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dump_matrices.asc
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dump_matrices.asc
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constraint functions g
51 x 1
[ 2.28368e-09
-0.07973
2.83666e-09
-0.07973
-1.17179e-09
9.85809e-09
-1.17179e-09
-1.74664e-10
7.1305e-07
6.99315e-07
7.1305e-07
6.99315e-07
7.82943e-07
7.39129e-07
7.82943e-07
7.39129e-07
7.79888e-07
7.40699e-07
7.79888e-07
7.40699e-07
7.06539e-07
6.96532e-07
7.06539e-07
6.96532e-07
-1.14874e-09
9.53076e-09
-1.14874e-09
-2.85329e-11
7.10191e-07
6.94238e-07
7.10191e-07
6.94238e-07
7.72388e-07
7.27721e-07
7.72388e-07
7.27721e-07
7.6751e-07
7.29072e-07
7.6751e-07
7.29072e-07
7.06587e-07
6.95654e-07
7.06587e-07
6.95654e-07
2.88822e-153
0
2.76631e-153
0
0
0
0 ]
mass matrix M
36 x 36
[ 13344 0 0 8.75392e-41 1.66456e-185 0 3.25433e-42 6.18812e-187 0 2.49759e-40 4.74918e-185 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 13344 1.37699e-48 -1.66456e-185 8.75392e-41 0 -6.18812e-187 3.25433e-42 0 -4.74918e-185 2.49759e-40 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1.37699e-48 4.67024e+231 6.6604e+94 1.32965e-48 0 -8.49662e+93 4.73439e-50 0 -5.81073e+94 -1.75014e-65 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
8.75392e-41 -1.66456e-185 6.6604e+94 8.75392e-41 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
1.66456e-185 8.75392e-41 1.32965e-48 0 8.75392e-41 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 8.75392e-41 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
3.25433e-42 -6.18812e-187 -8.49662e+93 0 0 0 3.25433e-42 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
6.18812e-187 3.25433e-42 4.73439e-50 0 0 0 0 3.25433e-42 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 3.25433e-42 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
2.49759e-40 -4.74918e-185 -5.81073e+94 0 0 0 0 0 0 2.49759e-40 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
4.74918e-185 2.49759e-40 -1.75014e-65 0 0 0 0 0 0 0 2.49759e-40 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 2.49759e-40 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 24 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 24 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 24 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 24 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 342 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 342 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 7 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 580 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 580 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 212 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 24 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 24 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 24 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 24 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 342 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 342 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 7 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 580 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 580 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 212 ]
generalized force vector h
36 x 1
[ 0
-130905
0
-1.06619e-06
-8.5876e-40
0
6.07054e-186
-3.19249e-41
0
4.65895e-184
-2.45014e-39
0
-0.0860275
9304.83
0
0.0859381
9304.81
0
-0.0017322
99576.6
0
0.00182163
-127702
0.00383852
-0.0862261
9304.83
0
0.0859552
9304.81
0
-0.00183688
99576.8
0
0.00210774
-127702
0.00345767 ]
generalized force directions W
36 x 83
[ -1 -1.90151e-145 -1 -1.90151e-145 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
1.90151e-145 -1 1.90151e-145 -1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
-1.27973 7.311 -1.27973 -7.311 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -7.10858e-26 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1
