# No. 204 (Brown 1868): "An illustration of the transmission of rotary motion from one shaft to another, arranged obliquely to it, by means of rolling contact."
#
# Model (cm): as in the plate, two equal hyperboloids of revolution ("hour-glass" rollers) on shafts that neither meet nor lie parallel: the front shaft
# 4 cm in front of the back one, each slanted 6 deg to the horizontal, the one up and the other down to the right, so they cross at
# 12 deg seen from the front. Each roller is the solid swept by the horizontal line midway between the shafts as it turns round that shaft:
# throat radius 2, 2.55 at the ends, 30 long. The two touch along that whole straight line (a ruling of each), their surfaces tangent all
# along it. Each is 24 convex frustum slices (96-gon `loft` pieces). The back roller's bearings slide in depth on a spring (2000 N/m, set 1 cm past
# touching) that presses it on the front one; friction 0.2. Only the front shaft is driven (30 rpm); the back turns by contact alone, the other way.
# Across the line the surfaces roll (ratio -1), but along it they slide endwise (0.210 of the rolling speed), as skew rollers always do, and that
# sliding friction has a moment about each shaft: balancing Coulomb friction along the slip at the line, the back roller runs at -0.979 of the front. Generator: opencode-runs/batch11/gen204.py.
number: 204
slug: hyperboloids
name: Hyperboloidal rollers on skew shafts
brown: "An illustration of the transmission of rotary motion from one shaft to another, arranged obliquely to it, by means of rolling contact."
units: cm
sim:
  timestep: 0.0002
  integrator: implicitfast
  iterations: 100
  solver: CG
  multiccd: true
  duration_s: 6.0
  floor: false
bodies:
  - id: front
    shape: part
    pos: [0.0, -2.0, 0.0]
    density: 1200
    friction: 0.2
    color: "#e4d9bf"
    pieces:
      - {kind: loft, a: [[-14.9178, 0.5467, -1.5679], [-14.9352, 0.5412, -1.4023], [-14.9526, 0.5249, -1.2373], [-14.9698, 0.4977, -1.0738], [-14.9867, 0.4599, -0.9124], [-15.0034, 0.4115, -0.7538], [-15.0197, 0.3528, -0.5987], [-15.0356, 0.284, -0.4477], [-15.0509, 0.2055, -0.3016], [-15.0657, 0.1175, -0.1608], [-15.0799, 0.0204, -0.0261], [-15.0933, -0.0853, 0.102], [-15.1061, -0.1992, 0.223], [-15.118, -0.3209, 0.3363], [-15.129, -0.4497, 0.4414], [-15.1392, -0.5851, 0.538], [-15.1484, -0.7267, 0.6255], [-15.1566, -0.8736, 0.7036], [-15.1638, -1.0254, 0.772], [-15.1699, -1.1814, 0.8304], [-15.175, -1.3409, 0.8785], [-15.1789, -1.5032, 0.9161], [-15.1818, -1.6676, 0.9431], [-15.1835, -1.8334, 0.9594], [-15.184, -2.0, 0.9648], [-15.1835, -2.1666, 0.9594], [-15.1818, -2.3324, 0.9431], [-15.1789, -2.4968, 0.9161], [-15.175, -2.6591, 0.8785], [-15.1699, -2.8186, 0.8304], [-15.1638, -2.9746, 0.772], [-15.1566, -3.1264, 0.7036], [-15.1484, -3.2733, 0.6255], [-15.1392, -3.4149, 0.538], 