
    sg/                        d dl mc mZ d dlZd dlZd dlZ	 ej                  d      \  ZZZZ ej                  dd      \  ZZZZ ej&                  dd      \  ZZZ ej,                  d      Z ej,                  d	      Z ej,                  d
      Zej5                  edeej6                  g       ej5                  edeej6                  g       ej9                  eeej6                  z         ej9                  eeej6                  z          ej:                  d      Z ej>                  d ej:                  d       ej@                  d            Z! ej>                  d ej:                  d       ej@                  d            Z"e!jF                  jI                  eeejJ                  z         e"jF                  jI                  e!jF                  eejJ                  z         ejM                  ed        e!jF                  jO                  eee       e"jF                  jO                  e!jF                  ee       ee!_(        ee"_(        e!jP                  eejJ                  z  z  Z)e"jP                  eejJ                  z  z  Z*eez
  eez
  gZ+e!jF                  e!jP                  eejJ                  z  z  fe"jF                  e"jP                  eejJ                  z  z  fgZ, ejZ                  eeegeege+      Z.e.j_                  e!e"ge,      \  Z0Z1e0e1z   Z2d dl3m4Z4  e4e.edededii ededed ed i e	jj                  ddd            Z6e6jo                         Z8y)    Nzq1 q2 u1 u2zq1_ q2_ u1_ u2_   zl m gT)realnabAxisopp_ptmrr_pt)q_indu_indkd_eqs)SystemgQ#@g?g?g        
   g     @@)	constants
specifiedsinitial_conditionstimes)9sympy.physics.mechanicsphysics	mechanics_mesympy_smmathr   numpy_npdynamicsymbolsq1q2u1u2q1_dq2_du1_du2_dsymbolslgReferenceFrameframe_nframe_aframe_borientzset_ang_velPointpoint_oParticleSymbol
particle_p
particle_rpointset_posxset_velv2pt_theorymassforce_pforce_rr   	forceListKanesMethodkanekanes_equationsfrfrstarzeropydy.systemr   linspacesys	integratey     x/var/www/html/venv/lib/python3.12/site-packages/sympy/parsing/autolev/test-examples/pydy-example-repo/double_pendulum.py<module>rQ      s   % %   ###M2BB+++,=qA dD$
#++gD
)1a
#

S
!
#

S
!
#

S
! wWYY 0 wWYY 0   GR		\ *   GR		\ *
#))C.S\\#ysyy0*#**S/B
S\\#ysyy0*#**S/B
 
    !GII+ . 
    ))1WYY; 7   
    WWW 5 
    Z--gg >


//1WYY;
'
//1WYY;
'
)TBY	z'))<=
@P@PQ[Q`Q`bcdkdmdmbmQn?op	swr"gb"XO!!:z":IF
F	&y T!Qq!D1r2b"Q1-S"f%'
 --/rO   