 
 [package.extras]
-lint = ["flake8", "mypy", "docutils-stubs"]
 test = ["pytest"]
+lint = ["docutils-stubs", "mypy", "flake8"]
 
 [[package]]
 name = "sphinxcontrib-htmlhelp"
@@ -456,8 +461,8 @@ optional = false
 python-versions = ">=3.6"
 
 [package.extras]
-lint = ["flake8", "mypy", "docutils-stubs"]
-test = ["pytest", "html5lib"]
+test = ["html5lib", "pytest"]
+lint = ["docutils-stubs", "mypy", "flake8"]
 
 [[package]]
 name = "sphinxcontrib-jsmath"
@@ -468,7 +473,7 @@ optional = false
 python-versions = ">=3.5"
 
 [package.extras]
-test = ["pytest", "flake8", "mypy"]
+test = ["mypy", "flake8", "pytest"]
 
 [[package]]
 name = "sphinxcontrib-napoleon"
@@ -491,8 +496,8 @@ optional = false
 python-versions = ">=3.5"
 
 [package.extras]
-lint = ["flake8", "mypy", "docutils-stubs"]
 test = ["pytest"]
+lint = ["docutils-stubs", "mypy", "flake8"]
 
 [[package]]
 name = "sphinxcontrib-serializinghtml"
@@ -540,7 +545,7 @@ python-versions = ">=3.7"
 
 [[package]]
 name = "urllib3"
-version = "1.26.10"
+version = "1.26.11"
 description = "HTTP library with thread-safe connection pooling, file post, and more."
 category = "dev"
 optional = false
@@ -565,17 +570,25 @@ testing = ["pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-flake8", "pytest-
 
 [metadata]
 lock-version = "1.1"
-python-versions = "^3.8,<3.11"
-content-hash = "1ea63d3cf54eb56424a3fd047c07628c817730136f34850dcc0a9f964026b404"
+python-versions = "^3.7.1,<3.11"
+content-hash = "d97310e91a74cbb282820b80d1a712077eb695ba518ed505266b1a710c0735ae"
 
 [metadata.files]
-alabaster = []
-atomicwrites = []
+alabaster = [
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+    {file = "alabaster-0.7.12.tar.gz", hash = "sha256:a661d72d58e6ea8a57f7a86e37d86716863ee5e92788398526d58b26a4e4dc02"},
+]
+atomicwrites = [
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+]
 attrs = [
-    {file = "attrs-21.4.0-py2.py3-none-any.whl", hash = "sha256:2d27e3784d7a565d36ab851fe94887c5eccd6a463168875832a1be79c82828b4"},
-    {file = "attrs-21.4.0.tar.gz", hash = "sha256:626ba8234211db98e869df76230a137c4c40a12d72445c45d5f5b716f076e2fd"},
+    {file = "attrs-22.1.0-py2.py3-none-any.whl", hash = "sha256:86efa402f67bf2df34f51a335487cf46b1ec130d02b8d39fd248abfd30da551c"},
+    {file = "attrs-22.1.0.tar.gz", hash = "sha256:29adc2665447e5191d0e7c568fde78b21f9672d344281d0c6e1ab085429b22b6"},
+]
+babel = [
+    {file = "Babel-2.10.3-py3-none-any.whl", hash = "sha256:ff56f4892c1c4bf0d814575ea23471c230d544203c7748e8c68f0089478d48eb"},
+    {file = "Babel-2.10.3.tar.gz", hash = "sha256:7614553711ee97490f732126dc077f8d0ae084ebc6a96e23db1482afabdb2c51"},
 ]
-babel = []
 casadi = [
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@@ -603,13 +616,61 @@ colorama = [
     {file = "colorama-0.4.5-py2.py3-none-any.whl", hash = "sha256:854bf444933e37f5824ae7bfc1e98d5bce2ebe4160d46b5edf346a89358e99da"},
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 ]
-coverage = []
-docutils = []
+coverage = [
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 ]
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@@ -618,7 +679,10 @@ iniconfig = [
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 ]
-jinja2 = []
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-sphinxcontrib-htmlhelp = []
-sphinxcontrib-jsmath = []
-sphinxcontrib-napoleon = []
-sphinxcontrib-qthelp = []
-sphinxcontrib-serializinghtml = []
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 ]
-urllib3 = []
-zipp = []
+urllib3 = [
+    {file = "urllib3-1.26.11-py2.py3-none-any.whl", hash = "sha256:c33ccba33c819596124764c23a97d25f32b28433ba0dedeb77d873a38722c9bc"},
+    {file = "urllib3-1.26.11.tar.gz", hash = "sha256:ea6e8fb210b19d950fab93b60c9009226c63a28808bc8386e05301e25883ac0a"},
+]
+zipp = [
+    {file = "zipp-3.8.1-py3-none-any.whl", hash = "sha256:47c40d7fe183a6f21403a199b3e4192cca5774656965b0a4988ad2f8feb5f009"},
+    {file = "zipp-3.8.1.tar.gz", hash = "sha256:05b45f1ee8f807d0cc928485ca40a07cb491cf092ff587c0df9cb1fd154848d2"},
+]
diff --git a/pyproject.toml b/pyproject.toml
index d1d66eb..ce71bf4 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -6,7 +6,7 @@ authors = ["Clemens Eppner <clemens.eppner@gmail.com>"]
 license = "MIT"
 
