PulsarActuatorVirtual

PulsarActuatorVirtual is the canonical API 2.0.0 class for running virtual PULSAR actuators backed by AUGUR Digital Twin assets. The first public DTwin beta asset release is available for Linux x86_64 and Windows x86_64; see the download page for the current package and manifest.

Classes:

Name	Description
`Mode`	Control modes available for Pulsar actuator implementations.
`Rates`	Feedback update rates for high/low frequency data streams.
`TorquePerformance`	Performance presets for torque control mode.
`SpeedPerformance`	Performance presets for speed control mode.
`PCP_Parameters`	Parameters that can be read or written through the actuator API.
`PCP_Items`	Feedback items available for monitoring actuator state.

Methods:

Name	Description
`__init__`	Initialize a virtual actuator.
`set_feedback_callback`	Set the callback invoked when virtual feedback is emitted.
`set_error_callback`	Set the callback invoked when virtual actuator errors are emitted.
`set_low_freq_feedback_callback`	Deprecated compatibility shim for the removed low-frequency callback.
`get_feedback`	Return the latest configured feedback snapshot.
`is_valid_actuator_address`	Return whether `address` is a valid actuator network address.
`stop`	Disable virtual actuator control.
`get_model_version`	Return DTwin model/build metadata for this virtual actuator.
`discover_available_actuators`	Return virtual actuator models available under a bindings path.
`set_actuator`	Configure the digital twin by model name.
`set_actuator_from_paths`	Configure the digital twin from explicit artifact paths.
`connect`	Connect to the configured virtual actuator.
`disconnect`	Terminate the virtual actuator backend and mark it disconnected.
`send_ping`	Return whether the virtual actuator is configured and connected.
`change_address`	Set the virtual PCP address.
`start`	Enable virtual actuator control.
`change_mode`	Change the virtual actuator control mode.
`get_mode`	Return the current virtual actuator control mode.
`change_setpoint`	Change the setpoint for the current control mode.
`change_torque_setpoint`	Switch to torque mode and apply a torque setpoint.
`change_speed_setpoint`	Switch to speed mode and apply a speed setpoint.
`change_position_setpoint`	Switch to position mode and apply a position setpoint.
`change_impedance_setpoint`	Switch to impedance mode and apply an impedance setpoint.
`set_home_position`	Set the current virtual actuator position as the zero reference.
`set_feedback_items`	Configure the feedback items emitted by simulation steps.
`set_feedback_rate`	Configure feedback emission rate for simulation steps.
`get_items_blocking`	Return requested feedback values from the current simulator state.
`set_parameters`	Write virtual actuator parameters.
`get_parameters`	Read virtual actuator parameters.
`get_parameters_all`	Read all known virtual actuator parameters.
`set_can_high_speed`	Store CAN high-speed state for real API compatibility.
`set_torque_performance`	Set the virtual torque-control performance preset.
`set_speed_performance`	Set the virtual speed-control performance preset.
`save_config`	Log that virtual actuators do not persist configuration.
`blink`	Log that physical LED blinking is unavailable for virtual actuators.
`step`	Advance the simulation explicitly.
`start_steps`	Advance the simulation by `step_number` steps.
`change_load`	Change the load torque applied to future simulation steps.
`get_sim_time`	Return the latest simulated time.
`get_sim_time_step_s`	Return the DTwin simulation step time in seconds.
`get_sim_rate_hz`	Return the DTwin simulation step rate in Hz.
`get_all_parameters`	Return grouped DTwin controller, impedance, limit, and profile values.
`get_info`	Return the DTwin `info` state as plain Python values.
`get_motor_state`	Return the DTwin motor state as plain Python values.
`get_measurements`	Return the DTwin measurement state as plain Python values.
`get_debug_flags`	Return DTwin debug flags as booleans.
`has_errors`	Return whether any DTwin debug error flag is set.

Attributes:

Name	Type	Description
`connected`	`bool`	Return whether the actuator is connected.
`implementation_version`	`str`	Return DTwin model/build metadata for the generic version hook.

Source code in pcp_api/pulsar_actuator_virtual.pyi

class PulsarActuatorVirtual:
    MODELS_NAMES: Any

    class Mode(Enum):
        """Control modes available for Pulsar actuator implementations."""
        FVI = 0x02  # Field voltage injection test mode
        OPEN_LOOP = 0x03  # Open-loop test mode
        DVI = 0x04  # Field oriented voltage injection test mode
        TORQUE = 0x05
        SPEED = 0x06
        POSITION = 0x07
        IMPEDANCE = 0x08

    class Rates(Enum):
        """Feedback update rates for high/low frequency data streams."""
        DISABLED = 0  # Feedback disabled
        RATE_2KHZ = 10  # 2 kHz update rate
        RATE_1KHZ = 20  # 1 kHz update rate
        RATE_500HZ = 40  # 500 Hz update rate
        RATE_200HZ = 100  # 200 Hz update rate
        RATE_100HZ = 200  # 100 Hz update rate
        RATE_50HZ = 400  # 50 Hz update rate
        RATE_20HZ = 1_000  # 20 Hz update rate
        RATE_10HZ = 2_000  # 10 Hz update rate
        RATE_5HZ = 4_000  # 5 Hz update rate
        RATE_2HZ = 10_000  # 2 Hz update rate
        RATE_1HZ = 20_000  # 1 Hz update rate

    class TorquePerformance(Enum):
        """Performance presets for torque control mode."""
        AGGRESSIVE = 1  # Fast, responsive torque control
        BALANCED = 2  # Balanced torque control
        SOFT = 3  # Smooth, gentle torque control

    class SpeedPerformance(Enum):
        """Performance presets for speed control mode."""
        AGGRESSIVE = 1  # Fast, responsive speed control
        BALANCED = 2  # Balanced speed control
        SOFT = 3  # Smooth, gentle speed control
        CUSTOM = 4  # Custom speed control parameters

    class PCP_Parameters(Enum):
        """Parameters that can be read or written through the actuator API."""
        K_DAMPING = 0x01  # Damping coefficient (Nm*s/rad) for impedance control
        K_STIFFNESS = 0x02  # Stiffness coefficient (Nm/rad) for impedance control
        TORQUE_FF = 0x03  # Feed-forward torque value (Nm)
        LIM_TORQUE = 0x04  # Symmetric torque limit in positive/negative directions (Nm)
        LIM_POSITION_MAX = 0x05  # Maximum position limit (rad)
        LIM_POSITION_MIN = 0x06  # Minimum position limit (rad)
        LIM_SPEED_MAX = 0x07  # Maximum speed limit (rad/s)
        LIM_SPEED_MIN = 0x08  # Minimum speed limit (rad/s)
        PROFILE_POSITION_MAX = 0x09  # Maximum positive speed in position-control profile (rad/s)
        PROFILE_POSITION_MIN = 0x0A  # Maximum negative speed in position-control profile (rad/s)
        PROFILE_SPEED_MAX = 0x0B  # Maximum acceleration in speed-control profile (rad/s^2)
        PROFILE_SPEED_MIN = 0x0C  # Maximum deceleration in speed-control profile (rad/s^2)
        KP_SPEED = 0x0D  # Speed-loop proportional gain
        KI_SPEED = 0x0E  # Speed-loop integral gain
        KP_POSITION = 0x0F  # Position-loop proportional gain
        MODE = 0x30  # Operation mode; read-only, set with CHANGE_MODE
        SETPOINT = 0x31  # Current setpoint: position (rad), speed (rad/s), or torque (Nm)
        TORQUE_PERFORMANCE = 0x40  # Torque performance preset
        SPEED_PERFORMANCE = 0x41  # Speed performance preset
        PROFILE_SPEED_MAX_RAD_S = 0x42  # Maximum profile speed (rad/s)
        PROFILE_TORQUE_MAX_NM = 0x43  # Maximum profile torque (Nm)
        INVERT_FLAG = 0x44  # Invert direction of motion (boolean flag, 0 or 1)
        FF_GAIN = 0x45  # Feed-forward gain for friction/inertia compensation
        PCP_PARAM_SPEED_CUTOFF = 0x46  # Speed IIR filter cutoff frequency
        PCP_PARAM_CURRENT_CUTOFF = 0x47  # DQ-current IIR filter cutoff frequency
        FIRMWARE_VERSION = 0x80  # Real actuator firmware version (read-only)
        PCP_ADDRESS = 0x81  # Device PCP address
        SERIAL_NUMBER = 0x82  # Device serial number (read-only)
        DEVICE_MODEL = 0x83  # Device model identifier (read-only)
        CONTROL_VERSION = 0x84  # Control software version (read-only)
        CAN_HIGH_SPEED = 0x85  # CAN high-speed mode enabled/disabled

