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Control
Keyboard
Action
Actions
Offset Ramp RampOffset Set Step Toggle
Controller HoldTrait KeyBinding
Network
MemoryMappedServer Server TcpServer UdpServer
Virtual
AffineTransform1DInput AffineTransform1DOutput BroadcastInput GroupOutput
DriveTrain
Actuator AutomaticBrake AutomaticClutch Differential EmpiricalEngine EmpiricalTorqueConverter
Engines
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 PowerSource PrismaticActuator Shaft
Signals
AutomaticClutchDisengagementDurationInput AutomaticClutchDisengagementDurationOutput AutomaticClutchEngagementDurationInput AutomaticClutchEngagementDurationOutput TorqueConverterLockedUpOutput TorqueConverterLockUpInput TorqueConverterPumpTorqueOutput TorqueConverterTurbineTorqueOutput
TorqueLimitedSlipDifferential TorqueMotor
Traits
FourStrokeEngine PowerGenerator RotationalPowerGenerator TwoStrokeEngine
ViscousGear
MachineModeling
Actuators
Linear
Base
Connections
Base Cylinder CylinderAxleBearings CylinderBearings Distance
DoubleLinkage
Base
Cylinder CylinderBearings CylinderPart Distance
Traits
CylinderActuatorVisual CylinderByMaxLength CylinderShape CylinderVisual DistanceMotor ForceMotor RigidCylinderPart VelocityMotor
Rotational
Base Motor
Components
Composite
Arm
Interfaces
DualActuator DualEndActuator DualEndJoint DualJoint OuterEnds SingleActuator SingleEndActuator SingleEndJoint SingleJoint
Base BearingPair
DoubleLinkage
Base
LinkPair
Base
SingleLink
Base
LinkPair
Traits
BearingsFromConnector
Primitive
Axle
Base RigidCylindrical
Traits
Cylindrical
Base
Bearing
Base
Link
Base
Connections
Base
CustomLength
Traits
ConvexShape
Connections
BallSocket
Base
Base
ConstantVelocity
Base
Distance
Base
Fixed
DualHingeLockCoupling Lock
Interfaces
FromTo
Pivot
Actuated
Base
Configurations
Hinge
Linear LinearDoubleLinkage RotationalMotor
AxleBearings Base Bearings Cylindrical Hinge HingedAxle LockedAxleBearings LockedBearings LockedCylindrical
Traits
Axle Bearings
Traits
PairwiseConnection
Universal
Base
Constants
Definitions
Math
AffineTransform Constants
Distributions
Cyclic
Base ContinousPulse DiscretePulse Sinusoidal
Gaussian
Functions Line Matrix3x3 Matrix4x4 Quat Vec2 Vec3
Physics
Bodies
Body Inertia Kinematics
Geometries
ContactGeometry LinearElasticMaterial Material
GeometryMaterialOverrideTrait
Interactions
Adhesion
ConstantForceAdhesion DefaultAdhesion
Clearance
ConstantAngleClearance ConstantDistanceClerance DefaultClearance
Connector
Dissipation
AsymmetricLimitFriction ConstantLimitFriction ConstantViscousSurfaceFriction ConstraintRelaxationTimeDamping DefaultDissipation DefaultDryFriction DefaultFriction DryBoxFriction DryConeFriction DryConstantNormalForceFriction DryDepthScaledConstantNormalForceFriction DryScaleBoxFriction MechanicalDamping
Flexibility
DefaultFlexibility
Defaults
Values
LinearElastic Rigid
Interaction Interaction1DOF
SurfaceContact
Model PatchElasticity PointwiseElasticity
Traits
SurfaceViscosity
Toughness
DefaultToughness ThresholdFracture ThresholdPlastic ThresholdPlasticFracture Unbreakable
KinematicLock
Optics
Material
Surfaces
Traits
GGXReflectionModel LambertReflectionModel OrenNayarReflectionModel
Traits
