# No. 393 (Brown 1868): "Contrivance for polishing lenses and bodies of spherical form."
#
# Model (cm, gravity on): the upright shaft turns (the one driven joint, 30 turns a minute) concentric with the body polished, a sphere
# of 10 cm, fixed on the bench. A bent arm, free to slide down in the shaft's socket so that its weight and the cup's press the cup on the work,
# carries the ball of a ball-and-socket joint 15 degrees off the shaft's axis, and the cup hangs on it. The ball-and-socket is
# three hinges at the ball's centre (two crosswise, then the cup's own axis), with a little friction. The cup bears on the work by
# capsule pads on its inner face (real contact and friction); nothing else turns it, so its own rotation about its axis comes from the rubbing.
# Generator: opencode-runs/batch13/gen393.py.
number: 393
slug: lens-polisher
name: Contrivance for polishing lenses and bodies of spherical form
brown: "Contrivance for polishing lenses and bodies of spherical form."
units: cm
sim: {timestep: 0.0002, integrator: implicitfast, iterations: 60, solver: PGS, duration_s: 8, floor: false}
bodies:
  - id: work
    shape: part
    pos: [0, 0, 0]
    fixed: true
    color: "#c8c2b4"
    pieces:
      - {kind: loft, a: [[0.02, 0.0, 10.0], [0.0199, 0.0017, 10.0], [0.0197, 0.0035, 10.0], [0.0193, 0.0052, 10.0], [0.0188, 0.0068, 10.0], [0.0181, 0.0085, 10.0], [0.0173, 0.01, 10.0], [0.0164, 0.0115, 10.0], [0.0153, 0.0129, 10.0], [0.0141, 0.0141, 10.0], [0.0129, 0.0153, 10.0], [0.0115, 0.0164, 10.0], [0.01, 0.0173, 10.0], [0.0085, 0.0181, 10.0], [0.0068, 0.0188, 10.0], [0.0052, 0.0193, 10.0], [0.0035, 0.0197, 10.0], [0.0017, 0.0199, 10.0], [0.0, 0.02, 10.0], [-0.0017, 0.0199, 10.0], [-0.0035, 0.0197, 10.0], [-0.0052, 0.0193, 10.0], [-0.0068, 0.0188, 10.0], [-0.0085, 0.0181, 10.0], [-0.01, 0.0173, 10.0], [-0.0115, 0.0164, 10.0], [-0.0129, 0.0153, 10.0], [-0.0141, 0.0141, 10.0], [-0.0153, 0.0129, 10.0], [-0.0164, 0.0115, 10.0], [-0.0173, 0.01, 10.0], [-0.0181, 0.0085, 10.0], [-0.0188, 0.0068, 10.0], [-0.0193, 0.0052, 10.0], [-0.0197, 0.0035, 10.0], [-0.0199, 0.0017, 10.0], [-0.02, 0.0, 10.0], [-0.0199, -0.0017, 10.0], [-0.0197, -0.0035, 10.0], [-0.0193, -0.0052, 10.0], [-0.0188, -0.0068, 10.0], [-0.0181, -0.0085, 10.0], [-0.0173, -0.01, 10.0], [-0.0164, -0.0115, 10.0], [-0.0153, -0.0129, 10.0], [-0.0141, -0.0141, 10.0], [-0.0129, -0.0153, 10.0], [-0.0115, -0.0164, 10.0], [-0.01, -0.0173, 10.0], [-0.0085, -0.0181, 10.0], [-0.0068, -0.0188, 10.0], [-0.0052, -0.0193, 10.0], [-0.0035, -0.0197, 10.0], [-0.0017, -0.0199, 10.0], [-0.0, -0.02, 10.0], [0.0017, -0.0199, 10.0], [0.0035, -0.0197, 10.0], [0.0052, -0.0193, 10.0], [0.0068, -0.0188, 10.0], [0.0085, -0.0181, 10.0], [0.01, -0.0173, 10.0], [0.0115, -0.0164, 10.0], [0.0129, -0.0153, 10.0], [0.0141, -0.0141, 10.0], [0.0153, -0.0129, 10.0], [0.0164, -0.0115, 10.0], [0.0173, -0.01, 10.0], [0.0181, -0.0085, 10.0], [0.0188, -0.0068, 10.0], [0.0193, -0.0052, 10.0], [0.0197, -0.0035, 10.0], [0.0199, -0.0017, 10.0]], b: [[0.6976, 0.0, 9.9756], [0.6949, 0.0608, 9.9756], [0.687, 0.1211, 9.9756], [0.6738, 0.1805, 9.9756], [0.6555, 0.2386, 9.9756], [0.6322, 0.2948, 9.9756], [0.6041, 0.3488, 9.9756], [0.5714, 0.4001, 9.9756], [0.5344, 0.4484, 9.9756], [0.4933, 0.4933, 9.9756], [0.4484, 0.5344, 9.9756], [0.4001, 0.5714, 9.9756], [0.3488, 0.6041, 9.9756], [0.2948, 0.6322, 9.9756], [0.2386, 0.6555, 9.9756], [0.1805, 0.6738, 9.9756], [0.1211, 0.687, 9.9756], [0.0608, 0.6949, 9.9756], [0.0, 0.6976, 9.9756], [-0.0608, 0.6949, 9.9756], [-0.1211, 0.687, 9.9756], [-0.1805, 0.6738, 9.9756], [-0.2386, 0.6555, 9.9756], [-0.2948, 0.6322, 9.9756], [-0.3488, 0.6041, 9.9756], [-0.4001, 0.5714, 9.9756], [-0.4484, 0.5344, 9.9756], [-0.4933, 0.4933, 9.9756], [-0.5344, 0.4484, 9.9756], [-0.5714, 0.4001, 9.9756], [-0.6041, 0.3488, 9.9756], [-0.6322, 0.2948, 9.9756], [-0.6555, 0.2386, 9.9756], [-0.6738, 0.1805, 9.9756], [-0.687, 0.1211, 9.9756], [-0.6949, 0.0608, 9.9756], [-0.6976, 0.0, 9.9756], [-0.6949, -0.0608, 9.9756], [-0.687, -0.1211, 9.9756], [-0.6738, -0.1805, 9.9756], [-0.6555, -0.2386, 9.9756], [-0.6322, -0.2948, 9.9756], [-0.6041, -0.3488, 9.9756], [-0.5714, -0.4001, 9.9756], [-0.5344, -0.4484, 9.9756], [-0.4933, -0.4933, 9.9756], [-0.4484, -0.5344, 9.9756], [-0.4001, -0.5714, 9.9756], [-0.3488, -0.6041, 9.9756], [-0.2948, -0.6322, 9.9756], [-0.2386, -0.6555, 9.9756], [-0.1805, -0.6738, 9.9756], [-0.1211, -0.687, 9.9756], [-0.0608, -0.6949, 9.9756], [-0.0, -0.6976, 9.9756], [0.0608, -0.6949, 9.9756], [0.1211, -0.687, 9.9756], [0.1805, -0.6738, 9.9756], [0.2386, -0.6555, 9.9756], [0.2948, -0.6322, 9.9756], [0.3488, -0.6041, 9.9756], [0.4001, -0.5714, 9.9756], [0.4484, -0.5344, 9.9756], [0.4933, -0.4933, 9.9756], [0.5344, -0.4484, 9.9756], [0.5714, -0.4001, 9.9756], [0.6041, -0.3488, 9.9756], [0.6322, -0.2948, 9.9756], [0.6555, -0.2386, 9.9756], [0.6738, -0.1805, 9.9756], [0.687, -0.1211, 9.9756], [0.6949, -0.0608, 9.9756]], collide: 2}
