>Restart():

>DeclareObservers(W,Camera,Base,Lamp,Bracket,UpperBeam,LowerBeam,MiddleBeam):
>DeclarePoints(W,Camera,Base,Lamp,Bracket,UpperBeam,LowerBeam,MiddleBeam):
>DeclareTriads(w,camera,base,lamp,bracket,upperbeam,lowerbeam,middlebeam):
>DefineNeighbors([W,Camera],[Camera,Base],[Base,LowerBeam],[LowerBeam,Bracket],[Bracket,Lamp],[Base,MiddleBeam],[Base,UpperBeam]):
>DefineObservers([W,W,w],[Camera,Camera,camera],[Base,Base,base],[LowerBeam,LowerBeam,lowerbeam],[MiddleBeam,MiddleBeam,middlebeam],[UpperBeam,UpperBeam,upperbeam],[Bracket,Bracket,bracket],[Lamp,Lamp,lamp]):
>DefinePoints([W,Camera,NullVector()],[Camera,Base,camera,q1,q2,q3],[Base,LowerBeam,base,0,0,p1],[Base,MiddleBeam,base,0,0,p2],[Base,UpperBeam,base,0,0,p3],[LowerBeam,Bracket,lowerbeam,0,0,p4],[Bracket,Lamp,bracket,0,0,p5]):
>DefineTriads([w,camera,Matrix([[.2,0,0],[0,.2,0],[0,0,.2]])],[camera,base,[q4,3],[q5,1],[q6,3]],[base,lowerbeam,q7,2],[lowerbeam,bracket,q10,2],[bracket,lamp,q11,2],[base,middlebeam,q8,2],[base,upperbeam,q9,2]):

>DefineObjects(
   [Base,'Cylinder',point=MakeTranslations(base,p9,0,-p10),radius=p11,length=2*p10,color=green],
   [Base,'Cylinder',point=MakeTranslations(base,0,p12,p13),radius=p14,length=2*p13,color=green],
   [Base,'Cylinder',point=MakeTranslations(base,0,-p12,p13),radius=p14,length=2*p13,color=green],
   seq([Base,'Cylinder',point=MakeTranslations(base,0,p12*cos((i-1)/20*Pi),(2*p13+p12*sin((i-1)/20*Pi))),orient=MakeRotations((i-1)/20*Pi,1),radius=p14,length=Pi*p12/20,color=green],i=1..21)): #Base
>DefineObjects(
   [UpperBeam,'Cylinder',orient=MakeRotations(Pi/2,1),radius=p15,length=2*p12,color=blue],
   [UpperBeam,'Cylinder',point=MakeTranslations(upperbeam,0,0,(p6-p16)/2),radius=p17,length=(p6+p16),color=blue],
   [UpperBeam,'Cylinder',point=MakeTranslations(upperbeam,0,0,-p16),orient=MakeRotations(Pi/2,1),radius=p18,length=p19,color=blue],
   [UpperBeam,'Cylinder',point=MakeTranslations(upperbeam,0,-p20,0),orient=MakeRotations(Pi/2,1),radius=p21*27/28,length=p22,color=red],
   seq([UpperBeam,'Block',point=MakeTranslations(upperbeam,p21*sin((i-1)/20*2*Pi),-p20,p21*cos((i-1)/20*2*Pi)),orient=MakeRotations((i-1)/20*2*Pi,2),xlength=p21/8,ylength=p22*.98,zlength=p21/7*27/28,color=yellow],i=1..21)): #Upper beam
>DefineObjects(
   [LowerBeam,'Cylinder',radius=p15,length=2*p12,orient=MakeRotations(Pi/2,1),color=blue],
   [LowerBeam,'Cylinder',point=MakeTranslations(lowerbeam,0,0,p4/2),radius=p23,length=p4,color=blue]): #Lower beam
>DefineObjects(
   [MiddleBeam,'Cylinder',orient=MakeRotations(Pi/2,1),radius=p24,length=2*p12,color=blue],
   [MiddleBeam,'Cylinder',point=MakeTranslations(middlebeam,0,p20,p25/2),radius=p26,length=p25,color=blue],
   [MiddleBeam,'Cylinder',point=MakeTranslations(middlebeam,0,0,p25),orient=MakeRotations(Pi/2,1),radius=p27,length=p28,color=blue],
   [MiddleBeam,'Cylinder',point=MakeTranslations(middlebeam,0,-p20,0),orient=MakeRotations(Pi/2,1),radius=p21*27/28,length=p22,color=red],
   seq([MiddleBeam,'Block',point=MakeTranslations(middlebeam,p21*sin((i-1)/20*2*Pi),-p20,p21*cos((i-1)/20*2*Pi)),orient=MakeRotations((i-1)/20*2*Pi,2),xlength=p21/8,ylength=p22*.98,zlength=p21/7*27/28,color=yellow],i=1..21)): #Middle beam
>DefineObjects(
   [Bracket,'Block',point=MakeTranslations(bracket,0,0,p5/2),xlength=p5/3,ylength=p5/3,zlength=p5,color=cyan],
   [Bracket,'Block',point=MakeTranslations(bracket,-p7/2,0,p8),xlength=p7,ylength=p5/3,zlength=p5/3,color=cyan],
   [Bracket,'Cylinder',orient=MakeRotations(Pi/2,1),radius=p5/20,length=p5/2.8,color=yellow],
   [Bracket,'Cylinder',point=MakeTranslations(bracket,0,0,p5),orient=MakeRotations(Pi/2,1),radius=p5/20,length=p5/2.8,color=yellow],
   [Bracket,'Cylinder',point=MakeTranslations(bracket,-p7,0,p8),orient=MakeRotations(Pi/2,1),radius=p5/20,length=p5/2.8,color=yellow]): #Bracket
>DeclarePoints(LampCenter,LampTop,LampBottom,LampMiddle,seq(cat(UpperSide,i),i=1..13),seq(cat(LowerSide,i),i=1..13)):
>DeclareTriads(seq(cat(upperside,i),i=1..13),seq(cat(lowerside,i),i=1..13)):
>DefineTriads(seq([lamp,cat(upperside,i),(i-1)/12*2*Pi,3],i=1..13),seq([cat(upperside,i),cat(lowerside,i),Pi/6,2],i=1..13)):
>DefinePoints([Lamp,LampCenter,lamp,-p29,0,p30],[LampCenter,LampTop,lamp,0,0,-p31/2],[LampCenter,LampBottom,lamp,0,0,p31*8/12],[LampCenter,LampMiddle,lamp,0,0,p31/2],seq([LampCenter,cat(UpperSide,i),cat(upperside,i),p31*.3,0,0],i=1..13),seq([cat(UpperSide,i),cat(LowerSide,i),[cat(upperside,i),0,0,p31/2],[cat(lowerside,i),0,0,p31/6]],i=1..13)):
>DefineObjects(
  [Lamp,'Block',point=MakeTranslations(lamp,-p29/2,0,0),xlength=p29,ylength=p5/3,zlength=p5/3,color=cyan],
  [Lamp,'Cylinder',point=LampCenter,radius=p31*.2,length=p31*.9,color="{sin(t)^2,sin(t)^2,sin(t)^2}"],
  [Lamp,'Sphere',point=LampBottom,orient=Matrix(3,3,[[1,0,0],[0,1,0],[0,0,.7]]),radius=p31*.3,color="{sin(t)^2,sin(t)^2,sin(t)^2}"],
  seq([Lamp,'Block',point=cat(UpperSide,i),orient=cat(upperside,i),xlength=p31/80,ylength=p31/10,zlength=p31,color=blue],i=1..13),
  [Lamp,'Cylinder',point=LampTop,radius=p31*.35,length=p31/10,color=blue],
  [Lamp,'Cylinder',point=LampMiddle,radius=p31*.35,length=p31/10,color=blue],
  seq([Lamp,'Block',point=cat(LowerSide,i),orient=cat(lowerside,i),xlength=p31/20,ylength=p31/3.5,zlength=p31/3,color=blue],i=1..13)): #Lamp