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-3.9662], [-14.6607, -2.6591, -4.0144], [-14.6567, -2.4968, -4.052], [-14.6539, -2.3324, -4.079], [-14.6522, -2.1666, -4.0952], [-14.6516, -2.0, -4.1007], [-14.6522, -1.8334, -4.0952], [-14.6539, -1.6676, -4.079], [-14.6567, -1.5032, -4.052], [-14.6607, -1.3409, -4.0144], [-14.6658, -1.1814, -3.9662], [-14.6719, -1.0254, -3.9079], [-14.6791, -0.8736, -3.8395], [-14.6873, -0.7267, -3.7613], [-14.6965, -0.5851, -3.6738], [-14.7066, -0.4497, -3.5773], [-14.7177, -0.3209, -3.4721], [-14.7296, -0.1992, -3.3588], [-14.7423, -0.0853, -3.2379], [-14.7558, 0.0204, -3.1098], [-14.7699, 0.1175, -2.975], [-14.7847, 0.2055, -2.8343], [-14.8001, 0.284, -2.6881], [-14.816, 0.3528, -2.5372], [-14.8323, 0.4115, -2.382], [-14.8489, 0.4599, -2.2234], [-14.8659, 0.4977, -2.062], [-14.8831, 0.5249, -1.8985], [-14.9004, 0.5412, -1.7336]], b: [[-13.6747, 0.4675, -1.4373], [-13.6915, 0.4622, -1.2768], [-13.7083, 0.4464, -1.117], [-13.725, 0.4201, -0.9585], [-13.7414, 0.3834, -0.8021], [-13.7576, 0.3365, 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      - {kind: loft, a: [[-13.6747, 0.4675, -1.4373], [-13.6915, 0.4622, -1.2768], [-13.7083, 0.4464, -1.117], [-13.725, 0.4201, -0.9585], [-13.7414, 0.3834, -0.8021], [-13.7576, 0.3365, -0.6485], [-13.7734, 0.2797, -0.4982], [-13.7888, 0.213, -0.3519], [-13.8036, 0.1369, -0.2103], [-13.818, 0.0517, -0.0739], [-13.8317, -0.0424, 0.0566], [-13.8447, -0.1448, 0.1808], [-13.8571, -0.2552, 0.298], [-13.8686, -0.3731, 0.4077], [-13.8793, -0.4979, 0.5096], [-13.8891, -0.6291, 0.6031], [-13.898, -0.7663, 0.6879], [-13.906, -0.9087, 0.7636], [-13.913, -1.0557, 0.8299], [-13.9189, -1.2068, 0.8865], [-13.9238, -1.3614, 0.9331], [-13.9276, -1.5186, 0.9696], [-13.9304, -1.6779, 0.9957], [-13.932, -1.8386, 1.0115], [-13.9326, -2.0, 1.0167], [-13.932, -2.1614, 1.0115], [-13.9304, -2.3221, 0.9957], [-13.9276, -2.4814, 0.9696], [-13.9238, -2.6386, 0.9331], [-13.9189, -2.7932, 0.8865], [-13.913, -2.9443, 0.8299], [-13.906, -3.0913, 0.7636], [-13.898, -3.2337, 0.6879], [-13.8891, -3.3709, 0.6031], 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[-15.1327, -2.7238, -4.3068], [-15.1284, -2.5456, -4.3481], [-15.1253, -2.365, -4.3778], [-15.1234, -2.1829, -4.3956], [-15.1228, -2.0, -4.4015], [-15.1234, -1.8171, -4.3956], [-15.1253, -1.635, -4.3778], [-15.1284, -1.4544, -4.3481], [-15.1327, -1.2762, -4.3068], [-15.1383, -1.101, -4.2539], [-15.145, -0.9298, -4.1898], [-15.1529, -0.7631, -4.1147], [-15.1619, -0.6017, -4.0289], [-15.172, -0.4463, -3.9328], [-15.1832, -0.2975, -3.8268], [-15.1953, -0.156, -3.7113], [-15.2084, -0.0225, -3.5869], [-15.2223, 0.1027, -3.4541], [-15.2371, 0.2188, -3.3134], [-15.2527, 0.3254, -3.1654], [-15.2689, 0.422, -3.0109], [-15.2858, 0.5083, -2.8504], [-15.3032, 0.5838, -2.6846], [-15.3211, 0.6483, -2.5142], [-15.3394, 0.7014, -2.3401], [-15.3581, 0.7429, -2.1628], [-15.3769, 0.7727, -1.9832], [-15.396, 0.7907, -1.8021]], b: [[-14.9178, 0.7967, -1.5679], [-14.9369, 