# No. 110 (Brown 1868): "Uniform circular into uniform rectilinear motion; used in spooling-frames for leading or guiding the thread on to the spools.
# The roller is divided into two parts, each having a fine screw thread cut upon it, one a right and the other a left hand screw. The spindle parallel with the roller
# has arms which carry two half-nuts, fitted to the screws, one over and the other under the roller. When one half-nut is in, the other is out of gear.
# By pressing the lever to the right or left, the rod is made to traverse in either direction."
#
# Model (cm): the roller lies along x in its two plates and turns on its axis (the one driven joint, 16 turns a minute): its left part has a right-hand screw, its
# right part a left-hand screw, both of pitch 1.6, 7 turns each. The traverse rod runs on its own bearings under the roller (a slide, along x) and carries the two arms.
# Each arm ends in a half-nut (3 turns, 140 degrees of the circle, 0.04 cm clear each flank): the upper one over the left screw, the lower one under the right
# screw. The arms rise and fall together by 1.0 cm on the rod (the lever, a slide with its stops): down, the upper half-nut is in gear and the lower out; up, the other way
# about. The operator's hand (the springs' set point) throws the lever at 6 s. In gear, a half-nut by real flank contact draws the rod 1.6 cm a turn of the roller, to the right on the
# right-hand screw, back on the left-hand one. A weak spring (the load) keeps the flanks loaded. Generator: opencode-runs/batch9/gen110.py.
number: 110
slug: spooling-frame-traverse
name: A roller with two screws traversing a rod by half-nuts
brown: "Uniform circular into uniform rectilinear motion; used in spooling-frames for leading or guiding the thread on to the spools. The roller is divided into two parts, each having a fine screw thread cut upon it, one a right and the other a left hand screw. The spindle parallel with the roller has arms which carry two half-nuts, fitted to the screws, one over and the other under the roller. When one half-nut is in, the other is out of gear. By pressing the lever to the right or left, the rod is made to traverse in either direction."
units: cm
sim:
  timestep: 0.0002
  integrator: implicitfast
  iterations: 100
  solver: CG
  multiccd: true
  duration_s: 12
  floor: false
bodies:
  - id: roller
    shape: part
    pos: [0, 0, 0]
    density: 7800
    friction: 0.1
    color: "#e4d9bf"
    pieces:
      - {kind: rod, from: [-2.4, 0, 0], to: [29.8, 0, 0], radius: 1.0, collide: 0}   # the roller's core, through both screws
      - {kind: loft, a: [[0.525, 0.95, 0.0], [1.475, 0.95, 0.0], [1.15, 1.6, 0.0], [0.85, 1.6, 0.0]], b: [[0.5917, 0.9176, 0.2459], [1.5417, 0.9176, 0.2459], [1.2167, 1.5455, 0.4141], [0.9167, 1.5455, 0.4141]], collide: 1}
      - {kind: loft, a: [[0.5917, 0.9176, 0.2459], [1.5417, 0.9176, 0.2459], [1.2167, 1.5455, 0.4141], [0.9167, 1.5455, 0.4141]], b: [[0.6583, 0.8227, 0.475], [1.6083, 0.8227, 0.475], [1.2833, 1.3856, 0.8], [0.9833, 1.3856, 0.8]], collide: 1}
      - {kind: loft, a: [[0.6583, 0.8227, 0.475], [1.6083, 0.8227, 0.475], [1.2833, 1.3856, 0.8], [0.9833, 1.3856, 0.8]], b: [[0.725, 0.6718, 0.6718], [1.675, 0.6718, 0.6718], [1.35, 1.1314, 1.1314], [1.05, 1.1314, 1.1314]], collide: 1}
      - {kind: loft, a: [[0.725, 0.6718, 0.6718], [1.675, 0.6718, 0.6718], [1.35, 1.1314, 1.1314], [1.05, 1.1314, 1.1314]], b: [[0.7917, 0.475, 0.8227], [1.7417, 0.475, 0.8227], [1.4167, 0.8, 1.3856], [1.1167, 0.8, 1.3856]], collide: 1}
      - {kind: loft, a: [[0.7917, 0.475, 0.8227], [1.7417, 0.475, 0.8227], [1.4167, 0.8, 1.3856], [1.1167, 0.8, 1.3856]], b: [[0.8583, 0.2459, 0.9176], [1.8083, 0.2459, 0.9176], [1.4833, 0.4141, 1.5455], [1.1833, 0.4141, 1.5455]], collide: 1}
      - {kind: loft, a: [[0.8583, 0.2459, 0.9176], [1.8083, 0.2459, 0.9176], [1.4833, 0.4141, 1.5455], [1.1833, 0.4141, 1.5455]], b: [[0.925, 0.0, 0.95], [1.875, 0.0, 0.95], [1.55, 0.0, 1.6], [1.25, 0.0, 1.6]], collide: 1}
      - {kind: loft, a: [[0.925, 0.0, 0.95], [1.875, 0.0, 0.95], [1.55, 0.0, 1.6], [1.25, 0.0, 1.6]], b: [[0.9917, -0.2459, 0.9176], [1.9417, -0.2459, 0.9176], [1.6167, -0.4141, 1.5455], [1.3167, -0.4141, 1.5455]], collide: 1}
      - {kind: loft, a: [[0.9917, -0.2459, 0.9176], [1.9417, -0.2459, 0.9176], [1.6167, -0.4141, 1.5455], [1.3167, -0.4141, 1.5455]], b: [[1.0583, -0.475, 0.8227], [2.0083, -0.475, 0.8227], [1.6833, -0.8, 1.3856], [1.3833, -0.8, 1.3856]], collide: 1}
