# No. 379 (Brown 1868): "Portable cramp drills. In 379 the feed-screw is opposite the drill, and in 380 the drill spindle passes through the center of the feed-screw."
#
# Model (cm): a C-shaped cramp; the drill spindle turns in a bearing at the end of its upper arm, by a crank on its top turned by hand (a stepped spring
# schedule, 0.5 turn a second). The feed-screw stands in the lower arm, opposite the drill (right-hand thread, pitch 1.6, real flank contact against the
# nut's thread, as No. 190), turned by its T-handle below (the one driven joint, 24 turns a minute); it carries a swivel pad that does not turn
# and lifts the work, which lies free on it, 1.6 cm a turn (0.2546 cm to the radian) up to the drill's point, where the screw stalls and holds it.
# Generator: opencode-runs/batch12/gen379.py.
number: 379
slug: portable-cramp-drill
name: Portable cramp drill
brown: "Portable cramp drills. In 379 the feed-screw is opposite the drill, and in 380 the drill spindle passes through the center of the feed-screw."
units: cm
sim:
  timestep: 0.0002
  integrator: implicitfast
  iterations: 100
  solver: CG
  multiccd: true
  duration_s: 12
  floor: false
bodies:
  - id: carr
    shape: part
    pos: [0, 0, 5.0]
    density: 7800
    friction: 0.3
    color: "#cfc6b4"
    pieces:
      - {kind: rod, from: [0, 0, 5.0], to: [0, 0, 6.0], radius: 2.0, collide: 0}   # the swivel pad
      - {kind: poly, points: [[-1.9, 5.0], [1.9, 5.0], [1.9, 6.0], [-1.9, 6.0]], y: [-1.9, 1.9], collide: 1}   # its face
  - id: screw
    shape: part
    pos: [0, 0, -8.0]
    mount: carr
    density: 7800
    friction: 0.1
    color: "#e4d9bf"
    pieces:
      - {kind: rod, from: [0, 0, -11.0], to: [0, 0, 5.0], radius: 1.0, collide: 0}   # the screw's core
      - {kind: rod, from: [-6.2, 0, -11.0], to: [6.2, 0, -11.0], radius: 0.55, collide: 0, color: "#8f8a80"}   # the T-handle
      - {kind: rod, from: [0, 0, -11.6], to: [0, 0, -10.4], radius: 1.7, collide: 0, color: "#8f8a80"}   # its boss
      - {kind: rod, from: [-6.6, 0, -11.0], to: [-6.5, 0, -11.0], radius: 1.3, collide: 0, color: "#6f6a60"}   # its ball
      - {kind: rod, from: [6.5, 0, -11.0], to: [6.6, 0, -11.0], radius: 1.3, collide: 0, color: "#6f6a60"}   # and its fellow
      - {kind: loft, a: [[0.95, 0.0, -8.475], [0.95, 0.0, -7.525], [1.6, 0.0, -7.85], [1.6, 0.0, -8.15]], b: [[0.9176, 0.2459, -8.4083], [0.9176, 0.2459, -7.4583], [1.5455, 0.4141, -7.7833], [1.5455, 0.4141, -8.0833]], collide: 1}
      - {kind: loft, a: [[0.9176, 0.2459, -8.4083], [0.9176, 0.2459, -7.4583], [1.5455, 0.4141, -7.7833], [1.5455, 0.4141, -8.0833]], b: [[0.8227, 0.475, -8.3417], [0.8227, 0.475, -7.3917], [1.3856, 0.8, -7.7167], [1.3856, 0.8, -8.0167]], collide: 1}
      - {kind: loft, a: [[0.8227, 0.475, -8.3417], [0.8227, 0.475, -7.3917], [1.3856, 0.8, -7.7167], [1.3856, 0.8, -8.0167]], b: [[0.6718, 0.6718, -8.275], [0.6718, 0.6718, -7.325], [1.1314, 1.1314, -7.65], [1.1314, 1.1314, -7.95]], collide: 1}
      - {kind: loft, a: [[0.6718, 0.6718, -8.275], [0.6718, 0.6718, -7.325], [1.1314, 1.1314, -7.65], [1.1314, 1.1314, -7.95]], b: [[0.475, 0.8227, -8.2083], [0.475, 0.8227, -7.2583], [0.8, 1.3856, -7.5833], [0.8, 1.3856, -7.8833]], collide: 1}
      - {kind: loft, a: [[0.475, 0.8227, -8.2083], [0.475, 0.8227, -7.2583], [0.8, 1.3856, -7.5833], [0.8, 1.3856, -7.8833]], b: [[0.2459, 0.9176, -8.1417], [0.2459, 0.9176, -7.1917], [0.4141, 1.5455, -7.5167], [0.4141, 1.5455, -7.8167]], collide: 1}
      - {kind: loft, a: [[0.2459, 0.9176, -8.1417], [0.2459, 0.9176, -7.1917], [0.4141, 1.5455, -7.5167], [0.4141, 1.5455, -7.8167]], b: [[0.0, 0.95, -8.075], [0.0, 0.95, -7.125], [0.0, 1.6, -7.45], [0.0, 1.6, -7.75]], collide: 1}
      - {kind: loft, a: [[0.0, 0.95, -8.075], [0.0, 0.95, -7.125], [0.0, 1.6, -7.45], [0.0, 1.6, -7.75]], b: [[-0.2459, 0.9176, -8.0083], [-0.2459, 0.9176, -7.0583], [-0.4141, 1.5455, -7.3833], [-0.4141, 1.5455, -7.6833]], collide: 1}
