line line1 = circle( point( 0 [ m ], 0 [ m ], 0 [ m ], visible = hide: ), projectZ, 0.2[ m ]*3 );
point B = point( -0.4 [ m ], 0 [ m ], 0 [ m ] );
line line2 = circle( B, projectZ, 0.2 [ m ] );
point A = point( 0 [ m ], -0.4 [ m ], 0 [ m ] );
line line3 = circle( A, projectZ, 0.2 [ m ] );
solid solid1 = extrude( line2, point( -0.4 [ m ], 0 [ m ], 0.05 [ m ], visible = hide: ),
	point( -0.4 [ m ], 0 [ m ], -0.05 [ m ], visible = hide: ), mass = 5 [ kg ] );
solid solid2 = extrude( line3, point( 0 [ m ], -0.4 [ m ], -0.05 [ m ], visible = hide: ),
	point( 0[ m ], -0.4[ m ], 0.05 [ m ], visible = hide: ), mass = 5 [ kg ] );
solid solid3 = cylinder( A, B, 0.01 [ m ], mass = 2.5[ kg ] );
color color1 = index( 48 );
body body1 = body( color = color1 );
color color2 = index( 35 );
body body2 = body( color = color2 );
color color3 = index( 24 );
body body3 = body( color = color3 );
color color4 = index( 42 );
body body4 = body( color = color4 );
gravity gravity1 = parallel( reverse( projectY, visible = hide: ) );
joint joint1 = contactLineLine( line1, line2, lines_slip = linesNoSlip: );
joint joint2 = contactLineLine( line1, line3, lines_slip = linesNoSlip: );
joint joint3 = rotational( body2, body4, B, projectZ );
joint joint4 = rotational( body3, body4, A, projectZ );
sensor sensB = velocity( B );
sensor sensmaxB = max( sensB );

/\///////////////////////////////////////////////////////////////////////////////////
/\   Прикрепление объектов
body body1 < (line1 );
body body2 < (line2, solid1 );
body body3 < (line3, solid2 );
body body4 < (A, B, solid3 );

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

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