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      - {kind: loft, a: [[10.0, 0.0, 0.0], [9.9619, 0.8716, 0.0], [9.8481, 1.7365, 0.0], [9.6593, 2.5882, 0.0], [9.3969, 3.4202, 0.0], [9.0631, 4.2262, 0.0], [8.6603, 5.0, 0.0], [8.1915, 5.7358, 0.0], [7.6604, 6.4279, 0.0], [7.0711, 7.0711, 0.0], [6.4279, 7.6604, 0.0], [5.7358, 8.1915, 0.0], [5.0, 8.6603, 0.0], [4.2262, 9.0631, 0.0], [3.4202, 9.3969, 0.0], [2.5882, 9.6593, 0.0], [1.7365, 9.8481, 0.0], [0.8716, 9.9619, 0.0], [0.0, 10.0, 0.0], [-0.8716, 9.9619, 0.0], [-1.7365, 9.8481, 0.0], [-2.5882, 9.6593, 0.0], [-3.4202, 9.3969, 0.0], [-4.2262, 9.0631, 0.0], [-5.0, 8.6603, 0.0], [-5.7358, 8.1915, 0.0], [-6.4279, 7.6604, 0.0], [-7.0711, 7.0711, 0.0], [-7.6604, 6.4279, 0.0], [-8.1915, 5.7358, 0.0], [-8.6603, 5.0, 0.0], [-9.0631, 4.2262, 0.0], [-9.3969, 3.4202, 0.0], [-9.6593, 2.5882, 0.0], [-9.8481, 1.7365, 0.0], [-9.9619, 0.8716, 0.0], [-10.0, 0.0, 0.0], [-9.9619, -0.8716, 0.0], [-9.8481, -1.7365, 0.0], [-9.6593, -2.5882, 0.0], [-9.3969, -3.4202, 0.0], [-9.0631, -4.2262, 0.0], [-8.6603, -5.0, 0.0], [-8.1915, -5.7358, 0.0], [-7.6604, -6.4279, 0.0], [-7.0711, -7.0711, 0.0], [-6.4279, -7.6604, 0.0], [-5.7358, -8.1915, 0.0], [-5.0, -8.6603, 0.0], [-4.2262, -9.0631, 0.0], [-3.4202, -9.3969, 0.0], [-2.5882, -9.6593, 0.0], [-1.7365, -9.8481, 0.0], [-0.8716, -9.9619, 0.0], [-0.0, -10.0, 0.0], [0.8716, -9.9619, 0.0], [1.7365, -9.8481, 0.0], [2.5882, -9.6593, 0.0], [3.4202, -9.3969, 0.0], [4.2262, -9.0631, 0.0], [5.0, -8.6603, 0.0], [5.7358, -8.1915, 0.0], [6.4279, -7.6604, 0.0], [7.0711, -7.0711, 0.0], [7.6604, -6.4279, 0.0], [8.1915, -5.7358, 0.0], [8.6603, -5.0, 0.0], [9.0631, -4.2262, 0.0], [9.3969, -3.4202, 0.0], [9.6593, -2.5882, 0.0], [9.8481, -1.7365, 0.0], [9.9619, -0.8716, 0.0]], b: [[10.0, 0.0, -3.0], [9.9619, 0.8716, -3.0], [9.8481, 1.7365, -3.0], [9.6593, 2.5882, -3.0], [9.3969, 3.4202, -3.0], [9.0631, 4.2262, -3.0], [8.6603, 5.0, -3.0], [8.1915, 5.7358, -3.0], [7.6604, 6.4279, -3.0], [7.0711, 7.0711, -3.0], [6.4279, 7.6604, -3.0], [5.7358, 8.1915, -3.0], [5.0, 8.6603, -3.0], [4.2262, 9.0631, -3.0], [3.4202, 9.3969, -3.0], [2.5882, 9.6593, -3.0], [1.7365, 9.8481, -3.0], [0.8716, 9.9619, -3.0], [0.0, 10.0, -3.0], [-0.8716, 9.9619, -3.0], [-1.7365, 9.8481, -3.0], [-2.5882, 9.6593, -3.0], [-3.4202, 9.3969, -3.0], [-4.2262, 9.0631, -3.0], [-5.0, 8.6603, -3.0], [-5.7358, 8.1915, -3.0], [-6.4279, 7.6604, -3.0], [-7.0711, 7.0711, -3.0], [-7.6604, 6.4279, -3.0], [-8.1915, 5.7358, -3.0], [-8.6603, 5.0, -3.0], [-9.0631, 4.2262, -3.0], [-9.3969, 3.4202, -3.0], [-9.6593, 2.5882, -3.0], [-9.8481, 1.7365, -3.0], [-9.9619, 0.8716, -3.0], [-10.0, 0.0, -3.0], [-9.9619, -0.8716, -3.0], [-9.8481, -1.7365, -3.0], [-9.6593, -2.5882, -3.0], [-9.3969, -3.4202, -3.0], [-9.0631, -4.2262, -3.0], [-8.6603, -5.0, -3.0], [-8.1915, -5.7358, -3.0], [-7.6604, -6.4279, -3.0], [-7.0711, -7.0711, -3.0], [-6.4279, -7.6604, -3.0], [-5.7358, -8.1915, -3.0], [-5.0, -8.6603, -3.0], [-4.2262, -9.0631, -3.0], [-3.4202, -9.3969, -3.0], [-2.5882, -9.6593, -3.0], [-1.7365, -9.8481, -3.0], [-0.8716, -9.9619, -3.0], [-0.0, -10.0, -3.0], [0.8716, -9.9619, -3.0], [1.7365, -9.8481, -3.0], [2.5882, -9.6593, -3.0], [3.4202, -9.3969, -3.0], [4.2262, -9.0631, -3.0], [5.0, -8.6603, -3.0], [5.7358, -8.1915, -3.0], [6.4279, -7.6604, -3.0], [7.0711, -7.0711, -3.0], [7.6604, -6.4279, -3.0], [8.1915, -5.7358, -3.0], [8.6603, -5.0, -3.0], [9.0631, -4.2262, -3.0], [9.3969, -3.4202, -3.0], [9.6593, -2.5882, -3.0], [9.8481, -1.7365, -3.0], [9.9619, -0.8716, -3.0]], collide: 0}
      - {kind: poly, points: [[-24, -5], [16, -5], [16, -3], [-24, -3]], y: [-12, 12], color: "#cdbb98"}   # the bench
      - {kind: poly, points: [[-22, -15], [-20, -15], [-20, -5], [-22, -5]], y: [-1, 1], color: "#cdbb98"}
      - {kind: rod, from: [-21, 0, -13], to: [-6, 0, -5], radius: 0.8, color: "#cdbb98"}
