# No. 108 (Brown 1868): "Uniform reciprocating rectilinear motion from uniform rotary motion of a cylinder, in which are cut reverse threads or grooves,
# which necessarily intersect twice in every revolution. A point inserted in the groove will traverse the cylinder from end to end."
#
# Model (cm): a cylinder 8 cm across turns on its axis (the one driven joint, 20 turns a minute; the wheel at its foot is where it would be driven). A right-hand
# and a left-hand groove, 1.13 cm wide, each 8 cm end to end in one turn (1.273 cm to the radian), run into each other at the cylinder's ends (rounded over 0.3 rad)
# and cross each other where the two meet; the lands between are 340 convex pieces. A pin (1 cm) on a block sliding on the guide rod runs in the groove by real contact, so
# the groove draws it end to end and back; at the crossing it goes straight on by its own inertia (the sim has no gravity, the block being poised).
# Generator: opencode-runs/batch9/gen108.py.
number: 108
slug: cylinder-reverse-grooves
name: A cylinder with right and left grooves traversing a pin
brown: "Uniform reciprocating rectilinear motion from uniform rotary motion of a cylinder, in which are cut reverse threads or grooves, which necessarily intersect twice in every revolution. A point inserted in the groove will traverse the cylinder from end to end."
units: cm
sim:
  timestep: 0.0005
  integrator: implicitfast
  iterations: 50
  solver: PGS
  duration_s: 12
  gravity: 0
  floor: false
bodies:
  - id: cyl
    shape: part
    pos: [0, 0, 0]
    mass: 2.0
    friction: 0.05
    color: "#d9cfb6"
    pieces:
      - {kind: rod, from: [0, 0, -1.6], to: [0, 0, 12.5319], radius: 0.7, collide: 0, color: "#8f8a80"}   # the axle
      - {kind: rod, from: [0, 0, 0.0], to: [0, 0, 10.9319], radius: 2.9, collide: 0, color: "#a39b88"}   # the core, the grooves' bottom
      - {kind: rod, from: [0, 0, -1.2], to: [0, 0, -0.6], radius: 6.5, collide: 0, color: "#b8ad97"}   # the wheel at its foot
      - {kind: loft, a: [[2.9, 0.0, 0.0], [2.9, 0.0, 2.9], [4.0, 0.0, 2.9], [4.0, 0.0, 0.0]], b: [[2.896, 0.1518, 0.0], [2.896, 0.1518, 2.9667], [3.9945, 0.2093, 2.9667], [3.9945, 0.2093, 0.0]], collide: 1}
      - {kind: loft, a: [[2.9, 0.0, 4.0319], [2.9, 0.0, 6.9], [4.0, 0.0, 6.9], [4.0, 0.0, 4.0319]], b: [[2.896, 0.1518, 4.0986], [2.896, 0.1518, 6.8333], [3.9945, 0.2093, 6.8333], [3.9945, 0.2093, 4.0986]], collide: 1}
      - {kind: loft, a: [[2.9, 0.0, 8.0319], [2.9, 0.0, 10.9319], [4.0, 0.0, 10.9319], [4.0, 0.0, 8.0319]], b: [[2.896, 0.1518, 7.9652], [2.896, 0.1518, 10.9319], [3.9945, 0.2093, 10.9319], [3.9945, 0.2093, 7.9652]], collide: 1}
      - {kind: loft, a: [[2.896, 0.1518, 0.0], [2.896, 0.1518, 2.9667], [3.9945, 0.2093, 2.9667], [3.9945, 0.2093, 0.0]], b: [[2.8841, 0.3031, 0.0], [2.8841, 0.3031, 3.0333], [3.9781, 0.4181, 3.0333], [3.9781, 0.4181, 0.0]], collide: 1}
      - {kind: loft, a: [[2.896, 0.1518, 4.0986], [2.896, 0.1518, 6.8333], [3.9945, 0.2093, 6.8333], [3.9945, 0.2093, 4.0986]], b: [[2.8841, 0.3031, 4.1652], [2.8841, 0.3031, 6.7667], [3.9781, 0.4181, 6.7667], [3.9781, 0.4181, 4.1652]], collide: 1}
      - {kind: loft, a: [[2.896, 0.1518, 7.9652], [2.896, 0.1518, 10.9319], [3.9945, 0.2093, 10.9319], [3.9945, 0.2093, 7.9652]], b: [[2.8841, 0.3031, 7.8986], [2.8841, 0.3031, 10.9319], [3.9781, 0.4181, 10.9319], [3.9781, 0.4181, 7.8986]], collide: 1}
      - {kind: loft, a: [[2.8841, 0.3031, 0.0], [2.8841, 0.3031, 3.0333], [3.9781, 0.4181, 3.0333], [3.9781, 0.4181, 0.0]], b: [[2.8643, 0.4537, 0.0], [2.8643, 0.4537, 3.1], [3.9508, 0.6257, 3.1], [3.9508, 0.6257, 0.0]], collide: 1}
      - {kind: loft, a: [[2.8841, 0.3031, 4.1652], [2.8841, 0.3031, 6.7667], [3.9781, 0.4181, 6.7667], [3.9781, 0.4181, 4.1652]], b: [[2.8643, 0.4537, 4.2319], [2.8643, 0.4537, 6.7], [3.9508, 0.6257, 6.7], [3.9508, 0.6257, 4.2319]], collide: 1}
      - {kind: loft, a: [[2.8841, 0.3031, 7.8986], [2.8841, 0.3031, 10.9319], [3.9781, 0.4181, 10.9319], [3.9781, 0.4181, 7.8986]], b: [[2.8643, 0.4537, 7.8319], [2.8643, 0.4537, 10.9319], [3.9508, 0.6257, 10.9319], [3.9508, 0.6257, 7.8319]], collide: 1}
      - {kind: loft, a: [[2.8643, 0.4537, 0.0], [2.8643, 0.4537, 3.1], [3.9508, 0.6257, 3.1], [3.9508, 0.6257, 0.0]], b: [[2.8366, 0.6029, 0.0], [2.8366, 0.6029, 3.1667], [3.9126, 0.8316, 3.1667], [3.9126, 0.8316, 0.0]], collide: 1}
      - {kind: loft, a: [[2.8643, 0.4537, 4.2319], [2.8643, 0.4537, 6.7], [3.9508, 0.6257, 6.7], [3.9508, 0.6257, 4.2319]], b: [[2.8366, 0.6029, 4.2986], [2.8366, 0.6029, 6.6333], [3.9126, 0.8316, 6.6333], [3.9126, 0.8316, 4.2986]], collide: 1}
      - {kind: loft, a: [[2.8643, 0.4537, 7.8319], [2.8643, 0.4537, 10.9319], [3.9508, 0.6257, 10.9319], [3.9508, 0.6257, 7.8319]], b: [[2.8366, 0.6029, 7.7652], [2.8366, 0.6029, 10.9319], [3.9126, 0.8316, 10.9319], [3.9126, 0.8316, 7.7652]], collide: 1}
      - {kind: loft, a: [[2.8366, 0.6029, 0.0], [2.8366, 0.6029, 3.1667], [3.9126, 0.8316, 3.1667], [3.9126, 0.8316, 0.0]], b: [[2.8012, 0.7506, 0.0], [2.8012, 0.7506, 3.2333], [3.8637, 1.0353, 3.2333], [3.8637, 1.0353, 0.0]], collide: 1}
      - {kind: loft, a: [[2.8366, 0.6029, 4.2986], [2.8366, 0.6029, 6.6333], [3.9126, 0.8316, 6.6333], [3.9126, 0.8316, 4.2986]], b: [[2.8012, 0.7506, 4.3652], [2.8012, 0.7506, 6.5667], [3.8637, 1.0353, 6.5667], [3.8637, 1.0353, 4.3652]], collide: 1}
      - {kind: loft, a: [[2.8366, 0.6029, 7.7652], [2.8366, 0.6029, 10.9319], [3.9126, 0.8316, 10.9319], [3.9126, 0.8316, 7.7652]], b: [[2.8012, 0.7506, 7.6986], [2.8012, 0.7506, 10.9319], [3.8637, 1.0353, 10.9319], [3.8637, 1.0353, 7.6986]], collide: 1}
      - {kind: loft, a: [[2.8012, 0.7506, 0.0], [2.8012, 0.7506, 3.2333], [3.8637, 1.0353, 3.2333], [3.8637, 1.0353, 0.0]], b: [[2.7581, 0.8961, 0.0], [2.7581, 0.8961, 3.3], [3.8042, 1.2361, 3.3], [3.8042, 1.2361, 0.0]], collide: 1}
