fix: drop stale ax= kwarg from ArmPlot's robot.plot() call - #590
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petercorke wants to merge 1 commit into
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fix: drop stale ax= kwarg from ArmPlot's robot.plot() call#590petercorke wants to merge 1 commit into
petercorke wants to merge 1 commit into
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BaseRobot.plot() no longer accepts an ax= parameter -- only fig= is a real, documented parameter; ax isn't referenced anywhere in its body or docstring, and flows straight through into env.add(), whose signature (PyPlot.add()) has never accepted ax either. Found via bdsim's ARMPLOT block, which asserts self.ax is not None and then passes ax=self.ax into robot.plot(), raising TypeError: PyPlot.add() got an unexpected keyword argument 'ax'. self.ax isn't used anywhere else in arm.py -- dropping it from this one call site is sufficient, robot.plot() manages its own axes internally given fig=. Found while investigating a bdsim example (RVC3-python's RRMC.py) that used to work in the book (2022) -- this was the second of two stacked bugs blocking it end to end, the first being bdsim's own PROD(matrix=) removal (unrelated, fixed on the notebook side).
Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
## main #590 +/- ##
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Files 142 142
Lines 13827 13882 +55
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Summary
BaseRobot.plot()no longer accepts anax=parameter — onlyfig=isreal and documented;
axisn't referenced anywhere in its body, andflows straight through into
env.add(), whose signature (PyPlot.add())has never accepted
axeither.roboticstoolbox/blocks/arm.py'sArmPlot.start()assertsself.ax is not Noneand then passesax=self.axintorobot.plot(),raising:
self.axisn't used anywhere else inarm.py— dropping it from thisone call site is sufficient;
robot.plot()manages its own axesinternally given
fig=.Found while investigating a bdsim block-diagram example (from
RVC3-python, the RVC book's companion repo) that used to work in 2022 —
this was the second of two stacked bugs blocking it end-to-end, the first
being bdsim's own
PROD(matrix=True)removal (unrelated, fixed on thenotebook side, not an RTB issue).
Test plan
tests/test_blocks.py: 22 passed, 6 skipped, no failures (none ofthese previously exercised this exact
ArmPlot.start()code path,which is how this went unnoticed)
RVC3/models/RRMC.py(a bdsimblock-diagram simulation using
ARMPLOT) now runs end-to-end andproduces the expected
out.clock0.t/.xresults, where itpreviously crashed at
plot.start