# No. 207 (Brown 1868): "A modification of 195 by means of two worms and worm-wheels."
#
# Model (cm): one shaft along x at z = -9.1 carries two worms, each No. 31's single thread of 3 turns (pitch radius 1.6, axial pitch 1.571): the left one
# right-handed at x = -9.5, the right one its mirror image, left-handed, at x = 9.5. Over each stands an equal worm-wheel (30 teeth, module 0.5, pitch
# radius 7.5) on a fixed shaft along y at z = 0. Because the threads are of opposite hand, the wheels turn in opposite senses at 1/30 of the shaft, and
# their facing sides move the same way, like the feed-rolls of No. 195 but side by side. Only the shaft is driven (60 rpm).
# Generator: opencode-runs/batch11/gen207.py.
number: 207
slug: two-worms-two-wheels
name: Two worms and worm-wheels
brown: "A modification of 195 by means of two worms and worm-wheels."
units: cm
sim:
  timestep: 0.0002
  integrator: implicitfast
  iterations: 100
  solver: CG
  multiccd: true
  duration_s: 8
  floor: false
bodies:
  - {id: wheel, shape: assembly, pos: [-9.5, 0, 0], color: "#e8dec6"}
  - {id: wheel2, shape: assembly, pos: [9.5, 0, 0], color: "#e8dec6"}
  - id: worm
    shape: part
    pos: [0, 0, -9.1]
    density: 7800
    friction: 0.1
    color: "#e4d9bf"
    pieces:
      - {kind: rod, from: [-12.25, 0, -9.1], to: [-6.75, 0, -9.1], radius: 0.98, collide: 0}   # the right-hand worm's core
      - {kind: rod, from: [6.75, 0, -9.1], to: [12.25, 0, -9.1], radius: 0.98, collide: 0}    # the left-hand worm's core
      - {kind: rod, from: [-15.5, 0, -9.1], to: [15.5, 0, -9.1], radius: 0.5, collide: 0}          # the shaft
      - {kind: loft, a: [[-12.39387, 0.975, -9.1], [-11.31851, 0.975, -9.1], [-11.72798, 2.1, -9.1], [-11.98441, 2.1, -9.1]], b: [[-12.32843, 0.94178, -8.84765], [-11.25306, 0.94178, -8.84765], [-11.66253, 2.02844, -8.55648], [-11.91896, 2.02844, -8.55648]], collide: 1}
      - {kind: loft, a: [[-12.32843, 0.94178, -8.84765], [-11.25306, 0.94178, -8.84765], [-11.66253, 2.02844, -8.55648], [-11.91896, 2.02844, -8.55648]], b: [[-12.26298, 0.84437, -8.6125], [-11.18761, 0.84437, -8.6125], [-11.59708, 1.81865, -8.05], [-11.85351, 1.81865, -8.05]], collide: 1}
      - {kind: loft, a: [[-12.26298, 0.84437, -8.6125], [-11.18761, 0.84437, -8.6125], [-11.59708, 1.81865, -8.05], [-11.85351, 1.81865, -8.05]], b: [[-12.19753, 0.68943, -8.41057], [-11.12216, 0.68943, -8.41057], [-11.53163, 1.48492, -7.61508], [-11.78806, 1.48492, -7.61508]], collide: 1}
      - {kind: loft, a: [[-12.19753, 0.68943, -8.41057], [-11.12216, 0.68943, -8.41057], [-11.53163, 1.48492, -7.61508], [-11.78806, 1.48492, -7.61508]], b: [[-12.13208, 0.4875, -8.25563], [-11.05671, 0.4875, -8.25563], [-11.46618, 1.05, -7.28135], [-11.72261, 1.05, -7.28135]], collide: 1}
      - {kind: loft, a: [[-12.13208, 0.4875, -8.25563], [-11.05671, 0.4875, -8.25563], [-11.46618, 1.05, -7.28135], [-11.72261, 1.05, -7.28135]], b: [[-12.06663, 0.25235, -8.15822], [-10.99126, 0.25235, -8.15822], [-11.40073, 0.54352, -7.07156], [-11.65716, 0.54352, -7.07156]], collide: 1}
      - {kind: loft, a: [[-12.06663, 0.25235, -8.15822], [-10.99126, 0.25235, -8.15822], [-11.40073, 0.54352, -7.07156], [-11.65716, 0.54352, -7.07156]], b: [[-12.00118, 0.0, -8.125], [-10.92581, 0.0, -8.125], [-11.33528, 0.0, -7.0], [-11.59171, 0.0, -7.0]], collide: 1}
      - {kind: loft, a: [[-12.00118, 0.0, -8.125], [-10.92581, 0.0, -8.125], [-11.33528, 0.0, -7.0], [-11.59171, 0.0, -7.0]], b: [[-11.93573, -0.25235, -8.15822], [-10.86037, -0.25235, -8.15822], [-11.26983, -0.54352, -7.07156], [-11.52626, -0.54352, -7.07156]], collide: 1}
