RobotIK/A.h at main · Pixelators4014/RobotIK · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
#include <math.h>
void A(double* du, const double RHS1, const double RHS2, const double RHS3, const double RHS4, const double RHS5, const double RHS6, const double RHS7, const double RHS8) {
  du[0] = 0;
  du[1] = 0;
  du[2] = 0;
  du[3] = 0;
  du[4] = 0;
  du[5] = 0;
  du[6] = 0;
  du[7] = 0;
  du[8] = 0;
  du[9] = 0;
  du[10] = 0;
  du[11] = 0;
  du[12] = ((-0.16666666666666666 * ((0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) + (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2))) + -0.16666666666666666 * (0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * cos(RHS2) + 0.8636 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * sin(RHS2) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) + 1.4916099200000001 * cos(RHS2) * sin(RHS2)) + -1 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) + -1 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) + -0.9944066133333334 * cos(RHS2) * sin(RHS2)) * RHS5) / pow(0.16666666666666666 * (pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2) + (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2), 2)) + 0.16666666666666666 * (pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2) + 0.7458049600000001 * pow(sin(RHS2), 2) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * sin(RHS2)) + 0.5 * pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2) + 0.5 * pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2), 2) + 0.4972033066666667 * pow(sin(RHS2), 2), 2);
  du[13] = (-2.4525 * (-0.8636 * cos(RHS2 + RHS3) + -1.7272 * cos(RHS2)) + -2.4525 * (-0.8636 * cos(RHS2 + RHS3 + RHS4) + -1.7272 * cos(RHS2 + RHS3) + -1.7272 * cos(RHS2)) + -4.905 * (-0.8636 * cos(RHS2 + RHS3) + -0.8636 * cos(RHS2)) + -4.905 * (-0.8636 * cos(RHS2 + RHS3) + -0.8636 * cos(RHS2 + RHS3 + RHS4) + -0.8636 * cos(RHS2)) + 6.353937 * cos(RHS2)) / (0.16666666666666666 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2) + 0.7458049600000001 * pow(cos(RHS2), 2) + 0.7458049600000001 * pow(sin(RHS2), 2) + 0.8636 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * cos(RHS2) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * sin(RHS2)) + 0.5 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2)) + 0.5 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2), 2)) + 0.6666666666666666 * (0.7458049600000001 * pow(cos(RHS2), 2) + 0.7458049600000001 * pow(sin(RHS2), 2)) + 0.16666666666666666 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2), 2) + (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2) + (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) + pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2), 2))) + ((-0.5 * (2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2))) + -0.5 * (2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4) + -0.8636 * sin(RHS2))) + -0.16666666666666666 * (0.8636 * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2)) * cos(RHS2) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * cos(RHS2) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2))) + -0.16666666666666666 * ((-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2)) * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) + (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) + (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) + (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4) + -0.8636 * sin(RHS2)) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2)) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4) + -0.8636 * sin(RHS2)))) * (-4.905 * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2)) + -2.4525 * (-0.8636 * sin(RHS2 + RHS3) + -1.7272 * sin(RHS2)) + -4.905 * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4) + -0.8636 * sin(RHS2)) + -2.4525 * (-1.7272 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4) + -1.7272 * sin(RHS2)) + 6.353937 * sin(RHS2))) / pow(0.16666666666666666 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2) + 0.7458049600000001 * pow(cos(RHS2), 2) + 0.7458049600000001 * pow(sin(RHS2), 2) + 0.8636 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * cos(RHS2) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * sin(RHS2)) + 0.5 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2)) + 0.5 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2), 2)) + 0.6666666666666666 * (0.7458049600000001 * pow(cos(RHS2), 2) + 0.7458049600000001 * pow(sin(RHS2), 2)) + 0.16666666666666666 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2), 2) + (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2) + (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) + pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2), 