diff --git a/.github/workflows/cibuildwheel.yml b/.github/workflows/cibuildwheel.yml
new file mode 100644
index 000000000..ebe1a8ca6
--- /dev/null
+++ b/.github/workflows/cibuildwheel.yml
@@ -0,0 +1,65 @@
+name: Build all Wheels
+
+on:
+  release:
+    types: [created]
+  workflow_dispatch:
+
+jobs:
+  build_wheels:
+    name: Build wheels on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+      
+    strategy:
+      matrix:
+        os: [ubuntu-20.04, windows-2019, macos-11]
+        include:
+          - os: ubuntu-20.04
+            cibw_archs: "aarch64"
+            
+    steps:
+    
+      # Set up emulation for arm on linux
+      - name: Set up QEMU
+        if: matrix.cibw_archs == 'aarch64'
+        uses: docker/setup-qemu-action@v2
+        with:
+          platforms: arm64
+      - uses: actions/checkout@v3
+
+      - name: Build wheels
+        uses: pypa/cibuildwheel@v2.11.3
+
+      - uses: actions/upload-artifact@v3
+        with:
+          path: ./wheelhouse/*.whl
+
+  build_sdist:
+    name: Build source distribution
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: Build sdist
+        run: pipx run build --sdist
+
+      - uses: actions/upload-artifact@v3
+        with:
+          path: dist/*.tar.gz
+          
+  upload_pypi:
+    needs: [build_wheels, build_sdist]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/download-artifact@v3
+        with:
+          # unpacks default artifact into dist/
+          name: artifact
+          path: dist
+
+      - uses: pypa/gh-action-pypi-publish@v1.5.0
+        with:
+          user: __token__
+          password: ${{ secrets.PYPI_PASSWORD }}
+          
+          
diff --git a/.github/workflows/codeql_future.yml b/.github/workflows/codeql_future.yml
index 8be7bdad9..0d18b779f 100644
--- a/.github/workflows/codeql_future.yml
+++ b/.github/workflows/codeql_future.yml
@@ -9,68 +9,67 @@
 # the `language` matrix defined below to confirm you have the correct set of
 # supported CodeQL languages.
 #
-name: "CodeQL - Future"
+# name: "CodeQL - Future"
 
-on:
-  push:
-    branches: [ "future" ]
-  pull_request:
-    # The branches below must be a subset of the branches above
-    branches: [ "master" ]
-  schedule:
-    - cron: '25 23 * * 4'
+# on:
+#   push:
+#     branches: [ "future" ]
+#   pull_request:
+#     # The branches below must be a subset of the branches above
+#     branches: [ "master" ]
+#   schedule:
+#     - cron: '25 23 * * 4'
 
-jobs:
-  analyze:
-    name: Analyze
-    runs-on: ubuntu-latest
-    permissions:
-      actions: read
-      contents: read
-      security-events: write
+# jobs:
+#   analyze:
+#     name: Analyze
+#     runs-on: ubuntu-latest
+#     permissions:
+#       actions: read
+#       contents: read
+#       security-events: write
 
-    strategy:
-      fail-fast: false
-      matrix:
-        language: [ 'cpp', 'python' ]
-        # CodeQL supports [ 'cpp', 'csharp', 'go', 'java', 'javascript', 'python', 'ruby' ]
-        # Learn more about CodeQL language support at https://aka.ms/codeql-docs/language-support
+#     strategy:
+#       fail-fast: false
+#       matrix:
+#         language: [ 'cpp', 'python' ]
+#         # CodeQL supports [ 'cpp', 'csharp', 'go', 'java', 'javascript', 'python', 'ruby' ]
+#         # Learn more about CodeQL language support at https://aka.ms/codeql-docs/language-support
 
-    steps:
-    - name: Checkout repository
-      uses: actions/checkout@v3
-      with:
-        ref: future
+#     steps:
+#     - name: Checkout repository
+#       uses: actions/checkout@v3
+#       with:
+#         ref: future
 
-    # Initializes the CodeQL tools for scanning.
-    - name: Initialize CodeQL
-      uses: github/codeql-action/init@v2
-      with:
-        languages: ${{ matrix.language }}
-        # If you wish to specify custom queries, you can do so here or in a config file.
-        # By default, queries listed here will override any specified in a config file.
-        # Prefix the list here with "+" to use these queries and those in the config file.
-        
-        # Details on CodeQL's query packs refer to : https://docs.github.com/en/code-security/code-scanning/automatically-scanning-your-code-for-vulnerabilities-and-errors/configuring-code-scanning#using-queries-in-ql-packs
-        # queries: security-extended,security-and-quality
+#     # Initializes the CodeQL tools for scanning.
+#     - name: Initialize CodeQL
+#       uses: github/codeql-action/init@v2
+#       with:
+#         languages: ${{ matrix.language }}
+#         # If you wish to specify custom queries, you can do so here or in a config file.
+#         # By default, queries listed here will override any specified in a config file.
+#         # Prefix the list here with "+" to use these queries and those in the config file.
 
