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raisin::tcp_viewer::SelectedActuatorInfo ​

struct · #include <rayrai/TcpRemoteSceneState.hpp>

An actuator (a motor with its gear) of a selected articulated system: what defines its motor's operating region (raisim::ActuatorDefinition) and its state over the last simulation step (raisim::ActuatorState). Motor speeds and torques are on the motor side of the gear.

Public attributes ​

name ​

cpp
std::string name

Actuator name.

model ​

cpp
std::string model

Actuator model name.

joint ​

cpp
std::string joint

Driven joint.

jointVelocity ​

cpp
float jointVelocity

Velocity of the driven joint [rad/s or m/s].

jointTorque ​

cpp
float jointTorque

Actuator torque applied to the driven joint [Nm or N].

gearRatio ​

cpp
float gearRatio

Motor speed per unit speed of the driven joint.

resistance ​

cpp
float resistance

Motor winding resistance R [Ohm].

torqueConstant ​

cpp
float torqueConstant

Motor torque constant Kt [Nm/A].

velocityConstant ​

cpp
float velocityConstant

Motor velocity constant Kv [rad/s/V].

busVoltage ​

cpp
float busVoltage

Bus voltage [V].

peakTorque ​

cpp
float peakTorque

Motor peak (core-saturation) torque [Nm]; may be infinite.

outputDamping ​

cpp
float outputDamping

Actuator damping at its output [Nm s/rad].

outputFriction ​

cpp
float outputFriction

Actuator Coulomb friction at its output [Nm].

motorSpeed ​

cpp
float motorSpeed

Motor speed at the start of the step [rad/s].

averageMotorSpeed ​

cpp
float averageMotorSpeed

Motor speed averaged over the step [rad/s].

commandedMotorTorque ​

cpp
float commandedMotorTorque

Motor torque requested with setActuatorTorques() [Nm].

motorTorque ​

cpp
float motorTorque

Electromagnetic motor torque applied over the step [Nm].

jointLossTorque ​

cpp
float jointLossTorque

Friction and damping torque on the driven joint [Nm or N].

saturation ​

cpp
int32_t saturation

raisim::MotorSaturation of the command.

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