Robot.constraints_from_frame¶
-
Robot.
constraints_from_frame
(frame_WCF, tolerance_position, tolerances_axes, group=None)[source]¶ Create a position and an orientation constraint from a frame calculated for the group’s end-effector link.
- Parameters
frame_WCF (
compas.geometry.Frame
) – The frame from which we create position and orientation constraints.tolerance_position (
float
) – The allowed tolerance to the frame’s position (defined in the robot’s units).tolerances_axes (
list
offloat
) – Error tolerances ti for each of the frame’s axes in radians. If only one value is passed it will be uses for all 3 axes.group (
str
, optional) – The planning group for which we specify the constraint. Defaults to the robot’s main planning group.
- Returns
list
ofConstraint
See also
Notes
The rotation tolerance for an axis is defined by the other vector component values for rotation around corresponding axis. If you specify the tolerances_axes vector with
[0.01, 0.01, 6.3]
, it means that the frame’s x-axis and y-axis are allowed to rotate about the z-axis by an angle of 6.3 radians, whereas the z-axis would only rotate by 0.01.Examples
>>> frame = Frame([0.4, 0.3, 0.4], [0, 1, 0], [0, 0, 1]) >>> tolerance_position = 0.001 >>> tolerances_axes = [math.radians(1)] >>> group = robot.main_group_name >>> robot.constraints_from_frame(frame, tolerance_position, tolerances_axes, group) [PositionConstraint('ee_link', BoundingVolume(2, Sphere(Point(0.400, 0.300, 0.400), 0.001)), 1.0), OrientationConstraint('ee_link', [0.5, 0.5, 0.5, 0.5], [0.017453292519943295, 0.017453292519943295, 0.017453292519943295], 1.0)]