# No. 74 (Brown 1868): "A uniform intermittent rotary motion in opposite directions is given to the
# bevel-gears, A and B, by means of the mutilated bevel-gear, C."
#
# Model (cm): A and B, 20-tooth miter bevels (pitch radius 6), turn loose on a fixed horizontal arbor
# along y, A at +y and B at -y, facing each other. C, on the upright shaft (the one motor-driven
# joint), is the same bevel with only 9 of its 20 teeth left. Its toothed arc meets A on one side
# and B on the other, never both: each turn of C carries A 10 teeth one way and then B 10 teeth the
# other way (n teeth push n + 1: the first tooth's approach and the last one's recess add a pitch,
# and the dwell must repeat in phase with C's teeth, so the step is a whole number of pitches), and each stands (held by its bearing's friction) while C's blank side passes. Every tooth
# is its own convex loft (the No. 53 bevel geometry); only teeth collide.
# Generator: opencode-runs/batch8/gen074.py.
number: 74
slug: mutilated-bevel-gear
name: Intermittent motion in opposite directions by a mutilated bevel-gear
brown: "A uniform intermittent rotary motion in opposite directions is given to the bevel-gears, A and B, by means of the mutilated bevel-gear, C."
units: cm
sim:
  timestep: 0.0002
  integrator: implicitfast
  iterations: 100
  solver: PGS
  multiccd: true
  duration_s: 13
  floor: false
bodies:
  - id: gear_a
    shape: part
    pos: [0, 0, 0]
    density: 7800
    friction: 0.15
    color: "#e8dec6"
    pieces:
      - {kind: loft, a: [[4.7062, 6.0, -0.4213], [5.6157, 6.0, -0.5027], [5.7126, 6.0, -0.4994], [5.8102, 6.0, -0.4858], [5.9084, 6.0, -0.4654], [6.0069, 6.0, -0.4391], [6.1055, 6.0, -0.4075], [6.2042, 6.0, -0.371], [6.3028, 6.0, -0.33], [6.4013, 6.0, -0.2845], [6.4996, 6.0, -0.2348], [6.5975, 6.0, -0.1809], [6.5975, 6.0, 0.1809], [6.4996, 6.0, 0.2348], [6.4013, 6.0, 0.2845], [6.3028, 6.0, 0.33], [6.2042, 6.0, 0.371], [6.1055, 6.0, 0.4075], [6.0069, 6.0, 0.4391], [5.9084, 6.0, 0.4654], [5.8102, 6.0, 0.4858], [5.7126, 6.0, 0.4994], [5.6157, 6.0, 0.5027], [4.7062, 6.0, 0.4213]], b: [[3.3751, 4.3029, -0.3021], [4.0273, 4.3029, -0.3605], [4.0968, 4.3029, -0.3581], [4.1669, 4.3029, -0.3484], [4.2373, 4.3029, -0.3338], [4.3079, 4.3029, -0.3149], [4.3786, 4.3029, -0.2922], [4.4494, 4.3029, -0.2661], [4.5201, 4.3029, -0.2366], [4.5907, 4.3029, -0.204], [4.6612, 4.3029, -0.1684], [4.7315, 4.3029, -0.1298], [4.7315, 4.3029, 0.1298], [4.6612, 4.3029, 0.1684], [4.5907, 4.3029, 0.204], [4.5201, 4.3029, 0.2366], [4.4494, 4.3029, 0.2661], [4.3786, 4.3029, 0.2922], [4.3079, 4.3029, 0.3149], [4.2373, 4.3029, 0.3338], [4.1669, 4.3029, 0.3484], [4.0968, 4.3029, 0.3581], [4.0273, 4.3029, 0.3605], [3.3751, 4.3029, 0.3021]], collide: 1}
