
    \h
              
       d   S SK Js  Jr  S SKrS SKrS SKr	\R                  " S5      r\R                  " SSS9u  rrr\R                   " \SSS5      r\R$                  " S\R&                  " S5      \R(                  " S	5      5      r\R$                  " S
\R&                  " S5      \R(                  " S	5      5      r\R&                  " S5      r\R                  " S5      r\R2                  " S\\\R                  " S	5      \R4                  " \R6                  \R6                  5      \45      r\R;                  \S\R<                  " / SQ5      R?                  SS5      5        \R&                  " S5      r \R                  " S5      r!\!\l"        \R                  " S5      r#\#\l"        \R                  " S5      r$\$\l"        \R                  " S5      r%\R                  " S5      r&\R                  " S5      r'\R                   " \\%\&\'S S S 5      \4\l        \ RQ                  \RR                  \\R6                  -  5        \ RQ                  \RR                  \\RT                  -  5        \ RQ                  \\\RV                  -  5        \RX                  " \RD                  \RR                  R[                  \ 5      \5      r\RX                  " \RD                  \RR                  R[                  \ 5      \5      r\R                   S    \RX                  " \RD                  \R\                  R[                  \ 5      \5      -   r\RX                  " \RD                  \RR                  R[                  \ 5      \5      \RX                  " \RD                  \RR                  R[                  \ 5      \5      -   \R                   S    -   \RX                  " \RD                  \R\                  R[                  \ 5      \5      -   r\RX                  " \RD                  \RR                  R[                  \ 5      \5      \R                   S    -   \RX                  " \RD                  \R\                  R[                  \ 5      \5      -   r\R                   S    \RX                  " \RD                  \R\                  R[                  \ 5      \5      -   r\R                   S    r\RR                  RQ                  \RR                  \\R6                  -  \\RT                  -  -   5        \RQ                  \RR                  \\R6                  -  5        \RQ                  \RR                  \\RT                  -  5        \R^                  Ra                  \ \\\5      r1\R^                  Ra                  \ \\5      r1\R^                  Ra                  \RR                  \\\5      r1\Rd                  " S5      u  r3r4r5\3\R6                  -  \4\RT                  -  -   \5\RV                  -  -   r6\6\\R6                  -  -   Ro                  5       r8\RR                  Rs                  \\3\R6                  -  5        \RR                  Ru                  \\35      r\RD                  \RD                  -   r\RD                  r\RD                  \RD                  -   \RD                  -   rg)    Nazc1 c2 c3T)real   p1p1_ptmp2p2_ptr_cmr_frDCM)	r   r   r   r   r   r   r   r   r      om1m2mri1i2i3zu1 u2 u3);sympy.physics.mechanicsphysics	mechanics_mesympy_smmathr   numpy_npReferenceFrameframe_asymbolsc1c2c3inertiar   ParticlePointSymbolparticle_p1particle_p2	body_r_cmbody_r_f	RigidBodyouterxbody_rorientMatrixreshapepoint_or   massr   r   r   r   r   set_pospointyzinertia_of_point_masspos_from
masscenter	functionscenter_of_massbdynamicsymbolsu1u2u3v	normalizeuset_velpartial_velocity     e/var/www/auris/envauris/lib/python3.13/site-packages/sympy/parsing/autolev/test-examples/ruletest8.py<module>rM      s-   % %   


S
![[$/
BKKAq!ll47!3SZZ_Ell47!3SZZ_EIIf	e$	sIxS1ACIIhjjYaYcYcDdenCo	p x

+> ? G G1 M N
))C.[[ [[ [[[[[[[[++hBAq!<iH !!2gii< 0 !!2gii< 0 	2gii< (k..0A0A0J0J70SU\]k..0A0A0J0J70SU\]
NN111&++v?P?P?Y?YZa?bdkllk..0A0A0J0J70SU\]`c`y`y  {F  {K  {K  MX  M^  M^  Mg  Mg  ho  Mp  ry  az  z  }C  }K  }K  LM  }N  N  QT  Qj  Qj  kq  kv  kv  x~  xI  xI  xR  xR  SZ  x[  ]d  Qe  ek..0A0A0J0J70SU\]`f`n`nop`qqtw  uN  uN  OU  OZ  OZ  \b  \m  \m  \v  \v  w~  \  AH  uI  I
NN111&++v?P?P?Y?YZa?bdkll
NN1     +++R		\"WYY,-F G 	  +##R		\ 2 	  +##R		\ 2MM  k6JMM  f=MM  !2!2;VT
+
BwyyLGIIbl*r'))|^      '2gii< 0&&w3V[[ [%%%fkk1rK   