Pycapacity: a real-time task-space capacity calculation package for robotics and biomechanics
Résumé
This paper presents a Python package called pycapacity, which provides a set of tools for
evaluating task-space physical ability metrics for humans and robots, based on polytopes and
ellipsoids. The aim of pycapacity is to provide a set of efficient tools for their evaluation in an
easy to use framework that can be easily integrated with standard robotics and biomechanics
libraries. The package implements several state of the art algorithms for polytope evaluation
that bring many of the polytope metrics to the few milliseconds evaluation time, making it
possible to use them in online and interactive applications.