rational-linkages 2.2.0__cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl → 2.2.3__cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl

rational_linkages/MotionDesigner.py

@@ -40,14 +40,16 @@ class MotionDesigner:
 
     :examples:
 
-    .. testcode:: [motiondesigner_example1]
+    Run motion designer without initial points or poses:
+
+    .. testcode:: [motiondesigner_ex1]
 
         from rational_linkages import MotionDesigner
 
         d = MotionDesigner(method='quadratic_from_poses')
         d.show()
 
-    .. testoutput:: [motiondesigner_example1]
+    .. testoutput:: [motiondesigner_ex1]
         :hide:
 
         Closing the window... generated points for interpolation:
@@ -55,11 +57,15 @@ class MotionDesigner:
         [ 1.          , -0.207522406 , -0.0333866662, -0.0691741237, -0.0625113682, -0.141265791 , -0.4478576802, -0.2637268902]
         [ 1.          ,  0.2333739522, -0.0427838517,  0.0777914503, -0.0839342318,  0.2991396249,  0.2980046603,  0.345444421 ]
 
-    .. testcleanup:: [motiondesigner_example1]
+    .. testcleanup:: [motiondesigner_ex1]
 
         del d, MotionDesigner
 
-    .. testcode:: [motiondesigner_example2]
+    Run motion designer with initial points:
+
+    .. code-block:: python
+
+        # NOT TESTED
 
         from rational_linkages import MotionDesigner, PointHomogeneous
 
@@ -76,19 +82,6 @@ class MotionDesigner:
         d = MotionDesigner(method='quadratic_from_points', initial_points_or_poses=chosen_points)
         d.show()
 
-    .. testoutput:: [motiondesigner_example2]
-        :hide:
-
-        Closing the window... generated points for interpolation:
-        [ 1.  , -0.2 ,  0.  ,  1.76]
-        [1., 1., 1., 2.]
-        [ 1.,  3., -3.,  1.]
-        [ 1.,  2., -4.,  1.]
-        [ 1., -2., -2.,  2.]
-
-    .. testcleanup:: [motiondesigner_example2]
-
-        del d, MotionDesigner, PointHomogeneous, chosen_points
 
     """
     def __init__(self,
@@ -137,544 +130,548 @@ class MotionDesigner:
         except SystemExit:
             pass
 
-class MotionDesignerWidget(QtWidgets.QWidget):
-    """
-    Interactive plotting widget for designing motion curves with interpolated points.
-
-    A widget that displays a 3D view of a motion curve and control points,
-    plus a side panel with controls for selecting and modifying one of the
-    control points (p0 to p6). Moving the sliders adjusts the x, y, and z
-    coordinates of the selected control point, which then updates the curve.
-    """
-    def __init__(self,
-                 method: str = 'cubic_from_points',
-                 initial_pts: Union[list[PointHomogeneous], list[DualQuaternion]] = None,
-                 parent = None,
-                 steps: int = 1000,
-                 interval: tuple = (0, 1),
-                 arrows_length: float = 1.0,
-                 white_background: bool = False):
+if QtWidgets is not None:
+    class MotionDesignerWidget(QtWidgets.QWidget):
         """
-        Initialize the motion designer widget.
+        Interactive plotting widget for designing motion curves with interpolated points.
+
+        A widget that displays a 3D view of a motion curve and control points,
+        plus a side panel with controls for selecting and modifying one of the
+        control points (p0 to p6). Moving the sliders adjusts the x, y, and z
+        coordinates of the selected control point, which then updates the curve.
         """
-        super().__init__(parent)
-        self.setMinimumSize(900, 600)
-
-        self.white_background = white_background
-        self.points = self._initialize_points(method, initial_pts)
-        self.method = method
-        self.arrows_length = arrows_length
-        self.mi = MotionInterpolation()
-
-        # an instance of Pyqtgraph-based plotter
-        self.plotter = PlotterPyqtgraph(steps=steps,
-                                        interval=interval,
-                                        arrows_length=self.arrows_length,
-                                        white_background=self.white_background)
-
-        self.mechanism_plotter = []
-
-        if self.white_background:
-            self.render_mode = 'opaque'
-        else:
-            self.render_mode = 'additive'
-
-        self.previous_rpy_sliders_values = []
-
-        # array of control point coordinates (in 3D)
-        if method == 'quadratic_from_points' or method == 'cubic_from_points':
-            self.plotted_points = np.array([pt.normalized_in_3d()
-                                            for pt in self.points])
-
-            # interpolated points markers
-            self.markers = gl.GLScatterPlotItem(pos=self.plotted_points,
-                                                color=(1, 0, 1, 1),
-                                                glOptions=self.render_mode,
-                                                size=10)
-            self.plotter.widget.addItem(self.markers)
-
-            for i, pt in enumerate(self.plotted_points):
-                self.plotter.widget.add_label(pt, f"p{i}")
-
-        elif method == 'quadratic_from_poses' or method == 'cubic_from_poses':
-            poses_arrays = [TransfMatrix(pt.dq2matrix()) for pt in self.points]
-            self.plotted_poses = [FramePlotHelper(transform=tr,
-                                                  width=10,
-                                                  length=2 * self.arrows_length)
-                                  for tr in poses_arrays]
-            for i, pose in enumerate(self.plotted_poses):
-                pose.addToView(self.plotter.widget)
-                self.plotter.widget.add_label(pose, f"p{i}")
-                self.previous_rpy_sliders_values.append(pose.tr.rpy() * 100)
-
-        self.curve_path_vis = None  # path of motion curve
-        self.curve_frames_vis = None  # poses of motion curve
-        self.lambda_val = 0.0
-        self.motion_family_idx = 0
-        self.update_curve_vis()  # initial curve update
-
-        ###################################
-        # --- build the Control Panel --- #
-        def create_separator():
+        def __init__(self,
+                     method: str = 'cubic_from_points',
+                     initial_pts: Union[list[PointHomogeneous], list[DualQuaternion]] = None,
+                     parent = None,
+                     steps: int = 1000,
+                     interval: tuple = (0, 1),
+                     arrows_length: float = 1.0,
+                     white_background: bool = False):
             """
-            Create a horizontal line separator (QFrame).
+            Initialize the motion designer widget.
             """
-            separator = QtWidgets.QFrame()
-            separator.setFrameShape(QtWidgets.QFrame.Shape.HLine)
-            separator.setFrameShadow(QtWidgets.QFrame.Shadow.Sunken)
-            return separator
-
-        # combo box to select one of the points
-        self.point_combo = QtWidgets.QComboBox()
-        for i in range(1, len(self.points)):
-            self.point_combo.addItem(f"Point {i}")
-        self.point_combo.currentIndexChanged.connect(self.on_point_selection_changed)
-
-        # sliders for adjusting x, y, and z
-        self.slider_x = QtWidgets.QSlider(QtCore.Qt.Orientation.Horizontal)
-        self.textbox_x = QtWidgets.QLineEdit()
-        self.textbox_x.editingFinished.connect(
-            lambda: self.on_textbox_changed(self.textbox_x.text(), self.slider_x)
-        )
-        self.slider_y = QtWidgets.QSlider(QtCore.Qt.Orientation.Horizontal)
-        self.textbox_y = QtWidgets.QLineEdit()
-        self.textbox_y.editingFinished.connect(
-            lambda: self.on_textbox_changed(self.textbox_y.text(), self.slider_y)
-        )
-        self.slider_z = QtWidgets.QSlider(QtCore.Qt.Orientation.Horizontal)
-        self.textbox_z = QtWidgets.QLineEdit()
-        self.textbox_z.editingFinished.connect(
-            lambda: self.on_textbox_changed(self.textbox_z.text(), self.slider_z)
-        )
-        # slider range
-        for slider, textbox in [(self.slider_x, self.textbox_x),
-                                (self.slider_y, self.textbox_y),
-                                (self.slider_z, self.textbox_z)]:
-            slider.setMinimum(-1000)
-            slider.setMaximum(1000)
-            slider.setSingleStep(1)
-            slider.valueChanged.connect(self.on_slider_value_changed)
-
-        if method == 'quadratic_from_poses' or method == 'cubic_from_poses':
-            # sliders for adjusting roll, pitch, and yaw with textboxes
-            self.slider_roll = QtWidgets.QSlider(QtCore.Qt.Orientation.Horizontal)
-            self.textbox_roll = QtWidgets.QLineEdit()
-            self.textbox_roll.editingFinished.connect(
-                lambda: self.on_textbox_changed(self.textbox_roll.text(), self.slider_roll)
-            )
-            self.slider_pitch = QtWidgets.QSlider(QtCore.Qt.Orientation.Horizontal)
-            self.textbox_pitch = QtWidgets.QLineEdit()
-            self.textbox_pitch.editingFinished.connect(
-                lambda: self.on_textbox_changed(self.textbox_pitch.text(), self.slider_pitch)
-            )
-            self.slider_yaw = QtWidgets.QSlider(QtCore.Qt.Orientation.Horizontal)
-            self.textbox_yaw = QtWidgets.QLineEdit()
-            self.textbox_yaw.editingFinished.connect(
-                lambda: self.on_textbox_changed(self.textbox_yaw.text(), self.slider_yaw)
-            )
+            super().__init__(parent)
+            self.setMinimumSize(900, 600)
 