    class PCP_Items(Enum):
        """Feedback items available for monitoring actuator state."""
        ENCODER_INT = 0x41  # Internal encoder position
        ENCODER_INT_RAW = 0x42  # Raw internal encoder counts
        ENCODER_EXT = 0x43  # External encoder position
        ENCODER_EXT_RAW = 0x44  # Raw external encoder counts
        SPEED_FB = 0x45  # Speed feedback
        IA = 0x46  # Phase A current
        IB = 0x47  # Phase B current
        IC = 0x48  # Phase C current
        TORQUE_SENS = 0x49  # Torque sensor reading
        TORQUE_SENS_RAW = 0x4A  # Raw torque sensor reading
        POSITION_REF = 0x4B  # Position reference/command
        POSITION_FB = 0x4C  # Position feedback
        POSITION_FB_INTERNAL = 0x73  # Position feedback from internal encoder
        SPEED_REF = 0x4D  # Speed reference/command
        ID_REF = 0x4F  # D-axis current reference
        ID_FB = 0x50  # D-axis current feedback
        IQ_REF = 0x51  # Q-axis current reference
        IQ_FB = 0x52  # Q-axis current feedback
        VD_REF = 0x53  # D-axis voltage reference
        VQ_REF = 0x54  # Q-axis voltage reference
        TORQUE_REF = 0x55  # Torque reference/command
        TORQUE_FB = 0x56  # Torque feedback
        REFERENCE_A_VOLTAGE = 0x57  # Reference phase A voltage
        REFERENCE_B_VOLTAGE = 0x58  # Reference phase B voltage
        REFERENCE_C_VOLTAGE = 0x59  # Reference phase C voltage
        BUS_POWER = 0x5A  # DC bus power
        BUS_CURRENT = 0x5B  # DC bus current
        THREE_PHASE_POWER = 0x5C  # Three-phase electrical power
        MECHANICAL_POWER = 0x5D  # Mechanical output power
        INVERTER_EFFICIENCY = 0x5E  # Inverter efficiency
        MOTOR_EFFICIENCY = 0x5F  # Motor efficiency
        ERRORS_ENCODER_INT = 0x60  # Internal encoder error flags
        ERRORS_ENCODER_EXT = 0x61  # External encoder error flags
        ERRORS_OVERRUN = 0x62  # Control-loop overrun error flags
        VBUS = 0x70  # DC bus voltage
        TEMP_PCB = 0x71  # PCB temperature
        TEMP_MOTOR = 0x72  # Motor temperature
        DEBUG_SIGNAL_BOOL = 0x90  # Debug boolean signal
        DEBUG_SIGNAL01 = 0x91  # Debug signal 1
        DEBUG_SIGNAL02 = 0x92  # Debug signal 2
        DEBUG_SIGNAL03 = 0x93  # Debug signal 3
        DEBUG_SIGNAL04 = 0x94  # Debug signal 4
        DEBUG_SIGNAL05 = 0x95  # Debug signal 5
        DEBUG_SIGNAL06 = 0x96  # Debug signal 6
        DEBUG_SIGNAL07 = 0x97  # Debug signal 7
        DEBUG_SIGNAL08 = 0x98  # Debug signal 8
        DEBUG_SIGNAL09 = 0x99  # Debug signal 9
        DEBUG_SIGNAL10 = 0x9A  # Debug signal 10

    def __init__(self, adapter_handler: Any | None = None, address: int | None = None, logger: logging.Logger | None = None) -> None:
        """
        Initialize a virtual actuator.

        Args:
            adapter_handler: Optional preconfigured DTwin actuator wrapper.
            address: Optional virtual PCP address.
            logger: Optional logger used for diagnostics.
        """
        ...

    @property
    def connected(self) -> bool:
        """Return whether the actuator is connected."""
        ...

    @property
    def implementation_version(self) -> str:
        """Return DTwin model/build metadata for the generic version hook."""
        ...

    def set_feedback_callback(self, callback: Callable[[int | None, dict[Any, Any]], None]) -> None:
        """Set the callback invoked when virtual feedback is emitted."""
        ...

    def set_error_callback(self, callback: Callable[[int | None, dict[Any, Any]], None]) -> None:
        """Set the callback invoked when virtual actuator errors are emitted."""
        ...

    def set_low_freq_feedback_callback(self, callback: Callable[[Any], None]) -> None:
        """Deprecated compatibility shim for the removed low-frequency callback."""
        ...

    def get_feedback(self) -> dict['PulsarActuatorVirtual.PCP_Items', float]:
        """Return the latest configured feedback snapshot."""
        ...

    @staticmethod
    def is_valid_actuator_address(address: int) -> bool:
        """Return whether ``address`` is a valid actuator network address."""
        ...

    def stop(self) -> None:
        """Disable virtual actuator control."""
        ...

    def get_model_version(self) -> str:
        """Return DTwin model/build metadata for this virtual actuator."""
        ...

    @staticmethod
    def discover_available_actuators(bindings_path: str | Path) -> list[str]:
        """
        Return virtual actuator models available under a bindings path.

        Args:
            bindings_path: Directory containing generated DTwin artifacts.

        Returns:
            Available actuator model names. Missing directories return an empty
            list.
        """
        ...

    def set_actuator(self, model_name: str, library_path: str | Path | None = None, bindings_root: str | Path | None = None) -> Any:
        """
        Configure the digital twin by model name.

        When ``library_path`` is provided, it is treated as an actuator-library
        YAML file. Without a YAML file, the method resolves generated DTwin
        artifacts directly from ``bindings_root`` or the repo assets folder.

        Args:
            model_name: Actuator model name to load.
            library_path: Optional actuator-library YAML path.
            bindings_root: Optional root used to discover generated artifacts.

        Returns:
            Configured DTwin actuator wrapper.
        """
        ...

    def set_actuator_from_paths(self, library_path: str | Path, bindings_path: str | Path) -> Any:
        """
        Configure the digital twin from explicit artifact paths.

        Args:
            library_path: Path to the generated DTwin shared library.
            bindings_path: Path to the generated Python bindings.

        Returns:
            Configured DTwin actuator wrapper.
        """
        ...

    def connect(self, timeout: float = 1.0) -> bool:
        """
        Connect to the configured virtual actuator.

        Args:
            timeout: Accepted for real API compatibility; unused by the virtual
                backend.

        Returns:
            ``True`` when a DTwin actuator wrapper is configured.
        """
        ...

    def disconnect(self) -> None:
        """Terminate the virtual actuator backend and mark it disconnected."""
        ...

    def send_ping(self, timeout: float = 1.0) -> bool:
        """
        Return whether the virtual actuator is configured and connected.

        Args:
            timeout: Accepted for real API compatibility; unused by the virtual
                backend.
        """
        ...

    def change_address(self, new_address: int) -> None:
        """
        Set the virtual PCP address.

