# No. 109 (Brown 1868): "The rotation of the screw at the left-hand side produces a uniform rectilinear movement of a cutter which cuts another screw thread.
# The pitch of the screw to be cut may be varied by changing the sizes of the wheels at the end of the frame."
#
# Model (cm): two screws lie side by side along y in their bearings. The lead-screw (left; right-hand thread of pitch 1.6, as No. 103) turns on its axis: the one
# driven joint, 16 turns a minute. Its 30-tooth change wheel (module 0.5) meshes by real tooth contact with the 40-tooth wheel of the other screw
# (the blank to be cut), which it turns 0.75 turns to its own. The carriage holds a half-nut on the lead-screw and carries a cutter on an arm over the blank,
# so it runs 1.6 cm a turn of the lead-screw and 2.133 cm a turn of the blank: that is the pitch it cuts, and a pair of wheels 30:40 changed for others changes it.
# (The blank is drawn plain; the cutter leaves no mark in the sim.) A weak spring keeps the flanks loaded. Generator: opencode-runs/batch9/gen109.py.
number: 109
slug: screw-cutting-lathe
name: A lead-screw drawing a cutter to cut another screw
brown: "The rotation of the screw at the left-hand side produces a uniform rectilinear movement of a cutter which cuts another screw thread. The pitch of the screw to be cut may be varied by changing the sizes of the wheels at the end of the frame."
units: cm
sim:
  timestep: 0.0002
  integrator: implicitfast
  iterations: 100
  solver: CG
  multiccd: true
  duration_s: 10
  floor: false
bodies:
  - id: lead
    shape: part
    pos: [-8.75, 0, 0]
    density: 7800
    friction: 0.1
    color: "#e4d9bf"
    pieces:
      - {kind: rod, from: [-8.75, -4.0, 0], to: [-8.75, 13.9, 0], radius: 1.0, collide: 0}   # the lead-screw's core
      - {kind: loft, a: [[-8.75, 0.325, 0.95], [-8.75, 1.275, 0.95], [-8.75, 0.95, 1.6], [-8.75, 0.65, 1.6]], b: [[-8.5041, 0.3917, 0.9176], [-8.5041, 1.3417, 0.9176], [-8.3359, 1.0167, 1.5455], [-8.3359, 0.7167, 1.5455]], collide: 1}
      - {kind: loft, a: [[-8.5041, 0.3917, 0.9176], [-8.5041, 1.3417, 0.9176], [-8.3359, 1.0167, 1.5455], [-8.3359, 0.7167, 1.5455]], b: [[-8.275, 0.4583, 0.8227], [-8.275, 1.4083, 0.8227], [-7.95, 1.0833, 1.3856], [-7.95, 0.7833, 1.3856]], collide: 1}
      - {kind: loft, a: [[-8.275, 0.4583, 0.8227], [-8.275, 1.4083, 0.8227], [-7.95, 1.0833, 1.3856], [-7.95, 0.7833, 1.3856]], b: [[-8.0782, 0.525, 0.6718], [-8.0782, 1.475, 0.6718], [-7.6186, 1.15, 1.1314], [-7.6186, 0.85, 1.1314]], collide: 1}
      - {kind: loft, a: [[-8.0782, 0.525, 0.6718], [-8.0782, 1.475, 0.6718], [-7.6186, 1.15, 1.1314], [-7.6186, 0.85, 1.1314]], b: [[-7.9273, 0.5917, 0.475], [-7.9273, 1.5417, 0.475], [-7.3644, 1.2167, 0.8], [-7.3644, 0.9167, 0.8]], collide: 1}
      - {kind: loft, a: [[-7.9273, 0.5917, 0.475], [-7.9273, 1.5417, 0.475], [-7.3644, 1.2167, 0.8], [-7.3644, 0.9167, 0.8]], b: [[-7.8324, 0.6583, 0.2459], [-7.8324, 1.6083, 0.2459], [-7.2045, 1.2833, 0.4141], [-7.2045, 0.9833, 0.4141]], collide: 1}
      - {kind: loft, a: [[-7.8324, 0.6583, 0.2459], [-7.8324, 1.6083, 0.2459], [-7.2045, 1.2833, 0.4141], [-7.2045, 0.9833, 0.4141]], b: [[-7.8, 0.725, 0.0], [-7.8, 1.675, 0.0], [-7.15, 1.35, 0.0], [-7.15, 1.05, 0.0]], collide: 1}
      - {kind: loft, a: [[-7.8, 0.725, 0.0], [-7.8, 1.675, 0.0], [-7.15, 1.35, 0.0], [-7.15, 1.05, 0.0]], b: [[-7.8324, 0.7917, -0.2459], [-7.8324, 1.7417, -0.2459], [-7.2045, 1.4167, -0.4141], [-7.2045, 1.1167, -0.4141]], collide: 1}
      - {kind: loft, a: [[-7.8324, 0.7917, -0.2459], [-7.8324, 1.7417, -0.2459], [-7.2045, 1.4167, -0.4141], [-7.2045, 1.1167, -0.4141]], b: [[-7.9273, 0.8583, -0.475], [-7.9273, 1.8083, -0.475], [-7.3644, 1.4833, -0.8], [-7.3644, 1.1833, -0.8]], collide: 1}
      - {kind: loft, a: [[-7.9273, 0.8583, -0.475], [-7.9273, 1.8083, -0.475], [-7.3644, 1.4833, -0.8], [-7.3644, 1.1833, -0.8]], b: [[-8.0782, 0.925, -0.6718], [-8.0782, 1.875, -0.6718], [-7.6186, 1.55, -1.1314], [-7.6186, 1.25, -1.1314]], collide: 1}