      - {kind: loft, a: [[4.606, 6.0, 1.0536], [5.4962, 6.0, 1.2573], [5.5873, 6.0, 1.2904], [5.676, 6.0, 1.3334], [5.763, 6.0, 1.3832], [5.8486, 6.0, 1.4386], [5.9326, 6.0, 1.4992], [6.0152, 6.0, 1.5643], [6.0963, 6.0, 1.6339], [6.1759, 6.0, 1.7075], [6.254, 6.0, 1.7852], [6.3305, 6.0, 1.8667], [6.2187, 6.0, 2.2108], [6.1089, 6.0, 2.2318], [6.0001, 6.0, 2.2487], [5.8924, 6.0, 2.2615], [5.7859, 6.0, 2.2701], [5.6807, 6.0, 2.2742], [5.5772, 6.0, 2.2738], [5.4754, 6.0, 2.2684], [5.3757, 6.0, 2.2575], [5.2787, 6.0, 2.2402], [5.1855, 6.0, 2.2134], [4.3457, 6.0, 1.8549]], b: [[3.3032, 4.3029, 0.7556], [3.9416, 4.3029, 0.9017], [4.007, 4.3029, 0.9254], [4.0706, 4.3029, 0.9563], [4.133, 4.3029, 0.992], [4.1943, 4.3029, 1.0317], [4.2546, 4.3029, 1.0751], [4.3138, 4.3029, 1.1219], [4.372, 4.3029, 1.1717], [4.4291, 4.3029, 1.2246], [4.4851, 4.3029, 1.2803], [4.54, 4.3029, 1.3387], [4.4598, 4.3029, 1.5855], [4.3811, 4.3029, 1.6005], [4.303, 4.3029, 1.6127], [4.2258, 4.3029, 1.6218], [4.1494, 4.3029, 1.628], [4.074, 4.3029, 1.631], [3.9997, 4.3029, 1.6307], [3.9267, 4.3029, 1.6268], [3.8552, 4.3029, 1.619], [3.7856, 4.3029, 1.6066], [3.7188, 4.3029, 1.5874], [3.1165, 4.3029, 1.3303]], collide: 1}
      - {kind: loft, a: [[4.055, 6.0, 2.4254], [4.8387, 6.0, 2.8941], [4.9151, 6.0, 2.9538], [4.9862, 6.0, 3.0221], [5.0536, 6.0, 3.0964], [5.1177, 6.0, 3.1755], [5.179, 6.0, 3.2591], [5.2374, 6.0, 3.3466], [5.293, 6.0, 3.4377], [5.346, 6.0, 3.5324], [5.3963, 6.0, 3.6304], [5.4439, 6.0, 3.7315], [5.2312, 6.0, 4.0243], [5.1203, 6.0, 4.0103], [5.0115, 6.0, 3.9928], [4.9051, 6.0, 3.9717], [4.8012, 6.0, 3.9469], [4.6999, 6.0, 3.9184], [4.6016, 6.0, 3.886], [4.5065, 6.0, 3.8494], [4.415, 6.0, 3.8082], [4.328, 6.0, 3.7617], [4.2477, 6.0, 3.7075], [3.5598, 6.0, 3.107]], b: [[2.9081, 4.3029, 1.7394], [3.4701, 4.3029, 2.0756], [3.5249, 4.3029, 2.1183], [3.5759, 4.3029, 2.1673], [3.6242, 4.3029, 2.2206], [3.6702, 4.3029, 2.2774], [3.7141, 4.3029, 2.3373], [3.756, 4.3029, 2.4], [3.7959, 4.3029, 2.4654], [3.8339, 4.3029, 2.5333], [3.87, 4.3029, 2.6036], [3.9041, 4.3029, 2.6761], [3.7516, 4.3029, 2.8861], [3.672, 4.3029, 2.876], [3.5941, 4.3029, 2.8634], [3.5178, 4.3029, 2.8483], [3.4432, 4.3029, 2.8305], [3.3706, 4.3029, 2.8101], [3.3001, 4.3029, 2.7868], [3.2318, 4.3029, 2.7606], [3.1663, 4.3029, 2.7311], [3.1039, 4.3029, 2.6978], [3.0463, 4.3029, 2.6589], [2.5529, 4.3029, 2.2282]], collide: 1}
      - {kind: loft, a: [[3.107, 6.0, 3.5598], [3.7075, 6.0, 4.2477], [3.7617, 6.0, 4.328], [3.8082, 6.0, 4.415], [3.8494, 6.0, 4.5065], [3.886, 6.0, 4.6016], [3.9184, 6.0, 4.6999], [3.9469, 6.0, 4.8012], [3.9717, 6.0, 4.9051], [3.9928, 6.0, 5.0115], [4.0103, 6.0, 5.1203], [4.0243, 6.0, 5.2312], [3.7315, 6.0, 5.4439], [3.6304, 6.0, 5.3963], [3.5324, 6.0, 5.346], [3.4377, 6.0, 5.293], [3.3466, 6.0, 5.2374], [3.2591, 6.0, 5.179], [3.1755, 6.0, 5.1177], [3.0964, 6.0, 5.0536], [3.0221, 6.0, 4.9862], [2.9538, 6.0, 4.9151], [2.8941, 6.0, 4.8387], [2.4254, 6.0, 4.055]], b: [[2.2282, 4.3029, 2.5529], [2.6589, 4.3029, 3.0463], [2.6978, 4.3029, 3.1039], [2.7311, 4.3029, 3.1663], [2.7606, 4.3029, 3.2318], [2.7868, 4.3029, 3.3001], [2.8101, 4.3029, 3.3706], [2.8305, 4.3029, 3.4432], [2.8483, 4.3029, 3.5178], [2.8634, 4.3029, 3.5941], [2.876, 4.3029, 3.672], [2.8861, 4.3029, 3.7516], [2.6761, 4.3029, 3.9041], [2.6036, 4.3029, 3.87], [2.5333, 4.3029, 3.8339], [2.4654, 4.3029, 3.7959], [2.4, 4.3029, 3.756], [2.3373, 4.3029, 3.7141], [2.2774, 4.3029, 3.6702], [2.2206, 4.3029, 3.6242], [2.1673, 4.3029, 3.5759], [2.1183, 4.3029, 3.5249], [2.0756, 4.3029, 3.4701], [1.7394, 4.3029, 2.9081]], collide: 1}