2)), 2) + ((-0.5 * (2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2))) + -0.5 * (2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4) + -0.8636 * sin(RHS2))) + -0.16666666666666666 * (0.8636 * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2)) * cos(RHS2) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * cos(RHS2) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2))) + -0.16666666666666666 * ((-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2)) * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) + (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) + (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) + (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4) + -0.8636 * sin(RHS2)) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2)) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4) + -0.8636 * sin(RHS2)))) * RHS6) / pow(0.16666666666666666 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2) + 0.7458049600000001 * pow(cos(RHS2), 2) + 0.7458049600000001 * pow(sin(RHS2), 2) + 0.8636 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * cos(RHS2) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * sin(RHS2)) + 0.5 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2)) + 0.5 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2), 2)) + 0.6666666666666666 * (0.7458049600000001 * pow(cos(RHS2), 2) + 0.7458049600000001 * pow(sin(RHS2), 2)) + 0.16666666666666666 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2), 2) + (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2) + (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) + pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2), 2)), 2);
  du[14] = (-2.4525 * (-0.8636 * cos(RHS2 + RHS3 + RHS4) + -1.7272 * cos(RHS2 + RHS3)) + -4.905 * (-0.8636 * cos(RHS2 + RHS3) + -0.8636 * cos(RHS2 + RHS3 + RHS4)) + 6.353937 * cos(RHS2 + RHS3)) / (0.16666666666666666 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4), 2) + 0.7458049600000001 * pow(cos(RHS2 + RHS3), 2) + 0.7458049600000001 * pow(sin(RHS2 + RHS3), 2) + 0.8636 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * cos(RHS2 + RHS3) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4)) * sin(RHS2 + RHS3)) + 0.5 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4), 2)) + 0.6666666666666666 * (0.7458049600000001 * pow(cos(RHS2 + RHS3), 2) + 0.7458049600000001 * pow(sin(RHS2 + RHS3), 2))) + ((0.16666666666666666 * (0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4)) * cos(RHS2 + RHS3) + 0.8636 * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4)) * cos(RHS2 + RHS3) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4)) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4))) + 0.5 * (2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4)) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4)))) * (4.905 * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4)) + 2.4525 * (-1.7272 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4)) + -6.353937 * sin(RHS2 + RHS3))) / pow(0.16666666666666666 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4), 2) + 0.7458049600000001 * pow(cos(RHS2 + RHS3), 2) + 0.7458049600000001 * pow(sin(RHS2 + RHS3), 2) + 0.8636 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * cos(RHS2 + RHS3) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4)) * sin(RHS2 + RHS3)) + 0.5 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4), 2)) + 0.6666666666666666 * (0.7458049600000001 * pow(cos(RHS2 + RHS3), 2) + 0.7458049600000001 * pow(sin(RHS2 + RHS3), 2)), 2) + ((-0.16666666666666666 * (0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4)) * cos(RHS2 + RHS3) + 0.8636 * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4)) * cos(RHS2 + RHS3) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4)) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4))) + -0.5 * (2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4)) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4)))) * RHS7) / pow(0.16666666666666666 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4), 2) + 0.7458049600000001 * pow(cos(RHS2 + RHS3), 2) + 0.7458049600000001 * pow(sin(RHS2 + RHS3), 2) + 0.8636 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * cos(RHS2 + RHS3) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4)) * sin(RHS2 + RHS3)) + 0.5 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4), 2)) + 0.6666666666666666 * (0.7458049600000001 * pow(cos(RHS2 + RHS3), 2) + 0.7458049600000001 * pow(sin(RHS2 + RHS3), 2)), 2);
