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ckpts/universal/global_step80/zero/16.mlp.dense_h_to_4h_swiglu.weight/exp_avg.pt

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ckpts/universal/global_step80/zero/17.mlp.dense_h_to_4h_swiglu.weight/fp32.pt

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ckpts/universal/global_step80/zero/22.mlp.dense_4h_to_h.weight/fp32.pt

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ckpts/universal/global_step80/zero/6.input_layernorm.weight/exp_avg.pt

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+version https://git-lfs.github.com/spec/v1
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venv/lib/python3.10/site-packages/sympy/parsing/autolev/_antlr/__init__.py

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+# *** GENERATED BY `setup.py antlr`, DO NOT EDIT BY HAND ***
+#
+# Generated with antlr4
+#    antlr4 is licensed under the BSD-3-Clause License
+#    https://github.com/antlr/antlr4/blob/master/LICENSE.txt

venv/lib/python3.10/site-packages/sympy/parsing/autolev/_antlr/autolevlexer.py

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+# *** GENERATED BY `setup.py antlr`, DO NOT EDIT BY HAND ***
+#
+# Generated with antlr4
+#    antlr4 is licensed under the BSD-3-Clause License
+#    https://github.com/antlr/antlr4/blob/master/LICENSE.txt
+from antlr4 import *
+from io import StringIO
+import sys
+if sys.version_info[1] > 5:
+    from typing import TextIO
+else:
+    from typing.io import TextIO
+
+
+def serializedATN():
+    return [
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+        1,0,0,0,369,370,1,0,0,0,369,367,1,0,0,0,370,373,1,0,0,0,371,369,
+        1,0,0,0,372,374,5,13,0,0,373,372,1,0,0,0,373,374,1,0,0,0,374,375,
+        1,0,0,0,375,376,5,10,0,0,376,377,1,0,0,0,377,378,6,48,0,0,378,98,
+        1,0,0,0,379,383,7,21,0,0,380,382,7,22,0,0,381,380,1,0,0,0,382,385,
+        1,0,0,0,383,381,1,0,0,0,383,384,1,0,0,0,384,100,1,0,0,0,385,383,
+        1,0,0,0,386,388,7,23,0,0,387,386,1,0,0,0,388,389,1,0,0,0,389,387,
+        1,0,0,0,389,390,1,0,0,0,390,391,1,0,0,0,391,392,6,50,0,0,392,102,
+        1,0,0,0,21,0,183,231,239,250,258,269,281,302,319,324,332,337,343,
+        350,352,363,369,373,383,389,1,6,0,0
+    ]
+
+class AutolevLexer(Lexer):
+
+    atn = ATNDeserializer().deserialize(serializedATN())
+
+    decisionsToDFA = [ DFA(ds, i) for i, ds in enumerate(atn.decisionToState) ]
+
+    T__0 = 1
+    T__1 = 2
+    T__2 = 3
+    T__3 = 4
+    T__4 = 5
+    T__5 = 6
+    T__6 = 7
+    T__7 = 8
+    T__8 = 9
+    T__9 = 10
+    T__10 = 11
+    T__11 = 12
+    T__12 = 13
+    T__13 = 14
+    T__14 = 15
+    T__15 = 16
+    T__16 = 17
+    T__17 = 18
+    T__18 = 19
+    T__19 = 20
+    T__20 = 21
+    T__21 = 22
+    T__22 = 23
+    T__23 = 24
+    T__24 = 25
+    T__25 = 26
+    Mass = 27
+    Inertia = 28
+    Input = 29
+    Output = 30
+    Save = 31
+    UnitSystem = 32
+    Encode = 33
+    Newtonian = 34
+    Frames = 35
+    Bodies = 36
+    Particles = 37
+    Points = 38
+    Constants = 39
+    Specifieds = 40
+    Imaginary = 41
+    Variables = 42
+    MotionVariables = 43
+    INT = 44
+    FLOAT = 45
+    EXP = 46
+    LINE_COMMENT = 47
+    ID = 48
+    WS = 49
+
+    channelNames = [ u"DEFAULT_TOKEN_CHANNEL", u"HIDDEN" ]
+
+    modeNames = [ "DEFAULT_MODE" ]
+
+    literalNames = [ "<INVALID>",
+            "'['", "']'", "'='", "'+='", "'-='", "':='", "'*='", "'/='",
+            "'^='", "','", "'''", "'('", "')'", "'{'", "'}'", "':'", "'+'",
+            "'-'", "';'", "'.'", "'>'", "'0>'", "'1>>'", "'^'", "'*'", "'/'" ]
+
+    symbolicNames = [ "<INVALID>",
+            "Mass", "Inertia", "Input", "Output", "Save", "UnitSystem",
+            "Encode", "Newtonian", "Frames", "Bodies", "Particles", "Points",
+            "Constants", "Specifieds", "Imaginary", "Variables", "MotionVariables",
+            "INT", "FLOAT", "EXP", "LINE_COMMENT", "ID", "WS" ]
+
+    ruleNames = [ "T__0", "T__1", "T__2", "T__3", "T__4", "T__5", "T__6",
+                  "T__7", "T__8", "T__9", "T__10", "T__11", "T__12", "T__13",
+                  "T__14", "T__15", "T__16", "T__17", "T__18", "T__19",
+                  "T__20", "T__21", "T__22", "T__23", "T__24", "T__25",
+                  "Mass", "Inertia", "Input", "Output", "Save", "UnitSystem",
+                  "Encode", "Newtonian", "Frames", "Bodies", "Particles",
+                  "Points", "Constants", "Specifieds", "Imaginary", "Variables",
+                  "MotionVariables", "DIFF", "DIGIT", "INT", "FLOAT", "EXP",
+                  "LINE_COMMENT", "ID", "WS" ]
+
+    grammarFileName = "Autolev.g4"
+
+    def __init__(self, input=None, output:TextIO = sys.stdout):
+        super().__init__(input, output)
+        self.checkVersion("4.11.1")
+        self._interp = LexerATNSimulator(self, self.atn, self.decisionsToDFA, PredictionContextCache())
+        self._actions = None
+        self._predicates = None
+
+