      - {kind: loft, a: [[1.8549, 6.0, 4.3457], [2.2134, 6.0, 5.1855], [2.2402, 6.0, 5.2787], [2.2575, 6.0, 5.3757], [2.2684, 6.0, 5.4754], [2.2738, 6.0, 5.5772], [2.2742, 6.0, 5.6807], [2.2701, 6.0, 5.7859], [2.2615, 6.0, 5.8924], [2.2487, 6.0, 6.0001], [2.2318, 6.0, 6.1089], [2.2108, 6.0, 6.2187], [1.8667, 6.0, 6.3305], [1.7852, 6.0, 6.254], [1.7075, 6.0, 6.1759], [1.6339, 6.0, 6.0963], [1.5643, 6.0, 6.0152], [1.4992, 6.0, 5.9326], [1.4386, 6.0, 5.8486], [1.3832, 6.0, 5.763], [1.3334, 6.0, 5.676], [1.2904, 6.0, 5.5873], [1.2573, 6.0, 5.4962], [1.0536, 6.0, 4.606]], b: [[1.3303, 4.3029, 3.1165], [1.5874, 4.3029, 3.7188], [1.6066, 4.3029, 3.7856], [1.619, 4.3029, 3.8552], [1.6268, 4.3029, 3.9267], [1.6307, 4.3029, 3.9997], [1.631, 4.3029, 4.074], [1.628, 4.3029, 4.1494], [1.6218, 4.3029, 4.2258], [1.6127, 4.3029, 4.303], [1.6005, 4.3029, 4.3811], [1.5855, 4.3029, 4.4598], [1.3387, 4.3029, 4.54], [1.2803, 4.3029, 4.4851], [1.2246, 4.3029, 4.4291], [1.1717, 4.3029, 4.372], [1.1219, 4.3029, 4.3138], [1.0751, 4.3029, 4.2546], [1.0317, 4.3029, 4.1943], [0.992, 4.3029, 4.133], [0.9563, 4.3029, 4.0706], [0.9254, 4.3029, 4.007], [0.9017, 4.3029, 3.9416], [0.7556, 4.3029, 3.3032]], collide: 1}
      - {kind: loft, a: [[0.4213, 6.0, 4.7062], [0.5027, 6.0, 5.6157], [0.4994, 6.0, 5.7126], [0.4858, 6.0, 5.8102], [0.4654, 6.0, 5.9084], [0.4391, 6.0, 6.0069], [0.4075, 6.0, 6.1055], [0.371, 6.0, 6.2042], [0.33, 6.0, 6.3028], [0.2845, 6.0, 6.4013], [0.2348, 6.0, 6.4996], [0.1809, 6.0, 6.5975], [-0.1809, 6.0, 6.5975], [-0.2348, 6.0, 6.4996], [-0.2845, 6.0, 6.4013], [-0.33, 6.0, 6.3028], [-0.371, 6.0, 6.2042], [-0.4075, 6.0, 6.1055], [-0.4391, 6.0, 6.0069], [-0.4654, 6.0, 5.9084], [-0.4858, 6.0, 5.8102], [-0.4994, 6.0, 5.7126], [-0.5027, 6.0, 5.6157], [-0.4213, 6.0, 4.7062]], b: [[0.3021, 4.3029, 3.3751], [0.3605, 4.3029, 4.0273], [0.3581, 4.3029, 4.0968], [0.3484, 4.3029, 4.1669], [0.3338, 4.3029, 4.2373], [0.3149, 4.3029, 4.3079], [0.2922, 4.3029, 4.3786], [0.2661, 4.3029, 4.4494], [0.2366, 4.3029, 4.5201], [0.204, 4.3029, 4.5907], [0.1684, 4.3029, 4.6612], [0.1298, 4.3029, 4.7315], [-0.1298, 4.3029, 4.7315], [-0.1684, 4.3029, 4.6612], [-0.204, 4.3029, 4.5907], [-0.2366, 4.3029, 4.5201], [-0.2661, 4.3029, 4.4494], [-0.2922, 4.3029, 4.3786], [-0.3149, 4.3029, 4.3079], [-0.3338, 4.3029, 4.2373], [-0.3484, 4.3029, 4.1669], [-0.3581, 4.3029, 4.0968], [-0.3605, 4.3029, 4.0273], [-0.3021, 4.3029, 3.3751]], collide: 1}
      - {kind: loft, a: [[-1.0536, 6.0, 4.606], [-1.2573, 6.0, 5.4962], [-1.2904, 6.0, 5.5873], [-1.3334, 6.0, 5.676], [-1.3832, 6.0, 5.763], [-1.4386, 6.0, 5.8486], [-1.4992, 6.0, 5.9326], [-1.5643, 6.0, 6.0152], [-1.6339, 6.0, 6.0963], [-1.7075, 6.0, 6.1759], [-1.7852, 6.0, 6.254], [-1.8667, 6.0, 6.3305], [-2.2108, 6.0, 6.2187], [-2.2318, 6.0, 6.1089], [-2.2487, 6.0, 6.0001], [-2.2615, 6.0, 5.8924], [-2.2701, 6.0, 5.7859], [-2.2742, 6.0, 5.6807], [-2.2738, 6.0, 5.5772], [-2.2684, 6.0, 5.4754], [-2.2575, 6.0, 5.3757], [-2.2402, 6.0, 5.2787], [-2.2134, 6.0, 5.1855], [-1.8549, 6.0, 4.3457]], b: [[-0.7556, 4.3029, 3.3032], [-0.9017, 4.3029, 3.9416], [-0.9254, 