# No. 384 (Brown 1868): "Helicograph, or instrument for describing helices. The small wheel, by revolving about the fixed central point, describes a volute or spiral by moving along the screw-threaded axle either way, and transmits the same to drawing paper on which transfer-paper is laid with colored side downward." # # Model (cm, gravity on): a needle stuck in the paper is the fixed central point; the screw-threaded axle (right hand, pitch 0.8, real flank contact) # is looped over it by an eye and swept round it by hand (the one driven joint: 6 turns a minute, clockwise seen from above). The axle is free # to rock up and down on the needle, so the small wheel (2.5 cm radius, milled edge), threaded on it as a nut, rests on the paper by its own weight and # the axle's. Swept round, the wheel rolls on the paper by friction alone; rolling, it turns on the thread and screws itself out along the axle: # 0.8 cm a turn of the wheel, and the wheel turns r/2.5 times for each turn of the axle round the point, so r grows in proportion to itself: # the volute (a logarithmic spiral), from 12 to about 17.6 cm in 12 s. # Generator: opencode-runs/batch13/gen384.py. number: 384 slug: helicograph name: Helicograph brown: "Helicograph, or instrument for describing helices. The small wheel, by revolving about the fixed central point, describes a volute or spiral by moving along the screw-threaded axle either way, and transmits the same to drawing paper on which transfer-paper is laid with colored side downward." units: cm sim: timestep: 0.0002 integrator: implicitfast iterations: 100 solver: CG multiccd: true duration_s: 12 floor: false bodies: - id: paper shape: part pos: [0, 0, 0] fixed: true friction: 1.0 color: "#9c8f74" pieces: - {kind: poly, points: [[-22, -0.4], [22, -0.4], [22, 0], [-22, 0]], y: [-22, 22], collide: 2} # the drawing board and paper - {kind: poly, points: [[-21, 0], [21, 0], [21, 0.02], [-21, 0.02]], y: [-21, 21], collide: 0, color: "#fbf7ee"} # the transfer-paper on it - {kind: rod, from: [0, 0, -0.3], to: [0, 0, 3.1], radius: 0.12, collide: 0, color: "#6f6a60"} # the needle, the fixed central point - {kind: rod, from: [0, 0, 3.1], to: [0, 0, 5.1], radius: 0.4, collide: 0, color: "#b9a882"} # its stem - {kind: rod, from: [0, 0, 5.1], to: [0, 0, 5.5], radius: 1.1, collide: 0, color: "#b9a882"} # its head - id: swivel shape: part pos: [0, 0, 2.5] density: 7800 color: "#cfc6b4" pieces: - {kind: rod, from: [0, 0, 2.15], to: [0, 0, 2.85], radius: 0.6, collide: 0} # the eye's collar on the needle - id: axle shape: part pos: [0, 0, 2.5] mount: swivel density: 7800 friction: 0.15 color: "#d8cfbd" pieces: - {kind: poly, points: [[-1.4, 2.2], [1.6, 2.2], [1.6, 2.8], [-1.4, 2.8]], y: [-1.0, 1.0], collide: 0} # the eye, looped over the needle - {kind: rod, from: [1.4, 0, 2.5], to: [23.400000000000002, 0, 2.5], radius: 0.5, collide: 0} # the axle's core - {kind: loft, a: [[9.5625, 0.475, 2.5], [10.0375, 0.475, 2.5], [9.875, 0.8, 2.5], [9.725, 0.8, 2.5]], b: [[9.5958, 0.4588, 2.6229], [10.0708, 0.4588, 2.6229], [9.9083, 0.7727, 2.7071], [9.7583, 0.7727, 2.7071]], collide: 1} - {kind: loft, a: [[9.5958, 0.4588, 2.6229], [10.0708, 0.4588, 2.6229], [9.9083, 0.7727, 2.7071], [9.7583, 0.7727, 2.7071]], b: [[9.6292, 0.4114, 2.7375], [10.1042, 0.4114, 2.7375], [9.9417, 0.6928, 2.9], [9.7917, 0.6928, 2.9]], collide: 1} - {kind: loft, a: [[9.6292, 0.4114, 2.7375], [10.1042, 0.4114, 2.7375], [9.9417, 0.6928, 2.9], [9.7917, 0.6928, 2.9]], b: [[9.6625, 0.3359, 2.8359], [10.1375, 0.3359, 2.8359], [9.975, 0.5657, 3.0657], [9.825, 0.5657, 3.0657]], collide: 1} - {kind: loft, a: [[9.6625, 0.3359, 2.8359], [10.1375, 0.3359, 2.8359], [9.975, 0.5657, 3.0657], [9.825, 0.5657, 3.0657]], b: [[9.6958, 0.2375, 2.9114], [10.1708, 0.2375, 2.9114], [10.0083, 0.4, 3.1928], [9.8583, 0.4, 3.1928]], collide: 1} - {kind: loft, a: [[9.6958, 0.2375, 2.9114], [10.1708, 0.2375, 2.9114], [10.0083, 0.4, 3.1928], [9.8583, 0.4, 3.1928]], b: [[9.7292, 0.1229, 2.9588], [10.2042, 0.1229, 2.9588], [10.0417, 0.2071, 3.2727], [9.8917, 0.2071, 3.2727]], collide: 1} - {kind: loft, a: [[9.7292, 0.1229, 2.9588], [10.2042, 0.1229, 2.9588], [10.0417, 0.2071, 3.2727], [9.8917, 0.2071, 3.2727]], b: [[9.7625, 0.0, 2.975], [10.2375, 0.0, 2.975], [10.075, 0.0, 3.3], [9.925, 0.0, 3.3]], collide: 1} - {kind: loft, a: [[9.7625, 0.0, 2.975], [10.2375, 0.0, 2.975], [10.075, 0.0, 3.3], [9.925, 0.0, 3.3]], b: [[9.7958, -0.1229, 2.9588], [10.2708, -0.1229, 2.9588], [10.1083, -0.2071, 3.2727], [9.9583, -0.2071, 3.2727]], collide: 1} - {kind: loft, a: [[9.7958, -0.1229, 2.9588], [10.2708, -0.1229, 2.9588], [10.1083, -0.2071, 3.2727], [9.9583, -0.2071, 3.2727]], b: [[9.8292, -0.2375, 2.9114], [10.3042, -0.2375, 2.9114], [10.1417, -0.4, 3.1928], [9.9917, -0.4, 3.1928]], collide: 1} - {kind: loft, a: [[9.8292, -0.2375, 2.9114], [10.3042, -0.2375, 2.9114], [10.1417, -0.4, 3.1928], [9.9917, -0.4, 3.1928]], b: [[9.8625, -0.3359, 2.8359], [10.3375, -0.3359, 2.8359], [10.175, -0.5657, 3.0657], [10.025, -0.5657, 3.0657]], collide: 1} - {kind: loft, a: [[9.8625, -0.3359, 2.8359], [10.3375, -0.3359, 2.8359], [10.175, -0.5657, 3.0657], [10.025, -0.5657, 3.0657]], b: [[9.8958, -0.4114, 2.7375], [10.3708, -0.4114, 2.7375], [10.2083, -0.6928, 2.9], [10.0583, -0.6928, 2.9]], collide: 1} - {kind: loft, a: [[9.8958, -0.4114, 2.7375], [10.3708, -0.4114, 2.7375], [10.2083, -0.6928, 2.9], [10.0583, -0.6928, 2.9]], b: [[9.9292, -0.4588, 2.6229], [10.4042, -0.4588, 2.6229], [10.2417, -0.7727, 2.7071], [10.0917, -0.7727, 2.7071]], collide: 1} - {kind: loft, a: [[9.9292, -0.4588, 2.6229], [10.4042, -0.4588, 2.6229], [10.2417, -0.7727, 2.7071], [10.0917, -0.7727, 2.7071]], b: [[9.9625, -0.475, 2.5], [10.4375, -0.475, 2.5], [10.275, -0.8, 2.5], [10.125, -0.8, 2.5]], collide: 1} - {kind: loft, a: [[9.9625, -0.475, 2.5], [10.4375, -0.475, 2.5], [10.275, -0.8, 