venv/lib/python3.10/site-packages/sympy/parsing/autolev/_antlr/autolevlistener.py

@@ -0,0 +1,421 @@
+# *** GENERATED BY `setup.py antlr`, DO NOT EDIT BY HAND ***
+#
+# Generated with antlr4
+#    antlr4 is licensed under the BSD-3-Clause License
+#    https://github.com/antlr/antlr4/blob/master/LICENSE.txt
+from antlr4 import *
+if __name__ is not None and "." in __name__:
+    from .autolevparser import AutolevParser
+else:
+    from autolevparser import AutolevParser
+
+# This class defines a complete listener for a parse tree produced by AutolevParser.
+class AutolevListener(ParseTreeListener):
+
+    # Enter a parse tree produced by AutolevParser#prog.
+    def enterProg(self, ctx:AutolevParser.ProgContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#prog.
+    def exitProg(self, ctx:AutolevParser.ProgContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#stat.
+    def enterStat(self, ctx:AutolevParser.StatContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#stat.
+    def exitStat(self, ctx:AutolevParser.StatContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#vecAssign.
+    def enterVecAssign(self, ctx:AutolevParser.VecAssignContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#vecAssign.
+    def exitVecAssign(self, ctx:AutolevParser.VecAssignContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#indexAssign.
+    def enterIndexAssign(self, ctx:AutolevParser.IndexAssignContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#indexAssign.
+    def exitIndexAssign(self, ctx:AutolevParser.IndexAssignContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#regularAssign.
+    def enterRegularAssign(self, ctx:AutolevParser.RegularAssignContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#regularAssign.
+    def exitRegularAssign(self, ctx:AutolevParser.RegularAssignContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#equals.
+    def enterEquals(self, ctx:AutolevParser.EqualsContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#equals.
+    def exitEquals(self, ctx:AutolevParser.EqualsContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#index.
+    def enterIndex(self, ctx:AutolevParser.IndexContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#index.
+    def exitIndex(self, ctx:AutolevParser.IndexContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#diff.
+    def enterDiff(self, ctx:AutolevParser.DiffContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#diff.
+    def exitDiff(self, ctx:AutolevParser.DiffContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#functionCall.
+    def enterFunctionCall(self, ctx:AutolevParser.FunctionCallContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#functionCall.
+    def exitFunctionCall(self, ctx:AutolevParser.FunctionCallContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#varDecl.
+    def enterVarDecl(self, ctx:AutolevParser.VarDeclContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#varDecl.
+    def exitVarDecl(self, ctx:AutolevParser.VarDeclContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#varType.
+    def enterVarType(self, ctx:AutolevParser.VarTypeContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#varType.
+    def exitVarType(self, ctx:AutolevParser.VarTypeContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#varDecl2.
+    def enterVarDecl2(self, ctx:AutolevParser.VarDecl2Context):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#varDecl2.
+    def exitVarDecl2(self, ctx:AutolevParser.VarDecl2Context):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#ranges.
+    def enterRanges(self, ctx:AutolevParser.RangesContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#ranges.
+    def exitRanges(self, ctx:AutolevParser.RangesContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#massDecl.
+    def enterMassDecl(self, ctx:AutolevParser.MassDeclContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#massDecl.
+    def exitMassDecl(self, ctx:AutolevParser.MassDeclContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#massDecl2.
+    def enterMassDecl2(self, ctx:AutolevParser.MassDecl2Context):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#massDecl2.
+    def exitMassDecl2(self, ctx:AutolevParser.MassDecl2Context):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#inertiaDecl.
+    def enterInertiaDecl(self, ctx:AutolevParser.InertiaDeclContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#inertiaDecl.
+    def exitInertiaDecl(self, ctx:AutolevParser.InertiaDeclContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#matrix.
+    def enterMatrix(self, ctx:AutolevParser.MatrixContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#matrix.
+    def exitMatrix(self, ctx:AutolevParser.MatrixContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#matrixInOutput.
+    def enterMatrixInOutput(self, ctx:AutolevParser.MatrixInOutputContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#matrixInOutput.
+    def exitMatrixInOutput(self, ctx:AutolevParser.MatrixInOutputContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#codeCommands.
+    def enterCodeCommands(self, ctx:AutolevParser.CodeCommandsContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#codeCommands.
+    def exitCodeCommands(self, ctx:AutolevParser.CodeCommandsContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#settings.
+    def enterSettings(self, ctx:AutolevParser.SettingsContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#settings.
+    def exitSettings(self, ctx:AutolevParser.SettingsContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#units.
+    def enterUnits(self, ctx:AutolevParser.UnitsContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#units.
+    def exitUnits(self, ctx:AutolevParser.UnitsContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#inputs.