      - {kind: loft, a: [[2.8012, 0.7506, 4.3652], [2.8012, 0.7506, 6.5667], [3.8637, 1.0353, 6.5667], [3.8637, 1.0353, 4.3652]], b: [[2.7581, 0.8961, 4.4319], [2.7581, 0.8961, 6.5], [3.8042, 1.2361, 6.5], [3.8042, 1.2361, 4.4319]], collide: 1}
      - {kind: loft, a: [[2.8012, 0.7506, 7.6986], [2.8012, 0.7506, 10.9319], [3.8637, 1.0353, 10.9319], [3.8637, 1.0353, 7.6986]], b: [[2.7581, 0.8961, 7.6319], [2.7581, 0.8961, 10.9319], [3.8042, 1.2361, 10.9319], [3.8042, 1.2361, 7.6319]], collide: 1}
      - {kind: loft, a: [[2.7581, 0.8961, 0.0], [2.7581, 0.8961, 3.3], [3.8042, 1.2361, 3.3], [3.8042, 1.2361, 0.0]], b: [[2.7074, 1.0393, 0.0], [2.7074, 1.0393, 3.3667], [3.7343, 1.4335, 3.3667], [3.7343, 1.4335, 0.0]], collide: 1}
      - {kind: loft, a: [[2.7581, 0.8961, 4.4319], [2.7581, 0.8961, 6.5], [3.8042, 1.2361, 6.5], [3.8042, 1.2361, 4.4319]], b: [[2.7074, 1.0393, 4.4986], [2.7074, 1.0393, 6.4333], [3.7343, 1.4335, 6.4333], [3.7343, 1.4335, 4.4986]], collide: 1}
      - {kind: loft, a: [[2.7581, 0.8961, 7.6319], [2.7581, 0.8961, 10.9319], [3.8042, 1.2361, 10.9319], [3.8042, 1.2361, 7.6319]], b: [[2.7074, 1.0393, 7.5652], [2.7074, 1.0393, 10.9319], [3.7343, 1.4335, 10.9319], [3.7343, 1.4335, 7.5652]], collide: 1}
      - {kind: loft, a: [[2.7074, 1.0393, 0.0], [2.7074, 1.0393, 3.3667], [3.7343, 1.4335, 3.3667], [3.7343, 1.4335, 0.0]], b: [[2.6493, 1.1795, 0.0], [2.6493, 1.1795, 3.4333], [3.6542, 1.6269, 3.4333], [3.6542, 1.6269, 0.0]], collide: 1}
      - {kind: loft, a: [[2.7074, 1.0393, 4.4986], [2.7074, 1.0393, 6.4333], [3.7343, 1.4335, 6.4333], [3.7343, 1.4335, 4.4986]], b: [[2.6493, 1.1795, 4.5652], [2.6493, 1.1795, 6.3667], [3.6542, 1.6269, 6.3667], [3.6542, 1.6269, 4.5652]], collide: 1}
      - {kind: loft, a: [[2.7074, 1.0393, 7.5652], [2.7074, 1.0393, 10.9319], [3.7343, 1.4335, 10.9319], [3.7343, 1.4335, 7.5652]], b: [[2.6493, 1.1795, 7.4986], [2.6493, 1.1795, 10.9319], [3.6542, 1.6269, 10.9319], [3.6542, 1.6269, 7.4986]], collide: 1}
      - {kind: loft, a: [[2.6493, 1.1795, 0.0], [2.6493, 1.1795, 3.4333], [3.6542, 1.6269, 3.4333], [3.6542, 1.6269, 0.0]], b: [[2.5839, 1.3166, 0.0], [2.5839, 1.3166, 3.5], [3.564, 1.816, 3.5], [3.564, 1.816, 0.0]], collide: 1}
      - {kind: loft, a: [[2.6493, 1.1795, 4.5652], [2.6493, 1.1795, 6.3667], [3.6542, 1.6269, 6.3667], [3.6542, 1.6269, 4.5652]], b: [[2.5839, 1.3166, 4.6319], [2.5839, 1.3166, 6.3], [3.564, 1.816, 6.3], [3.564, 1.816, 4.6319]], collide: 1}
      - {kind: loft, a: [[2.6493, 1.1795, 7.4986], [2.6493, 1.1795, 10.9319], [3.6542, 1.6269, 10.9319], [3.6542, 1.6269, 7.4986]], b: [[2.5839, 1.3166, 7.4319], [2.5839, 1.3166, 10.9319], [3.564, 1.816, 10.9319], [3.564, 1.816, 7.4319]], collide: 1}
      - {kind: loft, a: [[2.5839, 1.3166, 0.0], [2.5839, 1.3166, 3.5], [3.564, 1.816, 3.5], [3.564, 1.816, 0.0]], b: [[2.5115, 1.45, 0.0], [2.5115, 1.45, 3.5667], [3.4641, 2.0, 3.5667], [3.4641, 2.0, 0.0]], collide: 1}
