# No. 190 (Brown 1868): "A screw-clamp. On turning the handle the screw thrusts upward against the holder, which, operating as a lever, holds down the piece of wood or other material placed under it on the other side of its fulcrum."
#
# Model (cm): a screw stands in the nut of the frame (right-hand thread, pitch 1.6, ridge 0.9 wide at the core, radius 1.0, 0.3 at its tip, radius 1.6, 24 convex
# segments a turn; the nut's thread 3 turns, 0.04 cm clear each flank) and turns on its own axis (the one driven joint, 16 turns a minute, by the handle on its
# top); it is carried on a carriage that can only slide up its axis, so each turn of the screw lifts it one pitch, 1.6 cm: 0.2546 cm to the radian, by real flank contact.
# A collar on the screw presses the underside of the tail of the holder, a lever pivoted on a post of the frame (tail 8 cm from the fulcrum, the jaw about 13 cm the other side).
# As the tail rises the jaw comes down on the piece of wood and, when it is met, the screw stalls and holds it. A weak spring on the fulcrum keeps the tail on the collar. Generator: opencode-runs/batch11/gen190.py.
number: 190
slug: screw-clamp
name: A screw-clamp
brown: "On turning the handle the screw thrusts upward against the holder, which, operating as a lever, holds down the piece of wood or other material placed under it on the other side of its fulcrum."
units: cm
sim:
  timestep: 0.0002
  integrator: implicitfast
  iterations: 100
  solver: CG
  multiccd: true
  duration_s: 10
  floor: false
bodies:
  - id: carr
    shape: part
    pos: [0, 0, 0.8]
    density: 2700
    color: "#b8ad97"
    pieces:
      - {kind: rod, from: [0, 0, 0.8], to: [0, 0, 1.1], radius: 0.2, collide: 0}
  - id: screw
    shape: part
    pos: [0, 0, 0.8]
    mount: carr
    density: 7800
    friction: 0.1
    color: "#e4d9bf"
    pieces:
      - {kind: rod, from: [0, 0, 0.3], to: [0, 0, 12.58], radius: 1.0, collide: 0}   # the screw's core
      - {kind: rod, from: [0, 0, 9.0], to: [0, 0, 9.38], radius: 1.5, collide: 0, color: "#cfc6b4"}   # its collar
      - {kind: poly, points: [[-1.0, 9.0], [1.0, 9.0], [1.0, 9.36], [-1.0, 9.36]], y: [-1.0, 1.0], collide: 1, color: "#cfc6b4"}   # its bearing face
      - {kind: poly, points: [[-5.2, 12.58], [5.2, 12.58], [5.2, 13.18], [-5.2, 13.18]], y: [-0.4, 0.4], collide: 0, color: "#8f8a80"}   # the handle
      - {kind: poly, points: [[-6.0, 12.08], [-4.4, 12.08], [-4.4, 13.68], [-6.0, 13.68]], y: [-0.8, 0.8], collide: 0, color: "#6f6a60"}   # its ball
      - {kind: poly, points: [[4.4, 12.08], [6.0, 12.08], [6.0, 13.68], [4.4, 13.68]], y: [-0.8, 0.8], collide: 0, color: "#6f6a60"}   # and its fellow
      - {kind: loft, a: [[0.95, 0.0, 0.325], [0.95, 0.0, 1.275], [1.6, 0.0, 0.95], [1.6, 0.0, 0.65]], b: [[0.9176, 0.2459, 0.3917], [0.9176, 0.2459, 1.3417], [1.5455, 0.4141, 1.0167], [1.5455, 0.4141, 0.7167]], collide: 1}
      - {kind: loft, a: [[0.9176, 0.2459, 0.3917], [0.9176, 0.2459, 1.3417], [1.5455, 0.4141, 1.0167], [1.5455, 0.4141, 0.7167]], b: [[0.8227, 0.475, 0.4583], [0.8227, 0.475, 1.4083], [1.3856, 0.8, 1.0833], [1.3856, 0.8, 0.7833]], collide: 1}
      - {kind: loft, a: [[0.8227, 0.475, 0.4583], [0.8227, 0.475, 1.4083], [1.3856, 0.8, 1.0833], [1.3856, 0.8, 0.7833]], b: [[0.6718, 0.6718, 0.525], [0.6718, 0.6718, 1.475], [1.1314, 1.1314, 1.15], [1.1314, 1.1314, 0.85]], collide: 1}
      - {kind: loft, a: [[0.6718, 0.6718, 0.525], [0.6718, 0.6718, 1.475], [1.1314, 1.1314, 1.15], [1.1314, 1.1314, 0.85]], b: [[0.475, 0.8227, 0.5917], [0.475, 0.8227, 1.5417], [0.8, 1.3856, 1.2167], [0.8, 1.3856, 0.9167]], collide: 1}
      - {kind: loft, a: [[0.475, 0.8227, 0.5917], [0.475, 0.8227, 1.5417], [0.8, 1.3856, 1.2167], [0.8, 1.3856, 0.9167]], b: [[0.2459, 0.9176, 0.6583], [0.2459, 0.9176, 1.6083], [0.4141, 1.5455, 1.2833], [0.4141, 1.5455, 0.9833]], collide: 1}
      - {kind: loft, a: [[0.2459, 0.9176, 0.6583], [0.2459, 0.9176, 1.6083], [0.4141, 1.5455, 1.2833], [0.4141, 1.5455, 0.9833]], b: [[0.0, 0.95, 0.725], [0.0, 0.95, 1.675], [0.0, 1.6, 1.35], [0.0, 1.6, 1.05]], collide: 1}
      - {kind: loft, a: [[0.0, 0.95, 0.725], [0.0, 0.95, 1.675], [0.0, 1.6, 1.35], [0.0, 1.6, 1.05]], b: [[-0.2459, 0.9176, 0.7917], [-0.2459, 0.9176, 1.7417], [-0.4141, 1.5455, 1.4167], [-0.4141, 1.5455, 1.1167]], collide: 1}
      - {kind: loft, a: [[-0.2459, 0.9176, 0.7917], [-0.2459, 0.9176, 1.7417], [-0.4141, 1.5455, 1.4167], [-0.4141, 1.5455, 1.1167]], b: [[-0.475, 0.8227, 0.8583], [-0.475, 0.8227, 1.8083], [-0.8, 1.3856, 1.4833], [-0.8, 1.3856, 1.1833]], collide: 1}
      - {kind: loft, a: [[-0.475, 0.8227, 0.8583], [-0.475, 0.8227, 1.8083], [-0.8, 1.3856, 1.4833], [-0.8, 1.3856, 1.1833]], b: [[-0.6718, 0.6718, 0.925], [-0.6718, 0.6718, 1.875], [-1.1314, 1.1314, 1.55], [-1.1314, 1.1314, 1.25]], collide: 1}
