# No. 380 (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 feed-screw stands in the nut of its upper arm (right-hand thread, pitch 1.6, real flank contact, as No. 190) and is hollow: # the drill spindle passes down through its centre, turned by a crank on its top by hand (a stepped spring schedule, 0.5 turn a second). Turning the screw by # its wing handle (the one driven joint, 24 turns a minute) carries it, and the spindle with it by its collar, down 1.6 cm a turn # (0.2546 cm to the radian) until the drill's point meets the work on the lower arm, where the screw stalls and holds it there. # Generator: opencode-runs/batch12/gen380.py. number: 380 slug: portable-cramp-drill-hollow-feed-screw 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, 13.0] density: 7800 color: "#cfc6b4" pieces: - {kind: rod, from: [0, 0, 13.0], to: [0, 0, 13.2], radius: 0.3, collide: 0} - id: screw shape: part pos: [0, 0, 13.6] mount: carr density: 7800 friction: 0.1 color: "#e4d9bf" pieces: - {kind: rod, from: [0, 0, 13.05], to: [0, 0, 29.6], radius: 1.0, collide: 0} # the screw's core, hollow - {kind: rod, from: [0, 0, 28.4], to: [0, 0, 29.6], radius: 1.6, collide: 0, color: "#8f8a80"} # the wing handle's boss - {kind: rod, from: [-8.5, 0, 29.0], to: [8.5, 0, 29.0], radius: 0.4, collide: 0, color: "#8f8a80"} # the wing handle - {kind: rod, from: [-8.0, 0, 29.0], to: [-4.0, 0, 29.0], radius: 0.65, collide: 0, color: "#8f8a80"} # its grip - {kind: rod, from: [4.0, 0, 29.0], to: [8.0, 0, 29.0], radius: 0.65, collide: 0, color: "#8f8a80"} # and its fellow - {kind: loft, a: [[0.95, 0.0, 13.125], [0.95, 0.0, 14.075], [1.6, 0.0, 13.75], [1.6, 0.0, 13.45]], b: [[0.9176, 0.2459, 13.1917], [0.9176, 0.2459, 14.1417], [1.5455, 0.4141, 13.8167], [1.5455, 0.4141, 13.5167]], collide: 1} - {kind: loft, a: [[0.9176, 0.2459, 13.1917], [0.9176, 0.2459, 14.1417], [1.5455, 0.4141, 13.8167], [1.5455, 0.4141, 13.5167]], b: [[0.8227, 0.475, 13.2583], [0.8227, 0.475, 14.2083], [1.3856, 0.8, 13.8833], [1.3856, 0.8, 13.5833]], collide: 1} - {kind: loft, a: [[0.8227, 0.475, 13.2583], [0.8227, 0.475, 14.2083], [1.3856, 0.8, 13.8833], [1.3856, 0.8, 13.5833]], b: [[0.6718, 0.6718, 13.325], [0.6718, 0.6718, 14.275], [1.1314, 1.1314, 13.95], [1.1314, 1.1314, 13.65]], collide: 1} - {kind: loft, a: [[0.6718, 0.6718, 13.325], [0.6718, 0.6718, 14.275], [1.1314, 1.1314, 13.95], [1.1314, 1.1314, 13.65]], b: [[0.475, 0.8227, 13.3917], [0.475, 0.8227, 14.3417], [0.8, 1.3856, 14.0167], [0.8, 1.3856, 13.7167]], collide: 1} - {kind: loft, a: [[0.475, 0.8227, 13.3917], [0.475, 0.8227, 14.3417], [0.8, 1.3856, 14.0167], [0.8, 1.3856, 13.7167]], b: [[0.2459, 0.9176, 13.4583], [0.2459, 0.9176, 14.4083], [0.4141, 1.5455, 14.0833], [0.4141, 1.5455, 13.7833]], collide: 1} - {kind: loft, a: [[0.2459, 0.9176, 13.4583], [0.2459, 0.9176, 14.4083], [0.4141, 1.5455, 14.0833], [0.4141, 1.5455, 13.7833]], b: [[0.0, 0.95, 13.525], [0.0, 0.95, 14.475], [0.0, 1.6, 14.15], [0.0, 1.6, 13.85]], collide: 1} - {kind: loft, a: [[0.0, 0.95, 13.525], [0.0, 0.95, 14.475], [0.0, 1.6, 14.15], [0.0, 1.6, 13.85]], b: [[-0.2459, 0.9176, 13.5917], [-0.2459, 0.9176, 14.5417], [-0.4141, 1.5455, 14.2167], [-0.4141, 1.5455, 13.9167]], collide: 1} - {kind: loft, a: [[-0.2459, 0.9176, 13.5917], [-0.2459, 0.9176, 14.5417], [-0.4141, 1.5455, 14.2167], [-0.4141, 1.5455, 13.9167]], b: [[-0.475, 0.8227, 13.6583], [-0.475, 0.8227, 14.6083], [-0.8, 1.3856, 14.2833], [-0.8, 1.3856, 13.9833]], collide: 1} - {kind: loft, a: [[-0.475, 0.8227, 13.6583], [-0.475, 0.8227, 14.6083], [-0.8, 1.3856, 14.2833], [-0.8, 1.3856, 13.9833]], b: [[-0.6718, 0.6718, 13.725], [-0.6718, 0.6718, 14.675], [-1.1314, 1.1314, 14.35], [-1.1314, 1.1314, 14.05]], collide: 1} - {kind: loft, a: [[-0.6718, 0.6718, 13.725], [-0.6718, 0.6718, 14.675], [-1.1314, 1.1314, 14.35], [-1.1314, 1.1314, 14.05]], b: [[-0.8227, 0.475, 13.7917], [-0.8227, 0.475, 14.7417], [-1.3856, 0.8, 14.4167], [-1.3856, 0.8, 14.1167]], collide: 1} - {kind: loft, a: [[-0.8227, 0.475, 13.7917], [-0.8227, 0.475, 14.7417], [-1.3856, 0.8, 14.4167], [-1.3856, 0.8, 14.1167]], b: [[-0.9176, 0.2459, 13.8583], [-0.9176, 0.2459, 14.8083], [-1.5455, 0.4141, 14.4833], [-1.5455, 0.4141, 14.1833]], collide: 1} - {kind: loft, a: [[-0.9176, 0.2459, 13.8583], [-0.9176, 0.2459, 14.8083], [-1.5455, 0.4141, 14.4833], [-1.5455, 0.4141, 14.1833]], b: [[-0.95, 0.0, 13.925], [-0.95, 0.0, 14.875], [-1.6, 0.0, 14.55], [-1.6, 0.0, 14.25]], collide: 1} - {kind: loft, a: [[-0.95, 0.0, 13.925], [-0.95, 0.0, 14.875], [-1.6, 0.0, 14.55], [-1.6, 0.0, 14.25]], b: [[-0.9176, -0.2459, 13.9917], [-0.9176, -0.2459, 14.9417], [-1.5455, -0.4141, 14.6167], [-1.5455, -0.4141, 14.3167]], collide: 1} - {kind: loft, a: [[-0.9176, -0.2459, 13.9917], [-0.9176, -0.2459, 14.9417], [-1.5455, -0.4141, 14.6167], [-1.5455, -0.4141, 14.3167]], b: [[-0.8227, -0.475, 14.0583], [-0.8227, -0.475, 15.0083], [-1.3856, -0.8, 14.6833], [-1.3856, -0.8, 14.3833]], collide: 1} - {kind: loft, a: [[-0.8227, -0.475, 14.0583], [-0.8227, -0.475, 15.0083], [-1.3856, -0.8, 14.6833], [-1.3856, -0.8, 14.3833]], b: [[-0.6718, -0.6718, 14.125], [-0.6718, -0.6718, 15.075], [-1.1314, -1.1314, 14.75], [-1.1314, -1.1314, 14.45]], collide: 1} - {kind: loft, a: [[-0.6718, -0.6718, 14.125], [-0.6718, -0.6718, 15.075], [-1.1314, -1.1314, 14.75], [-1.1314, -1.1314, 14.45]], b: [[-0.475, -0.8227, 14.1917], [-0.475, -0.8227, 15.1417], [-0.8, -1.3856, 14.8167], [-0.8, -1.3856, 14.5167]], collide: 1} - {kind: loft, a: [[-0.475, -0.8227, 14.1917], [-0.475, -0.8227, 15.1417], [-0.8, -1.3856, 14.8167], [-0.8, -1.3856, 14.5167]], b: [[-0.2459, -0.9176, 14.2583], [-0.2459, -0.9176, 15.2083], [-0.4141, -1.5455, 14.8833], [-0.4141, -1.5455, 14.5833]], collide: 1} - {kind: loft, a: [[-0.2459, -0.9176, 14.2583], [-0.2459, -0.9176, 15.2083], [-0.4141, -1.5455, 14.8833], [-0.4141, -1.5455, 14.5833]], b: [[-0.0, -0.95, 14.325], [-0.0, -0.95, 15.275], [-0.0, -1.6, 14.95], [-0.0, -1.6, 14.65]], collide: 1} - {kind: loft, a: [[-0.0, -0.95, 14.325], [-0.0, -0.95, 15.275], [-0.0, -1.6, 14.95], [-0.0, -1.6, 14.65]], b: [[0.2459, -0.9176, 14.3917], [0.2459, -0.9176, 15.3417], [0.4141, -1.5455, 15.0167], [0.4141, -1.5455, 14.7167]], collide: 1} - {kind: loft, a: [[0.2459, -0.9176, 14.3917], [0.2459, -0.9176, 15.3417], [0.4141, -1.5455, 15.0167], [0.4141, -1.5455, 14.7167]], b: [[0.475, -0.8227, 14.4583], [0.475, -0.8227, 15.4083], [0.8, -1.3856, 15.0833], [0.8, -1.3856, 14.7833]], collide: 1} - {kind: loft, a: [[0.475, -0.8227, 14.4583], [0.475, -0.8227, 15.4083], [0.8, -1.3856, 15.0833], [0.8, -1.3856, 14.7833]], b: [[0.6718, -0.6718, 14.525], [0.6718, -0.6718, 15.475], [1.1314, -1.1314, 15.15], [1.1314, -1.1314, 14.85]], collide: 1} - {kind: loft, a: [[0.6718, -0.6718, 14.525], [0.6718, -0.6718, 15.475], [1.1314, -1.1314, 15.15], [1.1314, -1.1314, 14.85]], b: [[0.8227, -0.475, 14.5917], [0.8227, -0.475, 15.5417], [1.3856, -0.8, 15.2167], [1.3856, -0.8, 14.9167]], collide: 1} - {kind: loft, a: [[0.8227, -0.475, 14.5917], [0.8227, -0.475, 15.5417], [1.3856, -0.8, 15.2167], [1.3856, -0.8, 14.9167]], b: [[0.9176, -0.2459, 14.6583], [0.9176, -0.2459, 15.6083], [1.5455, -0.4141, 15.2833], [1.5455, -0.4141, 14.9833]], collide: 1} - {kind: loft, a: [[0.9176, -0.2459, 14.6583], [0.9176, -0.2459, 15.6083], [1.5455, -0.4141, 15.2833], [1.5455, -0.4141, 14.9833]], b: [[0.95, -0.0, 14.725], [0.95, -0.0, 15.675], [1.6, -0.0, 15.35], [1.6, -0.0, 15.05]], collide: 1} - {kind: loft, a: [[0.95, -0.0, 14.725], [0.95, -0.0, 15.675], [1.6, -0.0, 15.35], [1.6, -0.0, 15.05]], b: [[0.9176, 0.2459, 14.7917], [0.9176, 0.2459, 15.7417], [1.5455, 0.4141, 15.4167], [1.5455, 0.4141, 15.1167]], collide: 1} - {kind: loft, a: [[0.9176, 0.2459, 14.7917], [0.9176, 0.2459, 15.7417], [1.5455, 0.4141, 15.4167], [1.5455, 0.4141, 15.1167]], b: [[0.8227, 0.475, 14.8583], [0.8227, 0.475, 15.8083], [1.3856, 0.8, 15.4833], [1.3856, 0.8, 15.1833]], collide: 1} - {kind: loft, a: [[0.8227, 0.475, 14.8583], [0.8227, 0.475, 15.8083], [1.3856, 0.8, 15.4833], [1.3856, 0.8, 15.1833]], b: [[0.6718, 0.6718, 14.925], [0.6718, 0.6718, 15.875], [1.1314, 1.1314, 15.55], [1.1314, 1.1314, 15.25]], collide: 1} - {kind: loft, a: [[0.6718, 0.6718, 14.925], [0.6718, 0.6718, 15.875], [1.1314, 1.1314, 15.55], [1.1314, 1.1314, 15.25]], b: [[0.475, 0.8227, 14.9917], [0.475, 0.8227, 15.9417], [0.8, 1.3856, 15.6167], [0.8, 1.3856, 15.3167]], collide: 1} - {kind: loft, a: [[0.475, 0.8227, 14.9917], [0.475, 0.8227, 15.9417], [0.8, 1.3856, 15.6167], [0.8, 1.3856, 15.3167]], b: [[0.2459, 0.9176, 15.0583], [0.2459, 0.9176, 16.0083], [0.4141, 1.5455, 15.6833], [0.4141, 1.5455, 15.3833]], collide: 1} - {kind: loft, a: [[0.2459, 0.9176, 15.0583], [0.2459, 0.9176, 16.0083], [0.4141, 1.5455, 15.6833], [0.4141, 1.5455, 15.3833]], b: [[0.0, 0.95, 15.125], [0.0, 0.95, 16.075], [0.0, 1.6, 15.75], [0.0, 1.6, 15.45]], collide: 1} - {kind: loft, a: [[0.0, 0.95, 15.125], [0.0, 0.95, 16.075], [0.0, 1.6, 15.75], [0.0, 1.6, 15.45]], b: [[-0.2459, 0.9176, 15.1917], [-0.2459, 0.9176, 16.1417], [-0.4141, 1.5455, 15.8167], [-0.4141, 1.5455, 15.5167]], collide: 1} - {kind: loft, a: [[-0.2459, 0.9176, 15.1917], [-0.2459, 0.9176, 16.1417], [-0.4141, 1.5455, 15.8167], [-0.4141, 1.5455, 15.5167]], b: [[-0.475, 0.8227, 15.2583], [-0.475, 0.8227, 16.2083], [-0.8, 1.3856, 15.8833], [-0.8, 1.3856, 15.5833]], collide: 1} - {kind: loft, a: [[-0.475, 0.8227, 15.2583], [-0.475, 0.8227, 16.2083], [-0.8, 1.3856, 15.8833], [-0.8, 1.3856, 15.5833]], b: [[-0.6718, 0.6718, 15.325], [-0.6718, 0.6718, 16.275], [-1.1314, 1.1314, 15.95], [-1.1314, 1.1314, 15.65]], collide: 1} - {kind: loft, a: [[-0.6718, 0.6718, 15.325], [-0.6718, 0.6718, 16.275], [-1.1314, 1.1314, 15.95], [-1.1314, 1.1314, 15.65]], b: [[-0.8227, 0.475, 15.3917], [-0.8227, 0.475, 16.3417], [-1.3856, 0.8, 16.0167], [-1.3856, 0.8, 15.7167]], collide: 1} - {kind: loft, a: [[-0.8227, 0.475, 15.3917], [-0.8227, 0.475, 16.3417], [-1.3856, 