scalar m=0.0001[kg];
scalar d=0.96[ m ];
scalar r_rel=0.0001*d;
scalar fi0=1[ deg ];
scalar T=4[ s ];
point A=point( 0[ m ], 0 [ m ], 0[ m ] );
point B=point( -d/2, -d/2, 0 [ m ] );
point C=point( 0[ m ], -d, 0 [ m ] );
point D=point( d/2, -d/2, 0 [ m ] );
solid solid1=cylinder( A, D, r_rel, mass = m );
solid solid2=cylinder( D, C, r_rel, mass = m );
solid solid3=cylinder( C, B, r_rel, mass = m );
solid solid4=cylinder( B, A, r_rel, mass = m );
body base=body( color = RGB( 229, 229, 229 ) );
set ground = base;
body frame=body( color = RGB( 255, 153, 153 ) );
body frame < ( solid1, solid2, solid3, solid4 );
gravity gravity1=parallel( reverse( projectY ) );
vector vector_fi=vectorPP( A, C );
body frame < ( vector_fi );
sensor fi=angleVV( vector_fi, reverse( projectY ), axisDirection = projectZ );
condition start_condition=sensorValue( fi, fi0 );
joint joint1=rotational( base, frame, A, projectZ );
sensor fi_theoretical=cos(3.5[1/s]*time)*fi0;
sensor fi_rel_ERROR=abs((fi_theoretical-fi)/(fi0));
event event1=reformsBySensor( list( stop(  ) ), time, T );
command RK_const_step=constRK4( T, 1.00000e-004 [ s ] );

/\///////////////////////////////////////////////////////////////////////////////////
/\   Список главных команд;
set dynamics = RK_const_step;

/\///////////////////////////////////////////////////////////////////////////////////
/\   Единицы измерения;
set length = m;
set angle = deg;
set mass = kg;
set time = s;
set force = N;
set work = J;
set pressure = Pa;
set power = W;
set frequency = Hz;
set temperature = K;
set current = A;
set voltage = V;
set resistance = Ohm;
set capacity = F;
set charge = C;
set induction = T;