# No. 428 (Brown 1868): "The india-rubber rotary engine in which the cylinder has a flexible lining, E, of india-rubber, and rollers, A, A,
# are substituted for pistons, said rollers being attached to arms radiating from the main shaft, B. The steam acting between the india-rubber
# and the surrounding rigid portion of the cylinder presses the india-rubber against the rollers, and causes them to revolve around the
# cylinder and turn the shaft."
# Model (cm, Brown's section, gravity on). The rigid cylinder (9 cm bore) is lined with india-rubber E: a row of round strips, each free
# to be pressed in radially up to 0.5 cm and pulled back against the casing by the rubber's own stiffness (30 N/m); the lining is clamped at
# the two ports (induction left, eduction right). Three rollers A (1.3 cm), each free on its pin, are carried on arms from the shaft B and
# just clear the lining at rest. The steam (the one input) gets between the casing and the lining on the upper side, from the induction port
# round to the roller that last passed: each strip there is pushed in with 1.5 N, so the rubber bulges in behind that roller and presses on
# its back. The roller pinches the lining against the casing and so cuts the steam off from the eduction; when it reaches the eduction, the
# steam behind it escapes (feet.ports, one per strip, timed by the shaft's angle). The shaft is otherwise free, against a load (0.02 N m s),
# with a fly-wheel behind the cylinder. Generator: opencode-runs/batch13/gen428.py.
number: 428
slug: india-rubber-rotary-engine
name: India-rubber rotary engine
brown: "The india-rubber rotary engine in which the cylinder has a flexible lining, E, of india-rubber, and rollers, A, A, are substituted for pistons, said rollers being attached to arms radiating from the main shaft, B. The steam acting between the india-rubber and the surrounding rigid portion of the cylinder presses the india-rubber against the rollers, and causes them to revolve around the cylinder and turn the shaft."
units: cm
sim:
  timestep: 0.0004
  integrator: implicitfast
  iterations: 60
  duration_s: 10
  floor: false
bodies:
  - id: B
    shape: part
    pos: [0, 0, 12]
    density: 7800
    color: "#9c968a"
    pieces:
      - {kind: poly, points: [[0.8485, 11.8586], [5.4942, 16.5043], [4.5043, 17.4942], [-0.1414, 12.8485]], y: [-0.75, -0.45]}
      - {kind: poly, points: [[-0.5467, 11.3359], [1.1537, 4.9897], [2.506, 5.3521], [0.8056, 11.6982]], y: [-0.75, -0.45]}
      - {kind: poly, points: [[-0.3018, 12.8056], [-6.6479, 14.506], [-7.0103, 13.1537], [-0.6641, 11.4533]], y: [-0.75, -0.45]}
      - {kind: disc, center: [0, 12], radius: 1.6, y: [-0.75, -0.45]}
      - {kind: disc, center: [0, 12], radius: 0.9, y: [-0.95, 3.2], color: "#6f6a60"}   # the shaft B
      - {kind: disc, center: [0, 12], radius: 10.5, inner: 1.0, y: [3.2, 6.2], density: 2000, color: "#8f897d"}   # the fly-wheel, behind
  - id: A1
    shape: part
    mount: B
    pos: [4.9992, 0, 16.9992]
    density: 7800
    friction: 0.6
    color: "#b4ada0"
    pieces:
      - {kind: disc, center: [4.9992, 16.9992], radius: 1.3, y: [0.2, 2.2], collide: 2}
      - {kind: disc, center: [4.9992, 16.9992], radius: 0.75, y: [-0.25, 0.2], color: "#8d877b"}
      - {kind: disc, center: [4.9992, 16.9992], radius: 0.35, y: [-0.45, -0.25], color: "#6f6a60"}
  - id: A2
    shape: part
    mount: B
    pos: [1.8299, 0, 5.1709]
    density: 7800
    friction: 0.6
    color: "#b4ada0"
    pieces:
      - {kind: disc, center: [1.8299, 5.1709], radius: 1.3, y: [0.2, 2.2], collide: 2}
      - {kind: disc, center: [1.8299, 5.1709], radius: 0.75, y: [-0.25, 0.2], color: "#8d877b"}
      - {kind: disc, center: [1.8299, 5.1709], radius: 0.35, y: [-0.45, -0.25], color: "#6f6a60"}
  - id: A3
    shape: part
    mount: B
    pos: [-6.8291, 0, 13.8299]
    density: 7800
    friction: 0.6
    color: "#b4ada0"
    pieces:
      - {kind: disc, center: [-6.8291, 13.8299], radius: 1.3, y: [0.2, 2.2], collide: 2}
      - {kind: disc, center: [-6.8291, 13.8299], radius: 0.75, y: [-0.25, 0.2], color: "#8d877b"}
      - {kind: disc, center: [-6.8291, 13.8299], radius: 0.35, y: [-0.45, -0.25], color: "#6f6a60"}
  - id: frame
    shape: part
    pos: [0, 0, 0]
    fixed: true
    color: "#cfc6b4"
    pieces:
      - {kind: poly, points: [[8.9658, 12.7844], [9.7627, 12.8541], [9.6307, 13.8139], [8.8445, 13.6659]], y: [0, 2.4]}
      - {kind: poly, points: [[8.8445, 13.6659], [9.6307, 13.8139], [9.4045, 14.756], [8.6368, 14.531]], y: [0, 2.4]}
      - {kind: poly, points: [[8.6368, 14.531], [9.4045, 14.756], [9.0864, 15.6711], [8.3447, 15.3715]], y: [0, 2.4]}
      - {kind: poly, points: [[8.3447, 15.3715], [9.0864, 15.6711], [8.6795, 16.5504], [7.971, 16.1789]], y: [0, 2.4]}
      - {kind: poly, points: [[7.971, 16.1789], [8.6795, 16.5504], [8.1878, 17.3852], [7.5194, 16.9456]], y: [0, 2.4]}
      - {kind: poly, points: [[7.5194, 16.9456], [8.1878, 17.3852], [7.616, 18.1673], [6.9943, 17.6639]], y: [0, 2.4]}
      - {kind: poly, points: [[6.9943, 17.6639], [7.616, 18.1673], [6.9698, 18.8892], [6.4009, 18.3268]], y: [0, 2.4]}
      - {kind: poly, points: [[6.4009, 18.3268], [6.9698, 18.8892], [6.2555, 19.5438], [5.7449, 18.9279]], y: [0, 2.4]}
      - {kind: poly, points: [[5.7449, 18.9279], [6.2555, 19.5438], [5.4801, 20.1246], [5.0327, 19.4613]], y: [0, 2.4]}
      - {kind: poly, points: [[5.0327, 19.4613], [5.4801, 20.1246], [4.6511, 20.626], [4.2714, 19.9218]], y: [0, 2.4]}
      - {kind: poly, points: [[4.2714, 19.9218], [4.6511, 20.626], [3.7766, 21.0431], [3.4683, 20.3049]], y: [0, 2.4]}
      - {kind: poly, points: [[3.4683, 20.3049], [3.7766, 21.0431], [2.8652, 21.3718], [2.6313, 20.6067]], y: [0, 2.4]}
      - {kind: poly, points: [[2.6313, 20.6067], [2.8652, 21.3718], [1.9259, 21.6089], [1.7686, 20.8245]], y: [0, 2.4]}
      - {kind: poly, points: [[1.7686, 20.8245], [1.9259, 21.6089], [0.9677, 21.7521], [0.8887, 20.956]], y: [0, 2.4]}
      - {kind: poly, points: [[0.8887, 20.956], [0.9677, 21.7521], [0, 21.8], [0, 21]], y: [0, 2.4]}
      - {kind: poly, points: [[0, 21], [0, 21.8], [-0.9677, 21.7521], [-0.8887, 20.956]], y: [0, 2.4]}
      - {kind: poly, points: [[-0.8887, 20.956], [-0.9677, 21.7521], [-1.9259, 21.6089], [-1.7686, 20.8245]], y: [0, 2.4]}
      - {kind: poly, points: [[-1.7686, 20.8245], [-1.9259, 21.6089], [-2.8652, 21.3718], [-2.6313, 20.6067]], y: [0, 2.4]}
      - {kind: poly, points: [[-2.6313, 20.6067], [-2.8652, 21.3718], [-3.7766, 21.0431], [-3.4683, 20.3049]], y: [0, 2.4]}
      - {kind: poly, points: [[-3.4683, 20.3049], [-3.7766, 21.0431], [-4.6511, 20.626], [-4.2714, 19.9218]], y: [0, 2.4]}
      - {kind: poly, points: [[-4.2714, 19.9218], [-4.6511, 20.626], [-5.4801, 20.1246], [-5.0327, 19.4613]], y: [0, 2.4]}
      - {kind: poly, points: [[-5.0327, 19.4613], [-5.4801, 20.1246], [-6.2555, 19.5438], [-5.7449, 18.9279]], y: [0, 2.4]}
      - {kind: poly, points: [[-5.7449, 18.9279], [-6.2555, 19.5438], [-6.9698, 18.8892], [-6.4009, 18.3268]], y: [0, 2.4]}
      - {kind: poly, points: [[-6.4009, 18.3268], [-6.9698, 18.8892], [-7.616, 18.1673], [-6.9943, 17.6639]], y: [0, 2.4]}
      - {kind: poly, points: [[-6.9943, 17.6639], [-7.616, 18.1673], [-8.1878, 17.3852], [-7.5194, 16.9456]], y: [0, 2.4]}
      - {kind: poly, points: [[-7.5194, 16.9456], [-8.1878, 17.3852], [-8.6795, 16.5504], [-7.971, 16.1789]], y: [0, 2.4]}
      - {kind: poly, points: [[-7.971, 16.1789], [-8.6795, 16.5504], [-9.0864, 15.6711], [-8.3447, 15.3715]], y: [0, 2.4]}
      - {kind: poly, points: [[-8.3447, 15.3715], [-9.0864, 15.6711], [-9.4045, 14.756], [-8.6368, 14.531]], y: [0, 2.4]}
      - {kind: poly, points: [[-8.6368, 14.531], [-9.4045, 14.756], [-9.6307, 13.8139], [-8.8445, 13.6659]], y: [0, 2.4]}
      - {kind: poly, points: [[-8.8445, 13.6659], [-9.6307, 13.8139], [-9.7627, 12.8541], [-8.9658, 12.7844]], y: [0, 2.4]}
      - {kind: poly, points: [[-8.9658, 11.2156], [-9.7627, 11.1459], [-9.6307, 10.1861], [-8.8445, 10.3341]], y: [0, 2.4]}
      - {kind: poly, points: [[-8.8445, 10.3341], [-9.6307, 10.1861], [-9.4045, 9.244], [-8.6368, 9.469]], y: [0, 2.4]}
      - {kind: poly, points: [[-8.6368, 9.469], [-9.4045, 9.244], [-9.0864, 8.3289], [-8.3447, 8.6285]], y: [0, 2.4]}
      - {kind: poly, points: [[-8.3447, 8.6285], [-9.0864, 8.3289], [-8.6795, 7.4496], [-7.971, 7.8211]], y: [0, 2.4]}
      - {kind: poly, points: [[-7.971, 7.8211], [-8.6795, 7.4496], [-8.1878, 6.6148], [-7.5194, 7.0544]], y: [0, 2.4]}
      - {kind: poly, points: [[-7.5194, 7.0544], [-8.1878, 6.6148], [-7.616, 5.8327], [-6.9943, 6.3361]], y: [0, 2.4]}
      - {kind: poly, points: [[-6.9943, 6.3361], [-7.616, 5.8327], [-6.9698, 5.1108], [-6.4009, 5.6732]], y: [0, 2.4]}
      - {kind: poly, points: [[-6.4009, 5.6732], [-6.9698, 5.1108], [-6.2555, 4.4562], [-5.7449, 5.0721]], y: [0, 2.4]}
      - {kind: poly, points: [[-5.7449, 5.0721], [-6.2555, 4.4562], [-5.4801, 3.8754], [-5.0327, 4.5387]], y: [0, 2.4]}
      - {kind: poly, points: [[-5.0327, 4.5387], [-5.4801, 3.8754], [-4.6511, 3.374], [-4.2714, 4.0782]], y: [0, 2.4]}
      - {kind: poly, points: [[-4.2714, 4.0782], [-4.6511, 3.374], [-3.7766, 2.9569], [-3.4683, 3.6951]], y: [0, 2.4]}
      - {kind: poly, points: [[-3.4683, 3.6951], [-3.7766, 2.9569], [-2.8652, 2.6282], [-2.6313, 3.3933]], y: [0, 2.4]}
      - {kind: poly, points: [[-2.6313, 3.3933], [-2.8652, 2.6282], [-1.9259, 2.3911], [-1.7686, 3.1755]], y: [0, 2.4]}
      - {kind: poly, points: [[-1.7686, 3.1755], [-1.9259, 2.3911], [-0.9677, 2.2479], [-0.8887, 3.044]], y: [0, 2.4]}
      - {kind: poly, points: [[-0.8887, 3.044], [-0.9677, 2.2479], [-0, 2.2], [-0, 3]], y: [0, 2.4]}
      - {kind: poly, points: [[-0, 3], [-0, 2.2], [0.9677, 2.2479], [0.8887, 3.044]], y: [0, 2.4]}
      - {kind: poly, points: [[0.8887, 3.044], [0.9677, 2.2479], [1.9259, 2.3911], [1.7686, 3.1755]], y: [0, 2.4]}
      - {kind: poly, points: [[1.7686, 3.1755], [1.9259, 2.3911], [2.8652, 2.6282], [2.6313, 3.3933]], y: [0, 2.4]}
      - {kind: poly, points: [[2.6313, 3.3933], [2.8652, 2.6282], [3.7766, 2.9569], [3.4683, 3.6951]], y: [0, 2.4]}
      - {kind: poly, points: [[3.4683, 3.6951], [3.7766, 2.9569], [4.6511, 3.374], [4.2714, 4.0782]], y: [0, 2.4]}
      - {kind: poly, points: [[4.2714, 4.0782], [4.6511, 3.374], [5.4801, 3.8754], [5.0327, 4.5387]], y: [0, 2.4]}
      - {kind: poly, points: [[5.0327, 4.5387], [5.4801, 3.8754], [6.2555, 4.4562], [5.7449, 5.0721]], y: [0, 2.4]}
      - {kind: poly, points: [[5.7449, 5.0721], [6.2555, 4.4562], [6.9698, 5.1108], [6.4009, 5.6732]], y: [0, 2.4]}
      - {kind: poly, points: [[6.4009, 5.6732], [6.9698, 5.1108], [7.616, 5.8327], [6.9943, 6.3361]], y: [0, 2.4]}
      - {kind: poly, points: [[6.9943, 6.3361], [7.616, 5.8327], [8.1878, 6.6148], [7.5194, 7.0544]], y: [0, 2.4]}
      - {kind: poly, points: [[7.5194, 7.0544], [8.1878, 6.6148], [8.6795, 7.4496], [7.971, 7.8211]], y: [0, 2.4]}
      - {kind: poly, points: [[7.971, 7.8211], [8.6795, 7.4496], [9.0864, 8.3289], [8.3447, 8.6285]], y: [0, 2.4]}
      - {kind: poly, points: [[8.3447, 8.6285], [9.0864, 8.3289], [9.4045, 9.244], [8.6368, 9.469]], y: [0, 2.4]}
      - {kind: poly, points: [[8.6368, 9.469], [9.4045, 9.244], [9.6307, 10.1861], [8.8445, 10.3341]], y: [0, 2.4]}
      - {kind: poly, points: [[8.8445, 10.3341], [9.6307, 10.1861], [9.7627, 11.1459], [8.9658, 11.2156]], y: [0, 2.4]}
      - {kind: poly, points: [[8.9658, 12.7844], [13, 12.7844], [13, 13.5844], [8.8658, 13.5844]], y: [0, 2.4]}
      - {kind: poly, points: [[8.9658, 11.2156], [13, 11.2156], [13, 10.4156], [8.8658, 10.4156]], y: [0, 2.4]}
      - {kind: poly, points: [[-8.9658, 12.7844], [-13, 12.7844], [-13, 13.5844], [-8.8658, 13.5844]], y: [0, 2.4]}
      - {kind: poly, points: [[-8.9658, 11.2156], [-13, 11.2156], [-13, 10.4156], [-8.8658, 10.4156]], y: [0, 2.4]}
      - {kind: poly, points: [[8.368, 11.2679], [8.9658, 11.2156], [8.9658, 12.7844], [8.368, 12.7321]], y: [0, 2.4]}
      - {kind: poly, points: [[-8.368, 12.7321], [-8.9658, 12.7844], [-8.9658, 11.2156], [-8.368, 11.2679]], y: [0, 2.4]}
      - {kind: poly, points: [[-8, 2.5], [8, 2.5], [11, 0.4], [-11, 0.4]], y: [-0.5, 2.9]}
      - {kind: poly, points: [[-12, 0.4], [12, 0.4], [12, -0.4], [-12, -0.4]], y: [-0.5, 2.9]}
      - {kind: disc, center: [0, 12], radius: 9.8, y: [2.6, 2.9], color: "#e2dccd"}   # the cylinder's back
  - {id: e2, shape: part, pos: [8.6523, 0, 12.9094], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [8.6523, 0.1, 12.9094], to: [8.6523, 2.3, 12.9094], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e3, shape: part, pos: [8.5929, 0, 13.361], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [8.5929, 0.1, 13.361], to: [8.5929, 2.3, 13.361], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e4, shape: part, pos: [8.5099, 0, 13.8088], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [8.5099, 0.1, 13.8088], to: [8.5099, 2.3, 13.8088], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e5, shape: part, pos: [8.4036, 0, 14.2517], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [8.4036, 0.1, 14.2517], to: [8.4036, 2.3, 14.2517], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e6, shape: part, pos: [8.2742, 0, 14.6884], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [8.2742, 0.1, 14.6884], to: [8.2742, 2.3, 14.6884], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e7, shape: part, pos: [8.1221, 0, 15.1178], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [8.1221, 0.1, 15.1178], to: [8.1221, 2.3, 15.1178], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e8, shape: part, pos: [7.9478, 0, 15.5386], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [7.9478, 0.1, 15.5386], to: [7.9478, 2.3, 15.5386], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e9, shape: part, pos: [7.7518, 0, 15.9497], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [7.7518, 0.1, 15.9497], to: [7.7518, 2.3, 15.9497], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e10, shape: part, pos: [7.5344, 0, 16.35], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [7.5344, 0.1, 16.35], to: [7.5344, 2.3, 16.35], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e11, shape: part, pos: [7.2964, 0, 16.7384], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [7.2964, 0.1, 16.7384], to: [7.2964, 2.3, 16.7384], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e12, shape: part, pos: [7.0384, 0, 17.1137], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [7.0384, 0.1, 17.1137], to: [7.0384, 2.3, 17.1137], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e13, shape: part, pos: [6.7612, 0, 17.4751], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [6.7612, 0.1, 17.4751], to: [6.7612, 2.3, 17.4751], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e14, shape: part, pos: [6.4654, 0, 17.8214], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [6.4654, 0.1, 17.8214], to: [6.4654, 2.3, 17.8214], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e15, shape: part, pos: [6.1518, 0, 18.1518], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [6.1518, 0.1, 18.1518], to: [6.1518, 2.3, 18.1518], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e16, shape: part, pos: [5.8214, 0, 18.4654], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [5.8214, 0.1, 18.4654], to: [5.8214, 2.3, 18.4654], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e17, shape: part, pos: [5.4751, 0, 18.7612], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [5.4751, 0.1, 18.7612], to: [5.4751, 2.3, 18.7612], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e18, shape: part, pos: [5.1137, 0, 19.0384], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [5.1137, 0.1, 19.0384], to: [5.1137, 2.3, 19.0384], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e19, shape: part, pos: [4.7384, 0, 19.2964], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [4.7384, 0.1, 19.2964], to: [4.7384, 2.3, 19.2964], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e20, shape: part, pos: [4.35, 0, 19.5344], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [4.35, 0.1, 19.5344], to: [4.35, 2.3, 19.5344], radius: 0.3, capsule: true, collide: 1}]}
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  - {id: e101, shape: part, pos: [4.7384, 0, 4.7036], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [4.7384, 0.1, 4.7036], to: [4.7384, 2.3, 4.7036], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e102, shape: part, pos: [5.1137, 0, 4.9616], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [5.1137, 0.1, 4.9616], to: [5.1137, 2.3, 4.9616], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e103, shape: part, pos: [5.4751, 0, 5.2388], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [5.4751, 0.1, 5.2388], to: [5.4751, 2.3, 5.2388], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e104, shape: part, pos: [5.8214, 0, 5.5346], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [5.8214, 0.1, 5.5346], to: [5.8214, 2.3, 5.5346], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e105, shape: part, pos: [6.1518, 0, 5.8482], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [6.1518, 0.1, 5.8482], to: [6.1518, 2.3, 5.8482], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e106, shape: part, pos: [6.4654, 0, 6.1786], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [6.4654, 0.1, 6.1786], to: [6.4654, 2.3, 6.1786], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e107, shape: part, pos: [6.7612, 0, 6.5249], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [6.7612, 0.1, 6.5249], to: [6.7612, 2.3, 6.5249], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e108, shape: part, pos: [7.0384, 0, 6.8863], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [7.0384, 0.1, 6.8863], to: [7.0384, 2.3, 6.8863], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e109, shape: part, pos: [7.2964, 0, 7.2616], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [7.2964, 0.1, 7.2616], to: [7.2964, 2.3, 7.2616], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e110, shape: part, pos: [7.5344, 0, 7.65], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [7.5344, 0.1, 7.65], to: [7.5344, 2.3, 7.65], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e111, shape: part, pos: [7.7518, 0, 8.0503], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [7.7518, 0.1, 8.0503], to: [7.7518, 2.3, 8.0503], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e112, shape: part, pos: [7.9478, 0, 8.4614], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [7.9478, 0.1, 8.4614], to: [7.9478, 2.3, 8.4614], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e113, shape: part, pos: [8.1221, 0, 8.8822], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [8.1221, 0.1, 8.8822], to: [8.1221, 2.3, 8.8822], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e114, shape: part, pos: [8.2742, 0, 9.3116], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [8.2742, 0.1, 9.3116], to: [8.2742, 2.3, 9.3116], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e115, shape: part, pos: [8.4036, 0, 9.7483], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [8.4036, 0.1, 9.7483], to: [8.4036, 2.3, 9.7483], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e116, shape: part, pos: [8.5099, 0, 10.1912], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [8.5099, 0.1, 10.1912], to: [8.5099, 2.3, 10.1912], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e117, shape: part, pos: [8.5929, 0, 10.639], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [8.5929, 0.1, 10.639], to: [8.5929, 2.3, 10.639], radius: 0.3, capsule: true, collide: 1}]}
  - {id: e118, shape: part, pos: [8.6523, 0, 11.0906], density: 1100, friction: 0.6, color: "#4a4540", pieces: [{kind: rod, from: [8.6523, 0.1, 11.0906], to: [8.6523, 2.3, 11.0906], radius: 0.3, capsule: true, collide: 1}]}
joints:
  - {id: j_B, type: hinge, body: B, axis: [0, 1, 0], damping: 0.02}   # + : clockwise as drawn (Brown's arrow)
  - {id: jA1, type: hinge, body: A1, axis: [0, 1, 0]}
  - {id: jA2, type: hinge, body: A2, axis: [0, 1, 0]}
  - {id: jA3, type: hinge, body: A3, axis: [0, 1, 0]}
  - {id: je2, type: slide, body: e2, axis: [-0.9945, 0, -0.1045], range: [0, 0.5], stiffness: 30}
  - {id: je3, type: slide, body: e3, axis: [-0.9877, 0, -0.1564], range: [0, 0.5], stiffness: 30}
  - {id: je4, type: slide, body: e4, axis: [-0.9781, 0, -0.2079], range: [0, 0.5], stiffness: 30}
  - {id: je5, type: slide, body: e5, axis: [-0.9659, 0, -0.2588], range: [0, 0.5], stiffness: 30}
  - {id: je6, type: slide, body: e6, axis: [-0.9511, 0, -0.309], range: [0, 0.5], stiffness: 30}
  - {id: je7, type: slide, body: e7, axis: [-0.9336, 0, -0.3584], range: [0, 0.5], stiffness: 30}
  - {id: je8, type: slide, body: e8, axis: [-0.9135, 0, -0.4067], range: [0, 0.5], stiffness: 30}
  - {id: je9, type: slide, body: e9, axis: [-0.891, 0, -0.454], range: [0, 0.5], stiffness: 30}
  - {id: je10, type: slide, body: e10, axis: [-0.866, 0, -0.5], range: [0, 0.5], stiffness: 30}
  - {id: je11, type: slide, body: e11, axis: [-0.8387, 0, -0.5446], range: [0, 0.5], stiffness: 30}
  - {id: je12, type: slide, body: e12, axis: [-0.809, 0, -0.5878], range: [0, 0.5], stiffness: 30}
  - {id: je13, type: slide, body: e13, axis: [-0.7771, 0, -0.6293], range: [0, 0.5], stiffness: 30}
  - {id: je14, type: slide, body: e14, axis: [-0.7431, 0, -0.6691], range: [0, 0.5], stiffness: 30}
  - {id: je15, type: slide, body: e15, axis: [-0.7071, 0, -0.7071], range: [0, 0.5], stiffness: 30}
  - {id: je16, type: slide, body: e16, axis: [-0.6691, 0, -0.7431], range: [0, 0.5], stiffness: 30}
  - {id: je17, type: slide, body: e17, axis: [-0.6293, 0, -0.7771], range: [0, 0.5], stiffness: 30}
  - {id: je18, type: slide, body: e18, axis: [-0.5878, 0, -0.809], range: [0, 0.5], stiffness: 30}
  - {id: je19, type: slide, body: e19, axis: [-0.5446, 0, -0.8387], range: [0, 0.5], stiffness: 30}
  - {id: je20, type: slide, body: e20, axis: [-0.5, 0, -0.866], range: [0, 0.5], stiffness: 30}
  - {id: je21, type: slide, body: e21, axis: [-0.454, 0, -0.891], range: [0, 0.5], stiffness: 30}
  - {id: je22, type: slide, body: e22, axis: [-0.4067, 0, -0.9135], range: [0, 0.5], stiffness: 30}
  - {id: je23, type: slide, body: e23, axis: [-0.3584, 0, -0.9336], range: [0, 0.5], stiffness: 30}
  - {id: je24, type: slide, body: e24, axis: [-0.309, 0, -0.9511], range: [0, 0.5], stiffness: 30}
  - {id: je25, type: slide, body: e25, axis: [-0.2588, 0, -0.9659], range: [0, 0.5], stiffness: 30}
  - {id: je26, type: slide, body: e26, axis: [-0.2079, 0, -0.9781], range: [0, 0.5], stiffness: 30}
  - {id: je27, type: slide, body: e27, axis: [-0.1564, 0, -0.9877], range: [0, 0.5], stiffness: 30}
  - {id: je28, type: slide, body: e28, axis: [-0.1045, 0, -0.9945], range: [0, 0.5], stiffness: 30}
  - {id: je29, type: slide, body: e29, axis: [-0.0523, 0, -0.9986], range: [0, 0.5], stiffness: 30}
  - {id: je30, type: slide, body: e30, axis: [-0, 0, -1], range: [0, 0.5], stiffness: 30}
  - {id: je31, type: slide, body: e31, axis: [0.0523, 0, -0.9986], range: [0, 0.5], stiffness: 30}
  - {id: je32, type: slide, body: e32, axis: [0.1045, 0, -0.9945], range: [0, 0.5], stiffness: 30}
  - {id: je33, type: slide, body: e33, axis: [0.1564, 0, -0.9877], range: [0, 0.5], stiffness: 30}
  - {id: je34, type: slide, body: e34, axis: [0.2079, 0, -0.9781], range: [0, 0.5], stiffness: 30}
  - {id: je35, type: slide, body: e35, axis: [0.2588, 0, -0.9659], range: [0, 0.5], stiffness: 30}
  - {id: je36, type: slide, body: e36, axis: [0.309, 0, -0.9511], range: [0, 0.5], stiffness: 30}
  - {id: je37, type: slide, body: e37, axis: [0.3584, 0, -0.9336], range: [0, 0.5], stiffness: 30}
  - {id: je38, type: slide, body: e38, axis: [0.4067, 0, -0.9135], range: [0, 0.5], stiffness: 30}
  - {id: je39, type: slide, body: e39, axis: [0.454, 0, -0.891], range: [0, 0.5], stiffness: 30}
  - {id: je40, type: slide, body: e40, axis: [0.5, 0, -0.866], range: [0, 0.5], stiffness: 30}