0.8, 16.0167], [-1.3856, 0.8, 15.7167]], b: [[-0.9176, 0.2459, 15.4583], [-0.9176, 0.2459, 16.4083], [-1.5455, 0.4141, 16.0833], [-1.5455, 0.4141, 15.7833]], collide: 1} - {kind: loft, a: [[-0.9176, 0.2459, 15.4583], [-0.9176, 0.2459, 16.4083], [-1.5455, 0.4141, 16.0833], [-1.5455, 0.4141, 15.7833]], b: [[-0.95, 0.0, 15.525], [-0.95, 0.0, 16.475], [-1.6, 0.0, 16.15], [-1.6, 0.0, 15.85]], collide: 1} - {kind: loft, a: [[-0.95, 0.0, 15.525], [-0.95, 0.0, 16.475], [-1.6, 0.0, 16.15], [-1.6, 0.0, 15.85]], b: [[-0.9176, -0.2459, 15.5917], [-0.9176, -0.2459, 16.5417], [-1.5455, -0.4141, 16.2167], [-1.5455, -0.4141, 15.9167]], collide: 1} - {kind: loft, a: [[-0.9176, -0.2459, 15.5917], [-0.9176, -0.2459, 16.5417], [-1.5455, -0.4141, 16.2167], [-1.5455, -0.4141, 15.9167]], b: [[-0.8227, -0.475, 15.6583], [-0.8227, -0.475, 16.6083], [-1.3856, -0.8, 16.2833], [-1.3856, -0.8, 15.9833]], collide: 1} - {kind: loft, a: [[-0.8227, -0.475, 15.6583], [-0.8227, -0.475, 16.6083], [-1.3856, -0.8, 16.2833], [-1.3856, -0.8, 15.9833]], b: [[-0.6718, -0.6718, 15.725], [-0.6718, -0.6718, 16.675], [-1.1314, -1.1314, 16.35], [-1.1314, -1.1314, 16.05]], collide: 1} - {kind: loft, a: [[-0.6718, -0.6718, 15.725], [-0.6718, -0.6718, 16.675], [-1.1314, -1.1314, 16.35], [-1.1314, -1.1314, 16.05]], b: [[-0.475, -0.8227, 15.7917], [-0.475, -0.8227, 16.7417], [-0.8, -1.3856, 16.4167], [-0.8, -1.3856, 16.1167]], collide: 1} - 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{kind: loft, a: [[-0.475, -0.8227, 25.3917], [-0.475, -0.8227, 26.3417], [-0.8, -1.3856, 26.0167], [-0.8, -1.3856, 25.7167]], b: [[-0.2459, -0.9176, 25.4583], [-0.2459, -0.9176, 26.4083], [-0.4141, -1.5455, 26.0833], [-0.4141, -1.5455, 25.7833]], collide: 1} - {kind: loft, a: [[-0.2459, -0.9176, 25.4583], [-0.2459, -0.9176, 26.4083], [-0.4141, -1.5455, 26.0833], [-0.4141, -1.5455, 25.7833]], b: [[-0.0, -0.95, 25.525], [-0.0, -0.95, 26.475], [-0.0, -1.6, 26.15], [-0.0, -1.6, 25.85]], collide: 1} - {kind: loft, a: [[-0.0, -0.95, 25.525], [-0.0, -0.95, 26.475], [-0.0, -1.6, 26.15], [-0.0, -1.6, 25.85]], b: [[0.2459, -0.9176, 25.5917], [0.2459, -0.9176, 26.5417], [0.4141, -1.5455, 26.2167], [0.4141, -1.5455, 25.9167]], collide: 1} - {kind: loft, a: [[0.2459, -0.9176, 25.5917], [0.2459, -0.9176, 26.5417], [0.4141, -1.5455, 26.2167], [0.4141, -1.5455, 25.9167]], b: [[0.475, -0.8227, 25.6583], [0.475, -0.8227, 26.6083], [0.8, -1.3856, 26.2833], [0.8, -1.3856, 25.9833]], collide: 1} - {kind: loft, a: [[0.475, -0.8227, 25.6583], [0.475, -0.8227, 26.6083], [0.8, -1.3856, 26.2833], [0.8, -1.3856, 25.9833]], b: [[0.6718, -0.6718, 25.725], [0.6718, -0.6718, 26.675], [1.1314, -1.1314, 26.35], [1.1314, -1.1314, 26.05]], collide: 1} - {kind: loft, a: [[0.6718, -0.6718, 25.725], [0.6718, -0.6718, 26.675], [1.1314, -1.1314, 26.35], [1.1314, -1.1314, 26.05]], b: [[0.8227, -0.475, 25.7917], [0.8227, -0.475, 26.7417], [1.3856, -0.8, 26.4167], [1.3856, -0.8, 26.1167]], collide: 1} - {kind: loft, a: [[0.8227, -0.475, 25.7917], [0.8227, -0.475, 26.7417], [1.3856, -0.8, 26.4167], [1.3856, -0.8, 26.1167]], b: [[0.9176, -0.2459, 25.8583], [0.9176, -0.2459, 26.8083], [1.5455, -0.4141, 26.4833], [1.5455, -0.4141, 26.1833]], collide: 1} - {kind: loft, a: [[0.9176, -0.2459, 25.8583], [0.9176, -0.2459, 26.8083], [1.5455, -0.4141, 26.4833], [1.5455, -0.4141, 26.1833]], b: [[0.95, -0.0, 25.925], [0.95, -0.0, 26.875], [1.6, -0.0, 26.55], [1.6, -0.0, 26.25]], collide: 1} - {kind: loft, a: [[0.95, -0.0, 25.925], [0.95, -0.0, 26.875], [1.6, -0.0, 26.55], [1.6, -0.0, 26.25]], b: [[0.9176, 0.2459, 25.9917], [0.9176, 0.2459, 26.9417], [1.5455, 0.4141, 26.6167], [1.5455, 0.4141, 26.3167]], collide: 1} - {kind: loft, a: [[0.9176, 0.2459, 25.9917], [0.9176, 0.2459, 26.9417], [1.5455, 0.4141, 26.6167], [1.5455, 0.4141, 26.3167]], b: [[0.8227, 0.475, 26.0583], [0.8227, 0.475, 27.0083], [1.3856, 0.8, 26.6833], [1.3856, 0.8, 26.3833]], collide: 1} - {kind: loft, a: [[0.8227, 0.475, 26.0583], [0.8227, 0.475, 27.0083], [1.3856, 0.8, 26.6833], [1.3856, 0.8, 26.3833]], b: [[0.6718, 0.6718, 26.125], [0.6718, 0.6718, 27.075], [1.1314, 1.1314, 26.75], [1.1314, 1.1314, 26.45]], collide: 1} - {kind: loft, a: [[0.6718, 0.6718, 26.125], [0.6718, 0.6718, 27.075], [1.1314, 1.1314, 26.75], [1.1314, 1.1314, 26.45]], b: [[0.475, 0.8227, 26.1917], [0.475, 0.8227, 27.1417], [0.8, 1.3856, 26.8167], [0.8, 1.3856, 26.5167]], collide: 1} - {kind: loft, a: [[0.475, 0.8227, 26.1917], [0.475, 0.8227, 27.1417], [0.8, 1.3856, 26.8167], [0.8, 1.3856, 26.5167]], b: [[0.2459, 0.9176, 26.2583], [0.2459, 0.9176, 27.2083], [0.4141, 1.5455, 26.8833], [0.4141, 1.5455, 26.5833]], collide: 1} - {kind: loft, a: [[0.2459, 0.9176, 26.2583], [0.2459, 0.9176, 27.2083], [0.4141, 1.5455, 26.8833], [0.4141, 1.5455, 26.5833]], b: [[0.0, 0.95, 26.325], [0.0, 0.95, 27.275], [0.0, 1.6, 26.95], [0.0, 1.6, 26.65]], collide: 1} - {kind: loft, a: [[0.0, 0.95, 26.325], [0.0, 0.95, 27.275], [0.0, 1.6, 26.95], [0.0, 