      - {kind: loft, a: [[-0.2459, 0.9176, -8.0083], [-0.2459, 0.9176, -7.0583], [-0.4141, 1.5455, -7.3833], [-0.4141, 1.5455, -7.6833]], b: [[-0.475, 0.8227, -7.9417], [-0.475, 0.8227, -6.9917], [-0.8, 1.3856, -7.3167], [-0.8, 1.3856, -7.6167]], collide: 1}
      - {kind: loft, a: [[-0.475, 0.8227, -7.9417], [-0.475, 0.8227, -6.9917], [-0.8, 1.3856, -7.3167], [-0.8, 1.3856, -7.6167]], b: [[-0.6718, 0.6718, -7.875], [-0.6718, 0.6718, -6.925], [-1.1314, 1.1314, -7.25], [-1.1314, 1.1314, -7.55]], collide: 1}
      - {kind: loft, a: [[-0.6718, 0.6718, -7.875], [-0.6718, 0.6718, -6.925], [-1.1314, 1.1314, -7.25], [-1.1314, 1.1314, -7.55]], b: [[-0.8227, 0.475, -7.8083], [-0.8227, 0.475, -6.8583], [-1.3856, 0.8, -7.1833], [-1.3856, 0.8, -7.4833]], collide: 1}
      - {kind: loft, a: [[-0.8227, 0.475, -7.8083], [-0.8227, 0.475, -6.8583], [-1.3856, 0.8, -7.1833], [-1.3856, 0.8, -7.4833]], b: [[-0.9176, 0.2459, -7.7417], [-0.9176, 0.2459, -6.7917], [-1.5455, 0.4141, -7.1167], [-1.5455, 0.4141, -7.4167]], collide: 1}
      - {kind: loft, a: [[-0.9176, 0.2459, -7.7417], [-0.9176, 0.2459, -6.7917], [-1.5455, 0.4141, -7.1167], [-1.5455, 0.4141, -7.4167]], b: [[-0.95, 0.0, -7.675], [-0.95, 0.0, -6.725], [-1.6, 0.0, -7.05], [-1.6, 0.0, -7.35]], collide: 1}
      - {kind: loft, a: [[-0.95, 0.0, -7.675], [-0.95, 0.0, -6.725], [-1.6, 0.0, -7.05], [-1.6, 0.0, -7.35]], b: [[-0.9176, -0.2459, -7.6083], [-0.9176, -0.2459, -6.6583], [-1.5455, -0.4141, -6.9833], [-1.5455, -0.4141, -7.2833]], collide: 1}
      - {kind: loft, a: [[-0.9176, -0.2459, -7.6083], [-0.9176, -0.2459, -6.6583], [-1.5455, -0.4141, -6.9833], [-1.5455, -0.4141, -7.2833]], b: [[-0.8227, -0.475, -7.5417], [-0.8227, -0.475, -6.5917], [-1.3856, -0.8, -6.9167], [-1.3856, -0.8, -7.2167]], collide: 1}
      - {kind: loft, a: [[-0.8227, -0.475, -7.5417], [-0.8227, -0.475, -6.5917], [-1.3856, -0.8, -6.9167], [-1.3856, -0.8, -7.2167]], b: [[-0.6718, -0.6718, -7.475], [-0.6718, -0.6718, -6.525], [-1.1314, -1.1314, -6.85], [-1.1314, -1.1314, -7.15]], collide: 1}
      - {kind: loft, a: [[-0.6718, -0.6718, -7.475], [-0.6718, -0.6718, -6.525], [-1.1314, -1.1314, -6.85], [-1.1314, -1.1314, -7.15]], b: [[-0.475, -0.8227, -7.4083], [-0.475, -0.8227, -6.4583], [-0.8, -1.3856, -6.7833], [-0.8, -1.3856, -7.0833]], collide: 1}
      - {kind: loft, a: [[-0.475, -0.8227, -7.4083], [-0.475, -0.8227, -6.4583], [-0.8, -1.3856, -6.7833], [-0.8, -1.3856, -7.0833]], b: [[-0.2459, -0.9176, -7.3417], [-0.2459, -0.9176, -6.3917], [-0.4141, -1.5455, -6.7167], [-0.4141, -1.5455, -7.0167]], collide: 1}
      - {kind: loft, a: [[-0.2459, -0.9176, -7.3417], [-0.2459, -0.9176, -6.3917], [-0.4141, -1.5455, -6.7167], [-0.4141, -1.5455, -7.0167]], b: [[-0.0, -0.95, -7.275], [-0.0, -0.95, -6.325], [-0.0, -1.6, -6.65], [-0.0, -1.6, -6.95]], collide: 1}
      - {kind: loft, a: [[-0.0, -0.95, -7.275], [-0.0, -0.95, -6.325], [-0.0, -1.6, -6.65], [-0.0, -1.6, -6.95]], b: [[0.2459, -0.9176, -7.2083], [0.2459, -0.9176, -6.2583], [0.4141, -1.5455, -6.5833], [0.4141, -1.5455, -6.8833]], collide: 1}
      - {kind: loft, a: [[0.2459, -0.9176, -7.2083], [0.2459, -0.9176, -6.2583], [0.4141, -1.5455, -6.5833], [0.4141, -1.5455, -6.8833]], b: [[0.475, -0.8227, -7.1417], [0.475, -0.8227, -6.1917], [0.8, -1.3856, -6.5167], [0.8, -1.3856, -6.8167]], collide: 1}
      - {kind: loft, a: [[0.475, -0.8227, -7.1417], [0.475, -0.8227, -6.1917], [0.8, -1.3856, -6.5167], [0.8, -1.3856, -6.8167]], b: [[0.6718, -0.6718, -7.075], [0.6718, -0.6718, -6.125], [1.1314, -1.1314, -6.45], [1.1314, -1.1314, -6.75]], collide: 1}
      - {kind: loft, a: [[0.6718, -0.6718, -7.075], [0.6718, -0.6718, -6.125], [1.1314, -1.1314, -6.45], [1.1314, -1.1314, -6.75]], b: [[0.8227, -0.475, -7.0083], [0.8227, -0.475, -6.0583], [1.3856, -0.8, -6.3833], [1.3856, -0.8, -6.6833]], collide: 1}
