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fix: Robot._to_dict() uses set_alpha(), deprecated by spatialgeometry #616

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Merged
petercorke merged 1 commit into from
Aug 22, 2026
+4 −4
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fix: Robot._to_dict() uses set_alpha(), deprecated by spatialgeometry #616

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8 changes: 4 additions & 4 deletions src/roboticstoolbox/robot/Robot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -160,23 +160,23 @@ def _to_dict(self, robot_alpha=1.0, collision_alpha=0.0):
for link in self.links:
if robot_alpha > 0:
for gi in link.geometry:
gi.set_alpha(robot_alpha)
gi.opacity = robot_alpha
ob.append(gi.to_dict())
if collision_alpha > 0:
for gi in link.collision:
gi.set_alpha(collision_alpha)
gi.opacity = collision_alpha
ob.append(gi.to_dict())

# Do the grippers now
for gripper in self.grippers:
for link in gripper.links:
if robot_alpha > 0:
for gi in link.geometry:
gi.set_alpha(robot_alpha)
gi.opacity = robot_alpha
ob.append(gi.to_dict())
if collision_alpha > 0:
for gi in link.collision:
gi.set_alpha(collision_alpha)
gi.opacity = collision_alpha
ob.append(gi.to_dict())

# for o in ob:
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