├── .github └── workflows │ ├── main.yml │ ├── paper.yml │ ├── python-app.yml │ └── python-publish.yml ├── .gitignore ├── .gitlab-ci.yml ├── CITATION.cff ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── docs ├── .pages ├── Makefile ├── requirements.txt └── source │ ├── README.rst │ ├── _templates │ ├── layout.html │ └── searchbox.html │ ├── algorithms.rst │ ├── changelog.rst │ ├── citing.md │ ├── conf.py │ ├── contirbuting.md │ ├── examples │ ├── ROS.rst │ ├── fourlink.md │ ├── hspace_from_vert.rst │ ├── index.rst │ ├── manipulating_polytopes.rst │ ├── manipulating_polytopes_approx.rst │ ├── mujoco.md │ ├── opensim.md │ ├── pinocchio.md │ ├── pyomeca.md │ ├── randomised_human.md │ ├── randomised_rob.md │ ├── reachable_workspace.md │ ├── robotics_toolbox.md │ └── vert_from_hspace.rst │ ├── images │ ├── 4l_accel.png │ ├── 4l_force.png │ ├── 4l_reachable.png │ ├── 4l_vel.png │ ├── h2v.png │ ├── h2v_in_out.png │ ├── mj_panda.gif │ ├── mj_reachable.gif │ ├── mj_xarm7.gif │ ├── osim_poly.png │ ├── osim_test.png │ ├── output2.gif │ ├── pin_animation.gif │ ├── pin_matlplotlib.png │ ├── pin_meshcat.png │ ├── polyman_ball.png │ ├── polyman_int.png │ ├── polyman_sum.png │ ├── polyman_two.png │ ├── pyomeca_force.png │ ├── pyomeca_gif.gif │ ├── pyomeca_test.png │ ├── rand_human.png │ ├── rand_rob_matplotlib.png │ ├── rb_matplotlib.png │ ├── rb_pyplot.png │ ├── rb_swig.png │ ├── reachable.gif │ ├── reachable_space.png │ ├── reachable_space2.png │ ├── ros_faces.png │ ├── ros_vertices.png │ ├── rviz.gif │ ├── rwspace_animation.gif │ ├── v2h.png │ └── v2h_in_out.png │ ├── index.rst │ ├── install.md │ ├── modules.rst │ ├── my_theme.css │ ├── pycapacity.algorithms.rst │ ├── pycapacity.examples.rst │ ├── pycapacity.human.rst │ ├── pycapacity.polytope.rst │ ├── pycapacity.robot.rst │ ├── pycapacity.rst │ └── pycapacity.visual.rst ├── examples ├── README.md ├── notebooks │ ├── README.md │ ├── demo_simple.ipynb │ ├── four_link.ipynb │ ├── pinocchio.ipynb │ ├── pinocchio_reachable_space.ipynb │ ├── pyomeca.ipynb │ ├── robotics_toolbox_pyplot.ipynb │ └── robotics_toolbox_swift.ipynb └── scripts │ ├── 4dof_robot_examples │ ├── acceleration_capacity.py │ ├── force_capacity.py │ └── velocity_capacity.py │ ├── README.md │ ├── benchmarking │ ├── README.md │ ├── polytope_human_performance_analysis.py │ ├── polytope_human_performance_analysis_biorbd.py │ ├── polytope_robot_performance_analysis.py │ └── polytope_robot_performance_analysis_pinocchio.py │ ├── human_random_model.py │ ├── mujoco_force_example.py │ ├── mujoco_reachable_space_panda.py │ ├── pinocchio_example.py │ ├── pyomeca_example.py │ ├── robot_random_model.py │ ├── robot_random_polytope_ellispoid.py │ ├── roboticstoolbox_pyplot.py │ └── roboticstoolbox_swift.py ├── how_to_upload_to_pypi ├── images ├── bimanual1.png ├── comparison.gif ├── force.png ├── human_poly.gif ├── reachable.gif └── robot.png ├── paper ├── bimanual1.png ├── ellip_poly.png ├── paper.bib ├── paper.md ├── 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