      - {kind: loft, a: [[1.0583, -0.475, 0.8227], [2.0083, -0.475, 0.8227], [1.6833, -0.8, 1.3856], [1.3833, -0.8, 1.3856]], b: [[1.125, -0.6718, 0.6718], [2.075, -0.6718, 0.6718], [1.75, -1.1314, 1.1314], [1.45, -1.1314, 1.1314]], collide: 1}
      - {kind: loft, a: [[1.125, -0.6718, 0.6718], [2.075, -0.6718, 0.6718], [1.75, -1.1314, 1.1314], [1.45, -1.1314, 1.1314]], b: [[1.1917, -0.8227, 0.475], [2.1417, -0.8227, 0.475], [1.8167, -1.3856, 0.8], [1.5167, -1.3856, 0.8]], collide: 1}
      - {kind: loft, a: [[1.1917, -0.8227, 0.475], [2.1417, -0.8227, 0.475], [1.8167, -1.3856, 0.8], [1.5167, -1.3856, 0.8]], b: [[1.2583, -0.9176, 0.2459], [2.2083, -0.9176, 0.2459], [1.8833, -1.5455, 0.4141], [1.5833, -1.5455, 0.4141]], collide: 1}
      - {kind: loft, a: [[1.2583, -0.9176, 0.2459], [2.2083, -0.9176, 0.2459], [1.8833, -1.5455, 0.4141], [1.5833, -1.5455, 0.4141]], b: [[1.325, -0.95, 0.0], [2.275, -0.95, 0.0], [1.95, -1.6, 0.0], [1.65, -1.6, 0.0]], collide: 1}
      - {kind: loft, a: [[1.325, -0.95, 0.0], [2.275, -0.95, 0.0], [1.95, -1.6, 0.0], [1.65, -1.6, 0.0]], b: [[1.3917, -0.9176, -0.2459], [2.3417, -0.9176, -0.2459], [2.0167, -1.5455, -0.4141], [1.7167, -1.5455, -0.4141]], collide: 1}
      - {kind: loft, a: [[1.3917, -0.9176, -0.2459], [2.3417, -0.9176, -0.2459], [2.0167, -1.5455, -0.4141], [1.7167, -1.5455, -0.4141]], b: [[1.4583, -0.8227, -0.475], [2.4083, -0.8227, -0.475], [2.0833, -1.3856, -0.8], [1.7833, -1.3856, -0.8]], collide: 1}
      - {kind: loft, a: [[1.4583, -0.8227, -0.475], [2.4083, -0.8227, -0.475], [2.0833, -1.3856, -0.8], [1.7833, -1.3856, -0.8]], b: [[1.525, -0.6718, -0.6718], [2.475, -0.6718, -0.6718], [2.15, -1.1314, -1.1314], [1.85, -1.1314, -1.1314]], collide: 1}
      - {kind: loft, a: [[1.525, -0.6718, -0.6718], [2.475, -0.6718, -0.6718], [2.15, -1.1314, -1.1314], [1.85, -1.1314, -1.1314]], b: [[1.5917, -0.475, -0.8227], [2.5417, -0.475, -0.8227], [2.2167, -0.8, -1.3856], [1.9167, -0.8, -1.3856]], collide: 1}
      - {kind: loft, a: [[1.5917, -0.475, -0.8227], [2.5417, -0.475, -0.8227], [2.2167, -0.8, -1.3856], [1.9167, -0.8, -1.3856]], b: [[1.6583, -0.2459, -0.9176], [2.6083, -0.2459, -0.9176], [2.2833, -0.4141, -1.5455], [1.9833, -0.4141, -1.5455]], collide: 1}
      - {kind: loft, a: [[1.6583, -0.2459, -0.9176], [2.6083, -0.2459, -0.9176], [2.2833, -0.4141, -1.5455], [1.9833, -0.4141, -1.5455]], b: [[1.725, -0.0, -0.95], [2.675, -0.0, -0.95], [2.35, -0.0, -1.6], [2.05, -0.0, -1.6]], collide: 1}
      - {kind: loft, a: [[1.725, -0.0, -0.95], [2.675, -0.0, -0.95], [2.35, -0.0, -1.6], [2.05, -0.0, -1.6]], b: [[1.7917, 0.2459, -0.9176], [2.7417, 0.2459, -0.9176], [2.4167, 0.4141, -1.5455], [2.1167, 0.4141, -1.5455]], collide: 1}
      - {kind: loft, a: [[1.7917, 0.2459, -0.9176], [2.7417, 0.2459, -0.9176], [2.4167, 0.4141, -1.5455], [2.1167, 0.4141, -1.5455]], b: [[1.8583, 0.475, -0.8227], [2.8083, 0.475, -0.8227], [2.4833, 0.8, -1.3856], [2.1833, 0.8, -1.3856]], collide: 1}
      - {kind: loft, a: [[1.8583, 0.475, -0.8227], [2.8083, 0.475, -0.8227], [2.4833, 0.8, -1.3856], [2.1833, 0.8, -1.3856]], b: [[1.925, 0.6718, -0.6718], [2.875, 0.6718, -0.6718], [2.55, 1.1314, -1.1314], [2.25, 1.1314, -1.1314]], collide: 1}
      - {kind: loft, a: [[1.925, 0.6718, -0.6718], [2.875, 0.6718, -0.6718], [2.55, 1.1314, -1.1314], [2.25, 1.1314, -1.1314]], b: [[1.9917, 0.8227, -0.475], [2.9417, 0.8227, -0.475], [2.6167, 1.3856, -0.8], [2.3167, 1.3856, -0.8]], collide: 1}
      - {kind: loft, a: [[1.9917, 0.8227, -0.475], [2.9417, 0.8227, -0.475], [2.6167, 1.3856, -0.8], [2.3167, 1.3856, -0.8]], b: [[2.0583, 0.9176, -0.2459], [3.0083, 0.9176, -0.2459], [2.6833, 1.5455, -0.4141], [2.3833, 1.5455, -0.4141]], collide: 1}
      - {kind: loft, a: [[2.0583, 0.9176, -0.2459], [3.0083, 0.9176, -0.2459], [2.6833, 1.5455, -0.4141], [2.3833, 1.5455, -0.4141]], b: [[2.125, 0.95, -0.0], [3.075, 0.95, -0.0], [2.75, 1.6, -0.0], [2.45, 1.6, -0.0]], collide: 1}
      - {kind: loft, a: [[2.125, 0.95, -0.0], [3.075, 0.95, -0.0], [2.75, 1.6, -0.0], [2.45, 1.6, -0.0]], b: [[2.1917, 0.9176, 0.2459], [3.1417, 0.9176, 0.2459], [2.8167, 1.5455, 0.4141], [2.5167, 1.5455, 0.4141]], collide: 1}
      - {kind: loft, a: [[2.1917, 0.9176, 0.2459], [3.1417, 0.9176, 0.2459], [2.8167, 1.5455, 0.4141], [2.5167, 1.5455, 0.4141]], b: [[2.2583, 0.8227, 0.475], [3.2083, 0.8227, 0.475], [2.8833, 1.3856, 0.8], [2.5833, 1.3856, 0.8]], collide: 1}
      - {kind: loft, a: [[2.2583, 0.8227, 0.475], [3.2083, 0.8227, 0.475], [2.8833, 1.3856, 0.8], [2.5833, 1.3856, 0.8]], b: [[2.325, 0.6718, 0.6718], [3.275, 0.6718, 0.6718], [2.95, 1.1314, 1.1314], [2.65, 1.1314, 1.1314]], collide: 1}