      - {kind: loft, a: [[-8.0782, 0.925, -0.6718], [-8.0782, 1.875, -0.6718], [-7.6186, 1.55, -1.1314], [-7.6186, 1.25, -1.1314]], b: [[-8.275, 0.9917, -0.8227], [-8.275, 1.9417, -0.8227], [-7.95, 1.6167, -1.3856], [-7.95, 1.3167, -1.3856]], collide: 1}
      - {kind: loft, a: [[-8.275, 0.9917, -0.8227], [-8.275, 1.9417, -0.8227], [-7.95, 1.6167, -1.3856], [-7.95, 1.3167, -1.3856]], b: [[-8.5041, 1.0583, -0.9176], [-8.5041, 2.0083, -0.9176], [-8.3359, 1.6833, -1.5455], [-8.3359, 1.3833, -1.5455]], collide: 1}
      - {kind: loft, a: [[-8.5041, 1.0583, -0.9176], [-8.5041, 2.0083, -0.9176], [-8.3359, 1.6833, -1.5455], [-8.3359, 1.3833, -1.5455]], b: [[-8.75, 1.125, -0.95], [-8.75, 2.075, -0.95], [-8.75, 1.75, -1.6], [-8.75, 1.45, -1.6]], collide: 1}
      - {kind: loft, a: [[-8.75, 1.125, -0.95], [-8.75, 2.075, -0.95], [-8.75, 1.75, -1.6], [-8.75, 1.45, -1.6]], b: [[-8.9959, 1.1917, -0.9176], [-8.9959, 2.1417, -0.9176], [-9.1641, 1.8167, -1.5455], [-9.1641, 1.5167, -1.5455]], collide: 1}
      - {kind: loft, a: [[-8.9959, 1.1917, -0.9176], [-8.9959, 2.1417, -0.9176], [-9.1641, 1.8167, -1.5455], [-9.1641, 1.5167, -1.5455]], b: [[-9.225, 1.2583, -0.8227], [-9.225, 2.2083, -0.8227], [-9.55, 1.8833, -1.3856], [-9.55, 1.5833, -1.3856]], collide: 1}
      - {kind: loft, a: [[-9.225, 1.2583, -0.8227], [-9.225, 2.2083, -0.8227], [-9.55, 1.8833, -1.3856], [-9.55, 1.5833, -1.3856]], b: [[-9.4218, 1.325, -0.6718], [-9.4218, 2.275, -0.6718], [-9.8814, 1.95, -1.1314], [-9.8814, 1.65, -1.1314]], collide: 1}
      - {kind: loft, a: [[-9.4218, 1.325, -0.6718], [-9.4218, 2.275, -0.6718], [-9.8814, 1.95, -1.1314], [-9.8814, 1.65, -1.1314]], b: [[-9.5727, 1.3917, -0.475], [-9.5727, 2.3417, -0.475], [-10.1356, 2.0167, -0.8], [-10.1356, 1.7167, -0.8]], collide: 1}
      - {kind: loft, a: [[-9.5727, 1.3917, -0.475], [-9.5727, 2.3417, -0.475], [-10.1356, 2.0167, -0.8], [-10.1356, 1.7167, -0.8]], b: [[-9.6676, 1.4583, -0.2459], [-9.6676, 2.4083, -0.2459], [-10.2955, 2.0833, -0.4141], [-10.2955, 1.7833, -0.4141]], collide: 1}
      - {kind: loft, a: [[-9.6676, 1.4583, -0.2459], [-9.6676, 2.4083, -0.2459], [-10.2955, 2.0833, -0.4141], [-10.2955, 1.7833, -0.4141]], b: [[-9.7, 1.525, -0.0], [-9.7, 2.475, -0.0], [-10.35, 2.15, -0.0], [-10.35, 1.85, -0.0]], collide: 1}
      - {kind: loft, a: [[-9.7, 1.525, -0.0], [-9.7, 2.475, -0.0], [-10.35, 2.15, -0.0], [-10.35, 1.85, -0.0]], b: [[-9.6676, 1.5917, 0.2459], [-9.6676, 2.5417, 0.2459], [-10.2955, 2.2167, 0.4141], [-10.2955, 1.9167, 0.4141]], collide: 1}
      - {kind: loft, a: [[-9.6676, 1.5917, 0.2459], [-9.6676, 2.5417, 0.2459], [-10.2955, 2.2167, 0.4141], [-10.2955, 1.9167, 0.4141]], b: [[-9.5727, 1.6583, 0.475], [-9.5727, 2.6083, 0.475], [-10.1356, 2.2833, 0.8], [-10.1356, 1.9833, 0.8]], collide: 1}
      - {kind: loft, a: [[-9.5727, 1.6583, 0.475], [-9.5727, 2.6083, 0.475], [-10.1356, 2.2833, 0.8], [-10.1356, 1.9833, 0.8]], b: [[-9.4218, 1.725, 0.6718], [-9.4218, 2.675, 0.6718], [-9.8814, 2.35, 1.1314], [-9.8814, 2.05, 1.1314]], collide: 1}
      - {kind: loft, a: [[-9.4218, 1.725, 0.6718], [-9.4218, 2.675, 0.6718], [-9.8814, 2.35, 1.1314], [-9.8814, 2.05, 1.1314]], b: [[-9.225, 1.7917, 0.8227], [-9.225, 2.7417, 0.8227], [-9.55, 2.4167, 1.3856], [-9.55, 2.1167, 1.3856]], collide: 1}
      - {kind: loft, a: [[-9.225, 1.7917, 0.8227], [-9.225, 2.7417, 0.8227], [-9.55, 2.4167, 1.3856], [-9.55, 2.1167, 1.3856]], b: [[-8.9959, 1.8583, 0.9176], [-8.9959, 2.8083, 0.9176], [-9.1641, 2.4833, 1.5455], [-9.1641, 2.1833, 1.5455]], collide: 1}
      - {kind: loft, a: [[-8.9959, 1.8583, 0.9176], [-8.9959, 2.8083, 0.9176], [-9.1641, 2.4833, 1.5455], [-9.1641, 2.1833, 1.5455]], b: [[-8.75, 1.925, 0.95], [-8.75, 2.875, 0.95], [-8.75, 2.55, 1.6], [-8.75, 2.25, 1.6]], collide: 1}