RefractiveIndex
WavelengthBand
Signals
ActivatedOutput ActivateInput AngleInput AngleInputTrait AngleOutput AngleOutputTrait AngularVelocity1DInput AngularVelocity1DInputTrait AngularVelocity1DOutput AngularVelocity1DOutputTrait BoolInput BoolInputSignal BoolInputTrait BoolOutput BoolOutputTrait DurationInput DurationInputTrait DurationOutput DurationOutputTrait EnableInteractionInput EngagedOutput EngageInput Force1DInput Force1DInputTrait Force1DOutput Force1DOutputTrait ForceRangeInput ForceRangeInputTrait ForceRangeOutput ForceRangeOutputTrait FractionInput FractionInputTrait FractionOutput FractionOutputTrait Input InputOutputType InputSignal InteractionEnabledOutput IntInput IntInputSignal IntInputTrait IntOutput IntOutputTrait LinearVelocity1DInput LinearVelocity1DInputTrait LinearVelocity1DOutput LinearVelocity1DOutputTrait Marshalling 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
System
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
ConstantVelocity Cylindrical
Dissipation
BallMechanicalDamping ConstantVelocityMechanicalDamping CylindricalMechanicalDamping DefaultBallDissipation DefaultConstantVelocityDissipation DefaultCylindricalDissipation DefaultDistanceDissipation DefaultHingeDissipation DefaultLockDissipation DefaultMateDissipation DefaultPrismaticDissipation DefaultUniversalDissipation DistanceMechanicalDamping HingeMechanicalDamping LockMechanicalDamping PrismaticMechanicalDamping UniversalMechanicalDamping
Distance DistanceMotor DistanceRange
Flexibility
DefaultBallFlexibility DefaultConstantVelocityFlexibility DefaultCylindricalFlexibility DefaultDistanceFlexibility DefaultHingeFlexibility DefaultLockFlexibility DefaultMateFlexibility DefaultPrismaticFlexibility DefaultUniversalFlexibility LinearElasticBallFlexibility LinearElasticConstantVelocityFlexibility LinearElasticCylindricalFlexibility LinearElasticDistanceFlexibility LinearElasticHingeFlexibility LinearElasticLockFlexibility LinearElasticPrismaticFlexibility LinearElasticUniversalFlexibility
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 ConstantVelocityThresholdFracture CylindricalThresholdFracture DefaultBallToughness DefaultConstantVelocityToughness DefaultCylindricalToughness DefaultDistanceThoughness DefaultHingeToughness DefaultLockToughness DefaultMateToughness DefaultPrismaticToughness DefaultUniversalToughness HingeThresholdFracture LockThresholdFracture PrismaticThresholdFracture UniversalThresholdFracture
Universal VelocityMotor World
Signals
AngularVelocity3DInput AngularVelocity3DInputTrait AngularVelocity3DOutput AngularVelocity3DOutputTrait Force3DOutput Force3DOutputTrait LinearVelocity3DInput LinearVelocity3DInputTrait LinearVelocity3DOutput LinearVelocity3DOutputTrait
MateConnector
Acceleration3DOutput AngularAcceleration3DOutput AngularVelocity3DOutput LinearVelocity3DOutput MateConnectorOutputTrait MCAngularVelocity3DOutputTrait MCLinearVelocity3DOutputTrait Output PositionOutput RPYOutput
Position3DOutput Position3DOutputTrait RPYOutput RPYOutputTrait Torque3DInput Torque3DInputTrait Torque3DOutput Torque3DOutputTrait Vec3Marshalling
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
RobotInput RobotInputSignal RobotOutput RobotOutputSignal Sensor SensorValues