      - {kind: loft, a: [[-0.6718, 0.6718, 0.925], [-0.6718, 0.6718, 1.875], [-1.1314, 1.1314, 1.55], [-1.1314, 1.1314, 1.25]], b: [[-0.8227, 0.475, 0.9917], [-0.8227, 0.475, 1.9417], [-1.3856, 0.8, 1.6167], [-1.3856, 0.8, 1.3167]], collide: 1}
      - {kind: loft, a: [[-0.8227, 0.475, 0.9917], [-0.8227, 0.475, 1.9417], [-1.3856, 0.8, 1.6167], [-1.3856, 0.8, 1.3167]], b: [[-0.9176, 0.2459, 1.0583], [-0.9176, 0.2459, 2.0083], [-1.5455, 0.4141, 1.6833], [-1.5455, 0.4141, 1.3833]], collide: 1}
      - {kind: loft, a: [[-0.9176, 0.2459, 1.0583], [-0.9176, 0.2459, 2.0083], [-1.5455, 0.4141, 1.6833], [-1.5455, 0.4141, 1.3833]], b: [[-0.95, 0.0, 1.125], [-0.95, 0.0, 2.075], [-1.6, 0.0, 1.75], [-1.6, 0.0, 1.45]], collide: 1}
      - {kind: loft, a: [[-0.95, 0.0, 1.125], [-0.95, 0.0, 2.075], [-1.6, 0.0, 1.75], [-1.6, 0.0, 1.45]], b: [[-0.9176, -0.2459, 1.1917], [-0.9176, -0.2459, 2.1417], [-1.5455, -0.4141, 1.8167], [-1.5455, -0.4141, 1.5167]], collide: 1}
      - {kind: loft, a: [[-0.9176, -0.2459, 1.1917], [-0.9176, -0.2459, 2.1417], [-1.5455, -0.4141, 1.8167], [-1.5455, -0.4141, 1.5167]], b: [[-0.8227, -0.475, 1.2583], [-0.8227, -0.475, 2.2083], [-1.3856, -0.8, 1.8833], [-1.3856, -0.8, 1.5833]], collide: 1}
      - {kind: loft, a: [[-0.8227, -0.475, 1.2583], [-0.8227, -0.475, 2.2083], [-1.3856, -0.8, 1.8833], [-1.3856, -0.8, 1.5833]], b: [[-0.6718, -0.6718, 1.325], [-0.6718, -0.6718, 2.275], [-1.1314, -1.1314, 1.95], [-1.1314, -1.1314, 1.65]], collide: 1}
      - {kind: loft, a: [[-0.6718, -0.6718, 1.325], [-0.6718, -0.6718, 2.275], [-1.1314, -1.1314, 1.95], [-1.1314, -1.1314, 1.65]], b: [[-0.475, -0.8227, 1.3917], [-0.475, -0.8227, 2.3417], [-0.8, -1.3856, 2.0167], [-0.8, -1.3856, 1.7167]], collide: 1}
      - {kind: loft, a: [[-0.475, -0.8227, 1.3917], [-0.475, -0.8227, 2.3417], [-0.8, -1.3856, 2.0167], [-0.8, -1.3856, 1.7167]], b: [[-0.2459, -0.9176, 1.4583], [-0.2459, -0.9176, 2.4083], [-0.4141, -1.5455, 2.0833], [-0.4141, -1.5455, 1.7833]], collide: 1}
      - {kind: loft, a: [[-0.2459, -0.9176, 1.4583], [-0.2459, -0.9176, 2.4083], [-0.4141, -1.5455, 2.0833], [-0.4141, -1.5455, 1.7833]], b: [[-0.0, -0.95, 1.525], [-0.0, -0.95, 2.475], [-0.0, -1.6, 2.15], [-0.0, -1.6, 1.85]], collide: 1}
      - {kind: loft, a: [[-0.0, -0.95, 1.525], [-0.0, -0.95, 2.475], [-0.0, -1.6, 2.15], [-0.0, -1.6, 1.85]], b: [[0.2459, -0.9176, 1.5917], [0.2459, -0.9176, 2.5417], [0.4141, -1.5455, 2.2167], [0.4141, -1.5455, 1.9167]], collide: 1}
      - {kind: loft, a: [[0.2459, -0.9176, 1.5917], [0.2459, -0.9176, 2.5417], [0.4141, -1.5455, 2.2167], [0.4141, -1.5455, 1.9167]], b: [[0.475, -0.8227, 1.6583], [0.475, -0.8227, 2.6083], [0.8, -1.3856, 2.2833], [0.8, -1.3856, 1.9833]], collide: 1}
      - {kind: loft, a: [[0.475, -0.8227, 1.6583], [0.475, -0.8227, 2.6083], [0.8, -1.3856, 2.2833], [0.8, -1.3856, 1.9833]], b: [[0.6718, -0.6718, 1.725], [0.6718, -0.6718, 2.675], [1.1314, -1.1314, 2.35], [1.1314, -1.1314, 2.05]], collide: 1}
      - {kind: loft, a: [[0.6718, -0.6718, 1.725], [0.6718, -0.6718, 2.675], [1.1314, -1.1314, 2.35], [1.1314, -1.1314, 2.05]], b: [[0.8227, -0.475, 1.7917], [0.8227, -0.475, 2.7417], [1.3856, -0.8, 2.4167], [1.3856, -0.8, 2.1167]], collide: 1}
      - {kind: loft, a: [[0.8227, -0.475, 1.7917], [0.8227, -0.475, 2.7417], [1.3856, -0.8, 2.4167], [1.3856, -0.8, 2.1167]], b: [[0.9176, -0.2459, 1.8583], [0.9176, -0.2459, 2.8083], [1.5455, -0.4141, 2.4833], [1.5455, -0.4141, 2.1833]], collide: 1}
      - {kind: loft, a: [[0.9176, -0.2459, 1.8583], [0.9176, -0.2459, 2.8083], [1.5455, -0.4141, 2.4833], [1.5455, -0.4141, 2.1833]], b: [[0.95, -0.0, 1.925], [0.95, -0.0, 2.875], [1.6, -0.0, 2.55], [1.6, -0.0, 2.25]], collide: 1}
      - {kind: loft, a: [[0.95, -0.0, 1.925], [0.95, -0.0, 2.875], [1.6, -0.0, 2.55], [1.6, -0.0, 2.25]], b: [[0.9176, 0.2459, 1.9917], [0.9176, 0.2459, 2.9417], [1.5455, 0.4141, 2.6167], [1.5455, 0.4141, 2.3167]], collide: 1}
      - {kind: loft, a: [[0.9176, 0.2459, 1.9917], [0.9176, 0.2459, 2.9417], [1.5455, 0.4141, 2.6167], [1.5455, 0.4141, 2.3167]], b: [[0.8227, 0.475, 2.0583], [0.8227, 0.475, 3.0083], [1.3856, 0.8, 2.6833], [1.3856, 0.8, 2.3833]], collide: 1}
      - {kind: loft, a: [[0.8227, 0.475, 2.0583], [0.8227, 0.475, 3.0083], [1.3856, 0.8, 2.6833], [1.3856, 0.8, 2.3833]], b: [[0.6718, 0.6718, 2.125], [0.6718, 0.6718, 3.075], [1.1314, 1.1314, 2.75], [1.1314, 1.1314, 2.45]], collide: 1}
      - {kind: loft, a: [[0.6718, 0.6718, 2.125], [0.6718, 0.6718, 3.075], [1.1314, 1.1314, 2.75], [1.1314, 1.1314, 2.45]], b: [[0.475, 0.8227, 2.1917], [0.475, 0.8227, 3.1417], [0.8, 1.3856, 2.8167], [0.8, 1.3856, 2.5167]], collide: 1}
      - {kind: loft, a: [[0.475, 0.8227, 2.1917], [0.475, 0.8227, 3.1417], [0.8, 1.3856, 2.8167], [0.8, 1.3856, 2.5167]], b: [[0.2459, 0.9176, 2.2583], [0.2459, 0.9176, 3.2083], [0.4141, 1.5455, 2.8833], [0.4141, 1.5455, 2.5833]], collide: 1}
