Changelog

See github releases and pypi for more info.

If wanting to use a specific version of the library, you can install it using pip, for example version 1.2.17:

pip install pycapacity==1.2.17

V2.1.7 (02-2025)

• Added support examples for interfacing pycapacity with mujoco - see example

• Added a support for real-time polyotpe vilsualisaiton in mujoco

V2.1.6 (02-2025)

• Added the initial implementation for the non-convex reachable workspace approximation - see API docs

• In order to use it you need to install CGAL library with its python bindings - if not installed the algorihtm will only be available in the convex mode

• See the example in tutorials - see example

V2.1.5 (02-2025)

• Added the initial implementation of the non-linear reachable workspace approximation - see API docs

v2.1.4 (12-2024)

• BUGFIX: acceleration ellipsoid inverted limits

v2.1.3 (11-2024)

• Reachable space approximation polytope now allows for specifying additional Cartesian space constraints - see API docs

v2.1 (09-2023)

• Polytope class - see API docs

  • Added Minkowski sum (operator +) and intersection operations (operator &)

  • Added inner approximation using the Chebyshev ball (chebyshev_ball method)

• Visualisation tools - see API docs

  • plot_polytope function now has color paremeter that can be used to set face_color and edge_color and vertex_color at once - see docs

• Algorithms: - see API docs

  • Added Chebyshev ball algorithm (chebyshev_ball) - see docs

• Human metrics - see API docs

  • Added ellipsoid: metrics acceleration, velocity and force

• New module added: pycapacity.examples - see API docs

  • Contains 4 dof planar robot model - see docs

  • In future it will contain more toy models, for jump starting the library usage

• More examples

  • examples folder now contains more examples on how to use the library

    • python scripts - see scripts

    • jupyter notebooks - see notebooks

    • benchmarking scripts - see scripts

  • More example in the docs - see docs

• Journal of OpenSource software submission:

  • pycapacity paper is submitter to the Journal of OpenSource software - see paper

• Improved the docs with more infomation about the library

  • Implemented polytope algorithms and their performance - see docs

  • Implemented capacity metrics - see docs

v2.0 (05-2023)

• Polytope and ellipsoid algorithms now return Polytope and Ellipsoid objects

  • Polytope class can be used as a standalone class to find vertex \(\mathcal{V}\), halfplane \(\mathcal{H}\) and face \(\mathcal{F}\) representation of a polytope

• Visualisation tools improved:

  • New plot_polytope function for plotting polytopes

  • Functions plot_polytope_vertex and plot_polytope_faces now can receive a polytope object

  • Function plot_ellipsoid now can receive a ellipsoid object

  • Better management of the matplotlib figures and axes, now user can provide an ax, plt or figure to the plotting functions

• Added support for robot reachable workspace approximation using convex polytopes (see API docs)

• Added unit testing + continuous integration

• Improved docs with sphinx