# No. 107 (Brown 1868): "Uniform reciprocating rectilinear motion, produced by rotary motion of grooved cams." (Nos. 106 and 107.)
#
# Model (cm): a drum 9.2 cm across turns on its axle (the one driven joint, 10 turns a minute). An endless groove 1.23 cm wide runs round
# it, wandering 2 cm along the drum, 3 strokes each way in a turn at a steady 2.292 cm to the radian of the drum's angle (the turns rounded over
# 0.10 rad); its two walls are 216 convex pieces each. A rod hung from the beam slides parallel to the axle and carries a pin (1.0 cm) that
# works in the groove by real contact, so the groove drives it both ways and no spring is wanted. Generator: opencode-runs/batch9/gen106.py.
number: 107
slug: grooved-drum-wavy-groove
name: A drum with a waving groove working a rod
brown: "Uniform reciprocating rectilinear motion, produced by rotary motion of grooved cams."
units: cm
sim:
  timestep: 0.0005
  integrator: implicitfast
  iterations: 50
  solver: PGS
  duration_s: 12
  floor: false
bodies:
  - id: drum
    shape: part
    pos: [0, 0, 0]
    mass: 2.0
    friction: 0.05
    color: "#d9cfb6"
    pieces:
      - {kind: rod, from: [-4.6147, 0, 0], to: [7.0147, 0, 0], radius: 0.8, collide: 0, color: "#8f8a80"}   # the axle
      - {kind: rod, from: [-1.6147, 0, 0], to: [4.0147, 0, 0], radius: 3.4, collide: 0, color: "#a39b88"}   # the drum's core, the groove's bottom
      - {kind: loft, a: [[0.7397, 3.4, 0.0], [4.0147, 3.4, 0.0], [4.0147, 4.6, 0.0], [0.7397, 4.6, 0.0]], b: [[0.7496, 3.3986, 0.0989], [4.0147, 3.3986, 0.0989], [4.0147, 4.5981, 0.1338], [0.7496, 4.5981, 0.1338]], collide: 1}
      - {kind: loft, a: [[0.7496, 3.3986, 0.0989], [4.0147, 3.3986, 0.0989], [4.0147, 4.5981, 0.1338], [0.7496, 4.5981, 0.1338]], b: [[0.7754, 3.3942, 0.1977], [4.0147, 3.3942, 0.1977], [4.0147, 4.5922, 0.2675], [0.7754, 4.5922, 0.2675]], collide: 1}
      - {kind: loft, a: [[0.7754, 3.3942, 0.1977], [4.0147, 3.3942, 0.1977], [4.0147, 4.5922, 0.2675], [0.7754, 4.5922, 0.2675]], b: [[0.82, 3.3871, 0.2963], [4.0147, 3.3871, 0.2963], [4.0147, 4.5825, 0.4009], [0.82, 4.5825, 0.4009]], collide: 1}
      - {kind: loft, a: [[0.82, 3.3871, 0.2963], [4.0147, 3.3871, 0.2963], [4.0147, 4.5825, 0.4009], [0.82, 4.5825, 0.4009]], b: [[0.8814, 3.377, 0.3947], [4.0147, 3.377, 0.3947], [4.0147, 4.5689, 0.534], [0.8814, 4.5689, 0.534]], collide: 1}
      - {kind: loft, a: [[0.8814, 3.377, 0.3947], [4.0147, 3.377, 0.3947], [4.0147, 4.5689, 0.534], [0.8814, 4.5689, 0.534]], b: [[0.9481, 3.3641, 0.4928], [4.0147, 3.3641, 0.4928], [4.0147, 4.5514, 0.6667], [0.9481, 4.5514, 0.6667]], collide: 1}
      - {kind: loft, a: [[0.9481, 3.3641, 0.4928], [4.0147, 3.3641, 0.4928], [4.0147, 4.5514, 0.6667], [0.9481, 4.5514, 0.6667]], b: [[1.0147, 3.3483, 0.5904], [4.0147, 3.3483, 0.5904], [4.0147, 4.5301, 0.7988], [1.0147, 4.5301, 0.7988]], collide: 1}
      - {kind: loft, a: [[1.0147, 3.3483, 0.5904], [4.0147, 3.3483, 0.5904], [4.0147, 4.5301, 0.7988], [1.0147, 4.5301, 0.7988]], b: [[1.0814, 3.3298, 0.6875], [4.0147, 3.3298, 0.6875], [4.0147, 4.505, 0.9302], [1.0814, 4.505, 0.9302]], collide: 1}