        Args:
            new_address: New virtual actuator address in the valid actuator range.
        """
        ...

    def start(self) -> None:
        """Enable virtual actuator control."""
        ...

    def change_mode(self, mode: 'PulsarActuatorVirtual.Mode') -> None:
        """
        Change the virtual actuator control mode.

        Args:
            mode: Control mode to activate.
        """
        ...

    def get_mode(self) -> 'PulsarActuatorVirtual.Mode':
        """Return the current virtual actuator control mode."""
        ...

    def change_setpoint(self, setpoint: float) -> None:
        """
        Change the setpoint for the current control mode.

        Args:
            setpoint: Setpoint value for the active mode.
        """
        ...

    def change_torque_setpoint(self, setpoint: float, id_Kp: float = nan, id_Ki: float = nan, iq_Kp: float = nan, iq_Ki: float = nan) -> None:
        """
        Switch to torque mode and apply a torque setpoint.

        Args:
            setpoint: Torque reference, in Nm.
            id_Kp: Optional d-axis current proportional gain.
            id_Ki: Optional d-axis current integral gain.
            iq_Kp: Optional q-axis current proportional gain.
            iq_Ki: Optional q-axis current integral gain.
        """
        ...

    def change_speed_setpoint(self, setpoint: float, FF_gain: float = nan, spd_Ki: float = nan, spd_Kp: float = nan, ref_ff_torque: float = nan) -> None:
        """
        Switch to speed mode and apply a speed setpoint.

        Args:
            setpoint: Speed reference, in rad/s.
            FF_gain: Optional feed-forward gain.
            spd_Ki: Optional speed-loop integral gain.
            spd_Kp: Optional speed-loop proportional gain.
            ref_ff_torque: Optional feed-forward torque reference, in Nm.
        """
        ...

    def change_position_setpoint(self, setpoint: float, FF_gain: float = nan, spd_Ki: float = nan, spd_Kp: float = nan, pos_Kp: float = nan, ref_ff_torque: float = nan) -> None:
        """
        Switch to position mode and apply a position setpoint.

        Args:
            setpoint: Position reference, in radians.
            FF_gain: Optional feed-forward gain.
            spd_Ki: Optional speed-loop integral gain.
            spd_Kp: Optional speed-loop proportional gain.
            pos_Kp: Optional position-loop proportional gain.
            ref_ff_torque: Optional feed-forward torque reference, in Nm.
        """
        ...

    def change_impedance_setpoint(self, setpoint: float, FF_gain: float = nan, K_stiff: float = nan, K_damp: float = nan, J_imp: float = nan, ref_ff_torque: float = nan, ref_impedance_spd: float = nan, ref_impedance_acel: float = nan) -> None:
        """
        Switch to impedance mode and apply an impedance setpoint.

        Args:
            setpoint: Position reference, in radians.
            FF_gain: Optional feed-forward gain.
            K_stiff: Optional impedance stiffness.
            K_damp: Optional impedance damping.
            J_imp: Optional impedance inertia.
            ref_ff_torque: Optional feed-forward torque reference, in Nm.
            ref_impedance_spd: Optional impedance speed reference, in rad/s.
            ref_impedance_acel: Optional impedance acceleration reference.
        """
        ...

    def set_home_position(self) -> None:
        """Set the current virtual actuator position as the zero reference."""
        ...

    def set_feedback_items(self, items: list['PulsarActuatorVirtual.PCP_Items']) -> None:
        """
        Configure the feedback items emitted by simulation steps.

        Args:
            items: Feedback items to include in emitted snapshots.
        """
        ...

    def set_feedback_rate(self, rate: 'PulsarActuatorVirtual.Rates | int') -> None:
        """
        Configure feedback emission rate for simulation steps.

        Args:
            rate: A ``Rates`` divider enum or integer target rate in Hz. Use
                ``Rates.DISABLED`` or ``0`` to disable callback emission.
        """
        ...

    def get_items_blocking(self, items: list['PulsarActuatorVirtual.PCP_Items'], timeout: float = 1.0) -> dict['PulsarActuatorVirtual.PCP_Items', float]:
        """
        Return requested feedback values from the current simulator state.

        Args:
            items: Feedback items to read. Requests are capped at the protocol
                batch limit.
            timeout: Accepted for real API compatibility; unused by the virtual
                backend.

        Returns:
            Mapping from requested feedback items to current values.
        """
        ...

    def set_parameters(self, parameters: dict['PulsarActuatorVirtual.PCP_Parameters', float]) -> None:
        """
        Write virtual actuator parameters.

        Args:
            parameters: Mapping from parameter enum to the value to write.
        """
        ...

    def get_parameters(self, parameters: list['PulsarActuatorVirtual.PCP_Parameters'], timeout: float = 1.0) -> dict['PulsarActuatorVirtual.PCP_Parameters', float]:
        """
        Read virtual actuator parameters.

        Args:
            parameters: Parameters to read.
            timeout: Accepted for real API compatibility; unused by the virtual
                backend.

        Returns:
            Mapping from parameter enum to current value.
        """
        ...

    def get_parameters_all(self) -> dict['PulsarActuatorVirtual.PCP_Parameters', float]:
        """Read all known virtual actuator parameters."""
        ...

    def set_can_high_speed(self, enabled: bool) -> None:
        """Store CAN high-speed state for real API compatibility."""
        ...

    def set_torque_performance(self, performance: 'PulsarActuatorVirtual.TorquePerformance') -> None:
        """Set the virtual torque-control performance preset."""
        ...

    def set_speed_performance(self, performance: 'PulsarActuatorVirtual.SpeedPerformance') -> None:
        """Set the virtual speed-control performance preset."""
        ...

    def save_config(self) -> None:
        """Log that virtual actuators do not persist configuration."""
        ...

    def blink(self, timeout: float = 1.0) -> None:
        """Log that physical LED blinking is unavailable for virtual actuators."""
        ...

    def step(self, load: float | None = None, steps: int = 1) -> dict['PulsarActuatorVirtual.PCP_Items', float]:
        """
        Advance the simulation explicitly.

        This is the main virtual-only extension beyond the real actuator API.

        Args:
            load: Optional load torque to apply before stepping.
            steps: Number of simulation steps to run.

        Returns:
            Latest configured feedback snapshot after stepping.
        """
        ...

    def start_steps(self, step_number: int) -> None:
        """Advance the simulation by ``step_number`` steps."""
        ...

    def change_load(self, load: float) -> None:
        """Change the load torque applied to future simulation steps."""
        ...

    def get_sim_time(self, round_dec: int = 3) -> float:
        """
        Return the latest simulated time.

        Args:
            round_dec: Decimal places used to round the returned time.
        """
        ...

    def get_sim_time_step_s(self) -> float:
        """
        Return the DTwin simulation step time in seconds.

        The current DTwin artifacts use the wrapper's telemetry log timestep.
        If a future generated artifact exposes timestep metadata, the backend
        wrapper will return that value through the same public API.
        """
        ...

    def get_sim_rate_hz(self) -> float:
        """Return the DTwin simulation step rate in Hz."""
        ...

    def get_all_parameters(self) -> dict[str, dict]:
        """Return grouped DTwin controller, impedance, limit, and profile values."""
        ...

    def get_info(self) -> dict[str, float]:
        """Return the DTwin ``info`` state as plain Python values."""
        ...

    def get_motor_state(self) -> dict[str, float]:
        """Return the DTwin motor state as plain Python values."""
        ...

    def get_measurements(self) -> dict[str, float]:
        """Return the DTwin measurement state as plain Python values."""
        ...

    def get_debug_flags(self) -> dict[str, bool]:
        """Return DTwin debug flags as booleans."""
        ...

    def has_errors(self) -> bool:
        """Return whether any DTwin debug error flag is set."""
        ...

