Visualization

The moro.visualization package provides tools for plotting and animating serial robot manipulators.

Visualization tools for serial robots.

class moro.visualization.FrameData(T: ndarray)[source]

Bases: object

Numerical homogeneous transformation of one robot frame.

T: ndarray

property position

property rotation

property x

property y

property z

class moro.visualization.MatplotlibBackend[source]

Bases: object

Render robot kinematic diagrams using Matplotlib 3D.

static animate(scene_data_list: list[SceneData], interval=100, figsize=(10, 8), style: VisualizationStyle | None = None, **kwargs)[source]

Create a Matplotlib animation.

Notes

Keep a reference to the returned FuncAnimation until it has been displayed or saved; otherwise it may be garbage-collected prematurely.

static render(scene_data: SceneData, ax=None, figsize=(10, 8), view_init=(30, 30), style: VisualizationStyle | None = None)[source]: Render one robot configuration on a Matplotlib 3D axis.

class moro.visualization.RobotVisualizer(robot: Robot)[source]

Bases: object

Render a moro.core.Robot using the available backends.

animate(num_vals_list, backend='matplotlib', **kwargs)[source]: Animate a sequence of robot configurations.

plot(num_vals: dict, backend='matplotlib', **kwargs)[source]: Render one robot configuration.

class moro.visualization.SceneData(joints: list[ndarray], frames: list[FrameData], dimension: float)[source]

Bases: object

Evaluated numerical data for one robot configuration.

dimension: float

frames: list[FrameData]

joints: list[ndarray]

class moro.visualization.ThreeJSBackend[source]

Bases: object

Render robot kinematic diagrams using Three.js.

static animate(scene_data_list: list[SceneData], width: int = 800, height: int = 600, style: VisualizationStyle | None = None)[source]: Return an interactive Three.js animation as IPython.display.HTML.

static render(scene_data: SceneData, width: int = 800, height: int = 600, style: VisualizationStyle | None = None)[source]: Return an interactive Three.js view as IPython.display.HTML.

class moro.visualization.VisualizationStyle(show_frames: bool = True, show_links: bool = True, show_joints: bool = True, show_base: bool = True, show_grid: bool = True, link_color: str = '#778877', joint_color: str = '#ff1493', base_color: str = '#ff00ff', frame_scale: float | None = None, joint_size: float | None = None, base_size: float | None = None, link_linewidth: float = 3, show_trajectory: bool = False, trajectory_color: str = '#1565c0', trajectory_linewidth: float = 2, trajectory_mode: str = 'full')[source]

Bases: object

Style configuration for robot visualization.

Parameters:

show_framesbool: Draw coordinate frames at each joint.
show_linksbool: Draw links connecting consecutive joints.
show_jointsbool: Draw joint markers.
show_basebool: Highlight the base joint when joints are visible.
show_gridbool: Draw the reference grid.
link_colorstr: Color used for links.
joint_colorstr: Color used for joints.
base_colorstr: Color used for the base joint.
frame_scalefloat or None: Length of frame axes. If None, derive it from the scene dimension.
joint_sizefloat or None: Joint size. If None, derive it from the scene dimension.
base_sizefloat or None: Base size. If None, derive it from the scene dimension.
link_linewidthfloat: Link thickness. Three.js interprets it as a relative thickness factor.
show_trajectorybool: Draw end-effector Cartesian trajectory in animations.
trajectory_colorstr: Color used for the trajectory line.
trajectory_linewidthfloat: Trajectory line thickness.
trajectory_modestr: Trajectory display mode: "full" or "trace".

base_color: str

base_size: float | None

frame_scale: float | None

joint_color: str

joint_size: float | None

link_color: str

link_linewidth: float

show_base: bool

show_frames: bool

show_grid: bool

show_joints: bool

show_links: bool

show_trajectory: bool

trajectory_color: str

trajectory_linewidth: float

trajectory_mode: str

moro.visualization.evaluate_robot(robot: Robot, num_vals: dict) → SceneData[source]

Evaluate a robot at a numerical configuration.

Parameters:

robotRobot: Serial-link robot instance.
num_valsdict: Mapping from symbolic variables to numerical values.

Returns:

SceneData: Numerical joint positions and frame transformations ready to render.