Distance task

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

Creating the task

You can use the add_distance_task() method on the solver to create a distance task:

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

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

Updating the task

The distance task can be updated by setting the distance property:

# Update the task distance
distance_task.distance = 0.12