+    def enterInputs(self, ctx:AutolevParser.InputsContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#inputs.
+    def exitInputs(self, ctx:AutolevParser.InputsContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#id_diff.
+    def enterId_diff(self, ctx:AutolevParser.Id_diffContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#id_diff.
+    def exitId_diff(self, ctx:AutolevParser.Id_diffContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#inputs2.
+    def enterInputs2(self, ctx:AutolevParser.Inputs2Context):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#inputs2.
+    def exitInputs2(self, ctx:AutolevParser.Inputs2Context):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#outputs.
+    def enterOutputs(self, ctx:AutolevParser.OutputsContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#outputs.
+    def exitOutputs(self, ctx:AutolevParser.OutputsContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#outputs2.
+    def enterOutputs2(self, ctx:AutolevParser.Outputs2Context):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#outputs2.
+    def exitOutputs2(self, ctx:AutolevParser.Outputs2Context):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#codegen.
+    def enterCodegen(self, ctx:AutolevParser.CodegenContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#codegen.
+    def exitCodegen(self, ctx:AutolevParser.CodegenContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#commands.
+    def enterCommands(self, ctx:AutolevParser.CommandsContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#commands.
+    def exitCommands(self, ctx:AutolevParser.CommandsContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#vec.
+    def enterVec(self, ctx:AutolevParser.VecContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#vec.
+    def exitVec(self, ctx:AutolevParser.VecContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#parens.
+    def enterParens(self, ctx:AutolevParser.ParensContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#parens.
+    def exitParens(self, ctx:AutolevParser.ParensContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#VectorOrDyadic.
+    def enterVectorOrDyadic(self, ctx:AutolevParser.VectorOrDyadicContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#VectorOrDyadic.
+    def exitVectorOrDyadic(self, ctx:AutolevParser.VectorOrDyadicContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#Exponent.
+    def enterExponent(self, ctx:AutolevParser.ExponentContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#Exponent.
+    def exitExponent(self, ctx:AutolevParser.ExponentContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#MulDiv.
+    def enterMulDiv(self, ctx:AutolevParser.MulDivContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#MulDiv.
+    def exitMulDiv(self, ctx:AutolevParser.MulDivContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#AddSub.
+    def enterAddSub(self, ctx:AutolevParser.AddSubContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#AddSub.
+    def exitAddSub(self, ctx:AutolevParser.AddSubContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#float.
+    def enterFloat(self, ctx:AutolevParser.FloatContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#float.
+    def exitFloat(self, ctx:AutolevParser.FloatContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#int.
+    def enterInt(self, ctx:AutolevParser.IntContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#int.
+    def exitInt(self, ctx:AutolevParser.IntContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#idEqualsExpr.
+    def enterIdEqualsExpr(self, ctx:AutolevParser.IdEqualsExprContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#idEqualsExpr.
+    def exitIdEqualsExpr(self, ctx:AutolevParser.IdEqualsExprContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#negativeOne.
+    def enterNegativeOne(self, ctx:AutolevParser.NegativeOneContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#negativeOne.
+    def exitNegativeOne(self, ctx:AutolevParser.NegativeOneContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#function.
+    def enterFunction(self, ctx:AutolevParser.FunctionContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#function.
+    def exitFunction(self, ctx:AutolevParser.FunctionContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#rangess.
+    def enterRangess(self, ctx:AutolevParser.RangessContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#rangess.
+    def exitRangess(self, ctx:AutolevParser.RangessContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#colon.
+    def enterColon(self, ctx:AutolevParser.ColonContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#colon.
+    def exitColon(self, ctx:AutolevParser.ColonContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#id.
+    def enterId(self, ctx:AutolevParser.IdContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#id.
+    def exitId(self, ctx:AutolevParser.IdContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#exp.
+    def enterExp(self, ctx:AutolevParser.ExpContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#exp.
+    def exitExp(self, ctx:AutolevParser.ExpContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#matrices.
+    def enterMatrices(self, ctx:AutolevParser.MatricesContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#matrices.
+    def exitMatrices(self, ctx:AutolevParser.MatricesContext):
+        pass
+
+
+    # Enter a parse tree produced by AutolevParser#Indexing.
+    def enterIndexing(self, ctx:AutolevParser.IndexingContext):
+        pass
+
+    # Exit a parse tree produced by AutolevParser#Indexing.
+    def exitIndexing(self, ctx:AutolevParser.IndexingContext):
+        pass
+
+
+
+del AutolevParser

venv/lib/python3.10/site-packages/sympy/parsing/autolev/test-examples/pydy-example-repo/chaos_pendulum.al

