# No. 413 (Brown 1868): "J. W. Howlett's patent adjustable frictional gearing. This is an improvement on that shown in 45 of this table. The upper
# wheel, A, shown in section, is composed of a rubber disk with V-edge, clamped between two metal plates. By screwing up the nut, B, which holds the
# parts together, the rubber disk is made to expand radially, and greater tractive power may be produced between the two wheels."
#
# Model (cm, gravity on, Brown's edge-on view, shafts running off to the right). The lower wheel, turned by its handle (the one driven joint, 30
# rpm), has a V-groove in its rim. The upper wheel A is a rubber disk with a V-edge between two metal plates, held by the nut B; its shaft's
# bearings are pressed down by a spring, so the V-edge bears on the groove's two lips and A is turned by friction alone (real contact, no
# coupling): 6/3.4 = 1.7647 times as fast, the other way. Generator: opencode-runs/batch13/gen413.py.
number: 413
slug: howletts-adjustable-frictional-gearing
name: Howlett's adjustable frictional gearing
brown: "J. W. Howlett's patent adjustable frictional gearing. This is an improvement on that shown in 45 of this table. The upper wheel, A, shown in section, is composed of a rubber disk with V-edge, clamped between two metal plates. By screwing up the nut, B, which holds the parts together, the rubber disk is made to expand radially, and greater tractive power may be produced between the two wheels."
units: cm
sim: {timestep: 0.0002, integrator: implicitfast, iterations: 60, duration_s: 6, floor: false}
bodies:
  - id: frame
    shape: part
    pos: [0, 0, 0]
    fixed: true
    color: "#6f6658"
    pieces:
      - {kind: rod, from: [0, -9, -2.2], to: [0, -9, 2.2], radius: 0.25}   # the bearings' posts, off to the right, behind the shafts
      - {kind: disc, center: [0, 0], radius: 1.0, inner: 0.55, y: [-9.6, -8.4]}
  - id: wheel_l
    shape: part
    pos: [0, 0, 0]
    mass: 0.6
    friction: 1.0
    color: "#8a7a62"
    pieces:
      - {kind: loft, a: [[3.8, -1.2, 0.0], [6.0, -1.2, 0.0], [6.0, -0.8, 0.0], [4.0, 0.0, 0.0], [3.8, 0.0, 0.0]], b: [[3.7675, -1.2, 0.496], [5.9487, -1.2, 0.7832], [5.9487, -0.8, 0.7832], [3.9658, 0.0, 0.5221], [3.7675, 0.0, 0.496]], collide: 1, color: "#8a7a62"}   # the iron wheel's rim, grooved V (two convex halves per slice)
      - {kind: loft, a: [[3.7675, -1.2, 0.496], [5.9487, -1.2, 0.7832], [5.9487, -0.8, 0.7832], [3.9658, 0.0, 0.5221], [3.7675, 0.0, 0.496]], b: [[3.6705, -1.2, 0.9835], [5.7956, -1.2, 1.5529], [5.7956, -0.8, 1.5529], [3.8637, 0.0, 1.0353], [3.6705, 0.0, 0.9835]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[3.6705, -1.2, 0.9835], [5.7956, -1.2, 1.5529], [5.7956, -0.8, 1.5529], [3.8637, 0.0, 1.0353], [3.6705, 0.0, 0.9835]], b: [[3.5107, -1.2, 1.4542], [5.5433, -1.2, 2.2961], [5.5433, -0.8, 2.2961], [3.6955, 0.0, 1.5307], [3.5107, 0.0, 1.4542]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[3.5107, -1.2, 1.4542], [5.5433, -1.2, 2.2961], [5.5433, -0.8, 2.2961], [3.6955, 0.0, 1.5307], [3.5107, 0.0, 1.4542]], b: [[3.2909, -1.2, 1.9], [5.1962, -1.2, 3.0], [5.1962, -0.8, 3.0], [3.4641, 0.0, 2.0], [3.2909, 0.0, 1.9]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[3.2909, -1.2, 1.9], [5.1962, -1.2, 3.0], [5.1962, -0.8, 3.0], [3.4641, 0.0, 2.0], [3.2909, 0.0, 1.9]], b: [[3.0147, -1.2, 2.3133], [4.7601, -1.2, 3.6526], [4.7601, -0.8, 3.6526], [3.1734, 0.0, 2.435], [3.0147, 0.0, 2.3133]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[3.0147, -1.2, 2.3133], [4.7601, -1.2, 3.6526], [4.7601, -0.8, 3.6526], [3.1734, 0.0, 