Distance task

The DistanceTask can be used to constrain two points to remain at a given distance.

Creating the constraint

You can use the add_distance_task() method on the solver to create a cone constraint:

# Create a cone constraint between the "base" and "effector" frames
distance_task = solver.add_distance_task("point1", "point2", 0.1)

This will constraint point1 and point2 to remain at 0.1m.

Updating the constraint

The constraint angle can be updated by setting the angle_max property:

# Update the constraint distance
distance_task.distance = 0.12