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Is there any way to check if an rigid object is stable under gravity in the klampt simulator?
I tried to read the centroid information by RigidObject.getMass().getCom(), but this information seems not update with the simulator. It always stays at (0,0,0) whatever the object position is.
The getCom function returns the local coordinates of the COM. You can do object.getWorldPosition(localcom).
To test stability, provided you know the contacts, you can use the functions here: