# No. 260 (Brown 1868): "A differential movement."
#
# Model (cm): the driving shaft A (the one driven joint, 40 turns a minute) carries two pinions: F (20 teeth, broad) gearing with
# D (30) on the screw shaft, and B (22) gearing with E (28), all of module 0.6, so both pairs share the centre distance 15.0.
# The screw C (pitch 1.6, 8 turns, laid in 24 convex segments a turn) turns with D and is free to slide along its axis in a
# carriage; its thread works in a 3-turn nut in the hub of E, which turns in its bearing but cannot move along it.
# D turns at 0.6667 of A, E at 0.7857: the nut gains 0.1190 of a turn on the screw for each turn of A, and the screw travels
# 0.1905 cm a turn of A, by the difference alone. Only teeth and threads touch. Generator: opencode-runs/batch11/gen260.py.
number: 260
slug: differential-screw-movement
name: A differential screw movement
brown: "A differential movement. The screw, C, works in a nut secured to the hub of the wheel, E, the nut being free to turn in a bearing in the shorter standard, but prevented by the bearing from any lateral motion. The screw-shaft is secured in the wheel, D. The driving-shaft, A, carries two pinions, F and B. If these pinions were of such size as to turn the two wheels, D and E, with an equal velocity, the screw would remain at rest; but the said wheels being driven at unequal velocities, the screw travels according to the difference of velocity."
units: cm
sim:
  timestep: 0.0001
  integrator: implicitfast
  iterations: 100
  solver: CG
  multiccd: true
  duration_s: 10
  floor: false
bodies:
  - id: shaft_a
    shape: part
    pos: [0, 0, 0]
    density: 2700
    friction: 0.1
    color: "#d9cdb0"
    pieces:
      - {kind: rod, from: [0, -4.5, 0], to: [0, 10.5, 0], radius: 0.7, collide: 0}   # the driving shaft A
      - {kind: wheel, center: [0, 0], teeth: 20, tooth: [[5.15, -0.1399], [6.6, -0.0292], [6.6, 0.0292], [5.15, 0.1399]], phase: 0.0, root: 5.25, rim: 4.75, hub: 1.5, spokes: 0, y: [-2.2, 3.2], collide: 1}   # pinion F
      - {kind: wheel, center: [0, 0], teeth: 22, tooth: [[5.75, -0.1253], [7.2, -0.0268], [7.2, 0.0268], [5.75, 0.1253]], phase: 0.1428, root: 5.85, rim: 5.35, hub: 1.65, spokes: 0, y: [7.0, 8.0], collide: 1}   # pinion B
  - id: carriage
    shape: part
    pos: [15.0, 0, 0]
    mass: 0.01
    color: "#b8ad97"
    pieces:
      - {kind: poly, points: [[13.9, -1.1], [16.1, -1.1], [16.1, 1.1], [13.9, 1.1]], y: [-2.0, -1.4], collide: 0}   # the screw shaft's collar
  - id: screw
    shape: part
    pos: [15.0, 0, 0]
    mount: carriage
    density: 7800
    friction: 0.1
    color: "#e4d9bf"
    pieces:
      - {kind: rod, from: [15.0, -1.4, 0], to: [15.0, 14.8, 0], radius: 1.0, collide: 0}   # the screw C and its shaft
      - {kind: wheel, center: [15.0, 0], teeth: 30, tooth: [[8.15, -0.0884], [9.6, -0.0201], [9.6, 0.0201], [8.15, 0.0884]], phase: 0.1047, root: 8.25, rim: 7.75, hub: 2.25, spokes: 4, y: [0.0, 1.0], collide: 2}   # wheel D, on the screw shaft
      - {kind: loft, a: [[15.95, 1.125, 0.0], [15.95, 2.075, 0.0], [16.6, 1.75, 0.0], [16.6, 1.45, 0.0]], b: [[15.9176, 1.1917, 0.2459], [15.9176, 2.1417, 0.2459], [16.5455, 1.8167, 0.4141], [16.5455, 1.5167, 0.4141]], collide: 1}
      - {kind: loft, a: [[15.9176, 1.1917, 0.2459], [15.9176, 2.1417, 0.2459], [16.5455, 1.8167, 0.4141], [16.5455, 1.5167, 0.4141]], b: [[15.8227, 1.2583, 0.475], [15.8227, 2.2083, 0.475], [16.3856, 1.8833, 0.8], [16.3856, 1.5833, 0.8]], collide: 1}
      - {kind: loft, a: [[15.8227, 1.2583, 0.475], [15.8227, 2.2083, 0.475], [16.3856, 1.8833, 0.8], [16.3856, 1.5833, 0.8]], b: [[15.6718, 1.325, 0.6718], [15.6718, 2.275, 0.6718], [16.1314, 1.95, 1.1314], [16.1314, 1.65, 1.1314]], collide: 1}
      - {kind: loft, a: [[15.6718, 1.325, 0.6718], [15.6718, 2.275, 0.6718], [16.1314, 1.95, 1.1314], [16.1314, 1.65, 1.1314]], b: [[15.475, 1.3917, 0.8227], [15.475, 2.3417, 0.8227], [15.8, 2.0167, 1.3856], [15.8, 1.7167, 1.3856]], collide: 1}
      - {kind: loft, a: [[15.475, 1.3917, 0.8227], [15.475, 2.3417, 0.8227], [15.8, 2.0167, 1.3856], [15.8, 1.7167, 1.3856]], b: [[15.2459, 1.4583, 0.9176], [15.2459, 2.4083, 0.9176], [15.4141, 2.0833, 1.5455], [15.4141, 1.7833, 1.5455]], collide: 1}
      - {kind: loft, a: [[15.2459, 1.4583, 0.9176], [15.2459, 2.4083, 0.9176], [15.4141, 2.0833, 1.5455], [15.4141, 1.7833, 1.5455]], b: [[15.0, 1.525, 0.95], [15.0, 2.475, 0.95], [15.0, 2.15, 1.6], [15.0, 1.85, 1.6]], collide: 1}
      - {kind: loft, a: [[15.0, 1.525, 0.95], [15.0, 2.475, 0.95], [15.0, 2.15, 1.6], [15.0, 1.85, 1.6]], b: [[14.7541, 1.5917, 0.9176], [14.7541, 2.5417, 0.9176], [14.5859, 2.2167, 1.5455], [14.5859, 1.9167, 1.5455]], collide: 1}
      - {kind: loft, a: [[14.7541, 1.5917, 0.9176], [14.7541, 2.5417, 0.9176], [14.5859, 2.2167, 1.5455], [14.5859, 1.9167, 1.5455]], b: [[14.525, 1.6583, 0.8227], [14.525, 2.6083, 0.8227], [14.2, 2.2833, 1.3856], [14.2, 1.9833, 1.3856]], collide: 1}
      - {kind: loft, a: [[14.525, 1.6583, 0.8227], [14.525, 2.6083, 0.8227], [14.2, 2.2833, 1.3856], [14.2, 1.9833, 1.3856]], b: [[14.3282, 1.725, 0.6718], [14.3282, 2.675, 0.6718], [13.8686, 2.35, 1.1314], [13.8686, 2.05, 1.1314]], collide: 1}
      - {kind: loft, a: [[14.3282, 1.725, 0.6718], [14.3282, 2.675, 0.6718], [13.8686, 2.35, 1.1314], [13.8686, 2.05, 1.1314]], b: [[14.1773, 1.7917, 0.475], [14.1773, 2.7417, 0.475], [13.6144, 2.4167, 0.8], [13.6144, 2.1167, 0.8]], collide: 1}
