raisim::server::TendonVisualInstance

struct · #include <raisim/server/TendonVisuals.hpp>

Renderer-independent transform of one tendon segment, expressed for a radius-one, length-one cylinder along Z.

Public attributes

position

Vec<3> position

Segment midpoint in world coordinates.

orientation

Vec<4> orientation

Orientation taking +Z to the segment direction, as a quaternion (w, x, y, z).

scale

Vec<3> scale

{width, width, length}: the tendon properties width (a radius) and the segment length.