Switch from PySide6 to PySide2 in configuration and signal provider

Author: GiulioRomualdi

robot_log_visualizer/__init__.py

@@ -1,4 +1,4 @@
 import os
 
 # Prefer the PySide6 backend when QtPy resolves the Qt binding.
-os.environ.setdefault("QT_API", "pyside6")
+os.environ.setdefault("QT_API", "pyside2")

robot_log_visualizer/signal_provider/realtime_signal_provider.py

@@ -5,6 +5,7 @@
 import time
 import traceback
 from collections import deque
+from typing import Iterable, Union
 
 import numpy as np
 
@@ -117,7 +118,7 @@ def __init__(self, period: float, signal_root_name: str):
         self.buffered_signals.add("robot_realtime::joints_state::positions")
 
     # TODO: implement a logic to remove signals that are not needed anymore
-    def add_signals_to_buffer(self, signals: list | set | str):
+    def add_signals_to_buffer(self, signals: Union[str, Iterable[str]]):
         """Add signals to the buffer set."""
         if isinstance(signals, str):
             signals = {signals}

setup.cfg

@@ -43,7 +43,7 @@ install_requires =
     idyntree >= 10.2.0
     meshcat
     numpy
-        PySide6
+    PySide2
     qtpy
     pyqtconsole
     matplotlib