0.7907, -1.386], [-14.956, 0.7727, -1.2049], [-14.9749, 0.7429, -1.0253], [-14.9935, 0.7014, -0.8481], [-15.0118, 0.6483, -0.6739], [-15.0297, 0.5838, -0.5035], [-15.0471, 0.5083, -0.3378], [-15.064, 0.422, -0.1772], [-15.0802, 0.3254, -0.0227], [-15.0958, 0.2188, 0.1253], [-15.1106, 0.1027, 0.2659], [-15.1245, -0.0225, 0.3988], [-15.1376, -0.156, 0.5232], [-15.1498, -0.2975, 0.6387], [-15.1609, -0.4463, 0.7447], [-15.171, -0.6017, 0.8408], [-15.18, -0.7631, 0.9266], [-15.1879, -0.9298, 1.0017], [-15.1946, -1.101, 1.0658], [-15.2002, -1.2762, 1.1187], [-15.2045, -1.4544, 1.16], [-15.2077, -1.635, 1.1896], [-15.2095, -1.8171, 1.2075], [-15.2102, -2.0, 1.2134], [-15.2095, -2.1829, 1.2075], [-15.2077, -2.365, 1.1896], [-15.2045, -2.5456, 1.16], [-15.2002, -2.7238, 1.1187], [-15.1946, -2.899, 1.0658], [-15.1879, -3.0702, 1.0017], [-15.18, -3.2369, 0.9266], [-15.171, -3.3983, 0.8408], [-15.1609, -3.5537, 0.7447], [-15.1498, -3.7025, 0.6387], [-15.1376, -3.844, 0.5232], [-15.1245, -3.9775, 0.3988], [-15.1106, -4.1027, 0.2659], [-15.0958, -4.2188, 0.1253], [-15.0802, -4.3254, -0.0227], [-15.064, -4.422, -0.1772], [-15.0471, -4.5083, -0.3378], [-15.0297, -4.5838, -0.5035], [-15.0118, -4.6483, -0.6739], [-14.9935, -4.7014, -0.8481], [-14.9749, -4.7429, -1.0253], [-14.956, -4.7727, -1.2049], [-14.9369, -4.7907, -1.386], [-14.9178, -4.7967, -1.5679], [-14.8987, -4.7907, -1.7498], [-14.8797, -4.7727, -1.931], [-14.8608, -4.7429, -2.1105], [-14.8422, -4.7014, -2.2878], [-14.8239, -4.6483, -2.462], [-14.806, -4.5838, -2.6323], [-14.7885, -4.5083, -2.7981], [-14.7717, -4.422, -2.9586], [-14.7554, -4.3254, -3.1132], [-14.7399, -4.2188, -3.2611], [-14.7251, -4.1027, -3.4018], [-14.7111, -3.9775, -3.5346], [-14.698, -3.844, -3.6591], [-14.6859, -3.7025, -3.7745], [-14.6748, -3.5537, -3.8805], [-14.6647, -3.3983, -3.9767], [-14.6556, -3.2369, -4.0624], [-14.6477, -3.0702, -4.1376], [-14.641, -2.899, -4.2017], [-14.6355, -2.7238, -4.2545], [-14.6311, -2.5456, -4.2958], [-14.628, -2.365, -4.3255], [-14.6261, -2.1829, -4.3433], [-14.6255, -2.0, -4.3493], [-14.6261, -1.8171, -4.3433], [-14.628, -1.635, -4.3255], [-14.6311, -1.4544, -4.2958], [-14.6355, -1.2762, -4.2545], [-14.641, -1.101, -4.2017], [-14.6477, -0.9298, -4.1376], [-14.6556, -0.7631, -4.0624], [-14.6647, -0.6017, -3.9767], [-14.6748, -0.4463, -3.8805], [-14.6859, -0.2975, -3.7745], [-14.698, -0.156, -3.6591], [-14.7111, -0.0225, -3.5346], [-14.7251, 0.1027, -3.4018], [-14.7399, 0.2188, -3.2611], [-14.7554, 0.3254, -3.1132], [-14.7717, 0.422, -2.9586], [-14.7885, 0.5083, -2.7981], [-14.806, 0.5838, -2.6323], [-14.8239, 0.6483, -2.462], [-14.8422, 0.7014, -2.2878], [-14.8608, 0.7429, -2.1105], [-14.8797, 0.7727, -1.931], [-14.8987, 0.7907, -1.7498]], collide: 0}