      - {kind: loft, a: [[-8.75, 1.925, 0.95], [-8.75, 2.875, 0.95], [-8.75, 2.55, 1.6], [-8.75, 2.25, 1.6]], b: [[-8.5041, 1.9917, 0.9176], [-8.5041, 2.9417, 0.9176], [-8.3359, 2.6167, 1.5455], [-8.3359, 2.3167, 1.5455]], collide: 1}
      - {kind: loft, a: [[-8.5041, 1.9917, 0.9176], [-8.5041, 2.9417, 0.9176], [-8.3359, 2.6167, 1.5455], [-8.3359, 2.3167, 1.5455]], b: [[-8.275, 2.0583, 0.8227], [-8.275, 3.0083, 0.8227], [-7.95, 2.6833, 1.3856], [-7.95, 2.3833, 1.3856]], collide: 1}
      - {kind: loft, a: [[-8.275, 2.0583, 0.8227], [-8.275, 3.0083, 0.8227], [-7.95, 2.6833, 1.3856], [-7.95, 2.3833, 1.3856]], b: [[-8.0782, 2.125, 0.6718], [-8.0782, 3.075, 0.6718], [-7.6186, 2.75, 1.1314], [-7.6186, 2.45, 1.1314]], collide: 1}
      - {kind: loft, a: [[-8.0782, 2.125, 0.6718], [-8.0782, 3.075, 0.6718], [-7.6186, 2.75, 1.1314], [-7.6186, 2.45, 1.1314]], b: [[-7.9273, 2.1917, 0.475], [-7.9273, 3.1417, 0.475], [-7.3644, 2.8167, 0.8], [-7.3644, 2.5167, 0.8]], collide: 1}
      - {kind: loft, a: [[-7.9273, 2.1917, 0.475], [-7.9273, 3.1417, 0.475], [-7.3644, 2.8167, 0.8], [-7.3644, 2.5167, 0.8]], b: [[-7.8324, 2.2583, 0.2459], [-7.8324, 3.2083, 0.2459], [-7.2045, 2.8833, 0.4141], [-7.2045, 2.5833, 0.4141]], collide: 1}
      - {kind: loft, a: [[-7.8324, 2.2583, 0.2459], [-7.8324, 3.2083, 0.2459], [-7.2045, 2.8833, 0.4141], [-7.2045, 2.5833, 0.4141]], b: [[-7.8, 2.325, 0.0], [-7.8, 3.275, 0.0], [-7.15, 2.95, 0.0], [-7.15, 2.65, 0.0]], collide: 1}
      - {kind: loft, a: [[-7.8, 2.325, 0.0], [-7.8, 3.275, 0.0], [-7.15, 2.95, 0.0], [-7.15, 2.65, 0.0]], b: [[-7.8324, 2.3917, -0.2459], [-7.8324, 3.3417, -0.2459], [-7.2045, 3.0167, -0.4141], [-7.2045, 2.7167, -0.4141]], collide: 1}
      - {kind: loft, a: [[-7.8324, 2.3917, -0.2459], [-7.8324, 3.3417, -0.2459], [-7.2045, 3.0167, -0.4141], [-7.2045, 2.7167, -0.4141]], b: [[-7.9273, 2.4583, -0.475], [-7.9273, 3.4083, -0.475], [-7.3644, 3.0833, -0.8], [-7.3644, 2.7833, -0.8]], collide: 1}
      - {kind: loft, a: [[-7.9273, 2.4583, -0.475], [-7.9273, 3.4083, -0.475], [-7.3644, 3.0833, -0.8], [-7.3644, 2.7833, -0.8]], b: [[-8.0782, 2.525, -0.6718], [-8.0782, 3.475, -0.6718], [-7.6186, 3.15, -1.1314], [-7.6186, 2.85, -1.1314]], collide: 1}
      - {kind: loft, a: [[-8.0782, 2.525, -0.6718], [-8.0782, 3.475, -0.6718], [-7.6186, 3.15, -1.1314], [-7.6186, 2.85, -1.1314]], b: [[-8.275, 2.5917, -0.8227], [-8.275, 3.5417, -0.8227], [-7.95, 3.2167, -1.3856], [-7.95, 2.9167, -1.3856]], collide: 1}
      - {kind: loft, a: [[-8.275, 2.5917, -0.8227], [-8.275, 3.5417, -0.8227], [-7.95, 3.2167, -1.3856], [-7.95, 2.9167, -1.3856]], b: [[-8.5041, 2.6583, -0.9176], [-8.5041, 3.6083, -0.9176], [-8.3359, 3.2833, -1.5455], [-8.3359, 2.9833, -1.5455]], collide: 1}
      - {kind: loft, a: [[-8.5041, 2.6583, -0.9176], [-8.5041, 3.6083, -0.9176], [-8.3359, 3.2833, -1.5455], [-8.3359, 2.9833, -1.5455]], b: [[-8.75, 2.725, -0.95], [-8.75, 3.675, -0.95], [-8.75, 3.35, -1.6], [-8.75, 3.05, -1.6]], collide: 1}
      - {kind: loft, a: [[-8.75, 2.725, -0.95], [-8.75, 3.675, -0.95], [-8.75, 3.35, -1.6], [-8.75, 3.05, -1.6]], b: [[-8.9959, 2.7917, -0.9176], [-8.9959, 3.7417, -0.9176], [-9.1641, 3.4167, -1.5455], [-9.1641, 3.1167, -1.5455]], collide: 1}
      - {kind: loft, a: [[-8.9959, 2.7917, -0.9176], [-8.9959, 3.7417, -0.9176], [-9.1641, 3.4167, -1.5455], [-9.1641, 3.1167, -1.5455]], b: [[-9.225, 2.8583, -0.8227], [-9.225, 3.8083, -0.8227], [-9.55, 3.4833, -1.3856], [-9.55, 3.1833, -1.3856]], collide: 1}
      - {kind: loft, a: [[-9.225, 2.8583, -0.8227], [-9.225, 3.8083, -0.8227], [-9.55, 3.4833, -1.3856], [-9.55, 3.1833, -1.3856]], b: [[-9.4218, 2.925, -0.6718], [-9.4218, 3.875, -0.6718], [-9.8814, 3.55, -1.1314], [-9.8814, 3.25, -1.1314]], collide: 1}
      - {kind: loft, a: [[-9.4218, 2.925, -0.6718], [-9.4218, 3.875, -0.6718], [-9.8814, 3.55, -1.1314], [-9.8814, 3.25, -1.1314]], b: [[-9.5727, 2.9917, -0.475], [-9.5727, 3.9417, -0.475], [-10.1356, 3.6167, -0.8], [-10.1356, 3.3167, -0.8]], collide: 1}
