diff --git a/.github/workflows/_build_and_publish_documentation.yml b/.github/workflows/_build_and_publish_documentation.yml
index 24157b7..8df022f 100644
--- a/.github/workflows/_build_and_publish_documentation.yml
+++ b/.github/workflows/_build_and_publish_documentation.yml
@@ -21,10 +21,6 @@ jobs:
         with:
           enable-cache: true
           cache-dependency-glob: 'uv.lock'
-      - name: Set up Python
-        uses: actions/setup-python@v6
-        with:
-          python-version-file: 'pyproject.toml'
       - name: Install the project
         run: uv sync --frozen
       - name: Print debugging information
diff --git a/.github/workflows/_build_package.yml b/.github/workflows/_build_package.yml
index edfba50..c48c122 100644
--- a/.github/workflows/_build_package.yml
+++ b/.github/workflows/_build_package.yml
@@ -7,7 +7,8 @@ jobs:
     name: Build source distribution
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v5
+      - name: Checkout code
+        uses: actions/checkout@v5
         with:
           lfs: true
       - name: Install uv
@@ -15,15 +16,14 @@ jobs:
         with:
           enable-cache: true
           cache-dependency-glob: "uv.lock"
-      - uses: actions/setup-python@v6
-        with:
-          python-version-file: "pyproject.toml"
-      - name: Build source distribution and wheel
+      - name: Build source distribution and wheels
         run: uv build
-      - name: Run twine check
+      - name: Check build artifacts
         run: uvx twine check --strict dist/*
-      - uses: actions/upload-artifact@v5
+      - name: Upload build artifacts
+        uses: actions/upload-artifact@v5
         with:
+          name: dist
           path: |
             dist/*.tar.gz
             dist/*.whl
diff --git a/.github/workflows/_code_quality.yml b/.github/workflows/_code_quality.yml
index 2c61347..5a577cf 100644
--- a/.github/workflows/_code_quality.yml
+++ b/.github/workflows/_code_quality.yml
@@ -7,18 +7,15 @@ jobs:
     runs-on: ubuntu-latest
     name: ruff format
     steps:
-      - uses: actions/checkout@v5
+      - name: Checkout code
+        uses: actions/checkout@v5
       - name: Install uv
         uses: astral-sh/setup-uv@v7
         with:
           enable-cache: true
           cache-dependency-glob: "uv.lock"
-      - name: Set up Python
-        uses: actions/setup-python@v6
-        with:
-          python-version-file: "pyproject.toml"
       - name: Install the project
-        run: uv sync --upgrade
+        run: uv sync -U
       - name: Run ruff format
         run: uv run ruff format --diff
 
@@ -26,18 +23,15 @@ jobs:
     runs-on: ubuntu-latest
     name: ruff check
     steps:
-      - uses: actions/checkout@v5
+      - name: Checkout code
+        uses: actions/checkout@v5
       - name: Install uv
         uses: astral-sh/setup-uv@v7
         with:
           enable-cache: true
           cache-dependency-glob: "uv.lock"
-      - name: Set up Python
-        uses: actions/setup-python@v6
-        with:
-          python-version-file: "pyproject.toml"
       - name: Install the project
-        run: uv sync --upgrade
+        run: uv sync -U
       - name: Run ruff check
         run: uv run ruff check --diff
 
@@ -45,7 +39,8 @@ jobs:
   #   runs-on: ubuntu-latest
   #   name: pyright
   #   steps:
-  #     - uses: actions/checkout@v5
+  #     - name: Checkout code
+  #       uses: actions/checkout@v5
   #     - name: Install uv
   #       uses: astral-sh/setup-uv@v7
   #       with:
@@ -56,7 +51,7 @@ jobs:
   #       with:
   #         python-version-file: "pyproject.toml"
   #     - name: Install the project
-  #       run: uv sync --upgrade --extra test
+  #       run: uv sync -U --extra test
   #     - name: Run pyright
   #       run: uv run pyright
 
@@ -64,17 +59,14 @@ jobs:
     runs-on: ubuntu-latest
     name: mypy
     steps:
-      - uses: actions/checkout@v5
+      - name: Checkout code
+        uses: actions/checkout@v5
       - name: Install uv
         uses: astral-sh/setup-uv@v7
         with:
           enable-cache: true
           cache-dependency-glob: "uv.lock"
-      - name: Set up Python
-        uses: actions/setup-python@v6
-        with:
-          python-version-file: "pyproject.toml"
       - name: Install the project
-        run: uv sync --upgrade --extra test
+        run: uv sync -U --extra test
       - name: Run mypy
         run: uv run mypy
diff --git a/.github/workflows/_merge_into_release.yml b/.github/workflows/_merge_into_release.yml
index 1220f6f..67348de 100644
--- a/.github/workflows/_merge_into_release.yml
+++ b/.github/workflows/_merge_into_release.yml
@@ -12,7 +12,8 @@ jobs:
     runs-on: ubuntu-latest
     environment: release
     steps:
-      - uses: actions/checkout@v5
+      - name: Checkout code
+        uses: actions/checkout@v5
         with:
           # Fetch the whole history to prevent unrelated history errors
           fetch-depth: 0
diff --git a/.github/workflows/_test.yml b/.github/workflows/_test.yml
index c311319..e9b1332 100644
--- a/.github/workflows/_test.yml
+++ b/.github/workflows/_test.yml
@@ -4,33 +4,23 @@ on: workflow_call
 
 jobs:
   test:
-    name: Test on ${{matrix.python.version}}-${{matrix.platform.runner}}
-    runs-on: ${{ matrix.platform.runner }}
+    name: Test (Python ${{ matrix.python }}, ${{ matrix.os }})
+    runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: true
       matrix:
-        platform:
-          - runner: ubuntu-latest
-          - runner: windows-latest
-          # - runner: macos-latest
-        python:
-          - version: '3.11'
-          - version: '3.12'
-          - version: '3.13'
-          - version: '3.14'
+        os: [ubuntu-latest, windows-latest]
+        python: ['3.11', '3.12', '3.13', '3.14']
     steps:
-      - uses: actions/checkout@v5
+      - name: Checkout code
+        uses: actions/checkout@v5
       - name: Install uv
         uses: astral-sh/setup-uv@v7
         with:
           enable-cache: true
           cache-dependency-glob: 'uv.lock'
-      - name: Install Python ${{ matrix.python.version }}
-        uses: actions/setup-python@v6
-        with:
-          python-version: ${{ matrix.python.version }}
       - name: Install the project
-        run: uv sync -p ${{ matrix.python.version }} -U --no-dev --extra test
+        run: uv sync -p ${{ matrix.python }} -U --no-dev --extra test
       - name: Run pytest
         run: >
           uv run --with pytest --with pytest-cov
diff --git a/.github/workflows/_test_future.yml b/.github/workflows/_test_future.yml
index c7f4728..3b629e5 100644
--- a/.github/workflows/_test_future.yml
+++ b/.github/workflows/_test_future.yml
@@ -5,29 +5,24 @@ on: workflow_call
 
 jobs:
   test315:
-    name: Test on ${{matrix.python.version}}-${{matrix.platform.runner}} (experimental)
+    name: Test (Python ${{ matrix.python.version }}, ${{ matrix.os }}) (experimental)
     continue-on-error: true
-    runs-on: ${{ matrix.platform.runner }}
+    runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: true
       matrix:
-        platform:
-          - runner: ubuntu-latest
-          - runner: windows-latest
+        os: [ubuntu-latest, windows-latest]
         python:
           - version: '3.15.0-alpha - 3.15.0'
             uvpy: '3.15'
     steps:
-      - uses: actions/checkout@v5
+      - name: Checkout code
+        uses: actions/checkout@v5
       - name: Install uv
         uses: astral-sh/setup-uv@v7
         with:
           enable-cache: true
           cache-dependency-glob: 'uv.lock'
-      - name: Install Python ${{ matrix.python.version }}
-        uses: actions/setup-python@v6
-        with:
-          python-version: ${{ matrix.python.version }}
       - name: Remove Python upper version constraint from pyproject.toml
         shell: pwsh
         run: |
diff --git a/.github/workflows/nightly_build.yml b/.github/workflows/nightly_build.yml
index 33fb658..41eb2a2 100644
--- a/.github/workflows/nightly_build.yml
+++ b/.github/workflows/nightly_build.yml
@@ -4,6 +4,7 @@ run-name: Nightly Build (by @${{ github.actor }})
 on:
   schedule:
     - cron: '30 5 * * *'
+  workflow_dispatch: # Allow manual trigger
 
 jobs:
   test:
diff --git a/.github/workflows/publish_release.yml b/.github/workflows/publish_release.yml
index ff03f35..bd97143 100644
--- a/.github/workflows/publish_release.yml
+++ b/.github/workflows/publish_release.yml
@@ -18,11 +18,13 @@ jobs:
     permissions:
       id-token: write
     steps:
-      - uses: actions/download-artifact@v5
+      - name: Download build artifacts
+        uses: actions/download-artifact@v5
         with:
-          name: artifact
+          name: dist
           path: dist
-      - uses: pypa/gh-action-pypi-publish@release/v1
+      - name: Publish to PyPI
+        uses: pypa/gh-action-pypi-publish@release/v1
         # with:                                             # Uncomment this line to publish to testpypi
         #   repository-url: https://test.pypi.org/legacy/   # Uncomment this line to publish to testpypi
   merge_into_release:
diff --git a/.github/workflows/pull_request_to_main.yml b/.github/workflows/pull_request_to_main.yml
index 2bff438..1e73c39 100644
--- a/.github/workflows/pull_request_to_main.yml
+++ b/.github/workflows/pull_request_to_main.yml
@@ -11,6 +11,7 @@ on:
       - converted_to_draft
     branches:
       - main
+  workflow_dispatch: # Allow manual trigger
 
 concurrency:
   group: pr-${{ github.ref }}-1
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 3d5f534..c7ca41c 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -9,7 +9,7 @@ repos:
       - id: check-toml
       - id: check-merge-conflict
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.14.3
+    rev: v0.15.1
     hooks:
       - id: ruff-format
       - id: ruff-check
diff --git a/.vscode/extensions.json b/.vscode/extensions.json
deleted file mode 100644
index d6549af..0000000
--- a/.vscode/extensions.json
+++ /dev/null
@@ -1,21 +0,0 @@
-{
-    // See https://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
-    // Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
-    // List of extensions which should be recommended for users of this workspace.
-    "recommendations": [
-        "ms-python.python",
-        "ms-python.vscode-pylance",
-        "github.copilot-chat",
-        "ms-python.debugpy",
-        "ms-python.vscode-python-envs",
-        "charliermarsh.ruff",
-        "sourcery.sourcery",
-        "njpwerner.autodocstring",
-        "editorconfig.editorconfig",
-        "ms-toolsai.jupyter",
-        "ms-toolsai.jupyter-renderers",
-        "ms-python.mypy-type-checker",
-    ],
-    // List of extensions recommended by VS Code that should not be recommended for users of this workspace.
-    "unwantedRecommendations": []
-}
\ No newline at end of file
diff --git a/.vscode/launch.json b/.vscode/launch.json
deleted file mode 100644
index 152bc0c..0000000
--- a/.vscode/launch.json
+++ /dev/null
@@ -1,66 +0,0 @@
-{
-    // Use IntelliSense to learn about possible attributes.
-    // Hover to view descriptions of existing attributes.
-    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
-    "version": "0.2.0",
-    "configurations": [
-        {
-            "name": "Python: Debug Tests",
-            "type": "debugpy",
-            "request": "launch",
-            "program": "${file}",
-            "purpose": [
-                "debug-test"
-            ],
-            "console": "integratedTerminal",
-            "env": {
-                "PYTEST_ADDOPTS": "--no-cov"
-            },
-            "autoReload": {
-                "enable": true
-            },
-            "justMyCode": true,
-        },
-        {
-            "name": "Python: Current File, cwd = file dir",
-            "type": "debugpy",
-            "request": "launch",
-            "cwd": "${fileDirname}", // working dir = dir where current file is
-            "program": "${file}",
-            "console": "integratedTerminal",
-            "justMyCode": true,
-            "autoReload": {
-                "enable": true
-            },
-        },
-        {
-            "name": "Python: Current File, cwd = workspace root folder",
-            "type": "debugpy",
-            "request": "launch",
-            "cwd": "${workspaceFolder}", // working dir = workspace root folder
-            "program": "${file}",
-            "console": "integratedTerminal",
-            "autoReload": {
-                "enable": true
-            },
-            "justMyCode": true,
-        },
-        {
-            "name": "py_crane test_cli",
-            "type": "debugpy",
-            "request": "launch",
-            "cwd": "${workspaceFolder}\\tests",
-            "program": "${workspaceFolder}\\src\\py_crane\\cli\\__main__.py",
-            "args": [
-                "test_config_file",
-                "--run",
-                "-v",
-            ],
-            "console": "integratedTerminal",
-            "autoReload": {
-                "enable": true
-            },
-            "justMyCode": true,
-        },
-    ]
-}
diff --git a/.vscode/settings.json b/.vscode/settings.json
deleted file mode 100644
index f48f804..0000000
--- a/.vscode/settings.json
+++ /dev/null
@@ -1,52 +0,0 @@
-{
-    "python.languageServer": "Pylance",
-    "editor.formatOnSave": true,
-    "notebook.formatOnSave.enabled": true,
-    "notebook.codeActionsOnSave": {
-        "notebook.source.fixAll": "explicit",
-        "notebook.source.organizeImports": "explicit",
-    },
-    "[python]": {
-        "editor.formatOnSave": true,
-        "editor.codeActionsOnSave": {
-            "source.fixAll": "always",
-            "source.organizeImports": "explicit",
-        },
-        "editor.defaultFormatter": "charliermarsh.ruff",
-    },
-    "autoDocstring.docstringFormat": "numpy",
-    "python.testing.unittestEnabled": false,
-    "python.testing.pytestEnabled": true,
-    "python.analysis.logLevel": "Warning",
-    "python.analysis.completeFunctionParens": false,
-    "python.analysis.diagnosticMode": "workspace",
-    "python.analysis.indexing": true,
-    "python.analysis.autoImportCompletions": true,
-    "python.analysis.inlayHints.variableTypes": false,
-    "python.analysis.inlayHints.functionReturnTypes": false,
-    "python.analysis.inlayHints.pytestParameters": true,
-    "python.terminal.executeInFileDir": true,
-    "python.terminal.activateEnvironment": false,
-    "python.terminal.activateEnvInCurrentTerminal": false,
-    "python.analysis.packageIndexDepths": [
-        {
-            "name": "pandas",
-            "depth": 4,
-            "includeAllSymbols": true,
-        },
-        {
-            "name": "matplotlib",
-            "depth": 4,
-            "includeAllSymbols": true,
-        },
-        {
-            "name": "mpl_toolkits",
-            "depth": 4,
-            "includeAllSymbols": true,
-        },
-    ],
-    "mypy-type-checker.importStrategy": "fromEnvironment",
-    "mypy-type-checker.reportingScope": "custom",
-    "mypy-type-checker.preferDaemon": true,
-    "ruff.configurationPreference": "filesystemFirst",
-}
\ No newline at end of file
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 1c49550..21a34e0 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,6 +8,48 @@ The changelog format is based on [Keep a Changelog](https://keepachangelog.com/e
 * -/-
 
 
+## [0.3.1] - 2026-03-26
+
+### Changed
+* GitHub Workflows:
+  * Added 'name: Checkout code' to uses of 'actions/checkout', for better readability and consistency across workflow files.
+  * Added 'name: Download build artifacts' to uses of 'actions/download-artifact', for better readability and consistency across workflow files.
+  * Added 'name: Publish to PyPI' to uses of 'pypa/gh-action-pypi-publish', for better readability and consistency across workflow files.
+  * Added 'name: Upload build artifacts' to uses of 'actions/upload-artifact', for better readability and consistency across workflow files.
+  * Changed 'uv sync --upgrade' to 'uv sync -U'
+  * Ensured that actions 'upload-artifact' and 'download-artifact' uniformly specify 'dist' as (file)name for the artifact uploaded (or downloaded, respectively), for consistency across workflow files.
+  * pull_request_to_main.yml and nightly_build.yml: Added 'workflow_dispatch:' in selected workflows to allow manual trigger of the workflow.
+  * Removed redundant 'Set up Python' steps (no longer needed, as 'uv sync' will automatically install Python if not present).
+  * Replaced 'Build source distribution and wheel' with 'Build source distribution and wheels' (plural) in workflow step names.
+  * Replaced 'Run twine check' with 'Check build artifacts' in workflow step names, to better reflect the purpose of the step.
+  * Updated the syntax used for the OS and Python matrix in test workflows.
+* Sphinx Documentation:
+  * Sphinx conf.py: Updated year in copyright statement to 2026
+* pyproject.toml:
+  * Added default directories to the 'exclude' list for pyright, in section [tool.pyright]
+    (Ref note in pyright [docs](https://github.com/microsoft/pylance-release/blob/main/docs/settings/python_analysis_exclude.md#default-behavior)).
+* tests/conftest.py, tests/test_crane_on_spring.py: Change destination folder for the call to Model.build(), so that MobileCrane.fmu gets built not in `/examples` but in `/tests/test_working_directory`.
+This avoids the need to commit an updated binary in the repository (/examples/MobileCrane.fmu), just because we ran tests.
+
+### Dependencies
+* .pre-commit-config.yaml: Updated rev of ruff-pre-commit to v0.15.1
+* Updated to docutils>=0.22.4
+* Updated to furo>=2025.12
+* Updated to mypy>=1.19.1
+* Updated to myst-parser>=5.0
+* Updated to plotly>=6.5
+* Updated to pre-commit>=4.5
+* Updated to pyright>=1.1.408
+* Updated to pytest>=9.0
+* Updated to ruff>=0.15.1
+* Updated to scipy>=1.17.0
+* Updated to sourcery>=1.43.0
+* Updated to sphinx-argparse-cli>=1.20.1
+* Updated to sphinx-autodoc-typehints>=3.6
+* Updated to sphinx>=9.0
+* Updated to sphinxcontrib-mermaid>=2.0
+
+
 ## [0.3.0] - 2026-02-02
 
 ### Breaking Change: New package name
diff --git a/CITATION.cff b/CITATION.cff
index a56bf01..fd2a428 100644
--- a/CITATION.cff
+++ b/CITATION.cff
@@ -1,5 +1,5 @@
 title: py-crane
-version: 0.3.0
+version: 0.3.1
 abstract: >-
   Basic crane simulation model including publication as FMU, for usage in the SEACo project.
 type: software
diff --git a/docs/source/conf.py b/docs/source/conf.py
index 624ae7e..1f75087 100644
--- a/docs/source/conf.py
+++ b/docs/source/conf.py
@@ -22,11 +22,11 @@
 # https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
 
 project = "py-crane"
-copyright = "2025, DNV AS. All rights reserved."
+copyright = "2026, DNV AS. All rights reserved."
 author = "Siegfried Eisinger, Jorge Luis Mendez"
 
 # The full version, including alpha/beta/rc tags
-release = "0.3.0"
+release = "0.3.1"
 
 # -- General configuration ---------------------------------------------------
 # https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
diff --git a/docs/source/py_crane.rst b/docs/source/py_crane.rst
index f78f7a0..149cb83 100644
--- a/docs/source/py_crane.rst
+++ b/docs/source/py_crane.rst
@@ -25,5 +25,5 @@ Modules
    py_crane.boom
    py_crane.boom_fmu
    py_crane.mobile_crane
-   py_crane.enum
+   py_crane.enums
    py_crane.animation
diff --git a/examples/HarmonicOscillator6D.fmu b/examples/HarmonicOscillator6D.fmu
index 5b20b34..e2a8f79 100644
Binary files a/examples/HarmonicOscillator6D.fmu and b/examples/HarmonicOscillator6D.fmu differ
diff --git a/examples/MobileCrane.fmu b/examples/MobileCrane.fmu
index 446f2ff..281b1ed 100644
Binary files a/examples/MobileCrane.fmu and b/examples/MobileCrane.fmu differ
diff --git a/examples/MobileCraneStraight.fmu b/examples/MobileCraneStraight.fmu
index b9e1c35..67757e0 100644
Binary files a/examples/MobileCraneStraight.fmu and b/examples/MobileCraneStraight.fmu differ
diff --git a/pyproject.toml b/pyproject.toml
index 795d51c..6f70a6c 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -30,7 +30,7 @@ allow-direct-references = true
 
 [project]
 name = "py-crane"
-version = "0.3.0"
+version = "0.3.1"
 description = "Basic crane simulation model including publication as FMU, for usage in the SEACo project."
 readme = "README.rst"
 requires-python = ">= 3.11"
@@ -66,19 +66,19 @@ classifiers = [
     "Topic :: Scientific/Engineering",
 ]
 dependencies = [
-    "component-model>=0.3.2",
+    "component-model>=0.4.0",
     "pythonfmu>=0.7.0",
     "numpy>=2.3",
-    "scipy>=1.16",
+    "scipy>=1.17.0",
 ]
 # dynamic = ["version"]
 
