# No. 249 (Brown 1868): "Ball-and-socket joint, arranged for tubing." # # Model (cm, gravity on): the upper tube ends in the socket, a spherical shell (bore 4.0775) cast in two halves bolted together at their flanges # on the equator; the shell's inside is 24 x 12 convex patches, each standing 0.03 cm off the ball at its middle. The lower tube ends in the ball # (radius 4), which nothing holds but the socket: the lower tube is on free carriages across (x) and up and down (z) and hangs by its weight on the # lower half's seat. The hand swings the lower tube to and fro about the ball, 24 deg each way at 0.25 Hz (the one driven joint; the # socket's mouth is cut back to 52 deg so the neck clears it). Ball on shell is the only contact; it keeps the ball, and so the # swing's centre, in the socket. One plane of swing is shown; the ball turns in the socket in any. Generator: opencode-runs/batch11/gen249.py. number: 249 slug: ball-and-socket-joint name: Ball-and-socket joint, arranged for tubing brown: "Ball-and-socket joint, arranged for tubing." units: cm sim: {timestep: 0.0005, integrator: implicitfast, iterations: 60, duration_s: 8, floor: false} bodies: - id: socket shape: part pos: [0, 0, 0] fixed: true friction: 0.1 color: "#b8ad97" pieces: - {kind: rod, from: [0, 0, 3.4649], to: [0, 0, 16], radius: 2.0875, collide: 0} # the upper tube - {kind: loft, a: [[1.7875, 0.0, 3.6649], [1.7266, 0.4626, 3.6649], [2.3471, 0.0, 3.3343], [2.2671, 0.6075, 3.3343]], b: [[2.0505, 0.0, 4.2041], [1.9806, 0.5307, 4.2041], [2.6925, 0.0, 3.8249], [2.6007, 0.6969, 3.8249]], collide: 2} - {kind: loft, a: [[1.7266, 0.4626, 3.6649], [1.548, 0.8937, 3.6649], [2.2671, 0.6075, 3.3343], [2.0326, 1.1735, 3.3343]], b: [[1.9806, 0.5307, 4.2041], [1.7758, 1.0252, 4.2041], [2.6007, 0.6969, 3.8249], [2.3317, 1.3462, 3.8249]], collide: 2} - {kind: loft, a: [[1.548, 0.8937, 3.6649], [1.2639, 1.2639, 3.6649], [2.0326, 1.1735, 3.3343], [1.6596, 1.6596, 3.3343]], b: [[1.7758, 1.0252, 4.2041], [1.4499, 1.4499, 4.2041], [2.3317, 1.3462, 3.8249], [1.9039, 1.9039, 3.8249]], collide: 2} - {kind: loft, a: [[1.2639, 1.2639, 3.6649], [0.8937, 1.548, 3.6649], [1.6596, 1.6596, 3.3343], [1.1735, 2.0326, 3.3343]], b: [[1.4499, 1.4499, 4.2041], [1.0252, 1.7758, 4.2041], [1.9039, 1.9039, 3.8249], [1.3462, 2.3317, 3.8249]], collide: 2} - {kind: loft, a: [[0.8937, 1.548, 3.6649], [0.4626, 1.7266, 3.6649], [1.1735, 2.0326, 3.3343], [0.6075, 2.2671, 3.3343]], b: [[1.0252, 1.7758, 4.2041], [0.5307, 1.9806, 4.2041], [1.3462, 2.3317, 3.8249], [0.6969, 2.6007, 3.8249]], collide: 2} - {kind: loft, a: [[0.4626, 1.7266, 3.6649], [0.0, 1.7875, 3.6649], [0.6075, 2.2671, 3.3343], [0.0, 2.3471, 3.3343]], b: [[0.5307, 1.9806, 4.2041], [0.0, 2.0505, 4.2041], [0.6969, 2.6007, 3.8249], [0.0, 2.6925, 3.8249]], collide: 2} - {kind: loft, a: [[0.0, 1.7875, 3.6649], [-0.4626, 1.7266, 3.6649], [0.0, 2.3471, 3.3343], [-0.6075, 2.2671, 3.3343]], b: [[0.0, 2.0505, 4.2041], [-0.5307, 1.9806, 4.2041], [0.0, 2.6925, 3.8249], [-0.6969, 2.6007, 3.8249]], collide: 2} - {kind: loft, a: [[-0.4626, 1.7266, 3.6649], [-0.8937, 1.548, 3.6649], [-0.6075, 2.2671, 3.3343], [-1.1735, 2.0326, 3.3343]], b: [[-0.5307, 1.9806, 4.2041], [-1.0252, 1.7758, 4.2041], [-0.6969, 2.6007, 3.8249], [-1.3462, 2.3317, 3.8249]], collide: 2} - {kind: loft, a: [[-0.8937, 1.548, 3.6649], [-1.2639, 1.2639, 3.6649], [-1.1735, 2.0326, 3.3343], [-1.6596, 1.6596, 3.3343]], b: [[-1.0252, 1.7758, 4.2041], [-1.4499, 1.4499, 4.2041], [-1.3462, 2.3317, 3.8249], [-1.9039, 1.9039, 3.8249]], collide: 2} - {kind: loft, a: [[-1.2639, 1.2639, 3.6649], [-1.548, 0.8937, 3.6649], [-1.6596, 1.6596, 3.3343], [-2.0326, 1.1735, 3.3343]], b: [[-1.4499, 1.4499, 4.2041], [-1.7758, 1.0252, 4.2041], [-1.9039, 1.9039, 3.8249], [-2.3317, 1.3462, 3.8249]], collide: 2} - {kind: loft, a: [[-1.548, 0.8937, 3.6649], [-1.7266, 0.4626, 3.6649], [-2.0326, 1.1735, 3.3343], [-2.2671, 0.6075, 3.3343]], b: [[-1.7758, 1.0252, 4.2041], [-1.9806, 0.5307, 4.2041], [-2.3317, 1.3462, 3.8249], [-2.6007, 0.6969, 3.8249]], collide: 2} - {kind: loft, a: [[-1.7266, 0.4626, 3.6649], [-1.7875, 0.0, 3.6649], [-2.2671, 0.6075, 3.3343], [-2.3471, 0.0, 3.3343]], b: [[-1.9806, 0.5307, 4.2041], [-2.0505, 0.0, 4.2041], [-2.6007, 0.6969, 3.8249], [-2.6925, 0.0, 3.8249]], collide: 2} - {kind: loft, a: [[-1.7875, 