      - {kind: loft, a: [[14.1773, 1.7917, 0.475], [14.1773, 2.7417, 0.475], [13.6144, 2.4167, 0.8], [13.6144, 2.1167, 0.8]], b: [[14.0824, 1.8583, 0.2459], [14.0824, 2.8083, 0.2459], [13.4545, 2.4833, 0.4141], [13.4545, 2.1833, 0.4141]], collide: 1}
      - {kind: loft, a: [[14.0824, 1.8583, 0.2459], [14.0824, 2.8083, 0.2459], [13.4545, 2.4833, 0.4141], [13.4545, 2.1833, 0.4141]], b: [[14.05, 1.925, 0.0], [14.05, 2.875, 0.0], [13.4, 2.55, 0.0], [13.4, 2.25, 0.0]], collide: 1}
      - {kind: loft, a: [[14.05, 1.925, 0.0], [14.05, 2.875, 0.0], [13.4, 2.55, 0.0], [13.4, 2.25, 0.0]], b: [[14.0824, 1.9917, -0.2459], [14.0824, 2.9417, -0.2459], [13.4545, 2.6167, -0.4141], [13.4545, 2.3167, -0.4141]], collide: 1}
      - {kind: loft, a: [[14.0824, 1.9917, -0.2459], [14.0824, 2.9417, -0.2459], [13.4545, 2.6167, -0.4141], [13.4545, 2.3167, -0.4141]], b: [[14.1773, 2.0583, -0.475], [14.1773, 3.0083, -0.475], [13.6144, 2.6833, -0.8], [13.6144, 2.3833, -0.8]], collide: 1}
      - {kind: loft, a: [[14.1773, 2.0583, -0.475], [14.1773, 3.0083, -0.475], [13.6144, 2.6833, -0.8], [13.6144, 2.3833, -0.8]], b: [[14.3282, 2.125, -0.6718], [14.3282, 3.075, -0.6718], [13.8686, 2.75, -1.1314], [13.8686, 2.45, -1.1314]], collide: 1}
      - {kind: loft, a: [[14.3282, 2.125, -0.6718], [14.3282, 3.075, -0.6718], [13.8686, 2.75, -1.1314], [13.8686, 2.45, -1.1314]], b: [[14.525, 2.1917, -0.8227], [14.525, 3.1417, -0.8227], [14.2, 2.8167, -1.3856], [14.2, 2.5167, -1.3856]], collide: 1}
      - {kind: loft, a: [[14.525, 2.1917, -0.8227], [14.525, 3.1417, -0.8227], [14.2, 2.8167, -1.3856], [14.2, 2.5167, -1.3856]], b: [[14.7541, 2.2583, -0.9176], [14.7541, 3.2083, -0.9176], [14.5859, 2.8833, -1.5455], [14.5859, 2.5833, -1.5455]], collide: 1}
      - {kind: loft, a: [[14.7541, 2.2583, -0.9176], [14.7541, 3.2083, -0.9176], [14.5859, 2.8833, -1.5455], [14.5859, 2.5833, -1.5455]], b: [[15.0, 2.325, -0.95], [15.0, 3.275, -0.95], [15.0, 2.95, -1.6], [15.0, 2.65, -1.6]], collide: 1}
      - {kind: loft, a: [[15.0, 2.325, -0.95], [15.0, 3.275, -0.95], [15.0, 2.95, -1.6], [15.0, 2.65, -1.6]], b: [[15.2459, 2.3917, -0.9176], [15.2459, 3.3417, -0.9176], [15.4141, 3.0167, -1.5455], [15.4141, 2.7167, -1.5455]], collide: 1}
      - {kind: loft, a: [[15.2459, 2.3917, -0.9176], [15.2459, 3.3417, -0.9176], [15.4141, 3.0167, -1.5455], [15.4141, 2.7167, -1.5455]], b: [[15.475, 2.4583, -0.8227], [15.475, 3.4083, -0.8227], [15.8, 3.0833, -1.3856], [15.8, 2.7833, -1.3856]], collide: 1}
      - {kind: loft, a: [[15.475, 2.4583, -0.8227], [15.475, 3.4083, -0.8227], [15.8, 3.0833, -1.3856], [15.8, 2.7833, -1.3856]], b: [[15.6718, 2.525, -0.6718], [15.6718, 3.475, -0.6718], [16.1314, 3.15, -1.1314], [16.1314, 2.85, -1.1314]], collide: 1}
      - {kind: loft, a: [[15.6718, 2.525, -0.6718], [15.6718, 3.475, -0.6718], [16.1314, 3.15, -1.1314], [16.1314, 2.85, -1.1314]], b: [[15.8227, 2.5917, -0.475], [15.8227, 3.5417, -0.475], [16.3856, 3.2167, -0.8], [16.3856, 2.9167, -0.8]], collide: 1}
      - {kind: loft, a: [[15.8227, 2.5917, -0.475], [15.8227, 3.5417, -0.475], [16.3856, 3.2167, -0.8], [16.3856, 2.9167, -0.8]], b: [[15.9176, 2.6583, -0.2459], [15.9176, 3.6083, -0.2459], [16.5455, 3.2833, -0.4141], [16.5455, 2.9833, -0.4141]], collide: 1}
      - {kind: loft, a: [[15.9176, 2.6583, -0.2459], [15.9176, 3.6083, -0.2459], [16.5455, 3.2833, -0.4141], [16.5455, 2.9833, -0.4141]], b: [[15.95, 2.725, -0.0], [15.95, 3.675, -0.0], [16.6, 3.35, -0.0], [16.6, 3.05, -0.0]], collide: 1}
      - {kind: loft, a: [[15.95, 2.725, -0.0], [15.95, 3.675, -0.0], [16.6, 3.35, -0.0], [16.6, 3.05, -0.0]], b: [[15.9176, 2.7917, 0.2459], [15.9176, 3.7417, 0.2459], [16.5455, 3.4167, 0.4141], [16.5455, 3.1167, 0.4141]], collide: 1}
      - {kind: loft, a: [[15.9176, 2.7917, 0.2459], [15.9176, 3.7417, 0.2459], [16.5455, 3.4167, 0.4141], [16.5455, 3.1167, 0.4141]], b: [[15.8227, 2.8583, 0.475], [15.8227, 3.8083, 0.475], [16.3856, 3.4833, 0.8], [16.3856, 3.1833, 0.8]], collide: 1}
      - {kind: loft, a: [[15.8227, 2.8583, 0.475], [15.8227, 3.8083, 0.475], [16.3856, 3.4833, 0.8], [16.3856, 3.1833, 0.8]], b: [[15.6718, 2.925, 0.6718], [15.6718, 3.875, 0.6718], [16.1314, 3.55, 1.1314], [16.1314, 3.25, 1.1314]], collide: 1}
      - {kind: loft, a: [[15.6718, 2.925, 0.6718], [15.6718, 3.875, 0.6718], [16.1314, 3.55, 1.1314], [16.1314, 3.25, 1.1314]], b: [[15.475, 2.9917, 0.8227], [15.475, 3.9417, 0.8227], [15.8, 3.6167, 1.3856], [15.8, 3.3167, 1.3856]], collide: 1}
      - {kind: loft, a: [[15.475, 2.9917, 0.8227], [15.475, 3.9417, 0.8227], [15.8, 3.6167, 1.3856], [15.8, 3.3167, 1.3856]], b: [[15.2459, 3.0583, 0.9176], [15.2459, 4.0083, 0.9176], [15.4141, 3.6833, 1.5455], [15.4141, 3.3833, 1.5455]], collide: 1}
      - {kind: loft, a: [[15.2459, 3.0583, 0.9176], [15.2459, 4.0083, 0.9176], [15.4141, 3.6833, 1.5455], [15.4141, 3.3833, 1.5455]], b: [[15.0, 3.125, 0.95], [15.0, 4.075, 0.95], [15.0, 3.75, 1.6], [15.0, 3.45, 1.6]], collide: 1}
      - {kind: loft, a: [[15.0, 3.125, 0.95], [15.0, 4.075, 0.95], [15.0, 3.75, 1.6], [15.0, 3.45, 1.6]], b: [[14.7541, 3.1917, 0.9176], [14.7541, 4.1417, 0.9176], [14.5859, 3.8167, 1.5455], [14.5859, 3.5167, 1.5455]], collide: 1}
      - {kind: loft, a: [[14.7541, 3.1917, 0.9176], [14.7541, 4.1417, 0.9176], [14.5859, 3.8167, 1.5455], [14.5859, 3.5167, 1.5455]], b: [[14.525, 3.2583, 0.8227], [14.525, 4.2083, 0.8227], [14.2, 3.8833, 1.3856], [14.2, 3.5833, 1.3856]], collide: 1}
      - {kind: loft, a: [[14.525, 3.2583, 0.8227], [14.525, 4.2083, 0.8227], [14.2, 3.8833, 1.3856], [14.2, 3.5833, 1.3856]], b: [[14.3282, 3.325, 0.6718], [14.3282, 4.275, 0.6718], [13.8686, 3.95, 1.1314], [13.8686, 3.65, 1.1314]], collide: 1}