      - {kind: rod, from: [0, 0, 27.0911], to: [0, 0, 28.5911], radius: 1.4, color: "#9a917f"}   # the shaft's bearing
  - id: spindle
    shape: part
    pos: [0, 0, 20.5911]
    mass: 0.6
    color: "#a39d90"
    pieces:
      - {kind: rod, from: [0, 0, 17.0911], to: [0, 0, 29.0911], radius: 0.9}
      - {kind: loft, a: [[5.0, 0.0, 29.1911], [4.9039, 0.9755, 29.1911], [4.6194, 1.9134, 29.1911], [4.1573, 2.7779, 29.1911], [3.5355, 3.5355, 29.1911], [2.7779, 4.1573, 29.1911], [1.9134, 4.6194, 29.1911], [0.9755, 4.9039, 29.1911], [0.0, 5.0, 29.1911], [-0.9755, 4.9039, 29.1911], [-1.9134, 4.6194, 29.1911], [-2.7779, 4.1573, 29.1911], [-3.5355, 3.5355, 29.1911], [-4.1573, 2.7779, 29.1911], [-4.6194, 1.9134, 29.1911], [-4.9039, 0.9755, 29.1911], [-5.0, 0.0, 29.1911], [-4.9039, -0.9755, 29.1911], [-4.6194, -1.9134, 29.1911], [-4.1573, -2.7779, 29.1911], [-3.5355, -3.5355, 29.1911], [-2.7779, -4.1573, 29.1911], [-1.9134, -4.6194, 29.1911], [-0.9755, -4.9039, 29.1911], [-0.0, -5.0, 29.1911], [0.9755, -4.9039, 29.1911], [1.9134, -4.6194, 29.1911], [2.7779, -4.1573, 29.1911], [3.5355, -3.5355, 29.1911], [4.1573, -2.7779, 29.1911], [4.6194, -1.9134, 29.1911], [4.9039, -0.9755, 29.1911]], b: [[5.0, 0.0, 31.3911], [4.9039, 0.9755, 31.3911], [4.6194, 1.9134, 31.3911], [4.1573, 2.7779, 31.3911], [3.5355, 3.5355, 31.3911], [2.7779, 4.1573, 31.3911], [1.9134, 4.6194, 31.3911], [0.9755, 4.9039, 31.3911], [0.0, 5.0, 31.3911], [-0.9755, 4.9039, 31.3911], [-1.9134, 4.6194, 31.3911], [-2.7779, 4.1573, 31.3911], [-3.5355, 3.5355, 31.3911], [-4.1573, 2.7779, 31.3911], [-4.6194, 1.9134, 31.3911], [-4.9039, 0.9755, 31.3911], [-5.0, 0.0, 31.3911], [-4.9039, -0.9755, 31.3911], [-4.6194, -1.9134, 31.3911], [-4.1573, -2.7779, 31.3911], [-3.5355, -3.5355, 31.3911], [-2.7779, -4.1573, 31.3911], [-1.9134, -4.6194, 31.3911], [-0.9755, -4.9039, 31.3911], [-0.0, -5.0, 31.3911], [0.9755, -4.9039, 31.3911], [1.9134, -4.6194, 31.3911], [2.7779, -4.1573, 31.3911], [3.5355, -3.5355, 31.3911], [4.1573, -2.7779, 31.3911], [4.6194, -1.9134, 31.3911], [4.9039, -0.9755, 31.3911]], color: "#b8ad97"}   # its pulley
  - id: arm
    shape: part
    pos: [0, 0, 17.0911]
    mount: spindle
    mass: 0.4
    color: "#8f8a80"
    pieces:
      - {kind: rod, from: [0, 0, 21.0911], to: [0, 0, 15.5911], radius: 0.65}   # its stem, in the shaft's socket
      - {kind: rod, from: [0, 0, 15.5911], to: [1.5058, 0, 14.1911], radius: 0.55}   # the bent piece
      - {kind: rod, from: [1.5058, 0, 14.1911], to: [3.1058, 0, 11.9911], radius: 0.55}
      - {kind: rod, from: [0.9, -0.8, 18.0911], to: [0.9, 0.8, 18.0911], radius: 0.3, color: "#6f6a60"}   # the set-screw's head (drawn)
  - id: g1
    shape: part
    pos: [3.1058, 0, 11.5911]
    mount: arm
    mass: 0.02
    color: "#6f6a60"
    pieces:
      - {kind: rod, from: [2.8058, 0, 11.5911], to: [3.4058, 0, 11.5911], radius: 0.2}
  - id: g2
    shape: part
    pos: [3.1058, 0, 11.5911]
    mount: g1
    mass: 0.02
    color: "#6f6a60"
    pieces:
      - {kind: rod, from: [3.1058, -0.3, 11.5911], to: [3.1058, 0.3, 11.5911], radius: 0.2}
  - id: cup
    shape: part
    pos: [3.1058, 0, 11.5911]
    mount: g2
    mass: 0.8
    friction: 0.5
    color: "#b08d57"
    pieces:
      - {kind: loft, a: [[2.96, 0.0, 10.8537], [2.9535, 0.025, 10.8555], [2.9359, 0.0433, 10.8602], [2.9117, 0.05, 10.8667], [2.8876, 0.0433, 10.8731], [2.8699, 0.025, 10.8779], [2.8634, 0.0, 10.8796], [2.8699, -0.025, 10.8779], [2.8876, -0.0433, 10.8731], [2.9117, -0.05, 10.8667], [2.9359, -0.0433, 10.8602], [2.9535, -0.025, 10.8555]], b: [[3.6302, 0.0, 11.0365], [3.546, 0.325, 11.059], [3.3162, 0.5629, 11.1206], [3.0023, 0.65, 11.2047], [2.6884, 0.5629, 11.2889], [2.4586, 0.325, 11.3504], [2.3744, 0.0, 11.373], [2.4586, -0.325, 11.3504], [2.6884, -0.5629, 11.2889], [3.0023, -0.65, 11.2047], [3.3162, -0.5629, 11.1206], [3.546, -0.325, 11.059]], color: "#6f6a60"}   # the ball
      - {kind: loft, a: [[3.6302, 0.0, 11.0365], [3.546, 0.325, 11.059], [3.3162, 0.5629, 11.1206], [3.0023, 0.65, 11.2047], [2.6884, 0.5629, 11.2889], [2.4586, 0.325, 11.3504], [2.3744, 0.0, 11.373], [2.4586, -0.325, 11.3504], [2.6884, -0.5629, 11.2889], [3.0023, -0.65, 11.2047], [3.3162, -0.5629, 11.1206], [3.546, -0.325, 11.059]], b: [[3.8303, 0.0, 11.397], [3.7332, 0.375, 11.423], [3.4681, 0.6495, 11.4941], [3.1058, 0.75, 11.5911], [2.7436, 0.6495, 11.6882], [2.4784, 0.375, 11.7592], [2.3814, 0.0, 11.7852], [2.4784, -0.375, 11.7592], [2.7436, -0.6495, 11.6882], [3.1058, -0.75, 11.5911], [3.4681, -0.6495, 11.4941], [3.7332, -0.375, 11.423]], color: "#6f6a60"}   # the ball