Attributes

`connected` `property`

Return whether the actuator is connected.

`implementation_version` `property`

Return DTwin model/build metadata for the generic version hook.

Classes

`Mode`

Bases: Enum

Control modes available for Pulsar actuator implementations.

Source code in pcp_api/pulsar_actuator_virtual.pyi

class Mode(Enum):
    """Control modes available for Pulsar actuator implementations."""
    FVI = 0x02  # Field voltage injection test mode
    OPEN_LOOP = 0x03  # Open-loop test mode
    DVI = 0x04  # Field oriented voltage injection test mode
    TORQUE = 0x05
    SPEED = 0x06
    POSITION = 0x07
    IMPEDANCE = 0x08

`Rates`

Bases: Enum

Feedback update rates for high/low frequency data streams.

Source code in pcp_api/pulsar_actuator_virtual.pyi

class Rates(Enum):
    """Feedback update rates for high/low frequency data streams."""
    DISABLED = 0  # Feedback disabled
    RATE_2KHZ = 10  # 2 kHz update rate
    RATE_1KHZ = 20  # 1 kHz update rate
    RATE_500HZ = 40  # 500 Hz update rate
    RATE_200HZ = 100  # 200 Hz update rate
    RATE_100HZ = 200  # 100 Hz update rate
    RATE_50HZ = 400  # 50 Hz update rate
    RATE_20HZ = 1_000  # 20 Hz update rate
    RATE_10HZ = 2_000  # 10 Hz update rate
    RATE_5HZ = 4_000  # 5 Hz update rate
    RATE_2HZ = 10_000  # 2 Hz update rate
    RATE_1HZ = 20_000  # 1 Hz update rate

`TorquePerformance`

Bases: Enum

Performance presets for torque control mode.

Source code in pcp_api/pulsar_actuator_virtual.pyi

class TorquePerformance(Enum):
    """Performance presets for torque control mode."""
    AGGRESSIVE = 1  # Fast, responsive torque control
    BALANCED = 2  # Balanced torque control
    SOFT = 3  # Smooth, gentle torque control

`SpeedPerformance`

Bases: Enum

Performance presets for speed control mode.

Source code in pcp_api/pulsar_actuator_virtual.pyi

class SpeedPerformance(Enum):
    """Performance presets for speed control mode."""
    AGGRESSIVE = 1  # Fast, responsive speed control
    BALANCED = 2  # Balanced speed control
    SOFT = 3  # Smooth, gentle speed control
    CUSTOM = 4  # Custom speed control parameters

`PCP_Parameters`

Bases: Enum

Parameters that can be read or written through the actuator API.

Source code in pcp_api/pulsar_actuator_virtual.pyi

class PCP_Parameters(Enum):
    """Parameters that can be read or written through the actuator API."""
    K_DAMPING = 0x01  # Damping coefficient (Nm*s/rad) for impedance control
    K_STIFFNESS = 0x02  # Stiffness coefficient (Nm/rad) for impedance control
    TORQUE_FF = 0x03  # Feed-forward torque value (Nm)
    LIM_TORQUE = 0x04  # Symmetric torque limit in positive/negative directions (Nm)
    LIM_POSITION_MAX = 0x05  # Maximum position limit (rad)
    LIM_POSITION_MIN = 0x06  # Minimum position limit (rad)
    LIM_SPEED_MAX = 0x07  # Maximum speed limit (rad/s)
    LIM_SPEED_MIN = 0x08  # Minimum speed limit (rad/s)
    PROFILE_POSITION_MAX = 0x09  # Maximum positive speed in position-control profile (rad/s)
    PROFILE_POSITION_MIN = 0x0A  # Maximum negative speed in position-control profile (rad/s)
    PROFILE_SPEED_MAX = 0x0B  # Maximum acceleration in speed-control profile (rad/s^2)
    PROFILE_SPEED_MIN = 0x0C  # Maximum deceleration in speed-control profile (rad/s^2)
    KP_SPEED = 0x0D  # Speed-loop proportional gain
    KI_SPEED = 0x0E  # Speed-loop integral gain
    KP_POSITION = 0x0F  # Position-loop proportional gain
    MODE = 0x30  # Operation mode; read-only, set with CHANGE_MODE
    SETPOINT = 0x31  # Current setpoint: position (rad), speed (rad/s), or torque (Nm)
    TORQUE_PERFORMANCE = 0x40  # Torque performance preset
    SPEED_PERFORMANCE = 0x41  # Speed performance preset
    PROFILE_SPEED_MAX_RAD_S = 0x42  # Maximum profile speed (rad/s)
    PROFILE_TORQUE_MAX_NM = 0x43  # Maximum profile torque (Nm)
    INVERT_FLAG = 0x44  # Invert direction of motion (boolean flag, 0 or 1)
    FF_GAIN = 0x45  # Feed-forward gain for friction/inertia compensation
    PCP_PARAM_SPEED_CUTOFF = 0x46  # Speed IIR filter cutoff frequency
    PCP_PARAM_CURRENT_CUTOFF = 0x47  # DQ-current IIR filter cutoff frequency
    FIRMWARE_VERSION = 0x80  # Real actuator firmware version (read-only)
    PCP_ADDRESS = 0x81  # Device PCP address
    SERIAL_NUMBER = 0x82  # Device serial number (read-only)
    DEVICE_MODEL = 0x83  # Device model identifier (read-only)
    CONTROL_VERSION = 0x84  # Control software version (read-only)
    CAN_HIGH_SPEED = 0x85  # CAN high-speed mode enabled/disabled

`PCP_Items`

Bases: Enum

Feedback items available for monitoring actuator state.

Source code in pcp_api/pulsar_actuator_virtual.pyi

class PCP_Items(Enum):
    """Feedback items available for monitoring actuator state."""
    ENCODER_INT = 0x41  # Internal encoder position
    ENCODER_INT_RAW = 0x42  # Raw internal encoder counts
    ENCODER_EXT = 0x43  # External encoder position
    ENCODER_EXT_RAW = 0x44  # Raw external encoder counts
    SPEED_FB = 0x45  # Speed feedback
    IA = 0x46  # Phase A current
    IB = 0x47  # Phase B current
    IC = 0x48  # Phase C current
    TORQUE_SENS = 0x49  # Torque sensor reading
    TORQUE_SENS_RAW = 0x4A  # Raw torque sensor reading
    POSITION_REF = 0x4B  # Position reference/command
    POSITION_FB = 0x4C  # Position feedback
    POSITION_FB_INTERNAL = 0x73  # Position feedback from internal encoder
    SPEED_REF = 0x4D  # Speed reference/command
    ID_REF = 0x4F  # D-axis current reference
    ID_FB = 0x50  # D-axis current feedback
    IQ_REF = 0x51  # Q-axis current reference
    IQ_FB = 0x52  # Q-axis current feedback
    VD_REF = 0x53  # D-axis voltage reference
    VQ_REF = 0x54  # Q-axis voltage reference
    TORQUE_REF = 0x55  # Torque reference/command
    TORQUE_FB = 0x56  # Torque feedback
    REFERENCE_A_VOLTAGE = 0x57  # Reference phase A voltage
    REFERENCE_B_VOLTAGE = 0x58  # Reference phase B voltage
    REFERENCE_C_VOLTAGE = 0x59  # Reference phase C voltage
    BUS_POWER = 0x5A  # DC bus power
    BUS_CURRENT = 0x5B  # DC bus current
    THREE_PHASE_POWER = 0x5C  # Three-phase electrical power
    MECHANICAL_POWER = 0x5D  # Mechanical output power
    INVERTER_EFFICIENCY = 0x5E  # Inverter efficiency
    MOTOR_EFFICIENCY = 0x5F  # Motor efficiency
    ERRORS_ENCODER_INT = 0x60  # Internal encoder error flags
    ERRORS_ENCODER_EXT = 0x61  # External encoder error flags
    ERRORS_OVERRUN = 0x62  # Control-loop overrun error flags
    VBUS = 0x70  # DC bus voltage
    TEMP_PCB = 0x71  # PCB temperature
    TEMP_MOTOR = 0x72  # Motor temperature
    DEBUG_SIGNAL_BOOL = 0x90  # Debug boolean signal
    DEBUG_SIGNAL01 = 0x91  # Debug signal 1
    DEBUG_SIGNAL02 = 0x92  # Debug signal 2
    DEBUG_SIGNAL03 = 0x93  # Debug signal 3
    DEBUG_SIGNAL04 = 0x94  # Debug signal 4
    DEBUG_SIGNAL05 = 0x95  # Debug signal 5
    DEBUG_SIGNAL06 = 0x96  # Debug signal 6
    DEBUG_SIGNAL07 = 0x97  # Debug signal 7
    DEBUG_SIGNAL08 = 0x98  # Debug signal 8
    DEBUG_SIGNAL09 = 0x99  # Debug signal 9
    DEBUG_SIGNAL10 = 0x9A  # Debug signal 10