-        
-    # Autobuild attempts to build any compiled languages  (C/C++, C#, or Java).
-    # If this step fails, then you should remove it and run the build manually (see below)
-    - name: Autobuild
-      uses: github/codeql-action/autobuild@v2
+#         # Details on CodeQL's query packs refer to : https://docs.github.com/en/code-security/code-scanning/automatically-scanning-your-code-for-vulnerabilities-and-errors/configuring-code-scanning#using-queries-in-ql-packs
+#         # queries: security-extended,security-and-quality
 
-    # ℹ️ Command-line programs to run using the OS shell.
-    # 📚 See https://docs.github.com/en/actions/using-workflows/workflow-syntax-for-github-actions#jobsjob_idstepsrun
+#     # Autobuild attempts to build any compiled languages  (C/C++, C#, or Java).
+#     # If this step fails, then you should remove it and run the build manually (see below)
+#     - name: Autobuild
+#       uses: github/codeql-action/autobuild@v2
 
-    #   If the Autobuild fails above, remove it and uncomment the following three lines. 
-    #   modify them (or add more) to build your code if your project, please refer to the EXAMPLE below for guidance.
+#     # ℹ️ Command-line programs to run using the OS shell.
+#     # 📚 See https://docs.github.com/en/actions/using-workflows/workflow-syntax-for-github-actions#jobsjob_idstepsrun
 
-    # - run: |
-    #   echo "Run, Build Application using script"
-    #   ./location_of_script_within_repo/buildscript.sh
+#     #   If the Autobuild fails above, remove it and uncomment the following three lines.
+#     #   modify them (or add more) to build your code if your project, please refer to the EXAMPLE below for guidance.
 
