parameters: (*args)
return_statement: return _robotsim.support_polygon_2d(*args)
docstring: r"""
      Calculates the support polygon (interval) for a given set of contacts and a
      downward external force (0,-g).  
  
      support_polygon_2d (contacts,m,n): :obj:`object`
  
      support_polygon_2d (contacts,frictionCones): :obj:`object`
  
  
      The 2-argument version is a "fancy" version that allows more control over the
      constraint planes.  
  
      Args:  
  
          contacts (list of 4-float lists or tuples): the list of contacts, each
              specified as a 4-list or tuple [x,y,theta,k], with:
  
                  * (x,y,z): the contact position
                  * theta: is the normal angle (in radians, CCW to the x axis)
                  * k: the coefficient of friction (>= 0)
  
          contactPositions (list of 2-float lists or tuples): the list of contact
              point positions.
          frictionCones (list of lists): The i'th element in this list has length
               k*3 (for some integer k), and gives the contact force constraints
               (ax,ay,b) where ax*fx+ay*fy <= b limits the contact force (fx,fy)
               at the i'th contact. Each of the k 3-tuples is laid out sequentially
               per-contact.  
  
      Returns:  
  
          2-tuple: gives the min/max extents of the support polygon.
          If the support interval is empty, (inf,inf) is returned.
docstring_summary: r"""
      Calculates the support polygon (interval) for a given set of contacts and a
      downward external force (0,-g).
docstring_tokens: r Calculates the support polygon ( interval ) for a given set of contacts and a downward external force ( 0 - g ) .
function: def support_polygon_2d(*args) ->object:
      r"""
      Calculates the support polygon (interval) for a given set of contacts and a
      downward external force (0,-g).  
  
      support_polygon_2d (contacts,m,n): :obj:`object`
  
      support_polygon_2d (contacts,frictionCones): :obj:`object`
  
  
      The 2-argument version is a "fancy" version that allows more control over the
      constraint planes.  
  
      Args:  
  
          contacts (list of 4-float lists or tuples): the list of contacts, each
              specified as a 4-list or tuple [x,y,theta,k], with:
  
                  * (x,y,z): the contact position
                  * theta: is the normal angle (in radians, CCW to the x axis)
                  * k: the coefficient of friction (>= 0)
  
          contactPositions (list of 2-float lists or tuples): the list of contact
              point positions.
          frictionCones (list of lists): The i'th element in this list has length
               k*3 (for some integer k), and gives the contact force constraints
               (ax,ay,b) where ax*fx+ay*fy <= b limits the contact force (fx,fy)
               at the i'th contact. Each of the k 3-tuples is laid out sequentially
               per-contact.  
  
      Returns:  
  
          2-tuple: gives the min/max extents of the support polygon.
          If the support interval is empty, (inf,inf) is returned.  
  
      """
      return _robotsim.support_polygon_2d(*args)
function_tokens: def support_polygon_2d ( * args ) -> object : return _robotsim . support_polygon_2d ( * args )