Tool

trait Tool:
    .doc: """
    Adds a `tool` (e.g. bucket) to the excavator and connects it to the excavator arm
    using the `tool_connection`. Also adds a linear actuator (e.g. hydraulic cylinder).
    """
    tool is Vehicles.Excavator.Components.Tool.Base

    tool_connection is MachineModeling.Connections.Pivot.Actuated.LinearDoubleLinkage:
        from: arm.to
        to: tool.from
        ground_connector: arm.to_actuator
        drive_connector: tool.from_actuator
        guide_connector: arm.to

    tool_connection.actuator becomes MachineModeling.Actuators.Linear.Cylinder
    tool_connection.actuator_connection becomes MachineModeling.Actuators.Linear.Connections.Cylinder