Unable to create IKFast solution cpp file.
Hey, I hope you guys are doing well! I am trying to create an IKFast solution cpp file by following this documentation . If successful, I will be able to generate an IKFast plugin for my simple 5 DOF robotic arm.
Output of openrave-robot.py "$MYROBOT_NAME".dae --info links command:
name index parents
---------------------------------
world 0
base 1 world
base_link 2 base
shoulder_link 3 base_link
elbow_link 4 shoulder_link
wrist1_link 5 elbow_link
wrist2_link 6 wrist1_link
eef_link 7 wrist2_link
g1_link 8 eef_link
g2_link 9 eef_link
---------------------------------
name index parents
IKFASTPRECISION is set to 4, IK Type used is TranslationDirection5D, BASELINK ia 2 and EEF_LINK is 7. When I tried to generate IK Solver using following command :
python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot="$MYROBOT_NAME".dae --iktype=TranslationDirection5D --baselink="$BASE_LINK" --eelink="$EEF_LINK" --savefile="$IKFAST_OUTPUT_PATH"
I got output which has warnings like:
- equation too complex to simplify for rot norm
- raghavan roth equation (11,0) too complex
- raghavan roth equation (12,0) too complex
- raghavan roth equation (13,0) too complex
- could not find any variable where number of equations is exacty 8, trying all possibilities
I don't know exactly if there is something wrong with the above parameter values I used or something else. My laptop froze after below output is shown on my terminal. I would really appreciate someone's advice/guidance on this. Thanks.
Full output:
[plugindatabase.h:645 Create] Failed to create name fcl_, interface collisionchecker
INFO: moved translation [0, 0, 7038*625000001**(1/2)/3125000005] to right end
INFO: moved translation [0, 0, 73/1000] to left end
INFO: moved translation on intersecting axis [0, 0, 103/10000] to left
INFO: [[1, 0, 0, 0],[0, 50000*2500000001**(1/2)/2500000001, -2500000001**(1/2)/2500000001, -73*2500000001**(1/2)/2500000001000],[0, 2500000001**(1/2)/2500000001, 50000*2500000001**(1/2)/2500000001, 3650*2500000001**(1/2)/2500000001 + 17/125]]
INFO: [[cos(j0), -sin(j0), 0, 0],[sin(j0), cos(j0), 0, 0],[0, 0, 1, 0]]
INFO: [[-125000000*109971375452419601**(1/2)/109971375452419601, 0, -307158551*109971375452419601**(1/2)/109971375452419601, -5682661/100000000],[-307158551*109971375452419601**(1/2)/109971375452419601, 0, 125000000*109971375452419601**(1/2)/109971375452419601, -10000000/58408319],[0, 1, 0, 0]]
INFO: [[cos(j1), -sin(j1), 0, 0],[sin(j1), cos(j1), 0, 0],[0, 0, 1, 0]]
INFO: [[99997*10000008409**(1/2)/10000008409, 780*10000008409**(1/2)/10000008409, 0, 66299/20000000],[-780*10000008409**(1/2)/10000008409, 99997*10000008409**(1/2)/10000008409, 0, 4000000/9412051],[0, 0, 1, 103/10000]]
INFO: [[cos(j2), -sin(j2), 0, 0],[sin(j2), cos(j2), 0, 0],[0, 0, 1, 0]]
INFO: [[-75448000000*8717400704871737801561**(1/2)/8717400704871737801561, 55000000000*8717400704871737801561**(1/2)/8717400704871737801561, 933669*8717400704871737801561**(1/2)/8717400704871737801561, 2740009/25000000],[6875*136209386**(1/2)/136209386, 9431*136209386**(1/2)/136209386, 0, 37636653/100000000],[-8805432339*1187391797526546614703613651546**(1/2)/1187391797526546614703613651546, 6418974375*1187391797526546614703613651546**(1/2)/1187391797526546614703613651546, -8000000*1187391797526546614703613651546**(1/2)/8717400704871737801561, 0]]
INFO: [[cos(j3), -sin(j3), 0, 0],[sin(j3), cos(j3), 0, 0],[0, 0, 1, 0]]
INFO: [[0, 625000001**(1/2)/625000001, -25000*625000001**(1/2)/625000001, 24999437/6250000010000],[0, 25000*625000001**(1/2)/625000001, 625000001**(1/2)/625000001, 124997185/1250000002],[1, 0, 0, 699/10000]]
INFO: [[cos(j4), -sin(j4), 0, 0],[sin(j4), cos(j4), 0, 0],[0, 0, 1, 0]]
INFO: [[0, -72527877*102916542942127129**(1/2)/102916542942127129, 312500000*102916542942127129**(1/2)/102916542942127129, 0],[0, -312500000*102916542942127129**(1/2)/102916542942127129, -72527877*102916542942127129**(1/2)/102916542942127129, 0],[1, 0, 0, 7038*625000001**(1/2)/3125000005]]
INFO: ikfast translation direction 5d: [j0, j1, j2, j3, j4], direction=[0]
[0]
[1]
WARNING: equation too complex to simplify for rot norm: r00*(307158551*109971375452419601**(1/2)*(780*10000008409**(1/2)*sin(j1)/10000008409 + 99997*10000008409**(1/2)*cos(j1)/10000008409)*sin(j0)/109971375452419601 - 125000000*109971375452419601**(1/2)*(780*10000008409**(1/2)*sin(j1)/10000008409 + 99997*10000008409**(1/2)*cos(j1)/10000008409)*cos(j0)/109971375452419601) + r01*(-125000000*109971375452419601**(1/2)*(780*10000008409**(1/2)*sin(j1)/10000008409 + 99997*10000008409**(1/2)*cos(j1)/10000008409)*sin(j0)/109971375452419601 - 307158551*109971375452419601**(1/2)*(780*10000008409**(1/2)*sin(j1)/10000008409 + 99997*10000008409**(1/2)*cos(j1)/10000008409)*cos(j0)/109971375452419601) + r02*(99997*10000008409**(1/2)*sin(j1)/10000008409 - 780*10000008409**(1/2)*cos(j1)/10000008409) - 312500000*102916542942127129**(1/2)*((625000001**(1/2)*((-9431*136209386**(1/2)*sin(j2)/136209386 + 55000000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)*sin(j3) + (-6875*136209386**(1/2)*sin(j2)/136209386 - 75448000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)*cos(j3))/625000001 + 25000*625000001**(1/2)*((-9431*136209386**(1/2)*sin(j2)/136209386 + 55000000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)*cos(j3) - (-6875*136209386**(1/2)*sin(j2)/136209386 - 75448000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)*sin(j3))/625000001)*sin(j4) + 933669*8717400704871737801561**(1/2)*cos(j2)*cos(j4)/8717400704871737801561)/102916542942127129 + 72527877*102916542942127129**(1/2)*((625000001**(1/2)*((-9431*136209386**(1/2)*sin(j2)/136209386 + 55000000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)*sin(j3) + (-6875*136209386**(1/2)*sin(j2)/136209386 - 75448000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)*cos(j3))/625000001 + 25000*625000001**(1/2)*((-9431*136209386**(1/2)*sin(j2)/136209386 + 55000000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)*cos(j3) - (-6875*136209386**(1/2)*sin(j2)/136209386 - 75448000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)*sin(j3))/625000001)*cos(j4) - 933669*8717400704871737801561**(1/2)*sin(j4)*cos(j2)/8717400704871737801561)/102916542942127129
WARNING: equation too complex to simplify for rot norm: r00*(307158551*109971375452419601**(1/2)*(-99997*10000008409**(1/2)*sin(j1)/10000008409 + 780*10000008409**(1/2)*cos(j1)/10000008409)*sin(j0)/109971375452419601 - 125000000*109971375452419601**(1/2)*(-99997*10000008409**(1/2)*sin(j1)/10000008409 + 780*10000008409**(1/2)*cos(j1)/10000008409)*cos(j0)/109971375452419601) + r01*(-125000000*109971375452419601**(1/2)*(-99997*10000008409**(1/2)*sin(j1)/10000008409 + 780*10000008409**(1/2)*cos(j1)/10000008409)*sin(j0)/109971375452419601 - 307158551*109971375452419601**(1/2)*(-99997*10000008409**(1/2)*sin(j1)/10000008409 + 780*10000008409**(1/2)*cos(j1)/10000008409)*cos(j0)/109971375452419601) + r02*(780*10000008409**(1/2)*sin(j1)/10000008409 + 99997*10000008409**(1/2)*cos(j1)/10000008409) - 312500000*102916542942127129**(1/2)*((25000*625000001**(1/2)*(-(-75448000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 6875*136209386**(1/2)*cos(j2)/136209386)*sin(j3) + (55000000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 9431*136209386**(1/2)*cos(j2)/136209386)*cos(j3))/625000001 + 625000001**(1/2)*((-75448000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 6875*136209386**(1/2)*cos(j2)/136209386)*cos(j3) + (55000000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 9431*136209386**(1/2)*cos(j2)/136209386)*sin(j3))/625000001)*sin(j4) + 933669*8717400704871737801561**(1/2)*sin(j2)*cos(j4)/8717400704871737801561)/102916542942127129 + 72527877*102916542942127129**(1/2)*((25000*625000001**(1/2)*(-(-75448000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 6875*136209386**(1/2)*cos(j2)/136209386)*sin(j3) + (55000000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 9431*136209386**(1/2)*cos(j2)/136209386)*cos(j3))/625000001 + 625000001**(1/2)*((-75448000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 6875*136209386**(1/2)*cos(j2)/136209386)*cos(j3) + (55000000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 9431*136209386**(1/2)*cos(j2)/136209386)*sin(j3))/625000001)*cos(j4) - 933669*8717400704871737801561**(1/2)*sin(j2)*sin(j4)/8717400704871737801561)/102916542942127129
INFO: computed in 12.288145s
INFO: attempting li/woernle/hiller general ik method
INFO: allowed indices: [0]
INFO: assuming equation htj2 is non-zero, dividing by Poly((6736352159950875*7985828797593826199000949510876533274842266**(1/2)/41838798700437219868678887654809663461673611 + 4011548506459655281857*1187391797526546614703613651546**(1/2)/7421198746414834317163051469198636515460000)*cj3*htj2 + (-24551229753227133*7985828797593826199000949510876533274842266**(1/2)/209193993502186099343394438274048317308368055 + 8805490793856513603*1187391797526546614703613651546**(1/2)/11873917994263734907460882350717818424736)*sj3*htj2 + (307158551*109971375452419601**(1/2)*px/109971375452419601 - 125000000*109971375452419601**(1/2)*py/109971375452419601)*cj0*htj2 + (125000000*109971375452419601**(1/2)*px/109971375452419601 + 307158551*109971375452419601**(1/2)*py/109971375452419601)*sj0*htj2 + (-559200*1187391797526546614703613651546**(1/2)/8717400704871737801561 - 23049568923877375548691*109971375452419601**(1/2)/642324317829369337706071900000000 + 103/10000)*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='EX')
