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cmower / optas

OpTaS: An optimization-based task specification library for trajectory optimization and model predictive control.
https://cmower.github.io/optas/
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`optas.Visualize.sphere` throwing TypeError in Python 3.12 #156

Open hello-binit opened 7 months ago

hello-binit commented 7 months ago

Hello, thanks for creating this library! I ran into a bug trying to visualize a sphere in Python 3.12. I know 3.12 isn't listed as an supported platform (https://github.com/cmower/optas#support), but I thought this might be helpful if you're intending to support 3.12 in the future.

Steps to reproduce:

  1. Create a 3.12 environment (e.g. mamba create -n optas python=3.12)
  2. Copy the following into a script and run it: 
    
from optas.visualize import Visualizer

vis = Visualizer(camera_position=[3, 3, 3]) vis.sphere(position=[0.0, 0.0, 0.0], radius=0.01, rgb=[1, 0, 0]) vis.grid_floor() vis.start()


You'll see an exception like the following:

Traceback (most recent call last): File "/home/path/visualize_error.py", line 4, in vis.sphere(position=[0.0, 0.0, 0.0], radius=0.01, rgb=[1, 0, 0]) File "/home/path/miniforge3/envs/optas/lib/python3.12/site-packages/optas/spatialmath.py", line 68, in wrap return fun(*args_use, **kwargs_use) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/path/miniforge3/envs/optas/lib/python3.12/site-packages/optas/visualize.py", line 318, in sphere sphere.SetThetaResolution(theta_resolution) TypeError: SetThetaResolution argument 1:

cmower commented 7 months ago

Hi @hello-binit, thanks for your interest in optas and also pointing this out! :smile:

Eventually, I and the other developers intend to provide support for recent python versions and also develop optas (new features, etc). However, currently, we do not have the bandwidth.

If you are able to fix this error and add the support for Python 3.12 (show that all test scripts go green) I would be happy to review a PR.