fix: Robot._to_dict() uses set_alpha(), deprecated by spatialgeometry - #616
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spatialgeometry deprecated Shape.set_alpha() in favour of an opacity property (still functionally identical -- set_alpha just does `self.opacity = alpha` -- but emits a FutureWarning on every call). Robot._to_dict() calls it on every link/gripper geometry and collision shape, so any env.add_robot(robot) in Swift triggers the warning. Switch to the opacity property directly.
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## main #616 +/- ##
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Coverage 0.00% 0.00%
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Files 142 142
Lines 13898 13898
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Summary
spatialgeometrydeprecatedShape.set_alpha()in favour of anopacityproperty (functionally identical --set_alphajust doesself.opacity = alphainternally -- but emits aFutureWarningon every call now).Robot._to_dict()callsset_alpha()on every link/gripper geometry and collision shape, so anyenv.add_robot(robot)in Swift triggers the warning. Switched to theopacityproperty directly.Test plan
panda._to_dict(robot_alpha=0.5, collision_alpha=0.3)underwarnings.simplefilter("error"): no warnings raised,opacitycorrectly set on the returned dictstests/test_Robot.py+tests/test_ERobot.py: 53 passed, 5 skipped (unrelated), one pre-existing unrelated warning (_propogate_scene_tree, a different deprecated call elsewhere in the test)