      - {kind: loft, a: [[2.325, 0.6718, 0.6718], [3.275, 0.6718, 0.6718], [2.95, 1.1314, 1.1314], [2.65, 1.1314, 1.1314]], b: [[2.3917, 0.475, 0.8227], [3.3417, 0.475, 0.8227], [3.0167, 0.8, 1.3856], [2.7167, 0.8, 1.3856]], collide: 1}
      - {kind: loft, a: [[2.3917, 0.475, 0.8227], [3.3417, 0.475, 0.8227], [3.0167, 0.8, 1.3856], [2.7167, 0.8, 1.3856]], b: [[2.4583, 0.2459, 0.9176], [3.4083, 0.2459, 0.9176], [3.0833, 0.4141, 1.5455], [2.7833, 0.4141, 1.5455]], collide: 1}
      - {kind: loft, a: [[2.4583, 0.2459, 0.9176], [3.4083, 0.2459, 0.9176], [3.0833, 0.4141, 1.5455], [2.7833, 0.4141, 1.5455]], b: [[2.525, 0.0, 0.95], [3.475, 0.0, 0.95], [3.15, 0.0, 1.6], [2.85, 0.0, 1.6]], collide: 1}
      - {kind: loft, a: [[2.525, 0.0, 0.95], [3.475, 0.0, 0.95], [3.15, 0.0, 1.6], [2.85, 0.0, 1.6]], b: [[2.5917, -0.2459, 0.9176], [3.5417, -0.2459, 0.9176], [3.2167, -0.4141, 1.5455], [2.9167, -0.4141, 1.5455]], collide: 1}
      - {kind: loft, a: [[2.5917, -0.2459, 0.9176], [3.5417, -0.2459, 0.9176], [3.2167, -0.4141, 1.5455], [2.9167, -0.4141, 1.5455]], b: [[2.6583, -0.475, 0.8227], [3.6083, -0.475, 0.8227], [3.2833, -0.8, 1.3856], [2.9833, -0.8, 1.3856]], collide: 1}
      - {kind: loft, a: [[2.6583, -0.475, 0.8227], [3.6083, -0.475, 0.8227], [3.2833, -0.8, 1.3856], [2.9833, -0.8, 1.3856]], b: [[2.725, -0.6718, 0.6718], [3.675, -0.6718, 0.6718], [3.35, -1.1314, 1.1314], [3.05, -1.1314, 1.1314]], collide: 1}
      - {kind: loft, a: [[2.725, -0.6718, 0.6718], [3.675, -0.6718, 0.6718], [3.35, -1.1314, 1.1314], [3.05, -1.1314, 1.1314]], b: [[2.7917, -0.8227, 0.475], [3.7417, -0.8227, 0.475], [3.4167, -1.3856, 0.8], [3.1167, -1.3856, 0.8]], collide: 1}
      - {kind: loft, a: [[2.7917, -0.8227, 0.475], [3.7417, -0.8227, 0.475], [3.4167, -1.3856, 0.8], [3.1167, -1.3856, 0.8]], b: [[2.8583, -0.9176, 0.2459], [3.8083, -0.9176, 0.2459], [3.4833, -1.5455, 0.4141], [3.1833, -1.5455, 0.4141]], collide: 1}
      - {kind: loft, a: [[2.8583, -0.9176, 0.2459], [3.8083, -0.9176, 0.2459], [3.4833, -1.5455, 0.4141], [3.1833, -1.5455, 0.4141]], b: [[2.925, -0.95, 0.0], [3.875, -0.95, 0.0], [3.55, -1.6, 0.0], [3.25, -1.6, 0.0]], collide: 1}
      - {kind: loft, a: [[2.925, -0.95, 0.0], [3.875, -0.95, 0.0], [3.55, -1.6, 0.0], [3.25, -1.6, 0.0]], b: [[2.9917, -0.9176, -0.2459], [3.9417, -0.9176, -0.2459], [3.6167, -1.5455, -0.4141], [3.3167, -1.5455, -0.4141]], collide: 1}
      - {kind: loft, a: [[2.9917, -0.9176, -0.2459], [3.9417, -0.9176, -0.2459], [3.6167, -1.5455, -0.4141], [3.3167, -1.5455, -0.4141]], b: [[3.0583, -0.8227, -0.475], [4.0083, -0.8227, -0.475], [3.6833, -1.3856, -0.8], [3.3833, -1.3856, -0.8]], collide: 1}
      - {kind: loft, a: [[3.0583, -0.8227, -0.475], [4.0083, -0.8227, -0.475], [3.6833, -1.3856, -0.8], [3.3833, -1.3856, -0.8]], b: [[3.125, -0.6718, -0.6718], [4.075, -0.6718, -0.6718], [3.75, -1.1314, -1.1314], [3.45, -1.1314, -1.1314]], collide: 1}
      - {kind: loft, a: [[3.125, -0.6718, -0.6718], [4.075, -0.6718, -0.6718], [3.75, -1.1314, -1.1314], [3.45, -1.1314, -1.1314]], b: [[3.1917, -0.475, -0.8227], [4.1417, -0.475, -0.8227], [3.8167, -0.8, -1.3856], [3.5167, -0.8, -1.3856]], collide: 1}
      - {kind: loft, a: [[3.1917, -0.475, -0.8227], [4.1417, -0.475, -0.8227], [3.8167, -0.8, -1.3856], [3.5167, -0.8, -1.3856]], b: [[3.2583, -0.2459, -0.9176], [4.2083, -0.2459, -0.9176], [3.8833, -0.4141, -1.5455], [3.5833, -0.4141, -1.5455]], collide: 1}
      - {kind: loft, a: [[3.2583, -0.2459, -0.9176], [4.2083, -0.2459, -0.9176], [3.8833, -0.4141, -1.5455], [3.5833, -0.4141, -1.5455]], b: [[3.325, -0.0, -0.95], [4.275, -0.0, -0.95], [3.95, -0.0, -1.6], [3.65, -0.0, -1.6]], collide: 1}
      - {kind: loft, a: [[3.325, -0.0, -0.95], [4.275, -0.0, -0.95], [3.95, -0.0, -1.6], [3.65, -0.0, -1.6]], b: [[3.3917, 0.2459, -0.9176], [4.3417, 0.2459, -0.9176], [4.0167, 0.4141, -1.5455], [3.7167, 0.4141, -1.5455]], collide: 1}
      - {kind: loft, a: [[3.3917, 0.2459, -0.9176], [4.3417, 0.2459, -0.9176], [4.0167, 0.4141, -1.5455], [3.7167, 0.4141, -1.5455]], b: [[3.4583, 0.475, -0.8227], [4.4083, 0.475, -0.8227], [4.0833, 0.8, -1.3856], [3.7833, 0.8, -1.3856]], collide: 1}
      - {kind: loft, a: [[3.4583, 0.475, -0.8227], [4.4083, 0.475, -0.8227], [4.0833, 0.8, -1.3856], [3.7833, 0.8, -1.3856]], b: [[3.525, 0.6718, -0.6718], [4.475, 0.6718, -0.6718], [4.15, 1.1314, -1.1314], [3.85, 1.1314, -1.1314]], collide: 1}
      - {kind: loft, a: [[3.525, 0.6718, -0.6718], [4.475, 0.6718, -0.6718], [4.15, 1.1314, -1.1314], [3.85, 1.1314, -1.1314]], b: [[3.5917, 0.8227, -0.475], [4.5417, 0.8227, -0.475], [4.2167, 1.3856, -0.8], [3.9167, 1.3856, -0.8]], collide: 1}