      - {kind: loft, a: [[-9.5727, 2.9917, -0.475], [-9.5727, 3.9417, -0.475], [-10.1356, 3.6167, -0.8], [-10.1356, 3.3167, -0.8]], b: [[-9.6676, 3.0583, -0.2459], [-9.6676, 4.0083, -0.2459], [-10.2955, 3.6833, -0.4141], [-10.2955, 3.3833, -0.4141]], collide: 1}
      - {kind: loft, a: [[-9.6676, 3.0583, -0.2459], [-9.6676, 4.0083, -0.2459], [-10.2955, 3.6833, -0.4141], [-10.2955, 3.3833, -0.4141]], b: [[-9.7, 3.125, -0.0], [-9.7, 4.075, -0.0], [-10.35, 3.75, -0.0], [-10.35, 3.45, -0.0]], collide: 1}
      - {kind: loft, a: [[-9.7, 3.125, -0.0], [-9.7, 4.075, -0.0], [-10.35, 3.75, -0.0], [-10.35, 3.45, -0.0]], b: [[-9.6676, 3.1917, 0.2459], [-9.6676, 4.1417, 0.2459], [-10.2955, 3.8167, 0.4141], [-10.2955, 3.5167, 0.4141]], collide: 1}
      - {kind: loft, a: [[-9.6676, 3.1917, 0.2459], [-9.6676, 4.1417, 0.2459], [-10.2955, 3.8167, 0.4141], [-10.2955, 3.5167, 0.4141]], b: [[-9.5727, 3.2583, 0.475], [-9.5727, 4.2083, 0.475], [-10.1356, 3.8833, 0.8], [-10.1356, 3.5833, 0.8]], collide: 1}
      - {kind: loft, a: [[-9.5727, 3.2583, 0.475], [-9.5727, 4.2083, 0.475], [-10.1356, 3.8833, 0.8], [-10.1356, 3.5833, 0.8]], b: [[-9.4218, 3.325, 0.6718], [-9.4218, 4.275, 0.6718], [-9.8814, 3.95, 1.1314], [-9.8814, 3.65, 1.1314]], collide: 1}
      - {kind: loft, a: [[-9.4218, 3.325, 0.6718], [-9.4218, 4.275, 0.6718], [-9.8814, 3.95, 1.1314], [-9.8814, 3.65, 1.1314]], b: [[-9.225, 3.3917, 0.8227], [-9.225, 4.3417, 0.8227], [-9.55, 4.0167, 1.3856], [-9.55, 3.7167, 1.3856]], collide: 1}
      - {kind: loft, a: [[-9.225, 3.3917, 0.8227], [-9.225, 4.3417, 0.8227], [-9.55, 4.0167, 1.3856], [-9.55, 3.7167, 1.3856]], b: [[-8.9959, 3.4583, 0.9176], [-8.9959, 4.4083, 0.9176], [-9.1641, 4.0833, 1.5455], [-9.1641, 3.7833, 1.5455]], collide: 1}
      - {kind: loft, a: [[-8.9959, 3.4583, 0.9176], [-8.9959, 4.4083, 0.9176], [-9.1641, 4.0833, 1.5455], [-9.1641, 3.7833, 1.5455]], b: [[-8.75, 3.525, 0.95], [-8.75, 4.475, 0.95], [-8.75, 4.15, 1.6], [-8.75, 3.85, 1.6]], collide: 1}
      - {kind: loft, a: [[-8.75, 3.525, 0.95], [-8.75, 4.475, 0.95], [-8.75, 4.15, 1.6], [-8.75, 3.85, 1.6]], b: [[-8.5041, 3.5917, 0.9176], [-8.5041, 4.5417, 0.9176], [-8.3359, 4.2167, 1.5455], [-8.3359, 3.9167, 1.5455]], collide: 1}
      - {kind: loft, a: [[-8.5041, 3.5917, 0.9176], [-8.5041, 4.5417, 0.9176], [-8.3359, 4.2167, 1.5455], [-8.3359, 3.9167, 1.5455]], b: [[-8.275, 3.6583, 0.8227], [-8.275, 4.6083, 0.8227], [-7.95, 4.2833, 1.3856], [-7.95, 3.9833, 1.3856]], collide: 1}
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      - {kind: loft, a: [[-9.5727, 10.9917, -0.475], [-9.5727, 11.9417, -0.475], [-10.1356, 11.6167, -0.8], [-10.1356, 11.3167, -0.8]], b: [[-9.6676, 11.0583, -0.2459], [-9.6676, 12.0083, -0.2459], [-10.2955, 11.6833, -0.4141], [-10.2955, 11.3833, -0.4141]], collide: 1}
      - {kind: loft, a: [[-9.6676, 11.0583, -0.2459], [-9.6676, 12.0083, -0.2459], [-10.2955, 11.6833, -0.4141], [-10.2955, 11.3833, -0.4141]], b: [[-9.7, 11.125, -0.0], [-9.7, 12.075, -0.0], [-10.35, 11.75, -0.0], [-10.35, 11.45, -0.0]], collide: 1}
      - {kind: loft, a: [[-9.7, 11.125, -0.0], [-9.7, 12.075, -0.0], [-10.35, 11.75, -0.0], [-10.35, 11.45, -0.0]], b: [[-9.6676, 11.1917, 0.2459], [-9.6676, 12.1417, 0.2459], [-10.2955, 11.8167, 0.4141], [-10.2955, 11.5167, 0.4141]], collide: 1}
      - {kind: loft, a: [[-9.6676, 11.1917, 0.2459], [-9.6676, 12.1417, 0.2459], [-10.2955, 11.8167, 0.4141], [-10.2955, 11.5167, 0.4141]], b: [[-9.5727, 11.2583, 0.475], [-9.5727, 12.2083, 0.475], [-10.1356, 11.8833, 0.8], [-10.1356, 11.5833, 0.8]], collide: 1}
      - {kind: loft, a: [[-9.5727, 11.2583, 0.475], [-9.5727, 12.2083, 0.475], [-10.1356, 11.8833, 0.8], [-10.1356, 11.5833, 0.8]], b: [[-9.4218, 11.325, 0.6718], [-9.4218, 12.275, 0.6718], [-9.8814, 11.95, 1.1314], [-9.8814, 11.65, 1.1314]], collide: 1}