      - {kind: loft, a: [[3.8303, 0.0, 11.397], [3.7332, 0.375, 11.423], [3.4681, 0.6495, 11.4941], [3.1058, 0.75, 11.5911], [2.7436, 0.6495, 11.6882], [2.4784, 0.375, 11.7592], [2.3814, 0.0, 11.7852], [2.4784, -0.375, 11.7592], [2.7436, -0.6495, 11.6882], [3.1058, -0.75, 11.5911], [3.4681, -0.6495, 11.4941], [3.7332, -0.375, 11.423]], b: [[3.8372, 0.0, 11.8092], [3.7531, 0.325, 11.8318], [3.5233, 0.5629, 11.8934], [3.2094, 0.65, 11.9775], [2.8954, 0.5629, 12.0616], [2.6656, 0.325, 12.1232], [2.5815, 0.0, 12.1457], [2.6656, -0.325, 12.1232], [2.8954, -0.5629, 12.0616], [3.2094, -0.65, 11.9775], [3.5233, -0.5629, 11.8934], [3.7531, -0.325, 11.8318]], color: "#6f6a60"}   # the ball
      - {kind: loft, a: [[3.8372, 0.0, 11.8092], [3.7531, 0.325, 11.8318], [3.5233, 0.5629, 11.8934], [3.2094, 0.65, 11.9775], [2.8954, 0.5629, 12.0616], [2.6656, 0.325, 12.1232], [2.5815, 0.0, 12.1457], [2.6656, -0.325, 12.1232], [2.8954, -0.5629, 12.0616], [3.2094, -0.65, 11.9775], [3.5233, -0.5629, 11.8934], [3.7531, -0.325, 11.8318]], b: [[3.3482, 0.0, 12.3026], [3.3418, 0.025, 12.3043], [3.3241, 0.0433, 12.3091], [3.2999, 0.05, 12.3156], [3.2758, 0.0433, 12.322], [3.2581, 0.025, 12.3268], [3.2516, 0.0, 12.3285], [3.2581, -0.025, 12.3268], [3.2758, -0.0433, 12.322], [3.2999, -0.05, 12.3156], [3.3241, -0.0433, 12.3091], [3.3418, -0.025, 12.3043]], color: "#6f6a60"}   # the ball
      - {kind: loft, a: [[3.33, 0.0, 10.4958], [3.2653, 0.25, 10.5131], [3.0885, 0.433, 10.5605], [2.847, 0.5, 10.6252], [2.6055, 0.433, 10.6899], [2.4288, 0.25, 10.7373], [2.364, 0.0, 10.7546], [2.4288, -0.25, 10.7373], [2.6055, -0.433, 10.6899], [2.847, -0.5, 10.6252], [3.0885, -0.433, 10.5605], [3.2653, -0.25, 10.5131]], b: [[3.4335, 0.0, 10.8821], [3.3688, 0.25, 10.8995], [3.192, 0.433, 10.9468], [2.9505, 0.5, 11.0116], [2.7091, 0.433, 11.0763], [2.5323, 0.25, 11.1236], [2.4676, 0.0, 11.141], [2.5323, -0.25, 11.1236], [2.7091, -0.433, 11.0763], [2.9505, -0.5, 11.0116], [3.192, -0.433, 10.9468], [3.3688, -0.25, 10.8995]], color: "#6f6a60"}   # its neck
      - {kind: loft, a: [[2.7435, 0.0, 10.2388], [4.6503, 0.8434, 9.4881], [4.8123, 0.0, 9.4447]], b: [[2.8729, 0.0, 10.7218], [4.8696, 0.8832, 9.9356], [5.0393, 0.0, 9.8902]]}
      - {kind: loft, a: [[2.7435, 0.0, 10.2388], [4.1888, 1.5584, 9.6117], [4.6503, 0.8434, 9.4881]], b: [[2.8729, 0.0, 10.7218], [4.3864, 1.6319, 10.0651], [4.8696, 0.8832, 9.9356]]}
      - {kind: loft, a: [[2.7435, 0.0, 10.2388], [3.4982, 2.0361, 9.7968], [4.1888, 1.5584, 9.6117]], b: [[2.8729, 0.0, 10.7218], [3.6632, 2.1321, 10.2589], [4.3864, 1.6319, 10.0651]]}
      - {kind: loft, a: [[2.7435, 0.0, 10.2388], [2.6835, 2.2039, 10.0151], [3.4982, 2.0361, 9.7968]], b: [[2.8729, 0.0, 10.7218], [2.8101, 2.3078, 10.4875], [3.6632, 2.1321, 10.2589]]}
      - {kind: loft, a: [[2.7435, 0.0, 10.2388], [1.8689, 2.0361, 10.2334], [2.6835, 2.2039, 10.0151]], b: [[2.8729, 0.0, 10.7218], [1.957, 2.1321, 10.7161], [2.8101, 2.3078, 10.4875]]}
      - {kind: loft, a: [[2.7435, 0.0, 10.2388], [1.1783, 1.5584, 10.4184], [1.8689, 2.0361, 10.2334]], b: [[2.8729, 0.0, 10.7218], [1.2338, 1.6319, 10.9098], [1.957, 2.1321, 10.7161]]}
      - {kind: loft, a: [[2.7435, 0.0, 10.2388], [0.7168, 0.8434, 10.5421], [1.1783, 1.5584, 10.4184]], b: [[2.8729, 0.0, 10.7218], [0.7506, 0.8832, 11.0393], [1.2338, 1.6319, 10.9098]]}
      - {kind: loft, a: [[2.7435, 0.0, 10.2388], [0.5548, 0.0, 10.5855], [0.7168, 0.8434, 10.5421]], b: [[2.8729, 0.0, 10.7218], [0.5809, 0.0, 11.0848], [0.7506, 0.8832, 11.0393]]}
      - {kind: loft, a: [[2.7435, -0.0, 10.2388], [0.7168, -0.8434, 10.5421], [0.5548, 0.0, 10.5855]], b: [[2.8729, -0.0, 10.7218], [0.7506, -0.8832, 11.0393], [0.5809, 0.0, 11.0848]]}
      - {kind: loft, a: [[2.7435, -0.0, 10.2388], [1.1783, -1.5584, 10.4184], [0.7168, -0.8434, 10.5421]], b: [[2.8729, -0.0, 10.7218], [1.2338, -1.6319, 10.9098], [0.7506, -0.8832, 11.0393]]}
      - {kind: loft, a: [[2.7435, -0.0, 10.2388], [1.8689, -2.0361, 10.2334], [1.1783, -1.5584, 10.4184]], b: [[2.8729, -0.0, 10.7218], [1.957, -2.1321, 10.7161], [1.2338, -1.6319, 10.9098]]}
      - {kind: loft, a: [[2.7435, -0.0, 10.2388], [2.6835, -2.2039, 10.0151], [1.8689, -2.0361, 10.2334]], b: [[2.8729, -0.0, 10.7218], [2.8101, -2.3078, 10.4875], [1.957, -2.1321, 10.7161]]}