-            self.slider_roll_prev = 0
-            self.slider_pitch_prev = 0
-            self.slider_yaw_prev = 0
+            self.white_background = white_background
+            self.points = self._initialize_points(method, initial_pts)
+            self.method = method
+            self.arrows_length = arrows_length
+            self.mi = MotionInterpolation()
 
-            # slider range
-            for slider, textbox in [(self.slider_roll, self.textbox_roll),
-                                    (self.slider_pitch, self.textbox_pitch),
-                                    (self.slider_yaw, self.textbox_yaw)]:
-                slider.setMinimum(int(-np.pi * 100))
-                slider.setMaximum(int(np.pi * 100))
-                slider.setSingleStep(1)
-                slider.valueChanged.connect(self.on_slider_value_changed)
+            # an instance of Pyqtgraph-based plotter
+            self.plotter = PlotterPyqtgraph(steps=steps,
+                                            interval=interval,
+                                            arrows_length=self.arrows_length,
+                                            white_background=self.white_background)
 
-        # slider for lambda of cubic curve with textbox
-        if method == 'cubic_from_poses':
-            self.slider_lambda = QtWidgets.QSlider(QtCore.Qt.Orientation.Horizontal)
-            self.textbox_lambda = QtWidgets.QLineEdit()
+            self.mechanism_plotter = []
 
-            self.slider_lambda.setMinimum(int(-500))
-            self.slider_lambda.setMaximum(int(500))
-            self.slider_lambda.setSingleStep(1)
+            if self.white_background:
+                self.render_mode = 'opaque'
+            else:
+                self.render_mode = 'additive'
 
-            self.slider_lambda.valueChanged.connect(self.on_lambda_slider_value_changed)
-            self.textbox_lambda.editingFinished.connect(
-                lambda: self.on_lambda_textbox_changed(self.textbox_lambda.text(),
-                                                       self.slider_lambda))
+            self.previous_rpy_sliders_values = []
 