      - {kind: loft, a: [[2.5839, 1.3166, 4.6319], [2.5839, 1.3166, 6.3], [3.564, 1.816, 6.3], [3.564, 1.816, 4.6319]], b: [[2.5115, 1.45, 4.6986], [2.5115, 1.45, 6.2333], [3.4641, 2.0, 6.2333], [3.4641, 2.0, 4.6986]], collide: 1}
      - {kind: loft, a: [[2.5839, 1.3166, 7.4319], [2.5839, 1.3166, 10.9319], [3.564, 1.816, 10.9319], [3.564, 1.816, 7.4319]], b: [[2.5115, 1.45, 7.3652], [2.5115, 1.45, 10.9319], [3.4641, 2.0, 10.9319], [3.4641, 2.0, 7.3652]], collide: 1}
      - {kind: loft, a: [[2.5115, 1.45, 0.0], [2.5115, 1.45, 3.5667], [3.4641, 2.0, 3.5667], [3.4641, 2.0, 0.0]], b: [[2.4321, 1.5795, 0.0], [2.4321, 1.5795, 3.6333], [3.3547, 2.1786, 3.6333], [3.3547, 2.1786, 0.0]], collide: 1}
      - {kind: loft, a: [[2.5115, 1.45, 4.6986], [2.5115, 1.45, 6.2333], [3.4641, 2.0, 6.2333], [3.4641, 2.0, 4.6986]], b: [[2.4321, 1.5795, 4.7652], [2.4321, 1.5795, 6.1667], [3.3547, 2.1786, 6.1667], [3.3547, 2.1786, 4.7652]], collide: 1}
      - {kind: loft, a: [[2.5115, 1.45, 7.3652], [2.5115, 1.45, 10.9319], [3.4641, 2.0, 10.9319], [3.4641, 2.0, 7.3652]], b: [[2.4321, 1.5795, 7.2986], [2.4321, 1.5795, 10.9319], [3.3547, 2.1786, 10.9319], [3.3547, 2.1786, 7.2986]], collide: 1}
      - {kind: loft, a: [[2.4321, 1.5795, 0.0], [2.4321, 1.5795, 3.6333], [3.3547, 2.1786, 3.6333], [3.3547, 2.1786, 0.0]], b: [[2.3461, 1.7046, 0.0], [2.3461, 1.7046, 3.7], [3.2361, 2.3511, 3.7], [3.2361, 2.3511, 0.0]], collide: 1}
      - {kind: loft, a: [[2.4321, 1.5795, 4.7652], [2.4321, 1.5795, 6.1667], [3.3547, 2.1786, 6.1667], [3.3547, 2.1786, 4.7652]], b: [[2.3461, 1.7046, 4.8319], [2.3461, 1.7046, 6.1], [3.2361, 2.3511, 6.1], [3.2361, 2.3511, 4.8319]], collide: 1}
      - {kind: loft, a: [[2.4321, 1.5795, 7.2986], [2.4321, 1.5795, 10.9319], [3.3547, 2.1786, 10.9319], [3.3547, 2.1786, 7.2986]], b: [[2.3461, 1.7046, 7.2319], [2.3461, 1.7046, 10.9319], [3.2361, 2.3511, 10.9319], [3.2361, 2.3511, 7.2319]], collide: 1}
      - {kind: loft, a: [[2.3461, 1.7046, 0.0], [2.3461, 1.7046, 3.7], [3.2361, 2.3511, 3.7], [3.2361, 2.3511, 0.0]], b: [[2.2537, 1.825, 0.0], [2.2537, 1.825, 3.7667], [3.1086, 2.5173, 3.7667], [3.1086, 2.5173, 0.0]], collide: 1}
      - {kind: loft, a: [[2.3461, 1.7046, 4.8319], [2.3461, 1.7046, 6.1], [3.2361, 2.3511, 6.1], [3.2361, 2.3511, 4.8319]], b: [[2.2537, 1.825, 4.8986], [2.2537, 1.825, 6.0333], [3.1086, 2.5173, 6.0333], [3.1086, 2.5173, 4.8986]], collide: 1}
      - {kind: loft, a: [[2.3461, 1.7046, 7.2319], [2.3461, 1.7046, 10.9319], [3.2361, 2.3511, 10.9319], [3.2361, 2.3511, 7.2319]], b: [[2.2537, 1.825, 7.1652], [2.2537, 1.825, 10.9319], [3.1086, 2.5173, 10.9319], [3.1086, 2.5173, 7.1652]], collide: 1}
      - {kind: loft, a: [[2.2537, 1.825, 0.0], [2.2537, 1.825, 3.7667], [3.1086, 2.5173, 3.7667], [3.1086, 2.5173, 0.0]], b: [[2.1551, 1.9405, 0.0], [2.1551, 1.9405, 3.8333], [2.9726, 2.6765, 3.8333], [2.9726, 2.6765, 0.0]], collide: 1}