 [project.optional-dependencies]
-rest = ["docutils>=0.3"]
+rest = ["docutils>=0.22.4"]
 test = [
     "FMPy>=0.3.21",
     "matplotlib>=3.10",
-    "plotly>=6.3",
+    "plotly>=6.5",
     "libcosimpy >= 0.0.5",
 ]
 
@@ -92,19 +92,19 @@ Changelog = "https://github.com/dnv-opensource/py-crane/blob/main/CHANGELOG.md"
 
 [dependency-groups]
 dev = [
-    "pytest>=8.4",
+    "pytest>=9.0",
     "pytest-cov>=7.0",
-    "ruff>=0.14.3",
-    "pyright>=1.1.407",
-    "mypy>=1.18",
-    "sourcery>=1.40",
-    "pre-commit>=4.3",
-    "Sphinx>=8.2",
-    "sphinx-argparse-cli>=1.20",
-    "sphinx-autodoc-typehints>=3.5",
-    "sphinxcontrib-mermaid>=1.0.0",
-    "myst-parser>=4.0",
-    "furo>=2025.9",
+    "ruff>=0.15.1",
+    "pyright>=1.1.408",
+    "mypy>=1.19.1",
+    "sourcery>=1.43.0",
+    "pre-commit>=4.5",
+    "Sphinx>=9.0",
+    "sphinx-argparse-cli>=1.20.1",
+    "sphinx-autodoc-typehints>=3.6",
+    "sphinxcontrib-mermaid>=2.0",
+    "myst-parser>=5.0",
+    "furo>=2025.12",
 ]
 
 [tool.uv]
@@ -145,6 +145,10 @@ include = [
     "examples",
 ]
 exclude = [
+    "**/node_modules",
+    "**/__pycache__",
+    "**/.*",
+    ".venv",
     "tests/test_working_directory",
 ]
 
diff --git a/src/py_crane/animation.py b/src/py_crane/animation.py
index 948dfb4..7a605b8 100644
--- a/src/py_crane/animation.py
+++ b/src/py_crane/animation.py
@@ -1,6 +1,6 @@
 # pyright: reportUnknownMemberType=false
 import logging
-from typing import Any, Generator, Protocol, TypeAlias, cast
+from typing import Any, Generator, Protocol, Sequence, TypeAlias, cast
 
 import matplotlib.pyplot as plt
 import numpy as np
@@ -9,11 +9,10 @@
 from mpl_toolkits.mplot3d import Axes3D
 from mpl_toolkits.mplot3d.art3d import Line3D
 
-from py_crane.boom import Boom
+from py_crane.boom import Boom, Wire
 from py_crane.crane import Crane
 
 logger = logging.getLogger(__name__)
-logging.basicConfig(level=logging.INFO)
 
 FrameGenerator: TypeAlias = Generator[tuple[float, Crane], None, None]
 
@@ -171,7 +170,7 @@ def __init__(
         dt: float = 0.01,
         t_end: float = 10.0,
         figsize: tuple[int, int] = (8, 8),
-        axes_lim: tuple[tuple[int, int], ...] = ((-10, 10), (-10, 10), (-10, 10)),
+        axes_lim: tuple[tuple[int, int], ...] = ((-10, 10), (-10, 10), (0, 10)),
         interval: int = 10,
         repeat: bool = False,
         title: str = "Pendulum animation",
@@ -182,14 +181,15 @@ def __init__(
         # instantiate a very simple crane
         self.crane = Crane()
         self.wire = self.crane.add_boom(
-            name="wire",
+            "wire",
             description="The wire fixed to the fixation. Flexible connection",
             mass=1.0,
             mass_center=1.0,
             boom=(length, *(np.radians(angles) if degrees else angles)),
             q_factor=q_factor,
         )
-        self.wire.r_v = v0
+        assert isinstance(self.wire, Wire)
+        self.wire.cm_v = v0
         self.dt = dt
         self.t_end = t_end
         self.figsize = figsize
@@ -258,3 +258,94 @@ def do_animation(self):
             cache_frame_data=False,
         )
         plt.show()
+
+
+class AnimatePlayBackLines(object):
+    """Uses the matplotlib FuncAnimation for re-playing lines recorded beforehand.
+
+    Args:
+        data (tuple[np.ndarray]): the input data. time is expected as the first array,
+           then the base point and then any number of end-points (connected lines)
+        lw (tuple[int,...]): Optional specification of the line width of the drawn lines. Default: 1 for all
+        figsize (tuple) = (8,8): figure size in inches
+        interval (int) = 200: Time in milliseconds between animation frames
+        title (str) = "Lines re-player": Figure title
+    """
+
+    def __init__(
+        self,
+        data: Sequence[np.ndarray],
+        lw: Sequence[int] | None = None,
+        figsize: tuple[int, int] = (8, 8),
+        interval: int = 200,
+        title: str = "Crane animation",
+    ):
+        assert len(data) > 0, "No data. Cannot animate."
+        self.data = data
+        self.lw = (1,) * (len(data) - 1) if lw is None else lw
+        self.times = data[0]
+        self.figsize = figsize
+        self.axes_lim = self._get_axes_lim(data)
+        self.interval = interval
+        self.title = title
+        self.lines: list[list[Line3D]] = []
+        self.fig: Figure = plt.figure(figsize=self.figsize, layout=None)  # "constrained")
+
+    def _get_axes_lim(self, data: Sequence[np.ndarray]) -> list[list[float]]:
+        """Get the limits of time (data[0]) and all points. Time shall be sorted in ascening order."""
+        length = len(data[0])
+        assert all(len(data[i + 1]) == length for i in range(len(data) - 1)), (
+            f"Columns of 'data' not equal length {length}"
+        )
+        assert all(data[i].shape == (length, 3) for i in range(1, len(data))), "Data points shall be 3D"
+        assert all(data[0][i] < data[0][i + 1] for i in range(length - 1)), "Column 0 (time) is unsorted"
+        axes_lim = [[float("inf"), float("-inf")], [float("inf"), float("-inf")], [float("inf"), float("-inf")]]
+        for i in range(len(data) - 1):
+            for k in range(3):
+                axes_lim[k][0] = min(axes_lim[k][0], int(np.min(data[i + 1]) - 1))
+                axes_lim[k][1] = max(axes_lim[k][1], int(np.max(data[i + 1]) + 1))
+        return axes_lim
+
+    def init_fig(self) -> None:
+        """Perform the needed initializations."""
+        ax: Axes3D = plt.axes(projection="3d")  # , data=line)  # pyright: ignore[reportAssignmentType]
+        ax.set_xlim(self.axes_lim[0])
+        ax.set_ylim(self.axes_lim[1])
+        ax.set_zlim(self.axes_lim[2])
+        start: np.ndarray
+        end: np.ndarray
+
+        for i in range(1, len(self.data) - 1):
+            start, end, lw = self.data[i][0], self.data[i + 1][0], self.lw[i - 1]
+            # start, end, lw in zip(self.data[1:-1], self.data[2:], self.lw, strict=True):
+            self.lines.append(
+                cast(
+                    list[Line3D],
+                    ax.plot([start[0], end[0]], [start[1], end[1]], [start[2], end[2]], linewidth=lw),
+                )
+            )
+
+    def update(self, row: int):
+        """Receives the frames from FuncAnimation with updated line data. Draw the booms as lines by data rows."""
+        time = self.data[0][row]
+        for i in range(len(self.data) - 2):  # all lines
+            self.lines[i][0].set_data_3d(
+                [self.data[i + 1][row][0], self.data[i + 2][row][0]],
+                [self.data[i + 1][row][1], self.data[i + 2][row][1]],
+                [self.data[i + 1][row][2], self.data[i + 2][row][2]],
+            )
+        _ = plt.title(f"{self.title} ({time:.1f})", loc="left")
+
+    def do_animation(self):
+        """Do the animation. It generates frames and updates the animation plot."""
+        _ = FuncAnimation(
+            self.fig,
+            self.update,  # type: ignore[reportArgumentType, arg-type]  # ok as long as `blit=False`
+            frames=range(len(self.data[0])),
+            init_func=self.init_fig,  # type: ignore[reportArgumentType, arg-type]  # ok as long as `blit=False`
+            interval=self.interval,
+            repeat=False,
+            blit=False,
+            cache_frame_data=False,
+        )
+        plt.show()
diff --git a/src/py_crane/boom.py b/src/py_crane/boom.py
index 6e579e3..86db01b 100644
--- a/src/py_crane/boom.py
+++ b/src/py_crane/boom.py
@@ -14,7 +14,7 @@
 from scipy.integrate import solve_ivp
 from scipy.spatial.transform import Rotation as Rot
 
-from py_crane.enum import Change
+from py_crane.enums import Change
 
 if TYPE_CHECKING:
     import py_crane.crane
@@ -30,7 +30,8 @@ class Boom(object):
     modelled as stiff rod with length, mass and mass-center.
 
     .. assumption:: All booms of the crane are completely stiff, excluding bending, stretching and vibration
-      modes of motion. This includes also loose conncetions, i.e. the wire is assumed straight and without stretch.
+      modes of motion. This includes also loose connections,
+      i.e. the wire is assumed straight and without stretch and torsion.
 
     .. assumption:: Per default, the mass center of a boom is located at the geometric center of the boom.
       This can be changed using the tuple form of the :py:attr:`mass_center` parameter.
@@ -55,9 +56,12 @@ class Boom(object):
         The spherical angles with respect to the previous boom can only be changed through new settings.
     loose connection boom(:py:attr:`q_factor` >0):
         The joint to the previous boom is loose and the boom can move freely in all spherical directions,
-        i.e. it represents a wire, exhibiting pendulum movement with respect to the local center of mass.
+        i.e. it represents a wire (with load), exhibiting pendulum movement with respect to the local center of mass.
         :py:attr:`q_factor` serves at the same time as a definition of the pendulum damping.
 
+    .. limitation:: The wire is always streched (stiff) and free-falling movement of the load
+       (e.g. due to high accelerations of parent boom or length changes) lead to error messages.
+
     Basic boom movements are
 
     length change, i.e. :py:meth:`.boom_setter` ( (new-length, None, None))
@@ -116,7 +120,7 @@ class Boom(object):
                while the active work variables are the cartesian origin, direction and length
         q_factor (float)=0.0: optional possibility to implement a loose connection between booms.
 
-            * if q_factor=0.0, the connection to the parent boom is stiff according to the boom angle setting
+            * if q_factor=0.0, the connection to the parent boom is stiff according to the boom angle settings
             * if q_factor > 0, the crane boom (the wire) is implemented as a stiff rod
               with a loose connection hanging from the parent boom.
             * The q_factor denotes the dimensionless quality factor (energy stored/energy lost per radian),
@@ -131,8 +135,8 @@ class Boom(object):
               :math:`\tau`: characteristic damping time
               :math:`\gamma`: pendulum damping.
               This does not cover critically and over-damped systems, which are in any case not realistic for crane wires).
-              In general the `q_factor` is a fixed parameter, but for testing purposes :py:meth:`.damping`
-              is included, which allows changing of related parameters in a consistent way.
+              In many systems the `q_factor` is a fixed parameter, but for testing purposes and if the wire length changes,
+              :py:meth:`.damping` is included, which allows changing of related parameters in a consistent way.
 
 
         limits (tuple): Optional tuple of control limits for active boom control. See ControlLimits
@@ -146,6 +150,7 @@ def __init__(
         self,
         model: "py_crane.crane.Crane",
         name: str,
+        /,
         description: str = "",
         anchor0: Boom | None = None,
         mass: float | str = 1.0,
@@ -153,30 +158,22 @@ def __init__(
         boom: tuple[float, float, float] | list[float] = (1.0, 0.0, 0.0),
         q_factor: float = 0.0,
         limits: tuple[float, float, float] | None = None,
-        tolerance: float = 1e-5,
         **kwargs: Any,  # for compatibility with derived classes
     ):
+        assert q_factor == 0.0, f"A boom with a flexible joint {q_factor} shall be instantiated as Wire."
         self._model: py_crane.crane.Crane = model
         self.anchor0: Boom | None = anchor0
         self.anchor1: Boom | None = None  # so far. If a boom is added, this is changed
         self._name: str = name
         self.description: str = description
-        self.q_factor: float = q_factor
-        self.tolerance: float = tolerance
         self.direction: TVector = np.array((0.0, 0.0, -1.0), dtype=np.float64)  # default for non-fixed booms
-        # velocity of CoM relative to .origin (for pendulum)
-        self.r_v: TVector = np.array((0.0, 0.0, 0.0), dtype=np.float64)
-        # acc. of CoM relative to .origin (for pendulum)
-        self.r_acc: TVector = np.array((0.0, 0.0, 0.0), dtype=np.float64)
-        # default animation line width of boom. Can be changed, e.g. 10 pedestal and 2 for wire.
-        # self.animationLW: int = 5
         self.origin: TVector
         if self.anchor0 is None:  # this defines the fixation of the crane as a 'pseudo-boom'
             boom = (1e-10, 0.0, 0.0)  # z-axis in spherical coordinates
             self.origin = np.array((0.0, 0.0, -1e-10), dtype=np.float64)
         else:
             self.origin = self.anchor0.end
-            assert self.anchor0.q_factor == 0.0, (
+            assert not isinstance(self.anchor0, Wire), (
                 f"Trying to attach boom {self.name} to flexible boom {self.anchor0.name}. Not implemented"
             )
             self.anchor0.anchor1 = self
@@ -189,7 +186,6 @@ def __init__(
         # rot denotes the rotation which turns (0,0,1) into the direction
         self._rot: Rot = Rot.identity() if self.anchor0 is None else self.anchor0._rot * rot_from_spherical(boom[1:])
         self.direction = self._rot.apply((0.0, 0.0, 1.0))
-        self._new_len: float | None  # place holder for length changes
         # self._c_m = np.array( (0.0, 0.0, 0.0), dtype=np.float64) # just to make _c_m known. Updated by method c_m
         # save the current value, running method self.c_m
         self._c_m: TVector = self.c_m
@@ -197,10 +193,10 @@ def __init__(
             self.mass,
             self._c_m,
         )  # updated by calc_statics_dynamics
-        _ = self.damping(q_factor=self.q_factor)  # pre-calculate self._damping_time for usage in pendulum
         # self.control = Control( ('len','polar','azimuth'), limits) # control object (without goals)
-        self.calc_statics_dynamics(dt=None)
-        logger.info(f"BOOM {self._name} {self.origin}->{self.end}. |{self.length} | {self.direction} | {self.q_factor}")
+        if not isinstance(self, Wire):
+            self.calc_statics_dynamics(dt=None)
+        logger.info(f"BOOM {self._name} {self.origin}->{self.end}. |{self.length} | {self.direction} | {type(self)}")
 
     def __getitem__(self, idx: int | str):
         """Facilitate subscripting booms. 'idx' denotes the connected boom with respect to self.
@@ -265,12 +261,12 @@ def boom_setter(self, val: tuple[float | None, ...] | list[float | None], ch: in
                     ch += Change.POS.value
                 elif Change.ROT not in Change(ch):
                     ch += Change.ROT.value
-                if i == 0 and self.q_factor != 0 and abs(self.direction[2]) < 1.0 - 1e-10:
-                    self._new_len = v  # pendulum length change while swinging. Defer to .calc_statics_dynamics()
+                if i == 0 and isinstance(self, Wire) and abs(self.direction[2]) < 1.0 - 1e-10:
+                    self.newlen = v  # pendulum length change while swinging
                 else:
                     self.boom[i] = v
         if Change.ROT in Change(ch):  # direction change
-            assert self.q_factor == 0, "Attempt to directly set the angle of a wire. Does not make sense"
+            assert not isinstance(self, Wire), "Attempt to directly set the angle of a wire. Does not make sense"
             if self.anchor0 is None:
                 self._rot = self.model.rot()
             else:
@@ -304,8 +300,8 @@ def end(self) -> TVector:
     @property
     def c_m(self) -> TVector:
         """Updates and returns the local center of mass point relative to self.origin."""
-        self._c_m = self.mass_center[0] * self.length * self.direction + np.array(
-            (self.mass_center[1], self.mass_center[2], 0), float
+        self._c_m = self.mass_center[0] * self.length * self.direction + (
+            np.array((self.mass_center[1], self.mass_center[2], 0), float)
         )
         return self._c_m
 
@@ -316,30 +312,12 @@ def c_m_sub(self):
         """
         return self._c_m_sub
 
-    def damping(self, q_factor: float | None = None, damping_time: float | None = None):
-        """Change/set the damping properties of a flexible boom.
-        Ensure that _damping_time and _new_len is set correctly.
-        """
-        if self.q_factor != 0.0:
-            assert self.anchor0 is not None, "Flexible first booms are so far not implemented"
-            # pre-calculated loss term used in .pendulum()
-            if q_factor is not None:
-                self.q_factor = q_factor
-                self._damping_time = sqrt(self.length / 9.81 * (self.q_factor**2 + 0.25))
-            elif damping_time is not None:  # new damping time. Change q_factor
-                self.q_factor = sqrt(damping_time**2 * 9.81 / self.length - 0.25)
-                self._damping_time = damping_time
-        else:
-            self._damping_time = 0.0
-        self._new_len = None  # store wire length changes, so that they can be affectuated during .calc_statics_dynamics
-        return self._damping_time
-
     def update_child(self, change: Change = Change.ALL):
         """Update this boom after the parent boom has changed length, angles, position or rotation.
 
         change(Change) = Change.ALL: Possibility to specify which type of change is performed. Default: ALL
         """
-        if self.q_factor > 0.0:  # flexible boom. Angle or origin change. c_m stays about fixed
+        if isinstance(self, Wire):  # flexible boom. Angle or origin change. c_m stays about fixed
             return  # update of pendulum is deferred to calc_statics_dynamics, since step time is needed
 
         if self.anchor0 is not None:  # does not apply to fixation
@@ -361,19 +339,9 @@ def torque(self):
         The Torque is always calculated relative to the crane position.
         """
         _p_c_m = self._c_m_sub[1] - self.model.position
-        if self.q_factor > 0:  # pendulum action
-            return self.mass * np.cross(
-                _p_c_m,
-                (
-                    np.array((0, 0, -9.81), float)
-                    + (self.model.velocity + self.r_v) ** 2 * self.direction
-                    + self.model.d_velocity
-                ),
-            )
-        else:  # other fixed boom. Calculate including all children, but load. Assume self._c_m_sub updated
-            m = self._c_m_sub[0]
-            # print(f"Torque {self.name}: m:{m}, pos:{_p_c_m}, c_m_sub:{self.c_m_sub[1]}, acc:{self.model.d_velocity}")
-            return m * np.cross(_p_c_m, (np.array((0, 0, -9.81), float) + self.model.d_velocity))
+        m = self._c_m_sub[0]
+        # print(f"Torque {self.name}: m:{m}, pos:{_p_c_m}, c_m_sub:{self.c_m_sub[1]}, acc:{self.model.d_velocity}")
+        return m * np.cross(_p_c_m, (np.array((0, 0, -9.81), float) + self.model.d_velocity))
 
     @property
     def force(self):
@@ -393,12 +361,10 @@ def calc_statics_dynamics(self, dt: float | None = None):
             dt (float)=None: for dynamic calculations, the time for the movement must be provided
               and is then used to calculate torque and force
         """
-        if (
-            self.q_factor != 0.0
-        ):  # non-fixed boom, which might be moving or there might be pending origin/length changes
+        if isinstance(self, Wire):  # non-fixed boom. Might be moving or there might be pending origin/length changes
             if dt is None:
                 self._c_m_sub = (self.mass, self.origin + self.c_m)
-                self._pendulum_instantaneous()
+                self.pendulum_instantaneous()
             else:
                 self.pendulum(dt)
         else:
@@ -416,16 +382,59 @@ def calc_statics_dynamics(self, dt: float | None = None):
         if self.anchor0 is not None:
             self.anchor0.calc_statics_dynamics(dt)
 
-    def _pendulum_instantaneous(self):
+
+class Wire(Boom):
+    """Implements the additional properties of a flexible joint (the wire), with pendulum actions, damping, ..."""
+
+    def __init__(
+        self,
+        model: "py_crane.crane.Crane",
+        name: str,
+        /,
+        tolerance: float = 1e-5,
+        additional_checks: bool = False,
+        **kwargs: Any,
+    ):
+        assert "q_factor" in kwargs, "Mandatory argument q_factor not found when instantiating Wire"
+        q_factor = kwargs.pop("q_factor")
+        Boom.__init__(self, model, name, q_factor=0.0, **kwargs)  # initialize the Boom itself
+        self.tolerance: float = tolerance
+        self.q_factor: float = q_factor
+        self.additional_checks: bool = additional_checks
+        self.origin_v = np.zeros(3, float)  # velocity of suspension
+        self.origin_acc = np.zeros(3, float)  # acceleration of suspension
+        self.cm_v = np.zeros(3, float)  # velocity of center of mass (load)
+        self.cm_acc = np.zeros(3, float)  # acceleration of center of mass (load)
+        self.r2_rel_diff: float = 0.0  # relative absolute difference in pendulum length
+        self.newlen: float = nan
+        self.damping_time: float = self.damping(q_factor=q_factor)
+        self.calc_statics_dynamics(dt=None)
+
+    def damping(self, q_factor: float | None = None, damping_time: float | None = None):
+        """Change/set the damping properties of a flexible boom.
+        Ensure that damping_time and newlen is set correctly.
+        """
+        assert self.anchor0 is not None, "Flexible first booms are so far not implemented"
+        # pre-calculated loss term used in .pendulum()
+        length = self.length if isnan(self.newlen) else (self.length + self.newlen) / 2
+        if q_factor is not None:
+            self.q_factor = q_factor
+            self._damping_time = sqrt(length / 9.81 * (self.q_factor**2 + 0.25))
+        elif damping_time is not None:  # new damping time. Change q_factor
+            self.q_factor = sqrt(damping_time**2 * 9.81 / length - 0.25)
+            self._damping_time = damping_time
+        return self._damping_time
+
+    def pendulum_instantaneous(self):
         """Move the pendulum instantaneously - origin or length changes are instantaneous and
         the load stays as much as possible where it was.
 
