Turing Sim: Joint Edits That Apply While You Type

Typing a new joint target now moves the arm right away, without pressing Apply.

中文版在文末，点开即可阅读。

Before

After

Both captures typed -135° into the shoulder target; only the new version moved the arm.

Situation

The Robot panel's joint controller lets you choose a joint, a mode (position, velocity or passive), a target and gains while physics runs. Every change had to be confirmed with "Apply joint command". Typing a new shoulder angle did nothing until you found that button, which made exploring a pose slow. A second problem: each state update rebuilt the joint list and jumped back to the first joint, losing the one you were driving.

Task

Make edits take effect as you make them, without flooding the physics host with a command per keystroke, and keep the driven joint selected.

Action

1. Live apply with a short pause. A change to the target, stiffness, damping, force limit or mode starts a 40 ms timer, so a held arrow key or a typed number becomes one command rather than many. The button stays for re-sending the same command.
2. Showing is not commanding. Selecting a joint loads its current settings into the fields without sending anything.
3. The driven joint stays selected. When the host reports its joints again, the panel keeps the current joint instead of resetting to the first.

The commit was tested in isolation: 15 tests passed, including a new test for the live behaviour.

Result

In both captures the shoulder target was set to -135° by typing, with Apply never pressed. In the old version the arm stayed where it was. In the new one it swings down to the new angle. The demo shows several edits in a row.