2.5], [10.125, -0.8, 2.5]], b: [[9.9958, -0.4588, 2.3771], [10.4708, -0.4588, 2.3771], [10.3083, -0.7727, 2.2929], [10.1583, -0.7727, 2.2929]], collide: 1} - {kind: loft, a: [[9.9958, -0.4588, 2.3771], [10.4708, -0.4588, 2.3771], [10.3083, -0.7727, 2.2929], [10.1583, -0.7727, 2.2929]], b: [[10.0292, -0.4114, 2.2625], [10.5042, -0.4114, 2.2625], [10.3417, -0.6928, 2.1], [10.1917, -0.6928, 2.1]], collide: 1} - {kind: loft, a: [[10.0292, -0.4114, 2.2625], [10.5042, -0.4114, 2.2625], [10.3417, -0.6928, 2.1], [10.1917, -0.6928, 2.1]], b: [[10.0625, -0.3359, 2.1641], [10.5375, -0.3359, 2.1641], [10.375, -0.5657, 1.9343], [10.225, -0.5657, 1.9343]], collide: 1} - {kind: loft, a: [[10.0625, -0.3359, 2.1641], [10.5375, -0.3359, 2.1641], [10.375, -0.5657, 1.9343], [10.225, -0.5657, 1.9343]], b: [[10.0958, -0.2375, 2.0886], [10.5708, -0.2375, 2.0886], [10.4083, -0.4, 1.8072], [10.2583, -0.4, 1.8072]], collide: 1} - {kind: loft, a: [[10.0958, -0.2375, 2.0886], [10.5708, -0.2375, 2.0886], [10.4083, -0.4, 1.8072], [10.2583, -0.4, 1.8072]], b: [[10.1292, -0.1229, 2.0412], [10.6042, -0.1229, 2.0412], [10.4417, -0.2071, 1.7273], [10.2917, -0.2071, 1.7273]], collide: 1} - {kind: loft, a: [[10.1292, -0.1229, 2.0412], [10.6042, -0.1229, 2.0412], [10.4417, -0.2071, 1.7273], [10.2917, -0.2071, 1.7273]], b: [[10.1625, -0.0, 2.025], [10.6375, -0.0, 2.025], [10.475, -0.0, 1.7], [10.325, -0.0, 1.7]], collide: 1} - {kind: loft, a: [[10.1625, -0.0, 2.025], [10.6375, -0.0, 2.025], [10.475, -0.0, 1.7], [10.325, -0.0, 1.7]], b: [[10.1958, 0.1229, 2.0412], [10.6708, 0.1229, 2.0412], [10.5083, 0.2071, 1.7273], [10.3583, 0.2071, 1.7273]], collide: 1} - {kind: loft, a: [[10.1958, 0.1229, 2.0412], [10.6708, 0.1229, 2.0412], [10.5083, 0.2071, 1.7273], [10.3583, 0.2071, 1.7273]], b: [[10.2292, 0.2375, 2.0886], [10.7042, 0.2375, 2.0886], [10.5417, 0.4, 1.8072], [10.3917, 0.4, 1.8072]], collide: 1} - {kind: loft, a: [[10.2292, 0.2375, 2.0886], [10.7042, 0.2375, 2.0886], [10.5417, 0.4, 1.8072], [10.3917, 0.4, 1.8072]], b: [[10.2625, 0.3359, 2.1641], [10.7375, 0.3359, 2.1641], [10.575, 0.5657, 1.9343], [10.425, 0.5657, 1.9343]], collide: 1} - {kind: loft, a: [[10.2625, 0.3359, 2.1641], [10.7375, 0.3359, 2.1641], [10.575, 0.5657, 1.9343], [10.425, 0.5657, 1.9343]], b: [[10.2958, 0.4114, 2.2625], [10.7708, 0.4114, 2.2625], [10.6083, 0.6928, 2.1], [10.4583, 0.6928, 2.1]], collide: 1} - {kind: loft, a: [[10.2958, 0.4114, 2.2625], [10.7708, 0.4114, 2.2625], [10.6083, 0.6928, 2.1], [10.4583, 0.6928, 2.1]], b: [[10.3292, 0.4588, 2.3771], [10.8042, 0.4588, 2.3771], [10.6417, 0.7727, 2.2929], [10.4917, 0.7727, 2.2929]], collide: 1} - {kind: loft, a: [[10.3292, 0.4588, 2.3771], [10.8042, 0.4588, 2.3771], [10.6417, 0.7727, 2.2929], [10.4917, 0.7727, 2.2929]], b: [[10.3625, 0.475, 2.5], [10.8375, 0.475, 2.5], [10.675, 0.8, 2.5], [10.525, 0.8, 2.5]], collide: 1} - {kind: loft, a: [[10.3625, 0.475, 2.5], [10.8375, 0.475, 2.5], [10.675, 0.8, 2.5], [10.525, 0.8, 2.5]], b: [[10.3958, 0.4588, 2.6229], [10.8708, 0.4588, 2.6229], [10.7083, 0.7727, 2.7071], [10.5583, 0.7727, 2.7071]], collide: 1} - {kind: loft, a: [[10.3958, 0.4588, 2.6229], [10.8708, 0.4588, 2.6229], [10.7083, 0.7727, 2.7071], [10.5583, 0.7727, 2.7071]], b: [[10.4292, 0.4114, 2.7375], [10.9042, 0.4114, 2.7375], [10.7417, 0.6928, 2.9], [10.5917, 0.6928, 2.9]], collide: 1} - {kind: loft, a: [[10.4292, 0.4114, 2.7375], [10.9042, 0.4114, 2.7375], [10.7417, 0.6928, 2.9], [10.5917, 0.6928, 2.9]], b: [[10.4625, 0.3359, 2.8359], [10.9375, 0.3359, 2.8359], [10.775, 0.5657, 3.0657], [10.625, 0.5657, 3.0657]], collide: 1} - {kind: loft, a: [[10.4625, 0.3359, 2.8359], [10.9375, 0.3359, 2.8359], [10.775, 0.5657, 3.0657], [10.625, 0.5657, 3.0657]], b: [[10.4958, 0.2375, 2.9114], [10.9708, 0.2375, 2.9114], [10.8083, 0.4, 3.1928], [10.6583, 0.4, 3.1928]], collide: 1} - {kind: loft, a: [[10.4958, 0.2375, 2.9114], [10.9708, 0.2375, 2.9114], [10.8083, 0.4, 3.1928], [10.6583, 0.4, 3.1928]], b: [[10.5292, 0.1229, 2.9588], [11.0042, 0.1229, 2.9588], [10.8417, 0.2071, 3.2727], [10.6917, 0.2071, 3.2727]], collide: 1} - {kind: loft, a: [[10.5292, 0.1229, 2.9588], [11.0042, 0.1229, 2.9588], [10.8417, 0.2071, 3.2727], [10.6917, 0.2071, 3.2727]], b: [[10.5625, 0.0, 2.975], [11.0375, 0.0, 2.975], [10.875, 0.0, 3.3], [10.725, 0.0, 3.3]], collide: 1} - {kind: loft, a: [[10.5625, 0.0, 2.975], [11.0375, 0.0, 2.975], [10.875, 0.0, 3.3], [10.725, 0.0, 3.3]], b: [[10.5958, -0.1229, 2.9588], [11.0708, -0.1229, 2.9588], [10.9083, -0.2071, 3.2727], [10.7583, -0.2071, 3.2727]], collide: 1} - {kind: loft, a: [[10.5958, -0.1229, 2.9588], [11.0708, -0.1229, 2.9588], [10.9083, -0.2071, 3.2727], [10.7583, -0.2071, 3.2727]], b: [[10.6292, -0.2375, 2.9114], [11.1042, -0.2375, 2.9114], [10.9417, -0.4, 3.1928], [10.7917, -0.4, 3.1928]], collide: 1} - {kind: loft, a: [[10.6292, -0.2375, 2.9114], [11.1042, -0.2375, 2.9114], [10.9417, -0.4, 3.1928], [10.7917, -0.4, 3.1928]], b: [[10.6625, -0.3359, 2.8359], [11.1375, -0.3359, 2.8359], [10.975, -0.5657, 3.0657], [10.825, -0.5657, 3.0657]], collide: 1} - {kind: loft, a: [[10.6625, -0.3359, 2.8359], [11.1375, -0.3359, 2.8359], [10.975, -0.5657, 3.0657], [10.825, -0.5657, 3.0657]], b: [[10.6958, -0.4114, 2.7375], [11.1708, -0.4114, 2.7375], [11.0083, -0.6928, 2.9], [10.8583, -0.6928, 2.9]], collide: 1} - {kind: loft, a: [[10.6958, -0.4114, 2.7375], [11.1708, -0.4114, 2.7375], [11.0083, -0.6928, 2.9], [10.8583, -0.6928, 2.9]], b: [[10.7292, -0.4588, 2.6229], [11.2042, -0.4588, 2.6229], [11.0417, -0.7727, 2.7071], [10.8917, -0.7727, 2.7071]], collide: 1} - {kind: loft, a: [[10.7292, -0.4588, 2.6229], [11.2042, -0.4588, 2.6229], [11.0417, -0.7727, 2.7071], [10.8917, -0.7727, 2.7071]], b: [[10.7625, -0.475, 2.5], [11.2375, -0.475, 2.5], [11.075, -0.8, 2.5], [10.925, -0.8, 2.5]], collide: 1} - {kind: loft, a: [[10.7625, -0.475, 2.5], [11.2375, -0.475, 