phg-vis 1.3.1__py3-none-any.whl → 1.4.0__py3-none-any.whl

phg/pipe_string_phg.py

@@ -2,284 +2,438 @@
 Pipe String to PHG Converter
 ============================
 
-该模块提供了管道字符串转换为PHG（Python Graphics）脚本的功能。
-支持世界坐标系和局部坐标系两种管道描述方式。
-
-主要功能：
-- world_pipe_to_phg: 世界坐标系管道转换
-- local_pipe_to_phg: 局部坐标系管道转换
-- world_pipestr_vis: 世界坐标系管道直接可视化
-- local_pipestr_vis: 局部坐标系管道直接可视化
-
-管道字符串格式：
-- F: 前进 (Forward)
-- B: 后退 (Back)
-- R: 右转 (Right)
-- L: 左转 (Left)
-- U: 上转 (Up)
-- D: 下转 (Down)
+This module provides functionality to convert pipe strings into PHG (Python Graphics) scripts.
+Supports both world coordinate system and local coordinate system pipe descriptions.
+
+Main Features:
+- local_pipe_to_phg: Local coordinate system pipe conversion  
+- world_pipestr_vis: Direct visualization for world coordinate pipes (converts to local first)
+- local_pipestr_vis: Direct visualization for local coordinate pipes
+- multiple_pipes_vis: Advanced visualization for multiple pipes
+
+Pipe String Format:
+World Coordinate System:
+- N: North (World X+)
+- S: South (World X-)
+- E: East (World Z+)
+- W: West (World Z-)
+- U: Up (World Y+)
+- D: Down (World Y-)
+
+Local Coordinate System:
+- F: Forward (Local Z+)
+- B: Backward (Local Z-)
+- R: Right (Local X+)
+- L: Left (Local X-)
+- U: Up (Local Y+)
+- D: Down (Local Y-)
 """
 
 import phg
 from coordinate_system import vec3, quat, coord3
 
-# 默认颜色和管径
+# Default color and pipe radius
 DEFAULT_PIPE_COLOR = (0, 55, 255)
 DEFAULT_PIPE_RADIUS = 0.3
 
-def world_pipe_to_phg(world_pipe_str, start_c, pipe_color=DEFAULT_PIPE_COLOR, pipe_radius=DEFAULT_PIPE_RADIUS):
+def world_to_local_pipe_str(world_pipe_str, start_c):
     """
-    将世界坐标系下的管道字符串转换为PHG脚本
+    Convert world coordinate system pipe string to local coordinate system
     
-    参数:
-        world_pipe_str: 世界坐标系管道字符串（如 "FFRUD"）
-        start_c: 起始坐标系
-        pipe_color: 管道颜色，格式为(R, G, B)元组
-        pipe_radius: 管道半径
+    Parameters:
+        world_pipe_str: World coordinate pipe string (e.g., "NNEUD")
+        start_c: Starting coordinate system
     
-    返回:
-        PHG脚本字符串
+    Returns:
+        Local coordinate pipe string
     """
     
-    # 世界坐标系方向定义
-    world_directions = {
-        'F': vec3(0, 0, 1),   # 前（世界Z+）
-        'B': vec3(0, 0, -1),  # 后（世界Z-）
-        'R': vec3(1, 0, 0),   # 右（世界X+）
-        'L': vec3(-1, 0, 0),  # 左（世界X-）
-        'U': vec3(0, 1, 0),   # 上（世界Y+）
-        'D': vec3(0, -1, 0)   # 下（世界Y-）
+    if not world_pipe_str:
+        return ""
+
+    # World coordinate system direction definitions (cardinal directions)
+    directions = {
+        'E': vec3(1, 0, 0),   # East (X+)
+        'W': vec3(-1, 0, 0),  # West (X-)
+        'N': vec3(0, 0, 1),   # North (Z+)
+        'S': vec3(0, 0, -1),  # South (Z-)
+        'U': vec3(0, 1, 0),   # Up (Y+)
+        'D': vec3(0, -1, 0)   # Down (Y-)
     }
 
