Creating ikfast c++ kinematics for KUKA LWR

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Creating ikfast c++ kinematics for KUKA LWR

Daniel Kuhner
Hi all,

I currently try to generate an ikfast cpp inverse kinematics file. I use the newest OpenRAVE and collada-dom library. The robot description was generated with the urdf to collada converter (see http://moveit.ros.org/wiki/Kinematics/IKFast).

After patching collada-dom (https://github.com/rdiankov/collada-dom/pull/12) to use liburiparser I was able to generate the collada file of the robot using our urdf description. I can view the model in OpenRAVE without problems. However, if I want to generate the inverse kinematics, the process always gets killed (not by me), I get a lot of warnings/errors (see log below) and the process is active for 2 hours. To start ikfast I used the following line:
python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=omnirob_clean.xml --iktype=transform6d --baselink=1 --eelink=8 --freeindex=3 --savefile=ik.cpp --debug=1

The model seems to be too complex. Additionally, there is a line which says that there are more unknowns than equations. The arm has 7DOF and I defined a free index.

By the way, how exactly should I choose the free index?

Are there any ideas, why I cannot create the IK successfully? Thank you for your help.

Best regards,
Daniel

omnirob_clean.xml:
<Robot name="omnirob" file="omnirob_clean.dae">
        <Manipulator name="lwr">
                <base>manipulator_base_frame</base>
                <effector>manipulator_flange_frame</effector>
        </Manipulator>
</Robot>


openrave-robot.py omnirob_clean.dae --info=links:
name                     index parents              
-----------------------------------------------------
base_link                0                          
manipulator_base_frame   1     base_link            
lwr_joint1_frame         2     manipulator_base_frame
lwr_joint2_frame         3     lwr_joint1_frame      
lwr_joint3_frame         4     lwr_joint2_frame      
lwr_joint4_frame         5     lwr_joint3_frame      
lwr_joint5_frame         6     lwr_joint4_frame      
lwr_joint6_frame         7     lwr_joint5_frame      
lwr_joint7_frame         8     lwr_joint6_frame      
manipulator_flange_frame 9     lwr_joint7_frame      
-----------------------------------------------------
name                     index parents


Log:
DEBUG: rotation angle of Links[0]: 0.000000, axis=[0.000000,0.000000,0.000000]
/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py:1437: RuntimeWarning: invalid value encountered in divide
  axisangle /= angle
DEBUG: rotation angle of Links[2]: 90.412740, axis=[1.000000,0.000000,0.000000]
DEBUG: rotation angle: 90.412740, axis=[1.000000,0.000000,0.000000]
DEBUG: rotation angle of Links[4]: 90.412740, axis=[-1.000000,-0.000000,0.000000]
DEBUG: rotation angle: 90.412740, axis=[-1.000000,-0.000000,0.000000]
DEBUG: rotation angle of Links[6]: 90.412740, axis=[-1.000000,-0.000000,0.000000]
DEBUG: rotation angle: 90.412740, axis=[-1.000000,-0.000000,0.000000]
DEBUG: rotation angle of Links[8]: 90.412740, axis=[1.000000,0.000000,-0.000000]
DEBUG: rotation angle: 90.412740, axis=[1.000000,0.000000,-0.000000]
DEBUG: rotation angle of Links[10]: 90.412740, axis=[1.000000,0.000000,0.000000]
DEBUG: rotation angle: 90.412740, axis=[1.000000,0.000000,0.000000]