 [tool.poetry.dependencies]
-python = "^3.8,<3.11"
+python = "^3.7.1,<3.11"
 lxml = "^4.9.1"
 numpy = "^1.19.1"
 trimesh = "^3.12.9"
@@ -17,7 +17,7 @@ six = "^1.16.0"
 pycollada = "^0.7.2"
 Pillow = "^9.2.0"
 pyglet = "^1.5.26"
-scipy = "^1.8.1"
+scipy = "^1.7.1"
 casadi = "3.5.6.pre2"
 
 [tool.poetry.dev-dependencies]

From 19c5b5428b52342e95cea24cf02e6dc399b61be4 Mon Sep 17 00:00:00 2001
From: Max Spahn <m.spahn@tudelft.nl>
Date: Tue, 2 Aug 2022 09:05:57 +0200
Subject: [PATCH 07/10] Adds metadata to travis.

---
 .travis.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.travis.yml b/.travis.yml
index 3d5366a..d531d84 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -9,6 +9,7 @@ python:
 install:
 - pip install setuptools_scm # this is needed, otherwise the correct version cannot be determined; it is always 0.0.0
 - pip install .
+- pip install -U importlib_metadata
 - pip install pytest pytest-cov # coveralls
 
 script:

From d959f96c69a9d033e223008b644cae1d7f38fdeb Mon Sep 17 00:00:00 2001
From: Max Spahn <m.spahn@tudelft.nl>
Date: Tue, 2 Aug 2022 09:06:52 +0200
Subject: [PATCH 08/10] Adds ft-poetry-support branch for github action
 trigger.

---
 .github/workflows/test_yourdfpy.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/test_yourdfpy.yml b/.github/workflows/test_yourdfpy.yml
index f435faf..07ab31d 100644
--- a/.github/workflows/test_yourdfpy.yml
+++ b/.github/workflows/test_yourdfpy.yml
@@ -4,6 +4,7 @@ name: Testing yourdfy
 on: 
   push:
     branches:
+      - ft-poetry-support
       - main
   pull_request:
     branches:

From 2d041d2ff0f9e642a4bbbfefcb5544aad5385702 Mon Sep 17 00:00:00 2001
From: Max Spahn <m.spahn@tudelft.nl>
Date: Tue, 2 Aug 2022 09:11:39 +0200
Subject: [PATCH 09/10] Corrects order in travis script.

---
 .travis.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.travis.yml b/.travis.yml
index d531d84..0f0c47d 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -8,8 +8,8 @@ python:
 
 install:
 - pip install setuptools_scm # this is needed, otherwise the correct version cannot be determined; it is always 0.0.0
-- pip install .
 - pip install -U importlib_metadata
+- pip install .
 - pip install pytest pytest-cov # coveralls
 
 script:

From 18f948b9afcffa4f325c4f4daca5f1be4ee63b00 Mon Sep 17 00:00:00 2001
From: Max Spahn <m.spahn@tudelft.nl>
Date: Wed, 3 Aug 2022 14:53:42 +0200
Subject: [PATCH 10/10] Removes casadi from dependencies.