-            # add button for swapping family
-            self.swap_family_check_box = QtWidgets.QCheckBox(text="Swap family")
+            # array of control point coordinates (in 3D)
+            if method == 'quadratic_from_points' or method == 'cubic_from_points':
+                self.plotted_points = np.array([pt.normalized_in_3d()
+                                                for pt in self.points])
+
+                # interpolated points markers
+                self.markers = gl.GLScatterPlotItem(pos=self.plotted_points,
+                                                    color=(1, 0, 1, 1),
+                                                    glOptions=self.render_mode,
+                                                    size=10)
+                self.plotter.widget.addItem(self.markers)
+
+                for i, pt in enumerate(self.plotted_points):
+                    self.plotter.widget.add_label(pt, f"p{i}")
+
+            elif method == 'quadratic_from_poses' or method == 'cubic_from_poses':
+                poses_arrays = [TransfMatrix(pt.dq2matrix()) for pt in self.points]
+                self.plotted_poses = [FramePlotHelper(transform=tr,
+                                                      width=10,
+                                                      length=2 * self.arrows_length)
+                                      for tr in poses_arrays]
+                for i, pose in enumerate(self.plotted_poses):
+                    pose.addToView(self.plotter.widget)
+                    self.plotter.widget.add_label(pose, f"p{i}")
+                    self.previous_rpy_sliders_values.append(pose.tr.rpy() * 100)
+
+            self.curve_path_vis = None  # path of motion curve
+            self.curve_frames_vis = None  # poses of motion curve
+            self.lambda_val = 0.0
             self.motion_family_idx = 0
-            self.swap_family_check_box.stateChanged.connect(self.on_swap_family_check_box_changed)
-        else:
-            self.slider_lambda = None
-            self.swap_family_check_box = None
-            self.textbox_lambda = None
-
-        # add button for mechanism synthesis
-        self.synthesize_button = QtWidgets.QPushButton("Mechanism")
-        self.synthesize_button.clicked.connect(self.on_synthesize_button_clicked)
-
-        # initially for the first point
-        self.set_sliders_for_point(0)
-
-        # --- layout the 3D view and control panel ---
-        main_layout = QtWidgets.QHBoxLayout(self)
-        # add plotter (stored in self.plotter.widget)
-        main_layout.addWidget(self.plotter.widget, stretch=1)
-
-        # Build a vertical control panel.
-        control_panel = QtWidgets.QWidget()
-        cp_layout = QtWidgets.QVBoxLayout(control_panel)
-
-        cp_layout.addWidget(QtWidgets.QLabel("Select control point:"))
-        cp_layout.addWidget(self.point_combo)
-        cp_layout.addSpacing(10)
-
-        cp_layout.addWidget(QtWidgets.QLabel("Adjust X:"))
-        cp_layout.addWidget(self.slider_x)
-        cp_layout.addWidget(self.textbox_x)
-        cp_layout.addWidget(QtWidgets.QLabel("Adjust Y:"))
-        cp_layout.addWidget(self.slider_y)
-        cp_layout.addWidget(self.textbox_y)
-        cp_layout.addWidget(QtWidgets.QLabel("Adjust Z:"))
-        cp_layout.addWidget(self.slider_z)
-        cp_layout.addWidget(self.textbox_z)
-        if method == 'quadratic_from_poses' or method == 'cubic_from_poses':
-            cp_layout.addSpacing(10)  # Add 10 pixels of space before the separator
-            cp_layout.addWidget(create_separator())
-            cp_layout.addWidget(QtWidgets.QLabel("Rotate X:"))
-            cp_layout.addWidget(self.slider_roll)
-            cp_layout.addWidget(self.textbox_roll)
-            cp_layout.addWidget(QtWidgets.QLabel("Rotate Y:"))
-            cp_layout.addWidget(self.slider_pitch)
-            cp_layout.addWidget(self.textbox_pitch)
-            cp_layout.addWidget(QtWidgets.QLabel("Rotate Z:"))
-            cp_layout.addWidget(self.slider_yaw)
-            cp_layout.addWidget(self.textbox_yaw)
-        if method == 'cubic_from_poses':
-            cp_layout.addSpacing(10)  # Add 10 pixels of space before the separator
-            cp_layout.addWidget(create_separator())
-            cp_layout.addSpacing(10)
-            cp_layout.addWidget(self.swap_family_check_box)
-            cp_layout.addWidget(QtWidgets.QLabel("Lambda:"))
-            cp_layout.addWidget(self.slider_lambda)
-            cp_layout.addWidget(self.textbox_lambda)
-
-        cp_layout.addSpacing(20)
-        cp_layout.addWidget(self.synthesize_button)
-
-        cp_layout.addStretch(1)
-
-        main_layout.addWidget(control_panel)
-        self.setLayout(main_layout)
-        self.setWindowTitle("Motion Designer")
-
-    def _initialize_points(self, method, initial_pts):
-        predefined_points = {
-            'cubic_from_points': [
-                PointHomogeneous(),
-                PointHomogeneous([1, 1, 1, 0.3]),
-                PointHomogeneous([1, 3, -3, 0.5]),
-                PointHomogeneous([1, 0.5, -7, 1]),
-                PointHomogeneous([1, -3.2, -7, 4]),
-                PointHomogeneous([1, -7, -3, 2]),
-                PointHomogeneous([1, -8, 3, 0.5])
-            ],
-            'cubic_from_poses': [
-                DualQuaternion(),
-                DualQuaternion([0, 0, 0, 1, 1, 0, 1, 0]),
-                DualQuaternion([1, 2, 0, 0, -2, 1, 0, 0]),
-                DualQuaternion([3, 0, 1, 0, 1, 0, -3, 0])
-            ],
-            'quadratic_from_points': [
-                PointHomogeneous(),
-                PointHomogeneous([1, 1, 1, 2]),
-                PointHomogeneous([1, 3, -3, 1]),
-                PointHomogeneous([1, 2, -4, 1]),
-                PointHomogeneous([1, -2, -2, 2])
-            ],
-            'quadratic_from_poses': [
-                DualQuaternion(),
-                DualQuaternion(
-                    TransfMatrix.from_vectors(
-                        approach_z=[-0.0362862, 0.400074, 0.915764],
-                        normal_x=[0.988751, -0.118680, 0.0910266],
-                        origin=[0.33635718, 0.9436004, 0.3428654]).matrix2dq()),
-                DualQuaternion(
-                    TransfMatrix.from_vectors(
-                        approach_z=[-0.0463679, -0.445622, 0.894020],
-                        normal_x=[0.985161, 0.127655, 0.114724],
-                        origin=[-0.52857769, -0.4463076, -0.81766]).matrix2dq()),
-            ]
-        }
-
-        required_points = {
-            'cubic_from_points': 7,
-            'cubic_from_poses': 4,
-            'quadratic_from_points': 5,
-            'quadratic_from_poses': 3
-        }
-
-        if method not in predefined_points:
-            raise ValueError(f"Unknown method: {method}")
-
-        if initial_pts is None:
-            return predefined_points[method]
-
-        if len(initial_pts) != required_points[method]:
-            raise ValueError(
-                f"For a {method.replace('_', ' ')}, {required_points[method]} points are needed.")
-
-        return initial_pts
-
-    def set_sliders_for_point(self, index):
-        """
-        Set the slider positions to reflect the current coordinates of the
-        control point with the given index.
-        (Here we assume that coordinates are in the range roughly –10..10.)
-        """
-        index = index + 1  # skip the first point/pose
-        sliders = [self.slider_x, self.slider_y, self.slider_z]
-        text_boxes = [self.textbox_x, self.textbox_y, self.textbox_z]
-        if self.method == 'quadratic_from_points' or self.method == 'cubic_from_points':
-            pt = self.plotted_points[index]
-            values = [int(pt[i] * 100) for i in range(3)]
-        else:
-            sliders.extend([self.slider_roll, self.slider_pitch, self.slider_yaw])
-            text_boxes.extend([self.textbox_roll, self.textbox_pitch, self.textbox_yaw])
-            pt = self.plotted_poses[index]
-            rpy = self.previous_rpy_sliders_values[index]
-            values = [
-                int(pt.tr.t[0] * 100),
-                int(pt.tr.t[1] * 100),
-                int(pt.tr.t[2] * 100),
-                int(rpy[0]),  # Roll
-                int(rpy[1]),  # Pitch
-                int(rpy[2])  # Yaw
-            ]
-            (self.slider_roll_prev, self.slider_pitch_prev,
-             self.slider_yaw_prev) = values[3:]
-        #
-        for slider, text_box, value in zip(sliders, text_boxes, values):
-            slider.blockSignals(True)
-            slider.setValue(value)
-            text_box.setText(str(value / 100.0))
-            slider.blockSignals(False)
-
-    def on_synthesize_button_clicked(self):
-        """
-        Called when the "Synthesize mechanism" button is clicked. This method
-        should be implemented to synthesize a mechanism based on the current
-        control points.
-        """
-        if (self.method == 'quadratic_from_points'
-                or self.method == 'cubic_from_points'
-                or self.method == 'quadratic_from_poses'):
-            c = MotionInterpolation.interpolate(self.points)
-        else:
-            p = MotionInterpolation.interpolate_cubic_numerically(
-                self.points,
-                lambda_val=self.lambda_val,
-                k_idx=self.motion_family_idx)
-            c = RationalCurve.from_coeffs(p)
-        self.mechanism_plotter.append(
-            InteractivePlotterWidget(mechanism=RationalMechanism(c.factorize()),
-                                     arrows_length=self.arrows_length,
-                                     parent_app=self.plotter.app))
-        self.mechanism_plotter[-1].show()
-
-
-    def on_point_selection_changed(self, index):
-        """
-        When a different point is selected in the combo box, update the slider
-        positions to match that point’s coordinates.
-        """
-        self.set_sliders_for_point(index)
+            self.update_curve_vis()  # initial curve update
+
+            ###################################
+            # --- build the Control Panel --- #
+            def create_separator():
+                """
+                Create a horizontal line separator (QFrame).
+                """
+                separator = QtWidgets.QFrame()
+                separator.setFrameShape(QtWidgets.QFrame.Shape.HLine)
+                separator.setFrameShadow(QtWidgets.QFrame.Shadow.Sunken)
+                return separator
+
+            # combo box to select one of the points
+            self.point_combo = QtWidgets.QComboBox()
+            for i in range(1, len(self.points)):
+                self.point_combo.addItem(f"Point {i}")
+            self.point_combo.currentIndexChanged.connect(self.on_point_selection_changed)
+
+            # sliders for adjusting x, y, and z
+            self.slider_x = QtWidgets.QSlider(QtCore.Qt.Orientation.Horizontal)
+            self.textbox_x = QtWidgets.QLineEdit()
+            self.textbox_x.editingFinished.connect(
+                lambda: self.on_textbox_changed(self.textbox_x.text(), self.slider_x)
+            )
+            self.slider_y = QtWidgets.QSlider(QtCore.Qt.Orientation.Horizontal)
+            self.textbox_y = QtWidgets.QLineEdit()
+            self.textbox_y.editingFinished.connect(
+                lambda: self.on_textbox_changed(self.textbox_y.text(), self.slider_y)
+            )
+            self.slider_z = QtWidgets.QSlider(QtCore.Qt.Orientation.Horizontal)
+            self.textbox_z = QtWidgets.QLineEdit()
+            self.textbox_z.editingFinished.connect(
+                lambda: self.on_textbox_changed(self.textbox_z.text(), self.slider_z)
+            )
+            # slider range
+            for slider, textbox in [(self.slider_x, self.textbox_x),
+                                    (self.slider_y, self.textbox_y),
+                                    (self.slider_z, self.textbox_z)]:
+                slider.setMinimum(-1000)
+                slider.setMaximum(1000)
+                slider.setSingleStep(1)
+                slider.valueChanged.connect(self.on_slider_value_changed)
 
