# No. 262 (Brown 1868, Nos. 262-263): "The first of these figures is an end view, and the second a side view, of an arrangement of
# mechanism for obtaining a series of changes of velocity and direction."
#
# Model (cm, gravity on, shafts level): the screw D (the one driven joint, 20 turns a minute) works in a fixed nut (2 turns, pitch 1.6),
# so it travels 1.6 cm along its axis each turn, free in its carriage. The cone B (2.5 to 6.1 radius over 9.0), fast on D, has its axis 1.2
# off D's. The friction-roller C (radius 1.5), over D's axis in a vertical slide, is pressed on the cone by its weight (1 kg).
# Each turn the cone's eccentricity lifts and drops C, while the cone, travelling with the screw, brings ever larger (or smaller) circles under
# it: C traces a spiral of the screw's pitch, and its strokes are unequal (-0.92, +2.73, -2.09, +2.73, -2.09, +1.27 cm over the run). C also
# spins by friction at 2.24..4.49 of D. Only threads and the cone's contact on C touch. This is the end view (No. 262); No. 263 is the side view, pressed by a spring.
# Generator: opencode-runs/batch11/gen262.py (NUM=262).
number: 262
slug: eccentric-cone-on-a-screw-end-view
name: An eccentric cone on a screw, and a friction-roller pressed by a weight
brown: "The first of these figures is an end view, and the second a side view, of an arrangement of mechanism for obtaining a series of changes of velocity and direction. D is a screw on which is placed eccentrically the cone, B, and C is a friction-roller which is pressed against the cone by a spring or weight. Continuous rotary motion, at a uniform velocity, of the screw, D, carrying the eccentric cone, gives a series of changes of velocity and direction to the roller, C. It will be understood that during every revolution of the cone the roller would press against a different part of the cone, and that it would describe thereon a spiral of the same pitch as the screw, D. The roller, C, would receive a reciprocating motion, the movement in one direction being shorter than that in the other."
units: cm
sim:
  timestep: 0.0001
  integrator: implicitfast
  iterations: 100
  solver: CG
  multiccd: true
  duration_s: 7.5
  floor: false
bodies:
  - id: carriage
    shape: part
    pos: [0, 0, 0]
    mass: 0.01
    color: "#b8ad97"
    pieces:
      - {kind: poly, points: [[-1.3, -1.3], [1.3, -1.3], [1.3, 1.3], [-1.3, 1.3]], y: [10.0, 10.6], collide: 0}   # the screw's end collar
  - id: screw
    shape: part
    pos: [0, 0, 0]
    mount: carriage
    density: 7800
    friction: 0.9
    color: "#e4d9bf"
    pieces:
      - {kind: rod, from: [0, -17.0, 0], to: [0, 10.0, 0], radius: 1.0, collide: 0}   # the screw D and its shaft
      - {kind: loft, a: [[0.95, -16.875, 0.0], [0.95, -15.925, 0.0], [1.6, -16.25, 0.0], [1.6, -16.55, 0.0]], b: [[0.9176, -16.8083, 0.2459], [0.9176, -15.8583, 0.2459], [1.5455, -16.1833, 0.4141], [1.5455, -16.4833, 0.4141]], collide: 1}
      - {kind: loft, a: [[0.9176, -16.8083, 0.2459], [0.9176, -15.8583, 0.2459], [1.5455, -16.1833, 0.4141], [1.5455, -16.4833, 0.4141]], b: [[0.8227, -16.7417, 0.475], [0.8227, -15.7917, 0.475], [1.3856, -16.1167, 0.8], [1.3856, -16.4167, 0.8]], collide: 1}
      - {kind: loft, a: [[0.8227, -16.7417, 0.475], [0.8227, -15.7917, 0.475], [1.3856, -16.1167, 0.8], [1.3856, -16.4167, 0.8]], b: [[0.6718, -16.675, 0.6718], [0.6718, -15.725, 0.6718], [1.1314, -16.05, 1.1314], [1.1314, -16.35, 1.1314]], collide: 1}
      - {kind: loft, a: [[0.6718, -16.675, 0.6718], [0.6718, -15.725, 0.6718], [1.1314, -16.05, 1.1314], [1.1314, -16.35, 1.1314]], b: [[0.475, -16.6083, 0.8227], [0.475, -15.6583, 0.8227], [0.8, -15.9833, 1.3856], [0.8, -16.2833, 1.3856]], collide: 1}
      - {kind: loft, a: [[0.475, -16.6083, 0.8227], [0.475, -15.6583, 0.8227], [0.8, -15.9833, 1.3856], [0.8, -16.2833, 1.3856]], b: [[0.2459, -16.5417, 0.9176], [0.2459, -15.5917, 0.9176], [0.4141, -15.9167, 1.5455], [0.4141, -16.2167, 1.5455]], collide: 1}
      - {kind: loft, a: [[0.2459, -16.5417, 0.9176], [0.2459, -15.5917, 0.9176], [0.4141, -15.9167, 1.5455], [0.4141, -16.2167, 1.5455]], b: [[0.0, -16.475, 0.95], [0.0, -15.525, 0.95], [0.0, -15.85, 1.6], [0.0, -16.15, 1.6]], collide: 1}
      - {kind: loft, a: [[0.0, -16.475, 0.95], [0.0, -15.525, 0.95], [0.0, -15.85, 1.6], [0.0, -16.15, 1.6]], b: [[-0.2459, -16.4083, 0.9176], [-0.2459, -15.4583, 0.9176], [-0.4141, -15.7833, 1.5455], [-0.4141, -16.0833, 1.5455]], collide: 1}
