trait AngleControl:
    steering:
        min_length: 0.941
        stroke_length: 0.525
        rod_diameter: 0.070
        barrel_diameter: 0.150
        left_steering_actuator becomes MachineModeling.Actuators.Linear.Cylinder with MachineModeling.Actuators.Linear.Traits.VelocityMotor:
            source.min_effort: 0
            source.max_effort: 0
        right_steering_actuator becomes MachineModeling.Actuators.Linear.Cylinder with MachineModeling.Actuators.Linear.Traits.VelocityMotor:
            source.min_effort: 0
            source.max_effort: 0
    chassis.frame_connection.to_link.upper_pivot:
        angle_controller is Physics3D.Interactions.TorsionSpring:
            connectors: chassis.frame_connection.to_link.upper_pivot.hinge.connectors
            angle: chassis.frame_connection.to_link.upper_pivot.hinge.initial_angle
            min_effort: -165e3
            max_effort:  165e3
            flexibility.stiffness: 1e9
            dissipation becomes Physics.Interactions.Dissipation.MechanicalDamping:
                damping_constant: 1.5e9

    cargo_bed_connection:
        min_length:      3.031
        stroke_length:   2.486
        rod_diameter:    0.095
        barrel_diameter: 0.150
        left_lift.actuator becomes MachineModeling.Actuators.Linear.Cylinder with MachineModeling.Actuators.Linear.Traits.VelocityMotor:
            source.min_effort: 0
            source.max_effort: 0
        right_lift.actuator becomes MachineModeling.Actuators.Linear.Cylinder with MachineModeling.Actuators.Linear.Traits.VelocityMotor:
            source.min_effort: 0
            source.max_effort: 0
        connection:
            angle_controller is Physics3D.Interactions.TorsionSpring:
                connectors: cargo_bed_connection.connection.hinge.connectors
                angle: cargo_bed_connection.initial_angle
                min_effort: -1300e3*0.75
                max_effort:   650e3*0.75
                flexibility.stiffness: 1e8
                dissipation becomes Physics.Interactions.Dissipation.MechanicalDamping:
                    damping_constant: 2.5e8