@@ -0,0 +1,33 @@
+CONSTANTS G,LB,W,H
+MOTIONVARIABLES' THETA'',PHI'',OMEGA',ALPHA'
+NEWTONIAN N
+BODIES A,B
+SIMPROT(N,A,2,THETA)
+SIMPROT(A,B,3,PHI)
+POINT O
+LA = (LB-H/2)/2
+P_O_AO> = LA*A3>
+P_O_BO> = LB*A3>
+OMEGA = THETA'
+ALPHA = PHI'
+W_A_N> = OMEGA*N2>
+W_B_A> = ALPHA*A3>
+V_O_N> = 0>
+V2PTS(N, A, O, AO)
+V2PTS(N, A, O, BO)
+MASS A=MA, B=MB
+IAXX = 1/12*MA*(2*LA)^2
+IAYY = IAXX
+IAZZ = 0
+IBXX = 1/12*MB*H^2
+IBYY = 1/12*MB*(W^2+H^2)
+IBZZ = 1/12*MB*W^2
+INERTIA A, IAXX, IAYY, IAZZ
+INERTIA B, IBXX, IBYY, IBZZ
+GRAVITY(G*N3>)
+ZERO = FR() + FRSTAR()
+KANE()
+INPUT LB=0.2,H=0.1,W=0.2,MA=0.01,MB=0.1,G=9.81
+INPUT THETA = 90 DEG, PHI = 0.5 DEG, OMEGA=0, ALPHA=0
+INPUT TFINAL=10, INTEGSTP=0.02
+CODE DYNAMICS() some_filename.c

venv/lib/python3.10/site-packages/sympy/parsing/autolev/test-examples/pydy-example-repo/chaos_pendulum.py

@@ -0,0 +1,55 @@
+import sympy.physics.mechanics as _me
+import sympy as _sm
+import math as m
+import numpy as _np
+
+g, lb, w, h = _sm.symbols('g lb w h', real=True)
+theta, phi, omega, alpha = _me.dynamicsymbols('theta phi omega alpha')
+theta_d, phi_d, omega_d, alpha_d = _me.dynamicsymbols('theta_ phi_ omega_ alpha_', 1)
+theta_dd, phi_dd = _me.dynamicsymbols('theta_ phi_', 2)
+frame_n = _me.ReferenceFrame('n')
+body_a_cm = _me.Point('a_cm')
+body_a_cm.set_vel(frame_n, 0)
+body_a_f = _me.ReferenceFrame('a_f')
+body_a = _me.RigidBody('a', body_a_cm, body_a_f, _sm.symbols('m'), (_me.outer(body_a_f.x,body_a_f.x),body_a_cm))
+body_b_cm = _me.Point('b_cm')
+body_b_cm.set_vel(frame_n, 0)
+body_b_f = _me.ReferenceFrame('b_f')
+body_b = _me.RigidBody('b', body_b_cm, body_b_f, _sm.symbols('m'), (_me.outer(body_b_f.x,body_b_f.x),body_b_cm))
+body_a_f.orient(frame_n, 'Axis', [theta, frame_n.y])
+body_b_f.orient(body_a_f, 'Axis', [phi, body_a_f.z])
+point_o = _me.Point('o')
+la = (lb-h/2)/2
+body_a_cm.set_pos(point_o, la*body_a_f.z)
+body_b_cm.set_pos(point_o, lb*body_a_f.z)
+body_a_f.set_ang_vel(frame_n, omega*frame_n.y)
+body_b_f.set_ang_vel(body_a_f, alpha*body_a_f.z)
+point_o.set_vel(frame_n, 0)
+body_a_cm.v2pt_theory(point_o,frame_n,body_a_f)
+body_b_cm.v2pt_theory(point_o,frame_n,body_a_f)
+ma = _sm.symbols('ma')
+body_a.mass = ma
+mb = _sm.symbols('mb')
+body_b.mass = mb
+iaxx = 1/12*ma*(2*la)**2
+iayy = iaxx
+iazz = 0
+ibxx = 1/12*mb*h**2
+ibyy = 1/12*mb*(w**2+h**2)
+ibzz = 1/12*mb*w**2
+body_a.inertia = (_me.inertia(body_a_f, iaxx, iayy, iazz, 0, 0, 0), body_a_cm)
+body_b.inertia = (_me.inertia(body_b_f, ibxx, ibyy, ibzz, 0, 0, 0), body_b_cm)
+force_a = body_a.mass*(g*frame_n.z)
+force_b = body_b.mass*(g*frame_n.z)
+kd_eqs = [theta_d - omega, phi_d - alpha]
+forceList = [(body_a.masscenter,body_a.mass*(g*frame_n.z)), (body_b.masscenter,body_b.mass*(g*frame_n.z))]
+kane = _me.KanesMethod(frame_n, q_ind=[theta,phi], u_ind=[omega, alpha], kd_eqs = kd_eqs)
+fr, frstar = kane.kanes_equations([body_a, body_b], forceList)
+zero = fr+frstar
+from pydy.system import System
+sys = System(kane, constants = {g:9.81, lb:0.2, w:0.2, h:0.1, ma:0.01, mb:0.1},
+specifieds={},
+initial_conditions={theta:_np.deg2rad(90), phi:_np.deg2rad(0.5), omega:0, alpha:0},
+times = _np.linspace(0.0, 10, 10/0.02))
+
+y=sys.integrate()

venv/lib/python3.10/site-packages/sympy/parsing/autolev/test-examples/pydy-example-repo/double_pendulum.al