      - {kind: loft, a: [[-11.93573, -0.25235, -8.15822], [-10.86037, -0.25235, -8.15822], [-11.26983, -0.54352, -7.07156], [-11.52626, -0.54352, -7.07156]], b: [[-11.87028, -0.4875, -8.25563], [-10.79492, -0.4875, -8.25563], [-11.20438, -1.05, -7.28135], [-11.46081, -1.05, -7.28135]], collide: 1}
      - {kind: loft, a: [[-11.87028, -0.4875, -8.25563], [-10.79492, -0.4875, -8.25563], [-11.20438, -1.05, -7.28135], [-11.46081, -1.05, -7.28135]], b: [[-11.80483, -0.68943, -8.41057], [-10.72947, -0.68943, -8.41057], [-11.13893, -1.48492, -7.61508], [-11.39536, -1.48492, -7.61508]], collide: 1}
      - {kind: loft, a: [[-11.80483, -0.68943, -8.41057], [-10.72947, -0.68943, -8.41057], [-11.13893, -1.48492, -7.61508], [-11.39536, -1.48492, -7.61508]], b: [[-11.73938, -0.84437, -8.6125], [-10.66402, -0.84437, -8.6125], [-11.07348, -1.81865, -8.05], [-11.32991, -1.81865, -8.05]], collide: 1}
      - {kind: loft, a: [[-11.73938, -0.84437, -8.6125], [-10.66402, -0.84437, -8.6125], [-11.07348, -1.81865, -8.05], [-11.32991, -1.81865, -8.05]], b: [[-11.67393, -0.94178, -8.84765], [-10.59857, -0.94178, -8.84765], [-11.00803, -2.02844, -8.55648], [-11.26446, -2.02844, -8.55648]], collide: 1}
      - {kind: loft, a: [[-11.67393, -0.94178, -8.84765], [-10.59857, -0.94178, -8.84765], [-11.00803, -2.02844, -8.55648], [-11.26446, -2.02844, -8.55648]], b: [[-11.60848, -0.975, -9.1], [-10.53312, -0.975, -9.1], [-10.94258, -2.1, -9.1], [-11.19901, -2.1, -9.1]], collide: 1}
      - {kind: loft, a: [[-11.60848, -0.975, -9.1], [-10.53312, -0.975, -9.1], [-10.94258, -2.1, -9.1], [-11.19901, -2.1, -9.1]], b: [[-11.54303, -0.94178, -9.35235], [-10.46767, -0.94178, -9.35235], [-10.87713, -2.02844, -9.64352], [-11.13356, -2.02844, -9.64352]], collide: 1}
      - {kind: loft, a: [[-11.54303, -0.94178, -9.35235], [-10.46767, -0.94178, -9.35235], [-10.87713, -2.02844, -9.64352], [-11.13356, -2.02844, -9.64352]], b: [[-11.47758, -0.84437, -9.5875], [-10.40222, -0.84437, -9.5875], [-10.81168, -1.81865, -10.15], [-11.06811, -1.81865, -10.15]], collide: 1}
      - {kind: loft, a: [[-11.47758, -0.84437, -9.5875], [-10.40222, -0.84437, -9.5875], [-10.81168, -1.81865, -10.15], [-11.06811, -1.81865, -10.15]], b: [[-11.41213, -0.68943, -9.78943], [-10.33677, -0.68943, -9.78943], [-10.74623, -1.48492, -10.58492], [-11.00266, -1.48492, -10.58492]], collide: 1}
      - {kind: loft, a: [[-11.41213, -0.68943, -9.78943], [-10.33677, -0.68943, -9.78943], [-10.74623, -1.48492, -10.58492], [-11.00266, -1.48492, -10.58492]], b: [[-11.34668, -0.4875, -9.94437], [-10.27132, -0.4875, -9.94437], [-10.68078, -1.05, -10.91865], [-10.93721, -1.05, -10.91865]], collide: 1}
      - {kind: loft, a: [[-11.34668, -0.4875, -9.94437], [-10.27132, -0.4875, -9.94437], [-10.68078, -1.05, -10.91865], [-10.93721, -1.05, -10.91865]], b: [[-11.28123, -0.25235, -10.04178], [-10.20587, -0.25235, -10.04178], [-10.61533, -0.54352, -11.12844], [-10.87176, -0.54352, -11.12844]], collide: 1}
      - {kind: loft, a: [[-11.28123, -0.25235, -10.04178], [-10.20587, -0.25235, -10.04178], [-10.61533, -0.54352, -11.12844], [-10.87176, -0.54352, -11.12844]], b: [[-11.21578, -0.0, -10.075], [-10.14042, -0.0, -10.075], [-10.54988, -0.0, -11.2], [-10.80631, -0.0, -11.2]], collide: 1}
      - {kind: loft, a: [[-11.21578, -0.0, -10.075], [-10.14042, -0.0, -10.075], [-10.54988, -0.0, -11.2], [-10.80631, -0.0, -11.2]], b: [[-11.15033, 0.25235, -10.04178], [-10.07497, 0.25235, -10.04178], [-10.48443, 0.54352, -11.12844], [-10.74086, 0.54352, -11.12844]], collide: 1}
      - {kind: loft, a: [[-11.15033, 0.25235, -10.04178], [-10.07497, 0.25235, -10.04178], [-10.48443, 0.54352, -11.12844], [-10.74086, 0.54352, -11.12844]], b: [[-11.08488, 0.4875, -9.94437], [-10.00952, 0.4875, -9.94437], [-10.41898, 1.05, -10.91865], [-10.67541, 1.05, -10.91865]], collide: 1}