INFO: not unique: (Poly((-4011548506459655281857*1187391797526546614703613651546**(1/2)/7421198746414834317163051469198636515460000 - 6736352159950875*7985828797593826199000949510876533274842266**(1/2)/41838798700437219868678887654809663461673611)*cj3 + (-8805490793856513603*1187391797526546614703613651546**(1/2)/11873917994263734907460882350717818424736 + 24551229753227133*7985828797593826199000949510876533274842266**(1/2)/209193993502186099343394438274048317308368055)*sj3, cj3, sj3, cj4, sj4, htj2, domain='EX'), Poly((307158551*109971375452419601**(1/2)*px/109971375452419601 - 125000000*109971375452419601**(1/2)*py/109971375452419601)*cj0 + (125000000*109971375452419601**(1/2)*px/109971375452419601 + 307158551*109971375452419601**(1/2)*py/109971375452419601)*sj0 - 559200*1187391797526546614703613651546**(1/2)/8717400704871737801561 - 23049568923877375548691*109971375452419601**(1/2)/642324317829369337706071900000000 + 103/10000, cj0, sj0, cj1, sj1, htj2, domain='EX'))
INFO: assuming equation htj2 is non-zero, dividing by Poly(-11638225959090182060697*76376411946746231412355940561744428684141609034489391434**(1/2)/76376411946746231412355940561744428684141609034489391434*cj3*cj4*htj2 + 25072742803540781250000*76376411946746231412355940561744428684141609034489391434**(1/2)/38188205973373115706177970280872214342070804517244695717*cj3*sj4*htj2 - 15966448394954293726875*76376411946746231412355940561744428684141609034489391434**(1/2)/76376411946746231412355940561744428684141609034489391434*sj3*cj4*htj2 + 34397223038964843750000*76376411946746231412355940561744428684141609034489391434**(1/2)/38188205973373115706177970280872214342070804517244695717*sj3*sj4*htj2 - 2500000000000000*122202258919270355988936935316491989388239391434**(1/2)/897164743986661506490726970287436648369*cj4*htj2 - 580223016000000*122202258919270355988936935316491989388239391434**(1/2)/897164743986661506490726970287436648369*sj4*htj2 + (307158551*109971375452419601**(1/2)*r00/109971375452419601 - 125000000*109971375452419601**(1/2)*r01/109971375452419601)*cj0*htj2 + (125000000*109971375452419601**(1/2)*r00/109971375452419601 + 307158551*109971375452419601**(1/2)*r01/109971375452419601)*sj0*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='EX')
INFO: not unique: (Poly(11638225959090182060697*76376411946746231412355940561744428684141609034489391434**(1/2)/76376411946746231412355940561744428684141609034489391434*cj3*cj4 - 25072742803540781250000*76376411946746231412355940561744428684141609034489391434**(1/2)/38188205973373115706177970280872214342070804517244695717*cj3*sj4 + 15966448394954293726875*76376411946746231412355940561744428684141609034489391434**(1/2)/76376411946746231412355940561744428684141609034489391434*sj3*cj4 - 34397223038964843750000*76376411946746231412355940561744428684141609034489391434**(1/2)/38188205973373115706177970280872214342070804517244695717*sj3*sj4 + 2500000000000000*122202258919270355988936935316491989388239391434**(1/2)/897164743986661506490726970287436648369*cj4 + 580223016000000*122202258919270355988936935316491989388239391434**(1/2)/897164743986661506490726970287436648369*sj4, cj3, sj3, cj4, sj4, htj2, domain='EX'), Poly((307158551*109971375452419601**(1/2)*r00/109971375452419601 - 125000000*109971375452419601**(1/2)*r01/109971375452419601)*cj0 + (125000000*109971375452419601**(1/2)*r00/109971375452419601 + 307158551*109971375452419601**(1/2)*r01/109971375452419601)*sj0, cj0, sj0, cj1, sj1, htj2, domain='EX'))
INFO: assuming equation htj2 is non-zero, dividing by Poly((-3437233971747722400*8717400704871737801561**(1/2)/5448375449262236830847362801561 - 115438806000000000*58629063914830555061755799346137081**(1/2)/614330626238007120429702071409523327)*cj3*htj2**3 + (-9431062607687*136209386**(1/2)/681046931089675088 + 1209589874622*916079123577619748906**(1/2)/551937671955515898715865)*cj3*htj2**2 + (115438806000000000*58629063914830555061755799346137081**(1/2)/614330626238007120429702071409523327 + 3437233971747722400*8717400704871737801561**(1/2)/5448375449262236830847362801561)*cj3*htj2 + (-4715531303843500000*8717400704871737801561**(1/2)/5448375449262236830847362801561 + 84145382582400000*58629063914830555061755799346137081**(1/2)/614330626238007120429702071409523327)*sj3*htj2**3 + (331886567250*916079123577619748906**(1/2)/110387534391103179743173 + 4296542464684653*136209386**(1/2)/425654331931046930000)*sj3*htj2**2 + (-84145382582400000*58629063914830555061755799346137081**(1/2)/614330626238007120429702071409523327 + 4715531303843500000*8717400704871737801561**(1/2)/5448375449262236830847362801561)*sj3*htj2 + (12499625000000*1099714679273492189396424809**(1/2)*px/1099714679273492189396424809 + 30714933624347*1099714679273492189396424809**(1/2)*py/1099714679273492189396424809)*cj0*cj1*htj2**3 + (12499625000000*1099714679273492189396424809**(1/2)*px/1099714679273492189396424809 + 30714933624347*1099714679273492189396424809**(1/2)*py/1099714679273492189396424809)*cj0*cj1*htj2 + (97500000000*1099714679273492189396424809**(1/2)*px/1099714679273492189396424809 + 239583669780*1099714679273492189396424809**(1/2)*py/1099714679273492189396424809)*cj0*sj1*htj2**3 + (97500000000*1099714679273492189396424809**(1/2)*px/1099714679273492189396424809 + 239583669780*1099714679273492189396424809**(1/2)*py/1099714679273492189396424809)*cj0*sj1*htj2 + (-30714933624347*1099714679273492189396424809**(1/2)*px/1099714679273492189396424809 + 12499625000000*1099714679273492189396424809**(1/2)*py/1099714679273492189396424809)*sj0*cj1*htj2**3 + (-30714933624347*1099714679273492189396424809**(1/2)*px/1099714679273492189396424809 + 12499625000000*1099714679273492189396424809**(1/2)*py/1099714679273492189396424809)*sj0*cj1*htj2 + (-239583669780*1099714679273492189396424809**(1/2)*px/1099714679273492189396424809 + 97500000000*1099714679273492189396424809**(1/2)*py/1099714679273492189396424809)*sj0*sj1*htj2**3 + (-239583669780*1099714679273492189396424809**(1/2)*px/1099714679273492189396424809 + 97500000000*1099714679273492189396424809**(1/2)*py/1099714679273492189396424809)*sj0*sj1*htj2 + (780*10000008409**(1/2)*pz/10000008409 + 1394549704482162647115*1099714679273492189396424809**(1/2)/256929943183955280169099190814344284)*cj1*htj2**3 + (780*10000008409**(1/2)*pz/10000008409 + 1394549704482162647115*1099714679273492189396424809**(1/2)/256929943183955280169099190814344284)*cj1*htj2 + (-99997*10000008409**(1/2)*pz/10000008409 + 2719453507345437525*1099714679273492189396424809**(1/2)/64232485795988820042274797703586071)*sj1*htj2**3 + (-99997*10000008409**(1/2)*pz/10000008409 + 2719453507345437525*1099714679273492189396424809**(1/2)/64232485795988820042274797703586071)*sj1*htj2 + (-2740009/25000000 - 652634631*8717400704871737801561**(1/2)/87174007048717378015610000 - 915103807747*10000008409**(1/2)/1882411782918737180000000)*htj2**3 - 37636653/50000000*htj2**2 + (-915103807747*10000008409**(1/2)/1882411782918737180000000 + 652634631*8717400704871737801561**(1/2)/87174007048717378015610000 + 2740009/25000000)*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='EX')
INFO: assuming equation htj2 is non-zero, dividing by Poly((-9431062607687*136209386**(1/2)/1362093862179350176 + 604794937311*916079123577619748906**(1/2)/551937671955515898715865)*cj3*htj2**3 + (230877612000000000*58629063914830555061755799346137081**(1/2)/614330626238007120429702071409523327 + 6874467943495444800*8717400704871737801561**(1/2)/5448375449262236830847362801561)*cj3*htj2**2 + (-604794937311*916079123577619748906**(1/2)/551937671955515898715865 + 9431062607687*136209386**(1/2)/1362093862179350176)*cj3*htj2 + (165943283625*916079123577619748906**(1/2)/110387534391103179743173 + 4296542464684653*136209386**(1/2)/851308663862093860000)*sj3*htj2**3 + (-168290765164800000*58629063914830555061755799346137081**(1/2)/614330626238007120429702071409523327 + 9431062607687000000*8717400704871737801561**(1/2)/5448375449262236830847362801561)*sj3*htj2**2 + (-4296542464684653*136209386**(1/2)/851308663862093860000 - 165943283625*916079123577619748906**(1/2)/110387534391103179743173)*sj3*htj2 + (97500000000*1099714679273492189396424809**(1/2)*px/1099714679273492189396424809 + 239583669780*1099714679273492189396424809**(1/2)*py/1099714679273492189396424809)*cj0*cj1*htj2**3 + (97500000000*1099714679273492189396424809**(1/2)*px/1099714679273492189396424809 + 239583669780*1099714679273492189396424809**(1/2)*py/1099714679273492189396424809)*cj0*cj1*htj2 + (-12499625000000*1099714679273492189396424809**(1/2)*px/1099714679273492189396424809 - 30714933624347*1099714679273492189396424809**(1/2)*py/1099714679273492189396424809)*cj0*sj1*htj2**3 + (-12499625000000*1099714679273492189396424809**(1/2)*px/1099714679273492189396424809 - 30714933624347*1099714679273492189396424809**(1/2)*py/1099714679273492189396424809)*cj0*sj1*htj2 + (-239583669780*1099714679273492189396424809**(1/2)*px/1099714679273492189396424809 + 97500000000*1099714679273492189396424809**(1/2)*py/1099714679273492189396424809)*sj0*cj1*htj2**3 + (-239583669780*1099714679273492189396424809**(1/2)*px/1099714679273492189396424809 + 97500000000*1099714679273492189396424809**(1/2)*py/1099714679273492189396424809)*sj0*cj1*htj2 + (30714933624347*1099714679273492189396424809**(1/2)*px/1099714679273492189396424809 - 12499625000000*1099714679273492189396424809**(1/2)*py/1099714679273492189396424809)*sj0*sj1*htj2**3 + (30714933624347*1099714679273492189396424809**(1/2)*px/1099714679273492189396424809 - 12499625000000*1099714679273492189396424809**(1/2)*py/1099714679273492189396424809)*sj0*sj1*htj2 + (-99997*10000008409**(1/2)*pz/10000008409 + 2719453507345437525*1099714679273492189396424809**(1/2)/64232485795988820042274797703586071)*cj1*htj2**3 + (-99997*10000008409**(1/2)*pz/10000008409 + 2719453507345437525*1099714679273492189396424809**(1/2)/64232485795988820042274797703586071)*cj1*htj2 + (-780*10000008409**(1/2)*pz/10000008409 - 1394549704482162647115*1099714679273492189396424809**(1/2)/256929943183955280169099190814344284)*sj1*htj2**3 + (-780*10000008409**(1/2)*pz/10000008409 - 1394549704482162647115*1099714679273492189396424809**(1/2)/256929943183955280169099190814344284)*sj1*htj2 + (-37636653/100000000 + 400012336373200711*10000008409**(1/2)/94120589145936859000000)*htj2**3 + (652634631*8717400704871737801561**(1/2)/43587003524358689007805000 + 2740009/12500000)*htj2**2 + (37636653/100000000 + 400012336373200711*10000008409**(1/2)/94120589145936859000000)*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='EX')