      - {kind: loft, a: [[3.5917, 0.8227, -0.475], [4.5417, 0.8227, -0.475], [4.2167, 1.3856, -0.8], [3.9167, 1.3856, -0.8]], b: [[3.6583, 0.9176, -0.2459], [4.6083, 0.9176, -0.2459], [4.2833, 1.5455, -0.4141], [3.9833, 1.5455, -0.4141]], collide: 1}
      - {kind: loft, a: [[3.6583, 0.9176, -0.2459], [4.6083, 0.9176, -0.2459], [4.2833, 1.5455, -0.4141], [3.9833, 1.5455, -0.4141]], b: [[3.725, 0.95, -0.0], [4.675, 0.95, -0.0], [4.35, 1.6, -0.0], [4.05, 1.6, -0.0]], collide: 1}
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      - {kind: loft, a: [[17.0583, 0.475, 0.8227], [18.0083, 0.475, 0.8227], [17.6833, 0.8, 1.3856], [17.3833, 0.8, 1.3856]], b: [[16.9917, 0.2459, 0.9176], [17.9417, 0.2459, 0.9176], [17.6167, 0.4141, 1.5455], [17.3167, 0.4141, 1.5455]], collide: 1}
      - {kind: loft, a: [[16.9917, 0.2459, 0.9176], [17.9417, 0.2459, 0.9176], [17.6167, 0.4141, 1.5455], [17.3167, 0.4141, 1.5455]], b: [[16.925, -0.0, 0.95], [17.875, -0.0, 0.95], [17.55, -0.0, 1.6], [17.25, -0.0, 1.6]], collide: 1}
      - {kind: loft, a: [[16.925, -0.0, 0.95], [17.875, -0.0, 0.95], [17.55, -0.0, 1.6], [17.25, -0.0, 1.6]], b: [[16.8583, -0.2459, 0.9176], [17.8083, -0.2459, 0.9176], [17.4833, -0.4141, 1.5455], [17.1833, -0.4141, 1.5455]], collide: 1}
      - {kind: loft, a: [[16.8583, -0.2459, 0.9176], [17.8083, -0.2459, 0.9176], [17.4833, -0.4141, 1.5455], [17.1833, -0.4141, 1.5455]], b: [[16.7917, -0.475, 0.8227], [17.7417, -0.475, 0.8227], [17.4167, -0.8, 1.3856], [17.1167, -0.8, 1.3856]], collide: 1}
      - {kind: loft, a: [[16.7917, -0.475, 0.8227], [17.7417, -0.475, 0.8227], [17.4167, -0.8, 1.3856], [17.1167, -0.8, 1.3856]], b: [[16.725, -0.6718, 0.6718], [17.675, -0.6718, 0.6718], [17.35, -1.1314, 1.1314], [17.05, -1.1314, 1.1314]], collide: 1}
      - {kind: loft, a: [[16.725, -0.6718, 0.6718], [17.675, -0.6718, 0.6718], [17.35, -1.1314, 1.1314], [17.05, -1.1314, 1.1314]], b: [[16.6583, -0.8227, 0.475], [17.6083, -0.8227, 0.475], [17.2833, -1.3856, 0.8], [16.9833, -1.3856, 0.8]], collide: 1}
      - {kind: loft, a: [[16.6583, -0.8227, 0.475], [17.6083, -0.8227, 0.475], [17.2833, -1.3856, 0.8], [16.9833, -1.3856, 0.8]], b: [[16.5917, -0.9176, 0.2459], [17.5417, -0.9176, 0.2459], [17.2167, -1.5455, 0.4141], [16.9167, -1.5455, 0.4141]], collide: 1}
      - {kind: loft, a: [[16.5917, -0.9176, 0.2459], [17.5417, -0.9176, 0.2459], [17.2167, -1.5455, 0.4141], [16.9167, -1.5455, 0.4141]], b: [[16.525, -0.95, -0.0], [17.475, -0.95, -0.0], [17.15, -1.6, -0.0], [16.85, -1.6, -0.0]], collide: 1}
      - {kind: loft, a: [[16.525, -0.95, -0.0], [17.475, -0.95, -0.0], [17.15, -1.6, -0.0], [16.85, -1.6, -0.0]], b: [[16.4583, -0.9176, -0.2459], [17.4083, -0.9176, -0.2459], [17.0833, -1.5455, -0.4141], [16.7833, -1.5455, -0.4141]], collide: 1}
      - {kind: loft, a: [[16.4583, -0.9176, -0.2459], [17.4083, -0.9176, -0.2459], [17.0833, -1.5455, -0.4141], [16.7833, -1.5455, -0.4141]], b: [[16.3917, -0.8227, -0.475], [17.3417, -0.8227, -0.475], [17.0167, -1.3856, -0.8], [16.7167, -1.3856, -0.8]], collide: 1}
      - {kind: loft, a: [[16.3917, -0.8227, -0.475], [17.3417, -0.8227, -0.475], [17.0167, -1.3856, -0.8], [16.7167, -1.3856, -0.8]], b: [[16.325, -0.6718, -0.6718], [17.275, -0.6718, -0.6718], [16.95, -1.1314, -1.1314], [16.65, -1.1314, -1.1314]], collide: 1}
      - {kind: loft, a: [[16.325, -0.6718, -0.6718], [17.275, -0.6718, -0.6718], [16.95, -1.1314, -1.1314], [16.65, -1.1314, -1.1314]], b: [[16.2583, -0.475, -0.8227], [17.2083, -0.475, -0.8227], [16.8833, -0.8, -1.3856], [16.5833, -0.8, -1.3856]], collide: 1}
      - {kind: loft, a: [[16.2583, -0.475, -0.8227], [17.2083, -0.475, -0.8227], [16.8833, -0.8, -1.3856], [16.5833, -0.8, -1.3856]], b: [[16.1917, -0.2459, -0.9176], [17.1417, -0.2459, -0.9176], [16.8167, -0.4141, -1.5455], [16.5167, -0.4141, -1.5455]], collide: 1}
      - {kind: loft, a: [[16.1917, -0.2459, -0.9176], [17.1417, -0.2459, -0.9176], [16.8167, -0.4141, -1.5455], [16.5167, -0.4141, -1.5455]], b: [[16.125, -0.0, -0.95], [17.075, -0.0, -0.95], [16.75, -0.0, -1.6], [16.45, -0.0, -1.6]], collide: 1}
      - {kind: loft, a: [[16.125, -0.0, -0.95], [17.075, -0.0, -0.95], [16.75, -0.0, -1.6], [16.45, -0.0, -1.6]], b: [[16.0583, 0.2459, -0.9176], [17.0083, 0.2459, -0.9176], [16.6833, 0.4141, -1.5455], [16.3833, 0.4141, -1.5455]], collide: 1}
      - {kind: loft, a: [[16.0583, 0.2459, -0.9176], [17.0083, 0.2459, -0.9176], [16.6833, 0.4141, -1.5455], [16.3833, 0.4141, -1.5455]], b: [[15.9917, 0.475, -0.8227], [16.9417, 0.475, -0.8227], [16.6167, 0.8, -1.3856], [16.3167, 0.8, -1.3856]], collide: 1}