  du[15] = (6.353937 * cos(RHS2 + RHS3 + RHS4)) / (0.6666666666666666 * (0.7458049600000001 * pow(cos(RHS2 + RHS3 + RHS4), 2) + 0.7458049600000001 * pow(sin(RHS2 + RHS3 + RHS4), 2)));
  du[16] = 0;
  du[17] = 0;
  du[18] = 0;
  du[19] = 0;
  du[20] = (-1 * (0.16666666666666666 * (0.7458049600000001 * cos(RHS2 + RHS3) * sin(RHS2) + 1.7272 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * cos(RHS2 + RHS3)) + (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) + 0.16666666666666666 * ((0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) + 1.7272 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * cos(RHS2 + RHS3) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) * cos(RHS2 + RHS3)) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * cos(RHS2 + RHS3)) * RHS5) / pow(0.16666666666666666 * (pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2) + (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2), 2)) + 0.16666666666666666 * (pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2) + 0.7458049600000001 * pow(sin(RHS2), 2) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * sin(RHS2)) + 0.5 * pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2) + 0.5 * pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2), 2) + 0.4972033066666667 * pow(sin(RHS2), 2), 2);
  du[21] = (-2.4525 * (-0.8636 * cos(RHS2 + RHS3 + RHS4) + -1.7272 * cos(RHS2 + RHS3)) + -4.905 * (-0.8636 * cos(RHS2 + RHS3) + -0.8636 * cos(RHS2 + RHS3 + RHS4)) + 6.353937 * cos(RHS2 + RHS3)) / (0.16666666666666666 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2) + 0.7458049600000001 * pow(cos(RHS2), 2) + 0.7458049600000001 * pow(sin(RHS2), 2) + 0.8636 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * cos(RHS2) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * sin(RHS2)) + 0.5 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2)) + 0.5 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2), 2)) + 0.6666666666666666 * (0.7458049600000001 * pow(cos(RHS2), 2) + 0.7458049600000001 * pow(sin(RHS2), 2)) + 0.16666666666666666 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2), 2) + (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2) + (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) + pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2), 2))) + ((-0.5 * (1.7272 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * cos(RHS2 + RHS3) + -1.7272 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * sin(RHS2 + RHS3)) + -0.16666666666666666 * (0.7458049600000001 * cos(RHS2 + RHS3) * sin(RHS2) + 1.7272 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * cos(RHS2 + RHS3) + -1.7272 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * sin(RHS2 + RHS3) + -0.7458049600000001 * sin(RHS2 + RHS3) * cos(RHS2)) + -0.16666666666666666 * ((-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4)) * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) + (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) + -0.8636 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) * sin(RHS2 + RHS3) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) + 1.7272 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * cos(RHS2 + RHS3) + -1.7272 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * sin(RHS2 + RHS3) + 2 * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4)) * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) * cos(RHS2 + RHS3)) + -0.5 * (2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) + 2 * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4)) * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)))) * (-4.905 * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2)) + -2.4525 * (-0.8636 * sin(RHS2 + RHS3) + -1.7272 * sin(RHS2)) + -4.905 * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4) + -0.8636 * sin(RHS2)) + -2.4525 * (-1.7272 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4) + -1.7272 * sin(RHS2)) + 6.353937 * sin(RHS2))) / pow(0.16666666666666666 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2) + 0.7458049600000001 * pow(cos(RHS2), 2) + 0.7458049600000001 * pow(sin(RHS2), 2) + 0.8636 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * cos(RHS2) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * sin(RHS2)) + 0.5 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2)) + 0.5 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2), 2)) + 0.6666666666666666 * (0.7458049600000001 * pow(cos(RHS2), 2) + 0.7458049600000001 * pow(sin(RHS2), 2)) + 0.16666666666666666 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2), 2) + (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2) + (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) + pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2), 