      - {kind: loft, a: [[2.2537, 1.825, 4.8986], [2.2537, 1.825, 6.0333], [3.1086, 2.5173, 6.0333], [3.1086, 2.5173, 4.8986]], b: [[2.1551, 1.9405, 4.9652], [2.1551, 1.9405, 5.9667], [2.9726, 2.6765, 5.9667], [2.9726, 2.6765, 4.9652]], collide: 1}
      - {kind: loft, a: [[2.2537, 1.825, 7.1652], [2.2537, 1.825, 10.9319], [3.1086, 2.5173, 10.9319], [3.1086, 2.5173, 7.1652]], b: [[2.1551, 1.9405, 7.0986], [2.1551, 1.9405, 10.9319], [2.9726, 2.6765, 10.9319], [2.9726, 2.6765, 7.0986]], collide: 1}
      - {kind: loft, a: [[2.1551, 1.9405, 0.0], [2.1551, 1.9405, 3.8333], [2.9726, 2.6765, 3.8333], [2.9726, 2.6765, 0.0]], b: [[2.0506, 2.0506, 0.0], [2.0506, 2.0506, 3.9], [2.8284, 2.8284, 3.9], [2.8284, 2.8284, 0.0]], collide: 1}
      - {kind: loft, a: [[2.1551, 1.9405, 4.9652], [2.1551, 1.9405, 5.9667], [2.9726, 2.6765, 5.9667], [2.9726, 2.6765, 4.9652]], b: [[2.0506, 2.0506, 5.0319], [2.0506, 2.0506, 5.9], [2.8284, 2.8284, 5.9], [2.8284, 2.8284, 5.0319]], collide: 1}
      - {kind: loft, a: [[2.1551, 1.9405, 7.0986], [2.1551, 1.9405, 10.9319], [2.9726, 2.6765, 10.9319], [2.9726, 2.6765, 7.0986]], b: [[2.0506, 2.0506, 7.0319], [2.0506, 2.0506, 10.9319], [2.8284, 2.8284, 10.9319], [2.8284, 2.8284, 7.0319]], collide: 1}
      - {kind: loft, a: [[2.0506, 2.0506, 0.0], [2.0506, 2.0506, 3.9], [2.8284, 2.8284, 3.9], [2.8284, 2.8284, 0.0]], b: [[1.9405, 2.1551, 0.0], [1.9405, 2.1551, 3.9667], [2.6765, 2.9726, 3.9667], [2.6765, 2.9726, 0.0]], collide: 1}
      - {kind: loft, a: [[2.0506, 2.0506, 5.0319], [2.0506, 2.0506, 5.9], [2.8284, 2.8284, 5.9], [2.8284, 2.8284, 5.0319]], b: [[1.9405, 2.1551, 5.0986], [1.9405, 2.1551, 5.8333], [2.6765, 2.9726, 5.8333], [2.6765, 2.9726, 5.0986]], collide: 1}
      - {kind: loft, a: [[2.0506, 2.0506, 7.0319], [2.0506, 2.0506, 10.9319], [2.8284, 2.8284, 10.9319], [2.8284, 2.8284, 7.0319]], b: [[1.9405, 2.1551, 6.9652], [1.9405, 2.1551, 10.9319], [2.6765, 2.9726, 10.9319], [2.6765, 2.9726, 6.9652]], collide: 1}
      - {kind: loft, a: [[1.9405, 2.1551, 0.0], [1.9405, 2.1551, 3.9667], [2.6765, 2.9726, 3.9667], [2.6765, 2.9726, 0.0]], b: [[1.825, 2.2537, 0.0], [1.825, 2.2537, 4.0333], [2.5173, 3.1086, 4.0333], [2.5173, 3.1086, 0.0]], collide: 1}
      - {kind: loft, a: [[1.9405, 2.1551, 5.0986], [1.9405, 2.1551, 5.8333], [2.6765, 2.9726, 5.8333], [2.6765, 2.9726, 5.0986]], b: [[1.825, 2.2537, 5.1652], [1.825, 2.2537, 5.7667], [2.5173, 3.1086, 5.7667], [2.5173, 3.1086, 5.1652]], collide: 1}
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      - {kind: loft, a: [[2.5839, -1.3166, 0.0], [2.5839, -1.3166, 2.3], [3.564, -1.816, 2.3], [3.564, -1.816, 0.0]], b: [[2.6493, -1.1795, 0.0], [2.6493, -1.1795, 2.3667], [3.6542, -1.6269, 2.3667], [3.6542, -1.6269, 0.0]], collide: 1}
      - {kind: loft, a: [[2.5839, -1.3166, 3.4319], [2.5839, -1.3166, 7.5], [3.564, -1.816, 7.5], [3.564, -1.816, 3.4319]], b: [[2.6493, -1.1795, 3.4986], [2.6493, -1.1795, 7.4333], [3.6542, -1.6269, 7.4333], [3.6542, -1.6269, 3.4986]], collide: 1}
