(* ::Package:: *)

Do[(c = connc[[k]]; (* Target 2 *) 
p=Table[t[[c[[i]]]],{i,1,P}];
If[k==1,v = Table[t1[[c[[i]]]], {i, 1, P}];
x2 = t[[c[[2]],1]]; 
y2 = t[[c[[2]],2]]; 
z2 = t[[c[[2]],3]];
Q = {{1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {-x2, -y2, -z2, 1}}; 
p = v.Q;
t2=t1.Q; 
p = Table[Take[p[[i]], 3], {i, 1, P}];
t2=Table[Take[t2[[i]],3],{i,1,n}]; 
T1 = ArcTan[p[[1,3]]/p[[1,2]]]; 
U = p;
U1=t2; 
T = RotationMatrix[T1, {1, 0, 0}]; 
p = U.T;
t2=U1.T; 
T2 = ArcTan[p[[1,2]]/p[[1,1]]]; 
U = p;
U3=t2; 
T = RotationMatrix[T2, {0, 0, 1}]; 
p = U.T;
t2=U3.T; 
T3 = ArcTan[p[[3,3]]/p[[3,2]]]; 
U = p;
U3=t2; 
T = RotationMatrix[T3, {1, 0, 0}]; 
p =U.T;
t2=U3.T;
t=Chop[t2]]; 
mk = ml = nk = nl = p;
If[k==2, L = u2[[c[[2]]]] + rlo;
\[Beta]=ArcSin[rlo/L];
nk[[2,1]] = nl[[2,1]] = mk[[2,1]]-L*Cos[\[Beta]];
nk[[2,2]] = mk[[2,2]]+L*Sin[\[Beta]]; 
nl[[2,2]] = mk[[2,2]]-L*Sin[\[Beta]];
tplo[[1]] = nk[[2]];
tplu[[1]] = nl[[2]]];
mk[[2,3]] = rpo[[k]]; 
ml[[2,3]] = -rpi[[k]]; 
tpo[[k]] = mk[[2]]; 
tpu[[k]] = ml[[2]]), {k,cj}];