Can't use the swift simulator

[WHuangEI]

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Common issues

Describe the bug
when I just run the 'holistic_mm_non_holonomic.py', the browser shows nothing but :
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and the information in terminal:
$ python holistic_mm_non_holonomic.py
ATTENTION: default value of option mesa_glthread overridden by environment.
ATTENTION: default value of option mesa_glthread overridden by environment.
ATTENTION: default value of option mesa_glthread overridden by environment.
ATTENTION: default value of option mesa_glthread overridden by environment.

Exception happened during processing of request from ('127.0.0.1', 45358)
Traceback (most recent call last):
File "/usr/lib/python3.6/socketserver.py", line 320, in _handle_request_noblock
self.process_request(request, client_address)
File "/usr/lib/python3.6/socketserver.py", line 351, in process_request
self.finish_request(request, client_address)
File "/usr/lib/python3.6/socketserver.py", line 364, in finish_request
self.RequestHandlerClass(request, client_address, self)
File "/home/hwww/.local/lib/python3.6/site-packages/swift/SwiftRoute.py", line 222, in init
*args, directory=str(root_dir), **kwargs
TypeError: init() got an unexpected keyword argument 'directory'

---

Exception happened during processing of request from ('127.0.0.1', 45372)
Traceback (most recent call last):
File "/usr/lib/python3.6/socketserver.py", line 320, in _handle_request_noblock
self.process_request(request, client_address)
File "/usr/lib/python3.6/socketserver.py", line 351, in process_request
self.finish_request(request, client_address)
File "/usr/lib/python3.6/socketserver.py", line 364, in finish_request
self.RequestHandlerClass(request, client_address, self)
File "/home/hwww/.local/lib/python3.6/site-packages/swift/SwiftRoute.py", line 222, in init
*args, directory=str(root_dir), **kwargs
TypeError: init() got an unexpected keyword argument 'directory'

---

Exception happened during processing of request from ('127.0.0.1', 45380)
Traceback (most recent call last):
File "/usr/lib/python3.6/socketserver.py", line 320, in _handle_request_noblock
self.process_request(request, client_address)
File "/usr/lib/python3.6/socketserver.py", line 351, in process_request
self.finish_request(request, client_address)
File "/usr/lib/python3.6/socketserver.py", line 364, in finish_request
self.RequestHandlerClass(request, client_address, self)
File "/home/hwww/.local/lib/python3.6/site-packages/swift/SwiftRoute.py", line 222, in init
*args, directory=str(root_dir), **kwargs
TypeError: init() got an unexpected keyword argument 'directory'

---

Exception happened during processing of request from ('127.0.0.1', 45390)
Traceback (most recent call last):
File "/usr/lib/python3.6/socketserver.py", line 320, in _handle_request_noblock
self.process_request(request, client_address)
File "/usr/lib/python3.6/socketserver.py", line 351, in process_request
self.finish_request(request, client_address)
File "/usr/lib/python3.6/socketserver.py", line 364, in finish_request
self.RequestHandlerClass(request, client_address, self)
File "/home/hwww/.local/lib/python3.6/site-packages/swift/SwiftRoute.py", line 222, in init
*args, directory=str(root_dir), **kwargs
TypeError: init() got an unexpected keyword argument 'directory'

---

Exception happened during processing of request from ('127.0.0.1', 45394)
Traceback (most recent call last):
File "/usr/lib/python3.6/socketserver.py", line 320, in _handle_request_noblock
self.process_request(request, client_address)
File "/usr/lib/python3.6/socketserver.py", line 351, in process_request
self.finish_request(request, client_address)
File "/usr/lib/python3.6/socketserver.py", line 364, in finish_request
self.RequestHandlerClass(request, client_address, self)
File "/home/hwww/.local/lib/python3.6/site-packages/swift/SwiftRoute.py", line 222, in init
*args, directory=str(root_dir), **kwargs
TypeError: init() got an unexpected keyword argument 'directory'

---

Exception happened during processing of request from ('127.0.0.1', 45408)
Traceback (most recent call last):
File "/usr/lib/python3.6/socketserver.py", line 320, in _handle_request_noblock
self.process_request(request, client_address)
File "/usr/lib/python3.6/socketserver.py", line 351, in process_request
self.finish_request(request, client_address)
File "/usr/lib/python3.6/socketserver.py", line 364, in finish_request
self.RequestHandlerClass(request, client_address, self)
File "/home/hwww/.local/lib/python3.6/site-packages/swift/SwiftRoute.py", line 222, in init
*args, directory=str(root_dir), **kwargs
TypeError: init() got an unexpected keyword argument 'directory'

