Matching

Matching Objectives specify exact positions and orientations of links or angles of joints, while bounding behavior properties set limits.

Objective	Goals	Description
Position Match	Translation	Control a link's position in space
Orientation Match	Rotation	Control a link's position in space
Joint Match	Scalar	Control a joint's value directly
Distance Match	Scalar	Specify the distance between two links in space

Parameters for constructing Matching Objectives

Parameter	Objectives	Type	Optional	Defauly value/behavior	Description
name	all of the objectives mentioned above	string	no	none	Name can be arbitrary and should be unqiue
weight	all of the objectives mentioned above	float	no	none	Indicates the prioritization of the objective
link	Position Match, Orientation Match	string	no	none	The name of the link this objective is applied to
link1	Distance Match	string	no	none	The name of the link this objective is applied to
link2	Distance Match	string	no	none	The name of the link this objective is applied to
joint	Joint Match	string	no	none
goal	all of the objectives mentioned above	Goal	yes	origin for Translation, no rotation for Rotation, and 0.0 for Scalar	The goal for objectives to achieve