-        Note: a new length may be stored as self._new_len and the origin might need updating to .anchor0.end
+        Note: a new length may be stored as self.newlen and the origin might need updating to .anchor0.end
         """
         assert self.anchor0 is not None, "Function cannot be called on fixation."
-        if self._new_len is not None:  # a new length has been stored, but is not affectuated
-            self.boom[0] = self._new_len  #! we assume that the direction does not change
-            self._new_len = None
+        if not isnan(self.newlen):  # a new length has been stored, but is not affectuated
+            self.boom[0] = self.newlen  #! we assume that the direction does not change
+            self.newlen = nan
         clen0 = self.boom[0] * self.mass_center[0]  # distance from origin to the mass center (constant)
         cm0 = self.origin + clen0 * self.direction  # center-of-mass before movement
         origin1 = self.anchor0.end
@@ -442,6 +451,34 @@ def _pendulum_instantaneous(self):
         self.origin = self.anchor0.end
         self._rot = self.anchor0.rot() * rot_from_spherical(self.boom)
 
+    @staticmethod
+    def _energy(mass: float, c_m: np.ndarray, speed: np.ndarray):
+        """Calculate the current energy in the pendulum. Should not be used for other booms.
+
+        Implemented as staticmethod to not get many duplicates of the function made.
+
+        Args:
+            mass (float): mass of the boom (load)
+            c_m (float): vector from origin to center of mass
+            speed: the current speed of the c_m
+        """
+        return mass * (
+            9.81 * (np.linalg.norm(c_m) - np.dot(c_m, np.array((0, 0, -1), float))) + 0.5 * np.dot(speed, speed)
+        )
+
+    @staticmethod
+    def _angular_momentum(mass: float, c_m: np.ndarray, speed: np.ndarray):
+        """Calculate the current energy in the pendulum. Should not be used for other booms.
+
+        Implemented as staticmethod to not get many duplicates of the function made.
+
+        Args:
+            mass (float): mass of the boom (load)
+            c_m (float): vector from origin to center of mass
+            speed: the current speed of the c_m
+        """
+        return mass * np.cross(c_m, speed)
+
     def pendulum(self, dt: float):
         r"""For a non-stiff connection, if the _c_m is not exactly below origin, the _c_m acts as a damped pendulum.
 
@@ -484,7 +521,22 @@ def pendulum(self, dt: float):
 
         """
 
-        def ivp_fun(t: float, y: np.ndarray, r2: float, g: np.ndarray, dr_dt: np.ndarray | None, l_fac: float | None):
+        def update_r2_rel_diff(val: float):
+            if val > self.r2_rel_diff:
+                self.r2_rel_diff = val
+                if val > 0.5:
+                    logger.error(f"Free falling of pendulum detected. Relative error: {val}")
+
+        def ivp_fun(
+            t: float,
+            y: np.ndarray,
+            r2: float,
+            g: np.ndarray,
+            s_v: np.ndarray,
+            s_acc: np.ndarray,
+            l0: float,
+            dl_dt: float | None,
+        ):
             """Solve the initial value problem of the pendulum dr/dt = f(t,r), r(t=0) = r0. Without losses.
 
             Args:
@@ -493,102 +545,201 @@ def ivp_fun(t: float, y: np.ndarray, r2: float, g: np.ndarray, dr_dt: np.ndarray
                   relative to origin
                 r2 (float): the squared pendulum radius with respect to COM
                 g (float): gravitational acceleration as ndarray
-                dr_dt (ndarray): Optional movement of the origin through dt
-                l_fac (float): Optional change of wire length through dt: l(t) = l0*(1+l_fac)*t
+                s_v (ndarray): Velocity of thesuspension
+                s_acc (ndarray): Acceleration of the suspension
+                l0 (float): start length of wire. Used only if wire length changes
+                dl_dt (float): Optional change of wire length through dt: l(t) = l0 + dl_dt* t
             """
-            r = y[:3] if dr_dt is None else y[:3] - dr_dt * t
-            v = y[3:]  # if dr_dt is None else y[3:] - dr_dt
-            if l_fac is not None:
-                fac = 1.0 + l_fac * t
-                r *= fac
-                r2 *= fac * fac
-            # print(f"IVP@{t}: {dr_dt}, {np.dot(r, dr_dt)}")
-            term1 = np.cross(r, np.cross(r, g))
-            term2 = np.dot(v, v) * r
-            self.r_acc = -((term1 + term2) / r2)
-            #            print(f"IVP@{t}: {cartesian_to_spherical(r, True)} -> {cartesian_to_spherical(self.r_acc,True)[1]}")
-            # if dr_dt is not None:
-            #     v += dr_dt
-            return np.append(v, self.r_acc)
+            #            r = y[:3] - (s_v * t + 0.5 * s_acc * t**2)
+            #            v = y[3:] - (s_v + s_acc * t)
+            r = y[:3]  # - 0.5 * s_acc * t**2
+            v = y[3:]  # - s_acc * t
+            if dl_dt is not None:
+                lt = l0 + dl_dt * t
+                r2 = lt * lt
+                v += dl_dt
+            tangential = np.cross(r, np.cross(r, g))
+            centripetal = np.dot(v, v) * r
+            acc = -((tangential + centripetal) / r2) - s_acc
+            # print(f"r[0]:{r[0]}, v:{v}, s_v:{s_v}, s_acc:{s_acc} => acc:{acc}")
+            return np.append(v, acc)
 
         assert self.anchor0 is not None, f"pendulum() called on fixation {self.name}"
         assert self.q_factor != 0.0, f"pendulum() called on fixed boom {self.name}"
+        v = np.array(self.cm_v)  # initial velocity of pendulum (load)
+        acc = np.array(self.cm_acc)  # initial acceleration of pendulum (load)
         if (
             (
                 abs(self.direction[2]) < 1.0 - 1e-10  # pendulum moving or not updated
-                or np.linalg.norm(self.r_v[:2]) > 1e-10
-                or np.linalg.norm(self.r_acc[:2]) > 1e-10
+                or np.linalg.norm(v) > 1e-10
+                or np.linalg.norm(acc) > 1e-10
                 or not np.allclose(self.origin, self.anchor0.end)
-                or self._new_len is not None
+                or isnan(self.newlen)
             )
             and self.mass_center[0] * self.length > 1e-10  # pendulum length not too short
         ):
-            if np.allclose(self.origin, self.anchor0.end):
-                dr_dt = None
-            else:
-                dr_dt = (self.anchor0.end - self.origin) / dt  # translation in time interval
-            if self._new_len is None:
-                l_fac = None
-            else:
-                l_fac = (self._new_len / self.length - 1.0) / dt
             R = self.mass_center[0] * self.length  # pendulum radius wrt. center of mass
             if R > 1e-6:
+                # calculate the velocity and acceleration of the suspension point
+                s_v0 = np.array(self.origin_v)  # initial velocity of suspension (origin)
+                # s_acc0 = self.origin_acc  # initial acceleration of suspension (origin)
+
+                if self.additional_checks:
+                    e0 = Wire._energy(self.mass, self._c_m, v)
+                    lz0 = Wire._angular_momentum(self.mass, self._c_m, v)
+
                 r2 = R * R
                 g = np.array((0.0, 0.0, -9.81), float)
                 r = R * self.direction
-                v = self.r_v
+                s_v = (self.anchor0.end - self.origin) / dt  # velocity of suspension in time interval
+                s_acc = (s_v - s_v0) / dt  # acceleration of suspension in time interval
+
+                if isnan(self.newlen):
+                    dl_dt = None
+                else:
+                    dl_dt = (self.newlen - self.length) / dt
+                    self.damping(q_factor=self.q_factor)  # re-calculate due to new length
+                    self.boom[0] = self.newlen
+                # print(f"@{self.model.current_time}. rx:{r[0]} * vx:{v[0]}, s_v_x:{s_v[0]}, s_a_x:{s_acc[0]}.")
                 sol = solve_ivp(  # type: ignore
                     ivp_fun,
                     t_span=[0, dt],
                     y0=np.append(r, v),
-                    method="RK45",  # BDF',
-                    args=(r2, g, dr_dt, l_fac),  # type: ignore[reportArgumentType]  ## according to spec
+                    method="RK45",  #'RK23' 'DOP853' 'Radau' 'LSODA' "BDF" "RK45"
+                    args=(r2, g, s_v, s_acc, R, dl_dt),  # type: ignore[reportArgumentType]  ## according to spec
                     atol=self.tolerance,
                 )
-                assert sol.status == 0, f"Pendulum solver did not succeed with dt:{dt}. Status:{sol.status}"
+                if sol.status != 0:
+                    logger.error(f"@{self.model.current_time}. r:{r}, v:{v}, r2:{r2}, s_v:{s_v}, l0:{R}, dl_dt:{dl_dt}")
+                    raise AssertionError(f"Pendulum solver did not succeed with dt:{dt}. Status:{sol.status}") from None
                 y_t = sol.y[:, -1]  # last column
-                position = y_t[:3] if dr_dt is None else y_t[:3] + dr_dt * dt  # position of CoM relative to origin
-                self.r_v = y_t[3:] if dr_dt is None else y_t[3:] + dr_dt
+                position = y_t[:3]  # + s_v*dt # position of CoM relative to origin
+                # if self.model.current_time > 0:
+                #    print(f"@{self.model.current_time}. x:{position}, v:{v}, r*v:{np.dot(r,v)}")
+                v = y_t[3:]
+                if not isnan(self.newlen):
+                    r2 = self.newlen**2  # type: ignore[assignment]  ## definitively a float
+                    self.newlen = nan
+
+                if self.additional_checks and self.model.current_time > 0.0:  # check for free fall conditions
+                    update_r2_rel_diff(abs(np.dot(position, position) / r2 - 1.0))
                 if dt >= self._damping_time:  # pendulum stops within dt
-                    self.r_v = np.array((0, 0, 0), float)
+                    v = np.array((0, 0, 0), float)
                 else:
-                    self.r_v *= 1 - dt / self._damping_time  # see note
+                    v *= 1 - dt / self._damping_time  # see note
+                # v -= s_v
+                # print("PEND", position[0], v[0], s_v[0], s_acc[0])
 
                 self.direction = normalized(position)
                 rel_direction = self.anchor0.rot().apply(self.direction, inverse=True)  # dir. relative to previous boom
                 self.boom[1:] = cartesian_to_spherical(rel_direction)[1:]
+                # print(f"@{self.model.current_time}, angle:{180-np.degrees(np.arctan2(self.direction[0], self.direction[2]))} sv:{s_v}, sa:{s_acc}, dir[0]:{self.direction[0]}")
                 self._c_m = position
-            elif l_fac is not None:
-                self.boom[0] = self._new_len
-            self._new_len = None
+                # save pendulum state
+                self.origin_v = s_v
+                self.origin_acc = s_acc
+                self.cm_v = v
+                self.cm_acc = acc
+
+                if (
+                    self.additional_checks
+                    and np.linalg.norm(self.origin_acc) == 0.0
+                    and dl_dt is None
+                    and self.model.current_time > 0.0
+                ):
+                    e1 = Wire._energy(self.mass, self._c_m, v)
+                    if e1 - e0 > 1e-7:
+                        logger.error(f"Pendulum energy change @{self.model.current_time} {e0}->{e1}")
+                        logger.error(f"   c_m:{self._c_m}, speed:{v}, damping:{self._damping_time}")
+                        logger.error(
+                            f"   tangential:{np.cross(self._c_m, np.cross(self._c_m, g))}, centripetal:{np.dot(v, v) * self._c_m}"
+                        )
+
+                    lz1 = Wire._angular_momentum(self.mass, self._c_m, v)
+                    if abs(lz1[2]) - abs(lz0[2]) > 1e-7:  # not np.allclose( lz0, lz1):
+                        logger.error(
+                            f"Pendulum angular momentum increase @{self.model.current_time} {lz0[2]}->{lz1[2]}"
+                        )
+                        logger.error(f"   c_m:{self._c_m}, speed:{v}, damping:{self._damping_time}")
+
             self.origin = self.anchor0.end
             self._c_m_sub = (self.mass, self.origin + self.c_m)
-            # print(f"origin:{self.origin[0]}, d_end:{self.end[0]-self.origin[0]}, speed:{self.r_v[0]}")
+
+            # print(f"origin:{self.origin[0]}, d_end:{self.end[0]-self.origin[0]}, speed:{v[0]}")
 
     def pendulum_relax(self):
         """Relax the pendulum movement, leading to the CoM strictly downward.
         Since no time is used this action is strictly unphysical and should only be used for testing purposes.
         """
         if (
-            self.q_factor != 0.0  # non-fixed connection to previous boom (wire)
-            and abs(self.direction[2]) > 1e-10  # pendulum not relaxed
+            abs(self.direction[2]) > 1e-10  # pendulum not relaxed
             and self.mass_center[0] * self.length > 1e-10  # pendulum length not too short
         ):
             assert self.anchor0 is not None, "anchor0 needed at this point"
             self.model.calc_statics_dynamics()
             self.direction = np.array((0, 0, -1), float)
-            self.r_v = np.array((0, 0, 0), float)
-            self.r_acc = np.array((0, 0, 0), float)
+            self.origin_v = np.zeros(3, float)
+            self.origin_acc = np.zeros(3, float)
+            self.cm_v = np.zeros(3, float)
+            self.cm_acc = np.zeros(3, float)
             rel_direction = self.anchor0.rot().apply(self.direction, inverse=True)  # dir. relative to previous boom
             self.boom[1:] = cartesian_to_spherical(rel_direction)[1:]
             crane_dir = normalized(self.model.rot().apply((0, 0, 1)))
             self._rot = rot_from_vectors(crane_dir, self.direction)
             self.model.calc_statics_dynamics()
 
-    def _calc_decayrate(self, newLength: float) -> float:
-        if self.q_factor == 0.0:
-            return nan
-        elif newLength == 0.0:
-            return 0
-        else:
-            return sqrt(9.81 / (newLength * self.mass_center[0])) / sqrt(4 * self.q_factor - 1)
+    @property
+    def torque(self):
+        """Calculate the torque from the CoM of this boom with respect to the fixation.
+        Note that this is in practice only calculated for the load and the rest of the crane.
+        These two are calculated separately, since the load exhibits a pendulum action (dealt with here).
+        The Torque is always calculated relative to the crane position.
+        """
+        _p_c_m = self._c_m_sub[1] - self.model.position
+        return self.mass * np.cross(
+            _p_c_m,
+            (
+                np.array((0, 0, -9.81), float)
+                + (self.model.velocity + self.cm_v) ** 2 * self.direction
+                + self.model.d_velocity
+            ),
+        )
+
+
+#     def _calc_decayrate(self, newLength: float) -> float:
+#         if self.q_factor == 0.0:
+#             return nan
+#         elif newLength == 0.0:
+#             return 0
+#         else:
+#             return sqrt(9.81 / (newLength * self.mass_center[0])) / sqrt(4 * self.q_factor - 1)
+
+
+# class LastOrigins(object):
+#     """Helper class holding the last three values of boom.origin (if a wire/pendulum)
+#     so that derivatives can be calculated and updated.
+#     """
+#     def __init__(self):
+#         self.times = deque(maxlen=3)
+#         self.orgs = deque(maxlen=3)
+#
+#     def derivatives(self):
+#         """Calculate the first and second order derivatives, based on the current values."""
+#         der1, der2 = np.zeros(3), np.zeros(3)
+#         if len(self.times) == 3: # all values available
+#             a = np.array( [(1.0, t, t*t) for t in self.times], float)
+#             for i in range(3): # go through the 3 dimensions
+#                 coeff = np.linalg.solve( a, np.array( [self.orgs[k][i] for k in range(3)]))
+#                 der1[i] = coeff[1] + 2*coeff[2]* self.times[0] # at last time point
+#                 der2[i] = 2*coeff[2]
+#
+#         elif len( self.times) == 2: # so far only two time points available
+#             der1 = (orgs[1] - orgs[0]) / (times[1] - times[0])
+#         return (der1, der2)
+#
+#     def append(self, time:float, org:np.ndarray):
+#         """Append a tuple of time and origin-position-array) to the two deques
+#         If full, one element is removed from the other side.
+#         """
+#         self.times.append(time)
+#         self.orgs.append( org)
diff --git a/src/py_crane/boom_fmu.py b/src/py_crane/boom_fmu.py
index 872a4ae..c043d4f 100644
--- a/src/py_crane/boom_fmu.py
+++ b/src/py_crane/boom_fmu.py
@@ -5,12 +5,10 @@
 from typing import Any, Never, Sequence, cast
 
 import numpy as np
-from component_model.model import Model
 
-from py_crane.boom import Boom
-from py_crane.enum import Change
-
-# from py_crane.crane import Crane
+from py_crane.boom import Boom, Wire
+from py_crane.crane import Crane
+from py_crane.enums import Change
 
 logger = logging.getLogger(__name__)
 
@@ -60,37 +58,32 @@ class BoomFMU(Boom):
 
     def __init__(
         self,
+        model: Crane,
+        name: str,
+        /,
         mass_rng: tuple[str, str] | None = None,
         boom_rng: tuple[tuple[Any, Any] | None | Sequence[Never], ...] = tuple(),
-        animationLW: int = 5,
         **kwargs: Any,
     ):
         from py_crane.crane_fmu import CraneFMU
 
-        model: Model | None = kwargs.get("model", None)
-        assert model is not None, "The 'model' argument is needed when instantiating a Boom"
-        name: str | None = kwargs.get("name", None)
-        assert name is not None, "A unique Boom name is needed when instantiating a Boom"
-        self._name = name
+        # we need 'early access' to some of the properties
         assert isinstance(model, CraneFMU), f"BoomFMU must link to a CraneFMU. Found {type(model)}"
+        self._name = name
         model.ensure_boom(self)  # ensure that the boom object is registered with the crane
         u_time = model.u_time
         u_length = model.u_length
         u_angle = "deg" if model.degrees else "rad"
         # make some super-arguments 'visible' direct for usage here
-        description: str = kwargs.get("description", "")
-        anchor0: Boom | None = kwargs.get("anchor0", None)
-        assert anchor0 is not None, "The 'anchor0' argument is needed here. ('fixation' shall be created through Boom)"
-        mass: float = kwargs.get("mass", 1.0)
-        mass_center: float | tuple[float, float, float] = kwargs.get("mass_center", 0.5)
-        boom: tuple[float, float, float] = kwargs.get("boom", (1.0, 0.0, 0.0))
-        q_factor: float = kwargs.get("q_factor", 0.0)
+        mass = kwargs.pop("mass") if "mass" in kwargs else "1.0kg"
+        boom = kwargs.pop("boom") if "boom" in kwargs else (1.0, 0.0, 0.0)
+        q_factor = kwargs.pop("q_factor") if "q_factor" in kwargs else 0.0
 