      - {kind: loft, a: [[14.9178, 0.7967, 1.5679], [14.8987, 0.7907, 1.7498], [14.8797, 0.7727, 1.931], [14.8608, 0.7429, 2.1105], [14.8422, 0.7014, 2.2878], [14.8239, 0.6483, 2.462], [14.806, 0.5838, 2.6323], [14.7885, 0.5083, 2.7981], [14.7717, 0.422, 2.9586], [14.7554, 0.3254, 3.1132], [14.7399, 0.2188, 3.2611], [14.7251, 0.1027, 3.4018], [14.7111, -0.0225, 3.5346], [14.698, -0.156, 3.6591], [14.6859, -0.2975, 3.7745], [14.6748, -0.4463, 3.8805], [14.6647, -0.6017, 3.9767], [14.6556, -0.7631, 4.0624], [14.6477, -0.9298, 4.1376], [14.641, -1.101, 4.2017], [14.6355, -1.2762, 4.2545], [14.6311, -1.4544, 4.2958], [14.628, -1.635, 4.3255], [14.6261, -1.8171, 4.3433], [14.6255, -2.0, 4.3493], [14.6261, -2.1829, 4.3433], [14.628, -2.365, 4.3255], [14.6311, -2.5456, 4.2958], [14.6355, -2.7238, 4.2545], [14.641, -2.899, 4.2017], [14.6477, -3.0702, 4.1376], [14.6556, -3.2369, 4.0624], [14.6647, -3.3983, 3.9767], [14.6748, -3.5537, 3.8805], [14.6859, -3.7025, 3.7745], [14.698, -3.844, 3.6591], [14.7111, -3.9775, 3.5346], [14.7251, -4.1027, 3.4018], [14.7399, -4.2188, 3.2611], [14.7554, -4.3254, 3.1132], [14.7717, -4.422, 2.9586], [14.7885, -4.5083, 2.7981], [14.806, -4.5838, 2.6323], [14.8239, -4.6483, 2.462], [14.8422, -4.7014, 2.2878], [14.8608, -4.7429, 2.1105], [14.8797, -4.7727, 1.931], [14.8987, -4.7907, 1.7498], [14.9178, -4.7967, 1.5679], [14.9369, -4.7907, 1.386], [14.956, -4.7727, 1.2049], [14.9749, -4.7429, 1.0253], [14.9935, -4.7014, 0.8481], [15.0118, -4.6483, 0.6739], [15.0297, -4.5838, 0.5035], [15.0471, -4.5083, 0.3378], [15.064, -4.422, 0.1772], [15.0802, -4.3254, 0.0227], [15.0958, -4.2188, -0.1253], [15.1106, -4.1027, -0.2659], [15.1245, -3.9775, -0.3988], [15.1376, -3.844, -0.5232], [15.1498, -3.7025, -0.6387], [15.1609, -3.5537, -0.7447], [15.171, -3.3983, -0.8408], [15.18, -3.2369, -0.9266], [15.1879, -3.0702, -1.0017], [15.1946, -2.899, -1.0658], [15.2002, -2.7238, -1.1187], [15.2045, -2.5456, -1.16], [15.2077, -2.365, -1.1896], [15.2095, -2.1829, -1.2075], [15.2102, -2.0, -1.2134], [15.2095, -1.8171, -1.2075], [15.2077, -1.635, -1.1896], [15.2045, -1.4544, -1.16], [15.2002, -1.2762, -1.1187], [15.1946, -1.101, -1.0658], [15.1879, -0.9298, -1.0017], [15.18, -0.7631, -0.9266], [15.171, -0.6017, -0.8408], [15.1609, -0.4463, -0.7447], [15.1498, -0.2975, -0.6387], [15.1376, -0.156, -0.5232], [15.1245, -0.0225, -0.3988], [15.1106, 0.1027, -0.2659], [15.0958, 0.2188, -0.1253], [15.0802, 0.3254, 0.0227], [15.064, 0.422, 0.1772], [15.0471, 0.5083, 0.3378], [15.0297, 0.5838, 0.5035], [15.0118, 0.6483, 0.6739], [14.9935, 0.7014, 0.8481], [14.9749, 0.7429, 1.0253], [14.956, 0.7727, 1.2049], [14.9369, 0.7907, 1.386]], b: [[15.4151, 0.7967, 1.6202], [15.396, 0.7907, 1.8021], [15.3769, 0.7727, 1.9832], [15.3581, 0.7429, 2.1628], [15.3394, 0.7014, 2.3401], [15.3211, 0.6483, 2.5142], [15.3032, 0.5838, 2.6846], [15.2858, 0.5083, 2.8504], [15.2689, 0.422, 3.0109], [15.2527, 0.3254, 3.1654], [15.2371, 0.2188, 3.3134], [15.2223, 0.1027, 3.4541], [15.2084, -0.0225, 3.5869], [15.1953, -0.156, 3.7113], [15.1832, -0.2975, 3.8268], [15.172, -0.4463, 