DualPivotSingleActuator

DualPivotSingleActuator is Vehicles.Excavator.Connections.Arm.Base:
    .doc: """
    Arm connection with left/right chassis-to-arm pivots and one linear actuator.
    """

    arm becomes MachineModeling.Components.Primitive.Base with MachineModeling.Components.Composite.Arm.Interfaces.DualJoint, MachineModeling.Components.Composite.Arm.Interfaces.SingleActuator reference
    chassis becomes MachineModeling.Components.Primitive.Base with Vehicles.Excavator.Interfaces.Arm.DualJoint, Vehicles.Excavator.Interfaces.Arm.SingleActuator reference

    initial_angle is Real: 0.0

    left_pivot is MachineModeling.Connections.Pivot.Hinge:
        from: chassis.left_arm_connector
        to: arm.from_left
        hinge.initial_angle: initial_angle

    right_pivot is MachineModeling.Connections.Pivot.Hinge:
        from: chassis.right_arm_connector
        to: arm.from_right
        hinge.initial_angle: initial_angle

    actuator_connection is MachineModeling.Actuators.Linear.Connections.Base:
        from: chassis.arm_actuator_connector
        to: arm.from_actuator