0.0, 3.6649], [-1.7266, -0.4626, 3.6649], [-2.3471, 0.0, 3.3343], [-2.2671, -0.6075, 3.3343]], b: [[-2.0505, 0.0, 4.2041], [-1.9806, -0.5307, 4.2041], [-2.6925, 0.0, 3.8249], [-2.6007, -0.6969, 3.8249]], collide: 2} - {kind: loft, a: [[-1.7266, -0.4626, 3.6649], [-1.548, -0.8937, 3.6649], [-2.2671, -0.6075, 3.3343], [-2.0326, -1.1735, 3.3343]], b: [[-1.9806, -0.5307, 4.2041], [-1.7758, -1.0252, 4.2041], [-2.6007, -0.6969, 3.8249], [-2.3317, -1.3462, 3.8249]], collide: 2} - {kind: loft, a: [[-1.548, -0.8937, 3.6649], [-1.2639, -1.2639, 3.6649], [-2.0326, -1.1735, 3.3343], [-1.6596, -1.6596, 3.3343]], b: [[-1.7758, -1.0252, 4.2041], [-1.4499, -1.4499, 4.2041], [-2.3317, -1.3462, 3.8249], [-1.9039, -1.9039, 3.8249]], collide: 2} - {kind: loft, a: [[-1.2639, -1.2639, 3.6649], [-0.8937, -1.548, 3.6649], [-1.6596, -1.6596, 3.3343], [-1.1735, -2.0326, 3.3343]], b: [[-1.4499, -1.4499, 4.2041], [-1.0252, -1.7758, 4.2041], [-1.9039, -1.9039, 3.8249], [-1.3462, -2.3317, 3.8249]], collide: 2} - {kind: loft, a: [[-0.8937, -1.548, 3.6649], [-0.4626, -1.7266, 3.6649], [-1.1735, -2.0326, 3.3343], [-0.6075, -2.2671, 3.3343]], b: [[-1.0252, -1.7758, 4.2041], [-0.5307, -1.9806, 4.2041], [-1.3462, -2.3317, 3.8249], [-0.6969, -2.6007, 3.8249]], collide: 2} - {kind: loft, a: [[-0.4626, -1.7266, 3.6649], [-0.0, -1.7875, 3.6649], [-0.6075, -2.2671, 3.3343], [-0.0, -2.3471, 3.3343]], b: [[-0.5307, -1.9806, 4.2041], [-0.0, -2.0505, 4.2041], [-0.6969, -2.6007, 3.8249], [-0.0, -2.6925, 3.8249]], collide: 2} - {kind: loft, a: [[-0.0, -1.7875, 3.6649], [0.4626, -1.7266, 3.6649], [-0.0, -2.3471, 3.3343], [0.6075, -2.2671, 3.3343]], b: [[-0.0, -2.0505, 4.2041], [0.5307, -1.9806, 4.2041], [-0.0, -2.6925, 3.8249], [0.6969, -2.6007, 3.8249]], collide: 2} - {kind: loft, a: [[0.4626, -1.7266, 3.6649], [0.8937, -1.548, 3.6649], [0.6075, -2.2671, 3.3343], [1.1735, -2.0326, 3.3343]], b: [[0.5307, -1.9806, 4.2041], [1.0252, -1.7758, 4.2041], [0.6969, -2.6007, 3.8249], [1.3462, -2.3317, 3.8249]], collide: 2} - {kind: loft, a: [[0.8937, -1.548, 3.6649], [1.2639, -1.2639, 3.6649], [1.1735, -2.0326, 3.3343], [1.6596, -1.6596, 3.3343]], b: [[1.0252, -1.7758, 4.2041], [1.4499, -1.4499, 4.2041], [1.3462, -2.3317, 3.8249], [1.9039, -1.9039, 3.8249]], collide: 2} - {kind: loft, a: [[1.2639, -1.2639, 3.6649], [1.548, -0.8937, 3.6649], [1.6596, -1.6596, 3.3343], [2.0326, -1.1735, 3.3343]], b: [[1.4499, -1.4499, 4.2041], [1.7758, -1.0252, 4.2041], [1.9039, -1.9039, 3.8249], [2.3317, -1.3462, 3.8249]], collide: 2} - {kind: loft, a: [[1.548, -0.8937, 3.6649], [1.7266, -0.4626, 3.6649], [2.0326, -1.1735, 3.3343], [2.2671, -0.6075, 3.3343]], b: [[1.7758, -1.0252, 4.2041], [1.9806, -0.5307, 4.2041], [2.3317, -1.3462, 3.8249], [2.6007, -0.6969, 3.8249]], collide: 2} - {kind: loft, a: [[1.7266, -0.4626, 3.6649], [1.7875, -0.0, 3.6649], [2.2671, -0.6075, 3.3343], [2.3471, -0.0, 3.3343]], b: [[1.9806, -0.5307, 4.2041], [2.0505, -0.0, 4.2041], [2.6007, -0.6969, 3.8249], [2.6925, -0.0, 3.8249]], collide: 2} - {kind: loft, a: [[2.3471, 0.0, 3.3343], [2.2671, 0.6075, 3.3343], [2.8471, 0.0, 2.919], [2.7501, 0.7369, 2.919]], b: [[2.6925, 0.0, 3.8249], [2.6007, 0.6969, 3.8249], [3.266, 0.0, 3.3485], [3.1547, 0.8453, 3.3485]], collide: 2} - {kind: loft, a: [[2.2671, 0.6075, 3.3343], [2.0326, 1.1735, 3.3343], [2.7501, 0.7369, 2.919], [2.4656, 1.4235, 2.919]], b: [[2.6007, 0.6969, 3.8249], [2.3317, 1.3462, 3.8249], [3.1547, 0.8453, 3.3485], [2.8285, 1.633, 3.3485]], collide: 2} - {kind: loft, a: [[2.0326, 1.1735, 3.3343], [1.6596, 1.6596, 3.3343], [2.4656, 1.4235, 2.919], [2.0132, 2.0132, 2.919]], b: [[2.3317, 1.3462, 3.8249], [1.9039, 1.9039, 3.8249], [2.8285, 1.633, 3.3485], [2.3094, 2.3094, 3.3485]], collide: 2} - {kind: loft, a: [[1.6596, 1.6596, 3.3343], [1.1735, 2.0326, 3.3343], [2.0132, 2.0132, 2.919], [1.4235, 2.4656, 2.919]], b: [[1.9039, 1.9039, 3.8249], [1.3462, 2.3317, 3.8249], [2.3094, 2.3094, 3.3485], [1.633, 2.8285, 3.3485]], collide: 2} - {kind: loft, a: [[1.1735, 2.0326, 3.3343], [0.6075, 2.2671, 3.3343], [1.4235, 2.4656, 2.919], [0.7369, 2.7501, 2.919]], b: [[1.3462, 2.3317, 3.8249], [0.6969, 2.6007, 3.8249], [1.633, 2.8285, 3.3485], [0.8453, 3.1547, 3.3485]], collide: 2} - {kind: loft, a: [[0.6075, 2.2671, 3.3343], [0.0, 2.3471, 3.3343], [0.7369, 2.7501, 2.919], [0.0, 2.8471, 2.919]], b: [[0.6969, 2.6007, 3.8249], [0.0, 2.6925, 3.8249], [0.8453, 3.1547, 3.3485], [0.0, 3.266, 3.3485]], collide: 2} - {kind: loft, a: [[0.0, 2.3471, 3.3343], [-0.6075, 2.2671, 3.3343], [0.0, 2.8471, 2.919], [-0.7369, 2.7501, 2.919]], b: [[0.0, 2.6925, 3.8249], [-0.6969, 2.6007, 3.8249], [0.0, 3.266, 3.3485], [-0.8453, 3.1547, 3.3485]], collide: 2} - {kind: loft, a: [[-0.6075, 2.2671, 3.3343], [-1.1735, 2.0326, 3.3343], [-0.7369, 2.7501, 2.919], [-1.4235, 2.4656, 2.919]], b: [[-0.6969, 2.6007, 3.8249], [-1.3462, 2.3317, 3.8249], [-0.8453, 3.1547, 3.3485], [-1.633, 2.8285, 3.3485]], collide: 2} - {kind: loft, a: [[-1.1735, 2.0326, 3.3343], [-1.6596, 1.6596, 3.3343], [-1.4235, 2.4656, 2.919], [-2.0132, 2.0132, 2.919]], b: [[-1.3462, 2.3317, 3.8249], [-1.9039, 1.9039, 3.8249], [-1.633, 2.8285, 3.3485], [-2.3094, 2.3094, 3.3485]], collide: 2} - {kind: loft, a: [[-1.6596, 1.6596, 3.3343], [-2.0326, 1.1735, 3.3343], [-2.0132, 2.0132, 2.919], [-2.4656, 1.4235, 2.919]], b: [[-1.9039, 1.9039, 3.8249], [-2.3317, 1.3462, 3.8249], [-2.3094, 2.3094, 3.3485], [-2.8285, 1.633, 3.3485]], collide: 2} - {kind: loft, a: [[-2.0326, 1.1735, 3.3343], [-2.2671, 0.6075, 3.3343], [-2.4656, 1.4235, 2.919], [-2.7501, 0.7369, 2.919]], b: [[-2.3317, 1.3462, 3.8249], [-2.6007, 0.6969, 3.8249], [-2.8285, 1.633, 3.3485], [-3.1547, 0.8453, 3.3485]], collide: 2} - {kind: loft, a: [[-2.2671, 0.6075, 3.3343], [-2.3471, 0.0, 3.3343], [-2.7501, 0.7369, 2.919], [-2.8471, 0.0, 2.919]], b: [[-2.6007, 0.6969, 3.8249], [-2.6925, 0.0, 3.8249], [-3.1547, 0.8453, 3.3485], [-3.266, 0.0, 3.3485]], collide: 2} - {kind: loft, a: [[-2.3471, 0.0, 3.3343], [-2.2671, -0.6075, 3.3343], [-2.8471, 0.0, 2.919], [-2.7501, -0.7369, 2.919]], b: [[-2.6925, 0.0, 3.8249], [-2.6007, -0.6969, 3.8249], [-3.266, 0.0, 3.3485], [-3.1547, -0.8453, 3.3485]], collide: 2} - {kind: loft, a: [[-2.2671, -0.6075, 3.3343], [-2.0326, -1.1735, 3.3343], [-2.7501, -0.7369, 2.919], [-2.4656, -1.4235, 2.919]], b: [[-2.6007, -0.6969, 3.8249], [-2.3317, -1.3462, 3.8249], [-3.1547, -0.8453, 3.3485], [-2.8285, -1.633, 3.3485]], collide: 2} - {kind: loft, a: [[-2.0326, -1.1735, 3.3343], [-1.6596, -1.6596, 3.3343], [-2.4656, -1.4235, 2.919], [-2.0132, -2.0132, 2.919]], b: [[-2.3317, -1.3462, 3.8249], [-1.9039, -1.9039, 3.8249], [-2.8285, -1.633, 3.3485], [-2.3094, -2.3094, 3.3485]], collide: 2} - {kind: loft, a: [[-1.6596, -1.6596, 3.3343], [-1.1735, -2.0326, 3.3343], [-2.0132, -2.0132, 2.919], [-1.4235, -2.4656, 2.919]], b: [[-1.9039, -1.9039, 3.8249], [-1.3462, -2.3317, 3.8249], [-2.3094, -2.3094, 3.3485], [-1.633, -2.8285, 3.3485]], collide: 2} - {kind: loft, a: [[-1.1735, -2.0326, 3.3343], [-0.6075, -2.2671, 3.3343], [-1.4235, -2.4656, 2.919], [-0.7369, -2.7501, 2.919]], b: [[-1.3462, -2.3317, 3.8249], [-0.6969, -2.6007, 3.8249], [-1.633, -2.8285, 3.3485], [-0.8453, -3.1547, 3.3485]], collide: 2} - {kind: loft, a: [[-0.6075, -2.2671, 3.3343], [-0.0, -2.3471, 3.3343], [-0.7369, -2.7501, 2.919], [-0.0, -2.8471, 2.919]], b: [[-0.6969, -2.6007, 3.8249], [-0.0, -2.6925, 3.8249], [-0.8453, -3.1547, 3.3485], [-0.0, -3.266, 3.3485]], collide: 2} - {kind: loft, a: [[-0.0, -2.3471, 3.3343], [0.6075, -2.2671, 3.3343], [-0.0, -2.8471, 2.919], [0.7369, -2.7501, 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collide: 2} - {kind: loft, a: [[3.3971, 0.9102, -2.0634], [3.0457, 1.7585, -2.0634], [3.1036, 0.8316, -2.5104], [2.7827, 1.6066, -2.5104]], b: [[3.897, 1.0442, -2.367], [3.4939, 2.0172, -2.367], [3.5603, 0.954, -2.8798], [3.1921, 1.843, -2.8798]], collide: 2} - {kind: loft, a: [[3.0457, 1.7585, -2.0634], [2.4868, 2.4868, -2.0634], [2.7827, 1.6066, -2.5104], [2.272, 2.272, -2.5104]], b: [[3.4939, 2.0172, -2.367], [2.8528, 2.8528, -2.367], [3.1921, 1.843, -2.8798], [2.6064, 2.6064, -2.8798]], collide: 2} - {kind: loft, a: [[2.4868, 2.4868, -2.0634], [1.7585, 3.0457, -2.0634], [2.272, 2.272, -2.5104], [1.6066, 2.7827, -2.5104]], b: [[2.8528, 2.8528, -2.367], [2.0172, 3.4939, -2.367], [2.6064, 2.6064, -2.8798], [1.843, 3.1921, -2.8798]], collide: 2} - {kind: loft, a: [[1.7585, 3.0457, -2.0634], [0.9102, 3.3971, -2.0634], [1.6066, 2.7827, -2.5104], [0.8316, 3.1036, -2.5104]], b: [[2.0172, 3.4939, -2.367], [1.0442, 3.897, -2.367], [1.843, 3.1921, -2.8798], [0.954, 3.5603, -2.8798]], collide: 2} - {kind: loft, a: [[0.9102, 