      - {kind: loft, a: [[14.3282, 3.325, 0.6718], [14.3282, 4.275, 0.6718], [13.8686, 3.95, 1.1314], [13.8686, 3.65, 1.1314]], b: [[14.1773, 3.3917, 0.475], [14.1773, 4.3417, 0.475], [13.6144, 4.0167, 0.8], [13.6144, 3.7167, 0.8]], collide: 1}
      - {kind: loft, a: [[14.1773, 3.3917, 0.475], [14.1773, 4.3417, 0.475], [13.6144, 4.0167, 0.8], [13.6144, 3.7167, 0.8]], b: [[14.0824, 3.4583, 0.2459], [14.0824, 4.4083, 0.2459], [13.4545, 4.0833, 0.4141], [13.4545, 3.7833, 0.4141]], collide: 1}
      - {kind: loft, a: [[14.0824, 3.4583, 0.2459], [14.0824, 4.4083, 0.2459], [13.4545, 4.0833, 0.4141], [13.4545, 3.7833, 0.4141]], b: [[14.05, 3.525, 0.0], [14.05, 4.475, 0.0], [13.4, 4.15, 0.0], [13.4, 3.85, 0.0]], collide: 1}
      - {kind: loft, a: [[14.05, 3.525, 0.0], [14.05, 4.475, 0.0], [13.4, 4.15, 0.0], [13.4, 3.85, 0.0]], b: [[14.0824, 3.5917, -0.2459], [14.0824, 4.5417, -0.2459], [13.4545, 4.2167, -0.4141], [13.4545, 3.9167, -0.4141]], collide: 1}
      - {kind: loft, a: [[14.0824, 3.5917, -0.2459], [14.0824, 4.5417, -0.2459], [13.4545, 4.2167, -0.4141], [13.4545, 3.9167, -0.4141]], b: [[14.1773, 3.6583, -0.475], [14.1773, 4.6083, -0.475], [13.6144, 4.2833, -0.8], [13.6144, 3.9833, -0.8]], collide: 1}
      - {kind: loft, a: [[14.1773, 3.6583, -0.475], [14.1773, 4.6083, -0.475], [13.6144, 4.2833, -0.8], [13.6144, 3.9833, -0.8]], b: [[14.3282, 3.725, -0.6718], [14.3282, 4.675, -0.6718], [13.8686, 4.35, -1.1314], [13.8686, 4.05, -1.1314]], collide: 1}
      - {kind: loft, a: [[14.3282, 3.725, -0.6718], [14.3282, 4.675, -0.6718], [13.8686, 4.35, -1.1314], [13.8686, 4.05, -1.1314]], b: [[14.525, 3.7917, -0.8227], [14.525, 4.7417, -0.8227], [14.2, 4.4167, -1.3856], [14.2, 4.1167, -1.3856]], collide: 1}
      - {kind: loft, a: [[14.525, 3.7917, -0.8227], [14.525, 4.7417, -0.8227], [14.2, 4.4167, -1.3856], [14.2, 4.1167, -1.3856]], b: [[14.7541, 3.8583, -0.9176], [14.7541, 4.8083, -0.9176], [14.5859, 4.4833, -1.5455], [14.5859, 4.1833, -1.5455]], collide: 1}
      - {kind: loft, a: [[14.7541, 3.8583, -0.9176], [14.7541, 4.8083, -0.9176], [14.5859, 4.4833, -1.5455], [14.5859, 4.1833, -1.5455]], b: [[15.0, 3.925, -0.95], [15.0, 4.875, -0.95], [15.0, 4.55, -1.6], [15.0, 4.25, -1.6]], collide: 1}
      - {kind: loft, a: [[15.0, 3.925, -0.95], [15.0, 4.875, -0.95], [15.0, 4.55, -1.6], [15.0, 4.25, -1.6]], b: [[15.2459, 3.9917, -0.9176], [15.2459, 4.9417, -0.9176], [15.4141, 4.6167, -1.5455], [15.4141, 4.3167, -1.5455]], collide: 1}
      - {kind: loft, a: [[15.2459, 3.9917, -0.9176], [15.2459, 4.9417, -0.9176], [15.4141, 4.6167, -1.5455], [15.4141, 4.3167, -1.5455]], b: [[15.475, 4.0583, -0.8227], [15.475, 5.0083, -0.8227], [15.8, 4.6833, -1.3856], [15.8, 4.3833, -1.3856]], collide: 1}
      - {kind: loft, a: [[15.475, 4.0583, -0.8227], [15.475, 5.0083, -0.8227], [15.8, 4.6833, -1.3856], [15.8, 4.3833, -1.3856]], b: [[15.6718, 4.125, -0.6718], [15.6718, 5.075, -0.6718], [16.1314, 4.75, -1.1314], [16.1314, 4.45, -1.1314]], collide: 1}
      - {kind: loft, a: [[15.6718, 4.125, -0.6718], [15.6718, 5.075, -0.6718], [16.1314, 4.75, -1.1314], [16.1314, 4.45, -1.1314]], b: [[15.8227, 4.1917, -0.475], [15.8227, 5.1417, -0.475], [16.3856, 4.8167, -0.8], [16.3856, 4.5167, -0.8]], collide: 1}
      - {kind: loft, a: [[15.8227, 4.1917, -0.475], [15.8227, 5.1417, -0.475], [16.3856, 4.8167, -0.8], [16.3856, 4.5167, -0.8]], b: [[15.9176, 4.2583, -0.2459], [15.9176, 5.2083, -0.2459], [16.5455, 4.8833, -0.4141], [16.5455, 4.5833, -0.4141]], collide: 1}
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      - {kind: loft, a: [[14.0824, 11.5917, -0.2459], [14.0824, 12.5417, -0.2459], [13.4545, 12.2167, -0.4141], [13.4545, 11.9167, -0.4141]], b: [[14.1773, 11.6583, -0.475], [14.1773, 12.6083, -0.475], [13.6144, 12.2833, -0.8], [13.6144, 11.9833, -0.8]], collide: 1}
      - {kind: loft, a: [[14.1773, 11.6583, -0.475], [14.1773, 12.6083, -0.475], [13.6144, 12.2833, -0.8], [13.6144, 11.9833, -0.8]], b: [[14.3282, 11.725, -0.6718], [14.3282, 12.675, -0.6718], [13.8686, 12.35, -1.1314], [13.8686, 12.05, -1.1314]], collide: 1}
      - {kind: loft, a: [[14.3282, 11.725, -0.6718], [14.3282, 12.675, -0.6718], [13.8686, 12.35, -1.1314], [13.8686, 12.05, -1.1314]], b: [[14.525, 11.7917, -0.8227], [14.525, 12.7417, -0.8227], [14.2, 12.4167, -1.3856], [14.2, 12.1167, -1.3856]], collide: 1}
      - {kind: loft, a: [[14.525, 11.7917, -0.8227], [14.525, 12.7417, -0.8227], [14.2, 12.4167, -1.3856], [14.2, 12.1167, -1.3856]], b: [[14.7541, 11.8583, -0.9176], [14.7541, 12.8083, -0.9176], [14.5859, 12.4833, -1.5455], [14.5859, 12.1833, -1.5455]], collide: 1}
      - {kind: loft, a: [[14.7541, 11.8583, -0.9176], [14.7541, 12.8083, -0.9176], [14.5859, 12.4833, -1.5455], [14.5859, 12.1833, -1.5455]], b: [[15.0, 11.925, -0.95], [15.0, 12.875, -0.95], [15.0, 12.55, -1.6], [15.0, 12.25, -1.6]], collide: 1}
      - {kind: loft, a: [[15.0, 11.925, -0.95], [15.0, 12.875, -0.95], [15.0, 12.55, -1.6], [15.0, 12.25, -1.6]], b: [[15.2459, 11.9917, -0.9176], [15.2459, 12.9417, -0.9176], [15.4141, 12.6167, -1.5455], [15.4141, 12.3167, -1.5455]], collide: 1}
      - {kind: loft, a: [[15.2459, 11.9917, -0.9176], [15.2459, 12.9417, -0.9176], [15.4141, 12.6167, -1.5455], [15.4141, 12.3167, -1.5455]], b: [[15.475, 12.0583, -0.8227], [15.475, 13.0083, -0.8227], [15.8, 12.6833, -1.3856], [15.8, 12.3833, -1.3856]], collide: 1}