  - {id: je41, type: slide, body: e41, axis: [0.5446, 0, -0.8387], range: [0, 0.5], stiffness: 30}
  - {id: je42, type: slide, body: e42, axis: [0.5878, 0, -0.809], range: [0, 0.5], stiffness: 30}
  - {id: je43, type: slide, body: e43, axis: [0.6293, 0, -0.7771], range: [0, 0.5], stiffness: 30}
  - {id: je44, type: slide, body: e44, axis: [0.6691, 0, -0.7431], range: [0, 0.5], stiffness: 30}
  - {id: je45, type: slide, body: e45, axis: [0.7071, 0, -0.7071], range: [0, 0.5], stiffness: 30}
  - {id: je46, type: slide, body: e46, axis: [0.7431, 0, -0.6691], range: [0, 0.5], stiffness: 30}
  - {id: je47, type: slide, body: e47, axis: [0.7771, 0, -0.6293], range: [0, 0.5], stiffness: 30}
  - {id: je48, type: slide, body: e48, axis: [0.809, 0, -0.5878], range: [0, 0.5], stiffness: 30}
  - {id: je49, type: slide, body: e49, axis: [0.8387, 0, -0.5446], range: [0, 0.5], stiffness: 30}
  - {id: je50, type: slide, body: e50, axis: [0.866, 0, -0.5], range: [0, 0.5], stiffness: 30}
  - {id: je51, type: slide, body: e51, axis: [0.891, 0, -0.454], range: [0, 0.5], stiffness: 30}
  - {id: je52, type: slide, body: e52, axis: [0.9135, 0, -0.4067], range: [0, 0.5], stiffness: 30}
  - {id: je53, type: slide, body: e53, axis: [0.9336, 0, -0.3584], range: [0, 0.5], stiffness: 30}
  - {id: je54, type: slide, body: e54, axis: [0.9511, 0, -0.309], range: [0, 0.5], stiffness: 30}
  - {id: je55, type: slide, body: e55, axis: [0.9659, 0, -0.2588], range: [0, 0.5], stiffness: 30}
  - {id: je56, type: slide, body: e56, axis: [0.9781, 0, -0.2079], range: [0, 0.5], stiffness: 30}
  - {id: je57, type: slide, body: e57, axis: [0.9877, 0, -0.1564], range: [0, 0.5], stiffness: 30}
  - {id: je58, type: slide, body: e58, axis: [0.9945, 0, -0.1045], range: [0, 0.5], stiffness: 30}
  - {id: je62, type: slide, body: e62, axis: [0.9945, 0, 0.1045], range: [0, 0.5], stiffness: 30}
  - {id: je63, type: slide, body: e63, axis: [0.9877, 0, 0.1564], range: [0, 0.5], stiffness: 30}
  - {id: je64, type: slide, body: e64, axis: [0.9781, 0, 0.2079], range: [0, 0.5], stiffness: 30}
  - {id: je65, type: slide, body: e65, axis: [0.9659, 0, 0.2588], range: [0, 0.5], stiffness: 30}
  - {id: je66, type: slide, body: e66, axis: [0.9511, 0, 0.309], range: [0, 0.5], stiffness: 30}
  - {id: je67, type: slide, body: e67, axis: [0.9336, 0, 0.3584], range: [0, 0.5], stiffness: 30}
  - {id: je68, type: slide, body: e68, axis: [0.9135, 0, 0.4067], range: [0, 0.5], stiffness: 30}
  - {id: je69, type: slide, body: e69, axis: [0.891, 0, 0.454], range: [0, 0.5], stiffness: 30}
  - {id: je70, type: slide, body: e70, axis: [0.866, 0, 0.5], range: [0, 0.5], stiffness: 30}
  - {id: je71, type: slide, body: e71, axis: [0.8387, 0, 0.5446], range: [0, 0.5], stiffness: 30}
  - {id: je72, type: slide, body: e72, axis: [0.809, 0, 0.5878], range: [0, 0.5], stiffness: 30}
  - {id: je73, type: slide, body: e73, axis: [0.7771, 0, 0.6293], range: [0, 0.5], stiffness: 30}
  - {id: je74, type: slide, body: e74, axis: [0.7431, 0, 0.6691], range: [0, 0.5], stiffness: 30}
  - {id: je75, type: slide, body: e75, axis: [0.7071, 0, 0.7071], range: [0, 0.5], stiffness: 30}
  - {id: je76, type: slide, body: e76, axis: [0.6691, 0, 0.7431], range: [0, 0.5], stiffness: 30}
  - {id: je77, type: slide, body: e77, axis: [0.6293, 0, 0.7771], range: [0, 0.5], stiffness: 30}
  - {id: je78, type: slide, body: e78, axis: [0.5878, 0, 0.809], range: [0, 0.5], stiffness: 30}
  - {id: je79, type: slide, body: e79, axis: [0.5446, 0, 0.8387], range: [0, 0.5], stiffness: 30}
  - {id: je80, type: slide, body: e80, axis: [0.5, 0, 0.866], range: [0, 0.5], stiffness: 30}
  - {id: je81, type: slide, body: e81, axis: [0.454, 0, 0.891], range: [0, 0.5], stiffness: 30}
  - {id: je82, type: slide, body: e82, axis: [0.4067, 0, 0.9135], range: [0, 0.5], stiffness: 30}
  - {id: je83, type: slide, body: e83, axis: [0.3584, 0, 0.9336], range: [0, 0.5], stiffness: 30}
  - {id: je84, type: slide, body: e84, axis: [0.309, 0, 0.9511], range: [0, 0.5], stiffness: 30}
  - {id: je85, type: slide, body: e85, axis: [0.2588, 0, 0.9659], range: [0, 0.5], stiffness: 30}
  - {id: je86, type: slide, body: e86, axis: [0.2079, 0, 0.9781], range: [0, 0.5], stiffness: 30}
  - {id: je87, type: slide, body: e87, axis: [0.1564, 0, 0.9877], range: [0, 0.5], stiffness: 30}
  - {id: je88, type: slide, body: e88, axis: [0.1045, 0, 0.9945], range: [0, 0.5], stiffness: 30}
  - {id: je89, type: slide, body: e89, axis: [0.0523, 0, 0.9986], range: [0, 0.5], stiffness: 30}
  - {id: je90, type: slide, body: e90, axis: [0, 0, 1], range: [0, 0.5], stiffness: 30}
  - {id: je91, type: slide, body: e91, axis: [-0.0523, 0, 0.9986], range: [0, 0.5], stiffness: 30}
  - {id: je92, type: slide, body: e92, axis: [-0.1045, 0, 0.9945], range: [0, 0.5], stiffness: 30}