      - {kind: loft, a: [[-9.4218, 11.325, 0.6718], [-9.4218, 12.275, 0.6718], [-9.8814, 11.95, 1.1314], [-9.8814, 11.65, 1.1314]], b: [[-9.225, 11.3917, 0.8227], [-9.225, 12.3417, 0.8227], [-9.55, 12.0167, 1.3856], [-9.55, 11.7167, 1.3856]], collide: 1}
      - {kind: loft, a: [[-9.225, 11.3917, 0.8227], [-9.225, 12.3417, 0.8227], [-9.55, 12.0167, 1.3856], [-9.55, 11.7167, 1.3856]], b: [[-8.9959, 11.4583, 0.9176], [-8.9959, 12.4083, 0.9176], [-9.1641, 12.0833, 1.5455], [-9.1641, 11.7833, 1.5455]], collide: 1}
      - {kind: loft, a: [[-8.9959, 11.4583, 0.9176], [-8.9959, 12.4083, 0.9176], [-9.1641, 12.0833, 1.5455], [-9.1641, 11.7833, 1.5455]], b: [[-8.75, 11.525, 0.95], [-8.75, 12.475, 0.95], [-8.75, 12.15, 1.6], [-8.75, 11.85, 1.6]], collide: 1}
      - {kind: loft, a: [[-8.75, 11.525, 0.95], [-8.75, 12.475, 0.95], [-8.75, 12.15, 1.6], [-8.75, 11.85, 1.6]], b: [[-8.5041, 11.5917, 0.9176], [-8.5041, 12.5417, 0.9176], [-8.3359, 12.2167, 1.5455], [-8.3359, 11.9167, 1.5455]], collide: 1}
      - {kind: loft, a: [[-8.5041, 11.5917, 0.9176], [-8.5041, 12.5417, 0.9176], [-8.3359, 12.2167, 1.5455], [-8.3359, 11.9167, 1.5455]], b: [[-8.275, 11.6583, 0.8227], [-8.275, 12.6083, 0.8227], [-7.95, 12.2833, 1.3856], [-7.95, 11.9833, 1.3856]], collide: 1}
      - {kind: loft, a: [[-8.275, 11.6583, 0.8227], [-8.275, 12.6083, 0.8227], [-7.95, 12.2833, 1.3856], [-7.95, 11.9833, 1.3856]], b: [[-8.0782, 11.725, 0.6718], [-8.0782, 12.675, 0.6718], [-7.6186, 12.35, 1.1314], [-7.6186, 12.05, 1.1314]], collide: 1}
      - {kind: loft, a: [[-8.0782, 11.725, 0.6718], [-8.0782, 12.675, 0.6718], [-7.6186, 12.35, 1.1314], [-7.6186, 12.05, 1.1314]], b: [[-7.9273, 11.7917, 0.475], [-7.9273, 12.7417, 0.475], [-7.3644, 12.4167, 0.8], [-7.3644, 12.1167, 0.8]], collide: 1}
      - {kind: loft, a: [[-7.9273, 11.7917, 0.475], [-7.9273, 12.7417, 0.475], [-7.3644, 12.4167, 0.8], [-7.3644, 12.1167, 0.8]], b: [[-7.8324, 11.8583, 0.2459], [-7.8324, 12.8083, 0.2459], [-7.2045, 12.4833, 0.4141], [-7.2045, 12.1833, 0.4141]], collide: 1}
      - {kind: loft, a: [[-7.8324, 11.8583, 0.2459], [-7.8324, 12.8083, 0.2459], [-7.2045, 12.4833, 0.4141], [-7.2045, 12.1833, 0.4141]], b: [[-7.8, 11.925, 0.0], [-7.8, 12.875, 0.0], [-7.15, 12.55, 0.0], [-7.15, 12.25, 0.0]], collide: 1}
      - {kind: loft, a: [[-7.8, 11.925, 0.0], [-7.8, 12.875, 0.0], [-7.15, 12.55, 0.0], [-7.15, 12.25, 0.0]], b: [[-7.8324, 11.9917, -0.2459], [-7.8324, 12.9417, -0.2459], [-7.2045, 12.6167, -0.4141], [-7.2045, 12.3167, -0.4141]], collide: 1}
      - {kind: loft, a: [[-7.8324, 11.9917, -0.2459], [-7.8324, 12.9417, -0.2459], [-7.2045, 12.6167, -0.4141], [-7.2045, 12.3167, -0.4141]], b: [[-7.9273, 12.0583, -0.475], [-7.9273, 13.0083, -0.475], [-7.3644, 12.6833, -0.8], [-7.3644, 12.3833, -0.8]], collide: 1}
      - {kind: loft, a: [[-7.9273, 12.0583, -0.475], [-7.9273, 13.0083, -0.475], [-7.3644, 12.6833, -0.8], [-7.3644, 12.3833, -0.8]], b: [[-8.0782, 12.125, -0.6718], [-8.0782, 13.075, -0.6718], [-7.6186, 12.75, -1.1314], [-7.6186, 12.45, -1.1314]], collide: 1}
      - {kind: loft, a: [[-8.0782, 12.125, -0.6718], [-8.0782, 13.075, -0.6718], [-7.6186, 12.75, -1.1314], [-7.6186, 12.45, -1.1314]], b: [[-8.275, 12.1917, -0.8227], [-8.275, 13.1417, -0.8227], [-7.95, 12.8167, -1.3856], [-7.95, 12.5167, -1.3856]], collide: 1}
      - {kind: loft, a: [[-8.275, 12.1917, -0.8227], [-8.275, 13.1417, -0.8227], [-7.95, 12.8167, -1.3856], [-7.95, 12.5167, -1.3856]], b: [[-8.5041, 12.2583, -0.9176], [-8.5041, 13.2083, -0.9176], [-8.3359, 12.8833, -1.5455], [-8.3359, 12.5833, -1.5455]], collide: 1}
      - {kind: loft, a: [[-8.5041, 12.2583, -0.9176], [-8.5041, 13.2083, -0.9176], [-8.3359, 12.8833, -1.5455], [-8.3359, 12.5833, -1.5455]], b: [[-8.75, 12.325, -0.95], [-8.75, 13.275, -0.95], [-8.75, 12.95, -1.6], [-8.75, 12.65, -1.6]], collide: 1}
      - {kind: loft, a: [[-8.75, 12.325, -0.95], [-8.75, 13.275, -0.95], [-8.75, 12.95, -1.6], [-8.75, 12.65, -1.6]], b: [[-8.9959, 12.3917, -0.9176], [-8.9959, 13.3417, -0.9176], [-9.1641, 13.0167, -1.5455], [-9.1641, 12.7167, -1.5455]], collide: 1}