2.435], [3.0147, 0.0, 2.3133]], b: [[2.687, -1.2, 2.687], [4.2426, -1.2, 4.2426], [4.2426, -0.8, 4.2426], [2.8284, 0.0, 2.8284], [2.687, 0.0, 2.687]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[2.687, -1.2, 2.687], [4.2426, -1.2, 4.2426], [4.2426, -0.8, 4.2426], [2.8284, 0.0, 2.8284], [2.687, 0.0, 2.687]], b: [[2.3133, -1.2, 3.0147], [3.6526, -1.2, 4.7601], [3.6526, -0.8, 4.7601], [2.435, 0.0, 3.1734], [2.3133, 0.0, 3.0147]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[2.3133, -1.2, 3.0147], [3.6526, -1.2, 4.7601], [3.6526, -0.8, 4.7601], [2.435, 0.0, 3.1734], [2.3133, 0.0, 3.0147]], b: [[1.9, -1.2, 3.2909], [3.0, -1.2, 5.1962], [3.0, -0.8, 5.1962], [2.0, 0.0, 3.4641], [1.9, 0.0, 3.2909]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[1.9, -1.2, 3.2909], [3.0, -1.2, 5.1962], [3.0, -0.8, 5.1962], [2.0, 0.0, 3.4641], [1.9, 0.0, 3.2909]], b: [[1.4542, -1.2, 3.5107], [2.2961, -1.2, 5.5433], [2.2961, -0.8, 5.5433], [1.5307, 0.0, 3.6955], [1.4542, 0.0, 3.5107]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[1.4542, -1.2, 3.5107], [2.2961, -1.2, 5.5433], [2.2961, -0.8, 5.5433], [1.5307, 0.0, 3.6955], [1.4542, 0.0, 3.5107]], b: [[0.9835, -1.2, 3.6705], [1.5529, -1.2, 5.7956], [1.5529, -0.8, 5.7956], [1.0353, 0.0, 3.8637], [0.9835, 0.0, 3.6705]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[0.9835, -1.2, 3.6705], [1.5529, -1.2, 5.7956], [1.5529, -0.8, 5.7956], [1.0353, 0.0, 3.8637], [0.9835, 0.0, 3.6705]], b: [[0.496, -1.2, 3.7675], [0.7832, -1.2, 5.9487], [0.7832, -0.8, 5.9487], [0.5221, 0.0, 3.9658], [0.496, 0.0, 3.7675]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[0.496, -1.2, 3.7675], [0.7832, -1.2, 5.9487], [0.7832, -0.8, 5.9487], [0.5221, 0.0, 3.9658], [0.496, 0.0, 3.7675]], b: [[0.0, -1.2, 3.8], [0.0, -1.2, 6.0], [0.0, -0.8, 6.0], [0.0, 0.0, 4.0], [0.0, 0.0, 3.8]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[0.0, -1.2, 3.8], [0.0, -1.2, 6.0], [0.0, -0.8, 6.0], [0.0, 0.0, 4.0], [0.0, 0.0, 3.8]], b: [[-0.496, -1.2, 3.7675], [-0.7832, -1.2, 5.9487], [-0.7832, -0.8, 5.9487], [-0.5221, 0.0, 3.9658], [-0.496, 0.0, 3.7675]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[-0.496, -1.2, 3.7675], [-0.7832, -1.2, 5.9487], [-0.7832, -0.8, 5.9487], [-0.5221, 0.0, 3.9658], [-0.496, 0.0, 3.7675]], b: [[-0.9835, -1.2, 3.6705], [-1.5529, -1.2, 5.7956], [-1.5529, -0.8, 5.7956], [-1.0353, 0.0, 3.8637], [-0.9835, 0.0, 3.6705]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[-0.9835, -1.2, 3.6705], [-1.5529, -1.2, 5.7956], [-1.5529, -0.8, 5.7956], [-1.0353, 0.0, 3.8637], [-0.9835, 0.0, 3.6705]], b: [[-1.4542, -1.2, 3.5107], [-2.2961, -1.2, 5.5433], [-2.2961, -0.8, 5.5433], [-1.5307, 0.0, 3.6955], [-1.4542, 0.0, 3.5107]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[-1.4542, -1.2, 3.5107], [-2.2961, -1.2, 5.5433], [-2.2961, -0.8, 5.5433], [-1.5307, 0.0, 3.6955], [-1.4542, 0.0, 3.5107]], b: [[-1.9, -1.2, 3.2909], [-3.0, -1.2, 5.1962], [-3.0, -0.8, 5.1962], [-2.0, 0.0, 3.4641], [-1.9, 0.0, 3.2909]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[-1.9, -1.2, 3.2909], [-3.0, -1.2, 5.1962], [-3.0, -0.8, 5.1962], [-2.0, 0.0, 3.4641], [-1.9, 0.0, 3.2909]], b: [[-2.3133, -1.2, 3.0147], [-3.6526, -1.2, 4.7601], [-3.6526, -0.8, 4.7601], [-2.435, 0.0, 3.1734], [-2.3133, 0.0, 3.0147]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[-2.3133, -1.2, 3.0147], [-3.6526, -1.2, 4.7601], [-3.6526, -0.8, 4.7601], [-2.435, 0.0, 3.1734], [-2.3133, 0.0, 3.0147]], b: [[-2.687, -1.2, 2.687], [-4.2426, -1.2, 4.2426], [-4.2426, -0.8, 4.2426], [-2.8284, 0.0, 2.8284], [-2.687, 0.0, 