3.3971, -2.0634], [0.0, 3.5169, -2.0634], [0.8316, 3.1036, -2.5104], [0.0, 3.2131, -2.5104]], b: [[1.0442, 3.897, -2.367], [0.0, 4.0344, -2.367], [0.954, 3.5603, -2.8798], [0.0, 3.6859, -2.8798]], collide: 2} - {kind: loft, a: [[0.0, 3.5169, -2.0634], [-0.9102, 3.3971, -2.0634], [0.0, 3.2131, -2.5104], [-0.8316, 3.1036, -2.5104]], b: [[0.0, 4.0344, -2.367], [-1.0442, 3.897, -2.367], [0.0, 3.6859, -2.8798], [-0.954, 3.5603, -2.8798]], collide: 2} - {kind: loft, a: [[-0.9102, 3.3971, -2.0634], [-1.7585, 3.0457, -2.0634], [-0.8316, 3.1036, -2.5104], [-1.6066, 2.7827, -2.5104]], b: [[-1.0442, 3.897, -2.367], [-2.0172, 3.4939, -2.367], [-0.954, 3.5603, -2.8798], [-1.843, 3.1921, -2.8798]], collide: 2} - {kind: loft, a: [[-1.7585, 3.0457, -2.0634], [-2.4868, 2.4868, -2.0634], [-1.6066, 2.7827, -2.5104], [-2.272, 2.272, -2.5104]], b: [[-2.0172, 3.4939, -2.367], [-2.8528, 2.8528, -2.367], [-1.843, 3.1921, -2.8798], [-2.6064, 2.6064, -2.8798]], collide: 2} - {kind: loft, a: [[-2.4868, 2.4868, -2.0634], [-3.0457, 1.7585, -2.0634], [-2.272, 2.272, -2.5104], [-2.7827, 1.6066, -2.5104]], b: [[-2.8528, 2.8528, -2.367], [-3.4939, 2.0172, -2.367], [-2.6064, 2.6064, -2.8798], [-3.1921, 1.843, -2.8798]], collide: 2} - {kind: loft, a: [[-3.0457, 1.7585, -2.0634], [-3.3971, 0.9102, -2.0634], [-2.7827, 1.6066, -2.5104], [-3.1036, 0.8316, -2.5104]], b: [[-3.4939, 2.0172, -2.367], [-3.897, 1.0442, -2.367], [-3.1921, 1.843, -2.8798], [-3.5603, 0.954, -2.8798]], collide: 2} - {kind: loft, a: [[-3.3971, 0.9102, -2.0634], [-3.5169, 0.0, -2.0634], [-3.1036, 0.8316, -2.5104], [-3.2131, 0.0, -2.5104]], b: [[-3.897, 1.0442, -2.367], [-4.0344, 0.0, -2.367], [-3.5603, 0.954, -2.8798], [-3.6859, 0.0, -2.8798]], collide: 2} - {kind: loft, a: [[-3.5169, 0.0, -2.0634], [-3.3971, -0.9102, -2.0634], [-3.2131, 0.0, -2.5104], [-3.1036, -0.8316, -2.5104]], b: [[-4.0344, 0.0, -2.367], [-3.897, -1.0442, -2.367], [-3.6859, 0.0, -2.8798], [-3.5603, -0.954, -2.8798]], collide: 2} - {kind: loft, a: [[-3.3971, -0.9102, -2.0634], [-3.0457, -1.7585, -2.0634], [-3.1036, -0.8316, -2.5104], [-2.7827, -1.6066, -2.5104]], b: [[-3.897, -1.0442, -2.367], [-3.4939, -2.0172, -2.367], [-3.5603, -0.954, -2.8798], [-3.1921, -1.843, -2.8798]], collide: 2} - {kind: loft, a: [[-3.0457, -1.7585, -2.0634], [-2.4868, -2.4868, -2.0634], [-2.7827, -1.6066, -2.5104], [-2.272, -2.272, -2.5104]], b: [[-3.4939, -2.0172, -2.367], [-2.8528, -2.8528, -2.367], [-3.1921, -1.843, -2.8798], [-2.6064, -2.6064, -2.8798]], collide: 2} - {kind: loft, a: [[-2.4868, -2.4868, -2.0634], [-1.7585, -3.0457, -2.0634], [-2.272, -2.272, -2.5104], [-1.6066, -2.7827, -2.5104]], b: [[-2.8528, -2.8528, -2.367], [-2.0172, -3.4939, -2.367], [-2.6064, -2.6064, -2.8798], [-1.843, -3.1921, -2.8798]], collide: 2} - {kind: loft, a: [[-1.7585, -3.0457, -2.0634], [-0.9102, -3.3971, -2.0634], [-1.6066, -2.7827, -2.5104], [-0.8316, -3.1036, -2.5104]], b: [[-2.0172, -3.4939, -2.367], [-1.0442, -3.897, -2.367], [-1.843, -3.1921, -2.8798], [-0.954, -3.5603, -2.8798]], collide: 2} - {kind: loft, a: [[-0.9102, -3.3971, -2.0634], [-0.0, -3.5169, -2.0634], [-0.8316, -3.1036, -2.5104], [-0.0, -3.2131, -2.5104]], b: [[-1.0442, -3.897, -2.367], [-0.0, -4.0344, -2.367], [-0.954, -3.5603, -2.8798], [-0.0, -3.6859, -2.8798]], collide: 2} - {kind: loft, a: [[-0.0, -3.5169, -2.0634], [0.9102, -3.3971, -2.0634], [-0.0, -3.2131, -2.5104], [0.8316, -3.1036, -2.5104]], b: [[-0.0, -4.0344, -2.367], [1.0442, -3.897, -2.367], [-0.0, -3.6859, -2.8798], [0.954, -3.5603, -2.8798]], collide: 2} - {kind: loft, a: [[0.9102, -3.3971, -2.0634], [1.7585, -3.0457, -2.0634], [0.8316, -3.1036, -2.5104], [1.6066, -2.7827, -2.5104]], b: [[1.0442, -3.897, -2.367], [2.0172, -3.4939, -2.367], [0.954, -3.5603, -2.8798], [1.843, -3.1921, -2.8798]], collide: 2} - {kind: loft, a: [[1.7585, -3.0457, -2.0634], [2.4868, -2.4868, -2.0634], [1.6066, -2.7827, -2.5104], [2.272, -2.272, -2.5104]], b: [[2.0172, -3.4939, -2.367], [2.8528, -2.8528, -2.367], [1.843, -3.1921, -2.8798], [2.6064, -2.6064, -2.8798]], collide: 2} - {kind: loft, a: [[2.4868, -2.4868, -2.0634], [3.0457, -1.7585, -2.0634], [2.272, -2.272, -2.5104], [2.7827, -1.6066, -2.5104]], b: [[2.8528, -2.8528, -2.367], [3.4939, -2.0172, -2.367], [2.6064, -2.6064, -2.8798], [3.1921, -1.843, -2.8798]], collide: 2} - {kind: loft, a: [[3.0457, -1.7585, -2.0634], [3.3971, -0.9102, -2.0634], [2.7827, -1.6066, -2.5104], [3.1036, -0.8316, -2.5104]], b: [[3.4939, -2.0172, -2.367], [3.897, -1.0442, -2.367], [3.1921, -1.843, -2.8798], [3.5603, -0.954, -2.8798]], collide: 2} - {kind: loft, a: [[3.3971, -0.9102, -2.0634], [3.5169, -0.0, -2.0634], [3.1036, -0.8316, -2.5104], [3.2131, -0.0, -2.5104]], b: [[3.897, -1.0442, -2.367], [4.0344, -0.0, -2.367], [3.5603, -0.954, -2.8798], [3.6859, -0.0, -2.8798]], collide: 2} - {kind: poly, points: [[4.4775, 0.05], [7.0775, 0.05], [7.0775, 0.75], [4.4775, 0.75]], y: [-1.4, 1.4], collide: 0} # the upper half's flange - {kind: poly, points: [[4.4775, -0.75], [7.0775, -0.75], [7.0775, -0.05], [4.4775, -0.05]], y: [-1.4, 1.4], collide: 0} # the lower half's - {kind: rod, from: [6.0775, 0, -1.4], to: [6.0775, 0, 1.4], radius: 0.3, collide: 0, color: "#5a554c"} # the bolt - {kind: poly, points: [[5.5275, 0.75], [6.6275, 0.75], [6.6275, 1.25], [5.5275, 1.25]], y: [-0.55, 0.55], collide: 0, color: "#5a554c"} # its head - {kind: poly, points: [[5.5275, -1.25], [6.6275, -1.25], [6.6275, -0.75], [5.5275, -0.75]], y: [-0.55, 0.55], collide: 0, color: "#5a554c"} # its nut - {kind: poly, points: [[-7.0775, 0.05], [-4.4775, 0.05], [-4.4775, 0.75], [-7.0775, 0.75]], y: [-1.4, 1.4], collide: 0} # the upper half's flange - {kind: poly, points: [[-7.0775, -0.75], [-4.4775, -0.75], [-4.4775, -0.05], [-7.0775, -0.05]], y: [-1.4, 1.4], collide: 0} # the lower half's - {kind: rod, from: [-6.0775, 0, -1.4], to: [-6.0775, 0, 1.4], radius: 0.3, collide: 0, color: "#5a554c"} # the bolt - {kind: poly, points: [[-6.6275, 0.75], [-5.5275, 0.75], [-5.5275, 1.25], [-6.6275, 1.25]], y: [-0.55, 0.55], collide: 0, color: "#5a554c"} # its head - {kind: poly, points: [[-6.6275, -1.25], [-5.5275, -1.25], [-5.5275, -0.75], [-6.6275, -0.75]], y: [-0.55, 0.55], collide: 0, color: "#5a554c"} # its nut - id: way_x shape: part pos: [0, 0, 0] mass: 0.05 color: "#8f8a80" pieces: - {kind: rod, from: [0, 0, -16], to: [0, 0, -15.95], radius: 0.05} - id: way_z shape: part pos: [0, 0, 0] mount: way_x mass: 0.05 color: "#8f8a80" pieces: - {kind: rod, from: [0, 0, -16], to: [0, 0, -15.95], radius: 0.05} - id: tube shape: part pos: [0, 0, 0] mount: way_z mass: 1 friction: 0.1 color: "#d9cfba" pieces: - {kind: loft, a: [[0, 0, 4.0], [0.6887, 0.0907, 3.9392], [0.6577, 0.2233, 3.9392], [0.6015, 0.3473, 3.9392], [0.5222, 0.458, 3.9392], [0.4228, 0.5511, 3.9392], [0.3072, 0.623, 3.9392], [0.1798, 0.6709, 3.9392], [0.0454, 0.6931, 3.9392], [-0.0907, 0.6887, 3.9392], [-0.2233, 0.6577, 3.9392], [-0.3473, 0.6015, 3.9392], [-0.458, 0.5222, 3.9392], [-0.5511, 0.4228, 3.9392], [-0.623, 0.3072, 3.9392], [-0.6709, 0.1798, 3.9392], [-0.6931, 0.0454, 3.9392], [-0.6887, -0.0907, 3.9392], [-0.6577, -0.2233, 3.9392], [-0.6015, -0.3473, 3.9392], [-0.5222, -0.458, 3.9392], [-0.4228, -0.5511, 3.9392], [-0.3072, -0.623, 3.9392], [-0.1798, -0.6709, 3.9392], [-0.0454, -0.6931, 3.9392], [0.0907, -0.6887, 3.9392], [0.2233, -0.6577, 3.9392], [0.3473, -0.6015, 3.9392], [0.458, -0.5222, 3.9392], [0.5511, -0.4228, 3.9392], [0.623, -0.3072, 3.9392], [0.6709, -0.1798, 3.9392], [0.6931, -0.0454, 3.9392], [1.3681, 0.0, 3.7588], [1.3418, 0.2669, 3.7588], [1.2639, 0.5235, 3.7588], [1.1375, 0.7601, 3.7588], [0.9674, 0.9674, 3.7588], [0.7601, 1.1375, 3.7588], [0.5235, 1.2639, 3.7588], [0.2669, 1.3418, 3.7588], [0.0, 1.3681, 3.7588], [-0.2669, 1.3418, 3.7588], [-0.5235, 1.2639, 3.7588], [-0.7601, 1.1375, 3.7588], [-0.9674, 0.9674, 3.7588], [-1.1375, 0.7601, 3.7588], [-1.2639, 0.5235, 3.7588], [-1.3418, 0.2669, 3.7588], [-1.3681, 0.0, 3.7588], [-1.3418, -0.2669, 3.7588], [-1.2639, -0.5235, 3.7588], [-1.1375, -0.7601, 3.7588], [-0.9674, -0.9674, 3.7588], [-0.7601, -1.1375, 3.7588], [-0.5235, -1.2639, 3.7588], [-0.2669, -1.3418, 3.7588], [-0.0, -1.3681, 3.7588], [0.2669, -1.3418, 3.7588], [0.5235, -1.2639, 3.7588], [0.7601, -1.1375, 3.7588], [0.9674, -0.9674, 3.7588], [1.1375, -0.7601, 3.7588], [1.2639, -0.5235, 3.7588], [1.3418, -0.2669, 3.7588], [1.9829, 0.2611, 3.4641], [1.8939, 0.6429, 3.4641], [1.7321, 1.0, 3.4641], [1.5037, 1.3187, 3.4641], [1.2175, 1.5867, 3.4641], [0.8846, 1.7937, 3.4641], [0.5176, 1.9319, 3.4641], [0.1308, 1.9957, 3.4641], [-0.2611, 1.9829, 3.4641], [-0.6429, 1.8939, 3.4641], [-1.0, 1.7321, 3.4641], [-1.3187, 