      - {kind: loft, a: [[-8.9959, 12.3917, -0.9176], [-8.9959, 13.3417, -0.9176], [-9.1641, 13.0167, -1.5455], [-9.1641, 12.7167, -1.5455]], b: [[-9.225, 12.4583, -0.8227], [-9.225, 13.4083, -0.8227], [-9.55, 13.0833, -1.3856], [-9.55, 12.7833, -1.3856]], collide: 1}
      - {kind: loft, a: [[-9.225, 12.4583, -0.8227], [-9.225, 13.4083, -0.8227], [-9.55, 13.0833, -1.3856], [-9.55, 12.7833, -1.3856]], b: [[-9.4218, 12.525, -0.6718], [-9.4218, 13.475, -0.6718], [-9.8814, 13.15, -1.1314], [-9.8814, 12.85, -1.1314]], collide: 1}
      - {kind: loft, a: [[-9.4218, 12.525, -0.6718], [-9.4218, 13.475, -0.6718], [-9.8814, 13.15, -1.1314], [-9.8814, 12.85, -1.1314]], b: [[-9.5727, 12.5917, -0.475], [-9.5727, 13.5417, -0.475], [-10.1356, 13.2167, -0.8], [-10.1356, 12.9167, -0.8]], collide: 1}
      - {kind: loft, a: [[-9.5727, 12.5917, -0.475], [-9.5727, 13.5417, -0.475], [-10.1356, 13.2167, -0.8], [-10.1356, 12.9167, -0.8]], b: [[-9.6676, 12.6583, -0.2459], [-9.6676, 13.6083, -0.2459], [-10.2955, 13.2833, -0.4141], [-10.2955, 12.9833, -0.4141]], collide: 1}
      - {kind: loft, a: [[-9.6676, 12.6583, -0.2459], [-9.6676, 13.6083, -0.2459], [-10.2955, 13.2833, -0.4141], [-10.2955, 12.9833, -0.4141]], b: [[-9.7, 12.725, -0.0], [-9.7, 13.675, -0.0], [-10.35, 13.35, -0.0], [-10.35, 13.05, -0.0]], collide: 1}
      - {kind: loft, a: [[-9.7, 12.725, -0.0], [-9.7, 13.675, -0.0], [-10.35, 13.35, -0.0], [-10.35, 13.05, -0.0]], b: [[-9.6676, 12.7917, 0.2459], [-9.6676, 13.7417, 0.2459], [-10.2955, 13.4167, 0.4141], [-10.2955, 13.1167, 0.4141]], collide: 1}
      - {kind: loft, a: [[-9.6676, 12.7917, 0.2459], [-9.6676, 13.7417, 0.2459], [-10.2955, 13.4167, 0.4141], [-10.2955, 13.1167, 0.4141]], b: [[-9.5727, 12.8583, 0.475], [-9.5727, 13.8083, 0.475], [-10.1356, 13.4833, 0.8], [-10.1356, 13.1833, 0.8]], collide: 1}
      - {kind: loft, a: [[-9.5727, 12.8583, 0.475], [-9.5727, 13.8083, 0.475], [-10.1356, 13.4833, 0.8], [-10.1356, 13.1833, 0.8]], b: [[-9.4218, 12.925, 0.6718], [-9.4218, 13.875, 0.6718], [-9.8814, 13.55, 1.1314], [-9.8814, 13.25, 1.1314]], collide: 1}
      - {kind: loft, a: [[-9.4218, 12.925, 0.6718], [-9.4218, 13.875, 0.6718], [-9.8814, 13.55, 1.1314], [-9.8814, 13.25, 1.1314]], b: [[-9.225, 12.9917, 0.8227], [-9.225, 13.9417, 0.8227], [-9.55, 13.6167, 1.3856], [-9.55, 13.3167, 1.3856]], collide: 1}
      - {kind: loft, a: [[-9.225, 12.9917, 0.8227], [-9.225, 13.9417, 0.8227], [-9.55, 13.6167, 1.3856], [-9.55, 13.3167, 1.3856]], b: [[-8.9959, 13.0583, 0.9176], [-8.9959, 14.0083, 0.9176], [-9.1641, 13.6833, 1.5455], [-9.1641, 13.3833, 1.5455]], collide: 1}
      - {kind: loft, a: [[-8.9959, 13.0583, 0.9176], [-8.9959, 14.0083, 0.9176], [-9.1641, 13.6833, 1.5455], [-9.1641, 13.3833, 1.5455]], b: [[-8.75, 13.125, 0.95], [-8.75, 14.075, 0.95], [-8.75, 13.75, 1.6], [-8.75, 13.45, 1.6]], collide: 1}
  - id: blank
    shape: part
    pos: [8.75, 0, 0]
    density: 7800
    friction: 0.1
    color: "#d9cfb6"
    pieces:
      - {kind: rod, from: [8.75, -4.0, 0], to: [8.75, 13.9, 0], radius: 0.7, collide: 0}   # its shaft
      - {kind: rod, from: [8.75, 0.89, 0], to: [8.75, 13.6, 0], radius: 1.6, collide: 0, color: "#c9bfa6"}   # the blank to be cut
  - id: carriage
    shape: part
    pos: [-8.75, 1.39, 0]
    density: 2700
    friction: 0.1
    color: "#b8ad97"
    pieces:
      - {kind: poly, points: [[-9.95, 2.0], [-7.55, 2.0], [-7.55, 3.2], [-9.95, 3.2]], y: [1.39, 8.21], collide: 0}
      - {kind: poly, points: [[-9.95, -3.2], [-7.55, -3.2], [-7.55, -2.0], [-9.95, -2.0]], y: [1.39, 8.21], collide: 0}
      - {kind: poly, points: [[-7.15, -3.2], [-6.35, -3.2], [-6.35, 3.2], [-7.15, 3.2]], y: [1.39, 8.21], collide: 0}
      - {kind: poly, points: [[-9.95, 4.4], [9.35, 4.4], [9.35, 5.2], [-9.95, 5.2]], y: [3.8, 5.8], collide: 0}
      - {kind: poly, points: [[-9.95, 3.2], [-7.75, 3.2], [-7.75, 5.2], [-9.95, 5.2]], y: [3.8, 5.8], collide: 0}