INFO: assuming equation htj2 is non-zero, dividing by Poly(99720358791736104000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369*cj3*cj4*htj2**3 + 17100758828829375*8761374466136805232785266025032794**(1/2)/4380687233068402616392633012516397*cj3*cj4*htj2**2 - 99720358791736104000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369*cj3*cj4*htj2 - 429663922500000000000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369*cj3*sj4*htj2**3 - 73681835937500000*8761374466136805232785266025032794**(1/2)/4380687233068402616392633012516397*cj3*sj4*htj2**2 + 429663922500000000000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369*cj3*sj4*htj2 + 136806070630635000000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369*sj3*cj4*htj2**3 - 12465044848967013*8761374466136805232785266025032794**(1/2)/4380687233068402616392633012516397*sj3*cj4*htj2**2 - 136806070630635000000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369*sj3*cj4*htj2 - 589454687500000000000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369*sj3*sj4*htj2**3 + 53707990312500000*8761374466136805232785266025032794**(1/2)/4380687233068402616392633012516397*sj3*sj4*htj2**2 + 589454687500000000000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369*sj3*sj4*htj2 - 291771562500000*897164743986661506490726970287436648369**(1/2)/897164743986661506490726970287436648369*cj4*htj2**3 + 291771562500000*897164743986661506490726970287436648369**(1/2)/897164743986661506490726970287436648369*cj4*htj2 - 67717030390713*897164743986661506490726970287436648369**(1/2)/897164743986661506490726970287436648369*sj4*htj2**3 + 67717030390713*897164743986661506490726970287436648369**(1/2)/897164743986661506490726970287436648369*sj4*htj2 + (12499625000000*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 + 30714933624347*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*cj0*cj1*htj2**3 + (12499625000000*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 + 30714933624347*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*cj0*cj1*htj2 + (97500000000*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 + 239583669780*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*cj0*sj1*htj2**3 + (97500000000*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 + 239583669780*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*cj0*sj1*htj2 + (-30714933624347*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 + 12499625000000*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*sj0*cj1*htj2**3 + (-30714933624347*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 + 12499625000000*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*sj0*cj1*htj2 + (-239583669780*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 + 97500000000*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*sj0*sj1*htj2**3 + (-239583669780*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 + 97500000000*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*sj0*sj1*htj2 + 780*10000008409**(1/2)*r02/10000008409*cj1*htj2**3 + 780*10000008409**(1/2)*r02/10000008409*cj1*htj2 - 99997*10000008409**(1/2)*r02/10000008409*sj1*htj2**3 - 99997*10000008409**(1/2)*r02/10000008409*sj1*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='EX')
INFO: not unique: (Poly(-99720358791736104000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369*cj3*cj4*htj2**2 - 17100758828829375*8761374466136805232785266025032794**(1/2)/4380687233068402616392633012516397*cj3*cj4*htj2 + 99720358791736104000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369*cj3*cj4 + 429663922500000000000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369*cj3*sj4*htj2**2 + 73681835937500000*8761374466136805232785266025032794**(1/2)/4380687233068402616392633012516397*cj3*sj4*htj2 - 429663922500000000000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369*cj3*sj4 - 136806070630635000000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369*sj3*cj4*htj2**2 + 12465044848967013*8761374466136805232785266025032794**(1/2)/4380687233068402616392633012516397*sj3*cj4*htj2 + 136806070630635000000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369*sj3*cj4 + 589454687500000000000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369*sj3*sj4*htj2**2 - 53707990312500000*8761374466136805232785266025032794**(1/2)/4380687233068402616392633012516397*sj3*sj4*htj2 - 589454687500000000000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369*sj3*sj4 + 291771562500000*897164743986661506490726970287436648369**(1/2)/897164743986661506490726970287436648369*cj4*htj2**2 - 291771562500000*897164743986661506490726970287436648369**(1/2)/897164743986661506490726970287436648369*cj4 + 67717030390713*897164743986661506490726970287436648369**(1/2)/897164743986661506490726970287436648369*sj4*htj2**2 - 67717030390713*897164743986661506490726970287436648369**(1/2)/897164743986661506490726970287436648369*sj4, cj3, sj3, cj4, sj4, htj2, domain='EX'), Poly((12499625000000*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 + 30714933624347*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*cj0*cj1*htj2**2 + (12499625000000*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 + 30714933624347*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*cj0*cj1 + (97500000000*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 + 239583669780*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*cj0*sj1*htj2**2 + (97500000000*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 + 239583669780*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*cj0*sj1 + (-30714933624347*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 + 12499625000000*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*sj0*cj1*htj2**2 + (-30714933624347*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 + 12499625000000*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*sj0*cj1 + (-239583669780*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 + 97500000000*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*sj0*sj1*htj2**2 + (-239583669780*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 + 97500000000*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*sj0*sj1 + 780*10000008409**(1/2)*r02/10000008409*cj1*htj2**2 + 780*10000008409**(1/2)*r02/10000008409*cj1 - 99997*10000008409**(1/2)*r02/10000008409*sj1*htj2**2 - 99997*10000008409**(1/2)*r02/10000008409*sj1, cj0, sj0, cj1, sj1, htj2, domain='EX'))
INFO: assuming equation htj2 is non-zero, dividing by Poly(17100758828829375*8761374466136805232785266025032794**(1/2)/8761374466136805232785266025032794*cj3*cj4*htj2**3 - 199440717583472208000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369*cj3*cj4*htj2**2 - 17100758828829375*8761374466136805232785266025032794**(1/2)/8761374466136805232785266025032794*cj3*cj4*htj2 - 36840917968750000*8761374466136805232785266025032794**(1/2)/4380687233068402616392633012516397*cj3*sj4*htj2**3 + 859327845000000000000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369*cj3*sj4*htj2**2 + 36840917968750000*8761374466136805232785266025032794**(1/2)/4380687233068402616392633012516397*cj3*sj4*htj2 - 12465044848967013*8761374466136805232785266025032794**(1/2)/8761374466136805232785266025032794*sj3*cj4*htj2**3 - 273612141261270000000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369*sj3*cj4*htj2**2 + 12465044848967013*8761374466136805232785266025032794**(1/2)/8761374466136805232785266025032794*sj3*cj4*htj2 + 26853995156250000*8761374466136805232785266025032794**(1/2)/4380687233068402616392633012516397*sj3*sj4*htj2**3 + 1178909375000000000000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369*sj3*sj4*htj2**2 - 26853995156250000*8761374466136805232785266025032794**(1/2)/4380687233068402616392633012516397*sj3*sj4*htj2 + 583543125000000*897164743986661506490726970287436648369**(1/2)/897164743986661506490726970287436648369*cj4*htj2**2 + 135434060781426*897164743986661506490726970287436648369**(1/2)/897164743986661506490726970287436648369*sj4*htj2**2 + (97500000000*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 + 239583669780*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*cj0*cj1*htj2**3 + (97500000000*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 + 239583669780*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*cj0*cj1*htj2 + (-12499625000000*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 - 30714933624347*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*cj0*sj1*htj2**3 + (-12499625000000*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 - 30714933624347*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*cj0*sj1*htj2 + (-239583669780*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 + 97500000000*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*sj0*cj1*htj2**3 + (-239583669780*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 + 97500000000*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*sj0*cj1*htj2 + (30714933624347*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 - 12499625000000*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*sj0*sj1*htj2**3 + (30714933624347*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 - 12499625000000*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*sj0*sj1*htj2 - 99997*10000008409**(1/2)*r02/10000008409*cj1*htj2**3 - 99997*10000008409**(1/2)*r02/10000008409*cj1*htj2 - 780*10000008409**(1/2)*r02/10000008409*sj1*htj2**3 - 780*10000008409**(1/2)*r02/10000008409*sj1*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='EX')