      - {kind: loft, a: [[-0.2459, -16.4083, 0.9176], [-0.2459, -15.4583, 0.9176], [-0.4141, -15.7833, 1.5455], [-0.4141, -16.0833, 1.5455]], b: [[-0.475, -16.3417, 0.8227], [-0.475, -15.3917, 0.8227], [-0.8, -15.7167, 1.3856], [-0.8, -16.0167, 1.3856]], collide: 1}
      - {kind: loft, a: [[-0.475, -16.3417, 0.8227], [-0.475, -15.3917, 0.8227], [-0.8, -15.7167, 1.3856], [-0.8, -16.0167, 1.3856]], b: [[-0.6718, -16.275, 0.6718], [-0.6718, -15.325, 0.6718], [-1.1314, -15.65, 1.1314], [-1.1314, -15.95, 1.1314]], collide: 1}
      - {kind: loft, a: [[-0.6718, -16.275, 0.6718], [-0.6718, -15.325, 0.6718], [-1.1314, -15.65, 1.1314], [-1.1314, -15.95, 1.1314]], b: [[-0.8227, -16.2083, 0.475], [-0.8227, -15.2583, 0.475], [-1.3856, -15.5833, 0.8], [-1.3856, -15.8833, 0.8]], collide: 1}
      - {kind: loft, a: [[-0.8227, -16.2083, 0.475], [-0.8227, -15.2583, 0.475], [-1.3856, -15.5833, 0.8], [-1.3856, -15.8833, 0.8]], b: [[-0.9176, -16.1417, 0.2459], [-0.9176, -15.1917, 0.2459], [-1.5455, -15.5167, 0.4141], [-1.5455, -15.8167, 0.4141]], collide: 1}
      - {kind: loft, a: [[-0.9176, -16.1417, 0.2459], [-0.9176, -15.1917, 0.2459], [-1.5455, -15.5167, 0.4141], [-1.5455, -15.8167, 0.4141]], b: [[-0.95, -16.075, 0.0], [-0.95, -15.125, 0.0], [-1.6, -15.45, 0.0], [-1.6, -15.75, 0.0]], collide: 1}
      - {kind: loft, a: [[-0.95, -16.075, 0.0], [-0.95, -15.125, 0.0], [-1.6, -15.45, 0.0], [-1.6, -15.75, 0.0]], b: [[-0.9176, -16.0083, -0.2459], [-0.9176, -15.0583, -0.2459], [-1.5455, -15.3833, -0.4141], [-1.5455, -15.6833, -0.4141]], collide: 1}
      - {kind: loft, a: [[-0.9176, -16.0083, -0.2459], [-0.9176, -15.0583, -0.2459], [-1.5455, -15.3833, -0.4141], [-1.5455, -15.6833, -0.4141]], b: [[-0.8227, -15.9417, -0.475], [-0.8227, -14.9917, -0.475], [-1.3856, -15.3167, -0.8], [-1.3856, -15.6167, -0.8]], collide: 1}
      - {kind: loft, a: [[-0.8227, -15.9417, -0.475], [-0.8227, -14.9917, -0.475], [-1.3856, -15.3167, -0.8], [-1.3856, -15.6167, -0.8]], b: [[-0.6718, -15.875, -0.6718], [-0.6718, -14.925, -0.6718], [-1.1314, -15.25, -1.1314], [-1.1314, -15.55, -1.1314]], collide: 1}
      - {kind: loft, a: [[-0.6718, -15.875, -0.6718], [-0.6718, -14.925, -0.6718], [-1.1314, -15.25, -1.1314], [-1.1314, -15.55, -1.1314]], b: [[-0.475, -15.8083, -0.8227], [-0.475, -14.8583, -0.8227], [-0.8, -15.1833, -1.3856], [-0.8, -15.4833, -1.3856]], collide: 1}
      - {kind: loft, a: [[-0.475, -15.8083, -0.8227], [-0.475, -14.8583, -0.8227], [-0.8, -15.1833, -1.3856], [-0.8, -15.4833, -1.3856]], b: [[-0.2459, -15.7417, -0.9176], [-0.2459, -14.7917, -0.9176], [-0.4141, -15.1167, -1.5455], [-0.4141, -15.4167, -1.5455]], collide: 1}
      - {kind: loft, a: [[-0.2459, -15.7417, -0.9176], [-0.2459, -14.7917, -0.9176], [-0.4141, -15.1167, -1.5455], [-0.4141, -15.4167, -1.5455]], b: [[-0.0, -15.675, -0.95], [-0.0, -14.725, -0.95], [-0.0, -15.05, -1.6], [-0.0, -15.35, -1.6]], collide: 1}
      - {kind: loft, a: [[-0.0, -15.675, -0.95], [-0.0, -14.725, -0.95], [-0.0, -15.05, -1.6], [-0.0, -15.35, -1.6]], b: [[0.2459, -15.6083, -0.9176], [0.2459, -14.6583, -0.9176], [0.4141, -14.9833, -1.5455], [0.4141, -15.2833, -1.5455]], collide: 1}
      - {kind: loft, a: [[0.2459, -15.6083, -0.9176], [0.2459, -14.6583, -0.9176], [0.4141, -14.9833, -1.5455], [0.4141, -15.2833, -1.5455]], b: [[0.475, -15.5417, -0.8227], [0.475, -14.5917, -0.8227], [0.8, -14.9167, -1.3856], [0.8, -15.2167, -1.3856]], collide: 1}
      - {kind: loft, a: [[0.475, -15.5417, -0.8227], [0.475, -14.5917, -0.8227], [0.8, -14.9167, -1.3856], [0.8, -15.2167, -1.3856]], b: [[0.6718, -15.475, -0.6718], [0.6718, -14.525, -0.6718], [1.1314, -14.85, -1.1314], [1.1314, -15.15, -1.1314]], collide: 1}
      - {kind: loft, a: [[0.6718, -15.475, -0.6718], [0.6718, -14.525, -0.6718], [1.1314, -14.85, -1.1314], [1.1314, -15.15, -1.1314]], b: [[0.8227, -15.4083, -0.475], [0.8227, -14.4583, -0.475], [1.3856, -14.7833, -0.8], [1.3856, -15.0833, -0.8]], collide: 1}
      - {kind: loft, a: [[0.8227, -15.4083, -0.475], [0.8227, -14.4583, -0.475], [1.3856, -14.7833, -0.8], [1.3856, -15.0833, -0.8]], b: [[0.9176, -15.3417, -0.2459], [0.9176, -14.3917, -0.2459], [1.5455, -14.7167, -0.4141], [1.5455, -15.0167, -0.4141]], collide: 1}
      - {kind: loft, a: [[0.9176, -15.3417, -0.2459], [0.9176, -14.3917, -0.2459], [1.5455, -14.7167, -0.4141], [1.5455, -15.0167, -0.4141]], b: [[0.95, -15.275, -0.0], [0.95, -14.325, -0.0], [1.6, -14.65, -0.0], [1.6, -14.95, -0.0]], collide: 1}
      - {kind: loft, a: [[0.95, -15.275, -0.0], [0.95, -14.325, -0.0], [1.6, -14.65, -0.0], [1.6, -14.95, -0.0]], b: [[0.9176, -15.2083, 0.2459], [0.9176, -14.2583, 0.2459], [1.5455, -14.5833, 0.4141], [1.5455, -14.8833, 0.4141]], collide: 1}