DEBUG: rotation angle of Links[12]: 90.412740, axis=[-1.000000,0.000000,-0.000000]
DEBUG: rotation angle: 90.412740, axis=[-1.000000,0.000000,-0.000000]
INFO: moved translation [0, 0, 15699529*9999918409**(1/2)/19999836818000] to right end
INFO: moved translation [0, 0, 1/5] to left end
INFO: moved translation on intersecting axis [0, 0, 377/2000] to left
INFO: [[1, 0, 0, 0],[0, 1, 0, 0],[0, 0, 1, 621/2000]]
INFO: [[cos(j0), -sin(j0), 0, 0],[sin(j0), cos(j0), 0, 0],[0, 0, 1, 0]]
INFO: [[1, 0, 0, 0],[0, -720*9999918409**(1/2)/9999918409, -99997*9999918409**(1/2)/9999918409, 0],[0, 99997*9999918409**(1/2)/9999918409, -720*9999918409**(1/2)/9999918409, 0]]
INFO: [[cos(j1), -sin(j1), 0, 0],[sin(j1), cos(j1), 0, 0],[0, 0, 1, 0]]
INFO: [[1, 0, 0, 0],[0, -720*9999918409**(1/2)/9999918409, 99997*9999918409**(1/2)/9999918409, 1/5],[0, -99997*9999918409**(1/2)/9999918409, -720*9999918409**(1/2)/9999918409, 0]]
INFO: [[cos(j2), -sin(j2), 0, 0],[sin(j2), cos(j2), 0, 0],[0, 0, 1, 0]]
INFO: [[1, 0, 0, 0],[0, -720*9999918409**(1/2)/9999918409, 99997*9999918409**(1/2)/9999918409, 0],[0, -99997*9999918409**(1/2)/9999918409, -720*9999918409**(1/2)/9999918409, 1/5]]
INFO: [[cos(j3), -sin(j3), 0, 0],[sin(j3), cos(j3), 0, 0],[0, 0, 1, 0]]
INFO: [[1, 0, 0, 0],[0, -720*9999918409**(1/2)/9999918409, -99997*9999918409**(1/2)/9999918409, -1/5 - 2899913*9999918409**(1/2)/1538448986000],[0, 99997*9999918409**(1/2)/9999918409, -720*9999918409**(1/2)/9999918409, -261*9999918409**(1/2)/19230612325]]
INFO: [[cos(j4), -sin(j4), 0, 0],[sin(j4), cos(j4), 0, 0],[0, 0, 1, 0]]
INFO: [[1, 0, 0, 0],[0, -720*9999918409**(1/2)/9999918409, -99997*9999918409**(1/2)/9999918409, 0],[0, 99997*9999918409**(1/2)/9999918409, -720*9999918409**(1/2)/9999918409, 0]]
INFO: [[cos(j5), -sin(j5), 0, 0],[sin(j5), cos(j5), 0, 0],[0, 0, 1, 0]]
INFO: [[1, 0, 0, 0],[0, -720*9999918409**(1/2)/9999918409, 99997*9999918409**(1/2)/9999918409, 203472/49999592045],[0, -99997*9999918409**(1/2)/9999918409, -720*9999918409**(1/2)/9999918409, 141295761/249997960225]]
INFO: [[cos(j6), -sin(j6), 0, 0],[sin(j6), cos(j6), 0, 0],[0, 0, 1, 0]]
INFO: [[1, 0, 0, 0],[0, 1, 0, 0],[0, 0, 1, 15699529*9999918409**(1/2)/19999836818000]]
INFO: ikfast 6d: [j0, j1, j2, j4, j5, j6]
INFO: found 3 consecutive intersecting axes links[0:5], rotvars=[j0, j1, j2], translationvars=[j4, j5, j6]
INFO: depth=0 c=1, [j3] [j4, j5, j6]: cases=None
INFO: not all eigenvalues are > 0. min is 0.000000e+00
INFO: not all eigenvalues are > 0. min is 0.000000e+00
INFO: not all eigenvalues are > 0. min is 0.000000e+00
INFO: not all eigenvalues are > 0. min is 0.000000e+00
DEBUG: CannotSolveError: equations are not linearly independent
DEBUG: CannotSolveError: solveDialytically: more unknowns than equations 6>4
WARNING: CannotSolveError: SolvePairVariablesHalfAngle: failed to solve dialytically with 2 equations
INFO: solving separated equations with linear terms
INFO: solving separated equations with linear terms
INFO: solving separated equations with linear terms
INFO: solving separated equations with linear terms
INFO: solving separated equations with linear terms
INFO: solving separated equations with linear terms
INFO: solving separated equations with linear terms
INFO: solving separated equations with linear terms
INFO: solving separated equations with linear terms
DEBUG: CannotSolveError: cannot cleanly separate pair equations