-    def on_slider_value_changed(self, value):
-        """
-        Called when any of the sliders change their value. Update the currently
-        selected control point’s x, y, or z coordinate based on the slider values,
-        update the control point markers, and then recalculate the motion curve.
-        """
-        index = self.point_combo.currentIndex() + 1
-        # Convert slider values (integers) to floating‑point coordinates.
-        new_x = self.slider_x.value() / 100.0
-        new_y = self.slider_y.value() / 100.0
-        new_z = self.slider_z.value() / 100.0
-
-        self.textbox_x.setText(str(new_x))
-        self.textbox_y.setText(str(new_y))
-        self.textbox_z.setText(str(new_z))
-
-        if self.method == 'quadratic_from_poses' or self.method == 'cubic_from_poses':
-            if self.slider_roll.value() != self.slider_roll_prev:
-                new_roll = (self.slider_roll.value() - self.slider_roll_prev) / 100.0
-                new_mat = TransfMatrix.from_rotation('x', new_roll)
-                new_tr = self.plotted_poses[index].tr * new_mat
-                self.slider_roll_prev = self.slider_roll.value()
-                self.textbox_roll.setText(str(self.slider_roll.value() / 100.0))
-
-            elif self.slider_pitch.value() != self.slider_pitch_prev:
-                new_pitch = (self.slider_pitch.value() - self.slider_pitch_prev) / 100.0
-                new_mat = TransfMatrix.from_rotation('y', new_pitch)
-                new_tr = self.plotted_poses[index].tr * new_mat
-                self.slider_pitch_prev = self.slider_pitch.value()
-                self.textbox_pitch.setText(str(self.slider_pitch.value() / 100.0))
-
-            elif self.slider_yaw.value() != self.slider_yaw_prev:
-                new_yaw = (self.slider_yaw.value() - self.slider_yaw_prev) / 100.0
-                new_mat = TransfMatrix.from_rotation('z', new_yaw)
-                new_tr = self.plotted_poses[index].tr * new_mat
-                self.slider_yaw_prev = self.slider_yaw.value()
-                self.textbox_yaw.setText(str(self.slider_yaw.value() / 100.0))
+            if method == 'quadratic_from_poses' or method == 'cubic_from_poses':
+                # sliders for adjusting roll, pitch, and yaw with textboxes
+                self.slider_roll = QtWidgets.QSlider(QtCore.Qt.Orientation.Horizontal)
+                self.textbox_roll = QtWidgets.QLineEdit()
+                self.textbox_roll.editingFinished.connect(
+                    lambda: self.on_textbox_changed(self.textbox_roll.text(), self.slider_roll)
+                )
+                self.slider_pitch = QtWidgets.QSlider(QtCore.Qt.Orientation.Horizontal)
+                self.textbox_pitch = QtWidgets.QLineEdit()
+                self.textbox_pitch.editingFinished.connect(
+                    lambda: self.on_textbox_changed(self.textbox_pitch.text(), self.slider_pitch)
+                )
+                self.slider_yaw = QtWidgets.QSlider(QtCore.Qt.Orientation.Horizontal)
+                self.textbox_yaw = QtWidgets.QLineEdit()
+                self.textbox_yaw.editingFinished.connect(
+                    lambda: self.on_textbox_changed(self.textbox_yaw.text(), self.slider_yaw)
+                )
+
+                self.slider_roll_prev = 0
+                self.slider_pitch_prev = 0
+                self.slider_yaw_prev = 0
+
+                # slider range
+                for slider, textbox in [(self.slider_roll, self.textbox_roll),
+                                        (self.slider_pitch, self.textbox_pitch),
+                                        (self.slider_yaw, self.textbox_yaw)]:
+                    slider.setMinimum(int(-np.pi * 100))
+                    slider.setMaximum(int(np.pi * 100))
+                    slider.setSingleStep(1)
+                    slider.valueChanged.connect(self.on_slider_value_changed)
+
+            # slider for lambda of cubic curve with textbox
+            if method == 'cubic_from_poses':
+                self.slider_lambda = QtWidgets.QSlider(QtCore.Qt.Orientation.Horizontal)
+                self.textbox_lambda = QtWidgets.QLineEdit()
+
+                self.slider_lambda.setMinimum(int(-500))
+                self.slider_lambda.setMaximum(int(500))
+                self.slider_lambda.setSingleStep(1)
+
+                self.slider_lambda.valueChanged.connect(self.on_lambda_slider_value_changed)
+                self.textbox_lambda.editingFinished.connect(
+                    lambda: self.on_lambda_textbox_changed(self.textbox_lambda.text(),
+                                                           self.slider_lambda))
+
+                # add button for swapping family
+                self.swap_family_check_box = QtWidgets.QCheckBox(text="Swap family")
+                self.motion_family_idx = 0
+                self.swap_family_check_box.stateChanged.connect(self.on_swap_family_check_box_changed)
             else:
-                new_tr = TransfMatrix.from_rpy_xyz(self.plotted_poses[index].tr.rpy(),
-                                                   [new_x, new_y, new_z])
+                self.slider_lambda = None
+                self.swap_family_check_box = None
+                self.textbox_lambda = None
 
