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Cat-C17520 Cat-C27 Cat-C32ACERT Doosan-DE08TIS GMTruck JohnDeere-6068HF485 Komatsu-WA475-10 Saab-B234i Scania-K310UB4X2Euro5 Volvo-BMTD45B Volvo-D16E540 Volvo-T5 Volvo-TD73KD
FlexibleGear Gear GearBox HingeActuator InfinitePowerSource ManualBrake ManualClutch MeanValueEngine
MechanicalDriveTrains
TwoWheelTemplate
PowerSource PrismaticActuator Shaft
Signals
AutomaticClutchDisengagementDurationInput AutomaticClutchDisengagementDurationOutput AutomaticClutchEngagementDurationInput AutomaticClutchEngagementDurationOutput TorqueConverterLockUpInput TorqueConverterLockedUpOutput TorqueConverterPumpTorqueOutput TorqueConverterTurbineTorqueOutput
TorqueLimitedSlipDifferential TorqueMotor
Traits
FourStrokeEngine PowerGenerator RotationalPowerGenerator TwoStrokeEngine
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Math
AffineTransform Constants Functions Line Matrix3x3 Matrix4x4 Quat
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Traits
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Vec2 Vec3
Physics
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GeometryMaterialOverrideTrait
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ConstantForceAdhesion DefaultAdhesion
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ConstantAngleClearance ConstantDistanceClerance DefaultClearance
Connector
Dissipation
AsymmetricLimitFriction ConstantLimitFriction ConstantViscousSurfaceFriction ConstraintRelaxationTimeDamping DefaultDissipation DefaultDryFriction DefaultFriction DryBoxFriction DryConeFriction DryConstantNormalForceFriction DryDepthScaledConstantNormalForceFriction DryScaleBoxFriction MechanicalDamping
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DefaultFlexibility LinearElastic Rigid
Interaction Interaction1DOF
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Traits
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DefaultToughness ThresholdFracture ThresholdPlastic ThresholdPlasticFracture Unbreakable
KinematicLock
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Traits
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Traits
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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 ForceRangeInput ForceRangeInputTrait ForceRangeOutput ForceRangeOutputTrait FractionInput FractionInputTrait FractionOutput FractionOutputTrait Input InputOutputType InputSignal IntInput IntInputSignal IntInputTrait IntOutput IntOutputTrait InteractionEnabledOutput LinearVelocity1DInput LinearVelocity1DInputTrait LinearVelocity1DOutput LinearVelocity1DOutputTrait MassOutput MassOutputTrait Output OutputSignal Position1DInput Position1DInputTrait Position1DOutput Position1DOutputTrait RatioOutput RatioOutputTrait RealInputSignal RealRangeInputSignal RelativeVelocity1DOutput RelativeVelocity1DOutputTrait RpmOutput RpmOutputTrait SignalInterface Torque1DInput Torque1DInputTrait Torque1DOutput Torque1DOutputTrait TorqueRangeInput TorqueRangeInputTrait TorqueRangeOutput TorqueRangeOutputTrait Value ValueOutputSignal Vec3InputSignal
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Physics1D
Bodies
Body Inertia Kinematics LinearBody LinearKinematics RotationalBody RotationalKinematics
Interactions
LinearConnector Mate MateConnector RotationalConnector RotationalVelocityMotor VelocityMotor
Physics3D
Bodies
Body Inertia Kinematics RigidBody RigidBodyKinematics
Geometries
Box Capsule ContactGeometry ConvexMesh Cylinder ExternalTriMeshGeometry Sphere TriMesh TriMeshGeometry
Interactions
AdaptiveMateConnector Ball
Clearance
ConstantBallClearance ConstantCylindricalClearance ConstantHingeClearance ConstantLockClearance ConstantPrismaticClearance DefaultMateClearance
Cylindrical
Dissipation
BallMechanicalDamping CylindricalMechanicalDamping DefaultBallDissipation DefaultCylindricalDissipation DefaultDistanceDissipation DefaultHingeDissipation DefaultLockDissipation DefaultMateDissipation DefaultPrismaticDissipation DistanceMechanicalDamping HingeMechanicalDamping LockMechanicalDamping PrismaticMechanicalDamping
Distance
Flexibility
