# No. 245 (Brown 1868): "Bayonet joint. On turning the part, A, it is released from the L-shaped slot in the socket, B, when it can be withdrawn." # # Model (cm, gravity on): the socket B (bore 2.15) stands fixed; its L-shaped slot is a 60 deg cross leg at the pin's height and an upright leg to # the mouth. The part A (radius 2) sits in the socket with its pin (radius 0.35) at the far end of the cross leg. The hand pulls A steadily # outward (a soft spring on A's guide, about 8 N net of A's weight) and turns it: the turn is the one driven joint, a slow positioned swing of # 1.07 rad out and back. Pin on the slot's edges is real contact: while the pin is in the cross leg its upper edge holds A in against the pull; # when the turn brings the pin under the upright leg, A is drawn out. Generator: opencode-runs/batch11/gen245.py. number: 245 slug: bayonet-joint name: Bayonet joint brown: "Bayonet joint. On turning the part, A, it is released from the L-shaped slot in the socket, B, when it can be withdrawn." units: cm sim: {timestep: 0.0002, integrator: implicitfast, iterations: 60, duration_s: 6} bodies: - id: hand shape: part pos: [0, 0, 0] mass: 0.05 color: "#8f8a80" pieces: - {kind: rod, from: [0, 0, 8], to: [0, 0, 8.2], radius: 0.2} - id: rod_a shape: part pos: [0, 0, 0] mount: hand mass: 0.4 friction: 0.2 color: "#d9cfba" pieces: - {kind: rod, from: [0, 0, -6], to: [0, 0, 8], radius: 2} # the part A - {kind: rod, from: [0.75, -1.299, -2.2], to: [1.375, -2.3816, -2.2], radius: 0.35, collide: 1, capsule: true, color: "#9c3b2e"} # its pin - id: socket shape: part pos: [0, 0, 0] fixed: true friction: 0.2 color: "#b8ad97" pieces: - {kind: rod, from: [0, 0, -9.8], to: [0, 0, -9], radius: 2.9} # the socket's floor - {kind: loft, a: [[-2.15, -0.0, -9.0], [-2.9, -0.0, -9.0], [-2.8752, -0.3785, -9.0], [-2.1316, -0.2806, -9.0]], b: [[-2.15, -0.0, -2.7], [-2.9, -0.0, -2.7], [-2.8752, -0.3785, -2.7], [-2.1316, -0.2806, -2.7]], collide: 2} - {kind: loft, a: [[-2.15, -0.0, -2.7], [-2.9, -0.0, -2.7], [-2.8752, -0.3785, -2.7], [-2.1316, -0.2806, -2.7]], b: [[-2.15, -0.0, -1.7000000000000002], [-2.9, -0.0, -1.7000000000000002], [-2.8752, -0.3785, -1.7000000000000002], [-2.1316, -0.2806, -1.7000000000000002]], collide: 2} - {kind: loft, a: [[-2.15, -0.0, -1.7000000000000002], [-2.9, -0.0, -1.7000000000000002], [-2.8752, -0.3785, -1.7000000000000002], [-2.1316, -0.2806, -1.7000000000000002]], b: [[-2.15, -0.0, 0.0], [-2.9, -0.0, 0.0], [-2.8752, -0.3785, 0.0], [-2.1316, -0.2806, 0.0]], collide: 2} - {kind: loft, a: [[-2.1316, -0.2806, -9.0], [-2.8752, -0.3785, -9.0], [-2.8012, -0.7506, -9.0], [-2.0767, -0.5565, -9.0]], b: [[-2.1316, -0.2806, -2.7], [-2.8752, -0.3785, -2.7], [-2.8012, -0.7506, -2.7], [-2.0767, -0.5565, -2.7]], collide: 2} - {kind: loft, a: [[-2.1316, -0.2806, -2.7], [-2.8752, -0.3785, -2.7], [-2.8012, -0.7506, -2.7], [-2.0767, -0.5565, -2.7]], b: [[-2.1316, -0.2806, -1.7000000000000002], [-2.8752, -0.3785, -1.7000000000000002], [-2.8012, -0.7506, -1.7000000000000002], [-2.0767, -0.5565, -1.7000000000000002]], collide: 2} - {kind: loft, a: [[-2.1316, -0.2806, -1.7000000000000002], [-2.8752, -0.3785, -1.7000000000000002], [-2.8012, -0.7506, -1.7000000000000002], [-2.0767, -0.5565, -1.7000000000000002]], b: [[-2.1316, -0.2806, 0.0], [-2.8752, -0.3785, 0.0], [-2.8012, -0.7506, 0.0], [-2.0767, -0.5565, 0.0]], collide: 2} - {kind: loft, a: [[-2.0767, -0.5565, -9.0], [-2.8012, -0.7506, -9.0], [-2.6793, -1.1098, -9.0], [-1.9863, -0.8228, -9.0]], b: [[-2.0767, -0.5565, -2.7], [-2.8012, -0.7506, -2.7], [-2.6793, -1.1098, -2.7], [-1.9863, -0.8228, -2.7]], collide: 2} - {kind: loft, a: [[-2.0767, -0.5565, -2.7], [-2.8012, -0.7506, -2.7], [-2.6793, -1.1098, -2.7], [-1.9863, -0.8228, -2.7]], b: [[-2.0767, -0.5565, -1.7000000000000002], [-2.8012, -0.7506, -1.7000000000000002], [-2.6793, -1.1098, -1.7000000000000002], [-1.9863, -0.8228, -1.7000000000000002]], collide: 2} - {kind: loft, a: [[-2.0767, -0.5565, -1.7000000000000002], [-2.8012, -0.7506, -1.7000000000000002], [-2.6793, -1.1098, -1.7000000000000002], [-1.9863, -0.8228, -1.7000000000000002]], b: [[-2.0767, -0.5565, 0.0], [-2.8012, -0.7506, 0.0], [-2.6793, -1.1098, 0.0], [-1.9863, -0.8228, 0.0]], collide: 2} - {kind: loft, a: [[-1.9863, -0.8228, -9.0], [-2.6793, -1.1098, -9.0], [-2.5115, -1.45, -9.0], [-1.862, -1.075, -9.0]], b: [[-1.9863, -0.8228, -2.7], [-2.6793, -1.1098, -2.7], [-2.5115, -1.45, -2.7], [-1.862, -1.075, -2.7]], collide: 2} - {kind: loft, a: [[-1.9863, -0.8228, -2.7], [-2.6793, -1.1098, -2.7], [-2.5115, -1.45, -2.7], [-1.862, -1.075, -2.7]], b: [[-1.9863, -0.8228, -1.7000000000000002], [-2.6793, -1.1098, -1.7000000000000002], [-2.5115, -1.45, -1.7000000000000002], [-1.862, -1.075, -1.7000000000000002]], collide: 2} - {kind: loft, a: [[-1.9863, -0.8228, -1.7000000000000002], [-2.6793, -1.1098, -1.7000000000000002], [-2.5115, -1.45, -1.7000000000000002], [-1.862, -1.075, -1.7000000000000002]], b: [[-1.9863, -0.8228, 0.0], [-2.6793, -1.1098, 0.0], [-2.5115, -1.45, 0.0], [-1.862, -1.075, 0.0]], collide: 2} - {kind: loft, a: [[-1.862, -1.075, -9.0], [-2.5115, -1.45, -9.0], [-2.3007, -1.7654, -9.0], [-1.7057, -1.3088, -9.0]], b: [[-1.862, -1.075, -2.7], [-2.5115, -1.45, -2.7], [-2.3007, -1.7654, -2.7], [-1.7057, -1.3088, -2.7]], collide: 2} - {kind: loft, a: [[-1.862, -1.075, -2.7], [-2.5115, -1.45, -2.7], [-2.3007, -1.7654, -2.7], [-1.7057, -1.3088, -2.7]], b: [[-1.862, -1.075, -1.7000000000000002], [-2.5115, -1.45, -1.7000000000000002], [-2.3007, -1.7654, -1.7000000000000002], [-1.7057, -1.3088, -1.7000000000000002]], collide: 2} - {kind: loft, a: [[-1.862, -1.075, -1.7000000000000002], [-2.5115, -1.45, -1.7000000000000002], [-2.3007, -1.7654, -1.7000000000000002], [-1.7057, -1.3088, -1.7000000000000002]], b: [[-1.862, -1.075, 0.0], [-2.5115, -1.45, 0.0], [-2.3007, -1.7654, 0.0], [-1.7057, -1.3088, 0.0]], collide: 2} - {kind: loft, a: [[-1.7057, -1.3088, -9.0], [-2.3007, -1.7654, -9.0], [-2.0506, -2.0506, -9.0], [-1.5203, -1.5203, -9.0]], b: [[-1.7057, -1.3088, -2.7], [-2.3007, -1.7654, -2.7], [-2.0506, -2.0506, -2.7], [-1.5203, -1.5203, -2.7]], collide: 2} - {kind: loft, a: [[-1.7057, -1.3088, -2.7], [-2.3007, -1.7654, -2.7], [-2.0506, -2.0506, -2.7], [-1.5203, -1.5203, -2.7]], b: [[-1.7057, -1.3088, -1.7000000000000002], [-2.3007, -1.7654, -1.7000000000000002], [-2.0506, -2.0506, -1.7000000000000002], [-1.5203, -1.5203, -1.7000000000000002]], collide: 2} - {kind: loft, a: [[-1.7057, -1.3088, -1.7000000000000002], [-2.3007, -1.7654, -1.7000000000000002], [-2.0506, -2.0506, -1.7000000000000002], [-1.5203, -1.5203, -1.7000000000000002]], b: [[-1.7057, -1.3088, 0.0], [-2.3007, -1.7654, 0.0], [-2.0506, -2.0506, 0.0], [-1.5203, -1.5203, 0.0]], collide: 2} - {kind: loft, a: [[-1.5203, -1.5203, -9.0], [-2.0506, -2.0506, -9.0], [-1.92, -2.1733, -9.0], [-1.4235, -1.6113, -9.0]], b: [[-1.5203, -1.5203, -2.7], [-2.0506, -2.0506, -2.7], [-1.92, -2.1733, -2.7], [-1.4235, -1.6113, -2.7]], collide: 2} - {kind: loft, a: [[-1.5203, -1.5203, -2.7], [-2.0506, -2.0506, -2.7], [-1.92, -2.1733, -2.7], [-1.4235, -1.6113, -2.7]], b: [[-1.5203, -1.5203, -1.7000000000000002], [-2.0506, -2.0506, -1.7000000000000002], [-1.92, -2.1733, -1.7000000000000002], [-1.4235, -1.6113, -1.7000000000000002]], collide: 2} - {kind: loft, a: [[-1.5203, -1.5203, -1.7000000000000002], [-2.0506, -2.0506, -1.7000000000000002], [-1.92, -2.1733, -1.7000000000000002], [-1.4235, -1.6113, -1.7000000000000002]], b: [[-1.5203, -1.5203, 0.0], [-2.0506, -2.0506, 0.0], [-1.92, -2.1733, 0.0], [-1.4235, -1.6113, 0.0]], collide: 2} - {kind: loft, a: [[-1.4235, -1.6113, -9.0], [-1.92, -2.1733, -9.0], [-1.7654, -2.3007, -9.0], [-1.3088, -1.7057, -9.0]], b: [[-1.4235, -1.6113, -2.7], [-1.92, -2.1733, -2.7], [-1.7654, -2.3007, -2.7], [-1.3088, -1.7057, -2.7]], collide: 