trait Suspension:
    .doc:"""
    Sets the properties of the suspension cylinders for Komatsu HM400.

    The stiffness and damping are rough estimates based on the weight of the
    fully laden and unladen vehicle and is modelled using a linear spring and damper.
    """
    front_axle_connection:
        min_length: 0.4
        stroke_length: 0.4
        rod_diameter: 0.15
        barrel_diameter: 0.20
        left_suspension.actuator.source:
            flexibility.stiffness: 7.5e5
            position: 0.345
            dissipation becomes Physics.Interactions.Dissipation.MechanicalDamping:
                damping_constant: 2.0e5
        right_suspension.actuator.source:
            flexibility.stiffness: 7.5e5
            position: 0.345
            dissipation becomes Physics.Interactions.Dissipation.MechanicalDamping:
                damping_constant: 2.0e5


    rear_axle_connection:
        min_length: 0.4
        stroke_length: 0.4
        rod_diameter: 0.15
        barrel_diameter: 0.20
        left_suspension.actuator.source:
            flexibility.stiffness: 20e5
            position: 0.20
            dissipation becomes Physics.Interactions.Dissipation.MechanicalDamping:
                damping_constant: 4.0e5
        right_suspension.actuator.source:
            flexibility.stiffness: 20e5
            position: 0.20
            dissipation becomes Physics.Interactions.Dissipation.MechanicalDamping:
                damping_constant: 4.0e5
