Coupler Constraint Example

Summary

• Goal: compare coupler constraints with mimic motor constraints on paired joints.
• Concepts/APIs: mimic joints, constraint::CouplerConstraint, constraint::MimicMotorConstraint, ImGui viewer.
• Expected output: two side-by-side rigs with an ImGui overlay showing errors and limit engagement.
• Controls: space toggles simulation; r resets both rigs.

Notes

• Use --gui-scale to scale the ImGui widgets.

This project is dependent on DART. Please make sure a proper version of DART is installed before building this project.

Build Instructions

From this directory:

$ mkdir build
$ cd build
$ cmake ..
$ make

Execute Instructions

Launch the executable from the build directory above:

$ ./{generated_executable} --gui-scale 1.0

Follow the instructions detailed in the console.