Fix robot sliders not updating upon code-run move.

micah-huth · micah-huth · commit a4821d3f132e · 2021-03-29T09:52:38.000+10:00
diff --git a/roboticstoolbox/backends/VPython/VPython.py b/roboticstoolbox/backends/VPython/VPython.py
@@ -173,6 +173,9 @@ def step(self, dt=None, id=None, q=None, fig_num=0):
             if self.canvases[fig_num].is_robot_in(id):
                 poses = id.fkine(q)
                 id.set_joint_poses(poses)
+                if self.canvases[fig_num].current_mode == 2:
+                    # Reload the joint sliders
+                    self.canvases[fig_num].teach_mode()
 
         # If DHRobot is given (or equivalent)
         else:
@@ -201,6 +204,9 @@ def step(self, dt=None, id=None, q=None, fig_num=0):
             # Set poses of graphical robot
             poses = grpahical_dh_robot.fkine(q)
             grpahical_dh_robot.set_joint_poses(poses)
+            if self.canvases[fig_num].current_mode == 2:
+                # Reload the joint sliders
+                self.canvases[fig_num].teach_mode()
 
         if dt is not None:
             sleep(dt)
diff --git a/roboticstoolbox/backends/VPython/canvas.py b/roboticstoolbox/backends/VPython/canvas.py
@@ -285,6 +285,9 @@ def set_grid_mode(self, mode):
         """
         self.__graphics_grid.set_mode(mode)
 
+    def current_mode(self):
+        return self.__ui_mode
+
     #######################################
     #  UI Management
     #######################################