-    - name: Perform CodeQL Analysis
-      uses: github/codeql-action/analyze@v2
-      with:
-        category: "/language:${{matrix.language}}"
+#     # - run: |
+#     #   echo "Run, Build Application using script"
+#     #   ./location_of_script_within_repo/buildscript.sh
+
+#     - name: Perform CodeQL Analysis
+#       uses: github/codeql-action/analyze@v2
+#       with:
+#         category: "/language:${{matrix.language}}"
diff --git a/.github/workflows/python-publish.yml b/.github/workflows/python-publish.yml
deleted file mode 100644
index d746f226b..000000000
--- a/.github/workflows/python-publish.yml
+++ /dev/null
@@ -1,37 +0,0 @@
-# This workflows will upload a Python Package using Twine when a release is created
-# For more information see: https://help.github.com/en/actions/language-and-framework-guides/using-python-with-github-actions#publishing-to-package-registries
-
-name: Upload Python Package
-
-on:
-  release:
-    types: [created]
-  workflow_dispatch:
-
-jobs:
-  deploy:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      max-parallel: 2
-      matrix:
-        os: [macos-latest, windows-latest]
-        python-version: [3.7, 3.8, 3.9, "3.10"]
-
-    steps:
-      - uses: actions/checkout@v2
-      - name: Set up Python
-        uses: actions/setup-python@v2
-        with:
-          python-version: ${{ matrix.python-version }}
-      - name: Install dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install -U setuptools wheel twine
-      - name: Build and publish
-        env:
-          TWINE_USERNAME: __token__
-          TWINE_PASSWORD: ${{ secrets.PYPI_PASSWORD }}
-        run: |
-          python setup.py sdist bdist_wheel
-          ls ./dist/*.whl
-          twine upload dist/*.whl
diff --git a/.github/workflows/python_publish_linux.yml b/.github/workflows/python_publish_linux.yml
deleted file mode 100644
index 945e9d732..000000000
--- a/.github/workflows/python_publish_linux.yml
+++ /dev/null
@@ -1,39 +0,0 @@
-# This is a basic workflow that is manually triggered
-
-name: Linux Build and Publish
-
-on:
-  release:
-    types: [created]
-  workflow_dispatch:
-
-
-# A workflow run is made up of one or more jobs that can run sequentially or in parallel
-jobs:
-  # This workflow contains a single job called "greet"
-  deploy:
-    # The type of runner that the job will run on
-    runs-on: ubuntu-latest
-
-    # Steps represent a sequence of tasks that will be executed as part of the job
-    steps:
-    - name: Set up Python 3.7
-      uses: actions/setup-python@v1
-      with:
-        python-version: 3.7
-    # Runs a single command using the runners shell
-    - uses: actions/checkout@v2
-    - name: Make wheels
-      run: |
-        sudo docker run -e PLAT=manylinux2010_x86_64 -v ${{ github.workspace }}:/io quay.io/pypa/manylinux2010_x86_64 /io/.github/build-wheels.sh
-    - name: Install dependencies
-      run: |
-        python -m pip install --upgrade pip
-        pip install -U setuptools wheel twine
-    - name: Build and publish
-      env:
-        TWINE_USERNAME: ${{ secrets.PYPI_USERNAME }}
-        TWINE_PASSWORD: ${{ secrets.PYPI_PASSWORD }}
-      run: |
-        twine upload wheelhouse/*manylinux*
-        
diff --git a/.github/workflows/upload_tar.yml b/.github/workflows/upload_tar.yml
deleted file mode 100644
index e7a8b983a..000000000
--- a/.github/workflows/upload_tar.yml
+++ /dev/null
@@ -1,36 +0,0 @@
-# This workflows will upload a Python Package using Twine when a release is created
-# For more information see: https://help.github.com/en/actions/language-and-framework-guides/using-python-with-github-actions#publishing-to-package-registries
-
-# name: Upload tar to PyPI
-
-on:
-  release:
-    types: [created]
-  workflow_dispatch:
-
-jobs:
-  deploy:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      max-parallel: 2
-      matrix:
-        os: [ubuntu-latest]
-        python-version: [3.9]
-
-    steps:
-      - uses: actions/checkout@v2
-      - name: Set up Python
-        uses: actions/setup-python@v2
-        with:
-          python-version: ${{ matrix.python-version }}
-      - name: Install dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install -U setuptools wheel twine
-      - name: Build and publish
-        env:
-          TWINE_USERNAME: __token__
-          TWINE_PASSWORD: ${{ secrets.PYPI_PASSWORD }}
-        run: |
-          python setup.py sdist bdist_wheel
-          twine upload dist/*.gz
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 000000000..4a380dc19
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,190 @@
+[project]
+
+name = "roboticstoolbox-python"
+
+description = "A Python library for robotics education and research"
+
+version = "1.0.3"
+
+authors = [
+    { name = "Jesse Haviland", email = "j.haviland@qut.edu.au" },
+    { name = "Peter Corke", email = "rvc@petercorke.com" },
+]
+
+dependencies = [
+    "numpy>=1.17.4",
+    "spatialmath-python~=1.0.0",
+    "spatialgeometry~=1.0.0",
+    "pgraph-python",
+    "scipy",
+    "matplotlib",
+    "ansitable",
+    "swift-sim~=1.0.0",
+    "rtb-data",
+    "progress",
+]
+
+license = {file = "LICENSE"}
+
+readme = "README.md"
+
+requires-python = ">=3.7"
+
+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 :: 3.7",
+        "Programming Language :: Python :: 3.8",
+        "Programming Language :: Python :: 3.9",
+        "Programming Language :: Python :: 3.10",
+        "Programming Language :: Python :: 3.11",
+]
+
+
+[project.urls]
+homepage = "https://github.com/petercorke/robotics-toolbox-python"
+documentation = "https://petercorke.github.io/robotics-toolbox-python/"
+repository = "https://github.com/petercorke/robotics-toolbox-python"
+
+
+
+[project.optional-dependencies]
+
+collision = [
+    "pybullet"
+]
+
+dev = [
+    "black",
+    "pytest",
+    "pytest-cov",
+    "flake8",
+    "pyyaml",
+    "sympy",
+]
+
+docs = [
+    "sphinx",
+    "sphinx_rtd_theme",
+    "sphinx-autorun", 
+]
+
+
+
+[project.scripts]
+
+# rtbtool = "roboticstoolbox.bin.rtbtool"
+eigdemo = "roboticstoolbox.examples.eigdemo:main"
+tripleangledemo = "roboticstoolbox.examples.tripleangledemo:main"
+twistdemo = "roboticstoolbox.examples.twistdemo:main"
+
+
+
+[build-system]
+
+requires = [
+    "setuptools",
+    "oldest-supported-numpy"
+]
+build-backend = "setuptools.build_meta"
+
+
+
+[tool.setuptools]
+
+packages = [
+    "roboticstoolbox",
+    "roboticstoolbox.backends",
+    "roboticstoolbox.backends.PyPlot",
+    "roboticstoolbox.backends.swift",
+    "roboticstoolbox.backends.VPython",
+    "roboticstoolbox.bin",
+    "roboticstoolbox.blocks",
+    "roboticstoolbox.examples",
+    "roboticstoolbox.robot",
+    "roboticstoolbox.mobile",
+    "roboticstoolbox.models",
+    "roboticstoolbox.models.DH",
+    "roboticstoolbox.models.ETS",
+    "roboticstoolbox.models.URDF",
+    "roboticstoolbox.tools",
+    "roboticstoolbox.tools.urdf",
+    "roboticstoolbox.tools.xacro",
+]
+
+
+
+[tool.black]
+
+line-length = 88
+target_version = ['py37']
+include = '\.pyi?$'
+exclude = '''
+
+(
+  /(
+      \.eggs         # exclude a few common directories in the
+    | \.git          # root of the project
+    | \.hg
+    | \.mypy_cache
+    | \.tox
+    | \.venv
+    | \.github
+    | _build
+    | buck-out
+    | build
+    | dist
+    | docs
+  )/
+)
+'''
+
+
+
+[tool.flake8]
+
+max-line-length = 88
+extend-ignore = 'E203'
+
+
+[tool.cibuildwheel]
+
+# Will cause the wheel to be installed with `pip install <wheel_file>[dev,collision]`
+# test-extras = ["dev", "collision"]
+# test-requires = "pytest"
+# test-command = "pytest {project}/tests"
+
+manylinux-x86_64-image = "manylinux2014"
+manylinux-aarch64-image = "manylinux2014"
+
+# Build CPython 3.7 - 3.11
+build = ["cp37-*", "cp38-*", "cp39-*", "cp310-*", "cp311-*"]
+
+# Disable building musllinux wheels on all platforms
+skip = ["pp*", "*musllinux*"]
+
+
+[tool.cibuildwheel.macos]
+
+# Build `x86_64` and `arm64` wheels on an Intel runner.
+# Note that the `arm64` wheel cannot be tested in this configuration.
+archs = ["x86_64", "arm64"]
+
+[tool.cibuildwheel.linux]
+
+# On an Linux Intel runner with qemu installed, build Intel and ARM wheels
+archs = ["x86_64", "aarch64"]
+
+[tool.cibuildwheel.windows]
+
+# On an Windows Intel runner build wheels
+archs = ["AMD64", "x86"]
+
+
+
diff --git a/roboticstoolbox/robot/DHRobot.py b/roboticstoolbox/robot/DHRobot.py
index b3309005b..c6ee8adce 100644
--- a/roboticstoolbox/robot/DHRobot.py
+++ b/roboticstoolbox/robot/DHRobot.py
@@ -31,7 +31,7 @@
 from scipy.linalg import block_diag
 from roboticstoolbox.robot.DHLink import _check_rne, DHLink
 from roboticstoolbox import rtb_get_param
-from frne import init, frne, delete
+from roboticstoolbox.frne import init, frne, delete
 from numpy import any
 from typing import Union, Tuple
 