-    # 解析颜色
-    r, g, b = pipe_color
-    
-    # 管道部件映射（所有部件使用固定长度1.0）
-    pipe_components = {
-        'F': f'{{{{rgb:{r},{g},{b};md:cylinder {pipe_radius} 1.0;rx:90;z:-0.5;}};z:1.0}}',
-        'B': f'{{{{rgb:{r},{g},{b};md:cylinder {pipe_radius} 1.0;rx:-90;z:{-1.0-0.5};}};z:1.0}}',
-        'R': f'{{{{{{rgb:{r},{g},{b};md:elbow 90 0.5 {pipe_radius};x:0.5;z:0.5;}}ry:90;x:1.0;z:-1.0}}}},{{x:1.0;ry:-90;}}',
-        'L': f'{{{{{{rgb:{r},{g},{b};md:elbow 90 0.5 {pipe_radius};x:0.5;z:0.5;}}ry:-90;m:x;z:-1.0;x:-1.0}}}},{{x:-1.0;ry:90;}}',
-        'U': f'{{{{{{rgb:{r},{g},{b};md:elbow 90 0.5 {pipe_radius};x:0.5;z:0.5;}}rz:90;y:1.0;z:-1}}}},{{y:1.0;rx:90;}}',
-        'D': f'{{{{{{rgb:{r},{g},{b};md:elbow 90 0.5 {pipe_radius};x:0.5;z:0.5;}}rz:-90;y:-1;z:-1}}}},{{y:-1.0;rx:-90;}}'
+    # Local coordinate system direction definitions
+    local_directions = {
+        'F': vec3(0, 0, 1),   # Forward (local Z+)
+        'B': vec3(0, 0, -1),  # Backward (local Z-)
+        'R': vec3(1, 0, 0),   # Right (local X+)
+        'L': vec3(-1, 0, 0),  # Left (local X-)
+        'U': vec3(0, 1, 0),   # Up (local Y+)
+        'D': vec3(0, -1, 0)   # Down (local Y-)
     }
 
-    # 初始化当前坐标系（使用起始坐标系）
-    cur_c = coord3(start_c.o, start_c.Q())
-    
-    # 存储所有管道部件的脚本
-    script_parts = []
-    
-    # 遍历管道字符串中的每个字符
-    for move_char in world_pipe_str:
-        if move_char not in pipe_components:
-            print(f"警告: 未知的管道字符 '{move_char}'，已跳过")
+    # Initialize local coordinate system
+    cur_c = start_c.Q()
+    local_pipe_str = ""
+
+    for i, move in enumerate(world_pipe_str):
+        if move not in directions:
             continue
-        
-        # 获取当前移动在世界坐标系中的方向
-        world_dir = world_directions[move_char]
-        
-        # 将世界方向转换到当前局部坐标系
-        local_dir = vec3(
-            world_dir.dot(cur_c.ux),  # 在局部X轴的分量
-            world_dir.dot(cur_c.uy),  # 在局部Y轴的分量
-            world_dir.dot(cur_c.uz)   # 在局部Z轴的分量
-        )
-        
-        # 找到绝对值最大的分量来确定主要移动方向
+
+        # Get movement direction vector in world coordinate system
+        world_dir = directions[move]
+
+        # Transform world direction vector to current local coordinate system
+        local_dir = world_dir / cur_c
+
+        # Find the component with largest absolute value to determine primary movement direction
         abs_components = [abs(local_dir.x), abs(local_dir.y), abs(local_dir.z)]
         max_idx = abs_components.index(max(abs_components))
-        
-        # 根据最大分量确定局部移动方向
-        if max_idx == 0:  # X轴
-            local_move = 'R' if local_dir.x > 0 else 'L'
-        elif max_idx == 1:  # Y轴
+
+        # Determine movement direction based on the largest component
+        if max_idx == 0:  # X-axis
+            local_move = 'L' if local_dir.x > 0 else 'R'
+        elif max_idx == 1:  # Y-axis
             local_move = 'U' if local_dir.y > 0 else 'D'
-        else:  # Z轴
-            local_move = 'F' if local_dir.z > 0 else 'B'
-        
-        # 添加对应的管道部件脚本
-        script_parts.append(pipe_components[local_move])
-        
-        # 更新当前坐标系（模拟移动后的新位置和方向）
-        if local_move == 'F':
-            # 前进：沿局部Z轴正方向移动1.0单位
-            cur_c = cur_c * coord3(vec3(0, 0, 1.0))
-        elif local_move == 'B':
-            # 后退：沿局部Z轴负方向移动1.0单位
-            cur_c = cur_c * coord3(vec3(0, 0, -1.0))
-        elif local_move == 'R':
-            # 右转：绕Y轴旋转-90度，然后沿X轴移动1.0单位
+        else:  # Z-axis
+            local_move = 'F' if local_dir.z > 0 else 'B' # NO BACKWARD!
+
+        # Debug first 8 characters
+        if i < 8:
+            print(f"      [{i}] world:'{move}' → local_dir:({local_dir.x:.2f},{local_dir.y:.2f},{local_dir.z:.2f}) → local:'{local_move}', uz:({cur_c.uz.x:.2f},{cur_c.uz.y:.2f},{cur_c.uz.z:.2f})")
+
+        local_pipe_str += local_move
+
+        # Update local coordinate system (when turning)
+        if local_move == 'R':
             rotation = quat(-3.1416 / 2, cur_c.uy)
             cur_c = cur_c * rotation
-            cur_c = cur_c * coord3(vec3(1.0, 0, 0))
         elif local_move == 'L':
-            # 左转：绕Y轴旋转90度，然后沿X轴移动1.0单位
             rotation = quat(3.1416 / 2, cur_c.uy)
             cur_c = cur_c * rotation
-            cur_c = cur_c * coord3(vec3(-1.0, 0, 0))
         elif local_move == 'U':
-            # 上转：绕X轴旋转90度，然后沿Y轴移动1.0单位
-            rotation = quat(3.1416 / 2, cur_c.ux)
+            rotation = quat(3.1416 / 2, -cur_c.ux)
             cur_c = cur_c * rotation
-            cur_c = cur_c * coord3(vec3(0, 1.0, 0))
         elif local_move == 'D':
-            # 下转：绕X轴旋转-90度，然后沿Y轴移动1.0单位
-            rotation = quat(-3.1416 / 2, cur_c.ux)
+            rotation = quat(-3.1416 / 2, -cur_c.ux)
             cur_c = cur_c * rotation
-            cur_c = cur_c * coord3(vec3(0, -1.0, 0))
+            
+    return local_pipe_str
 