INFO: not unique: (Poly(-17100758828829375*8761374466136805232785266025032794**(1/2)/8761374466136805232785266025032794*cj3*cj4*htj2**2 + 199440717583472208000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369*cj3*cj4*htj2 + 17100758828829375*8761374466136805232785266025032794**(1/2)/8761374466136805232785266025032794*cj3*cj4 + 36840917968750000*8761374466136805232785266025032794**(1/2)/4380687233068402616392633012516397*cj3*sj4*htj2**2 - 859327845000000000000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369*cj3*sj4*htj2 - 36840917968750000*8761374466136805232785266025032794**(1/2)/4380687233068402616392633012516397*cj3*sj4 + 12465044848967013*8761374466136805232785266025032794**(1/2)/8761374466136805232785266025032794*sj3*cj4*htj2**2 + 273612141261270000000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369*sj3*cj4*htj2 - 12465044848967013*8761374466136805232785266025032794**(1/2)/8761374466136805232785266025032794*sj3*cj4 - 26853995156250000*8761374466136805232785266025032794**(1/2)/4380687233068402616392633012516397*sj3*sj4*htj2**2 - 1178909375000000000000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369*sj3*sj4*htj2 + 26853995156250000*8761374466136805232785266025032794**(1/2)/4380687233068402616392633012516397*sj3*sj4 - 583543125000000*897164743986661506490726970287436648369**(1/2)/897164743986661506490726970287436648369*cj4*htj2 - 135434060781426*897164743986661506490726970287436648369**(1/2)/897164743986661506490726970287436648369*sj4*htj2, cj3, sj3, cj4, sj4, htj2, domain='EX'), Poly((97500000000*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 + 239583669780*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*cj0*cj1*htj2**2 + (97500000000*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 + 239583669780*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*cj0*cj1 + (-12499625000000*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 - 30714933624347*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*cj0*sj1*htj2**2 + (-12499625000000*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 - 30714933624347*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*cj0*sj1 + (-239583669780*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 + 97500000000*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*sj0*cj1*htj2**2 + (-239583669780*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 + 97500000000*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*sj0*cj1 + (30714933624347*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 - 12499625000000*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*sj0*sj1*htj2**2 + (30714933624347*1099714679273492189396424809**(1/2)*r00/1099714679273492189396424809 - 12499625000000*1099714679273492189396424809**(1/2)*r01/1099714679273492189396424809)*sj0*sj1 - 99997*10000008409**(1/2)*r02/10000008409*cj1*htj2**2 - 99997*10000008409**(1/2)*r02/10000008409*cj1 - 780*10000008409**(1/2)*r02/10000008409*sj1*htj2**2 - 780*10000008409**(1/2)*r02/10000008409*sj1, cj0, sj0, cj1, sj1, htj2, domain='EX'))
INFO: not unique: [Poly(-11638225959090182060697*76376411946746231412355940561744428684141609034489391434**(1/2)/76376411946746231412355940561744428684141609034489391434*cj3*cj4 + 25072742803540781250000*76376411946746231412355940561744428684141609034489391434**(1/2)/38188205973373115706177970280872214342070804517244695717*cj3*sj4 - 15966448394954293726875*76376411946746231412355940561744428684141609034489391434**(1/2)/76376411946746231412355940561744428684141609034489391434*sj3*cj4 + 34397223038964843750000*76376411946746231412355940561744428684141609034489391434**(1/2)/38188205973373115706177970280872214342070804517244695717*sj3*sj4 - 2500000000000000*122202258919270355988936935316491989388239391434**(1/2)/897164743986661506490726970287436648369*cj4 - 580223016000000*122202258919270355988936935316491989388239391434**(1/2)/897164743986661506490726970287436648369*sj4, cj3, sj3, cj4, sj4, htj2, domain='EX'), Poly((-307158551*109971375452419601**(1/2)*r00/109971375452419601 + 125000000*109971375452419601**(1/2)*r01/109971375452419601)*cj0 + (-125000000*109971375452419601**(1/2)*r00/109971375452419601 - 307158551*109971375452419601**(1/2)*r01/109971375452419601)*sj0, cj0, sj0, cj1, sj1, htj2, domain='EX')]
INFO: assuming equation htj2 is non-zero, dividing by Poly(11638225959090182060697*76376411946746231412355940561744428684141609034489391434**(1/2)/76376411946746231412355940561744428684141609034489391434*cj3*cj4*htj2 - 25072742803540781250000*76376411946746231412355940561744428684141609034489391434**(1/2)/38188205973373115706177970280872214342070804517244695717*cj3*sj4*htj2 + 15966448394954293726875*76376411946746231412355940561744428684141609034489391434**(1/2)/76376411946746231412355940561744428684141609034489391434*sj3*cj4*htj2 - 34397223038964843750000*76376411946746231412355940561744428684141609034489391434**(1/2)/38188205973373115706177970280872214342070804517244695717*sj3*sj4*htj2 + 2500000000000000*122202258919270355988936935316491989388239391434**(1/2)/897164743986661506490726970287436648369*cj4*htj2 + 580223016000000*122202258919270355988936935316491989388239391434**(1/2)/897164743986661506490726970287436648369*sj4*htj2 + (-307158551*109971375452419601**(1/2)*r00/109971375452419601 + 125000000*109971375452419601**(1/2)*r01/109971375452419601)*cj0*htj2 + (-125000000*109971375452419601**(1/2)*r00/109971375452419601 - 307158551*109971375452419601**(1/2)*r01/109971375452419601)*sj0*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='EX')
INFO: not unique: (Poly(-11638225959090182060697*76376411946746231412355940561744428684141609034489391434**(1/2)/76376411946746231412355940561744428684141609034489391434*cj3*cj4 + 25072742803540781250000*76376411946746231412355940561744428684141609034489391434**(1/2)/38188205973373115706177970280872214342070804517244695717*cj3*sj4 - 15966448394954293726875*76376411946746231412355940561744428684141609034489391434**(1/2)/76376411946746231412355940561744428684141609034489391434*sj3*cj4 + 34397223038964843750000*76376411946746231412355940561744428684141609034489391434**(1/2)/38188205973373115706177970280872214342070804517244695717*sj3*sj4 - 2500000000000000*122202258919270355988936935316491989388239391434**(1/2)/897164743986661506490726970287436648369*cj4 - 580223016000000*122202258919270355988936935316491989388239391434**(1/2)/897164743986661506490726970287436648369*sj4, cj3, sj3, cj4, sj4, htj2, domain='EX'), Poly((-307158551*109971375452419601**(1/2)*r00/109971375452419601 + 125000000*109971375452419601**(1/2)*r01/109971375452419601)*cj0 + (-125000000*109971375452419601**(1/2)*r00/109971375452419601 - 307158551*109971375452419601**(1/2)*r01/109971375452419601)*sj0, cj0, sj0, cj1, sj1, htj2, domain='EX'))
INFO: not unique: [Poly((6736352159950875*7985828797593826199000949510876533274842266**(1/2)/41838798700437219868678887654809663461673611 + 4011548506459655281857*1187391797526546614703613651546**(1/2)/7421198746414834317163051469198636515460000)*cj3 + (-24551229753227133*7985828797593826199000949510876533274842266**(1/2)/209193993502186099343394438274048317308368055 + 8805490793856513603*1187391797526546614703613651546**(1/2)/11873917994263734907460882350717818424736)*sj3, cj3, sj3, cj4, sj4, htj2, domain='EX'), Poly((-307158551*109971375452419601**(1/2)*px/109971375452419601 + 125000000*109971375452419601**(1/2)*py/109971375452419601)*cj0 + (-125000000*109971375452419601**(1/2)*px/109971375452419601 - 307158551*109971375452419601**(1/2)*py/109971375452419601)*sj0 - 103/10000 + 23049568923877375548691*109971375452419601**(1/2)/642324317829369337706071900000000 + 559200*1187391797526546614703613651546**(1/2)/8717400704871737801561, cj0, sj0, cj1, sj1, htj2, domain='EX')]
INFO: assuming equation htj2 is non-zero, dividing by Poly((-4011548506459655281857*1187391797526546614703613651546**(1/2)/7421198746414834317163051469198636515460000 - 6736352159950875*7985828797593826199000949510876533274842266**(1/2)/41838798700437219868678887654809663461673611)*cj3*htj2 + (-8805490793856513603*1187391797526546614703613651546**(1/2)/11873917994263734907460882350717818424736 + 24551229753227133*7985828797593826199000949510876533274842266**(1/2)/209193993502186099343394438274048317308368055)*sj3*htj2 + (-307158551*109971375452419601**(1/2)*px/109971375452419601 + 125000000*109971375452419601**(1/2)*py/109971375452419601)*cj0*htj2 + (-125000000*109971375452419601**(1/2)*px/109971375452419601 - 307158551*109971375452419601**(1/2)*py/109971375452419601)*sj0*htj2 + (-103/10000 + 23049568923877375548691*109971375452419601**(1/2)/642324317829369337706071900000000 + 559200*1187391797526546614703613651546**(1/2)/8717400704871737801561)*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='EX')
INFO: not unique: (Poly((6736352159950875*7985828797593826199000949510876533274842266**(1/2)/41838798700437219868678887654809663461673611 + 4011548506459655281857*1187391797526546614703613651546**(1/2)/7421198746414834317163051469198636515460000)*cj3 + (-24551229753227133*7985828797593826199000949510876533274842266**(1/2)/209193993502186099343394438274048317308368055 + 8805490793856513603*1187391797526546614703613651546**(1/2)/11873917994263734907460882350717818424736)*sj3, cj3, sj3, cj4, sj4, htj2, domain='EX'), Poly((-307158551*109971375452419601**(1/2)*px/109971375452419601 + 125000000*109971375452419601**(1/2)*py/109971375452419601)*cj0 + (-125000000*109971375452419601**(1/2)*px/109971375452419601 - 307158551*109971375452419601**(1/2)*py/109971375452419601)*sj0 - 103/10000 + 23049568923877375548691*109971375452419601**(1/2)/642324317829369337706071900000000 + 559200*1187391797526546614703613651546**(1/2)/8717400704871737801561, cj0, sj0, cj1, sj1, htj2, domain='EX'))