1.6, 26.65]], b: [[-0.2459, 0.9176, 26.3917], [-0.2459, 0.9176, 27.3417], [-0.4141, 1.5455, 27.0167], [-0.4141, 1.5455, 26.7167]], collide: 1} - {kind: loft, a: [[-0.2459, 0.9176, 26.3917], [-0.2459, 0.9176, 27.3417], [-0.4141, 1.5455, 27.0167], [-0.4141, 1.5455, 26.7167]], b: [[-0.475, 0.8227, 26.4583], [-0.475, 0.8227, 27.4083], [-0.8, 1.3856, 27.0833], [-0.8, 1.3856, 26.7833]], collide: 1} - {kind: loft, a: [[-0.475, 0.8227, 26.4583], [-0.475, 0.8227, 27.4083], [-0.8, 1.3856, 27.0833], [-0.8, 1.3856, 26.7833]], b: [[-0.6718, 0.6718, 26.525], [-0.6718, 0.6718, 27.475], [-1.1314, 1.1314, 27.15], [-1.1314, 1.1314, 26.85]], collide: 1} - {kind: loft, a: [[-0.6718, 0.6718, 26.525], [-0.6718, 0.6718, 27.475], [-1.1314, 1.1314, 27.15], [-1.1314, 1.1314, 26.85]], b: [[-0.8227, 0.475, 26.5917], [-0.8227, 0.475, 27.5417], [-1.3856, 0.8, 27.2167], [-1.3856, 0.8, 26.9167]], collide: 1} - {kind: loft, a: [[-0.8227, 0.475, 26.5917], [-0.8227, 0.475, 27.5417], [-1.3856, 0.8, 27.2167], [-1.3856, 0.8, 26.9167]], b: [[-0.9176, 0.2459, 26.6583], [-0.9176, 0.2459, 27.6083], [-1.5455, 0.4141, 27.2833], [-1.5455, 0.4141, 26.9833]], collide: 1} - {kind: loft, a: [[-0.9176, 0.2459, 26.6583], [-0.9176, 0.2459, 27.6083], [-1.5455, 0.4141, 27.2833], [-1.5455, 0.4141, 26.9833]], b: [[-0.95, 0.0, 26.725], [-0.95, 0.0, 27.675], [-1.6, 0.0, 27.35], [-1.6, 0.0, 27.05]], collide: 1} - {kind: loft, a: [[-0.95, 0.0, 26.725], [-0.95, 0.0, 27.675], [-1.6, 0.0, 27.35], [-1.6, 0.0, 27.05]], b: [[-0.9176, -0.2459, 26.7917], [-0.9176, -0.2459, 27.7417], [-1.5455, -0.4141, 27.4167], [-1.5455, -0.4141, 27.1167]], collide: 1} - {kind: loft, a: [[-0.9176, -0.2459, 26.7917], [-0.9176, -0.2459, 27.7417], [-1.5455, -0.4141, 27.4167], [-1.5455, -0.4141, 27.1167]], b: [[-0.8227, -0.475, 26.8583], [-0.8227, -0.475, 27.8083], [-1.3856, -0.8, 27.4833], [-1.3856, -0.8, 27.1833]], collide: 1} - {kind: loft, a: [[-0.8227, -0.475, 26.8583], [-0.8227, -0.475, 27.8083], [-1.3856, -0.8, 27.4833], [-1.3856, -0.8, 27.1833]], b: [[-0.6718, -0.6718, 26.925], [-0.6718, -0.6718, 27.875], [-1.1314, -1.1314, 27.55], [-1.1314, -1.1314, 27.25]], collide: 1} - {kind: loft, a: [[-0.6718, -0.6718, 26.925], [-0.6718, -0.6718, 27.875], [-1.1314, -1.1314, 27.55], [-1.1314, -1.1314, 27.25]], b: [[-0.475, -0.8227, 26.9917], [-0.475, -0.8227, 27.9417], [-0.8, -1.3856, 27.6167], [-0.8, -1.3856, 27.3167]], collide: 1} - {kind: loft, a: [[-0.475, -0.8227, 26.9917], [-0.475, -0.8227, 27.9417], [-0.8, -1.3856, 27.6167], [-0.8, -1.3856, 27.3167]], b: [[-0.2459, -0.9176, 27.0583], [-0.2459, -0.9176, 28.0083], [-0.4141, -1.5455, 27.6833], [-0.4141, -1.5455, 27.3833]], collide: 1} - {kind: loft, a: [[-0.2459, -0.9176, 27.0583], [-0.2459, -0.9176, 28.0083], [-0.4141, -1.5455, 27.6833], [-0.4141, -1.5455, 27.3833]], b: [[-0.0, -0.95, 27.125], [-0.0, -0.95, 28.075], [-0.0, -1.6, 27.75], [-0.0, -1.6, 27.45]], collide: 1} - {kind: loft, a: [[-0.0, -0.95, 27.125], [-0.0, -0.95, 28.075], [-0.0, -1.6, 27.75], [-0.0, -1.6, 27.45]], b: [[0.2459, -0.9176, 27.1917], [0.2459, -0.9176, 28.1417], [0.4141, -1.5455, 27.8167], [0.4141, -1.5455, 27.5167]], collide: 1} - {kind: loft, a: [[0.2459, -0.9176, 27.1917], [0.2459, -0.9176, 28.1417], [0.4141, -1.5455, 27.8167], [0.4141, -1.5455, 27.5167]], b: [[0.475, -0.8227, 27.2583], [0.475, -0.8227, 28.2083], [0.8, -1.3856, 27.8833], [0.8, -1.3856, 27.5833]], collide: 1} - {kind: loft, a: [[0.475, -0.8227, 27.2583], [0.475, -0.8227, 28.2083], [0.8, -1.3856, 27.8833], [0.8, -1.3856, 27.5833]], b: [[0.6718, -0.6718, 27.325], [0.6718, -0.6718, 28.275], [1.1314, -1.1314, 27.95], [1.1314, -1.1314, 27.65]], collide: 1} - {kind: loft, a: [[0.6718, -0.6718, 27.325], [0.6718, -0.6718, 28.275], [1.1314, -1.1314, 27.95], [1.1314, -1.1314, 27.65]], b: [[0.8227, -0.475, 27.3917], [0.8227, -0.475, 28.3417], [1.3856, -0.8, 28.0167], [1.3856, -0.8, 27.7167]], collide: 1} - {kind: loft, a: [[0.8227, -0.475, 27.3917], [0.8227, -0.475, 28.3417], [1.3856, -0.8, 28.0167], [1.3856, -0.8, 27.7167]], b: [[0.9176, -0.2459, 27.4583], [0.9176, -0.2459, 28.4083], [1.5455, -0.4141, 28.0833], [1.5455, -0.4141, 27.7833]], collide: 1} - {kind: loft, a: [[0.9176, -0.2459, 27.4583], [0.9176, -0.2459, 28.4083], [1.5455, -0.4141, 28.0833], [1.5455, -0.4141, 27.7833]], b: [[0.95, -0.0, 27.525], [0.95, -0.0, 28.475], [1.6, -0.0, 28.15], [1.6, -0.0, 27.85]], collide: 1} - id: drill shape: part pos: [0, 0, 8.6] mount: carr density: 7800 friction: 0.4 color: "#d8cfbd" pieces: - {kind: rod, from: [0, 0, 11.0], to: [0, 0, 33.0], radius: 0.55, collide: 0} # the spindle, through the screw - {kind: poly, points: [[-1.4, 11.0], [1.4, 11.0], [1.4, 13.0], [-1.4, 13.0]], y: [-1.4, 1.4], collide: 0, color: "#bdb4a2"} # its collar, under the screw - {kind: poly, points: [[-0.55, 11.2], [0.55, 11.2], [0.55, 9.8], [0.2, 9.0], [0, 8.6], [-0.2, 9.0], [-0.55, 9.8]], y: [-0.12, 0.12], collide: 0, color: "#9c958a"} # the bit - {kind: rod, from: [0, 0, 8.72], to: [0, 0, 