      - {kind: loft, a: [[15.475, 12.0583, -0.8227], [15.475, 13.0083, -0.8227], [15.8, 12.6833, -1.3856], [15.8, 12.3833, -1.3856]], b: [[15.6718, 12.125, -0.6718], [15.6718, 13.075, -0.6718], [16.1314, 12.75, -1.1314], [16.1314, 12.45, -1.1314]], collide: 1}
      - {kind: loft, a: [[15.6718, 12.125, -0.6718], [15.6718, 13.075, -0.6718], [16.1314, 12.75, -1.1314], [16.1314, 12.45, -1.1314]], b: [[15.8227, 12.1917, -0.475], [15.8227, 13.1417, -0.475], [16.3856, 12.8167, -0.8], [16.3856, 12.5167, -0.8]], collide: 1}
      - {kind: loft, a: [[15.8227, 12.1917, -0.475], [15.8227, 13.1417, -0.475], [16.3856, 12.8167, -0.8], [16.3856, 12.5167, -0.8]], b: [[15.9176, 12.2583, -0.2459], [15.9176, 13.2083, -0.2459], [16.5455, 12.8833, -0.4141], [16.5455, 12.5833, -0.4141]], collide: 1}
      - {kind: loft, a: [[15.9176, 12.2583, -0.2459], [15.9176, 13.2083, -0.2459], [16.5455, 12.8833, -0.4141], [16.5455, 12.5833, -0.4141]], b: [[15.95, 12.325, -0.0], [15.95, 13.275, -0.0], [16.6, 12.95, -0.0], [16.6, 12.65, -0.0]], collide: 1}
      - {kind: loft, a: [[15.95, 12.325, -0.0], [15.95, 13.275, -0.0], [16.6, 12.95, -0.0], [16.6, 12.65, -0.0]], b: [[15.9176, 12.3917, 0.2459], [15.9176, 13.3417, 0.2459], [16.5455, 13.0167, 0.4141], [16.5455, 12.7167, 0.4141]], collide: 1}
      - {kind: loft, a: [[15.9176, 12.3917, 0.2459], [15.9176, 13.3417, 0.2459], [16.5455, 13.0167, 0.4141], [16.5455, 12.7167, 0.4141]], b: [[15.8227, 12.4583, 0.475], [15.8227, 13.4083, 0.475], [16.3856, 13.0833, 0.8], [16.3856, 12.7833, 0.8]], collide: 1}
      - {kind: loft, a: [[15.8227, 12.4583, 0.475], [15.8227, 13.4083, 0.475], [16.3856, 13.0833, 0.8], [16.3856, 12.7833, 0.8]], b: [[15.6718, 12.525, 0.6718], [15.6718, 13.475, 0.6718], [16.1314, 13.15, 1.1314], [16.1314, 12.85, 1.1314]], collide: 1}
      - {kind: loft, a: [[15.6718, 12.525, 0.6718], [15.6718, 13.475, 0.6718], [16.1314, 13.15, 1.1314], [16.1314, 12.85, 1.1314]], b: [[15.475, 12.5917, 0.8227], [15.475, 13.5417, 0.8227], [15.8, 13.2167, 1.3856], [15.8, 12.9167, 1.3856]], collide: 1}
      - {kind: loft, a: [[15.475, 12.5917, 0.8227], [15.475, 13.5417, 0.8227], [15.8, 13.2167, 1.3856], [15.8, 12.9167, 1.3856]], b: [[15.2459, 12.6583, 0.9176], [15.2459, 13.6083, 0.9176], [15.4141, 13.2833, 1.5455], [15.4141, 12.9833, 1.5455]], collide: 1}
      - {kind: loft, a: [[15.2459, 12.6583, 0.9176], [15.2459, 13.6083, 0.9176], [15.4141, 13.2833, 1.5455], [15.4141, 12.9833, 1.5455]], b: [[15.0, 12.725, 0.95], [15.0, 13.675, 0.95], [15.0, 13.35, 1.6], [15.0, 13.05, 1.6]], collide: 1}
      - {kind: loft, a: [[15.0, 12.725, 0.95], [15.0, 13.675, 0.95], [15.0, 13.35, 1.6], [15.0, 13.05, 1.6]], b: [[14.7541, 12.7917, 0.9176], [14.7541, 13.7417, 0.9176], [14.5859, 13.4167, 1.5455], [14.5859, 13.1167, 1.5455]], collide: 1}
      - {kind: loft, a: [[14.7541, 12.7917, 0.9176], [14.7541, 13.7417, 0.9176], [14.5859, 13.4167, 1.5455], [14.5859, 13.1167, 1.5455]], b: [[14.525, 12.8583, 0.8227], [14.525, 13.8083, 0.8227], [14.2, 13.4833, 1.3856], [14.2, 13.1833, 1.3856]], collide: 1}
      - {kind: loft, a: [[14.525, 12.8583, 0.8227], [14.525, 13.8083, 0.8227], [14.2, 13.4833, 1.3856], [14.2, 13.1833, 1.3856]], b: [[14.3282, 12.925, 0.6718], [14.3282, 13.875, 0.6718], [13.8686, 13.55, 1.1314], [13.8686, 13.25, 1.1314]], collide: 1}
      - {kind: loft, a: [[14.3282, 12.925, 0.6718], [14.3282, 13.875, 0.6718], [13.8686, 13.55, 1.1314], [13.8686, 13.25, 1.1314]], b: [[14.1773, 12.9917, 0.475], [14.1773, 13.9417, 0.475], [13.6144, 13.6167, 0.8], [13.6144, 13.3167, 0.8]], collide: 1}
      - {kind: loft, a: [[14.1773, 12.9917, 0.475], [14.1773, 13.9417, 0.475], [13.6144, 13.6167, 0.8], [13.6144, 13.3167, 0.8]], b: [[14.0824, 13.0583, 0.2459], [14.0824, 14.0083, 0.2459], [13.4545, 13.6833, 0.4141], [13.4545, 13.3833, 0.4141]], collide: 1}
      - {kind: loft, a: [[14.0824, 13.0583, 0.2459], [14.0824, 14.0083, 0.2459], [13.4545, 13.6833, 0.4141], [13.4545, 13.3833, 0.4141]], b: [[14.05, 13.125, -0.0], [14.05, 14.075, -0.0], [13.4, 13.75, -0.0], [13.4, 13.45, -0.0]], collide: 1}
      - {kind: loft, a: [[14.05, 13.125, -0.0], [14.05, 14.075, -0.0], [13.4, 13.75, -0.0], [13.4, 13.45, -0.0]], b: [[14.0824, 13.1917, -0.2459], [14.0824, 14.1417, -0.2459], [13.4545, 13.8167, -0.4141], [13.4545, 13.5167, -0.4141]], collide: 1}
      - {kind: loft, a: [[14.0824, 13.1917, -0.2459], [14.0824, 14.1417, -0.2459], [13.4545, 13.8167, -0.4141], [13.4545, 13.5167, -0.4141]], b: [[14.1773, 13.2583, -0.475], [14.1773, 14.2083, -0.475], [13.6144, 13.8833, -0.8], [13.6144, 13.5833, -0.8]], collide: 1}
      - {kind: loft, a: [[14.1773, 13.2583, -0.475], [14.1773, 14.2083, -0.475], [13.6144, 13.8833, -0.8], [13.6144, 13.5833, -0.8]], b: [[14.3282, 13.325, -0.6718], [14.3282, 14.275, -0.6718], [13.8686, 13.95, -1.1314], [13.8686, 13.65, -1.1314]], collide: 1}
      - {kind: loft, a: [[14.3282, 13.325, -0.6718], [14.3282, 14.275, -0.6718], [13.8686, 13.95, -1.1314], [13.8686, 13.65, -1.1314]], b: [[14.525, 13.3917, -0.8227], [14.525, 14.3417, -0.8227], [14.2, 14.0167, -1.3856], [14.2, 13.7167, -1.3856]], collide: 1}
      - {kind: loft, a: [[14.525, 13.3917, -0.8227], [14.525, 14.3417, -0.8227], [14.2, 14.0167, -1.3856], [14.2, 13.7167, -1.3856]], b: [[14.7541, 13.4583, -0.9176], [14.7541, 14.4083, -0.9176], [14.5859, 14.0833, -1.5455], [14.5859, 13.7833, -1.5455]], collide: 1}
      - {kind: loft, a: [[14.7541, 13.4583, -0.9176], [14.7541, 14.4083, -0.9176], [14.5859, 14.0833, -1.5455], [14.5859, 13.7833, -1.5455]], b: [[15.0, 13.525, -0.95], [15.0, 14.475, -0.95], [15.0, 14.15, -1.6], [15.0, 13.85, -1.6]], collide: 1}