-            self.previous_rpy_sliders_values[index][0] = self.slider_roll.value()
-            self.previous_rpy_sliders_values[index][1] = self.slider_pitch.value()
-            self.previous_rpy_sliders_values[index][2] = self.slider_yaw.value()
+            # add button for mechanism synthesis
+            self.synthesize_button = QtWidgets.QPushButton("Mechanism")
+            self.synthesize_button.clicked.connect(self.on_synthesize_button_clicked)
 
-            new_dq = DualQuaternion(new_tr.matrix2dq())
-            self.points[index] = new_dq
-            self.plotted_poses[index].setData(new_tr)
+            # initially for the first point
+            self.set_sliders_for_point(0)
 
-        else:
-            # update the selected control point
-            self.points[index] = PointHomogeneous.from_3d_point([new_x, new_y, new_z])
-            self.plotted_points[index] = np.array([new_x, new_y, new_z])
-            # update the visual markers
-            self.markers.setData(pos=self.plotted_points)
+            # --- layout the 3D view and control panel ---
+            main_layout = QtWidgets.QHBoxLayout(self)
+            # add plotter (stored in self.plotter.widget)
+            main_layout.addWidget(self.plotter.widget, stretch=1)
 
-        # Recalculate and update the motion curve.
-        self.update_curve_vis()
+            # Build a vertical control panel.
+            control_panel = QtWidgets.QWidget()
+            cp_layout = QtWidgets.QVBoxLayout(control_panel)
 
-    def on_lambda_slider_value_changed(self, value):
-        """
-        Called when the lambda slider changes its value. Update the lambda value
-        of the cubic curve, update the control point markers, and then recalculate
-        the motion curve.
-        """
-        self.lambda_val = self.slider_lambda.value() / 100.0
-        self.textbox_lambda.setText(str(self.lambda_val))
-        self.update_curve_vis()
+            cp_layout.addWidget(QtWidgets.QLabel("Select control point:"))
+            cp_layout.addWidget(self.point_combo)
+            cp_layout.addSpacing(10)
 
