How to make a propeller spin?

Hi, everyone!
I’m building a blender and I meet a question. Please run my code and open the Primary view. We can see that the blender rotates on the central axis. However, I hope the four propellers can rotate on their own while spin with the blender. How could I achieve it ?

Next is my script

import random
import math
from yade import geom, pack, utils, plot, ymport, export
import numpy as np

#particle parameters
Density = 3000
FrictionAngle = 0
PoissonRatio = 0.5
Young = 300e6
Damp = 0.7
AvgRadius1 = 0.02
N_particles1 = 15000
AvgRadius2 = 0.024
N_particles2 = 10000

#Wall constants
WDensity = 3000
WFrictionAngle = 0.0
WPoissonRatio = 0.5
WYoung = 600e7

SphereMat = O.materials.append(FrictMat(young = Young, poisson = PoissonRatio, frictionAngle = radians(FrictionAngle), density = Density))
WallMat = O.materials.append(FrictMat(young = WYoung, poisson = WPoissonRatio, frictionAngle = radians(WFrictionAngle), density = WDensity))

### tank
center = (0, 0, 0.5)
diameter = 1
height = 1
cylinder = geom.facetCylinder(center=center, radius=diameter/2, height=height, segmentsNumber=80, wallMask=6,material=WallMat)
O.bodies.append(cylinder)

### blender
## bottom beam
totallist=[]
box = utils.box((0,0,0.05),(0.45,0.015,0.015))
box.mat=O.materials[WallMat]
boxid = O.bodies.append(box)
totallist.append(boxid)

## intermediate beam
box = utils.box((0,0,0.3),(0.015,0.45,0.015))
box.mat=O.materials[WallMat]
boxid = O.bodies.append(box)
totallist.append(boxid)

box = utils.box((0.1,0.25,0.3),(0.1,0.015,0.015))
box.mat=O.materials[WallMat]
boxid = O.bodies.append(box)
totallist.append(boxid)

box = utils.box((-0.1,-0.25,0.3),(0.1,0.015,0.015))
box.mat=O.materials[WallMat]
boxid = O.bodies.append(box)
totallist.append(boxid)

## top beam
box = utils.box((0,0,0.7),(0.45,0.015,0.015))
box.mat=O.materials[WallMat]
boxid = O.bodies.append(box)
totallist.append(boxid)

box = utils.box((0.25,-0.1,0.7),(0.015,0.1,0.015))
box.mat=O.materials[WallMat]
boxid = O.bodies.append(box)
totallist.append(boxid)

box = utils.box((-0.25,0.1,0.7),(0.015,0.1,0.015))
box.mat=O.materials[WallMat]
boxid = O.bodies.append(box)
totallist.append(boxid)

## pillar
box = utils.box((0,0,0.7),(0.02,0.02,0.65))
box.mat=O.materials[WallMat]
boxid = O.bodies.append(box)
totallist.append(boxid)

## propeller 1
box = utils.box((0.25,-0.1,0.6),(0.01,0.005,0.1))
box.mat=O.materials[WallMat]
boxid = O.bodies.append(box)
totallist.append(boxid)

box = utils.box((0.34,-0.1,0.75),(0.01,0.005,0.1))
box.mat=O.materials[WallMat]
axis = (0,1,0)
angle = pi/3
box.state.ori = axis,angle
boxid = O.bodies.append(box)
totallist.append(boxid)

box = utils.box((0.34,-0.1,0.75),(0.01,0.005,0.1))
box.mat=O.materials[WallMat]
axis = (0,1,0)
angle = -pi/3
box.state.ori = axis,angle
box.state.pos = (0.16,-0.1,0.75)
boxid = O.bodies.append(box)
totallist.append(boxid)

## propeller 2
box = utils.box((-0.25,0.1,0.8),(0.01,0.005,0.1))
box.mat=O.materials[WallMat]
boxid = O.bodies.append(box)
totallist.append(boxid)

box = utils.box((-0.34,0.1,0.65),(0.01,0.005,0.1))
box.mat=O.materials[WallMat]
axis = (0,1,0)
angle = pi/3
box.state.ori = axis,angle
boxid = O.bodies.append(box)
totallist.append(boxid)

box = utils.box((-0.34,0.1,0.65),(0.01,0.005,0.1))
box.mat=O.materials[WallMat]
axis = (0,1,0)
angle = -pi/3
box.state.ori = axis,angle
box.state.pos = (-0.16,0.1,0.65)
boxid = O.bodies.append(box)
totallist.append(boxid)

## propeller 3
box = utils.box((0.1,0.25,0.2),(0.005,0.01,0.1))
box.mat=O.materials[WallMat]
boxid = O.bodies.append(box)
totallist.append(boxid)

box = utils.box((0.1,0.34,0.35),(0.005,0.01,0.1))
box.mat=O.materials[WallMat]
axis = (1,0,0)
angle = -pi/3
box.state.ori = axis,angle
boxid = O.bodies.append(box)
totallist.append(boxid)

box = utils.box((0.1,0.34,0.35),(0.005,0.01,0.1))
box.mat=O.materials[WallMat]
axis = (1,0,0)
angle = pi/3
box.state.ori = axis,angle
box.state.pos = (0.1,0.16,0.35)
boxid = O.bodies.append(box)
totallist.append(boxid)

## propeller 4
box = utils.box((-0.1,-0.25,0.4),(0.005,0.01,0.1))
box.mat=O.materials[WallMat]
boxid = O.bodies.append(box)
totallist.append(boxid)

box = utils.box((-0.1,-0.34,0.25),(0.005,0.01,0.1))
box.mat=O.materials[WallMat]
axis = (1,0,0)
angle = -pi/3
box.state.ori = axis,angle
boxid = O.bodies.append(box)
totallist.append(boxid)

box = utils.box((-0.1,-0.34,0.35),(0.005,0.01,0.1))
box.mat=O.materials[WallMat]
axis = (1,0,0)
angle = pi/3
box.state.ori = axis,angle
box.state.pos = (-0.1,-0.16,0.25)
boxid = O.bodies.append(box)
totallist.append(boxid)

totalclump = O.bodies.clump(totallist)
s1=O.bodies[-1]
s1.state.blockedDOFs='xyzXYZ'

O.engines=[
   ForceResetter(),
    InsertionSortCollider([Bo1_Sphere_Aabb(),Bo1_Box_Aabb(),Bo1_Facet_Aabb()]),
    InteractionLoop(
     [Ig2_Sphere_Sphere_ScGeom(),Ig2_Box_Sphere_ScGeom(), Ig2_Facet_Sphere_ScGeom()],
     [Ip2_FrictMat_FrictMat_FrictPhys()],
     [Law2_ScGeom_FrictPhys_CundallStrack()]
   ),
   NewtonIntegrator(gravity=(0,0,-9.8),damping=0.7),
   CombinedKinematicEngine(ids=[s1.id],comb=[RotationEngine(angularVelocity=-0.0001,rotateAroundZero=1,rotationAxis=(0,0,1),zeroPoint=(0,0,0))]),
]
O.dt=0.8*PWaveTimeStep()