Hi Finbar,
The current templates in Chrono::Vehicle do not allow a single “central” wheel per axle. You will have to create the model “from scratch”. For illustration of more complex models built this way, take a look at the rover models (in https://github.com/projectchrono/chrono/tree/develop/src/chrono_models/robot). The Curiosity and Viper rovers implemented there use direct wheel actuation (so no powertrain/drivetrain).
Technically, PyChrono exposes enough of the Chrono functionality that you may be able to create the model in Python. But for full flexibility and performance, I indeed suggest you create the model in C++ and then expose it to Python, using SWIG, like we already did with some of the above robot models (see https://github.com/projectchrono/chrono/blob/develop/src/chrono_python/robot/ChModuleRobot.i).
--Radu
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Hi Finbar,
The new code I mentioned previously is under chrono_vehicle/cosim/. But that evolved beyond what I had back in October and no longer is a good example for what you asked.
However, I realized that there was already another perfect example for connecting a ChTire to some Chrono mechanism: that’s in the implementation of ChTireTestRig. Look also at demo_VEH_TireTestRig for a demonstration.
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