2.687]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[-2.687, -1.2, 2.687], [-4.2426, -1.2, 4.2426], [-4.2426, -0.8, 4.2426], [-2.8284, 0.0, 2.8284], [-2.687, 0.0, 2.687]], b: [[-3.0147, -1.2, 2.3133], [-4.7601, -1.2, 3.6526], [-4.7601, -0.8, 3.6526], [-3.1734, 0.0, 2.435], [-3.0147, 0.0, 2.3133]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[-3.0147, -1.2, 2.3133], [-4.7601, -1.2, 3.6526], [-4.7601, -0.8, 3.6526], [-3.1734, 0.0, 2.435], [-3.0147, 0.0, 2.3133]], b: [[-3.2909, -1.2, 1.9], [-5.1962, -1.2, 3.0], [-5.1962, -0.8, 3.0], [-3.4641, 0.0, 2.0], [-3.2909, 0.0, 1.9]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[-3.2909, -1.2, 1.9], [-5.1962, -1.2, 3.0], [-5.1962, -0.8, 3.0], [-3.4641, 0.0, 2.0], [-3.2909, 0.0, 1.9]], b: [[-3.5107, -1.2, 1.4542], [-5.5433, -1.2, 2.2961], [-5.5433, -0.8, 2.2961], [-3.6955, 0.0, 1.5307], [-3.5107, 0.0, 1.4542]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[-3.5107, -1.2, 1.4542], [-5.5433, -1.2, 2.2961], [-5.5433, -0.8, 2.2961], [-3.6955, 0.0, 1.5307], [-3.5107, 0.0, 1.4542]], b: [[-3.6705, -1.2, 0.9835], [-5.7956, -1.2, 1.5529], [-5.7956, -0.8, 1.5529], [-3.8637, 0.0, 1.0353], [-3.6705, 0.0, 0.9835]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[-3.6705, -1.2, 0.9835], [-5.7956, -1.2, 1.5529], [-5.7956, -0.8, 1.5529], [-3.8637, 0.0, 1.0353], [-3.6705, 0.0, 0.9835]], b: [[-3.7675, -1.2, 0.496], [-5.9487, -1.2, 0.7832], [-5.9487, -0.8, 0.7832], [-3.9658, 0.0, 0.5221], [-3.7675, 0.0, 0.496]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[-3.7675, -1.2, 0.496], [-5.9487, -1.2, 0.7832], [-5.9487, -0.8, 0.7832], [-3.9658, 0.0, 0.5221], [-3.7675, 0.0, 0.496]], b: [[-3.8, -1.2, 0.0], [-6.0, -1.2, 0.0], [-6.0, -0.8, 0.0], [-4.0, 0.0, 0.0], [-3.8, 0.0, 0.0]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[-3.8, -1.2, 0.0], [-6.0, -1.2, 0.0], [-6.0, -0.8, 0.0], [-4.0, 0.0, 0.0], [-3.8, 0.0, 0.0]], b: [[-3.7675, -1.2, -0.496], [-5.9487, -1.2, -0.7832], [-5.9487, -0.8, -0.7832], [-3.9658, 0.0, -0.5221], [-3.7675, 0.0, -0.496]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[-3.7675, -1.2, -0.496], [-5.9487, -1.2, -0.7832], [-5.9487, -0.8, -0.7832], [-3.9658, 0.0, -0.5221], [-3.7675, 0.0, -0.496]], b: [[-3.6705, -1.2, -0.9835], [-5.7956, -1.2, -1.5529], [-5.7956, -0.8, -1.5529], [-3.8637, 0.0, -1.0353], [-3.6705, 0.0, -0.9835]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[-3.6705, -1.2, -0.9835], [-5.7956, -1.2, -1.5529], [-5.7956, -0.8, -1.5529], [-3.8637, 0.0, -1.0353], [-3.6705, 0.0, -0.9835]], b: [[-3.5107, -1.2, -1.4542], [-5.5433, -1.2, -2.2961], [-5.5433, -0.8, -2.2961], [-3.6955, 0.0, -1.5307], [-3.5107, 0.0, -1.4542]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[-3.5107, -1.2, -1.4542], [-5.5433, -1.2, -2.2961], [-5.5433, -0.8, -2.2961], [-3.6955, 0.0, -1.5307], [-3.5107, 0.0, -1.4542]], b: [[-3.2909, -1.2, -1.9], [-5.1962, -1.2, -3.0], [-5.1962, -0.8, -3.0], [-3.4641, 0.0, -2.0], [-3.2909, 0.0, -1.9]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[-3.2909, -1.2, -1.9], [-5.1962, -1.2, -3.0], [-5.1962, -0.8, -3.0], [-3.4641, 0.0, -2.0], [-3.2909, 0.0, -1.9]], b: [[-3.0147, -1.2, -2.3133], [-4.7601, -1.2, -3.6526], [-4.7601, -0.8, -3.6526], [-3.1734, 0.0, -2.435], [-3.0147, 0.0, -2.3133]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[-3.0147, -1.2, -2.3133], [-4.7601, -1.2, -3.6526], [-4.7601, -0.8, -3.6526], [-3.1734, 0.0, -2.435], [-3.0147, 0.0, -2.3133]], b: [[-2.687, -1.2, -2.687], [-4.2426, -1.2, -4.2426], [-4.2426, -0.8, -4.2426], [-2.8284, 0.0, -2.8284], [-2.687, 