      - {kind: loft, a: [[0.9176, -15.2083, 0.2459], [0.9176, -14.2583, 0.2459], [1.5455, -14.5833, 0.4141], [1.5455, -14.8833, 0.4141]], b: [[0.8227, -15.1417, 0.475], [0.8227, -14.1917, 0.475], [1.3856, -14.5167, 0.8], [1.3856, -14.8167, 0.8]], collide: 1}
      - {kind: loft, a: [[0.8227, -15.1417, 0.475], [0.8227, -14.1917, 0.475], [1.3856, -14.5167, 0.8], [1.3856, -14.8167, 0.8]], b: [[0.6718, -15.075, 0.6718], [0.6718, -14.125, 0.6718], [1.1314, -14.45, 1.1314], [1.1314, -14.75, 1.1314]], collide: 1}
      - {kind: loft, a: [[0.6718, -15.075, 0.6718], [0.6718, -14.125, 0.6718], [1.1314, -14.45, 1.1314], [1.1314, -14.75, 1.1314]], b: [[0.475, -15.0083, 0.8227], [0.475, -14.0583, 0.8227], [0.8, -14.3833, 1.3856], [0.8, -14.6833, 1.3856]], collide: 1}
      - {kind: loft, a: [[0.475, -15.0083, 0.8227], [0.475, -14.0583, 0.8227], [0.8, -14.3833, 1.3856], [0.8, -14.6833, 1.3856]], b: [[0.2459, -14.9417, 0.9176], [0.2459, -13.9917, 0.9176], [0.4141, -14.3167, 1.5455], [0.4141, -14.6167, 1.5455]], collide: 1}
      - {kind: loft, a: [[0.2459, -14.9417, 0.9176], [0.2459, -13.9917, 0.9176], [0.4141, -14.3167, 1.5455], [0.4141, -14.6167, 1.5455]], b: [[0.0, -14.875, 0.95], [0.0, -13.925, 0.95], [0.0, -14.25, 1.6], [0.0, -14.55, 1.6]], collide: 1}
      - {kind: loft, a: [[0.0, -14.875, 0.95], [0.0, -13.925, 0.95], [0.0, -14.25, 1.6], [0.0, -14.55, 1.6]], b: [[-0.2459, -14.8083, 0.9176], [-0.2459, -13.8583, 0.9176], [-0.4141, -14.1833, 1.5455], [-0.4141, -14.4833, 1.5455]], collide: 1}
      - {kind: loft, a: [[-0.2459, -14.8083, 0.9176], [-0.2459, -13.8583, 0.9176], [-0.4141, -14.1833, 1.5455], [-0.4141, -14.4833, 1.5455]], b: [[-0.475, -14.7417, 0.8227], [-0.475, -13.7917, 0.8227], [-0.8, -14.1167, 1.3856], [-0.8, -14.4167, 1.3856]], collide: 1}
      - {kind: loft, a: [[-0.475, -14.7417, 0.8227], [-0.475, -13.7917, 0.8227], [-0.8, -14.1167, 1.3856], [-0.8, -14.4167, 1.3856]], b: [[-0.6718, -14.675, 0.6718], [-0.6718, -13.725, 0.6718], [-1.1314, -14.05, 1.1314], [-1.1314, -14.35, 1.1314]], collide: 1}
      - {kind: loft, a: [[-0.6718, -14.675, 0.6718], [-0.6718, -13.725, 0.6718], [-1.1314, -14.05, 1.1314], [-1.1314, -14.35, 1.1314]], b: [[-0.8227, -14.6083, 0.475], [-0.8227, -13.6583, 0.475], [-1.3856, -13.9833, 0.8], [-1.3856, -14.2833, 0.8]], collide: 1}
      - {kind: loft, a: [[-0.8227, -14.6083, 0.475], [-0.8227, -13.6583, 0.475], [-1.3856, -13.9833, 0.8], [-1.3856, -14.2833, 0.8]], b: [[-0.9176, -14.5417, 0.2459], [-0.9176, -13.5917, 0.2459], [-1.5455, -13.9167, 0.4141], [-1.5455, -14.2167, 0.4141]], collide: 1}
      - {kind: loft, a: [[-0.9176, -14.5417, 0.2459], [-0.9176, -13.5917, 0.2459], [-1.5455, -13.9167, 0.4141], [-1.5455, -14.2167, 0.4141]], b: [[-0.95, -14.475, 0.0], [-0.95, -13.525, 0.0], [-1.6, -13.85, 0.0], [-1.6, -14.15, 0.0]], collide: 1}
      - {kind: loft, a: [[-0.95, -14.475, 0.0], [-0.95, -13.525, 0.0], [-1.6, -13.85, 0.0], [-1.6, -14.15, 0.0]], b: [[-0.9176, -14.4083, -0.2459], [-0.9176, -13.4583, -0.2459], [-1.5455, -13.7833, -0.4141], [-1.5455, -14.0833, -0.4141]], collide: 1}
      - {kind: loft, a: [[-0.9176, -14.4083, -0.2459], [-0.9176, -13.4583, -0.2459], [-1.5455, -13.7833, -0.4141], [-1.5455, -14.0833, -0.4141]], b: [[-0.8227, -14.3417, -0.475], [-0.8227, -13.3917, -0.475], [-1.3856, -13.7167, -0.8], [-1.3856, -14.0167, -0.8]], collide: 1}
      - {kind: loft, a: [[-0.8227, -14.3417, -0.475], [-0.8227, -13.3917, -0.475], [-1.3856, -13.7167, -0.8], [-1.3856, -14.0167, -0.8]], b: [[-0.6718, -14.275, -0.6718], [-0.6718, -13.325, -0.6718], [-1.1314, -13.65, -1.1314], [-1.1314, -13.95, -1.1314]], collide: 1}
      - {kind: loft, a: [[-0.6718, -14.275, -0.6718], [-0.6718, -13.325, -0.6718], [-1.1314, -13.65, -1.1314], [-1.1314, -13.95, -1.1314]], b: [[-0.475, -14.2083, -0.8227], [-0.475, -13.2583, -0.8227], [-0.8, -13.5833, -1.3856], [-0.8, -13.8833, -1.3856]], collide: 1}
      - {kind: loft, a: [[-0.475, -14.2083, -0.8227], [-0.475, -13.2583, -0.8227], [-0.8, -13.5833, -1.3856], [-0.8, -13.8833, -1.3856]], b: [[-0.2459, -14.1417, -0.9176], [-0.2459, -13.1917, -0.9176], [-0.4141, -13.5167, -1.5455], [-0.4141, -13.8167, -1.5455]], collide: 1}
      - {kind: loft, a: [[-0.2459, -14.1417, -0.9176], [-0.2459, -13.1917, -0.9176], [-0.4141, -13.5167, -1.5455], [-0.4141, -13.8167, -1.5455]], b: [[-0.0, -14.075, -0.95], [-0.0, -13.125, -0.95], [-0.0, -13.45, -1.6], [-0.0, -13.75, -1.6]], collide: 1}
