Documentation for the various constraints available

class stabilipy.constraints.Constraint

Constraint types. Can only be inequality or conic.

class stabilipy.constraints.CubeConstraint(origin, length)

Constraint to limit position of the CoM to a cuboid centered at an origin

Default constructor. Origin will be clamped to the dimension of the polygon.

Parameters:

• origin (np.array(n, 1)) – Origin of the cuboid.
• length – Length of the sides fo the box.

class stabilipy.constraints.DistConstraint(origin, radius)

Constraint to limit position of the CoM w.r. to an origin. The origin will be clamped to dimension of the polygon.

Default constructor.

Parameters:

• origin (np.array(n, 1)) – Origin of the circle/sphere.
• radius – Radius of the circle/sphere

class stabilipy.constraints.ForceConstraint(indexes, limit)

Constraint to limit force applied on certain contacts

Default constructor.

Parameters:

• indexes – Indexes of the contacts on which the constraint applies
• limit – Maximum force, expressed as percentage of robot weight

class stabilipy.constraints.TorqueConstraint(indexes, point, ub, lb=None)

Constraint to limit torque applied on certain contacts

Default constructor.

Parameters:

• indexes – Indexes of the contacts on which the constraint applies
• point – Point where the torques are computed (3,1) array
• ub – Upper bound (3,1) array
• lb – Lower bound, can be None (3,1) array