>DeclareStates(seq(cat(q,i),i=1..11)):
>DeclarePoints(HUpperBeam,HBracket):
>DefinePoints([UpperBeam,HUpperBeam,upperbeam,0,0,p6],[Bracket,HBracket,bracket,-p7,0,p8]):
>f1:=FindTranslation(HBracket,HUpperBeam) &oo MakeTranslations(base,1)=0:
>f2:=FindTranslation(HBracket,HUpperBeam) &oo MakeTranslations(base,3)=0:
>motionconst:={q9t=-q8t} union DiffTime({f1,f2}):
>kde:={seq(cat(q,i,t)=cat(u,i),i=1..6),q9t=u7,q11t=u8} union motionconst:

>GeometryOutput(main=W,parameters=[Pi=3.1416,scale=.1,p11=5.5,p10=3.5,p9=3,p12=2,p13=7,p14=.5,p1=11,p2=12.5,p3=14,p4=45,p5=3.5,p15=.25,p6=45,p16=15,p17=.5,p18=1.5,p19=9.5,p20=1,p21=.75,p22=.3,p23=.125,p24=.375,p25=10,p26=.25,p27=1.25,p28=8,p8=2.6,p7=1.5,p31=8,p29=5,p30=2],states=[q1,q2,q3,q4,q5,q6,q7=1.200039725,q8=1.8,q9=1.2,q10=-.6769771893,q11=2],checkargs,checktree,filename="lamp.geo"):
>MotionOutput(ode=kde,parameters=[Pi=3.1416,scale=.1,p11=5.5,p10=3.5,p9=3,p12=2,p13=7,p14=.5,p1=11,p2=12.5,p3=14,p4=45,p5=3.5,p15=.25,p6=45,p16=15,p17=.5,p18=1.5,p19=9.5,p20=1,p21=.75,p22=.3,p23=.125,p24=.375,p25=10,p26=.25,p27=1.25,p28=8,p8=2.6,p7=1.5,p31=8,p29=5,p30=2],states=[q1,q2,q3,q4,q5,q6,q7=1.200039725,q8=1.8,q9=1.2,q10=-.6769771893,q11=2],insignals=[u1=0,u2=0,u3=0,u4=0,u5=0,u6=0,u7=-.2*cos(t),u8=cos(t)],checkargs,checksings,filename="lamp.dyn");