      - {kind: loft, a: [[0.2459, 0.9176, 2.2583], [0.2459, 0.9176, 3.2083], [0.4141, 1.5455, 2.8833], [0.4141, 1.5455, 2.5833]], b: [[0.0, 0.95, 2.325], [0.0, 0.95, 3.275], [0.0, 1.6, 2.95], [0.0, 1.6, 2.65]], collide: 1}
      - {kind: loft, a: [[0.0, 0.95, 2.325], [0.0, 0.95, 3.275], [0.0, 1.6, 2.95], [0.0, 1.6, 2.65]], b: [[-0.2459, 0.9176, 2.3917], [-0.2459, 0.9176, 3.3417], [-0.4141, 1.5455, 3.0167], [-0.4141, 1.5455, 2.7167]], collide: 1}
      - {kind: loft, a: [[-0.2459, 0.9176, 2.3917], [-0.2459, 0.9176, 3.3417], [-0.4141, 1.5455, 3.0167], [-0.4141, 1.5455, 2.7167]], b: [[-0.475, 0.8227, 2.4583], [-0.475, 0.8227, 3.4083], [-0.8, 1.3856, 3.0833], [-0.8, 1.3856, 2.7833]], collide: 1}
      - {kind: loft, a: [[-0.475, 0.8227, 2.4583], [-0.475, 0.8227, 3.4083], [-0.8, 1.3856, 3.0833], [-0.8, 1.3856, 2.7833]], b: [[-0.6718, 0.6718, 2.525], [-0.6718, 0.6718, 3.475], [-1.1314, 1.1314, 3.15], [-1.1314, 1.1314, 2.85]], collide: 1}
      - {kind: loft, a: [[-0.6718, 0.6718, 2.525], [-0.6718, 0.6718, 3.475], [-1.1314, 1.1314, 3.15], [-1.1314, 1.1314, 2.85]], b: [[-0.8227, 0.475, 2.5917], [-0.8227, 0.475, 3.5417], [-1.3856, 0.8, 3.2167], [-1.3856, 0.8, 2.9167]], collide: 1}
      - {kind: loft, a: [[-0.8227, 0.475, 2.5917], [-0.8227, 0.475, 3.5417], [-1.3856, 0.8, 3.2167], [-1.3856, 0.8, 2.9167]], b: [[-0.9176, 0.2459, 2.6583], [-0.9176, 0.2459, 3.6083], [-1.5455, 0.4141, 3.2833], [-1.5455, 0.4141, 2.9833]], collide: 1}
      - {kind: loft, a: [[-0.9176, 0.2459, 2.6583], [-0.9176, 0.2459, 3.6083], [-1.5455, 0.4141, 3.2833], [-1.5455, 0.4141, 2.9833]], b: [[-0.95, 0.0, 2.725], [-0.95, 0.0, 3.675], [-1.6, 0.0, 3.35], [-1.6, 0.0, 3.05]], collide: 1}
      - {kind: loft, a: [[-0.95, 0.0, 2.725], [-0.95, 0.0, 3.675], [-1.6, 0.0, 3.35], [-1.6, 0.0, 3.05]], b: [[-0.9176, -0.2459, 2.7917], [-0.9176, -0.2459, 3.7417], [-1.5455, -0.4141, 3.4167], [-1.5455, -0.4141, 3.1167]], collide: 1}
      - {kind: loft, a: [[-0.9176, -0.2459, 2.7917], [-0.9176, -0.2459, 3.7417], [-1.5455, -0.4141, 3.4167], [-1.5455, -0.4141, 3.1167]], b: [[-0.8227, -0.475, 2.8583], [-0.8227, -0.475, 3.8083], [-1.3856, -0.8, 3.4833], [-1.3856, -0.8, 3.1833]], collide: 1}
      - {kind: loft, a: [[-0.8227, -0.475, 2.8583], [-0.8227, -0.475, 3.8083], [-1.3856, -0.8, 3.4833], [-1.3856, -0.8, 3.1833]], b: [[-0.6718, -0.6718, 2.925], [-0.6718, -0.6718, 3.875], [-1.1314, -1.1314, 3.55], [-1.1314, -1.1314, 3.25]], collide: 1}
      - {kind: loft, a: [[-0.6718, -0.6718, 2.925], [-0.6718, -0.6718, 3.875], [-1.1314, -1.1314, 3.55], [-1.1314, -1.1314, 3.25]], b: [[-0.475, -0.8227, 2.9917], [-0.475, -0.8227, 3.9417], [-0.8, -1.3856, 3.6167], [-0.8, -1.3856, 3.3167]], collide: 1}
      - {kind: loft, a: [[-0.475, -0.8227, 2.9917], [-0.475, -0.8227, 3.9417], [-0.8, -1.3856, 3.6167], [-0.8, -1.3856, 3.3167]], b: [[-0.2459, -0.9176, 3.0583], [-0.2459, -0.9176, 4.0083], [-0.4141, -1.5455, 3.6833], [-0.4141, -1.5455, 3.3833]], collide: 1}
      - {kind: loft, a: [[-0.2459, -0.9176, 3.0583], [-0.2459, -0.9176, 4.0083], [-0.4141, -1.5455, 3.6833], [-0.4141, -1.5455, 3.3833]], b: [[-0.0, -0.95, 3.125], [-0.0, -0.95, 4.075], [-0.0, -1.6, 3.75], [-0.0, -1.6, 3.45]], collide: 1}
      - {kind: loft, a: [[-0.0, -0.95, 3.125], [-0.0, -0.95, 4.075], [-0.0, -1.6, 3.75], [-0.0, -1.6, 3.45]], b: [[0.2459, -0.9176, 3.1917], [0.2459, -0.9176, 4.1417], [0.4141, -1.5455, 3.8167], [0.4141, -1.5455, 3.5167]], collide: 1}
      - {kind: loft, a: [[0.2459, -0.9176, 3.1917], [0.2459, -0.9176, 4.1417], [0.4141, -1.5455, 3.8167], [0.4141, -1.5455, 3.5167]], b: [[0.475, -0.8227, 3.2583], [0.475, -0.8227, 4.2083], [0.8, -1.3856, 3.8833], [0.8, -1.3856, 3.5833]], collide: 1}
      - {kind: loft, a: [[0.475, -0.8227, 3.2583], [0.475, -0.8227, 4.2083], [0.8, -1.3856, 3.8833], [0.8, -1.3856, 3.5833]], b: [[0.6718, -0.6718, 3.325], [0.6718, -0.6718, 4.275], [1.1314, -1.1314, 3.95], [1.1314, -1.1314, 3.65]], collide: 1}
      - {kind: loft, a: [[0.6718, -0.6718, 3.325], [0.6718, -0.6718, 4.275], [1.1314, -1.1314, 3.95], [1.1314, -1.1314, 3.65]], b: [[0.8227, -0.475, 3.3917], [0.8227, -0.475, 4.3417], [1.3856, -0.8, 4.0167], [1.3856, -0.8, 3.7167]], collide: 1}
      - {kind: loft, a: [[0.8227, -0.475, 3.3917], [0.8227, -0.475, 4.3417], [1.3856, -0.8, 4.0167], [1.3856, -0.8, 3.7167]], b: [[0.9176, -0.2459, 3.4583], [0.9176, -0.2459, 4.4083], [1.5455, -0.4141, 4.0833], [1.5455, -0.4141, 3.7833]], collide: 1}
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      - {kind: loft, a: [[-0.475, 0.8227, 7.2583], [-0.475, 0.8227, 8.2083], [-0.8, 1.3856, 7.8833], [-0.8, 1.3856, 7.5833]], b: [[-0.6718, 0.6718, 7.325], [-0.6718, 0.6718, 8.275], [-1.1314, 1.1314, 7.95], [-1.1314, 1.1314, 7.65]], collide: 1}
      - {kind: loft, a: [[-0.6718, 0.6718, 7.325], [-0.6718, 0.6718, 8.275], [-1.1314, 1.1314, 7.95], [-1.1314, 1.1314, 7.65]], b: [[-0.8227, 0.475, 7.3917], [-0.8227, 0.475, 8.3417], [-1.3856, 0.8, 8.0167], [-1.3856, 0.8, 7.7167]], collide: 1}