  - {id: je93, type: slide, body: e93, axis: [-0.1564, 0, 0.9877], range: [0, 0.5], stiffness: 30}
  - {id: je94, type: slide, body: e94, axis: [-0.2079, 0, 0.9781], range: [0, 0.5], stiffness: 30}
  - {id: je95, type: slide, body: e95, axis: [-0.2588, 0, 0.9659], range: [0, 0.5], stiffness: 30}
  - {id: je96, type: slide, body: e96, axis: [-0.309, 0, 0.9511], range: [0, 0.5], stiffness: 30}
  - {id: je97, type: slide, body: e97, axis: [-0.3584, 0, 0.9336], range: [0, 0.5], stiffness: 30}
  - {id: je98, type: slide, body: e98, axis: [-0.4067, 0, 0.9135], range: [0, 0.5], stiffness: 30}
  - {id: je99, type: slide, body: e99, axis: [-0.454, 0, 0.891], range: [0, 0.5], stiffness: 30}
  - {id: je100, type: slide, body: e100, axis: [-0.5, 0, 0.866], range: [0, 0.5], stiffness: 30}
  - {id: je101, type: slide, body: e101, axis: [-0.5446, 0, 0.8387], range: [0, 0.5], stiffness: 30}
  - {id: je102, type: slide, body: e102, axis: [-0.5878, 0, 0.809], range: [0, 0.5], stiffness: 30}
  - {id: je103, type: slide, body: e103, axis: [-0.6293, 0, 0.7771], range: [0, 0.5], stiffness: 30}
  - {id: je104, type: slide, body: e104, axis: [-0.6691, 0, 0.7431], range: [0, 0.5], stiffness: 30}
  - {id: je105, type: slide, body: e105, axis: [-0.7071, 0, 0.7071], range: [0, 0.5], stiffness: 30}
  - {id: je106, type: slide, body: e106, axis: [-0.7431, 0, 0.6691], range: [0, 0.5], stiffness: 30}
  - {id: je107, type: slide, body: e107, axis: [-0.7771, 0, 0.6293], range: [0, 0.5], stiffness: 30}
  - {id: je108, type: slide, body: e108, axis: [-0.809, 0, 0.5878], range: [0, 0.5], stiffness: 30}
  - {id: je109, type: slide, body: e109, axis: [-0.8387, 0, 0.5446], range: [0, 0.5], stiffness: 30}
  - {id: je110, type: slide, body: e110, axis: [-0.866, 0, 0.5], range: [0, 0.5], stiffness: 30}
  - {id: je111, type: slide, body: e111, axis: [-0.891, 0, 0.454], range: [0, 0.5], stiffness: 30}
  - {id: je112, type: slide, body: e112, axis: [-0.9135, 0, 0.4067], range: [0, 0.5], stiffness: 30}
  - {id: je113, type: slide, body: e113, axis: [-0.9336, 0, 0.3584], range: [0, 0.5], stiffness: 30}
  - {id: je114, type: slide, body: e114, axis: [-0.9511, 0, 0.309], range: [0, 0.5], stiffness: 30}
  - {id: je115, type: slide, body: e115, axis: [-0.9659, 0, 0.2588], range: [0, 0.5], stiffness: 30}
  - {id: je116, type: slide, body: e116, axis: [-0.9781, 0, 0.2079], range: [0, 0.5], stiffness: 30}
  - {id: je117, type: slide, body: e117, axis: [-0.9877, 0, 0.1564], range: [0, 0.5], stiffness: 30}
  - {id: je118, type: slide, body: e118, axis: [-0.9945, 0, 0.1045], range: [0, 0.5], stiffness: 30}
contact: {solref: [0.002, 1.0], solimp: [0.95, 0.99, 0.0005], margin: 0}
driver:
  joint: j_B
  kind: feet
  max_torque: 1.0
  # The steam (the one input): open to the induction port behind the roller nearest the eduction on the upper side,
  # i.e. on a strip at angle th (from the right, anticlockwise) while the lowest roller above the eduction stands below it:
  # with that roller's angle e = (60 - q) mod 120 degrees, x = 3e = -3 (q - 60 deg), open while x < 3 th.
  feet:
    force: 1.5
    timed: {joint: j_B, gain: -3, offset: 0.7854}
    ports:
      - {body: e2, at: [8.6523, 1.2, 12.9094], dir: [-0.9945, 0, -0.1045], frame: world, open: [0, 18]}
      - {body: e3, at: [8.5929, 1.2, 13.361], dir: [-0.9877, 0, -0.1564], frame: world, open: [0, 27]}
      - {body: e4, at: [8.5099, 1.2, 13.8088], dir: [-0.9781, 0, -0.2079], frame: world, open: [0, 36]}
      - {body: e5, at: [8.4036, 1.2, 14.2517], dir: [-0.9659, 0, -0.2588], frame: world, open: [0, 45]}
      - {body: e6, at: [8.2742, 1.2, 14.6884], dir: [-0.9511, 0, -0.309], frame: world, open: [0, 54]}
      - {body: e7, at: [8.1221, 1.2, 15.1178], dir: [-0.9336, 0, -0.3584], frame: world, open: [0, 63]}
      - {body: e8, at: [7.9478, 1.2, 15.5386], dir: [-0.9135, 0, -0.4067], frame: world, open: [0, 72]}
      - {body: e9, at: [7.7518, 1.2, 15.9497], dir: [-0.891, 0, -0.454], frame: world, open: [0, 81]}
      - {body: e10, at: [7.5344, 1.2, 16.35], dir: [-0.866, 0, -0.5], frame: world, open: [0, 90]}
      - {body: e11, at: [7.2964, 1.2, 16.7384], dir: [-0.8387, 0, -0.5446], frame: world, open: [0, 99]}
      - {body: e12, at: [7.0384, 1.2, 17.1137], dir: [-0.809, 0, -0.5878], frame: world, open: [0, 108]}
      - {body: e13, at: [6.7612, 1.2, 17.4751], dir: [-0.7771, 0, -0.6293], frame: world, open: [0, 117]}
      - {body: e14, at: [6.4654, 1.2, 17.8214], dir: [-0.7431, 0, -0.6691], frame: world, open: [0, 126]}
      - {body: e15, at: [6.1518, 1.2, 18.1518], dir: [-0.7071, 0, -0.7071], frame: world, open: [0, 135]}
      - {body: e16, at: [5.8214, 1.2, 18.4654], dir: [-0.6691, 0, -0.7431], frame: world, open: [0, 144]}
      - {body: e17, at: [5.4751, 1.2, 18.7612], dir: [-0.6293, 0, -0.7771], frame: world, open: [0, 153]}
