SinglePivotDualActuator

SinglePivotDualActuator is Vehicles.Excavator.Connections.Arm.Base:
    .doc: """
    Arm connection with one chassis-to-arm pivot and left/right linear actuators.
    """

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

    initial_angle is Real: 0.0

    pivot is MachineModeling.Connections.Pivot.Hinge:
        from: chassis.arm_connector
        to: arm.from
        hinge.initial_angle: initial_angle

    left_actuator is MachineModeling.Actuators.Linear.Connections.Base:
        from: chassis.left_arm_actuator_connector
        to: arm.from_left_actuator

    right_actuator is MachineModeling.Actuators.Linear.Connections.Base:
        from: chassis.right_arm_actuator_connector
        to: arm.from_right_actuator