Tiltrotator

Tiltrotator is Vehicles.Excavator.Components.Coupler.QuickCoupler:
    .doc:"""
    Defines a tiltrotator by extending the `QuickCoupler` model.

    The tiltrotatoar has three main parts:
        `tilt_frame` -> `rotator` -> `coupler`

    The motion between the tilt frame and the rotator is achieved by two (left/right)
    linear actuators.
    The swivel joint between the rotator and the coupler has a rotational actuator.

    """

    min_length      is Real     # Minimum length of the tilt linear actuators
    stroke_length   is Real     # Stroke length of the tilt linear actuators
    rod_diameter    is Real     # Physical diameter of the linear actuator rod
    barrel_diameter is Real     # Physical diameter of the linear actuator barrel

    max_tilt_angle is Real: Math.PI/2

    initial_swivel_angle is Real: 0.0
    initial_tilt_angle is Real: 0.0

    tilt_frame is MachineModeling.Components.Primitive.Base with Vehicles.Excavator.Components.Coupler.Interfaces.DualToFrom:
        left_actuator_connector is Physics3D.Interactions.MateConnector
        right_actuator_connector is Physics3D.Interactions.MateConnector

    rotator is MachineModeling.Components.Primitive.Base with Vehicles.Excavator.Components.Coupler.Interfaces.DualToFrom:
        left_actuator_connector is Physics3D.Interactions.MateConnector
        right_actuator_connector is Physics3D.Interactions.MateConnector

    tilt_frame_connector_1 is MachineModeling.Connections.Pivot.Hinge:
        from: tilt_frame.to_connector_1
        to: rotator.from_connector_1
        hinge.initial_angle: initial_tilt_angle

    tilt_range is Physics3D.Interactions.RotationalRange:
        connectors: tilt_frame_connector_1.hinge.connectors
        start: -max_tilt_angle
        end: max_tilt_angle

    tilt_frame_connector_2 is MachineModeling.Connections.Pivot.Hinge:
        from: tilt_frame.to_connector_2
        to: rotator.from_connector_2
        hinge.initial_angle: initial_tilt_angle

    swivel is MachineModeling.Connections.Pivot.Hinge:
        from: rotator.to_connector_1
        to: coupler.from_connector_1
        hinge.initial_angle: initial_swivel_angle

    swivel_actuator is MachineModeling.Actuators.Rotational.Base:
        source.connectors: swivel.hinge.connectors

    left_tilt is  MachineModeling.Actuators.Linear.Connections.Cylinder:
        from: tilt_frame.left_actuator_connector
        to: rotator.left_actuator_connector
        actuator:
            min_length: min_length
            stroke_length: stroke_length
            rod.body.diameter: rod_diameter
            barrel.body.diameter: barrel_diameter
    right_tilt is  MachineModeling.Actuators.Linear.Connections.Cylinder:
        from: tilt_frame.right_actuator_connector
        to: rotator.right_actuator_connector
        actuator:
            min_length: min_length
            stroke_length: stroke_length
            rod.body.diameter: rod_diameter
            barrel.body.diameter: barrel_diameter

    # Reassign the system connectors to the correct part connectors.
    to: coupler.to_connector_1
    to_actuator: coupler.to_connector_2
    from: tilt_frame.from_connector_1
    from_actuator: tilt_frame.from_connector_2

    # Disable inter system collisions
    no_inter_tiltrotator_collisions is Simulation.CollisionGroup:
        systems: [tilt_frame, rotator, coupler, left_tilt, right_tilt]

    disable_tiltrotator_pairs is Simulation.DisableCollisionPair:
        group1: no_inter_tiltrotator_collisions
        group2: no_inter_tiltrotator_collisions