      - {kind: loft, a: [[2.5839, -1.3166, 8.6319], [2.5839, -1.3166, 10.9319], [3.564, -1.816, 10.9319], [3.564, -1.816, 8.6319]], b: [[2.6493, -1.1795, 8.5652], [2.6493, -1.1795, 10.9319], [3.6542, -1.6269, 10.9319], [3.6542, -1.6269, 8.5652]], collide: 1}
      - {kind: loft, a: [[2.6493, -1.1795, 0.0], [2.6493, -1.1795, 2.3667], [3.6542, -1.6269, 2.3667], [3.6542, -1.6269, 0.0]], b: [[2.7074, -1.0393, 0.0], [2.7074, -1.0393, 2.4333], [3.7343, -1.4335, 2.4333], [3.7343, -1.4335, 0.0]], collide: 1}
      - {kind: loft, a: [[2.6493, -1.1795, 3.4986], [2.6493, -1.1795, 7.4333], [3.6542, -1.6269, 7.4333], [3.6542, -1.6269, 3.4986]], b: [[2.7074, -1.0393, 3.5652], [2.7074, -1.0393, 7.3667], [3.7343, -1.4335, 7.3667], [3.7343, -1.4335, 3.5652]], collide: 1}
      - {kind: loft, a: [[2.6493, -1.1795, 8.5652], [2.6493, -1.1795, 10.9319], [3.6542, -1.6269, 10.9319], [3.6542, -1.6269, 8.5652]], b: [[2.7074, -1.0393, 8.4986], [2.7074, -1.0393, 10.9319], [3.7343, -1.4335, 10.9319], [3.7343, -1.4335, 8.4986]], collide: 1}
      - {kind: loft, a: [[2.7074, -1.0393, 0.0], [2.7074, -1.0393, 2.4333], [3.7343, -1.4335, 2.4333], [3.7343, -1.4335, 0.0]], b: [[2.7581, -0.8961, 0.0], [2.7581, -0.8961, 2.5], [3.8042, -1.2361, 2.5], [3.8042, -1.2361, 0.0]], collide: 1}
      - {kind: loft, a: [[2.7074, -1.0393, 3.5652], [2.7074, -1.0393, 7.3667], [3.7343, -1.4335, 7.3667], [3.7343, -1.4335, 3.5652]], b: [[2.7581, -0.8961, 3.6319], [2.7581, -0.8961, 7.3], [3.8042, -1.2361, 7.3], [3.8042, -1.2361, 3.6319]], collide: 1}
      - {kind: loft, a: [[2.7074, -1.0393, 8.4986], [2.7074, -1.0393, 10.9319], [3.7343, -1.4335, 10.9319], [3.7343, -1.4335, 8.4986]], b: [[2.7581, -0.8961, 8.4319], [2.7581, -0.8961, 10.9319], [3.8042, -1.2361, 10.9319], [3.8042, -1.2361, 8.4319]], collide: 1}
      - {kind: loft, a: [[2.7581, -0.8961, 0.0], [2.7581, -0.8961, 2.5], [3.8042, -1.2361, 2.5], [3.8042, -1.2361, 0.0]], b: [[2.8012, -0.7506, 0.0], [2.8012, -0.7506, 2.5667], [3.8637, -1.0353, 2.5667], [3.8637, -1.0353, 0.0]], collide: 1}
      - {kind: loft, a: [[2.7581, -0.8961, 3.6319], [2.7581, -0.8961, 7.3], [3.8042, -1.2361, 7.3], [3.8042, -1.2361, 3.6319]], b: [[2.8012, -0.7506, 3.6986], [2.8012, -0.7506, 7.2333], [3.8637, -1.0353, 7.2333], [3.8637, -1.0353, 3.6986]], collide: 1}
      - {kind: loft, a: [[2.7581, -0.8961, 8.4319], [2.7581, -0.8961, 10.9319], [3.8042, -1.2361, 10.9319], [3.8042, -1.2361, 8.4319]], b: [[2.8012, -0.7506, 8.3652], [2.8012, -0.7506, 10.9319], [3.8637, -1.0353, 10.9319], [3.8637, -1.0353, 8.3652]], collide: 1}
      - {kind: loft, a: [[2.8012, -0.7506, 0.0], [2.8012, -0.7506, 2.5667], [3.8637, -1.0353, 2.5667], [3.8637, -1.0353, 0.0]], b: [[2.8366, -0.6029, 0.0], [2.8366, -0.6029, 2.6333], [3.9126, -0.8316, 2.6333], [3.9126, -0.8316, 0.0]], collide: 1}