      - {kind: loft, a: [[15.9917, 0.475, -0.8227], [16.9417, 0.475, -0.8227], [16.6167, 0.8, -1.3856], [16.3167, 0.8, -1.3856]], b: [[15.925, 0.6718, -0.6718], [16.875, 0.6718, -0.6718], [16.55, 1.1314, -1.1314], [16.25, 1.1314, -1.1314]], collide: 1}
      - {kind: loft, a: [[15.925, 0.6718, -0.6718], [16.875, 0.6718, -0.6718], [16.55, 1.1314, -1.1314], [16.25, 1.1314, -1.1314]], b: [[15.8583, 0.8227, -0.475], [16.8083, 0.8227, -0.475], [16.4833, 1.3856, -0.8], [16.1833, 1.3856, -0.8]], collide: 1}
      - {kind: loft, a: [[15.8583, 0.8227, -0.475], [16.8083, 0.8227, -0.475], [16.4833, 1.3856, -0.8], [16.1833, 1.3856, -0.8]], b: [[15.7917, 0.9176, -0.2459], [16.7417, 0.9176, -0.2459], [16.4167, 1.5455, -0.4141], [16.1167, 1.5455, -0.4141]], collide: 1}
      - {kind: loft, a: [[15.7917, 0.9176, -0.2459], [16.7417, 0.9176, -0.2459], [16.4167, 1.5455, -0.4141], [16.1167, 1.5455, -0.4141]], b: [[15.725, 0.95, -0.0], [16.675, 0.95, -0.0], [16.35, 1.6, -0.0], [16.05, 1.6, -0.0]], collide: 1}
  - id: rod
    shape: part
    pos: [1.0, 0, -6.0]
    density: 7800
    friction: 0.1
    color: "#8f8a80"
    pieces:
      - {kind: rod, from: [-1.2, 0, -6.0], to: [30.6, 0, -6.0], radius: 0.55, collide: 0}   # the spindle parallel with the roller
  - id: arms
    shape: part
    pos: [1.0, 0, -6.0]
    mount: rod
    density: 2700
    friction: 0.1
    color: "#b8ad97"
    pieces:
      - {kind: poly, points: [[2.0, 1.9], [7.2, 1.9], [7.2, 2.9], [2.0, 2.9]], y: [-1.5, 1.5], collide: 0}
      - {kind: poly, points: [[4.1, -6.8], [5.1, -6.8], [5.1, 2.9], [4.1, 2.9]], y: [-3.2, -2.2], collide: 0}
      - {kind: poly, points: [[18.8, -3.9], [24.0, -3.9], [24.0, -2.9], [18.8, -2.9]], y: [-1.5, 1.5], collide: 0}
      - {kind: poly, points: [[20.9, -6.8], [21.9, -6.8], [21.9, -2.9], [20.9, -2.9]], y: [2.2, 3.2], collide: 0}
      - {kind: poly, points: [[3.5, -7.1], [5.7, -7.1], [5.7, -4.9], [3.5, -4.9]], y: [-3.7, -1.7], collide: 0}
      - {kind: poly, points: [[20.3, -7.1], [22.5, -7.1], [22.5, -4.9], [20.3, -4.9]], y: [1.7, 3.7], collide: 0}
      - {kind: poly, points: [[29.8, -7.1], [31.4, -7.1], [31.4, -4.9], [29.8, -4.9]], y: [-1.4, 1.4], collide: 0}
      - {kind: poly, points: [[30.3, -10.5], [30.9, -10.5], [30.9, -1.5], [30.3, -1.5]], y: [-0.3, 0.3], collide: 0, color: "#8f8a80"}
      - {kind: loft, a: [[2.7789, 1.6914, 0.6156], [4.1989, 1.6914, 0.6156], [3.8239, 0.9867, 0.3591], [3.1539, 0.9867, 0.3591]], b: [[2.848, 1.4644, 1.0467], [4.268, 1.4644, 1.0467], [3.893, 0.8542, 0.6106], [3.223, 0.8542, 0.6106]], collide: 2}
      - {kind: loft, a: [[2.848, 1.4644, 1.0467], [4.268, 1.4644, 1.0467], [3.893, 0.8542, 0.6106], [3.223, 0.8542, 0.6106]], b: [[2.9172, 1.1301, 1.4011], [4.3372, 1.1301, 1.4011], [3.9622, 0.6592, 0.8173], [3.2922, 0.6592, 0.8173]], collide: 2}
      - {kind: loft, a: [[2.9172, 1.1301, 1.4011], [4.3372, 1.1301, 1.4011], [3.9622, 0.6592, 0.8173], [3.2922, 0.6592, 0.8173]], b: [[2.9863, 0.7129, 1.6528], [4.4063, 0.7129, 1.6528], [4.0313, 0.4159, 0.9641], [3.3613, 0.4159, 0.9641]], collide: 2}
      - {kind: loft, a: [[2.9863, 0.7129, 1.6528], [4.4063, 0.7129, 1.6528], [4.0313, 0.4159, 0.9641], [3.3613, 0.4159, 0.9641]], b: [[3.0554, 0.2436, 1.7834], [4.4754, 0.2436, 1.7834], [4.1004, 0.1421, 1.0403], [3.4304, 0.1421, 1.0403]], collide: 2}
      - {kind: loft, a: [[3.0554, 0.2436, 1.7834], [4.4754, 0.2436, 1.7834], [4.1004, 0.1421, 1.0403], [3.4304, 0.1421, 1.0403]], b: [[3.1246, -0.2436, 1.7834], [4.5446, -0.2436, 1.7834], [4.1696, -0.1421, 1.0403], [3.4996, -0.1421, 1.0403]], collide: 2}
      - {kind: loft, a: [[3.1246, -0.2436, 1.7834], [4.5446, -0.2436, 1.7834], [4.1696, -0.1421, 1.0403], [3.4996, -0.1421, 1.0403]], b: [[3.1937, -0.7129, 1.6528], [4.6137, -0.7129, 1.6528], [4.2387, -0.4159, 0.9641], [3.5687, -0.4159, 0.9641]], collide: 2}
      - {kind: loft, a: [[3.1937, -0.7129, 1.6528], [4.6137, -0.7129, 1.6528], [4.2387, -0.4159, 0.9641], [3.5687, -0.4159, 0.9641]], b: [[3.2628, -1.1301, 1.4011], [4.6828, -1.1301, 1.4011], [4.3078, -0.6592, 0.8173], [3.6378, -0.6592, 0.8173]], collide: 2}
      - {kind: loft, a: [[3.2628, -1.1301, 1.4011], [4.6828, -1.1301, 1.4011], [4.3078, -0.6592, 0.8173], [3.6378, -0.6592, 0.8173]], b: [[3.332, -1.4644, 1.0467], [4.752, -1.4644, 1.0467], [4.377, -0.8542, 0.6106], [3.707, -0.8542, 0.6106]], collide: 2}
