viz.draw

Drawing robots, springs, goals and forces on matplotlib axes, in a chosen plane.

Functions

draw_damper(ax, start, end, *[, plane, width])

A dashpot (a piston in a cylinder) between two 3D points, as seen in plane.

draw_force(ax, origin, force, *[, plane, scale])

An arrow for a force [N] at a point, scale meters per newton.

draw_frame(ax, rotation, origin, *[, plane, ...])

The x, y, z axes of a frame (red, teal, blue, or color) [m], skipping axes seen end-on; other keyword arguments style the arrows.

draw_goal(ax, point, *[, plane])

A cross marking a goal.

draw_point(ax, point, *[, plane])

A dot at a 3D point.

draw_robot(ax, robot, q, *[, plane, color, ...])

Draw the robot's body; joints of rigid chains as dots.

draw_spring(ax, start, end, *[, plane, ...])

A zig-zag spring between two 3D points, as seen in plane.

label_axes(ax[, plane, unit])

Axis labels for a plane view.

project(points[, plane])

The two coordinates of 3D points seen in plane ("xz": x to the right, z up).

skeleton(robot, q[, n])

Polylines (k, 3) [m] tracing the robot's body at configuration q.