issue with swift

[sulaiman-01]

I am using a UR10 robot and plotting it using swift this the code i am using:

`import roboticstoolbox as rtb

model = rtb.models.URDF.UR10() print(model) qz = [0,30,-30,0,0,0] model.plot(qz,backend = 'swift')`

and i get this error:

Exception happened during processing of request from ('127.0.0.1', 37848) Traceback (most recent call last): File "/usr/lib/python3.8/socketserver.py", line 316, in _handle_request_noblock self.process_request(request, client_address) File "/usr/lib/python3.8/socketserver.py", line 347, in process_request self.finish_request(request, client_address) File "/usr/lib/python3.8/socketserver.py", line 360, in finish_request self.RequestHandlerClass(request, client_address, self) File "/home/ash/.local/lib/python3.8/site-packages/swift/SwiftRoute.py", line 221, in init super(MyHttpRequestHandler, self).init( File "/usr/lib/python3.8/http/server.py", line 647, in init super().init(*args, **kwargs) File "/usr/lib/python3.8/socketserver.py", line 747, in init self.handle() File "/usr/lib/python3.8/http/server.py", line 427, in handle self.handle_one_request() File "/usr/lib/python3.8/http/server.py", line 415, in handle_one_request method() File "/home/ash/.local/lib/python3.8/site-packages/swift/SwiftRoute.py", line 263, in do_GET self.send_file_via_real_path() File "/home/ash/.local/lib/python3.8/site-packages/swift/SwiftRoute.py", line 286, in send_file_via_real_path self.copyfile(f, self.wfile) File "/usr/lib/python3.8/http/server.py", line 853, in copyfile shutil.copyfileobj(source, outputfile) File "/usr/lib/python3.8/shutil.py", line 208, in copyfileobj fdst_write(buf) File "/usr/lib/python3.8/socketserver.py", line 826, in write self._sock.sendall(b) BrokenPipeError: [Errno 32] Broken pipe

and the visualizer still open in the web and even if i remove the "backend = 'swift'" command it still plots it in webswift instead of using matplolib and gives the same error

`import roboticstoolbox as rtb

model = rtb.models.URDF.UR10() print(model) q = [0,30,-30,0,0,0] model.plot(q)`

[sulaiman-01]

it is only happening for UR10, i have tried it with Pandas and i dont get the error messege, but it still plots in swift even if i dont mention backend = "swift"

[tomawang]

Hello: Please help ! Thanks! Sincerely, Tom Wang In above scripts, with backend = "swift" or not, I got the following.

>>> model.plot(qz)
d:\Anaconda3\lib\site-packages\swift\out
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "d:\Anaconda3\lib\site-packages\roboticstoolbox\robot\Robot.py", line 1419, in plot
    env.add(self, readonly=True, **kwargs)
  File "d:\Anaconda3\lib\site-packages\swift\Swift.py", line 367, in add
    show_robot=show_robot, show_collision=show_collision
TypeError: _to_dict() got an unexpected keyword argument 'show_robot'
>>>

[alaflaquiere]

@sulaiman-01 Any progress with your BrokenPipeError problem? I'm having a similar issue. The neo.py example runs fine with the panda robot in Windows, but I get the same error as you when I try to run it from WSL2.

[jhavl]

Hey @sulaiman-01, your code works fine for me using the Gihub version of the toolbox and Swift.

This issue has somethiing to do with the communication between Python and the webbrowser. Make sure you are using the latest version of the toolbox and swift on Python > 3.6. Also try using the latest version of Chrome as the webbrowser. Feel free to re-open the issue if you do this and it still isn't working.

[jhavl]

@alaflaquiere, I suspect Swift will not work with WSL as Swift requires a browser tab to open and communicate with. I don't think that WSL can open chrome (feel free to correct me if I'm wrong).

[alaflaquiere]

I think I managed to make it work with Chrome, however it didn't work with Firefox. I'm not 100% sure as it was a few weeks back, and I simply switched to Windows since.