# No. 208 (Brown 1868): "A pin-wheel and slotted pinion, by which three changes of speed can be obtained. There are three circles of pins of equal
# distance on the face of the pin-wheel, and by shifting the slotted pinion along its shaft, to bring it in contact with one or the other of the circles
# of pins, a continuous rotary motion of the wheel is made to produce three changes of speed of the pinion, or vice versa."
#
# Model (cm): the pin-wheel (radius 9) turns on a fixed axle along y, driven at 10 rpm (the one driven joint). From its face stand three circles of
# round pins, all at one pitch 1.2: 24 on radius 4.584, 32 on 6.112 and 40 on 7.639. In front of the face a shaft runs
# across the wheel along x, 2.9 out from it, and carries the slotted pinion: 10 slots (pitch radius 1.910), its teeth the shapes the pins of all
# three circles leave free as wheel and pinion turn together (clearance 0.06), in 8 stacked slabs a tooth. The pinion makes 40/10, 32/10 or
# 24/10 turns a turn of the wheel, as it is slid to the outer, middle or inner circle. The file shows the plate's setting, the outer circle;
# `VAR=middle` or `VAR=inner` makes the generator place the pinion at the other circles. Generator: opencode-runs/batch11/gen208.py.
number: 208
slug: pin-wheel-slotted-pinion
name: A pin-wheel and slotted pinion for three speeds
brown: "A pin-wheel and slotted pinion, by which three changes of speed can be obtained."
units: cm
sim:
  timestep: 0.0002
  integrator: implicitfast
  iterations: 100
  solver: CG
  multiccd: true
  duration_s: 8
  floor: false
bodies:
  - id: wheel
    shape: part
    pos: [0, 0, 0]
    friction: 0.1
    color: "#d9cfb6"
    pieces:
      - {kind: rod, from: [0, 0.2, 0], to: [0, 0.9, 0], radius: 9.0, collide: 0}   # the wheel's disc, its face at y = 0.2
      - {kind: rod, from: [-4.5837, 0.2, 0.0], to: [-4.5837, -1.3, 0.0], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-4.4275, 0.2, -1.1863], to: [-4.4275, -1.3, -1.1863], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-3.9696, 0.2, -2.2918], to: [-3.9696, -1.3, -2.2918], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-3.2411, 0.2, -3.2411], to: [-3.2411, -1.3, -3.2411], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-2.2918, 0.2, -3.9696], to: [-2.2918, -1.3, -3.9696], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-1.1863, 0.2, -4.4275], to: [-1.1863, -1.3, -4.4275], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-0.0, 0.2, -4.5837], to: [-0.0, -1.3, -4.5837], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [1.1863, 0.2, -4.4275], to: [1.1863, -1.3, -4.4275], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [2.2918, 0.2, -3.9696], to: [2.2918, -1.3, -3.9696], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [3.2411, 0.2, -3.2411], to: [3.2411, -1.3, -3.2411], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [3.9696, 0.2, -2.2918], to: [3.9696, -1.3, -2.2918], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [4.4275, 0.2, -1.1863], to: [4.4275, -1.3, -1.1863], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [4.5837, 0.2, -0.0], to: [4.5837, -1.3, -0.0], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [4.4275, 0.2, 1.1863], to: [4.4275, -1.3, 1.1863], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [3.9696, 