      - {kind: loft, a: [[15.0, 13.525, -0.95], [15.0, 14.475, -0.95], [15.0, 14.15, -1.6], [15.0, 13.85, -1.6]], b: [[15.2459, 13.5917, -0.9176], [15.2459, 14.5417, -0.9176], [15.4141, 14.2167, -1.5455], [15.4141, 13.9167, -1.5455]], collide: 1}
      - {kind: loft, a: [[15.2459, 13.5917, -0.9176], [15.2459, 14.5417, -0.9176], [15.4141, 14.2167, -1.5455], [15.4141, 13.9167, -1.5455]], b: [[15.475, 13.6583, -0.8227], [15.475, 14.6083, -0.8227], [15.8, 14.2833, -1.3856], [15.8, 13.9833, -1.3856]], collide: 1}
      - {kind: loft, a: [[15.475, 13.6583, -0.8227], [15.475, 14.6083, -0.8227], [15.8, 14.2833, -1.3856], [15.8, 13.9833, -1.3856]], b: [[15.6718, 13.725, -0.6718], [15.6718, 14.675, -0.6718], [16.1314, 14.35, -1.1314], [16.1314, 14.05, -1.1314]], collide: 1}
      - {kind: loft, a: [[15.6718, 13.725, -0.6718], [15.6718, 14.675, -0.6718], [16.1314, 14.35, -1.1314], [16.1314, 14.05, -1.1314]], b: [[15.8227, 13.7917, -0.475], [15.8227, 14.7417, -0.475], [16.3856, 14.4167, -0.8], [16.3856, 14.1167, -0.8]], collide: 1}
      - {kind: loft, a: [[15.8227, 13.7917, -0.475], [15.8227, 14.7417, -0.475], [16.3856, 14.4167, -0.8], [16.3856, 14.1167, -0.8]], b: [[15.9176, 13.8583, -0.2459], [15.9176, 14.8083, -0.2459], [16.5455, 14.4833, -0.4141], [16.5455, 14.1833, -0.4141]], collide: 1}
      - {kind: loft, a: [[15.9176, 13.8583, -0.2459], [15.9176, 14.8083, -0.2459], [16.5455, 14.4833, -0.4141], [16.5455, 14.1833, -0.4141]], b: [[15.95, 13.925, -0.0], [15.95, 14.875, -0.0], [16.6, 14.55, -0.0], [16.6, 14.25, -0.0]], collide: 1}
  - id: wheel_e
    shape: part
    pos: [15.0, 0, 0]
    density: 2700
    friction: 0.1
    color: "#c9bc9c"
    pieces:
      - {kind: wheel, center: [15.0, 0], teeth: 28, tooth: [[7.55, -0.0954], [9.0, -0.0214], [9.0, 0.0214], [7.55, 0.0954]], phase: 0.0, root: 7.65, rim: 7.15, hub: 2.1, spokes: 4, y: [7.0, 8.0], collide: 2}   # wheel E
      - {kind: rod, from: [15.0, 6.29, 0], to: [15.0, 12.91, 0], radius: 2.2, collide: 0, color: "#b8ad97"}   # its hub, the nut
      - {kind: loft, a: [[16.8, 6.49, -0.0], [16.8, 7.91, -0.0], [16.05, 7.535, -0.0], [16.05, 6.865, -0.0]], b: [[16.7387, 6.5567, 0.4659], [16.7387, 7.9767, 0.4659], [16.0142, 7.6017, 0.2718], [16.0142, 6.9317, 0.2718]], collide: 2}
      - {kind: loft, a: [[16.7387, 6.5567, 0.4659], [16.7387, 7.9767, 0.4659], [16.0142, 7.6017, 0.2718], [16.0142, 6.9317, 0.2718]], b: [[16.5588, 6.6233, 0.9], [16.5588, 8.0433, 0.9], [15.9093, 7.6683, 0.525], [15.9093, 6.9983, 0.525]], collide: 2}
      - {kind: loft, a: [[16.5588, 6.6233, 0.9], [16.5588, 8.0433, 0.9], [15.9093, 7.6683, 0.525], [15.9093, 6.9983, 0.525]], b: [[16.2728, 6.69, 1.2728], [16.2728, 8.11, 1.2728], [15.7425, 7.735, 0.7425], [15.7425, 7.065, 0.7425]], collide: 2}
      - {kind: loft, a: [[16.2728, 6.69, 1.2728], [16.2728, 8.11, 1.2728], [15.7425, 7.735, 0.7425], [15.7425, 7.065, 0.7425]], b: [[15.9, 6.7567, 1.5588], [15.9, 8.1767, 1.5588], [15.525, 7.8017, 0.9093], [15.525, 7.1317, 0.9093]], collide: 2}
      - {kind: loft, a: [[15.9, 6.7567, 1.5588], [15.9, 8.1767, 1.5588], [15.525, 7.8017, 0.9093], [15.525, 7.1317, 0.9093]], b: [[15.4659, 6.8233, 1.7387], [15.4659, 8.2433, 1.7387], [15.2718, 7.8683, 1.0142], [15.2718, 7.1983, 1.0142]], collide: 2}
      - {kind: loft, a: [[15.4659, 6.8233, 1.7387], [15.4659, 8.2433, 1.7387], [15.2718, 7.8683, 1.0142], [15.2718, 7.1983, 1.0142]], b: [[15.0, 6.89, 1.8], [15.0, 8.31, 1.8], [15.0, 7.935, 1.05], [15.0, 7.265, 1.05]], collide: 2}
      - {kind: loft, a: [[15.0, 6.89, 1.8], [15.0, 8.31, 1.8], [15.0, 7.935, 1.05], [15.0, 7.265, 1.05]], b: [[14.5341, 6.9567, 1.7387], [14.5341, 8.3767, 1.7387], [14.7282, 8.0017, 1.0142], [14.7282, 7.3317, 1.0142]], collide: 2}
      - {kind: loft, a: [[14.5341, 6.9567, 1.7387], [14.5341, 8.3767, 1.7387], [14.7282, 8.0017, 1.0142], [14.7282, 7.3317, 1.0142]], b: [[14.1, 7.0233, 1.5588], [14.1, 8.4433, 1.5588], [14.475, 8.0683, 0.9093], [14.475, 7.3983, 0.9093]], collide: 2}
      - {kind: loft, a: [[14.1, 7.0233, 1.5588], [14.1, 8.4433, 1.5588], [14.475, 8.0683, 0.9093], [14.475, 7.3983, 0.9093]], b: [[13.7272, 7.09, 1.2728], [13.7272, 8.51, 1.2728], [14.2575, 8.135, 0.7425], [14.2575, 7.465, 0.7425]], collide: 2}
      - {kind: loft, a: [[13.7272, 7.09, 1.2728], [13.7272, 8.51, 1.2728], [14.2575, 8.135, 0.7425], [14.2575, 7.465, 0.7425]], b: [[13.4412, 7.1567, 0.9], [13.4412, 8.5767, 0.9], [14.0907, 8.2017, 0.525], [14.0907, 7.5317, 0.525]], collide: 2}
      - {kind: loft, a: [[13.4412, 7.1567, 0.9], [13.4412, 8.5767, 0.9], [14.0907, 8.2017, 0.525], [14.0907, 7.5317, 0.525]], b: [[13.2613, 7.2233, 0.4659], [13.2613, 8.6433, 0.4659], [13.9858, 8.2683, 0.2718], [13.9858, 7.5983, 0.2718]], collide: 2}
      - {kind: loft, a: [[13.2613, 7.2233, 0.4659], [13.2613, 8.6433, 0.4659], [13.9858, 8.2683, 0.2718], [13.9858, 7.5983, 0.2718]], b: [[13.2, 7.29, 0.0], [13.2, 8.71, 0.0], [13.95, 8.335, 0.0], [13.95, 7.665, 0.0]], collide: 2}
      - {kind: loft, a: [[13.2, 7.29, 0.0], [13.2, 8.71, 0.0], [13.95, 8.335, 0.0], [13.95, 7.665, 0.0]], b: [[13.2613, 7.3567, -0.4659], [13.2613, 8.7767, -0.4659], [13.9858, 8.4017, -0.2718], [13.9858, 7.7317, -0.2718]], collide: 2}
      - {kind: loft, a: [[13.2613, 7.3567, -0.4659], [13.2613, 8.7767, -0.4659], [13.9858, 8.4017, -0.2718], [13.9858, 7.7317, -0.2718]], b: [[13.4412, 7.4233, -0.9], [13.4412, 8.8433, -0.9], [14.0907, 8.4683, -0.525], [14.0907, 7.7983, -0.525]], collide: 2}