      - {kind: loft, a: [[2.8012, -0.7506, 3.6986], [2.8012, -0.7506, 7.2333], [3.8637, -1.0353, 7.2333], [3.8637, -1.0353, 3.6986]], b: [[2.8366, -0.6029, 3.7652], [2.8366, -0.6029, 7.1667], [3.9126, -0.8316, 7.1667], [3.9126, -0.8316, 3.7652]], collide: 1}
      - {kind: loft, a: [[2.8012, -0.7506, 8.3652], [2.8012, -0.7506, 10.9319], [3.8637, -1.0353, 10.9319], [3.8637, -1.0353, 8.3652]], b: [[2.8366, -0.6029, 8.2986], [2.8366, -0.6029, 10.9319], [3.9126, -0.8316, 10.9319], [3.9126, -0.8316, 8.2986]], collide: 1}
      - {kind: loft, a: [[2.8366, -0.6029, 0.0], [2.8366, -0.6029, 2.6333], [3.9126, -0.8316, 2.6333], [3.9126, -0.8316, 0.0]], b: [[2.8643, -0.4537, 0.0], [2.8643, -0.4537, 2.7], [3.9508, -0.6257, 2.7], [3.9508, -0.6257, 0.0]], collide: 1}
      - {kind: loft, a: [[2.8366, -0.6029, 3.7652], [2.8366, -0.6029, 7.1667], [3.9126, -0.8316, 7.1667], [3.9126, -0.8316, 3.7652]], b: [[2.8643, -0.4537, 3.8319], [2.8643, -0.4537, 7.1], [3.9508, -0.6257, 7.1], [3.9508, -0.6257, 3.8319]], collide: 1}
      - {kind: loft, a: [[2.8366, -0.6029, 8.2986], [2.8366, -0.6029, 10.9319], [3.9126, -0.8316, 10.9319], [3.9126, -0.8316, 8.2986]], b: [[2.8643, -0.4537, 8.2319], [2.8643, -0.4537, 10.9319], [3.9508, -0.6257, 10.9319], [3.9508, -0.6257, 8.2319]], collide: 1}
      - {kind: loft, a: [[2.8643, -0.4537, 0.0], [2.8643, -0.4537, 2.7], [3.9508, -0.6257, 2.7], [3.9508, -0.6257, 0.0]], b: [[2.8841, -0.3031, 0.0], [2.8841, -0.3031, 2.7667], [3.9781, -0.4181, 2.7667], [3.9781, -0.4181, 0.0]], collide: 1}
      - {kind: loft, a: [[2.8643, -0.4537, 3.8319], [2.8643, -0.4537, 7.1], [3.9508, -0.6257, 7.1], [3.9508, -0.6257, 3.8319]], b: [[2.8841, -0.3031, 3.8986], [2.8841, -0.3031, 7.0333], [3.9781, -0.4181, 7.0333], [3.9781, -0.4181, 3.8986]], collide: 1}
      - {kind: loft, a: [[2.8643, -0.4537, 8.2319], [2.8643, -0.4537, 10.9319], [3.9508, -0.6257, 10.9319], [3.9508, -0.6257, 8.2319]], b: [[2.8841, -0.3031, 8.1652], [2.8841, -0.3031, 10.9319], [3.9781, -0.4181, 10.9319], [3.9781, -0.4181, 8.1652]], collide: 1}
      - {kind: loft, a: [[2.8841, -0.3031, 0.0], [2.8841, -0.3031, 2.7667], [3.9781, -0.4181, 2.7667], [3.9781, -0.4181, 0.0]], b: [[2.896, -0.1518, 0.0], [2.896, -0.1518, 2.8333], [3.9945, -0.2093, 2.8333], [3.9945, -0.2093, 0.0]], collide: 1}
      - {kind: loft, a: [[2.8841, -0.3031, 3.8986], [2.8841, -0.3031, 7.0333], [3.9781, -0.4181, 7.0333], [3.9781, -0.4181, 3.8986]], b: [[2.896, -0.1518, 3.9652], [2.896, -0.1518, 6.9667], [3.9945, -0.2093, 6.9667], [3.9945, -0.2093, 3.9652]], collide: 1}
      - {kind: loft, a: [[2.8841, -0.3031, 8.1652], [2.8841, -0.3031, 10.9319], [3.9781, -0.4181, 10.9319], [3.9781, -0.4181, 8.1652]], b: [[2.896, -0.1518, 8.0986], [2.896, -0.1518, 10.9319], [3.9945, -0.2093, 10.9319], [3.9945, -0.2093, 8.0986]], collide: 1}
      - {kind: loft, a: [[2.896, -0.1518, 0.0], [2.896, -0.1518, 2.8333], [3.9945, -0.2093, 2.8333], [3.9945, -0.2093, 0.0]], b: [[2.9, -0.0, 0.0], [2.9, -0.0, 2.9], [4.0, -0.0, 2.9], [4.0, -0.0, 0.0]], collide: 1}