         # Interface specifications. When we have the start values we can instantiate the Boom
         _c, _v = ("parameter", "fixed") if mass_rng is None else ("input", "continuous")
         self._mass = model.add_variable(
-            f"{name}.mass",
-            description=f"Mass of boom {name}",
+            f"{self._name}.mass",
+            description=f"Mass of boom {self._name}",
             causality=_c,
             variability=_v,
             start=mass,
@@ -118,8 +111,8 @@ def __init__(
                 or (boom_rng[i][0] > float("-inf") and boom_rng[i][1] < float("inf"))  # type: ignore[index]
             ), f"The range of {self.name}[{i}] should not be limited, as radian variables are periodic"
         self._boom = model.add_variable(
-            f"{name}.boom",
-            description=f"Length [m] and direction [rad] of {name} from anchor point in spherical coordinates",
+            f"{self._name}.boom",
+            description=f"Length [m] and direction [rad] of {self._name} from anchor point in spherical coordinates",
             causality="input",
             variability="continuous",
             start=_boom,
@@ -127,19 +120,33 @@ def __init__(
             on_set=partial(self.boom_setter, ch=Change.ROT.value if q_factor == 0 else 0),
         )
         assert isinstance(self._boom.owner, BoomFMU), f"Owner of variable {self._boom}: {self._boom.owner}"
-        super().__init__(
-            model,
-            name,
-            description,
-            anchor0,
-            mass=mass0,
-            mass_center=mass_center,  # this could be made an interface variable in advanced cranes
-            boom=getattr(self._boom.owner, self._boom.local_name),  #! not getter()! boom.py uses internal variables!
-            q_factor=q_factor,
-        )
+        if q_factor == 0.0:
+            Boom.__init__(
+                self,
+                model,
+                name,
+                mass=mass0,
+                boom=getattr(
+                    self._boom.owner, self._boom.local_name
+                ),  #! not getter()! boom.py uses internal variables!
+                q_factor=0.0,
+                **kwargs,
+            )
+        else:
+            Wire.__init__(
+                self,  # type: ignore[arg-type]  ## call sequence ensures that it is called from Wire
+                model,
+                name,
+                mass=mass0,
+                boom=getattr(
+                    self._boom.owner, self._boom.local_name
+                ),  #! not getter()! boom.py uses internal variables!
+                q_factor=q_factor,
+                **kwargs,
+            )
         # additional output variables
         self._end = model.add_variable(  # pyright: ignore[reportUnknownMemberType]  # should become obsolete once component_model is updated.
-            f"{name}.end",
+            f"{self._name}.end",
             description="Cartesian vector of the end of the boom",
             causality="output",
             variability="continuous",
@@ -148,14 +155,14 @@ def __init__(
         # additional derivative variables (but not for fixation, as these are Euler movements on the crane!)
         if self.name != "fixation":
             self._der1_boom = model.add_variable(  # pyright: ignore[reportUnknownMemberType]  # should become obsolete once component_model is updated.
-                f"der({name}.boom)",
+                f"der({self._name}.boom)",
                 description="Continuous change to the boom (length, polar-rotation, azimuthal-rotation) wrt. origin",
                 causality="input",
                 variability="continuous",
                 start=(f"0 m/{u_time}", f"0 {u_angle}/{u_time}", f"0 {u_angle}/{u_time}"),
             )
             self._der2_boom = model.add_variable(  # pyright: ignore[reportUnknownMemberType]  # should become obsolete once component_model is updated.
-                f"der(der({name}.boom))",
+                f"der(der({self._name}.boom))",
                 description="Acceleration to the boom (length, polar-rotation, azimuthal-rotation) wrt. origin",
                 causality="input",
                 variability="continuous",
@@ -163,9 +170,27 @@ def __init__(
             )
             if self._mass.range[0].rng[0] != self._mass.range[0].rng[1]:  # mass is changeable (normally the load)
                 self._der1_mass = model.add_variable(  # pyright: ignore[reportUnknownMemberType]  # should become obsolete once component_model is updated.
-                    f"der({name}.mass)",
+                    f"der({self._name}.mass)",
                     description="Continuous change to the mass (i.e. load change)",
                     causality="input",
                     variability="continuous",
                     start=f"0 kg/{u_time}",
                 )
+
+
+class WireFMU(BoomFMU, Wire):
+    """The FMU definitions of a :py:class:`.Wire` -
+    a special stiff boom, attached with a flexible joint to a parent boom -
+    normally the last boom of a crane.
+    """
+
+    def __init__(
+        self,
+        model: Crane,
+        name: str,
+        /,
+        mass_rng: tuple[str, str] | None = None,
+        boom_rng: tuple[tuple[Any, Any] | None | Sequence[Never], ...] = tuple(),
+        **kwargs: Any,
+    ):
+        super().__init__(model, name, mass_rng, boom_rng, **kwargs)
diff --git a/src/py_crane/crane.py b/src/py_crane/crane.py
index b7ff757..7aec63d 100644
--- a/src/py_crane/crane.py
+++ b/src/py_crane/crane.py
@@ -7,8 +7,8 @@
 from component_model.utils.transform import cartesian_to_spherical
 from scipy.spatial.transform import Rotation as Rot
 
-from py_crane.boom import Boom
-from py_crane.enum import Change
+from py_crane.boom import Boom, Wire
+from py_crane.enums import Change
 
 logger = logging.getLogger(__name__)
 
@@ -115,6 +115,7 @@ def __init__(self, to_crane_angle: CoordinateTransform | None = None):
         self.boom_: Boom = self.boom0  # keep track of the last boom
         self.torque = np.array((0, 0, 0), dtype=np.float64)
         self.force = np.array((0, 0, 0), dtype=np.float64)
+        self.current_time: float = 0.0  # used to make current_time from do_step known for the whole crane
 
     @property
     def boom0(self) -> Boom:
@@ -150,7 +151,8 @@ def boom_by_name(self, name: str) -> Boom | None:
 
     def add_boom(
         self,
-        *args: Any,
+        name: str,
+        /,
         **kwargs: Any,
     ) -> Boom:
         """Add a boom to the crane.
@@ -162,7 +164,10 @@ def add_boom(
         if "anchor0" not in kwargs:
             last = next(self.booms(reverse=True))
             kwargs.update({"anchor0": last})
-        self.boom_ = Boom(self, *args, **kwargs)
+        if "q_factor" in kwargs and kwargs["q_factor"] > 0.0:
+            self.boom_ = Wire(self, name, **kwargs)
+        else:
+            self.boom_ = Boom(self, name, **kwargs)
         return self.boom_  # the new last boom
 
     @property
@@ -284,6 +289,7 @@ def calc_statics_dynamics(self, dt: float | None = None):
 
     def do_step(self, current_time: float, step_size: float) -> bool:
         """Do a simulation step of size `dt` at `time` ."""
+        self.current_time = current_time
         if any(acc != 0 for acc in self.d_velocity):  # linear acceleration ongoing
             self._velocity += self.d_velocity * step_size
         if any(v != 0 for v in self._velocity):  # position change ongoing
diff --git a/src/py_crane/crane_fmu.py b/src/py_crane/crane_fmu.py
index b98e01e..8e2560f 100644
--- a/src/py_crane/crane_fmu.py
+++ b/src/py_crane/crane_fmu.py
@@ -7,7 +7,8 @@
 from component_model.variable import Variable
 from component_model.variable_naming import VariableNamingConvention
 
-from py_crane.boom_fmu import BoomFMU
+from py_crane.boom import Boom, Wire
+from py_crane.boom_fmu import BoomFMU, WireFMU
 from py_crane.crane import Crane
 
 logger = logging.getLogger(__name__)
@@ -119,9 +120,10 @@ def __init__(
 
     def add_boom(
         self,
-        *args: Any,
+        name: str,
+        /,
         **kwargs: Any,
-    ) -> BoomFMU:
+    ) -> Boom:
         """Add a boom to the crane. Overrides :py:meth:`.Crane.add_boom` to ensure that :py:class:`BoomFMU` is added.
 
         This method represents the recommended way to contruct a crane and then add the booms.
@@ -131,11 +133,13 @@ def add_boom(
             *args: all :py:class:`Boom` positional parameters, excluding ``model`` and ``anchor0``
             **kwargs: all :py:class:`Boom` keyword parameters, excluding ``model`` and ``anchor0``
         """
-        kwargs.update({"model": self})
         if "anchor0" not in kwargs:
             last = self.boom0[-1]
             kwargs.update({"anchor0": last})
-        return BoomFMU(*args, **kwargs)
+        if kwargs.get("q_factor", 0.0) == 0.0:
+            return BoomFMU(self, name, **kwargs)
+        else:
+            return WireFMU(self, name, **kwargs)
 
     def ensure_boom(self, boom: BoomFMU):
         """Ensure that the boom is registered before structured variables are added to it.
@@ -151,7 +155,7 @@ def exit_initialization_mode(self):
         """
         self.dirty_do()  # run on_set on all dirty variables
         wire = self.boom0[-1]
-        if wire is not None and wire.q_factor != 0:
+        if isinstance(wire, Wire):
             wire.pendulum_relax()
 
     def do_step(self, current_time: float, step_size: float) -> bool:
diff --git a/src/py_crane/enum.py b/src/py_crane/enums.py
similarity index 100%
rename from src/py_crane/enum.py
rename to src/py_crane/enums.py
diff --git a/src/py_crane/mobile_crane.py b/src/py_crane/mobile_crane.py
index f6dd114..21f0b9c 100644
--- a/src/py_crane/mobile_crane.py
+++ b/src/py_crane/mobile_crane.py
@@ -36,12 +36,12 @@ def __init__(
         boomAngle: str = "90deg",
         wire_mass_range: tuple[str, str] = ("50kg", "2000 kg"),
         wire_mass: str | None = None,
-        wire_length: float = 1e-6,
+        wire_length: float = 0.1,
         **kwargs: Any,
     ):
         super().__init__(name=name, description=description, author=author, version=version, degrees=degrees, **kwargs)
         _pedestal = self.add_boom(
-            name="pedestal",
+            "pedestal",
             description="The crane base, on one side fixed to the vessel and on the other side the first crane boom is fixed to it. The mass should include all additional items fixed to it, like the operator's cab",
             mass=pedestalMass,
             mass_center=pedestalCoM,
@@ -49,7 +49,7 @@ def __init__(
             boom_rng=(None, None, ()),
         )
         _boom = self.add_boom(
-            name="boom",
+            "boom",
             description="The boom. Can be lifted and length can change within the given range",
             mass=boomMass,
             mass_center=(0.5, 0, 0),
@@ -57,15 +57,15 @@ def __init__(
             boom_rng=((boomLength0, boomLength1), (), None),
         )
         _ = self.add_boom(
-            name="wire",
+            "wire",
             description="The wire fixed to the last boom. Flexible connection",
             mass=wire_mass_range[0] if wire_mass is None else wire_mass,
             mass_center=0.99,
             mass_rng=wire_mass_range,
             boom=(f"{wire_length}m", "90deg", "0 deg"),
-            boom_rng=(("1e-6 m", boomLength1), (), ()),
+            boom_rng=((f"{wire_length}m", boomLength1), (), ()),
             q_factor=50.0,
-            animationLW=2,
+            additional_checks=True,
         )
 
         # make sure that _comSub is calculated for all booms:
diff --git a/tests/conftest.py b/tests/conftest.py
index 8b9e54f..4c93728 100644
--- a/tests/conftest.py
+++ b/tests/conftest.py
@@ -12,12 +12,14 @@ def mobile_crane_fmu():
     """Make the (updated) MobileCrane.fmu available for all tests."""
     from component_model.model import Model
 
+    src_folder: Path = Path(__file__).parent.parent / "src" / "py_crane"
+    src: Path = src_folder / "mobile_crane.py"
     build_path = Path(__file__).parent.parent / "examples"  # together with other crane files
     build_path.mkdir(exist_ok=True)
     fmu_path = Model.build(  # MobileCrane.build(
-        str(Path(__file__).parent.parent / "src" / "py_crane" / "mobile_crane.py"),
-        project_files=[Path(__file__).parent.parent / "src" / "py_crane"],
-        dest=build_path,
+        script=str(src),
+        project_files=[src_folder],
+        dest=Path.cwd() / "MobileCrane.fmu",  # was: dest=build_path
     )
     return fmu_path
 
diff --git a/tests/test_animation.py b/tests/test_animation.py
new file mode 100644
index 0000000..658fce0
--- /dev/null
+++ b/tests/test_animation.py
@@ -0,0 +1,207 @@
+import logging
+from functools import partial
+from typing import Any, Generator
+
+import matplotlib.pyplot as plt
+import numpy as np
+import pytest  # noqa: F401
+from component_model.utils.controls import Control, Controls
+from matplotlib.animation import FuncAnimation
+
+from py_crane.animation import AnimateCrane, AnimatePlayBackLines
+from py_crane.boom import Boom
+from py_crane.crane import Crane
+
+logger = logging.getLogger(__name__)
+logging.basicConfig(level=logging.INFO)
+np.set_printoptions(precision=4, suppress=True)
+
+
+@pytest.fixture
+def crane(scope: str = "session", autouse: bool = True):
+    return _crane()
+
+
+def _crane():
+    crane = Crane()
+    _ = crane.add_boom(
+        "pedestal",
+        description="The crane base, on one side fixed to the vessel and on the other side the first crane boom is fixed to it. The mass should include all additional items fixed to it, like the operator's cab",
+        mass=2000.0,
+        mass_center=(0.5, -1, 0.8),
+        boom=(3.0, 0, 0),
+    )
+    _ = crane.add_boom(
+        "boom1",
+        description="The first boom. Can be lifted",
+        mass=200.0,
+        mass_center=0.5,
+        boom=(10.0, np.radians(90), 0),
+    )
+    _ = crane.add_boom(
+        "wire",
+        description="The wire fixed to the last boom. Flexible connection",
+        mass=50.0,  # so far basically the hook
+        mass_center=1.0,
+        boom=(0.5, np.radians(90), 0),
+        q_factor=10.0,
+    )
+    return crane
+
+
+def _boom(b: Boom, idx: int, x: float | None = None) -> float:
+    """Move boom 'b', or return current setting. Used as partial() to define Control."""
+    if x is not None:
+        arg = [None if i != idx else x for i in range(3)]
+        b.boom_setter(arg)
+    return b.boom[idx]
+
+
+def animate_sequence(crane: Crane, seq: tuple[tuple[Boom, float], ...] = (), nSteps: int = 10):
+    """Generate animation frames for a sequence of rotations. To be used as 'update' argument in FuncAnimation.
+    A sequence element consists of a boom and an angle, which then is rotated in nSteps.
+    """
+    for b, a in seq:
+        if b.name == "pedestal":  # azimuthal movement
+            db = np.array((0, 0, np.radians(a / nSteps)), float)
+        else:  # polar movement
+            db = np.array((0, np.radians(a / nSteps), 0), float)
+        for _ in range(nSteps):
+            b.boom_setter(list(b.boom + db))
+            # update all subsystem center of mass points. Need to do that from last boom!
+            crane.calc_statics_dynamics(dt=None)
+            yield (crane)
+
+
+# @pytest.mark.skip("Animate crane movement")
+def test_animation_sequence(crane: Crane, show: bool = False):
+    if not show:  # if nothing can be shown, we do not need to run it
+        return
+
+    def init():
+        """Perform the needed initializations."""
+        ax.set_xlim(-10, 10)
+        ax.set_ylim(-10, 10)
+        ax.set_zlim(0, 10)  # type: ignore [attr-defined] ## according to matplotlib recommendations
+        for b in crane.booms():
+            lw = {"pedestal": 15, "rope": 2}.get(b.name, 7)
+            lines.append(
+                ax.plot(
+                    [b.origin[0], b.end[0]],
+                    [b.origin[1], b.end[1]],
+                    [b.origin[2], b.end[2]],
+                    linewidth=lw,
+                )
+            )
+
+    def update(crane: Crane):
+        """Based on the updated first boom (i.e. the fixation), draw any desired data"""
+        for i, b in enumerate(crane.booms()):
+            lines[i][0].set_data_3d(
+                [b.origin[0], b.end[0]],
+                [b.origin[1], b.end[1]],
+                [b.origin[2], b.end[2]],
+            )
+
+    f, p, b1, r = list(crane.booms())
+    fig = plt.figure(figsize=(15, 15), layout=None)  # "constrained")
+    ax = plt.axes(projection="3d")  # , data=line)
+    lines: list[Any] = []
+
+    _ = FuncAnimation(
+        fig,
+        update,  # type: ignore  ## this is a function!
+        frames=animate_sequence(crane, seq=((p, -90), (b1, -45))),  # yields crane object as frame
+        init_func=init,  # type: ignore  ## this is a function!
+        interval=1000,
+        blit=False,
+        cache_frame_data=False,
+    )
+    plt.title("Crane animation", loc="left")
+    plt.show()
+    # assert np.allclose(r.origin, (0, -15 / sqrt(2), 3 + 15 / sqrt(2)))
+
+
+def movement(crane: Crane, dt: float = 0.01, t_end: float = 10.0) -> Generator[tuple[float, Crane], None, None]:
+    """Create movement of the crane through definition and usage of Controls.
+    Generator function. Returns a `Generator` which steps through time and sequentially yields updated frames in the form of tuple (time, crane) objects.
+    time is defined global as a simple way to draw the current time together with the title.
+    """
+    # initial definition of controls and start values
+    controls = Controls(limit_err=logging.WARNING)  # CRITICAL)
+    f, p, b1, w = list(crane.booms())
+    controls.extend(
+        (
+            Control("turn", (None, (-0.31, 0.31), (-0.16, 0.16)), rw=partial(_boom, p, 2)),
+            Control("luff", ((0, 1.58), (-0.18, 0.09), (-0.09, 0.05)), rw=partial(_boom, b1, 1)),
+            Control("boom", ((8, 50), (-0.2, 0.1), (-0.1, 0.05)), rw=partial(_boom, b1, 0)),
+            Control("wire", ((0.5, 50), (-0.1, 1.0), (-0.05, 0.1)), rw=partial(_boom, w, 0)),
+        )
+    )
+
+    # From time 0 we set three goals
+    controls["turn"].setgoal(0, np.radians(90))  # turn pedestal 90 deg
+    controls["luff"].setgoal(0, np.radians(45))  # luff boom to 45 deg
+    controls["boom"].setgoal(1, 0.1)  # increase length 0.1m/s
+    for time in np.linspace(0.0, t_end, int(t_end / dt) + 1):
+        if time > 10 and not len(controls[3].goal):  # Start to increase wire length with 1m/s
+            controls["wire"].setgoal(1, 1.0)
+        controls.step(time, dt)
+        crane.do_step(time, dt)
+        yield (time + dt, crane)
+
+
+def test_animation_control(crane: Crane, show: bool = False):
+    if not show:  # if nothing can be shown, we do not need to run it
+        return
+    ani = AnimateCrane(crane, movement, dt=0.1, t_end=20)  # type: ignore  ## It is a Generator!
+    ani.do_animation()
+
+
+def test_playback_lines(show: bool = False):
+    # first do a one-record case (which can cause trouble)
+    with pytest.raises(AssertionError) as err:
+        ani = AnimatePlayBackLines(
+            data=[], lw=(10, 2, 1), figsize=(10, 10), interval=1000, title="Test of AnimatePlayBackLines"
+        )
+    assert err.value.args[0] == "No data. Cannot animate."
+    data0 = (
+        np.array((0,), float),  # time
+        np.zeros(3).reshape((1, 3)),  # base
+        np.array(((0, 0, 1),), float),  # end of base
+        np.array(((1, 0, 1),), float),  # end of next
+        np.array(((1, 0, 0),), float),  # 'wire'
+    )
+    ani = AnimatePlayBackLines(
+        data=data0, lw=(10, 2, 1), figsize=(10, 10), interval=1000, title="Test of AnimatePlayBackLines. Static."
+    )
+    if show:
+        ani.do_animation()
+
+    data = (
+        np.array((0, 1, 2, 3), float),  # time
+        np.zeros(12).reshape((4, 3)),  # base
+        np.array(((0, 0, 1), (0, 1, 2), (0, 2, 3), (0, 3, 4)), float),  # end of base
+        np.array(((1, 0, 1), (2, 1, 2), (3, 2, 3), (4, 3, 4)), float),  # end of next
+        np.array(((1, 0, 0), (2, 1, 0), (3, 2, 0), (4, 3, 0)), float),  # 'wire'
+    )
+    ani = AnimatePlayBackLines(
+        data=data, lw=(10, 2, 1), figsize=(10, 10), interval=1000, title="Test of AnimatePlayBackLines. 4 time steps"
+    )
+    assert np.allclose(ani.axes_lim, [[-1, 5], [-1, 5], [-1, 5]])
+    if show:
+        ani.do_animation()
+
+
+if __name__ == "__main__":
+    retcode = pytest.main(["-rA", "-v", "--rootdir", "../", "--show", "False", __file__])
+    assert retcode == 0, f"Non-zero return code {retcode}"
+    logging.basicConfig(level=logging.DEBUG)
+    parsolog = logging.getLogger("parso")
+    parsolog.setLevel(logging.WARNING)
+    pillog = logging.getLogger("PIL")
+    pillog.setLevel(logging.WARNING)
+
+    # test_animation_sequence(_crane(), show=True)
+    # test_animation_control(_crane(), show=True)
+    # test_playback_lines(show=True)
diff --git a/tests/test_crane.py b/tests/test_crane.py
index 1853abf..2b765b3 100644
--- a/tests/test_crane.py
+++ b/tests/test_crane.py
@@ -1,31 +1,34 @@
 import logging
 from math import cos, radians, sin, sqrt
-from typing import Any, Callable, Generator, Sequence, cast
+from typing import Any, Callable, Mapping, Sequence, cast
 
 import matplotlib.pyplot as plt
 import numpy as np
 import pytest
-from component_model.analytic import sine_fit
-from component_model.utils.analysis import extremum_series
-from component_model.utils.controls import Controls
+from component_model.analytic import ForcedOscillator1D
+from component_model.utils.analysis import extremum_series, sine_fit
 from component_model.utils.transform import rot_from_spherical, rot_from_vectors
-from matplotlib.animation import FuncAnimation
 from scipy.spatial.transform import Rotation as Rot
 