0.2, 2.2918], to: [3.9696, -1.3, 2.2918], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [3.2411, 0.2, 3.2411], to: [3.2411, -1.3, 3.2411], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [2.2918, 0.2, 3.9696], to: [2.2918, -1.3, 3.9696], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [1.1863, 0.2, 4.4275], to: [1.1863, -1.3, 4.4275], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [0.0, 0.2, 4.5837], to: [0.0, -1.3, 4.5837], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-1.1863, 0.2, 4.4275], to: [-1.1863, -1.3, 4.4275], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-2.2918, 0.2, 3.9696], to: [-2.2918, -1.3, 3.9696], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-3.2411, 0.2, 3.2411], to: [-3.2411, -1.3, 3.2411], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-3.9696, 0.2, 2.2918], to: [-3.9696, -1.3, 2.2918], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-4.4275, 0.2, 1.1863], to: [-4.4275, -1.3, 1.1863], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-6.1115, 0.2, 0.0], to: [-6.1115, -1.3, 0.0], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-5.9941, 0.2, -1.1923], to: [-5.9941, -1.3, -1.1923], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-5.6463, 0.2, -2.3388], to: [-5.6463, -1.3, -2.3388], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-5.0816, 0.2, -3.3954], to: [-5.0816, -1.3, -3.3954], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-4.3215, 0.2, -4.3215], to: [-4.3215, -1.3, -4.3215], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-3.3954, 0.2, -5.0816], to: [-3.3954, -1.3, -5.0816], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-2.3388, 0.2, -5.6463], to: [-2.3388, -1.3, -5.6463], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-1.1923, 0.2, -5.9941], to: [-1.1923, -1.3, -5.9941], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-0.0, 0.2, -6.1115], to: [-0.0, -1.3, -6.1115], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [1.1923, 0.2, -5.9941], to: [1.1923, -1.3, -5.9941], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [2.3388, 0.2, -5.6463], to: [2.3388, -1.3, -5.6463], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [3.3954, 0.2, -5.0816], to: [3.3954, -1.3, -5.0816], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [4.3215, 0.2, -4.3215], to: [4.3215, -1.3, -4.3215], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [5.0816, 0.2, -3.3954], to: [5.0816, -1.3, -3.3954], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [5.6463, 0.2, -2.3388], to: [5.6463, -1.3, -2.3388], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [5.9941, 0.2, -1.1923], to: [5.9941, -1.3, -1.1923], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [6.1115, 0.2, -0.0], to: [6.1115, -1.3, -0.0], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [5.9941, 0.2, 1.1923], to: [5.9941, -1.3, 1.1923], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [5.6463, 0.2, 2.3388], to: [5.6463, -1.3, 2.3388], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [5.0816, 0.2, 3.3954], to: [5.0816, -1.3, 3.3954], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [4.3215, 0.2, 4.3215], to: [4.3215, -1.3, 4.3215], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [3.3954, 0.2, 5.0816], to: [3.3954, -1.3, 5.0816], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [2.3388, 0.2, 5.6463], to: [2.3388, -1.3, 5.6463], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [1.1923, 0.2, 5.9941], to: [1.1923, -1.3, 5.9941], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [0.0, 0.2, 6.1115], to: [0.0, -1.3, 6.1115], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-1.1923, 0.2, 5.9941], to: [-1.1923, -1.3, 5.9941], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-2.3388, 0.2, 5.6463], to: [-2.3388, -1.3, 5.6463], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-3.3954, 0.2, 5.0816], to: [-3.3954, -1.3, 5.0816], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-4.3215, 0.2, 4.3215], to: [-4.3215, -1.3, 4.3215], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-5.0816, 0.2, 3.3954], to: [-5.0816, -1.3, 3.3954], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-5.6463, 0.2, 2.3388], to: [-5.6463, -1.3, 2.3388], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-5.9941, 0.2, 1.1923], to: [-5.9941, -1.3, 1.1923], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-7.6394, 0.2, 0.0], to: [-7.6394, -1.3, 0.0], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-7.5454, 0.2, -1.1951], to: [-7.5454, -1.3, -1.1951], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-7.2655, 0.2, -2.3607], to: [-7.2655, -1.3, -2.3607], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-6.8068, 0.2, -3.4682], to: [-6.8068, -1.3, -3.4682], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-6.1804, 0.2, -4.4903], to: [-6.1804, -1.3, -4.4903], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-5.4019, 0.2, -5.4019], to: [-5.4019, -1.3, -5.4019], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-4.4903, 0.2, -6.1804], to: [-4.4903, -1.3, -6.1804], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-3.4682, 0.2, -6.8068], to: [-3.4682, -1.3, -6.8068], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-2.3607, 0.2, -7.2655], to: [-2.3607, -1.3, -7.2655], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-1.1951, 0.2, -7.5454], to: [-1.1951, -1.3, -7.5454], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-0.0, 0.2, -7.6394], to: [-0.0, -1.3, -7.6394], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [1.1951, 0.2, -7.5454], to: [1.1951, -1.3, -7.5454], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [2.3607, 0.2, -7.2655], to: [2.3607, -1.3, -7.2655], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [3.4682, 0.2, -6.8068], to: [3.4682, -1.3, -6.8068], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [4.4903, 0.2, -6.1804], to: [4.4903, -1.3, -6.1804], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [5.4019, 0.2, -5.4019], to: [5.4019, -1.3, -5.4019], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [6.1804, 0.2, -4.4903], to: [6.1804, -1.3, -4.4903], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [6.8068, 0.2, -3.4682], to: [6.8068, -1.3, -3.4682], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [7.2655, 0.2, -2.3607], to: [7.2655, -1.3, -2.3607], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [7.5454, 0.2, -1.1951], to: [7.5454, -1.3, -1.1951], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [7.6394, 0.2, -0.0], to: [7.6394, -1.3, -0.0], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [7.5454, 