9.1], radius: 0.12, capsule: true, collide: 1} # its point - {kind: rod, from: [0, 0, 33.0], to: [0, 0, 34.0], radius: 0.9, collide: 0, color: "#bdb4a2"} # the crank's boss - {kind: poly, points: [[-13.0, 33.2], [2.6, 33.2], [2.6, 33.9], [-13.0, 33.9]], y: [-0.6, 0.6], collide: 0, color: "#8f8a80"} # the crank - {kind: rod, from: [-12.2, 0, 33.9], to: [-12.2, 0, 36.4], radius: 0.6, collide: 0, color: "#6f6a60"} # its handle - {kind: rod, from: [-12.2, 0, 36.0], to: [-12.2, 0, 36.8], radius: 0.9, collide: 0, color: "#6f6a60"} # its knob - id: frame shape: part pos: [0, 0, 0] fixed: true density: 7800 friction: 0.3 color: "#b9b09c" pieces: - {kind: poly, points: [[1.7, 16.59], [4.2, 16.59], [4.2, 23.41], [1.7, 23.41]], y: [-2.2, 2.2], collide: 0} # the upper arm, the nut: right of the screw - {kind: poly, points: [[-11.0, 16.59], [-1.7, 16.59], [-1.7, 23.41], [-11.0, 23.41]], y: [-2.2, 2.2], collide: 0} # and left - {kind: poly, points: [[-1.7, 16.59], [1.7, 16.59], [1.7, 23.41], [-1.7, 23.41]], y: [2.0, 2.2], collide: 0} # its back, cut away at the front - {kind: poly, points: [[-14.0, 0], [-11.0, 0], [-11.0, 21.41], [-14.0, 21.41]], y: [-2.0, 2.0], collide: 0} # the back of the cramp - {kind: poly, points: [[-11.0, 0], [4.2, 0], [4.2, 3.0], [-11.0, 3.0]], y: [-2.0, 2.0], collide: 0} # the lower arm - {kind: poly, points: [[-6.0, 3.0], [6.0, 3.0], [6.0, 4.6], [-6.0, 4.6]], y: [-4.0, 4.0], collide: 2, color: "#b08a5a"} # the work, cramped on the lower arm - {kind: loft, a: [[1.8, -0.0, 16.89], [1.8, -0.0, 18.31], [1.05, -0.0, 17.935], [1.05, -0.0, 17.265]], b: [[1.7387, 0.4659, 16.9567], [1.7387, 0.4659, 18.3767], [1.0142, 0.2718, 18.0017], [1.0142, 0.2718, 17.3317]], collide: 2} - {kind: loft, a: [[1.7387, 0.4659, 16.9567], [1.7387, 0.4659, 18.3767], [1.0142, 0.2718, 18.0017], [1.0142, 0.2718, 17.3317]], b: [[1.5588, 0.9, 17.0233], [1.5588, 0.9, 18.4433], [0.9093, 0.525, 18.0683], [0.9093, 0.525, 17.3983]], collide: 2} - {kind: loft, a: [[1.5588, 0.9, 17.0233], [1.5588, 0.9, 18.4433], [0.9093, 0.525, 18.0683], [0.9093, 0.525, 17.3983]], b: [[1.2728, 1.2728, 17.09], [1.2728, 1.2728, 18.51], [0.7425, 0.7425, 18.135], [0.7425, 0.7425, 17.465]], collide: 2} - {kind: loft, a: [[1.2728, 1.2728, 17.09], [1.2728, 1.2728, 18.51], [0.7425, 0.7425, 18.135], [0.7425, 0.7425, 17.465]], b: [[0.9, 1.5588, 17.1567], [0.9, 1.5588, 18.5767], [0.525, 0.9093, 18.2017], [0.525, 0.9093, 17.5317]], collide: 2} - {kind: loft, a: [[0.9, 1.5588, 17.1567], [0.9, 1.5588, 18.5767], [0.525, 0.9093, 18.2017], [0.525, 0.9093, 17.5317]], b: [[0.4659, 1.7387, 17.2233], [0.4659, 1.7387, 18.6433], [0.2718, 1.0142, 18.2683], [0.2718, 1.0142, 17.5983]], collide: 2} - {kind: loft, a: [[0.4659, 1.7387, 17.2233], [0.4659, 1.7387, 18.6433], [0.2718, 1.0142, 18.2683], [0.2718, 1.0142, 17.5983]], b: [[0.0, 1.8, 17.29], [0.0, 1.8, 18.71], [0.0, 1.05, 18.335], [0.0, 1.05, 17.665]], collide: 2} - {kind: loft, a: [[0.0, 1.8, 17.29], [0.0, 1.8, 18.71], [0.0, 1.05, 18.335], [0.0, 1.05, 17.665]], b: [[-0.4659, 1.7387, 17.3567], [-0.4659, 1.7387, 18.7767], [-0.2718, 1.0142, 18.4017], [-0.2718, 1.0142, 17.7317]], collide: 2} - {kind: loft, a: [[-0.4659, 1.7387, 17.3567], [-0.4659, 1.7387, 18.7767], [-0.2718, 1.0142, 18.4017], [-0.2718, 1.0142, 17.7317]], b: [[-0.9, 1.5588, 17.4233], [-0.9, 1.5588, 18.8433], [-0.525, 0.9093, 18.4683], [-0.525, 0.9093, 17.7983]], collide: 2} - {kind: loft, a: [[-0.9, 1.5588, 17.4233], [-0.9, 1.5588, 18.8433], [-0.525, 0.9093, 18.4683], [-0.525, 0.9093, 17.7983]], b: [[-1.2728, 1.2728, 17.49], [-1.2728, 1.2728, 18.91], [-0.7425, 0.7425, 18.535], [-0.7425, 0.7425, 17.865]], collide: 2} - {kind: loft, a: [[-1.2728, 1.2728, 17.49], [-1.2728, 1.2728, 18.91], [-0.7425, 0.7425, 18.535], [-0.7425, 0.7425, 17.865]], b: [[-1.5588, 0.9, 17.5567], [-1.5588, 0.9, 18.9767], [-0.9093, 0.525, 18.6017], [-0.9093, 0.525, 17.9317]], collide: 2} - {kind: loft, a: [[-1.5588, 0.9, 17.5567], [-1.5588, 0.9, 18.9767], [-0.9093, 0.525, 18.6017], [-0.9093, 0.525, 17.9317]], b: [[-1.7387, 0.4659, 17.6233], [-1.7387, 0.4659, 19.0433], [-1.0142, 0.2718, 18.6683], [-1.0142, 0.2718, 17.9983]], collide: 2} - {kind: loft, a: [[-1.7387, 0.4659, 17.6233], [-1.7387, 0.4659, 19.0433], [-1.0142, 0.2718, 18.6683], [-1.0142, 0.2718, 17.9983]], b: [[-1.8, 0.0, 17.69], [-1.8, 0.0, 19.11], [-1.05, 0.0, 18.735], [-1.05, 0.0, 18.065]], collide: 2} - {kind: loft, a: [[-1.8, 0.0, 17.69], [-1.8, 0.0, 19.11], [-1.05, 0.0, 18.735], [-1.05, 0.0, 18.065]], b: [[-1.7387, -0.4659, 17.7567], [-1.7387, -0.4659, 19.1767], [-1.0142, -0.2718, 18.8017], [-1.0142, -0.2718, 18.1317]], collide: 2} - {kind: loft, a: [[-1.7387, -0.4659, 17.7567], [-1.7387, -0.4659, 19.1767], [-1.0142, -0.2718, 18.8017], [-1.0142, -0.2718, 18.1317]], b: [[-1.5588, -0.9, 17.8233], [-1.5588, -0.9, 19.2433], [-0.9093, -0.525, 18.8683], [-0.9093, -0.525, 18.1983]], collide: 2} - {kind: loft, a: [[-1.5588, -0.9, 17.8233], [-1.5588, -0.9, 19.2433], [-0.9093, -0.525, 