      - {kind: loft, a: [[-0.8227, 0.475, 7.3917], [-0.8227, 0.475, 8.3417], [-1.3856, 0.8, 8.0167], [-1.3856, 0.8, 7.7167]], b: [[-0.9176, 0.2459, 7.4583], [-0.9176, 0.2459, 8.4083], [-1.5455, 0.4141, 8.0833], [-1.5455, 0.4141, 7.7833]], collide: 1}
      - {kind: loft, a: [[-0.9176, 0.2459, 7.4583], [-0.9176, 0.2459, 8.4083], [-1.5455, 0.4141, 8.0833], [-1.5455, 0.4141, 7.7833]], b: [[-0.95, 0.0, 7.525], [-0.95, 0.0, 8.475], [-1.6, 0.0, 8.15], [-1.6, 0.0, 7.85]], collide: 1}
      - {kind: loft, a: [[-0.95, 0.0, 7.525], [-0.95, 0.0, 8.475], [-1.6, 0.0, 8.15], [-1.6, 0.0, 7.85]], b: [[-0.9176, -0.2459, 7.5917], [-0.9176, -0.2459, 8.5417], [-1.5455, -0.4141, 8.2167], [-1.5455, -0.4141, 7.9167]], collide: 1}
      - {kind: loft, a: [[-0.9176, -0.2459, 7.5917], [-0.9176, -0.2459, 8.5417], [-1.5455, -0.4141, 8.2167], [-1.5455, -0.4141, 7.9167]], b: [[-0.8227, -0.475, 7.6583], [-0.8227, -0.475, 8.6083], [-1.3856, -0.8, 8.2833], [-1.3856, -0.8, 7.9833]], collide: 1}
      - {kind: loft, a: [[-0.8227, -0.475, 7.6583], [-0.8227, -0.475, 8.6083], [-1.3856, -0.8, 8.2833], [-1.3856, -0.8, 7.9833]], b: [[-0.6718, -0.6718, 7.725], [-0.6718, -0.6718, 8.675], [-1.1314, -1.1314, 8.35], [-1.1314, -1.1314, 8.05]], collide: 1}
      - {kind: loft, a: [[-0.6718, -0.6718, 7.725], [-0.6718, -0.6718, 8.675], [-1.1314, -1.1314, 8.35], [-1.1314, -1.1314, 8.05]], b: [[-0.475, -0.8227, 7.7917], [-0.475, -0.8227, 8.7417], [-0.8, -1.3856, 8.4167], [-0.8, -1.3856, 8.1167]], collide: 1}
      - {kind: loft, a: [[-0.475, -0.8227, 7.7917], [-0.475, -0.8227, 8.7417], [-0.8, -1.3856, 8.4167], [-0.8, -1.3856, 8.1167]], b: [[-0.2459, -0.9176, 7.8583], [-0.2459, -0.9176, 8.8083], [-0.4141, -1.5455, 8.4833], [-0.4141, -1.5455, 8.1833]], collide: 1}
      - {kind: loft, a: [[-0.2459, -0.9176, 7.8583], [-0.2459, -0.9176, 8.8083], [-0.4141, -1.5455, 8.4833], [-0.4141, -1.5455, 8.1833]], b: [[0.0, -0.95, 7.925], [0.0, -0.95, 8.875], [0.0, -1.6, 8.55], [0.0, -1.6, 8.25]], collide: 1}
      - {kind: loft, a: [[0.0, -0.95, 7.925], [0.0, -0.95, 8.875], [0.0, -1.6, 8.55], [0.0, -1.6, 8.25]], b: [[0.2459, -0.9176, 7.9917], [0.2459, -0.9176, 8.9417], [0.4141, -1.5455, 8.6167], [0.4141, -1.5455, 8.3167]], collide: 1}
      - {kind: loft, a: [[0.2459, -0.9176, 7.9917], [0.2459, -0.9176, 8.9417], [0.4141, -1.5455, 8.6167], [0.4141, -1.5455, 8.3167]], b: [[0.475, -0.8227, 8.0583], [0.475, -0.8227, 9.0083], [0.8, -1.3856, 8.6833], [0.8, -1.3856, 8.3833]], collide: 1}
      - {kind: loft, a: [[0.475, -0.8227, 8.0583], [0.475, -0.8227, 9.0083], [0.8, -1.3856, 8.6833], [0.8, -1.3856, 8.3833]], b: [[0.6718, -0.6718, 8.125], [0.6718, -0.6718, 9.075], [1.1314, -1.1314, 8.75], [1.1314, -1.1314, 8.45]], collide: 1}
      - {kind: loft, a: [[0.6718, -0.6718, 8.125], [0.6718, -0.6718, 9.075], [1.1314, -1.1314, 8.75], [1.1314, -1.1314, 8.45]], b: [[0.8227, -0.475, 8.1917], [0.8227, -0.475, 9.1417], [1.3856, -0.8, 8.8167], [1.3856, -0.8, 8.5167]], collide: 1}
      - {kind: loft, a: [[0.8227, -0.475, 8.1917], [0.8227, -0.475, 9.1417], [1.3856, -0.8, 8.8167], [1.3856, -0.8, 8.5167]], b: [[0.9176, -0.2459, 8.2583], [0.9176, -0.2459, 9.2083], [1.5455, -0.4141, 8.8833], [1.5455, -0.4141, 8.5833]], collide: 1}
      - {kind: loft, a: [[0.9176, -0.2459, 8.2583], [0.9176, -0.2459, 9.2083], [1.5455, -0.4141, 8.8833], [1.5455, -0.4141, 8.5833]], b: [[0.95, -0.0, 8.325], [0.95, -0.0, 9.275], [1.6, -0.0, 8.95], [1.6, -0.0, 8.65]], collide: 1}
  - id: holder
    shape: part
    pos: [-8.0, 0, 9.88]
    density: 2700
    friction: 0.2
    color: "#9a8f7a"
    pieces:
      - {kind: poly, points: [[-23.0, 9.38], [5.8, 9.38], [5.8, 10.38], [-23.0, 10.38]], y: [-1.2, 1.2], collide: 2}   # the holder, a lever
      - {kind: poly, points: [[-22.5, 5.98], [-18.5, 5.98], [-18.5, 9.38], [-22.5, 9.38]], y: [-1.6, 1.6], collide: 2, color: "#8f8a80"}   # its jaw
      - {kind: rod, from: [-8.0, -1.4, 9.88], to: [-8.0, 2.2, 9.88], radius: 0.4, collide: 0, color: "#6f6a60"}   # the fulcrum pin
  - id: wood
    shape: part
    pos: [-20.5, 0, 1.19]
    fixed: true
    density: 600
    friction: 0.5
    color: "#b08a5a"
    pieces:
      - {kind: poly, points: [[-23.5, 0], [-17.5, 0], [-17.5, 2.38], [-23.5, 2.38]], y: [-2.2, 2.2], collide: 1}   # the piece of wood
  - id: frame
    shape: part
    pos: [0, 0, 0]
    fixed: true
    density: 7800
    friction: 0.2
    color: "#cfc6b4"
    pieces:
      - {kind: poly, points: [[1.7, 1.39], [6.4, 1.39], [6.4, 8.21], [1.7, 8.21]], y: [-1.2, 1.2], collide: 0}   # the nut block, right
      - {kind: poly, points: [[-6.4, 1.39], [-1.7, 1.39], [-1.7, 8.21], [-6.4, 8.21]], y: [-1.2, 1.2], collide: 0}   # and left
      - {kind: poly, points: [[-6.4, 1.39], [6.4, 1.39], [6.4, 8.21], [-6.4, 8.21]], y: [1.6, 2.4], collide: 0}   # its back, cut away at the front