0.2, 1.1951], to: [7.5454, -1.3, 1.1951], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [7.2655, 0.2, 2.3607], to: [7.2655, -1.3, 2.3607], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [6.8068, 0.2, 3.4682], to: [6.8068, -1.3, 3.4682], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [6.1804, 0.2, 4.4903], to: [6.1804, -1.3, 4.4903], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [5.4019, 0.2, 5.4019], to: [5.4019, -1.3, 5.4019], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [4.4903, 0.2, 6.1804], to: [4.4903, -1.3, 6.1804], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [3.4682, 0.2, 6.8068], to: [3.4682, -1.3, 6.8068], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [2.3607, 0.2, 7.2655], to: [2.3607, -1.3, 7.2655], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [1.1951, 0.2, 7.5454], to: [1.1951, -1.3, 7.5454], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [0.0, 0.2, 7.6394], to: [0.0, -1.3, 7.6394], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-1.1951, 0.2, 7.5454], to: [-1.1951, -1.3, 7.5454], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-2.3607, 0.2, 7.2655], to: [-2.3607, -1.3, 7.2655], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-3.4682, 0.2, 6.8068], to: [-3.4682, -1.3, 6.8068], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-4.4903, 0.2, 6.1804], to: [-4.4903, -1.3, 6.1804], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-5.4019, 0.2, 5.4019], to: [-5.4019, -1.3, 5.4019], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-6.1804, 0.2, 4.4903], to: [-6.1804, -1.3, 4.4903], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-6.8068, 0.2, 3.4682], to: [-6.8068, -1.3, 3.4682], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-7.2655, 0.2, 2.3607], to: [-7.2655, -1.3, 2.3607], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
      - {kind: rod, from: [-7.5454, 0.2, 1.1951], to: [-7.5454, -1.3, 1.1951], radius: 0.25, capsule: true, collide: 2, color: "#8f8a80"}
  - id: pinion
    shape: part
    pos: [-7.6394, -2.9, 0]
    friction: 0.1
    color: "#b8ad97"
    pieces:
      - {kind: rod, from: [-11.6394, -2.9, 0], to: [13.8606, -2.9, 0], radius: 0.4, collide: 0, color: "#8f8a80"}   # its shaft
      - {kind: rod, from: [-8.5394, -2.9, 0], to: [-6.7394, -2.9, 0], radius: 1.2, collide: 0}   # the pinion's hub and feather
      - {kind: loft, a: [[-8.1394, -1.7556, 0.1137], [-8.1394, -1.7836, 0.2761], [-8.1394, -1.8346, 0.4328], [-8.1394, -1.9074, 0.5807], [-8.1394, -1.7617, 0.6659], [-8.1394, -1.6782, 0.4963], [-8.1394, -1.6198, 0.3166], [-8.1394, -1.5877, 0.1304]], b: [[-7.1394, -1.7556, 0.1137], [-7.1394, -1.7836, 0.2761], [-7.1394, -1.8346, 0.4328], [-7.1394, -1.9074, 0.5807], [-7.1394, -1.7617, 0.6659], [-7.1394, -1.6782, 0.4963], [-7.1394, -1.6198, 0.3166], [-7.1394, -1.5877, 0.1304]], collide: 1}
      - {kind: loft, a: [[-8.1394, -1.6111, 0.2792], [-8.1394, -1.6328, 0.3651], [-8.1394, -1.6602, 0.4494], [-8.1394, -1.6932, 0.5317], [-8.1394, -1.5388, 0.5997], [-8.1394, -1.5015, 0.5069], [-8.1394, -1.4707, 0.4119], [-8.1394, -1.4462, 0.3149]], b: [[-7.1394, -1.6111, 0.2792], [-7.1394, -1.6328, 0.3651], [-7.1394, -1.6602, 0.4494], [-7.1394, -1.6932, 0.5317], [-7.1394, -1.5388, 0.5997], [-7.1394, -1.5015, 0.5069], [-7.1394, -1.4707, 0.4119], [-7.1394, -1.4462, 0.3149]], collide: 1}