18.8683], [-0.9093, -0.525, 18.1983]], b: [[-1.2728, -1.2728, 17.89], [-1.2728, -1.2728, 19.31], [-0.7425, -0.7425, 18.935], [-0.7425, -0.7425, 18.265]], collide: 2} - {kind: loft, a: [[-1.2728, -1.2728, 17.89], [-1.2728, -1.2728, 19.31], [-0.7425, -0.7425, 18.935], [-0.7425, -0.7425, 18.265]], b: [[-0.9, -1.5588, 17.9567], [-0.9, -1.5588, 19.3767], [-0.525, -0.9093, 19.0017], [-0.525, -0.9093, 18.3317]], collide: 2} - {kind: loft, a: [[-0.9, -1.5588, 17.9567], [-0.9, -1.5588, 19.3767], [-0.525, -0.9093, 19.0017], [-0.525, -0.9093, 18.3317]], b: [[-0.4659, -1.7387, 18.0233], [-0.4659, -1.7387, 19.4433], [-0.2718, -1.0142, 19.0683], [-0.2718, -1.0142, 18.3983]], collide: 2} - {kind: loft, a: [[-0.4659, -1.7387, 18.0233], [-0.4659, -1.7387, 19.4433], [-0.2718, -1.0142, 19.0683], [-0.2718, -1.0142, 18.3983]], b: [[-0.0, -1.8, 18.09], [-0.0, -1.8, 19.51], [-0.0, -1.05, 19.135], [-0.0, -1.05, 18.465]], collide: 2} - {kind: loft, a: [[-0.0, -1.8, 18.09], [-0.0, -1.8, 19.51], [-0.0, -1.05, 19.135], [-0.0, -1.05, 18.465]], b: [[0.4659, -1.7387, 18.1567], [0.4659, -1.7387, 19.5767], [0.2718, -1.0142, 19.2017], [0.2718, -1.0142, 18.5317]], collide: 2} - {kind: loft, a: [[0.4659, -1.7387, 18.1567], [0.4659, -1.7387, 19.5767], [0.2718, -1.0142, 19.2017], [0.2718, -1.0142, 18.5317]], b: [[0.9, -1.5588, 18.2233], [0.9, -1.5588, 19.6433], [0.525, -0.9093, 19.2683], [0.525, -0.9093, 18.5983]], collide: 2} - {kind: loft, a: [[0.9, -1.5588, 18.2233], [0.9, -1.5588, 19.6433], [0.525, -0.9093, 19.2683], [0.525, -0.9093, 18.5983]], b: [[1.2728, -1.2728, 18.29], [1.2728, -1.2728, 19.71], [0.7425, -0.7425, 19.335], [0.7425, -0.7425, 18.665]], collide: 2} - {kind: loft, a: [[1.2728, -1.2728, 18.29], [1.2728, -1.2728, 19.71], [0.7425, -0.7425, 19.335], [0.7425, -0.7425, 18.665]], b: [[1.5588, -0.9, 18.3567], [1.5588, -0.9, 19.7767], [0.9093, -0.525, 19.4017], [0.9093, -0.525, 18.7317]], collide: 2} - {kind: loft, a: [[1.5588, -0.9, 18.3567], [1.5588, -0.9, 19.7767], [0.9093, -0.525, 19.4017], [0.9093, -0.525, 18.7317]], b: [[1.7387, -0.4659, 18.4233], [1.7387, -0.4659, 19.8433], [1.0142, -0.2718, 19.4683], [1.0142, -0.2718, 18.7983]], collide: 2} - {kind: loft, a: [[1.7387, -0.4659, 18.4233], [1.7387, -0.4659, 19.8433], [1.0142, -0.2718, 19.4683], [1.0142, -0.2718, 18.7983]], b: [[1.8, -0.0, 18.49], [1.8, -0.0, 19.91], [1.05, -0.0, 19.535], [1.05, -0.0, 18.865]], collide: 2} - {kind: loft, a: [[1.8, -0.0, 18.49], [1.8, -0.0, 19.91], [1.05, -0.0, 19.535], [1.05, -0.0, 18.865]], b: [[1.7387, 0.4659, 18.5567], [1.7387, 0.4659, 19.9767], [1.0142, 0.2718, 19.6017], [1.0142, 0.2718, 18.9317]], collide: 2} - {kind: loft, a: [[1.7387, 0.4659, 18.5567], [1.7387, 0.4659, 19.9767], [1.0142, 0.2718, 19.6017], [1.0142, 0.2718, 18.9317]], b: [[1.5588, 0.9, 18.6233], [1.5588, 0.9, 20.0433], [0.9093, 0.525, 19.6683], [0.9093, 0.525, 18.9983]], collide: 2} - {kind: loft, a: [[1.5588, 0.9, 18.6233], [1.5588, 0.9, 20.0433], [0.9093, 0.525, 19.6683], [0.9093, 0.525, 18.9983]], b: [[1.2728, 1.2728, 18.69], [1.2728, 1.2728, 20.11], [0.7425, 0.7425, 19.735], [0.7425, 0.7425, 19.065]], collide: 2} - {kind: loft, a: [[1.2728, 1.2728, 18.69], [1.2728, 1.2728, 20.11], [0.7425, 0.7425, 19.735], [0.7425, 0.7425, 19.065]], b: [[0.9, 1.5588, 18.7567], [0.9, 1.5588, 20.1767], [0.525, 0.9093, 19.8017], [0.525, 0.9093, 19.1317]], collide: 2} - {kind: loft, a: [[0.9, 1.5588, 18.7567], [0.9, 1.5588, 20.1767], [0.525, 0.9093, 19.8017], [0.525, 0.9093, 19.1317]], b: [[0.4659, 1.7387, 18.8233], [0.4659, 1.7387, 20.2433], [0.2718, 1.0142, 19.8683], [0.2718, 1.0142, 19.1983]], collide: 2} - {kind: loft, a: [[0.4659, 1.7387, 18.8233], [0.4659, 1.7387, 20.2433], [0.2718, 1.0142, 19.8683], [0.2718, 1.0142, 19.1983]], b: [[-0.0, 1.8, 18.89], [-0.0, 1.8, 20.31], [-0.0, 1.05, 19.935], [-0.0, 1.05, 19.265]], collide: 2} - {kind: loft, a: [[-0.0, 1.8, 18.89], [-0.0, 1.8, 20.31], [-0.0, 1.05, 19.935], [-0.0, 1.05, 19.265]], b: [[-0.4659, 1.7387, 18.9567], [-0.4659, 1.7387, 20.3767], [-0.2718, 1.0142, 20.0017], [-0.2718, 1.0142, 19.3317]], collide: 2} - {kind: loft, a: [[-0.4659, 1.7387, 18.9567], [-0.4659, 1.7387, 20.3767], [-0.2718, 1.0142, 20.0017], [-0.2718, 1.0142, 19.3317]], b: [[-0.9, 1.5588, 19.0233], [-0.9, 1.5588, 20.4433], [-0.525, 0.9093, 20.0683], [-0.525, 0.9093, 19.3983]], collide: 2} - {kind: loft, a: [[-0.9, 1.5588, 19.0233], [-0.9, 1.5588, 20.4433], [-0.525, 0.9093, 20.0683], [-0.525, 0.9093, 19.3983]], b: [[-1.2728, 1.2728, 19.09], [-1.2728, 1.2728, 20.51], [-0.7425, 0.7425, 20.135], [-0.7425, 0.7425, 19.465]], collide: 2} - {kind: loft, a: [[-1.2728, 1.2728, 19.09], [-1.2728, 1.2728, 20.51], [-0.7425, 0.7425, 20.135], [-0.7425, 0.7425, 19.465]], b: [[-1.5588, 0.9, 19.1567], [-1.5588, 0.9, 20.5767], [-0.9093, 0.525, 20.2017], [-0.9093, 0.525, 19.5317]], collide: 2} - {kind: loft, a: [[-1.5588, 0.9, 19.1567], [-1.5588, 0.9, 20.5767], [-0.9093, 0.525, 20.2017], [-0.9093, 0.525, 19.5317]], b: [[-1.7387, 0.4659, 19.2233], [-1.7387, 