      - {kind: poly, points: [[5.4, 0], [6.4, 0], [6.4, 1.39], [5.4, 1.39]], y: [-1.2, 1.2], collide: 0}   # the right column
      - {kind: poly, points: [[-6.4, 0], [-5.4, 0], [-5.4, 1.39], [-6.4, 1.39]], y: [-1.2, 1.2], collide: 0}   # the left column
      - {kind: poly, points: [[-9.2, 0], [-6.8, 0], [-6.8, 10.88], [-9.2, 10.88]], y: [1.4, 2.6], collide: 0}   # the post of the fulcrum
      - {kind: poly, points: [[-26.0, -1.2], [8.0, -1.2], [8.0, 0], [-26.0, 0]], y: [-3, 3], collide: 0, color: "#b9b09c"}   # the base
      - {kind: loft, a: [[-1.8, 0.0, 1.69], [-1.8, 0.0, 3.11], [-1.05, 0.0, 2.735], [-1.05, 0.0, 2.065]], b: [[-1.7387, -0.4659, 1.7567], [-1.7387, -0.4659, 3.1767], [-1.0142, -0.2718, 2.8017], [-1.0142, -0.2718, 2.1317]], collide: 2}
      - {kind: loft, a: [[-1.7387, -0.4659, 1.7567], [-1.7387, -0.4659, 3.1767], [-1.0142, -0.2718, 2.8017], [-1.0142, -0.2718, 2.1317]], b: [[-1.5588, -0.9, 1.8233], [-1.5588, -0.9, 3.2433], [-0.9093, -0.525, 2.8683], [-0.9093, -0.525, 2.1983]], collide: 2}
      - {kind: loft, a: [[-1.5588, -0.9, 1.8233], [-1.5588, -0.9, 3.2433], [-0.9093, -0.525, 2.8683], [-0.9093, -0.525, 2.1983]], b: [[-1.2728, -1.2728, 1.89], [-1.2728, -1.2728, 3.31], [-0.7425, -0.7425, 2.935], [-0.7425, -0.7425, 2.265]], collide: 2}
      - {kind: loft, a: [[-1.2728, -1.2728, 1.89], [-1.2728, -1.2728, 3.31], [-0.7425, -0.7425, 2.935], [-0.7425, -0.7425, 2.265]], b: [[-0.9, -1.5588, 1.9567], [-0.9, -1.5588, 3.3767], [-0.525, -0.9093, 3.0017], [-0.525, -0.9093, 2.3317]], collide: 2}
      - {kind: loft, a: [[-0.9, -1.5588, 1.9567], [-0.9, -1.5588, 3.3767], [-0.525, -0.9093, 3.0017], [-0.525, -0.9093, 2.3317]], b: [[-0.4659, -1.7387, 2.0233], [-0.4659, -1.7387, 3.4433], [-0.2718, -1.0142, 3.0683], [-0.2718, -1.0142, 2.3983]], collide: 2}
      - {kind: loft, a: [[-0.4659, -1.7387, 2.0233], [-0.4659, -1.7387, 3.4433], [-0.2718, -1.0142, 3.0683], [-0.2718, -1.0142, 2.3983]], b: [[-0.0, -1.8, 2.09], [-0.0, -1.8, 3.51], [-0.0, -1.05, 3.135], [-0.0, -1.05, 2.465]], collide: 2}
      - {kind: loft, a: [[-0.0, -1.8, 2.09], [-0.0, -1.8, 3.51], [-0.0, -1.05, 3.135], [-0.0, -1.05, 2.465]], b: [[0.4659, -1.7387, 2.1567], [0.4659, -1.7387, 3.5767], [0.2718, -1.0142, 3.2017], [0.2718, -1.0142, 2.5317]], collide: 2}
      - {kind: loft, a: [[0.4659, -1.7387, 2.1567], [0.4659, -1.7387, 3.5767], [0.2718, -1.0142, 3.2017], [0.2718, -1.0142, 2.5317]], b: [[0.9, -1.5588, 2.2233], [0.9, -1.5588, 3.6433], [0.525, -0.9093, 3.2683], [0.525, -0.9093, 2.5983]], collide: 2}
      - {kind: loft, a: [[0.9, -1.5588, 2.2233], [0.9, -1.5588, 3.6433], [0.525, -0.9093, 3.2683], [0.525, -0.9093, 2.5983]], b: [[1.2728, -1.2728, 2.29], [1.2728, -1.2728, 3.71], [0.7425, -0.7425, 3.335], [0.7425, -0.7425, 2.665]], collide: 2}
      - {kind: loft, a: [[1.2728, -1.2728, 2.29], [1.2728, -1.2728, 3.71], [0.7425, -0.7425, 3.335], [0.7425, -0.7425, 2.665]], b: [[1.5588, -0.9, 2.3567], [1.5588, -0.9, 3.7767], [0.9093, -0.525, 3.4017], [0.9093, -0.525, 2.7317]], collide: 2}
      - {kind: loft, a: [[1.5588, -0.9, 2.3567], [1.5588, -0.9, 3.7767], [0.9093, -0.525, 3.4017], [0.9093, -0.525, 2.7317]], b: [[1.7387, -0.4659, 2.4233], [1.7387, -0.4659, 3.8433], [1.0142, -0.2718, 3.4683], [1.0142, -0.2718, 2.7983]], collide: 2}
      - {kind: loft, a: [[1.7387, -0.4659, 2.4233], [1.7387, -0.4659, 3.8433], [1.0142, -0.2718, 3.4683], [1.0142, -0.2718, 2.7983]], b: [[1.8, -0.0, 2.49], [1.8, -0.0, 3.91], [1.05, -0.0, 3.535], [1.05, -0.0, 2.865]], collide: 2}
      - {kind: loft, a: [[1.8, -0.0, 2.49], [1.8, -0.0, 3.91], [1.05, -0.0, 3.535], [1.05, -0.0, 2.865]], b: [[1.7387, 0.4659, 2.5567], [1.7387, 0.4659, 3.9767], [1.0142, 0.2718, 3.6017], [1.0142, 0.2718, 2.9317]], collide: 2}
      - {kind: loft, a: [[1.7387, 0.4659, 2.5567], [1.7387, 0.4659, 3.9767], [1.0142, 0.2718, 3.6017], [1.0142, 0.2718, 2.9317]], b: [[1.5588, 0.9, 2.6233], [1.5588, 0.9, 4.0433], [0.9093, 0.525, 3.6683], [0.9093, 0.525, 2.9983]], collide: 2}
      - {kind: loft, a: [[1.5588, 0.9, 2.6233], [1.5588, 0.9, 4.0433], [0.9093, 0.525, 3.6683], [0.9093, 0.525, 2.9983]], b: [[1.2728, 1.2728, 2.69], [1.2728, 1.2728, 4.11], [0.7425, 0.7425, 3.735], [0.7425, 0.7425, 3.065]], collide: 2}
      - {kind: loft, a: [[1.2728, 1.2728, 2.69], [1.2728, 1.2728, 4.11], [0.7425, 0.7425, 3.735], [0.7425, 0.7425, 3.065]], b: [[0.9, 1.5588, 2.7567], [0.9, 1.5588, 4.1767], [0.525, 0.9093, 3.8017], [0.525, 0.9093, 3.1317]], collide: 2}
      - {kind: loft, a: [[0.9, 1.5588, 2.7567], [0.9, 1.5588, 4.1767], [0.525, 0.9093, 3.8017], [0.525, 0.9093, 3.1317]], b: [[0.4659, 1.7387, 2.8233], [0.4659, 1.7387, 4.2433], [0.2718, 1.0142, 3.8683], [0.2718, 1.0142, 3.1983]], collide: 2}
      - {kind: loft, a: [[0.4659, 1.7387, 2.8233], [0.4659, 1.7387, 4.2433], [0.2718, 1.0142, 3.8683], [0.2718, 1.0142, 3.1983]], b: [[0.0, 1.8, 2.89], [0.0, 1.8, 4.31], [0.0, 1.05, 3.935], [0.0, 1.05, 3.265]], collide: 2}