2.5], [11.075, -0.8, 2.5], [10.925, -0.8, 2.5]], b: [[10.7958, -0.4588, 2.3771], [11.2708, -0.4588, 2.3771], [11.1083, -0.7727, 2.2929], [10.9583, -0.7727, 2.2929]], collide: 1} - {kind: loft, a: [[10.7958, -0.4588, 2.3771], [11.2708, -0.4588, 2.3771], [11.1083, -0.7727, 2.2929], [10.9583, -0.7727, 2.2929]], b: [[10.8292, -0.4114, 2.2625], [11.3042, -0.4114, 2.2625], [11.1417, -0.6928, 2.1], [10.9917, -0.6928, 2.1]], collide: 1} - {kind: loft, a: [[10.8292, -0.4114, 2.2625], [11.3042, -0.4114, 2.2625], [11.1417, -0.6928, 2.1], [10.9917, -0.6928, 2.1]], b: [[10.8625, -0.3359, 2.1641], [11.3375, -0.3359, 2.1641], [11.175, -0.5657, 1.9343], [11.025, -0.5657, 1.9343]], collide: 1} - {kind: loft, a: [[10.8625, -0.3359, 2.1641], [11.3375, -0.3359, 2.1641], [11.175, -0.5657, 1.9343], [11.025, -0.5657, 1.9343]], b: [[10.8958, -0.2375, 2.0886], [11.3708, -0.2375, 2.0886], [11.2083, -0.4, 1.8072], [11.0583, -0.4, 1.8072]], collide: 1} - 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{kind: loft, a: [[20.3292, -0.4588, 2.6229], [20.8042, -0.4588, 2.6229], [20.6417, -0.7727, 2.7071], [20.4917, -0.7727, 2.7071]], b: [[20.3625, -0.475, 2.5], [20.8375, -0.475, 2.5], [20.675, -0.8, 2.5], [20.525, -0.8, 2.5]], collide: 1} - {kind: loft, a: [[20.3625, -0.475, 2.5], [20.8375, -0.475, 2.5], [20.675, -0.8, 2.5], [20.525, -0.8, 2.5]], b: [[20.3958, -0.4588, 2.3771], [20.8708, -0.4588, 2.3771], [20.7083, -0.7727, 2.2929], [20.5583, -0.7727, 2.2929]], collide: 1} - {kind: loft, a: [[20.3958, -0.4588, 2.3771], [20.8708, -0.4588, 2.3771], [20.7083, -0.7727, 2.2929], [20.5583, -0.7727, 2.2929]], b: [[20.4292, -0.4114, 2.2625], [20.9042, -0.4114, 2.2625], [20.7417, -0.6928, 2.1], [20.5917, -0.6928, 2.1]], collide: 1} - {kind: loft, a: [[20.4292, -0.4114, 2.2625], [20.9042, -0.4114, 2.2625], [20.7417, -0.6928, 2.1], [20.5917, -0.6928, 2.1]], b: [[20.4625, -0.3359, 2.1641], [20.9375, -0.3359, 2.1641], [20.775, -0.5657, 1.9343], [20.625, -0.5657, 1.9343]], collide: 1} - {kind: loft, a: [[20.4625, -0.3359, 2.1641], [20.9375, -0.3359, 2.1641], [20.775, -0.5657, 1.9343], [20.625, -0.5657, 1.9343]], b: [[20.4958, -0.2375, 2.0886], [20.9708, -0.2375, 2.0886], [20.8083, -0.4, 1.8072], [20.6583, -0.4, 1.8072]], collide: 1} - {kind: loft, a: [[20.4958, -0.2375, 2.0886], [20.9708, -0.2375, 2.0886], [20.8083, -0.4, 1.8072], [20.6583, -0.4, 1.8072]], b: [[20.5292, -0.1229, 2.0412], [21.0042, -0.1229, 2.0412], [20.8417, -0.2071, 1.7273], [20.6917, -0.2071, 1.7273]], collide: 1} - {kind: loft, a: [[20.5292, -0.1229, 2.0412], [21.0042, -0.1229, 2.0412], [20.8417, -0.2071, 1.7273], [20.6917, -0.2071, 1.7273]], b: [[20.5625, -0.0, 2.025], [21.0375, -0.0, 2.025], [20.875, -0.0, 1.7], [20.725, -0.0, 1.7]], collide: 1} - {kind: loft, a: [[20.5625, -0.0, 2.025], [21.0375, -0.0, 2.025], [20.875, -0.0, 1.7], [20.725, -0.0, 1.7]], b: [[20.5958, 0.1229, 2.0412], [21.0708, 0.1229, 2.0412], [20.9083, 0.2071, 1.7273], [20.7583, 0.2071, 1.7273]], collide: 1} - {kind: loft, a: [[20.5958, 0.1229, 2.0412], [21.0708, 0.1229, 2.0412], [20.9083, 0.2071, 1.7273], [20.7583, 0.2071, 1.7273]], b: [[20.6292, 0.2375, 2.0886], [21.1042, 0.2375, 2.0886], [20.9417, 0.4, 1.8072], [20.7917, 0.4, 1.8072]], collide: 1} - {kind: loft, a: [[20.6292, 0.2375, 2.0886], [21.1042, 0.2375, 2.0886], [20.9417, 0.4, 1.8072], [20.7917, 0.4, 1.8072]], b: [[20.6625, 0.3359, 2.1641], [21.1375, 0.3359, 2.1641], [20.975, 0.5657, 1.9343], [20.825, 0.5657, 1.9343]], collide: 1} - {kind: loft, a: [[20.6625, 0.3359, 2.1641], [21.1375, 0.3359, 2.1641], [20.975, 0.5657, 1.9343], [20.825, 0.5657, 1.9343]], b: [[20.6958, 0.4114, 2.2625], [21.1708, 0.4114, 2.2625], [21.0083, 0.6928, 2.1], [20.8583, 0.6928, 2.1]], collide: 1} - {kind: loft, a: [[20.6958, 0.4114, 2.2625], [21.1708, 0.4114, 2.2625], [21.0083, 0.6928, 2.1], [20.8583, 0.6928, 2.1]], b: [[20.7292, 0.4588, 2.3771], [21.2042, 0.4588, 2.3771], [21.0417, 0.7727, 2.2929], [20.8917, 0.7727, 2.2929]], collide: 1} - {kind: loft, a: [[20.7292, 0.4588, 2.3771], [21.2042, 0.4588, 2.3771], [21.0417, 0.7727, 2.2929], [20.8917, 0.7727, 2.2929]], b: [[20.7625, 0.475, 2.5], [21.2375, 0.475, 2.5], [21.075, 0.8, 2.5], [20.925, 0.8, 2.5]], collide: 1} - {kind: loft, a: [[20.7625, 0.475, 2.5], [21.2375, 0.475, 2.5], [21.075, 0.8, 2.5], [20.925, 0.8, 2.5]], b: [[20.7958, 0.4588, 2.6229], [21.2708, 0.4588, 2.6229], [21.1083, 0.7727, 2.7071], [20.9583, 0.7727, 2.7071]], collide: 1} - {kind: loft, a: [[20.7958, 0.4588, 2.6229], [21.2708, 0.4588, 2.6229], [21.1083, 0.7727, 2.7071], [20.9583, 0.7727, 2.7071]], b: [[20.8292, 0.4114, 2.7375], [21.3042, 0.4114, 2.7375], [21.1417, 0.6928, 2.9], [20.9917, 0.6928, 2.9]], collide: 1} - {kind: loft, a: [[20.8292, 0.4114, 2.7375], [21.3042, 0.4114, 2.7375], [21.1417, 0.6928, 2.9], [20.9917, 0.6928, 2.9]], b: [[20.8625, 0.3359, 2.8359], [21.3375, 0.3359, 2.8359], [21.175, 0.5657, 3.0657], [21.025, 0.5657, 3.0657]], collide: 1} - {kind: loft, a: [[20.8625, 0.3359, 2.8359], [21.3375, 0.3359, 2.8359], [21.175, 0.5657, 3.0657], [21.025, 0.5657, 3.0657]], b: [[20.8958, 0.2375, 2.9114], [21.3708, 0.2375, 2.9114], [21.2083, 0.4, 3.1928], [21.0583, 0.4, 3.1928]], collide: 1} - {kind: loft, a: [[20.8958, 0.2375, 2.9114], [21.3708, 0.2375, 2.9114], [21.2083, 0.4, 3.1928], [21.0583, 0.4, 3.1928]], b: [[20.9292, 0.1229, 2.9588], [21.4042, 0.1229, 2.9588], [21.2417, 0.2071, 3.2727], [21.0917, 0.2071, 3.2727]], collide: 1} - {kind: loft, a: [[20.9292, 0.1229, 2.9588], [21.4042, 0.1229, 2.9588], [21.2417, 0.2071, 3.2727], [21.0917, 0.2071, 3.2727]], b: [[20.9625, 0.0, 2.975], [21.4375, 0.0, 2.975], [21.275, 0.0, 3.3], [21.125, 0.0, 3.3]], collide: 1} - {kind: loft, a: [[20.9625, 0.0, 2.975], [21.4375, 0.0, 2.975], [21.275, 0.0, 3.3], [21.125, 0.0, 3.3]], b: [[20.9958, -0.1229, 2.9588], [21.4708, -0.1229, 2.9588], [21.3083, -0.2071, 3.2727], [21.1583, -0.2071, 3.2727]], collide: 1} - {kind: loft, a: [[20.9958, -0.1229, 2.9588], [21.4708, -0.1229, 2.9588], [21.3083, -0.2071, 3.2727], [21.1583, -0.2071, 3.2727]], b: [[21.0292, -0.2375, 2.9114], [21.5042, -0.2375, 2.9114], [21.3417, -0.4, 3.1928], [21.1917, -0.4, 3.1928]], collide: 1} - {kind: loft, a: [[21.0292, -0.2375, 2.9114], [21.5042, -0.2375, 2.9114], [21.3417, -0.4, 3.1928], [21.1917, -0.4, 3.1928]], b: [[21.0625, -0.3359, 2.8359], [21.5375, -0.3359, 2.8359], [21.375, -0.5657, 3.0657], [21.225, -0.5657, 3.0657]], collide: 1} - {kind: loft, a: [[21.0625, -0.3359, 2.8359], [21.5375, -0.3359, 2.8359], [21.375, -0.5657, 3.0657], [21.225, -0.5657, 3.0657]], b: [[21.0958, -0.4114, 2.7375], [21.5708, -0.4114, 2.7375], [21.4083, -0.6928, 2.9], [21.2583, -0.6928, 2.9]], collide: 1} - {kind: loft, a: [[21.0958, -0.4114, 2.7375], [21.5708, -0.4114, 2.7375], [21.4083, -0.6928, 2.9], [21.2583, -0.6928, 2.9]], b: [[21.1292, -0.4588, 2.6229], [21.6042, -0.4588, 2.6229], [21.4417, -0.7727, 2.7071], [21.2917, -0.7727, 2.7071]], collide: 1} - {kind: loft, a: [[21.1292, -0.4588, 2.6229], [21.6042, -0.4588, 2.6229], [21.4417, -0.7727, 2.7071], [21.2917, -0.7727, 2.7071]], b: [[21.1625, -0.475, 2.5], [21.6375, -0.475, 2.5], [21.475, -0.8, 2.5], [21.325, -0.8, 2.5]], collide: 1} - {kind: loft, a: [[21.1625, -0.475, 2.5], [21.6375, -0.475, 2.5], [21.475, -0.8, 2.5], [21.325, -0.8, 2.5]], b: [[21.1958, -0.4588, 2.3771], [21.6708, -0.4588, 2.3771], [21.5083, -0.7727, 2.2929], [21.3583, -0.7727, 2.2929]], collide: 1} - {kind: loft, a: [[21.1958, -0.4588, 2.3771], [21.6708, -0.4588, 2.3771], [21.5083, -0.7727, 2.2929], [21.3583, -0.7727, 2.2929]], b: [[21.2292, -0.4114, 2.2625], [21.7042, -0.4114, 2.2625], [21.5417, -0.6928, 2.1], [21.3917, -0.6928, 2.1]], collide: 1} - {kind: loft, a: [[21.2292, -0.4114, 2.2625], [21.7042, -0.4114, 2.2625], [21.5417, -0.6928, 2.1], [21.3917, -0.6928, 2.1]], b: [[21.2625, -0.3359, 2.1641], [21.7375, -0.3359, 2.1641], [21.575, -0.5657, 1.9343], [21.425, -0.5657, 1.9343]], collide: 1} - {kind: loft, a: [[21.2625, -0.3359, 2.1641], [21.7375, -0.3359, 2.1641], [21.575, -0.5657, 1.9343], [21.425, -0.5657, 1.9343]], b: [[21.2958, -0.2375, 2.0886], [21.7708, -0.2375, 2.0886], [21.6083, -0.4, 1.8072], [21.4583, -0.4, 1.8072]], collide: 1} - {kind: loft, a: [[21.2958, -0.2375, 2.0886], [21.7708, -0.2375, 2.0886], [21.6083, -0.4, 1.8072], [21.4583, -0.4, 1.8072]], b: [[21.3292, -0.1229, 2.0412], [21.8042, -0.1229, 2.0412], [21.6417, -0.2071, 1.7273], [21.4917, -0.2071, 1.7273]], collide: 1} - {kind: loft, a: [[21.3292, -0.1229, 2.0412], [21.8042, -0.1229, 2.0412], [21.6417, -0.2071, 1.7273], [21.4917, -0.2071, 1.7273]], b: [[21.3625, -0.0, 2.025], [21.8375, -0.0, 2.025], [21.675, -0.0, 1.7], [21.525, -0.0, 1.7]], collide: 1} - {kind: loft, a: [[21.3625, -0.0, 2.025], [21.8375, -0.0, 2.025], [21.675, -0.0, 1.7], [21.525, -0.0, 1.7]], b: [[21.3958, 0.1229, 2.0412], [21.8708, 0.1229, 2.0412], [21.7083, 0.2071, 1.7273], [21.5583, 0.2071, 1.7273]], collide: 1} - {kind: loft, a: [[21.3958, 0.1229, 2.0412], [21.8708, 0.1229, 2.0412], [21.7083, 0.2071, 1.7273], [21.5583, 0.2071, 1.7273]], b: [[21.4292, 0.2375, 2.0886], [21.9042, 0.2375, 2.0886], [21.7417, 0.4, 1.8072], [21.5917, 0.4, 1.8072]], collide: 1} - {kind: loft, a: [[21.4292, 0.2375, 2.0886], [21.9042, 0.2375, 2.0886], [21.7417, 0.4, 1.8072], [21.5917, 0.4, 1.8072]], b: [[21.4625, 0.3359, 2.1641], [21.9375, 0.3359, 2.1641], [21.775, 0.5657, 1.9343], [21.625, 0.5657, 1.9343]], collide: 1} - {kind: loft, a: [[21.4625, 0.3359, 2.1641], [21.9375, 0.3359, 2.1641], [21.775, 0.5657, 1.9343], [21.625, 0.5657, 1.9343]], b: [[21.4958, 0.4114, 2.2625], [21.9708, 0.4114, 2.2625], [21.8083, 0.6928, 2.1], [21.6583, 0.6928, 2.1]], collide: 1} - {kind: loft, a: [[21.4958, 0.4114, 2.2625], [21.9708, 0.4114, 2.2625], [21.8083, 0.6928, 2.1], [21.6583, 0.6928, 2.1]], b: [[21.5292, 0.4588, 2.3771], [22.0042, 0.4588, 2.3771], [21.8417, 0.7727, 2.2929], [21.6917, 0.7727, 2.2929]], collide: 1} - {kind: loft, a: [[21.5292, 0.4588, 2.3771], [22.0042, 0.4588, 2.3771], [21.8417, 0.7727, 2.2929], [21.6917, 0.7727, 2.2929]], b: [[21.5625, 0.475, 2.5], [22.0375, 0.475, 2.5], [21.875, 0.8, 2.5], [21.725, 0.8, 2.5]], collide: 1} - id: carr shape: part pos: [12.2, 0, 2.5] mount: axle density: 7800 color: "#cfc6b4" pieces: - {kind: rod, from: [12.1, 0, 2.5], to: [12.3, 0, 2.5], radius: 0.3, collide: 0} - id: wheel shape: part pos: [12.2, 0, 2.5] mount: carr density: 7800 friction: 1.0 color: "#bfb6a4" pieces: - {kind: rod, from: [11.95, 0, 2.5], to: [12.45, 0, 2.5], radius: 2.5, capsule: true, collide: 1} # the small wheel, its milled edge on the paper (collides as a capsule: its rim, where it bears) - {kind: rod, from: [12.45, 0, 2.5], to: [14.85, 0, 2.5], radius: 1.1, collide: 0, color: "#d8cfbd"} # its boss, the nut - {kind: rod, from: [11.94, 2.45, 2.5], to: [12.46, 2.45, 2.5], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, 2.429, 2.8198], to: [12.46, 2.429, 2.8198], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, 2.3665, 3.1341], to: [12.46, 2.3665, 3.1341], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, 2.2635, 3.4376], to: [12.46, 2.2635, 3.4376], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, 2.1218, 3.725], to: [12.46, 2.1218, 3.725], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, 1.9437, 3.9915], to: [12.46, 1.9437, 3.9915], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, 1.7324, 4.2324], to: [12.46, 1.7324, 4.2324], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, 1.4915, 4.4437], to: [12.46, 1.4915, 4.4437], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, 1.225, 4.6218], to: [12.46, 1.225, 4.6218], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, 0.9376, 4.7635], to: [12.46, 0.9376, 4.7635], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, 0.6341, 4.8665], to: [12.46, 0.6341, 4.8665], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, 