# `BB.Sim.Actuator`
[🔗](https://github.com/beam-bots/bb/blob/main/lib/bb/sim/actuator.ex#L5)

Simulated actuator for kinematic simulation mode.

This actuator is automatically used in place of real actuators when the robot
is started with `simulation: :kinematic`. It:

- Receives position commands via pubsub, cast, and call
- Calculates motion timing from the motor profile's velocity and
  acceleration limits
- Publishes `BeginMotion` messages (in joint-space, via
  `BB.Actuator.publish_begin_motion/3`) for position estimation
- Clamps positions to the motor-space limits derived from the joint

Like every other driver, the sim operates purely in motor-space: the
wrapper transforms inbound commands joint→motor before they arrive here,
and the outbound publish helper transforms motor→joint on the way out.
When the joint has no transmission, motor-space and joint-space are
identical.

Works with `BB.Sensor.OpenLoopPositionEstimator` for position feedback.

## Example

    # Start robot in simulation mode
    MyRobot.start_link(simulation: :kinematic)

    # Commands work identically to hardware mode
    BB.Actuator.set_position(MyRobot, [:base, :shoulder, :motor], 1.57)

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*Consult [api-reference.md](api-reference.md) for complete listing*