      - {kind: loft, a: [[1.0814, 3.3298, 0.6875], [4.0147, 3.3298, 0.6875], [4.0147, 4.505, 0.9302], [1.0814, 4.505, 0.9302]], b: [[1.1481, 3.3084, 0.7841], [4.0147, 3.3084, 0.7841], [4.0147, 4.476, 1.0608], [1.1481, 4.476, 1.0608]], collide: 1}
      - {kind: loft, a: [[1.1481, 3.3084, 0.7841], [4.0147, 3.3084, 0.7841], [4.0147, 4.476, 1.0608], [1.1481, 4.476, 1.0608]], b: [[1.2147, 3.2841, 0.88], [4.0147, 3.2841, 0.88], [4.0147, 4.4433, 1.1906], [1.2147, 4.4433, 1.1906]], collide: 1}
      - {kind: loft, a: [[1.2147, 3.2841, 0.88], [4.0147, 3.2841, 0.88], [4.0147, 4.4433, 1.1906], [1.2147, 4.4433, 1.1906]], b: [[1.2814, 3.2572, 0.9751], [4.0147, 3.2572, 0.9751], [4.0147, 4.4068, 1.3193], [1.2814, 4.4068, 1.3193]], collide: 1}
      - {kind: loft, a: [[1.2814, 3.2572, 0.9751], [4.0147, 3.2572, 0.9751], [4.0147, 4.4068, 1.3193], [1.2814, 4.4068, 1.3193]], b: [[1.3481, 3.2274, 1.0695], [4.0147, 3.2274, 1.0695], [4.0147, 4.3665, 1.4469], [1.3481, 4.3665, 1.4469]], collide: 1}
      - {kind: loft, a: [[1.3481, 3.2274, 1.0695], [4.0147, 3.2274, 1.0695], [4.0147, 4.3665, 1.4469], [1.3481, 4.3665, 1.4469]], b: [[1.4147, 3.195, 1.1629], [4.0147, 3.195, 1.1629], [4.0147, 4.3226, 1.5733], [1.4147, 4.3226, 1.5733]], collide: 1}
      - {kind: loft, a: [[1.4147, 3.195, 1.1629], [4.0147, 3.195, 1.1629], [4.0147, 4.3226, 1.5733], [1.4147, 4.3226, 1.5733]], b: [[1.4814, 3.1598, 1.2553], [4.0147, 3.1598, 1.2553], [4.0147, 4.275, 1.6983], [1.4814, 4.275, 1.6983]], collide: 1}
      - {kind: loft, a: [[1.4814, 3.1598, 1.2553], [4.0147, 3.1598, 1.2553], [4.0147, 4.275, 1.6983], [1.4814, 4.275, 1.6983]], b: [[1.5481, 3.1219, 1.3467], [4.0147, 3.1219, 1.3467], [4.0147, 4.2238, 1.822], [1.5481, 4.2238, 1.822]], collide: 1}
      - {kind: loft, a: [[1.5481, 3.1219, 1.3467], [4.0147, 3.1219, 1.3467], [4.0147, 4.2238, 1.822], [1.5481, 4.2238, 1.822]], b: [[1.6147, 3.0814, 1.4369], [4.0147, 3.0814, 1.4369], [4.0147, 4.169, 1.944], [1.6147, 4.169, 1.944]], collide: 1}
      - {kind: loft, a: [[1.6147, 3.0814, 1.4369], [4.0147, 3.0814, 1.4369], [4.0147, 4.169, 1.944], [1.6147, 4.169, 1.944]], b: [[1.6814, 3.0384, 1.5259], [4.0147, 3.0384, 1.5259], [4.0147, 4.1107, 2.0645], [1.6814, 4.1107, 2.0645]], collide: 1}
      - {kind: loft, a: [[1.6814, 3.0384, 1.5259], [4.0147, 3.0384, 1.5259], [4.0147, 4.1107, 2.0645], [1.6814, 4.1107, 2.0645]], b: [[1.7481, 2.9927, 1.6136], [4.0147, 2.9927, 1.6136], [4.0147, 4.0489, 2.1832], [1.7481, 4.0489, 2.1832]], collide: 1}
      - {kind: loft, a: [[1.7481, 2.9927, 1.6136], [4.0147, 2.9927, 1.6136], [4.0147, 4.0489, 2.1832], [1.7481, 4.0489, 2.1832]], b: [[1.8147, 2.9445, 1.7], [4.0147, 2.9445, 1.7], [4.0147, 3.9837, 2.3], [1.8147, 3.9837, 2.3]], collide: 1}
      - {kind: loft, a: [[1.8147, 2.9445, 1.7], [4.0147, 2.9445, 1.7], [4.0147, 3.9837, 2.3], [1.8147, 3.9837, 2.3]], b: [[1.8814, 2.8938, 1.7849], [4.0147, 2.8938, 1.7849], [4.0147, 3.9151, 2.4149], [1.8814, 3.9151, 2.4149]], collide: 1}
      - {kind: loft, a: [[1.8814, 2.8938, 1.7849], [4.0147, 2.8938, 1.7849], [4.0147, 3.9151, 2.4149], [1.8814, 3.9151, 2.4149]], b: [[1.9481, 2.8407, 1.8683], [4.0147, 2.8407, 1.8683], [4.0147, 3.8432, 2.5277], [1.9481, 3.8432, 2.5277]], collide: 1}