      - {kind: loft, a: [[2.7435, -0.0, 10.2388], [3.4982, -2.0361, 9.7968], [2.6835, -2.2039, 10.0151]], b: [[2.8729, -0.0, 10.7218], [3.6632, -2.1321, 10.2589], [2.8101, -2.3078, 10.4875]]}
      - {kind: loft, a: [[2.7435, -0.0, 10.2388], [4.1888, -1.5584, 9.6117], [3.4982, -2.0361, 9.7968]], b: [[2.8729, -0.0, 10.7218], [4.3864, -1.6319, 10.0651], [3.6632, -2.1321, 10.2589]]}
      - {kind: loft, a: [[2.7435, -0.0, 10.2388], [4.6503, -0.8434, 9.4881], [4.1888, -1.5584, 9.6117]], b: [[2.8729, -0.0, 10.7218], [4.8696, -0.8832, 9.9356], [4.3864, -1.6319, 10.0651]]}
      - {kind: loft, a: [[2.7435, -0.0, 10.2388], [4.8123, -0.0, 9.4447], [4.6503, -0.8434, 9.4881]], b: [[2.8729, -0.0, 10.7218], [5.0393, -0.0, 9.8902], [4.8696, -0.8832, 9.9356]]}
      - {kind: loft, a: [[4.8123, 0.0, 9.4447], [4.6503, 0.8434, 9.4881], [6.3538, 1.6499, 8.3227], [6.6708, 0.0, 8.2377]], b: [[5.0393, 0.0, 9.8902], [4.8696, 0.8832, 9.9356], [6.6535, 1.7277, 8.7153], [6.9855, 0.0, 8.6263]]}
      - {kind: loft, a: [[4.6503, 0.8434, 9.4881], [4.1888, 1.5584, 9.6117], [5.451, 3.0486, 8.5646], [6.3538, 1.6499, 8.3227]], b: [[4.8696, 0.8832, 9.9356], [4.3864, 1.6319, 10.0651], [5.7082, 3.1924, 8.9686], [6.6535, 1.7277, 8.7153]]}
      - {kind: loft, a: [[4.1888, 1.5584, 9.6117], [3.4982, 2.0361, 9.7968], [4.1, 3.9832, 8.9266], [5.451, 3.0486, 8.5646]], b: [[4.3864, 1.6319, 10.0651], [3.6632, 2.1321, 10.2589], [4.2934, 4.1711, 9.3477], [5.7082, 3.1924, 8.9686]]}
      - {kind: loft, a: [[3.4982, 2.0361, 9.7968], [2.6835, 2.2039, 10.0151], [2.5063, 4.3114, 9.3536], [4.1, 3.9832, 8.9266]], b: [[3.6632, 2.1321, 10.2589], [2.8101, 2.3078, 10.4875], [2.6245, 4.5148, 9.7948], [4.2934, 4.1711, 9.3477]]}
      - {kind: loft, a: [[2.6835, 2.2039, 10.0151], [1.8689, 2.0361, 10.2334], [0.9126, 3.9832, 9.7806], [2.5063, 4.3114, 9.3536]], b: [[2.8101, 2.3078, 10.4875], [1.957, 2.1321, 10.7161], [0.9557, 4.1711, 10.242], [2.6245, 4.5148, 9.7948]]}
      - {kind: loft, a: [[1.8689, 2.0361, 10.2334], [1.1783, 1.5584, 10.4184], [-0.4385, 3.0486, 10.1427], [0.9126, 3.9832, 9.7806]], b: [[1.957, 2.1321, 10.7161], [1.2338, 1.6319, 10.9098], [-0.4591, 3.1924, 10.6211], [0.9557, 4.1711, 10.242]]}
      - {kind: loft, a: [[1.1783, 1.5584, 10.4184], [0.7168, 0.8434, 10.5421], [-1.3412, 1.6499, 10.3846], [-0.4385, 3.0486, 10.1427]], b: [[1.2338, 1.6319, 10.9098], [0.7506, 0.8832, 11.0393], [-1.4045, 1.7277, 10.8744], [-0.4591, 3.1924, 10.6211]]}
      - {kind: loft, a: [[0.7168, 0.8434, 10.5421], [0.5548, 0.0, 10.5855], [-1.6582, 0.0, 10.4695], [-1.3412, 1.6499, 10.3846]], b: [[0.7506, 0.8832, 11.0393], [0.5809, 0.0, 11.0848], [-1.7364, 0.0, 10.9633], [-1.4045, 1.7277, 10.8744]]}
      - {kind: loft, a: [[0.5548, 0.0, 10.5855], [0.7168, -0.8434, 10.5421], [-1.3412, -1.6499, 10.3846], [-1.6582, 0.0, 10.4695]], b: [[0.5809, 0.0, 11.0848], [0.7506, -0.8832, 11.0393], [-1.4045, -1.7277, 10.8744], [-1.7364, 0.0, 10.9633]]}
      - {kind: loft, a: [[0.7168, -0.8434, 10.5421], [1.1783, -1.5584, 10.4184], [-0.4385, -3.0486, 10.1427], [-1.3412, -1.6499, 10.3846]], b: [[0.7506, -0.8832, 11.0393], [1.2338, -1.6319, 10.9098], [-0.4591, -3.1924, 10.6211], [-1.4045, -1.7277, 10.8744]]}
      - {kind: loft, a: [[1.1783, -1.5584, 10.4184], [1.8689, -2.0361, 10.2334], [0.9126, -3.9832, 9.7806], [-0.4385, -3.0486, 10.1427]], b: [[1.2338, -1.6319, 10.9098], [1.957, -2.1321, 10.7161], [0.9557, -4.1711, 10.242], [-0.4591, -3.1924, 10.6211]]}
      - {kind: loft, a: [[1.8689, -2.0361, 10.2334], [2.6835, -2.2039, 10.0151], [2.5063, -4.3114, 9.3536], [0.9126, -3.9832, 9.7806]], b: [[1.957, -2.1321, 10.7161], [2.8101, -2.3078, 10.4875], [2.6245, -4.5148, 9.7948], [0.9557, -4.1711, 10.242]]}
      - {kind: loft, a: [[2.6835, -2.2039, 10.0151], [3.4982, -2.0361, 9.7968], [4.1, -3.9832, 8.9266], [2.5063, -4.3114, 9.3536]], b: [[2.8101, -2.3078, 10.4875], [3.6632, -2.1321, 10.2589], [4.2934, -4.1711, 9.3477], [2.6245, -4.5148, 9.7948]]}
      - {kind: loft, a: [[3.4982, -2.0361, 9.7968], [4.1888, -1.5584, 9.6117], [5.451, -3.0486, 8.5646], [4.1, -3.9832, 8.9266]], b: [[3.6632, -2.1321, 10.2589], [4.3864, -1.6319, 10.0651], [5.7082, -3.1924, 8.9686], [4.2934, -4.1711, 9.3477]]}
      - {kind: loft, a: [[4.1888, -1.5584, 9.6117], [4.6503, -0.8434, 9.4881], [6.3538, -1.6499, 8.3227], [5.451, -3.0486, 8.5646]], b: [[4.3864, -1.6319, 10.0651], [4.8696, -0.8832, 9.9356], [6.6535, -1.7277, 8.7153], [5.7082, -3.1924, 8.9686]]}
