>Restart():

>DeclareObservers(W,A):
>DeclarePoints(W,A,seq(cat(E,i),i=1..6),seq(cat(C,i),i=1..3)):
>DeclareTriads(w,a,seq(cat(e,i),i=1..6)):
>DefineObservers([W,W,w],[A,A,a]):
>DefinePoints([W,A,NullVector()],[A,C1,a,l,0,0],[A,C2,a,1/2*l,sqrt(3)/2*l,0],[A,C3,a,1/2*l,sqrt(3)/6*l,sqrt(6)/3*l]):
>DefinePoints([A,E1,(1/2) &** FindTranslation(A,C1)],[A,E2,(1/2) &** FindTranslation(A,C2)],[A,E3,(1/2) &** FindTranslation(A,C3)],[A,E4,(1/2) &** (FindTranslation(A,C1) &++ FindTranslation(A,C2))],[A,E5,(1/2) &** (FindTranslation(A,C1) &++ FindTranslation(A,C3))],[A,E6,(1/2) &** (FindTranslation(A,C2) &++ FindTranslation(A,C3))]):
>DefineTriads(w,a,[q1,3],[q2,1/2,sqrt(3)/2,0]):
>b1:=(1/l) &** FindTranslation(A,C1):
>b2:=(1/VectorLength(b1 &xx MakeTranslations(a,3))) &** (b1 &xx MakeTranslations(a,3)):
>b3:=b1 &xx b2:
>DefineTriads(a,e1,Matrix(3,3,(i,j)->MakeTranslations(a,i) &oo cat(b,j))):
>b1:=(1/l) &** FindTranslation(A,C2):
>b2:=(1/VectorLength(b1 &xx MakeTranslations(a,3))) &** (b1 &xx MakeTranslations(a,3)):
>b3:=b1 &xx b2:
>DefineTriads(a,e2,Matrix(3,3,(i,j)->MakeTranslations(a,i) &oo cat(b,j))):
>b1:=(1/l) &** FindTranslation(A,C3):
>b2:=(1/VectorLength(b1 &xx MakeTranslations(a,3))) &** (b1 &xx MakeTranslations(a,3)):
>b3:=b1 &xx b2:
>DefineTriads(a,e3,Matrix(3,3,(i,j)->MakeTranslations(a,i) &oo cat(b,j))):
>b1:=(1/l) &** FindTranslation(C1,C2):
>b2:=(1/VectorLength(b1 &xx MakeTranslations(a,3))) &** (b1 &xx MakeTranslations(a,3)):
>b3:=b1 &xx b2:
>DefineTriads(a,e4,Matrix(3,3,(i,j)->MakeTranslations(a,i) &oo cat(b,j))):
>b1:=(1/l) &** FindTranslation(C1,C3):
>b2:=(1/VectorLength(b1 &xx MakeTranslations(a,3))) &** (b1 &xx MakeTranslations(a,3)):
>b3:=b1 &xx b2:
>DefineTriads(a,e5,Matrix(3,3,(i,j)->MakeTranslations(a,i) &oo cat(b,j))):
>b1:=(1/l) &** FindTranslation(C2,C3):
>b2:=(1/VectorLength(b1 &xx MakeTranslations(a,3))) &** (b1 &xx MakeTranslations(a,3)):
>b3:=b1 &xx b2:
>DefineTriads(a,e6,Matrix(3,3,(i,j)->MakeTranslations(a,i) &oo cat(b,j))):
>DefineNeighbors([W,A]):

>DefineObjects(
   seq([A,'Block',point=cat(E,i),orient=cat(e,i),xlength=l,ylength=l/10,zlength=l/10,color=green],i=1..6),
   [W,'Block',xlength=5*l,ylength=5*l,zlength=l/100,color=white]):

>GeometryOutput(main=W,anims=[q1=Pi/3*floor(t),q2=(acos(1/3)-Pi)*(t-floor(t))],parameters=[l=1],checktree,checkargs,filename="floppingtetrahedron.geo");
>MotionOutput(ode={},anims=[q1=Pi/3*floor(t),q2=(acos(1/3)-Pi)*(t-floor(t))],parameters=[l=1],filename="floppingtetrahedron.dyn");