      - {kind: loft, a: [[0.8227, -0.475, -7.0083], [0.8227, -0.475, -6.0583], [1.3856, -0.8, -6.3833], [1.3856, -0.8, -6.6833]], b: [[0.9176, -0.2459, -6.9417], [0.9176, -0.2459, -5.9917], [1.5455, -0.4141, -6.3167], [1.5455, -0.4141, -6.6167]], collide: 1}
      - {kind: loft, a: [[0.9176, -0.2459, -6.9417], [0.9176, -0.2459, -5.9917], [1.5455, -0.4141, -6.3167], [1.5455, -0.4141, -6.6167]], b: [[0.95, -0.0, -6.875], [0.95, -0.0, -5.925], [1.6, -0.0, -6.25], [1.6, -0.0, -6.55]], collide: 1}
      - {kind: loft, a: [[0.95, -0.0, -6.875], [0.95, -0.0, -5.925], [1.6, -0.0, -6.25], [1.6, -0.0, -6.55]], b: [[0.9176, 0.2459, -6.8083], [0.9176, 0.2459, -5.8583], [1.5455, 0.4141, -6.1833], [1.5455, 0.4141, -6.4833]], collide: 1}
      - {kind: loft, a: [[0.9176, 0.2459, -6.8083], [0.9176, 0.2459, -5.8583], [1.5455, 0.4141, -6.1833], [1.5455, 0.4141, -6.4833]], b: [[0.8227, 0.475, -6.7417], [0.8227, 0.475, -5.7917], [1.3856, 0.8, -6.1167], [1.3856, 0.8, -6.4167]], collide: 1}
      - {kind: loft, a: [[0.8227, 0.475, -6.7417], [0.8227, 0.475, -5.7917], [1.3856, 0.8, -6.1167], [1.3856, 0.8, -6.4167]], b: [[0.6718, 0.6718, -6.675], [0.6718, 0.6718, -5.725], [1.1314, 1.1314, -6.05], [1.1314, 1.1314, -6.35]], collide: 1}
      - {kind: loft, a: [[0.6718, 0.6718, -6.675], [0.6718, 0.6718, -5.725], [1.1314, 1.1314, -6.05], [1.1314, 1.1314, -6.35]], b: [[0.475, 0.8227, -6.6083], [0.475, 0.8227, -5.6583], [0.8, 1.3856, -5.9833], [0.8, 1.3856, -6.2833]], collide: 1}
      - {kind: loft, a: [[0.475, 0.8227, -6.6083], [0.475, 0.8227, -5.6583], [0.8, 1.3856, -5.9833], [0.8, 1.3856, -6.2833]], b: [[0.2459, 0.9176, -6.5417], [0.2459, 0.9176, -5.5917], [0.4141, 1.5455, -5.9167], [0.4141, 1.5455, -6.2167]], collide: 1}
      - {kind: loft, a: [[0.2459, 0.9176, -6.5417], [0.2459, 0.9176, -5.5917], [0.4141, 1.5455, -5.9167], [0.4141, 1.5455, -6.2167]], b: [[0.0, 0.95, -6.475], [0.0, 0.95, -5.525], [0.0, 1.6, -5.85], [0.0, 1.6, -6.15]], collide: 1}
      - {kind: loft, a: [[0.0, 0.95, -6.475], [0.0, 0.95, -5.525], [0.0, 1.6, -5.85], [0.0, 1.6, -6.15]], b: [[-0.2459, 0.9176, -6.4083], [-0.2459, 0.9176, -5.4583], [-0.4141, 1.5455, -5.7833], [-0.4141, 1.5455, -6.0833]], collide: 1}
      - {kind: loft, a: [[-0.2459, 0.9176, -6.4083], [-0.2459, 0.9176, -5.4583], [-0.4141, 1.5455, -5.7833], [-0.4141, 1.5455, -6.0833]], b: [[-0.475, 0.8227, -6.3417], [-0.475, 0.8227, -5.3917], [-0.8, 1.3856, -5.7167], [-0.8, 1.3856, -6.0167]], collide: 1}
      - {kind: loft, a: [[-0.475, 0.8227, -6.3417], [-0.475, 0.8227, -5.3917], [-0.8, 1.3856, -5.7167], [-0.8, 1.3856, -6.0167]], b: [[-0.6718, 0.6718, -6.275], [-0.6718, 0.6718, -5.325], [-1.1314, 1.1314, -5.65], [-1.1314, 1.1314, -5.95]], collide: 1}
      - {kind: loft, a: [[-0.6718, 0.6718, -6.275], [-0.6718, 0.6718, -5.325], [-1.1314, 1.1314, -5.65], [-1.1314, 1.1314, -5.95]], b: [[-0.8227, 0.475, -6.2083], [-0.8227, 0.475, -5.2583], [-1.3856, 0.8, -5.5833], [-1.3856, 0.8, -5.8833]], collide: 1}
      - {kind: loft, a: [[-0.8227, 0.475, -6.2083], [-0.8227, 0.475, -5.2583], [-1.3856, 0.8, -5.5833], [-1.3856, 0.8, -5.8833]], b: [[-0.9176, 0.2459, -6.1417], [-0.9176, 0.2459, -5.1917], [-1.5455, 0.4141, -5.5167], [-1.5455, 0.4141, -5.8167]], collide: 1}
      - {kind: loft, a: [[-0.9176, 0.2459, -6.1417], [-0.9176, 0.2459, -5.1917], [-1.5455, 0.4141, -5.5167], [-1.5455, 0.4141, -5.8167]], b: [[-0.95, 0.0, -6.075], [-0.95, 0.0, -5.125], [-1.6, 0.0, -5.45], [-1.6, 0.0, -5.75]], collide: 1}
      - {kind: loft, a: [[-0.95, 0.0, -6.075], [-0.95, 0.0, -5.125], [-1.6, 0.0, -5.45], [-1.6, 0.0, -5.75]], b: [[-0.9176, -0.2459, -6.0083], [-0.9176, -0.2459, -5.0583], [-1.5455, -0.4141, -5.3833], [-1.5455, -0.4141, -5.6833]], collide: 1}
      - {kind: loft, a: [[-0.9176, -0.2459, -6.0083], [-0.9176, -0.2459, -5.0583], [-1.5455, -0.4141, -5.3833], [-1.5455, -0.4141, -5.6833]], b: [[-0.8227, -0.475, -5.9417], [-0.8227, -0.475, -4.9917], [-1.3856, -0.8, -5.3167], [-1.3856, -0.8, -5.6167]], collide: 1}