3.9328], [15.1619, -0.6017, 4.0289], [15.1529, -0.7631, 4.1147], [15.145, -0.9298, 4.1898], [15.1383, -1.101, 4.2539], [15.1327, -1.2762, 4.3068], [15.1284, -1.4544, 4.3481], [15.1253, -1.635, 4.3778], [15.1234, -1.8171, 4.3956], [15.1228, -2.0, 4.4015], [15.1234, -2.1829, 4.3956], [15.1253, -2.365, 4.3778], [15.1284, -2.5456, 4.3481], [15.1327, -2.7238, 4.3068], [15.1383, -2.899, 4.2539], [15.145, -3.0702, 4.1898], [15.1529, -3.2369, 4.1147], [15.1619, -3.3983, 4.0289], [15.172, -3.5537, 3.9328], [15.1832, -3.7025, 3.8268], [15.1953, -3.844, 3.7113], [15.2084, -3.9775, 3.5869], [15.2223, -4.1027, 3.4541], [15.2371, -4.2188, 3.3134], [15.2527, -4.3254, 3.1654], [15.2689, -4.422, 3.0109], [15.2858, -4.5083, 2.8504], [15.3032, -4.5838, 2.6846], [15.3211, -4.6483, 2.5142], [15.3394, -4.7014, 2.3401], [15.3581, -4.7429, 2.1628], [15.3769, -4.7727, 1.9832], [15.396, -4.7907, 1.8021], [15.4151, -4.7967, 1.6202], [15.4342, -4.7907, 1.4383], [15.4532, -4.7727, 1.2572], [15.4721, -4.7429, 1.0776], [15.4908, -4.7014, 0.9003], [15.5091, -4.6483, 0.7262], [15.527, -4.5838, 0.5558], [15.5444, -4.5083, 0.39], [15.5613, -4.422, 0.2295], [15.5775, -4.3254, 0.075], [15.593, -4.2188, -0.073], [15.6078, -4.1027, -0.2137], [15.6218, -3.9775, -0.3465], [15.6349, -3.844, -0.4709], [15.647, -3.7025, -0.5864], [15.6582, -3.5537, -0.6924], [15.6683, -3.3983, -0.7885], [15.6773, -3.2369, -0.8743], [15.6852, -3.0702, -0.9494], [15.6919, -2.899, -1.0136], [15.6975, -2.7238, -1.0664], [15.7018, -2.5456, -1.1077], [15.7049, -2.365, -1.1374], [15.7068, -2.1829, -1.1552], [15.7074, -2.0, -1.1612], [15.7068, -1.8171, -1.1552], [15.7049, -1.635, -1.1374], [15.7018, -1.4544, -1.1077], [15.6975, -1.2762, -1.0664], [15.6919, -1.101, -1.0136], [15.6852, -0.9298, -0.9494], [15.6773, -0.7631, -0.8743], [15.6683, -0.6017, -0.7885], [15.6582, -0.4463, -0.6924], [15.647, -0.2975, -0.5864], [15.6349, -0.156, -0.4709], [15.6218, -0.0225, -0.3465], [15.6078, 0.1027, -0.2137], [15.593, 0.2188, -0.073], [15.5775, 0.3254, 0.075], [15.5613, 0.422, 0.2295], [15.5444, 0.5083, 0.39], [15.527, 0.5838, 0.5558], [15.5091, 0.6483, 0.7262], [15.4908, 0.7014, 0.9003], [15.4721, 0.7429, 1.0776], [15.4532, 0.7727, 1.2572], [15.4342, 0.7907, 1.4383]], collide: 0}
      - {kind: rod, from: [-18.3987, -2.0, -1.9338], to: [18.3987, -2.0, 1.9338], radius: 0.5, collide: 0}
  - id: carriage
    shape: part
    pos: [0.0, 2.0, 0.0]
    density: 2700
    color: "#8f8a80"
    pieces:
      - {kind: rod, from: [-18.0008, 2.0, 1.892], to: [-16.8074, 2.0, 1.7665], radius: 1.0, collide: 0}   # its bearing blocks
      - {kind: rod, from: [16.8074, 2.0, -1.7665], to: [18.0008, 2.0, -1.892], radius: 1.0, collide: 0}
  - id: back
    shape: part
    mount: carriage
    pos: [0.0, 2.0, 0.0]
    density: 1200
    friction: 0.2
    color: "#e9dfc9"
    pieces:
