update logic for which backend to use
@@ -1255,8 +1255,11 @@ class Robot(ABC, DynamicsMixin, IKMixin):
default = "pyplot"
elif isinstance(self, rtb.ERobot2):
default = "pyplot2"
- elif isinstance(self, rtb.ERobot) and self.hasgeometry:
+ elif isinstance(self, rtb.ERobot):
+ if self.hasgeometry:
default = "swift"
+ else:
+ default = "pyplot"
if backend is not None:
backend = backend.lower()