      - {kind: loft, a: [[4.6503, -0.8434, 9.4881], [4.8123, -0.0, 9.4447], [6.6708, -0.0, 8.2377], [6.3538, -1.6499, 8.3227]], b: [[4.8696, -0.8832, 9.9356], [5.0393, -0.0, 9.8902], [6.9855, -0.0, 8.6263], [6.6535, -1.7277, 8.7153]]}
      - {kind: loft, a: [[6.6708, 0.0, 8.2377], [6.3538, 1.6499, 8.3227], [7.7796, 2.3843, 6.7935], [8.2377, 0.0, 6.6708]], b: [[6.9855, 0.0, 8.6263], [6.6535, 1.7277, 8.7153], [8.1466, 2.4968, 7.114], [8.6263, 0.0, 6.9855]]}
      - {kind: loft, a: [[6.3538, 1.6499, 8.3227], [5.451, 3.0486, 8.5646], [6.4751, 4.4056, 7.1431], [7.7796, 2.3843, 6.7935]], b: [[6.6535, 1.7277, 8.7153], [5.7082, 3.1924, 8.9686], [6.7805, 4.6135, 7.48], [8.1466, 2.4968, 7.114]]}
      - {kind: loft, a: [[5.451, 3.0486, 8.5646], [4.1, 3.9832, 8.9266], [4.5226, 5.7563, 7.6663], [6.4751, 4.4056, 7.1431]], b: [[5.7082, 3.1924, 8.9686], [4.2934, 4.1711, 9.3477], [4.7359, 6.0278, 8.0279], [6.7805, 4.6135, 7.48]]}
      - {kind: loft, a: [[4.1, 3.9832, 8.9266], [2.5063, 4.3114, 9.3536], [2.2195, 6.2305, 8.2834], [4.5226, 5.7563, 7.6663]], b: [[4.2934, 4.1711, 9.3477], [2.6245, 4.5148, 9.7948], [2.3242, 6.5244, 8.6741], [4.7359, 6.0278, 8.0279]]}
      - {kind: loft, a: [[2.5063, 4.3114, 9.3536], [0.9126, 3.9832, 9.7806], [-0.0836, 5.7563, 8.9005], [2.2195, 6.2305, 8.2834]], b: [[2.6245, 4.5148, 9.7948], [0.9557, 4.1711, 10.242], [-0.0875, 6.0278, 9.3203], [2.3242, 6.5244, 8.6741]]}
      - {kind: loft, a: [[0.9126, 3.9832, 9.7806], [-0.4385, 3.0486, 10.1427], [-2.036, 4.4056, 9.4236], [-0.0836, 5.7563, 8.9005]], b: [[0.9557, 4.1711, 10.242], [-0.4591, 3.1924, 10.6211], [-2.132, 4.6135, 9.8682], [-0.0875, 6.0278, 9.3203]]}
      - {kind: loft, a: [[-0.4385, 3.0486, 10.1427], [-1.3412, 1.6499, 10.3846], [-3.3406, 2.3843, 9.7732], [-2.036, 4.4056, 9.4236]], b: [[-0.4591, 3.1924, 10.6211], [-1.4045, 1.7277, 10.8744], [-3.4982, 2.4968, 10.2342], [-2.132, 4.6135, 9.8682]]}
      - {kind: loft, a: [[-1.3412, 1.6499, 10.3846], [-1.6582, 0.0, 10.4695], [-3.7987, 0.0, 9.896], [-3.3406, 2.3843, 9.7732]], b: [[-1.4045, 1.7277, 10.8744], [-1.7364, 0.0, 10.9633], [-3.9779, 0.0, 10.3627], [-3.4982, 2.4968, 10.2342]]}
      - {kind: loft, a: [[-1.6582, 0.0, 10.4695], [-1.3412, -1.6499, 10.3846], [-3.3406, -2.3843, 9.7732], [-3.7987, 0.0, 9.896]], b: [[-1.7364, 0.0, 10.9633], [-1.4045, -1.7277, 10.8744], [-3.4982, -2.4968, 10.2342], [-3.9779, 0.0, 10.3627]]}
      - {kind: loft, a: [[-1.3412, -1.6499, 10.3846], [-0.4385, -3.0486, 10.1427], [-2.036, -4.4056, 9.4236], [-3.3406, -2.3843, 9.7732]], b: [[-1.4045, -1.7277, 10.8744], [-0.4591, -3.1924, 10.6211], [-2.132, -4.6135, 9.8682], [-3.4982, -2.4968, 10.2342]]}
      - {kind: loft, a: [[-0.4385, -3.0486, 10.1427], [0.9126, -3.9832, 9.7806], [-0.0836, -5.7563, 8.9005], [-2.036, -4.4056, 9.4236]], b: [[-0.4591, -3.1924, 10.6211], [0.9557, -4.1711, 10.242], [-0.0875, -6.0278, 9.3203], [-2.132, -4.6135, 9.8682]]}
      - {kind: loft, a: [[0.9126, -3.9832, 9.7806], [2.5063, -4.3114, 9.3536], [2.2195, -6.2305, 8.2834], [-0.0836, -5.7563, 8.9005]], b: [[0.9557, -4.1711, 10.242], [2.6245, -4.5148, 9.7948], [2.3242, -6.5244, 8.6741], [-0.0875, -6.0278, 9.3203]]}
      - {kind: loft, a: [[2.5063, -4.3114, 9.3536], [4.1, -3.9832, 8.9266], [4.5226, -5.7563, 7.6663], [2.2195, -6.2305, 8.2834]], b: [[2.6245, -4.5148, 9.7948], [4.2934, -4.1711, 9.3477], [4.7359, -6.0278, 8.0279], [2.3242, -6.5244, 8.6741]]}
      - {kind: loft, a: [[4.1, -3.9832, 8.9266], [5.451, -3.0486, 8.5646], [6.4751, -4.4056, 7.1431], [4.5226, -5.7563, 7.6663]], b: [[4.2934, -4.1711, 9.3477], [5.7082, -3.1924, 8.9686], [6.7805, -4.6135, 7.48], [4.7359, -6.0278, 8.0279]]}
      - {kind: loft, a: [[5.451, -3.0486, 8.5646], [6.3538, -1.6499, 8.3227], [7.7796, -2.3843, 6.7935], [6.4751, -4.4056, 7.1431]], b: [[5.7082, -3.1924, 8.9686], [6.6535, -1.7277, 8.7153], [8.1466, -2.4968, 7.114], [6.7805, -4.6135, 7.48]]}
      - {kind: loft, a: [[6.3538, -1.6499, 8.3227], [6.6708, -0.0, 8.2377], [8.2377, -0.0, 6.6708], [7.7796, -2.3843, 6.7935]], b: [[6.6535, -1.7277, 8.7153], [6.9855, -0.0, 8.6263], [8.6263, -0.0, 6.9855], [8.1466, -2.4968, 7.114]]}
      - {kind: loft, a: [[8.2377, 0.0, 6.6708], [7.7796, 2.3843, 6.7935], [8.8655, 3.0145, 4.9675], [9.4447, 0.0, 4.8123]], b: [[8.6263, 0.0, 6.9855], [8.1466, 2.4968, 7.114], [9.2837, 3.1567, 5.2018], [9.8902, 0.0, 5.0393]]}
