Removing axes margins in 3D plot

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There is not property or method that can modify this margins. You need to patch the source code. Here is an example:

from mpl_toolkits.mplot3d import Axes3D
import matplotlib.pyplot as plt
import numpy as np
###patch start###
from mpl_toolkits.mplot3d.axis3d import Axis
if not hasattr(Axis, "_get_coord_info_old"):
    def _get_coord_info_new(self, renderer):
        mins, maxs, centers, deltas, tc, highs = self._get_coord_info_old(renderer)
        mins += deltas / 4
        maxs -= deltas / 4
        return mins, maxs, centers, deltas, tc, highs
    Axis._get_coord_info_old = Axis._get_coord_info  
    Axis._get_coord_info = _get_coord_info_new
###patch end###

fig = plt.figure()
ax = fig.add_subplot(111, projection='3d')
for c, z in zip(['r', 'g', 'b', 'y'], [30, 20, 10, 0]):
    xs = np.arange(20)
    ys = np.random.rand(20)

    # You can provide either a single color or an array. To demonstrate this,
    # the first bar of each set will be colored cyan.
    cs = [c] * len(xs)
    cs[0] = 'c'
    ax.bar(xs, ys, zs=z, zdir="y", color=cs, alpha=0.8)

ax.set_xlabel('X')
ax.set_ylabel('Y')
ax.set_zlabel('Z')

plt.show()

The result is:

enter image description here

Edit

To change the color of the grid lines:

for axis in (ax.xaxis, ax.yaxis, ax.zaxis):
    axis._axinfo['grid']['color']  = 0.7, 1.0, 0.7, 1.0

Edit2

Set X & Y lim:

ax.set_ylim3d(-1, 31)
ax.set_xlim3d(-1, 21)

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