4.3029, 4.007], [-0.9563, 4.3029, 4.0706], [-0.992, 4.3029, 4.133], [-1.0317, 4.3029, 4.1943], [-1.0751, 4.3029, 4.2546], [-1.1219, 4.3029, 4.3138], [-1.1717, 4.3029, 4.372], [-1.2246, 4.3029, 4.4291], [-1.2803, 4.3029, 4.4851], [-1.3387, 4.3029, 4.54], [-1.5855, 4.3029, 4.4598], [-1.6005, 4.3029, 4.3811], [-1.6127, 4.3029, 4.303], [-1.6218, 4.3029, 4.2258], [-1.628, 4.3029, 4.1494], [-1.631, 4.3029, 4.074], [-1.6307, 4.3029, 3.9997], [-1.6268, 4.3029, 3.9267], [-1.619, 4.3029, 3.8552], [-1.6066, 4.3029, 3.7856], [-1.5874, 4.3029, 3.7188], [-1.3303, 4.3029, 3.1165]], collide: 1}
      - {kind: loft, a: [[-2.4254, 6.0, 4.055], [-2.8941, 6.0, 4.8387], [-2.9538, 6.0, 4.9151], [-3.0221, 6.0, 4.9862], [-3.0964, 6.0, 5.0536], [-3.1755, 6.0, 5.1177], [-3.2591, 6.0, 5.179], [-3.3466, 6.0, 5.2374], [-3.4377, 6.0, 5.293], [-3.5324, 6.0, 5.346], [-3.6304, 6.0, 5.3963], [-3.7315, 6.0, 5.4439], [-4.0243, 6.0, 5.2312], [-4.0103, 6.0, 5.1203], [-3.9928, 6.0, 5.0115], [-3.9717, 6.0, 4.9051], [-3.9469, 6.0, 4.8012], [-3.9184, 6.0, 4.6999], [-3.886, 6.0, 4.6016], [-3.8494, 6.0, 4.5065], [-3.8082, 6.0, 4.415], [-3.7617, 6.0, 4.328], [-3.7075, 6.0, 4.2477], [-3.107, 6.0, 3.5598]], b: [[-1.7394, 4.3029, 2.9081], [-2.0756, 4.3029, 3.4701], [-2.1183, 4.3029, 3.5249], [-2.1673, 4.3029, 3.5759], [-2.2206, 4.3029, 3.6242], [-2.2774, 4.3029, 3.6702], [-2.3373, 4.3029, 3.7141], [-2.4, 4.3029, 3.756], [-2.4654, 4.3029, 3.7959], [-2.5333, 4.3029, 3.8339], [-2.6036, 4.3029, 3.87], [-2.6761, 4.3029, 3.9041], [-2.8861, 4.3029, 3.7516], [-2.876, 4.3029, 3.672], [-2.8634, 4.3029, 3.5941], [-2.8483, 4.3029, 3.5178], [-2.8305, 4.3029, 3.4432], [-2.8101, 4.3029, 3.3706], [-2.7868, 4.3029, 3.3001], [-2.7606, 4.3029, 3.2318], [-2.7311, 4.3029, 3.1663], [-2.6978, 4.3029, 3.1039], [-2.6589, 4.3029, 3.0463], [-2.2282, 4.3029, 2.5529]], collide: 1}
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      - {kind: loft, a: [[-4.3457, 6.0, 1.8549], [-5.1855, 6.0, 2.2134], [-5.2787, 6.0, 2.2402], [-5.3757, 6.0, 2.2575], [-5.4754, 6.0, 2.2684], [-5.5772, 6.0, 2.2738], [-5.6807, 6.0, 2.2742], [-5.7859, 6.0, 2.2701], [-5.8924, 6.0, 2.2615], [-6.0001, 6.0, 2.2487], [-6.1089, 6.0, 2.2318], [-6.2187, 6.0, 2.2108], [-6.3305, 6.0, 1.8667], [-6.254, 6.0, 1.7852], [-6.1759, 6.0, 1.7075], [-6.0963, 6.0, 1.6339], [-6.0152, 6.0, 1.5643], [-5.9326, 6.0, 1.4992], [-5.8486, 6.0, 1.4386], [-5.763, 6.0, 1.3832], [-5.676, 6.0, 1.3334], [-5.5873, 6.0, 1.2904], [-5.4962, 6.0, 1.2573], [-4.606, 6.0, 1.0536]], b: [[-3.1165, 4.3029, 1.3303], [-3.7188, 4.3029, 1.5874], [-3.7856, 4.3029, 1.6066], [-3.8552, 4.3029, 1.619], [-3.9267, 4.3029, 1.6268], [-3.9997, 4.3029, 1.6307], [-4.074, 4.3029, 1.631], [-4.1494, 4.3029, 1.628], [-4.2258, 4.3029, 1.6218], [-4.303, 4.3029, 1.6127], [-4.3811, 4.3029, 1.6005], [-4.4598, 4.3029, 1.5855], [-4.54, 4.3029, 1.3387], [-4.4851, 4.3029, 1.2803], [-4.4291, 4.3029, 1.2246], [-4.372, 4.3029, 1.1717], [-4.3138, 4.3029, 1.1219], [-4.2546, 4.3029, 1.0751], [-4.1943, 4.3029, 1.0317], [-4.133, 4.3029, 0.992], [-4.0706, 4.3029, 0.9563], [-4.007, 4.3029, 0.9254], [-3.9416, 4.3029, 0.9017], [-3.3032, 4.3029, 0.7556]], collide: 1}