0 0 0 0 0 0 0 0 0.999848 0.0174524 0.999848 0.0174524 0.999848 0.0174524 0.999848 0.0174524 -0.805928 0.592013 -0.805928 0.592013 -0.805928 0.592013 -0.805928 0.592013 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 -0.0174524 0.999848 -0.0174524 0.999848 -0.0174524 0.999848 -0.0174524 0.999848 -0.592013 -0.805928 -0.592013 -0.805928 -0.592013 -0.805928 -0.592013 -0.805928 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 -0.122477 -0.0501276 0.0675518 -0.0501276 -0.122477 -0.0501276 0.0675518 -0.0501276 -0.112401 -0.0404054 0.123352 -0.0404054 -0.112401 -0.0404054 0.123352 -0.0404054 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.805928 0.592013 0.805928 0.592013 0.805928 0.592013 0.805928 0.592013 -0.999848 0.0174524 -0.999848 0.0174524 -0.999848 0.0174524 -0.999848 0.0174524 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -0.592013 0.805928 -0.592013 0.805928 -0.592013 0.805928 -0.592013 0.805928 -0.0174524 -0.999848 -0.0174524 -0.999848 -0.0174524 -0.999848 -0.0174524 -0.999848 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -0.123352 -0.0404054 0.112401 -0.0404054 -0.123352 -0.0404054 0.112401 -0.0404054 -0.0675518 -0.0501276 0.122477 -0.0501276 -0.0675518 -0.0501276 0.122477 -0.0501276 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
1 1.90151e-145 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.805928 -0.592013 0.805928 -0.592013 0.805928 -0.592013 0.805928 -0.592013 -0.805928 -0.592013 -0.805928 -0.592013 -0.805928 -0.592013 -0.805928 -0.592013 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
-1.90151e-145 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.592013 0.805928 0.592013 0.805928 0.592013 0.805928 0.592013 0.805928 0.592013 -0.805928 0.592013 -0.805928 0.592013 -0.805928 0.592013 -0.805928 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
-0.095 -1.13414e-08 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.0268758 -0.108974 -0.208877 -0.108974 0.0268758 -0.108974 -0.208877 -0.108974 0.208877 -0.108974 -0.0268758 -0.108974 0.208877 -0.108974 -0.0268758 -0.108974 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 -1 5.81609e-09 -1 5.81609e-09 -0.999848 -0.0174524 -0.999848 -0.0174524 -0.999848 -0.0174524 -0.999848 -0.0174524 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.999848 -0.0174524 0.999848 -0.0174524 0.999848 -0.0174524 0.999848 -0.0174524 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 -5.81609e-09 -1 -5.81609e-09 -1 0.0174524 -0.999848 0.0174524 -0.999848 0.0174524 -0.999848 0.0174524 -0.999848 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.0174524 0.999848 0.0174524 0.999848 0.0174524 0.999848 0.0174524 0.999848 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 -0.1 0.8625 -0.1 -0.8625 0.092121 0.220646 -0.0979079 0.220646 0.092121 0.220646 -0.0979079 0.220646 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.0979079 0.220646 -0.092121 0.220646 0.0979079 0.220646 -0.092121 0.220646 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -1 5.54162e-09 -1 5.54162e-09 -0.999848 -0.0174524 -0.999848 -0.0174524 -0.999848 -0.0174524 -0.999848 -0.0174524 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.999848 -0.0174524 0.999848 -0.0174524 0.999848 -0.0174524 0.999848 -0.0174524 0 0 0 0 0 0 0
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generalized force directions V
36 x 83
[ -1 -1.90151e-145 -1 -1.90151e-145 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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1 1.90151e-145 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.805928 -0.592013 0.805928 -0.592013 0.805928 -0.592013 0.805928 -0.592013 -0.805928 -0.592013 -0.805928 -0.592013 -0.805928 -0.592013 -0.805928 -0.592013 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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0 0 1 1.90151e-145 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.805928 -0.592013 0.805928 -0.592013 0.805928 -0.592013 0.805928 -0.592013 -0.805928 -0.592013 -0.805928 -0.592013 -0.805928 -0.592013 -0.805928 -0.592013 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 -1.90151e-145 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.592013 0.805928 0.592013 0.805928 0.592013 0.805928 0.592013 0.805928 0.592013 -0.805928 0.592013 -0.805928 0.592013 -0.805928 0.592013 -0.805928 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 -0.095 -1.05497e-08 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.0268758 -0.108974 -0.208877 -0.108974 0.0268758 -0.108974 -0.208877 -0.108974 0.208877 -0.108974 -0.0268758 -0.108974 0.208877 -0.108974 -0.0268758 -0.108974 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -1 5.54162e-09 -1 5.54162e-09 -0.999848 -0.0174524 -0.999848 -0.0174524 -0.999848 -0.0174524 -0.999848 -0.0174524 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.999848 -0.0174524 0.999848 -0.0174524 0.999848 -0.0174524 0.999848 -0.0174524 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -5.54162e-09 -1 -5.54162e-09 -1 0.0174524 -0.999848 0.0174524 -0.999848 0.0174524 -0.999848 0.0174524 -0.999848 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.0174524 0.999848 0.0174524 0.999848 0.0174524 0.999848 0.0174524 0.999848 0 0 0 0 0 0 0