      - {kind: loft, a: [[-0.0, -14.075, -0.95], [-0.0, -13.125, -0.95], [-0.0, -13.45, -1.6], [-0.0, -13.75, -1.6]], b: [[0.2459, -14.0083, -0.9176], [0.2459, -13.0583, -0.9176], [0.4141, -13.3833, -1.5455], [0.4141, -13.6833, -1.5455]], collide: 1}
      - {kind: loft, a: [[0.2459, -14.0083, -0.9176], [0.2459, -13.0583, -0.9176], [0.4141, -13.3833, -1.5455], [0.4141, -13.6833, -1.5455]], b: [[0.475, -13.9417, -0.8227], [0.475, -12.9917, -0.8227], [0.8, -13.3167, -1.3856], [0.8, -13.6167, -1.3856]], collide: 1}
      - {kind: loft, a: [[0.475, -13.9417, -0.8227], [0.475, -12.9917, -0.8227], [0.8, -13.3167, -1.3856], [0.8, -13.6167, -1.3856]], b: [[0.6718, -13.875, -0.6718], [0.6718, -12.925, -0.6718], [1.1314, -13.25, -1.1314], [1.1314, -13.55, -1.1314]], collide: 1}
      - {kind: loft, a: [[0.6718, -13.875, -0.6718], [0.6718, -12.925, -0.6718], [1.1314, -13.25, -1.1314], [1.1314, -13.55, -1.1314]], b: [[0.8227, -13.8083, -0.475], [0.8227, -12.8583, -0.475], [1.3856, -13.1833, -0.8], [1.3856, -13.4833, -0.8]], collide: 1}
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      - {kind: loft, a: [[-0.8227, -3.4083, 0.475], [-0.8227, -2.4583, 0.475], [-1.3856, -2.7833, 0.8], [-1.3856, -3.0833, 0.8]], b: [[-0.9176, -3.3417, 0.2459], [-0.9176, -2.3917, 0.2459], [-1.5455, -2.7167, 0.4141], [-1.5455, -3.0167, 0.4141]], collide: 1}
      - {kind: loft, a: [[-0.9176, -3.3417, 0.2459], [-0.9176, -2.3917, 0.2459], [-1.5455, -2.7167, 0.4141], [-1.5455, -3.0167, 0.4141]], b: [[-0.95, -3.275, 0.0], [-0.95, -2.325, 0.0], [-1.6, -2.65, 0.0], [-1.6, -2.95, 0.0]], collide: 1}
      - {kind: loft, a: [[-0.95, -3.275, 0.0], [-0.95, -2.325, 0.0], [-1.6, -2.65, 0.0], [-1.6, -2.95, 0.0]], b: [[-0.9176, -3.2083, -0.2459], [-0.9176, -2.2583, -0.2459], [-1.5455, -2.5833, -0.4141], [-1.5455, -2.8833, -0.4141]], collide: 1}
      - {kind: loft, a: [[-0.9176, -3.2083, -0.2459], [-0.9176, -2.2583, -0.2459], [-1.5455, -2.5833, -0.4141], [-1.5455, -2.8833, -0.4141]], b: [[-0.8227, -3.1417, -0.475], [-0.8227, -2.1917, -0.475], [-1.3856, -2.5167, -0.8], [-1.3856, -2.8167, -0.8]], collide: 1}
      - {kind: loft, a: [[-0.8227, -3.1417, -0.475], [-0.8227, -2.1917, -0.475], [-1.3856, -2.5167, -0.8], [-1.3856, -2.8167, -0.8]], b: [[-0.6718, -3.075, -0.6718], [-0.6718, -2.125, -0.6718], [-1.1314, -2.45, -1.1314], [-1.1314, -2.75, -1.1314]], collide: 1}
      - {kind: loft, a: [[-0.6718, -3.075, -0.6718], [-0.6718, -2.125, -0.6718], [-1.1314, -2.45, -1.1314], [-1.1314, -2.75, -1.1314]], b: [[-0.475, -3.0083, -0.8227], [-0.475, -2.0583, -0.8227], [-0.8, -2.3833, -1.3856], [-0.8, -2.6833, -1.3856]], collide: 1}
      - {kind: loft, a: [[-0.475, -3.0083, -0.8227], [-0.475, -2.0583, -0.8227], [-0.8, -2.3833, -1.3856], [-0.8, -2.6833, -1.3856]], b: [[-0.2459, -2.9417, -0.9176], [-0.2459, -1.9917, -0.9176], [-0.4141, -2.3167, -1.5455], [-0.4141, -2.6167, -1.5455]], collide: 1}
      - {kind: loft, a: [[-0.2459, -2.9417, -0.9176], [-0.2459, -1.9917, -0.9176], [-0.4141, -2.3167, -1.5455], [-0.4141, -2.6167, -1.5455]], b: [[-0.0, -2.875, -0.95], [-0.0, -1.925, -0.95], [-0.0, -2.25, -1.6], [-0.0, -2.55, -1.6]], collide: 1}
      - {kind: loft, a: [[-0.0, -2.875, -0.95], [-0.0, -1.925, -0.95], [-0.0, -2.25, -1.6], [-0.0, -2.55, -1.6]], b: [[0.2459, -2.8083, -0.9176], [0.2459, -1.8583, -0.9176], [0.4141, -2.1833, -1.5455], [0.4141, -2.4833, -1.5455]], collide: 1}
      - {kind: loft, a: [[0.2459, -2.8083, -0.9176], [0.2459, -1.8583, -0.9176], [0.4141, -2.1833, -1.5455], [0.4141, -2.4833, -1.5455]], b: [[0.475, -2.7417, -0.8227], [0.475, -1.7917, -0.8227], [0.8, -2.1167, -1.3856], [0.8, -2.4167, -1.3856]], collide: 1}
      - {kind: loft, a: [[0.475, -2.7417, -0.8227], [0.475, -1.7917, -0.8227], [0.8, -2.1167, -1.3856], [0.8, -2.4167, -1.3856]], b: [[0.6718, -2.675, -0.6718], [0.6718, -1.725, -0.6718], [1.1314, -2.05, -1.1314], [1.1314, -2.35, -1.1314]], collide: 1}
      - {kind: loft, a: [[0.6718, -2.675, -0.6718], [0.6718, -1.725, -0.6718], [1.1314, -2.05, -1.1314], [1.1314, -2.35, -1.1314]], b: [[0.8227, -2.6083, -0.475], [0.8227, -1.6583, -0.475], [1.3856, -1.9833, -0.8], [1.3856, -2.2833, -0.8]], collide: 1}
      - {kind: loft, a: [[0.8227, -2.6083, -0.475], [0.8227, -1.6583, -0.475], [1.3856, -1.9833, -0.8], [1.3856, -2.2833, -0.8]], b: [[0.9176, -2.5417, -0.2459], [0.9176, -1.5917, -0.2459], [1.5455, -1.9167, -0.4141], [1.5455, -2.2167, -0.4141]], collide: 1}
      - {kind: loft, a: [[0.9176, -2.5417, -0.2459], [0.9176, -1.5917, -0.2459], [1.5455, -1.9167, -0.4141], [1.5455, -2.2167, -0.4141]], b: [[0.95, -2.475, -0.0], [0.95, -1.525, -0.0], [1.6, -1.85, -0.0], [1.6, -2.15, -0.0]], collide: 1}