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    shape: part
    pos: [0, 0, 0]
    density: 7800
    friction: 0.15
    color: "#e2d8bf"
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      - {kind: loft, a: [[2.5119, -4.002, 6.0], [2.9974, -4.7754, 6.0], [3.0384, -4.8632, 6.0], [3.0707, -4.9564, 6.0], [3.097, -5.0531, 6.0], [3.1183, -5.1528, 6.0], [3.1349, -5.255, 6.0], [3.1472, -5.3595, 6.0], [3.1554, -5.466, 6.0], [3.1596, -5.5744, 6.0], [3.1599, -5.6846, 6.0], [3.1564, -5.7963, 6.0], [2.834, -5.9606, 6.0], [2.7416, -5.8978, 6.0], [2.6526, -5.8328, 6.0], [2.5674, -5.7657, 6.0], [2.486, -5.6964, 6.0], [2.4088, -5.625, 6.0], [2.3358, -5.5515, 6.0], [2.2677, -5.4757, 6.0], [2.2049, -5.3975, 6.0], [2.1485, -5.3166, 6.0], [2.1016, -5.2318, 6.0], [1.7612, -4.3845, 6.0]], b: [[1.8014, -2.8701, 4.3029], [2.1496, -3.4247, 4.3029], [2.179, -3.4877, 4.3029], [2.2022, -3.5545, 4.3029], [2.2211, -3.6239, 4.3029], [2.2363, -3.6954, 4.3029], [2.2482, -3.7687, 4.3029], [2.2571, -3.8436, 4.3029], [2.2629, -3.92, 4.3029], [2.266, -3.9978, 4.3029], [2.2662, -4.0767, 4.3029], [2.2637, -4.1568, 4.3029], [2.0324, -4.2747, 4.3029], [1.9661, -4.2296, 4.3029], [1.9024, -4.183, 4.3029], [1.8412, -4.1349, 4.3029], [1.7829, -4.0852, 4.3029], [1.7275, -4.034, 4.3029], [1.6752, -3.9813, 4.3029], [1.6263, -3.9269, 4.3029], [1.5813, -3.8709, 4.3029], [1.5408, -3.8129, 4.3029], [1.5072, -3.7521, 4.3029], [1.2631, -3.1444, 4.3029]], collide: 2}
      - {kind: loft, a: [[1.1523, -4.5823, 6.0], [1.375, -5.4679, 6.0], [1.3869, -5.5641, 6.0], [1.3888, -5.6627, 6.0], [1.3839, -5.7629, 6.0], [1.3733, -5.8642, 6.0], [1.3576, -5.9666, 6.0], [1.337, -6.0698, 6.0], [1.3119, -6.1736, 6.0], [1.2824, -6.278, 6.0], [1.2487, -6.3828, 6.0], [1.2108, -6.488, 6.0], [0.8534, -6.5446, 6.0], [0.7849, -6.4563, 6.0], [0.7204, -6.367, 6.0], [0.6601, -6.2768, 6.0], [0.6041, -6.1858, 6.0], [0.5526, -6.0941, 6.0], [0.506, -6.0016, 6.0], [0.4646, -5.9085, 6.0], [0.4291, -5.8147, 6.0], [0.4004, -5.7203, 6.0], [0.382, -5.6252, 6.0], [0.3201, -4.7141, 6.0]], b: [[0.8264, -3.2863, 4.3029], [0.9861, -3.9214, 4.3029], [0.9946, -3.9903, 4.3029], [0.996, -4.0611, 4.3029], [0.9925, -4.1329, 4.3029], [0.9849, -4.2056, 4.3029], [0.9736, -4.279, 4.3029], [0.9588, -4.353, 4.3029], [0.9408, -4.4274, 4.3029], [0.9197, -4.5023, 4.3029], [0.8955, -4.5775, 4.3029], [0.8683, -4.6529, 4.3029], [0.612, -4.6935, 4.3029], [0.5629, -4.6302, 4.3029], [0.5166, -4.5661, 4.3029], [0.4734, -4.5015, 4.3029], [0.4332, -4.4362, 4.3029], [0.3963, -4.3704, 4.3029], [0.3629, -4.3041, 4.3029], [0.3332, -4.2373, 4.3029], [0.3077, -4.1701, 4.3029], [0.2872, -4.1024, 4.3029], [0.2739, -4.0342, 4.3029], [0.2296, -3.3808, 4.3029]], collide: 2}
