# No. 210 (Brown 1868): "By turning the shaft carrying the curved slotted arm, a rectilinear motion of variable velocity is given to the vertical bar."
#
# Model (cm, after the plate; drawing plane x-z): the shaft at the origin carries the curved slotted arm, its slot a smooth curve through the plate's points,
# from low on the left up and over the top to the right. The vertical bar slides in two guides on the frame, its line 1.6 to the right of the shaft's centre
# and behind the arm; a pin on it (radius 0.45, clearance 0.04) works in the slot. Only the shaft is driven: turned to and fro by hand, +-0.72 rad at 0.3 Hz,
# about a position -0.70 rad from the drawing (a full turn would carry the slot clear of the bar). Where the slot crosses the bar's line moves along the slot, and the
# slot's slant to the bar changes as it goes, so the bar rises and falls 5.34 cm at a rate from 1.02 to 5.75 cm per radian of the shaft
# (kinematics). Gravity is on; the bar's weight rests the pin on the slot's lower side. Generator: opencode-runs/batch11/gen210.py.
number: 210
slug: curved-slotted-arm-vertical-bar
name: A curved slotted arm giving a vertical bar a variable motion
brown: "By turning the shaft carrying the curved slotted arm, a rectilinear motion of variable velocity is given to the vertical bar."
units: cm
sim:
  timestep: 0.0002
  integrator: implicitfast
  iterations: 100
  solver: CG
  multiccd: true
  duration_s: 10.0
bodies:
  - id: arm
    shape: part
    pos: [0, 0, 0]
    density: 2700
    friction: 0.1
    color: "#c9b88f"
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      - {kind: poly, points: [[6.9807, 5.4683], [6.4021, 4.9014], [6.4985, 4.8003], [7.0922, 5.3513]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[7.8106, 6.0179], [7.9333, 5.8821], [8.5419, 6.4166], [8.4043, 6.5689]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[7.0922, 5.3513], [6.4985, 4.8003], [6.5883, 4.7008], [7.1969, 5.2353]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[7.9333, 5.8821], [8.0484, 5.7472], [8.6718, 6.2644], [8.5419, 6.4166]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[7.1969, 5.2353], [6.5883, 4.7008], [6.6707, 4.6043], [7.2941, 5.1215]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[8.0484, 5.7472], [8.1556, 5.614], [8.7941, 6.1125], [8.6718, 6.2644]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[7.2941, 5.1215], [6.6707, 4.6043], [6.7447, 4.5125], [7.3832, 5.0109]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[8.1556, 5.614], [8.2546, 5.4831], [8.9086, 5.961], [8.7941, 6.1125]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[7.3832, 5.0109], [6.7447, 4.5125], [6.8094, 4.427], [7.4634, 4.9049]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[8.2546, 5.4831], [8.3458, 5.3537], [9.0174, 5.8065], [8.9086, 5.961]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[7.4634, 4.9049], [6.8094, 4.427], [6.8616, 4.353], [7.5332, 4.8058]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[8.3458, 5.3537], [8.435, 5.2099], [9.1401, 5.6087], [9.0174, 5.8065]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[7.5332, 4.8058], [6.8616, 4.353], [6.8771, 4.3285], [7.5821, 4.7274]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[8.435, 5.2099], [8.5097, 5.0645], [9.2448, 5.4047], [9.1401, 5.6087]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[7.5821, 4.7274], [6.8771, 4.3285], [6.8852, 4.3126], [7.6203, 4.6528]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[8.5097, 5.0645], [8.5698, 4.9199], [9.3294, 5.2012], [9.2448, 5.4047]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[7.6203, 4.6528], [6.8852, 4.3126], [6.8912, 4.2984], [7.6508, 4.5796]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[8.5698, 4.9199], [8.6165, 4.7777], [9.3947, 5.0024], [9.3294, 5.2012]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[7.6508, 4.5796], [6.8912, 4.2984], [6.8967, 4.2812], [7.675, 4.5059]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[8.6165, 4.7777], [8.6515, 4.6393], [9.4428, 4.8123], [9.3947, 5.0024]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[7.675, 4.5059], [6.8967, 4.2812], [6.9028, 4.257], [7.6941, 4.43]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[8.6515, 4.6393], [8.6767, 4.5058], [9.4764, 4.6342], [9.4428, 4.8123]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[7.6941, 4.43], [6.9028, 4.257], [6.9093, 4.222], [7.7091, 4.3504]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[8.6767, 4.5058], [8.6942, 4.3781], [9.4989, 4.4706], [9.4764, 4.6342]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[7.7091, 4.3504], [6.9093, 4.222], [6.9159, 4.1736], [7.7206, 4.2662]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[8.6942, 4.3781], [8.706, 4.2567], [9.5133, 4.323], [9.4989, 4.4706]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[7.7206, 4.2662], [6.9159, 4.1736], [6.922, 4.1101], [7.7293, 