point point1 = point( -6.0000e-001 [ m ], 8.1000e-001 [ m ], 0.0000e+000 [ m ] );
vector vector1 = reverse( projectY );
point point2 = move( point1, vector1, 0.4 [ m ] );
point point3 = move( point2, projectX, 0.4 [ m ] );
point point4 = move( point2, vector1, 0.4 [ m ] );
line line1 = circlePPP( point1, point4, point3, arc = arc: );
line line2 = polyLine( list( point1, point2, point4 ) );
line line3 = compoundLine( list( line1, line1, line2 ) );
point point5 = move( point3, projectZ, 0.05 [ m ] );
solid solid2 = extrude( line3, point3, point5, mass = 2 [ kg ] );
point point6 = point( -8.0000e-001 [ m ], 8.1000e-001 [ m ], 0.0000e+000 [ m ] );
point point7 = move( point6, projectX, 0.2 [ m ] );
point point8 = move( point7, projectX, 0.5 [ m ] );
point point9 = move( point8, projectX, 0.2 [ m ] );
solid solid1 = cylinder( point6, point9, 0.001 [ m ] );
body body1 = body( color = RGB( 229, 229, 229 ) );
color color1 = index( 73 );
body body2 = body( color = color1 );
joint joint1 = rotational( body2, body1, point1, projectZ );
gravity gravity1 = parallel( vector1 );
point point10 = point( -8.0000e-002 [ m ], 8.1000e-001 [ m ], 0.0000e+000 [ m ] );
point point11 = move( point10, projectX, 0.3 [ m ] );
point point12 = move( point11, projectX, 0.3 [ m ], pointStyle = cross: );
point point13 = move( point11, vector1, 0.3 [ m ] );
line line4 = circlePPP( point10, point12, point13 );
line line5 = polyLine( list( point10, point11, point12 ) );
line line6 = compoundLine( list( line4, line5, line5 ) );
point point14 = move( point11, projectZ, 0.05 [ m ] );
solid solid3 = extrude( line6, point11, point14, mass = 4 [ kg ] );
color color2 = index( 55 );
body body3 = body( color = color2 );
joint joint2 = rotational( body3, body1, point8, projectZ );
vector vector2 = vectorPP( point7, point6 );
vector vector3 = vectorPP( point7, point2 );
vector vector4 = vectorPP( point8, point9 );
vector vector5 = vectorPP( point8, point11 );
sensor fi = angleVV( vector2, vector3 );
sensor psi = angleVV( vector4, vector5 );
condition condition1 = bodiesFixation( list( body2, body3 ) );

/\///////////////////////////////////////////////////////////////////////////////////
/\   Прикрепление объектов
body body1 < (solid1 );
body body2 < (solid2, line3, line2, line1, point2, point1, point3, point4, point5 );
body body3 < (solid3, line4, line5, line6, point12, point13, point14, point11, point10 );

/\///////////////////////////////////////////////////////////////////////////////////
/\   Инерциальное звено;
set ground = body1;

/\///////////////////////////////////////////////////////////////////////////////////
/\   Единицы измерения;
set units = SI;