code: def compute_stable_poses(self,
                               center_mass=None,
                               sigma=0.0,
                               n_samples=1,
                               threshold=0.0):
          
          return poses.compute_stable_poses(mesh=self,
                                            center_mass=center_mass,
                                            sigma=sigma,
                                            n_samples=n_samples,
                                            threshold=threshold)
docs: Computes stable orientations of a mesh and their quasi-static probabilites.
  
          This method samples the location of the center of mass from a multivariate
          gaussian (mean at com, cov equal to identity times sigma) over n_samples.
          For each sample, it computes the stable resting poses of the mesh on a
          a planar workspace and evaulates the probabilities of landing in
          each pose if the object is dropped onto the table randomly.
  
          This method returns the 4x4 homogenous transform matrices that place
          the shape against the planar surface with the z-axis pointing upwards
          and a list of the probabilities for each pose.
          The transforms and probabilties that are returned are sorted, with the
          most probable pose first.
  
          Parameters
          ----------
          center_mass : (3,) float
            The object center of mass (if None, this method
            assumes uniform density and watertightness and
            computes a center of mass explicitly)
          sigma : float
            The covariance for the multivariate gaussian used
            to sample center of mass locations
          n_samples : int
            The number of samples of the center of mass location
          threshold : float
            The probability value at which to threshold
            returned stable poses
  
          Returns
          -------
          transforms : (n, 4, 4) float
            The homogenous matrices that transform the
            object to rest in a stable pose, with the
            new z-axis pointing upwards from the table
            and the object just touching the table.
  
          probs : (n,) float
            A probability ranging from 0.0 to 1.0 for each pose