      - {kind: loft, a: [[1.9481, 2.8407, 1.8683], [4.0147, 2.8407, 1.8683], [4.0147, 3.8432, 2.5277], [1.9481, 3.8432, 2.5277]], b: [[2.0147, 2.7851, 1.9502], [4.0147, 2.7851, 1.9502], [4.0147, 3.7681, 2.6385], [2.0147, 3.7681, 2.6385]], collide: 1}
      - {kind: loft, a: [[2.0147, 2.7851, 1.9502], [4.0147, 2.7851, 1.9502], [4.0147, 3.7681, 2.6385], [2.0147, 3.7681, 2.6385]], b: [[2.0814, 2.7272, 2.0303], [4.0147, 2.7272, 2.0303], [4.0147, 3.6898, 2.7469], [2.0814, 3.6898, 2.7469]], collide: 1}
      - {kind: loft, a: [[2.0814, 2.7272, 2.0303], [4.0147, 2.7272, 2.0303], [4.0147, 3.6898, 2.7469], [2.0814, 3.6898, 2.7469]], b: [[2.1481, 2.667, 2.1088], [4.0147, 2.667, 2.1088], [4.0147, 3.6083, 2.8531], [2.1481, 3.6083, 2.8531]], collide: 1}
      - {kind: loft, a: [[2.1481, 2.667, 2.1088], [4.0147, 2.667, 2.1088], [4.0147, 3.6083, 2.8531], [2.1481, 3.6083, 2.8531]], b: [[2.2147, 2.6046, 2.1855], [4.0147, 2.6046, 2.1855], [4.0147, 3.5238, 2.9568], [2.2147, 3.5238, 2.9568]], collide: 1}
      - {kind: loft, a: [[2.2147, 2.6046, 2.1855], [4.0147, 2.6046, 2.1855], [4.0147, 3.5238, 2.9568], [2.2147, 3.5238, 2.9568]], b: [[2.2814, 2.5399, 2.2603], [4.0147, 2.5399, 2.2603], [4.0147, 3.4363, 3.0581], [2.2814, 3.4363, 3.0581]], collide: 1}
      - {kind: loft, a: [[2.2814, 2.5399, 2.2603], [4.0147, 2.5399, 2.2603], [4.0147, 3.4363, 3.0581], [2.2814, 3.4363, 3.0581]], b: [[2.3481, 2.4731, 2.3332], [4.0147, 2.4731, 2.3332], [4.0147, 3.3459, 3.1567], [2.3481, 3.3459, 3.1567]], collide: 1}
      - {kind: loft, a: [[2.3481, 2.4731, 2.3332], [4.0147, 2.4731, 2.3332], [4.0147, 3.3459, 3.1567], [2.3481, 3.3459, 3.1567]], b: [[2.4147, 2.4042, 2.4042], [4.0147, 2.4042, 2.4042], [4.0147, 3.2527, 3.2527], [2.4147, 3.2527, 3.2527]], collide: 1}
      - {kind: loft, a: [[2.4147, 2.4042, 2.4042], [4.0147, 2.4042, 2.4042], [4.0147, 3.2527, 3.2527], [2.4147, 3.2527, 3.2527]], b: [[2.4814, 2.3332, 2.4731], [4.0147, 2.3332, 2.4731], [4.0147, 3.1567, 3.3459], [2.4814, 3.1567, 3.3459]], collide: 1}
      - {kind: loft, a: [[2.4814, 2.3332, 2.4731], [4.0147, 2.3332, 2.4731], [4.0147, 3.1567, 3.3459], [2.4814, 3.1567, 3.3459]], b: [[2.5481, 2.2603, 2.5399], [4.0147, 2.2603, 2.5399], [4.0147, 3.0581, 3.4363], [2.5481, 3.0581, 3.4363]], collide: 1}
      - {kind: loft, a: [[2.5481, 2.2603, 2.5399], [4.0147, 2.2603, 2.5399], [4.0147, 3.0581, 3.4363], [2.5481, 3.0581, 3.4363]], b: [[2.6147, 2.1855, 2.6046], [4.0147, 2.1855, 2.6046], [4.0147, 2.9568, 3.5238], [2.6147, 2.9568, 3.5238]], collide: 1}
      - {kind: loft, a: [[2.6147, 2.1855, 2.6046], [4.0147, 2.1855, 2.6046], [4.0147, 2.9568, 3.5238], [2.6147, 2.9568, 3.5238]], b: [[2.6814, 2.1088, 2.667], [4.0147, 2.1088, 2.667], [4.0147, 2.8531, 3.6083], [2.6814, 2.8531, 3.6083]], collide: 1}
      - {kind: loft, a: [[2.6814, 2.1088, 2.667], [4.0147, 2.1088, 2.667], [4.0147, 2.8531, 3.6083], [2.6814, 2.8531, 3.6083]], b: [[2.7481, 2.0303, 2.7272], [4.0147, 2.0303, 2.7272], [4.0147, 2.7469, 3.6898], [2.7481, 2.7469, 3.6898]], collide: 1}
