DualMate

DualMate is Actuators.Linear.Connections.Base:
    .doc: """
    Base model for linear cylinders connected through one connection at the
    barrel side and one connection at the rod side.

    Concrete variants define the specific joint type used at each end.
    The range is limited between min_length and max_length = stroke_length + min_length
"""
    actuator becomes MachineModeling.Actuators.Linear.Cylinder.Base

    barrel_connection is MachineModeling.Connections.Base with MachineModeling.Connections.Interfaces.FromTo:
        from: from
        to: actuator.barrel.body.connector

    rod_connection is MachineModeling.Connections.Base with MachineModeling.Connections.Interfaces.FromTo:
        from: actuator.rod.body.connector
        to: to

    internal_group is Simulation.CollisionGroup:
        bodies: [actuator.barrel.body, actuator.rod.body]

    disable_internal is Simulation.DisableCollisionPair:
        group1: internal_group
        group2: internal_group