Methods:

`init(adapter_handler=None, address=None, logger=None)`

Initialize a virtual actuator.

Parameters:

Name	Type	Description	Default
`adapter_handler`	`Any \| None`	Optional preconfigured DTwin actuator wrapper.	`None`
`address`	`int \| None`	Optional virtual PCP address.	`None`
`logger`	`Logger \| None`	Optional logger used for diagnostics.	`None`

Source code in pcp_api/pulsar_actuator_virtual.pyi

def __init__(self, adapter_handler: Any | None = None, address: int | None = None, logger: logging.Logger | None = None) -> None:
    """
    Initialize a virtual actuator.

    Args:
        adapter_handler: Optional preconfigured DTwin actuator wrapper.
        address: Optional virtual PCP address.
        logger: Optional logger used for diagnostics.
    """
    ...

`set_feedback_callback(callback)`

Set the callback invoked when virtual feedback is emitted.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def set_feedback_callback(self, callback: Callable[[int | None, dict[Any, Any]], None]) -> None:
    """Set the callback invoked when virtual feedback is emitted."""
    ...

`set_error_callback(callback)`

Set the callback invoked when virtual actuator errors are emitted.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def set_error_callback(self, callback: Callable[[int | None, dict[Any, Any]], None]) -> None:
    """Set the callback invoked when virtual actuator errors are emitted."""
    ...

`set_low_freq_feedback_callback(callback)`

Deprecated compatibility shim for the removed low-frequency callback.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def set_low_freq_feedback_callback(self, callback: Callable[[Any], None]) -> None:
    """Deprecated compatibility shim for the removed low-frequency callback."""
    ...

`get_feedback()`

Return the latest configured feedback snapshot.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def get_feedback(self) -> dict['PulsarActuatorVirtual.PCP_Items', float]:
    """Return the latest configured feedback snapshot."""
    ...

`is_valid_actuator_address(address)` `staticmethod`

Return whether address is a valid actuator network address.

Source code in pcp_api/pulsar_actuator_virtual.pyi

@staticmethod
def is_valid_actuator_address(address: int) -> bool:
    """Return whether ``address`` is a valid actuator network address."""
    ...

`stop()`

Disable virtual actuator control.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def stop(self) -> None:
    """Disable virtual actuator control."""
    ...

`get_model_version()`

Return DTwin model/build metadata for this virtual actuator.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def get_model_version(self) -> str:
    """Return DTwin model/build metadata for this virtual actuator."""
    ...

`discover_available_actuators(bindings_path)` `staticmethod`

Return virtual actuator models available under a bindings path.

Parameters:

Name	Type	Description	Default
`bindings_path`	`str \| Path`	Directory containing generated DTwin artifacts.	required

Returns:

Type	Description
`list[str]`	Available actuator model names. Missing directories return an empty
`list[str]`	list.

Source code in pcp_api/pulsar_actuator_virtual.pyi

@staticmethod
def discover_available_actuators(bindings_path: str | Path) -> list[str]:
    """
    Return virtual actuator models available under a bindings path.

    Args:
        bindings_path: Directory containing generated DTwin artifacts.

    Returns:
        Available actuator model names. Missing directories return an empty
        list.
    """
    ...

`set_actuator(model_name, library_path=None, bindings_root=None)`

Configure the digital twin by model name.

When library_path is provided, it is treated as an actuator-library YAML file. Without a YAML file, the method resolves generated DTwin artifacts directly from bindings_root or the repo assets folder.

Parameters:

Name	Type	Description	Default
`model_name`	`str`	Actuator model name to load.	required
`library_path`	`str \| Path \| None`	Optional actuator-library YAML path.	`None`
`bindings_root`	`str \| Path \| None`	Optional root used to discover generated artifacts.	`None`

Returns:

Type	Description
`Any`	Configured DTwin actuator wrapper.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def set_actuator(self, model_name: str, library_path: str | Path | None = None, bindings_root: str | Path | None = None) -> Any:
    """
    Configure the digital twin by model name.

    When ``library_path`` is provided, it is treated as an actuator-library
    YAML file. Without a YAML file, the method resolves generated DTwin
    artifacts directly from ``bindings_root`` or the repo assets folder.

    Args:
        model_name: Actuator model name to load.
        library_path: Optional actuator-library YAML path.
        bindings_root: Optional root used to discover generated artifacts.

    Returns:
        Configured DTwin actuator wrapper.
    """
    ...

`set_actuator_from_paths(library_path, bindings_path)`

Configure the digital twin from explicit artifact paths.

Parameters:

Name	Type	Description	Default
`library_path`	`str \| Path`	Path to the generated DTwin shared library.	required
`bindings_path`	`str \| Path`	Path to the generated Python bindings.	required

Returns:

Type	Description
`Any`	Configured DTwin actuator wrapper.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def set_actuator_from_paths(self, library_path: str | Path, bindings_path: str | Path) -> Any:
    """
    Configure the digital twin from explicit artifact paths.

    Args:
        library_path: Path to the generated DTwin shared library.
        bindings_path: Path to the generated Python bindings.

    Returns:
        Configured DTwin actuator wrapper.
    """
    ...

`connect(timeout=1.0)`

Connect to the configured virtual actuator.

Parameters:

Name	Type	Description	Default
`timeout`	`float`	Accepted for real API compatibility; unused by the virtual backend.	`1.0`

Returns:

Type	Description
`bool`	`True` when a DTwin actuator wrapper is configured.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def connect(self, timeout: float = 1.0) -> bool:
    """
    Connect to the configured virtual actuator.

    Args:
        timeout: Accepted for real API compatibility; unused by the virtual
            backend.

    Returns:
        ``True`` when a DTwin actuator wrapper is configured.
    """
    ...

`disconnect()`

Terminate the virtual actuator backend and mark it disconnected.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def disconnect(self) -> None:
    """Terminate the virtual actuator backend and mark it disconnected."""
    ...

`send_ping(timeout=1.0)`

Return whether the virtual actuator is configured and connected.

Parameters:

Name	Type	Description	Default
`timeout`	`float`	Accepted for real API compatibility; unused by the virtual backend.	`1.0`

Source code in pcp_api/pulsar_actuator_virtual.pyi

def send_ping(self, timeout: float = 1.0) -> bool:
    """
    Return whether the virtual actuator is configured and connected.

    Args:
        timeout: Accepted for real API compatibility; unused by the virtual
            backend.
    """
    ...

`change_address(new_address)`

Set the virtual PCP address.