      - {kind: loft, a: [[13.4412, 7.4233, -0.9], [13.4412, 8.8433, -0.9], [14.0907, 8.4683, -0.525], [14.0907, 7.7983, -0.525]], b: [[13.7272, 7.49, -1.2728], [13.7272, 8.91, -1.2728], [14.2575, 8.535, -0.7425], [14.2575, 7.865, -0.7425]], collide: 2}
      - {kind: loft, a: [[13.7272, 7.49, -1.2728], [13.7272, 8.91, -1.2728], [14.2575, 8.535, -0.7425], [14.2575, 7.865, -0.7425]], b: [[14.1, 7.5567, -1.5588], [14.1, 8.9767, -1.5588], [14.475, 8.6017, -0.9093], [14.475, 7.9317, -0.9093]], collide: 2}
      - {kind: loft, a: [[14.1, 7.5567, -1.5588], [14.1, 8.9767, -1.5588], [14.475, 8.6017, -0.9093], [14.475, 7.9317, -0.9093]], b: [[14.5341, 7.6233, -1.7387], [14.5341, 9.0433, -1.7387], [14.7282, 8.6683, -1.0142], [14.7282, 7.9983, -1.0142]], collide: 2}
      - {kind: loft, a: [[14.5341, 7.6233, -1.7387], [14.5341, 9.0433, -1.7387], [14.7282, 8.6683, -1.0142], [14.7282, 7.9983, -1.0142]], b: [[15.0, 7.69, -1.8], [15.0, 9.11, -1.8], [15.0, 8.735, -1.05], [15.0, 8.065, -1.05]], collide: 2}
      - {kind: loft, a: [[15.0, 7.69, -1.8], [15.0, 9.11, -1.8], [15.0, 8.735, -1.05], [15.0, 8.065, -1.05]], b: [[15.4659, 7.7567, -1.7387], [15.4659, 9.1767, -1.7387], [15.2718, 8.8017, -1.0142], [15.2718, 8.1317, -1.0142]], collide: 2}
      - {kind: loft, a: [[15.4659, 7.7567, -1.7387], [15.4659, 9.1767, -1.7387], [15.2718, 8.8017, -1.0142], [15.2718, 8.1317, -1.0142]], b: [[15.9, 7.8233, -1.5588], [15.9, 9.2433, -1.5588], [15.525, 8.8683, -0.9093], [15.525, 8.1983, -0.9093]], collide: 2}
      - {kind: loft, a: [[15.9, 7.8233, -1.5588], [15.9, 9.2433, -1.5588], [15.525, 8.8683, -0.9093], [15.525, 8.1983, -0.9093]], b: [[16.2728, 7.89, -1.2728], [16.2728, 9.31, -1.2728], [15.7425, 8.935, -0.7425], [15.7425, 8.265, -0.7425]], collide: 2}
      - {kind: loft, a: [[16.2728, 7.89, -1.2728], [16.2728, 9.31, -1.2728], [15.7425, 8.935, -0.7425], [15.7425, 8.265, -0.7425]], b: [[16.5588, 7.9567, -0.9], [16.5588, 9.3767, -0.9], [15.9093, 9.0017, -0.525], [15.9093, 8.3317, -0.525]], collide: 2}
      - {kind: loft, a: [[16.5588, 7.9567, -0.9], [16.5588, 9.3767, -0.9], [15.9093, 9.0017, -0.525], [15.9093, 8.3317, -0.525]], b: [[16.7387, 8.0233, -0.4659], [16.7387, 9.4433, -0.4659], [16.0142, 9.0683, -0.2718], [16.0142, 8.3983, -0.2718]], collide: 2}
      - {kind: loft, a: [[16.7387, 8.0233, -0.4659], [16.7387, 9.4433, -0.4659], [16.0142, 9.0683, -0.2718], [16.0142, 8.3983, -0.2718]], b: [[16.8, 8.09, -0.0], [16.8, 9.51, -0.0], [16.05, 9.135, -0.0], [16.05, 8.465, -0.0]], collide: 2}
      - {kind: loft, a: [[16.8, 8.09, -0.0], [16.8, 9.51, -0.0], [16.05, 9.135, -0.0], [16.05, 8.465, -0.0]], b: [[16.7387, 8.1567, 0.4659], [16.7387, 9.5767, 0.4659], [16.0142, 9.2017, 0.2718], [16.0142, 8.5317, 0.2718]], collide: 2}
      - {kind: loft, a: [[16.7387, 8.1567, 0.4659], [16.7387, 9.5767, 0.4659], [16.0142, 9.2017, 0.2718], [16.0142, 8.5317, 0.2718]], b: [[16.5588, 8.2233, 0.9], [16.5588, 9.6433, 0.9], [15.9093, 9.2683, 0.525], [15.9093, 8.5983, 0.525]], collide: 2}
      - {kind: loft, a: [[16.5588, 8.2233, 0.9], [16.5588, 9.6433, 0.9], [15.9093, 9.2683, 0.525], [15.9093, 8.5983, 0.525]], b: [[16.2728, 8.29, 1.2728], [16.2728, 9.71, 1.2728], [15.7425, 9.335, 0.7425], [15.7425, 8.665, 0.7425]], collide: 2}
      - {kind: loft, a: [[16.2728, 8.29, 1.2728], [16.2728, 9.71, 1.2728], [15.7425, 9.335, 0.7425], [15.7425, 8.665, 0.7425]], b: [[15.9, 8.3567, 1.5588], [15.9, 9.7767, 1.5588], [15.525, 9.4017, 0.9093], [15.525, 8.7317, 0.9093]], collide: 2}
      - {kind: loft, a: [[15.9, 8.3567, 1.5588], [15.9, 9.7767, 1.5588], [15.525, 9.4017, 0.9093], [15.525, 8.7317, 0.9093]], b: [[15.4659, 8.4233, 1.7387], [15.4659, 9.8433, 1.7387], [15.2718, 9.4683, 1.0142], [15.2718, 8.7983, 1.0142]], collide: 2}
      - {kind: loft, a: [[15.4659, 8.4233, 1.7387], [15.4659, 9.8433, 1.7387], [15.2718, 9.4683, 1.0142], [15.2718, 8.7983, 1.0142]], b: [[15.0, 8.49, 1.8], [15.0, 9.91, 1.8], [15.0, 9.535, 1.05], [15.0, 8.865, 1.05]], collide: 2}
      - {kind: loft, a: [[15.0, 8.49, 1.8], [15.0, 9.91, 1.8], [15.0, 9.535, 1.05], [15.0, 8.865, 1.05]], b: [[14.5341, 8.5567, 1.7387], [14.5341, 9.9767, 1.7387], [14.7282, 9.6017, 1.0142], [14.7282, 8.9317, 1.0142]], collide: 2}
      - {kind: loft, a: [[14.5341, 8.5567, 1.7387], [14.5341, 9.9767, 1.7387], [14.7282, 9.6017, 1.0142], [14.7282, 8.9317, 1.0142]], b: [[14.1, 8.6233, 1.5588], [14.1, 10.0433, 1.5588], [14.475, 9.6683, 0.9093], [14.475, 8.9983, 0.9093]], collide: 2}
      - {kind: loft, a: [[14.1, 8.6233, 1.5588], [14.1, 10.0433, 1.5588], [14.475, 9.6683, 0.9093], [14.475, 8.9983, 0.9093]], b: [[13.7272, 8.69, 1.2728], [13.7272, 10.11, 1.2728], [14.2575, 9.735, 0.7425], [14.2575, 9.065, 0.7425]], collide: 2}
      - {kind: loft, a: [[13.7272, 8.69, 1.2728], [13.7272, 10.11, 1.2728], [14.2575, 9.735, 0.7425], [14.2575, 9.065, 0.7425]], b: [[13.4412, 8.7567, 0.9], [13.4412, 10.1767, 0.9], [14.0907, 9.8017, 0.525], [14.0907, 9.1317, 0.525]], collide: 2}
      - {kind: loft, a: [[13.4412, 8.7567, 0.9], [13.4412, 10.1767, 0.9], [14.0907, 9.8017, 0.525], [14.0907, 9.1317, 0.525]], b: [[13.2613, 8.8233, 0.4659], [13.2613, 10.2433, 0.4659], [13.9858, 9.8683, 0.2718], [13.9858, 9.1983, 0.2718]], collide: 2}
      - {kind: loft, a: [[13.2613, 8.8233, 0.4659], [13.2613, 10.2433, 0.4659], [13.9858, 9.8683, 0.2718], [13.9858, 9.1983, 0.2718]], b: [[13.2, 8.89, 0.0], [13.2, 10.31, 0.0], [13.95, 9.935, 0.0], [13.95, 9.265, 0.0]], collide: 2}