INFO: assuming equation htj2 is non-zero, dividing by Poly((-74969972956515115143*8761374466136805232785266025032794**(1/2)/350454978645472209311410641001311760000 - 85991121033755015654296875*122202258919270355988936935316491989388239391434**(1/2)/38188205973373115706177970280872214342070804517244695717 - 17856875884916882104137*76376411946746231412355940561744428684141609034489391434**(1/2)/1222022591147939702597695048987910858946265744551830262944 + 1534451859576695812500000*821873892376040470712775163365751424550764179864283994434314**(1/2)/4305904523100559857429974225459697680798568855375922666492819 + 938285135220017753454978*560727965888828185543365862920374875518061648369**(1/2)/14018199147220704638584146573009371887951541209225)*cj3*cj4*htj2 + (-161711119577513925000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369 - 638643553221457574247210831*122202258919270355988936935316491989388239391434**(1/2)/1222022591147939702597695048987910858946265744551830262944 + 1780648571740797855286641*821873892376040470712775163365751424550764179864283994434314**(1/2)/21529522615502799287149871127298488403992844276879613332464095 + 2404365890423642578125*76376411946746231412355940561744428684141609034489391434**(1/2)/38188205973373115706177970280872214342070804517244695717 + 16151111488421875*8761374466136805232785266025032794**(1/2)/17522748932273610465570532050065588)*cj3*sj4*htj2 + (8135119945404037260427203*76376411946746231412355940561744428684141609034489391434**(1/2)/763764119467462314123559405617444286841416090344893914340000 + 2105110049984648437500000*821873892376040470712775163365751424550764179864283994434314**(1/2)/4305904523100559857429974225459697680798568855375922666492819 + 62680445413432113779015625*122202258919270355988936935316491989388239391434**(1/2)/38188205973373115706177970280872214342070804517244695717 + 34154335071573256323117*8761374466136805232785266025032794**(1/2)/219034361653420130819631650625819850000000 + 51489226086187006646550*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369)*sj3*cj4*htj2 + (-221851015326609375000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369 - 11772830146253025*8761374466136805232785266025032794**(1/2)/17522748932273610465570532050065588 - 1752584721967500609375*76376411946746231412355940561744428684141609034489391434**(1/2)/38188205973373115706177970280872214342070804517244695717 + 488573320885601388042375*821873892376040470712775163365751424550764179864283994434314**(1/2)/4305904523100559857429974225459697680798568855375922666492819 + 290949096656039583744924827589*122202258919270355988936935316491989388239391434**(1/2)/763764119467462314123559405617444286841416090344893914340000)*sj3*sj4*htj2 + (-35509648579200000*513671183556899186571524947816369803709979036965941676385730244434314**(1/2)/63224784275887710960388210331697665545582429325038183 - 878504404246425*897164743986661506490726970287436648369**(1/2)/7177317951893292051925815762299493186952)*cj4*htj2 + (-2548642375005719603589*897164743986661506490726970287436648369**(1/2)/89716474398666150649072697028743664836900000000 + 153000000000000000*513671183556899186571524947816369803709979036965941676385730244434314**(1/2)/63224784275887710960388210331697665545582429325038183)*sj4*htj2 + (500000000000000*10997156040235659904760068724536218881**(1/2)*r00/10350570646770751434700809519973259 + 1228634204000000*10997156040235659904760068724536218881**(1/2)*r01/10350570646770751434700809519973259)*cj0*cj1*htj2 + (1657475*10997156040235659904760068724536218881**(1/2)*r00/4398858717093968757585699236 + 20364304772749*10997156040235659904760068724536218881**(1/2)*r01/21994293585469843787928496180000000)*cj0*sj1*htj2 + (125000000*10997156040235659904760068724536218881**(1/2)*px*r02/1099714679273492189396424809 + 307158551*10997156040235659904760068724536218881**(1/2)*py*r02/1099714679273492189396424809 - 125000000*10997156040235659904760068724536218881**(1/2)*pz*r00/1099714679273492189396424809 - 307158551*10997156040235659904760068724536218881**(1/2)*pz*r01/1099714679273492189396424809)*cj0*htj2 + (-1228634204000000*10997156040235659904760068724536218881**(1/2)*r00/10350570646770751434700809519973259 + 500000000000000*10997156040235659904760068724536218881**(1/2)*r01/10350570646770751434700809519973259)*sj0*cj1*htj2 + (-20364304772749*10997156040235659904760068724536218881**(1/2)*r00/21994293585469843787928496180000000 + 1657475*10997156040235659904760068724536218881**(1/2)*r01/4398858717093968757585699236)*sj0*sj1*htj2 + (-307158551*10997156040235659904760068724536218881**(1/2)*px*r02/1099714679273492189396424809 + 125000000*10997156040235659904760068724536218881**(1/2)*py*r02/1099714679273492189396424809 + 307158551*10997156040235659904760068724536218881**(1/2)*pz*r00/1099714679273492189396424809 - 125000000*10997156040235659904760068724536218881**(1/2)*pz*r01/1099714679273492189396424809)*sj0*htj2 + 66299*r02/20000000*cj1*htj2 - 4000000*r02/9412051*sj1*htj2 + 13945915422284295*10997156040235659904760068724536218881**(1/2)*r02/256929943183955280169099190814344284*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='EX')
INFO: not unique: (Poly((-938285135220017753454978*560727965888828185543365862920374875518061648369**(1/2)/14018199147220704638584146573009371887951541209225 - 1534451859576695812500000*821873892376040470712775163365751424550764179864283994434314**(1/2)/4305904523100559857429974225459697680798568855375922666492819 + 17856875884916882104137*76376411946746231412355940561744428684141609034489391434**(1/2)/1222022591147939702597695048987910858946265744551830262944 + 85991121033755015654296875*122202258919270355988936935316491989388239391434**(1/2)/38188205973373115706177970280872214342070804517244695717 + 74969972956515115143*8761374466136805232785266025032794**(1/2)/350454978645472209311410641001311760000)*cj3*cj4 + (-16151111488421875*8761374466136805232785266025032794**(1/2)/17522748932273610465570532050065588 - 2404365890423642578125*76376411946746231412355940561744428684141609034489391434**(1/2)/38188205973373115706177970280872214342070804517244695717 - 1780648571740797855286641*821873892376040470712775163365751424550764179864283994434314**(1/2)/21529522615502799287149871127298488403992844276879613332464095 + 638643553221457574247210831*122202258919270355988936935316491989388239391434**(1/2)/1222022591147939702597695048987910858946265744551830262944 + 161711119577513925000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369)*cj3*sj4 + (-51489226086187006646550*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369 - 34154335071573256323117*8761374466136805232785266025032794**(1/2)/219034361653420130819631650625819850000000 - 62680445413432113779015625*122202258919270355988936935316491989388239391434**(1/2)/38188205973373115706177970280872214342070804517244695717 - 2105110049984648437500000*821873892376040470712775163365751424550764179864283994434314**(1/2)/4305904523100559857429974225459697680798568855375922666492819 - 8135119945404037260427203*76376411946746231412355940561744428684141609034489391434**(1/2)/763764119467462314123559405617444286841416090344893914340000)*sj3*cj4 + (-290949096656039583744924827589*122202258919270355988936935316491989388239391434**(1/2)/763764119467462314123559405617444286841416090344893914340000 - 488573320885601388042375*821873892376040470712775163365751424550764179864283994434314**(1/2)/4305904523100559857429974225459697680798568855375922666492819 + 1752584721967500609375*76376411946746231412355940561744428684141609034489391434**(1/2)/38188205973373115706177970280872214342070804517244695717 + 11772830146253025*8761374466136805232785266025032794**(1/2)/17522748932273610465570532050065588 + 221851015326609375000000*560727965888828185543365862920374875518061648369**(1/2)/560727965888828185543365862920374875518061648369)*sj3*sj4 + (878504404246425*897164743986661506490726970287436648369**(1/2)/7177317951893292051925815762299493186952 + 35509648579200000*513671183556899186571524947816369803709979036965941676385730244434314**(1/2)/63224784275887710960388210331697665545582429325038183)*cj4 + (-153000000000000000*513671183556899186571524947816369803709979036965941676385730244434314**(1/2)/63224784275887710960388210331697665545582429325038183 + 2548642375005719603589*897164743986661506490726970287436648369**(1/2)/89716474398666150649072697028743664836900000000)*sj4, cj3, sj3, cj4, sj4, htj2, domain='EX'), Poly((500000000000000*10997156040235659904760068724536218881**(1/2)*r00/10350570646770751434700809519973259 + 1228634204000000*10997156040235659904760068724536218881**(1/2)*r01/10350570646770751434700809519973259)*cj0*cj1 + (1657475*10997156040235659904760068724536218881**(1/2)*r00/4398858717093968757585699236 + 20364304772749*10997156040235659904760068724536218881**(1/2)*r01/21994293585469843787928496180000000)*cj0*sj1 + (125000000*10997156040235659904760068724536218881**(1/2)*px*r02/1099714679273492189396424809 + 307158551*10997156040235659904760068724536218881**(1/2)*py*r02/1099714679273492189396424809 - 125000000*10997156040235659904760068724536218881**(1/2)*pz*r00/1099714679273492189396424809 - 307158551*10997156040235659904760068724536218881**(1/2)*pz*r01/1099714679273492189396424809)*cj0 + (-1228634204000000*10997156040235659904760068724536218881**(1/2)*r00/10350570646770751434700809519973259 + 500000000000000*10997156040235659904760068724536218881**(1/2)*r01/10350570646770751434700809519973259)*sj0*cj1 + (-20364304772749*10997156040235659904760068724536218881**(1/2)*r00/21994293585469843787928496180000000 + 1657475*10997156040235659904760068724536218881**(1/2)*r01/4398858717093968757585699236)*sj0*sj1 + (-307158551*10997156040235659904760068724536218881**(1/2)*px*r02/1099714679273492189396424809 + 125000000*10997156040235659904760068724536218881**(1/2)*py*r02/1099714679273492189396424809 + 307158551*10997156040235659904760068724536218881**(1/2)*pz*r00/1099714679273492189396424809 - 125000000*10997156040235659904760068724536218881**(1/2)*pz*r01/1099714679273492189396424809)*sj0 + 66299*r02/20000000*cj1 - 4000000*r02/9412051*sj1 + 13945915422284295*10997156040235659904760068724536218881**(1/2)*r02/256929943183955280169099190814344284, cj0, sj0, cj1, sj1, htj2, domain='EX'))