1.5037, 3.4641], [-1.5867, 1.2175, 3.4641], [-1.7937, 0.8846, 3.4641], [-1.9319, 0.5176, 3.4641], [-1.9957, 0.1308, 3.4641], [-1.9829, -0.2611, 3.4641], [-1.8939, -0.6429, 3.4641], [-1.7321, -1.0, 3.4641], [-1.5037, -1.3187, 3.4641], [-1.2175, -1.5867, 3.4641], [-0.8846, -1.7937, 3.4641], [-0.5176, -1.9319, 3.4641], [-0.1308, -1.9957, 3.4641], [0.2611, -1.9829, 3.4641], [0.6429, -1.8939, 3.4641], [1.0, -1.7321, 3.4641], [1.3187, -1.5037, 3.4641], [1.5867, -1.2175, 3.4641], [1.7937, -0.8846, 3.4641], [1.9319, -0.5176, 3.4641], [1.9957, -0.1308, 3.4641], [2.5712, 0.0, 3.0642], [2.5217, 0.5016, 3.0642], [2.3754, 0.9839, 3.0642], [2.1378, 1.4285, 3.0642], [1.8181, 1.8181, 3.0642], [1.4285, 2.1378, 3.0642], [0.9839, 2.3754, 3.0642], [0.5016, 2.5217, 3.0642], [0.0, 2.5712, 3.0642], [-0.5016, 2.5217, 3.0642], [-0.9839, 2.3754, 3.0642], [-1.4285, 2.1378, 3.0642], [-1.8181, 1.8181, 3.0642], [-2.1378, 1.4285, 3.0642], [-2.3754, 0.9839, 3.0642], [-2.5217, 0.5016, 3.0642], [-2.5712, 0.0, 3.0642], [-2.5217, -0.5016, 3.0642], [-2.3754, -0.9839, 3.0642], [-2.1378, -1.4285, 3.0642], [-1.8181, -1.8181, 3.0642], [-1.4285, -2.1378, 3.0642], [-0.9839, -2.3754, 3.0642], [-0.5016, -2.5217, 3.0642], [-0.0, -2.5712, 3.0642], [0.5016, -2.5217, 3.0642], [0.9839, -2.3754, 3.0642], [1.4285, -2.1378, 3.0642], [1.8181, -1.8181, 3.0642], [2.1378, -1.4285, 3.0642], [2.3754, -0.9839, 3.0642], [2.5217, -0.5016, 3.0642], [3.038, 0.4, 2.5712], [2.9016, 0.9849, 2.5712], [2.6537, 1.5321, 2.5712], [2.3038, 2.0204, 2.5712], [1.8654, 2.431, 2.5712], [1.3553, 2.7482, 2.5712], [0.7931, 2.9598, 2.5712], [0.2004, 3.0576, 2.5712], [-0.4, 3.038, 2.5712], [-0.9849, 2.9016, 2.5712], [-1.5321, 2.6537, 2.5712], [-2.0204, 2.3038, 2.5712], [-2.431, 1.8654, 2.5712], [-2.7482, 1.3553, 2.5712], [-2.9598, 0.7931, 2.5712], [-3.0576, 0.2004, 2.5712], [-3.038, -0.4, 2.5712], [-2.9016, -0.9849, 2.5712], [-2.6537, -1.5321, 2.5712], [-2.3038, -2.0204, 2.5712], [-1.8654, -2.431, 2.5712], [-1.3553, -2.7482, 2.5712], [-0.7931, -2.9598, 2.5712], [-0.2004, -3.0576, 2.5712], [0.4, -3.038, 2.5712], [0.9849, -2.9016, 2.5712], [1.5321, -2.6537, 2.5712], [2.0204, -2.3038, 2.5712], [2.431, -1.8654, 2.5712], [2.7482, -1.3553, 2.5712], [2.9598, -0.7931, 2.5712], [3.0576, -0.2004, 2.5712], [3.4641, 0.0, 2.0], [3.3975, 0.6758, 2.0], [3.2004, 1.3257, 2.0], [2.8803, 1.9246, 2.0], [2.4495, 2.4495, 2.0], [1.9246, 2.8803, 2.0], [1.3257, 3.2004, 2.0], [0.6758, 3.3975, 2.0], [0.0, 3.4641, 2.0], [-0.6758, 3.3975, 2.0], [-1.3257, 3.2004, 2.0], [-1.9246, 2.8803, 2.0], [-2.4495, 2.4495, 2.0], [-2.8803, 1.9246, 2.0], [-3.2004, 1.3257, 2.0], [-3.3975, 0.6758, 2.0], [-3.4641, 0.0, 2.0], [-3.3975, -0.6758, 2.0], [-3.2004, -1.3257, 2.0], [-2.8803, -1.9246, 2.0], [-2.4495, -2.4495, 2.0], [-1.9246, -2.8803, 2.0], [-1.3257, -3.2004, 2.0], [-0.6758, -3.3975, 2.0], [-0.0, -3.4641, 2.0], [0.6758, -3.3975, 2.0], [1.3257, -3.2004, 2.0], [1.9246, -2.8803, 2.0], [2.4495, -2.4495, 2.0], [2.8803, -1.9246, 2.0], [3.2004, -1.3257, 2.0], [3.3975, -0.6758, 2.0], [3.7266, 0.4906, 1.3681], [3.5593, 1.2082, 1.3681], [3.2552, 1.8794, 1.3681], [2.826, 2.4783, 1.3681], [2.2882, 2.982, 1.3681], [1.6625, 3.3711, 1.3681], [0.9728, 3.6307, 1.3681], [0.2458, 3.7507, 1.3681], [-0.4906, 3.7266, 1.3681], [-1.2082, 3.5593, 1.3681], [-1.8794, 3.2552, 1.3681], [-2.4783, 2.826, 1.3681], [-2.982, 2.2882, 1.3681], [-3.3711, 1.6625, 1.3681], [-3.6307, 0.9728, 1.3681], [-3.7507, 0.2458, 1.3681], [-3.7266, -0.4906, 1.3681], [-3.5593, -1.2082, 1.3681], [-3.2552, -1.8794, 1.3681], [-2.826, -2.4783, 1.3681], [-2.2882, -2.982, 1.3681], [-1.6625, -3.3711, 1.3681], [-0.9728, -3.6307, 1.3681], [-0.2458, -3.7507, 1.3681], [0.4906, -3.7266, 1.3681], [1.2082, -3.5593, 1.3681], [1.8794, -3.2552, 1.3681], [2.4783, -2.826, 1.3681], [2.982, -2.2882, 1.3681], [3.3711, -1.6625, 1.3681], [3.6307, -0.9728, 1.3681], [3.7507, -0.2458, 1.3681], [3.9392, 0.0, 0.6946], [3.8635, 0.7685, 0.6946], [3.6394, 1.5075, 0.6946], [3.2754, 2.1885, 0.6946], [2.7855, 2.7855, 0.6946], [2.1885, 3.2754, 0.6946], [1.5075, 3.6394, 0.6946], [0.7685, 3.8635, 0.6946], [0.0, 3.9392, 0.6946], [-0.7685, 3.8635, 0.6946], [-1.5075, 3.6394, 0.6946], [-2.1885, 3.2754, 0.6946], [-2.7855, 2.7855, 0.6946], [-3.2754, 2.1885, 0.6946], [-3.6394, 1.5075, 0.6946], [-3.8635, 0.7685, 0.6946], [-3.9392, 0.0, 0.6946], [-3.8635, -0.7685, 