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    VirtualModelControl
    • Getting started
    • Build
    • Run
    • Force and energy
    • Plan
    • Examples
    • Concepts
    • Reference
    VirtualModelControl
      • Installation
      • How it works
      • Your first controller
      • Troubleshooting
      • Coordinates
      • Components
      • Parameters
      • Experiments in files
      • Kinematics and tool springs on the UR5
      • Build your own robot
      • Joints and bodies
      • Soft arms and assemblies
      • Static friction of the motors
      • Extend the library
      • Use a model outside CasADi
      • Run logs
      • Real-time runs
      • Swaps and schedules
      • Tuning the damping of a spring
      • Estimate the state of a soft arm
      • Fit Params to a run
      • Contact
      • Track a contact force
      • Estimate a contact force
      • Shape the stiffness of the tip
      • Energy and passivity
      • Robots with fewer motors than joints
      • Optimizing a virtual mechanism
      • Plan around an obstacle
      • Plan periodic motions and virtual states
      • Model predictive control
      • Crawl with a flywheel
      • Soft arm: reach past an obstacle, limit the force, shape the body
      • Hanging soft arm: identify it, reach around an obstacle
      • Two arms: squeeze an object
      • Finger: fingertip stiffness and joint limits
      • Hand: grasp, and the hand on a UR5
      • Turtle: two cranks and a virtual flywheel
      • How the library is organized
      • Virtual Model Control
      • Passivity
      • Soft-arm kinematics
      • Finger and hand kinematics
      • Transmission efficiency
      • Conventions and glossary
      • API
        • core
        • math
        • mechanisms
        • models
        • system
        • compiler
        • dynamics
        • control
        • sim
        • adaptation
        • estimation
        • identification
        • optimization
        • hardware
        • viz
          • viz.animation
          • viz.draw
          • virtualmodelcontrol.viz.style CREATE Lab, EPFL
            • F style
              • Parameters
                • p usetex
                • p font_size
              • Return type
        • robots
        • config
        • testing
      • Changelog
      • Roadmap
      • Support policy
      • Contributing
    CREATE Lab, EPFL
    • F style
      • Parameters
        • p usetex
        • p font_size
      • Return type

    virtualmodelcontrol.viz.style¶

    style(usetex=None, font_size=18.0)¶

    The lab style inside a with block only.

    Parameters:¶
    usetex : bool | None¶

    font_size : float¶

    Return type:¶

    Iterator[None]

    © Copyright 2026, Lorenzo Vignoli.
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