---

Exception happened during processing of request from ('127.0.0.1', 45410)
Traceback (most recent call last):
File "/usr/lib/python3.6/socketserver.py", line 320, in _handle_request_noblock
self.process_request(request, client_address)
File "/usr/lib/python3.6/socketserver.py", line 351, in process_request
self.finish_request(request, client_address)
File "/usr/lib/python3.6/socketserver.py", line 364, in finish_request
self.RequestHandlerClass(request, client_address, self)
File "/home/hwww/.local/lib/python3.6/site-packages/swift/SwiftRoute.py", line 222, in init
*args, directory=str(root_dir), **kwargs
TypeError: init() got an unexpected keyword argument 'directory'

---

Exception happened during processing of request from ('127.0.0.1', 45412)
Traceback (most recent call last):
File "/usr/lib/python3.6/socketserver.py", line 320, in _handle_request_noblock
self.process_request(request, client_address)
File "/usr/lib/python3.6/socketserver.py", line 351, in process_request
self.finish_request(request, client_address)
File "/usr/lib/python3.6/socketserver.py", line 364, in finish_request
self.RequestHandlerClass(request, client_address, self)
File "/home/hwww/.local/lib/python3.6/site-packages/swift/SwiftRoute.py", line 222, in init
*args, directory=str(root_dir), **kwargs
TypeError: init() got an unexpected keyword argument 'directory'

---

Exception happened during processing of request from ('127.0.0.1', 45418)
Traceback (most recent call last):
File "/usr/lib/python3.6/socketserver.py", line 320, in _handle_request_noblock
self.process_request(request, client_address)
File "/usr/lib/python3.6/socketserver.py", line 351, in process_request
self.finish_request(request, client_address)
File "/usr/lib/python3.6/socketserver.py", line 364, in finish_request
self.RequestHandlerClass(request, client_address, self)
File "/home/hwww/.local/lib/python3.6/site-packages/swift/SwiftRoute.py", line 222, in init
*args, directory=str(root_dir), **kwargs
TypeError: init() got an unexpected keyword argument 'directory'

---

Exception happened during processing of request from ('127.0.0.1', 45432)
Traceback (most recent call last):
File "/usr/lib/python3.6/socketserver.py", line 320, in _handle_request_noblock
self.process_request(request, client_address)
File "/usr/lib/python3.6/socketserver.py", line 351, in process_request
self.finish_request(request, client_address)
File "/usr/lib/python3.6/socketserver.py", line 364, in finish_request
self.RequestHandlerClass(request, client_address, self)
File "/home/hwww/.local/lib/python3.6/site-packages/swift/SwiftRoute.py", line 222, in init
*args, directory=str(root_dir), **kwargs
TypeError: init() got an unexpected keyword argument 'directory'

---

Exception happened during processing of request from ('127.0.0.1', 45440)
Traceback (most recent call last):
File "/usr/lib/python3.6/socketserver.py", line 320, in _handle_request_noblock
self.process_request(request, client_address)
File "/usr/lib/python3.6/socketserver.py", line 351, in process_request
self.finish_request(request, client_address)
File "/usr/lib/python3.6/socketserver.py", line 364, in finish_request
self.RequestHandlerClass(request, client_address, self)
File "/home/hwww/.local/lib/python3.6/site-packages/swift/SwiftRoute.py", line 222, in init
*args, directory=str(root_dir), **kwargs
TypeError: init() got an unexpected keyword argument 'directory'

[ERROR glean_core] Error setting metrics feature config: Json(Error("EOF while parsing a value", line: 1, column: 0))

Could not connect to the Swift simulator

Traceback (most recent call last):
File "holistic_mm_non_holonomic.py", line 92, in
env.launch(realtime=True)
File "/home/hwww/.local/lib/python3.6/site-packages/swift/Swift.py", line 159, in launch
dev=self._dev,
File "/home/hwww/.local/lib/python3.6/site-packages/swift/SwiftRoute.py", line 86, in start_servers
inq.get(timeout=10)
File "/usr/lib/python3.6/queue.py", line 172, in get
raise Empty
queue.Empty

Version information

Did you install from PyPI or GitHub?
If PyPI what version number?
PyPI pip 21.3.1
If GitHub what commit hash?

Robotics Toolbox depends heavily on two other packages: Swift (3D graphics) and SpatialMath toolbox (underpinning maths utilities). If you think your issue is related to these, then please answer the questions above for them.

To Reproduce
Steps to reproduce the behavior:

1. The shortest, complete, Python script that exhibits the bug.
2. The script output, including error messages.

Expected behavior
A clear and concise description of what you expected to happen.

Screenshots
If applicable, add screenshots to help explain your problem.

Environment (please complete the following information):

• Your OS (MacOS, Linux, Windows). ubuntu 18.04
• Your Python version. python 3.6

Additional context
Add any other context about the problem here.

[WHuangEI]

the version i checked:
roboticstoolbox-python:1.0.2
swift -sim:1.0.0
spatialgeometry:1.0.1
spatialmath-python:1.0.5
PyPI pip 21.3.1
ubuntu 18.04, python 3.6

[WHuangEI]

@jhavl