0.3198, 4.929], to: [12.46, 0.3198, 4.929], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, 0.0, 4.95], to: [12.46, 0.0, 4.95], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, -0.3198, 4.929], to: [12.46, -0.3198, 4.929], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, -0.6341, 4.8665], to: [12.46, -0.6341, 4.8665], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, -0.9376, 4.7635], to: [12.46, -0.9376, 4.7635], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, -1.225, 4.6218], to: [12.46, -1.225, 4.6218], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, -1.4915, 4.4437], to: [12.46, -1.4915, 4.4437], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, -1.7324, 4.2324], to: [12.46, -1.7324, 4.2324], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, -1.9437, 3.9915], to: [12.46, -1.9437, 3.9915], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, -2.1218, 3.725], to: [12.46, -2.1218, 3.725], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, -2.2635, 3.4376], to: [12.46, -2.2635, 3.4376], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, -2.3665, 3.1341], to: [12.46, -2.3665, 3.1341], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, -2.429, 2.8198], to: [12.46, -2.429, 2.8198], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, -2.45, 2.5], to: [12.46, -2.45, 2.5], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, -2.429, 2.1802], to: [12.46, -2.429, 2.1802], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, -2.3665, 1.8659], to: [12.46, -2.3665, 1.8659], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, -2.2635, 1.5624], to: [12.46, -2.2635, 1.5624], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, -2.1218, 1.275], to: [12.46, -2.1218, 1.275], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, -1.9437, 1.0085], to: [12.46, -1.9437, 1.0085], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, -1.7324, 0.7676], to: [12.46, -1.7324, 0.7676], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, -1.4915, 0.5563], to: [12.46, -1.4915, 0.5563], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, -1.225, 0.3782], to: [12.46, -1.225, 0.3782], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, -0.9376, 0.2365], to: [12.46, -0.9376, 0.2365], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, -0.6341, 0.1335], to: [12.46, -0.6341, 0.1335], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, -0.3198, 0.071], to: [12.46, -0.3198, 0.071], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, -0.0, 0.05], to: [12.46, -0.0, 0.05], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, 0.3198, 0.071], to: [12.46, 0.3198, 0.071], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, 0.6341, 0.1335], to: [12.46, 0.6341, 0.1335], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, 0.9376, 0.2365], to: [12.46, 0.9376, 0.2365], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, 1.225, 0.3782], to: [12.46, 1.225, 0.3782], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, 1.4915, 0.5563], to: [12.46, 1.4915, 0.5563], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, 1.7324, 0.7676], to: [12.46, 1.7324, 0.7676], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, 1.9437, 1.0085], to: [12.46, 1.9437, 1.0085], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, 2.1218, 1.275], to: [12.46, 2.1218, 1.275], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, 2.2635, 1.5624], to: [12.46, 2.2635, 1.5624], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, 2.3665, 1.8659], to: [12.46, 2.3665, 1.8659], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.94, 2.429, 2.1802], to: [12.46, 2.429, 2.1802], radius: 0.07, collide: 0, color: "#6f685c"} - {kind: rod, from: [11.92, 1.15, 2.5], to: [11.92, 2.1, 2.5], radius: 0.04, collide: 0, color: "#8a8275"} - {kind: rod, from: [11.92, 1.0625, 2.9401], to: [11.92, 1.9401, 3.3036], radius: 0.04, collide: 0, color: "#8a8275"} - {kind: rod, from: [11.92, 0.8132, 3.3132], to: [11.92, 1.4849, 3.9849], radius: 0.04, collide: 0, color: "#8a8275"} - {kind: rod, from: [11.92, 0.4401, 3.5625], to: [11.92, 0.8036, 4.4401], radius: 0.04, collide: 0, color: "#8a8275"} - {kind: rod, from: [11.92, 0.0, 3.65], to: [11.92, 0.0, 4.6], radius: 0.04, collide: 0, color: "#8a8275"} - {kind: rod, from: [11.92, -0.4401, 3.5625], to: [11.92, -0.8036, 4.4401], radius: 0.04, collide: 0, color: "#8a8275"} - {kind: rod, from: [11.92, -0.8132, 3.3132], to: [11.92, -1.4849, 3.9849], radius: 0.04, collide: 0, color: "#8a8275"} - {kind: rod, from: [11.92, -1.0625, 2.9401], to: [11.92, -1.9401, 3.3036], radius: 0.04, collide: 0, color: "#8a8275"} - {kind: rod, from: [11.92, -1.15, 2.5], to: [11.92, -2.1, 2.5], radius: 0.04, collide: 0, color: "#8a8275"} - {kind: rod, from: [11.92, -1.0625, 2.0599], to: [11.92, -1.9401, 1.6964], radius: 0.04, collide: 0, color: "#8a8275"} - {kind: rod, from: [11.92, -0.8132, 1.6868], to: [11.92, -1.4849, 1.0151], radius: 0.04, collide: 0, color: "#8a8275"} - {kind: rod, from: [11.92, -0.4401, 1.4375], to: [11.92, -0.8036, 0.5599], radius: 0.04, collide: 0, color: "#8a8275"} - {kind: rod, from: [11.92, -0.0, 1.35], to: [11.92, -0.0, 0.4], radius: 0.04, collide: 0, color: "#8a8275"} - {kind: rod, from: [11.92, 0.4401, 1.4375], to: [11.92, 0.8036, 0.5599], radius: 0.04, collide: 0, color: "#8a8275"} - {kind: rod, from: [11.92, 0.8132, 1.6868], to: [11.92, 1.4849, 1.0151], radius: 0.04, collide: 0, color: "#8a8275"} - {kind: rod, from: [11.92, 1.0625, 2.0599], to: [11.92, 1.9401, 1.6964], radius: 0.04, collide: 0, color: "#8a8275"} - {kind: loft, a: [[10.645, 0.9, 2.5], [11.355, 0.9, 2.5], [11.1675, 0.525, 2.5], [10.8325, 0.525, 2.5]], b: [[10.6783, 0.8693, 2.7329], [11.3883, 0.8693, 2.7329], [11.2008, 0.5071, 2.6359], [10.8658, 0.5071, 2.6359]], collide: 2} - {kind: loft, a: [[10.6783, 0.8693, 2.7329], [11.3883, 0.8693, 