2} - {kind: loft, a: [[-1.3088, -1.7057, -9.0], [-1.7654, -2.3007, -9.0], [-1.45, -2.5115, -9.0], [-1.075, -1.862, -9.0]], b: [[-1.3088, -1.7057, -2.7], [-1.7654, -2.3007, -2.7], [-1.45, -2.5115, -2.7], [-1.075, -1.862, -2.7]], collide: 2} - {kind: loft, a: [[-1.075, -1.862, -9.0], [-1.45, -2.5115, -9.0], [-1.1098, -2.6793, -9.0], [-0.8228, -1.9863, -9.0]], b: [[-1.075, -1.862, -2.7], [-1.45, -2.5115, -2.7], [-1.1098, -2.6793, -2.7], [-0.8228, -1.9863, -2.7]], collide: 2} - {kind: loft, a: [[-0.8228, -1.9863, -9.0], [-1.1098, -2.6793, -9.0], [-0.9221, -2.7495, -9.0], [-0.6837, -2.0384, -9.0]], b: [[-0.8228, -1.9863, -2.7], [-1.1098, -2.6793, -2.7], [-0.9221, -2.7495, -2.7], [-0.6837, -2.0384, -2.7]], collide: 2} - {kind: loft, a: [[-0.6837, -2.0384, -9.0], [-0.9221, -2.7495, -9.0], [-0.7506, -2.8012, -9.0], [-0.5565, -2.0767, -9.0]], b: [[-0.6837, -2.0384, -2.7], [-0.9221, -2.7495, -2.7], [-0.7506, -2.8012, -2.7], [-0.5565, -2.0767, -2.7]], collide: 2} - {kind: loft, a: [[-0.6837, -2.0384, -1.7000000000000002], [-0.9221, -2.7495, -1.7000000000000002], [-0.7506, -2.8012, -1.7000000000000002], [-0.5565, -2.0767, -1.7000000000000002]], b: [[-0.6837, -2.0384, 0.0], [-0.9221, -2.7495, 0.0], [-0.7506, -2.8012, 0.0], [-0.5565, -2.0767, 0.0]], collide: 2} - {kind: loft, a: [[-0.5565, -2.0767, -9.0], [-0.7506, -2.8012, -9.0], [-0.3785, -2.8752, -9.0], [-0.2806, -2.1316, -9.0]], b: [[-0.5565, -2.0767, -2.7], [-0.7506, -2.8012, -2.7], [-0.3785, -2.8752, -2.7], [-0.2806, -2.1316, -2.7]], collide: 2} - {kind: loft, a: [[-0.5565, -2.0767, -1.7000000000000002], [-0.7506, -2.8012, -1.7000000000000002], [-0.3785, -2.8752, -1.7000000000000002], [-0.2806, -2.1316, -1.7000000000000002]], b: [[-0.5565, -2.0767, 0.0], [-0.7506, -2.8012, 0.0], [-0.3785, -2.8752, 0.0], [-0.2806, -2.1316, 0.0]], collide: 2} - {kind: loft, a: [[-0.2806, -2.1316, -9.0], [-0.3785, -2.8752, -9.0], [0.0, -2.9, -9.0], [0.0, -2.15, -9.0]], b: [[-0.2806, -2.1316, -2.7], [-0.3785, -2.8752, -2.7], [0.0, -2.9, -2.7], [0.0, -2.15, -2.7]], collide: 2} - {kind: loft, a: [[-0.2806, -2.1316, -1.7000000000000002], [-0.3785, -2.8752, -1.7000000000000002], [0.0, -2.9, -1.7000000000000002], [0.0, -2.15, -1.7000000000000002]], b: [[-0.2806, -2.1316, 0.0], [-0.3785, -2.8752, 0.0], [0.0, -2.9, 0.0], [0.0, -2.15, 0.0]], collide: 2} - {kind: loft, a: [[0.0, -2.15, -9.0], [0.0, -2.9, -9.0], [0.3785, -2.8752, -9.0], [0.2806, -2.1316, -9.0]], b: [[0.0, -2.15, -2.7], [0.0, -2.9, -2.7], [0.3785, -2.8752, -2.7], [0.2806, -2.1316, -2.7]], collide: 2} - {kind: loft, a: [[0.0, -2.15, -1.7000000000000002], [0.0, -2.9, -1.7000000000000002], [0.3785, -2.8752, -1.7000000000000002], [0.2806, -2.1316, -1.7000000000000002]], b: [[0.0, -2.15, 0.0], [0.0, -2.9, 0.0], [0.3785, -2.8752, 0.0], [0.2806, -2.1316, 0.0]], collide: 2} - {kind: loft, a: [[0.2806, -2.1316, -9.0], [0.3785, -2.8752, -9.0], [0.7506, -2.8012, -9.0], [0.5565, -2.0767, -9.0]], b: [[0.2806, -2.1316, -2.7], [0.3785, -2.8752, -2.7], [0.7506, -2.8012, -2.7], [0.5565, -2.0767, -2.7]], collide: 2} - {kind: loft, a: [[0.2806, -2.1316, -1.7000000000000002], [0.3785, -2.8752, -1.7000000000000002], [0.7506, -2.8012, -1.7000000000000002], [0.5565, -2.0767, -1.7000000000000002]], b: [[0.2806, -2.1316, 0.0], [0.3785, -2.8752, 0.0], [0.7506, -2.8012, 0.0], [0.5565, -2.0767, 0.0]], collide: 2} - {kind: loft, a: [[0.5565, -2.0767, -9.0], [0.7506, -2.8012, -9.0], [1.1098, -2.6793, -9.0], [0.8228, -1.9863, -9.0]], b: [[0.5565, -2.0767, -2.7], [0.7506, -2.8012, -2.7], [1.1098, -2.6793, -2.7], [0.8228, -1.9863, -2.7]], collide: 2} - {kind: loft, a: [[0.5565, -2.0767, -1.7000000000000002], [0.7506, -2.8012, -1.7000000000000002], [1.1098, -2.6793, -1.7000000000000002], [0.8228, -1.9863, -1.7000000000000002]], b: [[0.5565, -2.0767, 0.0], [0.7506, -2.8012, 0.0], [1.1098, -2.6793, 0.0], [0.8228, -1.9863, 0.0]], collide: 2} - {kind: loft, a: [[0.8228, -1.9863, -9.0], [1.1098, -2.6793, -9.0], [1.45, -2.5115, -9.0], [1.075, -1.862, -9.0]], b: [[0.8228, -1.9863, -2.7], [1.1098, -2.6793, -2.7], [1.45, -2.5115, -2.7], [1.075, -1.862, -2.7]], collide: 2} - {kind: loft, a: [[0.8228, -1.9863, -1.7000000000000002], [1.1098, -2.6793, -1.7000000000000002], [1.45, -2.5115, -1.7000000000000002], [1.075, -1.862, -1.7000000000000002]], b: [[0.8228, -1.9863, 0.0], [1.1098, -2.6793, 0.0], [1.45, -2.5115, 0.0], [1.075, -1.862, 0.0]], collide: 2} - 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{kind: loft, a: [[-1.9863, 0.8228, -9.0], [-2.6793, 1.1098, -9.0], [-2.8012, 0.7506, -9.0], [-2.0767, 0.5565, -9.0]], b: [[-1.9863, 0.8228, -2.7], [-2.6793, 1.1098, -2.7], [-2.8012, 0.7506, -2.7], [-2.0767, 0.5565, -2.7]], collide: 2} - {kind: loft, a: [[-1.9863, 0.8228, -2.7], [-2.6793, 1.1098, -2.7], [-2.8012, 0.7506, -2.7], [-2.0767, 0.5565, -2.7]], b: [[-1.9863, 0.8228, -1.7000000000000002], [-2.6793, 1.1098, -1.7000000000000002], [-2.8012, 0.7506, -1.7000000000000002], [-2.0767, 0.5565, -1.7000000000000002]], collide: 2} - {kind: loft, a: [[-1.9863, 0.8228, -1.7000000000000002], [-2.6793, 1.1098, -1.7000000000000002], [-2.8012, 0.7506, -1.7000000000000002], [-2.0767, 0.5565, -1.7000000000000002]], b: [[-1.9863, 0.8228, 0.0], [-2.6793, 1.1098, 0.0], [-2.8012, 0.7506, 