      - {kind: loft, a: [[-11.08488, 0.4875, -9.94437], [-10.00952, 0.4875, -9.94437], [-10.41898, 1.05, -10.91865], [-10.67541, 1.05, -10.91865]], b: [[-11.01943, 0.68943, -9.78943], [-9.94407, 0.68943, -9.78943], [-10.35353, 1.48492, -10.58492], [-10.60996, 1.48492, -10.58492]], collide: 1}
      - {kind: loft, a: [[-11.01943, 0.68943, -9.78943], [-9.94407, 0.68943, -9.78943], [-10.35353, 1.48492, -10.58492], [-10.60996, 1.48492, -10.58492]], b: [[-10.95398, 0.84437, -9.5875], [-9.87862, 0.84437, -9.5875], [-10.28808, 1.81865, -10.15], [-10.54451, 1.81865, -10.15]], collide: 1}
      - {kind: loft, a: [[-10.95398, 0.84437, -9.5875], [-9.87862, 0.84437, -9.5875], [-10.28808, 1.81865, -10.15], [-10.54451, 1.81865, -10.15]], b: [[-10.88853, 0.94178, -9.35235], [-9.81317, 0.94178, -9.35235], [-10.22263, 2.02844, -9.64352], [-10.47906, 2.02844, -9.64352]], collide: 1}
      - {kind: loft, a: [[-10.88853, 0.94178, -9.35235], [-9.81317, 0.94178, -9.35235], [-10.22263, 2.02844, -9.64352], [-10.47906, 2.02844, -9.64352]], b: [[-10.82308, 0.975, -9.1], [-9.74772, 0.975, -9.1], [-10.15718, 2.1, -9.1], [-10.41361, 2.1, -9.1]], collide: 1}
      - {kind: loft, a: [[-10.82308, 0.975, -9.1], [-9.74772, 0.975, -9.1], [-10.15718, 2.1, -9.1], [-10.41361, 2.1, -9.1]], b: [[-10.75763, 0.94178, -8.84765], [-9.68227, 0.94178, -8.84765], [-10.09173, 2.02844, -8.55648], [-10.34816, 2.02844, -8.55648]], collide: 1}
      - {kind: loft, a: [[-10.75763, 0.94178, -8.84765], [-9.68227, 0.94178, -8.84765], [-10.09173, 2.02844, -8.55648], [-10.34816, 2.02844, -8.55648]], b: [[-10.69218, 0.84437, -8.6125], [-9.61682, 0.84437, -8.6125], [-10.02628, 1.81865, -8.05], [-10.28271, 1.81865, -8.05]], collide: 1}
      - {kind: loft, a: [[-10.69218, 0.84437, -8.6125], [-9.61682, 0.84437, -8.6125], [-10.02628, 1.81865, -8.05], [-10.28271, 1.81865, -8.05]], b: [[-10.62673, 0.68943, -8.41057], [-9.55137, 0.68943, -8.41057], [-9.96083, 1.48492, -7.61508], [-10.21726, 1.48492, -7.61508]], collide: 1}
      - {kind: loft, a: [[-10.62673, 0.68943, -8.41057], [-9.55137, 0.68943, -8.41057], [-9.96083, 1.48492, -7.61508], [-10.21726, 1.48492, -7.61508]], b: [[-10.56128, 0.4875, -8.25563], [-9.48592, 0.4875, -8.25563], [-9.89538, 1.05, -7.28135], [-10.15181, 1.05, -7.28135]], collide: 1}
      - {kind: loft, a: [[-10.56128, 0.4875, -8.25563], [-9.48592, 0.4875, -8.25563], [-9.89538, 1.05, -7.28135], [-10.15181, 1.05, -7.28135]], b: [[-10.49583, 0.25235, -8.15822], [-9.42047, 0.25235, -8.15822], [-9.82993, 0.54352, -7.07156], [-10.08636, 0.54352, -7.07156]], collide: 1}
      - {kind: loft, a: [[-10.49583, 0.25235, -8.15822], [-9.42047, 0.25235, -8.15822], [-9.82993, 0.54352, -7.07156], [-10.08636, 0.54352, -7.07156]], b: [[-10.43038, 0.0, -8.125], [-9.35502, 0.0, -8.125], [-9.76449, 0.0, -7.0], [-10.02091, 0.0, -7.0]], collide: 1}
      - {kind: loft, a: [[-10.43038, 0.0, -8.125], [-9.35502, 0.0, -8.125], [-9.76449, 0.0, -7.0], [-10.02091, 0.0, -7.0]], b: [[-10.36493, -0.25235, -8.15822], [-9.28957, -0.25235, -8.15822], [-9.69904, -0.54352, -7.07156], [-9.95546, -0.54352, -7.07156]], collide: 1}
      - {kind: loft, a: [[-10.36493, -0.25235, -8.15822], [-9.28957, -0.25235, -8.15822], [-9.69904, -0.54352, -7.07156], [-9.95546, -0.54352, -7.07156]], b: [[-10.29948, -0.4875, -8.25563], [-9.22412, -0.4875, -8.25563], [-9.63359, -1.05, -7.28135], [-9.89001, -1.05, -7.28135]], collide: 1}
      - {kind: loft, a: [[-10.29948, -0.4875, -8.25563], [-9.22412, -0.4875, -8.25563], [-9.63359, -1.05, -7.28135], [-9.89001, -1.05, -7.28135]], b: [[-10.23403, -0.68943, -8.41057], [-9.15867, -0.68943, -8.41057], [-9.56814, -1.48492, -7.61508], [-9.82456, -1.48492, -7.61508]], collide: 1}