0.0, -2.687]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[-2.687, -1.2, -2.687], [-4.2426, -1.2, -4.2426], [-4.2426, -0.8, -4.2426], [-2.8284, 0.0, -2.8284], [-2.687, 0.0, -2.687]], b: [[-2.3133, -1.2, -3.0147], [-3.6526, -1.2, -4.7601], [-3.6526, -0.8, -4.7601], [-2.435, 0.0, -3.1734], [-2.3133, 0.0, -3.0147]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[-2.3133, -1.2, -3.0147], [-3.6526, -1.2, -4.7601], [-3.6526, -0.8, -4.7601], [-2.435, 0.0, -3.1734], [-2.3133, 0.0, -3.0147]], b: [[-1.9, -1.2, -3.2909], [-3.0, -1.2, -5.1962], [-3.0, -0.8, -5.1962], [-2.0, 0.0, -3.4641], [-1.9, 0.0, -3.2909]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[-1.9, -1.2, -3.2909], [-3.0, -1.2, -5.1962], [-3.0, -0.8, -5.1962], [-2.0, 0.0, -3.4641], [-1.9, 0.0, -3.2909]], b: [[-1.4542, -1.2, -3.5107], [-2.2961, -1.2, -5.5433], [-2.2961, -0.8, -5.5433], [-1.5307, 0.0, -3.6955], [-1.4542, 0.0, -3.5107]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[-1.4542, -1.2, -3.5107], [-2.2961, -1.2, -5.5433], [-2.2961, -0.8, -5.5433], [-1.5307, 0.0, -3.6955], [-1.4542, 0.0, -3.5107]], b: [[-0.9835, -1.2, -3.6705], [-1.5529, -1.2, -5.7956], [-1.5529, -0.8, -5.7956], [-1.0353, 0.0, -3.8637], [-0.9835, 0.0, -3.6705]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[-0.9835, -1.2, -3.6705], [-1.5529, -1.2, -5.7956], [-1.5529, -0.8, -5.7956], [-1.0353, 0.0, -3.8637], [-0.9835, 0.0, -3.6705]], b: [[-0.496, -1.2, -3.7675], [-0.7832, -1.2, -5.9487], [-0.7832, -0.8, -5.9487], [-0.5221, 0.0, -3.9658], [-0.496, 0.0, -3.7675]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[-0.496, -1.2, -3.7675], [-0.7832, -1.2, -5.9487], [-0.7832, -0.8, -5.9487], [-0.5221, 0.0, -3.9658], [-0.496, 0.0, -3.7675]], b: [[-0.0, -1.2, -3.8], [-0.0, -1.2, -6.0], [-0.0, -0.8, -6.0], [-0.0, 0.0, -4.0], [-0.0, 0.0, -3.8]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[-0.0, -1.2, -3.8], [-0.0, -1.2, -6.0], [-0.0, -0.8, -6.0], [-0.0, 0.0, -4.0], [-0.0, 0.0, -3.8]], b: [[0.496, -1.2, -3.7675], [0.7832, -1.2, -5.9487], [0.7832, -0.8, -5.9487], [0.5221, 0.0, -3.9658], [0.496, 0.0, -3.7675]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[0.496, -1.2, -3.7675], [0.7832, -1.2, -5.9487], [0.7832, -0.8, -5.9487], [0.5221, 0.0, -3.9658], [0.496, 0.0, -3.7675]], b: [[0.9835, -1.2, -3.6705], [1.5529, -1.2, -5.7956], [1.5529, -0.8, -5.7956], [1.0353, 0.0, -3.8637], [0.9835, 0.0, -3.6705]], collide: 1, color: "#8a7a62"}
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      - {kind: loft, a: [[-0.496, 0.0, -3.7675], [-0.5221, 0.0, -3.9658], [-0.7832, 0.8, -5.9487], [-0.7832, 1.2, -5.9487], [-0.496, 1.2, -3.7675]], b: [[-0.0, 0.0, -3.8], [-0.0, 0.0, -4.0], [-0.0, 0.8, -6.0], [-0.0, 1.2, -6.0], [-0.0, 1.2, -3.8]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[-0.0, 0.0, -3.8], [-0.0, 0.0, -4.0], [-0.0, 0.8, -6.0], [-0.0, 1.2, -6.0], [-0.0, 1.2, -3.8]], b: [[0.496, 0.0, -3.7675], [0.5221, 0.0, -3.9658], [0.7832, 0.8, -5.9487], [0.7832, 1.2, -5.9487], [0.496, 1.2, -3.7675]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[0.496, 0.0, -3.7675], [0.5221, 0.0, -3.9658], [0.7832, 0.8, -5.9487], [0.7832, 1.2, -5.9487], [0.496, 1.2, -3.7675]], b: [[0.9835, 0.0, -3.6705], [1.0353, 0.0, -3.8637], [1.5529, 0.8, -5.7956], [1.5529, 1.2, -5.7956], [0.9835, 1.2, -3.6705]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[0.9835, 0.0, -3.6705], [1.0353, 0.0, -3.8637], [1.5529, 0.8, -5.7956], [1.5529, 1.2, -5.7956], [0.9835, 1.2, -3.6705]], b: [[1.4542, 0.0, -3.5107], [1.5307, 0.0, -3.6955], [2.2961, 0.8, -5.5433], [2.2961, 1.2, -5.5433], [1.4542, 1.2, -3.5107]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[1.4542, 