DEBUG: CannotSolveError: solveDialytically: more unknowns than equations 6>4
DEBUG: CannotSolveError: solveDialytically: more unknowns than equations 6>4
WARNING: CannotSolveError: SolvePairVariablesHalfAngle: failed to solve dialytically with 2 equations
DEBUG: CannotSolveError: cannot cleanly separate pair equations
WARNING: CannotSolveError: SolveAllEquations failed to find a variable to solve
INFO: found 3 consecutive intersecting axes links[8:13], rotvars=[j4, j5, j6], translationvars=[j0, j1, j2]
INFO: length equations too big, skipping 1579,109
INFO: depth=0 c=2, [j3] [j0, j1, j2]: cases=None
DEBUG: CannotSolveError: solveDialytically: more unknowns than equations 6>4
DEBUG: CannotSolveError: solveDialytically: more unknowns than equations 6>4
WARNING: CannotSolveError: SolvePairVariablesHalfAngle: failed to solve dialytically with 2 equations
DEBUG: CannotSolveError: cannot cleanly separate pair equations
WARNING: CannotSolveError: SolveAllEquations failed to find a variable to solve
INFO: found 3 consecutive non-intersecting axes links[2:9], vars=[j1, j2, j4]
INFO: found 3 consecutive non-intersecting axes links[0:5], vars=[j0, j1, j2]
INFO: found 3 consecutive non-intersecting axes links[4:11], vars=[j2, j4, j5]
INFO: found 3 consecutive non-intersecting axes links[8:13], vars=[j4, j5, j6]
INFO: try group 0/4
INFO: computed in 11.681227s
INFO: computed in 6.990250s
INFO: attempting li/woernle/hiller general ik method
INFO: allowed indices: [0]
INFO: assuming equation htj1 is non-zero
INFO: not unique: (Poly((-14399568*cos(j3)/9999918409 - 2609843402349*9999918409**(1/2)*cos(j3)/192304554205109790925 + 2609843402349*9999918409**(1/2)/192304554205109790925)*cj2 + (-99997*9999918409**(1/2)*sin(j3)/49999592045 - 289982600261*sin(j3)/1538448986000)*sj2, cj2, sj2, cj4, sj4, htj1, domain='EX'), Poly(-141295761*r11/249997960225*cj0*cj6 - 141295761*r10/249997960225*cj0*sj6 - 99997*9999918409**(1/2)*py/9999918409*cj0 + 141295761*r01/249997960225*sj0*cj6 + 141295761*r00/249997960225*sj0*sj6 + 99997*9999918409**(1/2)*px/9999918409*sj0 - 203472*r21/49999592045*cj6 - 203472*r20/49999592045*sj6 - 720*9999918409**(1/2)*pz/9999918409 + 2609843402349*9999918409**(1/2)*cos(j3)/192304554205109790925 + 14399568*cos(j3)/9999918409 + 110773739088*9999918409**(1/2)/7692182168204391637, cj0, sj0, cj6, sj6, htj1, domain='EX'))
INFO: assuming equation htj1 is non-zero
INFO: not unique: (Poly((5183688964665600*cos(j3)/99998368186657091281 + 99988000539989200081/99998368186657091281)*cj2*cj4 + 7199568006480*9999918409**(1/2)*sin(j3)/99998368186657091281*cj2*sj4 + (5183688964665600*cos(j3)/99998368186657091281 - 5183688964665600/99998368186657091281)*cj2 + 7199568006480*9999918409**(1/2)*sin(j3)/99998368186657091281*sj2*cj4 - 9999400009*cos(j3)/9999918409*sj2*sj4 + 7199568006480*9999918409**(1/2)*sin(j3)/99998368186657091281*sj2 + (5183688964665600*cos(j3)/99998368186657091281 - 5183688964665600/99998368186657091281)*cj4 + 7199568006480*9999918409**(1/2)*sin(j3)/99998368186657091281*sj4, cj2, sj2, cj4, sj4, htj1, domain='EX'), Poly(9999400009*r11/9999918409*cj0*cj6 + 9999400009*r10/9999918409*cj0*sj6 + 71997840*r12/9999918409*cj0 - 9999400009*r01/9999918409*sj0*cj6 - 9999400009*r00/9999918409*sj0*sj6 - 71997840*r02/9999918409*sj0 + 71997840*r21/9999918409*cj6 + 71997840*r20/9999918409*sj6 + 518400*r22/9999918409 - 5183688964665600*cos(j3)/99998368186657091281 - 268738560000/99998368186657091281, cj0, sj0, cj6, sj6, htj1, domain='QQ[r00,r01,r02,r10,r11,r12,r20,r21,r22,cos(j3)]'))