-from py_crane.animation import AnimateCrane, AnimatePendulum
-from py_crane.boom import Boom
+from py_crane.animation import AnimatePendulum
+from py_crane.boom import Boom, Wire
 from py_crane.crane import Crane
 
 # from mpl_toolkits.mplot3d.art3d import Line3D
 
 logger = logging.getLogger(__name__)
-logging.basicConfig(level=logging.INFO)
+logger.setLevel(logging.INFO)
 np.set_printoptions(precision=4, suppress=True)
 
 
+def np_index(times: np.ndarray, t: float):
+    """Get the closest index with respect to a value in the array."""
+    return np.absolute(times - t).argmin()
+
+
 def do_show(
     times: np.ndarray | list[float],
-    traces: dict[str, list[float]] | dict[str, np.ndarray],  # [tuple[float,...],float]],
+    traces: Mapping[str, list[float] | np.ndarray],
     selection: dict[str, int] | None = None,
     title: str = "",
 ):
@@ -46,21 +49,22 @@ def do_show(
     plt.show()
 
 
-def set_wire_direction(r: Boom, angles: tuple[float, float], degrees: bool = False):
+def set_wire_direction(w: Wire, angles: tuple[float, float], degrees: bool = False):
     """Set the angles of a wire object. Makes only sense for preparation of test cases. Not allowed in Boom class."""
     _angles = np.array(angles, float)
+    assert isinstance(w, Wire)
     if degrees:
         _angles = np.radians(_angles)
-    r.boom[1:] = _angles
-    assert r.anchor0 is not None
-    r.rot(r.anchor0.rot() * rot_from_spherical(_angles))
-    r.direction = r.rot().apply(np.array((0, 0, 1), float))
-    r.r_v = np.array((0, 0, 0), float)  # reset also the speed
+    w.boom[1:] = _angles
+    assert w.anchor0 is not None
+    w.rot(w.anchor0.rot() * rot_from_spherical(_angles))
+    w.direction = w.rot().apply(np.array((0, 0, 1), float))
+    w.cm_v = np.zeros(3, float)  # reset also the speed
 
 
 def mass_center(xs: tuple[tuple[float, np.ndarray], ...]):
     """Calculate the total mass center of a number of point masses provided as 4-tuple"""
-    M, c = 0.0, np.array((0, 0, 0), float)
+    M, c = 0.0, np.zeros(3, float)
     for x, v in xs:
         M += x
         c += x * v
@@ -110,31 +114,34 @@ def crane(scope: str = "session", autouse: bool = True):
     return _crane()
 
 
-def _crane():
+def _crane(wire_length: float = 0.5):
     crane = Crane()
     _ = crane.add_boom(
-        name="pedestal",
+        "pedestal",
         description="The crane base, on one side fixed to the vessel and on the other side the first crane boom is fixed to it. The mass should include all additional items fixed to it, like the operator's cab",
         mass=2000.0,
         mass_center=(0.5, -1, 0.8),
         boom=(3.0, 0, 0),
     )
     _ = crane.add_boom(
-        name="boom1",
+        "boom1",
         description="The first boom. Can be lifted",
         mass=200.0,
         mass_center=0.5,
         boom=(10.0, radians(90), 0),
     )
-    _ = crane.add_boom(
-        name="wire",
+    w = crane.add_boom(
+        "wire",
         description="The wire fixed to the last boom. Flexible connection",
         mass=50.0,  # so far basically the hook
-        mass_rng=(50, 2000),
         mass_center=1.0,
-        boom=(0.5, radians(90), 0),
+        boom=(wire_length, radians(90), 0),
         q_factor=10.0,
+        additional_checks=True,
     )
+    assert np.allclose(w.origin, (10, 0, 3.0)), f"Origin {w.origin} != (10,0,3)"
+    assert np.allclose(w.end, (10, 0, 3.0 - wire_length)), f"Load position {w.end} != (10,0,{3.0 - wire_length})."
+
     return crane
 
 
@@ -147,6 +154,7 @@ def test_initial(crane: Crane):
     booms = [b.name for b in crane.booms()]
     assert booms == ["fixation", "pedestal", "boom1", "wire"]
     fixation, pedestal, boom1, wire = [b for b in crane.booms()]
+    assert isinstance(wire, Wire)
 
     assert crane.boom0.name == "fixation", "Boom0 should be fixation"
     assert np.allclose(crane.boom0.origin, (0.0, 0.0, -1e-10))  # fixation somewhat below surface@ {crane.boom0.origin}
@@ -236,49 +244,138 @@ def test_animate_pendulum(show: bool = False):
 
 
 # @pytest.mark.skip()
-def test_pendulum(crane: Crane, show: bool = False):
+def test_pendulum(show: bool = False):
     """Test crane with 1m wire and 50kg load at end as pendulum (in various configurations)."""
 
+    def _pendulum(q_factor: float = 20.0, length: float = 1.0, tau: float | None = None):
+        """Defines the special crane used here: a pedestal with a wire/load hanging down."""
+        crane = Crane()
+        _ = crane.add_boom(
+            "pedestal",
+            description="The crane base, just a pole for the pendulum, here.",
+            mass=2000.0,
+            mass_center=0.5,
+            boom=(length, 0, 0),
+        )
+        w = crane.add_boom(
+            "wire",
+            description="The wire fixed to the last boom. Flexible connection",
+            mass=100.0,  # load
+            mass_center=1.0,
+            boom=(length, radians(180), 0),  # 1m down, so that load at (0,0,0) in equilibrium
+            q_factor=q_factor,
+            additional_checks=False,  # True,
+        )
+        assert isinstance(w, Wire)
+        if tau is not None:
+            w.damping(damping_time=tau)
+        assert np.allclose(w.origin, (0, 0, length)), f"Origin {w.origin} != (0,0,{length})"
+        assert np.allclose(w.end, (0, 0, 0)), f"Load expected at (0,0,0). Found {w.end}"
+
+        return crane, w
+
+    def maximum(tbl: list[list[float]], col: int = 1):
+        """Find maximum in 'col' of table and return row."""
+        rmax = [float("-inf")] * len(tbl[0])
+        for r in tbl:
+            if r[col] > rmax[col]:
+                rmax = r
+        return rmax
+
+    def check_fit(
+        e_y0: float | None,
+        e_a: float | None,
+        e_w: float | None,
+        e_phi: float | None,
+        pars: tuple[Any, ...],
+        eps: float = 1e-3,
+    ):
+        """Check the sine fit with respect to expected parameters."""
+        if len(pars) == 4:
+            _y0, _a, _w, _phi = pars
+        elif len(pars) == 5:
+            _y0, _a, _w, _phi, tm = pars
+        assert e_y0 is None or abs(_y0 - e_y0) < eps, f"Translation {_y0} != {e_y0}"
+        assert e_a is None or abs(_a - e_a) < eps, f"Amplitude {_a} != {e_a}"
+        assert e_w is None or abs(_w - e_w) < eps, f"Angular frequency {_w} != {e_w}"
+        assert e_phi is None or abs(_phi - e_phi) < 10 * eps, f"Phase {_phi} != {e_phi}"
+
+    def check_sin(
+        _t: list[float], _p: list[float], _v: list[float], ampl: float, w: float, tau: float = 20, _len: float = 1.0
+    ):
+        """Check whether _t, _p, _v represents a forced oscillation with parameters ampl, w,tau."""
+        # wd = np.sqrt(9.81 / _len - 1 / 4 / tau**2)
+        osc = ForcedOscillator1D(k=9.81 / _len, c=1 / tau, a=ampl * 9.81 / _len, wf=w)
+        x, dx = osc.calc(np.array(_t))
+        if show:
+            do_show(_t, {"pos": _p, "expected": x, "diff": x - _p}, selection={"pos": 1, "expected": 1, "diff": 2})
+        assert np.allclose(x, _p, atol=1e-3, rtol=1e-4)
+        _dx = np.array(dx, float)  # np.array( [np.linalg.norm(_) for _ in dx])
+        if show:
+            do_show(
+                _t,
+                {"|speed|": _v, "expected": _dx, "diff": (_dx - _v)},
+                selection={"|speed|": 1, "expected": 1, "diff": 2},
+            )
+        assert np.allclose(_v, _dx, atol=1e-3, rtol=1e-3)
+
+    def check_shock(
+        _t: list[float],
+        _p: list[float],
+        _v: list[float],
+        _p0: float,
+        tau: float = 20.0,
+        length: float = 1.0,
+        eps: float = 1e-4,
+    ):
+        """Check whether a short acceleration on crane movement results in the expected pendulum action."""
+        wd = np.sqrt(9.81 / length - 1 / 4 / tau**2)
+        phi0 = np.arcsin(_p0 / length)
+        #        assert np.isclose(_p[10], 0.0, atol=1e-3), f"Position after shock {_p[10]} should be still at origo."
+        assert np.isclose(np.average(_p), _p0, atol=1e-4), f"Average position {np.average(_p)} != {_p0}"
+        expected = [_p0 * (1.0 - np.exp(-(t - 0.01) / 2 / tau) * cos(wd * (t - 0.01))) for t in _t]
+        maxdiff = max(np.absolute(np.array(expected[4:]) - np.array(_p[4:])))
+        assert maxdiff < eps, f"Max difference between position and expected: {maxdiff}"
+        beta = np.arctan2(1 / 2 / tau, wd)
+        expected = [
+            phi0 * np.exp(-t / 2 / tau) * np.sqrt(9.81 / length) * np.sqrt(np.sin(wd * t - beta) ** 2) for t in _t
+        ]
+        avgdiff = np.average(np.absolute(np.array(expected) - np.array(_v)))
+        assert avgdiff < 10 * eps, f"High average _v difference to expected: {avgdiff}"
+        # do_show(_t, {'|speed|':_v, 'expected':expected})
+
     def sim_run(
-        t_end: float,
+        crane_spec: tuple[Crane, Wire],
+        te: float,
         dt: float = 0.1,
+        speed_x: bool = False,
         min_z: float | None = None,
         max_z: float | None = None,
         max_speed: float | None = None,
         show_select: dict[str, int] | None = None,
+        idx: int = 1,
         title: str = "test_pendulum",
-        crane_position: Callable[[float], float] | None = None,
+        crane_pos: Callable[[float], float] | None = None,
         crane_roll: Callable[[float], float] | None = None,
         crane_pitch: Callable[[float], float] | None = None,
         crane_yaw: Callable[[float], float] | None = None,
         wire_l: Callable[[float], float] | None = None,
+        _ext: Callable[[float], float] | None = None,
     ):
+        """Perform the simulation as specified. Results analysis is done in calling function."""
+        crane, w = crane_spec
         misc: list[float] = []
         x_pos: list[float] = []
+        y_pos: list[float] = []
         z_pos: list[float] = []
         speed: list[float] = []
-        time: list[float] = []
+        time = np.arange(0, te, dt)
+        ext = time if _ext is None else [_ext(t) for t in time]
         _dz0_dt = -1
-        z0 = r.end[2]
-        _time: float = 0.0
-        length = r.boom[0]
-        _boom = crane.boom_by_name("boom1")
-        assert _boom is not None, "boom1 needed at this stage"
-        while _time < t_end:
-            x0 = r.end[0]
-            z0 = r.end[2]
-            v = float(np.linalg.norm(r.r_v))
-            assert min_z is None or r.end[2] >= min_z, f"@{_time}. Min z {r.end[2]} < {min_z}"
-            assert max_z is None or r.end[2] <= max_z + 1e-6, f"@{_time}. Max z {r.end[2]} > {max_z}"
-            assert max_speed is None or v <= max_speed, f"@{_time}. Max speed {v} < {max_speed}"
-            time.append(_time)
-            x_pos.append(x0)
-            z_pos.append(z0)
-            speed.append(v)
-            misc.append(_boom.end[0])
-            _time += dt
-            if crane_position is not None:
-                crane.position = np.array((crane_position(_time), 0, 0), float)
+        length = w.boom[0]
+        for _time in time:
+            if crane_pos is not None:
+                crane.position = np.array((crane_pos(_time), 0, 0), float)
             if crane_roll is not None:
                 crane.rotate((crane_roll(_time), 0, 0), absolute=True)
             if crane_pitch is not None:
@@ -286,180 +383,247 @@ def sim_run(
             if crane_yaw is not None:
                 crane.rotate((0, 0, crane_yaw(_time)), absolute=True)
             if wire_l is not None:
-                r.boom_setter((wire_l(_time), None, None))
-            crane.calc_statics_dynamics(dt)
-            assert abs(length - r.boom[0]) < 1e-4, f"Pendulum length {r.boom[0]} != {length}"
-
+                w.boom_setter((wire_l(_time), None, None))
+            else:
+                assert abs(length - w.boom[0]) < 1e-4, f"Pendulum length {w.boom[0]} != {length}"
+            crane.do_step(_time, dt)
+
+            x0 = w.end[0]
+            y0 = w.end[1]
+            z0 = w.end[2]
+            if speed_x:
+                v = w.cm_v[0]
+            else:
+                v = float(np.linalg.norm(w.cm_v))
+            assert min_z is None or w.end[2] >= min_z, f"@{_time}. Min z {w.end[2]} < {min_z}"
+            assert max_z is None or w.end[2] <= max_z + 1e-6, f"@{_time}. Max z {w.end[2]} > {max_z}"
+            assert max_speed is None or v <= max_speed, f"@{_time}. Max speed {v} < {max_speed}"
+            x_pos.append(x0)
+            y_pos.append(y0)
+            z_pos.append(z0)
+            speed.append(v)
+            misc.append(w.origin[0])
         z_max = [[0.0, z0]]
         z_max.extend(extremum_series(time[10:], z_pos[10:], which="max"))
 