0.6946], [-3.6394, -1.5075, 0.6946], [-3.2754, -2.1885, 0.6946], [-2.7855, -2.7855, 0.6946], [-2.1885, -3.2754, 0.6946], [-1.5075, -3.6394, 0.6946], [-0.7685, -3.8635, 0.6946], [-0.0, -3.9392, 0.6946], [0.7685, -3.8635, 0.6946], [1.5075, -3.6394, 0.6946], [2.1885, -3.2754, 0.6946], [2.7855, -2.7855, 0.6946], [3.2754, -2.1885, 0.6946], [3.6394, -1.5075, 0.6946], [3.8635, -0.7685, 0.6946]], b: [[0, 0, -4.0], [0.6887, 0.0907, -3.9392], [0.6577, 0.2233, -3.9392], [0.6015, 0.3473, -3.9392], [0.5222, 0.458, -3.9392], [0.4228, 0.5511, -3.9392], [0.3072, 0.623, -3.9392], [0.1798, 0.6709, -3.9392], [0.0454, 0.6931, -3.9392], [-0.0907, 0.6887, -3.9392], [-0.2233, 0.6577, -3.9392], [-0.3473, 0.6015, -3.9392], [-0.458, 0.5222, -3.9392], [-0.5511, 0.4228, -3.9392], [-0.623, 0.3072, -3.9392], [-0.6709, 0.1798, -3.9392], [-0.6931, 0.0454, -3.9392], [-0.6887, -0.0907, -3.9392], [-0.6577, -0.2233, -3.9392], [-0.6015, -0.3473, -3.9392], [-0.5222, -0.458, -3.9392], [-0.4228, -0.5511, -3.9392], [-0.3072, -0.623, -3.9392], [-0.1798, -0.6709, -3.9392], [-0.0454, -0.6931, -3.9392], [0.0907, -0.6887, -3.9392], [0.2233, -0.6577, -3.9392], [0.3473, -0.6015, -3.9392], [0.458, -0.5222, -3.9392], [0.5511, -0.4228, -3.9392], [0.623, -0.3072, -3.9392], [0.6709, -0.1798, -3.9392], [0.6931, -0.0454, -3.9392], [1.3681, 0.0, -3.7588], [1.3418, 0.2669, -3.7588], [1.2639, 0.5235, -3.7588], [1.1375, 0.7601, -3.7588], [0.9674, 0.9674, -3.7588], [0.7601, 1.1375, -3.7588], [0.5235, 1.2639, -3.7588], [0.2669, 1.3418, -3.7588], [0.0, 1.3681, -3.7588], [-0.2669, 1.3418, -3.7588], [-0.5235, 1.2639, -3.7588], [-0.7601, 1.1375, -3.7588], [-0.9674, 0.9674, -3.7588], [-1.1375, 0.7601, -3.7588], [-1.2639, 0.5235, -3.7588], [-1.3418, 0.2669, -3.7588], [-1.3681, 0.0, -3.7588], [-1.3418, -0.2669, -3.7588], [-1.2639, -0.5235, -3.7588], [-1.1375, -0.7601, -3.7588], [-0.9674, -0.9674, -3.7588], [-0.7601, -1.1375, -3.7588], [-0.5235, -1.2639, -3.7588], [-0.2669, -1.3418, -3.7588], [-0.0, -1.3681, -3.7588], [0.2669, -1.3418, -3.7588], [0.5235, -1.2639, -3.7588], [0.7601, -1.1375, -3.7588], [0.9674, -0.9674, -3.7588], [1.1375, -0.7601, -3.7588], [1.2639, -0.5235, -3.7588], [1.3418, -0.2669, -3.7588], [1.9829, 0.2611, -3.4641], [1.8939, 0.6429, -3.4641], [1.7321, 1.0, -3.4641], [1.5037, 1.3187, -3.4641], [1.2175, 1.5867, -3.4641], [0.8846, 1.7937, -3.4641], [0.5176, 1.9319, -3.4641], [0.1308, 1.9957, -3.4641], [-0.2611, 1.9829, -3.4641], [-0.6429, 1.8939, -3.4641], [-1.0, 1.7321, -3.4641], [-1.3187, 1.5037, -3.4641], [-1.5867, 1.2175, -3.4641], [-1.7937, 0.8846, -3.4641], [-1.9319, 0.5176, -3.4641], [-1.9957, 0.1308, -3.4641], [-1.9829, -0.2611, -3.4641], [-1.8939, -0.6429, -3.4641], [-1.7321, -1.0, -3.4641], [-1.5037, -1.3187, -3.4641], [-1.2175, -1.5867, -3.4641], [-0.8846, -1.7937, -3.4641], [-0.5176, -1.9319, -3.4641], [-0.1308, -1.9957, -3.4641], [0.2611, -1.9829, -3.4641], [0.6429, -1.8939, -3.4641], [1.0, -1.7321, -3.4641], [1.3187, -1.5037, -3.4641], [1.5867, -1.2175, -3.4641], [1.7937, -0.8846, -3.4641], [1.9319, -0.5176, -3.4641], [1.9957, -0.1308, -3.4641], [2.5712, 0.0, -3.0642], [2.5217, 0.5016, -3.0642], [2.3754, 0.9839, -3.0642], [2.1378, 1.4285, -3.0642], [1.8181, 1.8181, -3.0642], [1.4285, 2.1378, -3.0642], [0.9839, 2.3754, -3.0642], [0.5016, 2.5217, -3.0642], [0.0, 2.5712, -3.0642], [-0.5016, 2.5217, -3.0642], [-0.9839, 2.3754, -3.0642], [-1.4285, 2.1378, -3.0642], [-1.8181, 1.8181, -3.0642], [-2.1378, 1.4285, -3.0642], [-2.3754, 0.9839, -3.0642], [-2.5217, 0.5016, -3.0642], [-2.5712, 0.0, -3.0642], [-2.5217, -0.5016, -3.0642], [-2.3754, -0.9839, -3.0642], [-2.1378, -1.4285, -3.0642], [-1.8181, -1.8181, -3.0642], [-1.4285, -2.1378, -3.0642], [-0.9839, -2.3754, -3.0642], [-0.5016, -2.5217, -3.0642], [-0.0, -2.5712, -3.0642], [0.5016, -2.5217, -3.0642], [0.9839, -2.3754, -3.0642], [1.4285, -2.1378, -3.0642], [1.8181, -1.8181, -3.0642], [2.1378, -1.4285, -3.0642], [2.3754, -0.9839, -3.0642], [2.5217, -0.5016, -3.0642], [3.038, 0.4, -2.5712], [2.9016, 0.9849, -2.5712], [2.6537, 1.5321, -2.5712], [2.3038, 2.0204, -2.5712], [1.8654, 2.431, -2.5712], [1.3553, 2.7482, -2.5712], [0.7931, 2.9598, -2.5712], [0.2004, 3.0576, -2.5712], [-0.4, 3.038, -2.5712], [-0.9849, 2.9016, -2.5712], [-1.5321, 2.6537, -2.5712], [-2.0204, 2.3038, -2.5712], [-2.431, 1.8654, -2.5712], [-2.7482, 