2.7329], [11.2008, 0.5071, 2.6359], [10.8658, 0.5071, 2.6359]], b: [[10.7117, 0.7794, 2.95], [11.4217, 0.7794, 2.95], [11.2342, 0.4547, 2.7625], [10.8992, 0.4547, 2.7625]], collide: 2} - {kind: loft, a: [[10.7117, 0.7794, 2.95], [11.4217, 0.7794, 2.95], [11.2342, 0.4547, 2.7625], [10.8992, 0.4547, 2.7625]], b: [[10.745, 0.6364, 3.1364], [11.455, 0.6364, 3.1364], [11.2675, 0.3712, 2.8712], [10.9325, 0.3712, 2.8712]], collide: 2} - {kind: loft, a: [[10.745, 0.6364, 3.1364], [11.455, 0.6364, 3.1364], [11.2675, 0.3712, 2.8712], [10.9325, 0.3712, 2.8712]], b: [[10.7783, 0.45, 3.2794], [11.4883, 0.45, 3.2794], [11.3008, 0.2625, 2.9547], [10.9658, 0.2625, 2.9547]], collide: 2} - {kind: loft, a: [[10.7783, 0.45, 3.2794], [11.4883, 0.45, 3.2794], [11.3008, 0.2625, 2.9547], [10.9658, 0.2625, 2.9547]], b: [[10.8117, 0.2329, 3.3693], [11.5217, 0.2329, 3.3693], [11.3342, 0.1359, 3.0071], [10.9992, 0.1359, 3.0071]], collide: 2} - {kind: loft, a: [[10.8117, 0.2329, 3.3693], [11.5217, 0.2329, 3.3693], [11.3342, 0.1359, 3.0071], [10.9992, 0.1359, 3.0071]], b: [[10.845, 0.0, 3.4], [11.555, 0.0, 3.4], [11.3675, 0.0, 3.025], [11.0325, 0.0, 3.025]], collide: 2} - {kind: loft, a: [[10.845, 0.0, 3.4], [11.555, 0.0, 3.4], [11.3675, 0.0, 3.025], [11.0325, 0.0, 3.025]], b: [[10.8783, -0.2329, 3.3693], [11.5883, -0.2329, 3.3693], [11.4008, -0.1359, 3.0071], [11.0658, -0.1359, 3.0071]], collide: 2} - {kind: loft, a: [[10.8783, -0.2329, 3.3693], [11.5883, -0.2329, 3.3693], [11.4008, -0.1359, 3.0071], [11.0658, -0.1359, 3.0071]], b: [[10.9117, -0.45, 3.2794], [11.6217, -0.45, 3.2794], [11.4342, -0.2625, 2.9547], [11.0992, -0.2625, 2.9547]], collide: 2} - {kind: loft, a: [[10.9117, -0.45, 3.2794], [11.6217, -0.45, 3.2794], [11.4342, -0.2625, 2.9547], [11.0992, -0.2625, 2.9547]], b: [[10.945, -0.6364, 3.1364], [11.655, -0.6364, 3.1364], [11.4675, -0.3712, 2.8712], [11.1325, -0.3712, 2.8712]], collide: 2} - {kind: loft, a: [[10.945, -0.6364, 3.1364], [11.655, -0.6364, 3.1364], [11.4675, -0.3712, 2.8712], [11.1325, -0.3712, 2.8712]], b: [[10.9783, -0.7794, 2.95], [11.6883, -0.7794, 2.95], [11.5008, -0.4547, 2.7625], [11.1658, -0.4547, 2.7625]], collide: 2} - {kind: loft, a: [[10.9783, -0.7794, 2.95], [11.6883, -0.7794, 2.95], [11.5008, -0.4547, 2.7625], [11.1658, -0.4547, 2.7625]], b: [[11.0117, -0.8693, 2.7329], [11.7217, -0.8693, 2.7329], [11.5342, -0.5071, 2.6359], [11.1992, -0.5071, 2.6359]], collide: 2} - {kind: loft, a: [[11.0117, -0.8693, 2.7329], [11.7217, -0.8693, 2.7329], [11.5342, -0.5071, 2.6359], [11.1992, -0.5071, 2.6359]], b: [[11.045, -0.9, 2.5], [11.755, -0.9, 2.5], [11.5675, -0.525, 2.5], [11.2325, -0.525, 2.5]], collide: 2} - {kind: loft, a: [[11.045, -0.9, 2.5], [11.755, -0.9, 2.5], [11.5675, -0.525, 2.5], [11.2325, -0.525, 2.5]], b: [[11.0783, -0.8693, 2.2671], [11.7883, -0.8693, 2.2671], [11.6008, -0.5071, 2.3641], [11.2658, -0.5071, 2.3641]], collide: 2} - {kind: loft, a: [[11.0783, -0.8693, 2.2671], [11.7883, -0.8693, 2.2671], [11.6008, -0.5071, 2.3641], [11.2658, -0.5071, 2.3641]], b: [[11.1117, -0.7794, 2.05], [11.8217, -0.7794, 2.05], [11.6342, -0.4547, 2.2375], [11.2992, -0.4547, 2.2375]], collide: 2} - {kind: loft, a: [[11.1117, -0.7794, 2.05], [11.8217, -0.7794, 2.05], [11.6342, -0.4547, 2.2375], [11.2992, -0.4547, 2.2375]], b: [[11.145, -0.6364, 1.8636], [11.855, -0.6364, 1.8636], [11.6675, -0.3712, 2.1288], [11.3325, -0.3712, 2.1288]], collide: 2} - {kind: loft, a: [[11.145, -0.6364, 1.8636], [11.855, -0.6364, 1.8636], [11.6675, -0.3712, 2.1288], [11.3325, -0.3712, 2.1288]], b: [[11.1783, -0.45, 1.7206], [11.8883, -0.45, 1.7206], [11.7008, -0.2625, 2.0453], [11.3658, -0.2625, 2.0453]], collide: 2} - {kind: loft, a: [[11.1783, -0.45, 1.7206], [11.8883, -0.45, 1.7206], [11.7008, -0.2625, 2.0453], [11.3658, -0.2625, 2.0453]], b: [[11.2117, -0.2329, 1.6307], [11.9217, -0.2329, 1.6307], [11.7342, -0.1359, 1.9929], [11.3992, -0.1359, 1.9929]], collide: 2} - {kind: loft, a: [[11.2117, -0.2329, 1.6307], [11.9217, -0.2329, 1.6307], [11.7342, -0.1359, 1.9929], [11.3992, -0.1359, 1.9929]], b: [[11.245, -0.0, 1.6], [11.955, -0.0, 1.6], [11.7675, -0.0, 1.975], [11.4325, -0.0, 1.975]], collide: 2} - {kind: loft, a: [[11.245, -0.0, 1.6], [11.955, -0.0, 1.6], [11.7675, -0.0, 1.975], [11.4325, -0.0, 1.975]], b: [[11.2783, 0.2329, 1.6307], [11.9883, 0.2329, 1.6307], [11.8008, 0.1359, 1.9929], [11.4658, 0.1359, 1.9929]], collide: 2} - {kind: loft, a: [[11.2783, 0.2329, 1.6307], [11.9883, 0.2329, 1.6307], [11.8008, 0.1359, 1.9929], [11.4658, 0.1359, 1.9929]], b: [[11.3117, 0.45, 1.7206], [12.0217, 0.45, 1.7206], [11.8342, 0.2625, 2.0453], [11.4992, 0.2625, 2.0453]], collide: 2} - {kind: loft, a: [[11.3117, 0.45, 1.7206], [12.0217, 0.45, 1.7206], [11.8342, 0.2625, 2.0453], [11.4992, 0.2625, 2.0453]], b: [[11.345, 0.6364, 1.8636], [12.055, 0.6364, 1.8636], [11.8675, 0.3712, 2.1288], [11.5325, 0.3712, 2.1288]], collide: 2} - {kind: loft, a: [[11.345, 0.6364, 1.8636], [12.055, 0.6364, 1.8636], [11.8675, 0.3712, 2.1288], [11.5325, 0.3712, 2.1288]], b: [[11.3783, 0.7794, 2.05], [12.0883, 0.7794, 2.05], [11.9008, 0.4547, 2.2375], [11.5658, 0.4547, 2.2375]], collide: 2} - {kind: loft, a: [[11.3783, 0.7794, 2.05], [12.0883, 0.7794, 2.05], [11.9008, 0.4547, 2.2375], [11.5658, 0.4547, 2.2375]], b: [[11.4117, 0.8693, 2.2671], [12.1217, 0.8693, 2.2671], [11.9342, 0.5071, 2.3641], [11.5992, 0.5071, 2.3641]], collide: 2} - {kind: loft, a: [[11.4117, 0.8693, 2.2671], [12.1217, 0.8693, 2.2671], [11.9342, 0.5071, 2.3641], [11.5992, 0.5071, 2.3641]], b: [[11.445, 0.9, 2.5], [12.155, 0.9, 2.5], [11.9675, 0.525, 2.5], [11.6325, 0.525, 2.5]], collide: 2} - {kind: loft, a: [[11.445, 0.9, 2.5], [12.155, 0.9, 2.5], [11.9675, 0.525, 2.5], [11.6325, 0.525, 2.5]], b: [[11.4783, 0.8693, 2.7329], [12.1883, 0.8693, 2.7329], [12.0008, 0.5071, 2.6359], [11.6658, 0.5071, 2.6359]], collide: 2} - {kind: loft, a: [[11.4783, 0.8693, 2.7329], [12.1883, 0.8693, 2.7329], [12.0008, 0.5071, 2.6359], [11.6658, 0.5071, 2.6359]], b: [[11.5117, 0.7794, 2.95], [12.2217, 0.7794, 2.95], [12.0342, 0.4547, 2.7625], [11.6992, 0.4547, 2.7625]], collide: 2} - 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{kind: loft, a: [[11.6783, -0.2329, 3.3693], [12.3883, -0.2329, 3.3693], [12.2008, -0.1359, 3.0071], [11.8658, -0.1359, 3.0071]], b: [[11.7117, -0.45, 3.2794], [12.4217, -0.45, 3.2794], [12.2342, -0.2625, 2.9547], [11.8992, -0.2625, 2.9547]], collide: 2} - {kind: loft, a: [[11.7117, -0.45, 3.2794], [12.4217, -0.45, 3.2794], [12.2342, -0.2625, 2.9547], [11.8992, -0.2625, 2.9547]], b: [[11.745, -0.6364, 3.1364], [12.455, -0.6364, 3.1364], [12.2675, -0.3712, 2.8712], [11.9325, -0.3712, 2.8712]], collide: 2} - {kind: loft, a: [[11.745, -0.6364, 3.1364], [12.455, -0.6364, 3.1364], [12.2675, -0.3712, 2.8712], [11.9325, -0.3712, 2.8712]], b: [[11.7783, -0.7794, 2.95], [12.4883, -0.7794, 2.95], [12.3008, -0.4547, 2.7625], [11.9658, -0.4547, 2.7625]], collide: 2} - {kind: loft, a: [[11.7783, -0.7794, 2.95], [12.4883, -0.7794, 2.95], [12.3008, -0.4547, 2.7625], [11.9658, -0.4547, 2.7625]], b: [[11.8117, -0.8693, 2.7329], [12.5217, -0.8693, 2.7329], [12.3342, -0.5071, 2.6359], [11.9992, -0.5071, 2.6359]], collide: 2} - {kind: loft, a: [[11.8117, -0.8693, 2.7329], [12.5217, -0.8693, 2.7329], [12.3342, -0.5071, 2.6359], [11.9992, -0.5071, 2.6359]], b: [[11.845, -0.9, 2.5], [12.555, -0.9, 2.5], [12.3675, -0.525, 2.5], [12.0325, -0.525, 2.5]], collide: 2} - {kind: loft, a: [[11.845, -0.9, 2.5], [12.555, -0.9, 2.5], [12.3675, -0.525, 2.5], [12.0325, -0.525, 2.5]], b: [[11.8783, -0.8693, 2.2671], [12.5883, -0.8693, 2.2671], [12.4008, -0.5071, 2.3641], [12.0658, -0.5071, 2.3641]], collide: 2} - {kind: loft, a: [[11.8783, -0.8693, 2.2671], [12.5883, -0.8693, 2.2671], [12.4008, -0.5071, 2.3641], [12.0658, -0.5071, 2.3641]], b: [[11.9117, -0.7794, 2.05], [12.6217, -0.7794, 2.05], [12.4342, -0.4547, 2.2375], [12.0992, -0.4547, 2.2375]], collide: 2} - {kind: loft, a: [[11.9117, -0.7794, 2.05], [12.6217, -0.7794, 2.05], [12.4342, -0.4547, 2.2375], [12.0992, -0.4547, 2.2375]], b: [[11.945, -0.6364, 1.8636], [12.655, -0.6364, 1.8636], [12.4675, -0.3712, 2.1288], [12.1325, -0.3712, 2.1288]], collide: 2} - {kind: loft, a: [[11.945, -0.6364, 1.8636], [12.655, -0.6364, 1.8636], [12.4675, -0.3712, 2.1288], [12.1325, -0.3712, 2.1288]], b: [[11.9783, -0.45, 1.7206], [12.6883, -0.45, 1.7206], [12.5008, -0.2625, 2.0453], [12.1658, -0.2625, 2.0453]], collide: 2} - {kind: loft, a: [[11.9783, -0.45, 1.7206], [12.6883, -0.45, 1.7206], [12.5008, -0.2625, 2.0453], [12.1658, -0.2625, 2.0453]], b: [[12.0117, -0.2329, 1.6307], [12.7217, -0.2329, 1.6307], [12.5342, -0.1359, 1.9929], [12.1992, -0.1359, 1.9929]], collide: 2} - {kind: loft, a: [[12.0117, -0.2329, 1.6307], [12.7217, -0.2329, 1.6307], [12.5342, -0.1359, 1.9929], [12.1992, -0.1359, 1.9929]], b: [[12.045, -0.0, 1.6], [12.755, -0.0, 1.6], [12.5675, -0.0, 1.975], [12.2325, -0.0, 1.975]], collide: 2} - {kind: loft, a: [[12.045, -0.0, 1.6], [12.755, -0.0, 1.6], [12.5675, -0.0, 1.975], [12.2325, -0.0, 1.975]], b: [[12.0783, 0.2329, 1.6307], [12.7883, 0.2329, 1.6307], [12.6008, 0.1359, 1.9929], [12.2658, 0.1359, 1.9929]], collide: 2} - {kind: loft, a: [[12.0783, 0.2329, 1.6307], [12.7883, 0.2329, 1.6307], [12.6008, 0.1359, 1.9929], [12.2658, 0.1359, 1.9929]], b: [[12.1117, 0.45, 1.7206], [12.8217, 0.45, 1.7206], [12.6342, 0.2625, 2.0453], [12.2992, 0.2625, 2.0453]], collide: 2} - {kind: loft, a: [[12.1117, 0.45, 1.7206], [12.8217, 0.45, 1.7206], [12.6342, 0.2625, 2.0453], [12.2992, 0.2625, 2.0453]], b: [[12.145, 0.6364, 1.8636], [12.855, 0.6364, 1.8636], [12.6675, 0.3712, 2.1288], [12.3325, 0.3712, 2.1288]], collide: 2} - {kind: loft, a: [[12.145, 0.6364, 1.8636], [12.855, 0.6364, 1.8636], [12.6675, 0.3712, 2.1288], [12.3325, 0.3712, 2.1288]], b: [[12.1783, 0.7794, 2.05], [12.8883, 0.7794, 2.05], [12.7008, 0.4547, 2.2375], [12.3658, 0.4547, 2.2375]], collide: 2} - {kind: loft, a: [[12.1783, 0.7794, 2.05], [12.8883, 0.7794, 2.05], [12.7008, 0.4547, 2.2375], [12.3658, 0.4547, 2.2375]], b: [[12.2117, 0.8693, 2.2671], [12.9217, 0.8693, 2.2671], [12.7342, 0.5071, 2.3641], [12.3992, 0.5071, 2.3641]], collide: 2} - {kind: loft, a: [[12.2117, 0.8693, 2.2671], [12.9217, 0.8693, 2.2671], [12.7342, 0.5071, 2.3641], [12.3992, 0.5071, 2.3641]], b: [[12.245, 0.9, 2.5], [12.955, 0.9, 2.5], [12.7675, 0.525, 2.5], [12.4325, 0.525, 2.5]], collide: 2} - {kind: loft, a: [[12.245, 0.9, 2.5], [12.955, 0.9, 2.5], [12.7675, 0.525, 2.5], [12.4325, 0.525, 2.5]], b: [[12.2783, 0.8693, 2.7329], [12.9883, 0.8693, 2.7329], [12.8008, 0.5071, 2.6359], [12.4658, 0.5071, 2.6359]], collide: 2} - {kind: loft, a: [[12.2783, 0.8693, 2.7329], [12.9883, 0.8693, 2.7329], [12.8008, 0.5071, 2.6359], [12.4658, 0.5071, 2.6359]], b: [[12.3117, 0.7794, 2.95], [13.0217, 0.7794, 2.95], [12.8342, 0.4547, 2.7625], [12.4992, 0.4547, 2.7625]], collide: 2} - {kind: loft, a: [[12.3117, 0.7794, 2.95], [13.0217, 0.7794, 2.95], [12.8342, 0.4547, 2.7625], [12.4992, 0.4547, 2.7625]], b: [[12.345, 0.6364, 3.1364], [13.055, 0.6364, 3.1364], [12.8675, 0.3712, 2.8712], [12.5325, 0.3712, 2.8712]], collide: 2} - {kind: loft, a: [[12.345, 0.6364, 3.1364], [13.055, 0.6364, 3.1364], [12.8675, 0.3712, 2.8712], [12.5325, 0.3712, 2.8712]], b: [[12.3783, 0.45, 3.2794], [13.0883, 0.45, 3.2794], [12.9008, 0.2625, 2.9547], [12.5658, 0.2625, 2.9547]], collide: 2} - {kind: loft, a: [[12.3783, 0.45, 3.2794], [13.0883, 0.45, 3.2794], [12.9008, 0.2625, 2.9547], [12.5658, 0.2625, 2.9547]], b: [[12.4117, 0.2329, 3.3693], [13.1217, 0.2329, 3.3693], [12.9342, 0.1359, 3.0071], [12.5992, 0.1359, 3.0071]], collide: 2} - {kind: loft, a: [[12.4117, 0.2329, 3.3693], [13.1217, 0.2329, 3.3693], [12.9342, 0.1359, 3.0071], [12.5992, 0.1359, 3.0071]], b: [[12.445, -0.0, 3.4], [13.155, -0.0, 3.4], [12.9675, -0.0, 3.025], [12.6325, -0.0, 3.025]], collide: 2} - {kind: loft, a: [[12.445, -0.0, 3.4], [13.155, -0.0, 3.4], [12.9675, -0.0, 3.025], [12.6325, -0.0, 3.025]], b: [[12.4783, -0.2329, 3.3693], [13.1883, -0.2329, 3.3693], [13.0008, -0.1359, 3.0071], [12.6658, -0.1359, 3.0071]], collide: 2} - {kind: loft, a: [[12.4783, -0.2329, 3.3693], [13.1883, -0.2329, 3.3693], [13.0008, -0.1359, 3.0071], [12.6658, -0.1359, 3.0071]], b: [[12.5117, -0.45, 3.2794], [13.2217, -0.45, 3.2794], [13.0342, -0.2625, 2.9547], [12.6992, -0.2625, 2.9547]], collide: 2} - {kind: loft, a: [[12.5117, -0.45, 3.2794], [13.2217, -0.45, 3.2794], [13.0342, -0.2625, 2.9547], [12.6992, -0.2625, 2.9547]], b: [[12.545, -0.6364, 3.1364], [13.255, -0.6364, 3.1364], [13.0675, -0.3712, 2.8712], [12.7325, -0.3712, 2.8712]], collide: 2} - {kind: loft, a: [[12.545, -0.6364, 3.1364], [13.255, -0.6364, 3.1364], [13.0675, -0.3712, 2.8712], [12.7325, -0.3712, 2.8712]], b: [[12.5783, -0.7794, 2.95], [13.2883, -0.7794, 2.95], [13.1008, -0.4547, 2.7625], [12.7658, -0.4547, 2.7625]], collide: 2} - {kind: loft, a: [[12.5783, -0.7794, 2.95], [13.2883, -0.7794, 2.95], [13.1008, -0.4547, 2.7625], [12.7658, -0.4547, 2.7625]], b: [[12.6117, -0.8693, 2.7329], [13.3217, -0.8693, 2.7329], [13.1342, -0.5071, 2.6359], [12.7992, -0.5071, 2.6359]], collide: 2} - {kind: loft, a: [[12.6117, -0.8693, 2.7329], [13.3217, -0.8693, 2.7329], [13.1342, -0.5071, 2.6359], [12.7992, -0.5071, 2.6359]], b: [[12.645, -0.9, 2.5], [13.355, -0.9, 2.5], [13.1675, -0.525, 2.5], [12.8325, -0.525, 2.5]], collide: 2} - {kind: loft, a: [[12.645, -0.9, 2.5], [13.355, -0.9, 2.5], [13.1675, -0.525, 2.5], [12.8325, -0.525, 2.5]], b: [[12.6783, -0.8693, 2.2671], [13.3883, -0.8693, 2.2671], [13.2008, -0.5071, 2.3641], [12.8658, -0.5071, 2.3641]], collide: 2} - {kind: loft, a: [[12.6783, -0.8693, 2.2671], [13.3883, -0.8693, 2.2671], [13.2008, -0.5071, 2.3641], [12.8658, -0.5071, 2.3641]], b: [[12.7117, -0.7794, 2.05], [13.4217, -0.7794, 2.05], [13.2342, -0.4547, 2.2375], [12.8992, -0.4547, 2.2375]], collide: 2} - {kind: loft, a: [[12.7117, -0.7794, 2.05], [13.4217, -0.7794, 2.05], [13.2342, -0.4547, 2.2375], [12.8992, -0.4547, 2.2375]], b: [[12.745, -0.6364, 1.8636], [13.455, -0.6364, 1.8636], [13.2675, -0.3712, 2.1288], [12.9325, -0.3712, 2.1288]], collide: 2} - {kind: loft, a: [[12.745, -0.6364, 1.8636], [13.455, -0.6364, 1.8636], [13.2675, -0.3712, 2.1288], [12.9325, -0.3712, 2.1288]], b: [[12.7783, -0.45, 1.7206], [13.4883, -0.45, 1.7206], [13.3008, -0.2625, 2.0453], [12.9658, -0.2625, 2.0453]], collide: 2} - {kind: loft, a: [[12.7783, -0.45, 1.7206], [13.4883, -0.45, 1.7206], [13.3008, -0.2625, 2.0453], [12.9658, -0.2625, 2.0453]], b: [[12.8117, -0.2329, 1.6307], [13.5217, -0.2329, 1.6307], [13.3342, -0.1359, 1.9929], [12.9992, -0.1359, 1.9929]], collide: 2} - {kind: loft, a: [[12.8117, -0.2329, 1.6307], [13.5217, -0.2329, 1.6307], [13.3342, -0.1359, 1.9929], [12.9992, -0.1359, 1.9929]], b: [[12.845, 0.0, 1.6], [13.555, 0.0, 1.6], [13.3675, 0.0, 1.975], [13.0325, 0.0, 1.975]], collide: 2} - {kind: loft, a: [[12.845, 0.0, 1.6], [13.555, 0.0, 1.6], [13.3675, 0.0, 1.975], [13.0325, 0.0, 1.975]], b: [[12.8783, 0.2329, 1.6307], [13.5883, 0.2329, 1.6307], [13.4008, 0.1359, 1.9929], [13.0658, 0.1359, 1.9929]], collide: 2} - {kind: loft, a: [[12.8783, 0.2329, 1.6307], [13.5883, 0.2329, 1.6307], [13.4008, 0.1359, 1.9929], [13.0658, 0.1359, 1.9929]], b: [[12.9117, 0.45, 1.7206], [13.6217, 0.45, 1.7206], [13.4342, 0.2625, 2.0453], [13.0992, 0.2625, 2.0453]], collide: 2} - {kind: loft, a: [[12.9117, 0.45, 1.7206], [13.6217, 0.45, 1.7206], [13.4342, 0.2625, 2.0453], [13.0992, 0.2625, 2.0453]], b: [[12.945, 0.6364, 1.8636], [13.655, 0.6364, 1.8636], [13.4675, 0.3712, 2.1288], [13.1325, 0.3712, 2.1288]], collide: 2} - {kind: loft, a: [[12.945, 0.6364, 1.8636], [13.655, 0.6364, 1.8636], [13.4675, 0.3712, 2.1288], [13.1325, 0.3712, 2.1288]], b: [[12.9783, 0.7794, 2.05], [13.6883, 0.7794, 2.05], [13.5008, 0.4547, 2.2375], [13.1658, 0.4547, 2.2375]], collide: 2} - {kind: loft, a: [[12.9783, 0.7794, 2.05], [13.6883, 0.7794, 2.05], [13.5008, 0.4547, 2.2375], [13.1658, 0.4547, 2.2375]], b: [[13.0117, 0.8693, 2.2671], [13.7217, 0.8693, 2.2671], [13.5342, 0.5071, 2.3641], [13.1992, 0.5071, 2.3641]], collide: 2} - {kind: loft, a: [[13.0117, 0.8693, 2.2671], [13.7217, 0.8693, 2.2671], [13.5342, 0.5071, 2.3641], [13.1992, 0.5071, 2.3641]], b: [[13.045, 0.9, 2.5], [13.755, 0.9, 2.5], [13.5675, 0.525, 2.5], [13.2325, 0.525, 2.5]], collide: 2} joints: - {id: j_arm, type: hinge, body: swivel, axis: [0, 0, 1], damping: 0.01} # the axle swept round the needle by hand: the one driven joint; + : counter-clockwise seen from above - {id: j_tilt, type: hinge, body: axle, axis: [0, 1, 0], range: [-0.12, 0.12], damping: 0.005} # it rocks on the needle, so the wheel bears on the paper - {id: j_s, type: slide, body: carr, axis: [1, 0, 0], range: [-1.4, 6.6], damping: 0.02} # the wheel along the axle; + : outward - {id: j_w, type: hinge, body: wheel, axis: [1, 0, 0], damping: 0.0005} # the wheel turning on the thread driver: {joint: j_arm, kind: velocity, rpm: -6.0, kv: 3.0, max_torque: 5.0} checks: - {type: follow, out: j_s, in: j_w, expect: 0.0012732000000000002, tol: 7.639e-05, min_r2: 0.995, settle_s: 1.0, window_s: 10.5} # the thread: 0.8 cm out for each turn of the wheel - {type: follow, out: j_w, in: j_arm, expect: -5.72, tol: 0.572, min_r2: 0.99, settle_s: 1.0, window_s: 10.5} # rolling on the paper: r/2.5 turns of the wheel a turn of the axle camera: {target: [0.0, 2.0, -4.0], position: [0.0, -58.0, 30.0], fov: 34} display: output: j_s labels: {j_arm: "Axle swept round (driver)", j_w: "Small wheel", j_s: "Wheel along the axle"} proof: {label: "Wheel lifted off the paper", sub: "the axle sweeps round but the wheel stays put on it"}