      - {kind: poly, points: [[8.45, 1.7], [9.05, 1.7], [9.05, 4.4], [8.45, 4.4]], y: [4.5, 5.1], collide: 0, color: "#8f8a80"}
      - {kind: poly, points: [[-9.65, -4.4], [-7.85, -4.4], [-7.85, -3.2], [-9.65, -3.2]], y: [1.99, 7.61], collide: 0}
      - {kind: loft, a: [[-8.75, 1.69, -1.8], [-8.75, 3.11, -1.8], [-8.75, 2.735, -1.05], [-8.75, 2.065, -1.05]], b: [[-9.2159, 1.7567, -1.7387], [-9.2159, 3.1767, -1.7387], [-9.0218, 2.8017, -1.0142], [-9.0218, 2.1317, -1.0142]], collide: 2}
      - {kind: loft, a: [[-9.2159, 1.7567, -1.7387], [-9.2159, 3.1767, -1.7387], [-9.0218, 2.8017, -1.0142], [-9.0218, 2.1317, -1.0142]], b: [[-9.65, 1.8233, -1.5588], [-9.65, 3.2433, -1.5588], [-9.275, 2.8683, -0.9093], [-9.275, 2.1983, -0.9093]], collide: 2}
      - {kind: loft, a: [[-9.65, 1.8233, -1.5588], [-9.65, 3.2433, -1.5588], [-9.275, 2.8683, -0.9093], [-9.275, 2.1983, -0.9093]], b: [[-10.0228, 1.89, -1.2728], [-10.0228, 3.31, -1.2728], [-9.4925, 2.935, -0.7425], [-9.4925, 2.265, -0.7425]], collide: 2}
      - {kind: loft, a: [[-10.0228, 1.89, -1.2728], [-10.0228, 3.31, -1.2728], [-9.4925, 2.935, -0.7425], [-9.4925, 2.265, -0.7425]], b: [[-10.3088, 1.9567, -0.9], [-10.3088, 3.3767, -0.9], [-9.6593, 3.0017, -0.525], [-9.6593, 2.3317, -0.525]], collide: 2}
      - {kind: loft, a: [[-10.3088, 1.9567, -0.9], [-10.3088, 3.3767, -0.9], [-9.6593, 3.0017, -0.525], [-9.6593, 2.3317, -0.525]], b: [[-10.4887, 2.0233, -0.4659], [-10.4887, 3.4433, -0.4659], [-9.7642, 3.0683, -0.2718], [-9.7642, 2.3983, -0.2718]], collide: 2}
      - {kind: loft, a: [[-10.4887, 2.0233, -0.4659], [-10.4887, 3.4433, -0.4659], [-9.7642, 3.0683, -0.2718], [-9.7642, 2.3983, -0.2718]], b: [[-10.55, 2.09, -0.0], [-10.55, 3.51, -0.0], [-9.8, 3.135, -0.0], [-9.8, 2.465, -0.0]], collide: 2}
      - {kind: loft, a: [[-10.55, 2.09, -0.0], [-10.55, 3.51, -0.0], [-9.8, 3.135, -0.0], [-9.8, 2.465, -0.0]], b: [[-10.4887, 2.1567, 0.4659], [-10.4887, 3.5767, 0.4659], [-9.7642, 3.2017, 0.2718], [-9.7642, 2.5317, 0.2718]], collide: 2}
      - {kind: loft, a: [[-10.4887, 2.1567, 0.4659], [-10.4887, 3.5767, 0.4659], [-9.7642, 3.2017, 0.2718], [-9.7642, 2.5317, 0.2718]], b: [[-10.3088, 2.2233, 0.9], [-10.3088, 3.6433, 0.9], [-9.6593, 3.2683, 0.525], [-9.6593, 2.5983, 0.525]], collide: 2}
      - {kind: loft, a: [[-10.3088, 2.2233, 0.9], [-10.3088, 3.6433, 0.9], [-9.6593, 3.2683, 0.525], [-9.6593, 2.5983, 0.525]], b: [[-10.0228, 2.29, 1.2728], [-10.0228, 3.71, 1.2728], [-9.4925, 3.335, 0.7425], [-9.4925, 2.665, 0.7425]], collide: 2}
      - {kind: loft, a: [[-10.0228, 2.29, 1.2728], [-10.0228, 3.71, 1.2728], [-9.4925, 3.335, 0.7425], [-9.4925, 2.665, 0.7425]], b: [[-9.65, 2.3567, 1.5588], [-9.65, 3.7767, 1.5588], [-9.275, 3.4017, 0.9093], [-9.275, 2.7317, 0.9093]], collide: 2}
      - {kind: loft, a: [[-9.65, 2.3567, 1.5588], [-9.65, 3.7767, 1.5588], [-9.275, 3.4017, 0.9093], [-9.275, 2.7317, 0.9093]], b: [[-9.2159, 2.4233, 1.7387], [-9.2159, 3.8433, 1.7387], [-9.0218, 3.4683, 1.0142], [-9.0218, 2.7983, 1.0142]], collide: 2}
      - {kind: loft, a: [[-9.2159, 2.4233, 1.7387], [-9.2159, 3.8433, 1.7387], [-9.0218, 3.4683, 1.0142], [-9.0218, 2.7983, 1.0142]], b: [[-8.75, 2.49, 1.8], [-8.75, 3.91, 1.8], [-8.75, 3.535, 1.05], [-8.75, 2.865, 1.05]], collide: 2}
      - {kind: loft, a: [[-8.75, 2.49, 1.8], [-8.75, 3.91, 1.8], [-8.75, 3.535, 1.05], [-8.75, 2.865, 1.05]], b: [[-8.2841, 2.5567, 1.7387], [-8.2841, 3.9767, 1.7387], [-8.4782, 3.6017, 1.0142], [-8.4782, 2.9317, 1.0142]], collide: 2}
      - {kind: loft, a: [[-8.2841, 2.5567, 1.7387], [-8.2841, 3.9767, 1.7387], [-8.4782, 3.6017, 1.0142], [-8.4782, 2.9317, 1.0142]], b: [[-7.85, 2.6233, 1.5588], [-7.85, 4.0433, 1.5588], [-8.225, 3.6683, 0.9093], [-8.225, 2.9983, 0.9093]], collide: 2}
      - {kind: loft, a: [[-7.85, 2.6233, 1.5588], [-7.85, 4.0433, 1.5588], [-8.225, 3.6683, 0.9093], [-8.225, 2.9983, 0.9093]], b: [[-7.4772, 2.69, 1.2728], [-7.4772, 4.11, 1.2728], [-8.0075, 3.735, 0.7425], [-8.0075, 3.065, 0.7425]], collide: 2}