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      - {kind: loft, a: [[-15.4151, 4.7967, 1.6202], [-15.396, 4.7907, 1.8021], [-15.3769, 4.7727, 1.9832], [-15.3581, 4.7429, 2.1628], [-15.3394, 4.7014, 2.3401], [-15.3211, 4.6483, 2.5142], [-15.3032, 4.5838, 2.6846], [-15.2858, 4.5083, 2.8504], [-15.2689, 4.422, 3.0109], [-15.2527, 4.3254, 3.1654], [-15.2371, 4.2188, 3.3134], [-15.2223, 4.1027, 3.4541], [-15.2084, 3.9775, 3.5869], [-15.1953, 3.844, 3.7113], [-15.1832, 3.7025, 3.8268], [-15.172, 3.5537, 3.9328], [-15.1619, 3.3983, 4.0289], [-15.1529, 3.2369, 4.1147], [-15.145, 3.0702, 4.1898], [-15.1383, 2.899, 4.2539], [-15.1327, 2.7238, 4.3068], [-15.1284, 2.5456, 4.3481], [-15.1253, 2.365, 4.3778], [-15.1234, 2.1829, 4.3956], [-15.1228, 2.0, 4.4015], [-15.1234, 1.8171, 4.3956], [-15.1253, 1.635, 4.3778], [-15.1284, 1.4544, 4.3481], [-15.1327, 1.2762, 4.3068], [-15.1383, 1.101, 4.2539], [-15.145, 0.9298, 4.1898], [-15.1529, 0.7631, 4.1147], [-15.1619, 0.6017, 4.0289], [-15.172, 0.4463, 3.9328], [-15.1832, 0.2975, 3.8268], 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      - {kind: loft, a: [[14.9178, 4.7967, -1.5679], [14.9369, 4.7907, -1.386], [14.956, 4.7727, -1.2049], [14.9749, 4.7429, -1.0253], [14.9935, 4.7014, -0.8481], [15.0118, 4.6483, -0.6739], [15.0297, 4.5838, -0.5035], [15.0471, 4.5083, -0.3378], [15.064, 4.422, -0.1772], [15.0802, 4.3254, -0.0227], [15.0958, 4.2188, 0.1253], [15.1106, 4.1027, 0.2659], [15.1245, 3.9775, 0.3988], [15.1376, 3.844, 0.5232], [15.1498, 3.7025, 0.6387], [15.1609, 3.5537, 0.7447], [15.171, 3.3983, 0.8408], [15.18, 3.2369, 0.9266], [15.1879, 3.0702, 1.0017], [15.1946, 2.899, 1.0658], [15.2002, 2.7238, 1.1187], [15.2045, 2.5456, 1.16], [15.2077, 2.365, 1.1896], [15.2095, 2.1829, 1.2075], [15.2102, 2.0, 1.2134], [15.2095, 1.8171, 1.2075], [15.2077, 1.635, 1.1896], [15.2045, 1.4544, 1.16], [15.2002, 1.2762, 1.1187], [15.1946, 1.101, 1.0658], [15.1879, 0.9298, 1.0017], [15.18, 0.7631, 0.9266], [15.171, 0.6017, 0.8408], [15.1609, 0.4463, 0.7447], [15.1498, 0.2975, 0.6387], [15.1376, 0.156, 0.5232], [15.1245, 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-4.3433], [14.6255, 2.0, -4.3493], [14.6261, 2.1829, -4.3433], [14.628, 2.365, -4.3255], [14.6311, 2.5456, -4.2958], [14.6355, 2.7238, -4.2545], [14.641, 2.899, -4.2017], [14.6477, 3.0702, -4.1376], [14.6556, 3.2369, -4.0624], [14.6647, 3.3983, -3.9767], [14.6748, 3.5537, -3.8805], [14.6859, 3.7025, -3.7745], [14.698, 3.844, -3.6591], [14.7111, 3.9775, -3.5346], [14.7251, 4.1027, -3.4018], [14.7399, 4.2188, -3.2611], [14.7554, 4.3254, -3.1132], [14.7717, 4.422, -2.9586], [14.7885, 4.5083, -2.7981], [14.806, 4.5838, -2.6323], [14.8239, 4.6483, -2.462], [14.8422, 4.7014, -2.2878], [14.8608, 4.7429, -2.1105], [14.8797, 4.7727, -1.931], [14.8987, 4.7907, -1.7498]], b: [[15.4151, 4.7967, -1.6202], [15.4342, 4.7907, -1.4383], [15.4532, 4.7727, -1.2572], [15.4721, 4.7429, -1.0776], [15.4908, 4.7014, -0.9003], [15.5091, 4.6483, -0.7262], [15.527, 4.5838, -0.5558], [15.5444, 