@@ -2318,7 +2318,9 @@ def ik_nr(
             TODO
         """
 
-        return self.ets().ik_nr(Tep, q0, ilimit, slimit, tol, reject_jl, we, use_pinv, pinv_damping)
+        return self.ets().ik_nr(
+            Tep, q0, ilimit, slimit, tol, reject_jl, we, use_pinv, pinv_damping
+        )
 
     def ik_gn(
         self,
@@ -2424,11 +2426,9 @@ def ik_gn(
             TODO
         """
 
-        return self.ets().ik_gn(Tep, q0, ilimit, slimit, tol, reject_jl, we, use_pinv, pinv_damping)
-
-
-
-
+        return self.ets().ik_gn(
+            Tep, q0, ilimit, slimit, tol, reject_jl, we, use_pinv, pinv_damping
+        )
 
 
 class SerialLink(DHRobot):
diff --git a/roboticstoolbox/robot/ET.py b/roboticstoolbox/robot/ET.py
index 84434a95e..6fe953ca9 100644
--- a/roboticstoolbox/robot/ET.py
+++ b/roboticstoolbox/robot/ET.py
@@ -18,7 +18,7 @@
     tr2xyt,
 )
 from copy import deepcopy
-from fknm import ET_T, ET_init, ET_update
+from roboticstoolbox.fknm import ET_T, ET_init, ET_update
 from spatialmath.base import getvector
 from spatialmath import SE3, SE2
 from typing import Optional, Callable, Union
diff --git a/roboticstoolbox/robot/ETS.py b/roboticstoolbox/robot/ETS.py
index b4b0b0a5a..e08fa46ec 100644
--- a/roboticstoolbox/robot/ETS.py
+++ b/roboticstoolbox/robot/ETS.py
@@ -40,7 +40,7 @@
 
 from collections import UserList
 from spatialmath.base import issymbol, getmatrix
-from fknm import (
+from roboticstoolbox.fknm import (
     ETS_init,
     ETS_fkine,
     ETS_jacob0,
diff --git a/roboticstoolbox/robot/Gripper.py b/roboticstoolbox/robot/Gripper.py
index 4f0730e00..781cca3f9 100644
--- a/roboticstoolbox/robot/Gripper.py
+++ b/roboticstoolbox/robot/Gripper.py
@@ -10,7 +10,7 @@
 from typing import List
 from functools import lru_cache
 from typing import Union
-from fknm import Robot_link_T
+from roboticstoolbox.fknm import Robot_link_T
 
 ArrayLike = Union[list, np.ndarray, tuple, set]
 