         if show and show_select is not None:
+            title = f"{idx}. {title}"
             do_show(
-                time, {"x_pos": x_pos, "z_pos": z_pos, "speed": speed, "misc": misc}, selection=show_select, title=title
+                time,
+                {"x_pos": x_pos, "y_pos": y_pos, "z_pos": z_pos, "speed": speed, "misc": misc, "ext": ext},
+                selection=show_select,
+                title=title,
             )
-        return (time, x_pos, z_pos, speed, z_max, misc)
-
-    def maximum(tbl: list[list[float]], col: int = 1):
-        """Find maximum in 'col' of table and return row."""
-        rmax = [float("-inf")] * len(tbl[0])
-        for r in tbl:
-            if r[col] > rmax[col]:
-                rmax = r
-        return rmax
-
-    f, p, b1, r = [b for b in crane.booms()]
-    # start with a 1m pendulum through the origin along the x-axis
-    b1.boom_setter((2, np.pi, 0))  # boom down
-    r.pendulum_relax()
-    r.boom_setter((1.0, None, None))  # wire 1m long
-    assert np.allclose(r.origin, (0, 0, 1.0)), f"Origin {r.origin} != (0,0,1)"
-    assert np.allclose(r.end, (0, 0, 0)), f"Load expected at (0,0,0). Found {r.end}"
-
-    a0 = np.radians(1.0)
-    set_wire_direction(r, (a0, 0))
-    assert np.allclose(r.end, (-np.sin(a0), 0, 1 - np.cos(a0))), (
-        f"Wire angle {np.degrees(a0)}, load: ({-np.sin(a0)},0,{1 - np.cos(a0)}). Found {r.end}"
-    )
-    _damping_time = r.damping(damping_time=1e100)  # no damping
-    if False:
-        show_crane(crane, True, False, title="start")
-
-    # Start the crane at maximum potential energy of load (1 deg) without damping
-    # we should have theta(t) = theta0* cos(w*t) with theta0= 0.0175 (1deg) and w= sqrt(g/L) = 3.132 => T = 2.006
-    set_wire_direction(r, (a0, 0))
-    assert np.allclose(r.end, (-np.sin(a0), 0, 1 - cos(a0)))
-    time, x_pos, z_pos, speed, z_max, misc = sim_run(
-        t_end=10,
-        dt=0.01,
-        min_z=0,
-        max_z=1 - np.cos(a0),
-        max_speed=np.sqrt(2 * 9.81 / (1 - np.cos(a0))),
-        show_select=None,
-        title=f"test_pendulum. {np.degrees(a0)}deg through origin",
-    )
-    a, w, phi = sine_fit(time, x_pos)
-    assert abs(a - np.sin(a0)) < 1e-5, f"Amplitude a:{a} != sin({a0}):{np.sin(a0)}"
-    assert abs(w - np.sqrt(9.81)) < 1e-4, f"Angular frequency w:{w} != sqrt(9.81):{np.sqrt(9.81)}"
-    assert abs(phi + np.pi / 2) < 1e-4, f"Phase phi:{phi} != -pi/2:{-np.pi / 2}"
-
-    for t, z in zip(time, z_pos, strict=False):
-        theta = a0 * np.cos(np.sqrt(9.81) * t)
-        assert abs(z - 1 + np.cos(theta)) < 1e-5, f"@{t}: z={z}. Expected {1.0 - np.cos(theta)}"
-    #        print(f"@{t}, theta:{theta}, z:{z}, {1 - np.cos(theta)}")
-    last = -np.pi / np.sqrt(9.81)
-    for t, _ in z_max:  # Note. the pendulum has 2 max points per period!
-        assert abs(t - last - np.pi / np.sqrt(9.81)) < 0.01, f"Period {t}-{last} != {np.pi / np.sqrt(9.81)}"
-        last = t
-
-    # same test with q_factor
-    a0 = np.radians(5.0)
-    set_wire_direction(r, (a0, 0))
-    assert np.allclose(r.end, (-np.sin(a0), 0, 1 - cos(a0)))
-    _damping_time = r.damping(q_factor=100)
-    time, x_pos, z_pos, speed, z_max, misc = sim_run(
-        t_end=100,
-        dt=0.01,
-        min_z=0,
-        max_z=1 - np.cos(a0),
-        max_speed=np.sqrt(2 * 9.81 / (1 - np.cos(a0))),
-        show_select=None,
-        title="test_pendulum. 1deg through origin",
-    )
-    time = np.array(time, float)
-    env = a0 * np.exp(-time / 2.0 / _damping_time)
-    x_pos = np.array(x_pos, float)
-    z_pos = np.array(z_pos, float)
-    speed = np.array(speed, float)
-    energy = 9.81 * z_pos + 0.5 * speed**2
-    e_decay = energy[0] * np.exp(-time / _damping_time)
-    if False:  # show:
-        do_show(
-            time,
-            traces={"x": x_pos, "env+": env, "env-": -env, "energy": energy, "e_decay": e_decay, "z": z_pos},
-            selection={"x": 1, "env+": 1, "env-": 1, "energy": 2, "e_decay": 2},
-            title=f"Pendulum x0={a0}, tau={_damping_time}",
+        return (time, x_pos, y_pos, z_pos, speed, z_max, misc)
+
+    def _move_crane(
+        v0: float = 0.0,
+        te: float = 100,
+        dt: float | None = None,
+        tau: float = 5,
+        c_pos: Callable[[float], float] | None = None,
+        show: bool = False,
+        idx: int = 1,
+    ):
+        crane, w = _pendulum()
+        gamma = 1.0 / 2.0 / w.damping(damping_time=tau)  # damping
+        wd = np.sqrt(9.81 / w.length - gamma**2)
+        T = 2 * np.pi / wd
+        _dt = dt if dt is not None else (T / 100 if idx in (0, 4, 5, 6) else 0.01)
+        w.pendulum_relax()
+        w.cm_v = np.array((v0, 0, 0), float)
+        # ??w.origin_v[0] = (c_pos(_dt)-c_pos(-_dt))/2/_dt
+        if c_pos is not None:
+            w.origin_acc[0] = (c_pos(_dt) - 2 * c_pos(0.0) + c_pos(-_dt)) / _dt / _dt
+        if idx in (4, 5, 6):
+            osc = ForcedOscillator1D(k=9.81, c=gamma, a=0.001, wf=wd)
+        else:
+            osc = None
+        time, x_pos, y_pos, z_pos, speed, z_max, misc = sim_run(
+            crane_spec=(crane, w),
+            te=te,
+            dt=_dt,
+            speed_x=True,
+            min_z=1.0 - float(w.length),
+            show_select={
+                "x_pos": 1,
+                "misc": 1,
+                "speed": 1,
+                "z_pos": 2,
+            },
+            title=f"test_pendulum_move[{idx}]. Movements in x-direction",
+            crane_pos=c_pos,  # movement function
+            _ext=lambda t: (
+                abs((v0 if v0 > 0 else 1.0) * np.exp(-gamma * t) * np.cos(wd * t))
+                if osc is None
+                else float(osc.calc(t)[0])
+            ),
         )
-    assert np.allclose(energy, e_decay, atol=1e-3), f"Energy should decay with decay time {_damping_time}"
-
-    # Move the whole crane according to a sin function in x-direction, causing forced pendulum actions
-    _damping_time = r.damping(damping_time=5)  # damping
-    set_wire_direction(r, (0, 0))
-    time, x_pos, z_pos, speed, z_max, misc = sim_run(
-        t_end=500,
-        dt=0.01,
-        min_z=0,
-        show_select={
-            "x_pos": 1,
-            "z_pos": 2,
-            "misc": 1,
-        },  #'speed':2},
-        title="test_pendulum. Forced acceleration sweeping angular frequency (0.01+0.01*t)",
-        crane_position=lambda t: 0.001 * np.sin((0.01 + 0.01 * t) * t),  # angular frequency sweep
-    )
-    # Qualitative (visual) comparison with forced oscillator is very good, but oscillator is not harmonic
-    # and sweep in low frequency area too fast, so that numerical comparison is difficult.
-    a, w, phi = sine_fit(time[4100:4900], x_pos[4100:4900])  # t=41..49
-    assert abs(a - 0.0101) < 1e-4 and abs(w - 0.9054) < 1e-4 and abs(phi - 0.2861) < 1e-4, (
-        f"Low freq. a:{a}, w:{w}, phi:{phi}"
-    )
-    a, w, phi = sine_fit(time[19988:20201], x_pos[19988:20201])  # t=199.88...202.01,
-    assert abs(a - 0.7555) < 1e-4 and abs(w - 3.0134) < 1e-4 and abs(phi - 0.7548) < 1e-4, (
-        f"Resonance. a:{a}, w:{w}, phi:{phi}"
-    )
-    a, w, phi = sine_fit(time[39990:40080], x_pos[39990:40080])  # t=399.9...400.8
-    assert abs(a - 0.01484) < 1e-4 and abs(w - 8.0171) < 1e-4 and abs(phi + 2.1028) < 1e-4, (
-        f"High freq. a:{a}, w:{w}, phi:{phi}"
-    )
-
-    # Start with circular motion of load and shorten wire over time
-    _damping_time = r.damping(damping_time=10000)  # damping
-    set_wire_direction(r, (-90, 0), degrees=True)
-    r.r_v = np.array((0.0, 10.0, 0.0), float)
-    time, x_pos, z_pos, speed, z_max, misc = sim_run(
-        t_end=10,
-        dt=0.001,
-        min_z=0,
-        show_select={"x_pos": 1, "z_pos": 2},
-        title="test_pendulum. Start with rotating load and shorten wire length (0.01+0.01*t)",
-        wire_l=lambda t: 1.0 - 0.002 * t,
-    )
-    # Qualitative (visual) comparison with forced oscillator is very good, but oscillator is not harmonic
-    # and sweep in low frequency area too fast, so that numerical comparison is difficult.
-    # a, w, phi = sine_fit(time[4100:4900], x_pos[4100:4900]) #t=41..49
-
-    # Forced roll movement frequency sweep with damping
-    set_wire_direction(r, (0, 0))
-    r.damping(damping_time=100)  # damping
-    time, x_pos, z_pos, speed, z_max, misc = sim_run(
-        t_end=100,
-        dt=0.01,
-        # min_z=0,
-        # max_z=1-np.cos(np.radians(1)),
-        # max_speed=np.sqrt(2*9.81/(1-np.cos(np.radians(1)))),
-        show_select={"x_pos": 1, "z_pos": 2},
-        title="test_pendulum. Forced rolling motion",
-        crane_roll=lambda t: 0.01 * np.sin((0.1 + t / 20) * t),
-    )
-    # assert max(z[1] for z in z_max) > 0.028, f"Overall max: {max(z[1] for z in z_max)}"
-    # assert max(z[1] for z in z_max[:5]) < 1e-4, f"Low frequency max: {max(z[1] for z in z_max[:5])}"
-    # assert max(z[1] for z in z_max[-5:]) < 1e-3, f"High frequency max: {max(z[1] for z in z_max[-5:])}"
-
-    # Forced yaw movement, which does not have effect on load (inertia not modelled)
-    set_wire_direction(r, (0, 0))
-    crane.rot((0, 0, 0))  # reset crane
-    r.pendulum_relax()
-    r.damping(damping_time=100)  # damping
-    time, x_pos, z_pos, speed, z_max, misc = sim_run(
-        t_end=10,
-        dt=0.01,
-        # min_z=0,
-        # max_z=1-np.cos(np.radians(1)),
-        # max_speed=np.sqrt(2*9.81/(1-np.cos(np.radians(1)))),
-        show_select={"x_pos": 1, "z_pos": 2},
-        title="test_pendulum. Forced yaw motion",
-        crane_yaw=lambda t: 0.01 * np.sin((0.1 + t / 20) * t),
-    )
-    assert max(z[1] for z in z_max) < 1e-9, f"Overall max: {max(z[1] for z in z_max)}"
+        if idx == 0:  # v0=0.1, tau=20 - damped oscillation. Small amplitude, so that linear approximation holds!
+            for t, v in zip(time, speed, strict=True):
+                expected = v0 * np.exp(-t / tau) * np.cos(wd * t)
+                assert abs(v - expected) < 3e-2, f"Damped oscillation speed @{t}: {v}!={expected}"
+        elif idx == 1:  # v0=0. Crane moves with speed 0.1/s
+            assert abs(np.average(speed)) < 1e-3, f"Average !local! speed_x {np.average(speed)} != 0.0"
+            assert abs(x_pos[-1] - 0.1 * te) < 1e-2, f"End position {0.1 * te}!={x_pos[-1]}"
+        elif idx == 2:  # origin moves with v=0.1, while load starts with same speed (+initial acc. causes oscillations)
+            assert abs(np.average(speed)) < 1e-3, f"Speed oscillations around: {np.average(speed)}"
+            assert abs(x_pos[-1] - v0 * te) < 1e-2, f"End position: {x_pos[-1]}!={v0 * te}"
+        elif idx == 3:  # v0=0. Shock in x-direction with a=20
+            check_shock(list(time), x_pos, speed, _p0=20 * 0.01**2, tau=20, eps=1e-3)
+        elif idx == 4:  # low frequency sine
+            check_sin(list(time), x_pos, speed, 0.001, 0.1 * wd, tau=20)
+        elif idx == 5:  # resonant oscillation
+            check_sin(list(time), x_pos, speed, 0.00005, wd, tau=20)
+        elif idx == 6:  # high frequency sine
+            check_sin(list(time), x_pos, speed, 0.00005, 10 * wd, tau=20)
+        elif idx == 7:
+            # Qualitative (visual) comparison with forced oscillator is very good, but oscillator is not harmonic
+            # and sweep in low frequency area too fast, so that numerical comparison is difficult.
+            i_low = np_index(time, 40)
+            i_res = np_index(time, 167.5)
+            i_high = np_index(time, 450)
+            check_fit(0.0, 0.0, 0.66, 1.92, sine_fit(time[:i_low], x_pos[:i_low]), eps=1e-2)
+            check_fit(None, 0.022, 3.17, 0.7, sine_fit(time[:i_res], x_pos[:i_res]), eps=1e-2)
+            check_fit(None, 3.7e-5, 9.05, -2.15, sine_fit(time[:i_high], x_pos[:i_high]), eps=1e-2)
+        elif idx == 8:
+            print(np.degrees(np.arctan2(z_pos[-1], misc[-1] - x_pos[-1])), np.degrees(np.arcsin(2 / 9.81)) / 2)
+
+    def _turn_crane(
+        te: float = 100,
+        tau: float = 20,
+        _rpy: str = "r",
+        rpy: Callable[[float], float] | None = None,
+        show: bool = False,
+        idx: int = 1,
+    ):
+        crane, w = _pendulum()
+        gamma = 1.0 / 2.0 / w.damping(damping_time=tau)  # damping
+        wd = np.sqrt(9.81 / w.length - gamma**2)
+        T = 2 * np.pi / wd
+        w.pendulum_relax()
+        if _rpy == "r":
+            crane_roll, crane_pitch, crane_yaw = rpy, None, None
+        elif _rpy == "p":
+            crane_roll, crane_pitch, crane_yaw = None, rpy, None
+        elif _rpy == "y":
+            crane_roll, crane_pitch, crane_yaw = None, None, rpy
+        time, x_pos, y_pos, z_pos, speed, z_max, misc = sim_run(
+            crane_spec=(crane, w),
+            te=te,
+            dt=T / 100,
+            min_z=float(-w.length),
+            show_select={
+                "x_pos": 1,
+                "z_pos": 1,
+                "y_pos": 2,
+                "speed": 1,
+                "misc": 2,
+            },
+            crane_roll=crane_roll,
+            crane_pitch=crane_pitch,
+            crane_yaw=crane_yaw,
+            _ext=rpy,
+            title=f"test_pendulum_turn[{idx}, {_rpy}].",
+        )
+        if idx == 1:  # yaw. Torsion is not included. Nothing happens
+            assert all(abs(v) < 1e-8 for v in speed), "Speed should be zero"
+            assert all(abs(x) < 1e-8 for x in x_pos), "x-position should be zero"
+        if idx == 2:  # accelerated roll, then stop (shock)
+            check_shock(list(time), y_pos, speed, _p0=-20 * 0.01**2, tau=20, eps=1e-3)
+        if idx == 3:  # accelerated pitch, then stop (shock)
+            check_shock(list(time), x_pos, speed, _p0=-20 * 0.01**2, tau=20, eps=1e-3)
+
+    def _circular(
+        tau: float = 1000,
+        v0: float = 10.0,
+        wire_l: Callable[[float], float] | None = None,
+        angle: float = 0,
+        show: bool = False,
+        idx: int = 1,
+    ):
+        """Start with circular motion of load and shorten wire according to wire_l function."""
+        crane, w = _pendulum(tau=tau)
+        set_wire_direction(w, (90 + angle, 0), degrees=True)
+        w.cm_v = np.array((0.0, v0, 0.0), float)
+        time, x_pos, y_pos, z_pos, speed, z_max, misc = sim_run(
+            crane_spec=(crane, w),
+            te=10,
+            dt=0.001,
+            min_z=0,
+            show_select={"x_pos": 1, "y_pos": 1, "z_pos": 2},
+            title="test_pendulum. Rotating load and shortened wire length",
+            wire_l=wire_l,
+        )
+        if idx == 0:  # No change in wire length and angle such that conic curve emerges (stable)
+            assert abs(angle - 54.75550939085597) < 1e-10, f"Stability angle {angle} != 54.756"
+            c_angle = np.cos(np.radians(angle))
+            _x = c_angle
+            _z = np.sqrt(1 - _x**2)
+            assert all(abs(z - 1 + _z) < 1e-5 for z in z_pos), f"Height != {1 - _z}: {z_pos[:10]}"
+            i25 = np_index(time, 2.5)
+            check_fit(0.0, _x, 2 / c_angle, np.pi / 2, sine_fit(time[:i25], x_pos[:i25]), eps=1e-2)
+            # _y0, _a, _w, _phi, _tm = sine_fit(time[: np_index(time, 2.5)], y_pos[: np_index(time, 2.5)])
+            # assert abs(_phi) < 1e-6, f"y-Phase {_phi} != {np.pi / 2}"
+        elif idx == 1:  # No change of wire length. Note: curves are not completely circular => accuracy reduced.
+            c_angle = np.sqrt(np.sqrt(_b2 + _b2**2 / 4) - _b2 / 2)  # stability angle
+            _y0, _a, _w, _phi, _tm = sine_fit(time[: np_index(time, 1.5)], z_pos[: np_index(time, 1.5)])
+            assert abs(1.0 - 2**2 / 9.81 - _y0) < 5e-2, "Zentripetal in balance with gravitation. y0={_y0}."
+            assert 1.0 - _y0 - _a < 2e-2, f"Energy and angular momentum conservation: y0={_y0}, a={_a}"
+        elif idx == 2:  # wire shortened with 0.05*t => l0=1...lend=0.5. Should have wd1 = l0**2 / l1**2* wd0
+            i03 = np_index(time, 0.3)
+            check_fit(0.0, 1.0, 50.9, None, sine_fit(time[:i03], x_pos[:i03], eps=0.1), eps=0.16)
+            _y0, _a, _w, _phi, _tm = sine_fit(time, x_pos, eps=0.1)
+            check_fit(0.0, 0.5, None, None, (_y0, _a, _w, _phi), eps=0.1)
+            assert abs(_w - 200) / 200 < 3e-2, f"Angular velocity {_w} != 200"
+        elif idx == 3:  # pendulum hanging down with just enough kinetic energy to rotate through top point once
+            assert (np.max(y_pos) - 1.0) < 1e-5, "Max y: {np.max{y_pos}"
+            assert (np.min(y_pos) + 1.0) < 1e-5, "Min y: {np.min{y_pos}"
+            assert (np.max(z_pos) - 2.0) < 1e-5, "Max z: {np.max{z_pos}"
+
+    # def _special(pos: np.ndarray, speed: np.ndarray, tau: float, te: float = 1.0, idx: int = 1):
+    #     """Test special situations which have caused problems. Use the loa position vector and the speed as initial."""
+    #     sp = cartesian_to_spherical(pos, deg=True)
+    #     R = float(np.linalg.norm(pos))
+    #     crane, w = _pendulum(length=R, tau=tau)
+    #     set_wire_direction(w, (sp[1], sp[2]), degrees=True)
+    #     w.cm_v = speed
+    #     time, x_pos, y_pos, z_pos, speed, z_max, misc = sim_run(
+    #         crane_spec=(crane, w),
+    #         te=te,
+    #         dt=0.01,
+    #         min_z=0,
+    #         show_select={"x_pos": 1, "y_pos": 1, "z_pos": 1, "speed": 2},
+    #         title="test_pendulum. Special({idx})",
+    #     )
+    #    _special( np.array((1, -1, -1)), np.array((1, 1, 1)), tau=8000, te = 1.0, idx=1)
+    # _special( np.array((1, -1, -1)), np.array((1, 0, 1)), tau=8000, te = 1.0, idx=1)
+
+    tau = 20.0
+    gamma = 1.0 / 2.0 / tau
+    wd = np.sqrt(9.81 / 1.0 - gamma**2)
+
+    ##?? Deactivated tests to be checked and updated
+    _b2 = (2**2 / 9.81) ** 2
+    stable = np.degrees(np.arccos(np.sqrt(np.sqrt(_b2 + _b2**2 / 4) - _b2 / 2)))
+    _move_crane(te=50, v0=0.1, c_pos=None, tau=20, show=True, idx=0)
+    _move_crane(v0=0.0, c_pos=lambda t: 0.1 * t, tau=10, te=20.0, show=True, idx=1)
+    _move_crane(v0=0.1, c_pos=lambda t: 0.1 * t, tau=1000, te=10, show=True, idx=2)
+    _move_crane(v0=0.0, c_pos=lambda t: 20 * t**2 if t < 0.01 else 0.002, tau=20, te=10, dt=0.01, show=True, idx=3)
+    _move_crane(c_pos=lambda t: 0.001 * np.sin(0.1 * wd * t), tau=tau, te=200, dt=0.01, show=True, idx=4)
+    _move_crane(c_pos=lambda t: -0.00005 * np.sin(wd * t), tau=tau, te=200, show=True, idx=5)
+
+    # _move_crane(c_pos=lambda t: 0.00005 * np.sin(10 * wd * t), tau=tau, te=10, dt=0.0001, show=True, idx=6)
+    # _move_crane(v0=0.0, c_pos=lambda t: 0.001 * np.sin((0.01 + 0.01 * t) * t), tau=20, te=500, show=True, idx=7)
+    # _move_crane(v0=0.0, c_pos=lambda t: 1 * t**2, tau=20, te=100, dt=0.01, show=True, idx=8)
+    # _turn_crane(_rpy="y", rpy=lambda t: 0.01 * t**2 if t <= 5 else 0.25, tau=20, show=True, idx=1)
+    # _turn_crane(_rpy="r", rpy=lambda t: 20 * t**2 if t < 0.01 else 0.002, tau=20, te=50, show=True, idx=2)
+    # _turn_crane(_rpy="p", rpy=lambda t: 20 * t**2 if t < 0.01 else 0.002, tau=20, te=50, show=True, idx=3)
+    _circular(tau=1e10, v0=2.0, wire_l=None, angle=stable, show=show, idx=0)
+    _circular(tau=1e10, v0=2.0, wire_l=None, show=show, idx=1)
+    # _circular(tau=1e10, v0=50.0, wire_l=lambda t: 1.0 - 0.05 * t, show=show, idx=2)
+    _circular(tau=1e10, v0=50.0, wire_l=None, angle=-90, show=show, idx=3)
+    _circular(tau=20, v0=2.1 * np.sqrt(9.81 * 1.0), wire_l=None, angle=90, show=show, idx=3)
 
 
 # @pytest.mark.skip()
@@ -476,33 +640,34 @@ def check_rot(r: Rot, vec: Sequence[float]):
             print(f"Rotate (0,0,1): {rot2.apply(np.array((0, 0, 1)))} =? {r.apply(np.array((0, 0, 1)))}")
             raise AssertionError("Rotation object error") from None
 
-    f, p, b1, r = [b for b in crane.booms()]
+    f, p, b1, w = [b for b in crane.booms()]
+    assert isinstance(w, Wire)
     if show:
         show_crane(crane, markCOM=True, markSubCOM=True, title="test_sequence(). Initial state. Crane folded")
-    assert np.allclose(r.origin + r.length * r.direction, (10, 0, 2.5))
-    assert np.allclose(r.end, (10, 0, 2.5))
+    assert np.allclose(w.origin + w.length * w.direction, (10, 0, 2.5))
+    assert np.allclose(w.end, (10, 0, 2.5))
 
     logger.info("boom1 up (vertical)")
     b1.boom_setter((None, 0, None))
     crane.calc_statics_dynamics()
-    assert np.allclose(r.end, (0 + 0.5 / sqrt(2), 0, 3 + 10 - 0.5 / sqrt(2)), atol=0.1)  # somewhat lower due to length
-    pendulum_relax(r, show=False)
-    assert np.allclose(r.end, (0, 0, 3 + 10 - 0.5), atol=0.05), f"Found equilibrium position {r.end}"
+    assert np.allclose(w.end, (0 + 0.5 / sqrt(2), 0, 3 + 10 - 0.5 / sqrt(2)), atol=0.1)  # somewhat lower due to length
+    pendulum_relax(w, show=False)
+    assert np.allclose(w.end, (0, 0, 3 + 10 - 0.5), atol=0.05), f"Found equilibrium position {w.end}"
 
     logger.info("boom1 45 deg up")
     b1.boom_setter((None, radians(45), None))
-    r.pendulum_relax()  # includes calc_statics_dynamics()
-    assert np.allclose(r.end, [10 / sqrt(2), 0, 3 - 0.5 + 10 / sqrt(2)])
+    w.pendulum_relax()  # includes calc_statics_dynamics()
+    assert np.allclose(w.end, [10 / sqrt(2), 0, 3 - 0.5 + 10 / sqrt(2)])
     check_rot(b1._rot, (1.0 / sqrt(2), 0.0, 1.0 / sqrt(2)))
     if show:
         show_crane(crane, markCOM=True, markSubCOM=True, title="test_sequence(). boom 1 at 45 degrees.")
 
     logger.info("wire 0.5m -> 5m")
-    r.boom_setter((5.0, None, None))
+    w.boom_setter((5.0, None, None))
     if show:
         show_crane(crane, markCOM=True, markSubCOM=True, title="test_sequence(). Wire 0.5m -> 5m")
-    r.pendulum_relax()  # includes calc_statics_dynamics()
-    assert np.allclose(r.end, [10 / sqrt(2), 0, 3 + 10 / (sqrt(2)) - 5]), f"Found load position {r.end}"
+    w.pendulum_relax()  # includes calc_statics_dynamics()
+    assert np.allclose(w.end, [10 / sqrt(2), 0, 3 + 10 / (sqrt(2)) - 5]), f"Found load position {w.end}"
 
     logger.info("turn base 360 deg in steps of 5 deg")
     for i in range(73):  # turn in steps of 5 deg
@@ -513,7 +678,7 @@ def check_rot(r: Rot, vec: Sequence[float]):
         check_rot(b1._rot, (1.0 / sqrt(2) * cos(radians(i * 5)), 1.0 / sqrt(2) * sin(radians(i * 5)), 1.0 / sqrt(2)))
 
     check_rot(b1._rot, (1.0 / sqrt(2), 0.0, 1.0 / sqrt(2)))  # back to starting point
-    r.pendulum_relax()  # includes calc_statics_dynamics()
+    w.pendulum_relax()  # includes calc_statics_dynamics()
     if show:
         show_crane(crane, markCOM=True, markSubCOM=True, title="test_sequence(). Turned base 360 degrees")
 
@@ -531,42 +696,44 @@ def check_rot(r: Rot, vec: Sequence[float]):
     crane.rot((0, 0, 0))
     check_rot(b1._rot, (1.0 / sqrt(2), 0.0, 1.0 / sqrt(2)))  # back to starting point
 
-    len_0 = r.length
+    len_0 = w.length
     # boom1 up. Dynamic
     for i in range(450):
         angle = 45 - i / 100
         b1.boom_setter((None, angle, None))
         crane.calc_statics_dynamics(1.0)
-        # print(f"angle {angle}, rope length: {r.length}, rope origin: {r.origin}. rope velocity: {r.velocity}")
-    assert len_0 == r.length, "Length of rope has changed!"
+        # print(f"angle {angle}, rope length: {w.length}, rope origin: {w.origin}. rope velocity: {w.velocity}")
+    assert len_0 == w.length, "Length of rope has changed!"
 