4.1764]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[8.706, 4.2567], [8.7142, 4.1417], [9.5226, 4.1921], [9.5133, 4.323]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[7.7293, 4.1764], [6.922, 4.1101], [6.9276, 4.0303], [7.7361, 4.0807]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[8.7142, 4.1417], [8.7204, 4.0333], [9.5292, 4.0784], [9.5226, 4.1921]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[7.7361, 4.0807], [6.9276, 4.0303], [6.9332, 3.9337], [7.742, 3.9788]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[8.7204, 4.0333], [8.7263, 3.9313], [9.5348, 3.9818], [9.5292, 4.0784]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[7.742, 3.9788], [6.9332, 3.9337], [6.9398, 3.8199], [7.7482, 3.8703]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[8.7263, 3.9313], [8.7331, 3.8356], [9.5404, 3.902], [9.5348, 3.9818]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[7.7482, 3.8703], [6.9398, 3.8199], [6.9491, 3.6891], [7.7564, 3.7554]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[8.7331, 3.8356], [8.7418, 3.7459], [9.5465, 3.8384], [9.5404, 3.902]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[7.7564, 3.7554], [6.9491, 3.6891], [6.9636, 3.5415], [7.7683, 3.634]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[8.7418, 3.7459], [8.7533, 3.6616], [9.5531, 3.7901], [9.5465, 3.8384]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[7.7683, 3.634], [6.9636, 3.5415], [6.986, 3.3779], [7.7857, 3.5063]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[8.7533, 3.6616], [8.7691, 3.5784], [9.5617, 3.7453], [9.5531, 3.7901]], y: [-0.4, 0.4], collide: 2}
      - {kind: poly, points: [[7.7857, 3.5063], [6.986, 3.3779], [7.0175, 3.2096], [7.8101, 3.3765]], y: [-0.4, 0.4], collide: 2}
      - {kind: disc, center: [-1.908, 2.3916], radius: 1.3, y: [0.0, 0.4], collide: 0}
      - {kind: disc, center: [8.2896, 3.4774], radius: 1.3, y: [0.0, 0.4], collide: 0}
      - {kind: poly, points: [[-3.208, 2.3916], [-3.1637, 2.0551], [-3.0338, 1.7416], [-1.299, -0.75], [-1.0607, -1.0607], [-0.75, -1.299], [-0.3882, -1.4489], [-0.0, -1.5], [0.3882, -1.4489], [0.75, -1.299], [1.0607, -1.0607], [1.299, -0.75], [1.4489, -0.3882], [1.5, 0.0], [1.4489, 0.3882], [1.299, 0.75], [1.0607, 1.0607], [-0.9888, 3.3108], [-1.258, 3.5174], [-1.5715, 3.6473], [-1.908, 3.6916], [-2.2445, 3.6473], [-2.558, 3.5174], [-2.8272, 3.3108], [-3.0338, 3.0416], [-3.1637, 2.728]], y: [-0.4, 0.4], collide: 0}   # the boss round the shaft and the web to the slot
      - {kind: disc, center: [0, 0], radius: 0.6, y: [-1.4, 0.4], collide: 0, color: "#6f6a60"}   # the shaft's end
  - id: bar
    shape: part
    pos: [1.6, 0, 7.3639]
    density: 2700
    friction: 0.1
    color: "#a39a86"
    pieces:
      - {kind: poly, points: [[1.15, -6.0], [2.05, -6.0], [2.05, 13.8639], [1.15, 13.8639]], y: [1.0, 1.7], collide: 0}   # the bar, behind the arm
      - {kind: disc, center: [1.6, 7.3639], radius: 0.45, y: [-0.6, 1.0], collide: 1, color: "#6f6a60"}   # its pin in the slot
  - id: frame
    shape: part
    pos: [0, 0, 0]
    fixed: true
    density: 7800
    color: "#cfc6b4"
    pieces:
      - {kind: disc, center: [0, 0], radius: 0.6, y: [0.4, 3.0], collide: 0, color: "#6f6a60"}   # the shaft, behind (it stops short of the bar's plane at its line)
      - {kind: poly, points: [[0.7, 9.2639], [2.5, 9.2639], [2.5, 10.2639], [0.7, 10.2639]], y: [0.9, 1.8], collide: 0, color: "#8f8a80"}   # the upper guide
      - {kind: poly, points: [[0.7, -4.8], [2.5, -4.8], [2.5, -3.8], [0.7, -3.8]], y: [0.9, 1.8], collide: 0, color: "#8f8a80"}   # the lower guide
      - {kind: poly, points: [[2.5, -4.8], [3.2, -4.8], [3.2, 10.2639], [2.5, 10.2639]], y: [1.8, 2.4], collide: 0, color: "#9c9282"}   # the guides' standard
joints:
  - {id: j_arm, type: hinge, body: arm, axis: [0, -1, 0], damping: 0.01}   # the one driven joint; +: counter-clockwise
  - {id: j_bar, type: slide, body: bar, axis: [0, 0, 1], damping: 0.5, range: [-4.0935, 2.4442]}   # the guides; stops beyond the travel
contact: {solref: [0.002, 1.0], solimp: [0.95, 0.99, 0.0005], margin: 0}
driver: {joint: j_arm, kind: velocity, rpm: 0, swing: {amplitude: 0.72, hz: 0.3}, kv: 20, max_torque: 40}
checks:
  - {type: position, joint: j_bar, min: -3.644, max: 1.994, settle_s: 0.2, window_s: 9.5}
  - {type: amplitude, joint: j_bar, min: 0.02402, max: 0.02936, sustain: 0.8, settle_s: 0.5, window_s: 9}
  - {type: ratio_range, out: j_bar, in: j_arm, min: 0.00768, max: 0.07188, min_swing: 0.02363, settle_s: 0.5, window_s: 6.66667, slices: 16}
  - {type: penetration, max: 0.001, settle_s: 0.5}
camera: {target: [1, 0, 3], position: [1, -70, 4], fov: 34}
display:
  output: j_bar
  labels: {j_arm: "Shaft and curved arm (driver)", j_bar: "Vertical bar"}
  proof: {label: "Pin out of the slot", sub: "the arm turns alone: the bar drops to its stop"}