
    oVh                        d dl mc mZ d dlZd dlZd dlZ	 ej                  d      \  ZZ ej                  dd      \  ZZ ej                  dd      \  ZZ ej"                  dd      \  ZZZ ej(                  d	      Z ej,                  d
      Zej1                  ed         ej2                  eez        Z ej(                  d      Zej9                  edeej:                  g        ej<                  d ej,                  d       ej>                  d            Z e jB                  jE                  eeejF                  z  eejH                  z  z          ee _%        e jB                  j1                  eejM                  e jB                        jO                  e              ejP                  e jB                  jS                  e      jU                  e      ejF                        Z+e jJ                  eejF                  z  z  Z, ejZ                  d gg      Z.e+e.d <   e.D  cg c]  } |  c} Z/ ej                  d      Z0 ej                  d      Z1ee0z
  ee1z
  gZ2e jB                  e jJ                  eejF                  z  z  fgZ3 ejh                  eeege1ge0ge2e/      Z5e5jm                  e ge3      \  Z7Z8e7e8z   Z9ejM                  e jB                        ju                         ez
  Z; ejZ                  d gg      Z<e;e<d <   e9j{                  e9j|                  d     ejZ                  d gg            Z9e<d    e9e9j|                  d    dz
  <   yc c} w )    Nzq1 q2zq1_ q2_      zl m gT)realnpnaAxispp_ptmu_q1_du_q2_d)q_indu_indu_dependentkd_eqsvelocity_constraints)?sympy.physics.mechanicsphysics	mechanics_mesympy_smmathr   numpy_npdynamicsymbolsq1q2q1_dq2_dq1_ddq2_ddsymbolslgReferenceFrameframe_nPointpoint_pnset_velatantheta1frame_aorientzParticleSymbol
particle_ppointset_posxymasspos_fromdtdotvelexpressf_vforce_pMatrix	dependentr   r   r   r   	forceListKanesMethodkanekanes_equationsfrfrstarzero	magnitudef_cconfig
row_insertshape)is   0v/home/dcms/DCMS/lib/python3.12/site-packages/sympy/parsing/autolev/test-examples/pydy-example-repo/non_min_pendulum.py<module>rP      s   % %   			G	$BS	1-
d!s!!)Q/u
#++gD
)1a
#

S
!399T?   ! 	"R%
#

S
! w 3 4S\\#ysyy0*#**S/B
 
    2gii<799#< =
 
    8#4#4Z5E5E#F"J"J7"S Tcggz##G,55g>		J
//1WYY;
'CJJu		!#,-a- 			H	%			H	%
v+tF{	#z'))<=>	swr"gfXF8^d  ~R  S!!:,	:
F	&y
(()335a7	aSE	q	tzz!}jcjj1#&78q	TZZ]1_  .s   !	M
