raisim::PinConstraintDefinition

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

Description of a pin (point-to-point) constraint inside an articulated system, as parsed from URDF/MJCF.

Public attributes

body1

std::string body1

Name of the first body.

body2

std::string body2

Name of the second body.

anchor

Vec<3> anchor

Anchor position in body1's link frame at the nominal configuration.