      - {kind: loft, a: [[-0.3201, -4.7141, 6.0], [-0.382, -5.6252, 6.0], [-0.4004, -5.7203, 6.0], [-0.4291, -5.8147, 6.0], [-0.4646, -5.9085, 6.0], [-0.506, -6.0016, 6.0], [-0.5526, -6.0941, 6.0], [-0.6041, -6.1858, 6.0], [-0.6601, -6.2768, 6.0], [-0.7204, -6.367, 6.0], [-0.7849, -6.4563, 6.0], [-0.8534, -6.5446, 6.0], [-1.2108, -6.488, 6.0], [-1.2487, -6.3828, 6.0], [-1.2824, -6.278, 6.0], [-1.3119, -6.1736, 6.0], [-1.337, -6.0698, 6.0], [-1.3576, -5.9666, 6.0], [-1.3733, -5.8642, 6.0], [-1.3839, -5.7629, 6.0], [-1.3888, -5.6627, 6.0], [-1.3869, -5.5641, 6.0], [-1.375, -5.4679, 6.0], [-1.1523, -4.5823, 6.0]], b: [[-0.2296, -3.3808, 4.3029], [-0.2739, -4.0342, 4.3029], [-0.2872, -4.1024, 4.3029], [-0.3077, -4.1701, 4.3029], [-0.3332, -4.2373, 4.3029], [-0.3629, -4.3041, 4.3029], [-0.3963, -4.3704, 4.3029], [-0.4332, -4.4362, 4.3029], [-0.4734, -4.5015, 4.3029], [-0.5166, -4.5661, 4.3029], [-0.5629, -4.6302, 4.3029], [-0.612, -4.6935, 4.3029], [-0.8683, -4.6529, 4.3029], [-0.8955, -4.5775, 4.3029], [-0.9197, -4.5023, 4.3029], [-0.9408, -4.4274, 4.3029], [-0.9588, -4.353, 4.3029], [-0.9736, -4.279, 4.3029], [-0.9849, -4.2056, 4.3029], [-0.9925, -4.1329, 4.3029], [-0.996, -4.0611, 4.3029], [-0.9946, -3.9903, 4.3029], [-0.9861, -3.9214, 4.3029], [-0.8264, -3.2863, 4.3029]], collide: 2}
      - {kind: loft, a: [[-1.7612, -4.3845, 6.0], [-2.1016, -5.2318, 6.0], [-2.1485, -5.3166, 6.0], [-2.2049, -5.3975, 6.0], [-2.2677, -5.4757, 6.0], [-2.3358, -5.5515, 6.0], [-2.4088, -5.625, 6.0], [-2.486, -5.6964, 6.0], [-2.5674, -5.7657, 6.0], [-2.6526, -5.8328, 6.0], [-2.7416, -5.8978, 6.0], [-2.834, -5.9606, 6.0], [-3.1564, -5.7963, 6.0], [-3.1599, -5.6846, 6.0], [-3.1596, -5.5744, 6.0], [-3.1554, -5.466, 6.0], [-3.1472, -5.3595, 6.0], [-3.1349, -5.255, 6.0], [-3.1183, -5.1528, 6.0], [-3.097, -5.0531, 6.0], [-3.0707, -4.9564, 6.0], [-3.0384, -4.8632, 6.0], [-2.9974, -4.7754, 6.0], [-2.5119, -4.002, 6.0]], b: [[-1.2631, -3.1444, 4.3029], [-1.5072, -3.7521, 4.3029], [-1.5408, -3.8129, 4.3029], [-1.5813, -3.8709, 4.3029], [-1.6263, -3.9269, 4.3029], [-1.6752, -3.9813, 4.3029], [-1.7275, -4.034, 4.3029], [-1.7829, -4.0852, 4.3029], [-1.8412, -4.1349, 4.3029], [-1.9024, -4.183, 4.3029], [-1.9661, -4.2296, 4.3029], [-2.0324, -4.2747, 4.3029], [-2.2637, -4.1568, 4.3029], [-2.2662, -4.0767, 4.3029], [-2.266, -3.9978, 4.3029], [-2.2629, -3.92, 4.3029], [-2.2571, -3.8436, 4.3029], [-2.2482, -3.7687, 4.3029], [-2.2363, -3.6954, 4.3029], [-2.2211, -3.6239, 4.3029], [-2.2022, -3.5545, 4.3029], [-2.179, -3.4877, 4.3029], [-2.1496, -3.4247, 4.3029], [-1.8014, -2.8701, 4.3029]], collide: 2}
      - {kind: loft, a: [[-3.0299, -3.6257, 6.0], [-3.6154, -4.3264, 6.0], [-3.6863, -4.3925, 6.0], [-3.7649, -4.452, 6.0], [-3.8488, -4.507, 6.0], [-3.937, -4.558, 6.0], [-4.0291, -4.6054, 6.0], [-4.1247, -4.6494, 6.0], [-4.2234, -4.6901, 6.0], [-4.3252, -4.7276, 6.0], [-4.4299, -4.7619, 6.0], [-4.5372, -4.7931, 6.0], [-4.7931, -4.5372, 6.0], [-4.7619, -4.4299, 6.0], [-4.7276, -4.3252, 6.0], [-4.6901, -4.2234, 6.0], [-4.6494, -4.1247, 6.0], [-4.6054, -4.0291, 6.0], [-4.558, -3.937, 6.0], [-4.507, -3.8488, 6.0], [-4.452, -3.7649, 6.0], [-4.3925, -3.6863, 6.0], [-4.3264, -3.6154, 6.0], [-3.6257, -3.0299, 6.0]], b: [[-2.1729, -2.6002, 4.3029], [-2.5928, -3.1027, 4.3029], [-2.6436, -3.1501, 4.3029], [-2.7, -3.1928, 4.3029], [-2.7602, -3.2322, 4.3029], [-2.8235, -3.2688, 4.3029], [-2.8895, -3.3028, 4.3029], [-2.958, -3.3343, 4.3029], [-3.0289, -3.3635, 4.3029], [-3.1019, -3.3904, 4.3029], [-3.1769, -3.415, 4.3029], [-3.2539, -3.4374, 4.3029], [-3.4374, -3.2539, 4.3029], [-3.415, -3.1769, 4.3029], [-3.3904, -3.1019, 4.3029], [-3.3635, -3.0289, 4.3029], [-3.3343, -2.958, 4.3029], [-3.3028, -2.8895, 4.3029], [-3.2688, -2.8235, 4.3029], [-3.2322, -2.7602, 4.3029], [-3.1928, -2.7, 4.3029], [-3.1501, -2.6436, 4.3029], [-3.1027, -2.5928, 4.3029], [-2.6002, -2.1729, 4.3029]], collide: 2}