-    def on_swap_family_check_box_changed(self, state):
-        """
-        Called when the swap family checkbox changes its state. Update the
-        motion curve to reflect the new motion family.
-        """
-        if state == 2:
-            self.motion_family_idx = 1
-        else:
-            self.motion_family_idx = 0
+            cp_layout.addWidget(QtWidgets.QLabel("Adjust X:"))
+            cp_layout.addWidget(self.slider_x)
+            cp_layout.addWidget(self.textbox_x)
+            cp_layout.addWidget(QtWidgets.QLabel("Adjust Y:"))
+            cp_layout.addWidget(self.slider_y)
+            cp_layout.addWidget(self.textbox_y)
+            cp_layout.addWidget(QtWidgets.QLabel("Adjust Z:"))
+            cp_layout.addWidget(self.slider_z)
+            cp_layout.addWidget(self.textbox_z)
+            if method == 'quadratic_from_poses' or method == 'cubic_from_poses':
+                cp_layout.addSpacing(10)  # Add 10 pixels of space before the separator
+                cp_layout.addWidget(create_separator())
+                cp_layout.addWidget(QtWidgets.QLabel("Rotate X:"))
+                cp_layout.addWidget(self.slider_roll)
+                cp_layout.addWidget(self.textbox_roll)
+                cp_layout.addWidget(QtWidgets.QLabel("Rotate Y:"))
+                cp_layout.addWidget(self.slider_pitch)
+                cp_layout.addWidget(self.textbox_pitch)
+                cp_layout.addWidget(QtWidgets.QLabel("Rotate Z:"))
+                cp_layout.addWidget(self.slider_yaw)
+                cp_layout.addWidget(self.textbox_yaw)
+            if method == 'cubic_from_poses':
+                cp_layout.addSpacing(10)  # Add 10 pixels of space before the separator
+                cp_layout.addWidget(create_separator())
+                cp_layout.addSpacing(10)
+                cp_layout.addWidget(self.swap_family_check_box)
+                cp_layout.addWidget(QtWidgets.QLabel("Lambda:"))
+                cp_layout.addWidget(self.slider_lambda)
+                cp_layout.addWidget(self.textbox_lambda)
+
+            cp_layout.addSpacing(20)
+            cp_layout.addWidget(self.synthesize_button)
+
+            cp_layout.addStretch(1)
+
+            main_layout.addWidget(control_panel)
+            self.setLayout(main_layout)
+            self.setWindowTitle("Motion Designer")
+
+        def _initialize_points(self, method, initial_pts):
+            predefined_points = {
+                'cubic_from_points': [
+                    PointHomogeneous(),
+                    PointHomogeneous([1, 1, 1, 0.3]),
+                    PointHomogeneous([1, 3, -3, 0.5]),
+                    PointHomogeneous([1, 0.5, -7, 1]),
+                    PointHomogeneous([1, -3.2, -7, 4]),
+                    PointHomogeneous([1, -7, -3, 2]),
+                    PointHomogeneous([1, -8, 3, 0.5])
+                ],
+                'cubic_from_poses': [
+                    DualQuaternion(),
+                    DualQuaternion([0, 0, 0, 1, 1, 0, 1, 0]),
+                    DualQuaternion([1, 2, 0, 0, -2, 1, 0, 0]),
+                    DualQuaternion([3, 0, 1, 0, 1, 0, -3, 0])
+                ],
+                'quadratic_from_points': [
+                    PointHomogeneous(),
+                    PointHomogeneous([1, 1, 1, 2]),
+                    PointHomogeneous([1, 3, -3, 1]),
+                    PointHomogeneous([1, 2, -4, 1]),
+                    PointHomogeneous([1, -2, -2, 2])
+                ],
+                'quadratic_from_poses': [
+                    DualQuaternion(),
+                    DualQuaternion(
+                        TransfMatrix.from_vectors(
+                            approach_z=[-0.0362862, 0.400074, 0.915764],
+                            normal_x=[0.988751, -0.118680, 0.0910266],
+                            origin=[0.33635718, 0.9436004, 0.3428654]).matrix2dq()),
+                    DualQuaternion(
+                        TransfMatrix.from_vectors(
+                            approach_z=[-0.0463679, -0.445622, 0.894020],
+                            normal_x=[0.985161, 0.127655, 0.114724],
+                            origin=[-0.52857769, -0.4463076, -0.81766]).matrix2dq()),
+                ]
+            }
+
+            required_points = {
+                'cubic_from_points': 7,
+                'cubic_from_poses': 4,
+                'quadratic_from_points': 5,
+                'quadratic_from_poses': 3
+            }
+
+            if method not in predefined_points:
+                raise ValueError(f"Unknown method: {method}")
+
+            if initial_pts is None:
+                return predefined_points[method]
+
+            if len(initial_pts) != required_points[method]:
+                raise ValueError(
+                    f"For a {method.replace('_', ' ')}, {required_points[method]} points are needed.")
+
+            return initial_pts
+
+        def set_sliders_for_point(self, index):
+            """
+            Set the slider positions to reflect the current coordinates of the
+            control point with the given index.
+            (Here we assume that coordinates are in the range roughly –10..10.)
+            """
+            index = index + 1  # skip the first point/pose
+            sliders = [self.slider_x, self.slider_y, self.slider_z]
+            text_boxes = [self.textbox_x, self.textbox_y, self.textbox_z]
+            if self.method == 'quadratic_from_points' or self.method == 'cubic_from_points':
+                pt = self.plotted_points[index]
+                values = [int(pt[i] * 100) for i in range(3)]
+            else:
+                sliders.extend([self.slider_roll, self.slider_pitch, self.slider_yaw])
+                text_boxes.extend([self.textbox_roll, self.textbox_pitch, self.textbox_yaw])
+                pt = self.plotted_poses[index]
+                rpy = self.previous_rpy_sliders_values[index]
+                values = [
+                    int(pt.tr.t[0] * 100),
+                    int(pt.tr.t[1] * 100),
+                    int(pt.tr.t[2] * 100),
+                    int(rpy[0]),  # Roll
+                    int(rpy[1]),  # Pitch
+                    int(rpy[2])  # Yaw
+                ]
+                (self.slider_roll_prev, self.slider_pitch_prev,
+                 self.slider_yaw_prev) = values[3:]
+            #
+            for slider, text_box, value in zip(sliders, text_boxes, values):
+                slider.blockSignals(True)
+                slider.setValue(value)
+                text_box.setText(str(value / 100.0))
+                slider.blockSignals(False)
 
-        self.update_curve_vis()
+        def on_synthesize_button_clicked(self):
+            """
+            Called when the "Synthesize mechanism" button is clicked. This method
+            should be implemented to synthesize a mechanism based on the current
+            control points.
+            """
+            if (self.method == 'quadratic_from_points'
+                    or self.method == 'cubic_from_points'
+                    or self.method == 'quadratic_from_poses'):
+                c = MotionInterpolation.interpolate(self.points)
+            else:
+                p = MotionInterpolation.interpolate_cubic_numerically(
+                    self.points,
+                    lambda_val=self.lambda_val,
+                    k_idx=self.motion_family_idx)
+                c = RationalCurve.from_coeffs(p)
+            self.mechanism_plotter.append(
+                InteractivePlotterWidget(mechanism=RationalMechanism(c.factorize()),
+                                         arrows_length=self.arrows_length,
+                                         parent_app=self.plotter.app))
+            self.mechanism_plotter[-1].show()
+
+
+        def on_point_selection_changed(self, index):
+            """
+            When a different point is selected in the combo box, update the slider
+            positions to match that point’s coordinates.
+            """
+            self.set_sliders_for_point(index)
 