      - {kind: loft, a: [[3.332, -1.4644, 1.0467], [4.752, -1.4644, 1.0467], [4.377, -0.8542, 0.6106], [3.707, -0.8542, 0.6106]], b: [[3.4011, -1.6914, 0.6156], [4.8211, -1.6914, 0.6156], [4.4461, -0.9867, 0.3591], [3.7761, -0.9867, 0.3591]], collide: 2}
      - {kind: loft, a: [[4.3789, 1.6914, 0.6156], [5.7989, 1.6914, 0.6156], [5.4239, 0.9867, 0.3591], [4.7539, 0.9867, 0.3591]], b: [[4.448, 1.4644, 1.0467], [5.868, 1.4644, 1.0467], [5.493, 0.8542, 0.6106], [4.823, 0.8542, 0.6106]], collide: 2}
      - {kind: loft, a: [[4.448, 1.4644, 1.0467], [5.868, 1.4644, 1.0467], [5.493, 0.8542, 0.6106], [4.823, 0.8542, 0.6106]], b: [[4.5172, 1.1301, 1.4011], [5.9372, 1.1301, 1.4011], [5.5622, 0.6592, 0.8173], [4.8922, 0.6592, 0.8173]], collide: 2}
      - {kind: loft, a: [[4.5172, 1.1301, 1.4011], [5.9372, 1.1301, 1.4011], [5.5622, 0.6592, 0.8173], [4.8922, 0.6592, 0.8173]], b: [[4.5863, 0.7129, 1.6528], [6.0063, 0.7129, 1.6528], [5.6313, 0.4159, 0.9641], [4.9613, 0.4159, 0.9641]], collide: 2}
      - {kind: loft, a: [[4.5863, 0.7129, 1.6528], [6.0063, 0.7129, 1.6528], [5.6313, 0.4159, 0.9641], [4.9613, 0.4159, 0.9641]], b: [[4.6554, 0.2436, 1.7834], [6.0754, 0.2436, 1.7834], [5.7004, 0.1421, 1.0403], [5.0304, 0.1421, 1.0403]], collide: 2}
      - {kind: loft, a: [[4.6554, 0.2436, 1.7834], [6.0754, 0.2436, 1.7834], [5.7004, 0.1421, 1.0403], [5.0304, 0.1421, 1.0403]], b: [[4.7246, -0.2436, 1.7834], [6.1446, -0.2436, 1.7834], [5.7696, -0.1421, 1.0403], [5.0996, -0.1421, 1.0403]], collide: 2}
      - {kind: loft, a: [[4.7246, -0.2436, 1.7834], [6.1446, -0.2436, 1.7834], [5.7696, -0.1421, 1.0403], [5.0996, -0.1421, 1.0403]], b: [[4.7937, -0.7129, 1.6528], [6.2137, -0.7129, 1.6528], [5.8387, -0.4159, 0.9641], [5.1687, -0.4159, 0.9641]], collide: 2}
      - {kind: loft, a: [[4.7937, -0.7129, 1.6528], [6.2137, -0.7129, 1.6528], [5.8387, -0.4159, 0.9641], [5.1687, -0.4159, 0.9641]], b: [[4.8628, -1.1301, 1.4011], [6.2828, -1.1301, 1.4011], [5.9078, -0.6592, 0.8173], [5.2378, -0.6592, 0.8173]], collide: 2}
      - {kind: loft, a: [[4.8628, -1.1301, 1.4011], [6.2828, -1.1301, 1.4011], [5.9078, -0.6592, 0.8173], [5.2378, -0.6592, 0.8173]], b: [[4.932, -1.4644, 1.0467], [6.352, -1.4644, 1.0467], [5.977, -0.8542, 0.6106], [5.307, -0.8542, 0.6106]], collide: 2}
      - {kind: loft, a: [[4.932, -1.4644, 1.0467], [6.352, -1.4644, 1.0467], [5.977, -0.8542, 0.6106], [5.307, -0.8542, 0.6106]], b: [[5.0011, -1.6914, 0.6156], [6.4211, -1.6914, 0.6156], [6.0461, -0.9867, 0.3591], [5.3761, -0.9867, 0.3591]], collide: 2}
      - {kind: loft, a: [[5.9789, 1.6914, 0.6156], [7.3989, 1.6914, 0.6156], [7.0239, 0.9867, 0.3591], [6.3539, 0.9867, 0.3591]], b: [[6.048, 1.4644, 1.0467], [7.468, 1.4644, 1.0467], [7.093, 0.8542, 0.6106], [6.423, 0.8542, 0.6106]], collide: 2}
      - {kind: loft, a: [[6.048, 1.4644, 1.0467], [7.468, 1.4644, 1.0467], [7.093, 0.8542, 0.6106], [6.423, 0.8542, 0.6106]], b: [[6.1172, 1.1301, 1.4011], [7.5372, 1.1301, 1.4011], [7.1622, 0.6592, 0.8173], [6.4922, 0.6592, 0.8173]], collide: 2}
      - {kind: loft, a: [[6.1172, 1.1301, 1.4011], [7.5372, 1.1301, 1.4011], [7.1622, 0.6592, 0.8173], [6.4922, 0.6592, 0.8173]], b: [[6.1863, 0.7129, 1.6528], [7.6063, 0.7129, 1.6528], [7.2313, 0.4159, 0.9641], [6.5613, 0.4159, 0.9641]], collide: 2}
      - {kind: loft, a: [[6.1863, 0.7129, 1.6528], [7.6063, 0.7129, 1.6528], [7.2313, 0.4159, 0.9641], [6.5613, 0.4159, 0.9641]], b: [[6.2554, 0.2436, 1.7834], [7.6754, 0.2436, 1.7834], [7.3004, 0.1421, 1.0403], [6.6304, 0.1421, 1.0403]], collide: 2}
      - {kind: loft, a: [[6.2554, 0.2436, 1.7834], [7.6754, 0.2436, 1.7834], [7.3004, 0.1421, 1.0403], [6.6304, 0.1421, 1.0403]], b: [[6.3246, -0.2436, 1.7834], [7.7446, -0.2436, 1.7834], [7.3696, -0.1421, 1.0403], [6.6996, -0.1421, 1.0403]], collide: 2}
      - {kind: loft, a: [[6.3246, -0.2436, 1.7834], [7.7446, -0.2436, 1.7834], [7.3696, -0.1421, 1.0403], [6.6996, -0.1421, 1.0403]], b: [[6.3937, -0.7129, 1.6528], [7.8137, -0.7129, 1.6528], [7.4387, -0.4159, 0.9641], [6.7687, -0.4159, 0.9641]], collide: 2}
      - {kind: loft, a: [[6.3937, -0.7129, 1.6528], [7.8137, -0.7129, 1.6528], [7.4387, -0.4159, 0.9641], [6.7687, -0.4159, 0.9641]], b: [[6.4628, -1.1301, 1.4011], [7.8828, -1.1301, 1.4011], [7.5078, -0.6592, 0.8173], [6.8378, -0.6592, 0.8173]], collide: 2}
      - {kind: loft, a: [[6.4628, -1.1301, 1.4011], [7.8828, -1.1301, 1.4011], [7.5078, -0.6592, 0.8173], [6.8378, -0.6592, 0.8173]], b: [[6.532, -1.4644, 1.0467], [7.952, -1.4644, 1.0467], [7.577, -0.8542, 0.6106], [6.907, -0.8542, 0.6106]], collide: 2}