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      - {kind: loft, a: [[-8.1394, -3.0631, -1.8177], [-8.1394, -2.9544, -1.8242], [-8.1394, -2.8456, -1.8242], [-8.1394, -2.7369, -1.8177], [-8.1394, -2.7218, -1.9858], [-8.1394, -2.8405, -1.9929], [-8.1394, -2.9595, -1.9929], [-8.1394, -3.0782, -1.9858]], b: [[-7.1394, -3.0631, -1.8177], [-7.1394, -2.9544, -1.8242], [-7.1394, -2.8456, -1.8242], [-7.1394, -2.7369, -1.8177], [-7.1394, -2.7218, -1.9858], [-7.1394, -2.8405, -1.9929], [-7.1394, -2.9595, -1.9929], [-7.1394, -3.0782, -1.9858]], collide: 1}
      - {kind: loft, a: [[-8.1394, -3.0782, -1.9858], [-8.1394, -2.9595, -1.9929], [-8.1394, -2.8405, -1.9929], [-8.1394, -2.7218, -1.9858], [-8.1394, -2.7067, -2.1538], [-8.1394, -2.8355, -2.1615], [-8.1394, -2.9645, -2.1615], [-8.1394, -3.0933, -2.1538]], b: [[-7.1394, -3.0782, -1.9858], [-7.1394, -2.9595, -1.9929], [-7.1394, -2.8405, -1.9929], [-7.1394, -2.7218, -1.9858], [-7.1394, -2.7067, -2.1538], [-7.1394, -2.8355, -2.1615], [-7.1394, -2.9645, -2.1615], [-7.1394, -3.0933, -2.1538]], collide: 1}
      - {kind: loft, a: [[-8.1394, -2.9727, -2.1613], [-8.1394, -2.9242, -2.1624], [-8.1394, -2.8758, -2.1624], [-8.1394, -2.8273, -2.1613], [-8.1394, -2.8216, -2.3299], [-8.1394, -2.8739, -2.3311], [-8.1394, -2.9261, -2.3311], [-8.1394, -2.9784, -2.3299]], b: [[-7.1394, -2.9727, -2.1613], [-7.1394, -2.9242, -2.1624], [-7.1394, -2.8758, -2.1624], [-7.1394, -2.8273, -2.1613], [-7.1394, -2.8216, -2.3299], [-7.1394, -2.8739, -2.3311], [-7.1394, -2.9261, -2.3311], [-7.1394, -2.9784, -2.3299]], collide: 1}
      - {kind: loft, a: [[-8.1394, -2.4383, -1.0532], [-8.1394, -2.2924, -0.9764], [-8.1394, -2.1591, -0.8795], [-8.1394, -2.041, -0.7646], [-8.1394, -1.915, -0.8768], [-8.1394, -2.0504, -1.0086], [-8.1394, -2.2033, -1.1197], [-8.1394, -2.3705, -1.2078]], b: [[-7.1394, -2.4383, -1.0532], [-7.1394, -2.2924, -0.9764], [-7.1394, -2.1591, -0.8795], [-7.1394, -2.041, -0.7646], [-7.1394, -1.915, -0.8768], [-7.1394, -2.0504, -1.0086], [-7.1394, -2.2033, -1.1197], [-7.1394, -2.3705, -1.2078]], collide: 1}
      - {kind: loft, a: [[-8.1394, -2.2362, -1.1395], [-8.1394, -2.1611, -1.0923], [-8.1394, -2.0894, -1.0402], [-8.1394, -2.0214, -0.9834], [-8.1394, -1.909, -1.1093], [-8.1394, -1.9857, -1.1734], [-8.1394, -2.0666, -1.2321], [-8.1394, -2.1512, -1.2853]], b: [[-7.1394, -2.2362, -1.1395], [-7.1394, -2.1611, -1.0923], [-7.1394, -2.0894, -1.0402], [-7.1394, -2.0214, -0.9834], [-7.1394, -1.909, -1.1093], [-7.1394, -1.9857, -1.1734], [-7.1394, -2.0666, -1.2321], [-7.1394, -2.1512, -1.2853]], collide: 1}
      - {kind: loft, a: [[-8.1394, -2.1212, -1.2673], [-8.1394, -2.057, -1.2255], [-8.1394, -1.995, -1.1805], [-8.1394, -1.9354, -1.1323], [-8.1394, -1.826, -1.2608], [-8.1394, -1.8923, -1.3144], [-8.1394, -1.9613, -1.3646], [-8.1394, -2.0328, -1.4111]], b: [[-7.1394, -2.1212, -1.2673], [-7.1394, -2.057, -1.2255], [-7.1394, -1.995, -1.1805], [-7.1394, -1.9354, -1.1323], [-7.1394, -1.826, -1.2608], [-7.1394, -1.8923, -1.3144], [-7.1394, -1.9613, -1.3646], [-7.1394, -2.0328, -1.4111]], collide: 1}