      - {kind: loft, a: [[-10.23403, -0.68943, -8.41057], [-9.15867, -0.68943, -8.41057], [-9.56814, -1.48492, -7.61508], [-9.82456, -1.48492, -7.61508]], b: [[-10.16858, -0.84437, -8.6125], [-9.09322, -0.84437, -8.6125], [-9.50269, -1.81865, -8.05], [-9.75911, -1.81865, -8.05]], collide: 1}
      - {kind: loft, a: [[-10.16858, -0.84437, -8.6125], [-9.09322, -0.84437, -8.6125], [-9.50269, -1.81865, -8.05], [-9.75911, -1.81865, -8.05]], b: [[-10.10313, -0.94178, -8.84765], [-9.02777, -0.94178, -8.84765], [-9.43724, -2.02844, -8.55648], [-9.69366, -2.02844, -8.55648]], collide: 1}
      - {kind: loft, a: [[-10.10313, -0.94178, -8.84765], [-9.02777, -0.94178, -8.84765], [-9.43724, -2.02844, -8.55648], [-9.69366, -2.02844, -8.55648]], b: [[-10.03768, -0.975, -9.1], [-8.96232, -0.975, -9.1], [-9.37179, -2.1, -9.1], [-9.62821, -2.1, -9.1]], collide: 1}
      - {kind: loft, a: [[-10.03768, -0.975, -9.1], [-8.96232, -0.975, -9.1], [-9.37179, -2.1, -9.1], [-9.62821, -2.1, -9.1]], b: [[-9.97223, -0.94178, -9.35235], [-8.89687, -0.94178, -9.35235], [-9.30634, -2.02844, -9.64352], [-9.56276, -2.02844, -9.64352]], collide: 1}
      - {kind: loft, a: [[-9.97223, -0.94178, -9.35235], [-8.89687, -0.94178, -9.35235], [-9.30634, -2.02844, -9.64352], [-9.56276, -2.02844, -9.64352]], b: [[-9.90678, -0.84437, -9.5875], [-8.83142, -0.84437, -9.5875], [-9.24089, -1.81865, -10.15], [-9.49731, -1.81865, -10.15]], collide: 1}
      - {kind: loft, a: [[-9.90678, -0.84437, -9.5875], [-8.83142, -0.84437, -9.5875], [-9.24089, -1.81865, -10.15], [-9.49731, -1.81865, -10.15]], b: [[-9.84133, -0.68943, -9.78943], [-8.76597, -0.68943, -9.78943], [-9.17544, -1.48492, -10.58492], [-9.43186, -1.48492, -10.58492]], collide: 1}
      - {kind: loft, a: [[-9.84133, -0.68943, -9.78943], [-8.76597, -0.68943, -9.78943], [-9.17544, -1.48492, -10.58492], [-9.43186, -1.48492, -10.58492]], b: [[-9.77588, -0.4875, -9.94437], [-8.70052, -0.4875, -9.94437], [-9.10999, -1.05, -10.91865], [-9.36641, -1.05, -10.91865]], collide: 1}
      - {kind: loft, a: [[-9.77588, -0.4875, -9.94437], [-8.70052, -0.4875, -9.94437], [-9.10999, -1.05, -10.91865], [-9.36641, -1.05, -10.91865]], b: [[-9.71043, -0.25235, -10.04178], [-8.63507, -0.25235, -10.04178], [-9.04454, -0.54352, -11.12844], [-9.30096, -0.54352, -11.12844]], collide: 1}
      - {kind: loft, a: [[-9.71043, -0.25235, -10.04178], [-8.63507, -0.25235, -10.04178], [-9.04454, -0.54352, -11.12844], [-9.30096, -0.54352, -11.12844]], b: [[-9.64498, -0.0, -10.075], [-8.56962, -0.0, -10.075], [-8.97909, -0.0, -11.2], [-9.23551, -0.0, -11.2]], collide: 1}
      - {kind: loft, a: [[-9.64498, -0.0, -10.075], [-8.56962, -0.0, -10.075], [-8.97909, -0.0, -11.2], [-9.23551, -0.0, -11.2]], b: [[-9.57953, 0.25235, -10.04178], [-8.50417, 0.25235, -10.04178], [-8.91364, 0.54352, -11.12844], [-9.17007, 0.54352, -11.12844]], collide: 1}
      - {kind: loft, a: [[-9.57953, 0.25235, -10.04178], [-8.50417, 0.25235, -10.04178], [-8.91364, 0.54352, -11.12844], [-9.17007, 0.54352, -11.12844]], b: [[-9.51408, 0.4875, -9.94437], [-8.43872, 0.4875, -9.94437], [-8.84819, 1.05, -10.91865], [-9.10462, 1.05, -10.91865]], collide: 1}
      - {kind: loft, a: [[-9.51408, 0.4875, -9.94437], [-8.43872, 0.4875, -9.94437], [-8.84819, 1.05, -10.91865], [-9.10462, 1.05, -10.91865]], b: [[-9.44863, 0.68943, -9.78943], [-8.37327, 0.68943, -9.78943], [-8.78274, 1.48492, -10.58492], [-9.03917, 1.48492, -10.58492]], collide: 1}
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      - {kind: loft, a: [[10.82308, 0.975, -9.1], [9.74772, 0.975, -9.1], [10.15718, 2.1, -9.1], [10.41361, 2.1, -9.1]], b: [[10.75763, 0.94178, -8.84765], [9.68227, 0.94178, -8.84765], [10.09173, 2.02844, -8.55648], [10.34816, 2.02844, -8.55648]], collide: 1}