-    # 组合所有管道部件的脚本
-    inner_script = ',\n'.join(script_parts)
-    
-    # 获取起始坐标系的四元数
-    q = start_c.Q()
-    
-    # 构建完整的PHG脚本
-    complete_script = f"""{{
-    {{xyz:{start_c.o.x},{start_c.o.y},{start_c.o.z};q:{q.w},{q.x},{q.y},{q.z};s:0.5;
-    <{inner_script}>}}
-    }}"""
-    
-    return complete_script
-
-
-def local_pipe_to_phg(local_pipe_str, start_c, pipe_color=DEFAULT_PIPE_COLOR, pipe_radius=DEFAULT_PIPE_RADIUS):
+def local_pipe_to_phg(local_pipe_str, start_c, pipe_color=DEFAULT_PIPE_COLOR, pipe_radius=DEFAULT_PIPE_RADIUS):
     """
-    将局部坐标系下的管道字符串转换为PHG脚本
+    Convert local coordinate system pipe string to PHG script
 
-    参数:
-        local_pipe_str: 局部坐标系管道字符串（如 "FFRUD"）
-        start_c: 起始坐标系
-        pipe_color: 管道颜色，格式为(R, G, B)元组
-        pipe_radius: 管道半径
+    Parameters:
+        local_pipe_str: Local coordinate pipe string (e.g., "FFRUD")
+        start_c: Starting coordinate system
+        pipe_color: Pipe color as (R, G, B) tuple
+        pipe_radius: Pipe radius
 
-    返回:
-        PHG脚本字符串
+    Returns:
+        PHG script string
     """
 