0.0], [-2.0767, 0.5565, 0.0]], collide: 2} - {kind: loft, a: [[-2.0767, 0.5565, -9.0], [-2.8012, 0.7506, -9.0], [-2.8752, 0.3785, -9.0], [-2.1316, 0.2806, -9.0]], b: [[-2.0767, 0.5565, -2.7], [-2.8012, 0.7506, -2.7], [-2.8752, 0.3785, -2.7], [-2.1316, 0.2806, -2.7]], collide: 2} - {kind: loft, a: [[-2.0767, 0.5565, -2.7], [-2.8012, 0.7506, -2.7], [-2.8752, 0.3785, -2.7], [-2.1316, 0.2806, -2.7]], b: [[-2.0767, 0.5565, -1.7000000000000002], [-2.8012, 0.7506, -1.7000000000000002], [-2.8752, 0.3785, -1.7000000000000002], [-2.1316, 0.2806, -1.7000000000000002]], collide: 2} - {kind: loft, a: [[-2.0767, 0.5565, -1.7000000000000002], [-2.8012, 0.7506, -1.7000000000000002], [-2.8752, 0.3785, -1.7000000000000002], [-2.1316, 0.2806, -1.7000000000000002]], b: [[-2.0767, 0.5565, 0.0], [-2.8012, 0.7506, 0.0], [-2.8752, 0.3785, 0.0], [-2.1316, 0.2806, 0.0]], collide: 2} - {kind: loft, a: [[-2.1316, 0.2806, -9.0], [-2.8752, 0.3785, -9.0], [-2.9, 0.0, -9.0], [-2.15, 0.0, -9.0]], b: [[-2.1316, 0.2806, -2.7], [-2.8752, 0.3785, -2.7], [-2.9, 0.0, -2.7], [-2.15, 0.0, -2.7]], collide: 2} - {kind: loft, a: [[-2.1316, 0.2806, -2.7], [-2.8752, 0.3785, -2.7], [-2.9, 0.0, -2.7], [-2.15, 0.0, -2.7]], b: [[-2.1316, 0.2806, -1.7000000000000002], [-2.8752, 0.3785, -1.7000000000000002], [-2.9, 0.0, -1.7000000000000002], [-2.15, 0.0, -1.7000000000000002]], collide: 2} - {kind: loft, a: [[-2.1316, 0.2806, -1.7000000000000002], [-2.8752, 0.3785, -1.7000000000000002], [-2.9, 0.0, -1.7000000000000002], [-2.15, 0.0, -1.7000000000000002]], b: [[-2.1316, 0.2806, 0.0], [-2.8752, 0.3785, 0.0], [-2.9, 0.0, 0.0], [-2.15, 0.0, 0.0]], collide: 2} joints: - {id: j_pull, type: slide, body: hand, axis: [0, 0, 1], range: [-0.5, 8], stiffness: 40, springref: 30, damping: 200} # the hand's steady pull outward (+: out) - {id: j_turn, type: hinge, body: rod_a, axis: [0, 0, -1], damping: 0.001} # the one driven joint: the hand's turn (+: clockwise seen from above) contact: {solref: [0.002, 1], solimp: [0.95, 0.99, 0.0005], margin: 0} driver: {joint: j_turn, kind: velocity, swing: {amplitude: 1.07, hz: 0.1}, kv: 5, max_torque: 2} checks: - {type: position, joint: j_pull, min: -0.05, max: 0.4, settle_s: 0.3, window_s: 0.8} # pin in the cross leg: A held in against the pull - {type: position, joint: j_pull, min: 6, max: 8.1, settle_s: 4.2, window_s: 1.7} # turned to the upright leg: A drawn out - {type: penetration, max: 0.002, settle_s: 0.3} camera: {target: [0, 0, -2.6], position: [10.4, -85.8, 15.6], fov: 30} display: output: j_pull labels: {j_turn: "Part A turned by hand (driver)", j_pull: "Part A drawn out"}