INFO: assuming equation htj2 is non-zero, dividing by Poly((-354953630786790751611*136209386**(1/2)/68104693108967508800000000 - 11772565022118131381877*8717400704871737801561**(1/2)/85130866394722450481990043774390625 - 25304269391140320*58629063914830555061755799346137081**(1/2)/614330626238007120429702071409523327 + 22762457191730860083*916079123577619748906**(1/2)/27596883597775794935793250000000)*cj3*htj2 + (-25841196424625849183*8717400704871737801561**(1/2)/136209386231555920771184070039025 + 2305591055842192416*58629063914830555061755799346137081**(1/2)/76791328279750890053712758926190415875 + 49964398267797657*916079123577619748906**(1/2)/44155013756441271897269200000 + 161707477843101039386409*136209386**(1/2)/42565433193104693000000000000)*sj3*htj2 + (1657475*10997156040235659904760068724536218881**(1/2)*px/2199429358546984378792849618 + 20364304772749*10997156040235659904760068724536218881**(1/2)*py/10997146792734921893964248090000000)*cj0*cj1*htj2 + (-1000000000000000*10997156040235659904760068724536218881**(1/2)*px/10350570646770751434700809519973259 - 2457268408000000*10997156040235659904760068724536218881**(1/2)*py/10350570646770751434700809519973259)*cj0*sj1*htj2 + (31637330753*109971375452419601**(1/2)*px/549856877262098005000 + 5682661*px/50000000 - 2575000*109971375452419601**(1/2)*py/109971375452419601 + 20000000*py/58408319)*cj0*htj2 + (-20364304772749*10997156040235659904760068724536218881**(1/2)*px/10997146792734921893964248090000000 + 1657475*10997156040235659904760068724536218881**(1/2)*py/2199429358546984378792849618)*sj0*cj1*htj2 + (2457268408000000*10997156040235659904760068724536218881**(1/2)*px/10350570646770751434700809519973259 - 1000000000000000*10997156040235659904760068724536218881**(1/2)*py/10350570646770751434700809519973259)*sj0*sj1*htj2 + (-20000000*px/58408319 + 2575000*109971375452419601**(1/2)*px/109971375452419601 + 31637330753*109971375452419601**(1/2)*py/549856877262098005000 + 5682661*py/50000000)*sj0*htj2 + (-8000000*pz/9412051 + 184920049316405294841*10997156040235659904760068724536218881**(1/2)/513859886367910560338198381628688568000000)*cj1*htj2 + (-66299*pz/10000000 - 27891830844568590000000*10997156040235659904760068724536218881**(1/2)/604559432168622369667712552000834983141621)*sj1*htj2 + (px**2 + py**2 + pz**2 - 2374105599159369681515173*109971375452419601**(1/2)/3211621589146846688530359500000000000 - 1788224762651679*8717400704871737801561**(1/2)/1089675088108967225195125000000000 + 125579951093245137420730872941444884636387001/3022163515016396971090656483610000000000000000)*htj2, cj3, sj3, cj4, sj4, cj0, sj0, cj1, sj1, htj2, domain='EX')
INFO: not unique: (Poly((-22762457191730860083*916079123577619748906**(1/2)/27596883597775794935793250000000 + 25304269391140320*58629063914830555061755799346137081**(1/2)/614330626238007120429702071409523327 + 11772565022118131381877*8717400704871737801561**(1/2)/85130866394722450481990043774390625 + 354953630786790751611*136209386**(1/2)/68104693108967508800000000)*cj3 + (-161707477843101039386409*136209386**(1/2)/42565433193104693000000000000 - 49964398267797657*916079123577619748906**(1/2)/44155013756441271897269200000 - 2305591055842192416*58629063914830555061755799346137081**(1/2)/76791328279750890053712758926190415875 + 25841196424625849183*8717400704871737801561**(1/2)/136209386231555920771184070039025)*sj3, cj3, sj3, cj4, sj4, htj2, domain='EX'), Poly((1657475*10997156040235659904760068724536218881**(1/2)*px/2199429358546984378792849618 + 20364304772749*10997156040235659904760068724536218881**(1/2)*py/10997146792734921893964248090000000)*cj0*cj1 + (-1000000000000000*10997156040235659904760068724536218881**(1/2)*px/10350570646770751434700809519973259 - 2457268408000000*10997156040235659904760068724536218881**(1/2)*py/10350570646770751434700809519973259)*cj0*sj1 + (31637330753*109971375452419601**(1/2)*px/549856877262098005000 + 5682661*px/50000000 - 2575000*109971375452419601**(1/2)*py/109971375452419601 + 20000000*py/58408319)*cj0 + (-20364304772749*10997156040235659904760068724536218881**(1/2)*px/10997146792734921893964248090000000 + 1657475*10997156040235659904760068724536218881**(1/2)*py/2199429358546984378792849618)*sj0*cj1 + (2457268408000000*10997156040235659904760068724536218881**(1/2)*px/10350570646770751434700809519973259 - 1000000000000000*10997156040235659904760068724536218881**(1/2)*py/10350570646770751434700809519973259)*sj0*sj1 + (-20000000*px/58408319 + 2575000*109971375452419601**(1/2)*px/109971375452419601 + 31637330753*109971375452419601**(1/2)*py/549856877262098005000 + 5682661*py/50000000)*sj0 + (-8000000*pz/9412051 + 184920049316405294841*10997156040235659904760068724536218881**(1/2)/513859886367910560338198381628688568000000)*cj1 + (-66299*pz/10000000 - 27891830844568590000000*10997156040235659904760068724536218881**(1/2)/604559432168622369667712552000834983141621)*sj1 + px**2 + py**2 + pz**2 - 2374105599159369681515173*109971375452419601**(1/2)/3211621589146846688530359500000000000 - 1788224762651679*8717400704871737801561**(1/2)/1089675088108967225195125000000000 + 125579951093245137420730872941444884636387001/3022163515016396971090656483610000000000000000, cj0, sj0, cj1, sj1, htj2, domain='EX'))
INFO: assuming equation htj2 is non-zero, dividing by Poly((-4136980945540956653056124250*376529941934412678498457430378128645813263144149729**(1/2)/6624291268452122252823361572642417265792738495026182297 - 302351103700757217103738618650470400000000*139899868837155257868169727050833051264070295390347767359670329**(1/2)/516842578762213580483144264632172610361173863554635549091727724562386314719 - 5147868875774219290019872872975312874502037*121765895275018128917582911891921497411813272259176430967852947654692489249**(1/2)/82097420613943603525771274252840388540389602274929480255255785092057959286499506408528117500 + 156798377155026983418258363723576519750*818939119402409149704195543805695558082235896987463733107235905831629433878707050772929**(1/2)/3702752153405172131881699435958615702008579466875015510334789531863035153968619938071771953529 + 5905294994155414396557394895517*55985242848028337059451499114110410049**(1/2)/6385816772570539015608858131053117234539212333942500 + 23023198305619237025703648000000000000000*940899544418804924004368740235172902183820875463155199236862775357873979609**(1/2)/58276495082667520578058586663945904042559313563561443575133569717340640675042633)*cj3**2*cj4*htj2 + (-99199780389353070000000000000000000000000*940899544418804924004368740235172902183820875463155199236862775357873979609**(1/2)/58276495082667520578058586663945904042559313563561443575133569717340640675042633 - 10177629689469978551415125000*55985242848028337059451499114110410049**(1/2)/2554326709028215606243543252421246893815684933577 - 675595300562098795725204236484375000000*818939119402409149704195543805695558082235896987463733107235905831629433878707050772929**(1/2)/3702752153405172131881699435958615702008579466875015510334789531863035153968619938071771953529 + 8872224530600522213720444472984010125000*121765895275018128917582911891921497411813272259176430967852947654692489249**(1/2)/32838968245577441410308509701136155416155840909971792102102314036823183714599802563411247 + 1302736600252157254581136000000000000000000*139899868837155257868169727050833051264070295390347767359670329**(1/2)/516842578762213580483144264632172610361173863554635549091727724562386314719 + 17824960538711879765625000000*376529941934412678498457430378128645813263144149729**(1/2)/6624291268452122252823361572642417265792738495026182297)*cj3**2*sj4*htj2 + (-117558618378234244692023228931*55985242848028337059451499114110410049**(1/2)/40869227344451449699896692038739950301050958937232 - 6649984344665970921340499832*376529941934412678498457430378128645813263144149729**(1/2)/33121456342260611264116807863212086328963692475130911485 + 252045336218877425558996564463503036424*818939119402409149704195543805695558082235896987463733107235905831629433878707050772929**(1/2)/18513760767025860659408497179793078510042897334375077551673947659315175769843099690358859767645 + 102480291539590491640909663101454552161291*121765895275018128917582911891921497411813272259176430967852947654692489249**(1/2)/525423491929239062564936155218178486658493454559548673633637024589170939433596841014579952 + 7401721705367341547231165030400000000000*940899544418804924004368740235172902183820875463155199236862775357873979609**(1/2)/58276495082667520578058586663945904042559313563561443575133569717340640675042633 + 940468947025873957536185831448000000000000*139899868837155257868169727050833051264070295390347767359670329**(1/2)/516842578762213580483144264632172610361173863554635549091727724562386314719)*cj3*sj3*cj4*htj2 + (-4052187353361875072257500000000000000000000*139899868837155257868169727050833051264070295390347767359670329**(1/2)/516842578762213580483144264632172610361173863554635549091727724562386314719 - 31891710175485961536000000000000000000000*940899544418804924004368740235172902183820875463155199236862775357873979609**(1/2)/58276495082667520578058586663945904042559313563561443575133569717340640675042633 - 27597225741663812796581883369484042968750*121765895275018128917582911891921497411813272259176430967852947654692489249**(1/2)/32838968245577441410308509701136155416155840909971792102102314036823183714599802563411247 - 217196947784364887689147240294500000000*818939119402409149704195543805695558082235896987463733107235905831629433878707050772929**(1/2)/3702752153405172131881699435958615702008579466875015510334789531863035153968619938071771953529 + 5730541672157633713500000000*376529941934412678498457430378128645813263144149729**(1/2)/6624291268452122252823361572642417265792738495026182297 + 31657713698139649002011718750*55985242848028337059451499114110410049**(1/2)/2554326709028215606243543252421246893815684933577)*cj3*sj3*sj4*htj2 + (-1002887126614913820464250000000000*223839789781304748938983964978958538056178811734670329**(1/2)/826948124696424729258751256597474166021919516052345652863011314719 - 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53556594517785468240719844351489*55985242848028337059451499114110410049**(1/2)/51086534180564312124870865048424937876313698671540000 - 2068490472770478326528062125*376529941934412678498457430378128645813263144149729**(1/2)/6624291268452122252823361572642417265792738495026182297 - 140592414352355141309691338302201004180625*121765895275018128917582911891921497411813272259176430967852947654692489249**(1/2)/1050846983858478125129872310436356973316986909119097347267274049178341878867193682029159904 + 78399188577513491709129181861788259875*818939119402409149704195543805695558082235896987463733107235905831629433878707050772929**(1/2)/3702752153405172131881699435958615702008579466875015510334789531863035153968619938071771953529 + 19042022602848093750*223839789781304748938983964978958538056178811734670329**(1/2)/1323116997397292370978334216990623918450072956163636314719 + 63956536575525*897164743986661506490726970287436648369**(1/2)/1794329487973323012981453940574873296738 + 11511599152809618512851824000000000000000*940899544418804924004368740235172902183820875463155199236862775357873979609**(1/2)/58276495082667520578058586663945904042559313563561443575133569717340640675042633 + 204108000000000000000000*194825432128308314862839355246531427464450951671560766874067489249**(1/2)/1323116997397292370978334216990623918450072956163636314719)*cj4 + (-49599890194676535000000000000000000000000*940899544418804924004368740235172902183820875463155199236862775357873979609**(1/2)/58276495082667520578058586663945904042559313563561443575133569717340640675042633 - 337797650281049397862602118242187500000*818939119402409149704195543805695558082235896987463733107235905831629433878707050772929**(1/2)/3702752153405172131881699435958615702008579466875015510334789531863035153968619938071771953529 + 44194479141458764581903*223839789781304748938983964978958538056178811734670329**(1/2)/13231169973972923709783342169906239184500729561636363147190000 + 18930276925239631333100436341290283203125*121765895275018128917582911891921497411813272259176430967852947654692489249**(1/2)/32838968245577441410308509701136155416155840909971792102102314036823183714599802563411247 + 185545272723827136417*897164743986661506490726970287436648369**(1/2)/22429118599666537662268174257185916209225000000 + 47371263739891200000000*194825432128308314862839355246531427464450951671560766874067489249**(1/2)/1323116997397292370978334216990623918450072956163636314719 + 8912480269355939882812500000*376529941934412678498457430378128645813263144149729**(1/2)/6624291268452122252823361572642417265792738495026182297 + 11537933053526410834571203125*55985242848028337059451499114110410049**(1/2)/2554326709028215606243543252421246893815684933577 + 2779592031103537841406250000000000000000000*139899868837155257868169727050833051264070295390347767359670329**(1/2)/516842578762213580483144264632172610361173863554635549091727724562386314719)*sj4, cj3, sj3, cj4, sj4, htj2, domain='EX'), Poly((1657475*10997156040235659904760068724536218881**(1/2)*r00/4398858717093968757585699236 + 20364304772749*10997156040235659904760068724536218881**(1/2)*r01/21994293585469843787928496180000000)*cj0*cj1 + (-500000000000000*10997156040235659904760068724536218881**(1/2)*r00/10350570646770751434700809519973259 - 1228634204000000*10997156040235659904760068724536218881**(1/2)*r01/10350570646770751434700809519973259)*cj0*sj1 + (31637330753*109971375452419601**(1/2)*r00/1099713754524196010000 + 5682661*r00/100000000 - 1287500*109971375452419601**(1/2)*r01/109971375452419601 + 10000000*r01/58408319)*cj0 + (-20364304772749*10997156040235659904760068724536218881**(1/2)*r00/21994293585469843787928496180000000 + 1657475*10997156040235659904760068724536218881**(1/2)*r01/4398858717093968757585699236)*sj0*cj1 + (1228634204000000*10997156040235659904760068724536218881**(1/2)*r00/10350570646770751434700809519973259 - 500000000000000*10997156040235659904760068724536218881**(1/2)*r01/10350570646770751434700809519973259)*sj0*sj1 + (-10000000*r00/58408319 + 1287500*109971375452419601**(1/2)*r00/109971375452419601 + 31637330753*109971375452419601**(1/2)*r01/1099713754524196010000 + 5682661*r01/100000000)*sj0 - 4000000*r02/9412051*cj1 - 66299*r02/20000000*sj1 + px*r00 + py*r01 + pz*r02, cj0, sj0, cj1, sj1, htj2, domain='EX'))
INFO: assuming equation htj2 is non-zero, dividing by Poly((-499117404516981633769639246878120707230733082081455901*66476418140280605142932829975143170385130549470015533833988262785754**(1/2)/94780830854870614559116386164652343933969960527976289211913456483128967766559784168002100000000 - 10324761313453755779935838032899032117379184300800000000000*1117216401339353569195889929165978993196187066765279083359620055296271924812367219513697611661987235325514**(1/2)/21624072612647123004654594302253305053124194936496459985259541344549016872162468501995509541731351797490614390303180309 - 382873291333239646055774413031926730863219937280000000000*7513862677462603790543428426071805321372294616421893021644556826929811351557151330629105538126977804965661095175353994**(1/2)/2438218546730745894020610579751562323733705013248147650601420408732216649765570933774068548724085227343132922863088956057763 - 1406325738911287480568728806318058288982634534906693270867*972401593052033787366203750614795131943851617858439746769165397479266076283025006062444270380354677863962995375798234**(1/2)/27478859639135291716216467458772693319622744798890422297629243278119456451857420824694840370244953495725061153832560956337757610058340 - 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23049568923877375548691*109971375452419601**(1/2)*px*r00/321162158914684668853035950000000 + 103*px*r00/5000 + 13945915422284295*109971375452419601**(1/2)*px*r01/12846486356587386754121438 - 13945915422284295*109971375452419601**(1/2)*py*r00/12846486356587386754121438 - 23049568923877375548691*109971375452419601**(1/2)*py*r01/321162158914684668853035950000000 + 103*py*r01/5000 - 23049568923877375548691*109971375452419601**(1/2)*pz*r02/321162158914684668853035950000000 + 103*pz*r02/5000, cj0, sj0, cj1, sj1, htj2, domain='EX'))
WARNING: CannotSolveError: reduced equations are zero
WARNING: equation too complex to simplify for rot norm: r00*(-(-307158551*109971375452419601**(1/2)*(-(-780*10000008409**(1/2)*(-6875*136209386**(1/2)*sin(j2)/136209386 - 75448000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)/10000008409 + 99997*10000008409**(1/2)*(-75448000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 6875*136209386**(1/2)*cos(j2)/136209386)/10000008409)*sin(j1) + (99997*10000008409**(1/2)*(-6875*136209386**(1/2)*sin(j2)/136209386 - 75448000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)/10000008409 + 780*10000008409**(1/2)*(-75448000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 6875*136209386**(1/2)*cos(j2)/136209386)/10000008409)*cos(j1))/109971375452419601 - 550339521187500000*130579109174915253488184617061394117240594353146**(1/2)/65289554587457626744092308530697058620297176573)*sin(j0) + (-125000000*109971375452419601**(1/2)*(-(-780*10000008409**(1/2)*(-6875*136209386**(1/2)*sin(j2)/136209386 - 75448000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)/10000008409 + 99997*10000008409**(1/2)*(-75448000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 6875*136209386**(1/2)*cos(j2)/136209386)/10000008409)*sin(j1) + (99997*10000008409**(1/2)*(-6875*136209386**(1/2)*sin(j2)/136209386 - 75448000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)/10000008409 + 780*10000008409**(1/2)*(-75448000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 6875*136209386**(1/2)*cos(j2)/136209386)/10000008409)*cos(j1))/109971375452419601 + 2704663838175780789*130579109174915253488184617061394117240594353146**(1/2)/130579109174915253488184617061394117240594353146)*cos(j0)) + r01*((-307158551*109971375452419601**(1/2)*(-(-780*10000008409**(1/2)*(-6875*136209386**(1/2)*sin(j2)/136209386 - 75448000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)/10000008409 + 99997*10000008409**(1/2)*(-75448000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 6875*136209386**(1/2)*cos(j2)/136209386)/10000008409)*sin(j1) + (99997*10000008409**(1/2)*(-6875*136209386**(1/2)*sin(j2)/136209386 - 75448000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)/10000008409 + 780*10000008409**(1/2)*(-75448000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 