-    # 解析颜色
+    # Parse color
     r, g, b = pipe_color
 
-    # 管道部件映射（所有部件使用固定长度1.0）
+    # Pipe component mapping
     pipe_components = {
         'F': f'{{{{rgb:{r},{g},{b};md:cylinder {pipe_radius} 1.0;rx:90;z:-0.5;}};z:1.0}}',
-        'B': f'{{{{rgb:{r},{g},{b};md:cylinder {pipe_radius} 1.0;rx:-90;z:{-1.0-0.5};}};z:1.0}}',
+        'B': f'{{{{rgb:{r},{g},{b};md:cylinder {pipe_radius} 1.0;rx:-90;z:-1.5;}};z:-1.0}}',
         'R': f'{{{{{{rgb:{r},{g},{b};md:elbow 90 0.5 {pipe_radius};x:0.5;z:0.5;}}ry:90;x:1.0;z:-1.0}}}},{{x:1.0;ry:-90;}}',
         'L': f'{{{{{{rgb:{r},{g},{b};md:elbow 90 0.5 {pipe_radius};x:0.5;z:0.5;}}ry:-90;m:x;z:-1.0;x:-1.0}}}},{{x:-1.0;ry:90;}}',
         'U': f'{{{{{{rgb:{r},{g},{b};md:elbow 90 0.5 {pipe_radius};x:0.5;z:0.5;}}rz:90;y:1.0;z:-1}}}},{{y:1.0;rx:90;}}',
         'D': f'{{{{{{rgb:{r},{g},{b};md:elbow 90 0.5 {pipe_radius};x:0.5;z:0.5;}}rz:-90;y:-1;z:-1}}}},{{y:-1.0;rx:-90;}}'
     }
 
-    # 存储所有管道部件的脚本
+    # Store all pipe component scripts
     script_parts = []
 
-    # 遍历管道字符串中的每个字符
+    # Iterate through each character in pipe string
     for move_char in local_pipe_str:
         if move_char not in pipe_components:
-            print(f"警告: 未知的管道字符 '{move_char}'，已跳过")
+            print(f"Warning: Unknown pipe character '{move_char}', skipped")
             continue
 
-        # 直接使用局部坐标系的移动命令
+        # Directly use local coordinate system movement commands
         script_parts.append(pipe_components[move_char])
 
-    # 组合所有管道部件的脚本
+    # Combine all pipe component scripts
     inner_script = ',\n'.join(script_parts)
 
-    # 获取起始坐标系的四元数
+    # Get quaternion of starting coordinate system
     q = start_c.Q()
 
-    # 构建完整的PHG脚本
+    # Build complete PHG script
     complete_script = f"""{{
     {{xyz:{start_c.o.x},{start_c.o.y},{start_c.o.z};q:{q.w},{q.x},{q.y},{q.z};s:0.5;
     <{inner_script}>}}
     }}"""
 
-    return complete_script
-
-
-def world_pipestr_vis(world_pipe_str, start_c=None, pipe_color=DEFAULT_PIPE_COLOR, pipe_radius=DEFAULT_PIPE_RADIUS):
+    return complete_script
+
+
+def world_pipe_to_phg(world_pipe_str, start_c, pipe_color=DEFAULT_PIPE_COLOR, pipe_radius=DEFAULT_PIPE_RADIUS):
+    """
+    Convert world coordinate pipe string to PHG script.
+
+    Parameters:
+        world_pipe_str: World coordinate pipe string (e.g., "NNEUD")
+        start_c: Starting coordinate system
+        pipe_color: Pipe color as (R, G, B) tuple
+        pipe_radius: Pipe radius
+
+    Returns:
+        PHG script string
+    """
+    local_pipe_str = world_to_local_pipe_str(world_pipe_str, start_c)
+    return local_pipe_to_phg(local_pipe_str, start_c, pipe_color, pipe_radius)
+
+def world_pipestr_vis(world_pipe_strs, start_c=None, pipe_colors=None, pipe_radius=DEFAULT_PIPE_RADIUS):
     """
-    世界坐标系管道字符串直接可视化
-
-    参数:
-        world_pipe_str: 世界坐标系管道字符串（如 "FFRUD"）
-        start_c: 起始坐标系，默认为原点
-        pipe_color: 管道颜色，格式为(R, G, B)元组
-        pipe_radius: 管道半径
-
-    返回:
-        PHG脚本字符串
+    Direct visualization for world coordinate pipe strings with support for multiple pipes
+    
+    Parameters:
+        world_pipe_strs: World coordinate pipe string or list of strings (e.g., "NNEUD" or ["NNE", "SSU"])
+        start_c: Starting coordinate system, defaults to origin
+        pipe_colors: Single color or list of colors as (R, G, B) tuples
+        pipe_radius: Pipe radius
+    
+    Returns:
+        PHG script string
     """
-    # 如果没有提供起始坐标系，使用默认原点
+    # Handle single string input
+    if isinstance(world_pipe_strs, str):
+        world_pipe_strs = [world_pipe_strs]
+    
+    # Handle single color input
+    if pipe_colors is None:
+        pipe_colors = [DEFAULT_PIPE_COLOR] * len(world_pipe_strs)
+    elif isinstance(pipe_colors, tuple):
+        pipe_colors = [pipe_colors] * len(world_pipe_strs)
+    
+    # Ensure colors list matches pipes list length
+    if len(pipe_colors) != len(world_pipe_strs):
+        pipe_colors = [DEFAULT_PIPE_COLOR] * len(world_pipe_strs)
+        print("Warning: Colors list length doesn't match pipes list, using default colors")
+    
+    # Use default origin if no starting coordinate provided
     if start_c is None:
         start_c = coord3(vec3(0, 0, 0), quat(1, 0, 0, 0))
 
