irsim.config.palette_param

Default colors of everything IR-SIM draws.

The values are Okabe-Ito based (with a second green from Paul Tol's muted scheme), so they stay distinguishable under common forms of colour-vision deficiency and keep robots, sensors and obstacles apart in grayscale print. Any color given in YAML or code overrides them. They are read when an object or a plot is created, so changing them before irsim.make() restyles every following scene:

from irsim.config import palette_param

palette_param.robot = "#0072B2"
palette_param.cycle = ["#0072B2", "#D55E00", "#009E73"]

ivar robot:

Robots with diff, omni, omni_angular or custom kinematics.

ivar robot_acker:

Car-like (acker) robots.

ivar obstacle:

Obstacles, grid maps and any object without a role color.

ivar pushable:

Pushable objects (finite mass, not static) without kinematics, which only move when collision_mode: contact pushes them, so they stand out from static obstacles.

ivar arrow:

Heading arrow drawn on top of a body.

ivar fov:

Field-of-view fill.

ivar fov_edge:

Field-of-view outline.

ivar lidar:

Lidar beams.

ivar laser_highlight:

Beams singled out with set_laser_color.

ivar fmcw_zero_velocity:

FMCW beams with no radial velocity.

ivar fmcw_positive_velocity:

FMCW beams moving away.

ivar fmcw_negative_velocity:

FMCW beams moving closer.

ivar marker:

Points drawn with env.draw_points.

ivar path:

Lines drawn with env.draw_trajectory and env.draw_box.

ivar quiver:

Arrows drawn with env.draw_quiver.

ivar cycle:

Colors handed out in turn to the objects of a group configured with color: 'cycle'; it starts with the robot color so a single robot looks the same either way.

Attributes

DEFAULT_CYCLE

Classes

PaletteParam

Default colors, one attribute per kind of drawing (see the module docstring).

Functions

bind(→ None)

Bind instance to default index 0 and update current alias.

Module Contents

irsim.config.palette_param.DEFAULT_CYCLE = ('#009E73', '#0072B2', '#E69F00', '#CC79A7', '#56B4E9', '#D55E00', '#F0E442', '#117733')

class irsim.config.palette_param.PaletteParam

Default colors, one attribute per kind of drawing (see the module docstring).

robot: str = '#009E73'

robot_acker: str = '#117733'

obstacle: str = 'k'

pushable: str = '#E69F00'

arrow: str = '#F0E442'

fov: str = '#56B4E9'

fov_edge: str = '#0072B2'

lidar: str = '#CC3311'

laser_highlight: str = '#56B4E9'

fmcw_zero_velocity: str = '#56B4E9'

fmcw_positive_velocity: str = '#CC3311'

fmcw_negative_velocity: str = '#0072B2'

marker: str = '#CC79A7'

path: str = '#0072B2'

quiver: str = 'k'

cycle: list[str] = ['#009E73', '#0072B2', '#E69F00', '#CC79A7', '#56B4E9', '#D55E00', '#F0E442', '#117733']

cycle_color(index: int) → str

Color of the index-th object of a group drawn with color: 'cycle'.

irsim.config.palette_param.bind(instance: PaletteParam) → None

Bind instance to default index 0 and update current alias.