2)), 2) + ((-0.5 * (1.7272 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * cos(RHS2 + RHS3) + -1.7272 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * sin(RHS2 + RHS3)) + -0.16666666666666666 * (0.7458049600000001 * cos(RHS2 + RHS3) * sin(RHS2) + 1.7272 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * cos(RHS2 + RHS3) + -1.7272 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * sin(RHS2 + RHS3) + -0.7458049600000001 * sin(RHS2 + RHS3) * cos(RHS2)) + -0.16666666666666666 * ((-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4)) * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) + (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) + -0.8636 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) * sin(RHS2 + RHS3) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) + 1.7272 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * cos(RHS2 + RHS3) + -1.7272 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * sin(RHS2 + RHS3) + 2 * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4)) * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) * cos(RHS2 + RHS3)) + -0.5 * (2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) + 2 * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4)) * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)))) * RHS6) / pow(0.16666666666666666 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2) + 0.7458049600000001 * pow(cos(RHS2), 2) + 0.7458049600000001 * pow(sin(RHS2), 2) + 0.8636 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * cos(RHS2) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * sin(RHS2)) + 0.5 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2)) + 0.5 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2), 2)) + 0.6666666666666666 * (0.7458049600000001 * pow(cos(RHS2), 2) + 0.7458049600000001 * pow(sin(RHS2), 2)) + 0.16666666666666666 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2), 2) + (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2) + (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) + pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2), 2)), 2);
  du[22] = (-2.4525 * (-0.8636 * cos(RHS2 + RHS3 + RHS4) + -1.7272 * cos(RHS2 + RHS3)) + -4.905 * (-0.8636 * cos(RHS2 + RHS3) + -0.8636 * cos(RHS2 + RHS3 + RHS4)) + 6.353937 * cos(RHS2 + RHS3)) / (0.16666666666666666 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4), 2) + 0.7458049600000001 * pow(cos(RHS2 + RHS3), 2) + 0.7458049600000001 * pow(sin(RHS2 + RHS3), 2) + 0.8636 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * cos(RHS2 + RHS3) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4)) * sin(RHS2 + RHS3)) + 0.5 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4), 2)) + 0.6666666666666666 * (0.7458049600000001 * pow(cos(RHS2 + RHS3), 2) + 0.7458049600000001 * pow(sin(RHS2 + RHS3), 2))) + ((0.16666666666666666 * (0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4)) * cos(RHS2 + RHS3) + 0.8636 * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4)) * cos(RHS2 + RHS3) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4)) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4))) + 0.5 * (2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4)) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4)))) * (4.905 * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4)) + 2.4525 * (-1.7272 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4)) + -6.353937 * sin(RHS2 + RHS3))) / pow(0.16666666666666666 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4), 2) + 0.7458049600000001 * pow(cos(RHS2 + RHS3), 2) + 0.7458049600000001 * pow(sin(RHS2 + RHS3), 2) + 0.8636 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * cos(RHS2 + RHS3) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4)) * sin(RHS2 + RHS3)) + 0.5 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4), 2)) + 0.6666666666666666 * (0.7458049600000001 * pow(cos(RHS2 + RHS3), 2) + 0.7458049600000001 * pow(sin(RHS2 + RHS3), 2)), 2) + (-1 * (0.16666666666666666 * (0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4)) * cos(RHS2 + RHS3) + 0.8636 * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4)) * cos(RHS2 + RHS3) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4)) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4))) + 0.5 * (2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4)) + 2 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4)))) * RHS7) / pow(0.16666666666666666 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4), 2) + 0.7458049600000001 * pow(cos(RHS2 + RHS3), 2) + 0.7458049600000001 * pow(sin(RHS2 + RHS3), 2) + 0.8636 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * cos(RHS2 + RHS3) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4)) * sin(RHS2 + RHS3)) + 0.5 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4), 2)) + 0.6666666666666666 * (0.7458049600000001 * pow(cos(RHS2 + RHS3), 2) + 0.7458049600000001 * pow(sin(RHS2 + RHS3), 2)), 2);
