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draw library

The draw library (github.com/viam-labs/motion-tools/draw) builds the transforms and entities that the 3D scene and Viam Visualization render. This page lists the options you reach for while writing a producer. The library lives in viam-labs and moves faster than the RDK, so treat the project’s generated API docs and pkg.go.dev as the full and current inventory.

Placement and identity

Options for Draw calls and NewDrawConfig, all of type DrawableOption:

Option	What it sets
`WithParent`	The reference frame the pose is expressed in. Defaults to `world`.
`WithPose`	The entity’s pose in the parent frame.
`WithCenter`	An offset applied at the entity’s own center.
`WithID`	A string identity; the library derives a stable UUID from it, so re-sends update in place.
`WithUUID`	An explicit UUID, when you manage identity yourself.
`WithAxesHelper`	Draws a coordinate triad at the entity’s origin.
`WithInvisible`	Hides the entity by default; the viewer can re-enable it.

Shapes

Constructor	Builds
`NewDrawnGeometry`	A styled `spatialmath.Geometry`; its `Draw` method returns a `*commonpb.Transform`.
`NewShape` + `WithArrows`	Arrows, for directions, normals, or vectors.
`NewShape` + `WithLine` / `NewLine`	A line, for paths, segments, or connections.
`NewShape` + `WithPoints`	Points, for sampled data or markers.
`NewShape` + `WithModel`	A detailed 3D mesh model.
`NewShape` + `WithNurbs` / `NewNurbs`	A smooth NURBS curve or surface.

Style a geometry with WithGeometryColor (one color) or WithGeometryColors (per-point colors) when you call NewDrawnGeometry.

Colors

Build a Color with NewColor plus one option, or use the one-call helpers:

With `NewColor`	Helper	Input
`WithRGB`	`ColorFromRGB`	`r, g, b` as 0 to 255
`WithRGBA`	`ColorFromRGBA`	`r, g, b` plus alpha for opacity
`WithName`	`ColorFromName`	A CSS color name, such as `dodgerblue`
`WithHex`	`ColorFromHex`	A hex string
`WithHSV`	`ColorFromHSV`	Hue, saturation, value

Metadata

Options for NewDrawing and NewTransform, all of type DrawMetadataOption. Each writes one of the metadata keys the scene reads:

Option	Metadata it writes
`WithMetadataColors`	`colors` (and `opacities` from alpha)
`WithMetadataAxesHelper`	`show_axes_helper`
`WithMetadataInvisible`	`invisible`
`WithMetadataRelationships`	`relationships`, for links such as HoverLink

Snapshots

Options for NewSnapshot, which builds a loadable scene snapshot:

Option	What it sets
`WithSceneCamera`	Where the scene camera starts.
`WithGrid`, `WithGridCellSize`	The reference grid and its cell size.
`WithScenePointSize`, `WithScenePointColor`	Default point rendering.
`WithRenderArmModels`	Whether arms render as colliders, models, or both.

What’s next

Transform metadata: the wire formats behind the metadata options.
Publish visuals from a module: the library in a world state store module.
Viam Visualization: the library from a script, pushed to the standalone visualizer.

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