The PTO Extension feature was developed to address the issues described within the ‘new initial displacement implementation’ task card. The current initial displacement feature doesn't actually displace bodies but instead changes their locations entirely. The PTO Extension feature corrects this issue by allowing for the defined PTO displacement to propagate throughout the system, resulting in an accurate reflection of the initial position of each body without requiring the user to individually calculate and define. This feature was implemented on several PTO library blocks including: Translational PTO, Rotational PTO, Rotational PTO Actuation Motion, and Translational PTO Actuation Force.

The PTO Extension Feature includes the following changes:

1. Established an ‘extension’ property within the PTO Class
   -This property defines the priority, value, and checkbox initialization options for the specify position target checkbox of
   each PTO library block joint

2. Edited the PTO library blocks
   - Set the joint block position target value as pto.extension.PositionTargetValue, which can be defined in the
   wecSimInputFile

    - Added an if statement in the PTO library block mask to allow the pto.extension.PositionTargetSpecify to 
      turn on the specify position target checkbox if defined as a value of 1 in the wecSimInputFile.
   

3. Documentation
   - Updated the pto.rst file to include a detailed explanation of the PTO Extension Feature and how to initialize within the
   wecSimInputFile. This includes a visual of the feature being implemented within the WECCCOMP wavestar model.

    - Updated the applications.rst file to include an explanation of the applications case employing the PTO Extension 
     feature for the RM3 model.
   

PTO Extension Feature.pdf