 
 # @pytest.mark.skip()
 def test_change_length(crane: Crane, show: bool = False):
-    f, p, b1, r = [b for b in crane.booms()]
+    f, p, b1, w = [b for b in crane.booms()]
+    assert isinstance(w, Wire)
     if show:
         show_crane(crane, title="test_change_length(). Initial")
-    assert r.anchor1 is None
-    assert np.allclose(b1.end, r.origin)
-    r.boom_setter((3, None, None))  # increase length
-    r.pendulum_relax()
-    assert np.allclose(r.end, (10.0, 0, 0), atol=0.001)
+    assert w.anchor1 is None
+    assert np.allclose(b1.end, w.origin)
+    w.boom_setter((3, None, None))  # increase length
+    w.pendulum_relax()
+    assert np.allclose(w.end, (10.0, 0, 0), atol=0.001)
     if show:
         show_crane(crane, title="test_change_length(). rope -> 3m")
 
 
 # @pytest.mark.skip()
 def test_rotation(crane: Crane, show: bool = False):
-    f, p, b1, r = [b for b in crane.booms()]
+    f, p, b1, w = [b for b in crane.booms()]
+    assert isinstance(w, Wire)
     b1.boom_setter((None, 0, None))  # b1 up
     crane.calc_statics_dynamics()  # ensure that wire is adjusted
     assert np.allclose(b1.direction, (0, 0, 1))
     assert b1.length == 10
     assert np.allclose(b1.c_m, (0, 0, 5))  # measured relative to its origin!
-    assert np.allclose(r.origin, (0, 0, 3 + 10)), f"r.origin {r.origin}, != (0,0,13)"
-    assert abs(r.length - 0.5) < 1e-10, f"Unexpected length {r.length}"
+    assert np.allclose(w.origin, (0, 0, 3 + 10)), f"w.origin {w.origin}, != (0,0,13)"
+    assert abs(w.length - 0.5) < 1e-10, f"Unexpected length {w.length}"
     b1.boom_setter((None, radians(90), None))  # b1 east (as initially)
-    r.pendulum_relax()
+    w.pendulum_relax()
     assert np.allclose(b1.direction, (1, 0, 0))
     assert b1.length == 10
     assert np.allclose(b1.c_m, (5, 0, 0))
@@ -579,7 +746,7 @@ def test_rotation(crane: Crane, show: bool = False):
     p.boom_setter((None, None, radians(-90)))  # turn p so that b1 south
     assert np.allclose(b1.direction, (0, -1, 0))
     assert np.allclose(b1.c_m, (0, -5, 0))
-    r.pendulum_relax()
+    w.pendulum_relax()
     crane.calc_statics_dynamics()
     if show:
         show_crane(crane, markCOM=True, markSubCOM=False, title="test_rotation(). Before rotation. b1 east.")
@@ -592,8 +759,9 @@ def test_rotation(crane: Crane, show: bool = False):
 # @pytest.mark.skip()
 def test_c_m(crane: Crane, show: bool = False):
     # Note: Boom.c_m is a local measure, calculated from Boom.origin
-    f, p, b1, r = [b for b in crane.booms()]
-    r.mass -= 50
+    f, p, b1, w = [b for b in crane.booms()]
+    assert isinstance(w, Wire)
+    w.mass -= 50
     if show:
         show_crane(crane, markCOM=True, markSubCOM=False, title="test_c_m(). Initial")
     # initial c_m location
@@ -605,7 +773,7 @@ def test_c_m(crane: Crane, show: bool = False):
     assert np.allclose(b1.c_m, (0, 0, 5))
     # update all subsystem center of mass points. Need to do that from last boom!
     crane.calc_statics_dynamics()
-    r.pendulum_relax()
+    w.pendulum_relax()
     if show:
         show_crane(crane, markCOM=True, markSubCOM=False, title="test_c_m(). All booms along a line in z-direction")
     assert np.allclose(b1.c_m_sub[1], (0, 0, 3 + 5)), f"b1 CoM: {b1.c_m_sub[1]}"
@@ -615,113 +783,6 @@ def test_c_m(crane: Crane, show: bool = False):
     p.boom_setter((None, None, radians(-20)))
 
 
-def animate_sequence(crane: Crane, seq: tuple[tuple[Boom, float], ...] = (), nSteps: int = 10):
-    """Generate animation frames for a sequence of rotations. To be used as 'update' argument in FuncAnimation.
-    A sequence element consists of a boom and an angle, which then is rotated in nSteps.
-    """
-    for b, a in seq:
-        if b.name == "pedestal":  # azimuthal movement
-            db = np.array((0, 0, radians(a / nSteps)), float)
-        else:  # polar movement
-            db = np.array((0, radians(a / nSteps), 0), float)
-        for _ in range(nSteps):
-            b.boom_setter(list(b.boom + db))
-            # update all subsystem center of mass points. Need to do that from last boom!
-            crane.calc_statics_dynamics(dt=None)
-            yield (crane)
-
-
-# @pytest.mark.skip("Animate crane movement")
-def test_animation(crane: Crane, show: bool = False):
-    if not show:  # if nothing can be shown, we do not need to run it
-        return
-
-    def init():
-        """Perform the needed initializations."""
-        ax.set_xlim(-10, 10)
-        ax.set_ylim(-10, 10)
-        ax.set_zlim(0, 10)  # type: ignore [attr-defined] ## according to matplotlib recommendations
-        for b in crane.booms():
-            lw = {"pedestal": 15, "rope": 2}.get(b.name, 7)
-            lines.append(
-                ax.plot(
-                    [b.origin[0], b.end[0]],
-                    [b.origin[1], b.end[1]],
-                    [b.origin[2], b.end[2]],
-                    linewidth=lw,
-                )
-            )
-
-    def update(crane: Crane):
-        """Based on the updated first boom (i.e. the fixation), draw any desired data"""
-        for i, b in enumerate(crane.booms()):
-            lines[i][0].set_data_3d(
-                [b.origin[0], b.end[0]],
-                [b.origin[1], b.end[1]],
-                [b.origin[2], b.end[2]],
-            )
-
-    f, p, b1, r = list(crane.booms())
-    fig = plt.figure(figsize=(15, 15), layout=None)  # "constrained")
-    ax = plt.axes(projection="3d")  # , data=line)
-    lines: list[Any] = []
-
-    _ = FuncAnimation(
-        fig,
-        update,  # type: ignore  ## this is a function!
-        frames=animate_sequence(crane, seq=((p, -90), (b1, -45))),  # yields crane object as frame
-        init_func=init,  # type: ignore  ## this is a function!
-        interval=1000,
-        blit=False,
-        cache_frame_data=False,
-    )
-    plt.title("Crane animation", loc="left")
-    plt.show()
-    # assert np.allclose(r.origin, (0, -15 / sqrt(2), 3 + 15 / sqrt(2)))
-
-
-def movement(crane: Crane, dt: float = 0.01, t_end: float = 10.0) -> Generator[tuple[float, Crane], None, None]:
-    """Create movement of the crane through definition and usage of Controls.
-    Generator function. Returns a `Generator` which steps through time and sequentially yields updated frames in the form of tuple (time, crane) objects.
-    time is defined global as a simple way to draw the current time together with the title.
-    """
-    # initial definition of controls and start values
-    controls = Controls(limit_err=logging.WARNING)  # CRITICAL)
-    f, p, b1, r = list(crane.booms())
-    controls.append("turn", (None, (-0.31, 0.31), (-0.16, 0.16)))  # free rotation, max 1 turn/20sec, 2sec to max
-    controls.append("luff", ((0, 1.58), (-0.18, 0.09), (-0.09, 0.05)))  # 90 deg, 5/-2.5 deg/sec, 2sec to max
-    controls.append("boom", ((8, 50), (-0.2, 0.1), (-0.1, 0.05)))  # 8m..50m, 0.1/-0.2 m/sec, 2sec to max
-    controls.append("wire", ((0.5, 50), (-0.1, 1.0), (-0.05, 0.1)))  # 0.5m..50m, -0.1/1 m/sec, 2sec to max
-    f, p, b1, r = list(crane.booms())
-    controls.current[2][0] = 8.0  # b1 starts with 8m
-    controls.current[1][0] = np.radians(90)  # b1 starts at 90 deg
-    controls.current[3][0] = 0.5  # wire length starts 0.5m
-
-    # From time 0 we set three goals
-    controls.setgoal("turn", 0, np.radians(90), 0.0)  # turn pedestal 90 deg
-    controls.setgoal("luff", 0, np.radians(45), 0.0)  # luff boom to 45 deg
-    controls.setgoal("boom", 1, 0.1, 0.0)  # increase length 0.1m/s
-    for time in np.linspace(0.0, t_end, int(t_end / dt) + 1):
-        if time > 10 and controls.goals[3] is None:  # Start to increase wire length with 1m/s
-            controls.setgoal("wire", 1, 1.0, 10.0)
-        controls.step(time, dt)
-        if controls.goals[3] is not None:
-            r.boom_setter((controls.current[3][0], None, None))
-        if controls.goals[1] is not None or controls.goals[2] is not None:
-            b1.boom_setter((controls.current[2][0], controls.current[1][0], None))
-        if controls.goals[0] is not None:
-            p.boom_setter((None, None, controls.current[0][0]))
-        crane.do_step(time, dt)
-        yield (time + dt, crane)
-
-
-def test_animation_control(crane: Crane, show: bool = False):
-    if not show:  # if nothing can be shown, we do not need to run it
-        return
-    ani = AnimateCrane(crane, movement, dt=0.1, t_end=20)  # type: ignore  ## It is a Generator!
-    ani.do_animation()
-
-
 def show_crane(_crane: Crane, markCOM: bool = True, markSubCOM: bool = True, title: str | None = None):
     # update all subsystem center of mass points. Need to do that from last boom!
     _crane.calc_statics_dynamics(dt=None)
@@ -795,8 +856,8 @@ def crane_check(
             show_crane(crane, True, False, title=title)
         assert np.allclose(p.end, _p), f"Expected (p) {_p}, found {p.end}"
         assert np.allclose(b1.end, _b1), f"Expected (b1) {_b1}, found {b1.end}"
-        assert np.allclose(r.end, wire_end(b1.end, _r, 1.0, relaxed), atol=1e-4), (
-            f"Expected (wire) {wire_end(b1.end, _r, 1.0, relaxed)}. Found {r.end}"
+        assert np.allclose(w.end, wire_end(b1.end, _r, 1.0, relaxed), atol=1e-4), (
+            f"Expected (wire) {wire_end(b1.end, _r, 1.0, relaxed)}. Found {w.end}"
         )
 
     def rotate_calc_check(
@@ -804,19 +865,20 @@ def rotate_calc_check(
         absolute: bool,
         _p: tuple[float, ...],
         _b1: tuple[float, ...],
-        _r: tuple[float, ...],
+        _w: tuple[float, ...],
         show_it: int,
         title: str,
         relaxed: bool,
     ):
         crane.rotate(angles, absolute=absolute)  # roll 90 deg
         crane.calc_statics_dynamics()
-        if relaxed:
-            r.pendulum_relax()
-        crane_check(_p, _b1, _r, show_it=show_it, title=title, relaxed=relaxed)
+        if relaxed and isinstance(w, Wire):
+            w.pendulum_relax()
+        crane_check(_p, _b1, _w, show_it=show_it, title=title, relaxed=relaxed)
 
-    f, p, b1, r = [b for b in crane.booms()]
-    r.boom_setter((1.0, None, None))  # wire 1m
+    f, p, b1, w = [b for b in crane.booms()]
+    assert isinstance(w, Wire)
+    w.boom_setter((1.0, None, None))  # wire 1m
     _a = radians(90)  # the angle used in the rotations
 
     rotate_calc_check((0, 0, 0), False, (0, 0, 3), (10, 0, 3), (10, 0, 2), 1, "test_orientation(initial).", False)
@@ -843,7 +905,7 @@ def rotate_calc_check(
     crane.d_angular = np.array((np.radians(1), 0, 0), float)
     for i in range(90):
         crane.do_step(i, 1.0)
-    r.pendulum_relax()
+    w.pendulum_relax()
     crane.calc_statics_dynamics()
     if show & 32 >= 32:
         show_crane(crane, True, False, title="roll, pitch, yaw successively")
@@ -853,12 +915,13 @@ def rotate_calc_check(
 
 def test_force_torque(crane: Crane, show: bool = False):
     """Check that results for force and torque are correct with respect to crane states and movements."""
-    f, p, b1, r = [b for b in crane.booms()]
+    f, p, b1, w = [b for b in crane.booms()]
+    assert isinstance(w, Wire)
     p.mass = 100
     p.mass_center = (0.5, 0, 0)
     p.boom_setter((10, None, None))
     b1.mass = 100
-    r.mass = 0.0
+    w.mass = 0.0
     traces: dict[str, list[float]]
     # -----------------------------------------------------------------
     logger.info("all booms upwards. Calculate static force and torque")
@@ -891,12 +954,12 @@ def test_force_torque(crane: Crane, show: bool = False):
     crane.velocity = np.array((0, 0, 0), float)
     crane.d_velocity = np.array((0, 0, 0), float)
     b1.boom_setter((None, np.radians(90), 0))
-    r.boom_setter((10, None, None))
-    set_wire_direction(r, (90, 0), degrees=True)
-    r.mass = 50
-    r.pendulum_relax()
+    w.boom_setter((10, None, None))
+    set_wire_direction(w, (90, 0), degrees=True)
+    w.mass = 50
+    w.pendulum_relax()
     crane.do_step(3.0, 1.0)
-    assert np.allclose(r.end, (10, 0, 0))
+    assert np.allclose(w.end, (10, 0, 0))
     assert abs(crane.c_m_sub[0] - 250) < 1e-10, f"Mass {crane.c_m_sub[0]}"
     assert np.allclose(crane.force, (0, 0, -9.81 * 250))
     c_m = np.array(((5 * 100 + 10 * 50) / 250, 0, (5 * 100 + 10 * 100) / 250), float)
@@ -907,18 +970,25 @@ def test_force_torque(crane: Crane, show: bool = False):
     dt = 0.01
     time = 0.0
     _time: list[float] = []
-    traces = {"xe": [], "load": [], "force": [], "torque": []}
+    _xe: list[float] = []
+    _load: list[float] = []
+    _force: list[float] = []
+    _torque: list[float] = []
     while time < 20.0:
         crane.d_velocity = np.array((0.1 * np.sin(1.0 * time), 0, 0), float)
         _time.append(time)
         crane.do_step(time, dt)
-        traces["xe"].append(r.origin[0])
-        traces["load"].append(r.end[0])
-        traces["force"].append(crane.force[0])
-        traces["torque"].append(crane.torque[1])
+        _xe.append(w.origin[0])
+        _load.append(w.end[0])
+        _force.append(crane.force[0])
+        _torque.append(crane.torque[1])
         time += dt
-    if False:  # show:
-        do_show(_time, traces, {"xe": 1, "load": 1, "force": 2, "torque": 2})
+    if show:
+        do_show(
+            _time,
+            traces={"xe": _xe, "load": _load, "force": _force, "torque": _torque},
+            selection={"xe": 1, "load": 1, "force": 2, "torque": 2},
+        )
     # ---------------------------------------------------------------
     logger.info("Sinusoidal pitch acceleration: a*sin(w*t)")
     dt = 0.01
@@ -929,15 +999,26 @@ def test_force_torque(crane: Crane, show: bool = False):
         crane.d_angular = np.array((0, 0.1 * np.sin(1.0 * time), 0), float)
         _time.append(time)
         crane.do_step(time, dt)
-        traces["xe"].append(r.origin[0])
-        traces["load"].append(r.end[0])
-        traces["force"].append(crane.force[0])
-        traces["torque"].append(crane.torque[1])
+        traces["xe"].append(float(w.origin[0]))
+        traces["load"].append(float(w.end[0]))
+        traces["force"].append(float(crane.force[0]))
+        traces["torque"].append(float(crane.torque[1]))
         time += dt
     if show:
         do_show(_time, traces, {"xe": 1, "load": 1, "force": 2, "torque": 2})
 
