Cleanthes [a contemporary of Aristarchus and head of the Stoics] thought it was the duty of the Greeks to indict Aristarchus of Samos on the charge of impiety for putting in motion the Hearth of the universe [i.e. the Earth], . . . supposing the heaven to remain at rest and the earth to revolve in an oblique circle, while it rotates, at the same time, about its own axis. 