This is a simple program to compute the stability polygon of a legged robot over n contacts. It computes a set of extremum points via cone-programming and builds an outer and inner polygon from them. This recursive projection method can be extended to other convex projection problems.
See the paper by Bretl and Lall, "Testing static equilibrium for legged robots" (IEEE Transaction on Robotics, August 2008) for more details on the 2D method.
See the following paper, https://hal-lirmm.ccsd.cnrs.fr/lirmm-01477362, for more details on the 3D method.