-    # 生成PHG脚本
-    phg_script = world_pipe_to_phg(world_pipe_str, start_c, pipe_color, pipe_radius)
-
-    # 调用可视化函数
+    # Generate PHG scripts for all pipes
+    script_parts = []
+    for i, (pipe_str, color) in enumerate(zip(world_pipe_strs, pipe_colors)):
+        # Convert world coordinate pipe string to local coordinate system first
+        local_pipe_str = world_to_local_pipe_str(pipe_str, start_c)
+        # Generate PHG script from local pipe string
+        phg_script = local_pipe_to_phg(local_pipe_str, start_c, color, pipe_radius)
+        # Extract inner content between outer braces
+        inner_content = phg_script.strip()[1:-1].strip()
+        script_parts.append(inner_content)
+
+    # Combine all pipe scripts
+    combined_script = "{\n" + ",\n".join(script_parts) + "\n}"
+
+    # Call visualization function
     try:
-        from .visphg import vis
-        vis(phg_script)
+        phg.vis(combined_script)
+        print(f"Visualizing {len(world_pipe_strs)} world coordinate pipes (converted to local)")
     except ImportError:
-        print("警告: 无法导入可视化模块，返回PHG脚本")
+        print("Warning: Cannot import visualization module, returning PHG script")
 
-    return phg_script
+    return combined_script
 
-
-def local_pipestr_vis(local_pipe_str, start_c=None, pipe_color=DEFAULT_PIPE_COLOR, pipe_radius=DEFAULT_PIPE_RADIUS):
+def local_pipestr_vis(local_pipe_strs, start_c=None, pipe_colors=None, pipe_radius=DEFAULT_PIPE_RADIUS):
     """
-    局部坐标系管道字符串直接可视化
-
-    参数:
-        local_pipe_str: 局部坐标系管道字符串（如 "FFRUD"）
-        start_c: 起始坐标系，默认为原点
-        pipe_color: 管道颜色，格式为(R, G, B)元组
-        pipe_radius: 管道半径
-
-    返回:
-        PHG脚本字符串
+    Direct visualization for local coordinate pipe strings with support for multiple pipes
+    
+    Parameters:
+        local_pipe_strs: Local coordinate pipe string or list of strings (e.g., "FFRUD" or ["FFR", "LLU"])
+        start_c: Starting coordinate system, defaults to origin
+        pipe_colors: Single color or list of colors as (R, G, B) tuples
+        pipe_radius: Pipe radius
+    
+    Returns:
+        PHG script string
     """
-    # 如果没有提供起始坐标系，使用默认原点
+    # Handle single string input
+    if isinstance(local_pipe_strs, str):
+        local_pipe_strs = [local_pipe_strs]
+    
+    # Handle single color input
+    if pipe_colors is None:
+        pipe_colors = [DEFAULT_PIPE_COLOR] * len(local_pipe_strs)
+    elif isinstance(pipe_colors, tuple):
+        pipe_colors = [pipe_colors] * len(local_pipe_strs)
+    
+    # Ensure colors list matches pipes list length
+    if len(pipe_colors) != len(local_pipe_strs):
+        pipe_colors = [DEFAULT_PIPE_COLOR] * len(local_pipe_strs)
+        print("Warning: Colors list length doesn't match pipes list, using default colors")
+    
+    # Use default origin if no starting coordinate provided
     if start_c is None:
         start_c = coord3(vec3(0, 0, 0), quat(1, 0, 0, 0))
 
-    # 生成PHG脚本
-    phg_script = local_pipe_to_phg(local_pipe_str, start_c, pipe_color, pipe_radius)
+    # Generate PHG scripts for all pipes
+    script_parts = []
+    for i, (pipe_str, color) in enumerate(zip(local_pipe_strs, pipe_colors)):
+        phg_script = local_pipe_to_phg(pipe_str, start_c, color, pipe_radius)
+        # Extract inner content between outer braces
+        inner_content = phg_script.strip()[1:-1].strip()
+        script_parts.append(inner_content)
+
+    # Combine all pipe scripts
+    combined_script = "{\n" + ",\n".join(script_parts) + "\n}"
 
-    # 调用可视化函数
+    # Call visualization function
     try:
-        from .visphg import vis
-        vis(phg_script)
+        phg.vis(combined_script)
+        print(f"Visualizing {len(local_pipe_strs)} local coordinate pipes")
     except ImportError:
-        print("警告: 无法导入可视化模块，返回PHG脚本")
+        print("Warning: Cannot import visualization module, returning PHG script")
 
-    return phg_script
+    return combined_script
 
+def multiple_pipes_vis(pipe_configs, coordinate_system='world'):
+    """
+    Advanced visualization for multiple pipes with individual configurations
+    
+    Parameters:
+        pipe_configs: List of pipe configuration dictionaries with keys:
+            - 'pipe_str': Pipe string (required)
+            - 'start_c': Starting coordinate (optional, defaults to origin)
+            - 'color': Pipe color (optional, defaults to DEFAULT_PIPE_COLOR)
+            - 'radius': Pipe radius (optional, defaults to DEFAULT_PIPE_RADIUS)
+        coordinate_system: 'world' or 'local' coordinate system
+    
+    Returns:
+        PHG script string
+    """
+    script_parts = []
+    
+    for i, config in enumerate(pipe_configs):
+        pipe_str = config.get('pipe_str')
+        start_c = config.get('start_c', coord3(vec3(0, 0, 0), quat(1, 0, 0, 0)))
+        color = config.get('color', DEFAULT_PIPE_COLOR)
+        radius = config.get('radius', DEFAULT_PIPE_RADIUS)
+        
+        if coordinate_system.lower() == 'world':
+            # Convert world coordinate pipe string to local coordinate system first
+            local_pipe_str = world_to_local_pipe_str(pipe_str, start_c)
+            phg_script = local_pipe_to_phg(local_pipe_str, start_c, color, radius)
+        else:
+            # Use local coordinate pipe string directly
+            phg_script = local_pipe_to_phg(pipe_str, start_c, color, radius)
+        
+        # Extract inner content
+        inner_content = phg_script.strip()[1:-1].strip()
+        script_parts.append(inner_content)
+    
+    # Combine all pipe scripts
+    combined_script = "{\n" + ",\n".join(script_parts) + "\n}"
+    
+    # Call visualization
+    try:
+        phg.vis(combined_script)
+        print(f"Visualizing {len(pipe_configs)} pipes in {coordinate_system} coordinate system")
+    except ImportError:
+        print("Warning: Cannot import visualization module, returning PHG script")
+    
+    return combined_script
 
-# 使用示例
+# Usage Examples
 if __name__ == "__main__":
-    # 创建起始坐标系（示例）
+    # Create starting coordinate system (example)
     start_coord = coord3(vec3(0, 0, 0), quat(1, 0, 0, 0))
 