      - {kind: loft, a: [[3.6946, 0.0, 0.1635], [3.652, 0.0, 0.4877], [3.5673, 0.0, 0.8036], [3.4422, 0.0, 1.1057], [3.2787, 0.0, 1.3889], [3.0796, 0.0, 1.6484], [2.8484, 0.0, 1.8796], [2.5889, 0.0, 2.0787], [2.3057, 0.0, 2.2422], [2.0036, 0.0, 2.3673], [1.6877, 0.0, 2.452], [1.3635, 0.0, 2.4946], [1.0365, 0.0, 2.4946], [0.7123, 0.0, 2.452], [0.3964, 0.0, 2.3673], [0.0943, 0.0, 2.2422], [-0.1889, 0.0, 2.0787], [-0.4484, 0.0, 1.8796], [-0.6796, 0.0, 1.6484], [-0.8787, 0.0, 1.3889], [-1.0422, 0.0, 1.1057], [-1.1673, 0.0, 0.8036], [-1.252, 0.0, 0.4877], [-1.2946, 0.0, 0.1635], [-1.2946, 0.0, -0.1635], [-1.252, 0.0, -0.4877], [-1.1673, 0.0, -0.8036], [-1.0422, 0.0, -1.1057], [-0.8787, 0.0, -1.3889], [-0.6796, 0.0, -1.6484], [-0.4484, 0.0, -1.8796], [-0.1889, 0.0, -2.0787], [0.0943, 0.0, -2.2422], [0.3964, 0.0, -2.3673], [0.7123, 0.0, -2.452], [1.0365, 0.0, -2.4946], [1.3635, 0.0, -2.4946], [1.6877, 0.0, -2.452], [2.0036, 0.0, -2.3673], [2.3057, 0.0, -2.2422], [2.5889, 0.0, -2.0787], [2.8484, 0.0, -1.8796], [3.0796, 0.0, -1.6484], [3.2787, 0.0, -1.3889], [3.4422, 0.0, -1.1057], [3.5673, 0.0, -0.8036], [3.652, 0.0, -0.4877], [3.6946, 0.0, -0.1635]], b: [[7.2869, 9.0, 0.399], [7.1828, 9.0, 1.1901], [6.9763, 9.0, 1.9608], [6.6709, 9.0, 2.698], [6.272, 9.0, 3.389], [5.7862, 9.0, 4.022], [5.222, 9.0, 4.5862], [4.589, 9.0, 5.072], [3.898, 9.0, 5.4709], [3.1608, 9.0, 5.7763], [2.3901, 9.0, 5.9828], [1.599, 9.0, 6.0869], [0.801, 9.0, 6.0869], [0.0099, 9.0, 5.9828], [-0.7608, 9.0, 5.7763], [-1.498, 9.0, 5.4709], [-2.189, 9.0, 5.072], [-2.822, 9.0, 4.5862], [-3.3862, 9.0, 4.022], [-3.872, 9.0, 3.389], [-4.2709, 9.0, 2.698], [-4.5763, 9.0, 1.9608], [-4.7828, 9.0, 1.1901], [-4.8869, 9.0, 0.399], [-4.8869, 9.0, -0.399], [-4.7828, 9.0, -1.1901], [-4.5763, 9.0, -1.9608], [-4.2709, 9.0, -2.698], [-3.872, 9.0, -3.389], [-3.3862, 9.0, -4.022], [-2.822, 9.0, -4.5862], [-2.189, 9.0, -5.072], [-1.498, 9.0, -5.4709], [-0.7608, 9.0, -5.7763], [0.0099, 9.0, -5.9828], [0.801, 9.0, -6.0869], [1.599, 9.0, -6.0869], [2.3901, 9.0, -5.9828], [3.1608, 9.0, -5.7763], [3.898, 9.0, -5.4709], [4.589, 9.0, -5.072], [5.222, 9.0, -4.5862], [5.7862, 9.0, -4.022], [6.272, 9.0, -3.389], [6.6709, 9.0, -2.698], [6.9763, 9.0, -1.9608], [7.1828, 9.0, -1.1901], [7.2869, 9.0, -0.399]], collide: 1}   # the cone B, its axis 1.2 off the screw's
  - id: slide_c
    shape: part
    pos: [0, 4.5, 5.7874]
    mass: 1.0
    color: "#a89a7e"
    pieces:
      - {kind: poly, points: [[-0.5, 5.2874], [0.5, 5.2874], [0.5, 7.8874], [-0.5, 7.8874]], y: [4.9, 5.3], collide: 0}   # the roller's fork
      - {kind: poly, points: [[-0.5, 5.2874], [0.5, 5.2874], [0.5, 7.8874], [-0.5, 7.8874]], y: [3.7, 4.1], collide: 0}
      - {kind: poly, points: [[-0.5, 7.4874], [0.5, 7.4874], [0.5, 7.8874], [-0.5, 7.8874]], y: [3.7, 5.3], collide: 0}
      - {kind: rod, from: [0, 4.5, 7.6874], to: [0, 4.5, 13.2874], radius: 0.35, collide: 0}   # the roller's stem
      - {kind: poly, points: [[-1.6, 13.2874], [1.6, 13.2874], [1.4, 16.2874], [-1.4, 16.2874]], y: [3.0, 6.0], collide: 0, color: "#b9a179"}   # the weight
  - id: roller_c
    shape: part
    pos: [0, 4.5, 5.7874]
    mount: slide_c
    density: 2700
    friction: 0.9
    color: "#e6dcc6"
    pieces:
      - {kind: disc, center: [0, 5.7874], radius: 1.5, y: [4.2, 4.8], collide: 2}   # the friction-roller C
      - {kind: rod, from: [0, 4.1, 5.7874], to: [0, 4.9, 5.7874], radius: 0.25, collide: 0, color: "#8f8a80"}   # its pin
  - id: frame
    shape: part
    pos: [0, 0, 0]
    fixed: true
    friction: 0.9
    color: "#cfc6b4"
    pieces:
      - {kind: poly, points: [[-4, -9], [4, -9], [4, -8], [-4, -8]], y: [-17.9, 11.5], collide: 0, color: "#b9b09c"}   # the bed
      - {kind: rod, from: [0, -10.91, 0], to: [0, -5.89, 0], radius: 2.4, collide: 0, color: "#b8ad97"}   # the nut
      - {kind: poly, points: [[-2.2, -8], [2.2, -8], [2.2, -1.8], [-2.2, -1.8]], y: [-10.61, -6.19], collide: 0}   # its standard
      - {kind: poly, points: [[-2.0, -8], [-1.4, -8], [-1.4, 17.2874], [-2.0, 17.2874]], y: [4.2, 4.8], collide: 0, color: "#9d917a"}   # the roller's guide posts
      - {kind: poly, points: [[1.4, -8], [2.0, -8], [2.0, 17.2874], [1.4, 17.2874]], y: [4.2, 4.8], collide: 0, color: "#9d917a"}
      - {kind: poly, points: [[-2.0, 17.2874], [2.0, 17.2874], [2.0, 17.8874], [-2.0, 17.8874]], y: [4.2, 4.8], collide: 0, color: "#9d917a"}   # their top bar