      - {kind: loft, a: [[-0.8227, -0.475, -5.9417], [-0.8227, -0.475, -4.9917], [-1.3856, -0.8, -5.3167], [-1.3856, -0.8, -5.6167]], b: [[-0.6718, -0.6718, -5.875], [-0.6718, -0.6718, -4.925], [-1.1314, -1.1314, -5.25], [-1.1314, -1.1314, -5.55]], collide: 1}
      - {kind: loft, a: [[-0.6718, -0.6718, -5.875], [-0.6718, -0.6718, -4.925], [-1.1314, -1.1314, -5.25], [-1.1314, -1.1314, -5.55]], b: [[-0.475, -0.8227, -5.8083], [-0.475, -0.8227, -4.8583], [-0.8, -1.3856, -5.1833], [-0.8, -1.3856, -5.4833]], collide: 1}
      - {kind: loft, a: [[-0.475, -0.8227, -5.8083], [-0.475, -0.8227, -4.8583], [-0.8, -1.3856, -5.1833], [-0.8, -1.3856, -5.4833]], b: [[-0.2459, -0.9176, -5.7417], [-0.2459, -0.9176, -4.7917], [-0.4141, -1.5455, -5.1167], [-0.4141, -1.5455, -5.4167]], collide: 1}
      - {kind: loft, a: [[-0.2459, -0.9176, -5.7417], [-0.2459, -0.9176, -4.7917], [-0.4141, -1.5455, -5.1167], [-0.4141, -1.5455, -5.4167]], b: [[-0.0, -0.95, -5.675], [-0.0, -0.95, -4.725], [-0.0, -1.6, -5.05], [-0.0, -1.6, -5.35]], collide: 1}
      - {kind: loft, a: [[-0.0, -0.95, -5.675], [-0.0, -0.95, -4.725], [-0.0, -1.6, -5.05], [-0.0, -1.6, -5.35]], b: [[0.2459, -0.9176, -5.6083], [0.2459, -0.9176, -4.6583], [0.4141, -1.5455, -4.9833], [0.4141, -1.5455, -5.2833]], collide: 1}
      - {kind: loft, a: [[0.2459, -0.9176, -5.6083], [0.2459, -0.9176, -4.6583], [0.4141, -1.5455, -4.9833], [0.4141, -1.5455, -5.2833]], b: [[0.475, -0.8227, -5.5417], [0.475, -0.8227, -4.5917], [0.8, -1.3856, -4.9167], [0.8, -1.3856, -5.2167]], collide: 1}
      - {kind: loft, a: [[0.475, -0.8227, -5.5417], [0.475, -0.8227, -4.5917], [0.8, -1.3856, -4.9167], [0.8, -1.3856, -5.2167]], b: [[0.6718, -0.6718, -5.475], [0.6718, -0.6718, -4.525], [1.1314, -1.1314, -4.85], [1.1314, -1.1314, -5.15]], collide: 1}
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      - {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}
      - {kind: loft, a: [[-0.9176, 0.2459, 3.4583], [-0.9176, 0.2459, 4.4083], [-1.5455, 0.4141, 4.0833], [-1.5455, 0.4141, 3.7833]], b: [[-0.95, -0.0, 3.525], [-0.95, -0.0, 4.475], [-1.6, -0.0, 4.15], [-1.6, -0.0, 3.85]], collide: 1}
      - {kind: loft, a: [[-0.95, -0.0, 3.525], [-0.95, -0.0, 4.475], [-1.6, -0.0, 4.15], [-1.6, -0.0, 3.85]], b: [[-0.9176, -0.2459, 3.5917], [-0.9176, -0.2459, 4.5417], [-1.5455, -0.4141, 4.2167], [-1.5455, -0.4141, 3.9167]], collide: 1}
      - {kind: loft, a: [[-0.9176, -0.2459, 3.5917], [-0.9176, -0.2459, 4.5417], [-1.5455, -0.4141, 4.2167], [-1.5455, -0.4141, 3.9167]], b: [[-0.8227, -0.475, 3.6583], [-0.8227, -0.475, 4.6083], [-1.3856, -0.8, 4.2833], [-1.3856, -0.8, 3.9833]], collide: 1}
      - {kind: loft, a: [[-0.8227, -0.475, 3.6583], [-0.8227, -0.475, 4.6083], [-1.3856, -0.8, 4.2833], [-1.3856, -0.8, 3.9833]], b: [[-0.6718, -0.6718, 3.725], [-0.6718, -0.6718, 4.675], [-1.1314, -1.1314, 4.35], [-1.1314, -1.1314, 4.05]], collide: 1}
      - {kind: loft, a: [[-0.6718, -0.6718, 3.725], [-0.6718, -0.6718, 4.675], [-1.1314, -1.1314, 4.35], [-1.1314, -1.1314, 4.05]], b: [[-0.475, -0.8227, 3.7917], [-0.475, -0.8227, 4.7417], [-0.8, -1.3856, 4.4167], [-0.8, -1.3856, 4.1167]], collide: 1}
      - {kind: loft, a: [[-0.475, -0.8227, 3.7917], [-0.475, -0.8227, 4.7417], [-0.8, -1.3856, 4.4167], [-0.8, -1.3856, 4.1167]], b: [[-0.2459, -0.9176, 3.8583], [-0.2459, -0.9176, 4.8083], [-0.4141, -1.5455, 4.4833], [-0.4141, -1.5455, 4.1833]], collide: 1}
      - {kind: loft, a: [[-0.2459, -0.9176, 3.8583], [-0.2459, -0.9176, 4.8083], [-0.4141, -1.5455, 4.4833], [-0.4141, -1.5455, 4.1833]], b: [[-0.0, -0.95, 3.925], [-0.0, -0.95, 4.875], [-0.0, -1.6, 4.55], [-0.0, -1.6, 4.25]], collide: 1}
      - {kind: loft, a: [[-0.0, -0.95, 3.925], [-0.0, -0.95, 4.875], [-0.0, -1.6, 4.55], [-0.0, -1.6, 4.25]], b: [[0.2459, -0.9176, 3.9917], [0.2459, -0.9176, 4.9417], [0.4141, -1.5455, 4.6167], [0.4141, -1.5455, 4.3167]], collide: 1}