-    # 示例1: 世界坐标系管道字符串
-    example_world_pipe = "FFRUD"  # 前进2次，右转，上转，下转
-    print("世界坐标系管道示例:")
-    phg_script = world_pipe_to_phg(example_world_pipe, start_coord)
-    print("生成的PHG脚本:")
+    # Example 1: World coordinate pipe string visualization
+    example_world_pipe = "NNEUD"  # North twice, east, up, down
+    print("World Coordinate Pipe Example:")
+    print(f"Original world pipe: '{example_world_pipe}'")
+    
+    # Convert to local coordinate system
+    local_pipe_str = world_to_local_pipe_str(example_world_pipe, start_coord)
+    print(f"Converted to local: '{local_pipe_str}'")
+    
+    # Generate PHG script
+    phg_script = local_pipe_to_phg(local_pipe_str, start_coord)
+    print("Generated PHG Script:")
     print(phg_script)
     print()
 
-    # 示例2: 局部坐标系管道字符串
-    example_local_pipe = "FFRUD"  # 在局部坐标系中的移动
-    print("局部坐标系管道示例:")
+    # Example 2: Single local coordinate pipe string
+    example_local_pipe = "FFRUD"  # Movements in local coordinate system
+    print("Local Coordinate Pipe Example:")
     phg_script = local_pipe_to_phg(example_local_pipe, start_coord)
-    print("生成的PHG脚本:")
+    print("Generated PHG Script:")
     print(phg_script)
     print()
 
-    # 示例3: 直接可视化
-    print("直接可视化示例:")
-    # world_pipestr_vis(example_world_pipe)  # 世界坐标系可视化
-    # local_pipestr_vis(example_local_pipe)  # 局部坐标系可视化
+    # Example 3: Multiple pipes visualization
+    print("Multiple Pipes Visualization Example:")
+    
+    # Multiple world coordinate pipes with different colors
+    world_pipes = ["NNE", "SSU", "EEW"]
+    world_colors = [(255, 0, 0), (0, 255, 0), (0, 0, 255)]  # Red, Green, Blue
+    world_pipestr_vis(world_pipes, start_coord, world_colors)
+    print()
+
+    # Multiple local coordinate pipes
+    local_pipes = ["FFR", "BBL", "UUD"]
+    local_colors = [(255, 255, 0), (255, 0, 255), (0, 255, 255)]  # Yellow, Magenta, Cyan
+    local_pipestr_vis(local_pipes, start_coord, local_colors)
+    print()
+
+    # Example 4: Advanced multiple pipes configuration
+    print("Advanced Multiple Pipes Configuration:")
+    pipe_configs = [
+        {
+            'pipe_str': 'NNE',
+            'start_c': coord3(vec3(0, 0, 0), quat(1, 0, 0, 0)),
+            'color': (255, 100, 100),
+            'radius': 0.4
+        },
+        {
+            'pipe_str': 'SSU', 
+            'start_c': coord3(vec3(5, 0, 0), quat(1, 0, 0, 0)),
+            'color': (100, 255, 100),
+            'radius': 0.3
+        },
+        {
+            'pipe_str': 'FFR',  # Local coordinate pipe
+            'start_c': coord3(vec3(0, 5, 0), quat(1, 0, 0, 0)),
+            'color': (100, 100, 255),
+            'radius': 0.2
+        }
+    ]
+    
+    # Visualize with mixed coordinate systems
+    multiple_pipes_vis(pipe_configs, 'world')  # First two are world, third is local but will be treated as world
+    print()
+
+    # Example 5: Explicit coordinate system specification
+    print("Explicit Coordinate System Example:")
+    world_configs = [
+        {
+            'pipe_str': 'NNE',
+            'start_c': coord3(vec3(0, 0, 0), quat(1, 0, 0, 0)),
+            'color': (255, 0, 0),
+            'radius': 0.3
+        }
+    ]
+    
+    local_configs = [
+        {
+            'pipe_str': 'FFR',
+            'start_c': coord3(vec3(3, 0, 0), quat(1, 0, 0, 0)),
+            'color': (0, 255, 0),
+            'radius': 0.3
+        }
+    ]
+    
+    # Visualize world coordinate pipe
+    world_result = multiple_pipes_vis(world_configs, 'world')
+    # Visualize local coordinate pipe
+    local_result = multiple_pipes_vis(local_configs, 'local')