Sensors
AccelerometerLogic AccelerometerSensingDistortion AccelerometerSignalGaussianNoise AccelerometerSignalSpectralNoise CameraActiveIllumination CameraLogic Distortion GyroscopeLogic GyroscopeSensingDistortion GyroscopeSignalGaussianNoise GyroscopeSignalLinearAccelerationEffect GyroscopeSignalSpectralNoise IMULogic
Library
LIDARs
Ouster
OS0 OS1 OS2 OSDome
SICK
TIM150 TIM310 TIM781
Velodyne
VLP16
LidarDetectionDistanceGaussianNoise LidarLogic LidarSensingDistortion MagnetometerLogic MagnetometerSensingDistortion MagnetometerSignalGaussianNoise MagnetometerSignalSpectralNoise
Optics
BeamDivergence CameraCMOSSensor ConicalBeamDivergence HorizontalSweepRaySource
Lenses
BladedDiaphragm BrownConradyLensDistortion CameraLens Lens TextureMaskedDiaphragm
Traits
Autofocus LensDiaphragm LensDistortion ManualFocus
Lights
PointLight SpotLight
RayEmissionAngleGaussianNoise RayEmissionDistortion RaySource RectangularPhotodetector
Traits
AutoExposure BeamEmitter DistortedRayEmission GlobalElectronicShutter LidarHorizontalResolution1024 LidarHorizontalResolution2048 LidarHorizontalResolution512 LidarVerticalResolution128 LidarVerticalResolution32 LidarVerticalResolution64 ManualExposure PulsedBeamEmitter RayEmitter
PulsedLidarLogic SensorLogic
Signals
AccelerometerOutput CameraCaptureInput CameraColorOutput CameraColorOutputMatrices CameraColorOutputMatrix CameraDepthOutput CameraOutputChannelType GyroscopeOutput IMUOutput IMUOutputField LidarOutput LidarOutputField MagnetometerOutput SensorOutputSignal
Traits
RelativeIlluminanceCutoff
TriaxialOutputfield
Traits
LidarFrequency05 LidarFrequency10 LidarFrequency15 LidarFrequency20 MateAttachment MateConnectorAttachment
TriaxialSensorLogic
Simulation
CollisionGroup DisableCollisionPair Environment GravitationalField PointGravitationalField UniformGravitationalField
Terrain
MaterialLibrary
TerrainMaterialLibrary
Shovel Terrain TerrainMaterial
Urdf
PackagePath
Vehicles
Base
Bulldozer
Articulated
Base
PushBars
Base Lift LiftTilt
Base
Connections
Blade
Base
PushBars
Base Lift LiftTilt
Modules
Lift Tilt
Ripper
Base
Undercarriage
Base Fixed Pivot
Interfaces
Blades
BaseConnectors DefaultConnectors
Bogies
BaseConnectors DefaultConnectors EqualizerBarConnector
Chassis
BaseConnectors BogieConnectors DefaultConnectors EqualizerBarConnector LiftCylinderConnectors Outputs PushBarConnectors RipperConnectors
EqualizerBar
BaseConnectors
PushBars
BaseConnectors DefaultConnectors
Rigid
Base
PushBars
Base Lift LiftTilt
Traits
DualActuatorsPowerAngleRipper Ripper SingleActuatorFixedMountRipper
Chassis
Articulated
Base
Connections
Base ConstantVelocity DualPivot
Interfaces
DualPivot
IntermediateLink SinglePivot Universal
ConstantVelocity DualPivot
Interfaces
DualJoint DualSteeringActuators SingleJoint
IntermediateLink SinglePivot Universal
Interfaces
Outputs
Rigid
Base
DriveTrain
DualTrackDifferential DualTrackIndependentTorqueMotors TwoWheelDifferential
DumpTruck
Articulated ArticulatedWithLink Base
Connections
AFrame
Base Dual
Modules
Suspension
Base
CargoBed
Base Fixed
Interfaces
DualActuator DualJoint SingleJoint
SingleJointDualActuator
Interfaces
CargoBed
DualActuator DualJoint SingleJoint