Parameters:

Name	Type	Description	Default
`new_address`	`int`	New virtual actuator address in the valid actuator range.	required

Source code in pcp_api/pulsar_actuator_virtual.pyi

def change_address(self, new_address: int) -> None:
    """
    Set the virtual PCP address.

    Args:
        new_address: New virtual actuator address in the valid actuator range.
    """
    ...

`start()`

Enable virtual actuator control.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def start(self) -> None:
    """Enable virtual actuator control."""
    ...

`change_mode(mode)`

Change the virtual actuator control mode.

Parameters:

Name	Type	Description	Default
`mode`	`Mode`	Control mode to activate.	required

Source code in pcp_api/pulsar_actuator_virtual.pyi

def change_mode(self, mode: 'PulsarActuatorVirtual.Mode') -> None:
    """
    Change the virtual actuator control mode.

    Args:
        mode: Control mode to activate.
    """
    ...

`get_mode()`

Return the current virtual actuator control mode.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def get_mode(self) -> 'PulsarActuatorVirtual.Mode':
    """Return the current virtual actuator control mode."""
    ...

`change_setpoint(setpoint)`

Change the setpoint for the current control mode.

Parameters:

Name	Type	Description	Default
`setpoint`	`float`	Setpoint value for the active mode.	required

Source code in pcp_api/pulsar_actuator_virtual.pyi

def change_setpoint(self, setpoint: float) -> None:
    """
    Change the setpoint for the current control mode.

    Args:
        setpoint: Setpoint value for the active mode.
    """
    ...

`change_torque_setpoint(setpoint, id_Kp=nan, id_Ki=nan, iq_Kp=nan, iq_Ki=nan)`

Switch to torque mode and apply a torque setpoint.

Parameters:

Name	Type	Description	Default
`setpoint`	`float`	Torque reference, in Nm.	required
`id_Kp`	`float`	Optional d-axis current proportional gain.	`nan`
`id_Ki`	`float`	Optional d-axis current integral gain.	`nan`
`iq_Kp`	`float`	Optional q-axis current proportional gain.	`nan`
`iq_Ki`	`float`	Optional q-axis current integral gain.	`nan`

Source code in pcp_api/pulsar_actuator_virtual.pyi

def change_torque_setpoint(self, setpoint: float, id_Kp: float = nan, id_Ki: float = nan, iq_Kp: float = nan, iq_Ki: float = nan) -> None:
    """
    Switch to torque mode and apply a torque setpoint.

    Args:
        setpoint: Torque reference, in Nm.
        id_Kp: Optional d-axis current proportional gain.
        id_Ki: Optional d-axis current integral gain.
        iq_Kp: Optional q-axis current proportional gain.
        iq_Ki: Optional q-axis current integral gain.
    """
    ...

`change_speed_setpoint(setpoint, FF_gain=nan, spd_Ki=nan, spd_Kp=nan, ref_ff_torque=nan)`

Switch to speed mode and apply a speed setpoint.

Parameters:

Name	Type	Description	Default
`setpoint`	`float`	Speed reference, in rad/s.	required
`FF_gain`	`float`	Optional feed-forward gain.	`nan`
`spd_Ki`	`float`	Optional speed-loop integral gain.	`nan`
`spd_Kp`	`float`	Optional speed-loop proportional gain.	`nan`
`ref_ff_torque`	`float`	Optional feed-forward torque reference, in Nm.	`nan`

Source code in pcp_api/pulsar_actuator_virtual.pyi

def change_speed_setpoint(self, setpoint: float, FF_gain: float = nan, spd_Ki: float = nan, spd_Kp: float = nan, ref_ff_torque: float = nan) -> None:
    """
    Switch to speed mode and apply a speed setpoint.

    Args:
        setpoint: Speed reference, in rad/s.
        FF_gain: Optional feed-forward gain.
        spd_Ki: Optional speed-loop integral gain.
        spd_Kp: Optional speed-loop proportional gain.
        ref_ff_torque: Optional feed-forward torque reference, in Nm.
    """
    ...

`change_position_setpoint(setpoint, FF_gain=nan, spd_Ki=nan, spd_Kp=nan, pos_Kp=nan, ref_ff_torque=nan)`

Switch to position mode and apply a position setpoint.

Parameters:

Name	Type	Description	Default
`setpoint`	`float`	Position reference, in radians.	required
`FF_gain`	`float`	Optional feed-forward gain.	`nan`
`spd_Ki`	`float`	Optional speed-loop integral gain.	`nan`
`spd_Kp`	`float`	Optional speed-loop proportional gain.	`nan`
`pos_Kp`	`float`	Optional position-loop proportional gain.	`nan`
`ref_ff_torque`	`float`	Optional feed-forward torque reference, in Nm.	`nan`

Source code in pcp_api/pulsar_actuator_virtual.pyi

def change_position_setpoint(self, setpoint: float, FF_gain: float = nan, spd_Ki: float = nan, spd_Kp: float = nan, pos_Kp: float = nan, ref_ff_torque: float = nan) -> None:
    """
    Switch to position mode and apply a position setpoint.

    Args:
        setpoint: Position reference, in radians.
        FF_gain: Optional feed-forward gain.
        spd_Ki: Optional speed-loop integral gain.
        spd_Kp: Optional speed-loop proportional gain.
        pos_Kp: Optional position-loop proportional gain.
        ref_ff_torque: Optional feed-forward torque reference, in Nm.
    """
    ...

`change_impedance_setpoint(setpoint, FF_gain=nan, K_stiff=nan, K_damp=nan, J_imp=nan, ref_ff_torque=nan, ref_impedance_spd=nan, ref_impedance_acel=nan)`

Switch to impedance mode and apply an impedance setpoint.

Parameters:

Name	Type	Description	Default
`setpoint`	`float`	Position reference, in radians.	required
`FF_gain`	`float`	Optional feed-forward gain.	`nan`
`K_stiff`	`float`	Optional impedance stiffness.	`nan`
`K_damp`	`float`	Optional impedance damping.	`nan`
`J_imp`	`float`	Optional impedance inertia.	`nan`
`ref_ff_torque`	`float`	Optional feed-forward torque reference, in Nm.	`nan`
`ref_impedance_spd`	`float`	Optional impedance speed reference, in rad/s.	`nan`
`ref_impedance_acel`	`float`	Optional impedance acceleration reference.	`nan`

Source code in pcp_api/pulsar_actuator_virtual.pyi

def change_impedance_setpoint(self, setpoint: float, FF_gain: float = nan, K_stiff: float = nan, K_damp: float = nan, J_imp: float = nan, ref_ff_torque: float = nan, ref_impedance_spd: float = nan, ref_impedance_acel: float = nan) -> None:
    """
    Switch to impedance mode and apply an impedance setpoint.

    Args:
        setpoint: Position reference, in radians.
        FF_gain: Optional feed-forward gain.
        K_stiff: Optional impedance stiffness.
        K_damp: Optional impedance damping.
        J_imp: Optional impedance inertia.
        ref_ff_torque: Optional feed-forward torque reference, in Nm.
        ref_impedance_spd: Optional impedance speed reference, in rad/s.
        ref_impedance_acel: Optional impedance acceleration reference.
    """
    ...

`set_home_position()`

Set the current virtual actuator position as the zero reference.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def set_home_position(self) -> None:
    """Set the current virtual actuator position as the zero reference."""
    ...

`set_feedback_items(items)`

Configure the feedback items emitted by simulation steps.

Parameters:

Name	Type	Description	Default
`items`	`list[PCP_Items]`	Feedback items to include in emitted snapshots.	required

Source code in pcp_api/pulsar_actuator_virtual.pyi

def set_feedback_items(self, items: list['PulsarActuatorVirtual.PCP_Items']) -> None:
    """
    Configure the feedback items emitted by simulation steps.

    Args:
        items: Feedback items to include in emitted snapshots.
    """
    ...

