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AffineTransform1DInput AffineTransform1DOutput BroadcastInput GroupOutput
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Signals
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Base
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Base Motor
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Traits
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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
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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
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Signals
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Optics
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Lenses
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Traits
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Lights
PointLight SpotLight
RayEmissionAngleGaussianNoise RayEmissionDistortion RaySource RectangularPhotodetector
Traits
AutoExposure BeamEmitter DistortedRayEmission GlobalElectronicShutter LidarHorizontalResolution1024 LidarHorizontalResolution2048 LidarHorizontalResolution512 LidarVerticalResolution128 LidarVerticalResolution32 LidarVerticalResolution64 ManualExposure PulsedBeamEmitter RayEmitter
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Signals
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Traits
RelativeIlluminanceCutoff
TriaxialOutputfield
Traits
LidarFrequency05 LidarFrequency10 LidarFrequency15 LidarFrequency20 MateAttachment MateConnectorAttachment
TriaxialSensorLogic
Simulation
CollisionGroup DisableCollisionPair Environment GravitationalField PointGravitationalField UniformGravitationalField
Terrain
MaterialLibrary
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Shovel Terrain TerrainMaterial
Urdf
PackagePath
Vehicles
Base
Bulldozer
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Base
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Connections
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Base
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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
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Base
Configurations
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Connections
Arm
Base DualPivotDualActuator DualPivotSingleActuator SinglePivotDualActuator SinglePivotSingleActuator
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Base
Interfaces
Single
Interfaces
Arm
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SwingJoint
Single
Standard Tracked TrackedStandard
FourWheels
Base FrontWheelDrive
Properties
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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
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Linkage
Base
PowerAngle
Base DualLiftDualTiltActuated SingleLiftSingleTiltActuated
Steering
Articulated
Base DualActuator DualCylinder DualDistance RotationalVelocity
Base
Interfaces
Ackermann Base BellCrank RackAndPinion
Kinematic
Ackermann Base BellCrank
Interactions
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RackAndPinion
Suspensions
Base
Properties
Steering WheelAxisFromUpForward
SingleMate
Base
Interactions
Base LinearSpringDamper
Interfaces
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TrackSystem
Base
Components
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LinkDescription
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LinkVariation
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Traits
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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

Robotics/EndEffectors

VacuumGripper

VacuumGripper:
    with Physics.Signals.BoolInputTrait
    with Physics.Signals.BoolOutputTrait
    activated is Bool
    suction_cups is SuctionCup[]
    vacuum_system is VacuumSystem

    activate_input is Physics.Signals.ActivateInput:
        source: this
        initial_value: activated

    activated_output is Physics.Signals.ActivatedOutput:
        enabled: false
        source: this
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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