      - {kind: loft, a: [[2.7481, 2.0303, 2.7272], [4.0147, 2.0303, 2.7272], [4.0147, 2.7469, 3.6898], [2.7481, 2.7469, 3.6898]], b: [[2.8094, 1.9502, 2.7851], [4.0147, 1.9502, 2.7851], [4.0147, 2.6385, 3.7681], [2.8094, 2.6385, 3.7681]], collide: 1}
      - {kind: loft, a: [[2.8094, 1.9502, 2.7851], [4.0147, 1.9502, 2.7851], [4.0147, 2.6385, 3.7681], [2.8094, 2.6385, 3.7681]], b: [[2.8541, 1.8683, 2.8407], [4.0147, 1.8683, 2.8407], [4.0147, 2.5277, 3.8432], [2.8541, 2.5277, 3.8432]], collide: 1}
      - {kind: loft, a: [[2.8541, 1.8683, 2.8407], [4.0147, 1.8683, 2.8407], [4.0147, 2.5277, 3.8432], [2.8541, 2.5277, 3.8432]], b: [[2.8799, 1.7849, 2.8938], [4.0147, 1.7849, 2.8938], [4.0147, 2.4149, 3.9151], [2.8799, 2.4149, 3.9151]], collide: 1}
      - {kind: loft, a: [[2.8799, 1.7849, 2.8938], [4.0147, 1.7849, 2.8938], [4.0147, 2.4149, 3.9151], [2.8799, 2.4149, 3.9151]], b: [[2.8897, 1.7, 2.9445], [4.0147, 1.7, 2.9445], [4.0147, 2.3, 3.9837], [2.8897, 2.3, 3.9837]], collide: 1}
      - {kind: loft, a: [[2.8897, 1.7, 2.9445], [4.0147, 1.7, 2.9445], [4.0147, 2.3, 3.9837], [2.8897, 2.3, 3.9837]], b: [[2.8799, 1.6136, 2.9927], [4.0147, 1.6136, 2.9927], [4.0147, 2.1832, 4.0489], [2.8799, 2.1832, 4.0489]], collide: 1}
      - {kind: loft, a: [[2.8799, 1.6136, 2.9927], [4.0147, 1.6136, 2.9927], [4.0147, 2.1832, 4.0489], [2.8799, 2.1832, 4.0489]], b: [[2.8541, 1.5259, 3.0384], [4.0147, 1.5259, 3.0384], [4.0147, 2.0645, 4.1107], [2.8541, 2.0645, 4.1107]], collide: 1}
      - {kind: loft, a: [[2.8541, 1.5259, 3.0384], [4.0147, 1.5259, 3.0384], [4.0147, 2.0645, 4.1107], [2.8541, 2.0645, 4.1107]], b: [[2.8094, 1.4369, 3.0814], [4.0147, 1.4369, 3.0814], [4.0147, 1.944, 4.169], [2.8094, 1.944, 4.169]], collide: 1}
      - {kind: loft, a: [[2.8094, 1.4369, 3.0814], [4.0147, 1.4369, 3.0814], [4.0147, 1.944, 4.169], [2.8094, 1.944, 4.169]], b: [[2.7481, 1.3467, 3.1219], [4.0147, 1.3467, 3.1219], [4.0147, 1.822, 4.2238], [2.7481, 1.822, 4.2238]], collide: 1}
      - {kind: loft, a: [[2.7481, 1.3467, 3.1219], [4.0147, 1.3467, 3.1219], [4.0147, 1.822, 4.2238], [2.7481, 1.822, 4.2238]], b: [[2.6814, 1.2553, 3.1598], [4.0147, 1.2553, 3.1598], [4.0147, 1.6983, 4.275], [2.6814, 1.6983, 4.275]], collide: 1}
      - {kind: loft, a: [[2.6814, 1.2553, 3.1598], [4.0147, 1.2553, 3.1598], [4.0147, 1.6983, 4.275], [2.6814, 1.6983, 4.275]], b: [[2.6147, 1.1629, 3.195], [4.0147, 1.1629, 3.195], [4.0147, 1.5733, 4.3226], [2.6147, 1.5733, 4.3226]], collide: 1}
      - {kind: loft, a: [[2.6147, 1.1629, 3.195], [4.0147, 1.1629, 3.195], [4.0147, 1.5733, 4.3226], [2.6147, 1.5733, 4.3226]], b: [[2.5481, 1.0695, 3.2274], [4.0147, 1.0695, 3.2274], [4.0147, 1.4469, 4.3665], [2.5481, 1.4469, 4.3665]], collide: 1}
      - {kind: loft, a: [[2.5481, 1.0695, 3.2274], [4.0147, 1.0695, 3.2274], [4.0147, 1.4469, 4.3665], [2.5481, 1.4469, 4.3665]], b: [[2.4814, 0.9751, 3.2572], [4.0147, 0.9751, 3.2572], [4.0147, 1.3193, 4.4068], [2.4814, 1.3193, 4.4068]], collide: 1}