`set_feedback_rate(rate)`

Configure feedback emission rate for simulation steps.

Parameters:

Name	Type	Description	Default
`rate`	`Rates \| int`	A `Rates` divider enum or integer target rate in Hz. Use `Rates.DISABLED` or `0` to disable callback emission.	required

Source code in pcp_api/pulsar_actuator_virtual.pyi

def set_feedback_rate(self, rate: 'PulsarActuatorVirtual.Rates | int') -> None:
    """
    Configure feedback emission rate for simulation steps.

    Args:
        rate: A ``Rates`` divider enum or integer target rate in Hz. Use
            ``Rates.DISABLED`` or ``0`` to disable callback emission.
    """
    ...

`get_items_blocking(items, timeout=1.0)`

Return requested feedback values from the current simulator state.

Parameters:

Name	Type	Description	Default
`items`	`list[PCP_Items]`	Feedback items to read. Requests are capped at the protocol batch limit.	required
`timeout`	`float`	Accepted for real API compatibility; unused by the virtual backend.	`1.0`

Returns:

Type	Description
`dict[PCP_Items, float]`	Mapping from requested feedback items to current values.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def get_items_blocking(self, items: list['PulsarActuatorVirtual.PCP_Items'], timeout: float = 1.0) -> dict['PulsarActuatorVirtual.PCP_Items', float]:
    """
    Return requested feedback values from the current simulator state.

    Args:
        items: Feedback items to read. Requests are capped at the protocol
            batch limit.
        timeout: Accepted for real API compatibility; unused by the virtual
            backend.

    Returns:
        Mapping from requested feedback items to current values.
    """
    ...

`set_parameters(parameters)`

Write virtual actuator parameters.

Parameters:

Name	Type	Description	Default
`parameters`	`dict[PCP_Parameters, float]`	Mapping from parameter enum to the value to write.	required

Source code in pcp_api/pulsar_actuator_virtual.pyi

def set_parameters(self, parameters: dict['PulsarActuatorVirtual.PCP_Parameters', float]) -> None:
    """
    Write virtual actuator parameters.

    Args:
        parameters: Mapping from parameter enum to the value to write.
    """
    ...

`get_parameters(parameters, timeout=1.0)`

Read virtual actuator parameters.

Parameters:

Name	Type	Description	Default
`parameters`	`list[PCP_Parameters]`	Parameters to read.	required
`timeout`	`float`	Accepted for real API compatibility; unused by the virtual backend.	`1.0`

Returns:

Type	Description
`dict[PCP_Parameters, float]`	Mapping from parameter enum to current value.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def get_parameters(self, parameters: list['PulsarActuatorVirtual.PCP_Parameters'], timeout: float = 1.0) -> dict['PulsarActuatorVirtual.PCP_Parameters', float]:
    """
    Read virtual actuator parameters.

    Args:
        parameters: Parameters to read.
        timeout: Accepted for real API compatibility; unused by the virtual
            backend.

    Returns:
        Mapping from parameter enum to current value.
    """
    ...

`get_parameters_all()`

Read all known virtual actuator parameters.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def get_parameters_all(self) -> dict['PulsarActuatorVirtual.PCP_Parameters', float]:
    """Read all known virtual actuator parameters."""
    ...

`set_can_high_speed(enabled)`

Store CAN high-speed state for real API compatibility.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def set_can_high_speed(self, enabled: bool) -> None:
    """Store CAN high-speed state for real API compatibility."""
    ...

`set_torque_performance(performance)`

Set the virtual torque-control performance preset.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def set_torque_performance(self, performance: 'PulsarActuatorVirtual.TorquePerformance') -> None:
    """Set the virtual torque-control performance preset."""
    ...

`set_speed_performance(performance)`

Set the virtual speed-control performance preset.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def set_speed_performance(self, performance: 'PulsarActuatorVirtual.SpeedPerformance') -> None:
    """Set the virtual speed-control performance preset."""
    ...

`save_config()`

Log that virtual actuators do not persist configuration.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def save_config(self) -> None:
    """Log that virtual actuators do not persist configuration."""
    ...

`blink(timeout=1.0)`

Log that physical LED blinking is unavailable for virtual actuators.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def blink(self, timeout: float = 1.0) -> None:
    """Log that physical LED blinking is unavailable for virtual actuators."""
    ...

`step(load=None, steps=1)`

Advance the simulation explicitly.

This is the main virtual-only extension beyond the real actuator API.

Parameters:

Name	Type	Description	Default
`load`	`float \| None`	Optional load torque to apply before stepping.	`None`
`steps`	`int`	Number of simulation steps to run.	`1`

Returns:

Type	Description
`dict[PCP_Items, float]`	Latest configured feedback snapshot after stepping.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def step(self, load: float | None = None, steps: int = 1) -> dict['PulsarActuatorVirtual.PCP_Items', float]:
    """
    Advance the simulation explicitly.

    This is the main virtual-only extension beyond the real actuator API.

    Args:
        load: Optional load torque to apply before stepping.
        steps: Number of simulation steps to run.

    Returns:
        Latest configured feedback snapshot after stepping.
    """
    ...

`start_steps(step_number)`

Advance the simulation by step_number steps.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def start_steps(self, step_number: int) -> None:
    """Advance the simulation by ``step_number`` steps."""
    ...

`change_load(load)`

Change the load torque applied to future simulation steps.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def change_load(self, load: float) -> None:
    """Change the load torque applied to future simulation steps."""
    ...

`get_sim_time(round_dec=3)`

Return the latest simulated time.

Parameters:

Name	Type	Description	Default
`round_dec`	`int`	Decimal places used to round the returned time.	`3`

Source code in pcp_api/pulsar_actuator_virtual.pyi

def get_sim_time(self, round_dec: int = 3) -> float:
    """
    Return the latest simulated time.

    Args:
        round_dec: Decimal places used to round the returned time.
    """
    ...

`get_sim_time_step_s()`

Return the DTwin simulation step time in seconds.

The current DTwin artifacts use the wrapper's telemetry log timestep. If a future generated artifact exposes timestep metadata, the backend wrapper will return that value through the same public API.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def get_sim_time_step_s(self) -> float:
    """
    Return the DTwin simulation step time in seconds.

    The current DTwin artifacts use the wrapper's telemetry log timestep.
    If a future generated artifact exposes timestep metadata, the backend
    wrapper will return that value through the same public API.
    """
    ...

`get_sim_rate_hz()`

Return the DTwin simulation step rate in Hz.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def get_sim_rate_hz(self) -> float:
    """Return the DTwin simulation step rate in Hz."""
    ...

`get_all_parameters()`

Return grouped DTwin controller, impedance, limit, and profile values.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def get_all_parameters(self) -> dict[str, dict]:
    """Return grouped DTwin controller, impedance, limit, and profile values."""
    ...

`get_info()`

Return the DTwin info state as plain Python values.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def get_info(self) -> dict[str, float]:
    """Return the DTwin ``info`` state as plain Python values."""
    ...

`get_motor_state()`

Return the DTwin motor state as plain Python values.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def get_motor_state(self) -> dict[str, float]:
    """Return the DTwin motor state as plain Python values."""
    ...

`get_measurements()`

Return the DTwin measurement state as plain Python values.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def get_measurements(self) -> dict[str, float]:
    """Return the DTwin measurement state as plain Python values."""
    ...

`get_debug_flags()`

Return DTwin debug flags as booleans.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def get_debug_flags(self) -> dict[str, bool]:
    """Return DTwin debug flags as booleans."""
    ...

`has_errors()`

Return whether any DTwin debug error flag is set.

Source code in pcp_api/pulsar_actuator_virtual.pyi

def has_errors(self) -> bool:
    """Return whether any DTwin debug error flag is set."""
    ...