      - {kind: loft, a: [[10.75763, 0.94178, -8.84765], [9.68227, 0.94178, -8.84765], [10.09173, 2.02844, -8.55648], [10.34816, 2.02844, -8.55648]], b: [[10.69218, 0.84437, -8.6125], [9.61682, 0.84437, -8.6125], [10.02628, 1.81865, -8.05], [10.28271, 1.81865, -8.05]], collide: 1}
      - {kind: loft, a: [[10.69218, 0.84437, -8.6125], [9.61682, 0.84437, -8.6125], [10.02628, 1.81865, -8.05], [10.28271, 1.81865, -8.05]], b: [[10.62673, 0.68943, -8.41057], [9.55137, 0.68943, -8.41057], [9.96083, 1.48492, -7.61508], [10.21726, 1.48492, -7.61508]], collide: 1}
      - {kind: loft, a: [[10.62673, 0.68943, -8.41057], [9.55137, 0.68943, -8.41057], [9.96083, 1.48492, -7.61508], [10.21726, 1.48492, -7.61508]], b: [[10.56128, 0.4875, -8.25563], [9.48592, 0.4875, -8.25563], [9.89538, 1.05, -7.28135], [10.15181, 1.05, -7.28135]], collide: 1}
      - {kind: loft, a: [[10.56128, 0.4875, -8.25563], [9.48592, 0.4875, -8.25563], [9.89538, 1.05, -7.28135], [10.15181, 1.05, -7.28135]], b: [[10.49583, 0.25235, -8.15822], [9.42047, 0.25235, -8.15822], [9.82993, 0.54352, -7.07156], [10.08636, 0.54352, -7.07156]], collide: 1}
      - {kind: loft, a: [[10.49583, 0.25235, -8.15822], [9.42047, 0.25235, -8.15822], [9.82993, 0.54352, -7.07156], [10.08636, 0.54352, -7.07156]], b: [[10.43038, 0.0, -8.125], [9.35502, 0.0, -8.125], [9.76449, 0.0, -7.0], [10.02091, 0.0, -7.0]], collide: 1}
      - {kind: loft, a: [[10.43038, 0.0, -8.125], [9.35502, 0.0, -8.125], [9.76449, 0.0, -7.0], [10.02091, 0.0, -7.0]], b: [[10.36493, -0.25235, -8.15822], [9.28957, -0.25235, -8.15822], [9.69904, -0.54352, -7.07156], [9.95546, -0.54352, -7.07156]], collide: 1}
      - {kind: loft, a: [[10.36493, -0.25235, -8.15822], [9.28957, -0.25235, -8.15822], [9.69904, -0.54352, -7.07156], [9.95546, -0.54352, -7.07156]], b: [[10.29948, -0.4875, -8.25563], [9.22412, -0.4875, -8.25563], [9.63359, -1.05, -7.28135], [9.89001, -1.05, -7.28135]], collide: 1}
      - {kind: loft, a: [[10.29948, -0.4875, -8.25563], [9.22412, -0.4875, -8.25563], [9.63359, -1.05, -7.28135], [9.89001, -1.05, -7.28135]], b: [[10.23403, -0.68943, -8.41057], [9.15867, -0.68943, -8.41057], [9.56814, -1.48492, -7.61508], [9.82456, -1.48492, -7.61508]], collide: 1}
      - {kind: loft, a: [[10.23403, -0.68943, -8.41057], [9.15867, -0.68943, -8.41057], [9.56814, -1.48492, -7.61508], [9.82456, -1.48492, -7.61508]], b: [[10.16858, -0.84437, -8.6125], [9.09322, -0.84437, -8.6125], [9.50269, -1.81865, -8.05], [9.75911, -1.81865, -8.05]], collide: 1}
      - {kind: loft, a: [[10.16858, -0.84437, -8.6125], [9.09322, -0.84437, -8.6125], [9.50269, -1.81865, -8.05], [9.75911, -1.81865, -8.05]], b: [[10.10313, -0.94178, -8.84765], [9.02777, -0.94178, -8.84765], [9.43724, -2.02844, -8.55648], [9.69366, -2.02844, -8.55648]], collide: 1}
      - {kind: loft, a: [[10.10313, -0.94178, -8.84765], [9.02777, -0.94178, -8.84765], [9.43724, -2.02844, -8.55648], [9.69366, -2.02844, -8.55648]], b: [[10.03768, -0.975, -9.1], [8.96232, -0.975, -9.1], [9.37179, -2.1, -9.1], [9.62821, -2.1, -9.1]], collide: 1}
      - {kind: loft, a: [[10.03768, -0.975, -9.1], [8.96232, -0.975, -9.1], [9.37179, -2.1, -9.1], [9.62821, -2.1, -9.1]], b: [[9.97223, -0.94178, -9.35235], [8.89687, -0.94178, -9.35235], [9.30634, -2.02844, -9.64352], [9.56276, -2.02844, -9.64352]], collide: 1}
      - {kind: loft, a: [[9.97223, -0.94178, -9.35235], [8.89687, -0.94178, -9.35235], [9.30634, -2.02844, -9.64352], [9.56276, -2.02844, -9.64352]], b: [[9.90678, -0.84437, -9.5875], [8.83142, -0.84437, -9.5875], [9.24089, -1.81865, -10.15], [9.49731, -1.81865, -10.15]], collide: 1}