0.0, -3.5107], [1.5307, 0.0, -3.6955], [2.2961, 0.8, -5.5433], [2.2961, 1.2, -5.5433], [1.4542, 1.2, -3.5107]], b: [[1.9, 0.0, -3.2909], [2.0, 0.0, -3.4641], [3.0, 0.8, -5.1962], [3.0, 1.2, -5.1962], [1.9, 1.2, -3.2909]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[1.9, 0.0, -3.2909], [2.0, 0.0, -3.4641], [3.0, 0.8, -5.1962], [3.0, 1.2, -5.1962], [1.9, 1.2, -3.2909]], b: [[2.3133, 0.0, -3.0147], [2.435, 0.0, -3.1734], [3.6526, 0.8, -4.7601], [3.6526, 1.2, -4.7601], [2.3133, 1.2, -3.0147]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[2.3133, 0.0, -3.0147], [2.435, 0.0, -3.1734], [3.6526, 0.8, -4.7601], [3.6526, 1.2, -4.7601], [2.3133, 1.2, -3.0147]], b: [[2.687, 0.0, -2.687], [2.8284, 0.0, -2.8284], [4.2426, 0.8, -4.2426], [4.2426, 1.2, -4.2426], [2.687, 1.2, -2.687]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[2.687, 0.0, -2.687], [2.8284, 0.0, -2.8284], [4.2426, 0.8, -4.2426], [4.2426, 1.2, -4.2426], [2.687, 1.2, -2.687]], b: [[3.0147, 0.0, -2.3133], [3.1734, 0.0, -2.435], [4.7601, 0.8, -3.6526], [4.7601, 1.2, -3.6526], [3.0147, 1.2, -2.3133]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[3.0147, 0.0, -2.3133], [3.1734, 0.0, -2.435], [4.7601, 0.8, -3.6526], [4.7601, 1.2, -3.6526], [3.0147, 1.2, -2.3133]], b: [[3.2909, 0.0, -1.9], [3.4641, 0.0, -2.0], [5.1962, 0.8, -3.0], [5.1962, 1.2, -3.0], [3.2909, 1.2, -1.9]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[3.2909, 0.0, -1.9], [3.4641, 0.0, -2.0], [5.1962, 0.8, -3.0], [5.1962, 1.2, -3.0], [3.2909, 1.2, -1.9]], b: [[3.5107, 0.0, -1.4542], [3.6955, 0.0, -1.5307], [5.5433, 0.8, -2.2961], [5.5433, 1.2, -2.2961], [3.5107, 1.2, -1.4542]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[3.5107, 0.0, -1.4542], [3.6955, 0.0, -1.5307], [5.5433, 0.8, -2.2961], [5.5433, 1.2, -2.2961], [3.5107, 1.2, -1.4542]], b: [[3.6705, 0.0, -0.9835], [3.8637, 0.0, -1.0353], [5.7956, 0.8, -1.5529], [5.7956, 1.2, -1.5529], [3.6705, 1.2, -0.9835]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[3.6705, 0.0, -0.9835], [3.8637, 0.0, -1.0353], [5.7956, 0.8, -1.5529], [5.7956, 1.2, -1.5529], [3.6705, 1.2, -0.9835]], b: [[3.7675, 0.0, -0.496], [3.9658, 0.0, -0.5221], [5.9487, 0.8, -0.7832], [5.9487, 1.2, -0.7832], [3.7675, 1.2, -0.496]], collide: 1, color: "#8a7a62"}
      - {kind: loft, a: [[3.7675, 0.0, -0.496], [3.9658, 0.0, -0.5221], [5.9487, 0.8, -0.7832], [5.9487, 1.2, -0.7832], [3.7675, 1.2, -0.496]], b: [[3.8, 0.0, -0.0], [4.0, 0.0, -0.0], [6.0, 0.8, -0.0], [6.0, 1.2, -0.0], [3.8, 1.2, -0.0]], collide: 1, color: "#8a7a62"}
      - {kind: disc, center: [0, 0], radius: 3.9, inner: 1.0, y: [-0.5, 0.5]}   # its web
      - {kind: disc, center: [0, 0], radius: 1.5, inner: 0.5, y: [-1.6, 2.0]}   # the boss (Brown's nut on the near face)
      - {kind: rod, from: [0, -1.6, 0], to: [0, -14, 0], radius: 0.5, color: "#9a9184"}   # the shaft
      - {kind: rod, from: [0, 1.4, -1.0], to: [0, 1.4, -5.4], radius: 0.35}   # the handle's arm, on the face
      - {kind: rod, from: [0, 1.6, -5.4], to: [0, 4.2, -5.4], radius: 0.45, color: "#c9b08a"}   # the handle
  - id: car_u
    shape: part
    pos: [0, 0, 9.4]
    mass: 0.4
    color: "#6f6658"
    pieces:
      - {kind: disc, center: [0, 9.4], radius: 1.0, inner: 0.55, y: [-9.6, -8.4]}   # the upper shaft's bearing, sprung
  - id: wheel_a
    shape: part
    pos: [0, 0, 9.4]
    mount: car_u
    mass: 0.15
    friction: 1.2
    color: "#9a9184"
    pieces:
      - {kind: loft, a: [[3.0, -1.0, 9.4], [5.0, 0.0, 9.4], [3.0, 1.0, 9.4]], b: [[2.9743, -1.0, 9.7916], [4.9572, 0.0, 10.0526], [2.9743, 1.0, 9.7916]], collide: 2, color: "#3b3532"}   # the rubber disk's V-edge