0.4659, 20.6433], [-1.0142, 0.2718, 20.2683], [-1.0142, 0.2718, 19.5983]], collide: 2} - {kind: loft, a: [[-1.7387, 0.4659, 19.2233], [-1.7387, 0.4659, 20.6433], [-1.0142, 0.2718, 20.2683], [-1.0142, 0.2718, 19.5983]], b: [[-1.8, 0.0, 19.29], [-1.8, 0.0, 20.71], [-1.05, 0.0, 20.335], [-1.05, 0.0, 19.665]], collide: 2} - {kind: loft, a: [[-1.8, 0.0, 19.29], [-1.8, 0.0, 20.71], [-1.05, 0.0, 20.335], [-1.05, 0.0, 19.665]], b: [[-1.7387, -0.4659, 19.3567], [-1.7387, -0.4659, 20.7767], [-1.0142, -0.2718, 20.4017], [-1.0142, -0.2718, 19.7317]], collide: 2} - {kind: loft, a: [[-1.7387, -0.4659, 19.3567], [-1.7387, -0.4659, 20.7767], [-1.0142, -0.2718, 20.4017], [-1.0142, -0.2718, 19.7317]], b: [[-1.5588, -0.9, 19.4233], [-1.5588, -0.9, 20.8433], [-0.9093, -0.525, 20.4683], [-0.9093, -0.525, 19.7983]], collide: 2} - {kind: loft, a: [[-1.5588, -0.9, 19.4233], [-1.5588, -0.9, 20.8433], [-0.9093, -0.525, 20.4683], [-0.9093, -0.525, 19.7983]], b: [[-1.2728, -1.2728, 19.49], [-1.2728, -1.2728, 20.91], [-0.7425, -0.7425, 20.535], [-0.7425, -0.7425, 19.865]], collide: 2} - {kind: loft, a: [[-1.2728, -1.2728, 19.49], [-1.2728, -1.2728, 20.91], [-0.7425, -0.7425, 20.535], [-0.7425, -0.7425, 19.865]], b: [[-0.9, -1.5588, 19.5567], [-0.9, -1.5588, 20.9767], [-0.525, -0.9093, 20.6017], [-0.525, -0.9093, 19.9317]], collide: 2} - {kind: loft, a: [[-0.9, -1.5588, 19.5567], [-0.9, -1.5588, 20.9767], [-0.525, -0.9093, 20.6017], [-0.525, -0.9093, 19.9317]], b: [[-0.4659, -1.7387, 19.6233], [-0.4659, -1.7387, 21.0433], [-0.2718, -1.0142, 20.6683], [-0.2718, -1.0142, 19.9983]], collide: 2} - {kind: loft, a: [[-0.4659, -1.7387, 19.6233], [-0.4659, -1.7387, 21.0433], [-0.2718, -1.0142, 20.6683], [-0.2718, -1.0142, 19.9983]], b: [[-0.0, -1.8, 19.69], [-0.0, -1.8, 21.11], [-0.0, -1.05, 20.735], [-0.0, -1.05, 20.065]], collide: 2} - {kind: loft, a: [[-0.0, -1.8, 19.69], [-0.0, -1.8, 21.11], [-0.0, -1.05, 20.735], [-0.0, -1.05, 20.065]], b: [[0.4659, -1.7387, 19.7567], [0.4659, -1.7387, 21.1767], [0.2718, -1.0142, 20.8017], [0.2718, -1.0142, 20.1317]], collide: 2} - {kind: loft, a: [[0.4659, -1.7387, 19.7567], [0.4659, -1.7387, 21.1767], [0.2718, -1.0142, 20.8017], [0.2718, -1.0142, 20.1317]], b: [[0.9, -1.5588, 19.8233], [0.9, -1.5588, 21.2433], [0.525, -0.9093, 20.8683], [0.525, -0.9093, 20.1983]], collide: 2} - {kind: loft, a: [[0.9, -1.5588, 19.8233], [0.9, -1.5588, 21.2433], [0.525, -0.9093, 20.8683], [0.525, -0.9093, 20.1983]], b: [[1.2728, -1.2728, 19.89], [1.2728, -1.2728, 21.31], [0.7425, -0.7425, 20.935], [0.7425, -0.7425, 20.265]], collide: 2} - {kind: loft, a: [[1.2728, -1.2728, 19.89], [1.2728, -1.2728, 21.31], [0.7425, -0.7425, 20.935], [0.7425, -0.7425, 20.265]], b: [[1.5588, -0.9, 19.9567], [1.5588, -0.9, 21.3767], [0.9093, -0.525, 21.0017], [0.9093, -0.525, 20.3317]], collide: 2} - {kind: loft, a: [[1.5588, -0.9, 19.9567], [1.5588, -0.9, 21.3767], [0.9093, -0.525, 21.0017], [0.9093, -0.525, 20.3317]], b: [[1.7387, -0.4659, 20.0233], [1.7387, -0.4659, 21.4433], [1.0142, -0.2718, 21.0683], [1.0142, -0.2718, 20.3983]], collide: 2} - {kind: loft, a: [[1.7387, -0.4659, 20.0233], [1.7387, -0.4659, 21.4433], [1.0142, -0.2718, 21.0683], [1.0142, -0.2718, 20.3983]], b: [[1.8, -0.0, 20.09], [1.8, -0.0, 21.51], [1.05, -0.0, 21.135], [1.05, -0.0, 20.465]], collide: 2} - {kind: loft, a: [[1.8, -0.0, 20.09], [1.8, -0.0, 21.51], [1.05, -0.0, 21.135], [1.05, -0.0, 20.465]], b: [[1.7387, 0.4659, 20.1567], [1.7387, 0.4659, 21.5767], [1.0142, 0.2718, 21.2017], [1.0142, 0.2718, 20.5317]], collide: 2} - {kind: loft, a: [[1.7387, 0.4659, 20.1567], [1.7387, 0.4659, 21.5767], [1.0142, 0.2718, 21.2017], [1.0142, 0.2718, 20.5317]], b: [[1.5588, 0.9, 20.2233], [1.5588, 0.9, 21.6433], [0.9093, 0.525, 21.2683], [0.9093, 0.525, 20.5983]], collide: 2} - {kind: loft, a: [[1.5588, 0.9, 20.2233], [1.5588, 0.9, 21.6433], [0.9093, 0.525, 21.2683], [0.9093, 0.525, 20.5983]], b: [[1.2728, 1.2728, 20.29], [1.2728, 1.2728, 21.71], [0.7425, 0.7425, 21.335], [0.7425, 0.7425, 20.665]], collide: 2} - {kind: loft, a: [[1.2728, 1.2728, 20.29], [1.2728, 1.2728, 21.71], [0.7425, 0.7425, 21.335], [0.7425, 0.7425, 20.665]], b: [[0.9, 1.5588, 20.3567], [0.9, 1.5588, 21.7767], [0.525, 0.9093, 21.4017], [0.525, 0.9093, 20.7317]], collide: 2} - {kind: loft, a: [[0.9, 1.5588, 20.3567], [0.9, 1.5588, 21.7767], [0.525, 0.9093, 21.4017], [0.525, 0.9093, 20.7317]], b: [[0.4659, 1.7387, 20.4233], [0.4659, 1.7387, 21.8433], [0.2718, 1.0142, 21.4683], [0.2718, 1.0142, 20.7983]], collide: 2} - {kind: loft, a: [[0.4659, 1.7387, 20.4233], [0.4659, 1.7387, 21.8433], [0.2718, 1.0142, 21.4683], [0.2718, 1.0142, 20.7983]], b: [[-0.0, 1.8, 20.49], [-0.0, 1.8, 21.91], [-0.0, 1.05, 21.535], [-0.0, 1.05, 20.865]], collide: 2} - {kind: loft, a: [[-0.0, 1.8, 20.49], [-0.0, 1.8, 21.91], [-0.0, 1.05, 21.535], [-0.0, 1.05, 20.865]], b: [[-0.4659, 1.7387, 20.5567], [-0.4659, 1.7387, 21.9767], [-0.2718, 1.0142, 21.6017], [-0.2718, 1.0142, 