INFO: assuming equation htj1 is non-zero
INFO: assuming equation htj1 is non-zero
INFO: not unique: (Poly((3758287248*9999918409**(1/2)*cos(j3)/38460910841021958185 + 103680*cos(j3)/9999918409 - 3758287248*9999918409**(1/2)/38460910841021958185)*cj2*htj1**2 + (2899913*9999918409**(1/2)*sin(j3)/769224493000 + 2*sin(j3)/5)*cj2*htj1 + (-103680*cos(j3)/9999918409 - 3758287248*9999918409**(1/2)*cos(j3)/38460910841021958185 + 3758287248*9999918409**(1/2)/38460910841021958185)*cj2 + (26099217*sin(j3)/19230612325 + 144*9999918409**(1/2)*sin(j3)/9999918409)*sj2*htj1**2 + (-288*9999918409**(1/2)*cos(j3)/9999918409 - 52198434*cos(j3)/19230612325 + 52198434/19230612325)*sj2*htj1 + (-144*9999918409**(1/2)*sin(j3)/9999918409 - 26099217*sin(j3)/19230612325)*sj2 + (-9999400009*cos(j3)/49999592045 - 28997390078299217*9999918409**(1/2)*cos(j3)/15384364336408783274000 - 76923899913769*9999918409**(1/2)/38460910841021958185 - 1/5)*htj1**2, cj2, sj2, cj4, sj4, htj1, domain='EX'), Poly(-203472*r11/49999592045*cj0*cj6*htj1**2 - 203472*r11/49999592045*cj0*cj6 - 203472*r10/49999592045*cj0*sj6*htj1**2 - 203472*r10/49999592045*cj0*sj6 - 720*9999918409**(1/2)*py/9999918409*cj0*htj1**2 - 720*9999918409**(1/2)*py/9999918409*cj0 + 203472*r01/49999592045*sj0*cj6*htj1**2 + 203472*r01/49999592045*sj0*cj6 + 203472*r00/49999592045*sj0*sj6*htj1**2 + 203472*r00/49999592045*sj0*sj6 + 720*9999918409**(1/2)*px/9999918409*sj0*htj1**2 + 720*9999918409**(1/2)*px/9999918409*sj0 + 141295761*r21/249997960225*cj6*htj1**2 + 141295761*r21/249997960225*cj6 + 141295761*r20/249997960225*sj6*htj1**2 + 141295761*r20/249997960225*sj6 + 99997*9999918409**(1/2)*pz/9999918409*htj1**2 + 99997*9999918409**(1/2)*pz/9999918409 - 9999400009*cos(j3)/49999592045 - 28997390078299217*9999918409**(1/2)*cos(j3)/15384364336408783274000 - 76923899913769*9999918409**(1/2)/38460910841021958185 - 1/5, cj0, sj0, cj6, sj6, htj1, domain='EX'))
INFO: assuming equation htj1 is non-zero
INFO: not unique: (Poly(71997840*sin(j3)/9999918409*cj2*cj4 + (-51838444800*9999918409**(1/2)*cos(j3)/99998368186657091281 - 999910002699973*9999918409**(1/2)/99998368186657091281)*cj2*sj4 - 99997*9999918409**(1/2)*cos(j3)/9999918409*sj2*cj4 - 71997840*sin(j3)/9999918409*sj2*sj4 + 71997840*sin(j3)/9999918409*cj4 + (-51838444800*9999918409**(1/2)*cos(j3)/99998368186657091281 + 51838444800*9999918409**(1/2)/99998368186657091281)*sj4, cj2, sj2, cj4, sj4, htj1, domain='EX'), Poly((-99997*9999918409**(1/2)*cj5*r10/9999918409 - 71997840*r11*sj5/9999918409)*cj0*cj6 + (99997*9999918409**(1/2)*cj5*r11/9999918409 - 71997840*r10*sj5/9999918409)*cj0*sj6 + 9999400009*r12*sj5/9999918409*cj0 + (99997*9999918409**(1/2)*cj5*r00/9999918409 + 71997840*r01*sj5/9999918409)*sj0*cj6 + (-99997*9999918409**(1/2)*cj5*r01/9999918409 + 71997840*r00*sj5/9999918409)*sj0*sj6 - 9999400009*r02*sj5/9999918409*sj0 + (-720*9999918409**(1/2)*cj5*r20/9999918409 - 518400*r21*sj5/9999918409)*cj6 + (720*9999918409**(1/2)*cj5*r21/9999918409 - 518400*r20*sj5/9999918409)*sj6 + 71997840*r22*sj5/9999918409, cj0, sj0, cj6, sj6, htj1, domain='EX'))
INFO: assuming equation htj1 is non-zero
