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[xjin <question403708@xxxxxxxxxxxxxxxxxxxxx>]

Question #403708 on Yade changed:
https://answers.launchpad.net/yade/+question/403708

Description changed to:
I am trying to model a rigid body like this:

O.reset()
bo=[]
bo.append(O.bodies.append(sphere([0,0,0],1)))
bo.append(O.bodies.append(sphere([2,0,0],1)))
bo.append(O.bodies.append(sphere([4,0,0],1)))
bo.append(O.bodies.append(sphere([6,0,0],1)))
bo.append(O.bodies.append(sphere([8,0,0],1)))
bo.append(O.bodies.append(sphere([8,2,0],1)))
idclump=O.bodies.clump(bo)
s=O.bodies[-1]
s.state.blockedDOFs='xyzXYZ' 

O.engines=[
   ForceResetter(),
   InsertionSortCollider([Bo1_Sphere_Aabb(),Bo1_Facet_Aabb()]),
   InteractionLoop(
      [Ig2_Sphere_Sphere_L3Geom()],
      [Ip2_FrictMat_FrictMat_FrictPhys()],
      [Law2_L3Geom_FrictPhys_ElPerfPl()]
   ),
   NewtonIntegrator(gravity=(0,0,0),damping=0.4),
   CombinedKinematicEngine(ids=[s.id],comb=[TranslationEngine(translationAxis=Vector3(0,0,1),velocity=1),
   RotationEngine(angularVelocity=1,rotateAroundZero=1,rotationAxis=(0,1,0),zeroPoint=O.bodies[0].state.pos)])
]
O.dt=0.0005*PWaveTimeStep()


I try to make the rigid body rotate on the rotationaxis=(0,1,0)，and the zeroPoint=O.bodies[0].state.pos. Meanwhile I need it to translate in the direction of z-coordinate. when I run the script, I find that it only rotates  in a fixed situation.Can you give me some suggestion?
Thanks a lot! 
xjin

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