      - {kind: loft, a: [[0.0, 1.8, 2.89], [0.0, 1.8, 4.31], [0.0, 1.05, 3.935], [0.0, 1.05, 3.265]], b: [[-0.4659, 1.7387, 2.9567], [-0.4659, 1.7387, 4.3767], [-0.2718, 1.0142, 4.0017], [-0.2718, 1.0142, 3.3317]], collide: 2}
      - {kind: loft, a: [[-0.4659, 1.7387, 2.9567], [-0.4659, 1.7387, 4.3767], [-0.2718, 1.0142, 4.0017], [-0.2718, 1.0142, 3.3317]], b: [[-0.9, 1.5588, 3.0233], [-0.9, 1.5588, 4.4433], [-0.525, 0.9093, 4.0683], [-0.525, 0.9093, 3.3983]], collide: 2}
      - {kind: loft, a: [[-0.9, 1.5588, 3.0233], [-0.9, 1.5588, 4.4433], [-0.525, 0.9093, 4.0683], [-0.525, 0.9093, 3.3983]], b: [[-1.2728, 1.2728, 3.09], [-1.2728, 1.2728, 4.51], [-0.7425, 0.7425, 4.135], [-0.7425, 0.7425, 3.465]], collide: 2}
      - {kind: loft, a: [[-1.2728, 1.2728, 3.09], [-1.2728, 1.2728, 4.51], [-0.7425, 0.7425, 4.135], [-0.7425, 0.7425, 3.465]], b: [[-1.5588, 0.9, 3.1567], [-1.5588, 0.9, 4.5767], [-0.9093, 0.525, 4.2017], [-0.9093, 0.525, 3.5317]], collide: 2}
      - {kind: loft, a: [[-1.5588, 0.9, 3.1567], [-1.5588, 0.9, 4.5767], [-0.9093, 0.525, 4.2017], [-0.9093, 0.525, 3.5317]], b: [[-1.7387, 0.4659, 3.2233], [-1.7387, 0.4659, 4.6433], [-1.0142, 0.2718, 4.2683], [-1.0142, 0.2718, 3.5983]], collide: 2}
      - {kind: loft, a: [[-1.7387, 0.4659, 3.2233], [-1.7387, 0.4659, 4.6433], [-1.0142, 0.2718, 4.2683], [-1.0142, 0.2718, 3.5983]], b: [[-1.8, 0.0, 3.29], [-1.8, 0.0, 4.71], [-1.05, 0.0, 4.335], [-1.05, 0.0, 3.665]], collide: 2}
      - {kind: loft, a: [[-1.8, 0.0, 3.29], [-1.8, 0.0, 4.71], [-1.05, 0.0, 4.335], [-1.05, 0.0, 3.665]], b: [[-1.7387, -0.4659, 3.3567], [-1.7387, -0.4659, 4.7767], [-1.0142, -0.2718, 4.4017], [-1.0142, -0.2718, 3.7317]], collide: 2}
      - {kind: loft, a: [[-1.7387, -0.4659, 3.3567], [-1.7387, -0.4659, 4.7767], [-1.0142, -0.2718, 4.4017], [-1.0142, -0.2718, 3.7317]], b: [[-1.5588, -0.9, 3.4233], [-1.5588, -0.9, 4.8433], [-0.9093, -0.525, 4.4683], [-0.9093, -0.525, 3.7983]], collide: 2}
      - {kind: loft, a: [[-1.5588, -0.9, 3.4233], [-1.5588, -0.9, 4.8433], [-0.9093, -0.525, 4.4683], [-0.9093, -0.525, 3.7983]], b: [[-1.2728, -1.2728, 3.49], [-1.2728, -1.2728, 4.91], [-0.7425, -0.7425, 4.535], [-0.7425, -0.7425, 3.865]], collide: 2}
      - {kind: loft, a: [[-1.2728, -1.2728, 3.49], [-1.2728, -1.2728, 4.91], [-0.7425, -0.7425, 4.535], [-0.7425, -0.7425, 3.865]], b: [[-0.9, -1.5588, 3.5567], [-0.9, -1.5588, 4.9767], [-0.525, -0.9093, 4.6017], [-0.525, -0.9093, 3.9317]], collide: 2}
      - {kind: loft, a: [[-0.9, -1.5588, 3.5567], [-0.9, -1.5588, 4.9767], [-0.525, -0.9093, 4.6017], [-0.525, -0.9093, 3.9317]], b: [[-0.4659, -1.7387, 3.6233], [-0.4659, -1.7387, 5.0433], [-0.2718, -1.0142, 4.6683], [-0.2718, -1.0142, 3.9983]], collide: 2}
      - {kind: loft, a: [[-0.4659, -1.7387, 3.6233], [-0.4659, -1.7387, 5.0433], [-0.2718, -1.0142, 4.6683], [-0.2718, -1.0142, 3.9983]], b: [[-0.0, -1.8, 3.69], [-0.0, -1.8, 5.11], [-0.0, -1.05, 4.735], [-0.0, -1.05, 4.065]], collide: 2}
      - {kind: loft, a: [[-0.0, -1.8, 3.69], [-0.0, -1.8, 5.11], [-0.0, -1.05, 4.735], [-0.0, -1.05, 4.065]], b: [[0.4659, -1.7387, 3.7567], [0.4659, -1.7387, 5.1767], [0.2718, -1.0142, 4.8017], [0.2718, -1.0142, 4.1317]], collide: 2}
      - {kind: loft, a: [[0.4659, -1.7387, 3.7567], [0.4659, -1.7387, 5.1767], [0.2718, -1.0142, 4.8017], [0.2718, -1.0142, 4.1317]], b: [[0.9, -1.5588, 3.8233], [0.9, -1.5588, 5.2433], [0.525, -0.9093, 4.8683], [0.525, -0.9093, 4.1983]], collide: 2}
      - {kind: loft, a: [[0.9, -1.5588, 3.8233], [0.9, -1.5588, 5.2433], [0.525, -0.9093, 4.8683], [0.525, -0.9093, 4.1983]], b: [[1.2728, -1.2728, 3.89], [1.2728, -1.2728, 5.31], [0.7425, -0.7425, 4.935], [0.7425, -0.7425, 4.265]], collide: 2}
      - {kind: loft, a: [[1.2728, -1.2728, 3.89], [1.2728, -1.2728, 5.31], [0.7425, -0.7425, 4.935], [0.7425, -0.7425, 4.265]], b: [[1.5588, -0.9, 3.9567], [1.5588, -0.9, 5.3767], [0.9093, -0.525, 5.0017], [0.9093, -0.525, 4.3317]], collide: 2}
      - {kind: loft, a: [[1.5588, -0.9, 3.9567], [1.5588, -0.9, 5.3767], [0.9093, -0.525, 5.0017], [0.9093, -0.525, 4.3317]], b: [[1.7387, -0.4659, 4.0233], [1.7387, -0.4659, 5.4433], [1.0142, -0.2718, 5.0683], [1.0142, -0.2718, 4.3983]], collide: 2}
      - {kind: loft, a: [[1.7387, -0.4659, 4.0233], [1.7387, -0.4659, 5.4433], [1.0142, -0.2718, 5.0683], [1.0142, -0.2718, 4.3983]], b: [[1.8, -0.0, 4.09], [1.8, -0.0, 5.51], [1.05, -0.0, 5.135], [1.05, -0.0, 4.465]], collide: 2}
      - {kind: loft, a: [[1.8, -0.0, 4.09], [1.8, -0.0, 5.51], [1.05, -0.0, 5.135], [1.05, -0.0, 4.465]], b: [[1.7387, 0.4659, 4.1567], [1.7387, 0.4659, 5.5767], [1.0142, 0.2718, 5.2017], [1.0142, 0.2718, 4.5317]], collide: 2}
      - {kind: loft, a: [[1.7387, 0.4659, 4.1567], [1.7387, 0.4659, 5.5767], [1.0142, 0.2718, 5.2017], [1.0142, 0.2718, 4.5317]], b: [[1.5588, 0.9, 4.2233], [1.5588, 0.9, 5.6433], [0.9093, 0.525, 5.2683], [0.9093, 0.525, 4.5983]], collide: 2}