      - {kind: loft, a: [[2.4814, 0.9751, 3.2572], [4.0147, 0.9751, 3.2572], [4.0147, 1.3193, 4.4068], [2.4814, 1.3193, 4.4068]], b: [[2.4147, 0.88, 3.2841], [4.0147, 0.88, 3.2841], [4.0147, 1.1906, 4.4433], [2.4147, 1.1906, 4.4433]], collide: 1}
      - {kind: loft, a: [[2.4147, 0.88, 3.2841], [4.0147, 0.88, 3.2841], [4.0147, 1.1906, 4.4433], [2.4147, 1.1906, 4.4433]], b: [[2.3481, 0.7841, 3.3084], [4.0147, 0.7841, 3.3084], [4.0147, 1.0608, 4.476], [2.3481, 1.0608, 4.476]], collide: 1}
      - {kind: loft, a: [[2.3481, 0.7841, 3.3084], [4.0147, 0.7841, 3.3084], [4.0147, 1.0608, 4.476], [2.3481, 1.0608, 4.476]], b: [[2.2814, 0.6875, 3.3298], [4.0147, 0.6875, 3.3298], [4.0147, 0.9302, 4.505], [2.2814, 0.9302, 4.505]], collide: 1}
      - {kind: loft, a: [[2.2814, 0.6875, 3.3298], [4.0147, 0.6875, 3.3298], [4.0147, 0.9302, 4.505], [2.2814, 0.9302, 4.505]], b: [[2.2147, 0.5904, 3.3483], [4.0147, 0.5904, 3.3483], [4.0147, 0.7988, 4.5301], [2.2147, 0.7988, 4.5301]], collide: 1}
      - {kind: loft, a: [[2.2147, 0.5904, 3.3483], [4.0147, 0.5904, 3.3483], [4.0147, 0.7988, 4.5301], [2.2147, 0.7988, 4.5301]], b: [[2.1481, 0.4928, 3.3641], [4.0147, 0.4928, 3.3641], [4.0147, 0.6667, 4.5514], [2.1481, 0.6667, 4.5514]], collide: 1}
      - {kind: loft, a: [[2.1481, 0.4928, 3.3641], [4.0147, 0.4928, 3.3641], [4.0147, 0.6667, 4.5514], [2.1481, 0.6667, 4.5514]], b: [[2.0814, 0.3947, 3.377], [4.0147, 0.3947, 3.377], [4.0147, 0.534, 4.5689], [2.0814, 0.534, 4.5689]], collide: 1}
      - {kind: loft, a: [[2.0814, 0.3947, 3.377], [4.0147, 0.3947, 3.377], [4.0147, 0.534, 4.5689], [2.0814, 0.534, 4.5689]], b: [[2.0147, 0.2963, 3.3871], [4.0147, 0.2963, 3.3871], [4.0147, 0.4009, 4.5825], [2.0147, 0.4009, 4.5825]], collide: 1}
      - {kind: loft, a: [[2.0147, 0.2963, 3.3871], [4.0147, 0.2963, 3.3871], [4.0147, 0.4009, 4.5825], [2.0147, 0.4009, 4.5825]], b: [[1.9481, 0.1977, 3.3942], [4.0147, 0.1977, 3.3942], [4.0147, 0.2675, 4.5922], [1.9481, 0.2675, 4.5922]], collide: 1}
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      - {kind: loft, a: [[-1.6147, 2.3332, -2.4731], [1.2519, 2.3332, -2.4731], [1.2519, 3.1567, -3.3459], [-1.6147, 3.1567, -3.3459]], b: [[-1.6147, 2.4042, -2.4042], [1.1853, 2.4042, -2.4042], [1.1853, 3.2527, -3.2527], [-1.6147, 3.2527, -3.2527]], collide: 1}
      - {kind: loft, a: [[-1.6147, 2.4042, -2.4042], [1.1853, 2.4042, -2.4042], [1.1853, 3.2527, -3.2527], [-1.6147, 3.2527, -3.2527]], b: [[-1.6147, 2.4731, -2.3332], [1.1186, 2.4731, -2.3332], [1.1186, 3.3459, -3.1567], [-1.6147, 3.3459, -3.1567]], collide: 1}
      - {kind: loft, a: [[-1.6147, 2.4731, -2.3332], [1.1186, 2.4731, -2.3332], [1.1186, 3.3459, -3.1567], [-1.6147, 3.3459, -3.1567]], b: [[-1.6147, 2.5399, -2.2603], [1.0519, 2.5399, -2.2603], [1.0519, 3.4363, -3.0581], [-1.6147, 3.4363, -3.0581]], collide: 1}
      - {kind: loft, a: [[-1.6147, 2.5399, -2.2603], [1.0519, 2.5399, -2.2603], [1.0519, 3.4363, -3.0581], [-1.6147, 3.4363, -3.0581]], b: [[-1.6147, 2.6046, -2.1855], [0.9853, 2.6046, -2.1855], [0.9853, 3.5238, -2.9568], [-1.6147, 3.5238, -2.9568]], collide: 1}
