Mirroring

Mirroring objectives allow users to mirror the current state of a link's position or orientation in a different link, or the current angle of one joint in another.

Objective	Category	Description
Position Mirroring	Translation	Mirror the positions of two links with an optional offset
Orientation Mirroring	Rotation	Mirror the rotations of two links with an optional offset
Joint Mirroring	Scalar	Mirror the values of two joints with an optional offset

Parameters for constructing Mirroring 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
link1	Position Mirroring, Orientation Mirroring	string	no	none	The name of the first link this objective is applied to
link2	Position Mirroring, Orientation Mirroring	string	no	none	The name of the second link this objective is applied to
joint1	Joint Mirroring	string	no	none	The name of the first joint or joint this objective is applied to
joint2	Joint Mirroring	string	no	none	The name of the second joint or joint this objective is applied to
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