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DriveTrain
Actuator AutomaticClutch CombustionEngine Differential EmpiricalTorqueConverter FlexibleGear Gear GearBox HingeActuator ManualClutch PrismaticActuator Shaft
Signals
AutomaticClutchDisengagementDurationInput AutomaticClutchDisengagementDurationOutput AutomaticClutchEngagementDurationInput AutomaticClutchEngagementDurationOutput TorqueConverterLockUpInput TorqueConverterLockedUpOutput TorqueConverterPumpTorqueOutput TorqueConverterTurbineTorqueOutput
TorqueLimitedSlipDifferential TorqueMotor ViscousGear
Math
AffineTransform Constants Functions Line Matrix3x3 Matrix4x4 Quat Vec2 Vec3
Physics
Bodies
Body Inertia Kinematics
Charges
Charge ContactGeometry LinearElasticMaterial Material
Interactions
Adhesion
ConstantForceAdhesion DefaultAdhesion
Clearance
ConstantAngleClearance ConstantDistanceClerance DefaultClearance
Dissipation
AsymmetricLimitFriction ConstantLimitFriction ConstantViscousSurfaceFriction ConstraintRelaxationTimeDamping DefaultDissipation DefaultDryFriction DefaultFriction DryBoxFriction DryConeFriction DryConstantNormalForceFriction DryDepthScaledConstantNormalForceFriction DryScaleBoxFriction MechanicalDamping
Flexibility
DefaultFlexibility LinearElastic Rigid
Interaction Interaction1DOF
SurfaceContact
Model PatchElasticity PointwiseElasticity
Toughness
DefaultToughness ThresholdFracture ThresholdPlastic ThresholdPlasticFracture Unbreakable
KinematicLock
Signals
ActivateInput ActivatedOutput AngleInput AngleInputTrait AngleOutput AngleOutputTrait AngularVelocity1DInput AngularVelocity1DInputTrait AngularVelocity1DOutput AngularVelocity1DOutputTrait BoolInput BoolInputSignal BoolInputTrait BoolOutput BoolOutputTrait DurationInput DurationInputTrait DurationOutput DurationOutputTrait EnableInteractionInput EngageInput EngagedOutput Force1DInput Force1DInputTrait Force1DOutput Force1DOutputTrait FractionInput FractionInputTrait FractionOutput FractionOutputTrait Input InputOutputType InputSignal IntInput IntInputSignal IntInputTrait IntOutput IntOutputTrait InteractionEnabledOutput LinearVelocity1DInput LinearVelocity1DInputTrait LinearVelocity1DOutput LinearVelocity1DOutputTrait Output OutputSignal Position1DInput Position1DInputTrait Position1DOutput Position1DOutputTrait RealInputSignal RelativeVelocity1DOutput RelativeVelocity1DOutputTrait Torque1DInput Torque1DInputTrait Torque1DOutput Torque1DOutputTrait Value ValueOutputSignal Vec3InputSignal
System
Physics1D
Bodies
Body Inertia Kinematics LinearBody LinearKinematics RotationalBody RotationalKinematics
Charges
LinearConnector MateConnector RotationalConnector
Interactions
Mate RotationalVelocityMotor VelocityMotor
Physics3D
Bodies
Body Inertia Kinematics RigidBody RigidBodyKinematics
Charges
AdaptiveMateConnector Box Capsule ContactGeometry ConvexMesh Cylinder ExternalTriMeshGeometry MateConnector RedirectedMateConnector Sphere StructuralPlanarConnector TriMesh TriMeshGeometry World
Interactions
Ball
Clearance
ConstantBallClearance ConstantCylindricalClearance ConstantHingeClearance ConstantLockClearance ConstantPrismaticClearance DefaultMateClearance
Cylindrical
Dissipation
BallMechanicalDamping CylindricalMechanicalDamping DefaultBallDissipation DefaultCylindricalDissipation DefaultHingeDissipation DefaultLockDissipation DefaultMateDissipation DefaultPrismaticDissipation HingeMechanicalDamping LockMechanicalDamping PrismaticMechanicalDamping
Flexibility