      - {kind: loft, a: [[-4.002, -2.5119, 6.0], [-4.7754, -2.9974, 6.0], [-4.8632, -3.0384, 6.0], [-4.9564, -3.0707, 6.0], [-5.0531, -3.097, 6.0], [-5.1528, -3.1183, 6.0], [-5.255, -3.1349, 6.0], [-5.3595, -3.1472, 6.0], [-5.466, -3.1554, 6.0], [-5.5744, -3.1596, 6.0], [-5.6846, -3.1599, 6.0], [-5.7963, -3.1564, 6.0], [-5.9606, -2.834, 6.0], [-5.8978, -2.7416, 6.0], [-5.8328, -2.6526, 6.0], [-5.7657, -2.5674, 6.0], [-5.6964, -2.486, 6.0], [-5.625, -2.4088, 6.0], [-5.5515, -2.3358, 6.0], [-5.4757, -2.2677, 6.0], [-5.3975, -2.2049, 6.0], [-5.3166, -2.1485, 6.0], [-5.2318, -2.1016, 6.0], [-4.3845, -1.7612, 6.0]], b: [[-2.8701, -1.8014, 4.3029], [-3.4247, -2.1496, 4.3029], [-3.4877, -2.179, 4.3029], [-3.5545, -2.2022, 4.3029], [-3.6239, -2.2211, 4.3029], [-3.6954, -2.2363, 4.3029], [-3.7687, -2.2482, 4.3029], [-3.8436, -2.2571, 4.3029], [-3.92, -2.2629, 4.3029], [-3.9978, -2.266, 4.3029], [-4.0767, -2.2662, 4.3029], [-4.1568, -2.2637, 4.3029], [-4.2747, -2.0324, 4.3029], [-4.2296, -1.9661, 4.3029], [-4.183, -1.9024, 4.3029], [-4.1349, -1.8412, 4.3029], [-4.0852, -1.7829, 4.3029], [-4.034, -1.7275, 4.3029], [-3.9813, -1.6752, 4.3029], [-3.9269, -1.6263, 4.3029], [-3.8709, -1.5813, 4.3029], [-3.8129, -1.5408, 4.3029], [-3.7521, -1.5072, 4.3029], [-3.1444, -1.2631, 4.3029]], collide: 2}
      - {kind: loft, a: [[4.83, -0.0, 6.0], [4.6654, -1.2501, 6.0], [4.1829, -2.415, 6.0], [3.4153, -3.4153, 6.0], [2.415, -4.1829, 6.0], [1.2501, -4.6654, 6.0], [0.0, -4.83, 6.0], [-1.2501, -4.6654, 6.0], [-2.415, -4.1829, 6.0], [-3.4153, -3.4153, 6.0], [-4.1829, -2.415, 6.0], [-4.6654, -1.2501, 6.0], [-4.83, -0.0, 6.0], [-4.6654, 1.2501, 6.0], [-4.1829, 2.415, 6.0], [-3.4153, 3.4153, 6.0], [-2.415, 4.1829, 6.0], [-1.2501, 4.6654, 6.0], [-0.0, 4.83, 6.0], [1.2501, 4.6654, 6.0], [2.415, 4.1829, 6.0], [3.4153, 3.4153, 6.0], [4.1829, 2.415, 6.0], [4.6654, 1.2501, 6.0]], b: [[3.4639, -0.0, 4.3029], [3.3458, -0.8965, 4.3029], [2.9998, -1.7319, 4.3029], [2.4493, -2.4493, 4.3029], [1.7319, -2.9998, 4.3029], [0.8965, -3.3458, 4.3029], [0.0, -3.4639, 4.3029], [-0.8965, -3.3458, 4.3029], [-1.7319, -2.9998, 4.3029], [-2.4493, -2.4493, 4.3029], [-2.9998, -1.7319, 4.3029], [-3.3458, -0.8965, 4.3029], [-3.4639, -0.0, 4.3029], [-3.3458, 0.8965, 4.3029], [-2.9998, 1.7319, 4.3029], [-2.4493, 2.4493, 4.3029], [-1.7319, 2.9998, 4.3029], [-0.8965, 3.3458, 4.3029], [-0.0, 3.4639, 4.3029], [0.8965, 3.3458, 4.3029], [1.7319, 2.9998, 4.3029], [2.4493, 2.4493, 4.3029], [2.9998, 1.7319, 4.3029], [3.3458, 0.8965, 4.3029]], collide: 0, color: "#bfb39a"}
