pydrake.systems.pyplot_visualizer

class pydrake.systems.pyplot_visualizer.PyPlotVisualizer(draw_period=None, facecolor=[1, 1, 1], figsize=None, ax=None, show=None)

Bases: pydrake.systems.framework.LeafSystem

Base class from planar visualization that relies on pyplot.

In the configuration set up here, this visualizer provides one visualization window (self.fig) with axes (self.ax). The axes can optionally be supplied externally to allow other visualizers to overlay additional information.

Subclasses must: - During initialization, set up the figure bounds and register input port with the appropriate message type. - Override the draw method to parse the input and draw the robot in the appropriate state.

__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self: pydrake.systems.framework.LeafSystem) -> None

Default constructor that declares no inputs, outputs, state, parameters, events, nor scalar-type conversion support (AutoDiff, etc.). To enable AutoDiff support, use the SystemScalarConverter-based constructor.

  1. __init__(self: pydrake.systems.framework.LeafSystem, converter: pydrake.systems.framework.SystemScalarConverter) -> None

Constructor that declares no inputs, outputs, state, parameters, or events, but allows subclasses to declare scalar-type conversion support (AutoDiff, etc.).

The scalar-type conversion support will use converter. To enable scalar-type conversion support, pass a SystemTypeTag<S>{} where S must be the exact class of this being constructed.

See system_scalar_conversion for detailed background and examples related to scalar-type conversion support.

animate(log, resample=True, **kwargs)
Parameters:

  • log – A reference to a pydrake.systems.primitives.VectorLog, or a pydrake.trajectories.Trajectory that contains the plant state after running a simulation.

  • resample – Whether we should do a resampling operation to make the samples more consistent in time. This can be disabled if you know the draw_period passed into the constructor exactly matches the sample time step of the log.

  • FuncAnimation. (Additional kwargs are passed through to) –

draw(context)

Draws a single frame. context can either be a Context object, or a raw vector (for ease of interpolation).

get_recording_as_animation(**kwargs)
reset_recording()
start_recording()
stop_recording()