DefaultBallFlexibility DefaultCylindricalFlexibility DefaultHingeFlexibility DefaultLockFlexibility DefaultMateFlexibility DefaultPrismaticFlexibility LinearElasticBallFlexibility LinearElasticCylindricalFlexibility LinearElasticHingeFlexibility LinearElasticLockFlexibility LinearElasticPrismaticFlexibility
ForceMotor Hinge LinearRange LinearSpring LinearVelocityMotor Lock Mate Prismatic RangeInteraction1DOF RotationalRange RotationalVelocityMotor SpringInteraction1DOF
SurfaceContact
BodyOrientedFrictionTrait GeometryOrientedFrictionTrait OrientedFrictionTrait PatchElasticityDryFrictionModel PointwiseElasticityDryFrictionModel
TorqueMotor TorsionSpring
Toughness
BallThresholdFracture CylindricalThresholdFracture DefaultBallToughness DefaultCylindricalToughness DefaultHingeToughness DefaultLockToughness DefaultMateToughness DefaultPrismaticToughness HingeThresholdFracture LockThresholdFracture PrismaticThresholdFracture
VelocityMotor
Signals
AngularVelocity3DInput AngularVelocity3DInputTrait AngularVelocity3DOutput AngularVelocity3DOutputTrait LinearVelocity3DInput LinearVelocity3DInputTrait LinearVelocity3DOutput LinearVelocity3DOutputTrait
MateConnector
Acceleration3DOutput AngularAcceleration3DOutput AngularVelocity3DOutput LinearVelocity3DOutput MCAngularVelocity3DOutputTrait MCLinearVelocity3DOutputTrait MateConnectorOutputTrait Output PositionOutput RPYOutput
Position3DOutput Position3DOutputTrait RPYOutput RPYOutputTrait Torque3DInput Torque3DInputTrait Torque3DOutput Torque3DOutputTrait
StructuralComponent StructuralPlane System
Robotics
EndEffectors
ConstantVacuumSystem SixDofSuctionCup SixDofSuctionCupJoint SuctionCup SuctionCupElastoDynamics VacuumGripper VacuumSystem
Joints
ActuatedJoint CoupledJointDriveTrain FixedJoint FlexibleAngularVelocityJoint FlexibleJointData FlexibleJointDriveTrain FlexibleJointTrait FlexibleTorqueJoint HingeJoint HingeJointData Joint JointData PositionHingeJoint PrismaticJoint TorqueHingeJoint VelocityHingeJoint
Links
LinkData RigidBoxLink RigidLink RigidTriMeshLink
Robots
Robot SerialManipulatorData SixAxisSerialManipulator
Signals
RobotInput RobotInputSignal RobotOutput RobotOutputSignal Sensor SensorValues
Simulation
CollisionGroup DisableCollisionPair
Terrain
MaterialLibrary
TerrainMaterialLibrary
Shovel Terrain TerrainMaterial
Urdf
PackagePath
Vehicles
Tracks
Belt BoxLinkDescription BoxLinkVariation ContactGeometryLinkDescription CyclicVariation CylindricalIdler CylindricalRoadWheel CylindricalRoller CylindricalSprocket DefaultLinkDescription DefaultLinkVariation DiscretePulseVariation FixedLinkCountBelt InertialRoadWheel RigidCylindricalIdler RigidCylindricalRoadWheelBody RigidCylindricalRoller RigidCylindricalSprocket RoadWheel SinusoidalVariation System
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Geometries
Box ConvexMesh Cylinder ExternalTriMeshGeometry Geometry Sphere TriMeshGeometry
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Robotics
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Joints
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FlexibleTorqueJoint.openplx

Robotics/Joints/FlexibleTorqueJoint.openplx

FlexibleTorqueJoint

FlexibleTorqueJoint is HingeJoint:
    with FlexibleJointTrait
    actuator becomes DriveTrain.TorqueMotor:
        charges: [drive_train.motor_shaft.input]

    drive_train becomes FlexibleJointDriveTrain:
        hinge_actuator.mate_3d: mate

    # actuator_input is Physics.Signals.Input: actuator.torque_input