INFO: not unique: (Poly((37323680256000*cos(j3)/99998368186657091281 + 719935201943980560/99998368186657091281)*cj2*cj4 + 51838444800*9999918409**(1/2)*sin(j3)/99998368186657091281*cj2*sj4 + (-719935201943980560*cos(j3)/99998368186657091281 + 719935201943980560/99998368186657091281)*cj2 + 51838444800*9999918409**(1/2)*sin(j3)/99998368186657091281*sj2*cj4 - 71997840*cos(j3)/9999918409*sj2*sj4 - 999910002699973*9999918409**(1/2)*sin(j3)/99998368186657091281*sj2 + (37323680256000*cos(j3)/99998368186657091281 - 37323680256000/99998368186657091281)*cj4 + 51838444800*9999918409**(1/2)*sin(j3)/99998368186657091281*sj4, cj2, sj2, cj4, sj4, htj1, domain='EX'), Poly((71997840*cj5*r11/9999918409 - 99997*9999918409**(1/2)*r10*sj5/9999918409)*cj0*cj6 + (71997840*cj5*r10/9999918409 + 99997*9999918409**(1/2)*r11*sj5/9999918409)*cj0*sj6 - 9999400009*cj5*r12/9999918409*cj0 + (-71997840*cj5*r01/9999918409 + 99997*9999918409**(1/2)*r00*sj5/9999918409)*sj0*cj6 + (-71997840*cj5*r00/9999918409 - 99997*9999918409**(1/2)*r01*sj5/9999918409)*sj0*sj6 + 9999400009*cj5*r02/9999918409*sj0 + (518400*cj5*r21/9999918409 - 720*9999918409**(1/2)*r20*sj5/9999918409)*cj6 + (518400*cj5*r20/9999918409 + 720*9999918409**(1/2)*r21*sj5/9999918409)*sj6 - 71997840*cj5*r22/9999918409 + 719935201943980560*cos(j3)/99998368186657091281 + 37323680256000/99998368186657091281, cj0, sj0, cj6, sj6, htj1, domain='EX'))
INFO: assuming equation htj1 is non-zero
INFO: not unique: (Poly(-cos(j3)*cj2*cj4*htj1**2 - 1036800*sin(j3)/9999918409*cj2*cj4*htj1 + cos(j3)*cj2*cj4 - 720*9999918409**(1/2)*sin(j3)/9999918409*cj2*sj4*htj1**2 + (746496000*9999918409**(1/2)*cos(j3)/99998368186657091281 + 14399136012960*9999918409**(1/2)/99998368186657091281)*cj2*sj4*htj1 + 720*9999918409**(1/2)*sin(j3)/9999918409*cj2*sj4 - 720*9999918409**(1/2)*sin(j3)/9999918409*sj2*cj4*htj1**2 + 1440*9999918409**(1/2)*cos(j3)/9999918409*sj2*cj4*htj1 + 720*9999918409**(1/2)*sin(j3)/9999918409*sj2*cj4 + (518400*cos(j3)/9999918409 + 9999400009/9999918409)*sj2*sj4*htj1**2 + 1036800*sin(j3)/9999918409*sj2*sj4*htj1 + (-518400*cos(j3)/9999918409 - 9999400009/9999918409)*sj2*sj4 + 19998800018*sin(j3)/9999918409*cj4*htj1 + (-14399136012960*9999918409**(1/2)*cos(j3)/99998368186657091281 + 14399136012960*9999918409**(1/2)/99998368186657091281)*sj4*htj1, cj2, sj2, cj4, sj4, htj1, domain='EX'), Poly((cj5*r00 + 720*9999918409**(1/2)*r01*sj5/9999918409)*cj0*cj6*htj1**2 + (cj5*r00 + 720*9999918409**(1/2)*r01*sj5/9999918409)*cj0*cj6 + (-cj5*r01 + 720*9999918409**(1/2)*r00*sj5/9999918409)*cj0*sj6*htj1**2 + (-cj5*r01 + 720*9999918409**(1/2)*r00*sj5/9999918409)*cj0*sj6 - 99997*9999918409**(1/2)*r02*sj5/9999918409*cj0*htj1**2 - 99997*9999918409**(1/2)*r02*sj5/9999918409*cj0 + (cj5*r10 + 720*9999918409**(1/2)*r11*sj5/9999918409)*sj0*cj6*htj1**2 + (cj5*r10 + 720*9999918409**(1/2)*r11*sj5/9999918409)*sj0*cj6 + (-cj5*r11 + 720*9999918409**(1/2)*r10*sj5/9999918409)*sj0*sj6*htj1**2 + (-cj5*r11 + 720*9999918409**(1/2)*r10*sj5/9999918409)*sj0*sj6 - 99997*9999918409**(1/2)*r12*sj5/9999918409*sj0*htj1**2 - 99997*9999918409**(1/2)*r12*sj5/9999918409*sj0, cj0, sj0, cj6, sj6, htj1, domain='EX'))
INFO: assuming equation htj1 is non-zero
