diff --git a/kinova_gen3/coriolis.py b/kinova_gen3/coriolis.py deleted file mode 100644 index b9a14cc..0000000 --- a/kinova_gen3/coriolis.py +++ /dev/null @@ -1,3144 +0,0 @@ -"""Coriolis matrix for Kinova Gen3 robot - -Functions ---------- -coriolis(joint_position, joint_velocity) - -""" - -import math -import numpy as np - - -def coriolis(joint_position, joint_velocity): - """The Coriolis term of the Kinova Gen3 robot - - Arguments - --------- - joint_position (array_like): The joint angles of the robot [rad] - joint_velocity (array_like): The joint velocities of the robot [rad/s] - - Returns - ------- - ndarray: The Coriolis term of the robot - - """ - - x_0 = math.sin(joint_position[1]) - x_1 = joint_velocity[0] ** 2 - x_2 = x_0 * x_1 - x_3 = math.cos(joint_position[1]) - x_4 = 0.09958 * x_0 - x_5 = 4.4e-5 * x_3 - x_6 = -x_5 - x_7 = x_4 + x_6 - x_8 = 0.00628344 * x_1 - x_9 = math.cos(joint_position[2]) - x_10 = x_9**2 - x_11 = 0.2104 * x_10 - x_12 = math.sin(joint_position[2]) - x_13 = 0.0064 * x_3 - x_14 = x_0 * x_12 - x_15 = 0.2104 * x_14 - x_16 = -x_13 + x_15 - x_17 = x_0 * x_11 + x_12 * x_16 - x_18 = joint_velocity[0] * x_3 - x_19 = joint_velocity[1] * x_18 - x_20 = x_0**2 - x_21 = x_1 * x_20 - x_22 = 0.0064 * x_18 - x_23 = 0.2104 * joint_velocity[1] - x_22 - x_24 = joint_velocity[1] * x_23 - x_25 = 0.0032 * x_19 + 0.1052 * x_21 + 0.5 * x_24 - x_26 = 0.0118 * x_0 - x_27 = 0.0043392 * x_19 + 0.1426512 * x_21 + 0.678 * x_24 - x_28 = 0.0236 * x_0 - x_29 = 0.005952 * x_19 + 0.195672 * x_21 + 0.93 * x_24 - x_30 = 0.00744704 * x_19 + 0.24482144 * x_21 + 1.1636 * x_24 - x_31 = x_2 * x_3 - x_32 = 0.5861744 * x_31 - x_33 = x_18 * x_23 - x_34 = 0.0032 * x_1 * x_20 - 0.1052 * x_19 - 0.5 * x_33 - x_35 = 0.2104 * x_0 - x_36 = 0.0043392 * x_1 * x_20 - 0.1426512 * x_19 - 0.678 * x_33 - x_37 = 0.005952 * x_1 * x_20 - 0.195672 * x_19 - 0.93 * x_33 - x_38 = 1.1636 * x_18 - x_39 = 0.00744704 * x_1 * x_20 - 0.24482144 * x_19 - x_23 * x_38 - x_40 = x_0 * x_9 - x_41 = 0.0064 * x_40 - x_42 = 0.0128 * x_40 - x_43 = 0.006641 * x_3 - x_44 = 0.117892 * x_0 - x_45 = x_12 * x_44 + x_43 - x_46 = x_44 * x_9 + x_6 - x_47 = x_12 * x_45 + x_46 * x_9 - x_48 = joint_velocity[0] * x_0 - x_49 = joint_velocity[1] * x_48 - x_50 = 4.4e-5 * joint_velocity[1] - x_51 = 0.013278 * x_48 - x_50 - x_52 = 1.1636 * joint_velocity[1] - x_53 = joint_velocity[0] * x_5 - x_54 = -joint_velocity[0] * x_4 + x_53 - x_55 = 0.09958 * joint_velocity[1] - 0.013278 * x_18 - x_56 = 0.24482144 * x_31 - x_57 = 4.4e-5 * x_12 - x_58 = 0.006641 * x_9 - x_59 = -x_0 * x_57 - x_0 * x_58 - x_60 = 0.011255 * joint_velocity[1] - 0.000691 * x_18 - x_61 = 5.0e-6 * x_18 + 0.011088 * x_48 - x_62 = 5.0e-6 * x_48 - x_63 = -0.000691 * joint_velocity[1] + 0.001072 * x_18 + x_62 - x_64 = 5.11984e-5 * joint_velocity[1] - x_65 = x_48 * x_64 - x_66 = 0.115871288 * joint_velocity[1] - x_67 = -x_17 - x_68 = 2 * x_36 - x_69 = math.cos(joint_position[3]) - x_70 = math.sin(joint_position[3]) - x_71 = x_13 * x_70 - x_72 = x_40 * x_69 - x_73 = x_71 + 0.0064 * x_72 - x_74 = x_13 * x_69 - x_75 = x_40 * x_70 - x_76 = 0.0064 * x_75 - x_77 = 0.2084 * x_14 - x_74 + x_76 - x_78 = x_69 * x_73 + x_70 * x_77 - x_79 = x_3 * x_70 - x_80 = 0.2084 * x_9 - x_81 = x_0 * x_69 - x_82 = 0.2084 * x_79 + x_80 * x_81 - x_83 = -x_82 - x_84 = x_70 * x_73 - x_85 = x_69 * x_77 - x_86 = x_12 * x_84 - x_12 * x_85 + x_83 * x_9 - x_87 = 0.0100224 * x_1 - x_88 = 2 * x_78 - x_89 = 0.3905024 * x_31 - x_90 = -1.8e-5 * x_14 + 0.015006 * x_72 + 0.015006 * x_79 - x_91 = x_3 * x_69 - x_92 = 0.075478 * x_14 + 0.015006 * x_75 - 0.015006 * x_91 - x_93 = x_69 * x_90 + x_70 * x_92 - x_94 = joint_velocity[1] * x_12 - x_95 = joint_velocity[2] * x_94 - x_96 = x_18 * x_94 - x_97 = x_48 * x_9 - x_98 = joint_velocity[2] * x_97 - x_99 = joint_velocity[2] + x_18 - x_100 = -0.2104 * x_94 + 0.2104 * x_97 - x_101 = x_100 * x_99 - x_102 = joint_velocity[1] * x_9 - x_103 = x_12 * x_48 - x_104 = x_102 + x_103 - x_105 = -x_104 - x_106 = 0.0064 * x_94 - x_107 = -x_106 + 0.0064 * x_97 - x_108 = x_105 * x_107 - x_109 = ( - -0.5 * x_101 - + 0.5 * x_108 - + 0.0032 * x_49 - - 0.1052 * x_95 - + 0.1052 * x_96 - + 0.1052 * x_98 - ) - x_110 = 0.0054 * x_3 - x_111 = x_110 * x_9 - x_112 = ( - -0.678 * x_101 - + 0.678 * x_108 - + 0.0043392 * x_49 - - 0.1426512 * x_95 - + 0.1426512 * x_96 - + 0.1426512 * x_98 - ) - x_113 = x_112 * x_9 - x_114 = 0.0108 * x_3 - x_115 = ( - -0.93 * x_101 - + 0.93 * x_108 - + 0.005952 * x_49 - - 0.195672 * x_95 - + 0.195672 * x_96 - + 0.195672 * x_98 - ) - x_116 = joint_velocity[2] * x_102 - x_117 = joint_velocity[2] * x_103 - x_118 = -x_94 + x_97 - x_119 = -0.0064 * joint_velocity[2] + 0.2104 * x_102 + 0.2104 * x_103 - x_22 - x_120 = ( - 0.1052 * joint_velocity[0] * joint_velocity[1] * x_3 * x_9 - - 0.5 * x_107 * x_118 - - 0.1052 * x_116 - - 0.1052 * x_117 - + 0.5 * x_119 * x_99 - ) - x_121 = 0.2104 * x_40 - x_122 = x_110 * x_12 - x_123 = x_107 * x_118 - x_124 = ( - 0.1426512 * joint_velocity[0] * joint_velocity[1] * x_3 * x_9 - - 0.1426512 * x_116 - - 0.1426512 * x_117 - + 0.678 * x_119 * x_99 - - 0.678 * x_123 - ) - x_125 = 0.4208 * x_40 - x_126 = x_114 * x_12 - x_127 = ( - 0.195672 * joint_velocity[0] * joint_velocity[1] * x_3 * x_9 - - 0.195672 * x_116 - - 0.195672 * x_117 - + 0.93 * x_119 * x_99 - - 0.93 * x_123 - ) - x_128 = ( - 0.0032 * joint_velocity[0] * joint_velocity[1] * x_3 * x_9 - + 0.5 * x_100 * x_118 - - 0.5 * x_105 * x_119 - - 0.0032 * x_116 - - 0.0032 * x_117 - ) - x_129 = x_105 * x_119 - x_130 = ( - 0.0043392 * joint_velocity[0] * joint_velocity[1] * x_3 * x_9 - + 0.678 * x_100 * x_118 - - 0.0043392 * x_116 - - 0.0043392 * x_117 - - 0.678 * x_129 - ) - x_131 = ( - 0.005952 * joint_velocity[0] * joint_velocity[1] * x_3 * x_9 - + 0.93 * x_100 * x_118 - - 0.005952 * x_116 - - 0.005952 * x_117 - - 0.93 * x_129 - ) - x_132 = 2 * x_112 - x_133 = -x_13 * x_9 + x_15 - x_134 = x_70 * x_90 - x_135 = x_69 * x_92 - x_136 = 1.8e-5 * x_9 - x_137 = x_136 * x_70 - x_138 = 0.075478 * x_9 - x_139 = x_0 * x_137 + x_138 * x_81 - 1.8e-5 * x_3 * x_69 + 0.075478 * x_79 - x_140 = -x_139 - x_141 = x_12 * x_134 - x_12 * x_135 + x_140 * x_9 - x_142 = 0.005022 * x_1 - x_143 = x_12 * x_13 + x_121 - x_144 = math.cos(joint_position[4]) - x_145 = x_144 * x_9 - x_146 = math.sin(joint_position[4]) - x_147 = x_12 * x_146 - x_148 = x_147 * x_69 - x_149 = -x_145 + x_148 - x_150 = -x_149 - x_151 = x_144 * x_79 - x_152 = x_144 * x_69 * x_9 - x_147 - x_153 = x_0 * x_152 - x_154 = 0.1059 * x_151 + 0.1059 * x_153 - x_155 = x_146 * x_9 - x_156 = x_12 * x_144 - x_157 = x_156 * x_69 - x_158 = x_155 + x_157 - x_159 = x_155 * x_69 - x_160 = x_156 + x_159 - x_161 = -x_160 - x_162 = x_0 * x_161 - x_163 = 0.1059 * x_146 * x_3 * x_70 - 0.1059 * x_162 - x_164 = 0.0063612 * x_1 - x_165 = 2 * x_124 - x_166 = 0.195672 * x_31 - x_167 = x_146 * x_154 - x_168 = x_144 * x_163 * x_70 - x_167 * x_70 - x_169 = 0.2478512 * x_31 - x_170 = 0.1371791312 * joint_velocity[2] - x_171 = ( - joint_velocity[0] * x_43 - + 0.006641 * joint_velocity[2] - + 0.117892 * x_102 - + 0.117892 * x_103 - ) - x_172 = 1.1636 * x_99 - x_173 = 0.006641 * joint_velocity[1] * x_12 - x_48 * x_57 - x_48 * x_58 - x_50 * x_9 - x_174 = ( - -x_102 * x_170 - + 0.1371791312 * x_102 * x_18 - - x_103 * x_170 - - 1.1636 * x_118 * x_173 - + x_171 * x_172 - + x_65 - ) - x_175 = x_12 * x_174 - x_176 = ( - 0.117892 * joint_velocity[0] * x_0 * x_9 - - 4.4e-5 * joint_velocity[2] - - x_53 - - 0.117892 * x_94 - ) - x_177 = ( - 0.1371791312 * joint_velocity[0] * joint_velocity[1] * x_12 * x_3 - + 0.1371791312 * joint_velocity[0] * joint_velocity[2] * x_0 * x_9 - + 1.1636 * x_105 * x_173 - - x_170 * x_94 - - x_172 * x_176 - - 0.0077274676 * x_49 - ) - x_178 = x_177 * x_9 - x_179 = joint_velocity[2] * x_118 - x_180 = 7.0e-6 * joint_velocity[2] - x_181 = 7.0e-6 * x_18 - x_182 = 0.010932 * joint_velocity[0] * x_0 * x_9 - x_180 - x_181 - 0.010932 * x_94 - x_183 = ( - 0.001043 * joint_velocity[0] * x_3 - + 7.0e-6 * joint_velocity[1] * x_12 - + 0.001043 * joint_velocity[2] - - 0.000606 * x_102 - - 0.000606 * x_103 - - 7.0e-6 * x_97 - ) - x_184 = ( - -x_118 * x_183 - - 0.011127 * x_179 - + x_182 * x_99 - - 0.000606 * x_49 - - 0.011127 * x_96 - ) - x_185 = x_102 * x_18 - x_186 = joint_velocity[2] * x_105 - x_187 = ( - 0.000606 * joint_velocity[0] * x_3 - + 0.000606 * joint_velocity[2] - - 0.011127 * x_102 - - 0.011127 * x_103 - ) - x_188 = ( - x_105 * x_183 - + 0.010932 * x_185 - + 0.010932 * x_186 - - x_187 * x_99 - + 7.0e-6 * x_49 - ) - x_189 = ( - 0.0077274676 * joint_velocity[0] * joint_velocity[2] * x_0 * x_12 - + 5.11984e-5 * joint_velocity[1] * joint_velocity[2] * x_12 - + 0.0077274676 * joint_velocity[1] * joint_velocity[2] * x_9 - - 1.1636 * x_105 * x_171 - + 1.1636 * x_118 * x_176 - - 0.0077274676 * x_185 - - 5.11984e-5 * x_96 - - 5.11984e-5 * x_98 - ) - x_190 = -x_158 - x_191 = x_149 * x_154 + x_163 * x_190 - x_192 = x_69 * x_77 - x_84 - x_193 = x_146 * x_79 - x_194 = x_0 * x_160 - x_195 = 0.1059 * x_193 + 0.1059 * x_194 - x_196 = math.cos(joint_position[5]) - x_197 = x_155 * x_196 - x_198 = math.sin(joint_position[5]) - x_199 = x_198 * x_70 - x_200 = x_144 * x_196 * x_69 - x_199 - x_201 = x_12 * x_200 - x_202 = x_197 + x_201 - x_203 = x_198 * x_69 - x_204 = x_196 * x_70 - x_205 = x_144 * x_204 - x_206 = x_203 + x_205 - x_207 = x_206 * x_3 - x_208 = x_147 * x_196 - x_209 = x_200 * x_9 - x_210 = -x_208 + x_209 - x_211 = x_0 * x_210 - x_212 = 0.1059 * x_207 + 0.1059 * x_211 - x_213 = -x_212 - x_214 = 0.0027 * x_1 - x_215 = x_146 * x_213 - x_216 = x_195 * x_206 + x_215 * x_70 - x_217 = 0.000606 * joint_velocity[2] * x_118 - x_218 = x_105 * x_180 - x_219 = x_105 * x_182 - x_220 = 0.1052 * x_31 - x_221 = x_144 * x_154 + x_146 * x_163 - x_222 = x_144 * x_163 * x_69 - x_167 * x_69 - x_223 = -x_202 - x_224 = x_195 * x_196 - x_225 = x_144 * x_213 - x_146 * x_224 - x_226 = 0.063883 * x_151 + 0.063883 * x_153 - 1.0e-6 * x_75 + 1.0e-6 * x_91 - x_227 = ( - 0.063883 * x_146 * x_3 * x_70 - - 0.063883 * x_162 - + 0.009432 * x_3 * x_69 - - 0.009432 * x_75 - ) - x_228 = x_144 * x_226 + x_146 * x_227 - x_229 = 0.009432 * x_144 - x_230 = ( - 1.0e-6 * x_146 * x_3 * x_70 - 0.009432 * x_153 - 1.0e-6 * x_162 - x_229 * x_79 - ) - x_231 = x_230 * x_70 - x_232 = x_12 * x_231 - x_233 = 0.0036612 * x_1 - x_234 = x_146 * x_226 - x_235 = x_144 * x_227 * x_70 + x_230 * x_69 - x_234 * x_70 - x_236 = 0.1426512 * x_31 - x_237 = 0.0054 * x_9 - x_238 = x_237 * x_79 + 0.0054 * x_81 - x_239 = joint_velocity[2] * x_69 - x_240 = joint_velocity[3] * x_239 - x_241 = x_102 * x_239 - x_242 = x_70 * x_94 - x_243 = joint_velocity[3] * x_242 - x_244 = joint_velocity[1] * x_0 - x_245 = x_244 * x_70 - x_246 = joint_velocity[0] * ( - joint_velocity[1] * x_3 * x_69 * x_9 - + joint_velocity[3] * x_3 * x_69 - - joint_velocity[3] * x_75 - - x_14 * x_239 - - x_245 - ) - x_247 = joint_velocity[3] + x_104 - x_248 = x_3 * x_69 - x_75 - x_249 = joint_velocity[0] * x_248 - x_250 = ( - 0.2084 * joint_velocity[0] * x_0 * x_12 - + 0.2084 * joint_velocity[1] * x_9 - + 0.2084 * joint_velocity[3] - - x_106 * x_70 - - 0.0064 * x_239 - - 0.0064 * x_249 - ) - x_251 = joint_velocity[2] * x_70 - x_252 = x_69 * x_94 - x_253 = x_72 + x_79 - x_254 = joint_velocity[0] * x_253 - x_255 = x_251 - x_252 + x_254 - x_256 = 0.2084 * joint_velocity[1] * x_12 * x_69 - 0.2084 * x_251 - 0.2084 * x_254 - x_257 = ( - 0.0032 * x_240 - - 0.0032 * x_241 - + 0.0032 * x_243 - + 0.0032 * x_246 - + 0.5 * x_247 * x_250 - - 0.5 * x_255 * x_256 - ) - x_258 = 0.678 * x_247 - x_259 = ( - 0.0043392 * x_240 - - 0.0043392 * x_241 - + 0.0043392 * x_243 - + 0.0043392 * x_246 - + x_250 * x_258 - - 0.678 * x_255 * x_256 - ) - x_260 = 2 * x_259 - x_261 = -x_106 * x_69 + 0.0064 * x_251 + 0.0064 * x_254 - x_262 = x_239 + x_242 + x_249 - x_263 = ( - 0.1412952 * joint_velocity[1] * joint_velocity[2] * x_69 * x_9 - - 0.1412952 * x_240 - - 0.1412952 * x_243 - - 0.1412952 * x_246 - - 0.678 * x_250 * x_262 - + 0.678 * x_255 * x_261 - ) - x_264 = ( - 0.1042 * joint_velocity[1] * joint_velocity[2] * x_69 * x_9 - - 0.1042 * x_240 - - 0.1042 * x_243 - - 0.1042 * x_246 - - 0.5 * x_250 * x_262 - + 0.5 * x_255 * x_261 - ) - x_265 = 0.0054 * x_0 * x_70 - x_266 = -x_237 * x_91 + x_265 - x_267 = x_102 * x_251 - x_268 = joint_velocity[3] * x_252 - x_269 = ( - joint_velocity[2] * x_0 * x_12 * x_70 - - joint_velocity[3] * x_72 - - joint_velocity[3] * x_79 - - x_102 * x_79 - - x_244 * x_69 - ) - x_270 = joint_velocity[0] * x_269 - x_271 = ( - 0.1042 * joint_velocity[0] * joint_velocity[1] * x_12 * x_3 - + 0.1042 * joint_velocity[0] * joint_velocity[2] * x_0 * x_9 - + 0.0032 * joint_velocity[2] * joint_velocity[3] * x_70 - - 0.5 * x_247 * x_261 - + 0.5 * x_256 * x_262 - - 0.0032 * x_267 - - 0.0032 * x_268 - - 0.0032 * x_270 - - 0.1042 * x_95 - ) - x_272 = -x_15 * x_70 + x_71 * x_9 + 0.0064 * x_81 - x_273 = ( - 0.1412952 * joint_velocity[0] * joint_velocity[1] * x_12 * x_3 - + 0.1412952 * joint_velocity[0] * joint_velocity[2] * x_0 * x_9 - + 0.0043392 * joint_velocity[2] * joint_velocity[3] * x_70 - + 0.678 * x_256 * x_262 - - x_258 * x_261 - - 0.0043392 * x_267 - - 0.0043392 * x_268 - - 0.0043392 * x_270 - - 0.1412952 * x_95 - ) - x_274 = 2 * x_273 - x_275 = 0.0064 * x_0 * x_69 * x_9 - x_16 * x_70 - x_276 = -x_143 - x_277 = x_195 * x_198 - x_278 = 2 * x_263 - x_279 = x_16 * x_69 - x_280 = x_279 + x_76 - x_281 = 0.0064 * x_0 * x_70 - x_282 = x_15 * x_69 + x_281 - x_74 * x_9 - x_283 = ( - 0.015006 * joint_velocity[0] * x_253 - + 0.015006 * joint_velocity[2] * x_70 - - 1.8e-5 * joint_velocity[3] - - 1.8e-5 * x_102 - - 1.8e-5 * x_103 - - 0.015006 * x_252 - ) - x_284 = 0.93 * x_247 - x_285 = 1.8e-5 * x_70 - x_286 = 0.075478 * x_69 - x_287 = ( - 1.8e-5 * x_239 - + 1.8e-5 * x_249 - - 0.075478 * x_251 - - 0.075478 * x_254 - + x_285 * x_94 - + x_286 * x_94 - ) - x_288 = ( - 0.07019454 * joint_velocity[0] * joint_velocity[1] * x_12 * x_3 - + 0.07019454 * joint_velocity[0] * joint_velocity[2] * x_0 * x_9 - + 0.01395558 * joint_velocity[2] * joint_velocity[3] * x_70 - + 0.93 * x_262 * x_287 - - 0.01395558 * x_267 - - 0.01395558 * x_268 - - 0.01395558 * x_270 - - x_283 * x_284 - - 0.07019454 * x_95 - ) - x_289 = ( - 0.075478 * joint_velocity[0] * x_0 * x_12 - + 0.075478 * joint_velocity[1] * x_9 - + 0.075478 * joint_velocity[3] - - 0.015006 * x_239 - - 0.015006 * x_242 - - 0.015006 * x_249 - ) - x_290 = ( - 0.01395558 * x_240 - - 0.01395558 * x_241 - + 0.01395558 * x_243 - + 0.01395558 * x_246 - - 0.93 * x_255 * x_287 - + x_284 * x_289 - + 1.674e-5 * x_95 - - 1.674e-5 * x_96 - - 1.674e-5 * x_98 - ) - x_291 = x_144 * x_163 - x_167 - x_292 = joint_velocity[3] * x_146 - x_293 = x_144 * x_251 - x_294 = joint_velocity[1] * x_190 - x_295 = x_151 + x_153 - x_296 = joint_velocity[0] * x_295 - x_297 = -x_292 + x_293 + x_294 + x_296 - x_298 = -0.1059 * x_292 + 0.1059 * x_293 + 0.1059 * x_294 + 0.1059 * x_296 - x_299 = x_297 * x_298 - x_300 = joint_velocity[3] * x_144 - x_301 = x_146 * x_251 - x_302 = joint_velocity[1] * x_149 - x_303 = x_162 - x_193 - x_304 = joint_velocity[0] * x_303 - x_305 = -x_300 - x_301 + x_302 + x_304 - x_306 = ( - 0.1059 * joint_velocity[2] * x_146 * x_70 - + 0.1059 * joint_velocity[3] * x_144 - - 0.1059 * x_302 - - 0.1059 * x_304 - ) - x_307 = 0.5 * x_306 - x_308 = 0.5 * x_299 - x_305 * x_307 - x_309 = 0.678 * x_305 - x_310 = 0.678 * x_299 - x_306 * x_309 - x_311 = -x_221 - x_312 = 0.0054 * x_0 * x_144 * x_70 - x_110 * x_152 - x_313 = joint_velocity[4] * x_292 - x_314 = joint_velocity[3] * x_70 - x_315 = ( - joint_velocity[2] * x_156 - + joint_velocity[4] * x_155 - + joint_velocity[4] * x_157 - - x_147 * x_314 - + x_155 * x_239 - ) - x_316 = joint_velocity[1] * x_315 - x_317 = joint_velocity[4] + x_262 - x_318 = x_298 * x_317 - x_319 = x_146 * x_245 - x_320 = x_292 * x_91 - x_321 = joint_velocity[4] * x_151 - x_322 = joint_velocity[1] * x_3 - x_323 = ( - -joint_velocity[2] * x_145 - - joint_velocity[4] * x_145 * x_69 - + joint_velocity[4] * x_147 - + x_147 * x_239 - + x_155 * x_314 - ) - x_324 = joint_velocity[0] * (x_0 * x_323 + x_161 * x_322 + x_319 - x_320 - x_321) - x_325 = ( - 0.0718002 * joint_velocity[2] * joint_velocity[3] * x_146 * x_69 - + 0.0718002 * joint_velocity[2] * joint_velocity[4] * x_144 * x_70 - - 0.0718002 * x_313 - - 0.0718002 * x_316 - - 0.678 * x_318 - - 0.0718002 * x_324 - ) - x_326 = 0.05295 * x_313 - x_327 = ( - 0.05295 * joint_velocity[2] * joint_velocity[3] * x_146 * x_69 - + 0.05295 * joint_velocity[2] * joint_velocity[4] * x_144 * x_70 - - 0.05295 * x_316 - - 0.5 * x_318 - - 0.05295 * x_324 - - x_326 - ) - x_328 = joint_velocity[4] * x_300 - x_329 = x_239 * x_300 - x_330 = joint_velocity[4] * x_301 - x_331 = ( - joint_velocity[2] * x_147 - - joint_velocity[4] * x_145 - + joint_velocity[4] * x_148 - - x_145 * x_239 - + x_156 * x_314 - ) - x_332 = 0.05295 * joint_velocity[1] - x_333 = ( - -joint_velocity[4] * x_193 - + x_0 - * ( - -joint_velocity[2] * x_155 - - joint_velocity[4] * x_156 - - joint_velocity[4] * x_159 - - x_145 * x_314 - - x_156 * x_239 - ) - - x_144 * x_245 - + x_152 * x_322 - + x_300 * x_91 - ) - x_334 = 0.05295 * joint_velocity[0] - x_335 = ( - x_307 * x_317 - - 0.05295 * x_328 - + 0.05295 * x_329 - - 0.05295 * x_330 - + x_331 * x_332 - + x_333 * x_334 - ) - x_336 = joint_velocity[1] * x_331 - x_337 = 0.678 * x_317 - x_338 = joint_velocity[0] * x_333 - x_339 = ( - x_306 * x_337 - - 0.0718002 * x_328 - + 0.0718002 * x_329 - - 0.0718002 * x_330 - + 0.0718002 * x_336 - + 0.0718002 * x_338 - ) - x_340 = x_146 * x_265 - x_341 = -x_110 * x_161 - x_340 - x_342 = 0.0005 * joint_velocity[3] - x_343 = 0.0005 * x_102 - x_344 = 1.0e-6 * x_251 - x_345 = ( - 0.000631 * joint_velocity[0] * x_248 - + 1.0e-6 * joint_velocity[1] * x_12 * x_69 - + 0.000631 * joint_velocity[1] * x_12 * x_70 - + 0.000631 * joint_velocity[2] * x_69 - - 0.0005 * x_103 - - 1.0e-6 * x_254 - - x_342 - - x_343 - - x_344 - ) - x_346 = 1.0e-6 * x_239 - x_347 = 1.0e-6 * x_242 + 1.0e-6 * x_249 + x_346 - x_348 = ( - 0.008147 * joint_velocity[0] * x_253 - + 0.008147 * joint_velocity[2] * x_70 - - 0.008147 * x_252 - - x_347 - ) - x_349 = x_105 * x_251 - x_350 = x_49 * x_69 - x_351 = ( - 0.008316 * x_179 - + x_18 * x_343 * x_70 - + x_255 * x_342 - + x_255 * x_345 - - x_262 * x_348 - + 0.0005 * x_349 - + 0.0005 * x_350 - ) - x_352 = x_351 + 0.008316 * x_96 - x_353 = x_144 * x_279 + x_145 * x_281 + x_155 * x_35 - x_354 = joint_velocity[3] * x_251 - x_355 = ( - 1.674e-5 * joint_velocity[0] * x_269 - + 0.07019454 * joint_velocity[1] * joint_velocity[2] * x_69 * x_9 - + 1.674e-5 * joint_velocity[1] * joint_velocity[2] * x_70 * x_9 - + 1.674e-5 * joint_velocity[1] * joint_velocity[3] * x_12 * x_69 - - 0.07019454 * x_240 - - 0.07019454 * x_243 - - 0.07019454 * x_246 - + 0.93 * x_255 * x_283 - - 0.93 * x_262 * x_289 - - 1.674e-5 * x_354 - ) - x_356 = -x_145 * x_35 + x_146 * x_279 + x_155 * x_281 - x_357 = -x_356 - x_358 = x_146 * x_83 - x_359 = x_144 * x_77 - x_358 - x_360 = 0.0064 * x_0 * x_144 * x_70 - x_13 * x_152 - x_190 * x_35 - x_361 = x_144 * x_83 + x_146 * x_77 - x_362 = -x_361 - x_363 = x_146 * x_281 - x_364 = -x_13 * x_161 - x_149 * x_35 - x_363 - x_365 = 1.0e-6 * x_69 - x_366 = x_185 * x_70 - x_367 = x_105 * x_239 - x_368 = joint_velocity[3] * x_262 - x_369 = joint_velocity[3] * x_255 - x_370 = ( - 0.008316 * joint_velocity[0] * x_0 * x_12 - + 0.008316 * joint_velocity[1] * x_9 - + 0.008316 * joint_velocity[3] - - 0.0005 * x_239 - - 0.0005 * x_242 - - 0.0005 * x_249 - ) - x_371 = ( - x_105 * x_344 - + 0.008147 * x_185 * x_69 - - x_247 * x_345 - + x_262 * x_370 - + x_365 * x_49 - + 1.0e-6 * x_366 - + 0.008147 * x_367 - + 0.008147 * x_368 - + 1.0e-6 * x_369 - - 0.008147 * x_49 * x_70 - ) - x_372 = x_144 * x_199 - x_373 = x_196 * x_69 - x_372 - x_374 = 1.0e-6 * x_146 - x_375 = 1.0e-6 * x_194 + 0.00965 * x_207 + 0.00965 * x_211 + x_374 * x_79 - x_376 = x_3 * x_373 - x_377 = x_147 * x_198 - x_378 = x_144 * x_203 - x_379 = -x_204 - x_378 - x_380 = x_379 * x_9 - x_381 = x_377 + x_380 - x_382 = x_0 * x_381 - x_383 = ( - 0.045483 * x_0 * x_160 - + 0.045483 * x_146 * x_3 * x_70 - - 0.00965 * x_376 - - 0.00965 * x_382 - ) - x_384 = 0.045483 * x_207 + 0.045483 * x_211 + 1.0e-6 * x_376 + 1.0e-6 * x_382 - x_385 = -x_384 - x_386 = x_146 * x_385 - x_387 = x_206 * x_383 + x_373 * x_375 + x_386 * x_70 - x_388 = ( - 1.0e-6 * joint_velocity[0] * joint_velocity[1] * x_0 * x_70 - - x_105 * x_346 - - 0.0005 * x_179 - - x_185 * x_365 - + x_247 * x_348 - - x_255 * x_370 - - 0.000631 * x_349 - - 0.000631 * x_350 - - 0.000631 * x_366 - - 1.0e-6 * x_368 - - 0.000631 * x_369 - - 0.0005 * x_96 - ) - x_389 = x_12 * x_379 - x_390 = -x_146 * x_198 * x_9 + x_389 - x_391 = x_196 * x_375 + x_198 * x_383 - x_392 = x_198 * x_375 - x_393 = x_196 * x_383 - x_394 = x_144 * x_385 + x_146 * x_392 - x_146 * x_393 - x_395 = -x_390 - x_396 = joint_velocity[1] * x_150 - x_397 = x_193 + x_194 - x_398 = joint_velocity[0] * x_397 - x_399 = joint_velocity[5] + x_300 + x_301 + x_396 + x_398 - x_400 = ( - 0.1059 * joint_velocity[5] - + 0.1059 * x_300 - + 0.1059 * x_301 - + 0.1059 * x_396 - + 0.1059 * x_398 - ) - x_401 = joint_velocity[4] * x_198 - x_402 = x_196 * x_292 - x_403 = joint_velocity[2] * x_206 - x_404 = joint_velocity[1] * x_223 - x_405 = x_207 + x_211 - x_406 = joint_velocity[0] * x_405 - x_407 = x_401 - x_402 + x_403 + x_404 + x_406 - x_408 = ( - 0.1059 * joint_velocity[3] * x_146 * x_196 - - 0.1059 * x_401 - - 0.1059 * x_403 - - 0.1059 * x_404 - - 0.1059 * x_406 - ) - x_409 = 0.5 * x_399 * x_400 - 0.5 * x_407 * x_408 - x_410 = x_163 * x_198 - x_411 = 0.0054 * x_0 * x_373 - x_110 * x_381 - x_412 = x_155 * x_198 - x_413 = x_16 * x_379 - x_35 * x_412 + x_373 * x_41 - x_414 = x_144 * x_77 - x_415 = x_196 * x_73 + x_198 * x_358 - x_198 * x_414 - x_416 = x_239 * x_292 - x_417 = joint_velocity[4] * x_293 - x_418 = -x_315 - x_419 = -x_0 * x_323 + x_160 * x_322 - x_319 + x_320 + x_321 - x_420 = joint_velocity[4] * x_196 - x_421 = x_198 * x_292 - x_422 = joint_velocity[2] * x_373 - x_423 = joint_velocity[1] * x_395 - x_424 = x_376 + x_382 - x_425 = joint_velocity[0] * x_424 - x_426 = x_420 + x_421 + x_422 + x_423 + x_425 - x_427 = 0.5 * x_426 - x_428 = ( - -x_326 - + x_332 * x_418 - + x_334 * x_419 - + x_408 * x_427 - + 0.05295 * x_416 - + 0.05295 * x_417 - ) - x_429 = x_163 * x_196 - x_430 = 0.0064 * x_0 * x_373 - x_13 * x_381 - x_35 * x_395 - x_431 = 0.0054 * x_0 * x_206 - x_110 * x_210 - x_432 = x_16 * x_200 + x_197 * x_35 + x_206 * x_41 - x_433 = x_198 * x_73 - x_434 = -x_196 * x_358 + x_196 * x_414 + x_433 - x_435 = 0.0064 * x_0 * x_206 - x_13 * x_210 - x_223 * x_35 - x_436 = x_144 * x_70 - x_437 = x_262 * x_300 - x_438 = 0.000256 * joint_velocity[4] - x_439 = 0.000256 * x_239 - x_440 = ( - 0.000256 * x_242 - + 0.000256 * x_249 - - 0.001607 * x_300 - - 0.001607 * x_301 - + 0.001607 * x_302 - + 0.001607 * x_304 - + x_438 - + x_439 - ) - x_441 = ( - 0.000399 * joint_velocity[4] - + 0.000399 * x_239 - + 0.000399 * x_242 - + 0.000399 * x_249 - - 0.000256 * x_300 - - 0.000256 * x_301 - + 0.000256 * x_302 - + 0.000256 * x_304 - ) - x_442 = ( - 0.001596 * joint_velocity[4] * x_305 - + 0.001596 * x_144 * x_367 - - 0.001596 * x_146 * x_179 - + 0.001596 * x_152 * x_19 - + x_305 * x_441 - - x_317 * x_440 - - 0.001596 * x_436 * x_49 - + 0.001596 * x_437 - ) - x_443 = x_144 * x_179 - x_444 = x_146 * x_367 - x_445 = x_262 * x_292 - x_446 = joint_velocity[4] * x_297 - x_447 = -0.001596 * x_292 + 0.001596 * x_293 + 0.001596 * x_294 + 0.001596 * x_296 - x_448 = ( - 0.001607 * joint_velocity[0] * joint_velocity[1] * x_0 * x_146 * x_70 - + 0.001607 * joint_velocity[0] * joint_velocity[1] * x_161 * x_3 - - x_297 * x_441 - + x_317 * x_447 - - 0.000256 * x_349 - - 0.000256 * x_350 - - 0.000256 * x_366 - - 0.000256 * x_369 - - 0.001607 * x_443 - - 0.001607 * x_444 - - 0.001607 * x_445 - - 0.001607 * x_446 - ) - x_449 = math.cos(joint_position[6]) - x_450 = x_203 * x_449 - x_451 = math.sin(joint_position[6]) - x_452 = x_146 * x_451 - x_453 = x_144 * x_196 * x_449 - x_452 - x_454 = x_453 * x_70 - x_455 = x_450 + x_454 - x_456 = x_3 * x_455 - x_457 = x_203 * x_451 - x_458 = x_146 * x_449 - x_459 = x_144 * x_451 - x_460 = x_196 * x_459 - x_461 = -x_458 - x_460 - x_462 = x_461 * x_70 - x_463 = -x_457 + x_462 - x_464 = x_196 * x_458 - x_465 = x_459 + x_464 - x_466 = x_12 * x_465 - x_467 = x_199 * x_449 - x_468 = x_453 * x_69 - x_469 = -x_467 + x_468 - x_470 = x_469 * x_9 - x_471 = -x_466 + x_470 - x_472 = x_0 * x_471 - x_473 = x_196 * x_452 - x_474 = -x_144 * x_449 + x_473 - x_475 = -x_474 - x_476 = x_12 * x_475 - x_477 = x_199 * x_451 - x_478 = x_461 * x_69 - x_479 = x_477 + x_478 - x_480 = x_479 * x_9 - x_481 = -x_476 + x_480 - x_482 = ( - 0.000281 * x_0 * x_481 - + 0.000281 * x_3 * x_463 - - 0.011402 * x_456 - - 0.011402 * x_472 - ) - x_483 = 0.000399 * x_350 - x_484 = 0.000399 * x_366 - x_485 = 0.000256 * x_443 - x_486 = 0.000399 * x_349 - x_487 = x_105 * x_146 * x_439 - x_488 = 0.000399 * x_369 - x_489 = 0.000256 * x_445 - x_490 = x_297 * x_438 - x_491 = x_305 * x_447 - x_492 = ( - 0.000256 * joint_velocity[0] * joint_velocity[1] * x_0 * x_146 * x_70 - + 0.000256 * joint_velocity[0] * joint_velocity[1] * x_161 * x_3 - + x_297 * x_440 - - x_483 - - x_484 - - x_485 - - x_486 - - x_487 - - x_488 - - x_489 - - x_490 - - x_491 - ) - x_493 = -0.000281 * x_376 - 0.000281 * x_382 + 0.029798 * x_456 + 0.029798 * x_472 - x_494 = x_3 * x_463 - x_495 = x_0 * x_481 - x_496 = ( - 0.011402 * x_0 * x_381 - + 0.011402 * x_3 * x_373 - - 0.029798 * x_494 - - 0.029798 * x_495 - ) - x_497 = x_449 * x_493 + x_451 * x_496 - x_498 = x_373 * x_482 + x_455 * x_496 + x_463 * x_493 - x_499 = x_198 * x_482 - x_500 = x_146 * x_499 - x_501 = ( - 1.0e-6 * joint_velocity[4] - - 0.063883 * x_292 - + 0.063883 * x_293 - + 0.063883 * x_294 - + 0.063883 * x_296 - + x_347 - ) - x_502 = ( - 1.0e-6 * joint_velocity[2] * x_146 * x_70 - + 1.0e-6 * joint_velocity[3] * x_144 - + 0.009432 * joint_velocity[3] * x_146 - - x_229 * x_251 - - 0.009432 * x_294 - - 0.009432 * x_296 - - 1.0e-6 * x_302 - - 1.0e-6 * x_304 - ) - x_503 = ( - 0.006394896 * x_267 - + 0.006394896 * x_268 - + 0.006394896 * x_270 - + x_309 * x_502 - - 0.043312674 * x_313 - - 0.043312674 * x_316 - - 0.678 * x_317 * x_501 - - 0.043312674 * x_324 - - 0.006394896 * x_354 - + 0.043312674 * x_416 - + 0.043312674 * x_417 - ) - x_504 = -x_110 * x_160 + x_340 - x_505 = joint_velocity[5] * x_420 - x_506 = joint_velocity[5] * x_421 - x_507 = joint_velocity[4] * x_146 - x_508 = ( - joint_velocity[3] * x_144 * x_196 * x_69 - - joint_velocity[3] * x_199 - + joint_velocity[5] * x_196 * x_69 - - joint_velocity[5] * x_372 - - x_204 * x_507 - ) - x_509 = joint_velocity[2] * x_508 - x_510 = x_196 * x_69 - x_511 = ( - -joint_velocity[3] * x_203 - - joint_velocity[5] * x_204 - - joint_velocity[5] * x_378 - - x_204 * x_300 - - x_507 * x_510 - ) - x_512 = joint_velocity[1] * ( - joint_velocity[2] * x_12 * x_146 * x_196 - - joint_velocity[2] * x_209 - + joint_velocity[5] * x_146 * x_198 * x_9 - - x_12 * x_511 - - x_145 * x_420 - ) - x_513 = joint_velocity[0] * ( - x_0 - * ( - -joint_velocity[2] * x_197 - - joint_velocity[2] * x_201 - + joint_velocity[5] * x_12 * x_146 * x_198 - - x_156 * x_420 - + x_511 * x_9 - ) - - x_206 * x_244 - + x_210 * x_322 - + x_3 * x_508 - ) - x_514 = ( - 0.05295 * joint_velocity[3] * joint_velocity[4] * x_144 * x_196 - - x_400 * x_427 - - 0.05295 * x_505 - - 0.05295 * x_506 - - 0.05295 * x_509 - - 0.05295 * x_512 - - 0.05295 * x_513 - ) - x_515 = ( - 0.009432 * joint_velocity[4] - + 0.009432 * x_239 - + 0.009432 * x_242 - + 0.009432 * x_249 - + 0.063883 * x_300 - + 0.063883 * x_301 - - 0.063883 * x_302 - - 0.063883 * x_304 - ) - x_516 = x_297 * x_502 - x_517 = ( - 6.78e-7 * x_267 - + 6.78e-7 * x_268 - + 6.78e-7 * x_270 - - 0.043312674 * x_328 - + 0.043312674 * x_329 - - 0.043312674 * x_330 - + 0.043312674 * x_336 - + x_337 * x_515 - + 0.043312674 * x_338 - - 6.78e-7 * x_354 - - 0.678 * x_516 - ) - x_518 = -x_154 - x_519 = x_475 * x_9 - x_520 = x_12 * x_479 - x_521 = x_519 + x_520 - x_522 = x_465 * x_9 - x_523 = x_12 * x_469 - x_524 = x_522 + x_523 - x_525 = -x_13 * x_160 - x_150 * x_35 + x_363 - x_526 = -x_521 - x_527 = -x_524 - x_528 = x_451 * x_493 - x_529 = x_196 * x_482 + x_198 * x_449 * x_496 - x_198 * x_528 - x_530 = 6.78e-7 * x_313 - x_531 = ( - 6.78e-7 * joint_velocity[2] * joint_velocity[3] * x_146 * x_69 - + 6.78e-7 * joint_velocity[2] * joint_velocity[4] * x_144 * x_70 - + 0.006394896 * joint_velocity[2] * joint_velocity[4] * x_146 * x_70 - + 0.006394896 * joint_velocity[3] * joint_velocity[4] * x_144 - + 0.678 * x_297 * x_501 - - x_309 * x_515 - - 6.78e-7 * x_316 - - 6.78e-7 * x_324 - - 0.006394896 * x_329 - - 0.006394896 * x_336 - - 0.006394896 * x_338 - - x_530 - ) - x_532 = -x_465 - x_533 = 0.001641 * x_49 - x_534 = x_146 * x_196 - x_535 = x_305 * x_420 - x_536 = 0.000278 * joint_velocity[5] - x_537 = 0.000278 * x_300 - x_538 = ( - -0.000278 * x_301 - - 0.000278 * x_396 - - 0.000278 * x_398 - + 0.00041 * x_420 - + 0.00041 * x_421 - + 0.00041 * x_422 - + 0.00041 * x_423 - + 0.00041 * x_425 - - x_536 - - x_537 - ) - x_539 = ( - 0.001641 * joint_velocity[0] * x_397 - + 0.001641 * joint_velocity[1] * x_150 - + 0.001641 * joint_velocity[2] * x_146 * x_70 - + 0.001641 * joint_velocity[3] * x_144 - + 0.001641 * joint_velocity[5] - - 0.000278 * x_420 - - 0.000278 * x_421 - - 0.000278 * x_422 - - 0.000278 * x_423 - - 0.000278 * x_425 - ) - x_540 = ( - 0.001641 * joint_velocity[5] * x_426 - - 0.001641 * x_179 * x_534 - + 0.001641 * x_186 * x_200 - + 0.001641 * x_19 * x_210 - + 0.001641 * x_196 * x_262 * x_300 - - 0.001641 * x_198 * x_369 - - x_206 * x_533 - - x_399 * x_538 - + x_426 * x_539 - + 0.001641 * x_535 - ) - x_541 = x_160 * x_19 - x_542 = x_373 * x_49 - x_543 = x_196 * x_369 - x_544 = x_198 * x_437 - x_545 = x_305 * x_401 - x_546 = joint_velocity[5] * x_407 - x_547 = ( - 0.001641 * x_401 - - 0.001641 * x_402 - + 0.001641 * x_403 - + 0.001641 * x_404 - + 0.001641 * x_406 - ) - x_548 = ( - 0.000278 * joint_velocity[0] * joint_velocity[1] * x_0 * x_146 * x_70 - + 0.00041 * joint_velocity[0] * joint_velocity[1] * x_3 * x_381 - + 0.00041 * joint_velocity[2] * x_105 * x_379 - + 0.00041 * joint_velocity[2] * x_118 * x_146 * x_198 - + x_399 * x_547 - - x_407 * x_539 - - 0.000278 * x_443 - - 0.000278 * x_444 - - 0.000278 * x_445 - - 0.000278 * x_446 - - 0.000278 * x_541 - - 0.00041 * x_542 - - 0.00041 * x_543 - - 0.00041 * x_544 - - 0.00041 * x_545 - - 0.00041 * x_546 - ) - x_549 = x_146 * x_70 - x_550 = x_146 * x_198 - x_551 = x_179 * x_550 - x_552 = x_186 * x_379 - x_553 = x_19 * x_381 - x_554 = ( - x_198 * x_262 * x_537 - + x_407 * x_536 - + x_407 * x_538 - - x_426 * x_547 - + 0.001641 * x_443 - + 0.001641 * x_444 - + 0.001641 * x_445 - + 0.001641 * x_446 - - x_533 * x_549 - + 0.001641 * x_541 - + 0.000278 * x_542 - + 0.000278 * x_543 - + 0.000278 * x_545 - - 0.000278 * x_551 - - 0.000278 * x_552 - - 0.000278 * x_553 - ) - x_555 = x_300 * x_401 - x_556 = joint_velocity[5] * x_402 - x_557 = ( - -joint_velocity[3] * x_204 - + joint_velocity[4] * x_146 * x_198 * x_70 - - joint_velocity[5] * x_203 - - joint_velocity[5] * x_205 - - x_203 * x_300 - ) - x_558 = joint_velocity[2] * x_557 - x_559 = x_144 * x_510 - x_560 = ( - -joint_velocity[3] * x_510 - + joint_velocity[5] * x_199 - - joint_velocity[5] * x_559 - + x_199 * x_300 - + x_203 * x_507 - ) - x_561 = joint_velocity[1] * ( - -joint_velocity[2] * x_377 - - joint_velocity[2] * x_380 - + joint_velocity[4] * x_144 * x_198 * x_9 - + joint_velocity[5] * x_146 * x_196 * x_9 - - x_12 * x_560 - ) - x_562 = joint_velocity[0] * ( - x_0 - * ( - -joint_velocity[2] * x_389 - + joint_velocity[2] * x_412 - + joint_velocity[5] * x_208 - + x_156 * x_401 - + x_560 * x_9 - ) - - x_244 * x_373 - + x_3 * x_557 - + x_322 * x_381 - ) - x_563 = ( - 1.0e-6 * joint_velocity[5] - + x_251 * x_374 - + 1.0e-6 * x_300 - + 1.0e-6 * x_396 - + 1.0e-6 * x_398 - + 0.00965 * x_401 - - 0.00965 * x_402 - + 0.00965 * x_403 - + 0.00965 * x_404 - + 0.00965 * x_406 - ) - x_564 = x_399 * x_563 - x_565 = 1.0e-6 * x_198 - x_566 = ( - 0.045483 * joint_velocity[3] * x_146 * x_196 - - x_292 * x_565 - - 0.045483 * x_401 - - 0.045483 * x_403 - - 0.045483 * x_404 - - 0.045483 * x_406 - - 1.0e-6 * x_420 - - 1.0e-6 * x_422 - - 1.0e-6 * x_423 - - 1.0e-6 * x_425 - ) - x_567 = ( - 0.030837474 * joint_velocity[0] * x_419 - + 0.030837474 * joint_velocity[1] * x_418 - + 0.030837474 * joint_velocity[2] * joint_velocity[3] * x_146 * x_69 - + 0.030837474 * joint_velocity[2] * joint_velocity[4] * x_144 * x_70 - + 0.0065427 * joint_velocity[4] * joint_velocity[5] * x_198 - - 0.030837474 * x_313 - + 0.678 * x_426 * x_566 - - 0.0065427 * x_555 - - 0.0065427 * x_556 - - 0.0065427 * x_558 - - 0.0065427 * x_561 - - 0.0065427 * x_562 - - 0.678 * x_564 - ) - x_568 = x_300 * x_420 - x_569 = joint_velocity[1] * x_418 - x_570 = joint_velocity[0] * x_419 - x_571 = ( - 0.045483 * joint_velocity[0] * x_397 - + 0.045483 * joint_velocity[1] * x_150 - + 0.045483 * joint_velocity[2] * x_146 * x_70 - + 0.045483 * joint_velocity[3] * x_144 - + 0.045483 * joint_velocity[5] - - 0.00965 * x_420 - - 0.00965 * x_421 - - 0.00965 * x_422 - - 0.00965 * x_423 - - 0.00965 * x_425 - ) - x_572 = 0.678 * x_571 - x_573 = ( - x_399 * x_572 - - 0.678 * x_407 * x_566 - + 6.78e-7 * x_416 - + 6.78e-7 * x_417 - + 0.0065427 * x_505 - + 0.0065427 * x_506 - + 0.0065427 * x_509 - + 0.0065427 * x_512 - + 0.0065427 * x_513 - - x_530 - - 0.0065427 * x_568 - + 6.78e-7 * x_569 - + 6.78e-7 * x_570 - ) - x_574 = ( - 0.030837474 * joint_velocity[3] * joint_velocity[4] * x_144 * x_196 - + 6.78e-7 * joint_velocity[4] * joint_velocity[5] * x_198 - + 0.678 * x_407 * x_563 - - x_426 * x_572 - - 0.030837474 * x_505 - - 0.030837474 * x_506 - - 0.030837474 * x_509 - - 0.030837474 * x_512 - - 0.030837474 * x_513 - - 6.78e-7 * x_555 - - 6.78e-7 * x_556 - - 6.78e-7 * x_558 - - 6.78e-7 * x_561 - - 6.78e-7 * x_562 - ) - x_575 = joint_velocity[5] * x_401 - x_576 = joint_velocity[5] * x_451 - x_577 = 0.014899 * joint_velocity[6] - x_578 = x_401 * x_449 - x_579 = ( - joint_velocity[4] * x_458 - - joint_velocity[5] * x_146 * x_198 * x_451 - + joint_velocity[6] * x_459 - + joint_velocity[6] * x_464 - + x_420 * x_459 - ) - x_580 = x_144 * x_449 - x_581 = joint_velocity[5] * x_198 - x_582 = ( - -joint_velocity[4] * x_580 - - joint_velocity[6] * x_196 * x_580 - + joint_velocity[6] * x_452 - + x_420 * x_452 - + x_459 * x_581 - ) - x_583 = ( - joint_velocity[3] * x_477 - + joint_velocity[3] * x_478 - - joint_velocity[6] * x_450 - - x_510 * x_576 - + x_582 * x_70 - ) - x_584 = -x_579 - x_585 = ( - joint_velocity[3] * x_457 - - joint_velocity[3] * x_462 - + joint_velocity[6] * x_467 - + x_204 * x_576 - + x_582 * x_69 - ) - x_586 = ( - joint_velocity[2] * x_12 * x_475 - - joint_velocity[2] * x_480 - - x_12 * x_585 - - x_584 * x_9 - ) - x_587 = ( - x_0 - * ( - -joint_velocity[2] * x_519 - - joint_velocity[2] * x_520 - - x_12 * x_584 - + x_585 * x_9 - ) - - x_244 * x_463 - + x_3 * x_583 - + x_322 * x_481 - ) - x_588 = x_456 + x_472 - x_589 = ( - 0.029798 * joint_velocity[0] * x_588 - + 0.029798 * joint_velocity[1] * x_527 - + 0.029798 * joint_velocity[2] * x_455 - + 0.029798 * joint_velocity[3] * x_532 - + 0.029798 * joint_velocity[4] * x_198 * x_449 - - 0.000281 * joint_velocity[6] - - 0.000281 * x_420 - - 0.000281 * x_421 - - 0.000281 * x_422 - - 0.000281 * x_423 - - 0.000281 * x_425 - - 0.029798 * x_576 - ) - x_590 = joint_velocity[6] + x_426 - x_591 = joint_velocity[5] * x_449 - x_592 = x_401 * x_451 - x_593 = joint_velocity[3] * x_474 - x_594 = joint_velocity[2] * x_463 - x_595 = joint_velocity[1] * x_526 - x_596 = x_494 + x_495 - x_597 = joint_velocity[0] * x_596 - x_598 = -x_591 - x_592 + x_593 + x_594 + x_595 + x_597 - x_599 = 0.000281 * x_451 - x_600 = 0.011402 * x_449 - x_601 = joint_velocity[3] * x_532 - x_602 = joint_velocity[2] * x_455 - x_603 = joint_velocity[1] * x_527 - x_604 = joint_velocity[0] * x_588 - x_605 = ( - 0.000281 * joint_velocity[0] * x_596 - + 0.000281 * joint_velocity[1] * x_526 - + 0.000281 * joint_velocity[2] * x_463 - + 0.000281 * joint_velocity[3] * x_474 - + 0.011402 * joint_velocity[5] * x_451 - - x_401 * x_599 - - x_401 * x_600 - - 0.000281 * x_591 - - 0.011402 * x_601 - - 0.011402 * x_602 - - 0.011402 * x_603 - - 0.011402 * x_604 - ) - x_606 = 0.5 * x_605 - x_607 = ( - -0.014899 * joint_velocity[0] * x_587 - - 0.014899 * joint_velocity[1] * x_586 - - 0.014899 * joint_velocity[2] * x_583 - - 0.014899 * joint_velocity[3] * x_579 - + 0.014899 * x_420 * x_576 - + 0.005701 * x_555 - + 0.005701 * x_556 - + 0.005701 * x_558 - + 0.005701 * x_561 - + 0.005701 * x_562 - - 0.005701 * x_575 - - x_576 * x_577 - + x_577 * x_578 - - 0.5 * x_589 * x_590 - + x_598 * x_606 - ) - x_608 = ( - -joint_velocity[4] * x_144 * x_196 * x_449 - + joint_velocity[4] * x_452 - - joint_velocity[6] * x_144 * x_449 - + joint_velocity[6] * x_473 - + x_458 * x_581 - ) - x_609 = ( - -joint_velocity[4] * x_459 - - joint_velocity[6] * x_458 - - joint_velocity[6] * x_460 - - x_420 * x_458 - - x_580 * x_581 - ) - x_610 = ( - -joint_velocity[3] * x_467 - + joint_velocity[3] * x_468 - - joint_velocity[6] * x_457 - + x_510 * x_591 - + x_609 * x_70 - ) - x_611 = -x_608 - x_612 = ( - -joint_velocity[3] * x_450 - - joint_velocity[3] * x_454 - + joint_velocity[6] * x_198 * x_451 * x_70 - - x_204 * x_591 - + x_609 * x_69 - ) - x_613 = ( - joint_velocity[2] * x_12 * x_465 - - joint_velocity[2] * x_470 - - x_12 * x_612 - - x_611 * x_9 - ) - x_614 = ( - x_0 - * ( - -joint_velocity[2] * x_522 - - joint_velocity[2] * x_523 - - x_12 * x_611 - + x_612 * x_9 - ) - - x_244 * x_455 - + x_3 * x_610 - + x_322 * x_471 - ) - x_615 = ( - 0.011402 * joint_velocity[6] - + 0.011402 * x_420 - + 0.011402 * x_421 - + 0.011402 * x_422 - + 0.011402 * x_423 - + 0.011402 * x_425 - + 0.029798 * x_591 - + 0.029798 * x_592 - - 0.029798 * x_593 - - 0.029798 * x_594 - - 0.029798 * x_595 - - 0.029798 * x_597 - ) - x_616 = -x_576 + x_578 + x_601 + x_602 + x_603 + x_604 - x_617 = ( - 0.014899 * joint_velocity[0] * x_614 - + 0.014899 * joint_velocity[1] * x_613 - + 0.014899 * joint_velocity[2] * x_610 - + 0.014899 * joint_velocity[3] * x_608 - + 0.014899 * joint_velocity[4] * joint_velocity[5] * x_196 * x_449 - + 0.0001405 * joint_velocity[4] * joint_velocity[5] * x_198 - - 0.0001405 * x_555 - - 0.0001405 * x_556 - - 0.0001405 * x_558 - - 0.0001405 * x_561 - - 0.0001405 * x_562 - - x_577 * x_591 - - x_577 * x_592 - + 0.5 * x_590 * x_615 - - x_606 * x_616 - ) - x_618 = x_420 * x_576 - x_619 = x_420 * x_591 - x_620 = joint_velocity[6] * x_578 - x_621 = joint_velocity[3] * x_608 - x_622 = joint_velocity[2] * x_610 - x_623 = joint_velocity[1] * x_613 - x_624 = joint_velocity[0] * x_614 - x_625 = ( - 0.0001405 * joint_velocity[0] * x_587 - + 0.0001405 * joint_velocity[1] * x_586 - + 0.0001405 * joint_velocity[2] * x_583 - + 0.0001405 * joint_velocity[3] * x_579 - + 0.005701 * joint_velocity[4] * joint_velocity[6] * x_198 * x_451 - + 0.005701 * joint_velocity[5] * joint_velocity[6] * x_449 - + 0.0001405 * joint_velocity[5] * joint_velocity[6] * x_451 - + 0.5 * x_589 * x_616 - - 0.5 * x_598 * x_615 - - 0.0001405 * x_618 - - 0.005701 * x_619 - - 0.0001405 * x_620 - - 0.005701 * x_621 - - 0.005701 * x_622 - - 0.005701 * x_623 - - 0.005701 * x_624 - ) - x_626 = 3.0e-6 * x_576 - x_627 = ( - 3.0e-6 * x_578 - + 3.0e-6 * x_601 - + 3.0e-6 * x_602 - + 3.0e-6 * x_603 - + 3.0e-6 * x_604 - - x_626 - ) - x_628 = ( - 0.000609 * joint_velocity[6] - + 0.000609 * x_420 - + 0.000609 * x_421 - + 0.000609 * x_422 - + 0.000609 * x_423 - + 0.000609 * x_425 - - 0.000118 * x_591 - - 0.000118 * x_592 - + 0.000118 * x_593 - + 0.000118 * x_594 - + 0.000118 * x_595 - + 0.000118 * x_597 - + x_627 - ) - x_629 = 3.0e-6 * joint_velocity[6] - x_630 = 3.0e-6 * x_420 - x_631 = 3.0e-6 * x_591 - x_632 = ( - 3.0e-6 * x_421 - + 3.0e-6 * x_422 - + 3.0e-6 * x_423 - + 3.0e-6 * x_425 - - 0.000587 * x_576 - + 0.000587 * x_578 - - 3.0e-6 * x_592 - + 3.0e-6 * x_593 - + 3.0e-6 * x_594 - + 3.0e-6 * x_595 - + 3.0e-6 * x_597 - + 0.000587 * x_601 - + 0.000587 * x_602 - + 0.000587 * x_603 - + 0.000587 * x_604 - + x_629 - + x_630 - - x_631 - ) - x_633 = x_179 * x_475 - x_634 = x_446 * x_449 - x_635 = x_426 * x_576 - x_636 = x_463 * x_49 - x_637 = 3.0e-6 * x_179 - x_638 = x_465 * x_637 - x_639 = 3.0e-6 * x_446 - x_640 = x_451 * x_639 - x_641 = 3.0e-6 * x_49 - x_642 = x_455 * x_641 - x_643 = x_198 * x_449 - x_644 = x_369 * x_643 - x_645 = 3.0e-6 * x_644 - x_646 = ( - -3.0e-6 * joint_velocity[0] * joint_velocity[1] * x_3 * x_471 - - 3.0e-6 * joint_velocity[2] * x_105 * x_469 - - 3.0e-6 * joint_velocity[3] * x_262 * x_453 - - 3.0e-6 * joint_velocity[4] * x_196 * x_305 * x_449 - - 3.0e-6 * joint_velocity[5] * x_426 * x_449 - - 3.0e-6 * joint_velocity[6] * x_598 - + x_638 - + x_640 - + x_642 - + x_645 - ) - x_647 = ( - 0.000118 * joint_velocity[0] * joint_velocity[1] * x_3 * x_381 - + 0.000369 * joint_velocity[0] * joint_velocity[1] * x_3 * x_481 - + 0.000118 * joint_velocity[2] * x_105 * x_379 - + 0.000369 * joint_velocity[2] * x_105 * x_479 - + 0.000118 * joint_velocity[2] * x_118 * x_146 * x_198 - + 0.000369 * joint_velocity[3] * x_198 * x_255 * x_451 - + 0.000369 * joint_velocity[3] * x_262 * x_461 - - 0.000369 * joint_velocity[6] * x_616 - - 0.000369 * x_451 * x_535 - - 0.000118 * x_542 - - 0.000118 * x_543 - - 0.000118 * x_544 - - 0.000118 * x_545 - - 0.000118 * x_546 - + x_590 * x_632 - - x_616 * x_628 - - 0.000369 * x_633 - - 0.000369 * x_634 - - 0.000369 * x_635 - - 0.000369 * x_636 - - x_646 - ) - x_648 = x_305 * x_630 - x_649 = 0.000118 * joint_velocity[6] - x_650 = 0.000118 * x_420 - x_651 = ( - 0.000118 * x_421 - + 0.000118 * x_422 - + 0.000118 * x_423 - + 0.000118 * x_425 - - 0.000369 * x_591 - - 0.000369 * x_592 - + 0.000369 * x_593 - + 0.000369 * x_594 - + 0.000369 * x_595 - + 0.000369 * x_597 - + x_627 - + x_649 - + x_650 - ) - x_652 = ( - 3.0e-6 * joint_velocity[0] * joint_velocity[1] * x_3 * x_381 - + 0.000587 * joint_velocity[0] * joint_velocity[1] * x_3 * x_471 - + 3.0e-6 * joint_velocity[0] * joint_velocity[1] * x_3 * x_481 - + 3.0e-6 * joint_velocity[2] * x_105 * x_379 - + 0.000587 * joint_velocity[2] * x_105 * x_469 - + 3.0e-6 * joint_velocity[2] * x_105 * x_479 - + 3.0e-6 * joint_velocity[2] * x_118 * x_146 * x_198 - + 3.0e-6 * joint_velocity[3] * x_198 * x_255 * x_451 - + 0.000587 * joint_velocity[3] * x_262 * x_453 - + 3.0e-6 * joint_velocity[3] * x_262 * x_461 - + 0.000587 * joint_velocity[4] * x_196 * x_305 * x_449 - + 0.000587 * joint_velocity[5] * x_426 * x_449 - + 0.000587 * joint_velocity[6] * x_598 - - 0.000587 * x_179 * x_465 - - x_373 * x_641 - - x_426 * x_626 - - 0.000587 * x_446 * x_451 - - x_449 * x_639 - - x_451 * x_648 - - 0.000587 * x_455 * x_49 - - x_463 * x_641 - - x_475 * x_637 - - 3.0e-6 * x_543 - - 3.0e-6 * x_544 - - 3.0e-6 * x_545 - - 3.0e-6 * x_546 - - x_590 * x_651 - + x_598 * x_628 - - x_616 * x_629 - - 0.000587 * x_644 - ) - x_653 = x_598 * x_632 - x_654 = x_616 * x_649 - x_655 = 0.000609 * x_546 - x_656 = 0.000118 * x_633 - x_657 = 0.000118 * x_634 - x_658 = 0.000118 * x_635 - x_659 = 0.000609 * x_543 - x_660 = 0.000609 * x_545 - x_661 = 0.000118 * x_636 - x_662 = x_305 * x_451 * x_650 - x_663 = 0.000609 * x_542 - x_664 = 0.000609 * x_544 - x_665 = ( - 0.000609 * joint_velocity[0] * joint_velocity[1] * x_3 * x_381 - + 0.000118 * joint_velocity[0] * joint_velocity[1] * x_3 * x_481 - + 0.000609 * joint_velocity[2] * x_105 * x_379 - + 0.000118 * joint_velocity[2] * x_105 * x_479 - + 0.000609 * joint_velocity[2] * x_118 * x_146 * x_198 - + 0.000118 * joint_velocity[3] * x_198 * x_255 * x_451 - + 0.000118 * joint_velocity[3] * x_262 * x_461 - + x_616 * x_651 - - x_646 - - x_653 - - x_654 - - x_655 - - x_656 - - x_657 - - x_658 - - x_659 - - x_660 - - x_661 - - x_662 - - x_663 - - x_664 - ) - x_666 = x_12**2 - x_667 = 0.0064 * x_12 - x_668 = 0.0128 * x_12 - x_669 = 0.006641 * x_12 - 4.4e-5 * x_9 - x_670 = 0.0064 * x_69 - x_671 = x_12 * x_70 - x_672 = 0.0064 * x_671 - x_673 = -x_672 + 0.2084 * x_9 - x_674 = x_673 * x_69 - x_675 = x_12 * x_674 - 0.2084 * x_12 * x_69 * x_9 + x_666 * x_670 * x_70 - x_676 = 0.2084 * x_69 - x_677 = x_672 * x_69 - x_678 = x_69**2 - x_679 = 0.0064 * x_678 - x_680 = x_12 * x_679 - x_681 = x_673 * x_70 - x_680 - x_682 = 2 * x_681 - x_683 = x_12 * x_285 + x_12 * x_286 - x_684 = x_12 * x_69 - x_685 = -x_136 - 0.015006 * x_684 - x_686 = x_685 * x_70 - x_687 = -0.015006 * x_671 + 0.075478 * x_9 - x_688 = x_687 * x_69 - x_689 = x_12 * x_686 - x_12 * x_688 + x_683 * x_9 - x_690 = x_685 * x_69 + x_687 * x_70 - x_691 = 0.1059 * x_144 * x_9 - 0.1059 * x_148 - x_692 = 0.1059 * x_155 + 0.1059 * x_157 - x_693 = -x_692 - x_694 = -x_675 - x_695 = x_144 * x_691 - x_696 = x_146 * x_693 - x_697 = x_695 * x_70 - x_696 * x_70 - x_698 = 0.4208 * x_9 - x_699 = 0.4208 * x_12 - x_700 = 0.8416 * x_12 - x_701 = 0.2084 * x_684 - x_702 = 0.4168 * x_684 - x_703 = 0.1059 * x_197 + 0.1059 * x_201 - x_704 = -x_683 - x_705 = x_146 * x_703 - x_706 = x_206 * x_691 + x_70 * x_705 - x_707 = x_149 * x_693 + x_190 * x_691 - x_708 = x_674 + x_677 - x_709 = 1.0e-6 * x_145 - x_710 = x_147 * x_365 - x_711 = 0.009432 * x_69 - x_712 = 0.009432 * x_155 + x_156 * x_711 + x_709 - x_710 - x_713 = x_70 * x_712 - x_714 = x_12 * x_713 - x_715 = 0.063883 * x_145 - 0.063883 * x_148 + 0.009432 * x_671 - x_716 = 1.0e-6 * x_12 * x_70 - 0.063883 * x_155 - 0.063883 * x_157 - x_717 = x_146 * x_716 - x_718 = x_144 * x_70 * x_715 + x_69 * x_712 - x_70 * x_717 - x_719 = x_146 * x_691 - x_720 = x_144 * x_693 + x_719 - x_721 = x_69 * x_695 - x_69 * x_696 - x_722 = x_144 * x_716 + x_146 * x_715 - x_723 = x_144 * x_703 - x_196 * x_719 - x_724 = 0.0064 * x_684 - x_725 = 0.2104 * x_9 - x_726 = x_70 * x_725 - x_727 = x_259 * x_70 - x_728 = x_69 * x_725 - x_729 = x_273 * x_69 - x_730 = -x_724 - x_726 - x_731 = -0.00965 * x_197 - 0.00965 * x_201 + x_709 - x_710 - x_732 = 0.045483 * x_145 - 0.045483 * x_148 + 0.00965 * x_389 - 0.00965 * x_412 - x_733 = 0.045483 * x_196 - x_734 = -x_155 * x_565 + x_155 * x_733 + 0.045483 * x_201 + 1.0e-6 * x_389 - x_735 = x_146 * x_734 - x_736 = x_206 * x_732 + x_373 * x_731 + x_70 * x_735 - x_737 = x_198 * x_691 - x_738 = -x_672 + 0.2104 * x_69 * x_9 - x_739 = x_695 - x_696 - x_740 = x_198 * x_731 - x_741 = x_196 * x_732 - x_742 = x_144 * x_734 + x_146 * x_740 - x_146 * x_741 - x_743 = -x_720 - x_744 = -0.2104 * x_144 * x_69 * x_9 + 0.2104 * x_147 - x_745 = -x_744 - x_746 = x_327 * x_691 - x_747 = 0.2104 * x_156 + 0.2104 * x_159 - x_748 = -x_747 - x_749 = x_144 * x_673 - x_750 = -0.2084 * x_148 + x_749 - x_751 = 0.0064 * x_70 - x_752 = -x_156 * x_751 - x_744 - x_753 = x_196 * x_731 + x_198 * x_732 - x_754 = -x_147 * x_751 + x_747 - x_755 = -x_754 - x_756 = x_146 * x_673 + 0.2084 * x_157 - x_757 = -x_756 - x_758 = -x_703 - x_759 = -x_734 - x_760 = -0.011402 * x_389 + 0.011402 * x_412 + 0.029798 * x_519 + 0.029798 * x_520 - x_761 = ( - 0.000281 * x_12 * x_379 - 0.000281 * x_412 - 0.029798 * x_522 - 0.029798 * x_523 - ) - x_762 = -0.000281 * x_519 - 0.000281 * x_520 + 0.011402 * x_522 + 0.011402 * x_523 - x_763 = x_373 * x_762 + x_455 * x_760 + x_463 * x_761 - x_764 = x_198 * x_762 - x_765 = x_146 * x_764 - x_766 = 0.2104 * x_377 + 0.2104 * x_380 - x_767 = 0.2084 * x_12 * x_146 * x_198 * x_69 - x_198 * x_749 - x_510 * x_667 - x_768 = -x_373 * x_667 + x_766 - x_769 = x_428 * x_691 - x_770 = 0.2104 * x_208 - x_771 = 0.2104 * x_209 - x_770 - x_772 = x_449 * x_761 + x_451 * x_760 - x_773 = x_144 * x_196 * x_673 - 0.2084 * x_147 * x_510 - x_203 * x_667 - x_774 = 0.2104 * x_200 * x_9 - x_206 * x_667 - x_770 - x_775 = x_451 * x_761 - x_776 = x_196 * x_762 + x_198 * x_449 * x_760 - x_198 * x_775 - x_777 = x_196 * x_567 - x_778 = x_451 * x_691 - x_779 = 0.2104 * x_466 - x_780 = 0.2104 * x_476 - x_781 = x_1 * x_40 - x_782 = x_70**2 - x_783 = 0.0064 * x_782 - x_784 = x_12 * x_783 + x_680 - x_70 * x_80 - x_785 = 0.015006 * x_782 - x_786 = 0.015006 * x_678 - x_787 = -1.8e-5 * x_69 + 0.075478 * x_70 - x_788 = -x_787 - x_789 = x_12 * x_785 + x_12 * x_786 + x_788 * x_9 - x_790 = 0.1059 * x_549 - x_791 = 0.1059 * x_436 - x_792 = 0.1059 * x_203 - x_793 = 0.1059 * x_205 - x_794 = x_792 + x_793 - x_795 = -x_794 - x_796 = x_146 * x_795 - x_797 = x_206 * x_790 + x_70 * x_796 - x_798 = x_149 * x_791 + x_190 * x_790 - x_799 = x_374 * x_70 - x_800 = -x_229 * x_70 + x_799 - x_801 = x_70 * x_800 - x_802 = x_12 * x_801 - x_803 = 0.063883 * x_70 - x_804 = x_146 * x_803 + x_711 - x_805 = x_144 * x_803 + x_365 - x_806 = x_144 * x_804 - x_807 = x_146 * x_805 - x_808 = x_69 * x_800 + x_70 * x_806 - x_70 * x_807 - x_809 = 0.2084 * x_70 - x_810 = 0.4168 * x_70 - x_811 = -x_679 - x_783 - x_812 = x_146**2 - x_813 = 0.1059 * x_812 - x_814 = x_144**2 - x_815 = 0.1059 * x_814 - x_816 = x_70 * x_813 + x_70 * x_815 - x_817 = x_144 * x_805 + x_146 * x_804 - x_818 = x_204 * x_813 - x_819 = x_144 * x_795 - x_818 - x_820 = ( - -1.0e-6 * x_144 * x_198 * x_70 - + 0.045483 * x_144 * x_204 - + 0.045483 * x_203 - + 1.0e-6 * x_510 - ) - x_821 = -x_820 - x_822 = x_146 * x_821 - x_823 = 0.00965 * x_372 - 0.00965 * x_510 + 0.045483 * x_549 - x_824 = 0.00965 * x_203 + 0.00965 * x_205 + x_799 - x_825 = x_206 * x_823 + x_373 * x_824 + x_70 * x_822 - x_826 = x_198 * x_824 - x_827 = x_196 * x_823 - x_828 = x_144 * x_821 + x_146 * x_826 - x_146 * x_827 - x_829 = 0.0128 * x_70 - x_830 = 0.1059 * x_199 - x_831 = x_146 * x_830 - x_832 = -x_816 - x_833 = x_196 * x_824 + x_198 * x_823 - x_834 = ( - 0.011402 * x_196 * x_69 - + 0.029798 * x_198 * x_451 * x_69 - - 0.011402 * x_372 - - 0.029798 * x_462 - ) - x_835 = 0.000281 * x_372 + 0.029798 * x_450 + 0.029798 * x_454 - 0.000281 * x_510 - x_836 = x_203 * x_599 + x_203 * x_600 + 0.011402 * x_454 - 0.000281 * x_461 * x_70 - x_837 = -x_836 - x_838 = x_373 * x_837 + x_455 * x_834 + x_463 * x_835 - x_839 = x_198 * x_837 - x_840 = x_146 * x_839 - x_841 = x_144 * x_670 - x_842 = 0.1059 * x_327 - x_843 = x_146 * x_204 - x_844 = x_146 * x_670 - x_845 = 0.2084 * x_549 - x_841 - x_846 = x_144 * x_809 + x_844 - x_847 = x_451 * x_835 - x_848 = x_196 * x_837 + x_198 * x_449 * x_834 - x_198 * x_847 - x_849 = x_449 * x_835 + x_451 * x_834 - x_850 = 0.0064 * x_204 + 0.0064 * x_378 - x_851 = 0.2084 * x_146 - x_852 = -x_199 * x_851 + x_850 - x_853 = 0.1059 * x_843 - x_854 = 0.0064 * x_199 - 0.0064 * x_559 - x_855 = x_204 * x_851 + x_854 - x_856 = -x_846 - x_857 = 0.1059 * x_459 - x_858 = 0.1059 * x_458 - x_859 = 0.1059 * x_452 - x_860 = -0.0064 * x_198 * x_449 * x_70 + 0.0064 * x_468 - x_861 = 0.0064 * x_477 + 0.0064 * x_478 - x_862 = x_813 + x_815 - x_863 = 0.063883 * x_812 - x_864 = 0.063883 * x_814 - x_865 = 1.0e-6 * x_144 - x_866 = 0.009432 * x_146 + x_865 - x_867 = 0.00965 * x_146 - x_868 = -x_196 * x_867 + x_865 - x_869 = 0.045483 * x_144 - x_198 * x_867 - x_870 = x_196 * x_868 + x_198 * x_869 - x_871 = x_196 * x_869 - x_872 = x_198 * x_868 - x_873 = -0.029798 * x_459 - 0.029798 * x_464 - 0.000281 * x_550 - x_874 = x_451 * x_873 - x_875 = -0.029798 * x_473 + 0.011402 * x_550 + 0.029798 * x_580 - x_876 = x_449 * x_873 + x_451 * x_875 - x_877 = 0.000281 * x_196 - x_878 = 0.011402 * x_196 - x_879 = x_452 * x_877 + x_458 * x_878 + 0.011402 * x_459 - 0.000281 * x_580 - x_880 = x_196 * x_879 + x_198 * x_449 * x_875 - x_198 * x_874 - x_881 = x_69 * x_813 + x_69 * x_815 - x_882 = 0.1059 * x_144 - x_883 = x_206 * x_882 + x_818 - x_884 = x_146 * x_150 - x_885 = 0.1059 * x_884 - x_886 = x_146 * x_149 - x_887 = 0.1059 * x_886 - x_888 = 0.1059 * x_144 * x_190 - x_887 - x_889 = -x_146 * x_733 + x_198 * x_374 - x_890 = -x_889 - x_891 = x_69 * x_866 + x_70 * x_863 + x_70 * x_864 - x_892 = x_146 * x_890 - x_893 = x_206 * x_869 + x_373 * x_868 + x_70 * x_892 - x_894 = x_373 * x_879 + x_455 * x_875 + x_463 * x_873 - x_895 = x_198 * x_879 - x_896 = x_146 * x_895 - x_897 = x_144 * x_890 - x_146 * x_871 + x_146 * x_872 - x_898 = x_70 * x_866 - x_899 = x_12 * x_898 - x_900 = 0.3143 * x_144 - x_901 = 0.3143 * x_146 - x_902 = x_198 * x_882 - x_903 = x_196 * x_882 - x_904 = 0.1059 * x_534 - x_905 = x_198 * x_900 - x_906 = x_146 * x_161 - x_907 = x_1 * x_198 - x_908 = -x_800 - x_909 = 0.1059 * x_198 - x_910 = 1.0e-6 * x_196 + 0.045483 * x_198 - x_911 = -x_910 - x_912 = x_146 * x_911 - x_913 = 0.00965 * x_196 - x_914 = 0.00965 * x_198 - x_915 = -x_206 * x_913 + x_373 * x_914 + x_70 * x_912 - x_916 = 0.00965 * x_198**2 - x_917 = 0.00965 * x_196**2 - x_918 = x_144 * x_911 + x_146 * x_916 + x_146 * x_917 - x_919 = x_198 * x_599 + x_198 * x_600 - x_920 = -x_919 - x_921 = 0.029798 * x_198 - x_922 = x_451 * x_921 + x_878 - x_923 = x_449 * x_921 - x_877 - x_924 = x_373 * x_920 + x_455 * x_922 + x_463 * x_923 - x_925 = x_198 * x_920 - x_926 = x_146 * x_925 - x_927 = x_449 * x_922 - x_928 = x_451 * x_923 - x_929 = x_196 * x_920 + x_198 * x_927 - x_198 * x_928 - x_930 = x_449 * x_923 + x_451 * x_922 - x_931 = x_198 * x_451 - x_932 = -0.000281 * x_449 + 0.011402 * x_451 - x_933 = 0.029798 * x_451**2 - x_934 = 0.029798 * x_449**2 - x_935 = x_196 * x_932 + x_198 * x_933 + x_198 * x_934 - x_936 = 0.029798 * x_449 - x_937 = 0.029798 * x_451 - x_938 = x_373 * x_932 + x_455 * x_936 - x_463 * x_937 - x_939 = x_198 * x_932 - x_940 = x_146 * x_939 - return np.array( - [ - - -0.4208 * x_0 * x_36 - + 0.018678 - * x_0 - * (0.0154502808 * x_19 - 1.1636 * x_48 * x_54 + x_52 * x_55) - + x_0 - * ( - 0.011088 * joint_velocity[0] * joint_velocity[1] * x_3 - + joint_velocity[0] * x_3 * x_60 - - joint_velocity[1] * x_62 - - joint_velocity[1] * x_63 - ) - - 0.0150444 * x_1 * x_17 - - x_109 * x_111 - + x_109 * x_133 - + x_109 * x_16 - + x_109 * x_192 - + x_109 * x_222 - + x_109 * (x_195 * x_200 + x_215 * x_69) - + x_109 * (x_379 * x_482 + x_469 * x_496 + x_479 * x_493) - + x_110 * x_175 - - x_110 * x_178 - - x_111 * x_115 - + x_112 * x_222 - + x_112 * (x_200 * x_383 + x_375 * x_379 + x_386 * x_69) - + x_112 * (x_144 * x_227 * x_69 - x_231 - x_234 * x_69) - - x_113 * x_114 - + x_115 * x_133 - + x_115 * x_16 - + x_115 * (-x_134 + x_69 * x_92) - + x_120 * x_121 - + x_120 * x_122 - + x_120 * x_143 - + x_120 * x_221 - - x_120 * x_225 - + x_120 * x_82 - + x_120 * (x_465 * x_496 + x_475 * x_493 - x_500) - + x_121 * x_127 - - x_121 * x_264 - - x_121 * x_355 - + x_122 * x_127 - - x_122 * x_264 - - x_122 * x_355 - + x_124 * x_125 - + x_124 * x_126 - + x_124 * x_221 - + x_124 * x_228 - - x_124 * x_394 - - x_125 * x_263 - - x_126 * x_263 - + x_127 * x_139 - + x_127 * x_143 - + x_128 * x_168 - + x_128 * x_216 - + x_128 * x_26 - + x_128 * x_41 - + x_128 * x_498 - + x_128 * x_78 - + x_130 * x_168 - + x_130 * x_235 - + x_130 * x_28 - + x_130 * x_387 - + x_130 * x_42 - + x_130 * x_88 - + x_131 * x_26 - + x_131 * x_41 - + x_131 * x_93 - + x_132 * x_133 - + x_132 * x_16 - + x_132 * x_192 - + x_133 * x_177 - - x_14 * x_184 - + x_14 * x_352 - + x_140 * x_355 - + x_141 * x_142 - + x_141 * x_37 - + x_143 * x_165 - + x_143 * x_174 - + x_154 * x_335 - + x_154 * x_339 - + x_163 * x_325 - + x_163 * x_327 - - x_164 * (x_150 * x_154 + x_158 * x_163) - + x_165 * x_82 - - x_166 * (x_12 * x_140 - x_134 * x_9 + x_135 * x_9) - + x_168 * x_25 - + x_168 * x_27 - - x_169 * (x_152 * x_163 + x_154 * x_161) - + x_174 * x_46 - + x_177 * x_45 - + x_188 * x_40 - + x_189 * x_26 - + x_189 * x_59 - + x_191 * x_34 - + x_191 * x_36 - + x_195 * x_428 - + 0.009805750912 * x_2 * x_3**2 - - 0.004487377536 * x_2 - + x_212 * x_335 - + x_213 * x_514 - - x_214 * (x_149 * x_213 + x_195 * x_202) - - x_214 * (x_390 * x_482 + x_493 * x_521 + x_496 * x_524) - + x_216 * x_25 - - x_220 * (x_160 * x_213 + x_195 * x_210) - - x_220 * (x_381 * x_482 + x_471 * x_496 + x_481 * x_493) - + x_224 * x_327 - + x_225 * x_264 - + x_226 * x_517 - + x_227 * x_503 - - x_228 * x_263 - + x_230 * x_259 - + x_230 * x_531 - - x_233 * (x_149 * x_385 + x_202 * x_383 + x_375 * x_390) - - x_233 * (x_150 * x_226 + x_158 * x_227 - x_232) - + x_235 * x_27 - - x_236 * (x_152 * x_227 + x_161 * x_226 - x_231 * x_9) - - x_236 * (x_160 * x_385 + x_210 * x_383 + x_375 * x_381) - + x_238 * x_257 - + x_238 * x_260 - + x_238 * x_290 - + x_238 * x_308 - + x_238 * x_310 - + x_238 * x_531 - + x_248 * x_388 - + x_248 * x_492 - + x_25 * x_26 - + x_25 * x_41 - + x_25 * x_498 - + x_25 * x_78 - + x_253 * x_371 - + x_257 * x_272 - + x_257 * x_275 - + x_257 * x_277 - + x_257 * x_529 - + x_257 * x_73 - + x_259 * x_391 - + x_26 * x_29 - + x_26 * x_30 - + x_260 * x_272 - + x_260 * x_275 - + x_260 * x_73 - + x_263 * x_311 - + x_263 * x_394 - + x_264 * x_276 - + x_264 * x_311 - + x_264 * x_83 - + x_264 * (x_474 * x_493 + x_496 * x_532 + x_500) - + x_266 * x_271 - + x_266 * x_274 - + x_266 * x_288 - + x_27 * x_28 - + x_27 * x_387 - + x_27 * x_42 - + x_27 * x_88 - + x_271 * x_280 - + x_271 * x_282 - + x_271 * x_291 - + x_271 * x_77 - + x_271 * (x_144 * x_224 + x_215) - + x_271 * (-x_144 * x_499 + x_453 * x_496 + x_461 * x_493) - + x_272 * x_290 - + x_272 * x_308 - + x_272 * x_310 - + x_272 * x_531 - + x_273 * x_291 - + x_273 * (x_144 * x_227 - x_234) - + x_273 * (-x_144 * x_392 + x_144 * x_393 + x_386) - + x_274 * x_280 - + x_274 * x_282 - + x_274 * x_77 - + x_275 * x_290 - + x_275 * x_308 - + x_275 * x_310 - + x_275 * x_531 - + x_276 * x_278 - + x_276 * x_355 - + x_277 * x_308 - + x_278 * x_83 - + x_280 * x_288 - + x_282 * x_288 - + x_288 * x_92 - + x_29 * x_41 - + x_29 * x_93 - + x_290 * x_90 - + x_295 * x_442 - - 0.018678 * x_3 * (x_38 * x_54 + 0.0154502808 * x_49 - x_51 * x_52) - + x_3 - * ( - 5.0e-6 * joint_velocity[0] * joint_velocity[1] * x_3 - + joint_velocity[1] * x_61 - - x_48 * x_60 - - 0.001072 * x_49 - ) - + x_3 - * ( - -x_102 * x_181 - + x_118 * x_187 - - 0.000606 * x_18 * x_94 - - x_217 - - x_218 - - x_219 - - 0.001043 * x_49 - ) - + x_30 * x_59 - + x_303 * x_448 - + x_308 * x_529 - + x_308 * x_73 - + x_310 * x_391 - + x_310 * x_73 - + x_312 * x_325 - + x_312 * x_327 - + x_312 * x_503 - - x_32 * (-x_15 * x_9 + x_16 * x_9) - + x_325 * x_353 - + x_325 * x_359 - + x_325 * x_360 - + x_325 * (x_196 * x_383 - x_392) - + x_327 * x_353 - + x_327 * x_359 - + x_327 * x_360 - + x_327 * (x_196 * x_449 * x_496 - x_196 * x_528 - x_499) - + x_335 * x_341 - + x_335 * x_357 - + x_335 * x_362 - + x_335 * x_364 - + x_335 * x_497 - + x_339 * x_341 - + x_339 * x_357 - + x_339 * x_362 - + x_339 * x_364 - + x_339 * x_384 - - x_34 * x_35 - + x_34 * x_67 - + x_34 * x_86 - + x_34 * (x_150 * x_213 + x_195 * x_223) - + x_34 * (x_395 * x_482 + x_493 * x_526 + x_496 * x_527) - + x_341 * x_517 - - x_35 * x_37 - - x_35 * x_39 - + x_353 * x_503 - + x_356 * x_514 - + x_356 * x_574 - + x_357 * x_517 - + x_359 * x_503 - + x_36 * (x_149 * x_226 + x_190 * x_227 + x_232) - + x_36 * (x_150 * x_385 + x_223 * x_383 + x_375 * x_395) - + x_360 * x_503 - + x_361 * x_514 - + x_361 * x_574 - + x_362 * x_517 - + x_364 * x_517 - + x_37 * x_67 - + x_375 * x_573 - + x_383 * x_567 - + x_385 * x_574 - - x_39 * x_47 - + x_397 * x_554 - + x_405 * x_540 - - x_409 * x_410 - + x_409 * x_411 - + x_409 * x_413 - + x_409 * x_415 - + x_409 * x_430 - + x_409 * x_482 - - x_410 * x_573 - - x_410 * x_625 - + x_411 * x_573 - + x_411 * x_625 - + x_413 * x_573 - + x_413 * x_625 - + x_415 * x_573 - + x_415 * x_625 - + x_424 * x_548 - + x_424 * x_665 - + x_428 * x_429 - + x_428 * x_431 - + x_428 * x_432 - + x_428 * x_434 - + x_428 * x_435 - + x_428 * (x_449 * x_496 - x_528) - + x_429 * x_567 - + x_430 * x_573 - + x_430 * x_625 - + x_431 * x_567 - + x_432 * x_567 - + x_434 * x_567 - + x_435 * x_567 - - x_47 * x_8 - + x_482 * x_625 - + x_493 * x_617 - + x_496 * x_607 - - x_497 * x_514 - + x_504 * x_514 - + x_504 * x_574 - + x_514 * x_518 - + x_514 * x_525 - + x_518 * x_574 - + x_525 * x_574 - + x_531 * x_73 - - x_56 * (-x_12 * x_46 + x_45 * x_9) - + x_588 * x_652 - + x_596 * x_647 - + x_607 * (0.0054 * x_0 * x_455 - x_110 * x_471) - + x_607 * (x_154 * x_451 + x_429 * x_449) - + x_607 * (x_195 * x_449 - x_213 * x_451) - + x_607 * (0.0064 * x_0 * x_455 - x_13 * x_471 - x_35 * x_527) - + x_607 * (x_16 * x_469 + x_35 * x_522 + x_41 * x_455) - + x_607 * (x_433 * x_449 + x_453 * x_77 + x_532 * x_83) - + x_617 * (0.0054 * x_0 * x_463 - x_110 * x_481) - + x_617 * (x_154 * x_449 - x_429 * x_451) - + x_617 * (-x_195 * x_451 - x_213 * x_449) - + x_617 * (0.0064 * x_0 * x_463 - x_13 * x_481 - x_35 * x_526) - + x_617 * (x_16 * x_479 + x_35 * x_519 + x_41 * x_463) - + x_617 * (-x_433 * x_451 + x_461 * x_77 + x_474 * x_83) - + x_67 * x_68 - + x_68 * x_86 - - x_7 * x_8 - - x_7 - * ( - 1.1636 * joint_velocity[0] * x_0 * x_51 - - x_18 * x_66 - - x_38 * x_55 - - x_65 - ) - + x_86 * x_87 - - x_89 * (x_12 * x_83 - x_84 * x_9 + x_85 * x_9) - , - - x_109 * x_698 - + x_109 * x_708 - + x_109 * x_721 - + x_109 * (x_200 * x_691 + x_69 * x_705) - + x_109 * (x_379 * x_762 + x_469 * x_760 + x_479 * x_761) - + x_112 * x_721 - + x_112 * (x_200 * x_732 + x_379 * x_731 + x_69 * x_735) - + x_112 * (x_144 * x_69 * x_715 - x_69 * x_717 - x_713) - + 0.8416 * x_113 - + x_115 * x_698 - + x_115 * (-x_686 + x_688) - - x_12 * x_188 - - x_120 * x_699 - - x_120 * x_701 - + x_120 * x_720 - - x_120 * x_723 - + x_120 * (x_465 * x_760 + x_475 * x_761 - x_765) - - x_124 * x_700 - - x_124 * x_702 - + x_124 * x_720 - + x_124 * x_722 - - x_124 * x_742 - - x_127 * x_699 - + x_127 * x_704 - - x_128 * x_667 - + x_128 * x_681 - + x_128 * x_697 - + x_128 * x_706 - + x_128 * x_763 - - x_130 * x_668 - + x_130 * x_682 - + x_130 * x_697 - + x_130 * x_718 - + x_130 * x_736 - - x_131 * x_667 - + x_131 * x_690 - + x_132 * x_708 - + x_142 * x_689 - + x_149 * x_448 - + x_150 * x_554 - - x_164 * (x_150 * x_693 + x_158 * x_691) - - x_166 * (x_12 * x_683 - x_686 * x_9 + x_688 * x_9) - - x_169 * (x_152 * x_691 + x_161 * x_693) - - 0.328292 * x_175 - + 0.328292 * x_178 - + 0.115871288 * x_18 * x_54 - - x_18 * x_61 - - x_184 * x_9 - + x_189 * x_669 - - 6.798123552e-7 * x_19 - + x_190 * x_442 - + x_196 * x_746 - + x_196 * x_769 - - x_214 * (x_149 * x_703 + x_202 * x_691) - - x_214 * (x_390 * x_762 + x_521 * x_761 + x_524 * x_760) - - x_220 * (x_160 * x_703 + x_210 * x_691) - - x_220 * (x_381 * x_762 + x_471 * x_760 + x_481 * x_761) - + x_223 * x_540 - - x_233 * (x_149 * x_734 + x_202 * x_732 + x_390 * x_731) - - x_233 * (x_150 * x_716 + x_158 * x_715 - x_714) - - x_236 * (x_152 * x_715 + x_161 * x_716 - x_713 * x_9) - - x_236 * (x_160 * x_734 + x_210 * x_732 + x_381 * x_731) - - x_25 * x_667 - + x_25 * x_681 - + x_25 * x_697 - + x_25 * x_706 - + x_25 * x_763 - - x_257 * x_724 - - x_257 * x_726 - + x_257 * x_730 - + x_257 * x_737 - + x_257 * x_776 - - 0.0128 * x_259 * x_684 - + x_259 * x_712 - + x_259 * x_753 - + x_260 * x_730 - + x_263 * x_700 - + x_263 * x_702 - - x_263 * x_722 - + x_263 * x_742 - + x_263 * x_743 - + x_264 * x_699 - + x_264 * x_701 - + x_264 * x_723 - + x_264 * x_743 - + x_264 * (x_474 * x_761 + x_532 * x_760 + x_765) - - x_27 * x_668 - + x_27 * x_682 - + x_27 * x_697 - + x_27 * x_718 - + x_27 * x_736 - + x_271 * x_673 - + x_271 * x_728 - + x_271 * x_738 - + x_271 * x_739 - + x_271 * (x_196 * x_695 + x_705) - + x_271 * (-x_144 * x_764 + x_453 * x_760 + x_461 * x_761) - + x_273 * x_739 - + x_273 * (x_144 * x_715 - x_717) - + x_273 * (-x_144 * x_740 + x_144 * x_741 + x_735) - + x_274 * x_673 - + x_274 * x_738 - + x_288 * x_687 - + x_288 * x_728 - + x_288 * x_738 - - x_29 * x_667 - + x_29 * x_690 - + x_290 * x_685 - - x_290 * x_726 - + x_290 * x_730 - + x_30 * x_669 - - x_308 * x_724 - - x_308 * x_726 - + x_308 * x_730 - + x_308 * x_737 - + x_308 * x_776 - - 0.174841524736 * x_31 - - x_310 * x_724 - - x_310 * x_726 - + x_310 * x_730 - + x_310 * x_753 - - x_32 * (x_11 + 0.2104 * x_666) - + x_325 * x_691 - + x_325 * x_745 - + x_325 * x_750 - + x_325 * x_752 - + x_325 * (x_196 * x_732 - x_740) - + x_327 * x_745 - + x_327 * x_750 - + x_327 * x_752 - + x_327 * (x_196 * x_449 * x_760 - x_196 * x_775 - x_764) - + x_335 * x_693 - + x_335 * x_748 - + x_335 * x_755 - + x_335 * x_757 - + x_335 * x_758 - + x_335 * x_772 - + x_339 * x_693 - + x_339 * x_748 - + x_339 * x_755 - + x_339 * x_757 - + x_339 * x_759 - + x_34 * x_694 - + x_34 * x_707 - + x_34 * (x_150 * x_703 + x_223 * x_691) - + x_34 * (x_395 * x_762 + x_526 * x_761 + x_527 * x_760) - + x_352 * x_9 - + x_355 * x_683 - + x_355 * x_699 - + x_36 * x_707 - + x_36 * (x_149 * x_716 + x_190 * x_715 + x_714) - + x_36 * (x_150 * x_734 + x_223 * x_732 + x_395 * x_731) - + x_37 * x_689 - - x_371 * x_684 - + x_388 * x_671 - + x_395 * x_548 - + x_395 * x_665 - - x_409 * x_737 - + x_409 * x_762 - + x_409 * x_766 - + x_409 * x_767 - + x_409 * x_768 - + x_428 * x_771 - + x_428 * x_773 - + x_428 * x_774 - + x_428 * (x_449 * x_760 - x_775) - + 5.11984e-5 * x_48 * x_54 - + x_48 * x_63 - + 0.002229538962064 * x_49 - + x_492 * x_671 - + x_503 * x_715 - + x_503 * x_745 - + x_503 * x_750 - + x_503 * x_752 - - x_51 * x_66 - + x_514 * x_692 - + x_514 * x_703 - + x_514 * x_747 - + x_514 * x_754 - + x_514 * x_756 - - x_514 * x_772 - + x_517 * x_716 - + x_517 * x_748 - + x_517 * x_755 - + x_517 * x_757 - + x_526 * x_647 - + x_527 * x_652 - + x_531 * x_712 - - x_531 * x_724 - - x_531 * x_726 - + x_531 * x_730 - - x_55 * x_64 - - x_56 * (0.117892 * x_10 + 0.117892 * x_666) - + x_567 * x_732 - + x_567 * x_771 - + x_567 * x_773 - + x_567 * x_774 - + x_573 * x_731 - - x_573 * x_737 - + x_573 * x_766 - + x_573 * x_767 - + x_573 * x_768 - + x_574 * x_692 - + x_574 * x_734 - + x_574 * x_747 - + x_574 * x_754 - + x_574 * x_756 - + x_607 * x_760 - + x_607 * (0.2104 * x_470 - x_779) - + x_607 * (x_449 * x_691 - x_451 * x_703) - + x_607 * (x_196 * x_449 * x_691 + x_451 * x_693) - + x_607 * (-x_450 * x_667 + x_453 * x_673 + x_532 * x_701) - + x_607 * (-x_455 * x_667 + 0.2104 * x_469 * x_9 - x_779) - + x_617 * x_761 - + x_617 * (0.2104 * x_480 - x_780) - + x_617 * (-x_196 * x_778 + x_449 * x_693) - + x_617 * (-x_449 * x_703 - x_778) - + x_617 * (x_457 * x_667 + x_461 * x_673 + x_474 * x_701) - + x_617 * (-x_463 * x_667 + 0.2104 * x_479 * x_9 - x_780) - - x_625 * x_737 - + x_625 * x_762 - + x_625 * x_766 - + x_625 * x_767 - + x_625 * x_768 - - x_675 * x_87 - + x_68 * x_694 - + x_691 * x_777 - - x_698 * x_727 - + x_698 * x_729 - + x_746 - + x_769 - - x_89 * (x_666 * x_676 + x_674 * x_9 + x_677 * x_9) - , - - 9.628416e-5 * x_1 * x_12 - + 0.0178304 * x_101 - + 0.0077274676 * x_105 * x_173 - - 0.0178304 * x_108 - + x_109 * x_811 - + x_109 * (x_200 * x_790 + x_69 * x_796) - + x_109 * (x_379 * x_837 + x_469 * x_834 + x_479 * x_835) - + x_112 * (x_200 * x_823 + x_379 * x_824 + x_69 * x_822) - + x_112 * (x_144 * x_69 * x_804 - x_69 * x_807 - x_801) - + x_115 * (-x_785 - x_786) - + 6.0358817728e-6 * x_116 - + 6.0358817728e-6 * x_117 - + 5.11984e-5 * x_118 * x_173 - + x_118 * x_187 - + x_120 * x_809 - + x_120 * x_816 - - x_120 * x_819 - + x_120 * (x_465 * x_834 + x_475 * x_835 - x_840) - + x_124 * x_810 - + x_124 * x_816 - + x_124 * x_817 - - x_124 * x_828 - + x_127 * x_787 - + x_128 * x_797 - + x_128 * x_838 - + x_130 * x_808 - + x_130 * x_825 - + x_132 * x_811 - + x_142 * x_789 - - x_164 * (x_150 * x_791 + x_158 * x_790) - - x_166 * (x_12 * x_788 - x_785 * x_9 - x_786 * x_9) - - x_169 * (x_152 * x_790 + x_161 * x_791) - - 5.11984e-5 * x_171 * x_99 - - 0.0077274676 * x_176 * x_99 - - 1.30358817728e-5 * x_185 - + x_206 * x_540 - - x_214 * (x_149 * x_795 + x_202 * x_790) - - x_214 * (x_390 * x_837 + x_521 * x_835 + x_524 * x_834) - - x_217 - - x_218 - - x_219 - - x_220 * (x_160 * x_795 + x_210 * x_790) - - x_220 * (x_381 * x_837 + x_471 * x_834 + x_481 * x_835) - - x_233 * (x_149 * x_821 + x_202 * x_823 + x_390 * x_824) - - x_233 * (x_150 * x_805 + x_158 * x_804 - x_802) - - x_236 * (x_152 * x_804 + x_161 * x_805 - x_801 * x_9) - - x_236 * (x_160 * x_821 + x_210 * x_823 + x_381 * x_824) - + x_25 * x_797 - + x_25 * x_838 - + x_257 * x_829 - + x_257 * x_831 - + x_257 * x_848 - + x_259 * x_800 - + x_259 * x_833 - - x_263 * x_810 - - x_263 * x_817 - + x_263 * x_828 - + x_263 * x_832 - - x_264 * x_809 - + x_264 * x_819 - + x_264 * x_832 - + x_264 * (x_474 * x_835 + x_532 * x_834 + x_840) - + x_27 * x_808 - + x_27 * x_825 - - 0.0128 * x_271 * x_69 - + x_271 * (x_146 * x_793 + x_796) - + x_271 * (-x_144 * x_839 + x_453 * x_834 + x_461 * x_835) - + x_273 * (x_806 - x_807) - + x_273 * (-x_144 * x_826 + x_144 * x_827 + x_822) - - 0.021406 * x_288 * x_69 - + 0.021406 * x_290 * x_70 - + 0.00375151616 * x_3 * x_781 - + x_308 * x_829 - + x_308 * x_831 - + x_308 * x_848 - + x_310 * x_829 - + x_310 * x_833 - + x_325 * x_790 - - x_325 * x_841 - + x_325 * x_845 - + x_325 * (x_196 * x_823 - x_826) - - x_327 * x_841 - + x_327 * x_845 - + x_327 * (x_196 * x_449 * x_834 - x_196 * x_847 - x_839) - + x_335 * x_791 - + x_335 * x_794 - + x_335 * x_844 - + x_335 * x_846 - + x_335 * x_849 - + x_339 * x_791 - + x_339 * x_820 - + x_339 * x_844 - + x_339 * x_846 - + x_34 * x_667 - + x_34 * x_784 - + x_34 * x_798 - + x_34 * (x_150 * x_795 + x_223 * x_790) - + x_34 * (x_395 * x_837 + x_526 * x_835 + x_527 * x_834) - + x_355 * x_788 - + x_36 * x_668 - + x_36 * x_798 - + x_36 * (x_149 * x_805 + x_190 * x_804 + x_802) - + x_36 * (x_150 * x_821 + x_223 * x_823 + x_395 * x_824) - + x_37 * x_667 - + x_37 * x_789 - + x_371 * x_70 - + x_373 * x_548 - + x_373 * x_665 - + x_388 * x_69 - - x_39 * x_669 - - x_409 * x_831 - + x_409 * x_837 - + x_409 * x_850 - + x_409 * x_852 - + x_428 * x_790 - + x_428 * x_853 - + x_428 * x_854 - + x_428 * x_855 - + x_428 * (x_449 * x_834 - x_847) - + x_436 * x_442 - - x_448 * x_549 - + x_455 * x_652 - + x_463 * x_647 - - 0.0012084349250612 * x_49 - + x_492 * x_69 - + x_503 * x_804 - - x_503 * x_841 - + x_503 * x_845 - - x_514 * x_791 - + x_514 * x_795 - - x_514 * x_844 - - x_514 * x_849 - + x_514 * x_856 - + x_517 * x_805 - + x_517 * x_844 - + x_517 * x_846 - + x_531 * x_800 - + x_531 * x_829 - + x_549 * x_554 - + x_549 * x_842 - - x_56 * (x_57 + x_58) - + x_567 * x_823 - + x_567 * x_853 - + x_567 * x_854 - + x_567 * x_855 - + x_573 * x_824 - - x_573 * x_831 - + x_573 * x_850 - + x_573 * x_852 - - x_574 * x_791 - + x_574 * x_821 - - x_574 * x_844 - + x_574 * x_856 - + x_607 * x_834 - - x_607 * x_860 - + x_607 * (x_204 * x_858 + x_70 * x_857) - + x_607 * (-x_532 * x_809 - x_860) - + x_607 * (0.1059 * x_146 * x_449 * x_70 - x_451 * x_795) - + x_617 * x_835 - - x_617 * x_861 - + x_617 * (-x_449 * x_795 - x_70 * x_859) - + x_617 * (-x_474 * x_809 - x_861) - + x_617 * (0.1059 * x_144 * x_449 * x_70 - x_204 * x_859) - - x_625 * x_831 - + x_625 * x_837 - + x_625 * x_850 - + x_625 * x_852 - - x_669 * x_8 - + x_68 * x_784 - + 0.0256 * x_727 - - 0.0256 * x_729 - + x_784 * x_87 - + x_842 * x_843 - - x_89 * (-0.2084 * x_671 - x_679 * x_9 - x_783 * x_9) - + 0.0028405095497008 * x_95 - - 0.0034465095497008 * x_96 - - 0.0028405095497008 * x_98 - , - - -0.00208866816 * x_1 * x_684 - + x_109 * x_676 - + x_109 * x_881 - + x_109 * (x_200 * x_882 + x_510 * x_813) - + x_109 * (x_379 * x_879 + x_469 * x_875 + x_479 * x_873) - + 0.4168 * x_112 * x_69 - + x_112 * x_881 - + x_112 * (x_200 * x_869 + x_379 * x_868 + x_69 * x_892) - + x_112 * (x_69 * x_863 + x_69 * x_864 - x_898) - + x_115 * (x_285 + x_286) - + x_120 * (x_465 * x_875 + x_475 * x_873 - x_896) - - x_124 * x_897 - + x_128 * x_809 - + x_128 * x_816 - + x_128 * x_883 - + x_128 * x_894 - + x_130 * x_810 - + x_130 * x_816 - + x_130 * x_891 - + x_130 * x_893 - + x_131 * x_787 - - x_142 * x_683 - - x_144 * x_448 - + 0.272283 * x_144 * x_503 - + x_144 * x_554 - - x_146 * x_442 - - 0.272283 * x_146 * x_517 - - x_164 * (0.1059 * x_144 * x_158 - x_885) - - x_166 * (x_137 + x_138 * x_69) - - x_169 * (x_152 * x_882 - 0.1059 * x_906) - + x_196 * x_428 * x_900 - - x_214 * (x_196 * x_887 + x_202 * x_882) - - x_214 * (x_390 * x_879 + x_521 * x_873 + x_524 * x_875) - - x_220 * (x_160 * x_904 + x_210 * x_882) - - x_220 * (x_381 * x_879 + x_471 * x_875 + x_481 * x_873) - - x_233 * (0.063883 * x_144 * x_158 - 0.063883 * x_884 - x_899) - - x_233 * (x_149 * x_890 + x_202 * x_869 + x_390 * x_868) - - x_236 * (0.063883 * x_144 * x_152 - x_898 * x_9 - 0.063883 * x_906) - - x_236 * (x_160 * x_890 + x_210 * x_869 + x_381 * x_868) - - 2.5120044e-7 * x_240 - + 2.5120044e-7 * x_241 - - 2.5120044e-7 * x_243 - - 2.5120044e-7 * x_246 - - 0.3867904 * x_247 * x_261 - - 0.07019454 * x_247 * x_283 - - 1.674e-5 * x_247 * x_289 - + x_25 * x_809 - + x_25 * x_816 - + x_25 * x_883 - + x_25 * x_894 - + 1.674e-5 * x_255 * x_287 - + 0.3867904 * x_256 * x_262 - + x_257 * x_880 - + x_257 * x_902 - + x_259 * x_866 - + x_259 * x_870 - + 0.07019454 * x_262 * x_287 - + x_263 * x_897 - + x_264 * (x_474 * x_873 + x_532 * x_875 + x_896) - - 0.00352879782724 * x_267 - - 0.00352879782724 * x_268 - + x_27 * x_810 - + x_27 * x_816 - + x_27 * x_891 - + x_27 * x_893 - - 0.00352879782724 * x_270 - + x_271 * x_862 - + x_271 * (x_196 * x_813 + x_196 * x_815) - + x_271 * (-x_144 * x_895 + x_453 * x_875 + x_461 * x_873) - + x_273 * x_862 - + x_273 * (x_863 + x_864) - + x_273 * (x_144 * x_871 - x_144 * x_872 + x_892) - + x_29 * x_787 - + x_308 * x_880 - + x_308 * x_902 - + x_310 * x_870 - + x_325 * x_900 - + x_325 * (x_871 - x_872) - + x_327 * x_900 - + x_327 * x_903 - + x_327 * (x_196 * x_449 * x_875 - x_196 * x_874 - x_895) - + x_335 * x_876 - - x_335 * x_901 - - x_335 * x_904 - + x_339 * x_889 - - x_339 * x_901 - - x_34 * x_701 - + x_34 * x_888 - + x_34 * (x_196 * x_885 + x_223 * x_882) - + x_34 * (x_395 * x_879 + x_526 * x_873 + x_527 * x_875) - + x_351 - + 0.00352879782724 * x_354 - - x_36 * x_702 - + x_36 * x_888 - + x_36 * (0.063883 * x_144 * x_190 - 0.063883 * x_886 + x_899) - + x_36 * (x_150 * x_890 + x_223 * x_869 + x_395 * x_868) - + x_37 * x_704 - + x_409 * x_879 - - x_409 * x_905 - + x_428 * x_882 - + x_428 * (x_449 * x_875 - x_874) - + x_474 * x_647 - - x_514 * x_876 - + x_514 * x_901 - + x_514 * x_904 - + x_531 * x_866 - + x_532 * x_652 - - x_534 * x_540 - + x_548 * x_550 - + x_550 * x_665 - + x_567 * x_869 - + x_573 * x_868 - - x_573 * x_905 - + x_574 * x_890 - + x_574 * x_901 - + x_607 * x_875 - + x_607 * (0.1059 * x_144 * x_449 - 0.1059 * x_473) - + x_607 * (0.1059 * x_144 * x_196 * x_449 - x_859) - + x_607 * (0.2084 * x_144 * x_196 * x_449 - 0.2084 * x_452) - + x_617 * x_873 - + x_617 * (-0.2084 * x_458 - 0.2084 * x_460) - + x_617 * (-0.1059 * x_460 - x_858) - + x_617 * (-0.1059 * x_464 - x_857) - + x_625 * x_879 - - x_625 * x_905 - + x_777 * x_900 - - 0.08138070016 * x_781 * x_91 - - 0.08590526315144 * x_95 - + 0.09422126315144 * x_96 - + 0.08590526315144 * x_98 - , - - -x_109 * x_146 * x_792 - + x_109 * (x_379 * x_920 + x_469 * x_922 + x_479 * x_923) - + x_112 * (0.009432 * x_144 * x_69 - x_146 * x_365) - + x_112 * (-x_200 * x_913 + x_379 * x_914 + x_69 * x_912) - + x_120 * x_902 - + x_120 * (x_465 * x_922 + x_475 * x_923 - x_926) - + x_124 * x_866 - - x_124 * x_918 - - x_128 * x_831 - + x_128 * x_924 - + x_130 * x_908 - + x_130 * x_915 - + 0.00028593 * x_149 * x_907 - - x_150 * x_34 * x_909 - + 0.000256 * x_161 * x_19 - + 0.01114068 * x_194 * x_3 * x_907 - + x_196 * x_548 - + x_196 * x_665 - + x_198 * x_540 - - x_214 * (x_390 * x_920 + x_521 * x_923 + x_524 * x_922) - - x_220 * (x_381 * x_920 + x_471 * x_922 + x_481 * x_923) - - x_233 * x_712 - - x_233 * (x_149 * x_911 - x_202 * x_913 + x_390 * x_914) - - x_236 * (x_160 * x_911 - x_210 * x_913 + x_381 * x_914) - - x_236 - * ( - 0.009432 * x_144 * x_69 * x_9 - - 0.009432 * x_147 - - x_155 * x_365 - - 1.0e-6 * x_156 - ) - - x_25 * x_831 - + x_25 * x_924 - + x_257 * x_929 - - x_263 * x_866 - + x_263 * x_918 - - x_264 * x_902 - + x_264 * (x_474 * x_923 + x_532 * x_922 + x_926) - + 6.031665975e-5 * x_267 - + 6.031665975e-5 * x_268 - + x_27 * x_908 - + x_27 * x_915 - + 6.031665975e-5 * x_270 - - 0.1059 * x_271 * x_550 - + x_271 * (-x_144 * x_925 + x_453 * x_922 + x_461 * x_923) - + x_273 * (0.009432 * x_144 - x_374) - + x_273 * (-x_144 * x_916 - x_144 * x_917 + x_146 * x_911) - + x_297 * x_440 - + 0.006394896 * x_305 * x_502 - + x_308 * x_929 - - 0.000408525141168 * x_313 - - 0.000408525141168 * x_316 - - 0.006394896 * x_317 * x_501 - + 6.78e-7 * x_317 * x_515 - - 0.000408525141168 * x_324 - + x_325 * (-x_916 - x_917) - + x_327 * (x_196 * x_449 * x_922 - x_196 * x_928 - x_925) - - 4.3312674e-8 * x_328 - + 4.3312674e-8 * x_329 - - 4.3312674e-8 * x_330 - + x_335 * x_909 - + x_335 * x_930 - + 4.3312674e-8 * x_336 - + 4.3312674e-8 * x_338 - + x_339 * x_910 - + x_34 * (x_395 * x_920 + x_526 * x_923 + x_527 * x_922) - - 6.031665975e-5 * x_354 - - x_36 * x_712 - + x_36 * (x_150 * x_911 - x_223 * x_913 + x_395 * x_914) - + x_409 * x_920 - + 0.000408525141168 * x_416 - + 0.000408525141168 * x_417 - + x_428 * (x_927 - x_928) - + x_449 * x_617 * x_909 - + x_451 * x_607 * x_909 - - x_483 - - x_484 - - x_485 - - x_486 - - x_487 - - x_488 - - x_489 - + 0.000256 * x_49 * x_549 - - x_490 - - x_491 - - x_514 * x_909 - - x_514 * x_930 - - 6.78e-7 * x_516 - + x_573 * x_914 - + x_574 * x_911 - + x_607 * x_922 - + x_617 * x_923 - + x_625 * x_920 - + x_643 * x_652 - - x_647 * x_931 - - 0.00965 * x_777 - , - - x_109 * (0.1059 * x_144 * x_196 * x_69 - x_830) - + x_109 * (x_379 * x_932 + x_469 * x_936 - x_479 * x_937) - + x_112 - * ( - 0.045483 * x_144 * x_196 * x_69 - - 0.045483 * x_199 - - x_203 * x_865 - - 1.0e-6 * x_204 - ) - + x_120 * x_904 - + x_120 * (0.029798 * x_449 * x_465 - x_475 * x_937 - x_940) - + x_124 * x_890 - + x_128 * x_794 - + x_128 * x_938 - + x_130 * x_820 - + x_196 * x_842 - - x_214 * x_703 - - x_214 * (x_390 * x_932 - x_521 * x_937 + x_524 * x_936) - - x_220 * (-0.1059 * x_208 + 0.1059 * x_209) - - x_220 * (x_381 * x_932 + x_471 * x_936 - x_481 * x_937) - - x_233 * x_734 - - x_236 - * (x_147 * x_565 - x_147 * x_733 + 0.045483 * x_209 + 1.0e-6 * x_380) - + x_25 * x_794 - + x_25 * x_938 - + x_257 * x_909 - + x_257 * x_935 - + x_259 * x_910 - + x_263 * x_889 - - x_264 * x_904 - + x_264 * (-x_474 * x_937 + x_532 * x_936 + x_940) - + x_27 * x_820 - + x_271 * x_903 - + x_271 * (-x_144 * x_939 + 0.029798 * x_449 * x_453 - x_461 * x_937) - + x_273 * (0.045483 * x_144 * x_196 - x_198 * x_865) - + x_308 * x_909 - + x_308 * x_935 - + x_310 * x_910 - - 0.00700998583062 * x_313 - + x_325 * (0.045483 * x_196 - x_565) - + x_327 * (x_196 * x_933 + x_196 * x_934 - x_939) - + x_34 * x_758 - + x_34 * (x_395 * x_932 - x_526 * x_937 + x_527 * x_936) - + x_36 * x_759 - + 6.78e-7 * x_399 * x_571 - - 6.78e-7 * x_407 * x_566 - + 0.05295 * x_408 * x_426 - + x_409 * x_932 - + 0.00700998583062 * x_416 - + 0.00700998583062 * x_417 - + 0.030837474 * x_426 * x_566 - + x_428 * (x_933 + x_934) - + 0.135698 * x_449 * x_607 - - x_449 * x_647 - - 0.135698 * x_451 * x_617 - - x_451 * x_652 - + 6.5427e-9 * x_505 - + 6.5427e-9 * x_506 - + 6.5427e-9 * x_509 - + 6.5427e-9 * x_512 - + 6.5427e-9 * x_513 - + x_554 - - 0.0002975816241 * x_555 - - 0.0002975816241 * x_556 - - 0.0002975816241 * x_558 - - 0.0002975816241 * x_561 - - 0.0002975816241 * x_562 - - 0.030837474 * x_564 - - 6.5427e-9 * x_568 - + 0.00700998583062 * x_569 - + 0.00700998583062 * x_570 - + 0.0002975816241 * x_575 - + x_625 * x_932 - , - - -0.000169878398 * joint_velocity[0] * x_587 - - 0.000169878398 * joint_velocity[1] * x_586 - - 0.000169878398 * joint_velocity[2] * x_583 - - 0.000169878398 * joint_velocity[3] * x_579 - - 0.000169878398 * joint_velocity[6] * x_576 - + 4.186619e-6 * joint_velocity[6] * x_591 - + 4.186619e-6 * joint_velocity[6] * x_592 - + x_109 - * ( - -x_199 * x_599 - - x_199 * x_600 - + 0.011402 * x_453 * x_69 - - 0.000281 * x_478 - ) - + x_120 * x_879 - + x_128 * x_836 - + 3.0e-6 * x_186 * x_469 - + 0.000118 * x_186 * x_479 - + 3.0e-6 * x_19 * x_471 - + 0.000118 * x_19 * x_481 - - x_214 * x_762 - - x_220 - * ( - -0.011402 * x_466 - + 0.011402 * x_470 - + 0.000281 * x_476 - - 0.000281 * x_480 - ) - + x_25 * x_836 - + x_257 * x_919 - - x_264 * x_879 - + x_271 - * (-0.011402 * x_452 + 0.000281 * x_458 + x_459 * x_877 + x_580 * x_878) - + x_308 * x_919 - + x_327 * (x_449 * x_878 + x_451 * x_877) - + x_335 * x_932 - - x_34 * x_762 - + 3.0e-6 * x_368 * x_453 - + 0.000118 * x_368 * x_461 - + 0.000118 * x_369 * x_931 - + x_426 * x_631 - + x_428 * (x_599 + x_600) - + x_449 * x_648 - - x_514 * x_932 - + 0.000609 * x_551 - + 0.000609 * x_552 - + 0.000609 * x_553 - + 6.50422825e-5 * x_555 - + 6.50422825e-5 * x_556 - + 6.50422825e-5 * x_558 - + 6.50422825e-5 * x_561 - + 6.50422825e-5 * x_562 - - 6.50422825e-5 * x_575 - - 0.005701 * x_589 * x_590 - - 0.0001405 * x_590 * x_615 - + 0.005701 * x_598 * x_605 - + x_598 * x_629 - + 0.0001405 * x_605 * x_616 - + x_616 * x_651 - + 0.000169878398 * x_618 - - 4.186619e-6 * x_619 - + 0.000169878398 * x_620 - - 4.186619e-6 * x_621 - - 4.186619e-6 * x_622 - - 4.186619e-6 * x_623 - - 4.186619e-6 * x_624 - - x_638 - - x_640 - - x_642 - - x_645 - - x_653 - - x_654 - - x_655 - - x_656 - - x_657 - - x_658 - - x_659 - - x_660 - - x_661 - - x_662 - - x_663 - - x_664 - , - ] - ) diff --git a/kinova_gen3/dynamics/coriolis.py b/kinova_gen3/dynamics/coriolis.py new file mode 100644 index 0000000..6bcda27 --- /dev/null +++ b/kinova_gen3/dynamics/coriolis.py @@ -0,0 +1,3206 @@ +"""Coriolis matrix for Kinova Gen3 robot + +Functions +--------- +coriolis(joint_position, joint_velocity) + +""" + +import math +import numpy + + +def coriolis(q, qp): + """The Coriolis term of the Kinova Gen3 robot + + Arguments + --------- + joint_position (array_like): The joint angles of the robot [rad] + joint_velocity (array_like): The joint velocities of the robot [rad/s] + + Returns + ------- + ndarray: The Coriolis term of the robot + + """ + + # q1 = q[0] + q2 = q[1] + q3 = q[2] + q4 = q[3] + q5 = q[4] + q6 = q[5] + q7 = q[6] + + u1 = qp[0] + u2 = qp[1] + u3 = qp[2] + u4 = qp[3] + u5 = qp[4] + u6 = qp[5] + u7 = qp[6] + + x0 = q2 + x1 = math.sin(x0) + x2 = u1 + x3 = x2**2 + x4 = x1 * x3 + x5 = math.cos(x0) + x6 = 0.09958 * x1 + x7 = 4.4e-5 * x5 + x8 = -x7 + x9 = x6 + x8 + x10 = 0.00625435 * x3 + x11 = q3 + x12 = math.cos(x11) + x13 = x12**2 + x14 = 0.21038 * x13 + x15 = math.sin(x11) + x16 = 0.006375 * x5 + x17 = x1 * x15 + x18 = 0.21038 * x17 + x19 = -x16 + x18 + x20 = x1 * x14 + x15 * x19 + x21 = u2 + x22 = x2 * x5 + x23 = x21 * x22 + x24 = x1**2 + x25 = x24 * x3 + x26 = 0.006375 * x22 + x27 = 0.21038 * x21 - x26 + x28 = x21 * x27 + x29 = 0.003191325 * x23 + 0.105316228 * x25 + 0.5006 * x28 + x30 = 0.01175 * x1 + x31 = 0.0043228875 * x23 + 0.142658678 * x25 + 0.6781 * x28 + x32 = 0.0235 * x1 + x33 = 0.005930025 * x23 + 0.195695476 * x25 + 0.9302 * x28 + x34 = 0.00741795 * x23 + 0.244798168 * x25 + 1.1636 * x28 + x35 = x4 * x5 + x36 = 0.58632906 * x35 + x37 = 0.006641 * x5 + x38 = 0.117892 * x1 + x39 = x15 * x38 + x37 + x40 = x12 * x38 + x8 + x41 = x12 * x40 + x15 * x39 + x42 = 1.1636 * x22 + x43 = -0.244798168 * x23 + 0.00741795 * x24 * x3 - x27 * x42 + x44 = 0.21038 * x1 + x45 = x22 * x27 + x46 = -0.195695476 * x23 + 0.005930025 * x24 * x3 - 0.9302 * x45 + x47 = -0.142658678 * x23 + 0.0043228875 * x24 * x3 - 0.6781 * x45 + x48 = -0.105316228 * x23 + 0.003191325 * x24 * x3 - 0.5006 * x45 + x49 = x1 * x12 + x50 = 0.006375 * x49 + x51 = 0.01275 * x49 + x52 = 0.244798168 * x35 + x53 = 0.09958 * x21 - 0.013278 * x22 + x54 = 1.1636 * x21 + x55 = x2 * x7 + x56 = -x2 * x6 + x55 + x57 = x1 * x2 + x58 = x21 * x57 + x59 = 4.4e-5 * x21 + x60 = 0.013278 * x57 - x59 + x61 = 4.4e-5 * x15 + x62 = 0.006641 * x12 + x63 = -x1 * x61 - x1 * x62 + x64 = 5.0e-6 * x22 + x65 = 0.011088 * x57 + x64 + x66 = 0.011255 * x21 - 0.000691 * x22 + x67 = 5.0e-6 * x57 + x68 = -0.000691 * x21 + 0.001072 * x22 + x67 + x69 = 5.11984e-5 * x21 + x70 = x57 * x69 + x71 = 0.115871288 * x21 + x72 = -x20 + x73 = 2 * x47 + x74 = q4 + x75 = math.cos(x74) + x76 = math.sin(x74) + x77 = x16 * x76 + x78 = x49 * x75 + x79 = x77 + 0.006375 * x78 + x80 = x16 * x75 + x81 = x49 * x76 + x82 = 0.006375 * x81 + x83 = 0.20843 * x17 - x80 + x82 + x84 = x75 * x79 + x76 * x83 + x85 = 2 * x84 + x86 = x5 * x76 + x87 = 0.20843 * x12 + x88 = x1 * x75 * x87 + 0.20843 * x86 + x89 = -x88 + x90 = x76 * x79 + x91 = x75 * x83 + x92 = x12 * x89 + x15 * x90 - x15 * x91 + x93 = 0.0099803 * x3 + x94 = 0.390633584 * x35 + x95 = -1.8e-5 * x17 + 0.015006 * x78 + 0.015006 * x86 + x96 = x5 * x75 + x97 = 0.075478 * x17 + 0.015006 * x81 - 0.015006 * x96 + x98 = x75 * x95 + x76 * x97 + x99 = u3 + x100 = x15 * x21 + x101 = x100 * x99 + x102 = x100 * x22 + x103 = x12 * x57 + x104 = x103 * x99 + x105 = x22 + x99 + x106 = -0.21038 * x100 + 0.21038 * x103 + x107 = x105 * x106 + x108 = x12 * x21 + x109 = x15 * x57 + x110 = x108 + x109 + x111 = -x110 + x112 = 0.006375 * x100 + x113 = 0.006375 * x103 - x112 + x114 = x111 * x113 + x115 = ( + -0.195695476 * x101 + + 0.195695476 * x102 + + 0.195695476 * x104 + - 0.9302 * x107 + + 0.9302 * x114 + + 0.005930025 * x58 + ) + x116 = 0.005375 * x5 + x117 = x116 * x12 + x118 = ( + -0.142658678 * x101 + + 0.142658678 * x102 + + 0.142658678 * x104 + - 0.6781 * x107 + + 0.6781 * x114 + + 0.0043228875 * x58 + ) + x119 = x118 * x12 + x120 = 0.01075 * x5 + x121 = ( + -0.105316228 * x101 + + 0.105316228 * x102 + + 0.105316228 * x104 + - 0.5006 * x107 + + 0.5006 * x114 + + 0.003191325 * x58 + ) + x122 = x108 * x99 + x123 = x109 * x99 + x124 = -x100 + x103 + x125 = x113 * x124 + x126 = 0.21038 * x108 + 0.21038 * x109 - x26 - 0.006375 * x99 + x127 = ( + 0.5006 * x105 * x126 + + 0.105316228 * x12 * x2 * x21 * x5 + - 0.105316228 * x122 + - 0.105316228 * x123 + - 0.5006 * x125 + ) + x128 = 0.21038 * x49 + x129 = x116 * x15 + x130 = ( + 0.6781 * x105 * x126 + + 0.142658678 * x12 * x2 * x21 * x5 + - 0.142658678 * x122 + - 0.142658678 * x123 + - 0.6781 * x125 + ) + x131 = 0.42076 * x49 + x132 = x120 * x15 + x133 = ( + 0.9302 * x105 * x126 + + 0.195695476 * x12 * x2 * x21 * x5 + - 0.195695476 * x122 + - 0.195695476 * x123 + - 0.9302 * x125 + ) + x134 = x76 * x95 + x135 = x75 * x97 + x136 = 1.8e-5 * x12 + x137 = x136 * x76 + x138 = 0.075478 * x12 * x75 + x139 = x1 * x137 + x1 * x138 - 1.8e-5 * x5 * x75 + 0.075478 * x86 + x140 = -x139 + x141 = x12 * x140 + x134 * x15 - x135 * x15 + x142 = 0.004999825 * x3 + x143 = x111 * x126 + x144 = ( + 0.9302 * x106 * x124 + + 0.005930025 * x12 * x2 * x21 * x5 + - 0.005930025 * x122 + - 0.005930025 * x123 + - 0.9302 * x143 + ) + x145 = ( + 0.6781 * x106 * x124 + + 0.0043228875 * x12 * x2 * x21 * x5 + - 0.0043228875 * x122 + - 0.0043228875 * x123 + - 0.6781 * x143 + ) + x146 = ( + 0.5006 * x106 * x124 + + 0.003191325 * x12 * x2 * x21 * x5 + - 0.003191325 * x122 + - 0.003191325 * x123 + - 0.5006 * x143 + ) + x147 = 2 * x118 + x148 = 0.195695476 * x35 + x149 = -x12 * x16 + x18 + x150 = x128 + x15 * x16 + x151 = 2 * x130 + x152 = 0.1371791312 * x99 + x153 = 0.117892 * x108 + 0.117892 * x109 + x2 * x37 + 0.006641 * x99 + x154 = 1.1636 * x105 + x155 = -x12 * x59 + 0.006641 * x15 * x21 - x57 * x61 - x57 * x62 + x156 = ( + -x108 * x152 + + 0.1371791312 * x108 * x22 + - x109 * x152 + - 1.1636 * x124 * x155 + + x153 * x154 + + x70 + ) + x157 = x15 * x156 + x158 = 0.117892 * x1 * x12 * x2 - 0.117892 * x100 - x55 - 4.4e-5 * x99 + x159 = ( + 0.1371791312 * x1 * x12 * x2 * x99 + - x100 * x152 + + 1.1636 * x111 * x155 + + 0.1371791312 * x15 * x2 * x21 * x5 + - x154 * x158 + - 0.0077274676 * x58 + ) + x160 = x12 * x159 + x161 = x124 * x99 + x162 = 7.0e-6 * x99 + x163 = 7.0e-6 * x22 + x164 = 0.010932 * x1 * x12 * x2 - 0.010932 * x100 - x162 - x163 + x165 = ( + -7.0e-6 * x103 + - 0.000606 * x108 + - 0.000606 * x109 + + 7.0e-6 * x15 * x21 + + 0.001043 * x2 * x5 + + 0.001043 * x99 + ) + x166 = ( + -0.011127 * x102 + x105 * x164 - x124 * x165 - 0.011127 * x161 - 0.000606 * x58 + ) + x167 = x108 * x22 + x168 = x111 * x99 + x169 = -0.011127 * x108 - 0.011127 * x109 + 0.000606 * x2 * x5 + 0.000606 * x99 + x170 = -x105 * x169 + x111 * x165 + 0.010932 * x167 + 0.010932 * x168 + 7.0e-6 * x58 + x171 = ( + 0.0077274676 * x1 * x15 * x2 * x99 + - 5.11984e-5 * x102 + - 5.11984e-5 * x104 + - 1.1636 * x111 * x153 + + 0.0077274676 * x12 * x21 * x99 + + 1.1636 * x124 * x158 + + 5.11984e-5 * x15 * x21 * x99 + - 0.0077274676 * x167 + ) + x172 = x75 * x83 - x90 + x173 = 0.000606 * x124 * x99 + x174 = x111 * x162 + x175 = x111 * x164 + x176 = q5 + x177 = math.cos(x176) + x178 = x177 * x86 + x179 = math.sin(x176) + x180 = x15 * x179 + x181 = x12 * x177 * x75 - x180 + x182 = x1 * x181 + x183 = 0.00017505 * x178 + 0.00017505 * x182 + x184 = x183 * x76 + x185 = x15 * x184 + x186 = x12 * x177 + x187 = x180 * x75 + x188 = -x186 + x187 + x189 = -x188 + x190 = 0.10593 * x177 + x191 = 0.10593 * x182 + x190 * x86 + x192 = x12 * x179 + x193 = x15 * x177 + x194 = x193 * x75 + x195 = x192 + x194 + x196 = -0.10593 * x179 * x5 * x76 + x197 = x192 * x75 + x198 = x193 + x197 + x199 = -x198 + x200 = x1 * x199 + x201 = 0.00017505 * x1 * x12 * x76 - x196 - 0.10593 * x200 - 0.00017505 * x96 + x202 = 0.0063355125 * x3 + x203 = x179 * x191 + x204 = x177 * x201 * x76 + x183 * x75 - x203 * x76 + x205 = 0.247974906 * x35 + x206 = x177 * x191 + x179 * x201 + x207 = -x195 + x208 = x185 + x188 * x191 + x201 * x207 + x209 = 0.063883 * x178 + 0.063883 * x182 - 1.0e-6 * x81 + 1.0e-6 * x96 + x210 = ( + 0.063883 * x179 * x5 * x76 + - 0.063883 * x200 + + 0.009432 * x5 * x75 + - 0.009432 * x81 + ) + x211 = x177 * x209 + x179 * x210 + x212 = 0.009432 * x177 + x213 = 1.0e-6 * x179 * x5 * x76 - 0.009432 * x182 - 1.0e-6 * x200 - x212 * x86 + x214 = x213 * x76 + x215 = x15 * x214 + x216 = 0.0036447875 * x3 + x217 = x179 * x209 + x218 = x177 * x210 * x76 + x213 * x75 - x217 * x76 + x219 = 0.142658678 * x35 + x220 = x177 * x201 * x75 - x184 - x203 * x75 + x221 = 0.005375 * x1 + x222 = 0.005375 * x12 + x223 = x221 * x75 + x222 * x86 + x224 = u4 + x225 = x75 * x99 + x226 = x224 * x225 + x227 = x100 * x76 + x228 = x224 * x227 + x229 = x1 * x21 + x230 = x229 * x76 + x231 = x2 * ( + x12 * x21 * x5 * x75 - x17 * x225 + x224 * x5 * x75 - x224 * x81 - x230 + ) + x232 = x76 * x99 + x233 = x100 * x75 + x234 = x78 + x86 + x235 = x2 * x234 + x236 = x232 - x233 + x235 + x237 = 0.20843 * x15 * x21 * x75 - 0.20843 * x232 - 0.20843 * x235 + x238 = x5 * x75 - x81 + x239 = x2 * x238 + x240 = ( + 0.20843 * x1 * x15 * x2 + - x112 * x76 + + 0.20843 * x12 * x21 + + 0.20843 * x224 + - 0.006375 * x225 + - 0.006375 * x239 + ) + x241 = x110 + x224 + x242 = 0.5006 * x241 + x243 = ( + -0.003191325 * x108 * x225 + + 0.003191325 * x226 + + 0.003191325 * x228 + + 0.003191325 * x231 + - 0.5006 * x236 * x237 + + x240 * x242 + ) + x244 = x108 * x225 + x245 = 0.6781 * x241 + x246 = ( + 0.0043228875 * x226 + + 0.0043228875 * x228 + + 0.0043228875 * x231 + - 0.6781 * x236 * x237 + + x240 * x245 + - 0.0043228875 * x244 + ) + x247 = 2 * x246 + x248 = -x112 * x75 + 0.006375 * x232 + 0.006375 * x235 + x249 = x225 + x227 + x239 + x250 = x240 * x249 + x251 = ( + 0.141336383 * x12 * x21 * x75 * x99 + - 0.141336383 * x226 + - 0.141336383 * x228 + - 0.141336383 * x231 + + 0.6781 * x236 * x248 + - 0.6781 * x250 + ) + x252 = ( + 0.104340058 * x12 * x21 * x75 * x99 + - 0.104340058 * x226 + - 0.104340058 * x228 + - 0.104340058 * x231 + + 0.5006 * x236 * x248 + - 0.5006 * x250 + ) + x253 = 0.006375 * x1 * x12 * x75 - x19 * x76 + x254 = 0.006375 * x1 + x255 = x12 * x77 - x18 * x76 + x254 * x75 + x256 = x221 * x76 + x257 = -x222 * x96 + x256 + x258 = x108 * x232 + x259 = x224 * x233 + x260 = x1 * x15 * x76 * x99 - x108 * x86 - x224 * x78 - x224 * x86 - x229 * x75 + x261 = x2 * x260 + x262 = ( + 0.104340058 * x1 * x12 * x2 * x99 + - 0.104340058 * x101 + + 0.104340058 * x15 * x2 * x21 * x5 + + 0.003191325 * x224 * x76 * x99 + + 0.5006 * x237 * x249 + - x242 * x248 + - 0.003191325 * x258 + - 0.003191325 * x259 + - 0.003191325 * x261 + ) + x263 = ( + 0.141336383 * x1 * x12 * x2 * x99 + - 0.141336383 * x101 + + 0.141336383 * x15 * x2 * x21 * x5 + + 0.0043228875 * x224 * x76 * x99 + + 0.6781 * x237 * x249 + - x245 * x248 + - 0.0043228875 * x258 + - 0.0043228875 * x259 + - 0.0043228875 * x261 + ) + x264 = 2 * x263 + x265 = -x150 + x266 = 2 * x251 + x267 = x19 * x75 + x268 = x267 + x82 + x269 = x254 * x76 + x270 = -x12 * x80 + x18 * x75 + x269 + x271 = q6 + x272 = math.sin(x271) + x273 = x272 * x75 + x274 = math.cos(x271) + x275 = x274 * x76 + x276 = x177 * x275 + x277 = x273 + x276 + x278 = x277 * x5 + x279 = x180 * x274 + x280 = x272 * x76 + x281 = x177 * x274 * x75 - x280 + x282 = x12 * x281 + x283 = -x279 + x282 + x284 = x1 * x283 + x285 = 0.10593 * x278 + 0.10593 * x284 + x286 = -x285 + x287 = x179 * x286 + x288 = x177 * x280 + x289 = x274 * x75 - x288 + x290 = 0.00017505 * x278 + 0.00017505 * x284 + x291 = x289 * x5 + x292 = x180 * x272 + x293 = x177 * x273 + x294 = -x275 - x293 + x295 = x12 * x294 + x296 = x292 + x295 + x297 = x1 * x296 + x298 = 0.10593 * x1 * x198 - x196 - 0.00017505 * x291 - 0.00017505 * x297 + x299 = x277 * x298 + x287 * x76 + x289 * x290 + x300 = x15 * x294 + x301 = -x12 * x179 * x272 + x300 + x302 = x192 * x274 + x303 = x15 * x281 + x304 = x302 + x303 + x305 = 0.002690725 * x3 + x306 = 0.105316228 * x35 + x307 = ( + -1.8e-5 * x108 + - 1.8e-5 * x109 + + 0.015006 * x2 * x234 + - 1.8e-5 * x224 + - 0.015006 * x233 + + 0.015006 * x76 * x99 + ) + x308 = 0.9302 * x241 + x309 = 1.8e-5 * x76 + x310 = 0.075478 * x75 + x311 = ( + x100 * x309 + + x100 * x310 + + 1.8e-5 * x225 + - 0.075478 * x232 + - 0.075478 * x235 + + 1.8e-5 * x239 + ) + x312 = ( + 0.0702096356 * x1 * x12 * x2 * x99 + - 0.0702096356 * x101 + + 0.0702096356 * x15 * x2 * x21 * x5 + + 0.0139585812 * x224 * x76 * x99 + + 0.9302 * x249 * x311 + - 0.0139585812 * x258 + - 0.0139585812 * x259 + - 0.0139585812 * x261 + - x307 * x308 + ) + x313 = ( + 0.075478 * x1 * x15 * x2 + + 0.075478 * x12 * x21 + + 0.075478 * x224 + - 0.015006 * x225 + - 0.015006 * x227 + - 0.015006 * x239 + ) + x314 = ( + 1.67436e-5 * x101 + - 1.67436e-5 * x102 + - 1.67436e-5 * x104 + + 0.0139585812 * x226 + + 0.0139585812 * x228 + + 0.0139585812 * x231 + - 0.9302 * x236 * x311 + - 0.0139585812 * x244 + + x308 * x313 + ) + x315 = x272 * x290 + x316 = x274 * x298 + x317 = x177 * x286 + x179 * x315 - x179 * x316 + x318 = -x301 + x319 = -x304 + x320 = x177 * x201 - x203 + x321 = -x206 + x322 = 0.0005 * x224 + x323 = 0.0005 * x108 + x324 = 1.0e-6 * x232 + x325 = ( + -0.0005 * x109 + + 1.0e-6 * x15 * x21 * x75 + + 0.000631 * x15 * x21 * x76 + + 0.000631 * x2 * x238 + - 1.0e-6 * x235 + - x322 + - x323 + - x324 + + 0.000631 * x75 * x99 + ) + x326 = 1.0e-6 * x225 + x327 = 1.0e-6 * x227 + 1.0e-6 * x239 + x326 + x328 = 0.008147 * x2 * x234 - 0.008147 * x233 - x327 + 0.008147 * x76 * x99 + x329 = x111 * x232 + x330 = x58 * x75 + x331 = ( + 0.008316 * x161 + + x22 * x323 * x76 + + x236 * x322 + + x236 * x325 + - x249 * x328 + + 0.0005 * x329 + + 0.0005 * x330 + ) + x332 = 0.008316 * x102 + x331 + x333 = x224 * x232 + x334 = ( + 0.0702096356 * x12 * x21 * x75 * x99 + + 1.67436e-5 * x12 * x21 * x76 * x99 + + 1.67436e-5 * x15 * x21 * x224 * x75 + + 1.67436e-5 * x2 * x260 + - 0.0702096356 * x226 + - 0.0702096356 * x228 + - 0.0702096356 * x231 + + 0.9302 * x236 * x307 + - 0.9302 * x249 * x313 + - 1.67436e-5 * x333 + ) + x335 = 1.0e-6 * x179 + x336 = x1 * x198 + x337 = 0.00965 * x278 + 0.00965 * x284 + x335 * x86 + 1.0e-6 * x336 + x338 = ( + 0.045483 * x1 * x198 + + 0.045483 * x179 * x5 * x76 + - 0.00965 * x291 + - 0.00965 * x297 + ) + x339 = 0.045483 * x278 + 0.045483 * x284 + 1.0e-6 * x291 + 1.0e-6 * x297 + x340 = -x339 + x341 = x179 * x340 + x342 = x277 * x338 + x289 * x337 + x341 * x76 + x343 = 1.0e-6 * x75 + x344 = x167 * x76 + x345 = x111 * x225 + x346 = x224 * x249 + x347 = x224 * x236 + x348 = ( + 0.008316 * x1 * x15 * x2 + + 0.008316 * x12 * x21 + + 0.008316 * x224 + - 0.0005 * x225 + - 0.0005 * x227 + - 0.0005 * x239 + ) + x349 = ( + x111 * x324 + + 0.008147 * x167 * x75 + - x241 * x325 + + x249 * x348 + + x343 * x58 + + 1.0e-6 * x344 + + 0.008147 * x345 + + 0.008147 * x346 + + 1.0e-6 * x347 + - 0.008147 * x58 * x76 + ) + x350 = x272 * x298 + x274 * x290 + x351 = ( + 1.0e-6 * x1 * x2 * x21 * x76 + - 0.0005 * x102 + - x111 * x326 + - 0.0005 * x161 + - x167 * x343 + - x236 * x348 + + x241 * x328 + - 0.000631 * x329 + - 0.000631 * x330 + - 0.000631 * x344 + - 1.0e-6 * x346 + - 0.000631 * x347 + ) + x352 = x272 * x337 + x353 = x274 * x338 + x354 = x177 * x340 + x179 * x352 - x179 * x353 + x355 = x272 * x338 + x274 * x337 + x356 = u5 + x357 = x177 * x224 + x358 = x356 * x357 + x359 = x225 * x357 + x360 = x179 * x232 + x361 = x356 * x360 + x362 = x224 * x76 + x363 = x180 * x99 - x186 * x225 - x186 * x356 + x187 * x356 + x193 * x362 + x364 = x21 * x363 + x365 = x179 * x86 + x366 = x21 * x5 + x367 = ( + x1 * (-x186 * x362 - x192 * x99 - x193 * x225 - x193 * x356 - x197 * x356) + - x177 * x230 + + x181 * x366 + - x356 * x365 + + x357 * x96 + ) + x368 = x2 * x367 + x369 = x179 * x224 + x370 = x177 * x232 + x371 = x207 * x21 + x372 = x178 + x182 + x373 = x2 * x372 + x374 = ( + -0.00017505 * x369 + 0.00017505 * x370 + 0.00017505 * x371 + 0.00017505 * x373 + ) + x375 = -x369 + x370 + x371 + x373 + x376 = 0.6781 * x375 + x377 = x200 - x365 + x378 = x2 * x377 + x379 = x188 * x21 + x380 = -0.10593 * x177 * x224 - 0.10593 * x179 * x76 * x99 + x381 = ( + -0.00017505 * x225 + - 0.00017505 * x227 + - 0.00017505 * x239 + - 0.00017505 * x356 + - 0.10593 * x378 + - 0.10593 * x379 + - x380 + ) + x382 = x249 + x356 + x383 = 0.6781 * x382 + x384 = ( + -0.071831133 * x358 + + 0.071831133 * x359 + - 0.071831133 * x361 + + 0.071831133 * x364 + + 0.071831133 * x368 + - x374 * x376 + + x381 * x383 + ) + x385 = ( + -0.053028558 * x358 + + 0.053028558 * x359 + - 0.053028558 * x361 + + 0.053028558 * x364 + + 0.053028558 * x368 + - 0.5006 * x374 * x375 + + 0.5006 * x381 * x382 + ) + x386 = x179 * x256 + x387 = -x116 * x199 - x386 + x388 = x179 * x267 - x186 * x44 + x192 * x269 + x389 = -x388 + x390 = x177 * x89 + x179 * x83 + x391 = -x390 + x392 = 8.763003e-5 * x357 + x393 = 8.763003e-5 * x21 + x394 = 8.763003e-5 * x2 + x395 = x190 * x232 - 0.10593 * x369 + 0.10593 * x371 + 0.10593 * x373 + x396 = 0.5006 * x395 + x397 = -x357 - x360 + x378 + x379 + x398 = ( + x225 * x392 + - 8.763003e-5 * x358 + - 8.763003e-5 * x361 + + x363 * x393 + + x367 * x394 + + x375 * x396 + - 0.5006 * x381 * x397 + ) + x399 = 0.6781 * x397 + x400 = ( + -0.000118701405 * x358 + + 0.000118701405 * x359 + - 0.000118701405 * x361 + + 0.000118701405 * x364 + + 0.000118701405 * x368 + + x376 * x395 + - x381 * x399 + ) + x401 = x179 * x269 + x402 = -x16 * x199 - x188 * x44 - x401 + x403 = x177 * x76 + x404 = x249 * x357 + x405 = 0.000256 * x356 + x406 = 0.000256 * x225 + x407 = ( + 0.000256 * x227 + + 0.000256 * x239 + - 0.001607 * x357 + - 0.001607 * x360 + + 0.001607 * x378 + + 0.001607 * x379 + + x405 + + x406 + ) + x408 = ( + 0.000399 * x225 + + 0.000399 * x227 + + 0.000399 * x239 + + 0.000399 * x356 + - 0.000256 * x357 + - 0.000256 * x360 + + 0.000256 * x378 + + 0.000256 * x379 + ) + x409 = ( + -0.001596 * x161 * x179 + + 0.001596 * x177 * x345 + + 0.001596 * x181 * x23 + + 0.001596 * x356 * x397 + - x382 * x407 + + x397 * x408 + - 0.001596 * x403 * x58 + + 0.001596 * x404 + ) + x410 = 0.005375 * x1 * x177 * x76 - x116 * x181 + x411 = x179 * x230 + x412 = x369 * x96 + x413 = x178 * x356 + x414 = ( + -x12 * x177 * x356 * x75 + - x12 * x177 * x99 + + x180 * x225 + + x180 * x356 + + x192 * x362 + ) + x415 = x1 * x414 + x199 * x366 + x411 - x412 - x413 + x416 = x2 * x415 + x417 = ( + -x15 * x179 * x224 * x76 + x192 * x225 + x192 * x356 + x193 * x99 + x194 * x356 + ) + x418 = x21 * x417 + x419 = x356 * x369 + x420 = ( + -0.053028558 * x177 * x356 * x76 * x99 + - 0.053028558 * x179 * x224 * x75 * x99 + + 0.053028558 * x419 + ) + x421 = ( + 8.763003e-5 * x224 * x76 * x99 + - 8.763003e-5 * x258 + - 8.763003e-5 * x259 + - 8.763003e-5 * x261 + + 0.5006 * x374 * x397 + - x382 * x396 + - 0.053028558 * x416 + - 0.053028558 * x418 + - x420 + ) + x422 = ( + 0.071831133 * x177 * x356 * x76 * x99 + + 0.071831133 * x179 * x224 * x75 * x99 + + 0.000118701405 * x224 * x76 * x99 + - 0.000118701405 * x258 + - 0.000118701405 * x259 + - 0.000118701405 * x261 + + 0.6781 * x374 * x397 + - x383 * x395 + - 0.071831133 * x416 + - 0.071831133 * x418 + - 0.071831133 * x419 + ) + x423 = x177 * x267 + x186 * x269 + x192 * x44 + x424 = x179 * x89 + x425 = x177 * x83 - x424 + x426 = 0.006375 * x1 * x177 * x76 - x16 * x181 - x207 * x44 + x427 = x161 * x177 + x428 = x179 * x345 + x429 = x249 * x369 + x430 = x356 * x375 + x431 = -0.001596 * x369 + 0.001596 * x370 + 0.001596 * x371 + 0.001596 * x373 + x432 = ( + 0.001607 * x1 * x179 * x2 * x21 * x76 + + 0.001607 * x199 * x2 * x21 * x5 + - 0.000256 * x329 + - 0.000256 * x330 + - 0.000256 * x344 + - 0.000256 * x347 + - x375 * x408 + + x382 * x431 + - 0.001607 * x427 + - 0.001607 * x428 + - 0.001607 * x429 + - 0.001607 * x430 + ) + x433 = q7 + x434 = math.sin(x433) + x435 = x273 * x434 + x436 = math.cos(x433) + x437 = x179 * x436 + x438 = x177 * x434 + x439 = x274 * x438 + x440 = -x437 - x439 + x441 = x440 * x76 + x442 = -x435 + x441 + x443 = x273 * x436 + x444 = x179 * x434 + x445 = x177 * x274 * x436 - x444 + x446 = x445 * x76 + x447 = x443 + x446 + x448 = x447 * x5 + x449 = x274 * x437 + x450 = x438 + x449 + x451 = x15 * x450 + x452 = x280 * x436 + x453 = x445 * x75 + x454 = -x452 + x453 + x455 = x12 * x454 + x456 = -x451 + x455 + x457 = x1 * x456 + x458 = -0.000281 * x291 - 0.000281 * x297 + 0.029798 * x448 + 0.029798 * x457 + x459 = x442 * x5 + x460 = x274 * x444 + x461 = -x177 * x436 + x460 + x462 = -x461 + x463 = x15 * x462 + x464 = x280 * x434 + x465 = x440 * x75 + x466 = x464 + x465 + x467 = x12 * x466 + x468 = -x463 + x467 + x469 = x1 * x468 + x470 = ( + 0.011402 * x1 * x296 + 0.011402 * x289 * x5 - 0.029798 * x459 - 0.029798 * x469 + ) + x471 = ( + 0.000281 * x1 * x468 + 0.000281 * x442 * x5 - 0.011402 * x448 - 0.011402 * x457 + ) + x472 = x289 * x471 + x442 * x458 + x447 * x470 + x473 = 0.000399 * x330 + x474 = 0.000399 * x344 + x475 = 0.000256 * x427 + x476 = 0.000399 * x329 + x477 = x111 * x179 * x406 + x478 = 0.000399 * x347 + x479 = 0.000256 * x429 + x480 = x375 * x405 + x481 = x397 * x431 + x482 = ( + 0.000256 * x1 * x179 * x2 * x21 * x76 + + 0.000256 * x199 * x2 * x21 * x5 + + x375 * x407 + - x473 + - x474 + - x475 + - x476 + - x477 + - x478 + - x479 + - x480 + - x481 + ) + x483 = x272 * x471 + x484 = x179 * x483 + x485 = x12 * x462 + x486 = x15 * x466 + x487 = x485 + x486 + x488 = x12 * x450 + x489 = x15 * x454 + x490 = x488 + x489 + x491 = x225 * x369 + x492 = x356 * x370 + x493 = ( + x327 + + 1.0e-6 * x356 + - 0.063883 * x369 + + 0.063883 * x370 + + 0.063883 * x371 + + 0.063883 * x373 + ) + x494 = ( + 1.0e-6 * x177 * x224 + + 0.009432 * x179 * x224 + + 1.0e-6 * x179 * x76 * x99 + - x212 * x232 + - 0.009432 * x371 + - 0.009432 * x373 + - 1.0e-6 * x378 + - 1.0e-6 * x379 + ) + x495 = ( + 0.0063958392 * x258 + + 0.0063958392 * x259 + + 0.0063958392 * x261 + - 0.0063958392 * x333 + - x383 * x493 + + x399 * x494 + - 0.0433190623 * x416 + - 0.0433190623 * x418 + - 0.0433190623 * x419 + + 0.0433190623 * x491 + + 0.0433190623 * x492 + ) + x496 = ( + 0.009432 * x225 + + 0.009432 * x227 + + 0.009432 * x239 + + 0.009432 * x356 + + 0.063883 * x357 + + 0.063883 * x360 + - 0.063883 * x378 + - 0.063883 * x379 + ) + x497 = ( + 6.781e-7 * x258 + + 6.781e-7 * x259 + + 6.781e-7 * x261 + - 6.781e-7 * x333 + - 0.0433190623 * x358 + + 0.0433190623 * x359 + - 0.0433190623 * x361 + + 0.0433190623 * x364 + + 0.0433190623 * x368 + - x376 * x494 + + x383 * x496 + ) + x498 = -x487 + x499 = -x490 + x500 = x434 * x458 + x501 = x272 * x436 * x470 - x272 * x500 + x274 * x471 + x502 = 6.781e-7 * x419 + x503 = 6.781e-7 * x21 + x504 = 6.781e-7 * x2 + x505 = ( + 0.0063958392 * x177 * x224 * x356 + + 6.781e-7 * x177 * x356 * x76 * x99 + + 6.781e-7 * x179 * x224 * x75 * x99 + + 0.0063958392 * x179 * x356 * x76 * x99 + - 0.0063958392 * x359 + - 0.0063958392 * x364 + - 0.0063958392 * x368 + + 0.6781 * x375 * x493 + - x399 * x496 + - x415 * x504 + - x417 * x503 + - x502 + ) + x506 = -x450 + x507 = x434 * x470 + x436 * x458 + x508 = u6 + x509 = x274 * x356 + x510 = x508 * x509 + x511 = x272 * x369 + x512 = x508 * x511 + x513 = x179 * x356 + x514 = ( + x177 * x224 * x274 * x75 + - x224 * x280 + + x274 * x508 * x75 + - x275 * x513 + - x288 * x508 + ) + x515 = x514 * x99 + x516 = x274 * x75 + x517 = -x224 * x273 - x275 * x357 - x275 * x508 - x293 * x508 - x513 * x516 + x518 = ( + x12 * x179 * x272 * x508 + + x15 * x179 * x274 * x99 + - x15 * x517 + - x186 * x509 + - x282 * x99 + ) + x519 = ( + x1 + * ( + x12 * x517 + + x15 * x179 * x272 * x508 + - x193 * x509 + - x302 * x99 + - x303 * x99 + ) + - x229 * x277 + + x283 * x366 + + x5 * x514 + ) + x520 = x272 * x356 + x521 = x274 * x369 + x522 = x277 * x99 + x523 = x21 * x319 + x524 = x278 + x284 + x525 = x2 * x524 + x526 = x520 - x521 + x522 + x523 + x525 + x527 = ( + 0.10593 * x179 * x224 * x274 + - 0.10593 * x520 + - 0.10593 * x522 + - 0.10593 * x523 + - 0.10593 * x525 + ) + x528 = x291 + x297 + x529 = x2 * x528 + x530 = x289 * x99 + x531 = x21 * x318 + x532 = x336 + x365 + x533 = ( + 0.10593 * x189 * x21 + + 0.10593 * x2 * x532 + - x380 + + 0.10593 * x508 + - 0.00017505 * x509 + - 0.00017505 * x511 + - 0.00017505 * x529 + - 0.00017505 * x530 + - 0.00017505 * x531 + ) + x534 = x189 * x21 + x535 = x2 * x532 + x536 = x357 + x360 + x508 + x534 + x535 + x537 = 0.5006 * x536 + x538 = ( + -x392 * x509 + + x393 * x518 + + x394 * x519 + + 8.763003e-5 * x510 + + 8.763003e-5 * x512 + + 8.763003e-5 * x515 + - 0.5006 * x526 * x527 + + x533 * x537 + ) + x539 = 0.005375 * x1 * x289 - x116 * x296 + x540 = x192 * x272 + x541 = x19 * x294 + x289 * x50 - x44 * x540 + x542 = x177 * x83 + x543 = x272 * x424 - x272 * x542 + x274 * x79 + x544 = x183 * x274 - x201 * x272 + x545 = -x116 * x198 + x386 + x546 = x21 * x518 + x547 = x2 * x519 + x548 = ( + 0.00017505 * x520 + - 0.00017505 * x521 + + 0.00017505 * x522 + + 0.00017505 * x523 + + 0.00017505 * x525 + ) + x549 = x509 + x511 + x529 + x530 + x531 + x550 = ( + 0.053028558 * x177 * x224 * x274 * x356 + - 0.053028558 * x510 + - 0.053028558 * x512 + - 0.053028558 * x515 + + 0.5006 * x526 * x548 + - 0.5006 * x533 * x549 + - 0.053028558 * x546 + - 0.053028558 * x547 + ) + x551 = -x191 + x552 = 0.006375 * x1 * x289 - x16 * x296 - x318 * x44 + x553 = x179 * x274 + x554 = 0.001641 * x58 + x555 = x397 * x509 + x556 = 0.000278 * x508 + x557 = 0.000278 * x357 + x558 = ( + -0.000278 * x360 + + 0.00041 * x509 + + 0.00041 * x511 + + 0.00041 * x529 + + 0.00041 * x530 + + 0.00041 * x531 + - 0.000278 * x534 + - 0.000278 * x535 + - x556 + - x557 + ) + x559 = ( + 0.001641 * x177 * x224 + + 0.001641 * x179 * x76 * x99 + + 0.001641 * x189 * x21 + + 0.001641 * x2 * x532 + + 0.001641 * x508 + - 0.000278 * x509 + - 0.000278 * x511 + - 0.000278 * x529 + - 0.000278 * x530 + - 0.000278 * x531 + ) + x560 = ( + -0.001641 * x161 * x553 + + 0.001641 * x168 * x281 + + 0.001641 * x23 * x283 + + 0.001641 * x249 * x274 * x357 + - 0.001641 * x272 * x347 + - x277 * x554 + + 0.001641 * x508 * x549 + - x536 * x558 + + x549 * x559 + + 0.001641 * x555 + ) + x561 = -x16 * x198 - x189 * x44 + x401 + x562 = 0.005375 * x1 * x277 - x116 * x283 + x563 = ( + x179 * x272 * x356 * x76 - x224 * x275 - x273 * x357 - x273 * x508 - x276 * x508 + ) + x564 = x177 * x516 + x565 = -x224 * x516 + x273 * x513 + x280 * x357 + x280 * x508 - x508 * x564 + x566 = ( + x1 * (x12 * x565 + x193 * x520 + x279 * x508 - x300 * x99 + x540 * x99) + - x229 * x289 + + x296 * x366 + + x5 * x563 + ) + x567 = ( + x12 * x177 * x272 * x356 + + x12 * x179 * x274 * x508 + - x15 * x565 + - x292 * x99 + - x295 * x99 + ) + x568 = x563 * x99 + x569 = -x1 * x414 + x198 * x366 - x411 + x412 + x413 + x570 = -x417 + x571 = x508 * x521 + x572 = ( + 0.053028558 * x2 * x569 + + 0.053028558 * x21 * x570 + + 8.763003e-5 * x272 * x356 * x508 + - x392 * x520 + - x393 * x567 + - x394 * x566 + - x420 + + 0.5006 * x527 * x549 + - x537 * x548 + - 8.763003e-5 * x568 + - 8.763003e-5 * x571 + ) + x573 = x19 * x281 + x277 * x50 + x302 * x44 + x574 = x272 * x79 + x575 = -x274 * x424 + x274 * x542 + x574 + x576 = x183 * x272 + x577 = x201 * x274 + x578 = x576 + x577 + x579 = 0.006375 * x1 * x277 - x16 * x283 - x319 * x44 + x580 = x198 * x23 + x581 = x289 * x58 + x582 = x274 * x347 + x583 = x272 * x404 + x584 = x397 * x520 + x585 = x508 * x526 + x586 = ( + 0.001641 * x520 + - 0.001641 * x521 + + 0.001641 * x522 + + 0.001641 * x523 + + 0.001641 * x525 + ) + x587 = ( + 0.000278 * x1 * x179 * x2 * x21 * x76 + + 0.00041 * x111 * x294 * x99 + + 0.00041 * x124 * x179 * x272 * x99 + + 0.00041 * x2 * x21 * x296 * x5 + - 0.000278 * x427 + - 0.000278 * x428 + - 0.000278 * x429 + - 0.000278 * x430 + - x526 * x559 + + x536 * x586 + - 0.000278 * x580 + - 0.00041 * x581 + - 0.00041 * x582 + - 0.00041 * x583 + - 0.00041 * x584 + - 0.00041 * x585 + ) + x588 = x179 * x76 + x589 = x179 * x272 + x590 = x161 * x589 + x591 = x168 * x294 + x592 = x23 * x296 + x593 = ( + x249 * x272 * x557 + + 0.001641 * x427 + + 0.001641 * x428 + + 0.001641 * x429 + + 0.001641 * x430 + + x526 * x556 + + x526 * x558 + - x549 * x586 + - x554 * x588 + + 0.001641 * x580 + + 0.000278 * x581 + + 0.000278 * x582 + + 0.000278 * x584 + - 0.000278 * x590 + - 0.000278 * x591 + - 0.000278 * x592 + ) + x594 = 0.006543665 * x357 + x595 = 0.006543665 * x21 + x596 = 0.006543665 * x2 + x597 = ( + x232 * x335 + + 1.0e-6 * x357 + + 1.0e-6 * x508 + + 0.00965 * x520 + - 0.00965 * x521 + + 0.00965 * x522 + + 0.00965 * x523 + + 0.00965 * x525 + + 1.0e-6 * x534 + + 1.0e-6 * x535 + ) + x598 = 0.6781 * x536 + x599 = 1.0e-6 * x272 + x600 = ( + 0.045483 * x179 * x224 * x274 + - x369 * x599 + - 1.0e-6 * x509 + - 0.045483 * x520 + - 0.045483 * x522 + - 0.045483 * x523 + - 0.045483 * x525 + - 1.0e-6 * x529 + - 1.0e-6 * x530 + - 1.0e-6 * x531 + ) + x601 = ( + 0.0308420223 * x177 * x356 * x76 * x99 + + 0.0308420223 * x179 * x224 * x75 * x99 + + 0.0308420223 * x2 * x569 + + 0.0308420223 * x21 * x570 + + 0.006543665 * x272 * x356 * x508 + - 0.0308420223 * x419 + - x520 * x594 + + 0.6781 * x549 * x600 + - x566 * x596 + - x567 * x595 + - 0.006543665 * x568 + - 0.006543665 * x571 + - x597 * x598 + ) + x602 = x21 * x570 + x603 = x2 * x569 + x604 = ( + 0.045483 * x177 * x224 + + 0.045483 * x179 * x76 * x99 + + 0.045483 * x189 * x21 + + 0.045483 * x2 * x532 + + 0.045483 * x508 + - 0.00965 * x509 + - 0.00965 * x511 + - 0.00965 * x529 + - 0.00965 * x530 + - 0.00965 * x531 + ) + x605 = ( + 6.781e-7 * x491 + + 6.781e-7 * x492 + - x502 + - x509 * x594 + + 0.006543665 * x510 + + 0.006543665 * x512 + + 0.006543665 * x515 + + x518 * x595 + + x519 * x596 + - 0.6781 * x526 * x600 + + x598 * x604 + + 6.781e-7 * x602 + + 6.781e-7 * x603 + ) + x606 = x357 * x520 + x607 = ( + 0.0308420223 * x177 * x224 * x274 * x356 + + 6.781e-7 * x272 * x356 * x508 + - x503 * x567 + - x504 * x566 + - 0.0308420223 * x510 + - 0.0308420223 * x512 + - 0.0308420223 * x515 + + 0.6781 * x526 * x597 + - 0.0308420223 * x546 + - 0.0308420223 * x547 + - 0.6781 * x549 * x604 + - 6.781e-7 * x568 + - 6.781e-7 * x571 + - 6.781e-7 * x606 + ) + x608 = x508 * x520 + x609 = u7 + x610 = x434 * x508 + x611 = x609 * x610 + x612 = x509 * x610 + x613 = x436 * x520 + x614 = x609 * x613 + x615 = ( + -x179 * x272 * x434 * x508 + + x356 * x437 + + x438 * x509 + + x438 * x609 + + x449 * x609 + ) + x616 = x224 * x615 + x617 = 0.0057078412 * x99 + x618 = x177 * x436 + x619 = x272 * x508 + x620 = -x274 * x609 * x618 - x356 * x618 + x438 * x619 + x444 * x509 + x444 * x609 + x621 = x224 * x464 + x224 * x465 - x443 * x609 - x516 * x610 + x620 * x76 + x622 = x621 * x99 + x623 = 0.0057078412 * x21 + x624 = 0.0057078412 * x2 + x625 = -x615 + x626 = x224 * x435 - x224 * x441 + x275 * x610 + x452 * x609 + x620 * x75 + x627 = -x12 * x625 + x15 * x462 * x99 - x15 * x626 - x467 * x99 + x628 = x21 * x627 + x629 = ( + x1 * (x12 * x626 - x15 * x625 - x485 * x99 - x486 * x99) + - x229 * x442 + + x366 * x468 + + x5 * x621 + ) + x630 = x2 * x629 + x631 = x549 + x609 + x632 = x448 + x457 + x633 = ( + 0.029798 * x2 * x632 + + 0.029798 * x21 * x499 + + 0.029798 * x224 * x506 + + 0.029798 * x272 * x356 * x436 + + 0.029798 * x447 * x99 + - 0.000281 * x509 + - 0.000281 * x511 + - 0.000281 * x529 + - 0.000281 * x530 + - 0.000281 * x531 + - 0.000281 * x609 + - 0.029798 * x610 + ) + x634 = x436 * x508 + x635 = 0.000281 * x434 + x636 = 0.011402 * x436 + x637 = x224 * x506 + x638 = x447 * x99 + x639 = x21 * x499 + x640 = x2 * x632 + x641 = x459 + x469 + x642 = ( + 0.000281 * x2 * x641 + + 0.000281 * x21 * x498 + + 0.000281 * x224 * x461 + + 0.011402 * x434 * x508 + + 0.000281 * x442 * x99 + - x520 * x635 + - x520 * x636 + - 0.000281 * x634 + - 0.011402 * x637 + - 0.011402 * x638 + - 0.011402 * x639 + - 0.011402 * x640 + ) + x643 = x434 * x520 + x644 = x224 * x461 + x645 = x442 * x99 + x646 = x21 * x498 + x647 = x2 * x641 + x648 = -x634 - x643 + x644 + x645 + x646 + x647 + x649 = 0.5006 * x648 + x650 = ( + x563 * x617 + + x566 * x624 + + x567 * x623 + + 0.0057078412 * x571 + + 0.0057078412 * x606 + - 0.0057078412 * x608 + - 0.0149168788 * x611 + + 0.0149168788 * x612 + + 0.0149168788 * x614 + - 0.0149168788 * x616 + - 0.0149168788 * x622 + - 0.0149168788 * x628 + - 0.0149168788 * x630 + - 0.5006 * x631 * x633 + + x642 * x649 + ) + x651 = x609 * x634 + x652 = x609 * x643 + x653 = ( + -x177 * x274 * x356 * x436 + - x177 * x436 * x609 + + x356 * x444 + + x437 * x619 + + x460 * x609 + ) + x654 = x21 * x567 + x655 = -x356 * x438 - x437 * x509 - x437 * x609 - x439 * x609 - x618 * x619 + x656 = -x224 * x452 + x224 * x453 - x435 * x609 + x516 * x634 + x655 * x76 + x657 = x2 * x566 + x658 = -x653 + x659 = ( + -x224 * x443 - x224 * x446 + x272 * x434 * x609 * x76 - x275 * x634 + x655 * x75 + ) + x660 = -x12 * x658 + x15 * x450 * x99 - x15 * x659 - x455 * x99 + x661 = ( + x1 * (x12 * x659 - x15 * x658 - x488 * x99 - x489 * x99) + - x229 * x447 + + x366 * x456 + + x5 * x656 + ) + x662 = ( + 0.011402 * x509 + + 0.011402 * x511 + + 0.011402 * x529 + + 0.011402 * x530 + + 0.011402 * x531 + + 0.011402 * x609 + + 0.029798 * x634 + + 0.029798 * x643 + - 0.029798 * x644 + - 0.029798 * x645 + - 0.029798 * x646 + - 0.029798 * x647 + ) + x663 = -x610 + x613 + x637 + x638 + x639 + x640 + x664 = x642 * x663 + x665 = ( + 0.0149168788 * x2 * x661 + + 0.0149168788 * x21 * x660 + + 0.0149168788 * x224 * x653 + + 0.0001406686 * x272 * x356 * x508 + + 0.0149168788 * x274 * x356 * x436 * x508 + - 0.0001406686 * x568 + - 0.0001406686 * x571 + - 0.0001406686 * x606 + + 0.5006 * x631 * x662 + - 0.0149168788 * x651 + - 0.0149168788 * x652 + - 0.0001406686 * x654 + + 0.0149168788 * x656 * x99 + - 0.0001406686 * x657 + - 0.5006 * x664 + ) + x666 = x509 * x634 + x667 = x224 * x653 + x668 = ( + 0.0001406686 * x2 * x629 + + 0.0001406686 * x21 * x627 + + 0.0001406686 * x224 * x615 + + 0.0057078412 * x272 * x356 * x434 * x609 + + 0.0001406686 * x434 * x508 * x609 + + 0.0057078412 * x436 * x508 * x609 + - 0.0001406686 * x612 + - 0.0001406686 * x614 + - x617 * x656 + + 0.0001406686 * x621 * x99 + - x623 * x660 + - x624 * x661 + + 0.5006 * x633 * x663 + - x649 * x662 + - 0.0057078412 * x666 + - 0.0057078412 * x667 + ) + x669 = 3.0e-6 * x610 + x670 = ( + 3.0e-6 * x613 + + 3.0e-6 * x637 + + 3.0e-6 * x638 + + 3.0e-6 * x639 + + 3.0e-6 * x640 + - x669 + ) + x671 = ( + 0.000609 * x509 + + 0.000609 * x511 + + 0.000609 * x529 + + 0.000609 * x530 + + 0.000609 * x531 + + 0.000609 * x609 + - 0.000118 * x634 + - 0.000118 * x643 + + 0.000118 * x644 + + 0.000118 * x645 + + 0.000118 * x646 + + 0.000118 * x647 + + x670 + ) + x672 = 3.0e-6 * x609 + x673 = 3.0e-6 * x509 + x674 = 3.0e-6 * x634 + x675 = ( + 3.0e-6 * x511 + + 3.0e-6 * x529 + + 3.0e-6 * x530 + + 3.0e-6 * x531 + - 0.000587 * x610 + + 0.000587 * x613 + + 0.000587 * x637 + + 0.000587 * x638 + + 0.000587 * x639 + + 0.000587 * x640 + - 3.0e-6 * x643 + + 3.0e-6 * x644 + + 3.0e-6 * x645 + + 3.0e-6 * x646 + + 3.0e-6 * x647 + + x672 + + x673 + - x674 + ) + x676 = x161 * x462 + x677 = x430 * x436 + x678 = x549 * x610 + x679 = x442 * x58 + x680 = 3.0e-6 * x161 + x681 = x450 * x680 + x682 = 3.0e-6 * x430 + x683 = x434 * x682 + x684 = 3.0e-6 * x58 + x685 = x447 * x684 + x686 = x272 * x436 + x687 = x347 * x686 + x688 = 3.0e-6 * x687 + x689 = ( + -3.0e-6 * x111 * x454 * x99 + - 3.0e-6 * x2 * x21 * x456 * x5 + - 3.0e-6 * x224 * x249 * x445 + - 3.0e-6 * x274 * x356 * x397 * x436 + - 3.0e-6 * x436 * x508 * x549 + - 3.0e-6 * x609 * x648 + + x681 + + x683 + + x685 + + x688 + ) + x690 = ( + 0.000118 * x111 * x294 * x99 + + 0.000369 * x111 * x466 * x99 + + 0.000118 * x124 * x179 * x272 * x99 + + 0.000118 * x2 * x21 * x296 * x5 + + 0.000369 * x2 * x21 * x468 * x5 + + 0.000369 * x224 * x236 * x272 * x434 + + 0.000369 * x224 * x249 * x440 + - 0.000369 * x434 * x555 + - 0.000118 * x581 + - 0.000118 * x582 + - 0.000118 * x583 + - 0.000118 * x584 + - 0.000118 * x585 + - 0.000369 * x609 * x663 + + x631 * x675 + - x663 * x671 + - 0.000369 * x676 + - 0.000369 * x677 + - 0.000369 * x678 + - 0.000369 * x679 + - x689 + ) + x691 = x397 * x673 + x692 = 0.000118 * x609 + x693 = 0.000118 * x509 + x694 = ( + 0.000118 * x511 + + 0.000118 * x529 + + 0.000118 * x530 + + 0.000118 * x531 + - 0.000369 * x634 + - 0.000369 * x643 + + 0.000369 * x644 + + 0.000369 * x645 + + 0.000369 * x646 + + 0.000369 * x647 + + x670 + + x692 + + x693 + ) + x695 = ( + 3.0e-6 * x111 * x294 * x99 + + 0.000587 * x111 * x454 * x99 + + 3.0e-6 * x111 * x466 * x99 + + 3.0e-6 * x124 * x179 * x272 * x99 + - 0.000587 * x161 * x450 + + 3.0e-6 * x2 * x21 * x296 * x5 + + 0.000587 * x2 * x21 * x456 * x5 + + 3.0e-6 * x2 * x21 * x468 * x5 + + 3.0e-6 * x224 * x236 * x272 * x434 + + 3.0e-6 * x224 * x249 * x440 + + 0.000587 * x224 * x249 * x445 + + 0.000587 * x274 * x356 * x397 * x436 + - x289 * x684 + - 0.000587 * x430 * x434 + - x434 * x691 + + 0.000587 * x436 * x508 * x549 + - x436 * x682 + - x442 * x684 + - 0.000587 * x447 * x58 + - x462 * x680 + - x549 * x669 + - 3.0e-6 * x582 + - 3.0e-6 * x583 + - 3.0e-6 * x584 + - 3.0e-6 * x585 + + 0.000587 * x609 * x648 + - x631 * x694 + + x648 * x671 + - x663 * x672 + - 0.000587 * x687 + ) + x696 = x648 * x675 + x697 = x663 * x692 + x698 = 0.000609 * x585 + x699 = 0.000118 * x676 + x700 = 0.000118 * x677 + x701 = 0.000118 * x678 + x702 = 0.000609 * x582 + x703 = 0.000609 * x584 + x704 = 0.000118 * x679 + x705 = x397 * x434 * x693 + x706 = 0.000609 * x581 + x707 = 0.000609 * x583 + x708 = ( + 0.000609 * x111 * x294 * x99 + + 0.000118 * x111 * x466 * x99 + + 0.000609 * x124 * x179 * x272 * x99 + + 0.000609 * x2 * x21 * x296 * x5 + + 0.000118 * x2 * x21 * x468 * x5 + + 0.000118 * x224 * x236 * x272 * x434 + + 0.000118 * x224 * x249 * x440 + + x663 * x694 + - x689 + - x696 + - x697 + - x698 + - x699 + - x700 + - x701 + - x702 + - x703 + - x704 + - x705 + - x706 + - x707 + ) + x709 = x15**2 + x710 = 0.006375 * x15 + x711 = 0.01275 * x15 + x712 = -4.4e-5 * x12 + 0.006641 * x15 + x713 = 0.006375 * x75 + x714 = x15 * x76 + x715 = 0.006375 * x714 + x716 = 0.20843 * x12 - x715 + x717 = x716 * x75 + x718 = -0.20843 * x12 * x15 * x75 + x15 * x717 + x709 * x713 * x76 + x719 = 0.20843 * x75 + x720 = x715 * x75 + x721 = x75**2 + x722 = 0.006375 * x721 + x723 = x15 * x722 + x724 = x716 * x76 - x723 + x725 = 2 * x724 + x726 = x15 * x309 + x15 * x310 + x727 = x15 * x75 + x728 = -x136 - 0.015006 * x727 + x729 = x728 * x76 + x730 = 0.075478 * x12 - 0.015006 * x714 + x731 = x730 * x75 + x732 = x12 * x726 + x15 * x729 - x15 * x731 + x733 = x728 * x75 + x730 * x76 + x734 = -x718 + x735 = 0.42076 * x12 + x736 = 0.42076 * x15 + x737 = 0.84152 * x15 + x738 = 0.20843 * x727 + x739 = 0.41686 * x727 + x740 = 0.00017505 * x192 + x741 = 0.00017505 * x75 + x742 = x193 * x741 + x740 + x743 = -x742 + x744 = x743 * x76 + x745 = x15 * x744 + x746 = 0.10593 * x192 + 0.10593 * x194 + x747 = -x746 + x748 = 0.10593 * x187 + x749 = 0.10593 * x12 * x177 - 0.00017505 * x714 - x748 + x750 = x179 * x747 + x751 = x177 * x749 * x76 + x743 * x75 - x750 * x76 + x752 = -x726 + x753 = x717 + x720 + x754 = 1.0e-6 * x186 + x755 = x180 * x343 + x756 = 0.009432 * x75 + x757 = 0.009432 * x192 + x193 * x756 + x754 - x755 + x758 = x757 * x76 + x759 = x15 * x758 + x760 = 0.063883 * x186 - 0.063883 * x187 + 0.009432 * x714 + x761 = 1.0e-6 * x15 * x76 - 0.063883 * x192 - 0.063883 * x194 + x762 = x179 * x761 + x763 = x177 * x76 * x760 + x75 * x757 - x76 * x762 + x764 = x188 * x747 + x207 * x749 + x745 + x765 = x177 * x747 + x179 * x749 + x766 = x177 * x761 + x179 * x760 + x767 = x177 * x749 * x75 - x744 - x75 * x750 + x768 = 0.10593 * x302 + 0.10593 * x303 + x769 = x179 * x768 + x770 = -0.00017505 * x302 - 0.00017505 * x303 + x771 = 0.10593 * x186 + 0.00017505 * x300 - 0.00017505 * x540 - x748 + x772 = x277 * x771 + x289 * x770 + x76 * x769 + x773 = x272 * x770 + x774 = x274 * x771 + x775 = x177 * x768 + x179 * x773 - x179 * x774 + x776 = x246 * x76 + x777 = 0.006375 * x727 + x778 = 0.21038 * x12 + x779 = x76 * x778 + x780 = -0.00965 * x302 - 0.00965 * x303 + x754 - x755 + x781 = 0.045483 * x186 - 0.045483 * x187 + 0.00965 * x300 - 0.00965 * x540 + x782 = 0.045483 * x274 + x783 = -x192 * x599 + x192 * x782 + 1.0e-6 * x300 + 0.045483 * x303 + x784 = x179 * x783 + x785 = x277 * x781 + x289 * x780 + x76 * x784 + x786 = -x777 - x779 + x787 = x75 * x778 + x788 = x263 * x75 + x789 = 0.21038 * x12 * x75 - x715 + x790 = x272 * x780 + x791 = x274 * x781 + x792 = x177 * x783 + x179 * x790 - x179 * x791 + x793 = x177 * x749 - x750 + x794 = -x765 + x795 = x272 * x771 + x274 * x770 + x796 = x272 * x781 + x274 * x780 + x797 = -0.011402 * x300 + 0.029798 * x485 + 0.029798 * x486 + 0.011402 * x540 + x798 = 0.000281 * x15 * x294 - 0.029798 * x488 - 0.029798 * x489 - 0.000281 * x540 + x799 = -0.000281 * x485 - 0.000281 * x486 + 0.011402 * x488 + 0.011402 * x489 + x800 = x289 * x799 + x442 * x798 + x447 * x797 + x801 = x272 * x799 + x802 = x179 * x801 + x803 = 0.21038 * x193 + 0.21038 * x197 + x804 = -x803 + x805 = x179 * x716 + 0.20843 * x194 + x806 = -x805 + x807 = 0.006375 * x76 + x808 = -x180 * x807 + x803 + x809 = -x808 + x810 = -x768 + x811 = x434 * x798 + x812 = x272 * x436 * x797 - x272 * x811 + x274 * x799 + x813 = -0.21038 * x12 * x177 * x75 + 0.21038 * x180 + x814 = -x813 + x815 = -x783 + x816 = x177 * x716 + x817 = -0.20843 * x187 + x816 + x818 = -x193 * x807 - x813 + x819 = x434 * x797 + x436 * x798 + x820 = 0.21038 * x292 + 0.21038 * x295 + x821 = 0.20843 * x15 * x179 * x272 * x75 - x272 * x816 - x516 * x710 + x822 = -x272 * x749 + x274 * x743 + x823 = -x289 * x710 + x820 + x824 = 0.21038 * x279 + x825 = 0.21038 * x282 - x824 + x826 = x177 * x274 * x716 - 0.20843 * x180 * x516 - x273 * x710 + x827 = x272 * x743 + x828 = x274 * x749 + x829 = x827 + x828 + x830 = 0.21038 * x12 * x281 - x277 * x710 - x824 + x831 = 0.21038 * x451 + x832 = 0.21038 * x463 + x833 = x3 * x49 + x834 = x76**2 + x835 = 0.006375 * x834 + x836 = x15 * x835 + x723 - x76 * x87 + x837 = 0.015006 * x834 + x838 = 0.015006 * x721 + x839 = -1.8e-5 * x75 + 0.075478 * x76 + x840 = -x839 + x841 = x12 * x840 + x15 * x837 + x15 * x838 + x842 = 0.00017505 * x834 + x843 = x193 * x842 + x844 = x190 * x76 + x845 = 0.10593 * x588 + x846 = -x741 + x845 + x847 = x177 * x846 + x848 = -x179 * x190 * x834 + x403 * x741 + x76 * x847 + x849 = x335 * x76 + x850 = -x212 * x76 + x849 + x851 = x76 * x850 + x852 = x15 * x851 + x853 = 0.063883 * x76 + x854 = x179 * x853 + x756 + x855 = x177 * x853 + x343 + x856 = x177 * x854 + x857 = x179 * x855 + x858 = x75 * x850 + x76 * x856 - x76 * x857 + x859 = 0.20843 * x76 + x860 = 0.41686 * x76 + x861 = x188 * x844 + x207 * x846 + x843 + x862 = -x722 - x835 + x863 = x177**2 + x864 = 0.10593 * x863 + x865 = x76 * x864 + x866 = x179 * x846 + x865 + x867 = x177 * x855 + x179 * x854 + x868 = 0.10593 * x273 + x869 = x190 * x275 + x868 + x870 = -x869 + x871 = x179 * x870 + x872 = 0.00017505 * x273 + 0.00017505 * x276 + x873 = 0.00017505 * x288 + x874 = -0.00017505 * x516 + x845 + x873 + x875 = x277 * x874 + x289 * x872 + x76 * x871 + x876 = 0.00017505 * x177 + x877 = x190 * x588 + x878 = x177 * x75 * x846 - x75 * x877 - x834 * x876 + x879 = ( + -1.0e-6 * x177 * x272 * x76 + + 0.045483 * x177 * x275 + + 0.045483 * x273 + + 1.0e-6 * x516 + ) + x880 = -x879 + x881 = x179 * x880 + x882 = 0.00965 * x288 - 0.00965 * x516 + 0.045483 * x588 + x883 = 0.00965 * x273 + 0.00965 * x276 + x849 + x884 = x277 * x882 + x289 * x883 + x76 * x881 + x885 = x272 * x872 + x886 = x274 * x874 + x887 = x177 * x870 + x179 * x885 - x179 * x886 + x888 = x272 * x883 + x889 = x274 * x882 + x890 = x177 * x880 + x179 * x888 - x179 * x889 + x891 = 0.01275 * x76 + x892 = x76 * x876 + x893 = x847 - x877 + x894 = -x866 + x895 = ( + 0.029798 * x272 * x434 * x75 + + 0.011402 * x274 * x75 + - 0.011402 * x288 + - 0.029798 * x441 + ) + x896 = 0.000281 * x288 + 0.029798 * x443 + 0.029798 * x446 - 0.000281 * x516 + x897 = x273 * x635 + x273 * x636 - 0.000281 * x440 * x76 + 0.011402 * x446 + x898 = -x897 + x899 = x289 * x898 + x442 * x896 + x447 * x895 + x900 = x272 * x874 + x274 * x872 + x901 = x272 * x882 + x274 * x883 + x902 = x272 * x898 + x903 = x179 * x902 + x904 = x434 * x896 + x905 = x272 * x436 * x895 - x272 * x904 + x274 * x898 + x906 = x179 * x713 + x907 = x177 * x859 + x906 + x908 = x177 * x713 + x909 = 0.20843 * x588 - x908 + x910 = x434 * x895 + x436 * x896 + x911 = 0.006375 * x275 + 0.006375 * x293 + x912 = 0.00017505 * x177 * x274 * x76 - x272 * x846 + x913 = 0.20843 * x179 + x914 = -x280 * x913 + x911 + x915 = -x907 + x916 = 0.006375 * x280 - 0.006375 * x564 + x917 = x274 * x846 + x918 = x873 + x917 + x919 = x275 * x913 + x916 + x920 = -0.006375 * x272 * x436 * x76 + 0.006375 * x453 + x921 = 0.006375 * x464 + 0.006375 * x465 + x922 = 0.00017505 * x280 + x923 = x179**2 + x924 = 0.063883 * x923 + x925 = 0.063883 * x863 + x926 = 1.0e-6 * x177 + x927 = 0.009432 * x179 + x926 + x928 = 0.10593 * x923 + x929 = x864 + x928 + x930 = 0.00017505 * x589 + x931 = 0.10593 * x177 - x930 + x932 = -0.00965 * x553 + x926 + x933 = 0.045483 * x177 - 0.00965 * x589 + x934 = x274 * x931 + x935 = x274**2 + x936 = 0.00017505 * x935 + x937 = x179 * x936 + x938 = x272 * x931 - x937 + x939 = x272 * x933 + x274 * x932 + x940 = x274 * x933 + x941 = x272 * x932 + x942 = -0.029798 * x438 - 0.029798 * x449 - 0.000281 * x589 + x943 = x434 * x942 + x944 = -0.029798 * x460 + 0.011402 * x589 + 0.029798 * x618 + x945 = x434 * x944 + x436 * x942 + x946 = 0.10593 * x177 * x274 - x930 + x947 = -x179 * x782 + x272 * x335 + x948 = -x947 + x949 = 0.00017505 * x553 + x950 = x190 * x272 + x951 = -x949 - x950 + x952 = x75 * x927 + x76 * x924 + x76 * x925 + x953 = x275 * x928 + x277 * x931 - x289 * x949 + x954 = 0.10593 * x553 + x955 = x179 * x948 + x956 = x277 * x933 + x289 * x932 + x76 * x955 + x957 = 0.000281 * x274 + x958 = 0.011402 * x274 + x959 = x437 * x958 + 0.011402 * x438 + x444 * x957 - 0.000281 * x618 + x960 = x289 * x959 + x442 * x942 + x447 * x944 + x961 = x272 * x959 + x962 = x179 * x961 + x963 = x177 * x948 - x179 * x940 + x179 * x941 + x964 = x272 * x436 * x944 - x272 * x943 + x274 * x959 + x965 = x76 * x927 + x966 = 0.00017505 * x180 + x967 = x76 * x966 + x968 = x179 * x188 + x969 = 0.10593 * x177 * x207 - x967 - 0.10593 * x968 + x970 = -x179 * x741 + x76 * x928 + x865 + x971 = x15 * x965 + x972 = 0.00017505 * x588 + x75 * x864 + x75 * x928 + x973 = 0.00017505 * x274 + x974 = x179 * x934 - x190 * x553 + x272 * x923 * x973 + x975 = 0.31436 * x179 + x976 = 0.31436 * x177 + x977 = x179 * x189 + x978 = 0.00017505 * x179 + x979 = x274 * x572 + x980 = 0.20843 * x177 + x981 = x274 * x601 + x982 = x272 * x980 + x983 = x272 * x605 + x984 = x179 * x199 + x985 = -x850 + x986 = 0.10593 * x280 + x987 = -x179 * x986 + 0.00017505 * x272 * x289 - x277 * x973 + x988 = 0.045483 * x272 + 1.0e-6 * x274 + x989 = -x988 + x990 = x179 * x989 + x991 = 0.00965 * x274 + x992 = 0.00965 * x272 + x993 = -x277 * x991 + x289 * x992 + x76 * x990 + x994 = 0.10593 * x272 + x995 = x177 * x741 + x996 = x272**2 + x997 = 0.00017505 * x996 + x998 = x179 * x997 + x937 - x950 + x999 = 0.00965 * x996 + x1000 = 0.00965 * x935 + x1001 = x1000 * x179 + x177 * x989 + x179 * x999 + x1002 = x272 * x635 + x272 * x636 + x1003 = -x1002 + x1004 = 0.029798 * x272 + x1005 = x1004 * x434 + x958 + x1006 = x1004 * x436 - x957 + x1007 = x1003 * x289 + x1005 * x447 + x1006 * x442 + x1008 = x1003 * x272 + x1009 = x1008 * x179 + x1010 = x1005 * x436 + x1011 = x1006 * x434 + x1012 = x1003 * x274 + x1010 * x272 - x1011 * x272 + x1013 = x1005 * x434 + x1006 * x436 + x1014 = 0.0003501 * x272 + x1015 = x436 * x973 + x1016 = x434 * x973 + x1017 = x272 * x434 + x1018 = 0.011402 * x434 - 0.000281 * x436 + x1019 = 0.029798 * x434**2 + x1020 = 0.029798 * x436**2 + x1021 = 0.029798 * x436 + x1022 = 0.029798 * x434 + x1023 = x1018 * x289 + x1021 * x447 - x1022 * x442 + x1024 = x1018 * x274 + x1019 * x272 + x1020 * x272 + x1025 = x1018 * x272 + x1026 = x1025 * x179 + + coriolis_term = numpy.array( + [ + [ + -0.42076 * x1 * x47 + + 0.018653 * x1 * (0.0154502808 * x23 + x53 * x54 - 1.1636 * x56 * x57) + + x1 * (-x21 * x67 - x21 * x68 + x22 * x66 + 0.011088 * x23) + - x10 * x41 + - x10 * x9 + - x115 * x117 + + x115 * x149 + + x115 * x19 + + x115 * (-x134 + x75 * x97) + + x116 * x157 + - x116 * x160 + - x117 * x121 + + x118 * x220 + + x118 * (x281 * x338 + x294 * x337 + x341 * x75) + + x118 * (x177 * x210 * x75 - x214 - x217 * x75) + - x119 * x120 + + x121 * x149 + + x121 * x172 + + x121 * x19 + + x121 * x220 + + x121 * (x281 * x298 + x287 * x75 + x290 * x294) + + x121 * (x294 * x471 + x454 * x470 + x458 * x466) + + x127 * x128 + + x127 * x129 + + x127 * x150 + + x127 * x206 + - x127 * x317 + + x127 * x88 + + x127 * (x450 * x470 + x458 * x462 - x484) + + x128 * x133 + - x128 * x252 + - x128 * x334 + + x129 * x133 + - x129 * x252 + - x129 * x334 + + x130 * x131 + + x130 * x132 + + x130 * x206 + + x130 * x211 + - x130 * x354 + - x131 * x251 + - x132 * x251 + + x133 * x139 + + x133 * x150 + + x140 * x334 + + x141 * x142 + + x141 * x46 + + x144 * x30 + + x144 * x50 + + x144 * x98 + + x145 * x204 + + x145 * x218 + + x145 * x32 + + x145 * x342 + + x145 * x51 + + x145 * x85 + + x146 * x204 + + x146 * x299 + + x146 * x30 + + x146 * x472 + + x146 * x50 + + x146 * x84 + + x147 * x149 + + x147 * x172 + + x147 * x19 + - x148 * (-x12 * x134 + x12 * x135 + x140 * x15) + + x149 * x159 + + x150 * x151 + + x150 * x156 + + x151 * x88 + + x156 * x40 + + x159 * x39 + - x166 * x17 + + x17 * x332 + + x170 * x49 + + x171 * x30 + + x171 * x63 + + x183 * x243 + + x183 * x246 + + x183 * x398 + + x183 * x400 + + x191 * x384 + + x191 * x385 + - 0.014980125 * x20 * x3 + + x201 * x421 + + x201 * x422 + - x202 * (-x185 + x189 * x191 + x195 * x201) + + x204 * x29 + + x204 * x31 + - x205 * (-x12 * x184 + x181 * x201 + x191 * x199) + + x208 * x47 + + x208 * x48 + + x209 * x497 + + x210 * x495 + - x211 * x251 + + x213 * x246 + + x213 * x505 + - x216 * (x188 * x340 + x301 * x337 + x304 * x338) + - x216 * (x189 * x209 + x195 * x210 - x215) + + x218 * x31 + - x219 * (-x12 * x214 + x181 * x210 + x199 * x209) + - x219 * (x198 * x340 + x283 * x338 + x296 * x337) + + x223 * x243 + + x223 * x247 + + x223 * x314 + + x223 * x398 + + x223 * x400 + + x223 * x505 + + x234 * x349 + + x238 * x351 + + x238 * x482 + + x243 * x253 + + x243 * x255 + + x243 * x350 + + x243 * x501 + + x243 * x79 + + x246 * x355 + + x247 * x253 + + x247 * x255 + + x247 * x79 + + x251 * x321 + + x251 * x354 + + x252 * x265 + + x252 * x317 + + x252 * x321 + + x252 * x89 + + x252 * (x458 * x461 + x470 * x506 + x484) + + x253 * x314 + + x253 * x398 + + x253 * x400 + + x253 * x505 + + x255 * x314 + + x255 * x398 + + x255 * x400 + + x255 * x505 + + x257 * x262 + + x257 * x264 + + x257 * x312 + + x262 * x268 + + x262 * x270 + + x262 * x320 + + x262 * x83 + + x262 * (-x177 * x315 + x177 * x316 + x287) + + x262 * (-x177 * x483 + x440 * x458 + x445 * x470) + + x263 * x320 + + x263 * (x177 * x210 - x217) + + x263 * (-x177 * x352 + x177 * x353 + x341) + + x264 * x268 + + x264 * x270 + + x264 * x83 + + x265 * x266 + + x265 * x334 + + x266 * x89 + + x268 * x312 + + x270 * x312 + + x285 * x385 + + x286 * x550 + + x29 * x299 + + x29 * x30 + + x29 * x472 + + x29 * x50 + + x29 * x84 + + x290 * x538 + + x290 * x668 + + x298 * x572 + + x30 * x33 + + x30 * x34 + - x305 * (x188 * x286 + x290 * x301 + x298 * x304) + - x305 * (x301 * x471 + x458 * x487 + x470 * x490) + - x306 * (x198 * x286 + x283 * x298 + x290 * x296) + - x306 * (x296 * x471 + x456 * x470 + x458 * x468) + + x31 * x32 + + x31 * x342 + + x31 * x51 + + x31 * x85 + + x312 * x97 + + x314 * x95 + + x33 * x50 + + x33 * x98 + + x337 * x605 + + x338 * x601 + + x339 * x384 + + x34 * x63 + + x340 * x607 + + x350 * x398 + + x355 * x400 + - x36 * (-x12 * x18 + x12 * x19) + + x372 * x409 + + x377 * x432 + + x384 * x387 + + x384 * x389 + + x384 * x391 + + x384 * x402 + + x385 * x387 + + x385 * x389 + + x385 * x391 + + x385 * x402 + + x385 * x507 + + x387 * x497 + + x388 * x550 + + x388 * x607 + + x389 * x497 + + x390 * x550 + + x390 * x607 + + x391 * x497 + + x398 * x501 + + x398 * x79 + + 0.009765744929 * x4 * x5**2 + - 0.0044673088505 * x4 + + x400 * x79 + + x402 * x497 + - x41 * x43 + + x410 * x421 + + x410 * x422 + + x410 * x495 + + x421 * x423 + + x421 * x425 + + x421 * x426 + + x421 * (x274 * x298 - x315) + + x421 * (x274 * x436 * x470 - x274 * x500 - x483) + + x422 * x423 + + x422 * x425 + + x422 * x426 + + x422 * (x274 * x338 - x352) + + x423 * x495 + + x425 * x495 + + x426 * x495 + - x43 * x44 + - x44 * x46 + - x44 * x48 + + x458 * x665 + + x46 * x72 + + x47 * (x188 * x209 + x207 * x210 + x215) + + x47 * (x189 * x340 + x318 * x337 + x319 * x338) + + x470 * x650 + + x471 * x538 + + x471 * x668 + + x48 * x72 + + x48 * x92 + + x48 * (x189 * x286 + x290 * x318 + x298 * x319) + + x48 * (x318 * x471 + x458 * x498 + x470 * x499) + - 0.018653 * x5 * (x42 * x56 - x54 * x60 + 0.0154502808 * x58) + + x5 * (x21 * x64 + x21 * x65 - x57 * x66 - 0.001072 * x58) + + x5 + * ( + -0.000606 * x100 * x22 + - x108 * x163 + + x124 * x169 + - x173 + - x174 + - x175 + - 0.001043 * x58 + ) + + x505 * x79 + - x507 * x550 + - x52 * (x12 * x39 - x15 * x40) + + x524 * x560 + + x528 * x587 + + x528 * x708 + + x532 * x593 + + x538 * x539 + + x538 * x541 + + x538 * x543 + + x538 * x544 + + x538 * x552 + + x539 * x605 + + x539 * x668 + + x541 * x605 + + x541 * x668 + + x543 * x605 + + x543 * x668 + + x544 * x605 + + x544 * x668 + + x545 * x550 + + x545 * x607 + + x550 * x551 + + x550 * x561 + + x551 * x607 + + x552 * x605 + + x552 * x668 + + x561 * x607 + + x562 * x572 + + x562 * x601 + + x572 * x573 + + x572 * x575 + + x572 * x578 + + x572 * x579 + + x572 * (x436 * x470 - x500) + + x573 * x601 + + x575 * x601 + + x578 * x601 + + x579 * x601 + + x632 * x695 + + x641 * x690 + + x650 * (0.005375 * x1 * x447 - x116 * x456) + + x650 * (-x286 * x434 + x298 * x436) + + x650 * (0.006375 * x1 * x447 - x16 * x456 - x44 * x499) + + x650 * (x19 * x454 + x44 * x488 + x447 * x50) + + x650 * (x191 * x434 + x436 * x576 + x436 * x577) + + x650 * (x436 * x574 + x445 * x83 + x506 * x89) + + x665 * (0.005375 * x1 * x442 - x116 * x468) + + x665 * (-x286 * x436 - x298 * x434) + + x665 * (0.006375 * x1 * x442 - x16 * x468 - x44 * x498) + + x665 * (x19 * x466 + x44 * x485 + x442 * x50) + + x665 * (x191 * x436 - x434 * x576 - x434 * x577) + + x665 * (-x434 * x574 + x440 * x83 + x461 * x89) + + x72 * x73 + + x73 * x92 + - x9 * (1.1636 * x1 * x2 * x60 - x22 * x71 - x42 * x53 - x70) + + x92 * x93 + - x94 * (-x12 * x90 + x12 * x91 + x15 * x89) + ], + [ + x115 * x735 + + x115 * (-x729 + x731) + + x118 * x767 + + x118 * (x281 * x781 + x294 * x780 + x75 * x784) + + x118 * (x177 * x75 * x760 - x75 * x762 - x758) + + 0.84152 * x119 + - x12 * x166 + + x12 * x332 + + x121 * x735 + + x121 * x753 + + x121 * x767 + + x121 * (x281 * x771 + x294 * x770 + x75 * x769) + + x121 * (x294 * x799 + x454 * x797 + x466 * x798) + - x127 * x736 + - x127 * x738 + + x127 * x765 + - x127 * x775 + + x127 * (x450 * x797 + x462 * x798 - x802) + - x130 * x737 + - x130 * x739 + + x130 * x765 + + x130 * x766 + - x130 * x792 + - x133 * x736 + + x133 * x752 + + x142 * x732 + - x144 * x710 + + x144 * x733 + - x145 * x711 + + x145 * x725 + + x145 * x751 + + x145 * x763 + + x145 * x785 + - x146 * x710 + + x146 * x724 + + x146 * x751 + + x146 * x772 + + x146 * x800 + + x147 * x753 + - x148 * (-x12 * x729 + x12 * x731 + x15 * x726) + - x15 * x170 + - 0.328272 * x157 + + 0.328272 * x160 + + x171 * x712 + + x188 * x432 + + x189 * x593 + - x202 * (x189 * x747 + x195 * x749 - x745) + - x205 * (-x12 * x744 + x181 * x749 + x199 * x747) + + x207 * x409 + - x216 * (x188 * x783 + x301 * x780 + x304 * x781) + - x216 * (x189 * x761 + x195 * x760 - x759) + - x219 * (-x12 * x758 + x181 * x760 + x199 * x761) + - x219 * (x198 * x783 + x283 * x781 + x296 * x780) + + 0.115871288 * x22 * x56 + - x22 * x65 + - 6.798123552e-7 * x23 + + x243 * x743 + - x243 * x777 + - x243 * x779 + + x243 * x786 + + x243 * x795 + + x243 * x812 + - 0.01275 * x246 * x727 + + x246 * x743 + + x246 * x757 + + x246 * x796 + + x247 * x786 + + x251 * x737 + + x251 * x739 + - x251 * x766 + + x251 * x792 + + x251 * x794 + + x252 * x736 + + x252 * x738 + + x252 * x775 + + x252 * x794 + + x252 * (x461 * x798 + x506 * x797 + x802) + + x262 * x716 + + x262 * x787 + + x262 * x789 + + x262 * x793 + + x262 * (-x177 * x773 + x177 * x774 + x769) + + x262 * (-x177 * x801 + x440 * x798 + x445 * x797) + + x263 * x793 + + x263 * (x177 * x760 - x762) + + x263 * (-x177 * x790 + x177 * x791 + x784) + + x264 * x716 + + x264 * x789 + - x29 * x710 + + x29 * x724 + + x29 * x751 + + x29 * x772 + + x29 * x800 + - x305 * (x188 * x768 + x301 * x770 + x304 * x771) + - x305 * (x301 * x799 + x487 * x798 + x490 * x797) + - x306 * (x198 * x768 + x283 * x771 + x296 * x770) + - x306 * (x296 * x799 + x456 * x797 + x468 * x798) + - x31 * x711 + + x31 * x725 + + x31 * x751 + + x31 * x763 + + x31 * x785 + + x312 * x730 + + x312 * x787 + + x312 * x789 + + x314 * x728 + - x314 * x779 + + x314 * x786 + + x318 * x587 + + x318 * x708 + + x319 * x560 + - x33 * x710 + + x33 * x733 + + x334 * x726 + + x334 * x736 + + x34 * x712 + - x349 * x727 + - 0.17485254622664 * x35 + + x351 * x714 + - x36 * (x14 + 0.21038 * x709) + + x384 * x747 + + x384 * x804 + + x384 * x806 + + x384 * x809 + + x384 * x815 + + x385 * x747 + + x385 * x804 + + x385 * x806 + + x385 * x809 + + x385 * x810 + + x385 * x819 + + x398 * x743 + - x398 * x777 + - x398 * x779 + + x398 * x786 + + x398 * x795 + + x398 * x812 + + x400 * x743 + - x400 * x777 + - x400 * x779 + + x400 * x786 + + x400 * x796 + + x421 * x749 + + x421 * x814 + + x421 * x817 + + x421 * x818 + + x421 * (x274 * x771 - x773) + + x421 * (x274 * x436 * x797 - x274 * x811 - x801) + + x422 * x749 + + x422 * x814 + + x422 * x817 + + x422 * x818 + + x422 * (x274 * x781 - x790) + + x46 * x732 + + x47 * x764 + + x47 * (x188 * x761 + x207 * x760 + x759) + + x47 * (x189 * x783 + x318 * x780 + x319 * x781) + + x48 * x734 + + x48 * x764 + + x48 * (x189 * x768 + x318 * x770 + x319 * x771) + + x48 * (x318 * x799 + x498 * x798 + x499 * x797) + + x482 * x714 + + x495 * x760 + + x495 * x814 + + x495 * x817 + + x495 * x818 + + x497 * x761 + + x497 * x804 + + x497 * x806 + + x497 * x809 + + x498 * x690 + + x499 * x695 + + x505 * x757 + - x505 * x777 + - x505 * x779 + + x505 * x786 + - x52 * (0.117892 * x13 + 0.117892 * x709) + - x53 * x69 + + x538 * x770 + + x538 * x799 + + x538 * x820 + + x538 * x821 + + x538 * x822 + + x538 * x823 + + x550 * x746 + + x550 * x768 + + x550 * x803 + + x550 * x805 + + x550 * x808 + - x550 * x819 + + 5.11984e-5 * x56 * x57 + + x57 * x68 + + x572 * x771 + + x572 * x825 + + x572 * x826 + + x572 * x829 + + x572 * x830 + + x572 * (x436 * x797 - x811) + + 0.002229538962064 * x58 + - x60 * x71 + + x601 * x781 + + x601 * x825 + + x601 * x826 + + x601 * x829 + + x601 * x830 + + x605 * x780 + + x605 * x820 + + x605 * x821 + + x605 * x822 + + x605 * x823 + + x607 * x746 + + x607 * x783 + + x607 * x803 + + x607 * x805 + + x607 * x808 + + x650 * x797 + + x650 * (0.21038 * x455 - x831) + + x650 * (-x434 * x768 + x436 * x771) + + x650 * (0.21038 * x12 * x454 - x447 * x710 - x831) + + x650 * (x434 * x747 + x436 * x827 + x436 * x828) + + x650 * (-x443 * x710 + x445 * x716 + x506 * x738) + + x665 * x798 + + x665 * (0.21038 * x467 - x832) + + x665 * (-x434 * x771 - x436 * x768) + + x665 * (0.21038 * x12 * x466 - x442 * x710 - x832) + + x665 * (-x434 * x827 - x434 * x828 + x436 * x747) + + x665 * (x435 * x710 + x440 * x716 + x461 * x738) + + x668 * x770 + + x668 * x799 + + x668 * x820 + + x668 * x821 + + x668 * x822 + + x668 * x823 + - x718 * x93 + + x73 * x734 + - x735 * x776 + + x735 * x788 + - x94 * (x12 * x717 + x12 * x720 + x709 * x719) + ], + [ + -x10 * x712 + + 0.0028268411472008 * x101 + - 0.0034328411472008 * x102 + - 0.0028268411472008 * x104 + - 5.11984e-5 * x105 * x153 + - 0.0077274676 * x105 * x158 + + 0.017767125 * x107 + + 0.0077274676 * x111 * x155 + - 0.017767125 * x114 + + x115 * (-x837 - x838) + + x118 * x878 + + x118 * (x281 * x882 + x294 * x883 + x75 * x881) + + x118 * (x177 * x75 * x854 - x75 * x857 - x851) + + x121 * x862 + + x121 * x878 + + x121 * (x281 * x874 + x294 * x872 + x75 * x871) + + x121 * (x294 * x898 + x454 * x895 + x466 * x896) + + 6.0358817728e-6 * x122 + + 6.0358817728e-6 * x123 + + 5.11984e-5 * x124 * x155 + + x124 * x169 + + x127 * x859 + + x127 * x866 + - x127 * x887 + + x127 * (x450 * x895 + x462 * x896 - x903) + + x130 * x860 + + x130 * x866 + + x130 * x867 + - x130 * x890 + + x133 * x839 + + x142 * x841 + + x145 * x848 + + x145 * x858 + + x145 * x884 + + x146 * x848 + + x146 * x875 + + x146 * x899 + + x147 * x862 + - x148 * (-x12 * x837 - x12 * x838 + x15 * x840) + + 9.5498296875e-5 * x15 * x3 + - 1.30358817728e-5 * x167 + - x173 + - x174 + - x175 + - x202 * (x189 * x844 + x195 * x846 - x843) + - x205 * (x181 * x846 - x186 * x842 + x199 * x844) + - x216 * (x188 * x880 + x301 * x883 + x304 * x882) + - x216 * (x189 * x855 + x195 * x854 - x852) + - x219 * (-x12 * x851 + x181 * x854 + x199 * x855) + - x219 * (x198 * x880 + x283 * x882 + x296 * x883) + + x243 * x891 + + x243 * x892 + + x243 * x900 + + x243 * x905 + + x246 * x850 + + x246 * x901 + - x251 * x860 + - x251 * x867 + + x251 * x890 + + x251 * x894 + - x252 * x859 + + x252 * x887 + + x252 * x894 + + x252 * (x461 * x896 + x506 * x895 + x903) + - 0.01275 * x262 * x75 + + x262 * x893 + + x262 * (-x177 * x885 + x177 * x886 + x871) + + x262 * (-x177 * x902 + x440 * x896 + x445 * x895) + + x263 * x893 + + x263 * (x856 - x857) + + x263 * (-x177 * x888 + x177 * x889 + x881) + + x277 * x560 + + x289 * x587 + + x289 * x708 + + x29 * x848 + + x29 * x875 + + x29 * x899 + - x305 * (x188 * x870 + x301 * x872 + x304 * x874) + - x305 * (x301 * x898 + x487 * x896 + x490 * x895) + - x306 * (x198 * x870 + x283 * x874 + x296 * x872) + - x306 * (x296 * x898 + x456 * x895 + x468 * x896) + + x31 * x848 + + x31 * x858 + + x31 * x884 + - 0.021381 * x312 * x75 + + 0.021381 * x314 * x76 + + x334 * x840 + + x349 * x76 + + x351 * x75 + + x384 * x844 + + x384 * x879 + + x384 * x906 + + x384 * x907 + + x385 * x844 + + x385 * x869 + + x385 * x906 + + x385 * x907 + + x385 * x910 + + x398 * x891 + + x398 * x892 + + x398 * x900 + + x398 * x905 + + x400 * x891 + + x400 * x892 + + x400 * x901 + + x403 * x409 + + x421 * x846 + - x421 * x908 + + x421 * x909 + + x421 * (x274 * x874 - x885) + + x421 * (x274 * x436 * x895 - x274 * x904 - x902) + + x422 * x846 + - x422 * x908 + + x422 * x909 + + x422 * (x274 * x882 - x888) + - x43 * x712 + - x432 * x588 + + x442 * x690 + + x447 * x695 + + x46 * x710 + + x46 * x841 + + x47 * x711 + + x47 * x861 + + x47 * (x188 * x855 + x207 * x854 + x852) + + x47 * (x189 * x880 + x318 * x883 + x319 * x882) + + x48 * x710 + + x48 * x836 + + x48 * x861 + + x48 * (x189 * x870 + x318 * x872 + x319 * x874) + + x48 * (x318 * x898 + x498 * x896 + x499 * x895) + + x482 * x75 + + x495 * x854 + - x495 * x908 + + x495 * x909 + + x497 * x855 + + x497 * x906 + + x497 * x907 + + 0.0037378477575 * x5 * x833 + + x505 * x850 + + x505 * x891 + - x52 * (x61 + x62) + + x538 * x872 + + x538 * x898 + + x538 * x911 + + x538 * x912 + + x538 * x914 + - x550 * x844 + + x550 * x870 + - x550 * x906 + - x550 * x910 + + x550 * x915 + + x572 * x874 + + x572 * x916 + + x572 * x918 + + x572 * x919 + + x572 * (x436 * x895 - x904) + - 0.0012075857869362 * x58 + + x588 * x593 + + x601 * x882 + + x601 * x916 + + x601 * x918 + + x601 * x919 + + x605 * x883 + + x605 * x911 + + x605 * x912 + + x605 * x914 + - x607 * x844 + + x607 * x880 + - x607 * x906 + + x607 * x915 + + x650 * x895 + - x650 * x920 + + x650 * (-x434 * x870 + x436 * x874) + + x650 * (-x506 * x859 - x920) + + x650 * (x436 * x917 + 0.10593 * x438 * x76 + x618 * x922) + + x665 * x896 + - x665 * x921 + + x665 * (-x434 * x874 - x436 * x870) + + x665 * (-x461 * x859 - x921) + + x665 * (0.10593 * x177 * x436 * x76 - x434 * x917 - x438 * x922) + + x668 * x872 + + x668 * x898 + + x668 * x911 + + x668 * x912 + + x668 * x914 + + x73 * x836 + + x776 * x876 + + 0.0255 * x776 + - 0.0255 * x788 + + x836 * x93 + - x94 * (-x12 * x722 - x12 * x835 - 0.20843 * x714) + ], + [ + -0.0859643660835216 * x101 + + 0.0942803660835216 * x102 + + 0.0859643660835216 * x104 + + x115 * (x309 + x310) + + 0.41686 * x118 * x75 + + x118 * x972 + + x118 * (x281 * x933 + x294 * x932 + x75 * x955) + + x118 * (x75 * x924 + x75 * x925 - x965) + + x121 * x719 + + x121 * x972 + + x121 * (x281 * x931 - x294 * x949 + x516 * x928) + + x121 * (x294 * x959 + x454 * x944 + x466 * x942) + + x127 * x974 + + x127 * (x450 * x944 + x462 * x942 - x962) + - x130 * x963 + - x142 * x726 + + x144 * x839 + + x145 * x860 + + x145 * x952 + + x145 * x956 + + x145 * x970 + + x146 * x859 + + x146 * x953 + + x146 * x960 + + x146 * x970 + - x148 * (x137 + x138) + - x177 * x432 + + 0.272313 * x177 * x495 + + x177 * x593 + - x179 * x409 + - 0.272313 * x179 * x497 + - x202 * (x190 * x195 + x967 - 0.10593 * x977) + - x205 * (x181 * x190 + x740 * x76 - 0.10593 * x984) + - x216 * (0.063883 * x177 * x195 - x971 - 0.063883 * x977) + - x216 * (x188 * x948 + x301 * x932 + x304 * x933) + - x219 * (-x12 * x965 + 0.063883 * x177 * x181 - 0.063883 * x984) + - x219 * (x198 * x948 + x283 * x933 + x296 * x932) + - 2.512544616e-7 * x226 + - 2.512544616e-7 * x228 + - 2.512544616e-7 * x231 + + 1.67436e-5 * x236 * x311 + + 0.387012824 * x237 * x249 + - 0.387012824 * x241 * x248 + - 0.0702096356 * x241 * x307 + - 1.67436e-5 * x241 * x313 + + x243 * x938 + + x243 * x964 + - x243 * x978 + + 2.512544616e-7 * x244 + + x246 * x927 + + x246 * x939 + - x246 * x978 + + 0.0702096356 * x249 * x311 + + x251 * x963 + - x252 * x974 + + x252 * (x461 * x942 + x506 * x944 + x962) + - 0.0035207725448136 * x258 + - 0.0035207725448136 * x259 + - 0.0035207725448136 * x261 + + x262 * x929 + + x262 * (x177 * x934 + x274 * x589 * x876 + x274 * x928) + + x262 * (-x177 * x961 + x440 * x942 + x445 * x944) + + x263 * x929 + + x263 * (x924 + x925) + + x263 * (x177 * x940 - x177 * x941 + x955) + + x29 * x859 + + x29 * x953 + + x29 * x960 + + x29 * x970 + - 0.002080193929 * x3 * x727 + - x305 * (x188 * x954 - x301 * x949 + x304 * x931) + - x305 * (x301 * x959 + x487 * x942 + x490 * x944) + - x306 * (x198 * x954 + x283 * x931 - x296 * x949) + - x306 * (x296 * x959 + x456 * x944 + x468 * x942) + + x31 * x860 + + x31 * x952 + + x31 * x956 + + x31 * x970 + + x33 * x839 + + x331 + + 0.0035207725448136 * x333 + + x384 * x947 + - x384 * x975 + + x385 * x945 + - x385 * x954 + - x385 * x975 + + x398 * x938 + + x398 * x964 + - x398 * x978 + + x400 * x939 + - x400 * x978 + + x421 * x976 + + x421 * (x274 * x930 + x934) + + x421 * (x274 * x436 * x944 - x274 * x943 - x961) + + x422 * x976 + + x422 * (x940 - x941) + + x46 * x752 + + x461 * x690 + - x47 * x739 + + x47 * x969 + + x47 * (0.063883 * x177 * x207 - 0.063883 * x968 + x971) + + x47 * (x189 * x948 + x318 * x932 + x319 * x933) + - x48 * x738 + + x48 * x969 + + x48 * (x189 * x954 - x318 * x949 + x319 * x931) + + x48 * (x318 * x959 + x498 * x942 + x499 * x944) + + x505 * x927 + + x506 * x695 + - x538 * x949 + + x538 * x951 + + x538 * x959 + - x538 * x982 + - x550 * x945 + + x550 * x954 + + x550 * x975 + - x553 * x560 + + x572 * x931 + + x572 * x946 + + x572 * (x436 * x944 - x943) + + x587 * x589 + + x589 * x708 + + x601 * x933 + + x601 * x946 + + x605 * x932 + + x605 * x951 + + x607 * x948 + + x607 * x975 + + x650 * x944 + + x650 * (x436 * x931 - 0.10593 * x460) + + x650 * (0.20843 * x177 * x274 * x436 - 0.20843 * x444) + + x650 + * ( + 0.10593 * x177 * x274 * x436 + - 0.00017505 * x272 * x437 + - 0.10593 * x444 + ) + + x665 * x942 + + x665 * (-0.20843 * x437 - 0.20843 * x439) + + x665 * (-x434 * x931 - 0.10593 * x449) + + x665 + * (0.00017505 * x179 * x272 * x434 - 0.10593 * x437 - 0.10593 * x439) + - x668 * x949 + + x668 * x951 + + x668 * x959 + - x668 * x982 + - 0.08141975791312 * x833 * x96 + + x979 * x980 + + x980 * x981 + - x980 * x983 + ], + [ + -x1001 * x130 + + x1001 * x251 + + x1003 * x538 + + x1003 * x668 + + x1005 * x650 + + x1006 * x665 + + x1007 * x146 + + x1007 * x29 + + x1012 * x243 + + x1012 * x398 + + x1013 * x385 + - x1013 * x550 + + x1014 * x538 + + x1014 * x668 + - x1015 * x650 + + x1016 * x665 + - x1017 * x690 + - x118 * x995 + + x118 * (0.009432 * x177 * x75 - x179 * x343) + + x118 * (-x281 * x991 + x294 * x992 + x75 * x990) + - x121 * x995 + + x121 * (x1003 * x294 + x1005 * x454 + x1006 * x466) + + x121 * (-x179 * x868 + 0.00017505 * x272 * x294 - x281 * x973) + - x127 * x978 + - x127 * x998 + + x127 * (x1005 * x450 + x1006 * x462 - x1009) + + x130 * x927 + - x130 * x978 + - x145 * x892 + + x145 * x985 + + x145 * x993 + - x146 * x892 + + x146 * x987 + + 0.000256 * x199 * x23 + - x202 * x743 + - x205 * (-x186 * x741 + x966) + - x216 * x757 + - x216 * (x188 * x989 + x301 * x992 - x304 * x991) + - x219 * (x198 * x989 - x283 * x991 + x296 * x992) + - x219 + * ( + 0.009432 * x12 * x177 * x75 + - 0.009432 * x180 + - x192 * x343 + - 1.0e-6 * x193 + ) + - x251 * x927 + + x251 * x978 + + x252 * x978 + + x252 * x998 + + x252 * (x1005 * x506 + x1006 * x461 + x1009) + + 6.03616743301967e-5 * x258 + + 6.03616743301967e-5 * x259 + + 6.03616743301967e-5 * x261 + - x262 * x876 + + x262 * (x1005 * x445 + x1006 * x440 - x1008 * x177) + + x262 * (-x177 * x936 - x177 * x997 - 0.10593 * x589) + - x263 * x876 + + x263 * (0.009432 * x177 - x335) + + x263 * (-x1000 * x177 - x177 * x999 + x179 * x989) + + x272 * x560 + + x274 * x587 + + x274 * x708 + - x29 * x892 + + x29 * x987 + - x305 * (x1003 * x301 + x1005 * x490 + x1006 * x487) + - x305 * (-x188 * x994 + 0.00017505 * x272 * x301 - x304 * x973) + - x306 * (x1003 * x296 + x1005 * x456 + x1006 * x468) + - x306 * (-x198 * x994 + 0.00017505 * x272 * x296 - x283 * x973) + - x31 * x892 + + x31 * x985 + + x31 * x993 + - 6.03616743301967e-5 * x333 + - 4.33190623e-8 * x358 + + 4.33190623e-8 * x359 + - 4.33190623e-8 * x361 + + 4.33190623e-8 * x364 + + 4.33190623e-8 * x368 + - 0.000206331435 * x374 * x397 + + x375 * x407 + - 6.781e-7 * x375 * x494 + + 0.000206331435 * x382 * x395 + - 0.0063958392 * x382 * x493 + + 6.781e-7 * x382 * x496 + + x384 * x988 + + x385 * x994 + + 0.0063958392 * x397 * x494 + - 0.00038672870670405 * x416 + - 0.00038672870670405 * x418 + - 0.00038672870670405 * x419 + + x421 * (-x936 - x997) + + x421 * (x1005 * x274 * x436 - x1008 - x1011 * x274) + + x422 * (-x1000 - x999) + + x47 * x742 + - x47 * x757 + + x47 * (x189 * x989 + 0.00965 * x272 * x318 - x319 * x991) + - x473 + - x474 + - x475 + - x476 + - x477 + - x478 + - x479 + + x48 * x742 + + x48 * (x1003 * x318 + x1005 * x499 + x1006 * x498) + + x48 * (-x189 * x994 + 0.00017505 * x272 * x318 - x319 * x973) + - x480 + - x481 + + 0.00038672870670405 * x491 + + 0.00038672870670405 * x492 + - x550 * x994 + + x572 * (x1010 - x1011) + + 0.000256 * x58 * x588 + + x607 * x989 + + x650 * (-x1015 + x434 * x994) + + x665 * (x1016 + x436 * x994) + + x686 * x695 + - 0.0003501 * x979 + - 0.00982505 * x981 + + 0.00982505 * x983 + ], + [ + x1018 * x538 + + x1018 * x668 + + x1023 * x146 + + x1023 * x29 + + x1024 * x243 + + x1024 * x398 + + x118 + * ( + 0.045483 * x177 * x274 * x75 + - x273 * x926 + - 1.0e-6 * x275 + - 0.045483 * x280 + ) + + x121 * (0.10593 * x177 * x274 * x75 - x986) + + x121 * (x1018 * x294 + x1021 * x454 - x1022 * x466) + + x127 * x954 + + x127 * (-x1022 * x462 - x1026 + 0.029798 * x436 * x450) + + x130 * x948 + + x145 * x879 + + x146 * x869 + + x190 * x262 * x274 + - x216 * x783 + - x219 * (x180 * x599 - x180 * x782 + 0.045483 * x282 + 1.0e-6 * x295) + + x243 * x994 + + x246 * x988 + + x251 * x947 + - x252 * x954 + + x252 * (x1021 * x506 - x1022 * x461 + x1026) + + x262 * (-x1022 * x440 - x1025 * x177 + 0.029798 * x436 * x445) + + x263 * (0.045483 * x177 * x274 - x272 * x926) + + 0.10593 * x274 * x421 + + x29 * x869 + - x305 * x768 + - x305 * (x1018 * x301 + x1021 * x490 - x1022 * x487) + - x306 * (-0.10593 * x279 + 0.10593 * x282) + - x306 * (x1018 * x296 + x1021 * x456 - x1022 * x468) + + x31 * x879 + - 6.543665e-9 * x357 * x509 + + x398 * x994 + + x400 * x988 + - 0.007020102849889 * x419 + + x421 * (x1019 * x274 + x1020 * x274 - x1025) + + x422 * (0.045483 * x274 - x599) + - 0.135728 * x434 * x665 + - x434 * x695 + + 0.135728 * x436 * x650 + - x436 * x690 + + x47 * x815 + + x48 * x810 + + x48 * (x1018 * x318 + x1021 * x499 - x1022 * x498) + + 0.007020102849889 * x491 + + 0.007020102849889 * x492 + + 6.543665e-9 * x510 + + 6.543665e-9 * x512 + + 6.543665e-9 * x515 + - 6.781e-7 * x526 * x600 + + 0.053028558 * x527 * x549 + - 0.053028558 * x536 * x548 + - 0.0308420223 * x536 * x597 + + 6.781e-7 * x536 * x604 + + 6.543665e-9 * x546 + + 6.543665e-9 * x547 + + 0.0308420223 * x549 * x600 + - 0.0003069081642729 * x568 + - 0.0003069081642729 * x571 + + x572 * (x1019 + x1020) + + x593 + + 0.007020102849889 * x602 + + 0.007020102849889 * x603 + - 0.0003069081642729 * x606 + + 0.0003069081642729 * x608 + - 0.0003069081642729 * x654 + - 0.0003069081642729 * x657 + ], + [ + x1002 * x243 + + x1002 * x398 + + 0.000118 * x1017 * x347 + + x1018 * x385 + - x1018 * x550 + + x121 + * (-x280 * x635 - x280 * x636 + 0.011402 * x445 * x75 - 0.000281 * x465) + + x127 * x959 + + x146 * x897 + + 3.0e-6 * x168 * x454 + + 0.000118 * x168 * x466 + - 4.1916429428e-6 * x2 * x661 + - 4.1916429428e-6 * x21 * x660 + + 3.0e-6 * x23 * x456 + + 0.000118 * x23 * x468 + - x252 * x959 + + x262 * (0.000281 * x437 + x438 * x957 - 0.011402 * x444 + x618 * x958) + + x29 * x897 + - x305 * x799 + - x306 + * ( + -0.011402 * x451 + + 0.011402 * x455 + + 0.000281 * x463 + - 0.000281 * x467 + ) + + 0.000118 * x346 * x440 + + 3.0e-6 * x346 * x445 + + x421 * (x434 * x957 + x436 * x958) + + x436 * x691 + - x48 * x799 + + x549 * x674 + + 6.5120333239e-5 * x568 + + 6.5120333239e-5 * x571 + + x572 * (x635 + x636) + + 0.000609 * x590 + + 0.000609 * x591 + + 0.000609 * x592 + + 6.5120333239e-5 * x606 + - 6.5120333239e-5 * x608 + - 0.0001700822520776 * x611 + + 0.0001700822520776 * x612 + + 0.0001700822520776 * x614 + - 0.0001700822520776 * x616 + - 0.0001700822520776 * x622 + - 0.0001700822520776 * x628 + - 0.0001700822520776 * x630 + - 0.0057078412 * x631 * x633 + - 0.0001406686 * x631 * x662 + + 0.0057078412 * x642 * x648 + + x648 * x672 + + 4.1916429428e-6 * x651 + + 4.1916429428e-6 * x652 + + 6.5120333239e-5 * x654 + - 4.1916429428e-6 * x656 * x99 + + 6.5120333239e-5 * x657 + + x663 * x694 + + 0.0001406686 * x664 + - 4.1916429428e-6 * x666 + - 4.1916429428e-6 * x667 + - x681 + - x683 + - x685 + - x688 + - x696 + - x697 + - x698 + - x699 + - x700 + - x701 + - x702 + - x703 + - x704 + - x705 + - x706 + - x707 + ], + ] + ).flatten() + + return coriolis_term diff --git a/kinova_gen3/dynamics/gravity.py b/kinova_gen3/dynamics/gravity.py new file mode 100644 index 0000000..12724dd --- /dev/null +++ b/kinova_gen3/dynamics/gravity.py @@ -0,0 +1,440 @@ +"""Gravity term for Kinova Gen3 robot + +Functions +--------- +gravity(joint_position) + +""" + +import math +import numpy + + +def gravity(q): + """The gravity term of the Kinova Gen3 robot + + Arguments + --------- + joint_position (array_like): The joint angles of the robot [rad] + + Returns + ------- + ndarray: The gravity term of the robot + + """ + + # Gravity acceleration constant [m/s^2] + gravity_acceleration = 9.80665 + + # q1 = q[0] + q2 = q[1] + q3 = q[2] + q4 = q[3] + q5 = q[4] + q6 = q[5] + q7 = q[6] + + x0 = q3 + x1 = math.cos(x0) + x2 = q2 + x3 = math.sin(x2) + x4 = x1 * x3 + x5 = math.cos(x2) + x6 = 0.017767125 * x5 + x7 = math.sin(x0) + x8 = x3 * x7 + x9 = 1.1636 * x5 + x10 = q4 + x11 = math.sin(x10) + x12 = x11 * x5 + x13 = math.cos(x10) + x14 = x13 * x3 + x15 = x13 * x5 + x16 = x11 * x4 + x17 = -x15 + x16 + x18 = x1 * x13 + x19 = x18 * x3 + x20 = 1.8e-5 * x1 + x21 = 0.9302 * x8 + x22 = 0.9302 * x17 + x23 = -x12 - x19 + x24 = 0.9302 * x23 + x25 = 1.8568 * x23 + x26 = q5 + x27 = math.cos(x26) + x28 = math.sin(x26) + x29 = x28 * x7 + x30 = x1 * x13 * x27 - x29 + x31 = 0.00017505 * x3 + x32 = 1.1787 * x17 + x33 = 0.10593 * x27 + x34 = 0.10593 * x3 + x35 = x23 * x28 + x36 = -x27 * x3 * x7 + x35 + x37 = -x36 + x38 = 1.1787 * x37 + x39 = 0.063883 * x27 + x40 = 0.063883 * x3 + x41 = 0.6781 * x37 + x42 = -0.10593 * x11 * x28 * x5 + x43 = x27 * x7 + x44 = x18 * x28 + x43 + x45 = -x44 + x46 = x29 * x3 + x47 = x23 * x27 + x48 = x46 + x47 + x49 = 1.1787 * x48 + x50 = 0.6781 * x48 + x51 = 0.009432 * x27 + x52 = 0.6781 * x17 + x53 = q6 + x54 = math.sin(x53) + x55 = x13 * x54 + x56 = math.cos(x53) + x57 = x11 * x56 + x58 = x27 * x57 + x59 = x5 * (x55 + x58) + x60 = x11 * x54 + x61 = x13 * x27 * x56 - x60 + x62 = x1 * x61 - x29 * x56 + x63 = 0.5006 * x36 + x64 = x48 * x54 + x65 = x17 * x56 - x64 + x66 = 0.5006 * x65 + x67 = x3 * x62 + x68 = 0.6781 * x65 + x69 = x27 * x60 + x70 = x13 * x56 - x69 + x71 = x5 * x70 + x72 = -x27 * x55 - x57 + x73 = x1 * x72 + x29 * x54 + x74 = x3 * x73 + x75 = x17 * x54 + x76 = x48 * x56 + x77 = x75 + x76 + x78 = 0.6781 * x77 + x79 = 0.5006 * x77 + x80 = 0.6781 * x36 + x81 = q7 + x82 = math.cos(x81) + x83 = x55 * x82 + x84 = math.sin(x81) + x85 = x28 * x84 + x86 = x27 * x56 * x82 - x85 + x87 = x11 * x86 + x88 = x5 * (x83 + x87) + x89 = x27 * x84 + x90 = x28 * x82 + x91 = x56 * x90 + x92 = x89 + x91 + x93 = x13 * x86 - x60 * x82 + x94 = x1 * x93 - x7 * x92 + x95 = x36 * x82 + x96 = x77 * x84 + x97 = -x95 - x96 + x98 = 0.5006 * x97 + x99 = x55 * x84 + x100 = -x56 * x89 - x90 + x101 = x100 * x11 + x102 = x101 - x99 + x103 = x56 * x85 + x104 = -x103 + x27 * x82 + x105 = x100 * x13 + x60 * x84 + x106 = x1 * x105 - x104 * x7 + x107 = x36 * x84 + x108 = x77 * x82 + x109 = -x107 + x108 + x110 = 0.5006 * x109 + x111 = x7**2 + x112 = 0.7235081912 * x3 + x113 = x11 * x7 + x114 = x13 * x7 + x115 = x1 * x28 + x116 = 0.00017505 * x115 + x117 = 0.00017505 * x13 + x118 = 0.10593 * x115 + x119 = 0.10593 * x13 + x120 = 0.009432 * x28 + x121 = 1.0e-6 * x27 + x122 = 1.0e-6 * x13 + x123 = x122 * x29 + x124 = 0.009432 * x13 + x125 = x119 * x29 + x126 = x13 * x29 + x127 = x61 * x7 + x128 = x7 * x72 + x129 = 0.00965 * x115 + x130 = 0.045483 * x27 + x131 = x1 * x92 + x132 = x1 * x104 + x133 = x7 * x93 + x134 = x105 * x7 + x135 = 0.000281 * x54 + x136 = 0.011402 * x54 + x137 = x11 * x17 + x138 = x11 * x28 + x139 = 1.0e-6 * x138 + x140 = 0.10593 * x138 + x141 = x13 * x56 + x142 = x28 * x56 + x143 = 0.053028558 * x36 + x144 = x28 * x54 + x145 = x27 * x82 + x146 = 0.000281 * x56 + x147 = 0.011402 * x56 + x148 = 0.029798 * x54 + + gravity_term = numpy.array( + [ + [ + gravity_acceleration + * ( + 0.58632906 * x1 * x3**2 * x7 + + x110 + * ( + -0.029798 * x102 * x5 + - 0.029798 * x106 * x3 + + 0.011402 * x3 * x73 + + 0.011402 * x5 * x70 + ) + + 1.8568 * x17 * (0.006375 * x12 + 0.006375 * x19) + - x21 + * ( + -0.075478 * x1 * x14 + - x11 * x20 * x3 + - 0.075478 * x12 + + 1.8e-5 * x13 * x5 + ) + + x22 * (0.015006 * x12 + 0.015006 * x19 - 1.8e-5 * x8) + + x24 * (-0.015006 * x15 + 0.015006 * x16 + 0.075478 * x8) + + x25 * (-0.006375 * x15 + 0.006375 * x16 + 0.20843 * x8) + + x32 * (0.00017505 * x12 * x27 + x30 * x31) + + x38 * (x12 * x33 + x30 * x34) + - x4 * x6 + - 2.787 * x4 * (-0.006375 * x5 + 0.21038 * x8) + - 1.1636 * x4 * (0.006641 * x5 + 0.117892 * x8) + + x41 * (x12 * x39 + 1.0e-6 * x15 - 1.0e-6 * x16 + x30 * x40) + + x49 + * (0.00017505 * x1 * x11 * x3 - 0.00017505 * x15 - x34 * x45 - x42) + + x50 + * ( + 0.063883 * x11 * x28 * x5 + + 0.009432 * x13 * x5 + - 0.009432 * x16 + - x40 * x45 + ) + + x52 + * ( + 1.0e-6 * x11 * x28 * x5 + - x12 * x51 + - 0.009432 * x3 * x30 + - 1.0e-6 * x3 * x45 + ) + + x63 * (-x34 * x62 - 0.10593 * x59) + + x66 * (x31 * x62 + 0.00017505 * x59) + + x66 + * ( + 0.000281 * x102 * x5 + + 0.000281 * x106 * x3 + - 0.011402 * x3 * x94 + - 0.011402 * x88 + ) + + x68 + * ( + 1.0e-6 * x12 * x28 + + 1.0e-6 * x3 * x44 + + 0.00965 * x59 + + 0.00965 * x67 + ) + + x78 + * ( + 0.045483 * x11 * x28 * x5 + + 0.045483 * x3 * x44 + - 0.00965 * x71 + - 0.00965 * x74 + ) + + x79 * (0.10593 * x3 * x44 - x31 * x73 - x42 - 0.00017505 * x71) + + 1.1636 * x8 * (0.117892 * x4 - 4.4e-5 * x5) + - 1.8568 * x8 * (-0.20843 * x1 * x14 - 0.20843 * x12) + + x80 + * (-0.045483 * x59 - 0.045483 * x67 - 1.0e-6 * x71 - 1.0e-6 * x74) + - x9 * (-0.006641 * x4 - 4.4e-5 * x8) + + x98 + * ( + 0.029798 * x3 * x94 + - 0.000281 * x71 + - 0.000281 * x74 + + 0.029798 * x88 + ) + ) + ], + [ + gravity_acceleration + * ( + -(x1**2) * x112 + + x110 + * ( + x115 * x136 + - 0.011402 * x128 + + 0.029798 * x132 + + 0.029798 * x134 + ) + - x111 * x112 + - 0.387012824 * x111 * x14 + - 0.0118371 * x114 * x17 + - x21 * (1.8e-5 * x113 + 0.075478 * x114) + + x22 * (-0.015006 * x114 - x20) + + x24 * (0.075478 * x1 - 0.015006 * x113) + + x25 * (0.20843 * x1 - 0.006375 * x113) + - 0.946998516 * x3 + + x32 * (-x116 - x117 * x43) + + x38 * (-x118 - x119 * x43) + + x41 * (1.0e-6 * x11 * x7 - 0.063883 * x115 - 0.063883 * x13 * x43) + + x49 * (0.10593 * x1 * x27 - 0.00017505 * x113 - x125) + + 5.11984e-5 * x5 + + x50 * (x1 * x39 + 0.009432 * x113 - 0.063883 * x126) + + x52 * (x1 * x120 + x1 * x121 - x123 + x124 * x43) + + x6 * x7 + + x63 * (x118 * x56 + 0.10593 * x127) + + x66 * (-x116 * x56 - 0.00017505 * x127) + + x66 + * ( + 0.011402 * x131 + - 0.000281 * x132 + + 0.011402 * x133 + - 0.000281 * x134 + ) + + x68 * (1.0e-6 * x1 * x27 - x123 - 0.00965 * x127 - x129 * x56) + + x78 * (x1 * x130 - 0.045483 * x126 + 0.00965 * x128 - x129 * x54) + + x79 * (x1 * x33 - x116 * x54 - x125 + 0.00017505 * x128) + + x80 + * ( + -1.0e-6 * x115 * x54 + + 0.045483 * x115 * x56 + + 0.045483 * x127 + + 1.0e-6 * x128 + ) + - x9 * (-4.4e-5 * x1 + 0.006641 * x7) + + x98 + * ( + -x115 * x135 + - 0.029798 * x131 + - 0.029798 * x133 + + 0.000281 * x7 * x72 + ) + ) + ], + [ + gravity_acceleration + * ( + 0.124859691 * x11 * x27 * x37 + + 0.387012824 * x11 * x8 + + x110 + * ( + -0.029798 * x101 + + 0.029798 * x13 * x54 * x84 + + 0.011402 * x13 * x56 + - 0.011402 * x69 + ) + - 0.0257956812 * x13 * x23 + + 0.000206331435 * x137 * x27 + + 0.0257956812 * x137 + - x21 * (-0.075478 * x11 + 1.8e-5 * x13) + + 0.0100396574 * x4 + + x41 * (x11 * x39 + x122) + + x49 * (-x117 + x140) + + x50 * (x124 + 0.063883 * x138) + + x52 * (-x11 * x51 + x139) + + x63 * (-x33 * x57 - 0.10593 * x55) + + x66 * (0.00017505 * x55 + 0.00017505 * x58) + + x66 + * ( + 0.000281 * x100 * x11 + - 0.011402 * x83 + - 0.011402 * x87 + - 0.000281 * x99 + ) + + x68 * (x139 + 0.00965 * x55 + 0.00965 * x58) + + x78 * (0.045483 * x138 - 0.00965 * x141 + 0.00965 * x69) + + x79 * (x140 - 0.00017505 * x141 + 0.00017505 * x69) + - 5.11984e-5 * x8 + + x80 + * ( + 1.0e-6 * x11 * x27 * x54 + - x130 * x57 + - 1.0e-6 * x141 + - 0.045483 * x55 + ) + + x98 + * ( + -0.000281 * x141 + + 0.000281 * x69 + + 0.029798 * x83 + + 0.029798 * x87 + ) + ) + ], + [ + gravity_acceleration + * ( + x110 * (-0.029798 * x103 + 0.011402 * x144 + 0.029798 * x145) + - 0.4572224596 * x12 + + x142 * x143 + - 8.763003e-5 * x142 * x65 + + 1.67436e-5 * x15 + - 1.67436e-5 * x16 + - 0.000206331435 * x17 * x28 + - 0.4572224596 * x19 + + 0.1681787533 * x27 * x48 + - 0.1681787533 * x28 * x37 + + x52 * (x120 + x121) + + x66 + * (-0.000281 * x145 + x146 * x85 + x147 * x90 + 0.011402 * x89) + + x68 * (-0.00965 * x142 + 1.0e-6 * x27) + + x78 * (-0.00965 * x144 + 0.045483 * x27) + + x79 * (-0.00017505 * x144 + 0.10593 * x27) + + x80 * (-1.0e-6 * x144 + 0.045483 * x28 * x56) + + x98 * (-0.000281 * x144 - 0.029798 * x89 - 0.029798 * x91) + ) + ], + [ + gravity_acceleration + * ( + x110 * (x147 + x148 * x84) + - x143 * x54 + + 6.781e-7 * x3 * x43 + - 6.781e-7 * x35 + + 0.006189507765 * x46 + + 0.006189507765 * x47 + + 0.00663129503 * x54 * x65 + - 0.00663129503 * x56 * x77 + + x66 * (-x135 * x84 - x136 * x82) + + x80 * (-0.045483 * x54 - 1.0e-6 * x56) + + x98 * (-x146 + x148 * x82) + ) + ], + [ + gravity_acceleration + * ( + 0.0149168788 * x109 * x82 + + 6.781e-7 * x17 * x56 + - 6.781e-7 * x64 + + x66 * (-0.000281 * x82 + 0.011402 * x84) + + 0.0838705803 * x75 + + 0.0838705803 * x76 + - 0.0149168788 * x84 * x97 + ) + ], + [ + gravity_acceleration + * ( + -0.0057078412 * x107 + + 0.0057078412 * x108 + + 0.0001406686 * x95 + + 0.0001406686 * x96 + ) + ], + ] + ).flatten() + + return gravity_term diff --git a/kinova_gen3/dynamics/mass_matrix.py b/kinova_gen3/dynamics/mass_matrix.py new file mode 100644 index 0000000..ea5b860 --- /dev/null +++ b/kinova_gen3/dynamics/mass_matrix.py @@ -0,0 +1,4373 @@ +"""Mass matrix for Kinova Gen3 robot + +Functions +--------- +mass_matrix(joint_position) + +""" + +import math +import numpy + + +def mass_matrix(q): + """The mass matrix of the Kinova Gen3 robot + + Arguments + --------- + joint_position (array_like): The joint angles of the robot [rad] + + Returns + ------- + ndarray: The mass matrix of the robot + + """ + + # q1 = q[0] + q2 = q[1] + q3 = q[2] + q4 = q[3] + q5 = q[4] + q6 = q[5] + q7 = q[6] + + x0 = q2 + x1 = math.sin(x0) + x2 = x1**2 + x3 = math.cos(x0) + x4 = q3 + x5 = math.cos(x4) + x6 = x5**2 + x7 = math.sin(x4) + x8 = x1 * x7 + x9 = x3 * x5 + x10 = x1 * x5 + x11 = 0.010932 * x10 - 7.0e-6 * x3 + x12 = -0.006641 * x10 - 4.4e-5 * x8 + x13 = 0.006641 * x3 + 0.117892 * x8 + x14 = x13 * x5 + x15 = 0.0125087 * x3 + x16 = 0.006375 * x3 + x17 = 0.21038 * x8 + x18 = -x16 + x17 + x19 = x18 * x5 + x20 = 0.117892 * x10 - 4.4e-5 * x3 + x21 = x20 * x7 + x22 = 0.000606 * x3 - 0.011127 * x8 + x23 = q4 + x24 = math.sin(x23) + x25 = x24 * x3 + x26 = math.cos(x23) + x27 = x10 * x26 + x28 = x25 + x27 + x29 = 0.21038 * x10 + x30 = x16 * x7 + x29 + x31 = 0.20843 * x25 + 0.20843 * x27 + x32 = -x31 + x33 = x32 * x7 + x34 = 0.390633584 * x31 + x35 = x26 * x3 + x36 = x10 * x24 + x37 = -x16 * x5 + x17 + x38 = 0.21038 * x6 + x39 = 0.017767125 * x3 + x40 = -0.0005 * x35 + 0.0005 * x36 + 0.008316 * x8 + x41 = -x30 + x42 = q5 + x43 = math.cos(x42) + x44 = x25 * x43 + x45 = math.sin(x42) + x46 = x45 * x7 + x47 = x26 * x43 * x5 - x46 + x48 = x1 * x47 + x49 = x44 + x48 + x50 = x1 * x26 + x51 = x25 * x5 + x52 = 0.005375 * x50 + 0.005375 * x51 + x53 = 0.006375 * x25 + x54 = 0.006375 * x27 + x53 + x55 = 1.8568 * x54 + x56 = 0.00741795 * x3 + x57 = -x50 - x51 + x58 = 0.244798168 * x1 + x59 = 1.8e-5 * x24 + x60 = 0.075478 * x26 + x61 = x10 * x59 + x10 * x60 + 0.075478 * x25 - 1.8e-5 * x26 * x3 + x62 = -x61 + x63 = 0.195695476 * x10 + x64 = x62 * x7 + x65 = -0.015006 * x35 + 0.015006 * x36 + 0.075478 * x8 + x66 = x1 * x24 + x67 = x26 * x3 * x5 - x66 + x68 = 0.004999825 * x67 + x69 = 0.006375 * x35 + x70 = 0.006375 * x36 + x71 = -x69 + x70 + 0.20843 * x8 + x72 = 0.0099803 * x67 + x73 = 0.005375 * x66 + x74 = x35 * x5 + x75 = x73 - 0.005375 * x74 + x76 = 0.9302 * x65 + x77 = 1.8568 * x71 + x78 = 0.015006 * x25 + 0.015006 * x27 - 1.8e-5 * x8 + x79 = 0.9302 * x78 + x80 = 0.004999825 * x57 + x81 = x18 * x24 + x82 = 0.006375 * x1 * x26 * x5 - x81 + x83 = -x17 * x24 + x5 * x53 + 0.006375 * x50 + x84 = 0.9302 * x62 + x85 = 0.00017505 * x44 + 0.00017505 * x48 + x86 = 1.1787 * x85 + x87 = 1.0e-6 * x35 + x88 = 1.0e-6 * x24 + x89 = x10 * x88 + x90 = 0.008147 * x25 + 0.008147 * x27 - x87 + x89 + x91 = x18 * x26 + x92 = x70 + x91 + x93 = 0.0063355125 * x57 + x94 = 0.006375 * x66 + x95 = x17 * x26 - x5 * x69 + x94 + x96 = x25 * x45 + x97 = -x96 + x98 = x43 * x7 + x99 = x45 * x5 + x100 = x26 * x99 + x101 = x100 + x98 + x102 = -x101 + x103 = x1 * x102 + x104 = x103 + x97 + x105 = x26 * x54 + x106 = x105 + x24 * x71 + x107 = 0.0118371 * x1 + x108 = 0.0118371 * x10 + x109 = x26 * x3 - x36 + x110 = 0.0005 * x8 + x111 = 1.0e-6 * x26 + x112 = -x10 * x111 - x110 - 1.0e-6 * x25 + 0.000631 * x26 * x3 - 0.000631 * x36 + x113 = q6 + x114 = math.sin(x113) + x115 = x114 * x26 + x116 = math.cos(x113) + x117 = x116 * x24 + x118 = x117 * x43 + x119 = x115 + x118 + x120 = x119 * x3 + x121 = x116 * x46 + x122 = x114 * x24 + x123 = x116 * x26 * x43 - x122 + x124 = x123 * x5 + x125 = -x121 + x124 + x126 = x1 * x125 + x127 = x120 + x126 + x128 = x24 * x65 + x26 * x78 + x129 = 0.005930025 * x1 + x130 = 0.005930025 * x10 + x131 = 0.001596 * x44 + 0.001596 * x48 + x132 = x24 * x54 + x133 = -x132 + x26 * x71 + x134 = 1.8568 * x18 + x135 = 0.10593 * x43 + x136 = x135 * x25 + 0.10593 * x48 + x137 = x45 * x66 + x138 = x102 * x3 + x139 = x137 + x138 + x140 = 0.0063355125 * x139 + x141 = x45 * x73 + x142 = -0.005375 * x138 - x141 + x143 = 1.1787 * x136 + x144 = 0.000256 * x103 + 0.000399 * x35 - 0.000399 * x36 - 0.000256 * x96 + x145 = x24 * x78 + x146 = -x145 + x26 * x65 + x147 = 0.9302 * x18 + x148 = x24 * x45 + x149 = 0.006375 * x10 + x150 = x45 * x91 + x151 = -0.21038 * x1 * x43 * x5 + x148 * x149 + x150 + x152 = -x151 + x153 = x132 * x5 + x154 = x26 * x71 + x155 = x154 * x5 + x156 = 0.0118371 * x3 + x157 = 0.390633584 * x1 + x158 = 0.063883 * x44 + 0.063883 * x48 + x87 - x89 + x159 = 0.0036447875 * x139 + x160 = x3 * x47 + x161 = 0.005375 * x1 * x24 * x43 - 0.005375 * x160 + x162 = -0.10593 * x24 * x3 * x45 + x163 = 0.00017505 * x1 * x24 * x5 - 0.10593 * x103 - x162 - 0.00017505 * x35 + x164 = 1.1787 * x163 + x165 = ( + -0.063883 * x103 + + 0.063883 * x24 * x3 * x45 + + 0.009432 * x26 * x3 + - 0.009432 * x36 + ) + x166 = 0.6781 * x165 + x167 = x43 * x66 + x168 = x160 - x167 + x169 = 0.0063355125 * x168 + x170 = 0.0036447875 * x168 + x171 = 0.6781 * x158 + x172 = 0.009432 * x43 + x173 = -1.0e-6 * x103 - x172 * x25 + 1.0e-6 * x24 * x3 * x45 - 0.009432 * x48 + x174 = 0.6781 * x173 + x175 = 0.001607 * x103 + 0.000256 * x35 - 0.000256 * x36 - 0.001607 * x96 + x176 = 0.0036447875 * x57 + x177 = x32 * x43 + x178 = x45 * x71 + x179 = x177 + x178 + x180 = -x179 + x181 = x45 * x94 + x182 = x43 * x5 + x183 = x26 * x46 + x184 = -x182 + x183 + x185 = 0.21038 * x1 + x186 = -x102 * x16 - x181 - x184 * x185 + x187 = x101 * x3 + x188 = x141 - 0.005375 * x187 + x189 = 0.10593 * x120 + 0.10593 * x126 + x190 = -x189 + x191 = 0.5006 * x190 + x192 = -x137 + x187 + x193 = 0.002690725 * x192 + x194 = x1 * x101 + x195 = -x136 + x196 = 0.5006 * x136 + x197 = x114 * x46 + x198 = x115 * x43 + x199 = -x117 - x198 + x200 = x199 * x5 + x201 = x197 + x200 + x202 = x1 * x201 + x203 = x122 * x43 + x204 = x116 * x26 - x203 + x205 = x204 * x3 + x206 = -x1 * x101 + x97 + x207 = x24 * x43 + x208 = x43 * x91 + x209 = x149 * x207 + x208 + x29 * x45 + x210 = x136 * x43 + x211 = x163 * x45 + x210 + x212 = 0.247974906 * x10 + x213 = x32 * x45 + x214 = -x213 + x43 * x71 + x215 = x26 * x65 + x216 = 0.195695476 * x1 + x217 = x215 * x5 + x218 = x145 * x5 + x219 = 0.005930025 * x3 + x220 = x26 * x98 + x221 = x220 + x99 + x222 = -x221 + x223 = 0.006375 * x1 * x24 * x43 - x16 * x47 - x185 * x222 + x224 = -x211 + x225 = 1.1787 * x32 + x226 = -x184 + x227 = -x101 * x16 + x181 - x185 * x226 + x228 = x158 * x43 + x165 * x45 + x229 = 0.142658678 * x10 + x230 = 0.001641 * x120 + 0.001641 * x126 + x231 = x136 * x45 + x232 = x163 * x43 - x231 + x233 = 1.1787 * x71 + x234 = 0.00017505 * x120 + 0.00017505 * x126 + x235 = x201 * x3 + x236 = 0.005375 * x1 * x204 - 0.005375 * x235 + x237 = 0.5006 * x236 + x238 = x1 * x204 + x239 = x235 - x238 + x240 = 0.002690725 * x239 + x241 = x194 + x96 + x242 = ( + 0.001641 * x1 * x101 + - 0.000278 * x202 + - 0.000278 * x205 + + 0.001641 * x24 * x3 * x45 + ) + x243 = -x228 + x244 = 0.6781 * x32 + x245 = x114 * x45 + x246 = x18 * x199 + x247 = x149 * x204 - x245 * x29 + x246 + x248 = 0.5006 * x234 + x249 = x158 * x45 + x250 = x165 * x43 - x249 + x251 = 0.6781 * x71 + x252 = x26 * x85 + x253 = x163 * x43 + x254 = -x231 * x24 + x24 * x253 + x252 + x255 = 0.0075142125 * x1 + x256 = x116 * x54 + x257 = x114 * x213 + x258 = x43 * x71 + x259 = x114 * x258 + x260 = x256 + x257 - x259 + x261 = 0.0075142125 * x10 + x262 = x24 * x85 + x263 = x231 * x26 + x264 = x163 * x26 * x43 - x262 - x263 + x265 = 1.1787 * x18 + x266 = x202 + x205 + x267 = -0.000278 * x194 + 0.00041 * x202 + 0.00041 * x205 - 0.000278 * x96 + x268 = x125 * x3 + x269 = 0.005375 * x1 * x119 - 0.005375 * x268 + x270 = ( + 0.045483 * x1 * x101 + - 0.00965 * x202 + - 0.00965 * x205 + + 0.045483 * x24 * x3 * x45 + ) + x271 = 0.6781 * x270 + x272 = 0.10593 * x1 * x101 - x162 - 0.00017505 * x202 - 0.00017505 * x205 + x273 = 0.5006 * x272 + x274 = x1 * x119 + x275 = x268 - x274 + x276 = 0.0036447875 * x275 + x277 = 0.002690725 * x275 + x278 = 1.0e-6 * x45 + x279 = 0.00965 * x120 + 0.00965 * x126 + 1.0e-6 * x194 + x25 * x278 + x280 = 0.6781 * x279 + x281 = 0.0036447875 * x239 + x282 = 0.045483 * x120 + 0.045483 * x126 + 1.0e-6 * x202 + 1.0e-6 * x205 + x283 = -x282 + x284 = 0.6781 * x283 + x285 = 0.0036447875 * x192 + x286 = 0.6781 * x136 + x287 = x116 * x85 + x288 = x114 * x163 + x289 = x287 - x288 + x290 = 0.5006 * x289 + x291 = x199 * x7 + x292 = x114 * x45 * x5 - x291 + x293 = 0.006375 * x1 * x204 - x16 * x201 - x185 * x292 + x294 = x116 * x45 + x295 = x123 * x18 + x296 = x119 * x149 + x29 * x294 + x295 + x297 = q7 + x298 = math.cos(x297) + x299 = x115 * x298 + x300 = math.sin(x297) + x301 = x300 * x45 + x302 = x116 * x298 * x43 - x301 + x303 = x24 * x302 + x304 = x299 + x303 + x305 = x3 * x304 + x306 = x300 * x43 + x307 = x298 * x45 + x308 = x116 * x307 + x309 = x306 + x308 + x310 = x309 * x7 + x311 = x122 * x298 + x312 = x26 * x302 + x313 = -x311 + x312 + x314 = x313 * x5 + x315 = -x310 + x314 + x316 = x1 * x315 + x317 = x305 + x316 + x318 = 0.247974906 * x1 + x319 = x115 * x300 + x320 = x116 * x306 + x321 = -x307 - x320 + x322 = x24 * x321 + x323 = -x319 + x322 + x324 = x3 * x323 + x325 = x116 * x301 + x326 = -x298 * x43 + x325 + x327 = -x326 + x328 = x327 * x7 + x329 = x122 * x300 + x330 = x26 * x321 + x331 = x329 + x330 + x332 = x331 * x5 + x333 = -x328 + x332 + x334 = x1 * x333 + x335 = x324 + x334 + x336 = x262 * x5 + x337 = x102 * x136 + x338 = x163 * x47 + x339 = 0.0075142125 * x3 + x340 = x114 * x54 + x341 = x116 * x213 + x342 = x116 * x258 + x343 = x340 - x341 + x342 + x344 = x116 * x234 + x345 = x114 * x272 + x344 + x346 = 0.5006 * x345 + x347 = x114 * x85 + x348 = x116 * x163 + x349 = x347 + x348 + x350 = x165 * x43 + x351 = x173 * x26 + x352 = -x24 * x249 + x24 * x350 + x351 + x353 = 0.0043228875 * x1 + x354 = x116 * x99 + x355 = x123 * x7 + x356 = x354 + x355 + x357 = -x356 + x358 = 0.006375 * x1 * x119 - x125 * x16 - x185 * x357 + x359 = 0.0043228875 * x10 + x360 = x249 * x26 + x361 = x173 * x24 + x362 = x165 * x26 * x43 - x360 - x361 + x363 = 0.6781 * x18 + x364 = x114 * x270 + x116 * x279 + x365 = 0.6781 * x364 + x366 = x114 * x234 + x367 = x116 * x272 - x366 + x368 = 0.5006 * x163 + x369 = 0.142658678 * x1 + x370 = x165 * x47 + x371 = x102 * x158 + x372 = x361 * x5 + x373 = 0.0043228875 * x3 + x374 = x190 * x43 + x375 = x116 * x272 + x376 = x366 * x45 + x374 - x375 * x45 + x377 = -x376 + x378 = 0.105316228 * x10 + x379 = x114 * x279 + x380 = x116 * x270 - x379 + x381 = 0.6781 * x163 + x382 = 0.5006 * x32 + x383 = x190 * x45 + x384 = x366 * x43 + x385 = x375 * x43 + x386 = x383 - x384 + x385 + x387 = 0.5006 * x71 + x388 = x119 * x272 + x204 * x234 + x24 * x383 + x389 = 0.003191325 * x1 + x390 = 0.003191325 * x10 + x391 = ( + 0.000281 * x1 * x333 + 0.000281 * x3 * x323 - 0.011402 * x305 - 0.011402 * x316 + ) + x392 = x3 * x315 + x393 = 0.005375 * x1 * x304 - 0.005375 * x392 + x394 = ( + 0.011402 * x1 * x201 + 0.011402 * x204 * x3 - 0.029798 * x324 - 0.029798 * x334 + ) + x395 = 0.5006 * x394 + x396 = x1 * x304 + x397 = x392 - x396 + x398 = 0.002690725 * x397 + x399 = x3 * x333 + x400 = 0.005375 * x1 * x323 - 0.005375 * x399 + x401 = -0.000281 * x202 - 0.000281 * x205 + 0.029798 * x305 + 0.029798 * x316 + x402 = 0.5006 * x401 + x403 = x1 * x323 + x404 = x399 - x403 + x405 = 0.002690725 * x404 + x406 = x300 * x340 + x407 = x32 * x326 + x408 = x321 * x71 + x409 = -x406 + x407 + x408 + x410 = x26 * x383 + x411 = x199 * x234 + x412 = x123 * x272 + x413 = x410 + x411 + x412 + x414 = 0.5006 * x18 + x415 = x298 * x340 + x416 = -x309 + x417 = x32 * x416 + x418 = x302 * x71 + x419 = x415 + x417 + x418 + x420 = x18 * x313 + x421 = x149 * x304 + x29 * x309 + x420 + x422 = x18 * x331 + x423 = x149 * x323 + x29 * x327 + x422 + x424 = 0.5006 * x391 + x425 = x300 * x347 + x426 = x300 * x348 + x427 = x136 * x298 - x425 - x426 + x428 = x136 * x300 + x429 = x298 * x347 + x430 = x298 * x348 + x431 = x428 + x429 + x430 + x432 = x101 * x190 + x433 = x201 * x234 + x434 = x125 * x272 + x435 = 0.003191325 * x3 + x436 = 0.105316228 * x1 + x437 = x190 * x298 + x438 = x272 * x300 + x439 = -x437 - x438 + x440 = 3.0e-6 * x305 + 3.0e-6 * x316 + x441 = 0.000609 * x202 + 0.000609 * x205 + 0.000118 * x324 + 0.000118 * x334 + x440 + x442 = x190 * x300 + x443 = x272 * x298 - x442 + x444 = x116 * x270 + x445 = x283 * x43 + x446 = x379 * x45 - x444 * x45 + x445 + x447 = -x446 + x448 = x309 * x5 + x449 = x313 * x7 + x450 = x448 + x449 + x451 = -x450 + x452 = 0.006375 * x1 * x304 - x16 * x315 - x185 * x451 + x453 = x327 * x5 + x454 = x331 * x7 + x455 = x453 + x454 + x456 = -x455 + x457 = 0.006375 * x1 * x323 - x16 * x333 - x185 * x456 + x458 = x379 * x43 + x459 = x43 * x444 + x460 = x283 * x45 + x461 = -x458 + x459 + x460 + x462 = x119 * x270 + x204 * x279 + x24 * x460 + x463 = x123 * x270 + x464 = x199 * x279 + x465 = x26 * x460 + x466 = x463 + x464 + x465 + x467 = ( + 3.0e-6 * x202 + + 3.0e-6 * x205 + + 0.000587 * x305 + + 0.000587 * x316 + + 3.0e-6 * x324 + + 3.0e-6 * x334 + ) + x468 = x298 * x401 + x300 * x394 + x469 = 0.000118 * x202 + 0.000118 * x205 + 0.000369 * x324 + 0.000369 * x334 + x440 + x470 = x201 * x279 + x471 = x125 * x270 + x472 = x101 * x283 + x473 = -x468 + x474 = x300 * x401 + x475 = x298 * x394 - x474 + x476 = x298 * x394 + x477 = x116 * x391 + x478 = -x114 * x474 + x114 * x476 + x477 + x479 = 0.5006 * x478 + x480 = x114 * x391 + x481 = x45 * x480 + x482 = x309 * x394 + x327 * x401 - x481 + x483 = x326 * x401 + x394 * x416 + x481 + x484 = x116 * x474 + x485 = x116 * x298 * x394 - x480 - x484 + x486 = x321 * x401 + x487 = x302 * x394 + x488 = x43 * x480 + x489 = x486 + x487 - x488 + x490 = x204 * x391 + x304 * x394 + x323 * x401 + x491 = x331 * x401 + x492 = x313 * x394 + x493 = x199 * x391 + x494 = x491 + x492 + x493 + x495 = x333 * x401 + x496 = x315 * x394 + x497 = x201 * x391 + x498 = 0.00017505 * x99 + x499 = 0.00017505 * x26 + x500 = x498 + x499 * x98 + x501 = -x500 + x502 = x24 * x501 + x503 = 0.10593 * x220 + 0.10593 * x99 + x504 = -x503 + x505 = x45 * x504 + x506 = x26 * x505 + x507 = x24 * x7 + x508 = 0.10593 * x183 + x509 = 0.10593 * x43 * x5 - 0.00017505 * x507 - x508 + x510 = x26 * x43 * x509 - x502 - x506 + x511 = 0.006375 * x507 + x512 = 0.20843 * x5 - x511 + x513 = x43 * x512 + x514 = -0.20843 * x183 + x513 + x515 = x43 * x509 - x505 + x516 = x45 * x512 + x517 = 0.20843 * x220 + x516 + x518 = -x517 + x519 = x43 * x504 + x520 = x45 * x509 + x519 + x521 = -x520 + x522 = x26 * x7 + x523 = 0.006375 * x522 + x524 = -0.21038 * x24 * x5 - x523 + x525 = 0.21038 * x100 + 0.21038 * x98 + x526 = -x525 + x527 = -0.006375 * x24 * x45 * x7 + x525 + x528 = -x527 + x529 = -0.21038 * x26 * x43 * x5 + 0.21038 * x46 + x530 = -x529 + x531 = 0.006375 * x24 + x532 = -x529 - x531 * x98 + x533 = x114 * x99 + x534 = -0.011402 * x291 + 0.029798 * x453 + 0.029798 * x454 + 0.011402 * x533 + x535 = 0.000281 * x199 * x7 - 0.029798 * x448 - 0.029798 * x449 - 0.000281 * x533 + x536 = 0.011402 * x448 + 0.011402 * x449 - 0.000281 * x453 - 0.000281 * x454 + x537 = x204 * x536 + x304 * x534 + x323 * x535 + x538 = 0.10593 * x354 + 0.10593 * x355 + x539 = x45 * x538 + x540 = -0.00017505 * x354 - 0.00017505 * x355 + x541 = 0.10593 * x182 + 0.00017505 * x291 - x508 - 0.00017505 * x533 + x542 = x119 * x541 + x204 * x540 + x24 * x539 + x543 = x26**2 + x544 = 0.006375 * x543 + x545 = x544 * x7 + x546 = x24 * x512 - x545 + x547 = x26 * x512 + x548 = x24 * x523 + x547 + x549 = 0.21038 * x26 * x5 - x511 + x550 = x331 * x535 + x551 = x313 * x534 + x552 = x199 * x536 + x553 = x550 + x551 + x552 + x554 = x26 * x539 + x555 = x199 * x540 + x556 = x123 * x541 + x557 = x554 + x555 + x556 + x558 = x116 * x540 + x559 = x114 * x541 + x558 + x560 = 0.5006 * x559 + x561 = x116 * x501 + x562 = x114 * x509 + x563 = x561 - x562 + x564 = x114 * x501 + x565 = x116 * x509 + x566 = x564 + x565 + x567 = x298 * x535 + x300 * x534 + x568 = x114 * x540 + x569 = x116 * x541 - x568 + x570 = x300 * x538 + x571 = x298 * x541 - x570 + x572 = x300 * x535 + x573 = x298 * x534 - x572 + x574 = x298 * x538 + x575 = x300 * x541 + x576 = -x574 - x575 + x577 = -x567 + x578 = 0.21038 * x328 + x579 = 0.21038 * x332 - x578 + x580 = 0.21038 * x310 + x581 = 0.21038 * x314 - x580 + x582 = 0.21038 * x197 + 0.21038 * x200 + x583 = 0.21038 * x121 + x584 = 0.21038 * x124 - x583 + x585 = 0.006375 * x7 + x586 = -x204 * x585 + x582 + x587 = x116 * x26 + x588 = x114 * x513 + x589 = 0.20843 * x114 * x26 * x45 * x7 - x585 * x587 - x588 + x590 = x298 * x534 + x591 = x116 * x536 + x592 = -x114 * x572 + x114 * x590 + x591 + x593 = 0.5006 * x592 + x594 = -x538 + x595 = x114 * x536 + x596 = x45 * x595 + x597 = x326 * x535 + x416 * x534 + x596 + x598 = x43 * x538 + x599 = x116 * x541 + x600 = x45 * x568 - x45 * x599 + x598 + x601 = 0.20843 * x522 + x602 = x321 * x512 + x603 = x319 * x585 + x326 * x601 + x602 + x604 = x302 * x512 + x605 = -x299 * x585 + x416 * x601 + x604 + x606 = x302 * x534 + x607 = x321 * x535 + x608 = x43 * x595 + x609 = x606 + x607 - x608 + x610 = x43 * x568 + x611 = x43 * x599 + x612 = x539 - x610 + x611 + x613 = x300 * x564 + x614 = x300 * x565 + x615 = x298 * x504 - x613 - x614 + x616 = x300 * x504 + x617 = x298 * x564 + x618 = x298 * x565 + x619 = x616 + x617 + x618 + x620 = x116 * x572 + x621 = x116 * x298 * x534 - x595 - x620 + x622 = -x323 * x585 + 0.21038 * x331 * x5 - x578 + x623 = -x304 * x585 + 0.21038 * x313 * x5 - x580 + x624 = -x119 * x585 + 0.21038 * x123 * x5 - x583 + x625 = -x115 * x585 + x116 * x43 * x512 - 0.20843 * x46 * x587 + x626 = 1.0e-6 * x182 + x627 = x111 * x46 + x628 = -0.00965 * x354 - 0.00965 * x355 + x626 - x627 + x629 = 0.045483 * x182 - 0.045483 * x183 + 0.00965 * x291 - 0.00965 * x533 + x630 = 1.0e-6 * x114 + x631 = 0.045483 * x116 + x632 = 1.0e-6 * x291 + 0.045483 * x355 - x630 * x99 + x631 * x99 + x633 = x45 * x632 + x634 = x119 * x629 + x204 * x628 + x24 * x633 + x635 = 0.063883 * x182 - 0.063883 * x183 + 0.009432 * x507 + x636 = x43 * x635 + x637 = x7 * x88 + x638 = -0.063883 * x220 + x637 - 0.063883 * x99 + x639 = x45 * x638 + x640 = 0.009432 * x26 + x641 = x626 - x627 + x640 * x98 + 0.009432 * x99 + x642 = x26 * x641 + x643 = x24 * x636 - x24 * x639 + x642 + x644 = x123 * x629 + x645 = x199 * x628 + x646 = x26 * x633 + x647 = x644 + x645 + x646 + x648 = x26 * x639 + x649 = x24 * x641 + x650 = x26 * x43 * x635 - x648 - x649 + x651 = x43 * x635 - x639 + x652 = x114 * x629 + x116 * x628 + x653 = 0.6781 * x652 + x654 = x114 * x628 + x655 = x116 * x629 - x654 + x656 = x43 * x638 + x45 * x635 + x657 = -x656 + x658 = -x632 + x659 = x116 * x629 + x660 = x43 * x632 + x661 = x45 * x654 - x45 * x659 + x660 + x662 = x43 * x654 + x663 = x43 * x659 + x664 = x633 - x662 + x663 + x665 = 0.075478 * x5 - 0.015006 * x507 + x666 = 1.8e-5 * x5 + x667 = -0.015006 * x522 - x666 + x668 = x24 * x665 + x26 * x667 + x669 = x26 * x665 + x670 = x24 * x667 + x671 = x669 - x670 + x672 = x26 * x501 + x673 = x43 * x509 + x674 = -x24 * x505 + x24 * x673 + x672 + x675 = x7**2 + x676 = x201 * x536 + x677 = x315 * x534 + x678 = x333 * x535 + x679 = x101 * x538 + x680 = x201 * x540 + x681 = x125 * x541 + x682 = x26 * x675 + x683 = x24 * x5 + x684 = x5 * x547 + x685 = x201 * x628 + x686 = x101 * x632 + x687 = x125 * x629 + x688 = x5 * x649 + x689 = x47 * x635 + x690 = x102 * x638 + x691 = x59 * x7 + x60 * x7 + x692 = x691 * x7 + x693 = x5 * x669 + x694 = x5 * x670 + x695 = x5 * x502 + x696 = x102 * x504 + x697 = x47 * x509 + x698 = x309 * x534 + x327 * x535 - x596 + x699 = -x600 + x700 = -x661 + x701 = -x691 + x702 = x5 * x8 + x703 = 1.1787 * x501 + x704 = -4.4e-5 * x5 + 0.006641 * x7 + x705 = 0.6781 * x54 + x706 = 0.0038888565277 * x3 + x707 = 0.004999825 * x3 + x708 = 0.0118371 * x7 + x709 = 0.0043228875 * x7 + x710 = 0.0075142125 * x7 + x711 = x26 * x5 + x712 = ( + 0.0136723 * x1 * x704 + - 9.550037552e-7 * x1 + - x105 * x708 + + 1.1636 * x12 * x704 + + 0.3819772992 * x14 + + x143 * x504 + - 0.390633584 * x153 + + 0.390633584 * x155 + + x164 * x509 + + x166 * x635 + + x171 * x638 + + x174 * x641 + + 1.17265812 * x19 + + x191 * x538 + - 0.3819772992 * x21 + + 0.195695476 * x217 + - 0.195695476 * x218 + + x248 * x536 + + x248 * x540 + - x252 * x710 + + 0.387012824 * x26 * x33 + + x271 * x629 + + x273 * x541 + + x280 * x628 + + x284 * x632 + - 0.012618092064064 * x3 + - 0.247974906 * x336 + - 0.002080193929 * x35 * x675 + - x351 * x709 + - 0.142658678 * x372 + + x395 * x534 + + x402 * x535 + + x424 * x536 + + x424 * x540 + + x501 * x86 + + x512 * x77 + + x54 * x703 + - x6 * x706 + + x641 * x705 + + x665 * x76 + + x667 * x79 + - x675 * x706 + + x691 * x84 + - x692 * x707 + - 0.08141975791312 * x711 * x8 + - 0.00020876371875 * x8 + ) + x713 = x24**2 + x714 = x43 * x713 + x715 = x135 * x148 + x716 = 0.10593 * x148 + x717 = -x499 + x716 + x718 = x26 * x43 * x717 - x26 * x715 - 0.00017505 * x714 + x719 = x43 * x717 + x720 = -x715 + x719 + x721 = x43**2 + x722 = 0.10593 * x721 + x723 = x24 * x722 + x724 = x45 * x717 + x723 + x725 = -x724 + x726 = 0.006375 * x26 + x727 = 0.20843 * x207 + x45 * x726 + x728 = 0.20843 * x148 - x43 * x726 + x729 = ( + 0.029798 * x114 * x26 * x300 + + 0.011402 * x116 * x26 + - 0.011402 * x203 + - 0.029798 * x322 + ) + x730 = 0.000281 * x203 + 0.029798 * x299 + 0.029798 * x303 - 0.000281 * x587 + x731 = 0.000281 * x300 + x732 = 0.011402 * x298 + x733 = x115 * x731 + x115 * x732 - 0.000281 * x24 * x321 + 0.011402 * x303 + x734 = -x733 + x735 = x204 * x734 + x304 * x729 + x323 * x730 + x736 = 0.10593 * x115 + x737 = x117 * x135 + x736 + x738 = -x737 + x739 = x45 * x738 + x740 = 0.00017505 * x115 + 0.00017505 * x118 + x741 = 0.00017505 * x203 + x742 = -0.00017505 * x587 + x716 + x741 + x743 = x119 * x742 + x204 * x740 + x24 * x739 + x744 = 0.006375 * x713 + x745 = -x544 - x744 + x746 = x331 * x730 + x747 = x313 * x729 + x748 = x199 * x734 + x749 = x746 + x747 + x748 + x750 = x26 * x739 + x751 = x199 * x740 + x752 = x123 * x742 + x753 = x750 + x751 + x752 + x754 = x116 * x717 + x755 = x741 + x754 + x756 = x116 * x740 + x757 = x114 * x742 + x756 + x758 = 0.5006 * x757 + x759 = x114 * x740 + x760 = x116 * x742 - x759 + x761 = x300 * x738 + x762 = x298 * x742 - x761 + x763 = x300 * x730 + x764 = x298 * x729 - x763 + x765 = x298 * x730 + x300 * x729 + x766 = x114 * x717 + x767 = 0.00017505 * x116 * x24 * x43 - x766 + x768 = x298 * x738 + x769 = x300 * x742 + x770 = -x768 - x769 + x771 = -x765 + x772 = 0.006375 * x117 + 0.006375 * x198 + x773 = 0.20843 * x45 + x774 = -x122 * x773 + x772 + x775 = x298 * x729 + x776 = x116 * x734 + x777 = -x114 * x763 + x114 * x775 + x776 + x778 = 0.5006 * x777 + x779 = x43 * x587 + x780 = 0.006375 * x122 - 0.006375 * x779 + x781 = x114 * x734 + x782 = x45 * x781 + x783 = x326 * x730 + x416 * x729 + x782 + x784 = x43 * x738 + x785 = x116 * x742 + x786 = x45 * x759 - x45 * x785 + x784 + x787 = -x727 + x788 = 0.006375 * x329 + 0.006375 * x330 + x789 = -x788 + x790 = -0.006375 * x114 * x24 * x298 + 0.006375 * x312 + x791 = -x790 + x792 = x302 * x729 + x793 = x321 * x730 + x794 = x43 * x781 + x795 = x792 + x793 - x794 + x796 = x43 * x759 + x797 = x43 * x785 + x798 = x739 - x796 + x797 + x799 = x116 * x763 + x800 = x116 * x298 * x729 - x781 - x799 + x801 = x117 * x773 + x780 + x802 = 0.20843 * x24 + x803 = -x326 * x802 - x788 + x804 = -x416 * x802 - x790 + x805 = x298 * x43 + x806 = 0.00017505 * x122 + x807 = x298 * x754 + x808 = 0.10593 * x24 * x306 + x805 * x806 + x807 + x809 = x300 * x754 + x810 = 0.10593 * x24 * x298 * x43 - x306 * x806 - x809 + x811 = ( + -1.0e-6 * x114 * x24 * x43 + + 0.045483 * x115 + + 0.045483 * x117 * x43 + + 1.0e-6 * x587 + ) + x812 = -x811 + x813 = x45 * x812 + x814 = 0.045483 * x148 + 0.00965 * x203 - 0.00965 * x587 + x815 = x24 * x278 + x816 = 0.00965 * x115 + 0.00965 * x118 + x815 + x817 = x119 * x814 + x204 * x816 + x24 * x813 + x818 = -x172 * x24 + x815 + x819 = x26 * x818 + x820 = 0.063883 * x148 + x640 + x821 = x43 * x820 + x822 = x111 + 0.063883 * x207 + x823 = x45 * x822 + x824 = x24 * x821 - x24 * x823 + x819 + x825 = x26 * x813 + x826 = x123 * x814 + x827 = x199 * x816 + x828 = x825 + x826 + x827 + x829 = x24 * x818 + x830 = x26 * x823 + x831 = x26 * x43 * x820 - x829 - x830 + x832 = x821 - x823 + x833 = x114 * x814 + x116 * x816 + x834 = 0.6781 * x85 + x835 = x114 * x816 + x836 = x116 * x814 - x835 + x837 = x43 * x822 + x45 * x820 + x838 = -x837 + x839 = x116 * x814 + x840 = x43 * x812 + x841 = x45 * x835 - x45 * x839 + x840 + x842 = x43 * x839 + x843 = x43 * x835 + x844 = x813 + x842 - x843 + x845 = 0.015006 * x713 + x846 = 0.015006 * x543 + x847 = -x845 - x846 + x848 = -x135 * x45 * x713 + x207 * x499 + x24 * x719 + x849 = x201 * x734 + x850 = x315 * x729 + x851 = x333 * x730 + x852 = x101 * x738 + x853 = x201 * x740 + x854 = x125 * x742 + x855 = x3 * x7 + x856 = x5 * x829 + x857 = x47 * x820 + x858 = x102 * x822 + x859 = x101 * x812 + x860 = x125 * x814 + x861 = x201 * x816 + x862 = 0.075478 * x24 - 1.8e-5 * x26 + x863 = -x862 + x864 = 0.00017505 * x713 + x865 = x135 * x24 + x866 = x47 * x717 + x867 = x309 * x729 + x327 * x730 - x782 + x868 = -x786 + x869 = -x841 + x870 = 0.053028558 * x24 + x871 = 0.071831133 * x24 + x872 = 1.109031463125e-6 * x57 + x873 = 0.387012824 * x24 + x874 = 0.000206331435 * x43 + x875 = 0.124859691 * x24 + x876 = x7 * x863 + x877 = ( + x132 * x874 + + 0.0236742 * x132 + + 0.0198886062 * x145 + - 0.0236742 * x154 + + x164 * x717 + + x166 * x820 + + x171 * x822 + + x174 * x818 + + x191 * x738 + + x210 * x875 + - 0.0198886062 * x215 + + x248 * x734 + + x248 * x740 + + 0.002080193929 * x25 * x7 + - 0.0075142125 * x253 * x26 + - 0.0043228875 * x26 * x350 + + x262 * x874 + + 0.015028425 * x262 + + 0.0075142125 * x263 + + x271 * x814 + + x273 * x742 + + x280 * x816 + + x284 * x812 + + 0.0012075857869362 * x3 + - x32 * x873 + + 0.08141975791312 * x36 + + 0.0043228875 * x360 + + 0.008645775 * x361 + + x395 * x729 + + x402 * x730 + - 0.003191325 * x410 + + x424 * x734 + + x424 * x740 + - 0.0043228875 * x465 + + x705 * x818 + - x707 * x876 + + x84 * x863 + ) + x878 = x45**2 + x879 = 0.10593 * x878 + x880 = x722 + x879 + x881 = 0.00017505 * x148 + x26 * x722 + x26 * x879 + x882 = 0.00017505 * x294 + x883 = 0.00017505 * x245 + x884 = 0.10593 * x43 - x883 + x885 = x117 * x879 + x119 * x884 - x204 * x882 + x886 = 0.000281 * x116 + x887 = 0.011402 * x116 + x888 = x301 * x886 + 0.011402 * x306 + x307 * x887 - 0.000281 * x805 + x889 = 0.011402 * x245 - 0.029798 * x325 + 0.029798 * x805 + x890 = -0.000281 * x245 - 0.029798 * x306 - 0.029798 * x308 + x891 = x204 * x888 + x304 * x889 + x323 * x890 + x892 = x123 * x884 + x893 = -x199 * x882 + x587 * x879 + x892 + x894 = x199 * x888 + x895 = x313 * x889 + x896 = x331 * x890 + x897 = x894 + x895 + x896 + x898 = x116 * x884 + x899 = x114 * x882 + x898 + x900 = x298 * x884 + x901 = -0.10593 * x325 + x900 + x902 = x116**2 + x903 = 0.00017505 * x902 + x904 = x45 * x903 + x905 = x114 * x884 - x904 + x906 = 0.5006 * x905 + x907 = x300 * x890 + x908 = x298 * x889 - x907 + x909 = x298 * x890 + x300 * x889 + x910 = x300 * x884 + x911 = -0.10593 * x308 - x910 + x912 = -x909 + x913 = x114 * x135 + x914 = -x882 - x913 + x915 = x298 * x889 + x916 = x116 * x888 + x917 = -x114 * x907 + x114 * x915 + x916 + x918 = 0.5006 * x917 + x919 = 0.10593 * x116 * x43 - x883 + x920 = x114 * x888 + x921 = x45 * x920 + x922 = x326 * x890 + x416 * x889 + x921 + x923 = 0.00017505 * x114 + x924 = x116 * x878 + x925 = -0.10593 * x116 * x43 * x45 + x45 * x898 + x923 * x924 + x926 = -x925 + x927 = -0.20843 * x307 - 0.20843 * x320 + x928 = 0.20843 * x116 * x298 * x43 - 0.20843 * x301 + x929 = x43 * x920 + x930 = x302 * x889 + x931 = x321 * x890 + x932 = -x929 + x930 + x931 + x933 = x116 * x907 + x934 = x116 * x298 * x889 - x920 - x933 + x935 = x114 * x43 + x936 = x43 * x898 + x937 = x116 * x879 + x882 * x935 + x936 + x938 = 0.00017505 * x114 * x300 * x45 - 0.10593 * x307 - 0.10593 * x320 + x939 = 0.10593 * x116 * x298 * x43 - 0.10593 * x301 - x307 * x923 + x940 = 0.063883 * x878 + x941 = 0.063883 * x721 + x942 = 1.0e-6 * x43 + x943 = 0.009432 * x45 + x942 + x944 = x26 * x943 + x945 = x24 * x940 + x24 * x941 + x944 + x946 = x114 * x278 - 0.045483 * x116 * x45 + x947 = -x946 + x948 = x45 * x947 + x949 = -0.00965 * x245 + 0.045483 * x43 + x950 = -0.00965 * x294 + x942 + x951 = x119 * x949 + x204 * x950 + x24 * x948 + x952 = x940 + x941 + x953 = x26 * x948 + x954 = x123 * x949 + x955 = x199 * x950 + x956 = x953 + x954 + x955 + x957 = x24 * x943 + x958 = x26 * x940 + x26 * x941 - x957 + x959 = x114 * x949 + x116 * x950 + x960 = x116 * x949 + x961 = x114 * x950 + x962 = x960 - x961 + x963 = x43 * x947 + x964 = -x45 * x960 + x45 * x961 + x963 + x965 = x43 * x960 + x966 = x43 * x961 + x967 = x948 + x965 - x966 + x968 = x59 + x60 + x969 = x24 * x879 - x45 * x499 + x723 + x970 = 0.10593 * x294 + x971 = x125 * x884 + x972 = x201 * x888 + x973 = x315 * x889 + x974 = x333 * x890 + x975 = x101 * x947 + x976 = x125 * x949 + x977 = x201 * x950 + x978 = x5 * x957 + x979 = 0.063883 * x45 + x980 = 0.10593 * x45 + x981 = 0.00017505 * x46 + x982 = x26 * x8 + x983 = x309 * x889 + x327 * x890 - x921 + x984 = -x964 + x985 = 0.00028502849925 * x192 + x986 = 0.053028558 * x116 + x987 = 0.000206331435 * x45 + x988 = 8.763003e-5 * x45 + x989 = ( + x174 * x943 + - 0.370536132 * x231 + + x248 * x888 + - 0.1846554453 * x249 + - 2.512544616e-7 * x25 + + 0.370536132 * x253 + + x271 * x949 + + x273 * x884 + + x280 * x950 + + x284 * x947 + - x344 * x988 + - 0.0040207725448136 * x35 + + 0.1846554453 * x350 + + x383 * x986 + - 0.104340058 * x384 + + 0.104340058 * x385 + + x395 * x889 + + x402 * x890 + + x424 * x888 + - 0.141336383 * x458 + + 0.141336383 * x459 + - x477 * x988 + - 0.104340058 * x488 + - x54 * x987 + + x705 * x943 + + 0.0942803660835216 * x8 + - x85 * x987 + ) + x990 = 0.053028558 * x114 + x991 = x114 * x731 + x114 * x732 + x992 = -x991 + x993 = x114 * x300 + x994 = x887 + 0.029798 * x993 + x995 = x114 * x298 + x996 = -x886 + 0.029798 * x995 + x997 = x204 * x992 + x304 * x994 + x323 * x996 + x998 = 0.00017505 * x116 + x999 = 0.00017505 * x114 * x204 - x119 * x998 - x122 * x980 + x1000 = x114**2 + x1001 = 0.00017505 * x1000 + x1002 = -x1001 - x903 + x1003 = x199 * x992 + x1004 = x313 * x994 + x1005 = x331 * x996 + x1006 = x1003 + x1004 + x1005 + x1007 = 0.00017505 * x114 * x199 - x123 * x998 - x45 * x736 + x1008 = x298 * x994 + x1009 = x300 * x996 + x1010 = x1008 - x1009 + x1011 = x298 * x996 + x300 * x994 + x1012 = -x1011 + x1013 = x116 * x992 + x1014 = x1008 * x114 - x1009 * x114 + x1013 + x1015 = 0.5006 * x1014 + x1016 = x300 * x998 + 0.10593 * x995 + x1017 = -x298 * x998 + 0.10593 * x993 + x1018 = x114 * x992 + x1019 = x1018 * x45 + x1020 = x1019 + x326 * x996 + x416 * x994 + x1021 = x1001 * x45 + x904 - x913 + x1022 = x1018 * x43 + x1023 = x302 * x994 + x1024 = x321 * x996 + x1025 = -x1022 + x1023 + x1024 + x1026 = x1009 * x116 + x1027 = -x1018 - x1026 + x116 * x298 * x994 + x1028 = -x1001 * x43 - 0.10593 * x245 - x43 * x903 + x1029 = -x818 + x1030 = 0.045483 * x114 + 1.0e-6 * x116 + x1031 = -x1030 + x1032 = x1031 * x45 + x1033 = 0.00965 * x116 + x1034 = 0.00965 * x114 + x1035 = x1032 * x24 - x1033 * x119 + x1034 * x204 + x1036 = -x278 + 0.009432 * x43 + x1037 = -x943 + x1038 = 0.00965 * x1000 + x1039 = 0.00965 * x902 + x1040 = -x1038 - x1039 + x1041 = -x111 * x45 + 0.009432 * x26 * x43 + x1042 = x1032 * x26 + x1043 = -x1033 * x123 + x1034 * x199 + x1042 + x1044 = x1031 * x43 + x1045 = x1038 * x45 + x1039 * x45 + x1044 + x1046 = x1031 * x45 - x1038 * x43 - x1039 * x43 + x1047 = x201 * x992 + x1048 = x315 * x994 + x1049 = x333 * x996 + x1050 = 0.10593 * x114 + x1051 = x101 * x1031 + x1052 = -x1019 + x309 * x994 + x327 * x996 + x1053 = -x1021 + x1054 = -x1045 + x1055 = x10 * x45 + x1056 = x10 * x207 + x1057 = ( + -0.00013072870670405 * x103 + + x1031 * x284 + - 8.763003e-5 * x116 * x476 + - x190 * x990 + + x248 * x992 + + 0.000459361674330197 * x35 + - 0.000459361674330197 * x36 + + 0.00017526006 * x366 + - 0.00017526006 * x375 + + 0.006662366405 * x379 + + x395 * x994 + + x402 * x996 + + x424 * x992 + + 4.33190623e-8 * x44 + - 0.006662366405 * x444 + + 4.33190623e-8 * x48 + + 0.00017526006 * x480 + + 8.763003e-5 * x484 + + 0.00013072870670405 * x96 + ) + x1058 = -0.000281 * x298 + 0.011402 * x300 + x1059 = 0.029798 * x298 + x1060 = 0.029798 * x300 + x1061 = x1058 * x204 + x1059 * x304 - x1060 * x323 + x1062 = x300**2 + x1063 = 0.029798 * x1062 + x1064 = x298**2 + x1065 = 0.029798 * x1064 + x1066 = x1063 + x1065 + x1067 = 0.10593 * x116 * x26 * x43 - 0.10593 * x122 + x1068 = x1058 * x199 + x1069 = x1059 * x313 - x1060 * x331 + x1068 + x1070 = x1058 * x116 + x1071 = x1063 * x114 + x1065 * x114 + x1070 + x1072 = 0.5006 * x1071 + x1073 = x1058 * x114 + x1074 = x1073 * x45 + x1075 = x1059 * x416 - x1060 * x326 + x1074 + x1076 = x1063 * x116 + x1065 * x116 - x1073 + x1077 = x1073 * x43 + x1078 = -x1060 * x321 - x1077 + 0.029798 * x298 * x302 + x1079 = 0.045483 * x116 - x630 + x1080 = -x115 * x942 + 0.045483 * x116 * x26 * x43 - 1.0e-6 * x117 - 0.045483 * x122 + x1081 = -x114 * x942 + 0.045483 * x116 * x43 + x1082 = x1058 * x201 + x1083 = -x1060 * x327 - x1074 + 0.029798 * x298 * x309 + x1084 = x10 * x294 + x1085 = ( + x1058 * x248 + + x1058 * x424 + + 6.543665e-9 * x120 + + 6.543665e-9 * x126 + + 0.008661102849889 * x194 + - 0.0005849081642729 * x202 + - 0.0005849081642729 * x205 + - 0.0679454368 * x474 + + 0.0679454368 * x476 + + 0.008661102849889 * x96 + ) + x1086 = -x1058 + x1087 = x731 + x732 + x1088 = -x122 * x731 - x122 * x732 + 0.011402 * x26 * x302 - 0.000281 * x330 + x1089 = x298 * x887 + x300 * x886 + x1090 = 0.5006 * x991 + x1091 = -x888 + x1092 = -0.011402 * x301 + x306 * x886 + 0.000281 * x307 + x805 * x887 + x1093 = ( + 0.000674120333239 * x202 + + 0.000674120333239 * x205 + - 1.1916429428e-6 * x305 + - 1.1916429428e-6 * x316 + - 5.20822520776e-5 * x324 + - 5.20822520776e-5 * x334 + ) + x1094 = 3.0e-6 * x448 + 3.0e-6 * x449 + x1095 = ( + -x1094 + + 0.000118 * x114 * x45 * x5 + - 0.000118 * x291 + - 0.000369 * x453 + - 0.000369 * x454 + ) + x1096 = ( + 3.0e-6 * x114 * x45 * x5 + - 3.0e-6 * x291 + - 0.000587 * x448 + - 0.000587 * x449 + - 3.0e-6 * x453 + - 3.0e-6 * x454 + ) + x1097 = ( + 0.00041 * x114 * x45 * x5 + - 0.000278 * x182 + + 0.000278 * x26 * x45 * x7 + - 0.00041 * x291 + ) + x1098 = ( + -x1094 + + 0.000609 * x114 * x45 * x5 + - 0.000609 * x291 + - 0.000118 * x453 + - 0.000118 * x454 + ) + x1099 = -0.001641 * x354 - 0.001641 * x355 + x1100 = 0.001641 * x182 - 0.001641 * x183 + 0.000278 * x291 - 0.000278 * x533 + x1101 = -0.001607 * x182 + 0.001607 * x183 + 0.000256 * x507 + x1102 = -0.001596 * x220 - 0.001596 * x99 + x1103 = 0.0005 * x5 + x1104 = -x1103 + x111 * x7 + 0.000631 * x507 + x1105 = 0.000256 * x26 + x1106 = x1105 * x46 - 0.000256 * x182 + 0.000399 * x507 + x1107 = -0.008147 * x522 - x637 + x1108 = 1.1787 * x512 + x1109 = 1.1787 * x509 + x1110 = 1.1787 * x504 + x1111 = 0.105316228 * x5 + x1112 = 0.390633584 * x5 + x1113 = 1.8568 * x512 + x1114 = 0.5006 * x512 + x1115 = 0.5006 * x541 + x1116 = 0.5006 * x538 + x1117 = 0.5006 * x509 + x1118 = 0.5006 * x534 + x1119 = 0.5006 * x504 + x1120 = 0.5006 * x535 + x1121 = 0.5006 * x540 + x1122 = 0.5006 * x536 + x1123 = 0.142658678 * x5 + x1124 = 0.6781 * x512 + x1125 = 0.6781 * x628 + x1126 = 0.6781 * x629 + x1127 = 0.6781 * x632 + x1128 = 0.6781 * x635 + x1129 = 0.6781 * x509 + x1130 = 0.6781 * x641 + x1131 = 0.6781 * x638 + x1132 = 0.6781 * x504 + x1133 = 0.195695476 * x5 + x1134 = 0.9302 * x665 + x1135 = 0.9302 * x667 + x1136 = 0.9302 * x691 + x1137 = 0.247974906 * x5 + x1138 = 0.003191325 * x7 + x1139 = 0.105316228 * x7 + x1140 = 0.142658678 * x7 + x1141 = 0.005930025 * x7 + x1142 = 0.195695476 * x7 + x1143 = 0.247974906 * x7 + x1144 = 0.008316 * x5 - 0.0005 * x507 + x1145 = 0.104340058 * x522 + x1146 = 0.141336383 * x522 + x1147 = 0.245676441 * x522 + x1148 = 0.003191325 * x522 + x1149 = 0.0118371 * x522 + x1150 = 0.0043228875 * x522 + x1151 = -x5 + x1152 = x182 - x183 + x1153 = 0.6781 * x501 + x1154 = 0.005426895410856 * x5 + x1155 = ( + x1109 * x717 + + x1115 * x742 + + x1116 * x738 + + x1118 * x729 + + x1120 * x730 + + x1121 * x734 + + x1121 * x740 + + x1122 * x734 + + x1122 * x740 + + x1125 * x816 + + x1126 * x814 + + x1127 * x812 + + x1128 * x820 + + x1130 * x818 + + x1131 * x822 + + x1136 * x863 + - x1154 * x543 + - x1154 * x713 + - 4.34080072953e-5 * x182 * x713 + - 1.315362898125e-6 * x220 * x24 + - 0.08081600593132 * x24 * x522 + - 0.0043228875 * x26 * x636 + - 0.0075142125 * x26 * x673 + - 0.0055449842710128 * x5 + + x502 * x874 + + 0.015028425 * x502 + + 0.0075142125 * x506 + - 0.16283951582624 * x507 + + x519 * x875 + - 0.0236742 * x547 + - 0.003191325 * x554 + - 0.0043228875 * x646 + + 0.0043228875 * x648 + + 0.008645775 * x649 + - 0.0198886062 * x669 + + 0.0198886062 * x670 + + 2.38070011648e-5 * x7 + - x709 * x819 + - 0.142658678 * x856 + ) + x1156 = 0.01115614803204 * x101 + x1157 = ( + x1115 * x884 + + x1118 * x889 + + x1120 * x890 + + x1121 * x888 + + x1122 * x888 + + x1125 * x950 + + x1126 * x949 + + x1127 * x947 + + x1130 * x943 + + 1.315362898125e-6 * x183 + + 4.34080072953e-5 * x24 * x99 + + 0.0942803660835216 * x5 + - x501 * x987 + - 0.370536132 * x505 + + x539 * x986 + - x558 * x988 + - x591 * x988 + - 0.104340058 * x608 + - 0.104340058 * x610 + + 0.104340058 * x611 + + 0.1846554453 * x636 + - 0.1846554453 * x639 + - 0.141336383 * x662 + + 0.141336383 * x663 + + 0.370536132 * x673 + - x709 * x944 + - 0.142658678 * x978 + ) + x1158 = x24 * x98 + x1159 = x182 * x26 + x1160 = ( + x1031 * x1127 + + x1118 * x994 + + x1120 * x996 + + x1121 * x992 + + x1122 * x992 + - 8.763003e-5 * x116 * x590 + + 0.00013072870670405 * x182 + + 0.000459361674330197 * x507 + - x538 * x990 + + 0.00017526006 * x568 + + 0.00017526006 * x595 + - 0.00017526006 * x599 + + 8.763003e-5 * x620 + + 0.006662366405 * x654 + - 0.006662366405 * x659 + - 4.33190623e-8 * x99 + ) + x1161 = x116 * x513 + x1162 = 0.00033805705725 * x115 + x1163 = x46 * x587 + x1164 = ( + x1058 * x1121 + + x1058 * x1122 + + 0.008661102849889 * x182 + - 0.008661102849889 * x183 + + 0.0005849081642729 * x291 + - 6.543665e-9 * x354 + - 6.543665e-9 * x355 + - 0.0005849081642729 * x533 + - 0.0679454368 * x572 + + 0.0679454368 * x590 + ) + x1165 = ( + -0.000674120333239 * x291 + + 1.1916429428e-6 * x448 + + 1.1916429428e-6 * x449 + + 5.20822520776e-5 * x453 + + 5.20822520776e-5 * x454 + + 0.000674120333239 * x533 + ) + x1166 = 0.000631 * x26 - x88 + x1167 = -x111 + 0.008147 * x24 + x1168 = -0.001607 * x148 + 0.000256 * x26 + x1169 = -0.000256 * x148 + 0.000399 * x26 + x1170 = 3.0e-6 * x298 + x1171 = x115 * x1170 + 3.0e-6 * x303 + x1172 = ( + x1171 - 0.000118 * x203 - 0.000369 * x319 + 0.000369 * x322 + 0.000118 * x587 + ) + x1173 = 3.0e-6 * x300 + x1174 = ( + -x115 * x1173 + - 3.0e-6 * x203 + + 0.000587 * x299 + + 0.000587 * x303 + + 3.0e-6 * x322 + + 3.0e-6 * x587 + ) + x1175 = 0.00041 * x116 * x26 - 0.000278 * x148 - 0.00041 * x203 + x1176 = ( + x1171 - 0.000609 * x203 - 0.000118 * x319 + 0.000118 * x322 + 0.000609 * x587 + ) + x1177 = 0.001641 * x115 + 0.001641 * x117 * x43 + x1178 = 0.000278 * x43 + x1179 = x1178 * x122 + 0.001641 * x148 - 0.000278 * x587 + x1180 = 0.0257956812 * x24 + x1181 = 1.1787 * x717 + x1182 = 0.003191325 * x24 + x1183 = 0.5006 * x717 + x1184 = 0.5006 * x742 + x1185 = 0.5006 * x738 + x1186 = 0.5006 * x729 + x1187 = 0.5006 * x730 + x1188 = 0.5006 * x740 + x1189 = 0.5006 * x734 + x1190 = 0.0043228875 * x24 + x1191 = 0.6781 * x820 + x1192 = 0.6781 * x822 + x1193 = 0.6781 * x717 + x1194 = 0.6781 * x816 + x1195 = 0.6781 * x814 + x1196 = 0.6781 * x812 + x1197 = 0.6781 * x818 + x1198 = 0.104340058 * x24 + x1199 = 0.0257956812 * x26 + x1200 = 0.003191325 * x26 + x1201 = 0.141336383 * x24 + x1202 = 0.245676441 * x24 + x1203 = 0.0043228875 * x26 + x1204 = 0.0075142125 * x26 + x1205 = 0.053028558 * x207 + x1206 = 0.000206331435 * x207 + x1207 = 0.000118701405 * x207 + x1208 = 0.071831133 * x207 + x1209 = 8.763003e-5 * x207 + x1210 = 0.001596 * x207 + x1211 = 0.124859691 * x207 + x1212 = x26 * x43 + x1213 = x148 * x43 + x1214 = 0.0010721395522875 * x26 + x1215 = ( + -0.00561731514894 * x118 * x45 + + x1184 * x884 + + x1186 * x889 + + x1187 * x890 + + x1188 * x888 + + x1189 * x888 + + x1194 * x950 + + x1195 * x949 + + x1196 * x947 + + x1197 * x943 + - x1214 * x721 + - x1214 * x878 + - 2.63072579625e-6 * x148 + - 3.579949116e-7 * x24 + - 0.0069355657247636 * x26 + - 0.00033805705725 * x587 * x878 + + 0.370536132 * x719 + + x739 * x986 + - x756 * x988 + - x776 * x988 + - 0.104340058 * x794 + - 0.104340058 * x796 + + 0.104340058 * x797 + + 0.1846554453 * x821 + - 0.1846554453 * x823 + + 0.141336383 * x842 + - 0.141336383 * x843 + - 0.0043228875 * x953 + + 0.008645775 * x957 + ) + x1216 = x26 * x45 + x1217 = ( + x1031 * x1196 + - 0.0043228875 * x1042 + - 8.763003e-5 * x116 * x775 + + x1162 * x45 + + x1186 * x994 + + x1187 * x996 + + x1188 * x992 + + x1189 * x992 + + 0.00561731514894 * x203 + + 0.000459361674330197 * x26 + - x738 * x990 + + 0.00017526006 * x759 + + 0.00017526006 * x781 + - 0.00017526006 * x785 + + 8.763003e-5 * x799 + + 0.006662366405 * x835 + - 0.006662366405 * x839 + ) + x1218 = x117 * x45 + x1219 = ( + x1058 * x1188 + + x1058 * x1189 + + 6.543665e-9 * x115 + + 0.008661102849889 * x148 + - 0.0005849081642729 * x587 + - 0.0679454368 * x763 + + 0.0679454368 * x775 + ) + x1220 = ( + -0.000674120333239 * x203 + - 1.1916429428e-6 * x299 + - 1.1916429428e-6 * x303 + + 5.20822520776e-5 * x319 + - 5.20822520776e-5 * x322 + + 0.000674120333239 * x587 + ) + x1221 = -0.000278 * x245 + 0.001641 * x43 + x1222 = -x1178 + 0.00041 * x245 + x1223 = 3.0e-6 * x116 + x1224 = x1223 * x307 + 3.0e-6 * x306 + x1225 = ( + 0.000118 * x114 * x45 + 0.000369 * x116 * x300 * x45 - x1224 - 0.000369 * x805 + ) + x1226 = ( + 3.0e-6 * x114 * x45 + + 3.0e-6 * x116 * x300 * x45 + - 0.000587 * x306 + - 0.000587 * x308 + - 3.0e-6 * x805 + ) + x1227 = ( + 0.000609 * x114 * x45 + 0.000118 * x116 * x300 * x45 - x1224 - 0.000118 * x805 + ) + x1228 = 0.053028558 * x43 + x1229 = 0.5006 * x884 + x1230 = 0.5006 * x889 + x1231 = 0.5006 * x890 + x1232 = 0.5006 * x888 + x1233 = 0.071831133 * x43 + x1234 = 0.1681787533 * x43 + x1235 = 0.6781 * x943 + x1236 = 0.6781 * x950 + x1237 = 0.6781 * x949 + x1238 = 0.6781 * x947 + x1239 = 0.053028558 * x45 + x1240 = 0.001607 * x43 + x1241 = 0.000118701405 * x45 + x1242 = 0.071831133 * x45 + x1243 = 0.1681787533 * x45 + x1244 = 0.001596 * x45 + x1245 = 0.053028558 * x294 + x1246 = 0.001641 * x294 + x1247 = 8.763003e-5 * x294 + x1248 = -x43 + x1249 = x114 * x294 + x1250 = 0.0013821608231029 * x43 + x1251 = ( + -x1000 * x1250 + - x1013 * x988 + - 0.104340058 * x1022 + + x1031 * x1238 + - 8.763003e-5 * x116 * x915 + + x1230 * x994 + + x1231 * x996 + + x1232 * x992 + - x1250 * x902 + - 0.01667005749288 * x245 + + 0.001420807810163 * x43 + - 1.846554453e-7 * x45 + - 0.00017526006 * x898 + + 0.00017526006 * x920 + + 8.763003e-5 * x933 + - 0.006662366405 * x960 + + 0.006662366405 * x961 + ) + x1252 = x1070 * x988 + x1253 = 0.104340058 * x1077 + x1254 = 0.0679454368 * x907 + x1255 = x116 * x805 + x1256 = 0.000674120333239 * x245 + 1.1916429428e-6 * x306 + 5.20822520776e-5 * x805 + x1257 = 3.0e-6 * x995 + x1258 = 0.000118 * x116 + x1257 - 0.000369 * x993 + x1259 = x1223 - 3.0e-6 * x993 + 0.000587 * x995 + x1260 = 0.000609 * x116 + x1257 - 0.000118 * x993 + x1261 = 0.001641 * x114 + x1262 = 0.00041 * x116 + x1263 = 0.5006 * x994 + x1264 = 0.5006 * x996 + x1265 = 0.5006 * x992 + x1266 = 0.6781 * x1031 + x1267 = 0.00663129503 * x114 + x1268 = 1.42658678e-7 * x1 + x1269 = 0.000278 * x116 + x1270 = 8.763003e-5 * x116 + x1271 = 0.00663129503 * x116 + x1272 = 1.42658678e-7 * x10 + x1273 = 0.000599589709354415 * x116 + x1274 = 2.61119963394e-6 * x116 + x1275 = x1062 * x1274 + x1276 = x1064 * x1274 + x1277 = 0.0679454368 * x1009 + x1278 = -0.000674120333239 * x116 + x1279 = x116 * x300 + x1280 = x116 * x298 + x1281 = -x1170 - 0.000587 * x300 + x1282 = -x1173 - 0.000118 * x298 + x1283 = -x1173 - 0.000369 * x298 + x1284 = 0.0149168788 * x298 + x1285 = 0.5006 * x1058 + x1286 = 0.0149168788 * x300 + x1287 = 0.0005346749494125 * x119 + x1288 = 4.3228875e-9 * x204 + x1289 = 0.0006567138703936 * x298 + 1.60926677408e-5 * x300 + x1290 = 3.638748765e-5 * x304 + x1291 = 8.96762325e-7 * x323 + x1292 = 0.001189685341316 * x416 + x1293 = 2.9319556298e-5 * x326 + + mass = numpy.array( + [ + [ + 0.0273446 * x1 * x12 + + x1 * (0.011088 * x1 + 5.0e-6 * x3) + - 0.58632906 * x1 * (-x1 * x38 - x18 * x7) + + x10 * x11 + + 0.58632906 * x10 * x30 + - 0.390633584 * x10 * x32 + + x10 * x34 + + x104 * x175 + + x106 * x107 + + x106 * x108 + + x109 * x112 + + x109 * x144 + + 0.00561733048857675 * x127**2 + + x127 * x230 + + x128 * x129 + + x128 * x130 + + 1.1636 * x13 * x37 + + x131 * x49 + + x133 * x134 + - x136 * x140 + - x14 * x15 + + x142 * x143 + + x142 * x171 + + x143 * x152 + + x143 * x180 + + x143 * x186 + + x146 * x147 + + x15 * x21 + + x151 * x191 + + x151 * x284 + + x152 * x171 + - x156 * (-x153 + x155 + x33) + - x157 * (x132 * x7 - x154 * x7 + x32 * x5) + - x158 * x159 + + x161 * x164 + + x161 * x166 + - x163 * x169 + + x164 * x209 + + x164 * x214 + + x164 * x223 + - x165 * x170 + + x166 * x209 + + x166 * x214 + + x166 * x223 + + x171 * x180 + + x171 * x186 + - x173 * x176 + + 1.3562 * x173 * x54 + + x174 * x52 + + x174 * x82 + + x174 * x83 + + x179 * x191 + + x179 * x284 + + 2.787 * x18 * x37 + + x188 * x191 + + x188 * x284 + + x189 * x196 + - 0.02996025 * x19 * x3 + - x190 * x193 + + x191 * x195 + + x191 * x227 + + x191 * x473 + + x195 * x284 + + x196 * x468 + + 0.0004175274375 * x2 * x5 + + 0.123465173064675 * x2 * x6 + + 0.175655079983077 * x2 + + 1.1636 * x20 * x30 + + x211 * x212 + - x216 * (x145 * x7 - x215 * x7 + x5 * x62) + - x219 * (x217 - x218 + x64) + - x22 * x8 + + x224 * x225 + + x227 * x284 + + x228 * x229 + + x229 * x447 + + x232 * x233 + + x234 * x237 + - x234 * x240 + + x234 * x290 + + 1.0012 * x234 * x391 + + x236 * x280 + + x237 * x391 + - x240 * x391 + + x241 * x242 + + x243 * x244 + + x244 * x446 + + x247 * x248 + + x247 * x280 + + x247 * x424 + + x248 * x260 + + x248 * x293 + + x250 * x251 + + x251 * x461 + + x254 * x255 + + x254 * x261 + + x260 * x280 + + x260 * x424 + + x264 * x265 + + x266 * x267 + + x266 * x441 + + x269 * x271 + + x269 * x273 + - 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0.0001406686 * x602 + + 0.0057078412 * x604 + + 0.0001406686 * x613 + + 0.0001406686 * x614 + + 0.0057078412 * x616 + + 0.0057078412 * x617 + + 0.0057078412 * x618, + 2.462403843e-8 * x122 * x306 + + 9.9915760206e-7 * x122 * x805 + + x1220 + - x1292 * x24 + + x1293 * x24 + + 0.000604631618316 * x24 * x306 + - 1.4901024798e-5 * x24 * x805 + + 0.0057078412 * x298 * x742 + + 7.27749753e-5 * x311 + - 7.27749753e-5 * x312 + + 1.79352465e-6 * x329 + + 1.79352465e-6 * x330 + - 0.0057078412 * x761 + + 0.0001406686 * x768 + + 0.0001406686 * x769 + + 0.0057078412 * x807 + + 0.0001406686 * x809, + -2.462403843e-8 * x114 * x301 + - 9.9915760206e-7 * x114 * x307 + + 0.001794316959632 * x1255 + + x1256 + - 0.001794316959632 * x301 + + 4.4220581096e-5 * x307 + + 1.60926677408e-5 * x308 + + 4.4220581096e-5 * x320 + - 0.0006567138703936 * x325 + + 0.0057078412 * x900 + + 0.0001406686 * x910, + 0.0006567138703936 * x114 * x300 + - x1278 + - 4.924807686e-8 * x1279 + - 1.99831520412e-6 * x1280 + - 1.60926677408e-5 * x995, + x1289, + 0.000674120333239, + ], + ] + ) + + return mass diff --git a/kinova_gen3/forward_kinematics.py b/kinova_gen3/forward_kinematics.py deleted file mode 100644 index 2b492ed..0000000 --- a/kinova_gen3/forward_kinematics.py +++ /dev/null @@ -1,124 +0,0 @@ -"""Position level forward kinematics for Kinova Gen3 - -Functions ---------- -forward_kinematics(joint_position) - -""" - -import math -import numpy as np - - -def forward_kinematics(joint_position): - """ - Position level forward kinematics of the Kinova Gen3 robot - - Arguments - --------- - joint_position (array_like): The joint angles of the robot - - Returns - ------- - ndarray: The end-effector position - ndarray: The rotation matrix of the end-effector - - """ - - x_0 = math.sin(joint_position[0]) - x_1 = math.cos(joint_position[2]) - x_2 = x_0 * x_1 - x_3 = math.cos(joint_position[0]) - x_4 = math.sin(joint_position[1]) - x_5 = x_3 * x_4 - x_6 = math.cos(joint_position[3]) - x_7 = x_5 * x_6 - x_8 = math.cos(joint_position[1]) - x_9 = math.sin(joint_position[2]) - x_10 = x_3 * x_9 - x_11 = x_10 * x_8 - x_12 = math.sin(joint_position[3]) - x_13 = x_0 * x_9 - x_14 = x_1 * x_3 * x_8 - x_13 - x_15 = x_12 * x_14 - x_16 = math.cos(joint_position[5]) - x_17 = -x_15 - x_7 - x_18 = x_16 * x_17 - x_19 = math.sin(joint_position[5]) - x_20 = math.sin(joint_position[4]) - x_21 = x_11 + x_2 - x_22 = math.cos(joint_position[4]) - x_23 = -x_12 * x_5 + x_14 * x_6 - x_24 = -x_20 * x_21 + x_22 * x_23 - x_25 = x_19 * x_24 - x_26 = x_0 * x_4 - x_27 = -x_10 - x_2 * x_8 - x_28 = x_0 * x_4 * x_6 - x_12 * x_27 - x_29 = x_16 * x_28 - x_30 = x_1 * x_3 - x_13 * x_8 - x_31 = x_12 * x_26 + x_27 * x_6 - x_32 = -x_20 * x_30 + x_22 * x_31 - x_33 = x_4 * x_9 - x_34 = x_6 * x_8 - x_35 = x_1 * x_4 - x_36 = x_12 * x_35 - x_37 = -x_34 + x_36 - x_38 = x_16 * x_37 - x_39 = -x_12 * x_8 - x_35 * x_6 - x_40 = x_20 * x_33 + x_22 * x_39 - x_41 = x_19 * x_40 - x_42 = math.sin(joint_position[6]) - x_43 = x_20 * x_23 + x_21 * x_22 - x_44 = math.cos(joint_position[6]) - x_45 = x_16 * x_24 + x_17 * x_19 - x_46 = x_20 * x_31 + x_22 * x_30 - x_47 = x_16 * x_32 + x_19 * x_28 - x_48 = x_20 * x_39 - x_22 * x_33 - x_49 = x_16 * x_40 + x_19 * x_37 - - return ( - np.array( - [ - [ - -0.0118 * x_0 - - 0.0128 * x_11 - + 0.3143 * x_15 - - 0.1674 * x_18 - - 0.0128 * x_2 - + 0.1674 * x_25 - + 0.4208 * x_5 - + 0.3143 * x_7 - ], - [ - 0.0128 * x_0 * x_8 * x_9 - - 0.0128 * x_1 * x_3 - + 0.3143 * x_12 * x_27 - + 0.1674 * x_19 * x_32 - - 0.3143 * x_26 * x_6 - - 0.4208 * x_26 - - 0.1674 * x_29 - - 0.0118 * x_3 - ], - [ - 0.0128 * x_33 - + 0.3143 * x_34 - - 0.3143 * x_36 - - 0.1674 * x_38 - + 0.1674 * x_41 - + 0.4208 * x_8 - + 0.2848 - ], - ] - ), - np.array( - [ - [-x_42 * x_43 + x_44 * x_45, x_42 * x_45 + x_43 * x_44, -x_18 + x_25], - [ - -x_42 * x_46 + x_44 * x_47, - x_42 * x_47 + x_44 * x_46, - x_19 * x_32 - x_29, - ], - [-x_42 * x_48 + x_44 * x_49, x_42 * x_49 + x_44 * x_48, -x_38 + x_41], - ] - ), - ) diff --git a/kinova_gen3/gravity.py b/kinova_gen3/gravity.py deleted file mode 100644 index af94bf0..0000000 --- a/kinova_gen3/gravity.py +++ /dev/null @@ -1,439 +0,0 @@ -"""Gravity term for Kinova Gen3 robot - -Functions ---------- -gravity(joint_position) - -""" - -import math -import numpy as np - - -def gravity(joint_position): - """The gravity term of the Kinova Gen3 robot - - Arguments - --------- - joint_position (array_like): The joint angles of the robot [rad] - - Returns - ------- - ndarray: The gravity term of the robot - - """ - - # Gravity acceleration [m/s^2] - gravity_acceleration = 9.80665 - - x_0 = math.sin(joint_position[0]) - x_1 = math.cos(joint_position[0]) - x_2 = math.sin(joint_position[1]) - x_3 = x_2**2 - x_4 = math.cos(joint_position[1]) - x_5 = math.cos(joint_position[2]) - x_6 = -4.4e-5 * x_4 - x_7 = math.sin(joint_position[2]) - x_8 = x_2 * x_7 - x_9 = x_2 * x_5 - x_10 = x_0 * x_5 - x_11 = x_1 * x_4 - x_12 = x_11 * x_7 - x_13 = x_10 + x_12 - x_14 = -x_13 - x_15 = 0.117892 * x_2 - x_16 = x_0 * x_7 - x_17 = x_1 * x_4 * x_5 - x_16 - x_18 = 0.0064 * x_4 - x_19 = math.sin(joint_position[3]) - x_20 = x_19 * x_4 - x_21 = math.cos(joint_position[3]) - x_22 = x_2 * x_21 - x_23 = 0.075478 * x_19 - x_24 = 1.8e-5 * x_5 - x_25 = 0.93 * x_13 - x_26 = x_21 * x_5 - x_27 = x_2 * x_26 - x_28 = x_1 * x_2 - x_29 = x_21 * x_28 - x_30 = x_17 * x_19 - x_31 = -x_29 - x_30 - x_32 = 0.015006 * x_21 - x_33 = x_19 * x_9 - x_34 = x_17 * x_21 - x_35 = -x_19 * x_28 + x_34 - x_36 = 0.93 * x_35 - x_37 = 1.856 * x_35 - x_38 = 0.93 * x_31 - x_39 = math.cos(joint_position[4]) - x_40 = 0.1059 * x_20 - x_41 = math.sin(joint_position[4]) - x_42 = x_41 * x_7 - x_43 = x_21 * x_39 * x_5 - x_42 - x_44 = 0.1059 * x_2 - x_45 = x_13 * x_39 + x_35 * x_41 - x_46 = -x_45 - x_47 = 1.178 * x_46 - x_48 = x_39 * x_7 - x_49 = x_26 * x_41 + x_48 - x_50 = -x_49 - x_51 = x_35 * x_39 - x_52 = -x_13 * x_41 + x_51 - x_53 = 1.178 * x_52 - x_54 = 0.009432 * x_39 - x_55 = 0.009432 * x_2 - x_56 = 1.0e-6 * x_2 - x_57 = 0.678 * x_31 - x_58 = 1.0e-6 * x_21 - x_59 = x_19 * x_5 - x_60 = 0.063883 * x_2 - x_61 = 0.678 * x_46 - x_62 = 0.678 * x_52 - x_63 = math.sin(joint_position[5]) - x_64 = x_21 * x_63 - x_65 = math.cos(joint_position[5]) - x_66 = x_19 * x_65 - x_67 = x_39 * x_66 - x_68 = x_4 * (x_64 + x_67) - x_69 = x_19 * x_63 - x_70 = x_21 * x_39 * x_65 - x_69 - x_71 = -x_42 * x_65 + x_5 * x_70 - x_72 = 0.5 * x_45 - x_73 = x_31 * x_63 - x_74 = x_52 * x_65 - x_75 = x_73 + x_74 - x_76 = 0.5 * x_75 - x_77 = x_39 * x_69 - x_78 = x_21 * x_65 - x_77 - x_79 = x_4 * x_78 - x_80 = -x_39 * x_64 - x_66 - x_81 = x_42 * x_63 + x_5 * x_80 - x_82 = x_2 * x_81 - x_83 = 0.678 * x_45 - x_84 = x_31 * x_65 - x_52 * x_63 - x_85 = 0.678 * x_84 - x_86 = 0.678 * x_75 - x_87 = math.cos(joint_position[6]) - x_88 = x_64 * x_87 - x_89 = math.sin(joint_position[6]) - x_90 = x_41 * x_89 - x_91 = x_39 * x_65 * x_87 - x_90 - x_92 = x_19 * x_91 - x_93 = x_88 + x_92 - x_94 = x_64 * x_89 - x_95 = x_41 * x_87 - x_96 = x_39 * x_89 - x_97 = -x_65 * x_96 - x_95 - x_98 = x_19 * x_97 - x_99 = -x_94 + x_98 - x_100 = x_65 * x_95 - x_101 = x_100 + x_96 - x_102 = x_21 * x_91 - x_69 * x_87 - x_103 = -x_101 * x_7 + x_102 * x_5 - x_104 = x_65 * x_90 - x_105 = -x_104 + x_39 * x_87 - x_106 = x_21 * x_97 + x_69 * x_89 - x_107 = -x_105 * x_7 + x_106 * x_5 - x_108 = 0.5 * x_84 - x_109 = x_45 * x_87 - x_110 = x_75 * x_89 - x_111 = -x_109 - x_110 - x_112 = 0.5 * x_111 - x_113 = x_75 * x_87 - x_114 = x_113 - x_45 * x_89 - x_115 = 0.5 * x_114 - x_116 = x_21 * x_7 - x_117 = x_19 * x_7 - x_118 = 0.009432 * x_41 - x_119 = 1.0e-6 * x_39 - x_120 = x_42 * x_58 - x_121 = 0.009432 * x_21 - x_122 = 0.1059 * x_21 - x_123 = -x_122 * x_42 + 0.1059 * x_39 * x_5 - x_124 = 0.1059 * x_41 * x_5 - x_125 = 0.063883 * x_5 - x_126 = x_21 * x_42 - x_127 = x_7 * x_70 - x_128 = x_41 * x_63 - x_129 = 1.0e-6 * x_128 - x_130 = x_41 * x_65 - x_131 = x_7 * x_80 - x_132 = 0.00965 * x_130 - x_133 = 0.045483 * x_39 - x_134 = 0.00965 * x_128 - x_135 = x_101 * x_5 - x_136 = x_105 * x_5 - x_137 = 0.011402 * x_7 - x_138 = x_106 * x_7 - x_139 = 0.000281 * x_128 - x_140 = 0.011402 * x_128 - x_141 = x_19 * x_41 - x_142 = 1.0e-6 * x_141 - x_143 = 0.063883 * x_19 - x_144 = x_21 * x_65 - x_145 = 0.05295 * x_75 - x_146 = x_39 * x_87 - x_147 = 0.000281 * x_65 - x_148 = 0.011402 * x_65 - x_149 = 0.029798 * x_63 - - return np.array( - [ - - gravity_acceleration - * ( - 0.83099584 * x_0 * x_2 - - 1.1636 * x_0 * (-0.09958 * x_2 - x_6) - - 3.1671e-5 * x_0 - + 1.1636 * x_1 * x_2 * (-4.4e-5 * x_8 - 0.006641 * x_9) - + 0.0178304 * x_1 * x_3 * x_5 - + 0.0407277208 * x_1 * x_3 - + 0.0407277208 * x_1 * x_4**2 - + 0.013340052 * x_1 - - x_108 - * ( - -0.011402 * x_103 * x_2 - + 0.000281 * x_107 * x_2 - - 0.011402 * x_4 * x_93 - + 0.000281 * x_4 * x_99 - ) - - x_112 - * ( - 0.029798 * x_103 * x_2 - + 0.029798 * x_4 * x_93 - - 0.000281 * x_79 - - 0.000281 * x_82 - ) - - x_115 - * ( - -0.029798 * x_107 * x_2 - + 0.011402 * x_2 * x_81 - + 0.011402 * x_4 * x_78 - - 0.029798 * x_4 * x_99 - ) - - 1.856 * x_13 * (-0.2084 * x_20 - 0.2084 * x_22 * x_5) - - 0.5861744 * x_14 * x_9 - - 1.1636 * x_14 * (x_15 * x_5 + x_6) - - 2.786 * x_17 * (-x_18 + 0.2104 * x_8) - - 1.1636 * x_17 * (x_15 * x_7 + 0.006641 * x_4) - - x_25 - * ( - -x_19 * x_2 * x_24 - + 1.8e-5 * x_21 * x_4 - - 0.075478 * x_22 * x_5 - - x_23 * x_4 - ) - - 1.856 * x_31 * (x_18 * x_19 + 0.0064 * x_27) - - x_36 * (-x_32 * x_4 + 0.015006 * x_33 + 0.075478 * x_8) - - x_37 * (-x_18 * x_21 + 0.0064 * x_33 + 0.2084 * x_8) - - x_38 * (0.015006 * x_20 + 0.015006 * x_27 - 1.8e-5 * x_8) - - x_47 * (x_39 * x_40 + x_43 * x_44) - - x_53 * (0.1059 * x_19 * x_4 * x_41 - x_44 * x_50) - - x_57 - * ( - 1.0e-6 * x_19 * x_4 * x_41 - - x_20 * x_54 - - x_43 * x_55 - - x_50 * x_56 - ) - - x_61 - * (0.063883 * x_20 * x_39 + x_4 * x_58 + x_43 * x_60 - x_56 * x_59) - - x_62 - * ( - 0.063883 * x_19 * x_4 * x_41 - + 0.009432 * x_21 * x_4 - - x_50 * x_60 - - x_55 * x_59 - ) - - x_72 * (-x_44 * x_71 - 0.1059 * x_68) - - x_76 * (x_40 * x_41 + x_44 * x_49) - - x_83 - * ( - -0.045483 * x_2 * x_71 - - 0.045483 * x_68 - - 1.0e-6 * x_79 - - 1.0e-6 * x_82 - ) - - x_85 - * ( - 0.00965 * x_2 * x_71 - + 1.0e-6 * x_20 * x_41 - + x_49 * x_56 - + 0.00965 * x_68 - ) - - x_86 - * ( - 0.045483 * x_19 * x_4 * x_41 - + 0.045483 * x_2 * x_49 - - 0.00965 * x_79 - - 0.00965 * x_82 - ) - ) - , - - gravity_acceleration - * ( - 1.1636 * x_1 * x_2 * (-4.4e-5 * x_5 + 0.006641 * x_7) - - x_108 - * ( - x_102 * x_137 - + 0.011402 * x_135 - - 0.000281 * x_136 - - 0.000281 * x_138 - ) - - 0.946867128 * x_11 - - x_112 - * ( - -0.029798 * x_102 * x_7 - - 0.029798 * x_135 - - x_139 * x_5 - + 0.000281 * x_7 * x_80 - ) - - x_115 - * (0.029798 * x_136 - x_137 * x_80 + 0.029798 * x_138 + x_140 * x_5) - - 0.3867904 * x_116 * x_13 - - x_123 * x_53 - - x_123 * x_76 - + 0.7233535312 * x_14 * x_7 - - 0.7233535312 * x_17 * x_5 - + 0.0118784 * x_21 * x_31 * x_7 - - x_25 * (0.075478 * x_116 + 1.8e-5 * x_117) - - 0.0178304 * x_28 * x_7 - - 5.11984e-5 * x_28 - - x_36 * (-0.015006 * x_117 + 0.075478 * x_5) - - x_37 * (-0.0064 * x_117 + 0.2084 * x_5) - - x_38 * (-x_24 - x_32 * x_7) - - x_47 * (-x_122 * x_48 - x_124) - - x_57 * (x_118 * x_5 + x_119 * x_5 - x_120 + x_121 * x_48) - - x_61 - * (-x_125 * x_41 + 1.0e-6 * x_19 * x_7 - 0.063883 * x_21 * x_48) - - x_62 * (0.009432 * x_117 + x_125 * x_39 - 0.063883 * x_126) - - x_72 * (x_124 * x_65 + 0.1059 * x_127) - - x_83 - * ( - 0.045483 * x_127 - - x_129 * x_5 - + 0.045483 * x_130 * x_5 - + 1.0e-6 * x_131 - ) - - x_85 - * (-x_120 - 0.00965 * x_127 - x_132 * x_5 + 1.0e-6 * x_39 * x_5) - - x_86 - * (-0.045483 * x_126 + 0.00965 * x_131 + x_133 * x_5 - x_134 * x_5) - ) - , - - gravity_acceleration - * ( - 0.0101029324 * x_1 * x_4 * x_5 - - 5.11984e-5 * x_10 - - x_108 - * ( - 0.000281 * x_19 * x_97 - - 0.011402 * x_88 - - 0.011402 * x_92 - - 0.000281 * x_94 - ) - - x_112 - * ( - -0.000281 * x_144 - + 0.000281 * x_77 - + 0.029798 * x_88 - + 0.029798 * x_92 - ) - - x_115 - * ( - 0.029798 * x_21 * x_63 * x_89 - + 0.011402 * x_21 * x_65 - - 0.011402 * x_77 - - 0.029798 * x_98 - ) - - 5.11984e-5 * x_12 - + 0.3867904 * x_13 * x_19 - - x_141 * x_145 - - 0.1247502 * x_141 * x_52 - - 0.0101029324 * x_16 - - 0.02583398 * x_19 * x_31 - - 0.1247502 * x_19 * x_39 * x_46 - + 0.02583398 * x_21 * x_35 - - x_25 * (1.8e-5 * x_21 - x_23) - - x_57 * (x_142 - x_19 * x_54) - - x_61 * (x_143 * x_39 + x_58) - - x_62 * (x_121 + x_143 * x_41) - - x_72 * (-0.1059 * x_64 - 0.1059 * x_67) - - x_83 - * ( - -x_133 * x_66 - - 1.0e-6 * x_144 - + 1.0e-6 * x_19 * x_39 * x_63 - - 0.045483 * x_64 - ) - - x_85 * (x_142 + 0.00965 * x_64 + 0.00965 * x_67) - - x_86 * (0.045483 * x_141 - 0.00965 * x_144 + 0.00965 * x_77) - ) - , - - gravity_acceleration - * ( - 0.45698494 * x_1 * x_19 * x_2 - - x_108 - * ( - -0.000281 * x_146 - + x_147 * x_90 - + x_148 * x_95 - + 0.011402 * x_96 - ) - - x_112 * (-0.029798 * x_100 - x_139 - 0.029798 * x_96) - - x_115 * (-0.029798 * x_104 + x_140 + 0.029798 * x_146) - - 0.05295 * x_130 * x_45 - - x_145 * x_39 - - 1.674e-5 * x_29 - - 1.674e-5 * x_30 - - 0.45698494 * x_34 - - 0.168062874 * x_39 * x_52 - + 0.168062874 * x_41 * x_46 - - x_57 * (x_118 + x_119) - - x_83 * (-x_129 + 0.045483 * x_41 * x_65) - - x_85 * (-x_132 + 1.0e-6 * x_39) - - x_86 * (-x_134 + 0.045483 * x_39) - ) - , - - gravity_acceleration - * ( - -x_108 * (-0.011402 * x_63 * x_87 - 0.000281 * x_63 * x_89) - - x_112 * (-x_147 + x_149 * x_87) - - x_115 * (x_148 + x_149 * x_89) - + 6.78e-7 * x_13 * x_39 - + 0.006394896 * x_13 * x_41 - + 6.78e-7 * x_35 * x_41 - + 0.05295 * x_45 * x_63 - - 0.006394896 * x_51 - - 0.0065427 * x_63 * x_84 - + 0.0065427 * x_65 * x_75 - - x_83 * (-0.045483 * x_63 - 1.0e-6 * x_65) - ) - , - - gravity_acceleration - * ( - -x_108 * (-0.000281 * x_87 + 0.011402 * x_89) - + 0.014899 * x_111 * x_89 - - 0.014899 * x_114 * x_87 - - 6.78e-7 * x_31 * x_65 - + 6.78e-7 * x_52 * x_63 - - 0.083787474 * x_73 - - 0.083787474 * x_74 - ) - , - - gravity_acceleration - * ( - -0.0001405 * x_109 - - 0.0001405 * x_110 - - 0.005701 * x_113 - + 0.005701 * x_45 * x_89 - ) - , - ] - ) diff --git a/kinova_gen3/jacobian.py b/kinova_gen3/jacobian.py deleted file mode 100644 index 20d5ad1..0000000 --- a/kinova_gen3/jacobian.py +++ /dev/null @@ -1,187 +0,0 @@ -"""Jacobian matrix for Kinova Gen3 - -Functions ---------- -jocobian(joint_position) - -""" - -import math -import numpy as np - - -def jacobian(joint_position): - """The Jacobian of the Kinova Gen3 robot - - Arguments - --------- - joint_position (array_like): The joint angles of the robot - - Returns - ------- - ndarray: The kinematic Jacobian matrix expressed in the base frame - - """ - - x_0 = math.cos(joint_position[0]) - x_1 = math.sin(joint_position[0]) - x_2 = math.sin(joint_position[1]) - x_3 = 0.4208 * x_2 - x_4 = math.cos(joint_position[2]) - x_5 = x_0 * x_4 - x_6 = 0.0128 * x_5 - x_7 = math.cos(joint_position[3]) - x_8 = x_2 * x_7 - x_9 = x_1 * x_8 - x_10 = math.sin(joint_position[2]) - x_11 = math.cos(joint_position[1]) - x_12 = math.sin(joint_position[3]) - x_13 = x_0 * x_10 - x_14 = x_1 * x_4 - x_15 = x_11 * x_14 - x_16 = x_13 + x_15 - x_17 = -x_16 - x_18 = x_1 * x_2 * x_7 - x_12 * x_17 - x_19 = math.cos(joint_position[5]) - x_20 = 0.1674 * x_19 - x_21 = math.sin(joint_position[5]) - x_22 = math.sin(joint_position[4]) - x_23 = x_1 * x_10 - x_24 = -x_0 * x_4 + x_11 * x_23 - x_25 = -x_24 - x_26 = -x_22 * x_25 - x_27 = math.cos(joint_position[4]) - x_28 = x_12 * x_2 - x_29 = x_1 * x_28 - x_30 = x_17 * x_7 - x_31 = x_29 + x_30 - x_32 = x_26 + x_27 * x_31 - x_33 = 0.4208 * x_11 - x_34 = 0.0128 * x_13 - x_35 = x_11 * x_7 - x_36 = x_0 * x_35 - x_37 = x_28 * x_5 - x_38 = x_2 * x_22 - x_39 = x_11 * x_12 - x_40 = 0.1674 * x_21 - x_41 = 0.0128 * x_23 - x_42 = x_11 * x_13 - x_43 = x_14 + x_42 - x_44 = -x_43 - x_45 = 0.3143 * x_12 - x_46 = x_12 * x_20 - x_47 = -x_0 * x_11 * x_4 + x_23 - x_48 = -x_47 - x_49 = x_0 * x_28 - x_50 = x_48 * x_7 - x_51 = -x_0 * x_12 * x_2 + x_50 - x_52 = x_0 * x_8 - x_53 = -x_12 * x_48 - x_52 - x_54 = x_40 * x_53 - x_55 = x_22 * x_51 + x_27 * x_43 - x_56 = -x_22 * x_43 + x_27 * x_51 - x_57 = x_12 * x_47 - x_58 = x_18 * x_40 - x_59 = x_25 * x_27 - x_60 = 0.3143 * x_8 - x_61 = x_39 * x_4 - x_62 = x_2 * x_4 - x_63 = x_10 * x_28 - x_64 = x_39 + x_4 * x_8 - x_65 = x_28 * x_4 - x_35 - x_66 = x_10 * x_2 - x_67 = x_27 * x_66 - x_68 = -x_64 - x_69 = x_12 * x_16 + x_9 - x_70 = -x_16 * x_7 + x_29 - - return np.array( - [ - [ - -0.0118 * x_0 - + 0.0128 * x_1 * x_10 * x_11 - - x_1 * x_3 - + 0.3143 * x_12 * x_17 - - x_18 * x_20 - + 0.1674 * x_21 * x_32 - - x_6 - - 0.3143 * x_9, - x_0 * x_33 - + x_2 * x_34 - - x_20 * (-x_36 + x_37) - + 0.3143 * x_36 - - 0.3143 * x_37 - + x_40 * (x_13 * x_38 + x_27 * (-x_0 * x_39 - x_5 * x_8)), - -x_11 * x_6 - + x_40 * (-x_22 * x_48 + x_27 * x_44 * x_7) - + x_41 - + x_44 * x_45 - + x_44 * x_46, - x_20 * x_51 + x_27 * x_54 - 0.3143 * x_49 + 0.3143 * x_50, - -x_40 * x_55, - x_20 * x_56 + x_54, - 0, - ], - [ - -x_0 * x_3 - + 0.0118 * x_1 - + 0.0128 * x_14 - - x_20 * (x_52 - x_57) - + x_40 * (-x_22 * x_44 + x_27 * (x_47 * x_7 + x_49)) - + 0.0128 * x_42 - - 0.3143 * x_52 - + 0.3143 * x_57, - 0.3143 * x_1 * x_12 * x_2 * x_4 - - x_1 * x_33 - - 0.3143 * x_1 * x_35 - - x_2 * x_41 - - x_20 * (x_1 * x_11 * x_7 - x_14 * x_28) - + 0.1674 * x_21 * (-x_23 * x_38 + x_27 * (x_1 * x_39 + x_14 * x_8)), - 0.0128 * x_15 - + x_24 * x_45 - + x_24 * x_46 - + x_34 - + x_40 * (-x_17 * x_22 + x_24 * x_27 * x_7), - x_20 * x_31 + x_27 * x_58 + 0.3143 * x_29 + 0.3143 * x_30, - x_40 * (-x_22 * x_31 - x_59), - x_20 * x_32 + x_58, - 0, - ], - [ - 0, - 0.0128 * x_10 * x_11 - - x_20 * (x_61 + x_8) - + 0.1674 * x_21 * (x_10 * x_11 * x_22 + x_27 * (x_28 - x_35 * x_4)) - - x_3 - - x_60 - - 0.3143 * x_61, - x_20 * x_63 - + x_40 * (x_10 * x_27 * x_8 + x_22 * x_62) - + 0.0128 * x_62 - + 0.3143 * x_63, - -x_20 * x_64 + 0.1674 * x_21 * x_27 * x_65 - 0.3143 * x_39 - x_4 * x_60, - x_40 * (-x_22 * x_68 + x_67), - x_20 * (x_22 * x_66 + x_27 * x_68) + x_40 * x_65, - 0, - ], - [0, x_1, -x_0 * x_2, x_43, x_53, x_55, x_19 * x_53 - x_21 * x_56], - [ - 0, - x_0, - x_1 * x_2, - x_25, - x_69, - x_22 * x_70 + x_59, - x_19 * x_69 - x_21 * (x_26 + x_27 * x_70), - ], - [ - -1, - 0, - -x_11, - -x_66, - x_65, - -x_22 * x_64 - x_67, - x_19 * x_65 - x_21 * (x_10 * x_2 * x_22 - x_27 * x_64), - ], - ] - ) diff --git a/kinova_gen3/kinematics/forward_kinematics.py b/kinova_gen3/kinematics/forward_kinematics.py new file mode 100644 index 0000000..f146290 --- /dev/null +++ b/kinova_gen3/kinematics/forward_kinematics.py @@ -0,0 +1,138 @@ +"""Position level forward kinematics for Kinova Gen3 + +Functions +--------- +forward_kinematics(joint_position) + +""" + +import math +import numpy + + +def forward_kinematics(q): + """ + Position level forward kinematics of the Kinova Gen3 robot + + Arguments + --------- + joint_position (array_like): The joint angles of the robot + + Returns + ------- + ndarray: The end-effector position + ndarray: The rotation matrix of the end-effector + + """ + + q1 = q[0] + q2 = q[1] + q3 = q[2] + q4 = q[3] + q5 = q[4] + q6 = q[5] + q7 = q[6] + + x0 = math.sin(q1) + x1 = math.cos(q3) + x2 = x0 * x1 + x3 = math.sin(q2) + x4 = math.cos(q1) + x5 = math.cos(q4) + x6 = math.cos(q2) + x7 = math.sin(q3) + x8 = x4 * x7 + x9 = x6 * x8 + x10 = math.cos(q5) + x11 = x2 + x9 + x12 = x10 * x11 + x13 = math.sin(q4) + x14 = x0 * x7 + x15 = x1 * x4 * x6 - x14 + x16 = math.sin(q5) + x17 = x3 * x4 + x18 = -x13 * x17 + x15 * x5 + x19 = x16 * x18 + x20 = math.cos(q6) + x21 = -x13 * x15 - x17 * x5 + x22 = x20 * x21 + x23 = math.sin(q6) + x24 = x10 * x18 - x11 * x16 + x25 = x0 * x3 + x26 = x1 * x4 - x14 * x6 + x27 = x10 * x26 + x28 = -x2 * x6 - x8 + x29 = x13 * x25 + x28 * x5 + x30 = x16 * x29 + x31 = x0 * x3 * x5 - x13 * x28 + x32 = x20 * x31 + x33 = x10 * x29 - x16 * x26 + x34 = x3 * x7 + x35 = x5 * x6 + x36 = x10 * x34 + x37 = x1 * x3 + x38 = x13 * x37 + x39 = -x35 + x38 + x40 = x20 * x39 + x41 = -x13 * x6 - x37 * x5 + x42 = x16 * x41 + x43 = x10 * x41 + x16 * x34 + x44 = x23 * x43 + x45 = math.sin(q7) + x46 = x12 + x19 + x47 = math.cos(q7) + x48 = x20 * x24 + x21 * x23 + x49 = x27 + x30 + x50 = x20 * x33 + x23 * x31 + x51 = -x36 + x42 + x52 = x20 * x43 + x23 * x39 + + position = numpy.array( + [ + [ + -0.01175 * x0 + - 0.0003501 * x12 + + 0.31436 * x13 * x15 + - 0.0003501 * x19 + - 0.01275 * x2 + - 0.167455 * x22 + + 0.167455 * x23 * x24 + + 0.31436 * x3 * x4 * x5 + + 0.42076 * x3 * x4 + - 0.01275 * x9 + ], + [ + 0.01275 * x0 * x6 * x7 + - 0.01275 * x1 * x4 + + 0.31436 * x13 * x28 + + 0.167455 * x23 * x33 + - 0.31436 * x25 * x5 + - 0.42076 * x25 + - 0.0003501 * x27 + - 0.0003501 * x30 + - 0.167455 * x32 + - 0.01175 * x4 + ], + [ + 0.01275 * x34 + + 0.31436 * x35 + + 0.0003501 * x36 + - 0.31436 * x38 + - 0.167455 * x40 + - 0.0003501 * x42 + + 0.167455 * x44 + + 0.42076 * x6 + + 0.28481 + ], + ] + ).flatten() + + rotation = numpy.array( + [ + [x45 * x46 - x47 * x48, -x45 * x48 - x46 * x47, -x22 + x23 * x24], + [x45 * x49 - x47 * x50, -x45 * x50 - x47 * x49, x23 * x33 - x32], + [x45 * x51 - x47 * x52, -x45 * x52 - x47 * x51, -x40 + x44], + ] + ) + + return position, rotation diff --git a/kinova_gen3/inverse_kinematics.py b/kinova_gen3/kinematics/inverse_kinematics.py similarity index 96% rename from kinova_gen3/inverse_kinematics.py rename to kinova_gen3/kinematics/inverse_kinematics.py index 6af18b3..ec81ff8 100644 --- a/kinova_gen3/inverse_kinematics.py +++ b/kinova_gen3/kinematics/inverse_kinematics.py @@ -11,8 +11,8 @@ import numpy as np from .jacobian import jacobian -from .manipulability import manipulability_gradient -from .joint_limits import joint_limits_gradient +from performance_criteria.manipulability import manipulability_gradient +from performance_criteria.joint_limits import joint_limits_gradient def inverse_kinematics(joint_position, end_effector_vel): diff --git a/kinova_gen3/kinematics/jacobian.py b/kinova_gen3/kinematics/jacobian.py new file mode 100644 index 0000000..bfe2d01 --- /dev/null +++ b/kinova_gen3/kinematics/jacobian.py @@ -0,0 +1,235 @@ +"""Jacobian matrix for Kinova Gen3 + +Functions +--------- +jacobian(joint_position) + +""" + +import math +import numpy + + +def jacobian(q): + """The Jacobian of the Kinova Gen3 robot + + Arguments + --------- + joint_position (array_like): The joint angles of the robot + + Returns + ------- + ndarray: The kinematic Jacobian matrix expressed in the base frame + + """ + + q1 = q[0] + q2 = q[1] + q3 = q[2] + q4 = q[3] + q5 = q[4] + q6 = q[5] + # q7 = q[6] + + x0 = math.cos(q1) + x1 = math.sin(q1) + x2 = math.sin(q2) + x3 = 0.42076 * x2 + x4 = math.cos(q3) + x5 = x0 * x4 + x6 = 0.01275 * x5 + x7 = math.cos(q4) + x8 = x2 * x7 + x9 = x1 * x8 + x10 = math.sin(q3) + x11 = math.cos(q2) + x12 = math.cos(q5) + x13 = x1 * x10 + x14 = -x0 * x4 + x11 * x13 + x15 = -x14 + x16 = x12 * x15 + x17 = math.sin(q4) + x18 = x0 * x10 + x19 = x1 * x4 + x20 = x11 * x19 + x21 = x18 + x20 + x22 = -x21 + x23 = math.sin(q5) + x24 = x17 * x2 + x25 = x1 * x24 + x26 = x22 * x7 + x27 = x25 + x26 + x28 = x23 * x27 + x29 = x1 * x2 * x7 - x17 * x22 + x30 = math.cos(q6) + x31 = 0.167455 * x30 + x32 = math.sin(q6) + x33 = x15 * x23 + x34 = -x33 + x35 = x12 * x27 + x36 = x34 + x35 + x37 = 0.42076 * x11 + x38 = 0.01275 * x18 + x39 = x11 * x7 + x40 = x0 * x39 + x41 = 0.0003501 * x12 + x42 = x2 * x41 + x43 = x24 * x5 + x44 = x11 * x17 + x45 = -x0 * x44 - x5 * x8 + x46 = 0.0003501 * x23 + x47 = x2 * x23 + x48 = 0.167455 * x32 + x49 = 0.01275 * x13 + x50 = -x0 * x11 * x4 + x13 + x51 = -x50 + x52 = x11 * x18 + x53 = x19 + x52 + x54 = -x53 + x55 = 0.31436 * x17 + x56 = x17 * x31 + x57 = x23 * x54 + x58 = x0 * x24 + x59 = -x0 * x17 * x2 + x51 * x7 + x60 = x0 * x8 + x61 = -x17 * x51 - x60 + x62 = x23 * x53 + x63 = x12 * x59 + x64 = x12 * x53 + x23 * x59 + x65 = -x62 + x63 + x66 = x17 * x50 + x67 = x50 * x7 + x58 + x68 = x1 * x44 + x19 * x8 + x69 = x14 * x7 + x70 = x29 * x48 + x71 = 0.31436 * x8 + x72 = x4 * x44 + x73 = x24 - x39 * x4 + x74 = x2 * x4 + x75 = x10 * x24 + x76 = x10 * x8 + x77 = x4 * x8 + x44 + x78 = x24 * x4 - x39 + x79 = x10 * x2 + x80 = -x77 + x81 = x12 * x80 + x82 = x12 * x79 + x83 = x17 * x21 + x9 + x84 = -x21 * x7 + x25 + + analytical_jacobian = numpy.array( + [ + [ + -0.01175 * x0 + + 0.01275 * x1 * x10 * x11 + - x1 * x3 + - 0.0003501 * x16 + + 0.31436 * x17 * x22 + - 0.0003501 * x28 + - x29 * x31 + + 0.167455 * x32 * x36 + - x6 + - 0.31436 * x9, + x0 * x37 + + x18 * x42 + + x2 * x38 + - x31 * (-x40 + x43) + + 0.31436 * x40 + - 0.31436 * x43 + - x45 * x46 + + x48 * (x12 * x45 + x18 * x47), + -x11 * x6 + - x41 * x51 + + x48 * (x12 * x54 * x7 - x23 * x51) + + x49 + + x54 * x55 + + x54 * x56 + - 0.0003501 * x57 * x7, + 0.167455 * x12 * x32 * x61 + + x31 * x59 + - x46 * x61 + + 0.31436 * x51 * x7 + - 0.31436 * x58, + -x48 * x64 + 0.0003501 * x62 - 0.0003501 * x63, + x31 * x65 + x48 * x61, + 0, + ], + [ + -x0 * x3 + + 0.01175 * x1 + - 0.0003501 * x12 * x54 + + 0.01275 * x19 + - x31 * (x60 - x66) + - x46 * x67 + + x48 * (x12 * x67 - x57) + + 0.01275 * x52 + - 0.31436 * x60 + + 0.31436 * x66, + 0.31436 * x1 * x17 * x2 * x4 + - x1 * x37 + - 0.31436 * x1 * x39 + - x13 * x42 + - x2 * x49 + - x31 * (x1 * x11 * x7 - x19 * x24) + + 0.167455 * x32 * (x12 * x68 - x13 * x47) + - x46 * x68, + x14 * x55 + + x14 * x56 + + 0.01275 * x20 + - x22 * x41 + + x38 + - x46 * x69 + + x48 * (x12 * x69 - x22 * x23), + x12 * x70 + 0.31436 * x25 + 0.31436 * x26 + x27 * x31 - x29 * x46, + 0.0003501 * x33 - 0.0003501 * x35 + x48 * (-x16 - x28), + x31 * x36 + x70, + 0, + ], + [ + 0, + 0.0003501 * x10 * x11 * x12 + + 0.01275 * x10 * x11 + - x3 + - x31 * (x72 + x8) + + 0.167455 * x32 * (x10 * x11 * x23 + x12 * x73) + - x46 * x73 + - x71 + - 0.31436 * x72, + x31 * x75 + + x41 * x74 + - x46 * x76 + + x48 * (x12 * x76 + x23 * x74) + + 0.01275 * x74 + + 0.31436 * x75, + 0.167455 * x12 * x32 * x78 + - x31 * x77 + - x4 * x71 + - 0.31436 * x44 + - x46 * x78, + 0.167455 * x32 * (-x23 * x80 + x82) - x46 * x79 - 0.0003501 * x81, + x31 * (x23 * x79 + x81) + x48 * x78, + 0, + ], + [0, x1, -x0 * x2, x53, x61, x64, x30 * x61 - x32 * x65], + [ + 0, + x0, + x1 * x2, + x15, + x83, + x16 + x23 * x84, + x30 * x83 - x32 * (x12 * x84 + x34), + ], + [ + -1, + 0, + -x11, + -x79, + x78, + -x23 * x77 - x82, + x30 * x78 - x32 * (x10 * x2 * x23 - x12 * x77), + ], + ] + ) + + return analytical_jacobian diff --git a/kinova_gen3/mass_matrix.py b/kinova_gen3/mass_matrix.py deleted file mode 100644 index 6598cc5..0000000 --- a/kinova_gen3/mass_matrix.py +++ /dev/null @@ -1,3963 +0,0 @@ -"""Mass matrix for Kinova Gen3 robot - -Functions ---------- -mass_matrix(joint_position) - -""" - -import math -import numpy as np - - -def mass_matrix_(joint_position): - """The mass matrix of the Kinova Gen3 robot - - Arguments - --------- - joint_position (array_like): The joint angles of the robot [rad] - - Returns - ------- - ndarray: The mass matrix of the robot - - """ - - x_0 = math.sin(joint_position[1]) - x_1 = x_0**2 - x_2 = math.cos(joint_position[1]) - x_3 = math.cos(joint_position[2]) - x_4 = x_3**2 - x_5 = math.sin(joint_position[2]) - x_6 = x_0 * x_5 - x_7 = x_2 * x_3 - x_8 = x_0 * x_3 - x_9 = -7.0e-6 * x_2 + 0.010932 * x_8 - x_10 = -4.4e-5 * x_6 - 0.006641 * x_8 - x_11 = 0.006641 * x_2 + 0.117892 * x_6 - x_12 = x_11 * x_3 - x_13 = 0.01256688 * x_2 - x_14 = 0.0064 * x_2 - x_15 = 0.2104 * x_6 - x_16 = -x_14 + x_15 - x_17 = x_16 * x_3 - x_18 = -4.4e-5 * x_2 + 0.117892 * x_8 - x_19 = x_18 * x_5 - x_20 = 0.000606 * x_2 - 0.011127 * x_6 - x_21 = math.sin(joint_position[3]) - x_22 = x_2 * x_21 - x_23 = math.cos(joint_position[3]) - x_24 = x_23 * x_8 - x_25 = x_22 + x_24 - x_26 = 0.2104 * x_8 - x_27 = x_14 * x_5 + x_26 - x_28 = 0.2084 * x_22 + 0.2084 * x_24 - x_29 = -x_28 - x_30 = x_29 * x_5 - x_31 = 0.3905024 * x_28 - x_32 = x_2 * x_23 - x_33 = x_21 * x_8 - x_34 = -x_14 * x_3 + x_15 - x_35 = -0.0005 * x_32 + 0.0005 * x_33 + 0.008316 * x_6 - x_36 = 0.0178304 * x_2 - x_37 = 0.2104 * x_4 - x_38 = -x_27 - x_39 = math.sin(joint_position[4]) - x_40 = x_22 * x_39 - x_41 = math.cos(joint_position[4]) - x_42 = x_41 * x_5 - x_43 = x_3 * x_39 - x_44 = x_23 * x_43 - x_45 = x_42 + x_44 - x_46 = x_0 * x_45 - x_47 = x_40 + x_46 - x_48 = x_22 * x_41 - x_49 = x_39 * x_5 - x_50 = x_23 * x_3 * x_41 - x_49 - x_51 = x_0 * x_50 - x_52 = x_48 + x_51 - x_53 = x_0 * x_23 - x_54 = x_22 * x_3 - x_55 = 0.0054 * x_53 + 0.0054 * x_54 - x_56 = 0.0064 * x_22 - x_57 = 0.0064 * x_24 + x_56 - x_58 = 1.856 * x_57 - x_59 = -x_53 - x_54 - x_60 = -x_2 * x_21 * x_39 - x_61 = -x_45 - x_62 = x_0 * x_61 - x_63 = x_60 + x_62 - x_64 = 0.00744704 * x_2 - x_65 = 0.24482144 * x_0 - x_66 = 1.8e-5 * x_21 - x_67 = 0.075478 * x_23 - x_68 = -1.8e-5 * x_2 * x_23 + 0.075478 * x_22 + x_66 * x_8 + x_67 * x_8 - x_69 = -x_68 - x_70 = 0.195672 * x_8 - x_71 = x_5 * x_69 - x_72 = -0.015006 * x_32 + 0.015006 * x_33 + 0.075478 * x_6 - x_73 = x_0 * x_21 - x_74 = x_2 * x_23 * x_3 - x_73 - x_75 = 0.005022 * x_74 - x_76 = 0.0064 * x_32 - x_77 = 0.0064 * x_33 - x_78 = 0.2084 * x_6 - x_76 + x_77 - x_79 = 0.0100224 * x_74 - x_80 = 0.0054 * x_73 - x_81 = x_3 * x_32 - x_82 = x_80 - 0.0054 * x_81 - x_83 = 0.93 * x_72 - x_84 = 1.856 * x_78 - x_85 = 0.015006 * x_22 + 0.015006 * x_24 - 1.8e-5 * x_6 - x_86 = 0.93 * x_85 - x_87 = 0.005022 * x_59 - x_88 = -x_15 * x_21 + x_3 * x_56 + 0.0064 * x_53 - x_89 = x_16 * x_21 - x_90 = 0.0064 * x_0 * x_23 * x_3 - x_89 - x_91 = 0.93 * x_69 - x_92 = 1.0e-6 * x_32 - x_93 = 1.0e-6 * x_21 - x_94 = x_8 * x_93 - x_95 = 0.008147 * x_22 + 0.008147 * x_24 - x_92 + x_94 - x_96 = x_16 * x_23 - x_97 = x_77 + x_96 - x_98 = 0.0064 * x_73 - x_99 = x_15 * x_23 - x_3 * x_76 + x_98 - x_100 = math.sin(joint_position[5]) - x_101 = x_100 * x_57 - x_102 = 0.1059 * x_40 + 0.1059 * x_46 - x_103 = 0.5 * x_102 - x_104 = x_23 * x_57 - x_105 = x_104 + x_21 * x_78 - x_106 = 0.0118784 * x_0 - x_107 = 0.0118784 * x_8 - x_108 = x_2 * x_23 - x_33 - x_109 = 0.0005 * x_6 - x_110 = 1.0e-6 * x_23 - x_111 = ( - -x_109 - x_110 * x_8 + 0.000631 * x_2 * x_23 - 1.0e-6 * x_22 - 0.000631 * x_33 - ) - x_112 = x_21 * x_72 + x_23 * x_85 - x_113 = 0.005952 * x_0 - x_114 = 0.005952 * x_8 - x_115 = x_100 * x_23 - x_116 = math.cos(joint_position[5]) - x_117 = x_116 * x_21 - x_118 = x_117 * x_41 - x_119 = x_115 + x_118 - x_120 = x_119 * x_2 - x_121 = x_116 * x_49 - x_122 = x_100 * x_21 - x_123 = x_116 * x_23 * x_41 - x_122 - x_124 = x_123 * x_3 - x_125 = -x_121 + x_124 - x_126 = x_0 * x_125 - x_127 = x_120 + x_126 - x_128 = 0.001596 * x_48 + 0.001596 * x_51 - x_129 = x_21 * x_57 - x_130 = -x_129 + x_23 * x_78 - x_131 = 1.856 * x_16 - x_132 = 0.1059 * x_48 + 0.1059 * x_51 - x_133 = x_39 * x_73 - x_134 = x_2 * x_61 - x_135 = x_133 + x_134 - x_136 = 0.0063612 * x_135 - x_137 = x_39 * x_80 - x_138 = -0.0054 * x_134 - x_137 - x_139 = 1.178 * x_132 - x_140 = x_2 * x_50 - x_141 = 0.0054 * x_0 * x_21 * x_41 - 0.0054 * x_140 - x_142 = 0.1059 * x_2 * x_21 * x_39 - 0.1059 * x_62 - x_143 = 1.178 * x_142 - x_144 = x_41 * x_73 - x_145 = x_140 - x_144 - x_146 = 0.0063612 * x_145 - x_147 = 0.000399 * x_32 - 0.000399 * x_33 - 0.000256 * x_40 + 0.000256 * x_62 - x_148 = x_116 * x_142 - x_149 = x_21 * x_85 - x_150 = -x_149 + x_23 * x_72 - x_151 = 0.93 * x_16 - x_152 = x_21 * x_39 - x_153 = 0.0064 * x_8 - x_154 = x_39 * x_96 - x_155 = x_152 * x_153 + x_154 - x_26 * x_41 - x_156 = -x_155 - x_157 = x_21 * x_41 - x_158 = x_41 * x_96 - x_159 = x_153 * x_157 + x_158 + x_26 * x_39 - x_160 = x_132 * x_41 - x_161 = x_142 * x_39 - x_162 = x_160 + x_161 - x_163 = 0.2478512 * x_8 - x_164 = x_129 * x_3 - x_165 = x_23 * x_78 - x_166 = x_165 * x_3 - x_167 = 0.0118784 * x_2 - x_168 = 0.3905024 * x_0 - x_169 = 0.063883 * x_48 + 0.063883 * x_51 + x_92 - x_94 - x_170 = 0.0036612 * x_135 - x_171 = ( - 0.063883 * x_2 * x_21 * x_39 - + 0.009432 * x_2 * x_23 - - 0.009432 * x_33 - - 0.063883 * x_62 - ) - x_172 = 0.678 * x_171 - x_173 = 0.0036612 * x_145 - x_174 = 0.678 * x_169 - x_175 = 0.009432 * x_41 - x_176 = -x_175 * x_22 + 1.0e-6 * x_2 * x_21 * x_39 - 0.009432 * x_51 - 1.0e-6 * x_62 - x_177 = 0.678 * x_176 - x_178 = 0.000256 * x_32 - 0.000256 * x_33 - 0.001607 * x_40 + 0.001607 * x_62 - x_179 = 0.0036612 * x_59 - x_180 = x_132 * x_39 - x_181 = x_142 * x_21 * x_41 - x_180 * x_21 - x_182 = 0.0075392 * x_0 - x_183 = x_29 * x_41 - x_184 = x_39 * x_78 - x_185 = x_183 + x_184 - x_186 = -x_185 - x_187 = x_29 * x_39 - x_188 = -x_187 + x_41 * x_78 - x_189 = 0.0075392 * x_8 - x_190 = x_39 * x_98 - x_191 = x_23 * x_49 - x_192 = x_191 - x_3 * x_41 - x_193 = 0.2104 * x_0 - x_194 = -x_14 * x_61 - x_190 - x_192 * x_193 - x_195 = x_23 * x_42 - x_196 = x_195 + x_43 - x_197 = -x_196 - x_198 = 0.0064 * x_0 * x_21 * x_41 - x_14 * x_50 - x_193 * x_197 - x_199 = x_2 * x_45 - x_200 = x_137 - 0.0054 * x_199 - x_201 = 0.1059 * x_120 + 0.1059 * x_126 - x_202 = -x_201 - x_203 = 0.5 * x_202 - x_204 = -x_133 + x_199 - x_205 = 0.0027 * x_204 - x_206 = x_125 * x_2 - x_207 = 0.0054 * x_0 * x_119 - 0.0054 * x_206 - x_208 = x_0 * x_119 - x_209 = x_206 - x_208 - x_210 = 0.0027 * x_209 - x_211 = -x_132 - x_212 = 0.5 * x_132 - x_213 = x_122 * x_41 - x_214 = x_116 * x_23 - x_213 - x_215 = x_2 * x_214 - x_216 = x_100 * x_49 - x_217 = x_115 * x_41 - x_218 = -x_117 - x_217 - x_219 = x_218 * x_3 - x_220 = x_216 + x_219 - x_221 = x_0 * x_220 - x_222 = x_180 * x_23 - x_223 = x_142 * x_23 * x_41 - x_222 - x_224 = 1.178 * x_16 - x_225 = -x_162 - x_226 = 1.178 * x_29 - x_227 = x_116 * x_39 - x_228 = x_123 * x_16 - x_229 = x_119 * x_153 + x_227 * x_26 + x_228 - x_230 = x_142 * x_41 - x_180 - x_231 = 1.178 * x_78 - x_232 = x_23 * x_72 - x_233 = 0.195672 * x_0 - x_234 = x_232 * x_3 - x_235 = x_149 * x_3 - x_236 = 0.005952 * x_2 - x_237 = x_202 * x_41 - x_238 = -x_102 * x_227 + x_237 - x_239 = -x_238 - x_240 = 0.1052 * x_8 - x_241 = x_132 * x_61 - x_242 = x_142 * x_50 - x_243 = 0.0075392 * x_2 - x_244 = 0.2478512 * x_0 - x_245 = x_116 * x_187 - x_246 = x_41 * x_78 - x_247 = x_116 * x_246 - x_248 = x_101 - x_245 + x_247 - x_249 = -x_192 - x_250 = -x_14 * x_45 + x_190 - x_193 * x_249 - x_251 = x_169 * x_41 + x_171 * x_39 - x_252 = 0.1426512 * x_8 - x_253 = 0.001641 * x_120 + 0.001641 * x_126 - x_254 = x_202 * x_39 - x_255 = x_102 * x_119 + x_21 * x_254 - x_256 = 0.0032 * x_0 - x_257 = ( - 0.001641 * x_0 * x_45 - + 0.001641 * x_2 * x_21 * x_39 - - 0.000278 * x_215 - - 0.000278 * x_221 - ) - x_258 = 0.5 * x_29 - x_259 = 0.0032 * x_8 - x_260 = 1.0e-6 * x_39 - x_261 = 0.00965 * x_120 + 0.00965 * x_126 + x_22 * x_260 + 1.0e-6 * x_46 - x_262 = x_100 * x_261 - x_263 = 0.678 * x_142 - x_264 = x_102 * x_41 - x_265 = x_116 * x_264 - x_266 = x_254 + x_265 - x_267 = 0.5 * x_78 - x_268 = ( - 0.045483 * x_0 * x_45 - + 0.045483 * x_2 * x_21 * x_39 - - 0.00965 * x_215 - - 0.00965 * x_221 - ) - x_269 = x_116 * x_268 - x_270 = -x_251 - x_271 = 0.678 * x_29 - x_272 = x_116 * x_43 - x_273 = x_123 * x_5 - x_274 = x_272 + x_273 - x_275 = -x_274 - x_276 = 0.0064 * x_0 * x_119 - x_125 * x_14 - x_193 * x_275 - x_277 = x_102 * x_123 - x_278 = x_23 * x_254 - x_279 = x_277 + x_278 - x_280 = 0.5 * x_16 - x_281 = x_169 * x_39 - x_282 = x_171 * x_41 - x_281 - x_283 = 0.678 * x_78 - x_284 = x_102 * x_125 - x_285 = x_202 * x_45 - x_286 = 0.0032 * x_2 - x_287 = 0.1052 * x_0 - x_288 = x_215 + x_221 - x_289 = 0.00041 * x_215 + 0.00041 * x_221 - 0.000278 * x_40 - 0.000278 * x_46 - x_290 = 0.678 * x_268 - x_291 = 0.0036612 * x_209 - x_292 = x_2 * x_220 - x_293 = 0.0054 * x_0 * x_214 - 0.0054 * x_292 - x_294 = 0.678 * x_261 - x_295 = x_0 * x_214 - x_296 = x_292 - x_295 - x_297 = 0.0036612 * x_296 - x_298 = 0.045483 * x_120 + 0.045483 * x_126 + 1.0e-6 * x_215 + 1.0e-6 * x_221 - x_299 = -x_298 - x_300 = 0.678 * x_299 - x_301 = 0.0036612 * x_204 - x_302 = 0.678 * x_132 - x_303 = x_100 * x_39 - x_304 = x_16 * x_218 - x_305 = x_153 * x_214 - x_26 * x_303 + x_304 - x_306 = math.cos(joint_position[6]) - x_307 = x_115 * x_306 - x_308 = math.sin(joint_position[6]) - x_309 = x_308 * x_39 - x_310 = x_116 * x_306 * x_41 - x_309 - x_311 = x_21 * x_310 - x_312 = x_307 + x_311 - x_313 = x_2 * x_312 - x_314 = x_308 * x_41 - x_315 = x_306 * x_39 - x_316 = x_116 * x_315 - x_317 = x_314 + x_316 - x_318 = x_317 * x_5 - x_319 = x_122 * x_306 - x_320 = x_23 * x_310 - x_321 = -x_319 + x_320 - x_322 = x_3 * x_321 - x_323 = -x_318 + x_322 - x_324 = x_0 * x_323 - x_325 = x_313 + x_324 - x_326 = x_115 * x_308 - x_327 = x_116 * x_314 - x_328 = -x_315 - x_327 - x_329 = x_21 * x_328 - x_330 = -x_326 + x_329 - x_331 = x_2 * x_330 - x_332 = x_116 * x_309 - x_333 = -x_306 * x_41 + x_332 - x_334 = -x_333 - x_335 = x_334 * x_5 - x_336 = x_122 * x_308 - x_337 = x_23 * x_328 - x_338 = x_336 + x_337 - x_339 = x_3 * x_338 - x_340 = -x_335 + x_339 - x_341 = x_0 * x_340 - x_342 = x_331 + x_341 - x_343 = x_116 * x_57 - x_344 = x_100 * x_187 - x_345 = x_100 * x_246 - x_346 = x_343 + x_344 - x_345 - x_347 = x_171 * x_41 - x_348 = x_176 * x_23 - x_349 = -x_21 * x_281 + x_21 * x_347 + x_348 - x_350 = 0.0043392 * x_0 - x_351 = x_218 * x_5 - x_352 = x_100 * x_3 * x_39 - x_351 - x_353 = 0.0064 * x_0 * x_214 - x_14 * x_220 - x_193 * x_352 - x_354 = 0.0043392 * x_8 - x_355 = x_23 * x_281 - x_356 = x_176 * x_21 - x_357 = x_171 * x_23 * x_41 - x_355 - x_356 - x_358 = 0.678 * x_16 - x_359 = x_100 * x_268 + x_116 * x_261 - x_360 = 0.678 * x_57 - x_361 = 0.1426512 * x_0 - x_362 = x_171 * x_50 - x_363 = x_169 * x_61 - x_364 = x_3 * x_356 - x_365 = 0.0043392 * x_2 - x_366 = x_116 * x_268 - x_262 - x_367 = x_132 * x_306 - x_368 = x_148 * x_308 - x_369 = x_367 - x_368 - x_370 = -0.000281 * x_215 - 0.000281 * x_221 + 0.029798 * x_313 + 0.029798 * x_324 - x_371 = 0.5 * x_370 - x_372 = ( - 0.000281 * x_0 * x_340 - + 0.000281 * x_2 * x_330 - - 0.011402 * x_313 - - 0.011402 * x_324 - ) - x_373 = x_100 * x_372 - x_374 = 0.5 * x_142 - x_375 = x_132 * x_308 - x_376 = x_148 * x_306 - x_377 = x_375 + x_376 - x_378 = ( - 0.011402 * x_0 * x_220 - + 0.011402 * x_2 * x_214 - - 0.029798 * x_331 - - 0.029798 * x_341 - ) - x_379 = 0.5 * x_378 - x_380 = x_102 * x_308 - x_381 = x_202 * x_306 - x_382 = -x_380 - x_381 - x_383 = x_202 * x_308 - x_384 = x_102 * x_306 - x_383 - x_385 = x_2 * x_323 - x_386 = 0.0054 * x_0 * x_312 - 0.0054 * x_385 - x_387 = x_0 * x_312 - x_388 = x_385 - x_387 - x_389 = 0.0027 * x_388 - x_390 = x_2 * x_340 - x_391 = 0.0054 * x_0 * x_330 - 0.0054 * x_390 - x_392 = x_0 * x_330 - x_393 = x_390 - x_392 - x_394 = 0.0027 * x_393 - x_395 = 0.5 * x_372 - x_396 = 0.0027 * x_296 - x_397 = x_101 * x_308 - x_398 = x_29 * x_333 - x_399 = x_328 * x_78 - x_400 = -x_397 + x_398 + x_399 - x_401 = x_101 * x_306 - x_402 = -x_317 - x_403 = x_29 * x_402 - x_404 = x_310 * x_78 - x_405 = x_401 + x_403 + x_404 - x_406 = x_16 * x_321 - x_407 = x_153 * x_312 + x_26 * x_317 + x_406 - x_408 = x_16 * x_338 - x_409 = x_153 * x_330 + x_26 * x_334 + x_408 - x_410 = 3.0e-6 * x_313 + 3.0e-6 * x_324 - x_411 = ( - 0.000609 * x_215 - + 0.000609 * x_221 - + 0.000118 * x_331 - + 0.000118 * x_341 - + x_410 - ) - x_412 = x_299 * x_41 - x_413 = x_262 * x_39 - x_269 * x_39 + x_412 - x_414 = -x_413 - x_415 = x_3 * x_317 - x_416 = x_321 * x_5 - x_417 = x_415 + x_416 - x_418 = -x_417 - x_419 = 0.0064 * x_0 * x_312 - x_14 * x_323 - x_193 * x_418 - x_420 = x_3 * x_334 - x_421 = x_338 * x_5 - x_422 = x_420 + x_421 - x_423 = -x_422 - x_424 = 0.0064 * x_0 * x_330 - x_14 * x_340 - x_193 * x_423 - x_425 = x_262 * x_41 - x_426 = x_269 * x_41 - x_427 = x_299 * x_39 - x_428 = -x_425 + x_426 + x_427 - x_429 = x_119 * x_268 + x_21 * x_427 + x_214 * x_261 - x_430 = x_123 * x_268 - x_431 = x_218 * x_261 - x_432 = x_23 * x_427 - x_433 = x_430 + x_431 + x_432 - x_434 = ( - 3.0e-6 * x_215 - + 3.0e-6 * x_221 - + 0.000587 * x_313 - + 0.000587 * x_324 - + 3.0e-6 * x_331 - + 3.0e-6 * x_341 - ) - x_435 = x_306 * x_370 - x_436 = x_308 * x_378 - x_437 = x_435 + x_436 - x_438 = x_308 * x_370 - x_439 = x_306 * x_378 - x_438 - x_440 = ( - 0.000118 * x_215 - + 0.000118 * x_221 - + 0.000369 * x_331 - + 0.000369 * x_341 - + x_410 - ) - x_441 = x_220 * x_261 - x_442 = x_125 * x_268 - x_443 = x_299 * x_45 - x_444 = -x_437 - x_445 = x_306 * x_378 - x_446 = -x_100 * x_438 + x_100 * x_445 + x_116 * x_372 - x_447 = 0.5 * x_57 - x_448 = x_373 * x_39 - x_449 = x_317 * x_378 + x_334 * x_370 - x_448 - x_450 = x_116 * x_306 * x_378 - x_116 * x_438 - x_373 - x_451 = x_333 * x_370 + x_378 * x_402 + x_448 - x_452 = x_328 * x_370 - x_453 = x_310 * x_378 - x_454 = x_373 * x_41 - x_455 = x_452 + x_453 - x_454 - x_456 = x_214 * x_372 + x_312 * x_378 + x_330 * x_370 - x_457 = x_338 * x_370 - x_458 = x_321 * x_378 - x_459 = x_218 * x_372 - x_460 = x_457 + x_458 + x_459 - x_461 = x_340 * x_370 - x_462 = x_323 * x_378 - x_463 = x_220 * x_372 - x_464 = -0.1059 * x_191 + 0.1059 * x_3 * x_41 - x_465 = x_123 * x_464 - x_466 = 0.1059 * x_272 + 0.1059 * x_273 - x_467 = x_39 * x_466 - x_468 = x_23 * x_467 - x_469 = x_465 + x_468 - x_470 = x_100 * x_43 - x_471 = ( - 0.000281 * x_218 * x_5 - 0.029798 * x_415 - 0.029798 * x_416 - 0.000281 * x_470 - ) - x_472 = x_338 * x_471 - x_473 = -0.011402 * x_351 + 0.029798 * x_420 + 0.029798 * x_421 + 0.011402 * x_470 - x_474 = x_321 * x_473 - x_475 = 0.011402 * x_415 + 0.011402 * x_416 - 0.000281 * x_420 - 0.000281 * x_421 - x_476 = x_218 * x_475 - x_477 = x_472 + x_474 + x_476 - x_478 = 0.0064 * x_5 - x_479 = x_21 * x_478 - x_480 = 0.2084 * x_3 - x_479 - x_481 = x_39 * x_480 - x_482 = 0.2084 * x_195 + x_481 - x_483 = x_39 * x_464 - x_484 = x_41 * x_466 - x_485 = -x_116 * x_483 + x_484 - x_486 = x_41 * x_464 - x_487 = x_116 * x_486 - x_488 = x_467 + x_487 - x_489 = x_308 * x_466 - x_490 = x_306 * x_464 - x_489 - x_491 = 0.1059 * x_195 + 0.1059 * x_43 - x_492 = -x_491 - x_493 = x_308 * x_464 - x_494 = x_116 * x_493 - x_495 = x_306 * x_492 - x_494 - x_496 = x_308 * x_492 - x_497 = x_306 * x_464 - x_498 = x_116 * x_497 - x_499 = x_496 + x_498 - x_500 = x_306 * x_471 - x_501 = x_308 * x_473 - x_502 = x_500 + x_501 - x_503 = x_308 * x_471 - x_504 = x_306 * x_473 - x_503 - x_505 = x_306 * x_466 - x_506 = -x_493 - x_505 - x_507 = -x_502 - x_508 = 0.2104 * x_121 - x_509 = 0.2104 * x_124 - x_508 - x_510 = -x_119 * x_478 + 0.2104 * x_123 * x_3 - x_508 - x_511 = x_116 * x_23 - x_512 = -x_115 * x_478 + x_116 * x_41 * x_480 - 0.2084 * x_49 * x_511 - x_513 = -x_466 - x_514 = x_306 * x_473 - x_515 = -x_100 * x_503 + x_100 * x_514 + x_116 * x_475 - x_516 = 0.2104 * x_335 - x_517 = 0.2104 * x_339 - x_516 - x_518 = 0.2104 * x_318 - x_519 = 0.2104 * x_322 - x_518 - x_520 = 0.2104 * x_216 + 0.2104 * x_219 - x_521 = 0.2104 * x_42 + 0.2104 * x_44 - x_522 = 0.0064 * x_21 - x_523 = -x_49 * x_522 + x_521 - x_524 = x_100 * x_475 - x_525 = x_116 * x_306 * x_473 - x_116 * x_503 - x_524 - x_526 = x_39 * x_524 - x_527 = x_333 * x_471 + x_402 * x_473 + x_526 - x_528 = x_23 * x_5 - x_529 = 0.2084 * x_528 - x_530 = x_328 * x_480 - x_531 = x_326 * x_478 + x_333 * x_529 + x_530 - x_532 = x_310 * x_480 - x_533 = -x_307 * x_478 + x_402 * x_529 + x_532 - x_534 = x_310 * x_473 - x_535 = x_328 * x_471 - x_536 = x_41 * x_524 - x_537 = x_534 + x_535 - x_536 - x_538 = 0.2104 * x_3 * x_338 - x_330 * x_478 - x_516 - x_539 = 0.2104 * x_3 * x_321 - x_312 * x_478 - x_518 - x_540 = -x_214 * x_478 + x_520 - x_541 = x_41 * x_480 - x_542 = x_100 * x_541 - x_543 = 0.2084 * x_100 * x_23 * x_39 * x_5 - x_478 * x_511 - x_542 - x_544 = x_23 * x_486 - x_545 = x_39 * x_492 - x_546 = x_23 * x_545 - x_547 = x_544 - x_546 - x_548 = -0.2084 * x_191 + x_541 - x_549 = x_486 - x_545 - x_550 = -x_482 - x_551 = x_41 * x_492 - x_552 = x_483 + x_551 - x_553 = -x_552 - x_554 = -x_521 - x_555 = -x_523 - x_556 = -0.2104 * x_23 * x_3 * x_41 + 0.2104 * x_49 - x_557 = -x_556 - x_558 = -x_42 * x_522 - x_556 - x_559 = x_23**2 - x_560 = 0.0064 * x_559 - x_561 = x_5 * x_560 - x_562 = x_21 * x_480 - x_561 - x_563 = x_21 * x_5 - x_564 = 0.075478 * x_3 - 0.015006 * x_563 - x_565 = 1.8e-5 * x_3 - x_566 = -0.015006 * x_528 - x_565 - x_567 = x_21 * x_564 + x_23 * x_566 - x_568 = x_21 * x_486 - x_21 * x_545 - x_569 = x_3 * x_41 - x_570 = 1.0e-6 * x_569 - x_571 = x_110 * x_49 - x_572 = -0.00965 * x_272 - 0.00965 * x_273 + x_570 - x_571 - x_573 = -0.045483 * x_191 + 0.00965 * x_351 - 0.00965 * x_470 + 0.045483 * x_569 - x_574 = 1.0e-6 * x_100 - x_575 = 0.045483 * x_116 - x_576 = 0.045483 * x_273 + 1.0e-6 * x_351 - x_43 * x_574 + x_43 * x_575 - x_577 = x_39 * x_576 - x_578 = x_119 * x_573 + x_21 * x_577 + x_214 * x_572 - x_579 = -0.063883 * x_191 + 0.009432 * x_563 + 0.063883 * x_569 - x_580 = x_41 * x_579 - x_581 = x_5 * x_93 - x_582 = -0.063883 * x_195 - 0.063883 * x_43 + x_581 - x_583 = x_39 * x_582 - x_584 = 0.009432 * x_23 - x_585 = x_42 * x_584 + 0.009432 * x_43 + x_570 - x_571 - x_586 = x_23 * x_585 - x_587 = x_21 * x_580 - x_21 * x_583 + x_586 - x_588 = x_123 * x_573 - x_589 = x_218 * x_572 - x_590 = x_23 * x_577 - x_591 = x_588 + x_589 + x_590 - x_592 = x_23 * x_583 - x_593 = x_21 * x_585 - x_594 = x_23 * x_41 * x_579 - x_592 - x_593 - x_595 = x_41 * x_579 - x_583 - x_596 = x_100 * x_573 + x_116 * x_572 - x_597 = x_100 * x_572 - x_598 = x_116 * x_573 - x_597 - x_599 = x_39 * x_579 + x_41 * x_582 - x_600 = -x_599 - x_601 = -x_576 - x_602 = 0.0064 * x_528 - x_603 = -0.2104 * x_21 * x_3 - x_602 - x_604 = x_116 * x_573 - x_605 = x_41 * x_576 - x_606 = x_39 * x_597 - x_39 * x_604 + x_605 - x_607 = x_41 * x_597 - x_608 = x_41 * x_604 - x_609 = x_577 - x_607 + x_608 - x_610 = x_119 * x_464 + x_21 * x_467 - x_611 = x_214 * x_475 + x_312 * x_473 + x_330 * x_471 - x_612 = x_23 * x_480 - x_613 = x_21 * x_602 + x_612 - x_614 = 0.2104 * x_23 * x_3 - x_479 - x_615 = x_23 * x_564 - x_616 = x_21 * x_566 - x_617 = x_615 - x_616 - x_618 = x_5**2 - x_619 = x_23 * x_618 - x_620 = x_21 * x_3 - x_621 = x_3 * x_612 - x_622 = x_5 * x_66 + x_5 * x_67 - x_623 = x_5 * x_622 - x_624 = x_3 * x_615 - x_625 = x_3 * x_616 - x_626 = x_464 * x_50 - x_627 = x_492 * x_61 - x_628 = x_220 * x_572 - x_629 = x_45 * x_576 - x_630 = x_125 * x_573 - x_631 = x_3 * x_593 - x_632 = x_50 * x_579 - x_633 = x_582 * x_61 - x_634 = x_45 * x_466 - x_635 = x_125 * x_464 - x_636 = x_220 * x_475 - x_637 = x_323 * x_473 - x_638 = x_340 * x_471 - x_639 = 0.5 * x_464 - x_640 = -x_622 - x_641 = -x_606 - x_642 = 0.678 * x_464 - x_643 = -x_485 - x_644 = x_317 * x_473 + x_334 * x_471 - x_526 - x_645 = x_3 * x_6 - x_646 = x_103 * x_464 - x_647 = -4.4e-5 * x_3 + 0.006641 * x_5 - x_648 = 0.00390610906848 * x_2 - x_649 = 0.005022 * x_2 - x_650 = 0.0118784 * x_5 - x_651 = 0.0043392 * x_5 - x_652 = x_23 * x_3 - x_653 = ( - 0.01373048 * x_0 * x_647 - - 9.562837152e-7 * x_0 - + 1.1636 * x_10 * x_647 - - x_104 * x_650 - + x_116 * x_646 - + 0.3820005712 * x_12 - + x_139 * x_492 - + x_143 * x_464 - + x_148 * x_639 - - 0.3905024 * x_164 - + 0.3905024 * x_166 - + 1.1723488 * x_17 - + x_172 * x_579 - + x_174 * x_582 - + x_177 * x_585 - - 0.3820005712 * x_19 - - 0.012660994829264 * x_2 - + x_203 * x_466 - + 0.3867904 * x_23 * x_30 - + 0.195672 * x_234 - - 0.195672 * x_235 - + x_290 * x_573 - + x_294 * x_572 - + x_300 * x_576 - - 0.00208866816 * x_32 * x_618 - - x_348 * x_651 - + x_360 * x_585 - - 0.1426512 * x_364 - + x_371 * x_471 - + x_379 * x_473 - + x_395 * x_475 - - x_4 * x_648 - + x_480 * x_84 - + x_564 * x_83 - + x_566 * x_86 - - 0.08138070016 * x_6 * x_652 - - 0.00021039872 * x_6 - - x_618 * x_648 - + x_622 * x_91 - - x_623 * x_649 - + x_646 - ) - x_654 = 0.1059 * x_115 + 0.1059 * x_118 - x_655 = -x_654 - x_656 = x_39 * x_655 - x_657 = x_23 * x_656 - x_658 = 0.1059 * x_152 - x_659 = x_123 * x_658 + x_657 - x_660 = 0.000281 * x_213 + 0.029798 * x_307 + 0.029798 * x_311 - 0.000281 * x_511 - x_661 = x_338 * x_660 - x_662 = ( - 0.029798 * x_100 * x_23 * x_308 - + 0.011402 * x_116 * x_23 - - 0.011402 * x_213 - - 0.029798 * x_329 - ) - x_663 = x_321 * x_662 - x_664 = 0.000281 * x_308 - x_665 = 0.011402 * x_306 - x_666 = x_115 * x_664 + x_115 * x_665 - 0.000281 * x_21 * x_328 + 0.011402 * x_311 - x_667 = -x_666 - x_668 = x_218 * x_667 - x_669 = x_661 + x_663 + x_668 - x_670 = x_39**2 - x_671 = 0.1059 * x_670 - x_672 = x_117 * x_671 - x_673 = x_41 * x_655 - x_674 = -x_672 + x_673 - x_675 = 0.1059 * x_39 - x_676 = x_118 * x_675 + x_656 - x_677 = x_308 * x_660 - x_678 = x_306 * x_662 - x_677 - x_679 = x_306 * x_660 - x_680 = x_308 * x_662 - x_681 = x_679 + x_680 - x_682 = 0.1059 * x_309 - x_683 = x_306 * x_655 - x_684 = -x_21 * x_682 - x_683 - x_685 = x_308 * x_655 - x_686 = 0.1059 * x_21 * x_306 * x_39 - x_685 - x_687 = -x_681 - x_688 = x_41 * x_511 - x_689 = 0.0064 * x_122 - 0.0064 * x_688 - x_690 = 0.2084 * x_39 - x_691 = x_117 * x_690 + x_689 - x_692 = x_306 * x_662 - x_693 = -x_100 * x_677 + x_100 * x_692 + x_116 * x_667 - x_694 = 0.0064 * x_117 + 0.0064 * x_217 - x_695 = 0.0064 * x_23 - x_696 = 0.2084 * x_157 + x_39 * x_695 - x_697 = -x_696 - x_698 = x_100 * x_667 - x_699 = x_116 * x_306 * x_662 - x_116 * x_677 - x_698 - x_700 = 0.0064 * x_336 + 0.0064 * x_337 - x_701 = -x_700 - x_702 = -0.0064 * x_100 * x_21 * x_306 + 0.0064 * x_320 - x_703 = -x_702 - x_704 = x_39 * x_698 - x_705 = x_333 * x_660 + x_402 * x_662 + x_704 - x_706 = -x_117 * x_682 + 0.1059 * x_21 * x_306 * x_41 - x_707 = 0.1059 * x_314 - x_708 = 0.1059 * x_315 - x_709 = x_117 * x_708 + x_21 * x_707 - x_710 = x_310 * x_662 - x_711 = x_328 * x_660 - x_712 = x_41 * x_698 - x_713 = x_710 + x_711 - x_712 - x_714 = -x_122 * x_690 + x_694 - x_715 = 0.2084 * x_21 - x_716 = -x_333 * x_715 - x_700 - x_717 = -x_402 * x_715 - x_702 - x_718 = 0.2084 * x_152 - x_41 * x_695 - x_719 = x_41**2 - x_720 = 0.1059 * x_719 - x_721 = x_21 * x_671 + x_21 * x_720 - x_722 = -x_721 - x_723 = ( - -1.0e-6 * x_100 * x_21 * x_41 - + 0.045483 * x_115 - + 0.045483 * x_117 * x_41 - + 1.0e-6 * x_511 - ) - x_724 = -x_723 - x_725 = x_39 * x_724 - x_726 = 0.045483 * x_152 + 0.00965 * x_213 - 0.00965 * x_511 - x_727 = x_21 * x_260 - x_728 = 0.00965 * x_115 + 0.00965 * x_118 + x_727 - x_729 = x_119 * x_726 + x_21 * x_725 + x_214 * x_728 - x_730 = -x_175 * x_21 + x_727 - x_731 = x_23 * x_730 - x_732 = 0.063883 * x_152 + x_584 - x_733 = x_41 * x_732 - x_734 = x_110 + 0.063883 * x_157 - x_735 = x_39 * x_734 - x_736 = x_21 * x_733 - x_21 * x_735 + x_731 - x_737 = x_23 * x_725 - x_738 = x_123 * x_726 - x_739 = x_218 * x_728 - x_740 = x_737 + x_738 + x_739 - x_741 = x_21 * x_730 - x_742 = x_23 * x_735 - x_743 = x_23 * x_41 * x_732 - x_741 - x_742 - x_744 = x_733 - x_735 - x_745 = x_100 * x_726 + x_116 * x_728 - x_746 = x_100 * x_728 - x_747 = x_116 * x_726 - x_746 - x_748 = x_39 * x_732 + x_41 * x_734 - x_749 = -x_748 - x_750 = x_116 * x_726 - x_751 = x_41 * x_724 - x_752 = x_39 * x_746 - x_39 * x_750 + x_751 - x_753 = x_41 * x_750 - x_754 = x_41 * x_746 - x_755 = x_725 + x_753 - x_754 - x_756 = x_119 * x_658 + x_21 * x_656 - x_757 = x_214 * x_667 + x_312 * x_662 + x_330 * x_660 - x_758 = x_21**2 - x_759 = 0.0064 * x_758 - x_760 = -x_560 - x_759 - x_761 = 0.015006 * x_758 - x_762 = 0.015006 * x_559 - x_763 = -x_761 - x_762 - x_764 = x_2 * x_5 - x_765 = 0.075478 * x_21 - 1.8e-5 * x_23 - x_766 = -x_765 - x_767 = 0.1059 * x_157 - x_768 = x_3 * x_741 - x_769 = x_50 * x_732 - x_770 = x_61 * x_734 - x_771 = x_45 * x_724 - x_772 = x_125 * x_726 - x_773 = x_220 * x_728 - x_774 = x_45 * x_655 - x_775 = x_220 * x_667 - x_776 = x_323 * x_662 - x_777 = x_340 * x_660 - x_778 = -x_752 - x_779 = -x_674 - x_780 = x_317 * x_662 + x_334 * x_660 - x_704 - x_781 = 0.05295 * x_21 - x_782 = 0.00028593 * x_209 - x_783 = 0.0718002 * x_21 - x_784 = 0.05295 * x_39 - x_785 = x_122 * x_784 - x_786 = 0.0718002 * x_39 - x_787 = x_117 * x_786 - x_788 = x_122 * x_786 - x_789 = 0.3867904 * x_21 - x_790 = 0.05295 * x_152 - x_791 = 0.1247502 * x_21 - x_792 = x_5 * x_766 - x_793 = x_142 * x_41 - x_794 = ( - x_102 * x_117 * x_784 - + x_102 * x_790 - + 0.05295 * x_117 * x_161 - + 0.0237568 * x_129 - + 0.01990758 * x_149 - + x_160 * x_791 - + x_161 * x_791 - - 0.0237568 * x_165 - + x_172 * x_732 - + x_174 * x_734 - + x_177 * x_730 - + 0.0012084349250612 * x_2 - + x_203 * x_655 - + 0.00208866816 * x_22 * x_5 - + 0.0075392 * x_222 - - 0.0043392 * x_23 * x_347 - - 0.0075392 * x_23 * x_793 - - 0.01990758 * x_232 - - 0.0032 * x_278 - - x_29 * x_789 - + x_290 * x_726 - + x_294 * x_728 - + x_300 * x_724 - + 0.08138070016 * x_33 - + 0.0043392 * x_355 - + 0.0086784 * x_356 - + x_360 * x_730 - + x_371 * x_660 - + x_379 * x_662 - + x_395 * x_667 - - 0.0043392 * x_432 - - x_649 * x_792 - + x_766 * x_91 - ) - x_795 = 0.1059 * x_41 - x_796 = x_123 * x_795 + x_511 * x_671 - x_797 = x_306 * x_41 - x_798 = 0.000281 * x_116 - x_799 = 0.011402 * x_116 - x_800 = x_309 * x_798 + 0.011402 * x_314 + x_315 * x_799 - 0.000281 * x_797 - x_801 = x_218 * x_800 - x_802 = 0.011402 * x_303 - 0.029798 * x_332 + 0.029798 * x_797 - x_803 = x_321 * x_802 - x_804 = -0.000281 * x_303 - 0.029798 * x_314 - 0.029798 * x_316 - x_805 = x_338 * x_804 - x_806 = x_801 + x_803 + x_805 - x_807 = x_308 * x_804 - x_808 = x_306 * x_802 - x_807 - x_809 = x_306 * x_804 - x_810 = x_308 * x_802 - x_811 = x_809 + x_810 - x_812 = -x_811 - x_813 = x_116 * x_671 + x_116 * x_720 - x_814 = 0.1059 * x_306 * x_41 - 0.1059 * x_332 - x_815 = x_306 * x_802 - x_816 = -x_100 * x_807 + x_100 * x_815 + x_116 * x_800 - x_817 = x_100 * x_800 - x_818 = x_116 * x_306 * x_802 - x_116 * x_807 - x_817 - x_819 = -0.1059 * x_316 - x_707 - x_820 = -0.1059 * x_327 - x_708 - x_821 = 0.1059 * x_116 * x_306 * x_41 - x_682 - x_822 = x_39 * x_817 - x_823 = x_333 * x_804 + x_402 * x_802 + x_822 - x_824 = -0.2084 * x_315 - 0.2084 * x_327 - x_825 = 0.2084 * x_116 * x_306 * x_41 - 0.2084 * x_309 - x_826 = x_41 * x_817 - x_827 = x_310 * x_802 - x_828 = x_328 * x_804 - x_829 = -x_826 + x_827 + x_828 - x_830 = x_671 + x_720 - x_831 = x_23 * x_671 + x_23 * x_720 - x_832 = 0.063883 * x_670 - x_833 = 0.063883 * x_719 - x_834 = 1.0e-6 * x_41 - x_835 = 0.009432 * x_39 + x_834 - x_836 = x_23 * x_835 - x_837 = x_21 * x_832 + x_21 * x_833 + x_836 - x_838 = x_100 * x_260 - 0.045483 * x_116 * x_39 - x_839 = -x_838 - x_840 = x_39 * x_839 - x_841 = -0.00965 * x_303 + 0.045483 * x_41 - x_842 = -0.00965 * x_227 + x_834 - x_843 = x_119 * x_841 + x_21 * x_840 + x_214 * x_842 - x_844 = x_832 + x_833 - x_845 = x_23 * x_840 - x_846 = x_123 * x_841 - x_847 = x_218 * x_842 - x_848 = x_845 + x_846 + x_847 - x_849 = x_21 * x_835 - x_850 = x_23 * x_832 + x_23 * x_833 - x_849 - x_851 = x_100 * x_841 + x_116 * x_842 - x_852 = x_116 * x_841 - x_853 = x_100 * x_842 - x_854 = x_852 - x_853 - x_855 = x_41 * x_839 - x_856 = -x_39 * x_852 + x_39 * x_853 + x_855 - x_857 = x_41 * x_852 - x_858 = x_41 * x_853 - x_859 = x_840 + x_857 - x_858 - x_860 = x_119 * x_795 + x_672 - x_861 = x_214 * x_800 + x_312 * x_802 + x_330 * x_804 - x_862 = x_66 + x_67 - x_863 = x_45 * x_839 - x_864 = x_125 * x_841 - x_865 = x_220 * x_842 - x_866 = x_3 * x_849 - x_867 = 0.063883 * x_39 - x_868 = 0.1059 * x_227 - x_869 = x_220 * x_800 - x_870 = x_323 * x_802 - x_871 = x_340 * x_804 - x_872 = 0.05295 * x_101 - x_873 = x_23 * x_6 - x_874 = -x_856 - x_875 = x_317 * x_802 + x_334 * x_804 - x_822 - x_876 = 0.05295 * x_116 - x_877 = 0.00028593 * x_204 - x_878 = ( - x_177 * x_835 - - 0.3702454 * x_180 - - 2.5120044e-7 * x_22 - + x_254 * x_876 - + 0.05295 * x_264 - + 0.15715 * x_265 - - 0.184607874 * x_281 - + x_290 * x_841 - + x_294 * x_842 - + x_300 * x_839 - - 0.00402879782724 * x_32 - + 0.184607874 * x_347 - + x_360 * x_835 - + x_371 * x_804 - + x_379 * x_802 - + x_395 * x_800 - + 0.09422126315144 * x_6 - + x_793 * x_876 - + 0.3702454 * x_793 - ) - x_879 = x_100 * x_664 + x_100 * x_665 - x_880 = -x_879 - x_881 = x_218 * x_880 - x_882 = x_100 * x_308 - x_883 = x_799 + 0.029798 * x_882 - x_884 = x_321 * x_883 - x_885 = x_100 * x_306 - x_886 = -x_798 + 0.029798 * x_885 - x_887 = x_338 * x_886 - x_888 = x_881 + x_884 + x_887 - x_889 = x_306 * x_883 - x_890 = x_308 * x_886 - x_891 = x_889 - x_890 - x_892 = x_308 * x_883 - x_893 = x_306 * x_886 - x_894 = x_892 + x_893 - x_895 = -x_894 - x_896 = x_100 * x_889 - x_100 * x_890 + x_116 * x_880 - x_897 = x_100 * x_880 - x_898 = x_116 * x_306 * x_883 - x_116 * x_890 - x_897 - x_899 = x_39 * x_897 - x_900 = x_333 * x_886 + x_402 * x_883 + x_899 - x_901 = x_41 * x_897 - x_902 = x_310 * x_883 - x_903 = x_328 * x_886 - x_904 = -x_901 + x_902 + x_903 - x_905 = 0.05295 * x_100 - x_906 = -x_730 - x_907 = 0.045483 * x_100 + 1.0e-6 * x_116 - x_908 = -x_907 - x_909 = x_39 * x_908 - x_910 = 0.00965 * x_116 - x_911 = 0.00965 * x_100 - x_912 = -x_119 * x_910 + x_21 * x_909 + x_214 * x_911 - x_913 = -x_260 + 0.009432 * x_41 - x_914 = -x_835 - x_915 = x_100**2 - x_916 = 0.00965 * x_915 - x_917 = x_116**2 - x_918 = 0.00965 * x_917 - x_919 = -x_916 - x_918 - x_920 = -x_110 * x_39 + 0.009432 * x_23 * x_41 - x_921 = x_23 * x_909 - x_922 = -x_123 * x_910 + x_218 * x_911 + x_921 - x_923 = x_41 * x_908 - x_924 = x_39 * x_916 + x_39 * x_918 + x_923 - x_925 = x_39 * x_908 - x_41 * x_916 - x_41 * x_918 - x_926 = x_214 * x_880 + x_312 * x_883 + x_330 * x_886 - x_927 = x_45 * x_908 - x_928 = x_220 * x_880 - x_929 = x_323 * x_883 - x_930 = x_340 * x_886 - x_931 = 0.01114068 * x_100 - x_932 = -x_924 - x_933 = x_317 * x_883 + x_334 * x_886 - x_899 - x_934 = x_41 * x_8 - x_935 = x_122 * x_39 - x_936 = x_39 * x_8 - x_937 = 0.00033888 * x_122 - x_938 = ( - -x_202 * x_905 - + 0.0065427 * x_262 - - 0.0065427 * x_269 - + x_300 * x_908 - + 0.00045931665975 * x_32 - - 0.00045931665975 * x_33 - + x_371 * x_886 - + x_379 * x_883 - + x_395 * x_880 - + 0.000152525141168 * x_40 - + 4.3312674e-8 * x_48 - + 4.3312674e-8 * x_51 - - 0.000152525141168 * x_62 - ) - x_939 = x_308**2 - x_940 = 0.029798 * x_939 - x_941 = x_306**2 - x_942 = 0.029798 * x_941 - x_943 = x_940 + x_942 - x_944 = 0.1059 * x_116 * x_23 * x_41 - 0.1059 * x_122 - x_945 = -0.000281 * x_306 + 0.011402 * x_308 - x_946 = x_218 * x_945 - x_947 = 0.029798 * x_306 - x_948 = 0.029798 * x_308 - x_949 = x_321 * x_947 - x_338 * x_948 + x_946 - x_950 = x_100 * x_940 + x_100 * x_942 + x_116 * x_945 - x_951 = x_100 * x_945 - x_952 = x_116 * x_940 + x_116 * x_942 - x_951 - x_953 = x_39 * x_951 - x_954 = -x_333 * x_948 + x_402 * x_947 + x_953 - x_955 = x_41 * x_951 - x_956 = 0.029798 * x_306 * x_310 - x_328 * x_948 - x_955 - x_957 = 0.045483 * x_116 - x_574 - x_958 = ( - -x_115 * x_834 - + 0.045483 * x_116 * x_23 * x_41 - - 1.0e-6 * x_117 - - 0.045483 * x_122 - ) - x_959 = -x_100 * x_834 + 0.045483 * x_116 * x_41 - x_960 = x_214 * x_945 + x_312 * x_947 - x_330 * x_948 - x_961 = x_220 * x_945 - x_962 = 0.029798 * x_306 * x_317 - x_334 * x_948 - x_953 - x_963 = 0.01114068 * x_227 - x_964 = ( - 6.5427e-9 * x_120 - + 6.5427e-9 * x_126 - - 0.0005755816241 * x_215 - - 0.0005755816241 * x_221 - + x_395 * x_945 - + 0.00865098583062 * x_40 - - 0.067849 * x_438 - + 0.067849 * x_445 - + 0.00865098583062 * x_46 - ) - x_965 = -x_945 - x_966 = x_664 + x_665 - x_967 = -x_122 * x_664 - x_122 * x_665 + 0.011402 * x_23 * x_310 - 0.000281 * x_337 - x_968 = x_306 * x_799 + x_308 * x_798 - x_969 = -x_800 - x_970 = -0.011402 * x_309 + x_314 * x_798 + 0.000281 * x_315 + x_797 * x_799 - x_971 = ( - 0.0006740422825 * x_215 - + 0.0006740422825 * x_221 - - 1.186619e-6 * x_313 - - 1.186619e-6 * x_324 - - 5.1878398e-5 * x_331 - - 5.1878398e-5 * x_341 - ) - x_972 = 3.0e-6 * x_415 + 3.0e-6 * x_416 - x_973 = ( - 0.000118 * x_100 * x_3 * x_39 - - 0.000118 * x_351 - - 0.000369 * x_420 - - 0.000369 * x_421 - - x_972 - ) - x_974 = ( - 3.0e-6 * x_100 * x_3 * x_39 - - 3.0e-6 * x_351 - - 0.000587 * x_415 - - 0.000587 * x_416 - - 3.0e-6 * x_420 - - 3.0e-6 * x_421 - ) - x_975 = ( - 0.00041 * x_100 * x_3 * x_39 - + 0.000278 * x_23 * x_39 * x_5 - - 0.00041 * x_351 - - 0.000278 * x_569 - ) - x_976 = ( - 0.000609 * x_100 * x_3 * x_39 - - 0.000609 * x_351 - - 0.000118 * x_420 - - 0.000118 * x_421 - - x_972 - ) - x_977 = -0.001641 * x_272 - 0.001641 * x_273 - x_978 = -0.001641 * x_191 + 0.000278 * x_351 - 0.000278 * x_470 + 0.001641 * x_569 - x_979 = 0.001607 * x_191 + 0.000256 * x_563 - 0.001607 * x_569 - x_980 = -0.001596 * x_195 - 0.001596 * x_43 - x_981 = 0.0005 * x_3 - x_982 = x_110 * x_5 + 0.000631 * x_563 - x_981 - x_983 = 0.000256 * x_23 - x_984 = x_49 * x_983 + 0.000399 * x_563 - 0.000256 * x_569 - x_985 = -0.008147 * x_528 - x_581 - x_986 = 0.5 * x_480 - x_987 = 0.5 * x_473 - x_988 = 0.5 * x_471 - x_989 = 0.5 * x_466 - x_990 = 0.5 * x_492 - x_991 = 0.5 * x_475 - x_992 = 1.178 * x_480 - x_993 = 1.178 * x_464 - x_994 = 1.178 * x_492 - x_995 = 0.3905024 * x_3 - x_996 = 0.195672 * x_3 - x_997 = 0.2478512 * x_3 - x_998 = 0.1426512 * x_3 - x_999 = 0.678 * x_480 - x_1000 = 0.678 * x_576 - x_1001 = 0.678 * x_579 - x_1002 = 0.678 * x_585 - x_1003 = 0.678 * x_582 - x_1004 = 0.678 * x_572 - x_1005 = 0.678 * x_573 - x_1006 = 0.678 * x_492 - x_1007 = 0.1052 * x_3 - x_1008 = 1.856 * x_480 - x_1009 = 0.93 * x_564 - x_1010 = 0.93 * x_566 - x_1011 = 0.93 * x_622 - x_1012 = 0.005952 * x_5 - x_1013 = 0.195672 * x_5 - x_1014 = 0.0075392 * x_5 - x_1015 = 0.2478512 * x_5 - x_1016 = 0.1426512 * x_5 - x_1017 = 0.0032 * x_5 - x_1018 = 0.1052 * x_5 - x_1019 = 0.008316 * x_3 - 0.0005 * x_563 - x_1020 = 0.2454952 * x_528 - x_1021 = 0.1412952 * x_528 - x_1022 = 0.1042 * x_528 - x_1023 = 0.0118784 * x_528 - x_1024 = 0.0043392 * x_528 - x_1025 = 0.0032 * x_528 - x_1026 = x_1017 * x_115 - x_1027 = -x_3 - x_1028 = x_249**2 - x_1029 = 0.01121481 * x_116 - x_1030 = -x_191 + x_569 - x_1031 = 0.01114068 * x_125 - x_1032 = 0.005435469392 * x_3 - x_1033 = ( - x_1000 * x_724 - + x_1001 * x_732 - + x_1002 * x_730 - + x_1003 * x_734 - + x_1004 * x_728 - + x_1005 * x_726 - + x_1011 * x_766 - - x_1032 * x_559 - - x_1032 * x_758 - + 0.1059 * x_117 * x_483 - + 0.1777002 * x_21 * x_483 - - 0.08075916288 * x_21 * x_528 - - 0.0043392 * x_23 * x_580 - - 0.0055721665266608 * x_3 - - 0.0032 * x_468 - + 2.38080251328e-5 * x_5 - - 0.0075392 * x_544 - + 0.0075392 * x_546 - + x_551 * x_791 - - 0.16276140032 * x_563 - - 0.0043392 * x_590 - + 0.0043392 * x_592 - + 0.0086784 * x_593 - - 0.0237568 * x_612 - - 0.01990758 * x_615 - + 0.01990758 * x_616 - - x_651 * x_731 - + x_655 * x_989 - + x_660 * x_988 - + x_662 * x_987 - + x_667 * x_991 - - 0.1426512 * x_768 - ) - x_1034 = 0.00033888 * x_115 - x_1035 = ( - x_1000 * x_839 - + x_1002 * x_835 - + x_1004 * x_842 - + x_1005 * x_841 - + 0.09422126315144 * x_3 - + x_467 * x_876 - + 0.4231954 * x_486 - + 0.2101 * x_487 - - 0.3702454 * x_545 - + 0.184607874 * x_580 - - 0.184607874 * x_583 - - x_651 * x_836 - + x_800 * x_991 - + x_802 * x_987 - + x_804 * x_988 - - 0.1426512 * x_866 - ) - x_1036 = x_23 * x_569 - x_1037 = ( - x_1000 * x_908 - - 4.3312674e-8 * x_43 - - x_466 * x_905 - + 0.00045931665975 * x_563 - + 0.000152525141168 * x_569 - + 0.0065427 * x_597 - - 0.0065427 * x_604 - + x_880 * x_991 - + x_883 * x_987 - + x_886 * x_988 - ) - x_1038 = x_116 * x_464 - x_1039 = x_116 * x_541 - x_1040 = x_49 * x_511 - x_1041 = ( - -0.00865098583062 * x_191 - - 6.5427e-9 * x_272 - - 6.5427e-9 * x_273 - + 0.0005755816241 * x_351 - - 0.0005755816241 * x_470 - - 0.067849 * x_503 - + 0.067849 * x_514 - + 0.00865098583062 * x_569 - + x_945 * x_991 - ) - x_1042 = ( - -0.0006740422825 * x_351 - + 1.186619e-6 * x_415 - + 1.186619e-6 * x_416 - + 5.1878398e-5 * x_420 - + 5.1878398e-5 * x_421 - + 0.0006740422825 * x_470 - ) - x_1043 = 0.000631 * x_23 - x_93 - x_1044 = -x_110 + 0.008147 * x_21 - x_1045 = -0.001607 * x_152 + 0.000256 * x_23 - x_1046 = -0.000256 * x_152 + 0.000399 * x_23 - x_1047 = 3.0e-6 * x_306 - x_1048 = x_1047 * x_115 + 3.0e-6 * x_311 - x_1049 = ( - x_1048 - - 0.000118 * x_213 - - 0.000369 * x_326 - + 0.000369 * x_329 - + 0.000118 * x_511 - ) - x_1050 = 3.0e-6 * x_308 - x_1051 = ( - -x_1050 * x_115 - - 3.0e-6 * x_213 - + 0.000587 * x_307 - + 0.000587 * x_311 - + 3.0e-6 * x_329 - + 3.0e-6 * x_511 - ) - x_1052 = 0.00041 * x_116 * x_23 - 0.000278 * x_152 - 0.00041 * x_213 - x_1053 = ( - x_1048 - - 0.000609 * x_213 - - 0.000118 * x_326 - + 0.000118 * x_329 - + 0.000609 * x_511 - ) - x_1054 = 0.001641 * x_115 + 0.001641 * x_117 * x_41 - x_1055 = 0.000278 * x_41 - x_1056 = x_1055 * x_122 + 0.001641 * x_152 - 0.000278 * x_511 - x_1057 = 0.5 * x_662 - x_1058 = 0.5 * x_660 - x_1059 = 0.5 * x_655 - x_1060 = 0.5 * x_667 - x_1061 = 0.0043392 * x_21 - x_1062 = 0.678 * x_732 - x_1063 = 0.678 * x_734 - x_1064 = 0.678 * x_724 - x_1065 = 0.678 * x_730 - x_1066 = 0.678 * x_728 - x_1067 = 0.678 * x_726 - x_1068 = 0.0032 * x_21 - x_1069 = 0.02583398 * x_21 - x_1070 = 0.2454952 * x_21 - x_1071 = 0.1412952 * x_21 - x_1072 = 0.0075392 * x_23 - x_1073 = 0.0043392 * x_23 - x_1074 = 0.0032 * x_23 - x_1075 = 0.02583398 * x_23 - x_1076 = 0.1042 * x_21 - x_1077 = 0.05295 * x_157 - x_1078 = 0.0718002 * x_152 - x_1079 = 0.0718002 * x_157 - x_1080 = 0.001596 * x_157 - x_1081 = 0.0032 * x_122 - x_1082 = 0.1247502 * x_152 - x_1083 = 0.1247502 * x_157 - x_1084 = x_670 * x_758 - x_1085 = 0.00033888 * x_123 - x_1086 = x_157 * x_39 - x_1087 = 0.0010756023936 * x_23 - x_1088 = ( - x_1057 * x_802 - + x_1058 * x_804 - + x_1060 * x_800 - + x_1064 * x_839 - + x_1065 * x_835 - + x_1066 * x_842 - + x_1067 * x_841 - - x_1087 * x_670 - - x_1087 * x_719 - + 0.016642185 * x_118 * x_39 - - 3.5833644e-7 * x_21 - - 0.00695350144324 * x_23 - - 0.00033888 * x_511 * x_670 - + x_656 * x_876 - + 0.184607874 * x_733 - - 0.184607874 * x_735 - - 0.0043392 * x_845 - + 0.0086784 * x_849 - ) - x_1089 = x_23 * x_39 - x_1090 = x_23 * x_41 - x_1091 = ( - x_1057 * x_883 - + x_1058 * x_886 - + x_1060 * x_880 - + x_1064 * x_908 - + 0.00045931665975 * x_23 - - x_655 * x_905 - + 0.0065427 * x_746 - - 0.0065427 * x_750 - - 0.0043392 * x_921 - ) - x_1092 = x_117 * x_39 - x_1093 = ( - x_1060 * x_945 - + 6.5427e-9 * x_115 - + 6.5427e-9 * x_118 - + 0.00865098583062 * x_152 - + 0.0005755816241 * x_213 - - 0.0005755816241 * x_511 - - 0.067849 * x_677 - + 0.067849 * x_692 - ) - x_1094 = ( - -0.0006740422825 * x_213 - - 1.186619e-6 * x_307 - - 1.186619e-6 * x_311 - + 5.1878398e-5 * x_326 - - 5.1878398e-5 * x_329 - + 0.0006740422825 * x_511 - ) - x_1095 = -0.000278 * x_303 + 0.001641 * x_41 - x_1096 = -x_1055 + 0.00041 * x_303 - x_1097 = 3.0e-6 * x_116 - x_1098 = x_1097 * x_315 + 3.0e-6 * x_314 - x_1099 = ( - 0.000118 * x_100 * x_39 - - x_1098 - + 0.000369 * x_116 * x_308 * x_39 - - 0.000369 * x_797 - ) - x_1100 = ( - 3.0e-6 * x_100 * x_39 - + 3.0e-6 * x_116 * x_308 * x_39 - - 0.000587 * x_314 - - 0.000587 * x_316 - - 3.0e-6 * x_797 - ) - x_1101 = ( - 0.000609 * x_100 * x_39 - - x_1098 - + 0.000118 * x_116 * x_308 * x_39 - - 0.000118 * x_797 - ) - x_1102 = 0.5 * x_802 - x_1103 = 0.5 * x_804 - x_1104 = 0.5 * x_800 - x_1105 = 0.05295 * x_41 - x_1106 = 0.0718002 * x_41 - x_1107 = 0.168062874 * x_41 - x_1108 = 0.678 * x_835 - x_1109 = 0.678 * x_842 - x_1110 = 0.678 * x_841 - x_1111 = 0.678 * x_839 - x_1112 = 0.001607 * x_41 - x_1113 = 0.168062874 * x_39 - x_1114 = 0.001596 * x_39 - x_1115 = 0.05295 * x_227 - x_1116 = 0.001641 * x_227 - x_1117 = x_21 * x_42 - x_1118 = 0.03328437 * x_116 - x_1119 = 0.00136349868 * x_41 - x_1120 = x_100 * x_227 - x_1121 = ( - x_1102 * x_883 - + x_1103 * x_886 - + x_1104 * x_880 - + x_1111 * x_908 - - 0.016642185 * x_303 - - 1.84607874e-7 * x_39 - + 0.001485221467568 * x_41 - - 0.0065427 * x_852 - + 0.0065427 * x_853 - ) - x_1122 = x_116 * x_41 - x_1123 = x_100 * x_41 - x_1124 = ( - x_1104 * x_945 - - 6.5427e-9 * x_227 - - 0.0005755816241 * x_303 - + 0.00865098583062 * x_41 - - 0.067849 * x_807 - + 0.067849 * x_815 - ) - x_1125 = 0.0006740422825 * x_303 - x_1126 = x_116 * x_797 - x_1127 = x_784 * x_945 - x_1128 = 3.0e-6 * x_885 - x_1129 = x_1128 + 0.000118 * x_116 - 0.000369 * x_882 - x_1130 = x_1097 - 3.0e-6 * x_882 + 0.000587 * x_885 - x_1131 = x_1128 + 0.000609 * x_116 - 0.000118 * x_882 - x_1132 = 0.5 * x_883 - x_1133 = 0.5 * x_886 - x_1134 = 0.5 * x_880 - x_1135 = 0.001641 * x_100 - x_1136 = 0.00041 * x_116 - x_1137 = 0.678 * x_908 - x_1138 = 0.0065427 * x_100 - x_1139 = 0.000278 * x_116 - x_1140 = 1.426512e-7 * x_0 - x_1141 = 0.0065427 * x_142 - x_1142 = 0.0065427 * x_116 - x_1143 = 0.0065427 * x_464 - x_1144 = 0.00069287193 * x_152 - x_1145 = 0.00205637061 * x_41 - x_1146 = 0.0005755816241 * x_116 - x_1147 = 0.067849 * x_890 - x_1148 = -x_1047 - 0.000587 * x_308 - x_1149 = -x_1050 - 0.000118 * x_306 - x_1150 = -x_1050 - 0.000369 * x_306 - x_1151 = 0.5 * x_945 - x_1152 = 0.014899 * x_306 - x_1153 = 6.78e-7 * x_100 - x_1154 = 0.014899 * x_308 - x_1155 = 0.0005362398336 * x_119 - x_1156 = 4.3392e-9 * x_214 - x_1157 = 0.000655614298 * x_306 + 1.6065569e-5 * x_308 - x_1158 = 3.64864e-5 * x_312 - x_1159 = 8.992e-7 * x_330 - x_1160 = 0.0011880884 * x_402 - x_1161 = 2.92802e-5 * x_333 - x_1162 = 0.0006037359 * x_21 - x_1163 = 1.487895e-5 * x_21 - - return np.array( - [ - [ - 0.02746096 * x_0 * x_10 - + x_0 * (0.011088 * x_0 + 5.0e-6 * x_2) - - 0.5861744 * x_0 * (-x_0 * x_37 - x_16 * x_5) - + 0.00042079744 * x_1 * x_3 - + 0.12344520832 * x_1 * x_4 - + 0.175648308565102 * x_1 - + x_101 * x_103 - + 1.0 * x_102 * x_148 - - x_102 * x_210 - + x_103 * x_207 - + x_103 * x_229 - + x_103 * x_248 - + x_103 * x_276 - + x_103 * x_439 - + x_105 * x_106 - + x_105 * x_107 - + x_108 * x_111 - + x_108 * x_147 - + 1.1636 * x_11 * x_34 - + x_112 * x_113 - + x_112 * x_114 - - x_12 * x_13 - + 0.005607405 * x_127**2 - + x_127 * x_253 - + x_128 * x_52 - + x_13 * x_19 - + x_130 * x_131 - - x_132 * x_136 - + x_138 * x_139 - + x_138 * x_174 - + x_139 * x_156 - + x_139 * x_186 - + x_139 * x_194 - + x_141 * x_143 - + x_141 * x_172 - - x_142 * x_146 - + x_143 * x_159 - + x_143 * x_188 - + x_143 * x_198 - + x_150 * x_151 - + x_155 * x_203 - + x_155 * x_300 - + x_156 * x_174 - + x_159 * x_172 - + 2.786 * x_16 * x_34 - + x_162 * x_163 - - x_167 * (-x_164 + x_166 + x_30) - - x_168 * (x_129 * x_5 - x_165 * x_5 + x_29 * x_3) - - x_169 * x_170 - - 0.0300888 * x_17 * x_2 - - x_171 * x_173 - + x_172 * x_188 - + x_172 * x_198 - + x_174 * x_186 - + x_174 * x_194 - - x_176 * x_179 - + 1.356 * x_176 * x_57 - + x_177 * x_55 - + x_177 * x_88 - + x_177 * x_90 - + x_178 * x_63 - + 1.1636 * x_18 * x_27 - + x_181 * x_182 - + x_181 * x_189 - + x_185 * x_203 - + x_185 * x_300 - + 0.0008067838291024 * x_2**2 - - 0.0200448 * x_2 * x_30 - - 0.010044 * x_2 * x_71 - + x_2 * (5.0e-6 * x_0 + 0.001072 * x_2) - + x_2 * (0.001043 * x_2 - 0.000606 * x_6 - 7.0e-6 * x_8) - - x_20 * x_6 - + x_200 * x_203 - + x_200 * x_300 - + x_201 * x_212 - - x_202 * x_205 - + x_203 * x_211 - + x_203 * x_250 - + x_203 * x_444 - + x_207 * x_290 - + x_211 * x_300 - + x_212 * x_437 - + x_223 * x_224 - + x_225 * x_226 - + x_229 * x_290 - + x_230 * x_231 - - x_233 * (x_149 * x_5 - x_232 * x_5 + x_3 * x_69) - - x_236 * (x_234 - x_235 + x_71) - + x_238 * x_258 - + x_239 * x_240 - + x_240 * x_449 - - x_243 * (x_241 + x_242) - - x_244 * (x_132 * x_192 + x_142 * x_197) - + x_248 * x_290 - + 0.08068314112 * x_25**2 - + x_25 * x_95 - + x_250 * x_300 - + x_251 * x_252 - + x_252 * x_414 - + x_255 * x_256 - + x_255 * x_259 - + x_256 * x_456 - + x_257 * x_47 - + x_258 * x_451 - + x_259 * x_456 - - x_261 * x_297 - - x_262 * x_263 - + x_263 * x_269 - + x_263 * x_366 - + x_266 * x_267 - + x_267 * x_455 - - x_268 * x_291 - + 0.5861744 * x_27 * x_8 - + x_270 * x_271 - + x_271 * x_413 - + x_276 * x_290 - + x_279 * x_280 - + x_280 * x_460 - + x_282 * x_283 - + x_283 * x_428 - - x_286 * (x_284 + x_285) - - x_286 * (x_461 + x_462 + x_463) - - x_287 * (x_102 * x_275 + x_202 * x_249) - - x_287 * (x_352 * x_372 + x_370 * x_423 + x_378 * x_418) - + x_288 * x_289 - + x_288 * x_411 - + 1.856 * x_29 * x_38 - - 0.3905024 * x_29 * x_8 - + x_293 * x_294 - + x_293 * x_395 - + x_294 * x_305 - + x_294 * x_346 - + x_294 * x_353 - + x_298 * x_302 - - x_299 * x_301 - + x_305 * x_395 - + x_31 * x_8 - + x_325 * x_434 - + x_342 * x_440 - + x_346 * x_395 - + x_349 * x_350 - + x_349 * x_354 - + x_35 * x_6 - + x_350 * x_429 - + x_353 * x_395 - + x_354 * x_429 - + x_357 * x_358 - + x_358 * x_433 - + x_359 * x_360 - - x_36 * (-x_15 * x_3 + x_17) - - x_361 * (x_169 * x_192 + x_171 * x_197 + x_356 * x_5) - - x_361 * (x_249 * x_299 + x_261 * x_352 + x_268 * x_275) - - x_365 * (x_362 + x_363 - x_364) - - x_365 * (x_441 + x_442 + x_443) - + x_369 * x_371 - - x_370 * x_394 - + x_371 * x_382 - + x_371 * x_391 - + x_371 * x_400 - + x_371 * x_409 - + x_371 * x_424 - - x_372 * x_396 - - x_373 * x_374 - + x_374 * x_450 - + x_377 * x_379 - - x_378 * x_389 - + x_379 * x_384 - + x_379 * x_386 - + x_379 * x_405 - + x_379 * x_407 - + x_379 * x_419 - + x_38 * x_91 - + x_446 * x_447 - + 0.005607405 * x_47**2 - + 0.01321104618 * x_52**2 - + x_55 * x_58 - + x_55 * x_86 - - 0.0100224 * x_57 * x_59 - + x_58 * x_88 - + x_58 * x_90 - + 0.00633068352 * x_6 * x_7 - + 0.01321104618 * x_63**2 - - x_64 * (x_12 - x_19) - - x_65 * (-x_11 * x_5 - x_18 * x_3) - + x_68 * x_70 - - x_69 * x_70 - - x_72 * x_75 - - x_78 * x_79 - + x_8 * x_9 - + x_82 * x_83 - + x_82 * x_84 - + x_83 * x_97 - + x_83 * x_99 - + x_84 * x_97 - + x_84 * x_99 - - x_85 * x_87 - + x_86 * x_88 - + x_86 * x_90 - + 0.01153846285904 * (-x_0 + 0.000441855794336212 * x_2) ** 2 - + 0.12333109376 * (-0.0304182509505703 * x_2 + x_6) ** 2 - + 0.0161723221354304 * (-0.000373222949818478 * x_2 + x_8) ** 2 - + 0.0161723221354304 * (0.0563312184032844 * x_2 + x_6) ** 2 - + 0.00020941743348 * (x_25 - 0.00119952019192323 * x_6) ** 2 - + 5.13181123316e-5 * (-0.00662550820659539 * x_6 - x_8) ** 2 - + 0.001402580829942 - * (-x_127 - 2.19862366158785e-5 * x_215 - 2.19862366158785e-5 * x_221) - ** 2 - + 6.3137055e-5 - * (x_127 + 0.000103626943005181 * x_40 + 0.000103626943005181 * x_46) - ** 2 - + 0.000443960402 - * (-0.00943016309819451 * x_215 - 0.00943016309819451 * x_221 + x_325) - ** 2 - + 0.00529814349012 - * (-0.198812899122923 * x_32 + 0.198812899122923 * x_33 + x_6) ** 2 - + 0.08060711936 - * (-0.0307101727447217 * x_32 + 0.0307101727447217 * x_33 + x_6) ** 2 - + 0.002766943553142 - * (1.56536167681543e-5 * x_32 - 1.56536167681543e-5 * x_33 + x_52) ** 2 - + 0.000443960402 - * ( - 0.382643130411437 * x_0 * x_220 - + 0.382643130411437 * x_2 * x_214 - - x_342 - ) - ** 2 - + 6.5002802e-5 - * ( - 0.0246447991580424 * x_0 * x_340 - + 0.0246447991580424 * x_2 * x_330 - - x_325 - ) - ** 2 - + 0.00529814349012 - * ( - 0.000238480086912743 * x_2 * x_23 - - x_25 - - 0.000238480086912743 * x_33 - ) - ** 2 - + 0.002766943553142 - * (0.147644913357231 * x_2 * x_23 - 0.147644913357231 * x_33 - x_63) - ** 2 - + 6.0316659072e-5 - * ( - 0.000106022052586938 * x_2 * x_21 * x_39 - - x_52 - - 0.000106022052586938 * x_62 - ) - ** 2 - + 0.001402580829942 - * ( - x_0 * x_45 - - 0.212167183343227 * x_215 - - 0.212167183343227 * x_221 - - x_60 - ) - ** 2 - + 0.001706008647425, - x_101 * x_639 - + x_103 * x_504 - + x_103 * x_509 - + x_103 * x_510 - + x_103 * x_512 - + x_106 * x_562 - + x_107 * x_562 - + x_111 * x_563 - + x_113 * x_567 - + x_114 * x_567 - + x_128 * x_197 - + x_131 * x_613 - - x_136 * x_492 - + x_139 * x_550 - + x_139 * x_554 - + x_139 * x_555 - + x_143 * x_548 - + x_143 * x_557 - + x_143 * x_558 - - x_146 * x_464 - + x_147 * x_563 - + x_151 * x_617 - + x_163 * x_552 - - x_167 * (x_602 * x_620 + 0.2084 * x_619 + x_621) - - x_168 * (0.2084 * x_23 * x_3 * x_5 - x_5 * x_612 - x_522 * x_619) - - x_170 * x_582 - + x_172 * x_548 - + x_172 * x_557 - + x_172 * x_558 - - x_173 * x_579 - + x_174 * x_550 - + x_174 * x_554 - + x_174 * x_555 - + x_177 * x_603 - + x_178 * x_192 - - x_179 * x_585 - + x_182 * x_568 - + x_189 * x_568 - - x_20 * x_3 - + x_203 * x_482 - + x_203 * x_491 - + x_203 * x_507 - + x_203 * x_521 - + x_203 * x_523 - - x_205 * x_466 - - x_210 * x_464 - + x_212 * x_502 - + x_212 * x_513 - + x_224 * x_547 - + x_226 * x_553 - + x_231 * x_549 - - x_233 * (x_3 * x_622 - x_5 * x_615 + x_5 * x_616) - - x_236 * (x_623 + x_624 - x_625) - + x_240 * x_643 - + x_240 * x_644 - - x_243 * (x_626 + x_627) - - x_244 * (x_192 * x_492 + x_197 * x_464) - + x_249 * x_257 - + x_252 * x_599 - + x_252 * x_641 - + x_253 * x_275 - + x_256 * x_610 - + x_256 * x_611 - + x_258 * x_485 - + x_258 * x_527 - + x_259 * x_610 - + x_259 * x_611 - - x_262 * x_642 - + x_263 * x_598 - + x_267 * x_488 - + x_267 * x_537 - + x_269 * x_642 - + x_271 * x_600 - + x_271 * x_606 - + x_280 * x_469 - + x_280 * x_477 - + x_283 * x_595 - + x_283 * x_609 - - x_286 * (x_634 + x_635) - - x_286 * (x_636 + x_637 + x_638) - - x_287 * (x_249 * x_466 + x_275 * x_464) - - x_287 * (x_352 * x_475 + x_418 * x_473 + x_423 * x_471) - + x_289 * x_352 - + x_290 * x_509 - + x_290 * x_510 - + x_290 * x_512 - - x_291 * x_573 - + x_294 * x_520 - + x_294 * x_540 - + x_294 * x_543 - - x_297 * x_572 - + x_3 * x_35 - + 0.7810048 * x_30 - + x_300 * x_482 - + x_300 * x_491 - + x_300 * x_521 - + x_300 * x_523 - - x_301 * x_576 - + x_302 * x_601 - + x_350 * x_578 - + x_350 * x_587 - + x_352 * x_411 - + x_354 * x_578 - + x_354 * x_587 - + x_358 * x_591 - + x_358 * x_594 - - x_36 * (x_37 + 0.2104 * x_618) - + x_360 * x_596 - - x_361 * (x_192 * x_582 + x_197 * x_579 + x_5 * x_593) - - x_361 * (x_249 * x_576 + x_275 * x_573 + x_352 * x_572) - - x_365 * (x_628 + x_629 + x_630) - - x_365 * (-x_631 + x_632 + x_633) - + x_371 * x_495 - + x_371 * x_506 - + x_371 * x_517 - + x_371 * x_531 - + x_371 * x_538 - - x_373 * x_639 - + x_374 * x_525 - + x_379 * x_490 - + x_379 * x_499 - + x_379 * x_519 - + x_379 * x_533 - + x_379 * x_539 - - x_389 * x_473 - - x_394 * x_471 - + x_395 * x_520 - + x_395 * x_540 - + x_395 * x_543 - - x_396 * x_475 - + x_418 * x_434 - + x_423 * x_440 - + x_447 * x_515 - - x_480 * x_79 - - x_5 * x_9 - + 6.414336e-5 * x_528 * x_59 - - x_528 * x_95 - - x_564 * x_75 - - x_566 * x_87 - + x_58 * x_603 - + x_603 * x_86 - + x_614 * x_83 - + x_614 * x_84 - - x_64 * (0.117892 * x_4 + 0.117892 * x_618) - + x_640 * x_70 - - 0.24677630208 * x_645 - + x_653 - + 0.391344 * x_71, - x_103 * x_678 - + x_103 * x_689 - + x_103 * x_691 - + x_111 * x_23 - + x_119 * x_253 - + x_128 * x_157 - + x_131 * x_760 - - 0.00067365108 * x_135 * x_157 - + x_139 * x_696 - + x_143 * x_718 - - 0.00067365108 * x_145 * x_152 - + x_147 * x_23 - + x_151 * x_763 - - x_152 * x_178 - + x_152 * x_257 - - x_152 * x_782 - + x_163 * x_721 - - x_167 * (-x_3 * x_560 - x_3 * x_759 - 0.2084 * x_563) - - x_168 * (-0.2084 * x_21 * x_3 + x_5 * x_759 + x_561) - - x_170 * x_734 - + x_172 * x_718 - - x_173 * x_732 - + x_174 * x_696 - - x_179 * x_730 - + x_203 * x_687 - + x_203 * x_697 - - x_205 * x_655 - - 0.000139503492 * x_21 * x_59 - + x_21 * x_95 - + x_212 * x_654 - + x_212 * x_681 - + x_214 * x_289 - + x_214 * x_411 - + x_226 * x_722 - + 0.000139503492 * x_23 * x_74 - - x_233 * (x_3 * x_766 + x_5 * x_761 + x_5 * x_762) - - x_236 * (-x_3 * x_761 - x_3 * x_762 + x_5 * x_766) - - x_237 * x_781 - + x_240 * x_779 - + x_240 * x_780 - - x_243 * (x_50 * x_658 + x_61 * x_767) - - x_244 * (x_192 * x_767 + x_197 * x_658) - + x_252 * x_748 - + x_252 * x_778 - + x_256 * x_756 - + x_256 * x_757 - + x_258 * x_674 - + x_258 * x_705 - + x_259 * x_756 - + x_259 * x_757 - - x_261 * x_788 - + x_263 * x_747 - + x_267 * x_676 - + x_267 * x_713 - + x_268 * x_787 - + x_271 * x_749 - + x_271 * x_752 - + x_280 * x_659 - + x_280 * x_669 - + x_283 * x_744 - + x_283 * x_755 - - x_286 * (x_125 * x_658 + x_774) - - x_286 * (x_775 + x_776 + x_777) - - x_287 * (x_249 * x_655 + x_275 * x_658) - - x_287 * (x_352 * x_667 + x_418 * x_662 + x_423 * x_660) - + x_290 * x_689 - + x_290 * x_691 - - x_291 * x_726 - + x_294 * x_694 - + x_294 * x_714 - - x_297 * x_728 - + x_300 * x_697 - - x_301 * x_724 - + x_302 * x_723 - + x_312 * x_434 - + x_330 * x_440 - + x_350 * x_729 - + x_350 * x_736 - + x_354 * x_729 - + x_354 * x_736 - + x_358 * x_740 - + x_358 * x_743 - + x_360 * x_745 - - x_361 * (x_192 * x_734 + x_197 * x_732 + x_5 * x_741) - - x_361 * (x_249 * x_724 + x_275 * x_726 + x_352 * x_728) - - x_365 * (-x_768 + x_769 + x_770) - - x_365 * (x_771 + x_772 + x_773) - + x_371 * x_684 - + x_371 * x_701 - + x_371 * x_706 - + x_371 * x_716 - - x_372 * x_785 - + x_374 * x_699 - + x_379 * x_686 - + x_379 * x_703 - + x_379 * x_709 - + x_379 * x_717 - - x_389 * x_662 - - x_394 * x_660 - + x_395 * x_694 - + x_395 * x_714 - - x_396 * x_667 - - x_412 * x_783 - + x_447 * x_693 - + x_57 * x_785 - - 0.0071980257097008 * x_6 - - x_64 * (0.006641 * x_3 + 4.4e-5 * x_5) - + x_647 * x_65 - + 0.00016867039496 * x_7 - + x_70 * x_765 - - 2.7647136e-7 * x_764 - + x_794 - - 1.30358817728e-5 * x_8, - x_103 * x_808 - + x_113 * x_765 - + x_114 * x_765 - - x_128 * x_39 - + 0.0009075395196 * x_135 * x_39 - - 0.0009075395196 * x_145 * x_41 - + x_151 * x_862 - - x_178 * x_41 - - x_179 * x_835 - - x_180 * x_876 - + x_182 * x_721 - + x_189 * x_721 - + x_203 * x_812 - + x_212 * x_811 - + x_224 * x_831 - - x_227 * x_253 - - x_227 * x_877 - + x_231 * x_830 - - x_233 * x_640 - - x_236 * (x_21 * x_565 + 0.075478 * x_23 * x_3) - - 2.5120044e-7 * x_24 - + x_240 * x_875 - - x_243 * (x_50 * x_795 - x_61 * x_675) - - x_244 * (-x_192 * x_675 + 0.1059 * x_197 * x_41) - + x_252 * x_874 - + 0.15715 * x_254 - + x_256 * x_860 - + x_256 * x_861 - + x_257 * x_41 - + x_258 * x_823 - + x_259 * x_860 - + x_259 * x_861 - + x_263 * x_854 - + x_267 * x_813 - + x_267 * x_829 - + x_271 * x_856 - + x_280 * x_796 - + x_280 * x_806 - + x_283 * x_844 - + x_283 * x_859 - - x_286 * (x_125 * x_795 + x_45 * x_868) - - x_286 * (x_869 + x_870 + x_871) - - x_287 * (x_249 * x_868 + x_275 * x_795) - - x_287 * (x_352 * x_800 + x_418 * x_802 + x_423 * x_804) - + x_289 * x_303 - - x_291 * x_841 - - x_297 * x_842 - - x_301 * x_839 - + x_302 * x_838 - + x_303 * x_411 - + 0.00650425638724 * x_33 - + x_333 * x_440 - + x_350 * x_837 - + x_350 * x_843 - + x_354 * x_837 - + x_354 * x_843 - + x_358 * x_848 - + x_358 * x_850 - + x_360 * x_851 - - x_361 * (-x_192 * x_867 + 0.063883 * x_197 * x_41 + x_5 * x_849) - - x_361 * (x_249 * x_839 + x_275 * x_841 + x_352 * x_842) - - x_365 * (x_863 + x_864 + x_865) - - x_365 * (0.063883 * x_41 * x_50 - x_61 * x_867 - x_866) - + x_371 * x_819 - + x_371 * x_820 - + x_371 * x_824 - + x_374 * x_818 - + x_379 * x_814 - + x_379 * x_821 - + x_379 * x_825 - - x_389 * x_802 - - x_394 * x_804 - - x_396 * x_800 - + x_402 * x_434 - - x_41 * x_782 - + x_41 * x_872 - - 0.2130954 * x_425 - + 0.2130954 * x_426 - + 0.2130954 * x_427 - + x_447 * x_816 - - 0.15715 * x_454 - - 9.0396e-8 * x_53 - - 9.0396e-8 * x_54 - + 0.004943177236 * x_73 - - 0.004943177236 * x_81 - + 0.08138070016 * x_873 - + x_878 - + 0.3867904 * x_96, - x_0 * x_249 * x_931 - - 0.00033888 * x_0 * x_935 - + 0.00033888 * x_100 * x_199 - + x_100 * x_253 - - 3.533058e-5 * x_100 * x_296 - + x_100 * x_877 - + x_103 * x_891 - - x_115 * x_16 * x_784 - + 3.533058e-5 * x_116 * x_209 - + x_116 * x_289 - + x_116 * x_411 - + x_132 * x_905 - - 3.6612e-9 * x_133 - - 3.6612e-9 * x_134 - - 3.45324384e-5 * x_140 - + 3.45324384e-5 * x_144 - - x_183 * x_905 - - x_184 * x_905 - + x_203 * x_895 - + x_212 * x_894 - + x_240 * x_933 - + x_252 * x_835 - + x_252 * x_932 - + x_256 * x_926 - + x_258 * x_900 - + x_259 * x_926 - + x_263 * x_919 - + x_267 * x_904 - + x_271 * x_914 - + x_271 * x_924 - + x_280 * x_888 - + x_283 * x_913 - + x_283 * x_925 - - x_286 * (x_928 + x_929 + x_930) - - x_287 * (x_352 * x_880 + x_418 * x_883 + x_423 * x_886) - - x_301 * x_908 - + x_302 * x_907 - + x_350 * x_906 - + x_350 * x_912 - + x_354 * x_906 - + x_354 * x_912 - + x_358 * x_920 - + x_358 * x_922 - + x_361 * x_585 - - x_361 * (x_249 * x_908 - x_275 * x_910 + x_352 * x_911) - - x_365 * (-x_125 * x_910 + x_220 * x_911 + x_927) - - x_365 - * ( - -x_110 * x_43 - + 0.009432 * x_23 * x_3 * x_41 - - 1.0e-6 * x_42 - - 0.009432 * x_49 - ) - + x_374 * x_898 - - x_389 * x_883 - - x_394 * x_886 - - x_396 * x_880 - + x_434 * x_885 - + x_435 * x_905 - + x_436 * x_905 - - x_440 * x_882 - + x_447 * x_896 - + x_931 * x_934 - - x_936 * x_937 - + x_938, - x_103 * x_943 - + 0.05295 * x_148 - - 0.0004524523596 * x_206 - + 0.0004524523596 * x_208 - + x_240 * x_962 - - 0.05295 * x_245 - + 0.05295 * x_247 - + x_252 * x_839 - + x_256 * x_654 - + x_256 * x_960 - + x_258 * x_954 - + x_259 * x_654 - + x_259 * x_960 - + x_263 * x_957 - + x_267 * x_956 - + x_271 * x_838 - + x_280 * x_944 - + x_280 * x_949 - + x_283 * x_959 - - x_286 * (-0.1059 * x_121 + 0.1059 * x_124) - - x_286 * (x_323 * x_947 - x_340 * x_948 + x_961) - - x_287 * x_513 - - x_287 * (x_352 * x_945 + x_418 * x_947 - x_423 * x_948) - - 3.6612e-9 * x_292 - + 3.6612e-9 * x_295 - - 8.04546e-5 * x_306 * x_388 - - x_306 * x_440 - + 8.04546e-5 * x_308 * x_393 - - x_308 * x_434 - + x_350 * x_723 - + x_354 * x_723 - + x_358 * x_958 - + x_360 * x_907 - - x_361 * x_601 - - x_365 - * (0.045483 * x_124 + 1.0e-6 * x_219 + x_49 * x_574 - x_49 * x_575) - + x_374 * x_952 - - x_396 * x_945 - + x_447 * x_950 - + x_8 * x_963 - + x_872 - + x_964, - x_103 * x_966 - + x_203 * x_965 - + x_212 * x_945 - + x_240 * x_800 - + x_256 * x_666 - + x_258 * x_969 - + x_259 * x_666 - + x_267 * x_970 - + x_280 * x_967 - - x_286 - * ( - -0.011402 * x_318 - + 0.011402 * x_322 - + 0.000281 * x_335 - - 0.000281 * x_339 - ) - + x_287 * x_475 - + x_374 * x_968 - - 3.07854e-5 * x_385 - + 3.07854e-5 * x_387 - + 7.587e-7 * x_390 - - 7.587e-7 * x_392 - + x_447 * x_879 - + x_971, - ], - [ - x_1000 * x_155 - + x_1000 * x_185 - + x_1000 * x_200 - + x_1000 * x_211 - + x_1000 * x_250 - + x_1001 * x_141 - + x_1001 * x_159 - + x_1001 * x_188 - + x_1001 * x_198 - + x_1002 * x_55 - + x_1002 * x_88 - + x_1002 * x_90 - + x_1003 * x_138 - + x_1003 * x_156 - + x_1003 * x_186 - + x_1003 * x_194 - + x_1004 * x_293 - + x_1004 * x_305 - + x_1004 * x_346 - + x_1004 * x_353 - + x_1005 * x_207 - + x_1005 * x_229 - + x_1005 * x_248 - + x_1005 * x_276 - + x_1006 * x_298 - + x_1007 * x_279 - + x_1007 * x_460 - + x_1008 * x_82 - + x_1008 * x_97 - + x_1008 * x_99 - + x_1009 * x_82 - + x_1009 * x_97 - + x_1009 * x_99 - + x_1010 * x_55 - + x_1010 * x_88 - + x_1010 * x_90 - + x_1011 * x_38 - - x_1012 * x_112 - - x_1013 * x_68 - - x_1014 * x_181 - - x_1015 * x_162 - - x_1016 * x_251 - - x_1016 * x_414 - - x_1017 * x_255 - - x_1017 * x_456 - - x_1018 * x_239 - - x_1018 * x_449 - + x_1019 * x_6 - - x_102 * x_1026 - + x_1020 * x_225 - + x_1021 * x_270 - + x_1021 * x_413 - + x_1022 * x_238 - + x_1022 * x_451 - - x_1023 * x_55 - - x_1023 * x_88 - - x_1023 * x_90 - - x_1024 * x_359 - - x_1025 * x_446 - - x_105 * x_650 - + x_108 * x_982 - + x_108 * x_984 - + x_127 * x_977 - + x_130 * x_995 - + x_138 * x_994 - + x_141 * x_993 - + x_150 * x_996 - + x_155 * x_989 - + x_156 * x_994 - + x_159 * x_993 - + x_185 * x_989 - + x_186 * x_994 - + x_188 * x_993 - + x_194 * x_994 - + x_198 * x_993 - + x_2 * (-0.000606 * x_3 + 7.0e-6 * x_5) - + x_200 * x_989 - + x_201 * x_990 - + x_207 * x_639 - + x_211 * x_989 - + x_223 * x_997 - + x_229 * x_639 - + x_230 * x_992 - + 0.2478512 * x_241 - + 0.2478512 * x_242 - + x_248 * x_639 - + x_25 * x_985 - + x_250 * x_989 - - x_263 * x_597 - + x_263 * x_604 - + x_266 * x_986 - - 0.7233535312 * x_27 * x_5 - + x_276 * x_639 - + x_282 * x_999 - + 0.1052 * x_284 - + 0.1052 * x_285 - + x_288 * x_975 - + x_288 * x_976 - + x_293 * x_991 - + 0.7233535312 * x_3 * x_34 - + 0.3905024 * x_30 - + x_305 * x_991 - - x_31 * x_5 - + x_325 * x_974 - + x_342 * x_973 - + x_346 * x_991 - - x_349 * x_651 - + x_353 * x_991 - + x_357 * x_998 - + 0.1426512 * x_362 - + 0.1426512 * x_363 - + x_366 * x_642 - + x_369 * x_988 - - x_374 * x_524 - + x_377 * x_987 - + 0.3867904 * x_38 * x_528 - + x_382 * x_988 - + x_384 * x_987 - + x_386 * x_987 - + x_391 * x_988 - + x_400 * x_988 - + x_405 * x_987 - + x_407 * x_987 - + x_409 * x_988 - + x_419 * x_987 - + x_424 * x_988 - + x_428 * x_999 - - x_429 * x_651 - + x_433 * x_998 - + x_437 * x_990 - + x_439 * x_639 - + 0.1426512 * x_441 - + 0.1426512 * x_442 - + 0.1426512 * x_443 - + x_444 * x_989 - + x_450 * x_639 - + x_455 * x_986 - + 0.1052 * x_461 - + 0.1052 * x_462 - + 0.1052 * x_463 - + x_47 * x_978 - + x_52 * x_980 - - x_622 * x_70 - + x_63 * x_979 - - 0.24658130208 * x_645 - + x_653 - + 0.195672 * x_71, - x_1000 * x_482 - + x_1000 * x_491 - + x_1000 * x_521 - + x_1000 * x_523 - + x_1001 * x_548 - + x_1001 * x_557 - + x_1001 * x_558 - + x_1002 * x_603 - + x_1003 * x_550 - + x_1003 * x_554 - + x_1003 * x_555 - + x_1004 * x_520 - + x_1004 * x_540 - + x_1004 * x_543 - + x_1005 * x_509 - + x_1005 * x_510 - + x_1005 * x_512 - + x_1006 * x_601 - + x_1007 * x_469 - + x_1007 * x_477 - + x_1008 * x_614 - + x_1009 * x_614 - + x_1010 * x_603 - - x_1012 * x_567 - - x_1013 * x_640 - - x_1014 * x_568 - - x_1015 * x_552 - - x_1016 * x_599 - - x_1016 * x_641 - - x_1017 * x_610 - - x_1017 * x_611 - - x_1018 * x_643 - - x_1018 * x_644 - + x_1019 * x_3 - + x_1020 * x_553 - + x_1021 * x_600 - + x_1021 * x_606 - + x_1022 * x_485 - + x_1022 * x_527 - - x_1023 * x_603 - - x_1024 * x_596 - - x_1025 * x_515 - - x_1026 * x_464 - + x_1028 * x_1029 - + 0.01881845118 * x_1028 - + x_192 * x_979 - + 0.01321104618 * x_197**2 - + x_197 * x_980 - + x_249 * x_978 - + 0.005607405 * x_274**2 - + x_275 * x_977 - + x_352 * x_975 - + x_352 * x_976 - + 0.45501758182439 * x_4 - + x_418 * x_974 - + x_423 * x_973 - + x_482 * x_989 - + x_488 * x_986 - + x_490 * x_987 - + x_491 * x_989 - + x_495 * x_988 - + x_499 * x_987 - - 0.0086784 * x_5 * x_586 - + x_502 * x_990 - + x_504 * x_639 - + x_506 * x_988 - + x_507 * x_989 - + x_509 * x_639 - + x_510 * x_639 - + x_512 * x_639 - + x_513 * x_990 - + x_517 * x_988 - + x_519 * x_987 - + x_520 * x_991 - + x_521 * x_989 - + x_523 * x_989 - - x_524 * x_639 - + x_525 * x_639 - + 0.00499843072 * x_528 * x_620 - - x_528 * x_985 - + x_531 * x_988 - + x_533 * x_987 - + x_537 * x_986 - + x_538 * x_988 - + x_539 * x_987 - + x_540 * x_991 - + x_543 * x_991 - + x_547 * x_997 - + x_548 * x_993 - + x_549 * x_992 - + x_550 * x_994 - + x_554 * x_994 - + x_555 * x_994 - + x_557 * x_993 - + x_558 * x_993 - + 0.08068314112 * x_559 * x_618 - - x_562 * x_650 - + x_563 * x_982 - + x_563 * x_984 - - x_578 * x_651 - - x_587 * x_651 - + x_591 * x_998 - + x_594 * x_998 - + x_595 * x_999 - - x_597 * x_642 - + x_598 * x_642 - + x_604 * x_642 - + x_609 * x_999 - + x_613 * x_995 - + x_617 * x_996 - + 0.45493669638439 * x_618 - + 0.32552280064 * x_619 - + 0.7810048 * x_621 - + 0.587016 * x_623 - + 0.391344 * x_624 - - 0.391344 * x_625 - + 0.2478512 * x_626 - + 0.2478512 * x_627 - + 0.1426512 * x_628 - + 0.1426512 * x_629 - + 0.1426512 * x_630 - - 0.2853024 * x_631 - + 0.1426512 * x_632 - + 0.1426512 * x_633 - + 0.1052 * x_634 - + 0.1052 * x_635 - + 0.1052 * x_636 - + 0.1052 * x_637 - + 0.1052 * x_638 - + 0.00529814349012 * (-x_1027 - 0.198812899122923 * x_563) ** 2 - + 0.08060711936 * (-x_1027 - 0.0307101727447217 * x_563) ** 2 - + 0.002766943553142 * (x_1030 + 0.147644913357231 * x_563) ** 2 - + 0.002766943553142 * (-x_196 + 1.56536167681543e-5 * x_21 * x_5) ** 2 - + 5.13181123316e-5 * (-0.00662550820659539 * x_3 + x_5) ** 2 - + 0.00020941743348 * (-0.00119952019192323 * x_3 - x_528) ** 2 - + 0.00529814349012 * (x_528 + 0.000238480086912743 * x_563) ** 2 - + 0.001402580829942 - * (x_1030 + 0.212167183343227 * x_351 - 0.212167183343227 * x_470) ** 2 - + 6.0316659072e-5 - * (-0.000106022052586938 * x_191 + x_196 + 0.000106022052586938 * x_569) - ** 2 - + 6.3137055e-5 - * ( - -0.000103626943005181 * x_191 - - x_274 - + 0.000103626943005181 * x_3 * x_41 - ) - ** 2 - + 0.001402580829942 - * (x_274 + 2.19862366158785e-5 * x_351 - 2.19862366158785e-5 * x_470) - ** 2 - + 0.000443960402 - * (-0.382643130411437 * x_351 + x_422 + 0.382643130411437 * x_470) ** 2 - + 6.5002802e-5 - * (x_417 - 0.0246447991580424 * x_420 - 0.0246447991580424 * x_421) ** 2 - + 0.000443960402 - * ( - 0.00943016309819451 * x_218 * x_5 - - x_417 - - 0.00943016309819451 * x_470 - ) - ** 2 - + 0.19763498984777, - x_1000 * x_697 - + x_1001 * x_718 - + x_1003 * x_696 - + x_1004 * x_694 - + x_1004 * x_714 - + x_1005 * x_689 - + x_1005 * x_691 - + x_1006 * x_723 - + x_1007 * x_659 - + x_1007 * x_669 - - x_1013 * x_765 - - x_1015 * x_721 - - x_1016 * x_748 - - x_1016 * x_778 - - x_1017 * x_756 - - x_1017 * x_757 - - x_1018 * x_779 - - x_1018 * x_780 - + x_1020 * x_722 - + x_1021 * x_749 - + x_1021 * x_752 - + x_1022 * x_674 - + x_1022 * x_705 - - x_1024 * x_745 - - x_1025 * x_693 - + x_1031 * x_152 - + x_1033 - + x_119 * x_977 - + 0.02624744208 * x_152 * x_50 - + x_152 * x_978 - - x_152 * x_979 - + 0.02624744208 * x_157 * x_61 - + x_157 * x_980 - - x_191 * x_937 - + x_21 * x_985 - + x_214 * x_975 - + x_214 * x_976 - + x_23 * x_982 - + x_23 * x_984 - + x_312 * x_974 - + x_330 * x_973 - - x_475 * x_785 - - x_484 * x_781 - - x_572 * x_788 - + x_573 * x_787 - - x_605 * x_783 - + x_639 * x_678 - + x_639 * x_689 - + x_639 * x_691 - + x_639 * x_699 - + x_642 * x_747 - - x_651 * x_729 - - x_651 * x_736 - + x_654 * x_990 - + x_676 * x_986 - + x_681 * x_990 - + x_684 * x_988 - + x_686 * x_987 - + x_687 * x_989 - + x_694 * x_991 - + x_696 * x_994 - + x_697 * x_989 - + x_701 * x_988 - + x_703 * x_987 - + x_706 * x_988 - + x_709 * x_987 - + x_713 * x_986 - + x_714 * x_991 - + x_716 * x_988 - + x_717 * x_987 - + x_718 * x_993 - + x_740 * x_998 - + x_743 * x_998 - + x_744 * x_999 - + x_755 * x_999 - + x_760 * x_995 - + x_763 * x_996 - + 0.1426512 * x_769 - + 0.1426512 * x_770 - + 0.1426512 * x_771 - + 0.1426512 * x_772 - + 0.1426512 * x_773 - + 0.1052 * x_774 - + 0.1052 * x_775 - + 0.1052 * x_776 - + 0.1052 * x_777 - + 0.195672 * x_792, - x_1006 * x_838 - + x_1007 * x_796 - + x_1007 * x_806 - - x_1012 * x_765 - - x_1014 * x_721 - - x_1016 * x_874 - - x_1017 * x_860 - - x_1017 * x_861 - - x_1018 * x_875 - + x_1021 * x_856 - + x_1022 * x_823 - - x_1024 * x_851 - - x_1025 * x_816 - + x_1031 * x_41 - - x_1034 * x_42 - + x_1035 - - x_227 * x_977 - + x_303 * x_975 - + x_303 * x_976 - + x_333 * x_973 - - 0.0353604286896 * x_39 * x_61 - - x_39 * x_980 - + x_402 * x_974 - + 0.0353604286896 * x_41 * x_50 - + x_41 * x_978 - - x_41 * x_979 - + x_45 * x_963 - + 0.15715 * x_467 - + 2.5120044e-7 * x_528 - - 0.15715 * x_536 - - x_545 * x_876 - - 0.00650425638724 * x_563 - + 0.2130954 * x_577 - - 0.2130954 * x_607 - + 0.2130954 * x_608 - + 3.522096e-6 * x_620 - + x_639 * x_808 - + x_639 * x_818 - + x_642 * x_854 - - x_651 * x_837 - - x_651 * x_843 - + 0.177530331536 * x_652 - + x_811 * x_990 - + x_812 * x_989 - + x_813 * x_986 - + x_814 * x_987 - + x_819 * x_988 - + x_820 * x_988 - + x_821 * x_987 - + x_824 * x_988 - + x_825 * x_987 - + x_829 * x_986 - + x_830 * x_992 - + x_831 * x_997 - + x_844 * x_999 - + x_848 * x_998 - + x_850 * x_998 - + x_859 * x_999 - + x_862 * x_996 - + 0.1426512 * x_863 - + 0.1426512 * x_864 - + 0.1426512 * x_865 - + 0.1052 * x_869 - + 0.1052 * x_870 - + 0.1052 * x_871, - 0.00137658408 * x_100 * x_220 - + x_100 * x_977 - + x_1006 * x_907 - + x_1007 * x_888 - - x_1016 * x_835 - - x_1016 * x_932 - - x_1017 * x_926 - - x_1018 * x_933 - + x_1021 * x_914 - + x_1021 * x_924 - + x_1022 * x_900 - - x_1025 * x_896 - + 0.0013454861184 * x_1036 - + x_1037 - - 0.01103478 * x_115 * x_42 - - 0.01114068 * x_115 * x_43 - - 0.00137658408 * x_116 * x_125 - + x_116 * x_975 - + x_116 * x_976 - - 0.000152525141168 * x_191 - - 4.3312674e-8 * x_195 - - x_42 * x_931 - - 1.426512e-7 * x_42 - - 1.426512e-7 * x_44 - - x_45 * x_931 - - x_481 * x_905 - + x_49 * x_937 - - 0.0013454861184 * x_49 - + x_492 * x_905 - + x_500 * x_905 - + x_501 * x_905 - + x_639 * x_891 - + x_639 * x_898 - + x_642 * x_919 - - x_651 * x_906 - - x_651 * x_912 - - x_882 * x_973 - + x_885 * x_974 - + x_894 * x_990 - + x_895 * x_989 - + x_904 * x_986 - + x_913 * x_999 - + x_920 * x_998 - + x_922 * x_998 - + x_925 * x_999 - + 0.1426512 * x_927 - + 0.1052 * x_928 - + 0.1052 * x_929 - + 0.1052 * x_930, - x_1007 * x_944 - + x_1007 * x_949 - - x_1016 * x_839 - - x_1017 * x_654 - - x_1017 * x_960 - - x_1018 * x_962 - + x_1021 * x_838 - + x_1022 * x_954 - - x_1024 * x_907 - - x_1025 * x_950 - - x_1034 * x_5 - + 0.05295 * x_1038 - + 0.05295 * x_1039 - - 0.01103478 * x_1040 - + x_1041 - - 0.0287695645296 * x_121 - + 0.0176288845296 * x_124 - + 1.426512e-7 * x_216 - + 1.426512e-7 * x_219 - + 0.0031347496 * x_306 * x_323 - - x_306 * x_973 - - 0.0031347496 * x_308 * x_340 - - x_308 * x_974 - + x_639 * x_943 - + x_639 * x_952 - + x_642 * x_957 - - x_651 * x_723 - + x_956 * x_986 - + x_958 * x_998 - + x_959 * x_999 - + 0.1052 * x_961, - x_1007 * x_967 - - x_1017 * x_666 - - x_1018 * x_800 - + x_1022 * x_969 - - x_1025 * x_879 - + x_1042 - - 0.0011994904 * x_318 - + 0.0011994904 * x_322 - + 2.95612e-5 * x_335 - - 2.95612e-5 * x_339 - + x_639 * x_966 - + x_639 * x_968 - + x_945 * x_990 - + x_965 * x_989 - + x_970 * x_986, - ], - [ - x_102 * x_1081 - + x_1043 * x_108 - + x_1044 * x_25 - + x_1045 * x_63 - + x_1046 * x_108 - + x_1049 * x_342 - + x_1051 * x_325 - + x_1052 * x_288 - + x_1053 * x_288 - + x_1054 * x_127 - + x_1056 * x_47 - + x_1057 * x_377 - + x_1057 * x_384 - + x_1057 * x_386 - + x_1057 * x_405 - + x_1057 * x_407 - + x_1057 * x_419 - + x_1058 * x_369 - + x_1058 * x_382 - + x_1058 * x_391 - + x_1058 * x_400 - + x_1058 * x_409 - + x_1058 * x_424 - + x_1059 * x_155 - + x_1059 * x_185 - + x_1059 * x_200 - + x_1059 * x_211 - + x_1059 * x_250 - + x_1059 * x_444 - + x_1060 * x_293 - + x_1060 * x_305 - + x_1060 * x_346 - + x_1060 * x_353 - + x_1061 * x_359 - + x_1062 * x_141 - + x_1062 * x_159 - + x_1062 * x_188 - + x_1062 * x_198 - + x_1063 * x_138 - + x_1063 * x_156 - + x_1063 * x_186 - + x_1063 * x_194 - + x_1064 * x_155 - + x_1064 * x_185 - + x_1064 * x_200 - + x_1064 * x_211 - + x_1064 * x_250 - + x_1065 * x_55 - + x_1065 * x_88 - + x_1065 * x_90 - + x_1066 * x_293 - + x_1066 * x_305 - + x_1066 * x_346 - + x_1066 * x_353 - + x_1067 * x_207 - + x_1067 * x_229 - + x_1067 * x_248 - + x_1067 * x_276 - + x_1068 * x_446 - + x_1069 * x_55 - + x_1069 * x_88 - + x_1069 * x_90 - - x_1070 * x_225 - - x_1071 * x_270 - - x_1071 * x_413 - - x_1072 * x_230 - - x_1073 * x_282 - - x_1073 * x_428 - - x_1074 * x_266 - - x_1074 * x_455 - - x_1075 * x_82 - - x_1075 * x_97 - - x_1075 * x_99 - - x_1076 * x_238 - - x_1076 * x_451 - + x_1077 * x_201 - + x_1077 * x_437 - + x_1078 * x_366 - + x_1079 * x_298 - + x_1080 * x_52 - + x_1082 * x_141 - + x_1082 * x_159 - + x_1082 * x_188 - + x_1082 * x_198 - + x_1083 * x_138 - + x_1083 * x_156 - + x_1083 * x_186 - + x_1083 * x_194 - - x_109 * x_23 - + x_207 * x_790 - + x_229 * x_790 - + x_248 * x_790 - - x_263 * x_746 - + x_263 * x_750 - + x_276 * x_790 - - 0.0032 * x_277 - - x_374 * x_698 - + 0.93 * x_38 * x_766 - - x_38 * x_789 - - 0.0043392 * x_430 - - 0.0043392 * x_431 - + x_439 * x_790 - + x_450 * x_790 - - 0.0032 * x_457 - - 0.0032 * x_458 - - 0.0032 * x_459 - - 0.0055721665266608 * x_6 - + 0.00011921460232 * x_7 - - x_70 * x_766 - - 6.0414112e-7 * x_764 - + x_794 - - 2.38080251328e-5 * x_8, - x_1033 - + x_1043 * x_563 - - x_1044 * x_528 - + x_1045 * x_192 - + x_1046 * x_563 - + x_1049 * x_423 - + x_1051 * x_418 - + x_1052 * x_352 - + x_1053 * x_352 - + x_1054 * x_275 - + x_1056 * x_249 - + x_1057 * x_490 - + x_1057 * x_499 - + x_1057 * x_519 - + x_1057 * x_533 - + x_1057 * x_539 - + x_1058 * x_495 - + x_1058 * x_506 - + x_1058 * x_517 - + x_1058 * x_531 - + x_1058 * x_538 - + x_1059 * x_482 - + x_1059 * x_491 - + x_1059 * x_507 - + x_1059 * x_521 - + x_1059 * x_523 - + x_1060 * x_520 - + x_1060 * x_540 - + x_1060 * x_543 - + x_1061 * x_596 - + x_1062 * x_548 - + x_1062 * x_557 - + x_1062 * x_558 - + x_1063 * x_550 - + x_1063 * x_554 - + x_1063 * x_555 - + x_1064 * x_482 - + x_1064 * x_491 - + x_1064 * x_521 - + x_1064 * x_523 - + x_1065 * x_603 - + x_1066 * x_520 - + x_1066 * x_540 - + x_1066 * x_543 - + x_1067 * x_509 - + x_1067 * x_510 - + x_1067 * x_512 - + x_1068 * x_515 - + x_1069 * x_603 - - x_1070 * x_553 - - x_1071 * x_600 - - x_1071 * x_606 - - x_1072 * x_549 - - x_1073 * x_595 - - x_1073 * x_609 - - x_1074 * x_488 - - x_1074 * x_537 - - x_1075 * x_614 - - x_1076 * x_485 - - x_1076 * x_527 - + x_1077 * x_502 - + x_1077 * x_513 - + x_1078 * x_598 - + x_1079 * x_601 - + x_1080 * x_197 - + x_1081 * x_464 - + x_1082 * x_548 - + x_1082 * x_557 - + x_1082 * x_558 - + x_1083 * x_550 - + x_1083 * x_554 - + x_1083 * x_555 - - x_23 * x_981 - - 0.0032 * x_465 - - 0.0032 * x_472 - - 0.0032 * x_474 - - 0.0032 * x_476 - + x_504 * x_790 - + x_509 * x_790 - + x_510 * x_790 - + x_512 * x_790 - + x_525 * x_790 - - 0.0043392 * x_588 - - 0.0043392 * x_589 - - x_639 * x_698 - - x_642 * x_746 - + x_642 * x_750 - + 0.391344 * x_792, - x_1029 * x_1084 - + x_1043 * x_23 - + x_1044 * x_21 - - x_1045 * x_152 - + x_1046 * x_23 - + x_1049 * x_330 - + x_1051 * x_312 - + x_1052 * x_214 - + x_1053 * x_214 - + x_1054 * x_119 - + x_1056 * x_152 - + x_1057 * x_686 - + x_1057 * x_703 - + x_1057 * x_709 - + x_1057 * x_717 - + x_1058 * x_684 - + x_1058 * x_701 - + x_1058 * x_706 - + x_1058 * x_716 - + x_1059 * x_687 - + x_1059 * x_697 - + x_1060 * x_694 - + x_1060 * x_714 - + x_1061 * x_745 - + x_1062 * x_718 - + x_1063 * x_696 - + x_1064 * x_697 - + x_1066 * x_694 - + x_1066 * x_714 - + x_1067 * x_689 - + x_1067 * x_691 - + x_1068 * x_693 - - x_1070 * x_722 - - x_1071 * x_749 - - x_1071 * x_752 - - x_1073 * x_744 - - x_1073 * x_755 - - x_1074 * x_676 - - x_1074 * x_713 - - x_1076 * x_674 - - x_1076 * x_705 - + x_1077 * x_654 - + x_1077 * x_681 - + x_1078 * x_747 - + x_1079 * x_723 - + x_1082 * x_718 - + x_1083 * x_696 - + 0.01881845118 * x_1084 - - x_1085 * x_152 - + 0.005607405 * x_119**2 - - 0.0086784 * x_23 * x_733 - + 0.00033888 * x_303 * x_758 - + 0.00061611413748 * x_559 - - 0.0064 * x_657 - - 0.0032 * x_661 - - 0.0032 * x_663 - - x_667 * x_785 - - 0.0032 * x_668 - - x_673 * x_781 - + x_678 * x_790 - + x_689 * x_790 - + x_691 * x_790 - + x_699 * x_790 - + 0.01480704618 * x_719 * x_758 - + x_726 * x_787 - - x_728 * x_788 - - 0.0086784 * x_737 - - 0.0043392 * x_738 - - 0.0043392 * x_739 - + 0.0173568 * x_741 - + 0.0086784 * x_742 - - x_751 * x_783 - + 0.08122323349748 * x_758 - + 6.3137055e-5 * (x_119 + 0.000103626943005181 * x_152) ** 2 - + 6.0316659072e-5 * (0.000106022052586938 * x_152 - x_157) ** 2 - + 0.002766943553142 * (x_152 + 0.147644913357231 * x_23) ** 2 - + 0.002766943553142 * (x_157 + 1.56536167681543e-5 * x_23) ** 2 - + 0.00529814349012 * (-x_21 + 0.000238480086912743 * x_23) ** 2 - + 0.001402580829942 - * (x_152 + 0.212167183343227 * x_213 - 0.212167183343227 * x_511) ** 2 - + 0.000443960402 - * (0.00943016309819451 * x_213 + x_312 - 0.00943016309819451 * x_511) - ** 2 - + 0.000443960402 - * (0.382643130411437 * x_116 * x_23 - 0.382643130411437 * x_213 - x_330) - ** 2 - + 6.5002802e-5 - * ( - 0.0246447991580424 * x_21 * x_328 - - x_312 - - 0.0246447991580424 * x_326 - ) - ** 2 - + 0.001402580829942 - * ( - 2.19862366158785e-5 * x_100 * x_21 * x_41 - - x_119 - - 2.19862366158785e-5 * x_511 - ) - ** 2 - + 0.0012084349250612, - -x_1045 * x_41 - + x_1049 * x_333 - + x_1051 * x_402 - + x_1052 * x_303 - + x_1053 * x_303 - - x_1054 * x_227 - + x_1056 * x_41 - + x_1057 * x_814 - + x_1057 * x_821 - + x_1057 * x_825 - + x_1058 * x_819 - + x_1058 * x_820 - + x_1058 * x_824 - + x_1059 * x_812 - + x_1061 * x_851 - + x_1068 * x_816 - - x_1071 * x_856 - - x_1072 * x_830 - - x_1073 * x_844 - - x_1073 * x_859 - - x_1074 * x_813 - - x_1074 * x_829 - - x_1076 * x_823 - + x_1077 * x_811 - + x_1078 * x_854 - + x_1079 * x_838 - - x_1085 * x_41 - + 0.004011405 * x_1086 - + x_1088 - + 0.00033888 * x_213 - + 0.15715 * x_656 - - 0.15715 * x_712 - + 0.2130954 * x_725 - + 0.2130954 * x_753 - - 0.2130954 * x_754 - + x_790 * x_808 - + x_790 * x_818 - - 0.0032 * x_801 - - 0.0032 * x_803 - - 0.0032 * x_805 - - 0.0043392 * x_846 - - 0.0043392 * x_847, - x_100 * x_1054 - - 4.187328e-5 * x_100 * x_218 - - x_1049 * x_882 - + x_1051 * x_885 - + x_1052 * x_116 - + x_1053 * x_116 - + x_1059 * x_895 - + x_1068 * x_896 - - x_1071 * x_914 - - x_1071 * x_924 - - x_1073 * x_913 - - x_1073 * x_925 - - x_1074 * x_904 - - x_1076 * x_900 - + x_1077 * x_894 - + x_1078 * x_919 - + x_1079 * x_907 - + 4.3392e-9 * x_1089 - - 4.09273344e-5 * x_1090 - + x_1091 - + 0.00067776 * x_115 * x_39 - + 4.187328e-5 * x_116 * x_123 - + 0.000152525141168 * x_152 - + 4.3312674e-8 * x_157 - + 0.016642185 * x_213 - + x_679 * x_905 - + x_680 * x_905 - + x_790 * x_891 - + x_790 * x_898 - - 0.0032 * x_881 - - 0.0032 * x_884 - - 0.0032 * x_887, - -x_1049 * x_306 - - x_1051 * x_308 - + x_1061 * x_907 - + x_1068 * x_950 - - x_1071 * x_838 - - x_1073 * x_959 - - x_1074 * x_956 - - x_1076 * x_954 - + x_1078 * x_957 - + 0.016642185 * x_1092 - + x_1093 - + 4.3392e-9 * x_117 - + 0.0008751198336 * x_122 - + 4.3392e-9 * x_217 - - 9.53536e-5 * x_306 * x_321 - + 9.53536e-5 * x_308 * x_338 - - 0.0008751198336 * x_688 - + x_790 * x_943 - + x_790 * x_952 - - 0.0032 * x_946, - x_1059 * x_965 - + x_1068 * x_879 - - x_1074 * x_970 - - x_1076 * x_969 - + x_1077 * x_945 - + x_1094 - + 3.64864e-5 * x_319 - - 3.64864e-5 * x_320 - + 8.992e-7 * x_336 - + 8.992e-7 * x_337 - + x_790 * x_966 - + x_790 * x_968, - ], - [ - -0.000256 * x_108 * x_41 - + x_1095 * x_47 - + x_1096 * x_288 - + x_1099 * x_342 - + x_1100 * x_325 - + x_1101 * x_288 - + x_1102 * x_377 - + x_1102 * x_384 - + x_1102 * x_386 - + x_1102 * x_405 - + x_1102 * x_407 - + x_1102 * x_419 - + x_1103 * x_369 - + x_1103 * x_382 - + x_1103 * x_391 - + x_1103 * x_400 - + x_1103 * x_409 - + x_1103 * x_424 - + x_1104 * x_293 - + x_1104 * x_305 - + x_1104 * x_346 - + x_1104 * x_353 - + x_1105 * x_207 - + x_1105 * x_229 - + x_1105 * x_248 - + x_1105 * x_276 - + x_1105 * x_439 - + x_1105 * x_450 - + x_1106 * x_366 - + x_1107 * x_141 - + x_1107 * x_159 - + x_1107 * x_188 - + x_1107 * x_198 - + x_1108 * x_55 - + x_1108 * x_88 - + x_1108 * x_90 - + x_1109 * x_293 - + x_1109 * x_305 - + x_1109 * x_346 - + x_1109 * x_353 - + x_1110 * x_207 - + x_1110 * x_229 - + x_1110 * x_248 - + x_1110 * x_276 - + x_1111 * x_155 - + x_1111 * x_185 - + x_1111 * x_200 - + x_1111 * x_211 - + x_1111 * x_250 - - x_1112 * x_63 - - x_1113 * x_138 - - x_1113 * x_156 - - x_1113 * x_186 - - x_1113 * x_194 - - x_1114 * x_52 - + x_1115 * x_155 - + x_1115 * x_185 - + x_1115 * x_200 - + x_1115 * x_211 - + x_1115 * x_250 - + x_1115 * x_444 - - x_1116 * x_127 - - x_201 * x_784 - + 3.522096e-6 * x_21 * x_6 - - 3.5833644e-7 * x_24 - + 0.1042 * x_254 - + x_263 * x_852 - - x_263 * x_853 - - x_298 * x_786 - + 0.00695350144324 * x_33 - - x_374 * x_817 - - 0.1412952 * x_425 - + 0.1412952 * x_426 - + 0.1412952 * x_427 - - x_437 * x_784 - + 0.1042 * x_452 - + 0.1042 * x_453 - - 0.1042 * x_454 - - 1.97532e-7 * x_53 - - 1.97532e-7 * x_54 - + 0.005392422292 * x_73 - - 0.005392422292 * x_81 - + 0.096149631376 * x_873 - + x_878 - + 1.674e-5 * x_89 - + 0.45698494 * x_96, - x_1035 - + x_1095 * x_249 - + x_1096 * x_352 - + x_1099 * x_423 - + x_1100 * x_418 - + x_1101 * x_352 - + x_1102 * x_490 - + x_1102 * x_499 - + x_1102 * x_519 - + x_1102 * x_533 - + x_1102 * x_539 - + x_1103 * x_495 - + x_1103 * x_506 - + x_1103 * x_517 - + x_1103 * x_531 - + x_1103 * x_538 - + x_1104 * x_520 - + x_1104 * x_540 - + x_1104 * x_543 - + x_1105 * x_504 - + x_1105 * x_509 - + x_1105 * x_510 - + x_1105 * x_512 - + x_1105 * x_525 - + x_1106 * x_598 - + x_1107 * x_548 - + x_1107 * x_557 - + x_1107 * x_558 - + x_1108 * x_603 - + x_1109 * x_520 - + x_1109 * x_540 - + x_1109 * x_543 - + x_1110 * x_509 - + x_1110 * x_510 - + x_1110 * x_512 - + x_1111 * x_482 - + x_1111 * x_491 - + x_1111 * x_521 - + x_1111 * x_523 - - x_1112 * x_192 - - x_1113 * x_550 - - x_1113 * x_554 - - x_1113 * x_555 - - x_1114 * x_197 - + x_1115 * x_482 - + x_1115 * x_491 - + x_1115 * x_507 - + x_1115 * x_521 - + x_1115 * x_523 - - x_1116 * x_275 - - 0.000256 * x_1117 - + 0.1042 * x_467 - - x_502 * x_784 - - x_513 * x_784 - + 3.5833644e-7 * x_528 - + 0.1042 * x_534 - + 0.1042 * x_535 - - 0.1042 * x_536 - - 0.00695350144324 * x_563 - + 0.1412952 * x_577 - - x_601 * x_786 - - 0.1412952 * x_607 - + 0.1412952 * x_608 - + 7.044192e-6 * x_620 - - x_639 * x_817 - + x_642 * x_852 - - x_642 * x_853 - + 0.192299262752 * x_652, - 0.005618405 * x_1086 - + x_1088 - + x_1095 * x_152 - + x_1096 * x_214 - + x_1099 * x_330 - + x_1100 * x_312 - + x_1101 * x_214 - + x_1102 * x_686 - + x_1102 * x_703 - + x_1102 * x_709 - + x_1102 * x_717 - + x_1103 * x_684 - + x_1103 * x_701 - + x_1103 * x_706 - + x_1103 * x_716 - + x_1104 * x_694 - + x_1104 * x_714 - + x_1105 * x_678 - + x_1105 * x_689 - 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+ 0.1042 * x_827 - + 0.1042 * x_828 - + 0.3543906 * x_840 - + 0.3543906 * x_857 - - 0.3543906 * x_858 - + 6.3137055e-5 * (-x_227 + 0.000103626943005181 * x_41) ** 2 - + 0.001402580829942 * (x_227 - 2.19862366158785e-5 * x_303) ** 2 - + 0.001402580829942 * (-0.212167183343227 * x_303 + x_41) ** 2 - + 0.000443960402 * (-0.00943016309819451 * x_303 - x_317) ** 2 - + 6.0316659072e-5 * (x_39 + 0.000106022052586938 * x_41) ** 2 - + 0.000443960402 * (0.382643130411437 * x_303 - x_332 + x_797) ** 2 - + 6.5002802e-5 - * (x_317 + 0.0246447991580424 * x_332 - 0.0246447991580424 * x_797) ** 2 - + 0.09422126315144, - x_1096 * x_116 - - x_1099 * x_882 - + x_1100 * x_885 - + x_1101 * x_116 - + x_1105 * x_891 - + x_1105 * x_898 - + x_1106 * x_919 - + x_1115 * x_895 - - x_1119 * x_915 - - x_1119 * x_917 - - 0.007248405 * x_1120 - + x_1121 - - x_784 * x_894 - - x_786 * x_907 - + x_809 * x_905 - + x_810 * x_905 - - 0.1042 * x_901 - + 0.1042 * x_902 - + 0.1042 * x_903 - + 0.1412952 * x_909, - -x_1099 * x_306 - 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+ x_1137 * x_250 - + x_1138 * x_293 - + x_1138 * x_305 - + x_1138 * x_346 - + x_1138 * x_353 - - x_1139 * x_47 - - x_1140 * x_192 - - x_1141 * x_915 - - x_1141 * x_917 - - x_1142 * x_207 - - x_1142 * x_229 - - x_1142 * x_248 - - x_1142 * x_276 - - 8.0004e-9 * x_133 - - 8.0004e-9 * x_134 - - 7.54597728e-5 * x_140 - + 7.54597728e-5 * x_144 - - 4.3392e-9 * x_152 * x_8 - - 6.78e-7 * x_154 - - x_155 * x_905 - + 4.09273344e-5 * x_157 * x_8 - + 0.006394896 * x_158 - - 6.78e-7 * x_183 - - 6.78e-7 * x_184 - - x_185 * x_905 - - 0.006394896 * x_187 - - x_200 * x_905 - - x_211 * x_905 - + 0.006394896 * x_246 - - x_250 * x_905 - - x_374 * x_897 - - x_444 * x_905 - + 1.426512e-7 * x_934 - + 0.0013454861184 * x_936 - + x_938, - 0.0026909722368 * x_1036 - + x_1037 - - 4.09273344e-5 * x_1117 - + x_1129 * x_423 - + x_1130 * x_418 - + x_1131 * x_352 - + x_1132 * x_490 - + x_1132 * x_499 - + x_1132 * x_519 - + x_1132 * x_533 - + x_1132 * x_539 - + x_1133 * x_495 - + x_1133 * x_506 - + x_1133 * x_517 - + x_1133 * x_531 - 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+ 6.5002802e-5 * (-0.0246447991580424 * x_882 - x_885) ** 2 - + 0.00045931665975, - 6.5427e-9 * x_100 - - x_1129 * x_306 - - x_1130 * x_308 - - x_1146 - - x_1147 - + 0.067849 * x_306 * x_883 - + 0.5 * x_880 * x_945, - 5.1878398e-5 * x_100 * x_308 - + 0.0006740422825 * x_116 - - 1.186619e-6 * x_885 - - x_905 * x_965, - ], - [ - -0.0176288845296 * x_0 * x_275 - + 0.083787474 * x_101 - - x_1140 * x_352 - + x_1148 * x_325 - + x_1149 * x_288 - + x_1150 * x_342 - + x_1151 * x_293 - + x_1151 * x_305 - + x_1151 * x_346 - + x_1151 * x_353 - + x_1152 * x_377 - + x_1152 * x_384 - + x_1152 * x_386 - + x_1152 * x_405 - + x_1152 * x_407 - + x_1152 * x_419 - - x_1153 * x_142 - - x_1154 * x_369 - - x_1154 * x_382 - - x_1154 * x_391 - - x_1154 * x_400 - - x_1154 * x_409 - - x_1154 * x_424 - + x_1155 * x_8 - + x_1156 * x_8 - + 0.083787474 * x_148 - - 0.0009886921932 * x_206 - + 0.0009886921932 * x_208 - + 0.0176288845296 * x_227 * x_8 - + 0.083787474 * x_228 - - 0.083787474 * x_245 - + 0.083787474 * x_247 - - 8.0004e-9 * x_292 - + 8.0004e-9 * x_295 - - 1.426512e-7 * x_303 * x_8 - + 6.78e-7 * x_304 - + 6.78e-7 * x_343 - + 6.78e-7 * x_344 - - 6.78e-7 * x_345 - - x_374 * x_951 - + x_964, - 0.083787474 * x_1038 - + 0.083787474 * x_1039 - - 0.0174613095816 * x_1040 - + x_1041 - + x_1148 * x_418 - + x_1149 * x_352 - + 1.412952e-7 * x_115 * x_49 - - 0.0005362398336 * x_115 * x_5 - + x_1150 * x_423 - + x_1151 * x_520 - + x_1151 * x_540 - + x_1151 * x_543 - + x_1152 * x_490 - + x_1152 * x_499 - + x_1152 * x_519 - + x_1152 * x_533 - + x_1152 * x_539 - - x_1153 * x_464 - - x_1154 * x_495 - - x_1154 * x_506 - - x_1154 * x_517 - - x_1154 * x_531 - - x_1154 * x_538 - - x_1155 * x_5 - - x_1156 * x_5 - - 0.0352577690592 * x_121 - + 0.0352577690592 * x_124 - + 2.853024e-7 * x_216 - + 2.853024e-7 * x_219 - - 4.3392e-9 * x_5 * x_511 - - 6.78e-7 * x_542 - - x_639 * x_951, - 0.0263344030782 * x_1092 - + x_1093 - - x_1127 * x_122 - + x_1148 * x_312 - + x_1149 * x_214 - + x_1150 * x_330 - + x_1151 * x_694 - + x_1151 * x_714 - + x_1152 * x_686 - + x_1152 * x_703 - + x_1152 * x_709 - + x_1152 * x_717 - - x_1154 * x_684 - - x_1154 * x_701 - - x_1154 * x_706 - - x_1154 * x_716 - + 8.6784e-9 * x_117 - + 0.0010724796672 * x_122 - + 8.6784e-9 * x_217 - - 0.0010724796672 * x_688 - - 2.130954e-7 * x_935, - 0.0263344030782 * x_1122 - - 2.130954e-7 * x_1123 - + x_1124 - + x_1148 * x_402 - + x_1149 * x_303 - + x_1150 * x_333 - + x_1152 * x_814 - + x_1152 * x_821 - + x_1152 * x_825 - - x_1154 * x_819 - - x_1154 * x_820 - - x_1154 * x_824 - - 0.15715 * x_955, - 6.5427e-9 * x_100 - + x_1134 * x_945 - - x_1146 - - x_1147 - + x_1148 * x_885 - + x_1149 * x_116 - - x_1150 * x_882 - + 0.067849 * x_889, - -x_1148 * x_308 - - x_1150 * x_306 - + 0.003599568602 * x_939 - + 0.003599568602 * x_941 - + 6.5002802e-5 * (-0.0246447991580424 * x_306 + x_308) ** 2 - + 0.00865098583062, - x_1157, - ], - [ - -0.0011994904 * x_0 * x_418 - + 2.95612e-5 * x_0 * x_423 - + 0.005701 * x_102 * x_306 - + x_1158 * x_8 - - x_1159 * x_8 - + 0.0011994904 * x_317 * x_8 - - 2.95612e-5 * x_334 * x_8 - - 0.0001405 * x_367 - + 0.0001405 * x_368 - + 0.005701 * x_375 - + 0.005701 * x_376 - + 0.0001405 * x_380 - + 0.0001405 * x_381 - - 0.005701 * x_383 - - 6.72718e-5 * x_385 - + 6.72718e-5 * x_387 - + 1.6579e-6 * x_390 - - 1.6579e-6 * x_392 - + 0.0001405 * x_397 - - 0.0001405 * x_398 - - 0.0001405 * x_399 - + 0.005701 * x_401 - + 0.005701 * x_403 - + 0.005701 * x_404 - + 0.005701 * x_406 - - 0.0001405 * x_408 - + x_971, - x_1042 - - x_1158 * x_5 - + x_1159 * x_5 - + x_1160 * x_528 - - x_1161 * x_528 - - 0.0001405 * x_306 * x_492 - - 3.64864e-5 * x_307 * x_5 - - 0.0023989808 * x_318 - + 0.0023989808 * x_322 - - 8.992e-7 * x_326 * x_5 - + 5.91224e-5 * x_335 - - 5.91224e-5 * x_339 - - 0.005701 * x_489 - + 0.0001405 * x_493 - + 0.0001405 * x_494 - + 0.005701 * x_496 - + 0.005701 * x_497 - + 0.005701 * x_498 - + 0.0001405 * x_505 - - 0.0001405 * x_530 - + 0.005701 * x_532, - x_1094 - - x_1160 * x_21 - + x_1161 * x_21 - + x_1162 * x_314 - + x_1162 * x_315 - + x_1163 * x_309 - - x_1163 * x_797 - + 1.487895e-5 * x_117 * x_309 - + 0.0006037359 * x_117 * x_315 - + 7.29728e-5 * x_319 - - 7.29728e-5 * x_320 - + 1.7984e-6 * x_336 - + 1.7984e-6 * x_337 - + 0.0001405 * x_683 - - 0.005701 * x_685, - x_1125 - + 0.0017918243 * x_1126 - - 0.0017918243 * x_309 - + 1.6065569e-5 * x_314 - + 4.415915e-5 * x_315 - + 1.6065569e-5 * x_316 - + 4.415915e-5 * x_327 - - 0.000655614298 * x_332 - + 0.000655614298 * x_797, - 0.0006740422825 * x_116 + 0.000655614298 * x_882 - 1.6065569e-5 * x_885, - x_1157, - 0.0006740422825, - ], - ] - ) diff --git a/kinova_gen3/joint_limits.py b/kinova_gen3/performance_criteria/joint_limits.py similarity index 100% rename from kinova_gen3/joint_limits.py rename to kinova_gen3/performance_criteria/joint_limits.py diff --git a/kinova_gen3/manipulability.py b/kinova_gen3/performance_criteria/manipulability.py similarity index 95% rename from kinova_gen3/manipulability.py rename to kinova_gen3/performance_criteria/manipulability.py index d6a6b21..22f0b1c 100644 --- a/kinova_gen3/manipulability.py +++ b/kinova_gen3/performance_criteria/manipulability.py @@ -10,7 +10,7 @@ import numpy as np from numpy.linalg import det from scipy.optimize import approx_fprime -from .jacobian import jacobian +from kinova_gen3.kinematics.jacobian import jacobian def manipulability(joint_position): diff --git a/pyproject.toml b/pyproject.toml index 943d4fb..b90cc59 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "pyKinovaGen3" -version = "0.0.5" +version = "0.0.7" authors = [ { name="Ozan Tokatli", email="ozan.tokatli@gmail.com" }, ]