-    def on_lambda_textbox_changed(self, text, slider):
-        """
-        Update the given slider with the value from the corresponding textbox.
+        def on_slider_value_changed(self, value):
+            """
+            Called when any of the sliders change their value. Update the currently
+            selected control point’s x, y, or z coordinate based on the slider values,
+            update the control point markers, and then recalculate the motion curve.
+            """
+            index = self.point_combo.currentIndex() + 1
+            # Convert slider values (integers) to floating‑point coordinates.
+            new_x = self.slider_x.value() / 100.0
+            new_y = self.slider_y.value() / 100.0
+            new_z = self.slider_z.value() / 100.0
+
+            self.textbox_x.setText(str(new_x))
+            self.textbox_y.setText(str(new_y))
+            self.textbox_z.setText(str(new_z))
+
+            if self.method == 'quadratic_from_poses' or self.method == 'cubic_from_poses':
+                if self.slider_roll.value() != self.slider_roll_prev:
+                    new_roll = (self.slider_roll.value() - self.slider_roll_prev) / 100.0
+                    new_mat = TransfMatrix.from_rotation('x', new_roll)
+                    new_tr = self.plotted_poses[index].tr * new_mat
+                    self.slider_roll_prev = self.slider_roll.value()
+                    self.textbox_roll.setText(str(self.slider_roll.value() / 100.0))
+
+                elif self.slider_pitch.value() != self.slider_pitch_prev:
+                    new_pitch = (self.slider_pitch.value() - self.slider_pitch_prev) / 100.0
+                    new_mat = TransfMatrix.from_rotation('y', new_pitch)
+                    new_tr = self.plotted_poses[index].tr * new_mat
+                    self.slider_pitch_prev = self.slider_pitch.value()
+                    self.textbox_pitch.setText(str(self.slider_pitch.value() / 100.0))
+
+                elif self.slider_yaw.value() != self.slider_yaw_prev:
+                    new_yaw = (self.slider_yaw.value() - self.slider_yaw_prev) / 100.0
+                    new_mat = TransfMatrix.from_rotation('z', new_yaw)
+                    new_tr = self.plotted_poses[index].tr * new_mat
+                    self.slider_yaw_prev = self.slider_yaw.value()
+                    self.textbox_yaw.setText(str(self.slider_yaw.value() / 100.0))
+                else:
+                    new_tr = TransfMatrix.from_rpy_xyz(self.plotted_poses[index].tr.rpy(),
+                                                       [new_x, new_y, new_z])
+
+                self.previous_rpy_sliders_values[index][0] = self.slider_roll.value()
+                self.previous_rpy_sliders_values[index][1] = self.slider_pitch.value()
+                self.previous_rpy_sliders_values[index][2] = self.slider_yaw.value()
+
+                new_dq = DualQuaternion(new_tr.matrix2dq())
+                self.points[index] = new_dq
+                self.plotted_poses[index].setData(new_tr)
 
-        :param str text: The text input from the textbox. Should be a number.
-        :param slider: The slider to update with the new value.
-        """
-        if text is not None:
-            try:
-                value = float(text)
-                slider.blockSignals(True)
-                slider.setValue(int(value * 100))
-                slider.blockSignals(False)
+            else:
+                # update the selected control point
+                self.points[index] = PointHomogeneous.from_3d_point([new_x, new_y, new_z])
+                self.plotted_points[index] = np.array([new_x, new_y, new_z])
+                # update the visual markers
+                self.markers.setData(pos=self.plotted_points)
 
-                if abs(value - 1.0) < 1e-10:
-                    value = 1.00000001  # avoid numerical issues with 1.0
-                    print("Warning: lambda value set to 1.0, using 1.00000001 instead.")
-                self.lambda_val = value
-                self.update_curve_vis()
-            except ValueError:
-                raise ValueError(f"Invalid input for slider: {text}")
+            # Recalculate and update the motion curve.
+            self.update_curve_vis()
 
-    def on_textbox_changed(self, text, slider):
-        """
-        Update the given slider with the value from the corresponding textbox.
-        """
-        if text is not None:
-            try:
-                value = float(text)
-                slider.blockSignals(True)
-                slider.setValue(int(value * 100))
-                slider.blockSignals(False)
+        def on_lambda_slider_value_changed(self, value):
+            """
+            Called when the lambda slider changes its value. Update the lambda value
+            of the cubic curve, update the control point markers, and then recalculate
+            the motion curve.
+            """
+            self.lambda_val = self.slider_lambda.value() / 100.0
+            self.textbox_lambda.setText(str(self.lambda_val))
+            self.update_curve_vis()
 
-                self.on_slider_value_changed(value)
-            except ValueError:
-                raise ValueError(f"Invalid input for slider: {text}")
+        def on_swap_family_check_box_changed(self, state):
+            """
+            Called when the swap family checkbox changes its state. Update the
+            motion curve to reflect the new motion family.
+            """
+            if state == 2:
+                self.motion_family_idx = 1
+            else:
+                self.motion_family_idx = 0
 
-    def update_curve_vis(self):
-        """
-        Recalculate the motion curve using the current control points. The
-        interpolation is performed by MotionInterpolation. Then update the curve
-        line in the GLViewWidget.
-        """
+            self.update_curve_vis()
 