      - {kind: loft, a: [[2.9743, -1.0, 9.7916], [4.9572, 0.0, 10.0526], [2.9743, 1.0, 9.7916]], b: [[2.8978, -1.0, 10.1765], [4.8296, 0.0, 10.6941], [2.8978, 1.0, 10.1765]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[2.8978, -1.0, 10.1765], [4.8296, 0.0, 10.6941], [2.8978, 1.0, 10.1765]], b: [[2.7716, -1.0, 10.5481], [4.6194, 0.0, 11.3134], [2.7716, 1.0, 10.5481]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[2.7716, -1.0, 10.5481], [4.6194, 0.0, 11.3134], [2.7716, 1.0, 10.5481]], b: [[2.5981, -1.0, 10.9], [4.3301, 0.0, 11.9], [2.5981, 1.0, 10.9]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[2.5981, -1.0, 10.9], [4.3301, 0.0, 11.9], [2.5981, 1.0, 10.9]], b: [[2.3801, -1.0, 11.2263], [3.9668, 0.0, 12.4438], [2.3801, 1.0, 11.2263]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[2.3801, -1.0, 11.2263], [3.9668, 0.0, 12.4438], [2.3801, 1.0, 11.2263]], b: [[2.1213, -1.0, 11.5213], [3.5355, 0.0, 12.9355], [2.1213, 1.0, 11.5213]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[2.1213, -1.0, 11.5213], [3.5355, 0.0, 12.9355], [2.1213, 1.0, 11.5213]], b: [[1.8263, -1.0, 11.7801], [3.0438, 0.0, 13.3668], [1.8263, 1.0, 11.7801]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[1.8263, -1.0, 11.7801], [3.0438, 0.0, 13.3668], [1.8263, 1.0, 11.7801]], b: [[1.5, -1.0, 11.9981], [2.5, 0.0, 13.7301], [1.5, 1.0, 11.9981]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[1.5, -1.0, 11.9981], [2.5, 0.0, 13.7301], [1.5, 1.0, 11.9981]], b: [[1.1481, -1.0, 12.1716], [1.9134, 0.0, 14.0194], [1.1481, 1.0, 12.1716]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[1.1481, -1.0, 12.1716], [1.9134, 0.0, 14.0194], [1.1481, 1.0, 12.1716]], b: [[0.7765, -1.0, 12.2978], [1.2941, 0.0, 14.2296], [0.7765, 1.0, 12.2978]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[0.7765, -1.0, 12.2978], [1.2941, 0.0, 14.2296], [0.7765, 1.0, 12.2978]], b: [[0.3916, -1.0, 12.3743], [0.6526, 0.0, 14.3572], [0.3916, 1.0, 12.3743]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[0.3916, -1.0, 12.3743], [0.6526, 0.0, 14.3572], [0.3916, 1.0, 12.3743]], b: [[0.0, -1.0, 12.4], [0.0, 0.0, 14.4], [0.0, 1.0, 12.4]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[0.0, -1.0, 12.4], [0.0, 0.0, 14.4], [0.0, 1.0, 12.4]], b: [[-0.3916, -1.0, 12.3743], [-0.6526, 0.0, 14.3572], [-0.3916, 1.0, 12.3743]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[-0.3916, -1.0, 12.3743], [-0.6526, 0.0, 14.3572], [-0.3916, 1.0, 12.3743]], b: [[-0.7765, -1.0, 12.2978], [-1.2941, 0.0, 14.2296], [-0.7765, 1.0, 12.2978]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[-0.7765, -1.0, 12.2978], [-1.2941, 0.0, 14.2296], [-0.7765, 1.0, 12.2978]], b: [[-1.1481, -1.0, 12.1716], [-1.9134, 0.0, 14.0194], [-1.1481, 1.0, 12.1716]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[-1.1481, -1.0, 12.1716], [-1.9134, 0.0, 14.0194], [-1.1481, 1.0, 12.1716]], b: [[-1.5, -1.0, 11.9981], [-2.5, 0.0, 13.7301], [-1.5, 1.0, 11.9981]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[-1.5, -1.0, 11.9981], [-2.5, 0.0, 13.7301], [-1.5, 1.0, 11.9981]], b: [[-1.8263, -1.0, 11.7801], [-3.0438, 0.0, 13.3668], [-1.8263, 1.0, 11.7801]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[-1.8263, -1.0, 11.7801], [-3.0438, 0.0, 13.3668], [-1.8263, 1.0, 11.7801]], b: [[-2.1213, -1.0, 11.5213], [-3.5355, 0.0, 12.9355], [-2.1213, 1.0, 11.5213]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[-2.1213, -1.0, 11.5213], [-3.5355, 0.0, 12.9355], [-2.1213, 1.0, 11.5213]], b: [[-2.3801, -1.0, 11.2263], [-3.9668, 0.0, 12.4438], [-2.3801, 