      - {kind: loft, a: [[1.5588, 0.9, 4.2233], [1.5588, 0.9, 5.6433], [0.9093, 0.525, 5.2683], [0.9093, 0.525, 4.5983]], b: [[1.2728, 1.2728, 4.29], [1.2728, 1.2728, 5.71], [0.7425, 0.7425, 5.335], [0.7425, 0.7425, 4.665]], collide: 2}
      - {kind: loft, a: [[1.2728, 1.2728, 4.29], [1.2728, 1.2728, 5.71], [0.7425, 0.7425, 5.335], [0.7425, 0.7425, 4.665]], b: [[0.9, 1.5588, 4.3567], [0.9, 1.5588, 5.7767], [0.525, 0.9093, 5.4017], [0.525, 0.9093, 4.7317]], collide: 2}
      - {kind: loft, a: [[0.9, 1.5588, 4.3567], [0.9, 1.5588, 5.7767], [0.525, 0.9093, 5.4017], [0.525, 0.9093, 4.7317]], b: [[0.4659, 1.7387, 4.4233], [0.4659, 1.7387, 5.8433], [0.2718, 1.0142, 5.4683], [0.2718, 1.0142, 4.7983]], collide: 2}
      - {kind: loft, a: [[0.4659, 1.7387, 4.4233], [0.4659, 1.7387, 5.8433], [0.2718, 1.0142, 5.4683], [0.2718, 1.0142, 4.7983]], b: [[0.0, 1.8, 4.49], [0.0, 1.8, 5.91], [0.0, 1.05, 5.535], [0.0, 1.05, 4.865]], collide: 2}
      - {kind: loft, a: [[0.0, 1.8, 4.49], [0.0, 1.8, 5.91], [0.0, 1.05, 5.535], [0.0, 1.05, 4.865]], b: [[-0.4659, 1.7387, 4.5567], [-0.4659, 1.7387, 5.9767], [-0.2718, 1.0142, 5.6017], [-0.2718, 1.0142, 4.9317]], collide: 2}
      - {kind: loft, a: [[-0.4659, 1.7387, 4.5567], [-0.4659, 1.7387, 5.9767], [-0.2718, 1.0142, 5.6017], [-0.2718, 1.0142, 4.9317]], b: [[-0.9, 1.5588, 4.6233], [-0.9, 1.5588, 6.0433], [-0.525, 0.9093, 5.6683], [-0.525, 0.9093, 4.9983]], collide: 2}
      - {kind: loft, a: [[-0.9, 1.5588, 4.6233], [-0.9, 1.5588, 6.0433], [-0.525, 0.9093, 5.6683], [-0.525, 0.9093, 4.9983]], b: [[-1.2728, 1.2728, 4.69], [-1.2728, 1.2728, 6.11], [-0.7425, 0.7425, 5.735], [-0.7425, 0.7425, 5.065]], collide: 2}
      - {kind: loft, a: [[-1.2728, 1.2728, 4.69], [-1.2728, 1.2728, 6.11], [-0.7425, 0.7425, 5.735], [-0.7425, 0.7425, 5.065]], b: [[-1.5588, 0.9, 4.7567], [-1.5588, 0.9, 6.1767], [-0.9093, 0.525, 5.8017], [-0.9093, 0.525, 5.1317]], collide: 2}
      - {kind: loft, a: [[-1.5588, 0.9, 4.7567], [-1.5588, 0.9, 6.1767], [-0.9093, 0.525, 5.8017], [-0.9093, 0.525, 5.1317]], b: [[-1.7387, 0.4659, 4.8233], [-1.7387, 0.4659, 6.2433], [-1.0142, 0.2718, 5.8683], [-1.0142, 0.2718, 5.1983]], collide: 2}
      - {kind: loft, a: [[-1.7387, 0.4659, 4.8233], [-1.7387, 0.4659, 6.2433], [-1.0142, 0.2718, 5.8683], [-1.0142, 0.2718, 5.1983]], b: [[-1.8, 0.0, 4.89], [-1.8, 0.0, 6.31], [-1.05, 0.0, 5.935], [-1.05, 0.0, 5.265]], collide: 2}
      - {kind: loft, a: [[-1.8, 0.0, 4.89], [-1.8, 0.0, 6.31], [-1.05, 0.0, 5.935], [-1.05, 0.0, 5.265]], b: [[-1.7387, -0.4659, 4.9567], [-1.7387, -0.4659, 6.3767], [-1.0142, -0.2718, 6.0017], [-1.0142, -0.2718, 5.3317]], collide: 2}
      - {kind: loft, a: [[-1.7387, -0.4659, 4.9567], [-1.7387, -0.4659, 6.3767], [-1.0142, -0.2718, 6.0017], [-1.0142, -0.2718, 5.3317]], b: [[-1.5588, -0.9, 5.0233], [-1.5588, -0.9, 6.4433], [-0.9093, -0.525, 6.0683], [-0.9093, -0.525, 5.3983]], collide: 2}
      - {kind: loft, a: [[-1.5588, -0.9, 5.0233], [-1.5588, -0.9, 6.4433], [-0.9093, -0.525, 6.0683], [-0.9093, -0.525, 5.3983]], b: [[-1.2728, -1.2728, 5.09], [-1.2728, -1.2728, 6.51], [-0.7425, -0.7425, 6.135], [-0.7425, -0.7425, 5.465]], collide: 2}
      - {kind: loft, a: [[-1.2728, -1.2728, 5.09], [-1.2728, -1.2728, 6.51], [-0.7425, -0.7425, 6.135], [-0.7425, -0.7425, 5.465]], b: [[-0.9, -1.5588, 5.1567], [-0.9, -1.5588, 6.5767], [-0.525, -0.9093, 6.2017], [-0.525, -0.9093, 5.5317]], collide: 2}
      - {kind: loft, a: [[-0.9, -1.5588, 5.1567], [-0.9, -1.5588, 6.5767], [-0.525, -0.9093, 6.2017], [-0.525, -0.9093, 5.5317]], b: [[-0.4659, -1.7387, 5.2233], [-0.4659, -1.7387, 6.6433], [-0.2718, -1.0142, 6.2683], [-0.2718, -1.0142, 5.5983]], collide: 2}
      - {kind: loft, a: [[-0.4659, -1.7387, 5.2233], [-0.4659, -1.7387, 6.6433], [-0.2718, -1.0142, 6.2683], [-0.2718, -1.0142, 5.5983]], b: [[-0.0, -1.8, 5.29], [-0.0, -1.8, 6.71], [-0.0, -1.05, 6.335], [-0.0, -1.05, 5.665]], collide: 2}
      - {kind: loft, a: [[-0.0, -1.8, 5.29], [-0.0, -1.8, 6.71], [-0.0, -1.05, 6.335], [-0.0, -1.05, 5.665]], b: [[0.4659, -1.7387, 5.3567], [0.4659, -1.7387, 6.7767], [0.2718, -1.0142, 6.4017], [0.2718, -1.0142, 5.7317]], collide: 2}
      - {kind: loft, a: [[0.4659, -1.7387, 5.3567], [0.4659, -1.7387, 6.7767], [0.2718, -1.0142, 6.4017], [0.2718, -1.0142, 5.7317]], b: [[0.9, -1.5588, 5.4233], [0.9, -1.5588, 6.8433], [0.525, -0.9093, 6.4683], [0.525, -0.9093, 5.7983]], collide: 2}
      - {kind: loft, a: [[0.9, -1.5588, 5.4233], [0.9, -1.5588, 6.8433], [0.525, -0.9093, 6.4683], [0.525, -0.9093, 5.7983]], b: [[1.2728, -1.2728, 5.49], [1.2728, -1.2728, 6.91], [0.7425, -0.7425, 6.535], [0.7425, -0.7425, 5.865]], collide: 2}
      - {kind: loft, a: [[1.2728, -1.2728, 5.49], [1.2728, -1.2728, 6.91], [0.7425, -0.7425, 6.535], [0.7425, -0.7425, 5.865]], b: [[1.5588, -0.9, 5.5567], [1.5588, -0.9, 6.9767], [0.9093, -0.525, 6.6017], [0.9093, -0.525, 5.9317]], collide: 2}