      - {kind: loft, a: [[9.90678, -0.84437, -9.5875], [8.83142, -0.84437, -9.5875], [9.24089, -1.81865, -10.15], [9.49731, -1.81865, -10.15]], b: [[9.84133, -0.68943, -9.78943], [8.76597, -0.68943, -9.78943], [9.17544, -1.48492, -10.58492], [9.43186, -1.48492, -10.58492]], collide: 1}
      - {kind: loft, a: [[9.84133, -0.68943, -9.78943], [8.76597, -0.68943, -9.78943], [9.17544, -1.48492, -10.58492], [9.43186, -1.48492, -10.58492]], b: [[9.77588, -0.4875, -9.94437], [8.70052, -0.4875, -9.94437], [9.10999, -1.05, -10.91865], [9.36641, -1.05, -10.91865]], collide: 1}
      - {kind: loft, a: [[9.77588, -0.4875, -9.94437], [8.70052, -0.4875, -9.94437], [9.10999, -1.05, -10.91865], [9.36641, -1.05, -10.91865]], b: [[9.71043, -0.25235, -10.04178], [8.63507, -0.25235, -10.04178], [9.04454, -0.54352, -11.12844], [9.30096, -0.54352, -11.12844]], collide: 1}
      - {kind: loft, a: [[9.71043, -0.25235, -10.04178], [8.63507, -0.25235, -10.04178], [9.04454, -0.54352, -11.12844], [9.30096, -0.54352, -11.12844]], b: [[9.64498, -0.0, -10.075], [8.56962, -0.0, -10.075], [8.97909, -0.0, -11.2], [9.23551, -0.0, -11.2]], collide: 1}
      - {kind: loft, a: [[9.64498, -0.0, -10.075], [8.56962, -0.0, -10.075], [8.97909, -0.0, -11.2], [9.23551, -0.0, -11.2]], b: [[9.57953, 0.25235, -10.04178], [8.50417, 0.25235, -10.04178], [8.91364, 0.54352, -11.12844], [9.17007, 0.54352, -11.12844]], collide: 1}
      - {kind: loft, a: [[9.57953, 0.25235, -10.04178], [8.50417, 0.25235, -10.04178], [8.91364, 0.54352, -11.12844], [9.17007, 0.54352, -11.12844]], b: [[9.51408, 0.4875, -9.94437], [8.43872, 0.4875, -9.94437], [8.84819, 1.05, -10.91865], [9.10462, 1.05, -10.91865]], collide: 1}
      - {kind: loft, a: [[9.51408, 0.4875, -9.94437], [8.43872, 0.4875, -9.94437], [8.84819, 1.05, -10.91865], [9.10462, 1.05, -10.91865]], b: [[9.44863, 0.68943, -9.78943], [8.37327, 0.68943, -9.78943], [8.78274, 1.48492, -10.58492], [9.03917, 1.48492, -10.58492]], collide: 1}
      - {kind: loft, a: [[9.44863, 0.68943, -9.78943], [8.37327, 0.68943, -9.78943], [8.78274, 1.48492, -10.58492], [9.03917, 1.48492, -10.58492]], b: [[9.38318, 0.84437, -9.5875], [8.30782, 0.84437, -9.5875], [8.71729, 1.81865, -10.15], [8.97372, 1.81865, -10.15]], collide: 1}
      - {kind: loft, a: [[9.38318, 0.84437, -9.5875], [8.30782, 0.84437, -9.5875], [8.71729, 1.81865, -10.15], [8.97372, 1.81865, -10.15]], b: [[9.31773, 0.94178, -9.35235], [8.24237, 0.94178, -9.35235], [8.65184, 2.02844, -9.64352], [8.90827, 2.02844, -9.64352]], collide: 1}
      - {kind: loft, a: [[9.31773, 0.94178, -9.35235], [8.24237, 0.94178, -9.35235], [8.65184, 2.02844, -9.64352], [8.90827, 2.02844, -9.64352]], b: [[9.25228, 0.975, -9.1], [8.17692, 0.975, -9.1], [8.58639, 2.1, -9.1], [8.84282, 2.1, -9.1]], collide: 1}
      - {kind: loft, a: [[9.25228, 0.975, -9.1], [8.17692, 0.975, -9.1], [8.58639, 2.1, -9.1], [8.84282, 2.1, -9.1]], b: [[9.18683, 0.94178, -8.84765], [8.11147, 0.94178, -8.84765], [8.52094, 2.02844, -8.55648], [8.77737, 2.02844, -8.55648]], collide: 1}
      - {kind: loft, a: [[9.18683, 0.94178, -8.84765], [8.11147, 0.94178, -8.84765], [8.52094, 2.02844, -8.55648], [8.77737, 2.02844, -8.55648]], b: [[9.12138, 0.84437, -8.6125], [8.04602, 0.84437, -8.6125], [8.45549, 1.81865, -8.05], [8.71192, 1.81865, -8.05]], collide: 1}
      - {kind: loft, a: [[9.12138, 0.84437, -8.6125], [8.04602, 0.84437, -8.6125], [8.45549, 1.81865, -8.05], [8.71192, 1.81865, -8.05]], b: [[9.05593, 0.68943, -8.41057], [7.98057, 0.68943, -8.41057], [8.39004, 1.48492, -7.61508], [8.64647, 1.48492, -7.61508]], collide: 1}
      - {kind: loft, a: [[9.05593, 0.68943, -8.41057], [7.98057, 0.68943, -8.41057], [8.39004, 1.48492, -7.61508], [8.64647, 1.48492, -7.61508]], b: [[8.99048, 0.4875, -8.25563], [7.91512, 0.4875, -8.25563], [8.32459, 1.05, -7.28135], [8.58102, 1.05, -7.28135]], collide: 1}
