Cone constraint#
The ConeConstraint can be used to constrain two frames z-axises to be
aligned within a certain angle.
Creating the constraint#
You can use the add_cone_constraint() method
on the solver to create a cone constraint:
# Create a cone constraint between the "base" and "effector" frames
cone_constraint = solver.add_cone_constraint("base", "effector", 0.4)
cone_constraint.configure("cone", "hard")
This will constrain the z-axis of the base frame to be within 0.4 radians of the z-axis of the
effector frame.
Updating the constraint#
The constraint angle can be updated by setting the angle_max
property:
# Update the constraint angle
cone_constraint.angle_max = 0.5
Example#
In the following example, a cone constraint is used to restrict the effector of a parallel 3-axis robot to a cone around the base frame:
Orbita 3-axis parallel rotation (task control)