      - {kind: loft, a: [[13.2, 8.89, 0.0], [13.2, 10.31, 0.0], [13.95, 9.935, 0.0], [13.95, 9.265, 0.0]], b: [[13.2613, 8.9567, -0.4659], [13.2613, 10.3767, -0.4659], [13.9858, 10.0017, -0.2718], [13.9858, 9.3317, -0.2718]], collide: 2}
      - {kind: loft, a: [[13.2613, 8.9567, -0.4659], [13.2613, 10.3767, -0.4659], [13.9858, 10.0017, -0.2718], [13.9858, 9.3317, -0.2718]], b: [[13.4412, 9.0233, -0.9], [13.4412, 10.4433, -0.9], [14.0907, 10.0683, -0.525], [14.0907, 9.3983, -0.525]], collide: 2}
      - {kind: loft, a: [[13.4412, 9.0233, -0.9], [13.4412, 10.4433, -0.9], [14.0907, 10.0683, -0.525], [14.0907, 9.3983, -0.525]], b: [[13.7272, 9.09, -1.2728], [13.7272, 10.51, -1.2728], [14.2575, 10.135, -0.7425], [14.2575, 9.465, -0.7425]], collide: 2}
      - {kind: loft, a: [[13.7272, 9.09, -1.2728], [13.7272, 10.51, -1.2728], [14.2575, 10.135, -0.7425], [14.2575, 9.465, -0.7425]], b: [[14.1, 9.1567, -1.5588], [14.1, 10.5767, -1.5588], [14.475, 10.2017, -0.9093], [14.475, 9.5317, -0.9093]], collide: 2}
      - {kind: loft, a: [[14.1, 9.1567, -1.5588], [14.1, 10.5767, -1.5588], [14.475, 10.2017, -0.9093], [14.475, 9.5317, -0.9093]], b: [[14.5341, 9.2233, -1.7387], [14.5341, 10.6433, -1.7387], [14.7282, 10.2683, -1.0142], [14.7282, 9.5983, -1.0142]], collide: 2}
      - {kind: loft, a: [[14.5341, 9.2233, -1.7387], [14.5341, 10.6433, -1.7387], [14.7282, 10.2683, -1.0142], [14.7282, 9.5983, -1.0142]], b: [[15.0, 9.29, -1.8], [15.0, 10.71, -1.8], [15.0, 10.335, -1.05], [15.0, 9.665, -1.05]], collide: 2}
      - {kind: loft, a: [[15.0, 9.29, -1.8], [15.0, 10.71, -1.8], [15.0, 10.335, -1.05], [15.0, 9.665, -1.05]], b: [[15.4659, 9.3567, -1.7387], [15.4659, 10.7767, -1.7387], [15.2718, 10.4017, -1.0142], [15.2718, 9.7317, -1.0142]], collide: 2}
      - {kind: loft, a: [[15.4659, 9.3567, -1.7387], [15.4659, 10.7767, -1.7387], [15.2718, 10.4017, -1.0142], [15.2718, 9.7317, -1.0142]], b: [[15.9, 9.4233, -1.5588], [15.9, 10.8433, -1.5588], [15.525, 10.4683, -0.9093], [15.525, 9.7983, -0.9093]], collide: 2}
      - {kind: loft, a: [[15.9, 9.4233, -1.5588], [15.9, 10.8433, -1.5588], [15.525, 10.4683, -0.9093], [15.525, 9.7983, -0.9093]], b: [[16.2728, 9.49, -1.2728], [16.2728, 10.91, -1.2728], [15.7425, 10.535, -0.7425], [15.7425, 9.865, -0.7425]], collide: 2}
      - {kind: loft, a: [[16.2728, 9.49, -1.2728], [16.2728, 10.91, -1.2728], [15.7425, 10.535, -0.7425], [15.7425, 9.865, -0.7425]], b: [[16.5588, 9.5567, -0.9], [16.5588, 10.9767, -0.9], [15.9093, 10.6017, -0.525], [15.9093, 9.9317, -0.525]], collide: 2}
      - {kind: loft, a: [[16.5588, 9.5567, -0.9], [16.5588, 10.9767, -0.9], [15.9093, 10.6017, -0.525], [15.9093, 9.9317, -0.525]], b: [[16.7387, 9.6233, -0.4659], [16.7387, 11.0433, -0.4659], [16.0142, 10.6683, -0.2718], [16.0142, 9.9983, -0.2718]], collide: 2}
      - {kind: loft, a: [[16.7387, 9.6233, -0.4659], [16.7387, 11.0433, -0.4659], [16.0142, 10.6683, -0.2718], [16.0142, 9.9983, -0.2718]], b: [[16.8, 9.69, -0.0], [16.8, 11.11, -0.0], [16.05, 10.735, -0.0], [16.05, 10.065, -0.0]], collide: 2}
      - {kind: loft, a: [[16.8, 9.69, -0.0], [16.8, 11.11, -0.0], [16.05, 10.735, -0.0], [16.05, 10.065, -0.0]], b: [[16.7387, 9.7567, 0.4659], [16.7387, 11.1767, 0.4659], [16.0142, 10.8017, 0.2718], [16.0142, 10.1317, 0.2718]], collide: 2}
      - {kind: loft, a: [[16.7387, 9.7567, 0.4659], [16.7387, 11.1767, 0.4659], [16.0142, 10.8017, 0.2718], [16.0142, 10.1317, 0.2718]], b: [[16.5588, 9.8233, 0.9], [16.5588, 11.2433, 0.9], [15.9093, 10.8683, 0.525], [15.9093, 10.1983, 0.525]], collide: 2}
      - {kind: loft, a: [[16.5588, 9.8233, 0.9], [16.5588, 11.2433, 0.9], [15.9093, 10.8683, 0.525], [15.9093, 10.1983, 0.525]], b: [[16.2728, 9.89, 1.2728], [16.2728, 11.31, 1.2728], [15.7425, 10.935, 0.7425], [15.7425, 10.265, 0.7425]], collide: 2}
      - {kind: loft, a: [[16.2728, 9.89, 1.2728], [16.2728, 11.31, 1.2728], [15.7425, 10.935, 0.7425], [15.7425, 10.265, 0.7425]], b: [[15.9, 9.9567, 1.5588], [15.9, 11.3767, 1.5588], [15.525, 11.0017, 0.9093], [15.525, 10.3317, 0.9093]], collide: 2}
      - {kind: loft, a: [[15.9, 9.9567, 1.5588], [15.9, 11.3767, 1.5588], [15.525, 11.0017, 0.9093], [15.525, 10.3317, 0.9093]], b: [[15.4659, 10.0233, 1.7387], [15.4659, 11.4433, 1.7387], [15.2718, 11.0683, 1.0142], [15.2718, 10.3983, 1.0142]], collide: 2}
      - {kind: loft, a: [[15.4659, 10.0233, 1.7387], [15.4659, 11.4433, 1.7387], [15.2718, 11.0683, 1.0142], [15.2718, 10.3983, 1.0142]], b: [[15.0, 10.09, 1.8], [15.0, 11.51, 1.8], [15.0, 11.135, 1.05], [15.0, 10.465, 1.05]], collide: 2}
      - {kind: loft, a: [[15.0, 10.09, 1.8], [15.0, 11.51, 1.8], [15.0, 11.135, 1.05], [15.0, 10.465, 1.05]], b: [[14.5341, 10.1567, 1.7387], [14.5341, 11.5767, 1.7387], [14.7282, 11.2017, 1.0142], [14.7282, 10.5317, 1.0142]], collide: 2}
      - {kind: loft, a: [[14.5341, 10.1567, 1.7387], [14.5341, 11.5767, 1.7387], [14.7282, 11.2017, 1.0142], [14.7282, 10.5317, 1.0142]], b: [[14.1, 10.2233, 1.5588], [14.1, 11.6433, 1.5588], [14.475, 11.2683, 0.9093], [14.475, 10.5983, 0.9093]], collide: 2}
      - {kind: loft, a: [[14.1, 10.2233, 1.5588], [14.1, 11.6433, 1.5588], [14.475, 11.2683, 0.9093], [14.475, 10.5983, 0.9093]], b: [[13.7272, 10.29, 1.2728], [13.7272, 11.71, 1.2728], [14.2575, 11.335, 0.7425], [14.2575, 10.665, 0.7425]], collide: 2}
      - {kind: loft, a: [[13.7272, 10.29, 1.2728], [13.7272, 11.71, 1.2728], [14.2575, 11.335, 0.7425], [14.2575, 10.665, 0.7425]], b: [[13.4412, 10.3567, 0.9], [13.4412, 11.7767, 0.9], [14.0907, 11.4017, 0.525], [14.0907, 10.7317, 0.525]], collide: 2}