INFO: not unique: (Poly((-37323680256000*cos(j3)/99998368186657091281 - 719935201943980560/99998368186657091281)*cj2*cj4*htj1**2 - 143995680*sin(j3)/9999918409*cj2*cj4*htj1 + (37323680256000*cos(j3)/99998368186657091281 + 719935201943980560/99998368186657091281)*cj2*cj4 - 51838444800*9999918409**(1/2)*sin(j3)/99998368186657091281*cj2*sj4*htj1**2 + 199994*9999918409**(1/2)*cos(j3)/9999918409*cj2*sj4*htj1 + 51838444800*9999918409**(1/2)*sin(j3)/99998368186657091281*cj2*sj4 + (-37323680256000*cos(j3)/99998368186657091281 + 37323680256000/99998368186657091281)*cj2*htj1**2 - 143995680*sin(j3)/9999918409*cj2*htj1 + (37323680256000*cos(j3)/99998368186657091281 - 37323680256000/99998368186657091281)*cj2 - 51838444800*9999918409**(1/2)*sin(j3)/99998368186657091281*sj2*cj4*htj1**2 + (103676889600*9999918409**(1/2)*cos(j3)/99998368186657091281 + 1999820005399946*9999918409**(1/2)/99998368186657091281)*sj2*cj4*htj1 + 51838444800*9999918409**(1/2)*sin(j3)/99998368186657091281*sj2*cj4 + 71997840*cos(j3)/9999918409*sj2*sj4*htj1**2 + 143995680*sin(j3)/9999918409*sj2*sj4*htj1 - 71997840*cos(j3)/9999918409*sj2*sj4 - 51838444800*9999918409**(1/2)*sin(j3)/99998368186657091281*sj2*htj1**2 + (103676889600*9999918409**(1/2)*cos(j3)/99998368186657091281 - 103676889600*9999918409**(1/2)/99998368186657091281)*sj2*htj1 + 51838444800*9999918409**(1/2)*sin(j3)/99998368186657091281*sj2 + (719935201943980560*cos(j3)/99998368186657091281 - 719935201943980560/99998368186657091281)*cj4*htj1**2 + (-719935201943980560*cos(j3)/99998368186657091281 + 719935201943980560/99998368186657091281)*cj4 + 999910002699973*9999918409**(1/2)*sin(j3)/99998368186657091281*sj4*htj1**2 - 999910002699973*9999918409**(1/2)*sin(j3)/99998368186657091281*sj4 + (719935201943980560*cos(j3)/99998368186657091281 + 37323680256000/99998368186657091281)*htj1**2, cj2, sj2, cj4, sj4, htj1, domain='EX'), Poly(71997840*r11/9999918409*cj0*cj6*htj1**2 + 71997840*r11/9999918409*cj0*cj6 + 71997840*r10/9999918409*cj0*sj6*htj1**2 + 71997840*r10/9999918409*cj0*sj6 + 518400*r12/9999918409*cj0*htj1**2 + 518400*r12/9999918409*cj0 - 71997840*r01/9999918409*sj0*cj6*htj1**2 - 71997840*r01/9999918409*sj0*cj6 - 71997840*r00/9999918409*sj0*sj6*htj1**2 - 71997840*r00/9999918409*sj0*sj6 - 518400*r02/9999918409*sj0*htj1**2 - 518400*r02/9999918409*sj0 - 9999400009*r21/9999918409*cj6*htj1**2 - 9999400009*r21/9999918409*cj6 - 9999400009*r20/9999918409*sj6*htj1**2 - 9999400009*r20/9999918409*sj6 - 71997840*r22/9999918409*htj1**2 - 71997840*r22/9999918409 + 719935201943980560*cos(j3)/99998368186657091281 + 37323680256000/99998368186657091281, cj0, sj0, cj6, sj6, htj1, domain='QQ[r00,r01,r02,r10,r11,r12,r20,r21,r22,cos(j3)]'))
INFO: assuming equation htj1 is non-zero
INFO: assuming equation htj1 is non-zero
INFO: not unique: (Poly(-518400*sin(j3)/9999918409*cj2*cj4*htj1**2 + 2*cos(j3)*cj2*cj4*htj1 + 518400*sin(j3)/9999918409*cj2*cj4 + (373248000*9999918409**(1/2)*cos(j3)/99998368186657091281 + 7199568006480*9999918409**(1/2)/99998368186657091281)*cj2*sj4*htj1**2 + 1440*9999918409**(1/2)*sin(j3)/9999918409*cj2*sj4*htj1 + (-373248000*9999918409**(1/2)*cos(j3)/99998368186657091281 - 7199568006480*9999918409**(1/2)/99998368186657091281)*cj2*sj4 + 720*9999918409**(1/2)*cos(j3)/9999918409*sj2*cj4*htj1**2 + 1440*9999918409**(1/2)*sin(j3)/9999918409*sj2*cj4*htj1 - 720*9999918409**(1/2)*cos(j3)/9999918409*sj2*cj4 + 518400*sin(j3)/9999918409*sj2*sj4*htj1**2 + (-1036800*cos(j3)/9999918409 - 19998800018/9999918409)*sj2*sj4*htj1 - 518400*sin(j3)/9999918409*sj2*sj4 + 9999400009*sin(j3)/9999918409*cj4*htj1**2 - 9999400009*sin(j3)/9999918409*cj4 + (-7199568006480*9999918409**(1/2)*cos(j3)/99998368186657091281 + 7199568006480*9999918409**(1/2)/99998368186657091281)*sj4*htj1**2 + (7199568006480*9999918409**(1/2)*cos(j3)/99998368186657091281 - 7199568006480*9999918409**(1/2)/99998368186657091281)*sj4, cj2, sj2, cj4, sj4, htj1, domain='EX'), Poly((-720*9999918409**(1/2)*cj5*r10/9999918409 - 518400*r11*sj5/9999918409)*cj0*cj6*htj1**2 + (-720*9999918409**(1/2)*cj5*r10/9999918409 - 518400*r11*sj5/9999918409)*cj0*cj6 + (720*9999918409**(1/2)*cj5*r11/9999918409 - 518400*r10*sj5/9999918409)*cj0*sj6*htj1**2 + (720*9999918409**(1/2)*cj5*r11/9999918409 - 518400*r10*sj5/9999918409)*cj0*sj6 + 71997840*r12*sj5/9999918409*cj0*htj1**2 + 71997840*r12*sj5/9999918409*cj0 + (720*9999918409**(1/2)*cj5*r00/9999918409 + 518400*r01*sj5/9999918409)*sj0*cj6*htj1**2 + (720*9999918409**(1/2)*cj5*r00/9999918409 + 518400*r01*sj5/9999918409)*sj0*cj6 + (-720*9999918409**(1/2)*cj5*r01/9999918409 + 518400*r00*sj5/9999918409)*sj0*sj6*htj1**2 + (-720*9999918409**(1/2)*cj5*r01/9999918409 + 518400*r00*sj5/9999918409)*sj0*sj6 - 71997840*r02*sj5/9999918409*sj0*htj1**2 - 71997840*r02*sj5/9999918409*sj0 + (99997*9999918409**(1/2)*cj5*r20/9999918409 + 71997840*r21*sj5/9999918409)*cj6*htj1**2 + (99997*9999918409**(1/2)*cj5*r20/9999918409 + 71997840*r21*sj5/9999918409)*cj6 + (-99997*9999918409**(1/2)*cj5*r21/9999918409 + 71997840*r20*sj5/9999918409)*sj6*htj1**2 + (-99997*9999918409**(1/2)*cj5*r21/9999918409 + 71997840*r20*sj5/9999918409)*sj6 - 9999400009*r22*sj5/9999918409*htj1**2 - 9999400009*r22*sj5/9999918409, cj0, sj0, cj6, sj6, htj1, domain='EX'))
INFO: assuming equation htj1 is non-zero
INFO: assuming equation htj1 is non-zero
INFO: not unique: (Poly((-268738560000*cos(j3)/99998368186657091281 - 5183688964665600/99998368186657091281)*cj2*cj4*htj1**2 - 1036800*sin(j3)/9999918409*cj2*cj4*htj1 + (268738560000*cos(j3)/99998368186657091281 + 5183688964665600/99998368186657091281)*cj2*cj4 - 373248000*9999918409**(1/2)*sin(j3)/99998368186657091281*cj2*sj4*htj1**2 + 1440*9999918409**(1/2)*cos(j3)/9999918409*cj2*sj4*htj1 + 373248000*9999918409**(1/2)*sin(j3)/99998368186657091281*cj2*sj4 + (5183688964665600*cos(j3)/99998368186657091281 - 5183688964665600/99998368186657091281)*cj2*htj1**2 + 19998800018*sin(j3)/9999918409*cj2*htj1 + (-5183688964665600*cos(j3)/99998368186657091281 + 5183688964665600/99998368186657091281)*cj2 - 373248000*9999918409**(1/2)*sin(j3)/99998368186657091281*sj2*cj4*htj1**2 + (746496000*9999918409**(1/2)*cos(j3)/99998368186657091281 + 14399136012960*9999918409**(1/2)/99998368186657091281)*sj2*cj4*htj1 + 373248000*9999918409**(1/2)*sin(j3)/99998368186657091281*sj2*cj4 + 518400*cos(j3)/9999918409*sj2*sj4*htj1**2 + 1036800*sin(j3)/9999918409*sj2*sj4*htj1 - 518400*cos(j3)/9999918409*sj2*sj4 + 7199568006480*9999918409**(1/2)*sin(j3)/99998368186657091281*sj2*htj1**2 + (-14399136012960*9999918409**(1/2)*cos(j3)/99998368186657091281 + 14399136012960*9999918409**(1/2)/99998368186657091281)*sj2*htj1 - 7199568006480*9999918409**(1/2)*sin(j3)/99998368186657091281*sj2 + (5183688964665600*cos(j3)/99998368186657091281 - 5183688964665600/99998368186657091281)*cj4*htj1**2 + (-5183688964665600*cos(j3)/99998368186657091281 + 5183688964665600/99998368186657091281)*cj4 + 7199568006480*9999918409**(1/2)*sin(j3)/99998368186657091281*sj4*htj1**2 - 7199568006480*9999918409**(1/2)*sin(j3)/99998368186657091281*sj4 + (-99988000539989200081*cos(j3)/99998368186657091281 - 