# Robot static stability
# Scope: Static support-edge tip margin with horizontal acceleration.
# Status: illustrative worked example; engineering review pending.
# Inputs are example values. Checks are editable example requirements, not standards.

halfBase = 0.2 m
centerHeight = 0.3 m
acceleration = 2 m/s^2
gravity = 9.81 m/s^2

effectiveOffset := centerHeight*acceleration/gravity [m]
margin := halfBase-effectiveOffset [m]

check no tipping screen: margin > 0 m

scenario alternative: halfBase = 0.16 m