Chassis
AFrame DualAFrame SingleArticulation
FourWheels SixWheels
WheelAxle
WheelConnectors
Excavator
Base
Components
Arm
Base
Configurations
BoomStick
BoomStickSingleCylinder
Standard
Coupler
Base
Interfaces
DualToFrom
QuickCoupler Tiltrotator
Tool
Base
Bucket
Base Standard
BucketWithCoupler
Base
BucketWithTiltrotator
Base
Configurations
SwingJoint Tool Tracked
Connections
Arm
Base DualPivotDualActuator DualPivotSingleActuator SinglePivotDualActuator SinglePivotSingleActuator
SwingJoint
Base
Interfaces
Single
Interfaces
Arm
DualActuator DualJoint SingleActuator SingleJoint
SwingJoint
Single
Standard Tracked TrackedStandard
FourWheels
Base FrontWheelDrive
Properties
FrontSuspensionSteering RearSuspension
Interfaces
UpForwardVectors
Ripper
Base
Connections
Base
FixedMount
Base DualActuator SingleActuator
PowerAngle
Base DualLiftDualTiltActuated
Internal
Base
SingleLiftSingleTiltActuated
Traits
ChassisConnectors DualLiftActuator DualTiltActuator FrameConnection SingleLiftActuator SingleTiltActuator
FixedMount
Base DualActuator SingleActuator
Interfaces
Frame
BaseConnectors DualActuatorConnectors ShankConnectors SingleActuatorConnector
Shank
DualActuatorConnectors DualShovel FrameConnectors SingleActuatorConnector SingleShovel
Linkage
Base
PowerAngle
Base DualLiftDualTiltActuated SingleLiftSingleTiltActuated
Steering
Articulated
Base DualActuator DualCylinder DualDistance RotationalVelocity
Base
Interfaces
Ackermann Base BellCrank RackAndPinion
Kinematic
Ackermann Base BellCrank
Interactions
Ackermann Base BellCrank RackAndPinion
RackAndPinion
Suspensions
Base
Properties
Steering WheelAxisFromUpForward
SingleMate
Base
Interactions
Base LinearSpringDamper
Interfaces
ChassisAttachmentConnectors
LinearSpringDamper
TrackSystem
Base
Components
Tracks
Base
LinkDescription
Base Box
LinkVariation
Base Box
Traits
BoxVisual PeriodicGeometriesVisual Visual
TrackWheels
Base Idler RoadWheel Roller Sprocket
Traits
CylindricalShape CylindricalVisual
Traits
TrackSupportGeometry
Connections
Base
Traits
HingeWheels
Interactions
Dissipation
DefaultTrackDissipation TrackAttenuation
Flexibility
DefaultTrackFlexibility LinearElastic
Properties
SurfaceContact
Traits
TrackFriction
TensionInitialisation
Wheels
Actuator Base ElasticWheel
Interactions
Dissipation
DefaultWheelDissipation WheelMechanichalDamping
Flexibility
DefaultWheelFlexibility LinearElasticWheelFlexibility
Rim RimTrait Tire TireTrait
Visuals
Geometries
Base64TriMeshGeometry Box ConvexMesh Cylinder ExternalTriMeshGeometry Geometry Sphere TriMeshGeometry
Materials
Material
SurfaceFeatures
AmbientOcclusion BaseColor Metallic Normal Roughness Transparency
VisualMaterialOverrideTrait
Node
Optics
SurfaceFeatures
AmbientOcclusion BaseColor Metallic Normal Roughness Transparency
VisibleBand VisualMaterial
Properties
Color
Textures
DefaultTexture FilterMode Format Sampler Swizzle Texture TextureData WrapMode

Physics/Bodies

Body

# """
# Base type for Body
# """
Body:
    inertia is Inertia
    kinematics is Kinematics
OpenPLX is a work in progress. This draft version will evolve with user feedback and experience. We welcome your input and collaboration.
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