      - {kind: loft, a: [[-1.6147, 2.6046, -2.1855], [0.9853, 2.6046, -2.1855], [0.9853, 3.5238, -2.9568], [-1.6147, 3.5238, -2.9568]], b: [[-1.6147, 2.667, -2.1088], [0.9186, 2.667, -2.1088], [0.9186, 3.6083, -2.8531], [-1.6147, 3.6083, -2.8531]], collide: 1}
      - {kind: loft, a: [[-1.6147, 2.667, -2.1088], [0.9186, 2.667, -2.1088], [0.9186, 3.6083, -2.8531], [-1.6147, 3.6083, -2.8531]], b: [[-1.6147, 2.7272, -2.0303], [0.8519, 2.7272, -2.0303], [0.8519, 3.6898, -2.7469], [-1.6147, 3.6898, -2.7469]], collide: 1}
      - {kind: loft, a: [[-1.6147, 2.7272, -2.0303], [0.8519, 2.7272, -2.0303], [0.8519, 3.6898, -2.7469], [-1.6147, 3.6898, -2.7469]], b: [[-1.6147, 2.7851, -1.9502], [0.7853, 2.7851, -1.9502], [0.7853, 3.7681, -2.6385], [-1.6147, 3.7681, -2.6385]], collide: 1}
      - {kind: loft, a: [[-1.6147, 2.7851, -1.9502], [0.7853, 2.7851, -1.9502], [0.7853, 3.7681, -2.6385], [-1.6147, 3.7681, -2.6385]], b: [[-1.6147, 2.8407, -1.8683], [0.7186, 2.8407, -1.8683], [0.7186, 3.8432, -2.5277], [-1.6147, 3.8432, -2.5277]], collide: 1}
      - {kind: loft, a: [[-1.6147, 2.8407, -1.8683], [0.7186, 2.8407, -1.8683], [0.7186, 3.8432, -2.5277], [-1.6147, 3.8432, -2.5277]], b: [[-1.6147, 2.8938, -1.7849], [0.6519, 2.8938, -1.7849], [0.6519, 3.9151, -2.4149], [-1.6147, 3.9151, -2.4149]], collide: 1}
      - {kind: loft, a: [[-1.6147, 2.8938, -1.7849], [0.6519, 2.8938, -1.7849], [0.6519, 3.9151, -2.4149], [-1.6147, 3.9151, -2.4149]], b: [[-1.6147, 2.9445, -1.7], [0.5853, 2.9445, -1.7], [0.5853, 3.9837, -2.3], [-1.6147, 3.9837, -2.3]], collide: 1}
      - {kind: loft, a: [[-1.6147, 2.9445, -1.7], [0.5853, 2.9445, -1.7], [0.5853, 3.9837, -2.3], [-1.6147, 3.9837, -2.3]], b: [[-1.6147, 2.9927, -1.6136], [0.5186, 2.9927, -1.6136], [0.5186, 4.0489, -2.1832], [-1.6147, 4.0489, -2.1832]], collide: 1}
      - {kind: loft, a: [[-1.6147, 2.9927, -1.6136], [0.5186, 2.9927, -1.6136], [0.5186, 4.0489, -2.1832], [-1.6147, 4.0489, -2.1832]], b: [[-1.6147, 3.0384, -1.5259], [0.4519, 3.0384, -1.5259], [0.4519, 4.1107, -2.0645], [-1.6147, 4.1107, -2.0645]], collide: 1}
      - {kind: loft, a: [[-1.6147, 3.0384, -1.5259], [0.4519, 3.0384, -1.5259], [0.4519, 4.1107, -2.0645], [-1.6147, 4.1107, -2.0645]], b: [[-1.6147, 3.0814, -1.4369], [0.3853, 3.0814, -1.4369], [0.3853, 4.169, -1.944], [-1.6147, 4.169, -1.944]], collide: 1}
      - {kind: loft, a: [[-1.6147, 3.0814, -1.4369], [0.3853, 3.0814, -1.4369], [0.3853, 4.169, -1.944], [-1.6147, 4.169, -1.944]], b: [[-1.6147, 3.1219, -1.3467], [0.3186, 3.1219, -1.3467], [0.3186, 4.2238, -1.822], [-1.6147, 4.2238, -1.822]], collide: 1}
      - {kind: loft, a: [[-1.6147, 3.1219, -1.3467], [0.3186, 3.1219, -1.3467], [0.3186, 4.2238, -1.822], [-1.6147, 4.2238, -1.822]], b: [[-1.6147, 3.1598, -1.2553], [0.2519, 3.1598, -1.2553], [0.2519, 4.275, -1.6983], [-1.6147, 4.275, -1.6983]], collide: 1}
      - {kind: loft, a: [[-1.6147, 3.1598, -1.2553], [0.2519, 3.1598, -1.2553], [0.2519, 4.275, -1.6983], [-1.6147, 4.275, -1.6983]], b: [[-1.6147, 3.195, -1.1629], [0.1853, 3.195, -1.1629], [0.1853, 4.3226, -1.5733], [-1.6147, 4.3226, -1.5733]], collide: 1}