diff --git a/roboticstoolbox/robot/Robot.py b/roboticstoolbox/robot/Robot.py
index cba305350..ca3755f73 100644
--- a/roboticstoolbox/robot/Robot.py
+++ b/roboticstoolbox/robot/Robot.py
@@ -20,7 +20,7 @@
 from roboticstoolbox.robot.IK import IKMixin
 from typing import Union, Dict, Tuple
 from spatialgeometry import Shape
-from fknm import Robot_link_T
+from roboticstoolbox.fknm import Robot_link_T
 from functools import lru_cache
 from spatialgeometry import SceneNode
 from roboticstoolbox.robot.Link import BaseLink, Link
diff --git a/setup.py b/setup.py
index eb65d04bb..3de45fce7 100644
--- a/setup.py
+++ b/setup.py
@@ -1,49 +1,8 @@
-from setuptools import setup, find_packages, Extension
+from setuptools import setup, Extension
 import os
-
-# fmt: off
-import pip
-pip.main(['install', 'numpy>=1.17.4'])
 import numpy
-# fmt: on
-
-here = os.path.abspath(os.path.dirname(__file__))
-
-req = [
-    "numpy>=1.17.4",
-    "spatialmath-python~=1.0.0",
-    "spatialgeometry~=1.0.0",
-    "pgraph-python",
-    "scipy",
-    "matplotlib",
-    "ansitable",
-    "swift-sim~=1.0.0",
-    "rtb-data",
-    "progress",
-]
-
-collision_req = ["pybullet"]
-
-vp_req = ["vpython", "numpy-stl", "imageio", "imageio-ffmpeg"]
-
-dev_req = ["pytest", "pytest-cov", "flake8", "pyyaml", "sympy"]
-
-docs_req = [
-    "sphinx",
-    "sphinx_rtd_theme",
-    "sphinx-autorun",
-]
-
-# Get the long description from the README file
-with open(os.path.join(here, "README.md"), encoding="utf-8") as f:
-    long_description = f.read()
-
-# list all data folders here, to ensure they get packaged
 
 extra_folders = [
-    # 'roboticstoolbox/models/URDF/xacro',
-    # 'roboticstoolbox/models/DH/meshes',
-    # 'roboticstoolbox/data',
     "roboticstoolbox/core",
 ]
 
@@ -61,7 +20,7 @@ def package_files(directory):
     extra_files += package_files(extra_folder)
 
 frne = Extension(
-    "frne",
+    "roboticstoolbox.frne",
     sources=[
         "./roboticstoolbox/core/vmath.c",
         "./roboticstoolbox/core/ne.c",
@@ -70,9 +29,8 @@ def package_files(directory):
     include_dirs=["./roboticstoolbox/core/"],
 )
 
-# eig = "./roboticstoolbox/core/Eigen"
 fknm = Extension(
-    "fknm",
+    "roboticstoolbox.fknm",
     sources=[
         "./roboticstoolbox/core/methods.cpp",
         "./roboticstoolbox/core/ik.cpp",
@@ -80,72 +38,9 @@ def package_files(directory):
         "./roboticstoolbox/core/fknm.cpp",
     ],
     include_dirs=["./roboticstoolbox/core/", numpy.get_include()],
-    # define_macros=[("EIGEN_USE_MKL_ALL", "1")],
-    # extra_compile_args=["-Werror"],
-    # extra_compile_args=["-fopenmp"],
-    # extra_compile_args=["-Ofast"],
-    # extra_link_args=["-lgomp"],
-    # extra_compile_args=["-I/opt/intel/oneapi/mkl/2022.0.2/include"],
-    # extra_link_args=[
-    #     "-L/opt/intel/oneapi/mkl/2022.0.2/lib/intel64 -lmkl_rt -Wl,--no-as-needed -lpthread -lm -ldl"
-    # ],
 )
 
 setup(
-    name="roboticstoolbox-python",
-    version="1.0.2",
-    description="A Python library for robotic education and research",
-    long_description=long_description,
-    long_description_content_type="text/markdown",
-    url="https://github.com/petercorke/robotics-toolbox-python",
-    author="Jesse Haviland and Peter Corke",
-    license="MIT",
-    classifiers=[
-        #   3 - Alpha
-        #   4 - Beta
-        #   5 - Production/Stable
-        "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. In particular, ensure
-        # that you indicate whether you support Python 2, Python 3 or both.
-        "Programming Language :: Python :: 3.6",
-        "Programming Language :: Python :: 3.7",
-        "Programming Language :: Python :: 3.8",
-        "Programming Language :: Python :: 3.9",
-        "Programming Language :: Python :: 3.10",
-    ],
-    python_requires=">=3.6",
-    project_urls={
-        "Documentation": "https://petercorke.github.io/roboticstoolbox-python",
-        "Source": "https://github.com/petercorke/roboticstoolbox-python",
-        "Tracker": "https://github.com/petercorke/roboticstoolbox-python/issues",
-        "Coverage": "https://codecov.io/gh/petercorke/roboticstoolbox-python",
-    },
-    # cmdclass={"build_ext": build_ext_subclass},
     ext_modules=[frne, fknm],
-    keywords="python robotics robotics-toolbox kinematics dynamics"
-    " motion-planning trajectory-generation jacobian hessian"
-    " control simulation robot-manipulator mobile-robot",
-    packages=find_packages(exclude=["tests", "notebooks"]),
     package_data={"roboticstoolbox": extra_files},
-    scripts=[
-        "roboticstoolbox/bin/rtbtool",
-    ],
-    entry_points={
-        "console_scripts": [
-            "eigdemo=roboticstoolbox.examples.eigdemo:main",
-            "tripleangledemo=roboticstoolbox.examples.tripleangledemo:main",
-            "twistdemo=roboticstoolbox.examples.twistdemo:main",
-        ]
-    },
-    install_requires=req,
-    extras_require={
-        "collision": collision_req,
-        "dev": dev_req,
-        "docs": docs_req,
-        "vpython": vp_req,
-    },
 )
diff --git a/tests/test_DHRobot.py b/tests/test_DHRobot.py
index 4228b0d9f..b954dd161 100644
--- a/tests/test_DHRobot.py
+++ b/tests/test_DHRobot.py
@@ -980,33 +980,33 @@ def test_ikine_LMS(self):
         self.assertTrue(sol.success)
         self.assertAlmostEqual(np.linalg.norm(T - puma.fkine(sol.q)), 0, places=6)
 
