
    \h              
       	   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5      rS r\R                  " \SSS5      r\R                   " S5      r\R                   " 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      u  rrr\R.                  " SS5      u  rrr\R                   " S5      r\R?                  \S 5        \R                  " S5      r \RB                  " S\\ \RD                  " S	5      \RF                  " \ RH                  \ RH                  5      \45      r%\RM                  \RN                  \\RH                  -  5        S\RQ                  \RN                  5      -  \\RR                  -  -   r*\RW                  \\\RX                  -  5        S\R[                  \5      -  \\RR                  -  -   r*\ RW                  \\\RX                  -  5        S\ R[                  \5      -  \\RR                  -  -   r*\R]                  \\R[                  \5      R_                  \5      5        S\Ra                  \5      -  \\RR                  -  -   r*\RN                  R?                  \\\RH                  -  \\RR                  -  -   5        \Rc                  \\\RR                  -  5        \Rd                  " \Rg                  \5      \RN                  Ri                  \5      5      r5\5r6S\6-  r7\7S-  r8S\-  \-  \-  r9\9S\-  -  r9S\-  r9\R.                  " S5      u  r:r;r<r=\R.                  " SS5      u  r>r?r@rA\R.                  " S5      u  r$r)\R.                  " SS5      u  rBrC\R.                  " SS5      u  rDrE\R.                  " S5      rF\$\BS-  -  S-   rF\R                  " S //5      rS\$-  \S '   \R                  " \R                  S    \R                  " S //5      5      rS\)-  \\R                  S    S-
  '   S\S    -  r\R                  " / SQ5      R                  SS5      rS\S'   \S   S-  r\:\RH                  -  rK\;\RX                  -  rL\:\RH                  -  \;\RR                  -  -   rK\KS-  rMg)    Nna   po1po2p1p1_ptmp2p2_ptzc1 c2 c3zc1_ c2_ c3_r_cmr_fr      zq1 q2 u1 u2zq1_ q2_ u1_ u2_zx yzx_ y_yy)	r   r   r                  	   r   )r   r   )Nsympy.physics.mechanicsphysics	mechanics_mesympy_smmathr
   numpy_npReferenceFrameframe_nframe_ar   inertiadPoint	point_po1	point_po2ParticleSymbolparticle_p1particle_p2dynamicsymbolsc1c2c3c1_dc2_dc3_d	body_r_cmset_velbody_r_f	RigidBodysymbolsouterxbody_rset_pospointpos_fromyvset_ang_velz
ang_vel_inset_ang_accdt
ang_acc_inset_acccrossaccvelv_ax_b_cx_b_d	a_b_c_d_ea_b_cq1q2u1u2q1_dq2_du1_du2_dx_dy_dx_ddy_ddr   Matrix
row_insertshapereshapeforce_rotorque_af     e/var/www/auris/envauris/lib/python3.13/site-packages/sympy/parsing/autolev/test-examples/ruletest9.py<module>rg      sb   % %   


S
!


S
!KKAq!IIe	IIe	ll47!3SZZ_Ell47!3SZZ_E
+
B%%mQ7 dDIIf	 	  '1 e$	sIxS1ACIIhjjYaYcYcDdenCo	p 	  +##R		\ 2i**++BwyyL8   GR		\ *g!!"WYY,.   Wbl +h'""2gii</   Gg009==gF Gg!!"WYY,.     '2gii<799#< = 	  '2gii< (	ii	g&(9(9(=(=g(FG	%!G		"R
 2
B$##M2BB++,=qA dD$
% 1gq)S+
dsAvXaZJJus!LLSZZ!./A#!''!*Q,adFJJ"#++Aq1	
#dGAIgii<gii<gii<"WYY,&QJre   