@@ -0,0 +1,25 @@
+MOTIONVARIABLES' Q{2}', U{2}'
+CONSTANTS L,M,G
+NEWTONIAN N
+FRAMES A,B
+SIMPROT(N, A, 3, Q1)
+SIMPROT(N, B, 3, Q2)
+W_A_N>=U1*N3>
+W_B_N>=U2*N3>
+POINT O
+PARTICLES P,R
+P_O_P> = L*A1>
+P_P_R> = L*B1>
+V_O_N> = 0>
+V2PTS(N, A, O, P)
+V2PTS(N, B, P, R)
+MASS P=M, R=M
+Q1' = U1
+Q2' = U2
+GRAVITY(G*N1>)
+ZERO = FR() + FRSTAR()
+KANE()
+INPUT M=1,G=9.81,L=1
+INPUT Q1=.1,Q2=.2,U1=0,U2=0
+INPUT TFINAL=10, INTEGSTP=.01
+CODE DYNAMICS() some_filename.c

venv/lib/python3.10/site-packages/sympy/parsing/autolev/test-examples/pydy-example-repo/double_pendulum.py

@@ -0,0 +1,39 @@
+import sympy.physics.mechanics as _me
+import sympy as _sm
+import math as m
+import numpy as _np
+
+q1, q2, u1, u2 = _me.dynamicsymbols('q1 q2 u1 u2')
+q1_d, q2_d, u1_d, u2_d = _me.dynamicsymbols('q1_ q2_ u1_ u2_', 1)
+l, m, g = _sm.symbols('l m g', real=True)
+frame_n = _me.ReferenceFrame('n')
+frame_a = _me.ReferenceFrame('a')
+frame_b = _me.ReferenceFrame('b')
+frame_a.orient(frame_n, 'Axis', [q1, frame_n.z])
+frame_b.orient(frame_n, 'Axis', [q2, frame_n.z])
+frame_a.set_ang_vel(frame_n, u1*frame_n.z)
+frame_b.set_ang_vel(frame_n, u2*frame_n.z)
+point_o = _me.Point('o')
+particle_p = _me.Particle('p', _me.Point('p_pt'), _sm.Symbol('m'))
+particle_r = _me.Particle('r', _me.Point('r_pt'), _sm.Symbol('m'))
+particle_p.point.set_pos(point_o, l*frame_a.x)
+particle_r.point.set_pos(particle_p.point, l*frame_b.x)
+point_o.set_vel(frame_n, 0)
+particle_p.point.v2pt_theory(point_o,frame_n,frame_a)
+particle_r.point.v2pt_theory(particle_p.point,frame_n,frame_b)
+particle_p.mass = m
+particle_r.mass = m
+force_p = particle_p.mass*(g*frame_n.x)
+force_r = particle_r.mass*(g*frame_n.x)
+kd_eqs = [q1_d - u1, q2_d - u2]
+forceList = [(particle_p.point,particle_p.mass*(g*frame_n.x)), (particle_r.point,particle_r.mass*(g*frame_n.x))]
+kane = _me.KanesMethod(frame_n, q_ind=[q1,q2], u_ind=[u1, u2], kd_eqs = kd_eqs)
+fr, frstar = kane.kanes_equations([particle_p, particle_r], forceList)
+zero = fr+frstar
+from pydy.system import System
+sys = System(kane, constants = {l:1, m:1, g:9.81},
+specifieds={},
+initial_conditions={q1:.1, q2:.2, u1:0, u2:0},
+times = _np.linspace(0.0, 10, 10/.01))
+
+y=sys.integrate()

venv/lib/python3.10/site-packages/sympy/parsing/autolev/test-examples/pydy-example-repo/mass_spring_damper.al

@@ -0,0 +1,19 @@
+CONSTANTS M,K,B,G
+MOTIONVARIABLES' POSITION',SPEED'
+VARIABLES O
+FORCE = O*SIN(T)
+NEWTONIAN CEILING
+POINTS ORIGIN
+V_ORIGIN_CEILING> = 0>
+PARTICLES BLOCK
+P_ORIGIN_BLOCK> = POSITION*CEILING1>
+MASS BLOCK=M
+V_BLOCK_CEILING>=SPEED*CEILING1>
+POSITION' = SPEED
+FORCE_MAGNITUDE = M*G-K*POSITION-B*SPEED+FORCE
+FORCE_BLOCK>=EXPLICIT(FORCE_MAGNITUDE*CEILING1>)
+ZERO = FR() + FRSTAR()
+KANE()
+INPUT TFINAL=10.0, INTEGSTP=0.01
+INPUT M=1.0, K=1.0, B=0.2, G=9.8, POSITION=0.1, SPEED=-1.0, O=2
+CODE DYNAMICS() dummy_file.c

venv/lib/python3.10/site-packages/sympy/parsing/autolev/test-examples/pydy-example-repo/mass_spring_damper.py