VirtualActuatorLog

VirtualActuatorLog stores per-step telemetry generated by PulsarActuatorVirtual.

Per-step simulator telemetry log owned by PulsarActuatorVirtual.

Populated by PulsarActuatorVirtual.step() after every simulation tick. The internal DTwin backend has no knowledge of this structure.

Source code in pcp_api/pulsar_actuator_virtual.pyi

@dataclass(slots=True)
class VirtualActuatorLog:
    """
    Per-step simulator telemetry log owned by ``PulsarActuatorVirtual``.

    Populated by ``PulsarActuatorVirtual.step()`` after every simulation tick.
    The internal DTwin backend has no knowledge of this structure.
    """
    enable: list[float] = ...
    temp_winding: list[float] = ...
    T_fb: list[float] = ...
    T_ref: list[float] = ...
    id_fb: list[float] = ...
    id_ref: list[float] = ...
    iq_fb: list[float] = ...
    iq_ref: list[float] = ...
    pos_fb: list[float] = ...
    pos_ref: list[float] = ...
    spd_fb: list[float] = ...
    spd_ref: list[float] = ...
    vd_ref: list[float] = ...
    vq_ref: list[float] = ...
    m_Te: list[float] = ...
    m_Tl: list[float] = ...
    m_acc: list[float] = ...
    m_eff_elec: list[float] = ...
    m_eff_mec: list[float] = ...
    m_i_dc: list[float] = ...
    m_ia: list[float] = ...
    m_ib: list[float] = ...
    m_ic: list[float] = ...
    m_id: list[float] = ...
    m_iq: list[float] = ...
    m_pos1: list[float] = ...
    m_pos2: list[float] = ...
    m_pwr_dc: list[float] = ...
    m_pwr_elec: list[float] = ...
    m_pwr_mec: list[float] = ...
    m_spd1: list[float] = ...
    m_spd2: list[float] = ...
    m_va: list[float] = ...
    m_vb: list[float] = ...
    m_vc: list[float] = ...
    m_vd: list[float] = ...
    m_vq: list[float] = ...
    meas_turn: list[int] = ...
    meas_turn2: list[int] = ...
    meas_T: list[float] = ...
    meas_e_pos: list[float] = ...
    meas_pos: list[float] = ...
    meas_pos2: list[float] = ...
    meas_spd: list[float] = ...
    meas_spd2: list[float] = ...
    inp_ref: list[float] = ...
    inp_load: list[float] = ...
    inp_t_adc: list[float] = ...
    inp_ref_ff_torque: list[float] = ...
    inp_ref_impedance_spd: list[float] = ...
    inp_ref_impedance_acel: list[float] = ...
    inp_control_type: list[int] = ...
    inp_enable: list[bool] = ...
    inp_reset_pos: list[bool] = ...
    debug_T_fb_max: list[bool] = ...
    debug_T_ref_max: list[bool] = ...
    debug_i_max: list[bool] = ...
    debug_pos_fb_max: list[bool] = ...
    debug_pos_fb_min: list[bool] = ...
    debug_pos_ref_max: list[bool] = ...
    debug_pos_ref_min: list[bool] = ...
    debug_spd_fb_max: list[bool] = ...
    debug_spd_ref_max: list[bool] = ...
    debug_spd_ref_min: list[bool] = ...
    time: list[float] = ...
    TIME_STEP: float = ...
    time_start: float = ...

PulsarActuatorVirtual

Attributes

connected property

implementation_version property

Classes

Mode

Rates

TorquePerformance

SpeedPerformance

PCP_Parameters

PCP_Items

Methods:

__init__(adapter_handler=None, address=None, logger=None)

set_feedback_callback(callback)

set_error_callback(callback)

set_low_freq_feedback_callback(callback)

get_feedback()

is_valid_actuator_address(address) staticmethod

stop()

get_model_version()

discover_available_actuators(bindings_path) staticmethod

set_actuator(model_name, library_path=None, bindings_root=None)

set_actuator_from_paths(library_path, bindings_path)

connect(timeout=1.0)

disconnect()

send_ping(timeout=1.0)

change_address(new_address)

start()

change_mode(mode)

get_mode()

change_setpoint(setpoint)

change_torque_setpoint(setpoint, id_Kp=nan, id_Ki=nan, iq_Kp=nan, iq_Ki=nan)

change_speed_setpoint(setpoint, FF_gain=nan, spd_Ki=nan, spd_Kp=nan, ref_ff_torque=nan)

change_position_setpoint(setpoint, FF_gain=nan, spd_Ki=nan, spd_Kp=nan, pos_Kp=nan, ref_ff_torque=nan)

change_impedance_setpoint(setpoint, FF_gain=nan, K_stiff=nan, K_damp=nan, J_imp=nan, ref_ff_torque=nan, ref_impedance_spd=nan, ref_impedance_acel=nan)

set_home_position()

set_feedback_items(items)

set_feedback_rate(rate)

get_items_blocking(items, timeout=1.0)

set_parameters(parameters)

get_parameters(parameters, timeout=1.0)

get_parameters_all()

set_can_high_speed(enabled)

set_torque_performance(performance)

set_speed_performance(performance)

save_config()

blink(timeout=1.0)

step(load=None, steps=1)

start_steps(step_number)

change_load(load)

get_sim_time(round_dec=3)

get_sim_time_step_s()

get_sim_rate_hz()

get_all_parameters()

get_info()

get_motor_state()

get_measurements()

get_debug_flags()

has_errors()

VirtualActuatorLog

`connected` `property`

`implementation_version` `property`

`Mode`

`Rates`

`TorquePerformance`

`SpeedPerformance`

`PCP_Parameters`

`PCP_Items`

`init(adapter_handler=None, address=None, logger=None)`

`set_feedback_callback(callback)`

`set_error_callback(callback)`

`set_low_freq_feedback_callback(callback)`

`get_feedback()`

`is_valid_actuator_address(address)` `staticmethod`

`stop()`

`get_model_version()`

`discover_available_actuators(bindings_path)` `staticmethod`

`set_actuator(model_name, library_path=None, bindings_root=None)`

`set_actuator_from_paths(library_path, bindings_path)`

`connect(timeout=1.0)`

`disconnect()`

`send_ping(timeout=1.0)`

`change_address(new_address)`

`start()`

`change_mode(mode)`

`get_mode()`

`change_setpoint(setpoint)`

`change_torque_setpoint(setpoint, id_Kp=nan, id_Ki=nan, iq_Kp=nan, iq_Ki=nan)`

`change_speed_setpoint(setpoint, FF_gain=nan, spd_Ki=nan, spd_Kp=nan, ref_ff_torque=nan)`

`change_position_setpoint(setpoint, FF_gain=nan, spd_Ki=nan, spd_Kp=nan, pos_Kp=nan, ref_ff_torque=nan)`

`change_impedance_setpoint(setpoint, FF_gain=nan, K_stiff=nan, K_damp=nan, J_imp=nan, ref_ff_torque=nan, ref_impedance_spd=nan, ref_impedance_acel=nan)`

`set_home_position()`

`set_feedback_items(items)`

`set_feedback_rate(rate)`

`get_items_blocking(items, timeout=1.0)`

`set_parameters(parameters)`

`get_parameters(parameters, timeout=1.0)`

`get_parameters_all()`

`set_can_high_speed(enabled)`

`set_torque_performance(performance)`

`set_speed_performance(performance)`

`save_config()`

`blink(timeout=1.0)`

`step(load=None, steps=1)`

`start_steps(step_number)`

`change_load(load)`

`get_sim_time(round_dec=3)`

`get_sim_time_step_s()`

`get_sim_rate_hz()`

`get_all_parameters()`

`get_info()`

`get_motor_state()`

`get_measurements()`

`get_debug_flags()`

`has_errors()`