1.0, 11.2263]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[-2.3801, -1.0, 11.2263], [-3.9668, 0.0, 12.4438], [-2.3801, 1.0, 11.2263]], b: [[-2.5981, -1.0, 10.9], [-4.3301, 0.0, 11.9], [-2.5981, 1.0, 10.9]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[-2.5981, -1.0, 10.9], [-4.3301, 0.0, 11.9], [-2.5981, 1.0, 10.9]], b: [[-2.7716, -1.0, 10.5481], [-4.6194, 0.0, 11.3134], [-2.7716, 1.0, 10.5481]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[-2.7716, -1.0, 10.5481], [-4.6194, 0.0, 11.3134], [-2.7716, 1.0, 10.5481]], b: [[-2.8978, -1.0, 10.1765], [-4.8296, 0.0, 10.6941], [-2.8978, 1.0, 10.1765]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[-2.8978, -1.0, 10.1765], [-4.8296, 0.0, 10.6941], [-2.8978, 1.0, 10.1765]], b: [[-2.9743, -1.0, 9.7916], [-4.9572, 0.0, 10.0526], [-2.9743, 1.0, 9.7916]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[-2.9743, -1.0, 9.7916], [-4.9572, 0.0, 10.0526], [-2.9743, 1.0, 9.7916]], b: [[-3.0, -1.0, 9.4], [-5.0, 0.0, 9.4], [-3.0, 1.0, 9.4]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[-3.0, -1.0, 9.4], [-5.0, 0.0, 9.4], [-3.0, 1.0, 9.4]], b: [[-2.9743, -1.0, 9.0084], [-4.9572, 0.0, 8.7474], [-2.9743, 1.0, 9.0084]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[-2.9743, -1.0, 9.0084], [-4.9572, 0.0, 8.7474], [-2.9743, 1.0, 9.0084]], b: [[-2.8978, -1.0, 8.6235], [-4.8296, 0.0, 8.1059], [-2.8978, 1.0, 8.6235]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[-2.8978, -1.0, 8.6235], [-4.8296, 0.0, 8.1059], [-2.8978, 1.0, 8.6235]], b: [[-2.7716, -1.0, 8.2519], [-4.6194, 0.0, 7.4866], [-2.7716, 1.0, 8.2519]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[-2.7716, -1.0, 8.2519], [-4.6194, 0.0, 7.4866], [-2.7716, 1.0, 8.2519]], b: [[-2.5981, -1.0, 7.9], [-4.3301, 0.0, 6.9], [-2.5981, 1.0, 7.9]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[-2.5981, -1.0, 7.9], [-4.3301, 0.0, 6.9], [-2.5981, 1.0, 7.9]], b: [[-2.3801, -1.0, 7.5737], [-3.9668, 0.0, 6.3562], [-2.3801, 1.0, 7.5737]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[-2.3801, -1.0, 7.5737], [-3.9668, 0.0, 6.3562], [-2.3801, 1.0, 7.5737]], b: [[-2.1213, -1.0, 7.2787], [-3.5355, 0.0, 5.8645], [-2.1213, 1.0, 7.2787]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[-2.1213, -1.0, 7.2787], [-3.5355, 0.0, 5.8645], [-2.1213, 1.0, 7.2787]], b: [[-1.8263, -1.0, 7.0199], [-3.0438, 0.0, 5.4332], [-1.8263, 1.0, 7.0199]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[-1.8263, -1.0, 7.0199], [-3.0438, 0.0, 5.4332], [-1.8263, 1.0, 7.0199]], b: [[-1.5, -1.0, 6.8019], [-2.5, 0.0, 5.0699], [-1.5, 1.0, 6.8019]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[-1.5, -1.0, 6.8019], [-2.5, 0.0, 5.0699], [-1.5, 1.0, 6.8019]], b: [[-1.1481, -1.0, 6.6284], [-1.9134, 0.0, 4.7806], [-1.1481, 1.0, 6.6284]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[-1.1481, -1.0, 6.6284], [-1.9134, 0.0, 4.7806], [-1.1481, 1.0, 6.6284]], b: [[-0.7765, -1.0, 6.5022], [-1.2941, 0.0, 4.5704], [-0.7765, 1.0, 6.5022]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[-0.7765, -1.0, 6.5022], [-1.2941, 0.0, 4.5704], [-0.7765, 1.0, 6.5022]], b: [[-0.3916, -1.0, 6.4257], [-0.6526, 0.0, 4.4428], [-0.3916, 1.0, 6.4257]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[-0.3916, -1.0, 6.4257], [-0.6526, 0.0, 4.4428], [-0.3916, 1.0, 6.4257]], b: [[-0.0, -1.0, 6.4], [-0.0, 0.0, 4.4], [-0.0, 1.0, 6.4]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[-0.0, -1.0, 6.4], [-0.0, 0.0, 4.4], [-0.0, 1.0, 6.4]], b: [[0.3916, -1.0, 6.4257], [0.6526, 0.0, 4.4428], [0.3916, 1.0, 6.4257]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[0.3916, -1.0, 