      - {kind: loft, a: [[1.5588, -0.9, 5.5567], [1.5588, -0.9, 6.9767], [0.9093, -0.525, 6.6017], [0.9093, -0.525, 5.9317]], b: [[1.7387, -0.4659, 5.6233], [1.7387, -0.4659, 7.0433], [1.0142, -0.2718, 6.6683], [1.0142, -0.2718, 5.9983]], collide: 2}
      - {kind: loft, a: [[1.7387, -0.4659, 5.6233], [1.7387, -0.4659, 7.0433], [1.0142, -0.2718, 6.6683], [1.0142, -0.2718, 5.9983]], b: [[1.8, -0.0, 5.69], [1.8, -0.0, 7.11], [1.05, -0.0, 6.735], [1.05, -0.0, 6.065]], collide: 2}
      - {kind: loft, a: [[1.8, -0.0, 5.69], [1.8, -0.0, 7.11], [1.05, -0.0, 6.735], [1.05, -0.0, 6.065]], b: [[1.7387, 0.4659, 5.7567], [1.7387, 0.4659, 7.1767], [1.0142, 0.2718, 6.8017], [1.0142, 0.2718, 6.1317]], collide: 2}
      - {kind: loft, a: [[1.7387, 0.4659, 5.7567], [1.7387, 0.4659, 7.1767], [1.0142, 0.2718, 6.8017], [1.0142, 0.2718, 6.1317]], b: [[1.5588, 0.9, 5.8233], [1.5588, 0.9, 7.2433], [0.9093, 0.525, 6.8683], [0.9093, 0.525, 6.1983]], collide: 2}
      - {kind: loft, a: [[1.5588, 0.9, 5.8233], [1.5588, 0.9, 7.2433], [0.9093, 0.525, 6.8683], [0.9093, 0.525, 6.1983]], b: [[1.2728, 1.2728, 5.89], [1.2728, 1.2728, 7.31], [0.7425, 0.7425, 6.935], [0.7425, 0.7425, 6.265]], collide: 2}
      - {kind: loft, a: [[1.2728, 1.2728, 5.89], [1.2728, 1.2728, 7.31], [0.7425, 0.7425, 6.935], [0.7425, 0.7425, 6.265]], b: [[0.9, 1.5588, 5.9567], [0.9, 1.5588, 7.3767], [0.525, 0.9093, 7.0017], [0.525, 0.9093, 6.3317]], collide: 2}
      - {kind: loft, a: [[0.9, 1.5588, 5.9567], [0.9, 1.5588, 7.3767], [0.525, 0.9093, 7.0017], [0.525, 0.9093, 6.3317]], b: [[0.4659, 1.7387, 6.0233], [0.4659, 1.7387, 7.4433], [0.2718, 1.0142, 7.0683], [0.2718, 1.0142, 6.3983]], collide: 2}
      - {kind: loft, a: [[0.4659, 1.7387, 6.0233], [0.4659, 1.7387, 7.4433], [0.2718, 1.0142, 7.0683], [0.2718, 1.0142, 6.3983]], b: [[-0.0, 1.8, 6.09], [-0.0, 1.8, 7.51], [-0.0, 1.05, 7.135], [-0.0, 1.05, 6.465]], collide: 2}
      - {kind: loft, a: [[-0.0, 1.8, 6.09], [-0.0, 1.8, 7.51], [-0.0, 1.05, 7.135], [-0.0, 1.05, 6.465]], b: [[-0.4659, 1.7387, 6.1567], [-0.4659, 1.7387, 7.5767], [-0.2718, 1.0142, 7.2017], [-0.2718, 1.0142, 6.5317]], collide: 2}
      - {kind: loft, a: [[-0.4659, 1.7387, 6.1567], [-0.4659, 1.7387, 7.5767], [-0.2718, 1.0142, 7.2017], [-0.2718, 1.0142, 6.5317]], b: [[-0.9, 1.5588, 6.2233], [-0.9, 1.5588, 7.6433], [-0.525, 0.9093, 7.2683], [-0.525, 0.9093, 6.5983]], collide: 2}
      - {kind: loft, a: [[-0.9, 1.5588, 6.2233], [-0.9, 1.5588, 7.6433], [-0.525, 0.9093, 7.2683], [-0.525, 0.9093, 6.5983]], b: [[-1.2728, 1.2728, 6.29], [-1.2728, 1.2728, 7.71], [-0.7425, 0.7425, 7.335], [-0.7425, 0.7425, 6.665]], collide: 2}
      - {kind: loft, a: [[-1.2728, 1.2728, 6.29], [-1.2728, 1.2728, 7.71], [-0.7425, 0.7425, 7.335], [-0.7425, 0.7425, 6.665]], b: [[-1.5588, 0.9, 6.3567], [-1.5588, 0.9, 7.7767], [-0.9093, 0.525, 7.4017], [-0.9093, 0.525, 6.7317]], collide: 2}
      - {kind: loft, a: [[-1.5588, 0.9, 6.3567], [-1.5588, 0.9, 7.7767], [-0.9093, 0.525, 7.4017], [-0.9093, 0.525, 6.7317]], b: [[-1.7387, 0.4659, 6.4233], [-1.7387, 0.4659, 7.8433], [-1.0142, 0.2718, 7.4683], [-1.0142, 0.2718, 6.7983]], collide: 2}
      - {kind: loft, a: [[-1.7387, 0.4659, 6.4233], [-1.7387, 0.4659, 7.8433], [-1.0142, 0.2718, 7.4683], [-1.0142, 0.2718, 6.7983]], b: [[-1.8, 0.0, 6.49], [-1.8, 0.0, 7.91], [-1.05, 0.0, 7.535], [-1.05, 0.0, 6.865]], collide: 2}
joints:
  - {id: j_z, type: slide, body: carr, axis: [0, 0, 1], range: [-0.3, 3.6], damping: 0.05}   # the screw's carriage on its axis; + : up
  - {id: j_s, type: hinge, body: screw, axis: [0, 0, 1], damping: 0.002}   # the one driven joint: the screw on its axis
  - {id: j_h, type: hinge, body: holder, axis: [0, -1, 0], range: [-0.05, 0.45], stiffness: 0.7, springref: -0.3, damping: 0.02}   # the holder on its fulcrum; + : the tail up, the jaw down
driver: {joint: j_s, kind: velocity, rpm: 16.0, kv: 0.3, max_torque: 1.0}
checks:
  - {type: follow, out: j_z, in: j_s, expect: 0.002546, tol: 0.000102, min_r2: 0.999, settle_s: 1.0, window_s: 3.0}   # the screw rises 1.6 cm a turn
  - {type: follow, out: j_h, in: j_z, expect: 14.5, tol: 1.5, min_r2: 0.99, settle_s: 1.0, window_s: 3.5}   # the holder tilts with the screw's rise
  - {type: position, joint: j_h, min: 0.22, max: 0.3, settle_s: 6.0, window_s: 3.5}   # the jaw is down on the wood
  - {type: still, joint: j_s, max: 0.05, settle_s: 6.5, window_s: 3.0}   # and the screw stalls, holding it
  - {type: position, joint: j_z, min: -0.05, max: 3.5, settle_s: 0.5, window_s: 9}
camera: {target: [-9, 0, 6.84], position: [-9, -56, 6.84], fov: 34}
display:
  output: j_h
  labels: {j_s: "Screw (driver)", j_z: "Screw rise", j_h: "Holder (lever)"}
  proof: {label: "Threads out of contact", sub: "the screw turns but the holder stays"}