---
 poetry.lock    | 25 +------------------------
 pyproject.toml |  1 -
 2 files changed, 1 insertion(+), 25 deletions(-)

diff --git a/poetry.lock b/poetry.lock
index e7a836a..52143af 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -39,14 +39,6 @@ python-versions = ">=3.6"
 [package.dependencies]
 pytz = ">=2015.7"
 
-[[package]]
-name = "casadi"
-version = "3.5.6.pre2"
-description = "CasADi -- framework for algorithmic differentiation and numeric optimization"
-category = "main"
-optional = false
-python-versions = "*"
-
 [[package]]
 name = "certifi"
 version = "2022.6.15"
@@ -571,7 +563,7 @@ testing = ["pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-flake8", "pytest-
 [metadata]
 lock-version = "1.1"
 python-versions = "^3.7.1,<3.11"
-content-hash = "d97310e91a74cbb282820b80d1a712077eb695ba518ed505266b1a710c0735ae"
+content-hash = "875bcc2b57ab523cc76e80171daf09d810315172c2640c72150846e96521f398"
 
 [metadata.files]
 alabaster = [
@@ -589,21 +581,6 @@ babel = [
     {file = "Babel-2.10.3-py3-none-any.whl", hash = "sha256:ff56f4892c1c4bf0d814575ea23471c230d544203c7748e8c68f0089478d48eb"},
     {file = "Babel-2.10.3.tar.gz", hash = "sha256:7614553711ee97490f732126dc077f8d0ae084ebc6a96e23db1482afabdb2c51"},
 ]
-casadi = [
-    {file = "casadi-3.5.6.pre2-cp310-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:5f231311fd768bc7bcb3fdfd2e96bcf3f3964de52b2d8a1bc496340d67711728"},
-    {file = "casadi-3.5.6.pre2-cp310-none-manylinux_2_5_x86_64.whl", hash = "sha256:3f772526eabebf44a9e1ea59ba056a5dbdc15b7526d29c7d9f2f7e5e2713c6a1"},
-    {file = "casadi-3.5.6.pre2-cp310-none-win_amd64.whl", hash = "sha256:e8821dc203ad273023f565e6cc972f738f2e04fa8fed6ec2f9589271c6aeed1f"},
-    {file = "casadi-3.5.6.pre2-cp36-none-manylinux_2_5_x86_64.whl", hash = "sha256:710cc30fbaa4bf597fe002e1a9c1e6238459882192663e5a0ed553fe87e2cd12"},
-    {file = "casadi-3.5.6.pre2-cp37-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:4a521f224d3bf80a7df58eb77ac72321b36d5b512edabfc2dffaa39b4272a4fc"},
-    {file = "casadi-3.5.6.pre2-cp37-none-manylinux_2_5_x86_64.whl", hash = "sha256:755cb9740299d60afcfe29873f88b51a3492f7b724392a4f73423b1305557041"},
-    {file = "casadi-3.5.6.pre2-cp37-none-win_amd64.whl", hash = "sha256:132846c6005e109ba7ded56f190a91f9fd49ef34b5203f7fe8026ed81359cf33"},
-    {file = "casadi-3.5.6.pre2-cp38-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:838575a383ed33ce3720e5fc7dec2f4a209bd458651a4954e69fe0f966fa9821"},
-    {file = "casadi-3.5.6.pre2-cp38-none-manylinux_2_5_x86_64.whl", hash = "sha256:6aa5141bb3f42807865209086cea1f4e7ae26def9c29095e58e573e41fa1dda8"},
-    {file = "casadi-3.5.6.pre2-cp38-none-win_amd64.whl", hash = "sha256:adbfcde2de2f20ad172c91178dec6b0e02004b11308337423d0e5e1a7585f7b2"},
-    {file = "casadi-3.5.6.pre2-cp39-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:0e62f8ebc7cbc089c57d04c99891aca96c646593646d6b478f7a89ff422c51ca"},
-    {file = "casadi-3.5.6.pre2-cp39-none-manylinux_2_5_x86_64.whl", hash = "sha256:9f2e2e4357d0a8cf9e4f5e3ca0ff25b9b75a0b6e3488e02cdd8232443c47910d"},
-    {file = "casadi-3.5.6.pre2-cp39-none-win_amd64.whl", hash = "sha256:4b67be15652d9e5a5499092a4af19886752f71c058b9ad21009f865fe3c856aa"},
-]
 certifi = [
     {file = "certifi-2022.6.15-py3-none-any.whl", hash = "sha256:fe86415d55e84719d75f8b69414f6438ac3547d2078ab91b67e779ef69378412"},
     {file = "certifi-2022.6.15.tar.gz", hash = "sha256:84c85a9078b11105f04f3036a9482ae10e4621616db313fe045dd24743a0820d"},
diff --git a/pyproject.toml b/pyproject.toml
index ce71bf4..0f1424f 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -18,7 +18,6 @@ pycollada = "^0.7.2"
 Pillow = "^9.2.0"
 pyglet = "^1.5.26"
 scipy = "^1.7.1"
-casadi = "3.5.6.pre2"
 
 [tool.poetry.dev-dependencies]
 setuptools = "^63.2.0"