      - {kind: loft, a: [[-1.6147, 3.195, -1.1629], [0.1853, 3.195, -1.1629], [0.1853, 4.3226, -1.5733], [-1.6147, 4.3226, -1.5733]], b: [[-1.6147, 3.2274, -1.0695], [0.1186, 3.2274, -1.0695], [0.1186, 4.3665, -1.4469], [-1.6147, 4.3665, -1.4469]], collide: 1}
      - {kind: loft, a: [[-1.6147, 3.2274, -1.0695], [0.1186, 3.2274, -1.0695], [0.1186, 4.3665, -1.4469], [-1.6147, 4.3665, -1.4469]], b: [[-1.6147, 3.2572, -0.9751], [0.0519, 3.2572, -0.9751], [0.0519, 4.4068, -1.3193], [-1.6147, 4.4068, -1.3193]], collide: 1}
      - {kind: loft, a: [[-1.6147, 3.2572, -0.9751], [0.0519, 3.2572, -0.9751], [0.0519, 4.4068, -1.3193], [-1.6147, 4.4068, -1.3193]], b: [[-1.6147, 3.2841, -0.88], [-0.0147, 3.2841, -0.88], [-0.0147, 4.4433, -1.1906], [-1.6147, 4.4433, -1.1906]], collide: 1}
      - {kind: loft, a: [[-1.6147, 3.2841, -0.88], [-0.0147, 3.2841, -0.88], [-0.0147, 4.4433, -1.1906], [-1.6147, 4.4433, -1.1906]], b: [[-1.6147, 3.3084, -0.7841], [-0.0814, 3.3084, -0.7841], [-0.0814, 4.476, -1.0608], [-1.6147, 4.476, -1.0608]], collide: 1}
      - {kind: loft, a: [[-1.6147, 3.3084, -0.7841], [-0.0814, 3.3084, -0.7841], [-0.0814, 4.476, -1.0608], [-1.6147, 4.476, -1.0608]], b: [[-1.6147, 3.3298, -0.6875], [-0.1481, 3.3298, -0.6875], [-0.1481, 4.505, -0.9302], [-1.6147, 4.505, -0.9302]], collide: 1}
      - {kind: loft, a: [[-1.6147, 3.3298, -0.6875], [-0.1481, 3.3298, -0.6875], [-0.1481, 4.505, -0.9302], [-1.6147, 4.505, -0.9302]], b: [[-1.6147, 3.3483, -0.5904], [-0.2147, 3.3483, -0.5904], [-0.2147, 4.5301, -0.7988], [-1.6147, 4.5301, -0.7988]], collide: 1}
      - {kind: loft, a: [[-1.6147, 3.3483, -0.5904], [-0.2147, 3.3483, -0.5904], [-0.2147, 4.5301, -0.7988], [-1.6147, 4.5301, -0.7988]], b: [[-1.6147, 3.3641, -0.4928], [-0.2814, 3.3641, -0.4928], [-0.2814, 4.5514, -0.6667], [-1.6147, 4.5514, -0.6667]], collide: 1}
      - {kind: loft, a: [[-1.6147, 3.3641, -0.4928], [-0.2814, 3.3641, -0.4928], [-0.2814, 4.5514, -0.6667], [-1.6147, 4.5514, -0.6667]], b: [[-1.6147, 3.377, -0.3947], [-0.3481, 3.377, -0.3947], [-0.3481, 4.5689, -0.534], [-1.6147, 4.5689, -0.534]], collide: 1}
      - {kind: loft, a: [[-1.6147, 3.377, -0.3947], [-0.3481, 3.377, -0.3947], [-0.3481, 4.5689, -0.534], [-1.6147, 4.5689, -0.534]], b: [[-1.6147, 3.3871, -0.2963], [-0.4094, 3.3871, -0.2963], [-0.4094, 4.5825, -0.4009], [-1.6147, 4.5825, -0.4009]], collide: 1}
      - {kind: loft, a: [[-1.6147, 3.3871, -0.2963], [-0.4094, 3.3871, -0.2963], [-0.4094, 4.5825, -0.4009], [-1.6147, 4.5825, -0.4009]], b: [[-1.6147, 3.3942, -0.1977], [-0.4541, 3.3942, -0.1977], [-0.4541, 4.5922, -0.2675], [-1.6147, 4.5922, -0.2675]], collide: 1}
      - {kind: loft, a: [[-1.6147, 3.3942, -0.1977], [-0.4541, 3.3942, -0.1977], [-0.4541, 4.5922, -0.2675], [-1.6147, 4.5922, -0.2675]], b: [[-1.6147, 3.3986, -0.0989], [-0.4799, 3.3986, -0.0989], [-0.4799, 4.5981, -0.1338], [-1.6147, 4.5981, -0.1338]], collide: 1}
      - {kind: loft, a: [[-1.6147, 3.3986, -0.0989], [-0.4799, 3.3986, -0.0989], [-0.4799, 4.5981, -0.1338], [-1.6147, 4.5981, -0.1338]], b: [[-1.6147, 3.4, -0.0], [-0.4897, 3.4, -0.0], [-0.4897, 4.6, -0.0], [-1.6147, 4.6, -0.0]], collide: 1}
  - id: bar
    shape: part
    pos: [1.2, 0, 6.2]
    mass: 0.3
