fixed RobotBase teach update of vellipse and fellipse - #594
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Thanks for tracking down the teach-panel ellipse update bug — the fix for wiring up One thing I noticed in the diff: the vell = self.vellipse(q, centre="ee", scale=0.5, add=False)→ vell = self.vellipse(q, centre="ee", add=False)
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petercorke
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future was 162 commits behind main, 0 ahead, last touched 2026-06-14 -- a leftover from before RTB used a proper PR-based workflow, no longer part of how anything actually merges (confirmed by MVTB and bdsim, Peter's other actively-maintained repos, which have already dropped their own future branches entirely -- RTB was the outlier still carrying it). Third-party repos (swift, spatialgeometry) still use their own future branch as the live PR-merge target, set by their own owners -- not touched here, unrelated to RTB's now-dead one. - ci.yml: drop future from push/pull_request trigger branches - pull_request_template.md: stop telling contributors to target future - README.md: fix a stray image URL pointing at future/docs/figs/... -- would have 404'd once the branch was actually deleted PR #594 (open, targeting future) retargeted to main separately before this merges, so it isn't orphaned by the branch deletion.
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Indeed, dropped the scale as it appeared to big in many cases (e.g. Panda or Puma560). |
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Problem
When
robot.teach(..., vellipse=True)is used, moving a joint slider updates the robot visualization but leaves the velocity ellipse at its initial configuration.The teach-panel callback already attempts to update a stored velocity ellipse, but the ellipse created by
teach()is not assigned to that backend reference and the callback cannot update the ellipse when the joint sliders change.Changes
teach()as the teach-panel ellipse.fellipse=True.Rationale
The plotting backend already contains the update mechanism for teach-panel ellipses. Assigning the objects when they are created connects that mechanism to the ellipses displayed by
teach().Related issues
No related issue found.