      - {kind: loft, a: [[7.7796, 2.3843, 6.7935], [6.4751, 4.4056, 7.1431], [7.2161, 5.5701, 5.4095], [8.8655, 3.0145, 4.9675]], b: [[8.1466, 2.4968, 7.114], [6.7805, 4.6135, 7.48], [7.5564, 5.8329, 5.6646], [9.2837, 3.1567, 5.2018]]}
      - {kind: loft, a: [[6.4751, 4.4056, 7.1431], [4.5226, 5.7563, 7.6663], [4.7476, 7.2777, 6.0709], [7.2161, 5.5701, 5.4095]], b: [[6.7805, 4.6135, 7.48], [4.7359, 6.0278, 8.0279], [4.9715, 7.621, 6.3572], [7.5564, 5.8329, 5.6646]]}
      - {kind: loft, a: [[4.5226, 5.7563, 7.6663], [2.2195, 6.2305, 8.2834], [1.8357, 7.8773, 6.8511], [4.7476, 7.2777, 6.0709]], b: [[4.7359, 6.0278, 8.0279], [2.3242, 6.5244, 8.6741], [1.9223, 8.2489, 7.1743], [4.9715, 7.621, 6.3572]]}
      - {kind: loft, a: [[2.2195, 6.2305, 8.2834], [-0.0836, 5.7563, 8.9005], [-1.0761, 7.2777, 7.6313], [1.8357, 7.8773, 6.8511]], b: [[2.3242, 6.5244, 8.6741], [-0.0875, 6.0278, 9.3203], [-1.1268, 7.621, 7.9913], [1.9223, 8.2489, 7.1743]]}
      - {kind: loft, a: [[-0.0836, 5.7563, 8.9005], [-2.036, 4.4056, 9.4236], [-3.5446, 5.5701, 8.2928], [-1.0761, 7.2777, 7.6313]], b: [[-0.0875, 6.0278, 9.3203], [-2.132, 4.6135, 9.8682], [-3.7118, 5.8329, 8.6839], [-1.1268, 7.621, 7.9913]]}
      - {kind: loft, a: [[-2.036, 4.4056, 9.4236], [-3.3406, 2.3843, 9.7732], [-5.194, 3.0145, 8.7347], [-3.5446, 5.5701, 8.2928]], b: [[-2.132, 4.6135, 9.8682], [-3.4982, 2.4968, 10.2342], [-5.439, 3.1567, 9.1467], [-3.7118, 5.8329, 8.6839]]}
      - {kind: loft, a: [[-3.3406, 2.3843, 9.7732], [-3.7987, 0.0, 9.896], [-5.7732, 0.0, 8.8899], [-5.194, 3.0145, 8.7347]], b: [[-3.4982, 2.4968, 10.2342], [-3.9779, 0.0, 10.3627], [-6.0455, 0.0, 9.3092], [-5.439, 3.1567, 9.1467]]}
      - {kind: loft, a: [[-3.7987, 0.0, 9.896], [-3.3406, -2.3843, 9.7732], [-5.194, -3.0145, 8.7347], [-5.7732, 0.0, 8.8899]], b: [[-3.9779, 0.0, 10.3627], [-3.4982, -2.4968, 10.2342], [-5.439, -3.1567, 9.1467], [-6.0455, 0.0, 9.3092]]}
      - {kind: loft, a: [[-3.3406, -2.3843, 9.7732], [-2.036, -4.4056, 9.4236], [-3.5446, -5.5701, 8.2928], [-5.194, -3.0145, 8.7347]], b: [[-3.4982, -2.4968, 10.2342], [-2.132, -4.6135, 9.8682], [-3.7118, -5.8329, 8.6839], [-5.439, -3.1567, 9.1467]]}
      - {kind: loft, a: [[-2.036, -4.4056, 9.4236], [-0.0836, -5.7563, 8.9005], [-1.0761, -7.2777, 7.6313], [-3.5446, -5.5701, 8.2928]], b: [[-2.132, -4.6135, 9.8682], [-0.0875, -6.0278, 9.3203], [-1.1268, -7.621, 7.9913], [-3.7118, -5.8329, 8.6839]]}
      - {kind: loft, a: [[-0.0836, -5.7563, 8.9005], [2.2195, -6.2305, 8.2834], [1.8357, -7.8773, 6.8511], [-1.0761, -7.2777, 7.6313]], b: [[-0.0875, -6.0278, 9.3203], [2.3242, -6.5244, 8.6741], [1.9223, -8.2489, 7.1743], [-1.1268, -7.621, 7.9913]]}
      - {kind: loft, a: [[2.2195, -6.2305, 8.2834], [4.5226, -5.7563, 7.6663], [4.7476, -7.2777, 6.0709], [1.8357, -7.8773, 6.8511]], b: [[2.3242, -6.5244, 8.6741], [4.7359, -6.0278, 8.0279], [4.9715, -7.621, 6.3572], [1.9223, -8.2489, 7.1743]]}
      - {kind: loft, a: [[4.5226, -5.7563, 7.6663], [6.4751, -4.4056, 7.1431], [7.2161, -5.5701, 5.4095], [4.7476, -7.2777, 6.0709]], b: [[4.7359, -6.0278, 8.0279], [6.7805, -4.6135, 7.48], [7.5564, -5.8329, 5.6646], [4.9715, -7.621, 6.3572]]}
      - {kind: loft, a: [[6.4751, -4.4056, 7.1431], [7.7796, -2.3843, 6.7935], [8.8655, -3.0145, 4.9675], [7.2161, -5.5701, 5.4095]], b: [[6.7805, -4.6135, 7.48], [8.1466, -2.4968, 7.114], [9.2837, -3.1567, 5.2018], [7.5564, -5.8329, 5.6646]]}
      - {kind: loft, a: [[7.7796, -2.3843, 6.7935], [8.2377, -0.0, 6.6708], [9.4447, -0.0, 4.8123], [8.8655, -3.0145, 4.9675]], b: [[8.1466, -2.4968, 7.114], [8.6263, -0.0, 6.9855], [9.8902, -0.0, 5.0393], [9.2837, -3.1567, 5.2018]]}
      - {kind: rod, from: [4.6534, -0.3, 9.1328], to: [4.6534, 0.3, 9.1328], radius: 0.25, capsule: true, collide: 1, color: "#8a6a3e"}
      - {kind: rod, from: [3.5066, 1.9341, 9.4401], to: [2.9554, 2.1195, 9.5878], radius: 0.25, capsule: true, collide: 1, color: "#8a6a3e"}
      - {kind: rod, from: [1.0999, 1.4953, 10.085], to: [0.7593, 1.0099, 10.1763], radius: 0.25, capsule: true, collide: 1, color: "#8a6a3e"}
      - {kind: rod, from: [0.7593, -1.0099, 10.1763], to: [1.0999, -1.4953, 10.085], radius: 0.25, capsule: true, collide: 1, color: "#8a6a3e"}
      - {kind: rod, from: [2.9554, -2.1195, 9.5878], to: [3.5066, -1.9341, 9.4401], radius: 0.25, capsule: true, collide: 1, color: "#8a6a3e"}
      - {kind: rod, from: [6.562, 1.2549, 7.7794], to: [6.3637, 1.8187, 7.8325], radius: 0.25, capsule: true, collide: 1, color: "#8a6a3e"}