DefaultBallFlexibility DefaultCylindricalFlexibility DefaultDistanceFlexibility DefaultHingeFlexibility DefaultLockFlexibility DefaultMateFlexibility DefaultPrismaticFlexibility LinearElasticBallFlexibility LinearElasticCylindricalFlexibility LinearElasticDistanceFlexibility LinearElasticHingeFlexibility LinearElasticLockFlexibility LinearElasticPrismaticFlexibility
ForceMotor Hinge LinearRange LinearSpring LinearVelocityMotor Lock Mate MateConnector Prismatic RangeInteraction1DOF RedirectedMateConnector RotationalRange RotationalVelocityMotor SpringInteraction1DOF StructuralPlanarConnector
SurfaceContact
PatchElasticityDryFrictionModel PointwiseElasticityDryFrictionModel
Traits
BodyOrientedFriction GeometryOrientedFriction OrientedFriction OrientedSurfaceViscosity
TorqueMotor TorsionSpring
Toughness
BallThresholdFracture CylindricalThresholdFracture DefaultBallToughness DefaultCylindricalToughness DefaultDistanceThoughness DefaultHingeToughness DefaultLockToughness DefaultMateToughness DefaultPrismaticToughness HingeThresholdFracture LockThresholdFracture PrismaticThresholdFracture
VelocityMotor World
Signals
AngularVelocity3DInput AngularVelocity3DInputTrait AngularVelocity3DOutput AngularVelocity3DOutputTrait Force3DOutput Force3DOutputTrait 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
Kinematics
ElementaryTransformSequence
Links
LinkData RigidBoxLink RigidLink RigidTriMeshLink
Robots
Robot SerialManipulatorData SixAxisSerialManipulator
Signals
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Sensors
Distortion
Library
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Ouster
OS0 OS1 OS2 OSDome
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TIM150 TIM310 TIM781
Velodyne
VLP16
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Optics
BeamDivergence ConicalBeamDivergence HorizontalSweepRaySource RayEmissionAngleGaussianNoise RayEmissionDistortion RaySource
Traits
BeamEmitter DistortedRayEmission LidarHorizontalResolution1024 LidarHorizontalResolution2048 LidarHorizontalResolution512 LidarVerticalResolution128 LidarVerticalResolution32 LidarVerticalResolution64 PulsedBeamEmitter RayEmitter
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Signals
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Traits
LidarFrequency05 LidarFrequency10 LidarFrequency15 LidarFrequency20 MateAttachment MateConnectorAttachment
Simulation
CollisionGroup DisableCollisionPair Environment GravitationalField PointGravitationalField UniformGravitationalField
Terrain
MaterialLibrary
TerrainMaterialLibrary
Shovel Terrain TerrainMaterial
Urdf
PackagePath
Vehicles
FourWheel
FrontWheelDrive
Traits
FrontLeftWheelSuspension FrontRightWheelSuspension RearLeftWheelSuspension RearRightWheelSuspension
Interactions
Ackermann BellCrank RackAndPinion Steering
Suspensions
Connector LinearSpring Suspension
Traits
SpringDamper Steering
Tracks
Belt BoxLinkDescription BoxLinkVariation ContactGeometryLinkDescription CyclicVariation CylindricalIdler CylindricalRoadWheel CylindricalRoller CylindricalSprocket DefaultLinkDescription DefaultLinkVariation DiscretePulseVariation FixedLinkCountBelt InertialRoadWheel RigidCylindricalIdler RigidCylindricalRoadWheelBody RigidCylindricalRoller RigidCylindricalSprocket RoadWheel SinusoidalVariation System
Vehicle
Wheels
Actuator ElasticWheel
Interactions
Dissipation
DefaultWheelDissipation WheelMechanichalDamping
Flexibility
DefaultWheelFlexibility LinearElasticWheelFlexibility
Rim RimTrait Tire TireTrait Wheel
Visuals
Geometries
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Ackermann.openplx

Vehicles/Interactions/Ackermann.openplx

Ackermann

Ackermann is Steering:
    .doc: """
Ackermann steering mechanism.
"""
    with Physics.Signals.AngleInputTrait
    with Physics.Signals.AngleOutputTrait

    knuckle_angle: -2.007
    knuckle_length: 0.16
    initial_angle_right_tie_rod: 0

    steering_angle_input is Physics.Signals.AngleInput:
        source: this

    steering_angle_output is Physics.Signals.AngleOutput:
        enabled: false
        source: this
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