feathersdk.robot.actuators.sim.virtual_actuator Module

class feathersdk.robot.actuators.sim.virtual_actuator.VirtualActuatorState

Bases: PyDBaseModel

State of a virtual actuator.

model_config: ClassVar[ConfigDict] = {'arbitrary_types_allowed': True}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

class feathersdk.robot.actuators.sim.virtual_actuator.VirtualActuator(iface, motor_id, state)

Bases: ABC, Generic[TVirtualActuatorState]

A virtual actuator.

Parameters:

• iface (str)

• motor_id (int)

• state (TVirtualActuatorState)

state: TVirtualActuatorState

The state of the virtual actuator.

abstractmethod step(dt)

Step the virtual actuator.

Parameters:

dt (float)

Return type:

None

abstractmethod close()

Close the virtual actuator.

Return type:

None

abstractmethod handle_message(result)

Handle a message from the virtual actuator.

Parameters:

result (CanSocketResult | TcpSocketResult | ErrorSocketResult)

Return type:

None