raisim::MimicConstraintDefinition

struct · #include <raisim/constraints/MimicConstraint.hpp>

Description of a mimic constraint, as parsed from URDF (<mimic>) or MJCF (<equality><joint>): the follower joint's position is kept at multiplier * (leader position) + offset.

Public attributes

follower

std::string follower

Name of the constrained (follower) joint.

leader

std::string leader

Name of the joint it follows (leader).

multiplier

double multiplier

Ratio between the follower's and the leader's position (and velocity).

offset

double offset

Follower position when the leader is at zero [rad or m].