Klampt PyQt6 Support on Apple Silicon?

[smeng9]

Hi Professor,

Most of the Mac series have moved to apple silicon and PyQt5 has extremely bad compatibility. The download package on PyPI https://pypi.org/project/PyQt5/#files only supports x86_64. PyQt5 is also considered to be superseded by PyQt6.

The GLUT on Mac also has Fatal Error: internal error: NSInternalInconsistencyException, reason: NSWindow drag regions should only be invalidated on the Main Thread! when freshly installed with klampt. So as for now, none of the visualization can work on latest Mac.

I have perform a search of the string PyQt5 in the codebase and found there are not too many of them. The visualization libraries are modularized very well so we can simply do replaces of them using PyQt6. We could also remove PyQt4 that have already reached its end of life.

I can start with some effort for early adoption usage of PyQt6. What is your thought on this?

Thanks for creating this awesome library.

[krishauser]

That’s a good change to pursue. It should be relatively simple to bump the code that checks for PyQt5 to 6 and the fallback code from PyQt4 to 5. However I haven’t looked carefully at how 6 could break existing code. If you could try this and submit a PR, I’d appreciate it! We are trying to update Klampt to support newer macs, but few of us on the team use macs.