      - {kind: loft, a: [[-8.1394, -2.0328, -1.4111], [-8.1394, -1.9613, -1.3646], [-8.1394, -1.8923, -1.3144], [-8.1394, -1.826, -1.2608], [-8.1394, -1.7165, -1.3892], [-8.1394, -1.7896, -1.4483], [-8.1394, -1.8657, -1.5036], [-8.1394, -1.9445, -1.5549]], b: [[-7.1394, -2.0328, -1.4111], [-7.1394, -1.9613, -1.3646], [-7.1394, -1.8923, -1.3144], [-7.1394, -1.826, -1.2608], [-7.1394, -1.7165, -1.3892], [-7.1394, -1.7896, -1.4483], [-7.1394, -1.8657, -1.5036], [-7.1394, -1.9445, -1.5549]], collide: 1}
      - {kind: loft, a: [[-8.1394, -1.9635, -1.5664], [-8.1394, -1.8718, -1.5078], [-8.1394, -1.7837, -1.4438], [-8.1394, -1.6996, -1.3747], [-8.1394, -1.5886, -1.5018], [-8.1394, -1.6805, -1.5773], [-8.1394, -1.7767, -1.6472], [-8.1394, -1.8769, -1.7112]], b: [[-7.1394, -1.9635, -1.5664], [-7.1394, -1.8718, -1.5078], [-7.1394, -1.7837, -1.4438], [-7.1394, -1.6996, -1.3747], [-7.1394, -1.5886, -1.5018], [-7.1394, -1.6805, -1.5773], [-7.1394, -1.7767, -1.6472], [-7.1394, -1.8769, -1.7112]], collide: 1}
      - {kind: loft, a: [[-8.1394, -1.8769, -1.7112], [-8.1394, -1.7767, -1.6472], [-8.1394, -1.6805, -1.5773], [-8.1394, -1.5886, -1.5018], [-8.1394, -1.4777, -1.6289], [-8.1394, -1.5773, -1.7108], [-8.1394, -1.6817, -1.7866], [-8.1394, -1.7903, -1.8561]], b: [[-7.1394, -1.8769, -1.7112], [-7.1394, -1.7767, -1.6472], [-7.1394, -1.6805, -1.5773], [-7.1394, -1.5886, -1.5018], [-7.1394, -1.4777, -1.6289], [-7.1394, -1.5773, -1.7108], [-7.1394, -1.6817, -1.7866], [-7.1394, -1.7903, -1.8561]], collide: 1}
      - {kind: loft, a: [[-8.1394, -1.6885, -1.7913], [-8.1394, -1.6486, -1.7636], [-8.1394, -1.6094, -1.7351], [-8.1394, -1.5708, -1.7058], [-8.1394, -1.4671, -1.8389], [-8.1394, -1.5087, -1.8705], [-8.1394, -1.551, -1.9013], [-8.1394, -1.5939, -1.931]], b: [[-7.1394, -1.6885, -1.7913], [-7.1394, -1.6486, -1.7636], [-7.1394, -1.6094, -1.7351], [-7.1394, -1.5708, -1.7058], [-7.1394, -1.4671, -1.8389], [-7.1394, -1.5087, -1.8705], [-7.1394, -1.551, -1.9013], [-7.1394, -1.5939, -1.931]], collide: 1}
      - {kind: loft, a: [[-8.1394, -1.9074, -0.5807], [-8.1394, -1.8346, -0.4328], [-8.1394, -1.7836, -0.2761], [-8.1394, -1.7556, -0.1137], [-8.1394, -1.5877, -0.1304], [-8.1394, -1.6198, -0.3166], [-8.1394, -1.6782, -0.4963], [-8.1394, -1.7617, -0.6659]], b: [[-7.1394, -1.9074, -0.5807], [-7.1394, -1.8346, -0.4328], [-7.1394, -1.7836, -0.2761], [-7.1394, -1.7556, -0.1137], [-7.1394, -1.5877, -0.1304], [-7.1394, -1.6198, -0.3166], [-7.1394, -1.6782, -0.4963], [-7.1394, -1.7617, -0.6659]], collide: 1}
      - {kind: loft, a: [[-8.1394, -1.6932, -0.5317], [-8.1394, -1.6602, -0.4494], [-8.1394, -1.6328, -0.3651], [-8.1394, -1.6111, -0.2792], [-8.1394, -1.4462, -0.3149], [-8.1394, -1.4707, -0.4119], [-8.1394, -1.5015, -0.5069], [-8.1394, -1.5388, -0.5997]], b: [[-7.1394, -1.6932, -0.5317], [-7.1394, -1.6602, -0.4494], [-7.1394, -1.6328, -0.3651], [-7.1394, -1.6111, -0.2792], [-7.1394, -1.4462, -0.3149], [-7.1394, -1.4707, -0.4119], [-7.1394, -1.5015, -0.5069], [-7.1394, -1.5388, -0.5997]], collide: 1}
      - {kind: loft, a: [[-8.1394, -1.525, -0.5675], [-8.1394, -1.4976, -0.4959], [-8.1394, -1.4739, -0.4231], [-8.1394, -1.454, -0.3491], [-8.1394, -1.29, -0.3887], [-8.1394, -1.3122, -0.4711], [-8.1394, -1.3385, -0.5522], [-8.1394, -1.369, -0.6319]], b: [[-7.1394, -1.525, -0.5675], [-7.1394, -1.4976, -0.4959], [-7.1394, -1.4739, -0.4231], [-7.1394, -1.454, -0.3491], [-7.1394, -1.29, -0.3887], [-7.1394, -1.3122, -0.4711], [-7.1394, -1.3385, -0.5522], [-7.1394, -1.369, -0.6319]], collide: 1}