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Delassus matrix G
83 x 83
[ 0.0042882 1.53919e-10 7.494e-05 -1.87725e-156 0 0 0 0 0 0 0 0 0 0 0 0 0.00199177 -0.000252099 0.00519128 -0.000252099 0.00199177 -0.000252099 0.00519128 -0.000252099 -0.00519128 -0.000252099 -0.00199177 -0.000252099 -0.00519128 -0.000252099 -0.00199177 -0.000252099 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3.54323e-165 0 5.59624e-166 0 7.494e-05 5.59624e-166 0
1.53919e-10 0.00299892 1.79056e-156 7.494e-05 0 0 0 0 0 0 0 0 0 0 0 0 0.00173103 0.00235652 0.00173103 0.00235652 0.00173103 0.00235652 0.00173103 0.00235652 0.00173103 -0.00235652 0.00173103 -0.00235652 0.00173103 -0.00235652 0.00173103 -0.00235652 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 7.494e-05 0 7.494e-05 0 3.71069e-97 7.494e-05 0
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0.00689337
0.00073407
0.00689337
-0.000374996
0.00689337
0.000862479
0.00077295
-0.000274927
0.00077295
0.000862479
0.00077295
-0.000274927
0.00077295
0.000102961
2.13606e-05
-7.0248e-06
2.13606e-05
0.000102961
2.13606e-05
-7.0248e-06
2.13606e-05
-0.00010867
-0.00680725
-0.000389583
-0.00680725
-0.00010867
-0.00680725
-0.000389583
-0.00680725
0.000156458
0.00103686
0.000156458
-0.000415312
0.000505591
0.006754
-0.000526782
0.006754
0.000505591
0.006754
-0.000526782
0.006754
0.000823559
0.000643812
-0.000424981
0.000643812
0.000823559
0.000643812
-0.000424981
0.000643812
0.000470732
-1.65026e-05
0.000193774
-1.65025e-05
0.000470732
-1.65026e-05
0.000193774
-1.65025e-05
-0.000135451
-0.00660517
-0.00038468
-0.00660517
-0.000135451
-0.00660517
-0.00038468
-0.00660517
2.02736e-149
0
-8.67362e-19
0
1.21973e-19
2.31932e-164
0 ]
non-holonomic part in gp; b
83 x 1
[ -0.000129279
0.00202262
-0.000309859
0.00194407
0.000214677
0.00233229
0.000214677
0.0006143
0.000681007
0.00993229
-0.000428058
0.00993229
0.000681007
0.00993229
-0.000428058
0.00993229
0.000576724
0.000383912
-0.000560682
0.000383912
0.000576724
0.000383912
-0.000560682
0.000383912
-0.000182791
0.000410395
-0.000292777
0.000410395
-0.000182791
0.000410395
-0.000292777
0.000410395
-0.000161733
-0.00984617
-0.000442645
-0.00984617
-0.000161733
-0.00984617
-0.000442645
-0.00984617
0.000156458
0.00213775
0.000156458
0.000685569
0.000452528
0.00979293
-0.000579845
0.00979293
0.000452528
0.00979293
-0.000579845
0.00979293
0.000537806
0.000254776
-0.000710734
0.000254776
0.000537806
0.000254776
-0.000710734
0.000254776
0.000184982
0.00037253
-9.19768e-05
0.00037253
0.000184982
0.00037253
-9.19768e-05
0.00037253
-0.000188513
-0.00964409
-0.000437742
-0.00964409
-0.000188513
-0.00964409
-0.000437742
-0.00964409
-1.2689e-20
0
-8.72334e-19
0
2.05863e+26
-6.37851e-23
0 ]
Lagrange multipliers la
83 x 1
[ 0.0124147
-0.730591
0.0495718
-0.698988
-0.0963478
-0.544041
-0.124957
-0.280215
0.0105909
-0.00264773
0.0438217
-0.0109554
0.00279321
-0.000698302
0.0189662
-0.00474155
0.0265725
-0.00664313
0.0346304
-0.0086576
0.00932588
-0.00233147
0.00250616
-0.00062654
0.0149689
-0.00374221
0.0327759
-0.00819398
0.0107811
-0.00269529
0.000671113
-0.000167778
0.0217745
0.00544362
0.00891264
0.00222816
0.0032909
0.000822724
0.00298884
0.000747209
-0.0642103
-0.505585
-0.116124
-0.28305
0.0159381
-0.00398452
0.0412242
-0.0103061
0.00363317
-0.000908293
0.0160067
-0.00400168
0.0228213
-0.00570532
0.0371428
-0.00928571
0.00814394
-0.00203598
0.00277456
-0.000693641
0.0110485
-0.00276212
0.0310101
-0.00775252
0.0115525
-0.00288812
0.000672243
-0.000168061
0.0215827
0.00539567
0.00840917
0.00210229
0.00364513
0.000911284
0.00221828
0.000554571
9.37832e-45
-0
3.48645e-46
-0
-5.12651e-14
2.67574e-44
-0 ]