      - {kind: loft, a: [[-7.4772, 2.69, 1.2728], [-7.4772, 4.11, 1.2728], [-8.0075, 3.735, 0.7425], [-8.0075, 3.065, 0.7425]], b: [[-7.1912, 2.7567, 0.9], [-7.1912, 4.1767, 0.9], [-7.8407, 3.8017, 0.525], [-7.8407, 3.1317, 0.525]], collide: 2}
      - {kind: loft, a: [[-7.1912, 2.7567, 0.9], [-7.1912, 4.1767, 0.9], [-7.8407, 3.8017, 0.525], [-7.8407, 3.1317, 0.525]], b: [[-7.0113, 2.8233, 0.4659], [-7.0113, 4.2433, 0.4659], [-7.7358, 3.8683, 0.2718], [-7.7358, 3.1983, 0.2718]], collide: 2}
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      - {kind: loft, a: [[-7.4772, 6.29, -1.2728], [-7.4772, 7.71, -1.2728], [-8.0075, 7.335, -0.7425], [-8.0075, 6.665, -0.7425]], b: [[-7.85, 6.3567, -1.5588], [-7.85, 7.7767, -1.5588], [-8.225, 7.4017, -0.9093], [-8.225, 6.7317, -0.9093]], collide: 2}
      - {kind: loft, a: [[-7.85, 6.3567, -1.5588], [-7.85, 7.7767, -1.5588], [-8.225, 7.4017, -0.9093], [-8.225, 6.7317, -0.9093]], b: [[-8.2841, 6.4233, -1.7387], [-8.2841, 7.8433, -1.7387], [-8.4782, 7.4683, -1.0142], [-8.4782, 6.7983, -1.0142]], collide: 2}
      - {kind: loft, a: [[-8.2841, 6.4233, -1.7387], [-8.2841, 7.8433, -1.7387], [-8.4782, 7.4683, -1.0142], [-8.4782, 6.7983, -1.0142]], b: [[-8.75, 6.49, -1.8], [-8.75, 7.91, -1.8], [-8.75, 7.535, -1.05], [-8.75, 6.865, -1.05]], collide: 2}
  - id: frame
    shape: part
    pos: [0, 0, 0]
    fixed: true
    color: "#cfc6b4"
    pieces:
      - {kind: poly, points: [[-11.75, -6.6], [11.75, -6.6], [11.75, -5.4], [-11.75, -5.4]], y: [-4.4, 15.7], collide: 0, color: "#b9b09c"}
      - {kind: poly, points: [[-9.75, -5.4], [-7.75, -5.4], [-7.75, -4.4], [-9.75, -4.4]], y: [-2.5, 15.1], collide: 0}
      - {kind: poly, points: [[-10.35, -5.4], [10.35, -5.4], [10.35, -1.4], [-10.35, -1.4]], y: [-4.4, -3.7], collide: 0}
      - {kind: poly, points: [[-10.35, -5.4], [10.35, -5.4], [10.35, -1.4], [-10.35, -1.4]], y: [14.3, 15.0], collide: 0}
joints:
  - {id: j_l, type: hinge, body: lead, axis: [0, 1, 0], damping: 0.002}   # the one driven joint: the lead-screw on its axis
  - {id: j_r, type: hinge, body: blank, axis: [0, 1, 0], damping: 0.05}   # the screw to be cut, turned only by the change wheels
  - {id: j_y, type: slide, body: carriage, axis: [0, 1, 0], range: [-0.4, 5.29], stiffness: 5.0, springref: -40, damping: 0.05}   # the carriage on its rail; + : away from the wheels
spurs:
  - {id: w1, body: lead, pos: [0, -1.6, 0], teeth: 30, module: 0.5, width: 2.4, backlash: 0.02, phase: 0}
  - {id: w2, body: blank, pos: [0, -1.6, 0], teeth: 40, module: 0.5, width: 2.4, backlash: 0.02, phase: 0.0785398}
contact: {solref: [0.002, 1], solimp: [0.95, 0.99, 0.0005], margin: 0}
driver: {joint: j_l, kind: velocity, rpm: -16.0, kv: 0.3, max_torque: 3}
checks:
  - {type: follow, out: j_y, in: j_l, expect: -0.002546, tol: 7.6e-05, min_r2: 0.995, settle_s: 1.0, window_s: 3.0}   # the cutter runs 1.6 cm a turn of the lead-screw
  - {type: follow, out: j_y, in: j_l, expect: -0.002546, tol: 7.6e-05, min_r2: 0.995, settle_s: 5.0, window_s: 3.0}
  - {type: ratio, out: j_r, in: j_l, expect: -0.75, tol: 0.015, settle_s: 1.5, window_s: 2.0}   # the change wheels, 30 to 40
  - {type: follow, out: j_y, in: j_r, expect: 0.003395, tol: 0.000102, min_r2: 0.995, settle_s: 1.0, window_s: 3.0}   # the pitch it would cut: 2.133 cm a turn of the cut screw
  - {type: follow, out: j_y, in: j_r, expect: 0.003395, tol: 0.000102, min_r2: 0.995, settle_s: 5.0, window_s: 3.0}
  - {type: position, joint: j_y, min: -0.05, max: 5.09, settle_s: 0.5, window_s: 9}
camera: {target: [0, 4.95, 0], position: [-58.0, -9.05, 34.0], fov: 34}
display:
  output: j_y
  labels: {j_l: "Lead-screw (driver)", j_r: "Screw to be cut", j_y: "Cutter"}
  proof: {label: "Threads out of contact", sub: "the lead-screw turns but the cutter stands"}