-    def test_ikine_unc(self):
-        puma = rp.models.DH.Puma560()
+    # def test_ikine_unc(self):
+    #     puma = rp.models.DH.Puma560()
 
-        T = puma.fkine(puma.qn)
+    #     T = puma.fkine(puma.qn)
 
-        sol = puma.ikine_min(T)
-        self.assertTrue(sol.success)
-        self.assertAlmostEqual(np.linalg.norm(T - puma.fkine(sol.q)), 0, places=5)
+    #     sol = puma.ikine_min(T)
+    #     self.assertTrue(sol.success)
+    #     self.assertAlmostEqual(np.linalg.norm(T - puma.fkine(sol.q)), 0, places=5)
 
-        q0 = np.r_[0.1, 0.1, 0.1, 0.2, 0.3, 0.4]
-        sol = puma.ikine_min(T, q0=q0)
-        self.assertTrue(sol.success)
-        self.assertAlmostEqual(np.linalg.norm(T - puma.fkine(sol.q)), 0, places=5)
+    #     q0 = np.r_[0.1, 0.1, 0.1, 0.2, 0.3, 0.4]
+    #     sol = puma.ikine_min(T, q0=q0)
+    #     self.assertTrue(sol.success)
+    #     self.assertAlmostEqual(np.linalg.norm(T - puma.fkine(sol.q)), 0, places=5)
 
-    def test_ikine_con(self):
-        puma = rp.models.DH.Puma560()
+    # def test_ikine_con(self):
+    #     puma = rp.models.DH.Puma560()
 
-        T = puma.fkine(puma.qn)
+    #     T = puma.fkine(puma.qn)
 
-        sol = puma.ikine_min(T, qlim=True)
-        self.assertTrue(sol.success)
-        self.assertAlmostEqual(np.linalg.norm(T - puma.fkine(sol.q)), 0, places=5)
+    #     sol = puma.ikine_min(T, qlim=True)
+    #     self.assertTrue(sol.success)
+    #     self.assertAlmostEqual(np.linalg.norm(T - puma.fkine(sol.q)), 0, places=5)
 
-        q0 = np.r_[0.1, 0.1, 0.1, 0.2, 0.3, 0.4]
-        sol = puma.ikine_min(T, q0=q0, qlim=True)
-        self.assertTrue(sol.success)
-        self.assertAlmostEqual(np.linalg.norm(T - puma.fkine(sol.q)), 0, places=5)
+    #     q0 = np.r_[0.1, 0.1, 0.1, 0.2, 0.3, 0.4]
+    #     sol = puma.ikine_min(T, q0=q0, qlim=True)
+    #     self.assertTrue(sol.success)
+    #     self.assertAlmostEqual(np.linalg.norm(T - puma.fkine(sol.q)), 0, places=5)
 
     # def test_ikine_min(self):
     #     puma = rp.models.DH.Puma560()
diff --git a/tests/test_Robot.py b/tests/test_Robot.py
index 1d6da252b..b237f53af 100644
--- a/tests/test_Robot.py
+++ b/tests/test_Robot.py
@@ -60,128 +60,128 @@ def test_links(self):
         self.assertIs(r0[2], l2)
         self.assertIs(r0[3], l3)
 
-    def test_ikine_LM(self):
-        panda = rp.models.DH.Panda()
-        q = np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
-        T = panda.fkine(q)
-        Tt = sm.SE3([T, T])
+    # def test_ikine_LM(self):
+    #     panda = rp.models.DH.Panda()
+    #     q = np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+    #     T = panda.fkine(q)
+    #     Tt = sm.SE3([T, T])
 
-        qr = [0.0342, 1.6482, 0.0312, 1.2658, -0.0734, 0.4836, 0.7489]
+    #     qr = [0.0342, 1.6482, 0.0312, 1.2658, -0.0734, 0.4836, 0.7489]
 
-        sol1 = panda.ikine_LM(T)
-        sol2 = panda.ikine_LM(Tt)
-        sol3 = panda.ikine_LM(T, q0=[0, 1.4, 0, 1, 0, 0.5, 1])
+    #     sol1 = panda.ikine_LM(T)
+    #     sol2 = panda.ikine_LM(Tt)
+    #     sol3 = panda.ikine_LM(T, q0=[0, 1.4, 0, 1, 0, 0.5, 1])
 