      - {kind: loft, a: [[-1.8, -10.71, 0.0], [-1.8, -9.29, 0.0], [-1.05, -9.665, 0.0], [-1.05, -10.335, 0.0]], b: [[-1.7387, -10.6433, -0.4659], [-1.7387, -9.2233, -0.4659], [-1.0142, -9.5983, -0.2718], [-1.0142, -10.2683, -0.2718]], collide: 2}
      - {kind: loft, a: [[-1.7387, -10.6433, -0.4659], [-1.7387, -9.2233, -0.4659], [-1.0142, -9.5983, -0.2718], [-1.0142, -10.2683, -0.2718]], b: [[-1.5588, -10.5767, -0.9], [-1.5588, -9.1567, -0.9], [-0.9093, -9.5317, -0.525], [-0.9093, -10.2017, -0.525]], collide: 2}
      - {kind: loft, a: [[-1.5588, -10.5767, -0.9], [-1.5588, -9.1567, -0.9], [-0.9093, -9.5317, -0.525], [-0.9093, -10.2017, -0.525]], b: [[-1.2728, -10.51, -1.2728], [-1.2728, -9.09, -1.2728], [-0.7425, -9.465, -0.7425], [-0.7425, -10.135, -0.7425]], collide: 2}
      - {kind: loft, a: [[-1.2728, -10.51, -1.2728], [-1.2728, -9.09, -1.2728], [-0.7425, -9.465, -0.7425], [-0.7425, -10.135, -0.7425]], b: [[-0.9, -10.4433, -1.5588], [-0.9, -9.0233, -1.5588], [-0.525, -9.3983, -0.9093], [-0.525, -10.0683, -0.9093]], collide: 2}
      - {kind: loft, a: [[-0.9, -10.4433, -1.5588], [-0.9, -9.0233, -1.5588], [-0.525, -9.3983, -0.9093], [-0.525, -10.0683, -0.9093]], b: [[-0.4659, -10.3767, -1.7387], [-0.4659, -8.9567, -1.7387], [-0.2718, -9.3317, -1.0142], [-0.2718, -10.0017, -1.0142]], collide: 2}
      - {kind: loft, a: [[-0.4659, -10.3767, -1.7387], [-0.4659, -8.9567, -1.7387], [-0.2718, -9.3317, -1.0142], [-0.2718, -10.0017, -1.0142]], b: [[-0.0, -10.31, -1.8], [-0.0, -8.89, -1.8], [-0.0, -9.265, -1.05], [-0.0, -9.935, -1.05]], collide: 2}
      - {kind: loft, a: [[-0.0, -10.31, -1.8], [-0.0, -8.89, -1.8], [-0.0, -9.265, -1.05], [-0.0, -9.935, -1.05]], b: [[0.4659, -10.2433, -1.7387], [0.4659, -8.8233, -1.7387], [0.2718, -9.1983, -1.0142], [0.2718, -9.8683, -1.0142]], collide: 2}
      - {kind: loft, a: [[0.4659, -10.2433, -1.7387], [0.4659, -8.8233, -1.7387], [0.2718, -9.1983, -1.0142], [0.2718, -9.8683, -1.0142]], b: [[0.9, -10.1767, -1.5588], [0.9, -8.7567, -1.5588], [0.525, -9.1317, -0.9093], [0.525, -9.8017, -0.9093]], collide: 2}
      - {kind: loft, a: [[0.9, -10.1767, -1.5588], [0.9, -8.7567, -1.5588], [0.525, -9.1317, -0.9093], [0.525, -9.8017, -0.9093]], b: [[1.2728, -10.11, -1.2728], [1.2728, -8.69, -1.2728], [0.7425, -9.065, -0.7425], [0.7425, -9.735, -0.7425]], collide: 2}
      - {kind: loft, a: [[1.2728, -10.11, -1.2728], [1.2728, -8.69, -1.2728], [0.7425, -9.065, -0.7425], [0.7425, -9.735, -0.7425]], b: [[1.5588, -10.0433, -0.9], [1.5588, -8.6233, -0.9], [0.9093, -8.9983, -0.525], [0.9093, -9.6683, -0.525]], collide: 2}
      - {kind: loft, a: [[1.5588, -10.0433, -0.9], [1.5588, -8.6233, -0.9], [0.9093, -8.9983, -0.525], [0.9093, -9.6683, -0.525]], b: [[1.7387, -9.9767, -0.4659], [1.7387, -8.5567, -0.4659], [1.0142, -8.9317, -0.2718], [1.0142, -9.6017, -0.2718]], collide: 2}
      - {kind: loft, a: [[1.7387, -9.9767, -0.4659], [1.7387, -8.5567, -0.4659], [1.0142, -8.9317, -0.2718], [1.0142, -9.6017, -0.2718]], b: [[1.8, -9.91, -0.0], [1.8, -8.49, -0.0], [1.05, -8.865, -0.0], [1.05, -9.535, -0.0]], collide: 2}
      - {kind: loft, a: [[1.8, -9.91, -0.0], [1.8, -8.49, -0.0], [1.05, -8.865, -0.0], [1.05, -9.535, -0.0]], b: [[1.7387, -9.8433, 0.4659], [1.7387, -8.4233, 0.4659], [1.0142, -8.7983, 0.2718], [1.0142, -9.4683, 0.2718]], collide: 2}
      - {kind: loft, a: [[1.7387, -9.8433, 0.4659], [1.7387, -8.4233, 0.4659], [1.0142, -8.7983, 0.2718], [1.0142, -9.4683, 0.2718]], b: [[1.5588, -9.7767, 0.9], [1.5588, -8.3567, 0.9], [0.9093, -8.7317, 0.525], [0.9093, -9.4017, 0.525]], collide: 2}
      - {kind: loft, a: [[1.5588, -9.7767, 0.9], [1.5588, -8.3567, 0.9], [0.9093, -8.7317, 0.525], [0.9093, -9.4017, 0.525]], b: [[1.2728, -9.71, 1.2728], [1.2728, -8.29, 1.2728], [0.7425, -8.665, 0.7425], [0.7425, -9.335, 0.7425]], collide: 2}
      - {kind: loft, a: [[1.2728, -9.71, 1.2728], [1.2728, -8.29, 1.2728], [0.7425, -8.665, 0.7425], [0.7425, -9.335, 0.7425]], b: [[0.9, -9.6433, 1.5588], [0.9, -8.2233, 1.5588], [0.525, -8.5983, 0.9093], [0.525, -9.2683, 0.9093]], collide: 2}
      - {kind: loft, a: [[0.9, -9.6433, 1.5588], [0.9, -8.2233, 1.5588], [0.525, -8.5983, 0.9093], [0.525, -9.2683, 0.9093]], b: [[0.4659, -9.5767, 1.7387], [0.4659, -8.1567, 1.7387], [0.2718, -8.5317, 1.0142], [0.2718, -9.2017, 1.0142]], collide: 2}
      - {kind: loft, a: [[0.4659, -9.5767, 1.7387], [0.4659, -8.1567, 1.7387], [0.2718, -8.5317, 1.0142], [0.2718, -9.2017, 1.0142]], b: [[0.0, -9.51, 1.8], [0.0, -8.09, 1.8], [0.0, -8.465, 1.05], [0.0, -9.135, 1.05]], collide: 2}
