CustomLengthConstraint allows users to apply any kind of custom constraints. Users simply set the tension between two points using setTension().

An example of this type of constraints is shown below

auto wire7 = world.addCustomWire(pin7, 0, {0,0,0}, anymalB, 0, {0., 0, 0}, 2.0);

The following code will results in


You can find a runnable example in here.


class raisim::CustomLengthConstraint : public raisim::LengthConstraint

Public Functions

void setTension(double tension)

set the tension of the wire

  • tension: the applied tension. If this number is positive, then the force is acting such a way that brings the two objects together