This view shows multiple grasp configurations for the selected hand and object. The colored diamonds encode force-closure quality and wrench-space coverage:

• Force coverage (red): how well the grasp withstands external forces along the x, y, and z axes.
• Torque coverage (blue): how well the grasp resists rotations (moments) about the x, y, and z axes.

Lower coverage indicates wrench-space degeneracy, i.e., directions where the grasp cannot reliably balance forces or torques.