1.3553, -2.5712], [-2.9598, 0.7931, -2.5712], [-3.0576, 0.2004, -2.5712], [-3.038, -0.4, -2.5712], [-2.9016, -0.9849, -2.5712], [-2.6537, -1.5321, -2.5712], [-2.3038, -2.0204, -2.5712], [-1.8654, -2.431, -2.5712], [-1.3553, -2.7482, -2.5712], [-0.7931, -2.9598, -2.5712], [-0.2004, -3.0576, -2.5712], [0.4, -3.038, -2.5712], [0.9849, -2.9016, -2.5712], [1.5321, -2.6537, -2.5712], [2.0204, -2.3038, -2.5712], [2.431, -1.8654, -2.5712], [2.7482, -1.3553, -2.5712], [2.9598, -0.7931, -2.5712], [3.0576, -0.2004, -2.5712], [3.4641, 0.0, -2.0], [3.3975, 0.6758, -2.0], [3.2004, 1.3257, -2.0], [2.8803, 1.9246, -2.0], [2.4495, 2.4495, -2.0], [1.9246, 2.8803, -2.0], [1.3257, 3.2004, -2.0], [0.6758, 3.3975, -2.0], [0.0, 3.4641, -2.0], [-0.6758, 3.3975, -2.0], [-1.3257, 3.2004, -2.0], [-1.9246, 2.8803, -2.0], [-2.4495, 2.4495, -2.0], [-2.8803, 1.9246, -2.0], [-3.2004, 1.3257, -2.0], [-3.3975, 0.6758, -2.0], [-3.4641, 0.0, -2.0], [-3.3975, -0.6758, -2.0], [-3.2004, -1.3257, -2.0], [-2.8803, -1.9246, -2.0], [-2.4495, -2.4495, -2.0], [-1.9246, -2.8803, -2.0], [-1.3257, -3.2004, -2.0], [-0.6758, -3.3975, -2.0], [-0.0, -3.4641, -2.0], [0.6758, -3.3975, -2.0], [1.3257, -3.2004, -2.0], [1.9246, -2.8803, -2.0], [2.4495, -2.4495, -2.0], [2.8803, -1.9246, -2.0], [3.2004, -1.3257, -2.0], [3.3975, -0.6758, -2.0], [3.7266, 0.4906, -1.3681], [3.5593, 1.2082, -1.3681], [3.2552, 1.8794, -1.3681], [2.826, 2.4783, -1.3681], [2.2882, 2.982, -1.3681], [1.6625, 3.3711, -1.3681], [0.9728, 3.6307, -1.3681], [0.2458, 3.7507, -1.3681], [-0.4906, 3.7266, -1.3681], [-1.2082, 3.5593, -1.3681], [-1.8794, 3.2552, -1.3681], [-2.4783, 2.826, -1.3681], [-2.982, 2.2882, -1.3681], [-3.3711, 1.6625, -1.3681], [-3.6307, 0.9728, -1.3681], [-3.7507, 0.2458, -1.3681], [-3.7266, -0.4906, -1.3681], [-3.5593, -1.2082, -1.3681], [-3.2552, -1.8794, -1.3681], [-2.826, -2.4783, -1.3681], [-2.2882, -2.982, -1.3681], [-1.6625, -3.3711, -1.3681], [-0.9728, -3.6307, -1.3681], [-0.2458, -3.7507, -1.3681], [0.4906, -3.7266, -1.3681], [1.2082, -3.5593, -1.3681], [1.8794, -3.2552, -1.3681], [2.4783, -2.826, -1.3681], [2.982, -2.2882, -1.3681], [3.3711, -1.6625, -1.3681], [3.6307, -0.9728, -1.3681], [3.7507, -0.2458, -1.3681], [3.9392, 0.0, -0.6946], [3.8635, 0.7685, -0.6946], [3.6394, 1.5075, -0.6946], [3.2754, 2.1885, -0.6946], [2.7855, 2.7855, -0.6946], [2.1885, 3.2754, -0.6946], [1.5075, 3.6394, -0.6946], [0.7685, 3.8635, -0.6946], [0.0, 3.9392, -0.6946], [-0.7685, 3.8635, -0.6946], [-1.5075, 3.6394, -0.6946], [-2.1885, 3.2754, -0.6946], [-2.7855, 2.7855, -0.6946], [-3.2754, 2.1885, -0.6946], [-3.6394, 1.5075, -0.6946], [-3.8635, 0.7685, -0.6946], [-3.9392, 0.0, -0.6946], [-3.8635, -0.7685, -0.6946], [-3.6394, -1.5075, -0.6946], [-3.2754, -2.1885, -0.6946], [-2.7855, -2.7855, -0.6946], [-2.1885, -3.2754, -0.6946], [-1.5075, -3.6394, -0.6946], [-0.7685, -3.8635, -0.6946], [-0.0, -3.9392, -0.6946], [0.7685, -3.8635, -0.6946], [1.5075, -3.6394, -0.6946], [2.1885, -3.2754, -0.6946], [2.7855, -2.7855, -0.6946], [3.2754, -2.1885, -0.6946], [3.6394, -1.5075, -0.6946], [3.8635, -0.7685, -0.6946]], collide: 1} # the ball (a polyhedron on the sphere) - {kind: rod, from: [0, 0, -3.7], to: [0, 0, -16], radius: 1.5, collide: 0} # the lower tube joints: - {id: j_x, type: slide, body: way_x, axis: [1, 0, 0], damping: 0.5} # the ball free across (+: right) - {id: j_z, type: slide, body: way_z, axis: [0, 0, 1], damping: 0.5} # and up and down (+: up) - {id: j_swing, type: hinge, body: tube, axis: [0, 1, 0], damping: 0.002} # the one driven joint: the hand swinging the lower tube about the ball contact: {solref: [0.002, 1], solimp: [0.95, 0.99, 0.0005], margin: 0} driver: {joint: j_swing, kind: velocity, swing: {amplitude: 0.42, hz: 0.25}, kv: 5, max_torque: 3} checks: - {type: position, joint: j_x, min: -0.1, max: 0.1, settle_s: 0.3, window_s: 7.6} # the ball held in the socket across - {type: position, joint: j_z, min: -0.19, max: 0.05, settle_s: 0.3, window_s: 7.6} # and up and down: on the lower half's seat - {type: position, joint: j_swing, min: -0.47, max: 0.47, settle_s: 0, window_s: 7.9} - {type: penetration, max: 0.002, settle_s: 0.3} camera: {target: [0, 0, 0], position: [0, -80, 8], fov: 30} display: output: j_swing labels: {j_swing: "Lower tube swung by hand (driver)", j_x: "Ball across", j_z: "Ball up/down"}