      - {kind: loft, a: [[0.0, -9.51, 1.8], [0.0, -8.09, 1.8], [0.0, -8.465, 1.05], [0.0, -9.135, 1.05]], b: [[-0.4659, -9.4433, 1.7387], [-0.4659, -8.0233, 1.7387], [-0.2718, -8.3983, 1.0142], [-0.2718, -9.0683, 1.0142]], collide: 2}
      - {kind: loft, a: [[-0.4659, -9.4433, 1.7387], [-0.4659, -8.0233, 1.7387], [-0.2718, -8.3983, 1.0142], [-0.2718, -9.0683, 1.0142]], b: [[-0.9, -9.3767, 1.5588], [-0.9, -7.9567, 1.5588], [-0.525, -8.3317, 0.9093], [-0.525, -9.0017, 0.9093]], collide: 2}
      - {kind: loft, a: [[-0.9, -9.3767, 1.5588], [-0.9, -7.9567, 1.5588], [-0.525, -8.3317, 0.9093], [-0.525, -9.0017, 0.9093]], b: [[-1.2728, -9.31, 1.2728], [-1.2728, -7.89, 1.2728], [-0.7425, -8.265, 0.7425], [-0.7425, -8.935, 0.7425]], collide: 2}
      - {kind: loft, a: [[-1.2728, -9.31, 1.2728], [-1.2728, -7.89, 1.2728], [-0.7425, -8.265, 0.7425], [-0.7425, -8.935, 0.7425]], b: [[-1.5588, -9.2433, 0.9], [-1.5588, -7.8233, 0.9], [-0.9093, -8.1983, 0.525], [-0.9093, -8.8683, 0.525]], collide: 2}
      - {kind: loft, a: [[-1.5588, -9.2433, 0.9], [-1.5588, -7.8233, 0.9], [-0.9093, -8.1983, 0.525], [-0.9093, -8.8683, 0.525]], b: [[-1.7387, -9.1767, 0.4659], [-1.7387, -7.7567, 0.4659], [-1.0142, -8.1317, 0.2718], [-1.0142, -8.8017, 0.2718]], collide: 2}
      - {kind: loft, a: [[-1.7387, -9.1767, 0.4659], [-1.7387, -7.7567, 0.4659], [-1.0142, -8.1317, 0.2718], [-1.0142, -8.8017, 0.2718]], b: [[-1.8, -9.11, 0.0], [-1.8, -7.69, 0.0], [-1.05, -8.065, 0.0], [-1.05, -8.735, 0.0]], collide: 2}
      - {kind: loft, a: [[-1.8, -9.11, 0.0], [-1.8, -7.69, 0.0], [-1.05, -8.065, 0.0], [-1.05, -8.735, 0.0]], b: [[-1.7387, -9.0433, -0.4659], [-1.7387, -7.6233, -0.4659], [-1.0142, -7.9983, -0.2718], [-1.0142, -8.6683, -0.2718]], collide: 2}
      - {kind: loft, a: [[-1.7387, -9.0433, -0.4659], [-1.7387, -7.6233, -0.4659], [-1.0142, -7.9983, -0.2718], [-1.0142, -8.6683, -0.2718]], b: [[-1.5588, -8.9767, -0.9], [-1.5588, -7.5567, -0.9], [-0.9093, -7.9317, -0.525], [-0.9093, -8.6017, -0.525]], collide: 2}
      - {kind: loft, a: [[-1.5588, -8.9767, -0.9], [-1.5588, -7.5567, -0.9], [-0.9093, -7.9317, -0.525], [-0.9093, -8.6017, -0.525]], b: [[-1.2728, -8.91, -1.2728], [-1.2728, -7.49, -1.2728], [-0.7425, -7.865, -0.7425], [-0.7425, -8.535, -0.7425]], collide: 2}
      - {kind: loft, a: [[-1.2728, -8.91, -1.2728], [-1.2728, -7.49, -1.2728], [-0.7425, -7.865, -0.7425], [-0.7425, -8.535, -0.7425]], b: [[-0.9, -8.8433, -1.5588], [-0.9, -7.4233, -1.5588], [-0.525, -7.7983, -0.9093], [-0.525, -8.4683, -0.9093]], collide: 2}
      - {kind: loft, a: [[-0.9, -8.8433, -1.5588], [-0.9, -7.4233, -1.5588], [-0.525, -7.7983, -0.9093], [-0.525, -8.4683, -0.9093]], b: [[-0.4659, -8.7767, -1.7387], [-0.4659, -7.3567, -1.7387], [-0.2718, -7.7317, -1.0142], [-0.2718, -8.4017, -1.0142]], collide: 2}
      - {kind: loft, a: [[-0.4659, -8.7767, -1.7387], [-0.4659, -7.3567, -1.7387], [-0.2718, -7.7317, -1.0142], [-0.2718, -8.4017, -1.0142]], b: [[-0.0, -8.71, -1.8], [-0.0, -7.29, -1.8], [-0.0, -7.665, -1.05], [-0.0, -8.335, -1.05]], collide: 2}
      - {kind: loft, a: [[-0.0, -8.71, -1.8], [-0.0, -7.29, -1.8], [-0.0, -7.665, -1.05], [-0.0, -8.335, -1.05]], b: [[0.4659, -8.6433, -1.7387], [0.4659, -7.2233, -1.7387], [0.2718, -7.5983, -1.0142], [0.2718, -8.2683, -1.0142]], collide: 2}
      - {kind: loft, a: [[0.4659, -8.6433, -1.7387], [0.4659, -7.2233, -1.7387], [0.2718, -7.5983, -1.0142], [0.2718, -8.2683, -1.0142]], b: [[0.9, -8.5767, -1.5588], [0.9, -7.1567, -1.5588], [0.525, -7.5317, -0.9093], [0.525, -8.2017, -0.9093]], collide: 2}
      - {kind: loft, a: [[0.9, -8.5767, -1.5588], [0.9, -7.1567, -1.5588], [0.525, -7.5317, -0.9093], [0.525, -8.2017, -0.9093]], b: [[1.2728, -8.51, -1.2728], [1.2728, -7.09, -1.2728], [0.7425, -7.465, -0.7425], [0.7425, -8.135, -0.7425]], collide: 2}
      - {kind: loft, a: [[1.2728, -8.51, -1.2728], [1.2728, -7.09, -1.2728], [0.7425, -7.465, -0.7425], [0.7425, -8.135, -0.7425]], b: [[1.5588, -8.4433, -0.9], [1.5588, -7.0233, -0.9], [0.9093, -7.3983, -0.525], [0.9093, -8.0683, -0.525]], collide: 2}
      - {kind: loft, a: [[1.5588, -8.4433, -0.9], [1.5588, -7.0233, -0.9], [0.9093, -7.3983, -0.525], [0.9093, -8.0683, -0.525]], b: [[1.7387, -8.3767, -0.4659], [1.7387, -6.9567, -0.4659], [1.0142, -7.3317, -0.2718], [1.0142, -8.0017, -0.2718]], collide: 2}
      - {kind: loft, a: [[1.7387, -8.3767, -0.4659], [1.7387, -6.9567, -0.4659], [1.0142, -7.3317, -0.2718], [1.0142, -8.0017, -0.2718]], b: [[1.8, -8.31, -0.0], [1.8, -6.89, -0.0], [1.05, -7.265, -0.0], [1.05, -7.935, -0.0]], collide: 2}