4.5083, -0.39], [15.5613, 4.422, -0.2295], [15.5775, 4.3254, -0.075], [15.593, 4.2188, 0.073], [15.6078, 4.1027, 0.2137], 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-1.6202], [15.396, -0.7907, -1.8021], [15.3769, -0.7727, -1.9832], [15.3581, -0.7429, -2.1628], [15.3394, -0.7014, -2.3401], [15.3211, -0.6483, -2.5142], [15.3032, -0.5838, -2.6846], [15.2858, -0.5083, -2.8504], [15.2689, -0.422, -3.0109], [15.2527, -0.3254, -3.1654], [15.2371, -0.2188, -3.3134], [15.2223, -0.1027, -3.4541], [15.2084, 0.0225, -3.5869], [15.1953, 0.156, -3.7113], [15.1832, 0.2975, -3.8268], [15.172, 0.4463, -3.9328], [15.1619, 0.6017, -4.0289], [15.1529, 0.7631, -4.1147], [15.145, 0.9298, -4.1898], [15.1383, 1.101, -4.2539], [15.1327, 1.2762, -4.3068], [15.1284, 1.4544, -4.3481], [15.1253, 1.635, -4.3778], [15.1234, 1.8171, -4.3956], [15.1228, 2.0, -4.4015], [15.1234, 2.1829, -4.3956], [15.1253, 2.365, -4.3778], [15.1284, 2.5456, -4.3481], [15.1327, 2.7238, -4.3068], [15.1383, 2.899, -4.2539], [15.145, 3.0702, -4.1898], [15.1529, 3.2369, -4.1147], [15.1619, 3.3983, -4.0289], [15.172, 3.5537, -3.9328], [15.1832, 3.7025, -3.8268], [15.1953, 3.844, -3.7113], [15.2084, 3.9775, -3.5869], [15.2223, 4.1027, -3.4541], [15.2371, 4.2188, -3.3134], [15.2527, 4.3254, -3.1654], [15.2689, 4.422, -3.0109], [15.2858, 4.5083, -2.8504], [15.3032, 4.5838, -2.6846], [15.3211, 4.6483, -2.5142], [15.3394, 4.7014, -2.3401], [15.3581, 4.7429, -2.1628], [15.3769, 4.7727, -1.9832], [15.396, 4.7907, -1.8021]], collide: 0}
      - {kind: rod, from: [-18.3987, 2.0, 1.9338], to: [18.3987, 2.0, -1.9338], radius: 0.5, collide: 0}
  - id: frame
    shape: frame
    color: "#8f8a80"
    rods:
      - {from: [-18.0008, -2.0, -1.892], to: [-16.8074, -2.0, -1.7665], radius: 0.9}
      - {from: [16.8074, -2.0, 1.7665], to: [18.0008, -2.0, 1.892], radius: 0.9}
joints:
  - {id: j_front, type: hinge, body: front, axis: [0.9945, 0.0, 0.1045], damping: 0.002}   # the one driven joint
  - {id: j_press, type: slide, body: carriage, axis: [0, 1, 0], range: [-2, 2], stiffness: 2000, springref: -1, damping: 20}   # the back roller's bearings, sprung forward
  - {id: j_back, type: hinge, body: back, axis: [0.9945, 0.0, -0.1045], damping: 0.002, frictionloss: 0.005}
contact: {solref: [0.002, 1.0], solimp: [0.95, 0.99, 0.0005], margin: 0}
driver: {joint: j_front, kind: velocity, rpm: 30, kv: 2, max_torque: 5}
checks:
  - {type: ratio, out: j_back, in: j_front, expect: -0.979, tol: 0.03, settle_s: 1, window_s: 4.5}
  - {type: position, joint: j_press, min: -0.05, max: 0.03, settle_s: 1, window_s: 4.5}
  - {type: penetration, max: 0.001, settle_s: 1}
camera: {target: [0, 0, 0], position: [-22, -62, 30], fov: 34}
display:
  output: j_back
  labels: {j_front: "Front roller (driver)", j_back: "Back roller", j_press: "Sprung bearings"}
  proof: {label: "Rollers out of contact", sub: "the front roller spins alone: the back stands"}