      - {kind: loft, a: [[0.2459, -0.9176, 3.9917], [0.2459, -0.9176, 4.9417], [0.4141, -1.5455, 4.6167], [0.4141, -1.5455, 4.3167]], b: [[0.475, -0.8227, 4.0583], [0.475, -0.8227, 5.0083], [0.8, -1.3856, 4.6833], [0.8, -1.3856, 4.3833]], collide: 1}
      - {kind: loft, a: [[0.475, -0.8227, 4.0583], [0.475, -0.8227, 5.0083], [0.8, -1.3856, 4.6833], [0.8, -1.3856, 4.3833]], b: [[0.6718, -0.6718, 4.125], [0.6718, -0.6718, 5.075], [1.1314, -1.1314, 4.75], [1.1314, -1.1314, 4.45]], collide: 1}
      - {kind: loft, a: [[0.6718, -0.6718, 4.125], [0.6718, -0.6718, 5.075], [1.1314, -1.1314, 4.75], [1.1314, -1.1314, 4.45]], b: [[0.8227, -0.475, 4.1917], [0.8227, -0.475, 5.1417], [1.3856, -0.8, 4.8167], [1.3856, -0.8, 4.5167]], collide: 1}
      - {kind: loft, a: [[0.8227, -0.475, 4.1917], [0.8227, -0.475, 5.1417], [1.3856, -0.8, 4.8167], [1.3856, -0.8, 4.5167]], b: [[0.9176, -0.2459, 4.2583], [0.9176, -0.2459, 5.2083], [1.5455, -0.4141, 4.8833], [1.5455, -0.4141, 4.5833]], collide: 1}
      - {kind: loft, a: [[0.9176, -0.2459, 4.2583], [0.9176, -0.2459, 5.2083], [1.5455, -0.4141, 4.8833], [1.5455, -0.4141, 4.5833]], b: [[0.95, -0.0, 4.325], [0.95, -0.0, 5.275], [1.6, -0.0, 4.95], [1.6, -0.0, 4.65]], collide: 1}
  - id: work
    shape: part
    pos: [0, 0, 6.8]
    density: 700
    friction: 0.6
    color: "#b08a5a"
    pieces:
      - {kind: poly, points: [[-6.0, 6.0], [6.0, 6.0], [6.0, 7.6], [-6.0, 7.6]], y: [-4.0, 4.0], collide: 2}   # the work, a board lying free on the pad
  - id: drill
    shape: part
    pos: [0, 0, 11.6]
    density: 7800
    friction: 0.4
    color: "#d8cfbd"
    pieces:
      - {kind: rod, from: [0, 0, 14.0], to: [0, 0, 22.4], radius: 0.6, collide: 0}   # the spindle
      - {kind: rod, from: [0, 0, 14.0], to: [0, 0, 15.0], radius: 1.0, collide: 0, color: "#bdb4a2"}   # its chuck
      - {kind: poly, points: [[-0.55, 14.2], [0.55, 14.2], [0.55, 12.8], [0.2, 12.0], [0, 11.6], [-0.2, 12.0], [-0.55, 12.8]], y: [-0.12, 0.12], collide: 0, color: "#9c958a"}   # the bit
      - {kind: rod, from: [0, 0, 11.72], to: [0, 0, 12.1], radius: 0.12, capsule: true, collide: 1}   # its point
      - {kind: rod, from: [0, 0, 22.4], to: [0, 0, 23.4], radius: 1.0, collide: 0, color: "#bdb4a2"}   # the crank's boss
      - {kind: poly, points: [[-13.0, 22.6], [0.8, 22.6], [0.8, 23.3], [-13.0, 23.3]], y: [-0.6, 0.6], collide: 0, color: "#8f8a80"}   # the crank
      - {kind: rod, from: [-12.2, 0, 23.3], to: [-12.2, 0, 25.8], radius: 0.6, collide: 0, color: "#6f6a60"}   # its handle
      - {kind: rod, from: [-12.2, 0, 25.4], to: [-12.2, 0, 26.2], radius: 0.9, collide: 0, color: "#6f6a60"}   # its knob
  - id: frame
    shape: part
    pos: [0, 0, 0]
    fixed: true
    density: 7800
    friction: 0.2
    color: "#b9b09c"
    pieces:
      - {kind: poly, points: [[1.7, -7.41], [4.0, -7.41], [4.0, -0.59], [1.7, -0.59]], y: [-2.0, 2.0], collide: 0}   # the lower arm, the nut: right of the screw
      - {kind: poly, points: [[-11.0, -7.41], [-1.7, -7.41], [-1.7, -0.59], [-11.0, -0.59]], y: [-2.0, 2.0], collide: 0}   # and left
      - {kind: poly, points: [[-1.7, -7.41], [1.7, -7.41], [1.7, -0.59], [-1.7, -0.59]], y: [1.8, 2.0], collide: 0}   # its back, cut away at the front
      - {kind: poly, points: [[-14.0, -7.41], [-11.0, -7.41], [-11.0, 19.4], [-14.0, 19.4]], y: [-2.0, 2.0], collide: 0}   # the back of the cramp
      - {kind: poly, points: [[-11.0, 16.4], [-2.6, 16.4], [-2.6, 19.4], [-11.0, 19.4]], y: [-2.0, 2.0], collide: 0}   # the upper arm
      - {kind: poly, points: [[-2.6, 15.2], [2.6, 15.2], [2.6, 20.4], [-2.6, 20.4]], y: [-2.4, 2.4], collide: 0, color: "#a9a08c"}   # the drill's bearing
      - {kind: loft, a: [[-1.8, 0.0, -7.11], [-1.8, 0.0, -5.69], [-1.05, 0.0, -6.065], [-1.05, 0.0, -6.735]], b: [[-1.7387, -0.4659, -7.0433], [-1.7387, -0.4659, -5.6233], [-1.0142, -0.2718, -5.9983], [-1.0142, -0.2718, -6.6683]], collide: 2}