 
+# def test_last_origins():
+#     lo = LastOrigins()
+#     for t in (1.0, 2.5, 5.0):
+#         lo.append( t, np.array( (np.sin(t), np.cos(t), t**2), float))
+#     assert lo.times[1] == 2.5
+#     assert np.allclose( lo.orgs[1], (np.sin(2.5), np.cos(2.5), 2.5**2))
+#     der1, der2 = lo.derivatives()
+#     print("DER1", der1, (np.cos(2.5), -np.sin(2.5), 2*2.5))
+#     print("DER2", der2, (-np.sin(2.5), -np.cos(2.5), 2.0))
+
+
 if __name__ == "__main__":
     retcode = pytest.main(["-rA", "-v", "--rootdir", "../", "--show", "False", __file__])
     assert retcode == 0, f"Non-zero return code {retcode}"
@@ -950,7 +1031,7 @@ def test_force_torque(crane: Crane, show: bool = False):
     # test_mass_center()
     # test_initial(_crane())
     # test_orientation(_crane(), 32)
-    # test_pendulum(_crane(), show=True)
+    # test_pendulum(show=True)
     # test_animate_pendulum(show=True)
     # test_sequence(_crane(), show=True)
     # test_change_length(_crane(), show=True)
@@ -959,3 +1040,4 @@ def test_force_torque(crane: Crane, show: bool = False):
     # test_animation(_crane(), show=True)
     # test_animation_control(_crane(), show=True)
     # test_force_torque(_crane(),show=True)
+    # test_last_origins()
diff --git a/tests/test_crane_configurations.py b/tests/test_crane_configurations.py
new file mode 100644
index 0000000..a7cc1f8
--- /dev/null
+++ b/tests/test_crane_configurations.py
@@ -0,0 +1,219 @@
+import logging
+from functools import partial
+from math import sqrt
+from typing import Generator
+
+import numpy as np
+import pytest  # noqa: F401
+from component_model.utils.controls import Control, Controls
+
+from py_crane.animation import AnimateCrane
+from py_crane.boom import Boom, Wire
+from py_crane.crane import Crane
+
+logger = logging.getLogger(__name__)
+logging.basicConfig(level=logging.ERROR)
+np.set_printoptions(precision=4, suppress=True)
+
+
+def _pendulum():
+    crane = Crane()
+    w = crane.add_boom(
+        "wire",
+        description="The wire fixed to the last boom. Flexible connection",
+        mass=50.0,  # so far basically the hook
+        mass_center=1.0,
+        boom=(1.0, np.pi, 0),
+        q_factor=10.0,
+    )
+    crane.position = np.array((0, 0, 1), float)
+    assert isinstance(w, Wire)
+    w.pendulum_relax()
+    return crane
+
+
+def _mobile_crane():
+    crane = Crane()
+    _p = crane.add_boom(
+        "pedestal",
+        description="The crane base, on one side fixed to the vessel and on the other side the first crane boom is fixed to it. The mass should include all additional items fixed to it, like the operator's cab",
+        mass=2000.0,
+        mass_center=(0.5, -1, 0.8),
+        boom=(3.0, 0, 0),
+    )
+    _b = crane.add_boom(
+        "boom1",
+        description="The first boom. Can be lifted",
+        mass=200.0,
+        mass_center=0.5,
+        boom=(10.0, np.radians(90), 0),
+    )
+    _w = crane.add_boom(
+        "wire",
+        description="The wire fixed to the last boom. Flexible connection",
+        mass=50.0,  # so far basically the hook
+        mass_center=1.0,
+        boom=(1.0, np.radians(90), 0),
+        q_factor=10.0,
+    )
+    return crane
+
+
+def _boom(b: Boom, idx: int, x: float | None = None) -> float:
+    """Move boom 'b', or return current setting. Used as partial() to define Control."""
+    if x is not None:
+        arg = [None if i != idx else x for i in range(3)]
+        b.boom_setter(arg)
+    return b.boom[idx]
+
+
+def move_mobile_crane(
+    crane: Crane, dt: float = 0.01, t_end: float = 10.0
+) -> Generator[tuple[float, Crane], None, None]:
+    """Create movement of the crane through definition and usage of Controls.
+    Generator function. Returns a `Generator` which steps through time and sequentially yields updated frames in the form of tuple (time, crane) objects.
+    time is defined global as a simple way to draw the current time together with the title.
+    """
+    # initial definition of controls and start values
+    controls = Controls(limit_err=logging.WARNING)  # CRITICAL)
+    f, p, b1, w = list(crane.booms())
+    controls.extend(
+        (
+            Control("turn", (None, (-0.31, 0.31), (-0.16, 0.16)), rw=partial(_boom, p, 2)),
+            Control("luff", ((0, 1.58), (-0.18, 0.09), (-0.09, 0.05)), rw=partial(_boom, b1, 1)),
+            Control("boom", ((8, 50), (-0.2, 0.1), (-0.1, 0.05)), rw=partial(_boom, b1, 0)),
+            Control("wire", ((0.5, 50), (-0.1, 1.0), (-0.05, 0.1)), rw=partial(_boom, w, 0)),
+        )
+    )
+
+    # From time 0 we set three goals
+    controls["turn"].setgoal(0, np.radians(90))  # turn pedestal 90 deg
+    controls["luff"].setgoal(0, np.radians(45))  # luff boom to 45 deg
+    controls["boom"].setgoal(1, 0.1)  # increase length 0.1m/s
+    for time in np.linspace(0.0, t_end, int(t_end / dt) + 1):
+        if time > 10 and not len(controls[3].goal):  # Start to increase wire length with 1m/s
+            controls["wire"].setgoal(1, 1.0)
+        controls.step(time, dt)
+        crane.do_step(time, dt)
+        yield (time + dt, crane)
+
+
+def test_mobile_crane(show: bool = False):
+    crane = _mobile_crane()
+    if not show:  # if nothing can be shown, we do not need to run it
+        return
+    ani = AnimateCrane(crane, move_mobile_crane, dt=0.1, t_end=15.0)  # type: ignore  ## It is a Generator!
+    ani.do_animation()
+
+
+def _knuckle_boom_crane():
+    crane = Crane()
+    _p = crane.add_boom(
+        "pedestal",
+        description="The crane base, on one side fixed to the vessel and on the other side the first crane boom is fixed to it. The mass should include all additional items fixed to it, like the operator's cab",
+        mass=2000.0,
+        mass_center=(0.5, -1, 0.8),
+        boom=(1.0, 0, 0),
+    )
+    _b1 = crane.add_boom(
+        "boom1",
+        description="The first boom. Can be lifted",
+        mass=200.0,
+        mass_center=0.5,
+        boom=(3.0, np.radians(45), 0),
+    )
+    _b2 = crane.add_boom(
+        "boom2",
+        description="The second boom. Can be lifted",
+        mass=200.0,
+        mass_center=0.5,
+        boom=(5.0, np.radians(170), np.pi),
+    )
+    _b3 = crane.add_boom(
+        "boom3",
+        description="The third boom. Can be lifted",
+        mass=200.0,
+        mass_center=0.5,
+        boom=(7.0, np.radians(170), 0.0),
+    )
+    _w = crane.add_boom(
+        "wire",
+        description="The wire fixed to the last boom. Flexible connection",
+        mass=50.0,  # so far basically the hook
+        mass_center=1.0,
+        boom=(1e-6, 0, 0),
+        q_factor=100.0,
+    )
+    assert isinstance(_w, Wire)
+    _w.pendulum_relax()
+    return crane
+
+
+def move_knuckle_boom_crane(
+    crane: Crane, dt: float = 0.01, t_end: float = 10.0
+) -> Generator[tuple[float, Crane], None, None]:
+    """Create movement of the crane through definition and usage of Controls.
+    Generator function. Returns a `Generator` which steps through time and sequentially yields updated frames in the form of tuple (time, crane) objects.
+    time is defined global as a simple way to draw the current time together with the title.
+    """
+    # initial definition of controls and start values
+    controls = Controls(limit_err=logging.WARNING)  # CRITICAL)
+    f, p, b1, b2, b3, w = list(crane.booms())
+    assert isinstance(w, Wire)
+    controls.extend(
+        (
+            Control("luff3", (None, (-0.09, 0.09), (-0.09, 0.05)), rw=partial(_boom, b3, 1)),
+            Control("luff2", (None, (-0.18, 0.09), (-0.09, 0.05)), rw=partial(_boom, b2, 1)),
+            Control("luff1", (None, (-0.09, 0.04), (-0.09, 0.05)), rw=partial(_boom, b1, 1)),
+            Control("wire", ((0, 50), (-0.1, 1.0), (-0.5, 0.5)), rw=partial(_boom, w, 0)),
+            Control("turn", (None, (-0.9, 0.9), (-0.9, 0.9)), rw=partial(_boom, p, 2)),
+        )
+    )
+
+    # Set initial goals
+    controls["luff3"].setgoal(0, np.radians(0))
+    controls["luff2"].setgoal(0, np.radians(45))  # luff boom to 45 deg
+    controls["luff1"].setgoal(0, 0.0)  # luff to align with pedestal
+    for time in np.linspace(0.0, t_end, int(t_end / dt) + 1):
+        if abs(time - 10.0) < 1e-6:  # goal2 reached
+            assert np.allclose(p.end, (0, 0, 1)), "Pedestal unchanged (straight up)"
+            assert np.allclose(b1.end, (0, 0, 4), atol=2e-3), f"Boom 1 aligned with pedestal? {b1.end}"
+        if abs(time - 35.0) < 1e-6:  # start to lower hook
+            assert np.allclose(p.end, (0, 0, 1)), "Pedestal unchanged (straight up)?"
+            _b2 = (-5 / sqrt(2), 0, 4 + 5 / sqrt(2))
+            _b3 = (-12 / sqrt(2), 0, 4 + 12 / sqrt(2))
+            assert np.allclose(b2.end, _b2, atol=0.01), f"45 deg in negative x-direction? {b2.end}!={_b2}"
+            assert np.allclose(b3.end, _b3, atol=0.01), f"45 deg in negative x-direction? {b3.end}!={_b3}"
+            controls["wire"].setgoal(0, 10.0)
+        if abs(time - 47.0) < 1e-6:  # turn the crane (causes pendulum actions)
+            _w = (-12 / sqrt(2), 0, 4 + 12 / sqrt(2) - 10)
+            assert np.allclose(w.end, _w, atol=0.01), f"Load position before turn {w.end}!={_w}"
+            w.damping(q_factor=100.0)
+            controls["turn"].setgoal(2, 0.09)
+        if abs(time - 54.0) < 1e-6:  # stop turning (causes pendulum actions)
+            controls["turn"].setgoal(2, None)
+
+        controls.step(time, dt)
+        crane.do_step(time, dt)
+        yield (time + dt, crane)
+
+
+def test_knuckle_boom_crane(show: bool = False):
+    crane = _knuckle_boom_crane()
+    if not show:  # if nothing can be shown, we do not need to run it
+        return
+    ani = AnimateCrane(crane, move_knuckle_boom_crane, dt=0.2, t_end=70.0)  # type: ignore  ## It is a Generator!
+    ani.do_animation()
+
+
+if __name__ == "__main__":
+    retcode = 0  # pytest.main(["-rA", "-v", "--rootdir", "../", "--show", "False", __file__])
+    assert retcode == 0, f"Non-zero return code {retcode}"
+    logging.basicConfig(level=logging.DEBUG)
+    parsolog = logging.getLogger("parso")
+    parsolog.setLevel(logging.WARNING)
+    pillog = logging.getLogger("PIL")
+    pillog.setLevel(logging.WARNING)
+
+    test_mobile_crane(show=True)
+    # test_knuckle_boom_crane(show=True)
diff --git a/tests/test_crane_on_spring.py b/tests/test_crane_on_spring.py
index 17b1e5c..e0378ae 100644
--- a/tests/test_crane_on_spring.py
+++ b/tests/test_crane_on_spring.py
@@ -10,9 +10,10 @@
 import numpy as np
 import pytest
 from component_model.model import Model
-from component_model.utils.controls import Controls
+from component_model.utils.controls import Control, Controls
 
 from py_crane.animation import AnimateCrane
+from py_crane.boom import Boom, Wire
 from py_crane.crane import Crane
 
 sys.path.insert(0, str(Path(__file__).parent.parent / "examples"))
@@ -37,11 +38,11 @@ def mobile_crane_fmu():
     return _get_fmu("MobileCrane.fmu")
 
 
-def make_fmu(build_path: Path, source: str, resource: Path, newargs: dict[str, Any] | None = None):
+def make_fmu(build_path: Path, source: Path, resource: Path, newargs: dict[str, Any] | None = None):
     """Make single FMU. Non-default arguments allowed."""
     build_path.mkdir(exist_ok=True)
     fmu = Model.build(
-        str(build_path / source),
+        str(source),
         project_files=[resource],
         dest=build_path,
         newargs=newargs,
@@ -52,25 +53,27 @@ def make_fmu(build_path: Path, source: str, resource: Path, newargs: dict[str, A
 def make_fmus():
     """Re-make the FMUs. Only default arguments used here."""
     make_fmu(
-        Path(__file__).parent.parent / "examples", "mobile_crane.py", Path(__file__).parent.parent / "src" / "py_crane"
+        Path(__file__).parent.parent / "examples",
+        Path(__file__).parent.parent / "src" / "py_crane" / "mobile_crane.py",
+        Path(__file__).parent.parent / "src" / "py_crane",
     )
     make_fmu(
-        Path(__file__).parent.parent.parent / "component-model" / "examples",
-        "oscillator_6dof_fmu.py",
+        Path(__file__).parent.parent / "examples",
+        Path(__file__).parent.parent.parent / "component-model" / "examples" / "oscillator_6dof_fmu.py",
         Path(__file__).parent.parent.parent / "component-model" / "src" / "component_model",
     )
     shutil.copy(
         Path(__file__).parent.parent.parent / "component-model" / "examples" / "HarmonicOscillator6D.fmu",
-        Path(__file__).parent.parent / "src" / "py_crane" / "examples",
+        Path(__file__).parent.parent / "examples",
     )
 
 
 def make_mobile_crane_straight():
     fmu = make_fmu(
         Path(__file__).parent.parent / "examples",
-        "mobile_crane.py",
+        Path(__file__).parent.parent / "src" / "py_crane" / "mobile_crane.py",
         Path(__file__).parent.parent / "src" / "py_crane",
-        newargs={"pedestalCoM": (0.5, 0, 0), "boomAngle": "0 deg", "wire_length": "5 m"},
+        newargs={"pedestalCoM": (0.5, 0, 0), "boomAngle": "0 deg", "wire_length": 5},
     )
     shutil.copy(fmu, fmu.parent / "MobileCraneStraight.fmu")
 
@@ -81,11 +84,23 @@ def oscillator_fmu():
 
 
 def _get_fmu(fmu_file: str) -> Path:
-    fmu = Path(__file__).parent.parent / "examples" / fmu_file
+    # First assume that the FMU is in the current working directory, which is expected to be the 'test_working_directory' folder.
+    # If not found there, look in the 'examples' folder.
+    fmu = Path.cwd() / fmu_file
+    if not fmu.exists():
+        fmu = Path(__file__).parent.parent / "examples" / fmu_file
     assert fmu.exists(), f"{fmu_file} file expected at {fmu}. Not found."
     return fmu
 
 
+def _boom(b: Boom, idx: int, x: float | None = None) -> float:
+    """Move boom 'b', or return current setting. Used as partial() to define Control."""
+    if x is not None:
+        arg = [None if i != idx else x for i in range(3)]
+        b.boom_setter(arg)
+    return b.boom[idx]
+
+
 # def test_visual_simulation_1():
 #     sim = VisualSimulator()
 #     sim.start(
@@ -180,21 +195,21 @@ def calc_force(t: float, x: np.ndarray, v: np.ndarray, crane: Any, dt: float | N
 
     crane = Crane()
     _ = crane.add_boom(
-        name="pedestal",
+        "pedestal",
         description="The crane base, on one side fixed to the vessel and on the other side the first crane boom is fixed to it. The mass should include all additional items fixed to it, like the operator's cab",
         mass=pM,
         mass_center=pCoM,
         boom=(pH, 0, 0),
     )
     _ = crane.add_boom(
-        name="boom",
+        "boom",
         description="The first boom. Can be lifted",
         mass=bM,
         mass_center=0.5,
         boom=(bL, bA, 0),
     )
     _ = crane.add_boom(
-        name="wire",
+        "wire",
         description="The wire fixed to the last boom. Flexible connection",
         mass=wM,  # so far basically the hook
         mass_rng=(50, 2000),
@@ -281,32 +296,29 @@ def movement(crane: Crane, dt: float, t_end: float) -> Generator[tuple[float, Cr
         """
         # initial definition of controls and start values
         controls = Controls(limit_err=logging.WARNING)  # CRITICAL)
-        f, p, b1, r = list(crane.booms())
-        controls.append(
-            "turn", (None, (-0.31, 0.31), (-1, 1))
-        )  # (-0.16, 0.16)))  # free rotation, max 1 turn/20sec, 2sec to max
-        controls.append("luff", ((0, 1.58), (-0.18, 0.09), (-0.09, 0.05)))  # 90 deg, 5/-2.5 deg/sec, 2sec to max
-        controls.append("boom", ((8, 50), (-0.2, 0.1), (-0.1, 0.05)))  # 8m..50m, 0.1/-0.2 m/sec, 2sec to max
-        controls.append("wire", ((0.5, 50), (-0.1, 1.0), (-0.05, 0.1)))  # 0.5m..50m, -0.1/1 m/sec, 2sec to max
-        f, p, b1, r = list(crane.booms())
-        controls.current[2][0] = 8.0  # b1 starts with 8m
-        controls.current[1][0] = np.radians(90)  # b1 starts at 90 deg
-        controls.current[3][0] = 0.5  # wire length starts 0.5m
+        f, p, b1, w = list(crane.booms())
+        assert isinstance(w, Wire)
+        w.additional_checks = True
+        controls.extend(
+            (
+                Control("turn", (None, (-0.31, 0.31), (-1, 1)), rw=partial(_boom, p, 2)),
+                Control("luff", ((0, 1.58), (-0.18, 0.09), (-0.09, 0.05)), rw=partial(_boom, b1, 1)),
+                Control("boom", ((8, 50), (-0.7, 0.5), (-0.1, 0.05)), rw=partial(_boom, b1, 0)),
+                Control("wire", ((0.5, 50), (-0.1, 1.0), (-0.4, 0.5)), rw=partial(_boom, w, 0)),
+            )
+        )
 
         # From time 0 we set three goals
-        controls.setgoal("turn", 0, np.radians(90), 0.0)  # turn pedestal 90 deg
-        # controls.setgoal("luff", 0, np.radians(45), 0.0)  # luff boom to 45 deg
-        # controls.setgoal("boom", 1, 0.1, 0.0)  # increase length 0.1m/s
+        controls["wire"].setgoal(0, 7.0)  # wire length increase to 9m
+        controls["turn"].setgoal(0, np.radians(90))  # turn pedestal 90 deg
+        controls["luff"].setgoal(0, np.radians(45))  # luff boom to 45 deg
+        controls["boom"].setgoal(0, 12.0)  # increase length  to 15m (0.1m/s)
         for time in np.linspace(0.0, t_end, int(t_end / dt) + 1):
-            # if time > 10 and controls.goals[3] is None:  # Start to increase wire length with 1m/s
-            #    controls.setgoal("wire", 1, 1.0, 10.0)
+            # if abs(time-10.0)<0.5*dt:  # Stop wire length increase
+            #    controls["wire"].setgoal(1, 0.0) # wire length increase with 1m/s
             controls.step(time, dt)
-            if controls.goals[3] is not None:
-                r.boom_setter((controls.current[3][0], None, None))
-            if controls.goals[1] is not None or controls.goals[2] is not None:
-                b1.boom_setter((controls.current[2][0], controls.current[1][0], None))
-            if controls.goals[0] is not None:
-                p.boom_setter((None, None, controls.current[0][0]))
+            # if time > 7.2:
+            #    print(f"w.additional:{w.additional_checks}")
             crane.do_step(time, dt)  # takes updated force, x and v and calculates updated x and v
             # crane.boom0.translate(-crane.boom0.origin)
             yield (time + dt, crane)
@@ -318,7 +330,7 @@ def movement(crane: Crane, dt: float, t_end: float) -> Generator[tuple[float, Cr
         m=1e7, bL=8.0, wL=1.0, wM=1000.0, wQ=10000
     )  # define a default crane on spring
 
-    ani = AnimateCrane(crane, movement=movement, dt=0.01, t_end=1.2, interval=10, osc=osc)  # type: ignore  ## It is a Generator!
+    ani = AnimateCrane(crane, movement=movement, dt=0.01, t_end=15, interval=10)  # type: ignore  ## It is a Generator!
     ani.do_animation()
 
 
@@ -329,10 +341,9 @@ def movement(crane: Crane, dt: float, t_end: float) -> Generator[tuple[float, Cr
     'test_mobile_crane_*.py' for the crane
     'test_oscillator_6dof_fmu.py' from the component-model package for the oscillator
     """
-    retcode = pytest.main(["-rA", "-v", "--rootdir", "../", "--show", "False", __file__])
+    retcode = 0  # pytest.main(["-rA", "-v", "--rootdir", "../", "--show", "False", __file__])
     assert retcode == 0, f"Non-zero return code {retcode}"
-    # make_fmus()
-    # make_mobile_crane_straight()
-    # test_mobilecrane(show=True)
+    make_fmus()
+    make_mobile_crane_straight()
     # test_crane_on_spring( show=True)
-    # test_controlled_crane_on_spring(show=True)
+    test_controlled_crane_on_spring(show=True)
diff --git a/tests/test_enum.py b/tests/test_enum.py
index 8794ecd..281f226 100644
--- a/tests/test_enum.py
+++ b/tests/test_enum.py
@@ -1,4 +1,4 @@
-from py_crane.enum import Change
+from py_crane.enums import Change
 
 
 def test_types():
diff --git a/tests/test_mobile_crane_FMU.py b/tests/test_mobile_crane_FMU.py
index 6fef968..de9f163 100644
--- a/tests/test_mobile_crane_FMU.py
+++ b/tests/test_mobile_crane_FMU.py
@@ -143,7 +143,7 @@ def test_vals(v: Variable, k: int, val: float, rng: tuple[float, float], typ: ty
 # @pytest.mark.skip("Run the FMU")
 def test_run_mobilecrane_static(mobile_crane_fmu: Path, show: bool = False):
     """Load the FMU and run it using fmpy."""
-    print("Start simulation")
+    logger.info("Start simulation")
     result = simulate_fmu(  # static run
         str(mobile_crane_fmu),
         stop_time=0.1,
diff --git a/tests/test_working_directory/.gitignore b/tests/test_working_directory/.gitignore
index 1be5c5b..a604d11 100644
--- a/tests/test_working_directory/.gitignore
+++ b/tests/test_working_directory/.gitignore
@@ -1 +1,4 @@
 *test*.pdf
+*.xml
+*.fmu
+*.dat
diff --git a/uv.lock b/uv.lock
index 0d7b02c..a4e7b4e 100644
--- a/uv.lock
+++ b/uv.lock
@@ -33,20 +33,20 @@ wheels = [
 
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+    { url = "https://files.pythonhosted.org/packages/64/b4/17d4b0b2a2dc85a6df63d1157e028ed19f90d4cd97c36717afef2bc2f395/attrs-26.1.0-py3-none-any.whl", hash = "sha256:c647aa4a12dfbad9333ca4e71fe62ddc36f4e63b2d260a37a8b83d2f043ac309", size = 67548, upload-time = "2026-03-19T14:22:23.645Z" },
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 [[package]]
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+    { url = "https://files.pythonhosted.org/packages/77/f5/21d2de20e8b8b0408f0681956ca2c69f1320a3848ac50e6e7f39c6159675/babel-2.18.0-py3-none-any.whl", hash = "sha256:e2b422b277c2b9a9630c1d7903c2a00d0830c409c59ac8cae9081c92f1aeba35", size = 10196845, upload-time = "2026-02-01T12:30:53.445Z" },
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 [[package]]
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-version = "2026.1.4"
+version = "2026.2.25"
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+sdist = { url = "https://files.pythonhosted.org/packages/af/2d/7bf41579a8986e348fa033a31cdd0e4121114f6bce2457e8876010b092dd/certifi-2026.2.25.tar.gz", hash = "sha256:e887ab5cee78ea814d3472169153c2d12cd43b14bd03329a39a9c6e2e80bfba7", size = 155029, upload-time = "2026-02-25T02:54:17.342Z" }
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+    { url = "https://files.pythonhosted.org/packages/9a/3c/c17fb3ca2d9c3acff52e30b309f538586f9f5b9c9cf454f3845fc9af4881/certifi-2026.2.25-py3-none-any.whl", hash = "sha256:027692e4402ad994f1c42e52a4997a9763c646b73e4096e4d5d6db8af1d6f0fa", size = 153684, upload-time = "2026-02-25T02:54:15.766Z" },
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