@@ -0,0 +1,31 @@
+import sympy.physics.mechanics as _me
+import sympy as _sm
+import math as m
+import numpy as _np
+
+m, k, b, g = _sm.symbols('m k b g', real=True)
+position, speed = _me.dynamicsymbols('position speed')
+position_d, speed_d = _me.dynamicsymbols('position_ speed_', 1)
+o = _me.dynamicsymbols('o')
+force = o*_sm.sin(_me.dynamicsymbols._t)
+frame_ceiling = _me.ReferenceFrame('ceiling')
+point_origin = _me.Point('origin')
+point_origin.set_vel(frame_ceiling, 0)
+particle_block = _me.Particle('block', _me.Point('block_pt'), _sm.Symbol('m'))
+particle_block.point.set_pos(point_origin, position*frame_ceiling.x)
+particle_block.mass = m
+particle_block.point.set_vel(frame_ceiling, speed*frame_ceiling.x)
+force_magnitude = m*g-k*position-b*speed+force
+force_block = (force_magnitude*frame_ceiling.x).subs({position_d:speed})
+kd_eqs = [position_d - speed]
+forceList = [(particle_block.point,(force_magnitude*frame_ceiling.x).subs({position_d:speed}))]
+kane = _me.KanesMethod(frame_ceiling, q_ind=[position], u_ind=[speed], kd_eqs = kd_eqs)
+fr, frstar = kane.kanes_equations([particle_block], forceList)
+zero = fr+frstar
+from pydy.system import System
+sys = System(kane, constants = {m:1.0, k:1.0, b:0.2, g:9.8},
+specifieds={_me.dynamicsymbols('t'):lambda x, t: t, o:2},
+initial_conditions={position:0.1, speed:-1*1.0},
+times = _np.linspace(0.0, 10.0, 10.0/0.01))
+
+y=sys.integrate()

venv/lib/python3.10/site-packages/sympy/parsing/autolev/test-examples/pydy-example-repo/non_min_pendulum.al

@@ -0,0 +1,20 @@
+MOTIONVARIABLES' Q{2}''
+CONSTANTS L,M,G
+NEWTONIAN N
+POINT PN
+V_PN_N> = 0>
+THETA1 = ATAN(Q2/Q1)
+FRAMES A
+SIMPROT(N, A, 3, THETA1)
+PARTICLES P
+P_PN_P> = Q1*N1>+Q2*N2>
+MASS P=M
+V_P_N>=DT(P_P_PN>, N)
+F_V = DOT(EXPRESS(V_P_N>,A), A1>)
+GRAVITY(G*N1>)
+DEPENDENT[1] = F_V
+CONSTRAIN(DEPENDENT[Q1'])
+ZERO=FR()+FRSTAR()
+F_C = MAG(P_P_PN>)-L
+CONFIG[1]=F_C
+ZERO[2]=CONFIG[1]

venv/lib/python3.10/site-packages/sympy/parsing/autolev/test-examples/pydy-example-repo/non_min_pendulum.py

@@ -0,0 +1,36 @@
+import sympy.physics.mechanics as _me
+import sympy as _sm
+import math as m
+import numpy as _np
+
+q1, q2 = _me.dynamicsymbols('q1 q2')
+q1_d, q2_d = _me.dynamicsymbols('q1_ q2_', 1)
+q1_dd, q2_dd = _me.dynamicsymbols('q1_ q2_', 2)
+l, m, g = _sm.symbols('l m g', real=True)
+frame_n = _me.ReferenceFrame('n')
+point_pn = _me.Point('pn')
+point_pn.set_vel(frame_n, 0)
+theta1 = _sm.atan(q2/q1)
+frame_a = _me.ReferenceFrame('a')
+frame_a.orient(frame_n, 'Axis', [theta1, frame_n.z])
+particle_p = _me.Particle('p', _me.Point('p_pt'), _sm.Symbol('m'))
+particle_p.point.set_pos(point_pn, q1*frame_n.x+q2*frame_n.y)
+particle_p.mass = m
+particle_p.point.set_vel(frame_n, (point_pn.pos_from(particle_p.point)).dt(frame_n))
+f_v = _me.dot((particle_p.point.vel(frame_n)).express(frame_a), frame_a.x)
+force_p = particle_p.mass*(g*frame_n.x)
+dependent = _sm.Matrix([[0]])
+dependent[0] = f_v
+velocity_constraints = [i for i in dependent]
+u_q1_d = _me.dynamicsymbols('u_q1_d')
+u_q2_d = _me.dynamicsymbols('u_q2_d')
+kd_eqs = [q1_d-u_q1_d, q2_d-u_q2_d]
+forceList = [(particle_p.point,particle_p.mass*(g*frame_n.x))]
+kane = _me.KanesMethod(frame_n, q_ind=[q1,q2], u_ind=[u_q2_d], u_dependent=[u_q1_d], kd_eqs = kd_eqs, velocity_constraints = velocity_constraints)
+fr, frstar = kane.kanes_equations([particle_p], forceList)
+zero = fr+frstar
+f_c = point_pn.pos_from(particle_p.point).magnitude()-l
+config = _sm.Matrix([[0]])
+config[0] = f_c
+zero = zero.row_insert(zero.shape[0], _sm.Matrix([[0]]))
+zero[zero.shape[0]-1] = config[0]

venv/lib/python3.10/site-packages/sympy/parsing/autolev/test-examples/ruletest1.al

