From bc9ded4bd4cd1227592d802c63ffd0cbf0950a16 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Sat, 22 Aug 2026 11:34:01 +1000 Subject: [PATCH] fix(swift): use Slider/Label/Button's label kwarg, not deprecated desc swift-sim renamed the desc constructor kwarg/property to label on all SwiftElement subclasses (jhavl/swift#135) -- desc still works via a deprecation shim, but update RTB's own usages to the new name rather than carry the warning forward. --- examples/teach_swift.py | 2 +- src/roboticstoolbox/demo/tripleangledemo.py | 20 ++++++++++---------- src/roboticstoolbox/demo/twistdemo.py | 20 ++++++++++---------- 3 files changed, 21 insertions(+), 21 deletions(-) diff --git a/examples/teach_swift.py b/examples/teach_swift.py index a75b45e36..54692e91b 100644 --- a/examples/teach_swift.py +++ b/examples/teach_swift.py @@ -39,7 +39,7 @@ def set_joint(j, value): max=np.round(np.rad2deg(link.qlim[1]), 2), step=1, value=np.round(np.rad2deg(panda.q[j]), 2), - desc="Panda Joint " + str(j), + label="Panda Joint " + str(j), unit="°", ) ) diff --git a/src/roboticstoolbox/demo/tripleangledemo.py b/src/roboticstoolbox/demo/tripleangledemo.py index b8bd27783..43a5b2c05 100644 --- a/src/roboticstoolbox/demo/tripleangledemo.py +++ b/src/roboticstoolbox/demo/tripleangledemo.py @@ -108,11 +108,11 @@ def set_three(x): update_gimbals(float(x), 3) r_one = swift.Slider( - set_one, min=-180, max=180, step=1, value=0, desc="Outer gimbal", unit="°" + set_one, min=-180, max=180, step=1, value=0, label="Outer gimbal", unit="°" ) r_two = swift.Slider( - set_two, min=-180, max=180, step=1, value=0, desc="Middle gimbal", unit="°" + set_two, min=-180, max=180, step=1, value=0, label="Middle gimbal", unit="°" ) r_three = swift.Slider( @@ -121,24 +121,24 @@ def set_three(x): max=180, step=1, value=0, - desc="Inner gimbal", + label="Inner gimbal", unit="°", ) # buttons to set a 3-angle sequence ZYX_button = swift.Button( - lambda x: change_sequence("ZYX"), desc="ZYX (roll-pitch-yaw angles)" + lambda x: change_sequence("ZYX"), label="ZYX (roll-pitch-yaw angles)" ) XYZ_button = swift.Button( - lambda x: change_sequence("XYZ"), desc="XYZ (roll-pitch-yaw angles)" + lambda x: change_sequence("XYZ"), label="XYZ (roll-pitch-yaw angles)" ) ZYZ_button = swift.Button( - lambda x: change_sequence("ZYZ"), desc="ZYZ (Euler angles)" + lambda x: change_sequence("ZYZ"), label="ZYZ (Euler angles)" ) - swift.Button(lambda x: set("ZYX"), desc="Set to Zero") + swift.Button(lambda x: set("ZYX"), label="Set to Zero") # button to reset joint angles def reset(e): @@ -147,7 +147,7 @@ def reset(e): r_three.value = 0 # env.step(0) - zero_button = swift.Button(reset, desc="Set to Zero") + zero_button = swift.Button(reset, label="Set to Zero") def update_all_sliders(): update_gimbals(float(r_one.value), 1) @@ -184,7 +184,7 @@ def angle(index, ring): ring3_axis = swift.Radio(lambda x: angle(x, 2), options=["X", "Y", "Z"], checked=0) - label = swift.Label(desc="Triple angle") + label = swift.Label(label="Triple angle") # def chekked(e, el): # nlabel = "s: " @@ -204,7 +204,7 @@ def angle(index, ring): # if e[3]: # el.value = 1 - # label.desc = nlabel + # label.label = nlabel env.add(label) env.add(r_one) diff --git a/src/roboticstoolbox/demo/twistdemo.py b/src/roboticstoolbox/demo/twistdemo.py index 82ab9540b..96147040a 100644 --- a/src/roboticstoolbox/demo/twistdemo.py +++ b/src/roboticstoolbox/demo/twistdemo.py @@ -94,7 +94,7 @@ def update_all_sliders(): max=1, step=0.01, value=0, - desc="x position", + label="x position", ) twist_y = swift.Slider( @@ -103,7 +103,7 @@ def update_all_sliders(): max=1, step=0.01, value=0, - desc="y position", + label="y position", ) twist_rollangle = swift.Slider( @@ -112,7 +112,7 @@ def update_all_sliders(): max=180, step=1, value=0, - desc="roll angle (rx)", + label="roll angle (rx)", unit="°", ) @@ -122,7 +122,7 @@ def update_all_sliders(): max=180, step=1, value=0, - desc="pitch angle (ry)", + label="pitch angle (ry)", unit="°", ) @@ -132,18 +132,18 @@ def update_all_sliders(): max=1, step=0.02, value=0, - desc="screw pitch", + label="screw pitch", ) twist_theta = swift.Slider( - update_plane, min=0, max=10, step=0.02, value=0, desc="Twist rotation" + update_plane, min=0, max=10, step=0.02, value=0, label="Twist rotation" ) - button = swift.Button(reset_twist, desc="Set to Zero") - quit = swift.Button(lambda x: sys.exit(0), desc="Quit") + button = swift.Button(reset_twist, label="Set to Zero") + quit = swift.Button(lambda x: sys.exit(0), label="Quit") - label1 = swift.Label(desc="Twist parameters") - label2 = swift.Label(desc="Twist application") + label1 = swift.Label(label="Twist parameters") + label2 = swift.Label(label="Twist application") env.add(label1) env.add(twist_x)