      - {kind: loft, a: [[-1.7387, -0.4659, -7.0433], [-1.7387, -0.4659, -5.6233], [-1.0142, -0.2718, -5.9983], [-1.0142, -0.2718, -6.6683]], b: [[-1.5588, -0.9, -6.9767], [-1.5588, -0.9, -5.5567], [-0.9093, -0.525, -5.9317], [-0.9093, -0.525, -6.6017]], collide: 2}
      - {kind: loft, a: [[-1.5588, -0.9, -6.9767], [-1.5588, -0.9, -5.5567], [-0.9093, -0.525, -5.9317], [-0.9093, -0.525, -6.6017]], b: [[-1.2728, -1.2728, -6.91], [-1.2728, -1.2728, -5.49], [-0.7425, -0.7425, -5.865], [-0.7425, -0.7425, -6.535]], collide: 2}
      - {kind: loft, a: [[-1.2728, -1.2728, -6.91], [-1.2728, -1.2728, -5.49], [-0.7425, -0.7425, -5.865], [-0.7425, -0.7425, -6.535]], b: [[-0.9, -1.5588, -6.8433], [-0.9, -1.5588, -5.4233], [-0.525, -0.9093, -5.7983], [-0.525, -0.9093, -6.4683]], collide: 2}
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      - {kind: loft, a: [[-0.4659, -1.7387, -3.5767], [-0.4659, -1.7387, -2.1567], [-0.2718, -1.0142, -2.5317], [-0.2718, -1.0142, -3.2017]], b: [[-0.0, -1.8, -3.51], [-0.0, -1.8, -2.09], [-0.0, -1.05, -2.465], [-0.0, -1.05, -3.135]], collide: 2}
      - {kind: loft, a: [[-0.0, -1.8, -3.51], [-0.0, -1.8, -2.09], [-0.0, -1.05, -2.465], [-0.0, -1.05, -3.135]], b: [[0.4659, -1.7387, -3.4433], [0.4659, -1.7387, -2.0233], [0.2718, -1.0142, -2.3983], [0.2718, -1.0142, -3.0683]], collide: 2}
      - {kind: loft, a: [[0.4659, -1.7387, -3.4433], [0.4659, -1.7387, -2.0233], [0.2718, -1.0142, -2.3983], [0.2718, -1.0142, -3.0683]], b: [[0.9, -1.5588, -3.3767], [0.9, -1.5588, -1.9567], [0.525, -0.9093, -2.3317], [0.525, -0.9093, -3.0017]], collide: 2}
      - {kind: loft, a: [[0.9, -1.5588, -3.3767], [0.9, -1.5588, -1.9567], [0.525, -0.9093, -2.3317], [0.525, -0.9093, -3.0017]], b: [[1.2728, -1.2728, -3.31], [1.2728, -1.2728, -1.89], [0.7425, -0.7425, -2.265], [0.7425, -0.7425, -2.935]], collide: 2}
      - {kind: loft, a: [[1.2728, -1.2728, -3.31], [1.2728, -1.2728, -1.89], [0.7425, -0.7425, -2.265], [0.7425, -0.7425, -2.935]], b: [[1.5588, -0.9, -3.2433], [1.5588, -0.9, -1.8233], [0.9093, -0.525, -2.1983], [0.9093, -0.525, -2.8683]], collide: 2}
      - {kind: loft, a: [[1.5588, -0.9, -3.2433], [1.5588, -0.9, -1.8233], [0.9093, -0.525, -2.1983], [0.9093, -0.525, -2.8683]], b: [[1.7387, -0.4659, -3.1767], [1.7387, -0.4659, -1.7567], [1.0142, -0.2718, -2.1317], [1.0142, -0.2718, -2.8017]], collide: 2}
      - {kind: loft, a: [[1.7387, -0.4659, -3.1767], [1.7387, -0.4659, -1.7567], [1.0142, -0.2718, -2.1317], [1.0142, -0.2718, -2.8017]], b: [[1.8, -0.0, -3.11], [1.8, -0.0, -1.69], [1.05, -0.0, -2.065], [1.05, -0.0, -2.735]], collide: 2}
      - {kind: loft, a: [[1.8, -0.0, -3.11], [1.8, -0.0, -1.69], [1.05, -0.0, -2.065], [1.05, -0.0, -2.735]], b: [[1.7387, 0.4659, -3.0433], [1.7387, 0.4659, -1.6233], [1.0142, 0.2718, -1.9983], [1.0142, 0.2718, -2.6683]], collide: 2}
      - {kind: loft, a: [[1.7387, 0.4659, -3.0433], [1.7387, 0.4659, -1.6233], [1.0142, 0.2718, -1.9983], [1.0142, 0.2718, -2.6683]], b: [[1.5588, 0.9, -2.9767], [1.5588, 0.9, -1.5567], [0.9093, 0.525, -1.9317], [0.9093, 0.525, -2.6017]], collide: 2}
      - {kind: loft, a: [[1.5588, 0.9, -2.9767], [1.5588, 0.9, -1.5567], [0.9093, 0.525, -1.9317], [0.9093, 0.525, -2.6017]], b: [[1.2728, 1.2728, -2.91], [1.2728, 1.2728, -1.49], [0.7425, 0.7425, -1.865], [0.7425, 0.7425, -2.535]], collide: 2}
      - {kind: loft, a: [[1.2728, 1.2728, -2.91], [1.2728, 1.2728, -1.49], [0.7425, 0.7425, -1.865], [0.7425, 0.7425, -2.535]], b: [[0.9, 1.5588, -2.8433], [0.9, 1.5588, -1.4233], [0.525, 0.9093, -1.7983], [0.525, 0.9093, -2.4683]], collide: 2}
      - {kind: loft, a: [[0.9, 1.5588, -2.8433], [0.9, 1.5588, -1.4233], [0.525, 0.9093, -1.7983], [0.525, 0.9093, -2.4683]], b: [[0.4659, 1.7387, -2.7767], [0.4659, 1.7387, -1.3567], [0.2718, 1.0142, -1.7317], [0.2718, 1.0142, -2.4017]], collide: 2}
