[petercorke]

view="xy", "xz" or "yz" starts a PyPlot plot in an axis-aligned, orthographic view of a plane, the first axis to the right and the second up. For plot() and for teach().

robot.plot(q, view="xz")      # a side view
robot.teach(q, view="xy")     # a plan view, with the sliders

• PyPlot.launch(view=), robot.plot(view=) and robot.teach(view=). It sets the starting view with view_init; nothing locks it, so the plot can be dragged to any other view, and a trajectory does not reset it. None (default) is the usual three-dimensional view. Names are case-insensitive.
• With plot(env=...) (feat(plot): plot(env=) adds a robot to an earlier scene in a pose of its own, plot(ax=) draws on given axes, and color= sets the color #873) it sets the view of the scene that is added to.
• A bad name raises ValueError listing the choices, before a figure is made. A backend that cannot set a view (PyPlot2, Swift) raises ValueError saying so.
• Helpers plane_view(name) and set_plane_view(ax, name) in tools/plot.py. roll is not passed (all the views use zero, the default), since roll needs Matplotlib 3.6 and the minimum version is not pinned.
• Tests (tests/test_plot_view.py, 43): the angles; that each view really has the first axis to the right and the second up, with the third end-on, by projecting the world axes; launch, plot, teach, ax= and env=; the default unchanged; the view surviving a trajectory and a user rotation; and the errors, including that no figure is left behind.

Not done: the axis that is end-on keeps its tick labels, which overlap in the corner of a flat view (cosmetic, Matplotlib's behaviour). Hiding them would be a follow-up.

Changes public behaviour: new argument only; nothing changes without it.

Ran: the full test suite (all pass except the 20 known test_servo_half_turn failures from a stale compiled extension in my worktree) and mypy (clean, 165 files); rendered the three views of a Puma 560 and checked them by eye. Not run: the docs build, and teach on a real display (the tests use Agg).

Written with Claude Code.

🤖 Generated with Claude Code

[codacy-production]

Not up to standards ⛔

🔴 Issues 21 high

Alerts:
⚠ 21 issues (≤ 0 issues of at least minor severity)

Results:
21 new issues

Category	Results
Security	21 high

View in Codacy

🟢 Metrics 51 complexity · 2 duplication

Metric	Results
Complexity	51
Duplication	2

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[codecov]

Codecov Report

❌ Patch coverage is 0% with 30 lines in your changes missing coverage. Please review.
✅ Project coverage is 0.00%. Comparing base (ee872d7) to head (0f82940).
⚠️ Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
src/roboticstoolbox/robot/BaseRobot.py	0.00%	18 Missing ⚠️
src/roboticstoolbox/tools/plot.py	0.00%	8 Missing ⚠️
src/roboticstoolbox/backends/PyPlot/PyPlot.py	0.00%	4 Missing ⚠️

Additional details and impacted files

@@          Coverage Diff          @@
##            main    #879   +/-   ##
=====================================
  Coverage   0.00%   0.00%           
=====================================
  Files        146     146           
  Lines      17068   17096   +28     
=====================================
- Misses     17068   17096   +28     

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