  du[23] = (6.353937 * cos(RHS2 + RHS3 + RHS4)) / (0.6666666666666666 * (0.7458049600000001 * pow(cos(RHS2 + RHS3 + RHS4), 2) + 0.7458049600000001 * pow(sin(RHS2 + RHS3 + RHS4), 2)));
  du[24] = 0;
  du[25] = 0;
  du[26] = 0;
  du[27] = 0;
  du[28] = (-1 * (0.16666666666666666 * (0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * cos(RHS2 + RHS3 + RHS4) + 1.7272 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) * cos(RHS2 + RHS3 + RHS4)) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) * cos(RHS2 + RHS3 + RHS4)) * RHS5) / pow(0.16666666666666666 * (pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2) + (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2), 2)) + 0.16666666666666666 * (pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2) + 0.7458049600000001 * pow(sin(RHS2), 2) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * sin(RHS2)) + 0.5 * pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2) + 0.5 * pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2), 2) + 0.4972033066666667 * pow(sin(RHS2), 2), 2);
  du[29] = ((-0.16666666666666666 * (-0.8636 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * sin(RHS2 + RHS3 + RHS4) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * cos(RHS2 + RHS3 + RHS4) + 1.7272 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) * cos(RHS2 + RHS3 + RHS4) + -1.7272 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) * sin(RHS2 + RHS3 + RHS4)) + -0.5 * (1.7272 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) * cos(RHS2 + RHS3 + RHS4) + -1.7272 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) * sin(RHS2 + RHS3 + RHS4))) * (-4.905 * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2)) + -2.4525 * (-0.8636 * sin(RHS2 + RHS3) + -1.7272 * sin(RHS2)) + -4.905 * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4) + -0.8636 * sin(RHS2)) + -2.4525 * (-1.7272 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4) + -1.7272 * sin(RHS2)) + 6.353937 * sin(RHS2))) / pow(0.16666666666666666 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2) + 0.7458049600000001 * pow(cos(RHS2), 2) + 0.7458049600000001 * pow(sin(RHS2), 2) + 0.8636 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * cos(RHS2) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * sin(RHS2)) + 0.5 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2)) + 0.5 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2), 2)) + 0.6666666666666666 * (0.7458049600000001 * pow(cos(RHS2), 2) + 0.7458049600000001 * pow(sin(RHS2), 2)) + 0.16666666666666666 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2), 2) + (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2) + (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) + pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2), 2)), 2) + (6.353937 * cos(RHS2 + RHS3 + RHS4)) / (0.16666666666666666 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2) + 0.7458049600000001 * pow(cos(RHS2), 2) + 0.7458049600000001 * pow(sin(RHS2), 2) + 0.8636 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * cos(RHS2) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * sin(RHS2)) + 0.5 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2)) + 0.5 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2), 2)) + 0.6666666666666666 * (0.7458049600000001 * pow(cos(RHS2), 2) + 0.7458049600000001 * pow(sin(RHS2), 2)) + 0.16666666666666666 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2), 2) + (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2) + (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) + pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2), 2))) + ((-0.16666666666666666 * (-0.8636 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * sin(RHS2 + RHS3 + RHS4) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * cos(RHS2 + RHS3 + RHS4) + 1.7272 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) * cos(RHS2 + RHS3 + RHS4) + -1.7272 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) * sin(RHS2 + RHS3 + RHS4)) + -0.5 * (1.7272 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) * cos(RHS2 + RHS3 + RHS4) + -1.7272 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) * sin(RHS2 + RHS3 + RHS4))) * RHS6) / pow(0.16666666666666666 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2) + 