@@ -0,0 +1,8 @@
+% ruletest1.al
+CONSTANTS F = 3, G = 9.81
+CONSTANTS A, B
+CONSTANTS S, S1, S2+, S3+, S4-
+CONSTANTS K{4}, L{1:3}, P{1:2,1:3}
+CONSTANTS C{2,3}
+E1 = A*F + S2 - G
+E2 = F^2 + K3*K2*G

venv/lib/python3.10/site-packages/sympy/parsing/autolev/test-examples/ruletest10.py

@@ -0,0 +1,64 @@
+import sympy.physics.mechanics as _me
+import sympy as _sm
+import math as m
+import numpy as _np
+
+x, y = _me.dynamicsymbols('x y')
+a, b = _sm.symbols('a b', real=True)
+e = a*(b*x+y)**2
+m = _sm.Matrix([e,e]).reshape(2, 1)
+e = e.expand()
+m = _sm.Matrix([i.expand() for i in m]).reshape((m).shape[0], (m).shape[1])
+e = _sm.factor(e, x)
+m = _sm.Matrix([_sm.factor(i,x) for i in m]).reshape((m).shape[0], (m).shape[1])
+eqn = _sm.Matrix([[0]])
+eqn[0] = a*x+b*y
+eqn = eqn.row_insert(eqn.shape[0], _sm.Matrix([[0]]))
+eqn[eqn.shape[0]-1] = 2*a*x-3*b*y
+print(_sm.solve(eqn,x,y))
+rhs_y = _sm.solve(eqn,x,y)[y]
+e = (x+y)**2+2*x**2
+e.collect(x)
+a, b, c = _sm.symbols('a b c', real=True)
+m = _sm.Matrix([a,b,c,0]).reshape(2, 2)
+m2 = _sm.Matrix([i.subs({a:1,b:2,c:3}) for i in m]).reshape((m).shape[0], (m).shape[1])
+eigvalue = _sm.Matrix([i.evalf() for i in (m2).eigenvals().keys()])
+eigvec = _sm.Matrix([i[2][0].evalf() for i in (m2).eigenvects()]).reshape(m2.shape[0], m2.shape[1])
+frame_n = _me.ReferenceFrame('n')
+frame_a = _me.ReferenceFrame('a')
+frame_a.orient(frame_n, 'Axis', [x, frame_n.x])
+frame_a.orient(frame_n, 'Axis', [_sm.pi/2, frame_n.x])
+c1, c2, c3 = _sm.symbols('c1 c2 c3', real=True)
+v = c1*frame_a.x+c2*frame_a.y+c3*frame_a.z
+point_o = _me.Point('o')
+point_p = _me.Point('p')
+point_o.set_pos(point_p, c1*frame_a.x)
+v = (v).express(frame_n)
+point_o.set_pos(point_p, (point_o.pos_from(point_p)).express(frame_n))
+frame_a.set_ang_vel(frame_n, c3*frame_a.z)
+print(frame_n.ang_vel_in(frame_a))
+point_p.v2pt_theory(point_o,frame_n,frame_a)
+particle_p1 = _me.Particle('p1', _me.Point('p1_pt'), _sm.Symbol('m'))
+particle_p2 = _me.Particle('p2', _me.Point('p2_pt'), _sm.Symbol('m'))
+particle_p2.point.v2pt_theory(particle_p1.point,frame_n,frame_a)
+point_p.a2pt_theory(particle_p1.point,frame_n,frame_a)
+body_b1_cm = _me.Point('b1_cm')
+body_b1_cm.set_vel(frame_n, 0)
+body_b1_f = _me.ReferenceFrame('b1_f')
+body_b1 = _me.RigidBody('b1', body_b1_cm, body_b1_f, _sm.symbols('m'), (_me.outer(body_b1_f.x,body_b1_f.x),body_b1_cm))
+body_b2_cm = _me.Point('b2_cm')
+body_b2_cm.set_vel(frame_n, 0)
+body_b2_f = _me.ReferenceFrame('b2_f')
+body_b2 = _me.RigidBody('b2', body_b2_cm, body_b2_f, _sm.symbols('m'), (_me.outer(body_b2_f.x,body_b2_f.x),body_b2_cm))
+g = _sm.symbols('g', real=True)
+force_p1 = particle_p1.mass*(g*frame_n.x)
+force_p2 = particle_p2.mass*(g*frame_n.x)
+force_b1 = body_b1.mass*(g*frame_n.x)
+force_b2 = body_b2.mass*(g*frame_n.x)
+z = _me.dynamicsymbols('z')
+v = x*frame_a.x+y*frame_a.z
+point_o.set_pos(point_p, x*frame_a.x+y*frame_a.y)
+v = (v).subs({x:2*z, y:z})
+point_o.set_pos(point_p, (point_o.pos_from(point_p)).subs({x:2*z, y:z}))
+force_o = -1*(x*y*frame_a.x)
+force_p1 = particle_p1.mass*(g*frame_n.x)+ x*y*frame_a.x

venv/lib/python3.10/site-packages/sympy/parsing/autolev/test-examples/ruletest11.al