      - {body: e18, at: [5.1137, 1.2, 19.0384], dir: [-0.5878, 0, -0.809], frame: world, open: [0, 162]}
      - {body: e19, at: [4.7384, 1.2, 19.2964], dir: [-0.5446, 0, -0.8387], frame: world, open: [0, 171]}
      - {body: e20, at: [4.35, 1.2, 19.5344], dir: [-0.5, 0, -0.866], frame: world, open: [0, 180]}
      - {body: e21, at: [3.9497, 1.2, 19.7518], dir: [-0.454, 0, -0.891], frame: world, open: [0, 189]}
      - {body: e22, at: [3.5386, 1.2, 19.9478], dir: [-0.4067, 0, -0.9135], frame: world, open: [0, 198]}
      - {body: e23, at: [3.1178, 1.2, 20.1221], dir: [-0.3584, 0, -0.9336], frame: world, open: [0, 207]}
      - {body: e24, at: [2.6884, 1.2, 20.2742], dir: [-0.309, 0, -0.9511], frame: world, open: [0, 216]}
      - {body: e25, at: [2.2517, 1.2, 20.4036], dir: [-0.2588, 0, -0.9659], frame: world, open: [0, 225]}
      - {body: e26, at: [1.8088, 1.2, 20.5099], dir: [-0.2079, 0, -0.9781], frame: world, open: [0, 234]}
      - {body: e27, at: [1.361, 1.2, 20.5929], dir: [-0.1564, 0, -0.9877], frame: world, open: [0, 243]}
      - {body: e28, at: [0.9094, 1.2, 20.6523], dir: [-0.1045, 0, -0.9945], frame: world, open: [0, 252]}
      - {body: e29, at: [0.4553, 1.2, 20.6881], dir: [-0.0523, 0, -0.9986], frame: world, open: [0, 261]}
      - {body: e30, at: [0, 1.2, 20.7], dir: [-0, 0, -1], frame: world, open: [0, 270]}
      - {body: e31, at: [-0.4553, 1.2, 20.6881], dir: [0.0523, 0, -0.9986], frame: world, open: [0, 279]}
      - {body: e32, at: [-0.9094, 1.2, 20.6523], dir: [0.1045, 0, -0.9945], frame: world, open: [0, 288]}
      - {body: e33, at: [-1.361, 1.2, 20.5929], dir: [0.1564, 0, -0.9877], frame: world, open: [0, 297]}
      - {body: e34, at: [-1.8088, 1.2, 20.5099], dir: [0.2079, 0, -0.9781], frame: world, open: [0, 306]}
      - {body: e35, at: [-2.2517, 1.2, 20.4036], dir: [0.2588, 0, -0.9659], frame: world, open: [0, 315]}
      - {body: e36, at: [-2.6884, 1.2, 20.2742], dir: [0.309, 0, -0.9511], frame: world, open: [0, 324]}
      - {body: e37, at: [-3.1178, 1.2, 20.1221], dir: [0.3584, 0, -0.9336], frame: world, open: [0, 333]}
      - {body: e38, at: [-3.5386, 1.2, 19.9478], dir: [0.4067, 0, -0.9135], frame: world, open: [0, 342]}
      - {body: e39, at: [-3.9497, 1.2, 19.7518], dir: [0.454, 0, -0.891], frame: world, open: [0, 351]}
      - {body: e40, at: [-4.35, 1.2, 19.5344], dir: [0.5, 0, -0.866], frame: world, open: [0, 360]}
      - {body: e41, at: [-4.7384, 1.2, 19.2964], dir: [0.5446, 0, -0.8387], frame: world, open: [0, 360]}
      - {body: e42, at: [-5.1137, 1.2, 19.0384], dir: [0.5878, 0, -0.809], frame: world, open: [0, 360]}
      - {body: e43, at: [-5.4751, 1.2, 18.7612], dir: [0.6293, 0, -0.7771], frame: world, open: [0, 360]}
      - {body: e44, at: [-5.8214, 1.2, 18.4654], dir: [0.6691, 0, -0.7431], frame: world, open: [0, 360]}
      - {body: e45, at: [-6.1518, 1.2, 18.1518], dir: [0.7071, 0, -0.7071], frame: world, open: [0, 360]}
      - {body: e46, at: [-6.4654, 1.2, 17.8214], dir: [0.7431, 0, -0.6691], frame: world, open: [0, 360]}
      - {body: e47, at: [-6.7612, 1.2, 17.4751], dir: [0.7771, 0, -0.6293], frame: world, open: [0, 360]}
      - {body: e48, at: [-7.0384, 1.2, 17.1137], dir: [0.809, 0, -0.5878], frame: world, open: [0, 360]}
      - {body: e49, at: [-7.2964, 1.2, 16.7384], dir: [0.8387, 0, -0.5446], frame: world, open: [0, 360]}
      - {body: e50, at: [-7.5344, 1.2, 16.35], dir: [0.866, 0, -0.5], frame: world, open: [0, 360]}
      - {body: e51, at: [-7.7518, 1.2, 15.9497], dir: [0.891, 0, -0.454], frame: world, open: [0, 360]}
      - {body: e52, at: [-7.9478, 1.2, 15.5386], dir: [0.9135, 0, -0.4067], frame: world, open: [0, 360]}
      - {body: e53, at: [-8.1221, 1.2, 15.1178], dir: [0.9336, 0, -0.3584], frame: world, open: [0, 360]}
      - {body: e54, at: [-8.2742, 1.2, 14.6884], dir: [0.9511, 0, -0.309], frame: world, open: [0, 360]}
      - {body: e55, at: [-8.4036, 1.2, 14.2517], dir: [0.9659, 0, -0.2588], frame: world, open: [0, 360]}
      - {body: e56, at: [-8.5099, 1.2, 13.8088], dir: [0.9781, 0, -0.2079], frame: world, open: [0, 360]}
      - {body: e57, at: [-8.5929, 1.2, 13.361], dir: [0.9877, 0, -0.1564], frame: world, open: [0, 360]}
      - {body: e58, at: [-8.6523, 1.2, 12.9094], dir: [0.9945, 0, -0.1045], frame: world, open: [0, 360]}
checks:
  - {type: monotonic, joint: j_B, direction: 1, max_back: 0.05, settle_s: 0.0, window_s: 9.5}
  - {type: turning, joint: j_B, direction: 1, min_mean: 0.5, min_fraction: 0.9, settle_s: 3.0, window_s: 6.5}
  - {type: penetration, max: 0.002}
camera: {target: [0, 0, 9], position: [0, -100, 9], fov: 19}
display:
  output: j_B
  labels: {j_B: "Shaft B (steam on the lining E)"}
  proof: {label: "Rollers out of contact", sub: "the steam presses the lining in but the shaft stands"}