      - {kind: loft, a: [[8.99048, 0.4875, -8.25563], [7.91512, 0.4875, -8.25563], [8.32459, 1.05, -7.28135], [8.58102, 1.05, -7.28135]], b: [[8.92503, 0.25235, -8.15822], [7.84967, 0.25235, -8.15822], [8.25914, 0.54352, -7.07156], [8.51557, 0.54352, -7.07156]], collide: 1}
      - {kind: loft, a: [[8.92503, 0.25235, -8.15822], [7.84967, 0.25235, -8.15822], [8.25914, 0.54352, -7.07156], [8.51557, 0.54352, -7.07156]], b: [[8.85958, 0.0, -8.125], [7.78422, 0.0, -8.125], [8.19369, 0.0, -7.0], [8.45012, 0.0, -7.0]], collide: 1}
      - {kind: loft, a: [[8.85958, 0.0, -8.125], [7.78422, 0.0, -8.125], [8.19369, 0.0, -7.0], [8.45012, 0.0, -7.0]], b: [[8.79413, -0.25235, -8.15822], [7.71877, -0.25235, -8.15822], [8.12824, -0.54352, -7.07156], [8.38467, -0.54352, -7.07156]], collide: 1}
      - {kind: loft, a: [[8.79413, -0.25235, -8.15822], [7.71877, -0.25235, -8.15822], [8.12824, -0.54352, -7.07156], [8.38467, -0.54352, -7.07156]], b: [[8.72868, -0.4875, -8.25563], [7.65332, -0.4875, -8.25563], [8.06279, -1.05, -7.28135], [8.31922, -1.05, -7.28135]], collide: 1}
      - {kind: loft, a: [[8.72868, -0.4875, -8.25563], [7.65332, -0.4875, -8.25563], [8.06279, -1.05, -7.28135], [8.31922, -1.05, -7.28135]], b: [[8.66323, -0.68943, -8.41057], [7.58787, -0.68943, -8.41057], [7.99734, -1.48492, -7.61508], [8.25377, -1.48492, -7.61508]], collide: 1}
      - {kind: loft, a: [[8.66323, -0.68943, -8.41057], [7.58787, -0.68943, -8.41057], [7.99734, -1.48492, -7.61508], [8.25377, -1.48492, -7.61508]], b: [[8.59778, -0.84437, -8.6125], [7.52242, -0.84437, -8.6125], [7.93189, -1.81865, -8.05], [8.18832, -1.81865, -8.05]], collide: 1}
      - {kind: loft, a: [[8.59778, -0.84437, -8.6125], [7.52242, -0.84437, -8.6125], [7.93189, -1.81865, -8.05], [8.18832, -1.81865, -8.05]], b: [[8.53233, -0.94178, -8.84765], [7.45697, -0.94178, -8.84765], [7.86644, -2.02844, -8.55648], [8.12287, -2.02844, -8.55648]], collide: 1}
      - {kind: loft, a: [[8.53233, -0.94178, -8.84765], [7.45697, -0.94178, -8.84765], [7.86644, -2.02844, -8.55648], [8.12287, -2.02844, -8.55648]], b: [[8.46688, -0.975, -9.1], [7.39152, -0.975, -9.1], [7.80099, -2.1, -9.1], [8.05742, -2.1, -9.1]], collide: 1}
      - {kind: loft, a: [[8.46688, -0.975, -9.1], [7.39152, -0.975, -9.1], [7.80099, -2.1, -9.1], [8.05742, -2.1, -9.1]], b: [[8.40143, -0.94178, -9.35235], [7.32607, -0.94178, -9.35235], [7.73554, -2.02844, -9.64352], [7.99197, -2.02844, -9.64352]], collide: 1}
      - {kind: loft, a: [[8.40143, -0.94178, -9.35235], [7.32607, -0.94178, -9.35235], [7.73554, -2.02844, -9.64352], [7.99197, -2.02844, -9.64352]], b: [[8.33598, -0.84437, -9.5875], [7.26062, -0.84437, -9.5875], [7.67009, -1.81865, -10.15], [7.92652, -1.81865, -10.15]], collide: 1}
      - {kind: loft, a: [[8.33598, -0.84437, -9.5875], [7.26062, -0.84437, -9.5875], [7.67009, -1.81865, -10.15], [7.92652, -1.81865, -10.15]], b: [[8.27053, -0.68943, -9.78943], [7.19517, -0.68943, -9.78943], [7.60464, -1.48492, -10.58492], [7.86107, -1.48492, -10.58492]], collide: 1}
      - {kind: loft, a: [[8.27053, -0.68943, -9.78943], [7.19517, -0.68943, -9.78943], [7.60464, -1.48492, -10.58492], [7.86107, -1.48492, -10.58492]], b: [[8.20508, -0.4875, -9.94437], [7.12972, -0.4875, -9.94437], [7.53919, -1.05, -10.91865], [7.79562, -1.05, -10.91865]], collide: 1}
      - {kind: loft, a: [[8.20508, -0.4875, -9.94437], [7.12972, -0.4875, -9.94437], [7.53919, -1.05, -10.91865], [7.79562, -1.05, -10.91865]], b: [[8.13963, -0.25235, -10.04178], [7.06427, -0.25235, -10.04178], [7.47374, -0.54352, -11.12844], [7.73017, -0.54352, -11.12844]], collide: 1}