@@ -0,0 +1,6 @@
+VARIABLES X, Y
+CONSTANTS A{1:2, 1:2}, B{1:2}
+EQN[1] = A11*x + A12*y - B1
+EQN[2] = A21*x + A22*y - B2
+INPUT A11=2, A12=5, A21=3, A22=4, B1=7, B2=6
+CODE ALGEBRAIC(EQN, X, Y) some_filename.c

venv/lib/python3.10/site-packages/sympy/parsing/autolev/test-examples/ruletest3.al

@@ -0,0 +1,25 @@
+% ruletest3.al
+FRAMES A, B
+NEWTONIAN N
+
+VARIABLES X{3}
+CONSTANTS L
+
+V1> = X1*A1> + X2*A2> + X3*A3>
+V2> = X1*B1> + X2*B2> + X3*B3>
+V3> = X1*N1> + X2*N2> + X3*N3>
+
+V> = V1> + V2> + V3>
+
+POINTS C, D
+POINTS PO{3}
+
+PARTICLES L
+PARTICLES P{3}
+
+BODIES S
+BODIES R{2}
+
+V4> = X1*S1> + X2*S2> + X3*S3>
+
+P_C_SO> = L*N1>

venv/lib/python3.10/site-packages/sympy/parsing/autolev/test-examples/ruletest4.py

@@ -0,0 +1,20 @@
+import sympy.physics.mechanics as _me
+import sympy as _sm
+import math as m
+import numpy as _np
+
+frame_a = _me.ReferenceFrame('a')
+frame_b = _me.ReferenceFrame('b')
+q1, q2, q3 = _me.dynamicsymbols('q1 q2 q3')
+frame_b.orient(frame_a, 'Axis', [q3, frame_a.x])
+dcm = frame_a.dcm(frame_b)
+m = dcm*3-frame_a.dcm(frame_b)
+r = _me.dynamicsymbols('r')
+circle_area = _sm.pi*r**2
+u, a = _me.dynamicsymbols('u a')
+x, y = _me.dynamicsymbols('x y')
+s = u*_me.dynamicsymbols._t-1/2*a*_me.dynamicsymbols._t**2
+expr1 = 2*a*0.5-1.25+0.25
+expr2 = -1*x**2+y**2+0.25*(x+y)**2
+expr3 = 0.5*10**(-10)
+dyadic = _me.outer(frame_a.x, frame_a.x)+_me.outer(frame_a.y, frame_a.y)+_me.outer(frame_a.z, frame_a.z)

venv/lib/python3.10/site-packages/sympy/parsing/autolev/test-examples/ruletest9.al

@@ -0,0 +1,54 @@
+% ruletest9.al
+NEWTONIAN N
+FRAMES A
+A> = 0>
+D>> = EXPRESS(1>>, A)
+
+POINTS PO{2}
+PARTICLES P{2}
+MOTIONVARIABLES' C{3}'
+BODIES R
+P_P1_PO2> = C1*A1>
+V> = 2*P_P1_PO2> + C2*A2>
+
+W_A_N> = C3*A3>
+V> = 2*W_A_N> + C2*A2>
+W_R_N> = C3*A3>
+V> = 2*W_R_N> + C2*A2>
+
+ALF_A_N> = DT(W_A_N>, A)
+V> = 2*ALF_A_N> + C2*A2>
+
+V_P1_A> = C1*A1> + C3*A2>
+A_RO_N> = C2*A2>
+V_A> = CROSS(A_RO_N>, V_P1_A>)
+
+X_B_C> = V_A>
+X_B_D> = 2*X_B_C>
+A_B_C_D_E> = X_B_D>*2
+
+A_B_C = 2*C1*C2*C3
+A_B_C += 2*C1
+A_B_C := 3*C1
+
+MOTIONVARIABLES' Q{2}', U{2}'
+Q1' = U1
+Q2' = U2
+
+VARIABLES X'', Y''
+SPECIFIED YY
+Y'' = X*X'^2 + 1
+YY = X*X'^2 + 1
+
+M[1] = 2*X
+M[2] = 2*Y
+A = 2*M[1]
+
+M = [1,2,3;4,5,6;7,8,9]
+M[1, 2] = 5
+A = M[1, 2]*2
+
+FORCE_RO> = Q1*N1>
+TORQUE_A> = Q2*N3>
+FORCE_RO> = Q2*N2>
+F> = FORCE_RO>*2