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fix(swift): use Slider/Label/Button's label kwarg, not deprecated desc #622

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fix(swift): use Slider/Label/Button's label kwarg, not deprecated desc #622

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2 changes: 1 addition & 1 deletion examples/teach_swift.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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="°",
)
)
Expand Down
20 changes: 10 additions & 10 deletions src/roboticstoolbox/demo/tripleangledemo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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(
Expand All @@ -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):
Expand All @@ -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)
Expand Down Expand Up @@ -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: "
Expand All @@ -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)
Expand Down
20 changes: 10 additions & 10 deletions src/roboticstoolbox/demo/twistdemo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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(
Expand All @@ -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(
Expand All @@ -112,7 +112,7 @@ def update_all_sliders():
max=180,
step=1,
value=0,
desc="roll angle (rx)",
label="roll angle (rx)",
unit="°",
)

Expand All @@ -122,7 +122,7 @@ def update_all_sliders():
max=180,
step=1,
value=0,
desc="pitch angle (ry)",
label="pitch angle (ry)",
unit="°",
)

Expand All @@ -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)
Expand Down
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