K i ZddlmcmZddlZddlZddlZ ejd\Z Z ejdd\ZZeee ze zdzzZej"eegj%ddZej'Zej"eDcgc]}|j'c}j%ej(dej(dZej*ee Zej"eDcgc]}ej*|e c}j%ej(dej(dZej"dggZee zee zzed<ej/ej(dej"dggZdeze zdeze zz eej(ddz <eej2ee e ej2ee e e Ze e zdzde dzzzZej7e ejd d\ZZZej"eeedgj%ddZej"eDcgc]}|j;edededic}j%ej(dej(dZej"ej?jADcgc]}|jCc}Z"ej"ejGDcgc]}|ddjCc}j%ej(dej(dZ$ejJd Z&ejJd Z'e'jQe&d e e&jge'jQe&d ejRdz e&jgejd d\Z*Z+Z,e*e'jze+e'jzze,e'jZzzZ.ej^dZ0ej^dZ1e0jee1e*e'jze.jge&Z.e0jee1e0jie1jge&e'jke&e,e'jZzee&jme'e1joe0e&e'ejpdej^dejrdZ:ejpdej^dejrdZ;e;jxjoe:jxe&e'e1j{e:jxe&e'ej^dZ>e>je&dejJdZ@ejde>e@ejdeje@je@je>fZCej^dZDeDje&dejJdZEejdeDeEejdejeEjeEjeDfZFejddZGe:jeGe&jzzZIe;jeGe&jzzZJeCjeGe&jzzZKeFjeGe&jzzZLejdZ-e e'jze e'jZzzZ.e0jee1e e'jze e'jzze.j;e de-ze e-iZ.e0jee1e0jie1j;e de-ze e-ide e ze'jzzZMe:jeGe&jzze e ze'jzzZIycc}wcc}wcc}wcc}wcc}w)Nzx yza bT)realza b cnaAxiszc1 c2 c3opp1p1_ptmp2p2_ptb1_cmb1_fb1b2_cmb2_fb2gz)Nsympy.physics.mechanicsphysics mechanics_mesympy_smmathrnumpy_npdynamicsymbolsxysymbolsrbeMatrixreshapeexpandshapefactoreqn row_insertprintsolverhs_ycollectcsubsm2 eigenvalskeysevalfeigvalue eigenvectseigvecReferenceFrameframe_nframe_aorientpic1c2c3rvPointpoint_opoint_pset_posexpresspos_from set_ang_vel ang_vel_in v2pt_theoryParticleSymbol particle_p1 particle_p2point a2pt_theory body_b1_cmset_vel body_b1_f RigidBodyouterbody_b1 body_b2_cm body_b2_fbody_b2rmassforce_p1force_p2force_b1force_b2force_o)is0t/mnt/ssd/data/python-lab/Trading/venv/lib/python3.12/site-packages/sympy/parsing/autolev/test-examples/ruletest10.pyrfs%%s% 1s{{5t$1qs1uqjLCJJ!ua#HHJCJJA&q &'// ! qiilKCJJq!CJJ+A  1Q+,44aYYq\A99Q<Pcjj1# 1QqSA nnSYYq\:3::se#45c!eAaCEkCIIaLNiciiAa #a1qS1HQq!tVO ! #++gD )1aCJJ!Aay!!!Q'SZZ211Qq1 &23;;QIIaL1))TU,W 3::2..*:*?*?*ABQqwwyB C roo.?@QqT!W]]_@ A I I"((ST+WYW_W_`aWb c #  S ! #  S !wGII/w799 56 S[[$ / BwyyLGIIbl* #))C. #))C.GII&KK'**73<