a: a_increment: b: b_increment: r1: r2: k2: theta_increment: phi_increment:
a:

first angle of rotation

0.1 10
a_increment:

speed for first angle of rotation

0.00001 0.0005
b:

second angle of rotation

0.1 10
b_increment:

speed for second angle of rotation

0.00001 0.0005