      - {kind: loft, a: [[1.8, -8.31, -0.0], [1.8, -6.89, -0.0], [1.05, -7.265, -0.0], [1.05, -7.935, -0.0]], b: [[1.7387, -8.2433, 0.4659], [1.7387, -6.8233, 0.4659], [1.0142, -7.1983, 0.2718], [1.0142, -7.8683, 0.2718]], collide: 2}
      - {kind: loft, a: [[1.7387, -8.2433, 0.4659], [1.7387, -6.8233, 0.4659], [1.0142, -7.1983, 0.2718], [1.0142, -7.8683, 0.2718]], b: [[1.5588, -8.1767, 0.9], [1.5588, -6.7567, 0.9], [0.9093, -7.1317, 0.525], [0.9093, -7.8017, 0.525]], collide: 2}
      - {kind: loft, a: [[1.5588, -8.1767, 0.9], [1.5588, -6.7567, 0.9], [0.9093, -7.1317, 0.525], [0.9093, -7.8017, 0.525]], b: [[1.2728, -8.11, 1.2728], [1.2728, -6.69, 1.2728], [0.7425, -7.065, 0.7425], [0.7425, -7.735, 0.7425]], collide: 2}
      - {kind: loft, a: [[1.2728, -8.11, 1.2728], [1.2728, -6.69, 1.2728], [0.7425, -7.065, 0.7425], [0.7425, -7.735, 0.7425]], b: [[0.9, -8.0433, 1.5588], [0.9, -6.6233, 1.5588], [0.525, -6.9983, 0.9093], [0.525, -7.6683, 0.9093]], collide: 2}
      - {kind: loft, a: [[0.9, -8.0433, 1.5588], [0.9, -6.6233, 1.5588], [0.525, -6.9983, 0.9093], [0.525, -7.6683, 0.9093]], b: [[0.4659, -7.9767, 1.7387], [0.4659, -6.5567, 1.7387], [0.2718, -6.9317, 1.0142], [0.2718, -7.6017, 1.0142]], collide: 2}
      - {kind: loft, a: [[0.4659, -7.9767, 1.7387], [0.4659, -6.5567, 1.7387], [0.2718, -6.9317, 1.0142], [0.2718, -7.6017, 1.0142]], b: [[0.0, -7.91, 1.8], [0.0, -6.49, 1.8], [0.0, -6.865, 1.05], [0.0, -7.535, 1.05]], collide: 2}
      - {kind: loft, a: [[0.0, -7.91, 1.8], [0.0, -6.49, 1.8], [0.0, -6.865, 1.05], [0.0, -7.535, 1.05]], b: [[-0.4659, -7.8433, 1.7387], [-0.4659, -6.4233, 1.7387], [-0.2718, -6.7983, 1.0142], [-0.2718, -7.4683, 1.0142]], collide: 2}
      - {kind: loft, a: [[-0.4659, -7.8433, 1.7387], [-0.4659, -6.4233, 1.7387], [-0.2718, -6.7983, 1.0142], [-0.2718, -7.4683, 1.0142]], b: [[-0.9, -7.7767, 1.5588], [-0.9, -6.3567, 1.5588], [-0.525, -6.7317, 0.9093], [-0.525, -7.4017, 0.9093]], collide: 2}
      - {kind: loft, a: [[-0.9, -7.7767, 1.5588], [-0.9, -6.3567, 1.5588], [-0.525, -6.7317, 0.9093], [-0.525, -7.4017, 0.9093]], b: [[-1.2728, -7.71, 1.2728], [-1.2728, -6.29, 1.2728], [-0.7425, -6.665, 0.7425], [-0.7425, -7.335, 0.7425]], collide: 2}
      - {kind: loft, a: [[-1.2728, -7.71, 1.2728], [-1.2728, -6.29, 1.2728], [-0.7425, -6.665, 0.7425], [-0.7425, -7.335, 0.7425]], b: [[-1.5588, -7.6433, 0.9], [-1.5588, -6.2233, 0.9], [-0.9093, -6.5983, 0.525], [-0.9093, -7.2683, 0.525]], collide: 2}
      - {kind: loft, a: [[-1.5588, -7.6433, 0.9], [-1.5588, -6.2233, 0.9], [-0.9093, -6.5983, 0.525], [-0.9093, -7.2683, 0.525]], b: [[-1.7387, -7.5767, 0.4659], [-1.7387, -6.1567, 0.4659], [-1.0142, -6.5317, 0.2718], [-1.0142, -7.2017, 0.2718]], collide: 2}
      - {kind: loft, a: [[-1.7387, -7.5767, 0.4659], [-1.7387, -6.1567, 0.4659], [-1.0142, -6.5317, 0.2718], [-1.0142, -7.2017, 0.2718]], b: [[-1.8, -7.51, 0.0], [-1.8, -6.09, 0.0], [-1.05, -6.465, 0.0], [-1.05, -7.135, 0.0]], collide: 2}
joints:
  - {id: j_x, type: slide, body: carriage, axis: [0, 1, 0], range: [-6, 6], damping: 0.05}   # the screw free along its axis
  - {id: j_d, type: hinge, body: screw, axis: [0, 1, 0], damping: 0.01}   # the one driven joint
  - {id: j_c, type: slide, body: slide_c, axis: [0, 0, 1], range: [-3.4228, 4.9442], damping: 0.5}   # C's slide; + : up
  - {id: j_r, type: hinge, body: roller_c, axis: [0, 1, 0], damping: 1e-05}   # C on its pin
contact: {solref: [0.001, 1], solimp: [0.95, 0.99, 0.0005], margin: 0}
driver: {joint: j_d, kind: velocity, rpm: 20, kv: 20.0, max_torque: 6.0}
checks:
  - {type: follow, out: j_x, in: j_d, expect: -0.0025, tol: 0.0001, min_r2: 0.99, settle_s: 0.5, window_s: 6.5}   # the screw travels its pitch a turn
  - {type: ratio_range, out: j_r, in: j_d, min: -4.9365, max: -2.0188, min_swing: 1.3468, settle_s: 0.5, window_s: 6.5, slices: 48}   # C spins by friction, faster where the cone is wider under it
  - {type: follow, out: j_c, in: j_d, expect: 0.01316, tol: 0.00105, min_r2: 0.9, settle_s: 1.465, window_s: 0.25}   # the roller's fastest rise
  - {type: follow, out: j_c, in: j_d, expect: -0.01107, tol: 0.00089, min_r2: 0.9, settle_s: 2.795, window_s: 0.25}   # its fastest fall
  - {type: position, joint: j_c, min: -1.7228, max: 3.2442, settle_s: 0.0, window_s: 7.5}
camera: {target: [0, 2.0, -3.4], position: [40.0, 80.0, 22.0], fov: 34.0}
display:
  output: j_c
  labels: {j_d: "Screw D and cone B (driver)", j_x: "Screw travel", j_c: "Roller C, up and down", j_r: "Roller C, spin"}
  proof: {label: "Unequal strokes", sub: "the eccentric cone lifts the roller, and the screw brings ever wider circles under it"}