      - {kind: loft, a: [[6.532, -1.4644, 1.0467], [7.952, -1.4644, 1.0467], [7.577, -0.8542, 0.6106], [6.907, -0.8542, 0.6106]], b: [[6.6011, -1.6914, 0.6156], [8.0211, -1.6914, 0.6156], [7.6461, -0.9867, 0.3591], [6.9761, -0.9867, 0.3591]], collide: 2}
      - {kind: loft, a: [[23.4011, -1.6914, -1.6156], [24.8211, -1.6914, -1.6156], [24.4461, -0.9867, -1.3591], [23.7761, -0.9867, -1.3591]], b: [[23.332, -1.4644, -2.0467], [24.752, -1.4644, -2.0467], [24.377, -0.8542, -1.6106], [23.707, -0.8542, -1.6106]], collide: 2}
      - {kind: loft, a: [[23.332, -1.4644, -2.0467], [24.752, -1.4644, -2.0467], [24.377, -0.8542, -1.6106], [23.707, -0.8542, -1.6106]], b: [[23.2628, -1.1301, -2.4011], [24.6828, -1.1301, -2.4011], [24.3078, -0.6592, -1.8173], [23.6378, -0.6592, -1.8173]], collide: 2}
      - {kind: loft, a: [[23.2628, -1.1301, -2.4011], [24.6828, -1.1301, -2.4011], [24.3078, -0.6592, -1.8173], [23.6378, -0.6592, -1.8173]], b: [[23.1937, -0.7129, -2.6528], [24.6137, -0.7129, -2.6528], [24.2387, -0.4159, -1.9641], [23.5687, -0.4159, -1.9641]], collide: 2}
      - {kind: loft, a: [[23.1937, -0.7129, -2.6528], [24.6137, -0.7129, -2.6528], [24.2387, -0.4159, -1.9641], [23.5687, -0.4159, -1.9641]], b: [[23.1246, -0.2436, -2.7834], [24.5446, -0.2436, -2.7834], [24.1696, -0.1421, -2.0403], [23.4996, -0.1421, -2.0403]], collide: 2}
      - {kind: loft, a: [[23.1246, -0.2436, -2.7834], [24.5446, -0.2436, -2.7834], [24.1696, -0.1421, -2.0403], [23.4996, -0.1421, -2.0403]], b: [[23.0554, 0.2436, -2.7834], [24.4754, 0.2436, -2.7834], [24.1004, 0.1421, -2.0403], [23.4304, 0.1421, -2.0403]], collide: 2}
      - {kind: loft, a: [[23.0554, 0.2436, -2.7834], [24.4754, 0.2436, -2.7834], [24.1004, 0.1421, -2.0403], [23.4304, 0.1421, -2.0403]], b: [[22.9863, 0.7129, -2.6528], [24.4063, 0.7129, -2.6528], [24.0313, 0.4159, -1.9641], [23.3613, 0.4159, -1.9641]], collide: 2}
      - {kind: loft, a: [[22.9863, 0.7129, -2.6528], [24.4063, 0.7129, -2.6528], [24.0313, 0.4159, -1.9641], [23.3613, 0.4159, -1.9641]], b: [[22.9172, 1.1301, -2.4011], [24.3372, 1.1301, -2.4011], [23.9622, 0.6592, -1.8173], [23.2922, 0.6592, -1.8173]], collide: 2}
      - {kind: loft, a: [[22.9172, 1.1301, -2.4011], [24.3372, 1.1301, -2.4011], [23.9622, 0.6592, -1.8173], [23.2922, 0.6592, -1.8173]], b: [[22.848, 1.4644, -2.0467], [24.268, 1.4644, -2.0467], [23.893, 0.8542, -1.6106], [23.223, 0.8542, -1.6106]], collide: 2}
      - {kind: loft, a: [[22.848, 1.4644, -2.0467], [24.268, 1.4644, -2.0467], [23.893, 0.8542, -1.6106], [23.223, 0.8542, -1.6106]], b: [[22.7789, 1.6914, -1.6156], [24.1989, 1.6914, -1.6156], [23.8239, 0.9867, -1.3591], [23.1539, 0.9867, -1.3591]], collide: 2}
      - {kind: loft, a: [[21.8011, -1.6914, -1.6156], [23.2211, -1.6914, -1.6156], [22.8461, -0.9867, -1.3591], [22.1761, -0.9867, -1.3591]], b: [[21.732, -1.4644, -2.0467], [23.152, -1.4644, -2.0467], [22.777, -0.8542, -1.6106], [22.107, -0.8542, -1.6106]], collide: 2}
      - {kind: loft, a: [[21.732, -1.4644, -2.0467], [23.152, -1.4644, -2.0467], [22.777, -0.8542, -1.6106], [22.107, -0.8542, -1.6106]], b: [[21.6628, -1.1301, -2.4011], [23.0828, -1.1301, -2.4011], [22.7078, -0.6592, -1.8173], [22.0378, -0.6592, -1.8173]], collide: 2}
      - {kind: loft, a: [[21.6628, -1.1301, -2.4011], [23.0828, -1.1301, -2.4011], [22.7078, -0.6592, -1.8173], [22.0378, -0.6592, -1.8173]], b: [[21.5937, -0.7129, -2.6528], [23.0137, -0.7129, -2.6528], [22.6387, -0.4159, -1.9641], [21.9687, -0.4159, -1.9641]], collide: 2}
      - {kind: loft, a: [[21.5937, -0.7129, -2.6528], [23.0137, -0.7129, -2.6528], [22.6387, -0.4159, -1.9641], [21.9687, -0.4159, -1.9641]], b: [[21.5246, -0.2436, -2.7834], [22.9446, -0.2436, -2.7834], [22.5696, -0.1421, -2.0403], [21.8996, -0.1421, -2.0403]], collide: 2}
      - {kind: loft, a: [[21.5246, -0.2436, -2.7834], [22.9446, -0.2436, -2.7834], [22.5696, -0.1421, -2.0403], [21.8996, -0.1421, -2.0403]], b: [[21.4554, 0.2436, -2.7834], [22.8754, 0.2436, -2.7834], [22.5004, 0.1421, -2.0403], [21.8304, 0.1421, -2.0403]], collide: 2}
      - {kind: loft, a: [[21.4554, 0.2436, -2.7834], [22.8754, 0.2436, -2.7834], [22.5004, 0.1421, -2.0403], [21.8304, 0.1421, -2.0403]], b: [[21.3863, 0.7129, -2.6528], [22.8063, 0.7129, -2.6528], [22.4313, 0.4159, -1.9641], [21.7613, 0.4159, -1.9641]], collide: 2}
      - {kind: loft, a: [[21.3863, 0.7129, -2.6528], [22.8063, 0.7129, -2.6528], [22.4313, 0.4159, -1.9641], [21.7613, 0.4159, -1.9641]], b: [[21.3172, 1.1301, -2.4011], [22.7372, 1.1301, -2.4011], [22.3622, 0.6592, -1.8173], [21.6922, 0.6592, -1.8173]], collide: 2}
