Robot.constraints_from_frame

Robot.constraints_from_frame(frame_WCF, tolerance_position, tolerances_axes, group=None, use_attached_tool_frame=True)[source]

Create a position and an orientation constraint from a frame calculated for the group’s end-effector link.

Parameters:

frame_WCF: :class:`compas.geometry.Frame`: The frame from which we create position and orientation constraints.
tolerance_position: :obj:`float`: The allowed tolerance to the frame’s position (defined in the robot’s units).
tolerances_axes: :obj:`list` of :obj:`float`: Error tolerances t_i for each of the frame’s axes in radians. If only one value is passed it will be uses for all 3 axes.
group: :obj:`str`, optional: The planning group for which we specify the constraint. Defaults to the robot’s main planning group.
use_attached_tool_framebool, optional: If True and there is a tool attached to the planning group, it will use its TCF instead of the T0CF to create the constraints. Defaults to True.

Returns:

list of Constraint

See also

PositionConstraint.from_box()
PositionConstraint.from_mesh()
PositionConstraint.from_sphere()
orientation_constraint_from_frame()

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)] 