      - {kind: loft, a: [[13.4412, 10.3567, 0.9], [13.4412, 11.7767, 0.9], [14.0907, 11.4017, 0.525], [14.0907, 10.7317, 0.525]], b: [[13.2613, 10.4233, 0.4659], [13.2613, 11.8433, 0.4659], [13.9858, 11.4683, 0.2718], [13.9858, 10.7983, 0.2718]], collide: 2}
      - {kind: loft, a: [[13.2613, 10.4233, 0.4659], [13.2613, 11.8433, 0.4659], [13.9858, 11.4683, 0.2718], [13.9858, 10.7983, 0.2718]], b: [[13.2, 10.49, 0.0], [13.2, 11.91, 0.0], [13.95, 11.535, 0.0], [13.95, 10.865, 0.0]], collide: 2}
      - {kind: loft, a: [[13.2, 10.49, 0.0], [13.2, 11.91, 0.0], [13.95, 11.535, 0.0], [13.95, 10.865, 0.0]], b: [[13.2613, 10.5567, -0.4659], [13.2613, 11.9767, -0.4659], [13.9858, 11.6017, -0.2718], [13.9858, 10.9317, -0.2718]], collide: 2}
      - {kind: loft, a: [[13.2613, 10.5567, -0.4659], [13.2613, 11.9767, -0.4659], [13.9858, 11.6017, -0.2718], [13.9858, 10.9317, -0.2718]], b: [[13.4412, 10.6233, -0.9], [13.4412, 12.0433, -0.9], [14.0907, 11.6683, -0.525], [14.0907, 10.9983, -0.525]], collide: 2}
      - {kind: loft, a: [[13.4412, 10.6233, -0.9], [13.4412, 12.0433, -0.9], [14.0907, 11.6683, -0.525], [14.0907, 10.9983, -0.525]], b: [[13.7272, 10.69, -1.2728], [13.7272, 12.11, -1.2728], [14.2575, 11.735, -0.7425], [14.2575, 11.065, -0.7425]], collide: 2}
      - {kind: loft, a: [[13.7272, 10.69, -1.2728], [13.7272, 12.11, -1.2728], [14.2575, 11.735, -0.7425], [14.2575, 11.065, -0.7425]], b: [[14.1, 10.7567, -1.5588], [14.1, 12.1767, -1.5588], [14.475, 11.8017, -0.9093], [14.475, 11.1317, -0.9093]], collide: 2}
      - {kind: loft, a: [[14.1, 10.7567, -1.5588], [14.1, 12.1767, -1.5588], [14.475, 11.8017, -0.9093], [14.475, 11.1317, -0.9093]], b: [[14.5341, 10.8233, -1.7387], [14.5341, 12.2433, -1.7387], [14.7282, 11.8683, -1.0142], [14.7282, 11.1983, -1.0142]], collide: 2}
      - {kind: loft, a: [[14.5341, 10.8233, -1.7387], [14.5341, 12.2433, -1.7387], [14.7282, 11.8683, -1.0142], [14.7282, 11.1983, -1.0142]], b: [[15.0, 10.89, -1.8], [15.0, 12.31, -1.8], [15.0, 11.935, -1.05], [15.0, 11.265, -1.05]], collide: 2}
      - {kind: loft, a: [[15.0, 10.89, -1.8], [15.0, 12.31, -1.8], [15.0, 11.935, -1.05], [15.0, 11.265, -1.05]], b: [[15.4659, 10.9567, -1.7387], [15.4659, 12.3767, -1.7387], [15.2718, 12.0017, -1.0142], [15.2718, 11.3317, -1.0142]], collide: 2}
      - {kind: loft, a: [[15.4659, 10.9567, -1.7387], [15.4659, 12.3767, -1.7387], [15.2718, 12.0017, -1.0142], [15.2718, 11.3317, -1.0142]], b: [[15.9, 11.0233, -1.5588], [15.9, 12.4433, -1.5588], [15.525, 12.0683, -0.9093], [15.525, 11.3983, -0.9093]], collide: 2}
      - {kind: loft, a: [[15.9, 11.0233, -1.5588], [15.9, 12.4433, -1.5588], [15.525, 12.0683, -0.9093], [15.525, 11.3983, -0.9093]], b: [[16.2728, 11.09, -1.2728], [16.2728, 12.51, -1.2728], [15.7425, 12.135, -0.7425], [15.7425, 11.465, -0.7425]], collide: 2}
      - {kind: loft, a: [[16.2728, 11.09, -1.2728], [16.2728, 12.51, -1.2728], [15.7425, 12.135, -0.7425], [15.7425, 11.465, -0.7425]], b: [[16.5588, 11.1567, -0.9], [16.5588, 12.5767, -0.9], [15.9093, 12.2017, -0.525], [15.9093, 11.5317, -0.525]], collide: 2}
      - {kind: loft, a: [[16.5588, 11.1567, -0.9], [16.5588, 12.5767, -0.9], [15.9093, 12.2017, -0.525], [15.9093, 11.5317, -0.525]], b: [[16.7387, 11.2233, -0.4659], [16.7387, 12.6433, -0.4659], [16.0142, 12.2683, -0.2718], [16.0142, 11.5983, -0.2718]], collide: 2}
      - {kind: loft, a: [[16.7387, 11.2233, -0.4659], [16.7387, 12.6433, -0.4659], [16.0142, 12.2683, -0.2718], [16.0142, 11.5983, -0.2718]], b: [[16.8, 11.29, -0.0], [16.8, 12.71, -0.0], [16.05, 12.335, -0.0], [16.05, 11.665, -0.0]], collide: 2}
  - id: frame
    shape: part
    pos: [0, 0, 0]
    fixed: true
    color: "#cfc6b4"
    pieces:
      - {kind: poly, points: [[-3, -11], [18.0, -11], [18.0, -10], [-3, -10]], y: [-5, 13], color: "#b9b09c"}   # the bed
      - {kind: poly, points: [[-1.2, -10], [1.2, -10], [1.2, 0], [-1.2, 0]], y: [-4.4, -3.6], collide: 0}   # A's standards
      - {kind: poly, points: [[-1.2, -10], [1.2, -10], [1.2, 0], [-1.2, 0]], y: [9.6, 10.4], collide: 0}
      - {kind: poly, points: [[13.5, -10], [16.5, -10], [16.5, -2.3], [13.5, -2.3]], y: [13.01, 13.81], collide: 0}   # the shorter standard, E's bearing
joints:
  - {id: j_a, type: hinge, body: shaft_a, axis: [0, 1, 0], damping: 0.002}   # the one driven joint
  - {id: j_s, type: slide, body: carriage, axis: [0, 1, 0], range: [-3, 3], damping: 0.05}   # the screw free along its axis
  - {id: j_d, type: hinge, body: screw, axis: [0, 1, 0], damping: 0.02}   # the screw and D on their axis
  - {id: j_e, type: hinge, body: wheel_e, axis: [0, 1, 0], damping: 0.02}   # E and its nut in their bearing
driver: {joint: j_a, kind: velocity, rpm: 40.0, kv: 0.3, max_torque: 3}
checks:
  - {type: follow, out: j_d, in: j_a, expect: -0.6667, tol: 0.0133, min_r2: 0.999, settle_s: 1.0, window_s: 6.0}   # D at 20/30 of A
  - {type: follow, out: j_e, in: j_a, expect: -0.7857, tol: 0.0157, min_r2: 0.999, settle_s: 1.0, window_s: 6.0}   # E at 22/28
  - {type: follow, out: j_s, in: j_a, expect: -0.0003032, tol: 1.52e-05, min_r2: 0.99, settle_s: 1.0, window_s: 8.0}   # the screw travels by the difference
camera: {target: [7.5, 4, -7.0], position: [33.5, -40.0, 34.0], fov: 40.0}
display:
  output: j_s
  labels: {j_a: "Driving shaft A (driver)", j_d: "Wheel D and screw C", j_e: "Wheel E and nut", j_s: "Screw travel"}
  proof: {label: "Screw travels by the difference", sub: "wheels D and E turn unequally, so the screw moves along"}