Base

Base is MachineModeling.Components.Composite.Base:
    .doc: """
    Base model of an excavator arm composed of boom and stick parts.

    The concrete connections between the parts are intentionally left
    replaceable so specialized arm variants can define their own joint and
    linkage implementations.
    """

    with MachineModeling.Components.Composite.Arm.Interfaces.SingleEndJoint
    with MachineModeling.Components.Composite.Arm.Interfaces.SingleEndActuator

    boom is MachineModeling.Components.Primitive.Base with MachineModeling.Components.Composite.Arm.Interfaces.SingleJoint, MachineModeling.Components.Composite.Arm.Interfaces.SingleEndJoint, MachineModeling.Components.Composite.Arm.Interfaces.SingleEndActuator:
        local_transform.position: {0,0,0}

    stick is MachineModeling.Components.Primitive.Base with MachineModeling.Components.Composite.Arm.Interfaces.SingleJoint, MachineModeling.Components.Composite.Arm.Interfaces.SingleEndJoint, MachineModeling.Components.Composite.Arm.Interfaces.SingleActuator, MachineModeling.Components.Composite.Arm.Interfaces.SingleEndActuator

    boom_stick_connection is MachineModeling.Connections.Pivot.Actuated.Base:
        from: boom.to
        to: stick.from
        ground_connector: boom.to_actuator
        drive_connector: stick.from_actuator

    to: stick.to
    to_actuator: stick.to_actuator