      - {kind: loft, a: [[-8.1394, -1.369, -0.6319], [-8.1394, -1.3385, -0.5522], [-8.1394, -1.3122, -0.4711], [-8.1394, -1.29, -0.3887], [-8.1394, -1.126, -0.4283], [-8.1394, -1.1504, -0.5191], [-8.1394, -1.1794, -0.6085], [-8.1394, -1.213, -0.6962]], b: [[-7.1394, -1.369, -0.6319], [-7.1394, -1.3385, -0.5522], [-7.1394, -1.3122, -0.4711], [-7.1394, -1.29, -0.3887], [-7.1394, -1.126, -0.4283], [-7.1394, -1.1504, -0.5191], [-7.1394, -1.1794, -0.6085], [-7.1394, -1.213, -0.6962]], collide: 1}
      - {kind: loft, a: [[-8.1394, -1.2217, -0.7168], [-8.1394, -1.1819, -0.6155], [-8.1394, -1.1483, -0.5119], [-8.1394, -1.1209, -0.4066], [-8.1394, -0.9564, -0.4442], [-8.1394, -0.9863, -0.5593], [-8.1394, -1.023, -0.6724], [-8.1394, -1.0665, -0.7831]], b: [[-7.1394, -1.2217, -0.7168], [-7.1394, -1.1819, -0.6155], [-7.1394, -1.1483, -0.5119], [-7.1394, -1.1209, -0.4066], [-7.1394, -0.9564, -0.4442], [-7.1394, -0.9863, -0.5593], [-7.1394, -1.023, -0.6724], [-7.1394, -1.0665, -0.7831]], collide: 1}
      - {kind: loft, a: [[-8.1394, -1.0665, -0.7831], [-8.1394, -1.023, -0.6724], [-8.1394, -0.9863, -0.5593], [-8.1394, -0.9564, -0.4442], [-8.1394, -0.7919, -0.4818], [-8.1394, -0.8243, -0.6066], [-8.1394, -0.8642, -0.7293], [-8.1394, -0.9113, -0.8494]], b: [[-7.1394, -1.0665, -0.7831], [-7.1394, -1.023, -0.6724], [-7.1394, -0.9863, -0.5593], [-7.1394, -0.9564, -0.4442], [-7.1394, -0.7919, -0.4818], [-7.1394, -0.8243, -0.6066], [-7.1394, -0.8642, -0.7293], [-7.1394, -0.9113, -0.8494]], collide: 1}
      - {kind: loft, a: [[-8.1394, -0.867, -0.737], [-8.1394, -0.851, -0.6913], [-8.1394, -0.836, -0.6452], [-8.1394, -0.822, -0.5987], [-8.1394, -0.6599, -0.6454], [-8.1394, -0.6749, -0.6955], [-8.1394, -0.6911, -0.7452], [-8.1394, -0.7083, -0.7945]], b: [[-7.1394, -0.867, -0.737], [-7.1394, -0.851, -0.6913], [-7.1394, -0.836, -0.6452], [-7.1394, -0.822, -0.5987], [-7.1394, -0.6599, -0.6454], [-7.1394, -0.6749, -0.6955], [-7.1394, -0.6911, -0.7452], [-7.1394, -0.7083, -0.7945]], collide: 1}
  - id: frame
    shape: frame
    color: "#8f8a80"
    rods:
      - {from: [0, 0.9, 0], to: [0, 3.5, 0], radius: 0.8}     # the wheel's axle, behind
      - {from: [13.5, -2.9, 0], to: [14.5, -2.9, 0], radius: 0.8}   # the shaft's bearing
      - {from: [14, -2.9, 0], to: [14, -2.9, -10], radius: 0.4}
joints:
  - {id: j_wheel, type: hinge, body: wheel, axis: [0, -1, 0], damping: 0.01}   # the one driven joint
  - {id: j_pinion, type: hinge, body: pinion, axis: [1, 0, 0], damping: 0.0005, frictionloss: 0.002}
contact: {solref: [0.002, 1.0], solimp: [0.98, 0.99, 0.0002], margin: 0}
driver: {joint: j_wheel, kind: velocity, rpm: 10, kv: 2, max_torque: 5}
checks:
  - {type: ratio, out: j_pinion, in: j_wheel, expect: -4, tol: 0.04, settle_s: 1, window_s: 6}
  - {type: penetration, max: 0.0008, settle_s: 0.5}
camera: {target: [0, 0, 0], position: [0, -75, 2], fov: 34}
display:
  output: j_pinion
  labels: {j_wheel: "Pin-wheel (driver)", j_pinion: "Slotted pinion"}
  expect: {default: -4}
  proof: {label: "Pins out of contact", sub: "the wheel turns but the pinion stands"}