      - {kind: loft, a: [[0.4659, 1.7387, -2.7767], [0.4659, 1.7387, -1.3567], [0.2718, 1.0142, -1.7317], [0.2718, 1.0142, -2.4017]], b: [[-0.0, 1.8, -2.71], [-0.0, 1.8, -1.29], [-0.0, 1.05, -1.665], [-0.0, 1.05, -2.335]], collide: 2}
      - {kind: loft, a: [[-0.0, 1.8, -2.71], [-0.0, 1.8, -1.29], [-0.0, 1.05, -1.665], [-0.0, 1.05, -2.335]], b: [[-0.4659, 1.7387, -2.6433], [-0.4659, 1.7387, -1.2233], [-0.2718, 1.0142, -1.5983], [-0.2718, 1.0142, -2.2683]], collide: 2}
      - {kind: loft, a: [[-0.4659, 1.7387, -2.6433], [-0.4659, 1.7387, -1.2233], [-0.2718, 1.0142, -1.5983], [-0.2718, 1.0142, -2.2683]], b: [[-0.9, 1.5588, -2.5767], [-0.9, 1.5588, -1.1567], [-0.525, 0.9093, -1.5317], [-0.525, 0.9093, -2.2017]], collide: 2}
      - {kind: loft, a: [[-0.9, 1.5588, -2.5767], [-0.9, 1.5588, -1.1567], [-0.525, 0.9093, -1.5317], [-0.525, 0.9093, -2.2017]], b: [[-1.2728, 1.2728, -2.51], [-1.2728, 1.2728, -1.09], [-0.7425, 0.7425, -1.465], [-0.7425, 0.7425, -2.135]], collide: 2}
      - {kind: loft, a: [[-1.2728, 1.2728, -2.51], [-1.2728, 1.2728, -1.09], [-0.7425, 0.7425, -1.465], [-0.7425, 0.7425, -2.135]], b: [[-1.5588, 0.9, -2.4433], [-1.5588, 0.9, -1.0233], [-0.9093, 0.525, -1.3983], [-0.9093, 0.525, -2.0683]], collide: 2}
      - {kind: loft, a: [[-1.5588, 0.9, -2.4433], [-1.5588, 0.9, -1.0233], [-0.9093, 0.525, -1.3983], [-0.9093, 0.525, -2.0683]], b: [[-1.7387, 0.4659, -2.3767], [-1.7387, 0.4659, -0.9567], [-1.0142, 0.2718, -1.3317], [-1.0142, 0.2718, -2.0017]], collide: 2}
      - {kind: loft, a: [[-1.7387, 0.4659, -2.3767], [-1.7387, 0.4659, -0.9567], [-1.0142, 0.2718, -1.3317], [-1.0142, 0.2718, -2.0017]], b: [[-1.8, 0.0, -2.31], [-1.8, 0.0, -0.89], [-1.05, 0.0, -1.265], [-1.05, 0.0, -1.935]], collide: 2}
joints:
  - {id: j_z, type: slide, body: carr, axis: [0, 0, 1], range: [-0.3, 5.0], damping: 0.05}   # the pad on the screw's axis; + : up
  - {id: j_fs, type: hinge, body: screw, axis: [0, 0, 1], damping: 0.002}   # the one driven joint: the feed-screw, by its handle
  - {id: j_w, type: slide, body: work, axis: [0, 0, 1], range: [-0.5, 5.0], damping: 0.05}   # the work, free to lift off the pad
  - {id: j_d, type: hinge, body: drill, axis: [0, 0, 1], stiffness: 0.2, springref: 0.3142, damping: 0.02}   # the drill, by the crank: the operator's hand
driver: {joint: j_fs, kind: velocity, rpm: 24.0, kv: 0.3, max_torque: 1.0}
hand:
  - {t: 0.1, springref: {j_d: 0.6283}}
  - {t: 0.2, springref: {j_d: 0.9425}}
  - {t: 0.3, springref: {j_d: 1.2566}}
  - {t: 0.4, springref: {j_d: 1.5708}}
  - {t: 0.5, springref: {j_d: 1.885}}
  - {t: 0.6, springref: {j_d: 2.1991}}
  - {t: 0.7, springref: {j_d: 2.5133}}
  - {t: 0.8, springref: {j_d: 2.8274}}
  - {t: 0.9, springref: {j_d: 3.1416}}
  - {t: 1.0, springref: {j_d: 3.4558}}
  - {t: 1.1, springref: {j_d: 3.7699}}
  - {t: 1.2, springref: {j_d: 4.0841}}
  - {t: 1.3, springref: {j_d: 4.3982}}
  - {t: 1.4, springref: {j_d: 4.7124}}
  - {t: 1.5, springref: {j_d: 5.0265}}
  - {t: 1.6, springref: {j_d: 5.3407}}
  - {t: 1.7, springref: {j_d: 5.6549}}
  - {t: 1.8, springref: {j_d: 5.969}}
  - {t: 1.9, springref: {j_d: 6.2832}}
  - {t: 2.0, springref: {j_d: 6.5973}}
  - {t: 2.1, springref: {j_d: 6.9115}}
  - {t: 2.2, springref: {j_d: 7.2257}}
  - {t: 2.3, springref: {j_d: 7.5398}}
  - {t: 2.4, springref: {j_d: 7.854}}
  - {t: 2.5, springref: {j_d: 8.1681}}
  - {t: 2.6, springref: {j_d: 8.4823}}
  - {t: 2.7, springref: {j_d: 8.7965}}
  - {t: 2.8, springref: {j_d: 9.1106}}
  - {t: 2.9, springref: {j_d: 9.4248}}
  - {t: 3.0, springref: {j_d: 9.7389}}
  - {t: 3.1, springref: {j_d: 10.0531}}
  - {t: 3.2, springref: {j_d: 10.3673}}
  - {t: 3.3, springref: {j_d: 10.6814}}
  - {t: 3.4, springref: {j_d: 10.9956}}
  - {t: 3.5, springref: {j_d: 11.3097}}
  - {t: 3.6, springref: {j_d: 11.6239}}
  - {t: 3.7, springref: {j_d: 11.9381}}
  - {t: 3.8, springref: {j_d: 12.2522}}
  - {t: 3.9, springref: {j_d: 12.5664}}
  - {t: 4.0, springref: {j_d: 12.8805}}
  - {t: 4.1, springref: {j_d: 13.1947}}
  - {t: 4.2, springref: {j_d: 13.5088}}
