scalar M=1[kg];
scalar R=0.5[m];
scalar fi0=5[deg];
scalar t=2[s];
point point3=point( 0[m], 0[m], 0[m] );
point point4=point( 0[m], 0[m], 0.01[m] );
point point5=point( 0[m], 0[m], -0.01[m] );
solid solid2=cylinder( point4, point5, R, mass = M*8 );
color color1=index( 83 );
body body1=body( color = color1 );
set ground = body1;
body body1 < ( point3 );
point point6=point( 0 [ m ], -2*R, 0[m] );
point point7=point( 0 [ m ], -R, 0[m] );
solid solid3=cylinder( point6, point7, 0.01[ m ] );
color color2=index( 67 );
solid solid4=sphere( point6, 0.0001 [ m ], mass = M, color = color1 );
body body2=body( color = color2 );
body body2 < ( solid2, solid3, point6, solid4, point7, point5, point4 );
color color4=index( 62 );
joint joint1=rotational( body1, body2, point3, projectZ );
vector inverseY=reverse( projectY );
gravity gravity1=parallel( inverseY );
sensor fi=joint1.gamma;
sensor fi_theor=fi0*cos(7 [rad/s]*time);
condition condition1=sensorValue( joint1.gamma, fi0 );
sensor delta=abs(fi - fi_theor);

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