    friction: 0.05
    color: "#b8ad97"
    pieces:
      - {kind: rod, from: [-1.8, 0, 6.2], to: [12.7, 0, 6.2], radius: 0.5, collide: 0}   # the rod
      - {kind: rod, from: [1.2, 0, 6.2], to: [1.2, 0, 4.15], radius: 0.5, collide: 2, capsule: true, color: "#8f8a80"}   # the pin, in the groove
  - id: frame
    shape: part
    pos: [0, 0, 0]
    fixed: true
    color: "#cfc6b4"
    pieces:
      - {kind: poly, points: [[-5.0147, -7.4], [-3.8147, -7.4], [-3.8147, 1.3], [-5.0147, 1.3]], y: [-1.2, 1.2], collide: 0}   # the left bearing
      - {kind: poly, points: [[6.2147, -7.4], [7.4147, -7.4], [7.4147, 1.3], [6.2147, 1.3]], y: [-1.2, 1.2], collide: 0}   # the right bearing
      - {kind: poly, points: [[-6.6147, -8.4], [9.0147, -8.4], [9.0147, -7.4], [-6.6147, -7.4]], y: [-3, 3], collide: 0, color: "#b9b09c"}   # the base
      - {kind: poly, points: [[-4.0, 11.6], [13.7, 11.6], [13.7, 12.9], [-4.0, 12.9]], y: [-1.0, 2.2], collide: 0, color: "#b9b09c"}   # the beam
      - {kind: poly, points: [[2.6, 5.75], [3.4, 5.75], [3.4, 11.6], [2.6, 11.6]], y: [0.7, 1.5], collide: 0}   # a post hung from the beam
      - {kind: poly, points: [[2.1, 5.45], [3.9, 5.45], [3.9, 5.75], [2.1, 5.75]], y: [-0.5, 1.5], collide: 0}   # and its ledge under the rod
      - {kind: poly, points: [[8.6, 5.75], [9.4, 5.75], [9.4, 11.6], [8.6, 11.6]], y: [0.7, 1.5], collide: 0}   # a post hung from the beam
      - {kind: poly, points: [[8.1, 5.45], [9.9, 5.45], [9.9, 5.75], [8.1, 5.75]], y: [-0.5, 1.5], collide: 0}   # and its ledge under the rod
joints:
  - {id: j_d, type: hinge, body: drum, axis: [1, 0, 0], damping: 0.002}   # the one driven joint
  - {id: j_x, type: slide, body: bar, axis: [1, 0, 0], range: [-1.6, 1.6], damping: 1.0}   # the rod in its posts, held by the groove; + : to the right
driver: {joint: j_d, kind: velocity, rpm: 10.0, kv: 10.0, max_torque: 20.0}
checks:
  - {type: follow, out: j_x, in: j_d, expect: -0.02292, tol: 0.00069, min_r2: 0.995, settle_s: 0.6667, window_s: 0.6667}   # theta 40-80 deg, turn 1
  - {type: follow, out: j_x, in: j_d, expect: 0.02292, tol: 0.00069, min_r2: 0.995, settle_s: 1.6667, window_s: 0.6667}   # theta 100-140 deg, turn 1
  - {type: follow, out: j_x, in: j_d, expect: 0.02292, tol: 0.00069, min_r2: 0.995, settle_s: 3.6667, window_s: 0.6667}   # theta 220-260 deg, turn 1
  - {type: follow, out: j_x, in: j_d, expect: -0.02292, tol: 0.00069, min_r2: 0.995, settle_s: 6.6667, window_s: 0.6667}   # theta 40-80 deg, turn 2
  - {type: follow, out: j_x, in: j_d, expect: 0.02292, tol: 0.00069, min_r2: 0.995, settle_s: 7.6667, window_s: 0.6667}   # theta 100-140 deg, turn 2
  - {type: follow, out: j_x, in: j_d, expect: 0.02292, tol: 0.00069, min_r2: 0.995, settle_s: 9.6667, window_s: 0.6667}   # theta 220-260 deg, turn 2
  - {type: position, joint: j_x, min: -1.25, max: 1.25, settle_s: 0.5, window_s: 11}
camera: {target: [3.85, 0, 2.25], position: [3.85, -80, 2.25], fov: 34}
display:
  output: j_x
  labels: {j_d: "Grooved drum (driver)", j_x: "Rod"}
  proof: {label: "Groove walls out of contact", sub: "the drum turns but the rod stands"}