<filename>sim/python/setup.py
from distutils.core import setup, Extension
import numpy
setup(name='_transformations',
      ext_modules=[Extension('_transformations',
                             ['transformations.c'],
                             include_dirs=[numpy.get_include()])])

<filename>sim/python/setup.py
from distutils.core import setup, Extension
import numpy
setup(name='_transformations',
      ext_modules=[Extension('_transformations',
                             ['transformations.c'],
                             include_dirs=[numpy.get_include()])])