      - {kind: loft, a: [[21.3172, 1.1301, -2.4011], [22.7372, 1.1301, -2.4011], [22.3622, 0.6592, -1.8173], [21.6922, 0.6592, -1.8173]], b: [[21.248, 1.4644, -2.0467], [22.668, 1.4644, -2.0467], [22.293, 0.8542, -1.6106], [21.623, 0.8542, -1.6106]], collide: 2}
      - {kind: loft, a: [[21.248, 1.4644, -2.0467], [22.668, 1.4644, -2.0467], [22.293, 0.8542, -1.6106], [21.623, 0.8542, -1.6106]], b: [[21.1789, 1.6914, -1.6156], [22.5989, 1.6914, -1.6156], [22.2239, 0.9867, -1.3591], [21.5539, 0.9867, -1.3591]], collide: 2}
      - {kind: loft, a: [[20.2011, -1.6914, -1.6156], [21.6211, -1.6914, -1.6156], [21.2461, -0.9867, -1.3591], [20.5761, -0.9867, -1.3591]], b: [[20.132, -1.4644, -2.0467], [21.552, -1.4644, -2.0467], [21.177, -0.8542, -1.6106], [20.507, -0.8542, -1.6106]], collide: 2}
      - {kind: loft, a: [[20.132, -1.4644, -2.0467], [21.552, -1.4644, -2.0467], [21.177, -0.8542, -1.6106], [20.507, -0.8542, -1.6106]], b: [[20.0628, -1.1301, -2.4011], [21.4828, -1.1301, -2.4011], [21.1078, -0.6592, -1.8173], [20.4378, -0.6592, -1.8173]], collide: 2}
      - {kind: loft, a: [[20.0628, -1.1301, -2.4011], [21.4828, -1.1301, -2.4011], [21.1078, -0.6592, -1.8173], [20.4378, -0.6592, -1.8173]], b: [[19.9937, -0.7129, -2.6528], [21.4137, -0.7129, -2.6528], [21.0387, -0.4159, -1.9641], [20.3687, -0.4159, -1.9641]], collide: 2}
      - {kind: loft, a: [[19.9937, -0.7129, -2.6528], [21.4137, -0.7129, -2.6528], [21.0387, -0.4159, -1.9641], [20.3687, -0.4159, -1.9641]], b: [[19.9246, -0.2436, -2.7834], [21.3446, -0.2436, -2.7834], [20.9696, -0.1421, -2.0403], [20.2996, -0.1421, -2.0403]], collide: 2}
      - {kind: loft, a: [[19.9246, -0.2436, -2.7834], [21.3446, -0.2436, -2.7834], [20.9696, -0.1421, -2.0403], [20.2996, -0.1421, -2.0403]], b: [[19.8554, 0.2436, -2.7834], [21.2754, 0.2436, -2.7834], [20.9004, 0.1421, -2.0403], [20.2304, 0.1421, -2.0403]], collide: 2}
      - {kind: loft, a: [[19.8554, 0.2436, -2.7834], [21.2754, 0.2436, -2.7834], [20.9004, 0.1421, -2.0403], [20.2304, 0.1421, -2.0403]], b: [[19.7863, 0.7129, -2.6528], [21.2063, 0.7129, -2.6528], [20.8313, 0.4159, -1.9641], [20.1613, 0.4159, -1.9641]], collide: 2}
      - {kind: loft, a: [[19.7863, 0.7129, -2.6528], [21.2063, 0.7129, -2.6528], [20.8313, 0.4159, -1.9641], [20.1613, 0.4159, -1.9641]], b: [[19.7172, 1.1301, -2.4011], [21.1372, 1.1301, -2.4011], [20.7622, 0.6592, -1.8173], [20.0922, 0.6592, -1.8173]], collide: 2}
      - {kind: loft, a: [[19.7172, 1.1301, -2.4011], [21.1372, 1.1301, -2.4011], [20.7622, 0.6592, -1.8173], [20.0922, 0.6592, -1.8173]], b: [[19.648, 1.4644, -2.0467], [21.068, 1.4644, -2.0467], [20.693, 0.8542, -1.6106], [20.023, 0.8542, -1.6106]], collide: 2}
      - {kind: loft, a: [[19.648, 1.4644, -2.0467], [21.068, 1.4644, -2.0467], [20.693, 0.8542, -1.6106], [20.023, 0.8542, -1.6106]], b: [[19.5789, 1.6914, -1.6156], [20.9989, 1.6914, -1.6156], [20.6239, 0.9867, -1.3591], [19.9539, 0.9867, -1.3591]], collide: 2}
  - id: frame
    shape: part
    pos: [0, 0, 0]
    fixed: true
    color: "#cfc6b4"
    pieces:
      - {kind: poly, points: [[-2.4, -7.4], [-1.2, -7.4], [-1.2, 3.0], [-2.4, 3.0]], y: [-3.0, 3.0], collide: 0, color: "#b9b09c"}
      - {kind: poly, points: [[28.6, -7.4], [29.8, -7.4], [29.8, 3.0], [28.6, 3.0]], y: [-3.0, 3.0], collide: 0, color: "#b9b09c"}
joints:
  - {id: j_s, type: hinge, body: roller, axis: [1, 0, 0], damping: 0.002}   # the one driven joint: the roller
  - {id: j_x, type: slide, body: rod, axis: [1, 0, 0], range: [-0.8, 4.5], stiffness: 5.0, springref: -40, damping: 0.05}   # the traverse rod; + : to the right
  - {id: j_c, type: slide, body: arms, axis: [0, 0, 1], range: [0, 1.0], stiffness: 300, springref: -0.5, damping: 20}   # the lever: the arms down (upper half-nut in) or up (lower in)
driver: {joint: j_s, kind: velocity, rpm: -16.0, kv: 0.3, max_torque: 3}
hand:
  - {t: 6.0, springref: {j_c: 1.8, j_x: 40}}   # the lever thrown: the other half-nut in, the load turned about
checks:
  - {type: follow, out: j_x, in: j_s, expect: -0.002546, tol: 7.6e-05, min_r2: 0.995, settle_s: 1.0, window_s: 4.0}   # upper half-nut in: the rod runs 1.6 cm a turn one way
  - {type: follow, out: j_x, in: j_s, expect: 0.002546, tol: 7.6e-05, min_r2: 0.995, settle_s: 8.0, window_s: 3.5}   # lever thrown: the lower half-nut in, the rod runs back
  - {type: position, joint: j_x, min: -0.3, max: 3.6, settle_s: 0.5, window_s: 11}
camera: {target: [16.0, 0, -2.0], position: [16.0, -62.0, -2.0], fov: 34}
display:
  output: j_x
  labels: {j_s: "Roller (driver)", j_x: "Traverse rod"}
  proof: {label: "Half-nuts out of contact", sub: "the roller turns but the rod stands"}