Rigeo is a prototyping library for rigid body geometry in Python: it combines three-dimensional geometry with the inertial properties of rigid bodies, with applications to robotic manipulation.
The main feature of this library is a set of necessary conditions for density realizability on shapes which can be described as convex hulls of ellipsoids (which includes convex polyhedra, cylinders, and capsules). A set of inertial parameters (i.e., mass, center of mass, inertia matrix) is called density realizable on a given shape if it can be physically realized by some rigid body contained in that shape. These conditions can be included in constraints as semidefinite programs for inertial parameter identification for motion and force-torque data.
- Build rigid bodies out of flexible shape primitives: convex polyhedra, ellipsoids, and cylinders.
- Obtain the intersection of two convex polyhedra (via cdd). This is particularly useful for obtaining contact patches between polyhedral objects for manipulation; e.g., when solving the waiter's problem
- Obtain the distance between primitive shapes using convex programming.
- Compute maximum-volume inscribed and minimum-volume bounding ellipsoids for sets of points.
- Compute convex hulls for degenerate sets of points (i.e., points that live in some lower-dimensional subspace than the ambient space).
- Uniform random sampling inside of and on the surface of ellipsoids.
The library has been tested on Ubuntu 20.04 using Python 3.8; newer Python versions and OS versions may also work. Optimization problems use cvxpy; MOSEK is installed by default and is used as the solver for the tests.
From pip:
pip install rigeo
From source (using poetry):
git clone https://github.com/utiasDSL/rigeo
cd rigeo
poetry shell
poetry install
# do stuff ...
From source (using pip):
git clone https://github.com/utiasDSL/rigeo
cd rigeo
python -m pip install .
Tests are run using pytest:
cd tests
python -m pytest .
MIT - see the LICENSE file.