      - {kind: loft, a: [[3.4639, -0.0, 4.3029], [3.3458, -0.8965, 4.3029], [2.9998, -1.7319, 4.3029], [2.4493, -2.4493, 4.3029], [1.7319, -2.9998, 4.3029], [0.8965, -3.3458, 4.3029], [0.0, -3.4639, 4.3029], [-0.8965, -3.3458, 4.3029], [-1.7319, -2.9998, 4.3029], [-2.4493, -2.4493, 4.3029], [-2.9998, -1.7319, 4.3029], [-3.3458, -0.8965, 4.3029], [-3.4639, -0.0, 4.3029], [-3.3458, 0.8965, 4.3029], [-2.9998, 1.7319, 4.3029], [-2.4493, 2.4493, 4.3029], [-1.7319, 2.9998, 4.3029], [-0.8965, 3.3458, 4.3029], [-0.0, 3.4639, 4.3029], [0.8965, 3.3458, 4.3029], [1.7319, 2.9998, 4.3029], [2.4493, 2.4493, 4.3029], [2.9998, 1.7319, 4.3029], [3.3458, 0.8965, 4.3029]], b: [[3.4639, -0.0, 3.709], [3.3458, -0.8965, 3.709], [2.9998, -1.7319, 3.709], [2.4493, -2.4493, 3.709], [1.7319, -2.9998, 3.709], [0.8965, -3.3458, 3.709], [0.0, -3.4639, 3.709], [-0.8965, -3.3458, 3.709], [-1.7319, -2.9998, 3.709], [-2.4493, -2.4493, 3.709], [-2.9998, -1.7319, 3.709], [-3.3458, -0.8965, 3.709], [-3.4639, -0.0, 3.709], [-3.3458, 0.8965, 3.709], [-2.9998, 1.7319, 3.709], [-2.4493, 2.4493, 3.709], [-1.7319, 2.9998, 3.709], [-0.8965, 3.3458, 3.709], [-0.0, 3.4639, 3.709], [0.8965, 3.3458, 3.709], [1.7319, 2.9998, 3.709], [2.4493, 2.4493, 3.709], [2.9998, 1.7319, 3.709], [3.3458, 0.8965, 3.709]], collide: 0, color: "#bfb39a"}
      - {kind: rod, from: [0, 0, 5.0], to: [0, 0, 19], radius: 0.6, color: "#8f8a80"}
      - {kind: rod, from: [0, 0, 12.5], to: [0, 0, 15.5], radius: 5.0, color: "#cfc6b4"}   # the driving pulley, a flywheel
  - id: frame
    shape: part
    pos: [0, 0, 0]
    fixed: true
    color: "#cfc6b4"
    pieces:
      - {kind: rod, from: [0, -12, 0], to: [0, 12, 0], radius: 0.65, color: "#8f8a80"}   # the fixed arbor
      - {kind: poly, points: [[-1.5, -21], [1.5, -21], [1.0, 0], [-1.0, 0]], y: [-12, -11]}
      - {kind: disc, center: [0, 0], radius: 1.3, y: [-12, -11]}
      - {kind: poly, points: [[-1.5, -21], [1.5, -21], [1.0, 0], [-1.0, 0]], y: [11, 12]}
      - {kind: disc, center: [0, 0], radius: 1.3, y: [11, 12]}
      - {kind: poly, points: [[-9.5, -21], [-8, -21], [-8, 19], [-9.5, 19]], y: [-0.75, 0.75]}
      - {kind: poly, points: [[-9.5, 17.4], [0, 17.4], [0, 18.6], [-9.5, 18.6]], y: [-0.75, 0.75]}
      - {kind: poly, points: [[-10, -22], [4, -22], [4, -21], [-10, -21]], y: [-14, 14], color: "#b9b09c"}
joints:
  - {id: j_c, type: hinge, body: gear_c, axis: [0, 0, 1], damping: 0.0002}
  - {id: j_a, type: hinge, body: gear_a, axis: [0, 1, 0], damping: 0.002, frictionloss: 0.05}
  - {id: j_b, type: hinge, body: gear_b, axis: [0, 1, 0], damping: 0.002, frictionloss: 0.05}
contact: {solref: [0.002, 1], solimp: [0.95, 0.99, 0.0005], margin: 0}
driver: {joint: j_c, kind: velocity, rpm: 20, kv: 10, max_torque: 10}
checks:
  - {type: ratio, out: j_a, in: j_c, expect: -0.5, tol: 0.005, settle_s: 3.0, window_s: 9.0}   # 10 teeth a turn, against C
  - {type: ratio, out: j_b, in: j_c, expect: 0.5, tol: 0.005, settle_s: 1.55, window_s: 9.0}   # and the other way
  - {type: still, joint: j_a, max: 0.005, settle_s: 2.85, window_s: 0.3}
  - {type: still, joint: j_b, max: 0.005, settle_s: 1.4, window_s: 0.3}
  - {type: penetration, max: 0.001, settle_s: 0.2}
camera: {target: [0, 0, -1], position: [120, 75, 45], fov: 30}
display:
  output: j_a
  labels: {j_c: "Mutilated bevel C (driver)", j_a: "Bevel A", j_b: "Bevel B"}
  proof: {label: "C's teeth out of contact", sub: "C turns but A and B stand"}