      - {kind: rod, from: [4.8055, 3.7413, 8.25], to: [4.3036, 4.0413, 8.3845], radius: 0.25, capsule: true, collide: 1, color: "#8a6a3e"}
      - {kind: rod, from: [1.9161, 4.4771, 9.0242], to: [1.3454, 4.3729, 9.1771], radius: 0.25, capsule: true, collide: 1, color: "#8a6a3e"}
      - {kind: rod, from: [-0.7541, 3.1181, 9.7397], to: [-1.1266, 2.6584, 9.8395], radius: 0.25, capsule: true, collide: 1, color: "#8a6a3e"}
      - {kind: rod, from: [-1.9558, 0.3, 10.0617], to: [-1.9558, -0.3, 10.0617], radius: 0.25, capsule: true, collide: 1, color: "#8a6a3e"}
      - {kind: rod, from: [-1.1266, -2.6584, 9.8395], to: [-0.7541, -3.1181, 9.7397], radius: 0.25, capsule: true, collide: 1, color: "#8a6a3e"}
      - {kind: rod, from: [1.3454, -4.3729, 9.1771], to: [1.9161, -4.4771, 9.0242], radius: 0.25, capsule: true, collide: 1, color: "#8a6a3e"}
      - {kind: rod, from: [4.3036, -4.0413, 8.3845], to: [4.8055, -3.7413, 8.25], radius: 0.25, capsule: true, collide: 1, color: "#8a6a3e"}
      - {kind: rod, from: [6.3637, -1.8187, 7.8325], to: [6.562, -1.2549, 7.7794], radius: 0.25, capsule: true, collide: 1, color: "#8a6a3e"}
      - {kind: rod, from: [8.3963, -0.3, 5.8792], to: [8.3963, 0.3, 5.8792], radius: 0.25, capsule: true, collide: 1, color: "#8a6a3e"}
      - {kind: rod, from: [7.802, 2.7962, 6.0384], to: [7.5327, 3.3275, 6.1106], radius: 0.25, capsule: true, collide: 1, color: "#8a6a3e"}
      - {kind: rod, from: [5.8859, 5.2519, 6.5518], to: [5.409, 5.5927, 6.6796], radius: 0.25, capsule: true, collide: 1, color: "#8a6a3e"}
      - {kind: rod, from: [3.087, 6.5044, 7.3018], to: [2.5117, 6.5767, 7.4559], radius: 0.25, capsule: true, collide: 1, color: "#8a6a3e"}
      - {kind: rod, from: [0.0465, 6.2668, 8.1165], to: [-0.4954, 6.054, 8.2617], radius: 0.25, capsule: true, collide: 1, color: "#8a6a3e"}
      - {kind: rod, from: [-2.5392, 4.5936, 8.8093], to: [-2.9235, 4.1445, 8.9123], radius: 0.25, capsule: true, collide: 1, color: "#8a6a3e"}
      - {kind: rod, from: [-4.0776, 1.868, 9.2215], to: [-4.2163, 1.2855, 9.2587], radius: 0.25, capsule: true, collide: 1, color: "#8a6a3e"}
      - {kind: rod, from: [-4.2163, -1.2855, 9.2587], to: [-4.0776, -1.868, 9.2215], radius: 0.25, capsule: true, collide: 1, color: "#8a6a3e"}
      - {kind: rod, from: [-2.9235, -4.1445, 8.9123], to: [-2.5392, -4.5936, 8.8093], radius: 0.25, capsule: true, collide: 1, color: "#8a6a3e"}
      - {kind: rod, from: [-0.4954, -6.054, 8.2617], to: [0.0465, -6.2668, 8.1165], radius: 0.25, capsule: true, collide: 1, color: "#8a6a3e"}
      - {kind: rod, from: [2.5117, -6.5767, 7.4559], to: [3.087, -6.5044, 7.3018], radius: 0.25, capsule: true, collide: 1, color: "#8a6a3e"}
      - {kind: rod, from: [5.409, -5.5927, 6.6796], to: [5.8859, -5.2519, 6.5518], radius: 0.25, capsule: true, collide: 1, color: "#8a6a3e"}
      - {kind: rod, from: [7.5327, -3.3275, 6.1106], to: [7.802, -2.7962, 6.0384], radius: 0.25, capsule: true, collide: 1, color: "#8a6a3e"}
joints:
  - {id: j_w, type: hinge, body: spindle, axis: [0, 0, 1], damping: 0.02}   # the upright shaft: the one driven joint
  - {id: j_s, type: slide, body: arm, axis: [0, 0, 1], damping: 20, range: [-1.5, 1.5]}   # the arm, free to slide down in its socket (the weight presses the cup)
  - {id: j_g1, type: hinge, body: g1, axis: [1, 0, 0], damping: 0.01}   # the ball-and-socket: two crosswise hinges
  - {id: j_g2, type: hinge, body: g2, axis: [0, 1, 0], damping: 0.01}
  - {id: j_c, type: hinge, body: cup, axis: [0.2588, 0, 0.9659], damping: 0.02}   # and the cup about its own axis
contact: {solref: [0.002, 1], solimp: [0.95, 0.99, 0.001], margin: 0}
driver: {joint: j_w, kind: velocity, rpm: 30, kv: 20, max_torque: 50}
checks:
  - {type: ratio, out: j_c, in: j_w, expect: -0.70, tol: 0.05, settle_s: 1, window_s: 6.5}   # the rubbing turns the cup back on its arm, but less than the shaft turns it on: it creeps round about its own axis, so new parts meet
  - {type: turning, joint: j_c, direction: -1, min_mean: 1.8, min_fraction: 0.9, settle_s: 1, window_s: 6.5}
  - {type: position, joint: j_s, min: -0.4, max: 0.4, settle_s: 1, window_s: 6.5}   # the cup rides on the work
  - {type: penetration, max: 0.002, settle_s: 0.5}
camera: {target: [0, 0, 6], position: [0, -104, 20], fov: 34}
display:
  output: j_c
  labels: {j_w: "Shaft (driver)", j_c: "Cup about its own axis", j_s: "Arm in its socket"}