Pycapacity

- Added examples with mujoco
- Added support for real-time polytope plotting in mujoco (pycapacity.visual)

<img src="https://auctus-team.github.io/pycapacity/_images/reachable.gif" width="200px">

- Added the support for the non-convex approximation of the reachable workspace
- Using CGAL (if available)
- See more info in the [docs](https://auctus-team.github.io/pycapacity/changelog.html)


**Full Changelog**: https://github.com/auctus-team/pycapacity/compare/v2.1.5...v2.1.6

- The bugfix for acceleartion polytope - limits inversed
- Initial implementation of the non-linear reachable space estimation

**Full Changelog**: https://github.com/auctus-team/pycapacity/compare/v2.1.3...v2.1.5

- Extending the reachable space approximation to take in consideration environmental constraints [see the docs](https://auctus-team.github.io/pycapacity/pycapacity.robot.html#pycapacity.robot.reachable_space_approximation)

[](https://joss.theoj.org/papers/73f155afc0dfa7730792639ac374b348)

This release corresponds to the version of the package published in [JOSS](https://joss.theoj.org/)

The full paper review is available here: openjournals/joss-reviews5670
The published paper is available here: https://joss.theoj.org/papers/73f155afc0dfa7730792639ac374b348

What's changed
- [Polytope](https://auctus-team.github.io/pycapacity/pycapacity.polytope.html#pycapacity.objects.Polytope) class - [see API docs](https://auctus-team.github.io/pycapacity/pycapacity.polytope.html#pycapacity.objects)
- Added Minkowski sum (operator `+`) and intersection operations (operator `&`)
- Added inner approximation using the Chebyshev ball (`chebyshev_ball` method)
- Visualisation tools - [see API docs](https://auctus-team.github.io/pycapacity/pycapacity.visual.html#pycapacity.visual)
- `plot_polytope` function now has `color` parameter that can be used to set `face_color` and `edge_color` and `vertex_color` at once - [see docs](https://auctus-team.github.io/pycapacity/pycapacity.visual.html#pycapacity.visual.plot_polytope)
- Algorithms: - [see API docs](https://auctus-team.github.io/pycapacity/pycapacity.algorithms.html#pycapacity.algorithms)
- Added Chebyshev ball algorithm (`chebyshev_ball`) - [see docs](https://auctus-team.github.io/pycapacity/pycapacity.algorithms.html#pycapacity.algorithms.chebyshev_ball)
- Human metrics - [see API docs](https://auctus-team.github.io/pycapacity/pycapacity.human.html#pycapacity.human)
- Added ellipsoid: metrics acceleration, velocity and force
- New module added: `pycapacity.examples` - [see API docs](https://auctus-team.github.io/pycapacity/pycapacity.examples.html#pycapacity.examples)
- Contains 4 dof planar robot model - [see docs](https://auctus-team.github.io/pycapacity/pycapacity.examples.html#pycapacity.examples.planar_robot)
- 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](https://github.com/auctus-team/pycapacity/tree/master/examples/scripts)
- jupyter notebooks - [see notebooks](https://github.com/auctus-team/pycapacity/tree/master/examples/scripts)
- benchmarking scripts - [see scripts](https://github.com/auctus-team/pycapacity/tree/master/examples/scripts/benchmarking/)
- More example in the docs - [see docs](examples/index.html)
- Journal of OpenSource software submission:
- `pycapacity` paper is submitter to the Journal of OpenSource software - [see paper](https://joss.theoj.org/papers/73f155afc0dfa7730792639ac374b348)
- Improved the docs with more information about the library
- Implemented polytope algorithms and their performance - [see docs](https://auctus-team.github.io/pycapacity/algorithms.html)
- Implemented capacity metrics - [see docs](https://auctus-team.github.io/pycapacity/README.html)


PRs
- Update human english.py by laisnegautier in https://github.com/auctus-team/pycapacity/pull/2
- Fix affiliation index for the JOSS draft paper by Kevin-Mattheus-Moerman in https://github.com/auctus-team/pycapacity/pull/3
- [JOSS Review] Fix typos by sea-bass in https://github.com/auctus-team/pycapacity/pull/8

New Contributors
- laisnegautier made their first contribution in https://github.com/auctus-team/pycapacity/pull/2
- Kevin-Mattheus-Moerman made their first contribution in https://github.com/auctus-team/pycapacity/pull/3
- sea-bass made their first contribution in https://github.com/auctus-team/pycapacity/pull/8

--Full Changelog--: https://github.com/auctus-team/pycapacity/compare/v2.0.0...v2.1