6875*136209386**(1/2)*cos(j2)/136209386)/10000008409)*cos(j1))/109971375452419601 - 550339521187500000*130579109174915253488184617061394117240594353146**(1/2)/65289554587457626744092308530697058620297176573)*cos(j0) + (-125000000*109971375452419601**(1/2)*(-(-780*10000008409**(1/2)*(-6875*136209386**(1/2)*sin(j2)/136209386 - 75448000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)/10000008409 + 99997*10000008409**(1/2)*(-75448000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 6875*136209386**(1/2)*cos(j2)/136209386)/10000008409)*sin(j1) + (99997*10000008409**(1/2)*(-6875*136209386**(1/2)*sin(j2)/136209386 - 75448000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)/10000008409 + 780*10000008409**(1/2)*(-75448000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 6875*136209386**(1/2)*cos(j2)/136209386)/10000008409)*cos(j1))/109971375452419601 + 2704663838175780789*130579109174915253488184617061394117240594353146**(1/2)/130579109174915253488184617061394117240594353146)*sin(j0)) + r02*((-780*10000008409**(1/2)*(-6875*136209386**(1/2)*sin(j2)/136209386 - 75448000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)/10000008409 + 99997*10000008409**(1/2)*(-75448000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 6875*136209386**(1/2)*cos(j2)/136209386)/10000008409)*cos(j1) + (99997*10000008409**(1/2)*(-6875*136209386**(1/2)*sin(j2)/136209386 - 75448000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)/10000008409 + 780*10000008409**(1/2)*(-75448000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 6875*136209386**(1/2)*cos(j2)/136209386)/10000008409)*sin(j1)) - 312500000*102916542942127129**(1/2)*(-25000*625000001**(1/2)*sin(j3)/625000001 + 625000001**(1/2)*cos(j3)/625000001)*sin(j4)/102916542942127129 + 72527877*102916542942127129**(1/2)*(-25000*625000001**(1/2)*sin(j3)/625000001 + 625000001**(1/2)*cos(j3)/625000001)*cos(j4)/102916542942127129
WARNING: equation too complex to simplify for rot norm: r00*(-(-307158551*109971375452419601**(1/2)*(-(-780*10000008409**(1/2)*(-9431*136209386**(1/2)*sin(j2)/136209386 + 55000000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)/10000008409 + 99997*10000008409**(1/2)*(55000000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 9431*136209386**(1/2)*cos(j2)/136209386)/10000008409)*sin(j1) + (99997*10000008409**(1/2)*(-9431*136209386**(1/2)*sin(j2)/136209386 + 55000000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)/10000008409 + 780*10000008409**(1/2)*(55000000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 9431*136209386**(1/2)*cos(j2)/136209386)/10000008409)*cos(j1))/109971375452419601 + 401185898437500000*130579109174915253488184617061394117240594353146**(1/2)/65289554587457626744092308530697058620297176573)*sin(j0) + (-125000000*109971375452419601**(1/2)*(-(-780*10000008409**(1/2)*(-9431*136209386**(1/2)*sin(j2)/136209386 + 55000000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)/10000008409 + 99997*10000008409**(1/2)*(55000000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 9431*136209386**(1/2)*cos(j2)/136209386)/10000008409)*sin(j1) + (99997*10000008409**(1/2)*(-9431*136209386**(1/2)*sin(j2)/136209386 + 55000000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)/10000008409 + 780*10000008409**(1/2)*(55000000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 9431*136209386**(1/2)*cos(j2)/136209386)/10000008409)*cos(j1))/109971375452419601 - 1971642867931130625*130579109174915253488184617061394117240594353146**(1/2)/130579109174915253488184617061394117240594353146)*cos(j0)) + r01*((-307158551*109971375452419601**(1/2)*(-(-780*10000008409**(1/2)*(-9431*136209386**(1/2)*sin(j2)/136209386 + 55000000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)/10000008409 + 99997*10000008409**(1/2)*(55000000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 9431*136209386**(1/2)*cos(j2)/136209386)/10000008409)*sin(j1) + (99997*10000008409**(1/2)*(-9431*136209386**(1/2)*sin(j2)/136209386 + 55000000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)/10000008409 + 780*10000008409**(1/2)*(55000000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 9431*136209386**(1/2)*cos(j2)/136209386)/10000008409)*cos(j1))/109971375452419601 + 401185898437500000*130579109174915253488184617061394117240594353146**(1/2)/65289554587457626744092308530697058620297176573)*cos(j0) + (-125000000*109971375452419601**(1/2)*(-(-780*10000008409**(1/2)*(-9431*136209386**(1/2)*sin(j2)/136209386 + 55000000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)/10000008409 + 99997*10000008409**(1/2)*(55000000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 9431*136209386**(1/2)*cos(j2)/136209386)/10000008409)*sin(j1) + (99997*10000008409**(1/2)*(-9431*136209386**(1/2)*sin(j2)/136209386 + 55000000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)/10000008409 + 780*10000008409**(1/2)*(55000000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 9431*136209386**(1/2)*cos(j2)/136209386)/10000008409)*cos(j1))/109971375452419601 - 1971642867931130625*130579109174915253488184617061394117240594353146**(1/2)/130579109174915253488184617061394117240594353146)*sin(j0)) + r02*((-780*10000008409**(1/2)*(-9431*136209386**(1/2)*sin(j2)/136209386 + 55000000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)/10000008409 + 99997*10000008409**(1/2)*(55000000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 9431*136209386**(1/2)*cos(j2)/136209386)/10000008409)*cos(j1) + (99997*10000008409**(1/2)*(-9431*136209386**(1/2)*sin(j2)/136209386 + 55000000000*8717400704871737801561**(1/2)*cos(j2)/8717400704871737801561)/10000008409 + 780*10000008409**(1/2)*(55000000000*8717400704871737801561**(1/2)*sin(j2)/8717400704871737801561 + 9431*136209386**(1/2)*cos(j2)/136209386)/10000008409)*sin(j1)) - 312500000*102916542942127129**(1/2)*(625000001**(1/2)*sin(j3)/625000001 + 25000*625000001**(1/2)*cos(j3)/625000001)*sin(j4)/102916542942127129 + 72527877*102916542942127129**(1/2)*(625000001**(1/2)*sin(j3)/625000001 + 25000*625000001**(1/2)*cos(j3)/625000001)*cos(j4)/102916542942127129
WARNING: equation too complex to simplify for rot norm: r00*(-(-307158551*109971375452419601**(1/2)*((728261820*87174080353339905282053173326449**(1/2)*sin(j2)/87174080353339905282053173326449 + 93364098993*87174080353339905282053173326449**(1/2)*cos(j2)/87174080353339905282053173326449)*cos(j1) - (93364098993*87174080353339905282053173326449**(1/2)*sin(j2)/87174080353339905282053173326449 - 728261820*87174080353339905282053173326449**(1/2)*cos(j2)/87174080353339905282053173326449)*sin(j1))/109971375452419601 - 1000000000000000*130579109174915253488184617061394117240594353146**(1/2)/958664545884637153332330688733844797161)*sin(j0) + (-125000000*109971375452419601**(1/2)*((728261820*87174080353339905282053173326449**(1/2)*sin(j2)/87174080353339905282053173326449 + 93364098993*87174080353339905282053173326449**(1/2)*cos(j2)/87174080353339905282053173326449)*cos(j1) - (93364098993*87174080353339905282053173326449**(1/2)*sin(j2)/87174080353339905282053173326449 - 728261820*87174080353339905282053173326449**(1/2)*cos(j2)/87174080353339905282053173326449)*sin(j1))/109971375452419601 + 2457268408000000*130579109174915253488184617061394117240594353146**(1/2)/958664545884637153332330688733844797161)*cos(j0)) + r01*((-307158551*109971375452419601**(1/2)*((728261820*87174080353339905282053173326449**(1/2)*sin(j2)/87174080353339905282053173326449 + 93364098993*87174080353339905282053173326449**(1/2)*cos(j2)/87174080353339905282053173326449)*cos(j1) - (93364098993*87174080353339905282053173326449**(1/2)*sin(j2)/87174080353339905282053173326449 - 728261820*87174080353339905282053173326449**(1/2)*cos(j2)/87174080353339905282053173326449)*sin(j1))/109971375452419601 - 1000000000000000*130579109174915253488184617061394117240594353146**(1/2)/958664545884637153332330688733844797161)*cos(j0) + (-125000000*109971375452419601**(1/2)*((728261820*87174080353339905282053173326449**(1/2)*sin(j2)/87174080353339905282053173326449 + 93364098993*87174080353339905282053173326449**(1/2)*cos(j2)/87174080353339905282053173326449)*cos(j1) - (93364098993*87174080353339905282053173326449**(1/2)*sin(j2)/87174080353339905282053173326449 - 728261820*87174080353339905282053173326449**(1/2)*cos(j2)/87174080353339905282053173326449)*sin(j1))/109971375452419601 + 2457268408000000*130579109174915253488184617061394117240594353146**(1/2)/958664545884637153332330688733844797161)*sin(j0)) + r02*((728261820*87174080353339905282053173326449**(1/2)*sin(j2)/87174080353339905282053173326449 + 93364098993*87174080353339905282053173326449**(1/2)*cos(j2)/87174080353339905282053173326449)*sin(j1) + (93364098993*87174080353339905282053173326449**(1/2)*sin(j2)/87174080353339905282053173326449 - 728261820*87174080353339905282053173326449**(1/2)*cos(j2)/87174080353339905282053173326449)*cos(j1)) - 72527877*102916542942127129**(1/2)*sin(j4)/102916542942127129 - 312500000*102916542942127129**(1/2)*cos(j4)/102916542942127129
WARNING: raghavan roth equation (11,0) too complex
WARNING: raghavan roth equation (12,0) too complex
WARNING: raghavan roth equation (13,0) too complex
INFO: computed in 89.413060s
INFO: attempting li/woernle/hiller general ik method
WARNING: could not find any variable where number of equations is exacty 8, trying all possibilities
INFO: allowed indices: [0, 2, 4]
Asked by Anubhav Singh on 2020-04-30 05:18:05 UTC
Comments
I have the same issue.
Asked by raghava13 on 2021-02-14 15:36:32 UTC
Go through this : http://wiki.ros.org/Industrial/Tutorials/Create%20a%20URDF%20for%20an%20Industrial%20Robot . And, I think above warnings might be occurring as the analytical solver come across singularities while solving.
Asked by Anubhav Singh on 2021-08-09 00:14:35 UTC