      - {kind: loft, a: [[8.13963, -0.25235, -10.04178], [7.06427, -0.25235, -10.04178], [7.47374, -0.54352, -11.12844], [7.73017, -0.54352, -11.12844]], b: [[8.07419, 0.0, -10.075], [6.99882, 0.0, -10.075], [7.40829, 0.0, -11.2], [7.66472, 0.0, -11.2]], collide: 1}
      - {kind: loft, a: [[8.07419, 0.0, -10.075], [6.99882, 0.0, -10.075], [7.40829, 0.0, -11.2], [7.66472, 0.0, -11.2]], b: [[8.00874, 0.25235, -10.04178], [6.93337, 0.25235, -10.04178], [7.34284, 0.54352, -11.12844], [7.59927, 0.54352, -11.12844]], collide: 1}
      - {kind: loft, a: [[8.00874, 0.25235, -10.04178], [6.93337, 0.25235, -10.04178], [7.34284, 0.54352, -11.12844], [7.59927, 0.54352, -11.12844]], b: [[7.94329, 0.4875, -9.94437], [6.86792, 0.4875, -9.94437], [7.27739, 1.05, -10.91865], [7.53382, 1.05, -10.91865]], collide: 1}
      - {kind: loft, a: [[7.94329, 0.4875, -9.94437], [6.86792, 0.4875, -9.94437], [7.27739, 1.05, -10.91865], [7.53382, 1.05, -10.91865]], b: [[7.87784, 0.68943, -9.78943], [6.80247, 0.68943, -9.78943], [7.21194, 1.48492, -10.58492], [7.46837, 1.48492, -10.58492]], collide: 1}
      - {kind: loft, a: [[7.87784, 0.68943, -9.78943], [6.80247, 0.68943, -9.78943], [7.21194, 1.48492, -10.58492], [7.46837, 1.48492, -10.58492]], b: [[7.81239, 0.84437, -9.5875], [6.73702, 0.84437, -9.5875], [7.14649, 1.81865, -10.15], [7.40292, 1.81865, -10.15]], collide: 1}
      - {kind: loft, a: [[7.81239, 0.84437, -9.5875], [6.73702, 0.84437, -9.5875], [7.14649, 1.81865, -10.15], [7.40292, 1.81865, -10.15]], b: [[7.74694, 0.94178, -9.35235], [6.67157, 0.94178, -9.35235], [7.08104, 2.02844, -9.64352], [7.33747, 2.02844, -9.64352]], collide: 1}
      - {kind: loft, a: [[7.74694, 0.94178, -9.35235], [6.67157, 0.94178, -9.35235], [7.08104, 2.02844, -9.64352], [7.33747, 2.02844, -9.64352]], b: [[7.68149, 0.975, -9.1], [6.60613, 0.975, -9.1], [7.01559, 2.1, -9.1], [7.27202, 2.1, -9.1]], collide: 1}
  - id: frame
    shape: frame
    color: "#8f8a80"
    rods:
      - {from: [-9.5, 0.6, 0], to: [-9.5, 3.0, 0], radius: 0.6}            # the wheels' studs, behind
      - {from: [9.5, 0.6, 0], to: [9.5, 3.0, 0], radius: 0.6}
      - {from: [-14.9, 0, -9.1], to: [-13.7, 0, -9.1], radius: 0.9}     # the shaft's bearings
      - {from: [-0.6, 0, -9.1], to: [0.6, 0, -9.1], radius: 0.9}
      - {from: [13.7, 0, -9.1], to: [14.9, 0, -9.1], radius: 0.9}
joints:
  - {id: j_worm, type: hinge, body: worm, axis: [1, 0, 0], damping: 0.001}
  - {id: j_wheel, type: hinge, body: wheel, axis: [0, 1, 0], damping: 0.02}
  - {id: j_wheel2, type: hinge, body: wheel2, axis: [0, 1, 0], damping: 0.02}
spurs:
  - {id: ww, body: wheel, pos: [0, 0, 0], teeth: 30, module: 0.5, width: 0.8, backlash: 0.02, phase: 0.056, meets_parts: true}
  - {id: ww2, body: wheel2, pos: [0, 0, 0], teeth: 30, module: 0.5, width: 0.8, backlash: 0.02, phase: 0.157, meets_parts: true}
contact: {solref: [0.002, 1.0], solimp: [0.98, 0.99, 0.0002], margin: 0}
driver: {joint: j_worm, kind: velocity, rpm: 60, kv: 2, max_torque: 3}
checks:
  - {type: ratio, out: j_wheel, in: j_worm, expect: 0.03333, tol: 0.001, settle_s: 1, window_s: 6}
  - {type: ratio, out: j_wheel2, in: j_worm, expect: -0.03333, tol: 0.001, settle_s: 1, window_s: 6}
  - {type: follow, out: j_wheel2, in: j_wheel, expect: -1.0, tol: 0.03, min_r2: 0.999, settle_s: 1, window_s: 6}
  - {type: penetration, max: 0.0008, settle_s: 0.5}
camera: {target: [0, 0, -2], position: [0, -95, -1], fov: 34}
display:
  output: j_wheel
  labels: {j_worm: "Shaft with two worms (driver)", j_wheel: "Left wheel (right-hand worm)", j_wheel2: "Right wheel (left-hand worm)"}
  proof: {label: "Threads out of contact", sub: "the shaft turns alone: both wheels stand still"}