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Pull request #1168

open

Robot stability

Added by Jules Waldhart almost 7 years ago. Updated almost 7 years ago.

Status:
New
Priority:
High
Assignee:
Guilhem Buisan
Repository URL:

Description

This pull request adds method to compute robot center of mass and static stability (support polygon) to move4d. It uses new libmove3d v4.1 (adds mass information from urdf).

There is a new cost function "Stability" for debug purpose mostly, and a the Stability class has a constraint function that can be used as a inequality constraint for NL optimization algorithms.

branch is move4d : ft1167

related to feature #1167

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