      - {kind: loft, a: [[2.896, -0.1518, 3.9652], [2.896, -0.1518, 6.9667], [3.9945, -0.2093, 6.9667], [3.9945, -0.2093, 3.9652]], b: [[2.9, -0.0, 4.0319], [2.9, -0.0, 6.9], [4.0, -0.0, 6.9], [4.0, -0.0, 4.0319]], collide: 1}
      - {kind: loft, a: [[2.896, -0.1518, 8.0986], [2.896, -0.1518, 10.9319], [3.9945, -0.2093, 10.9319], [3.9945, -0.2093, 8.0986]], b: [[2.9, -0.0, 8.0319], [2.9, -0.0, 10.9319], [4.0, -0.0, 10.9319], [4.0, -0.0, 8.0319]], collide: 1}
  - id: block
    shape: part
    pos: [0, -5.6, 1.6743]
    mass: 0.3
    friction: 0.05
    color: "#b8ad97"
    pieces:
      - {kind: poly, points: [[-8.7, 0.6743], [-6.1, 0.6743], [-6.1, 2.6743], [-8.7, 2.6743]], y: [-6.8, -4.4], collide: 0}   # the block on the guide rod
      - {kind: poly, points: [[-6.1, 1.3243], [-0.3, 1.3243], [-0.3, 2.0243], [-6.1, 2.0243]], y: [-6.0, -5.2], collide: 0}   # its arm
      - {kind: rod, from: [0, -5.6, 1.6743], to: [0, -3.6, 1.6743], 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: rod, from: [-7.4, -5.6, -2.2], to: [-7.4, -5.6, 13.1319], radius: 0.45, collide: 0, color: "#8f8a80"}   # the guide rod
      - {kind: poly, points: [[-9.4, 12.5319], [6.5, 12.5319], [6.5, 13.7319], [-9.4, 13.7319]], y: [-6.5, 1.5], collide: 0, color: "#b9b09c"}   # the top plate
      - {kind: poly, points: [[-9.4, -3.4], [6.5, -3.4], [6.5, -2.2], [-9.4, -2.2]], y: [-6.5, 1.5], collide: 0, color: "#b9b09c"}   # the bottom plate
joints:
  - {id: j_c, type: hinge, body: cyl, axis: [0, 0, 1], damping: 0.002}   # the one driven joint
  - {id: j_z, type: slide, body: block, axis: [0, 0, 1], range: [-1.3743, 8.9576], damping: 0.02}   # the block on its rod; + : up
driver: {joint: j_c, kind: velocity, rpm: 20.0, kv: 10.0, max_torque: 20.0}
checks:
  - {type: follow, out: j_z, in: j_c, expect: 0.01273, tol: 0.00038, min_r2: 0.995, settle_s: 1.875, window_s: 0.8333}   # theta 225-325 deg
  - {type: follow, out: j_z, in: j_c, expect: -0.01273, tol: 0.00038, min_r2: 0.995, settle_s: 3.3333, window_s: 0.8333}   # theta 400-500 deg
  - {type: follow, out: j_z, in: j_c, expect: -0.01273, tol: 0.00038, min_r2: 0.995, settle_s: 4.8333, window_s: 0.8333}   # theta 580-680 deg
  - {type: follow, out: j_z, in: j_c, expect: 0.01273, tol: 0.00038, min_r2: 0.995, settle_s: 6.3333, window_s: 0.8333}   # theta 760-860 deg
  - {type: follow, out: j_z, in: j_c, expect: 0.01273, tol: 0.00038, min_r2: 0.995, settle_s: 7.8333, window_s: 0.8333}   # theta 940-1040 deg
  - {type: position, joint: j_z, min: -0.1, max: 8.1, settle_s: 0.5, window_s: 11}
camera: {target: [-1.45, 0, 5.1659], position: [-1.45, -54, 5.1659], fov: 34}
display:
  output: j_z
  labels: {j_c: "Grooved cylinder (driver)", j_z: "Pin"}
  proof: {label: "Groove walls out of contact", sub: "the cylinder turns but the pin stands"}