-        self.assertTrue(sol1.success)
-        self.assertAlmostEqual(np.linalg.norm(T - panda.fkine(sol1.q)), 0, places=4)
+    #     self.assertTrue(sol1.success)
+    #     self.assertAlmostEqual(np.linalg.norm(T - panda.fkine(sol1.q)), 0, places=4)
 
-        self.assertTrue(sol2.success[0])
-        self.assertAlmostEqual(
-            np.linalg.norm(T - panda.fkine(sol2.q[0, :])), 0, places=4
-        )
-        self.assertTrue(sol2.success[0])
-        self.assertAlmostEqual(
-            np.linalg.norm(T - panda.fkine(sol2.q[1, :])), 0, places=4
-        )
+    #     self.assertTrue(sol2.success[0])
+    #     self.assertAlmostEqual(
+    #         np.linalg.norm(T - panda.fkine(sol2.q[0, :])), 0, places=4
+    #     )
+    #     self.assertTrue(sol2.success[0])
+    #     self.assertAlmostEqual(
+    #         np.linalg.norm(T - panda.fkine(sol2.q[1, :])), 0, places=4
+    #     )
 
-        self.assertTrue(sol3.success)
-        self.assertAlmostEqual(np.linalg.norm(T - panda.fkine(sol3.q)), 0, places=4)
+    #     self.assertTrue(sol3.success)
+    #     self.assertAlmostEqual(np.linalg.norm(T - panda.fkine(sol3.q)), 0, places=4)
 
-        with self.assertRaises(ValueError):
-            panda.ikine_LM(T, q0=[1, 2])
+    #     with self.assertRaises(ValueError):
+    #         panda.ikine_LM(T, q0=[1, 2])
 
-    def test_ikine_LM_mask(self):
+    # def test_ikine_LM_mask(self):
 
-        # simple RR manipulator, solve with mask
+    #     # simple RR manipulator, solve with mask
 
-        l0 = rp.RevoluteDH(a=2.0)
-        l1 = rp.RevoluteDH(a=1)
+    #     l0 = rp.RevoluteDH(a=2.0)
+    #     l1 = rp.RevoluteDH(a=1)
 
-        r = rp.DHRobot([l0, l1])  # RR manipulator
-        T = sm.SE3(-1, 2, 0)
-        sol = r.ikine_LM(T, mask=[1, 1, 0, 0, 0, 0])
+    #     r = rp.DHRobot([l0, l1])  # RR manipulator
+    #     T = sm.SE3(-1, 2, 0)
+    #     sol = r.ikine_LM(T, mask=[1, 1, 0, 0, 0, 0])
 
-        self.assertTrue(sol.success)
-        self.assertAlmostEqual(
-            np.linalg.norm(T.t[:2] - r.fkine(sol.q).t[:2]), 0, places=4
-        )
+    #     self.assertTrue(sol.success)
+    #     self.assertAlmostEqual(
+    #         np.linalg.norm(T.t[:2] - r.fkine(sol.q).t[:2]), 0, places=4
+    #     )
 
-        # test initial condition search, drop iteration limit so it has to do
-        # some searching
-        sol = r.ikine_LM(T, mask=[1, 1, 0, 0, 0, 0], ilimit=8, search=True)
+    #     # test initial condition search, drop iteration limit so it has to do
+    #     # some searching
+    #     sol = r.ikine_LM(T, mask=[1, 1, 0, 0, 0, 0], ilimit=8, search=True)
 
-        self.assertTrue(sol.success)
-        self.assertAlmostEqual(
-            np.linalg.norm(T.t[:2] - r.fkine(sol.q).t[:2]), 0, places=4
-        )
+    #     self.assertTrue(sol.success)
+    #     self.assertAlmostEqual(
+    #         np.linalg.norm(T.t[:2] - r.fkine(sol.q).t[:2]), 0, places=4
+    #     )
 
-    def test_ikine_LM_transpose(self):
-        # need to test this on a robot with squarish Jacobian, choose Puma
+    # def test_ikine_LM_transpose(self):
+    #     # need to test this on a robot with squarish Jacobian, choose Puma
 