20.9317]], collide: 2} - {kind: loft, a: [[-0.4659, 1.7387, 20.5567], [-0.4659, 1.7387, 21.9767], [-0.2718, 1.0142, 21.6017], [-0.2718, 1.0142, 20.9317]], b: [[-0.9, 1.5588, 20.6233], [-0.9, 1.5588, 22.0433], [-0.525, 0.9093, 21.6683], [-0.525, 0.9093, 20.9983]], collide: 2} - {kind: loft, a: [[-0.9, 1.5588, 20.6233], [-0.9, 1.5588, 22.0433], [-0.525, 0.9093, 21.6683], [-0.525, 0.9093, 20.9983]], b: [[-1.2728, 1.2728, 20.69], [-1.2728, 1.2728, 22.11], [-0.7425, 0.7425, 21.735], [-0.7425, 0.7425, 21.065]], collide: 2} - {kind: loft, a: [[-1.2728, 1.2728, 20.69], [-1.2728, 1.2728, 22.11], [-0.7425, 0.7425, 21.735], [-0.7425, 0.7425, 21.065]], b: [[-1.5588, 0.9, 20.7567], [-1.5588, 0.9, 22.1767], [-0.9093, 0.525, 21.8017], [-0.9093, 0.525, 21.1317]], collide: 2} - {kind: loft, a: [[-1.5588, 0.9, 20.7567], [-1.5588, 0.9, 22.1767], [-0.9093, 0.525, 21.8017], [-0.9093, 0.525, 21.1317]], b: [[-1.7387, 0.4659, 20.8233], [-1.7387, 0.4659, 22.2433], [-1.0142, 0.2718, 21.8683], [-1.0142, 0.2718, 21.1983]], collide: 2} - {kind: loft, a: [[-1.7387, 0.4659, 20.8233], [-1.7387, 0.4659, 22.2433], [-1.0142, 0.2718, 21.8683], [-1.0142, 0.2718, 21.1983]], b: [[-1.8, 0.0, 20.89], [-1.8, 0.0, 22.31], [-1.05, 0.0, 21.935], [-1.05, 0.0, 21.265]], collide: 2} - {kind: loft, a: [[-1.8, 0.0, 20.89], [-1.8, 0.0, 22.31], [-1.05, 0.0, 21.935], [-1.05, 0.0, 21.265]], b: [[-1.7387, -0.4659, 20.9567], [-1.7387, -0.4659, 22.3767], [-1.0142, -0.2718, 22.0017], [-1.0142, -0.2718, 21.3317]], collide: 2} - {kind: loft, a: [[-1.7387, -0.4659, 20.9567], [-1.7387, -0.4659, 22.3767], [-1.0142, -0.2718, 22.0017], [-1.0142, -0.2718, 21.3317]], b: [[-1.5588, -0.9, 21.0233], [-1.5588, -0.9, 22.4433], [-0.9093, -0.525, 22.0683], [-0.9093, -0.525, 21.3983]], collide: 2} - {kind: loft, a: [[-1.5588, -0.9, 21.0233], [-1.5588, -0.9, 22.4433], [-0.9093, -0.525, 22.0683], [-0.9093, -0.525, 21.3983]], b: [[-1.2728, -1.2728, 21.09], [-1.2728, -1.2728, 22.51], [-0.7425, -0.7425, 22.135], [-0.7425, -0.7425, 21.465]], collide: 2} - {kind: loft, a: [[-1.2728, -1.2728, 21.09], [-1.2728, -1.2728, 22.51], [-0.7425, -0.7425, 22.135], [-0.7425, -0.7425, 21.465]], b: [[-0.9, -1.5588, 21.1567], [-0.9, -1.5588, 22.5767], [-0.525, -0.9093, 22.2017], [-0.525, -0.9093, 21.5317]], collide: 2} - {kind: loft, a: [[-0.9, -1.5588, 21.1567], [-0.9, -1.5588, 22.5767], [-0.525, -0.9093, 22.2017], [-0.525, -0.9093, 21.5317]], b: [[-0.4659, -1.7387, 21.2233], [-0.4659, -1.7387, 22.6433], [-0.2718, -1.0142, 22.2683], [-0.2718, -1.0142, 21.5983]], collide: 2} - {kind: loft, a: [[-0.4659, -1.7387, 21.2233], [-0.4659, -1.7387, 22.6433], [-0.2718, -1.0142, 22.2683], [-0.2718, -1.0142, 21.5983]], b: [[0.0, -1.8, 21.29], [0.0, -1.8, 22.71], [0.0, -1.05, 22.335], [0.0, -1.05, 21.665]], collide: 2} - {kind: loft, a: [[0.0, -1.8, 21.29], [0.0, -1.8, 22.71], [0.0, -1.05, 22.335], [0.0, -1.05, 21.665]], b: [[0.4659, -1.7387, 21.3567], [0.4659, -1.7387, 22.7767], [0.2718, -1.0142, 22.4017], [0.2718, -1.0142, 21.7317]], collide: 2} - {kind: loft, a: [[0.4659, -1.7387, 21.3567], [0.4659, -1.7387, 22.7767], [0.2718, -1.0142, 22.4017], [0.2718, -1.0142, 21.7317]], b: [[0.9, -1.5588, 21.4233], [0.9, -1.5588, 22.8433], [0.525, -0.9093, 22.4683], [0.525, -0.9093, 21.7983]], collide: 2} - {kind: loft, a: [[0.9, -1.5588, 21.4233], [0.9, -1.5588, 22.8433], [0.525, -0.9093, 22.4683], [0.525, -0.9093, 21.7983]], b: [[1.2728, -1.2728, 21.49], [1.2728, -1.2728, 22.91], [0.7425, -0.7425, 22.535], [0.7425, -0.7425, 21.865]], collide: 2} - {kind: loft, a: [[1.2728, -1.2728, 21.49], [1.2728, -1.2728, 22.91], [0.7425, -0.7425, 22.535], [0.7425, -0.7425, 21.865]], b: [[1.5588, -0.9, 21.5567], [1.5588, -0.9, 22.9767], [0.9093, -0.525, 22.6017], [0.9093, -0.525, 21.9317]], collide: 2} - {kind: loft, a: [[1.5588, -0.9, 21.5567], [1.5588, -0.9, 22.9767], [0.9093, -0.525, 22.6017], [0.9093, -0.525, 21.9317]], b: [[1.7387, -0.4659, 21.6233], [1.7387, -0.4659, 23.0433], [1.0142, -0.2718, 22.6683], [1.0142, -0.2718, 21.9983]], collide: 2} - {kind: loft, a: [[1.7387, -0.4659, 21.6233], [1.7387, -0.4659, 23.0433], [1.0142, -0.2718, 22.6683], [1.0142, -0.2718, 21.9983]], b: [[1.8, -0.0, 21.69], [1.8, -0.0, 23.11], [1.05, -0.0, 22.735], [1.05, -0.0, 22.065]], collide: 2} joints: - {id: j_z, type: slide, body: carr, axis: [0, 0, 1], range: [-5.0, 0.3], damping: 0.05} # the screw, and the spindle with it, on their 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 wing handle - {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 the drill down 1.6 cm a turn - {type: position, joint: j_z, min: -4.15, max: -3.7, settle_s: 10.5, window_s: 1.4} # its point is down on the work - {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, 8.0], position: [-30.0, -112.0, 16.0], fov: 34} display: output: j_z labels: {j_fs: "Feed-screw (driver)", j_z: "Screw and drill, down", j_d: "Drill (crank, by hand)"} proof: {label: "Threads out of contact", sub: "the screw turns but the drill does not feed"}