K i ddlmcmZddlZddlZddlZ ejdZ ejdZ dZ eje dddZej dZej dZej&dej dej(d Zej&d ej d ej(d Zej.d \ZZZej.d d\ZZZej dZej?e dejdZ ejBdee ejDd ejFe jHe jHefZ%ejMejNee jHzdejQejNzee jRzzZ*e jWe ee jXzde j[e zee jRzzZ*e jWe ee jXzde j[e zee jRzzZ*e j]e e j[e j_e de jae zee jRzzZ*ejNj?e ee jHzee jRzzejce ee jRzejdejge ejNjie Z5e5Z6de6zZ7e7dzZ8dezezezZ9e9dezz Z9dezZ9ej.d\Z:Z;ZZ?Z@ZAej.d\Z$Z)ej.dd\ZBZCej.dd\ZDZEej.dZFe$eBdzzdzZFejdggZde$zed<ejejdejdggZde)zeejddz <dedzZ ejgdjddZded<eddzZ e:e jHzZKe;e jXzZLe:e jHze;e jRzzZKeKdzZMy)Nnapo1po2p1p1_ptmp2p2_ptzc1 c2 c3z c1_ c2_ c3_r_cmr_frz q1 q2 u1 u2zq1_ q2_ u1_ u2_zx yzx_ y_yy) rrr r)rr)Nsympy.physics.mechanicsphysics mechanics_mesympy_smmathr numpy_npReferenceFrameframe_nframe_arinertiadPoint point_po1 point_po2ParticleSymbol particle_p1 particle_p2dynamicsymbolsc1c2c3c1_dc2_dc3_d body_r_cmset_velbody_r_f RigidBodysymbolsouterxbody_rset_pospointpos_fromyv set_ang_velz ang_vel_in set_ang_accdt ang_acc_inset_acccrossaccvelv_ax_b_cx_b_d a_b_c_d_ea_b_cq1q2u1u2q1_dq2_du1_du2_dx_dy_dx_ddy_ddrMatrix row_insertshapereshapeforce_rotorque_afs/mnt/ssd/data/python-lab/Trading/venv/lib/python3.12/site-packages/sympy/parsing/autolev/test-examples/ruletest9.pyrgs%% #  S ! #  S !CKKAq! CIIe  CIIe  cll47!3ZSZZ_E cll47!3ZSZZ_E S   + B%3%%mQ7dD CIIf  '1 3  e $ sIxS1AICIIhjjYaYcYcDdenCo p +##R \2i**++BwyyL8GR \*g!!"WYY,.Wbl+h'""2gii</Gg009==gFGg!!"WYY,. '2gii<799 #<= '2gii<(cii g& (9(9(=(=g(FG  % !G  "R 2  B$###M2BB+++,=qAdD$s% 1 3  gq )S S   + dSsAvXaZCJJus!ALLZSZZ!./A#!''!*Q,adFCJJ"#++Aq1 #dGAI gii< gii< gii<"WYY, & QJre