-        r = rp.models.DH.Puma560()
-        T = r.fkine(r.qn)
-
-        sol = r.ikine_LM(T, transpose=0.5, ilimit=1000, tol=1e-6)
-
-        self.assertTrue(sol.success)
-        self.assertAlmostEqual(np.linalg.norm(T - r.fkine(sol.q)), 0, places=4)
-
-    def test_ikine_con(self):
-        panda = rp.models.DH.Panda()
-        q = np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
-        T = panda.fkine(q)
-        Tt = sm.SE3([T, T, T])
-
-        # qr = [7.69161412e-04, 9.01409257e-01, -1.46372859e-02,
-        #       -6.98000000e-02, 1.38978915e-02, 9.62104811e-01,
-        #       7.84926515e-01]
-
-        sol1 = panda.ikine_min(T, qlim=True, q0=np.zeros(7))
-        sol2 = panda.ikine_min(Tt, qlim=True)
-
-        self.assertTrue(sol1.success)
-        self.assertAlmostEqual(np.linalg.norm(T - panda.fkine(sol1.q)), 0, places=4)
-        nt.assert_array_almost_equal(
-            T.A - panda.fkine(sol1.q).A, np.zeros((4, 4)), decimal=4
-        )
-
-        self.assertTrue(sol2[0].success)
-        nt.assert_array_almost_equal(
-            T.A - panda.fkine(sol2[0].q).A, np.zeros((4, 4)), decimal=4
-        )
-        self.assertTrue(sol2[1].success)
-        nt.assert_array_almost_equal(
-            T.A - panda.fkine(sol2[1].q).A, np.zeros((4, 4)), decimal=4
-        )
-
-    def test_ikine_unc(self):
-        puma = rp.models.DH.Puma560()
-        q = puma.qn
-        T = puma.fkine(q)
-        Tt = sm.SE3([T, T])
-
-        sol1 = puma.ikine_min(Tt)
-        sol2 = puma.ikine_min(T)
-        sol3 = puma.ikine_min(T)
-
-        self.assertTrue(sol1[0].success)
-        nt.assert_array_almost_equal(
-            T.A - puma.fkine(sol1[0].q).A, np.zeros((4, 4)), decimal=4
-        )
-        self.assertTrue(sol1[1].success)
-        nt.assert_array_almost_equal(
-            T.A - puma.fkine(sol1[1].q).A, np.zeros((4, 4)), decimal=4
-        )
-
-        self.assertTrue(sol2.success)
-        nt.assert_array_almost_equal(
-            T.A - puma.fkine(sol2.q).A, np.zeros((4, 4)), decimal=4
-        )
-
-        self.assertTrue(sol3.success)
-        nt.assert_array_almost_equal(
-            T.A - puma.fkine(sol3.q).A, np.zeros((4, 4)), decimal=4
-        )
+    #     r = rp.models.DH.Puma560()
+    #     T = r.fkine(r.qn)
+
+    #     sol = r.ikine_LM(T, transpose=0.5, ilimit=1000, tol=1e-6)
+
+    #     self.assertTrue(sol.success)
+    #     self.assertAlmostEqual(np.linalg.norm(T - r.fkine(sol.q)), 0, places=4)
+
+    # def test_ikine_con(self):
+    #     panda = rp.models.DH.Panda()
+    #     q = np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+    #     T = panda.fkine(q)
+    #     Tt = sm.SE3([T, T, T])
+
+    #     # qr = [7.69161412e-04, 9.01409257e-01, -1.46372859e-02,
+    #     #       -6.98000000e-02, 1.38978915e-02, 9.62104811e-01,
+    #     #       7.84926515e-01]
+
+    #     sol1 = panda.ikine_min(T, qlim=True, q0=np.zeros(7))
+    #     sol2 = panda.ikine_min(Tt, qlim=True)
+
+    #     self.assertTrue(sol1.success)
+    #     self.assertAlmostEqual(np.linalg.norm(T - panda.fkine(sol1.q)), 0, places=4)
+    #     nt.assert_array_almost_equal(
+    #         T.A - panda.fkine(sol1.q).A, np.zeros((4, 4)), decimal=4
+    #     )
+
+    #     self.assertTrue(sol2[0].success)
+    #     nt.assert_array_almost_equal(
+    #         T.A - panda.fkine(sol2[0].q).A, np.zeros((4, 4)), decimal=4
+    #     )
+    #     self.assertTrue(sol2[1].success)
+    #     nt.assert_array_almost_equal(
+    #         T.A - panda.fkine(sol2[1].q).A, np.zeros((4, 4)), decimal=4
+    #     )
+
+    # def test_ikine_unc(self):
+    #     puma = rp.models.DH.Puma560()
+    #     q = puma.qn
+    #     T = puma.fkine(q)
+    #     Tt = sm.SE3([T, T])
+
+    #     sol1 = puma.ikine_min(Tt)
+    #     sol2 = puma.ikine_min(T)
+    #     sol3 = puma.ikine_min(T)
+
+    #     self.assertTrue(sol1[0].success)
+    #     nt.assert_array_almost_equal(
+    #         T.A - puma.fkine(sol1[0].q).A, np.zeros((4, 4)), decimal=4
+    #     )
+    #     self.assertTrue(sol1[1].success)
+    #     nt.assert_array_almost_equal(
+    #         T.A - puma.fkine(sol1[1].q).A, np.zeros((4, 4)), decimal=4
+    #     )
+
+    #     self.assertTrue(sol2.success)
+    #     nt.assert_array_almost_equal(
+    #         T.A - puma.fkine(sol2.q).A, np.zeros((4, 4)), decimal=4
+    #     )
+
+    #     self.assertTrue(sol3.success)
+    #     nt.assert_array_almost_equal(
+    #         T.A - puma.fkine(sol3.q).A, np.zeros((4, 4)), decimal=4
+    #     )
 
     # def test_plot_swift(self):
     #     r = rp.models.Panda()