-        # get the numeric coefficients from interpolation
-        if self.method == 'cubic_from_points':
-            coeffs = self.mi.interpolate_points_cubic(self.points,
-                                                      return_numeric=True)
-        elif self.method == 'quadratic_from_points':
-            coeffs = self.mi.interpolate_points_quadratic(self.points,
+        def on_lambda_textbox_changed(self, text, slider):
+            """
+            Update the given slider with the value from the corresponding textbox.
+
+            :param str text: The text input from the textbox. Should be a number.
+            :param slider: The slider to update with the new value.
+            """
+            if text is not None:
+                try:
+                    value = float(text)
+                    slider.blockSignals(True)
+                    slider.setValue(int(value * 100))
+                    slider.blockSignals(False)
+
+                    if abs(value - 1.0) < 1e-10:
+                        value = 1.00000001  # avoid numerical issues with 1.0
+                        print("Warning: lambda value set to 1.0, using 1.00000001 instead.")
+                    self.lambda_val = value
+                    self.update_curve_vis()
+                except ValueError:
+                    raise ValueError(f"Invalid input for slider: {text}")
+
+        def on_textbox_changed(self, text, slider):
+            """
+            Update the given slider with the value from the corresponding textbox.
+            """
+            if text is not None:
+                try:
+                    value = float(text)
+                    slider.blockSignals(True)
+                    slider.setValue(int(value * 100))
+                    slider.blockSignals(False)
+
+                    self.on_slider_value_changed(value)
+                except ValueError:
+                    raise ValueError(f"Invalid input for slider: {text}")
+
+        def update_curve_vis(self):
+            """
+            Recalculate the motion curve using the current control points. The
+            interpolation is performed by MotionInterpolation. Then update the curve
+            line in the GLViewWidget.
+            """
+
+            # get the numeric coefficients from interpolation
+            if self.method == 'cubic_from_points':
+                coeffs = self.mi.interpolate_points_cubic(self.points,
                                                           return_numeric=True)
-        elif self.method == 'quadratic_from_poses':
-            coeffs = self.mi.interpolate_quadratic_numerically(self.points)
-        elif self.method == 'cubic_from_poses':
-            coeffs = self.mi.interpolate_cubic_numerically(self.points,
-                                                           lambda_val=self.lambda_val,
-                                                           k_idx=self.motion_family_idx)
-
-        # create numpy polynomial objects
-        curve = [np.polynomial.Polynomial(c[::-1]) for c in coeffs]
-
-        # parameter values using a tangent substitution
-        t_space = np.tan(np.linspace(-np.pi / 2, np.pi / 2, self.plotter.steps + 1))
-        curve_points = []
-        for t in t_space:
-            dq = DualQuaternion([poly(t) for poly in curve])  # evaluate fot each t
-            pt = dq.dq2point_via_matrix()
-            curve_points.append(pt)
-        curve_points = np.array(curve_points)
-
-        t_space_frames = np.tan(np.linspace(-np.pi / 2, np.pi / 2, 51))
-        curve_frames = []
-        for t in t_space_frames:
-            dq = DualQuaternion([poly(t) for poly in curve])
-            curve_frames.append(TransfMatrix(dq.dq2matrix()))
-
-        # if the curve line has not yet been created
-        if self.curve_path_vis is None:
-            self.curve_path_vis = gl.GLLinePlotItem(pos=curve_points,
-                                                    color=(0.5, 0.5, 0.5, 1),
-                                                    glOptions=self.render_mode,
-                                                    width=2,
-                                                    antialias=True)
-            self.plotter.widget.addItem(self.curve_path_vis)
-
-            self.curve_frames_vis = [FramePlotHelper(transform=tr,
-                                                     length=self.plotter.arrows_length)
-                                     for tr in curve_frames]
-            for frame in self.curve_frames_vis:
-                frame.addToView(self.plotter.widget)
-        else:  # update the existing curve visuals
-            self.curve_path_vis.setData(pos=curve_points)
-            for i, frame in enumerate(self.curve_frames_vis):
-                frame.setData(curve_frames[i])
-
-    def closeEvent(self, event):
-        """
-        Called when the window is closed. Ensure that the Qt application exits.
-        """
-        print("Closing the window... generated points for interpolation:")
-        for pt in self.points:
-            print(pt)
-        if self.slider_lambda:
-            print(f"Lambda: {self.slider_lambda.value() / 100.0}")
-        if self.swap_family_check_box:
-            print(f"Motion family index: {self.motion_family_idx}")
-        self.plotter.app.quit()
+            elif self.method == 'quadratic_from_points':
+                coeffs = self.mi.interpolate_points_quadratic(self.points,
+                                                              return_numeric=True)
+            elif self.method == 'quadratic_from_poses':
+                coeffs = self.mi.interpolate_quadratic_numerically(self.points)
+            elif self.method == 'cubic_from_poses':
+                coeffs = self.mi.interpolate_cubic_numerically(self.points,
+                                                               lambda_val=self.lambda_val,
+                                                               k_idx=self.motion_family_idx)
+
+            # create numpy polynomial objects
+            curve = [np.polynomial.Polynomial(c[::-1]) for c in coeffs]
+
+            # parameter values using a tangent substitution
+            t_space = np.tan(np.linspace(-np.pi / 2, np.pi / 2, self.plotter.steps + 1))
+            curve_points = []
+            for t in t_space:
+                dq = DualQuaternion([poly(t) for poly in curve])  # evaluate fot each t
+                pt = dq.dq2point_via_matrix()
+                curve_points.append(pt)
+            curve_points = np.array(curve_points)
+
+            t_space_frames = np.tan(np.linspace(-np.pi / 2, np.pi / 2, 51))
+            curve_frames = []
+            for t in t_space_frames:
+                dq = DualQuaternion([poly(t) for poly in curve])
+                curve_frames.append(TransfMatrix(dq.dq2matrix()))
+
+            # if the curve line has not yet been created
+            if self.curve_path_vis is None:
+                self.curve_path_vis = gl.GLLinePlotItem(pos=curve_points,
+                                                        color=(0.5, 0.5, 0.5, 1),
+                                                        glOptions=self.render_mode,
+                                                        width=2,
+                                                        antialias=True)
+                self.plotter.widget.addItem(self.curve_path_vis)
+
+                self.curve_frames_vis = [FramePlotHelper(transform=tr,
+                                                         length=self.plotter.arrows_length)
+                                         for tr in curve_frames]
+                for frame in self.curve_frames_vis:
+                    frame.addToView(self.plotter.widget)
+            else:  # update the existing curve visuals
+                self.curve_path_vis.setData(pos=curve_points)
+                for i, frame in enumerate(self.curve_frames_vis):
+                    frame.setData(curve_frames[i])
+
+        def closeEvent(self, event):
+            """
+            Called when the window is closed. Ensure that the Qt application exits.
+            """
+            print("Closing the window... generated points for interpolation:")
+            for pt in self.points:
+                print(pt)
+            if self.slider_lambda:
+                print(f"Lambda: {self.slider_lambda.value() / 100.0}")
+            if self.swap_family_check_box:
+                print(f"Motion family index: {self.motion_family_idx}")
+            self.plotter.app.quit()
+
+else:
+    MotionDesignerWidget = None