6.4257], [0.6526, 0.0, 4.4428], [0.3916, 1.0, 6.4257]], b: [[0.7765, -1.0, 6.5022], [1.2941, 0.0, 4.5704], [0.7765, 1.0, 6.5022]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[0.7765, -1.0, 6.5022], [1.2941, 0.0, 4.5704], [0.7765, 1.0, 6.5022]], b: [[1.1481, -1.0, 6.6284], [1.9134, 0.0, 4.7806], [1.1481, 1.0, 6.6284]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[1.1481, -1.0, 6.6284], [1.9134, 0.0, 4.7806], [1.1481, 1.0, 6.6284]], b: [[1.5, -1.0, 6.8019], [2.5, 0.0, 5.0699], [1.5, 1.0, 6.8019]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[1.5, -1.0, 6.8019], [2.5, 0.0, 5.0699], [1.5, 1.0, 6.8019]], b: [[1.8263, -1.0, 7.0199], [3.0438, 0.0, 5.4332], [1.8263, 1.0, 7.0199]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[1.8263, -1.0, 7.0199], [3.0438, 0.0, 5.4332], [1.8263, 1.0, 7.0199]], b: [[2.1213, -1.0, 7.2787], [3.5355, 0.0, 5.8645], [2.1213, 1.0, 7.2787]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[2.1213, -1.0, 7.2787], [3.5355, 0.0, 5.8645], [2.1213, 1.0, 7.2787]], b: [[2.3801, -1.0, 7.5737], [3.9668, 0.0, 6.3562], [2.3801, 1.0, 7.5737]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[2.3801, -1.0, 7.5737], [3.9668, 0.0, 6.3562], [2.3801, 1.0, 7.5737]], b: [[2.5981, -1.0, 7.9], [4.3301, 0.0, 6.9], [2.5981, 1.0, 7.9]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[2.5981, -1.0, 7.9], [4.3301, 0.0, 6.9], [2.5981, 1.0, 7.9]], b: [[2.7716, -1.0, 8.2519], [4.6194, 0.0, 7.4866], [2.7716, 1.0, 8.2519]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[2.7716, -1.0, 8.2519], [4.6194, 0.0, 7.4866], [2.7716, 1.0, 8.2519]], b: [[2.8978, -1.0, 8.6235], [4.8296, 0.0, 8.1059], [2.8978, 1.0, 8.6235]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[2.8978, -1.0, 8.6235], [4.8296, 0.0, 8.1059], [2.8978, 1.0, 8.6235]], b: [[2.9743, -1.0, 9.0084], [4.9572, 0.0, 8.7474], [2.9743, 1.0, 9.0084]], collide: 2, color: "#3b3532"}
      - {kind: loft, a: [[2.9743, -1.0, 9.0084], [4.9572, 0.0, 8.7474], [2.9743, 1.0, 9.0084]], b: [[3.0, -1.0, 9.4], [5.0, 0.0, 9.4], [3.0, 1.0, 9.4]], collide: 2, color: "#3b3532"}
      - {kind: disc, center: [0, 9.4], radius: 3.4, inner: 0.5, y: [-1.35, -0.95]}   # the two metal plates clamping it
      - {kind: disc, center: [0, 9.4], radius: 3.4, inner: 0.5, y: [0.95, 1.35]}
      - {kind: poly, points: [[-0.8, 8.94], [0.8, 8.94], [0.8, 9.86], [-0.8, 9.86]], y: [1.35, 2.2], color: "#7d7466"}   # the nut B
      - {kind: rod, from: [0, 3.4, 9.4], to: [0, -14, 9.4], radius: 0.4}   # the bolt and shaft
pins: []
joints:
  - {id: j_l, type: hinge, body: wheel_l, axis: [0, 1, 0], damping: 0.01}   # the one driven joint: the handle
  - {id: j_u, type: slide, body: car_u, axis: [0, 0, 1], stiffness: 300, springref: -2, damping: 3}   # the upper bearings, pressed down
  - {id: j_a, type: hinge, body: wheel_a, axis: [0, 1, 0], damping: 0.002}   # A, turned by friction only
contact: {solref: [0.002, 1.0], solimp: [0.95, 0.99, 0.0005], margin: 0}
driver: {joint: j_l, kind: velocity, rpm: 30, kv: 5, max_torque: 20}
checks:
  - {type: ratio, out: j_a, in: j_l, expect: -1.7647, tol: 0.02, settle_s: 1.0, window_s: 5}   # A turns 1.7647 times as fast, the other way: the groove's lips (r 6) roll on A's flanks (r 3.4)
  - {type: penetration, max: 0.001}
camera: {target: [0, -3, 2.5], position: [-80, -10, 8.5], fov: 30}
display:
  output: j_a
  proof: {label: "Wheels apart", sub: "the handle turns the lower wheel alone: A stands still"}
  labels: {j_l: "The lower wheel's handle (driver)", j_a: "The upper wheel A", j_u: "A's bearings, pressed down"}