0.7458049600000001 * pow(cos(RHS2), 2) + 0.7458049600000001 * pow(sin(RHS2), 2) + 0.8636 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * cos(RHS2) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * sin(RHS2)) + 0.5 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2)) + 0.5 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2), 2)) + 0.6666666666666666 * (0.7458049600000001 * pow(cos(RHS2), 2) + 0.7458049600000001 * pow(sin(RHS2), 2)) + 0.16666666666666666 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2), 2) + (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2)) * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2)) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2), 2) + (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2)) * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2)) + pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4) + 0.8636 * cos(RHS2), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4) + 0.8636 * sin(RHS2), 2)), 2);
  du[30] = (6.353937 * cos(RHS2 + RHS3 + RHS4)) / (0.16666666666666666 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4), 2) + 0.7458049600000001 * pow(cos(RHS2 + RHS3), 2) + 0.7458049600000001 * pow(sin(RHS2 + RHS3), 2) + 0.8636 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * cos(RHS2 + RHS3) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4)) * sin(RHS2 + RHS3)) + 0.5 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4), 2)) + 0.6666666666666666 * (0.7458049600000001 * pow(cos(RHS2 + RHS3), 2) + 0.7458049600000001 * pow(sin(RHS2 + RHS3), 2))) + ((0.5 * (-1.7272 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * sin(RHS2 + RHS3 + RHS4) + 1.7272 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4)) * cos(RHS2 + RHS3 + RHS4)) + 0.16666666666666666 * (0.7458049600000001 * sin(RHS2 + RHS3) * cos(RHS2 + RHS3 + RHS4) + -1.7272 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * sin(RHS2 + RHS3 + RHS4) + 1.7272 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4)) * cos(RHS2 + RHS3 + RHS4) + -0.7458049600000001 * cos(RHS2 + RHS3) * sin(RHS2 + RHS3 + RHS4))) * (4.905 * (-0.8636 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4)) + 2.4525 * (-1.7272 * sin(RHS2 + RHS3) + -0.8636 * sin(RHS2 + RHS3 + RHS4)) + -6.353937 * sin(RHS2 + RHS3))) / pow(0.16666666666666666 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4), 2) + 0.7458049600000001 * pow(cos(RHS2 + RHS3), 2) + 0.7458049600000001 * pow(sin(RHS2 + RHS3), 2) + 0.8636 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * cos(RHS2 + RHS3) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4)) * sin(RHS2 + RHS3)) + 0.5 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4), 2)) + 0.6666666666666666 * (0.7458049600000001 * pow(cos(RHS2 + RHS3), 2) + 0.7458049600000001 * pow(sin(RHS2 + RHS3), 2)), 2) + (-1 * (0.5 * (-1.7272 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * sin(RHS2 + RHS3 + RHS4) + 1.7272 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4)) * cos(RHS2 + RHS3 + RHS4)) + 0.16666666666666666 * (0.7458049600000001 * sin(RHS2 + RHS3) * cos(RHS2 + RHS3 + RHS4) + -1.7272 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * sin(RHS2 + RHS3 + RHS4) + 1.7272 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4)) * cos(RHS2 + RHS3 + RHS4) + -0.7458049600000001 * cos(RHS2 + RHS3) * sin(RHS2 + RHS3 + RHS4))) * RHS7) / pow(0.16666666666666666 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4), 2) + 0.7458049600000001 * pow(cos(RHS2 + RHS3), 2) + 0.7458049600000001 * pow(sin(RHS2 + RHS3), 2) + 0.8636 * (0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4)) * cos(RHS2 + RHS3) + 0.8636 * (0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4)) * sin(RHS2 + RHS3)) + 0.5 * (pow(0.8636 * cos(RHS2 + RHS3) + 0.8636 * cos(RHS2 + RHS3 + RHS4), 2) + pow(0.8636 * sin(RHS2 + RHS3) + 0.8636 * sin(RHS2 + RHS3 + RHS4), 2)) + 0.6666666666666666 * (0.7458049600000001 * pow(cos(RHS2 + RHS3), 2) + 0.7458049600000001 * pow(sin(RHS2 + RHS3), 2)), 2);
  du[31] = (6.353937 * cos(RHS2 + RHS3 + RHS4)) / (0.6666666666666666 * (0.7458049600000001 * pow(cos(RHS2 + RHS3 + RHS4), 2) + 0.7458049600000001 * pow(sin(RHS2 + RHS3 + RHS4), 2)));
  du[32] = 1;
  du[33] = 0;
  du[34] = 0;
  du[35] = 0;
  du[36] = 0.0;
  du[37] = 0;
  du[38] = 0;
  du[39] = 0;
  du[40] = 0;
  du[41] = 1;
  du[42] = 0;
  du[43] = 0;
  du[44] = 0;
  du[45] = 0.0;
  du[46] = 0;
  du[47] = 0;
  du[48] = 0;
  du[49] = 0;
  du[50] = 1;
  du[51] = 0;
  du[52] = 0;
  du[53] = 0;
  du[54] = 0.0;
  du[55] = 0;
  du[56] = 0;
  du[57] = 0;
  du[58] = 0;
  du[59] = 1;
  du[60] = 0;
  du[61] = 0;
  du[62] = 0;
  du[63] = 0;
}