  - {t: 4.3, springref: {j_d: 13.823}}
  - {t: 4.4, springref: {j_d: 14.1372}}
  - {t: 4.5, springref: {j_d: 14.4513}}
  - {t: 4.6, springref: {j_d: 14.7655}}
  - {t: 4.7, springref: {j_d: 15.0796}}
  - {t: 4.8, springref: {j_d: 15.3938}}
  - {t: 4.9, springref: {j_d: 15.708}}
  - {t: 5.0, springref: {j_d: 16.0221}}
  - {t: 5.1, springref: {j_d: 16.3363}}
  - {t: 5.2, springref: {j_d: 16.6504}}
  - {t: 5.3, springref: {j_d: 16.9646}}
  - {t: 5.4, springref: {j_d: 17.2788}}
  - {t: 5.5, springref: {j_d: 17.5929}}
  - {t: 5.6, springref: {j_d: 17.9071}}
  - {t: 5.7, springref: {j_d: 18.2212}}
  - {t: 5.8, springref: {j_d: 18.5354}}
  - {t: 5.9, springref: {j_d: 18.8496}}
  - {t: 6.0, springref: {j_d: 19.1637}}
  - {t: 6.1, springref: {j_d: 19.4779}}
  - {t: 6.2, springref: {j_d: 19.792}}
  - {t: 6.3, springref: {j_d: 20.1062}}
  - {t: 6.4, springref: {j_d: 20.4204}}
  - {t: 6.5, springref: {j_d: 20.7345}}
  - {t: 6.6, springref: {j_d: 21.0487}}
  - {t: 6.7, springref: {j_d: 21.3628}}
  - {t: 6.8, springref: {j_d: 21.677}}
  - {t: 6.9, springref: {j_d: 21.9911}}
  - {t: 7.0, springref: {j_d: 22.3053}}
  - {t: 7.1, springref: {j_d: 22.6195}}
  - {t: 7.2, springref: {j_d: 22.9336}}
  - {t: 7.3, springref: {j_d: 23.2478}}
  - {t: 7.4, springref: {j_d: 23.5619}}
  - {t: 7.5, springref: {j_d: 23.8761}}
  - {t: 7.6, springref: {j_d: 24.1903}}
  - {t: 7.7, springref: {j_d: 24.5044}}
  - {t: 7.8, springref: {j_d: 24.8186}}
  - {t: 7.9, springref: {j_d: 25.1327}}
  - {t: 8.0, springref: {j_d: 25.4469}}
  - {t: 8.1, springref: {j_d: 25.7611}}
  - {t: 8.2, springref: {j_d: 26.0752}}
  - {t: 8.3, springref: {j_d: 26.3894}}
  - {t: 8.4, springref: {j_d: 26.7035}}
  - {t: 8.5, springref: {j_d: 27.0177}}
  - {t: 8.6, springref: {j_d: 27.3319}}
  - {t: 8.7, springref: {j_d: 27.646}}
  - {t: 8.8, springref: {j_d: 27.9602}}
  - {t: 8.9, springref: {j_d: 28.2743}}
  - {t: 9.0, springref: {j_d: 28.5885}}
  - {t: 9.1, springref: {j_d: 28.9027}}
  - {t: 9.2, springref: {j_d: 29.2168}}
  - {t: 9.3, springref: {j_d: 29.531}}
  - {t: 9.4, springref: {j_d: 29.8451}}
  - {t: 9.5, springref: {j_d: 30.1593}}
  - {t: 9.6, springref: {j_d: 30.4734}}
  - {t: 9.7, springref: {j_d: 30.7876}}
  - {t: 9.8, springref: {j_d: 31.1018}}
  - {t: 9.9, springref: {j_d: 31.4159}}
  - {t: 10.0, springref: {j_d: 31.7301}}
  - {t: 10.1, springref: {j_d: 32.0442}}
  - {t: 10.2, springref: {j_d: 32.3584}}
  - {t: 10.3, springref: {j_d: 32.6726}}
  - {t: 10.4, springref: {j_d: 32.9867}}
  - {t: 10.5, springref: {j_d: 33.3009}}
  - {t: 10.6, springref: {j_d: 33.615}}
  - {t: 10.7, springref: {j_d: 33.9292}}
  - {t: 10.8, springref: {j_d: 34.2434}}
  - {t: 10.9, springref: {j_d: 34.5575}}
  - {t: 11.0, springref: {j_d: 34.8717}}
  - {t: 11.1, springref: {j_d: 35.1858}}
  - {t: 11.2, springref: {j_d: 35.5}}
  - {t: 11.3, springref: {j_d: 35.8142}}
  - {t: 11.4, springref: {j_d: 36.1283}}
  - {t: 11.5, springref: {j_d: 36.4425}}
  - {t: 11.6, springref: {j_d: 36.7566}}
  - {t: 11.7, springref: {j_d: 37.0708}}
  - {t: 11.8, springref: {j_d: 37.385}}
  - {t: 11.9, springref: {j_d: 37.6991}}
checks:
  - {type: follow, out: j_z, in: j_fs, expect: 0.002546, tol: 0.000127, min_r2: 0.999, settle_s: 1.0, window_s: 5.0}   # the screw feeds 1.6 cm a turn
  - {type: follow, out: j_w, in: j_z, expect: 1.0, tol: 0.05, min_r2: 0.999, settle_s: 1.0, window_s: 5.0}   # the work rides up on the pad
  - {type: position, joint: j_w, min: 3.7, max: 4.15, settle_s: 10.5, window_s: 1.4}   # it is up on the drill's point
  - {type: still, joint: j_fs, max: 0.05, settle_s: 10.5, window_s: 1.4}   # where the screw stalls
camera: {target: [-5.0, 0, -3.0], position: [-30.0, -112.0, 5.0], fov: 34}
display:
  output: j_w
  labels: {j_fs: "Feed-screw (driver)", j_z: "Pad", j_w: "Work", j_d: "Drill (crank, by hand)"}
  proof: {label: "Threads out of contact", sub: "the screw turns but the work stays down"}