5183688964665600/99998368186657091281)*htj1**2, cj2, sj2, cj4, sj4, htj1, domain='EX'), Poly((518400*cj5*r11/9999918409 - 720*9999918409**(1/2)*r10*sj5/9999918409)*cj0*cj6*htj1**2 + (518400*cj5*r11/9999918409 - 720*9999918409**(1/2)*r10*sj5/9999918409)*cj0*cj6 + (518400*cj5*r10/9999918409 + 720*9999918409**(1/2)*r11*sj5/9999918409)*cj0*sj6*htj1**2 + (518400*cj5*r10/9999918409 + 720*9999918409**(1/2)*r11*sj5/9999918409)*cj0*sj6 - 71997840*cj5*r12/9999918409*cj0*htj1**2 - 71997840*cj5*r12/9999918409*cj0 + (-518400*cj5*r01/9999918409 + 720*9999918409**(1/2)*r00*sj5/9999918409)*sj0*cj6*htj1**2 + (-518400*cj5*r01/9999918409 + 720*9999918409**(1/2)*r00*sj5/9999918409)*sj0*cj6 + (-518400*cj5*r00/9999918409 - 720*9999918409**(1/2)*r01*sj5/9999918409)*sj0*sj6*htj1**2 + (-518400*cj5*r00/9999918409 - 720*9999918409**(1/2)*r01*sj5/9999918409)*sj0*sj6 + 71997840*cj5*r02/9999918409*sj0*htj1**2 + 71997840*cj5*r02/9999918409*sj0 + (-71997840*cj5*r21/9999918409 + 99997*9999918409**(1/2)*r20*sj5/9999918409)*cj6*htj1**2 + (-71997840*cj5*r21/9999918409 + 99997*9999918409**(1/2)*r20*sj5/9999918409)*cj6 + (-71997840*cj5*r20/9999918409 - 99997*9999918409**(1/2)*r21*sj5/9999918409)*sj6*htj1**2 + (-71997840*cj5*r20/9999918409 - 99997*9999918409**(1/2)*r21*sj5/9999918409)*sj6 + 9999400009*cj5*r22/9999918409*htj1**2 + 9999400009*cj5*r22/9999918409 - 99988000539989200081*cos(j3)/99998368186657091281 - 5183688964665600/99998368186657091281, cj0, sj0, cj6, sj6, htj1, domain='EX'))
INFO: not unique: [Poly((5183688964665600*cos(j3)/99998368186657091281 + 99988000539989200081/99998368186657091281)*cj2*cj4 + 7199568006480*9999918409**(1/2)*sin(j3)/99998368186657091281*cj2*sj4 + (5183688964665600*cos(j3)/99998368186657091281 - 5183688964665600/99998368186657091281)*cj2 + 7199568006480*9999918409**(1/2)*sin(j3)/99998368186657091281*sj2*cj4 - 9999400009*cos(j3)/9999918409*sj2*sj4 + 7199568006480*9999918409**(1/2)*sin(j3)/99998368186657091281*sj2 + (5183688964665600*cos(j3)/99998368186657091281 - 5183688964665600/99998368186657091281)*cj4 + 7199568006480*9999918409**(1/2)*sin(j3)/99998368186657091281*sj4, cj2, sj2, cj4, sj4, htj1, domain='EX'), Poly(9999400009*r11/9999918409*cj0*cj6 + 9999400009*r10/9999918409*cj0*sj6 + 71997840*r12/9999918409*cj0 - 9999400009*r01/9999918409*sj0*cj6 - 9999400009*r00/9999918409*sj0*sj6 - 71997840*r02/9999918409*sj0 + 71997840*r21/9999918409*cj6 + 71997840*r20/9999918409*sj6 + 518400*r22/9999918409 - 5183688964665600*cos(j3)/99998368186657091281 - 268738560000/99998368186657091281, cj0, sj0, cj6, sj6, htj1, domain='QQ[r00,r01,r02,r10,r11,r12,r20,r21,r22,cos(j3)]')]
INFO: assuming equation htj1 is non-zero
INFO: not unique: (Poly((5183688964665600*cos(j3)/99998368186657091281 + 99988000539989200081/99998368186657091281)*cj2*cj4 + 7199568006480*9999918409**(1/2)*sin(j3)/99998368186657091281*cj2*sj4 + (5183688964665600*cos(j3)/99998368186657091281 - 5183688964665600/99998368186657091281)*cj2 + 7199568006480*9999918409**(1/2)*sin(j3)/99998368186657091281*sj2*cj4 - 9999400009*cos(j3)/9999918409*sj2*sj4 + 7199568006480*9999918409**(1/2)*sin(j3)/99998368186657091281*sj2 + (5183688964665600*cos(j3)/99998368186657091281 - 5183688964665600/99998368186657091281)*cj4 + 7199568006480*9999918409**(1/2)*sin(j3)/99998368186657091281*sj4, cj2, sj2, cj4, sj4, htj1, domain='EX'), Poly(9999400009*r11/9999918409*cj0*cj6 + 9999400009*r10/9999918409*cj0*sj6 + 71997840*r12/9999918409*cj0 - 9999400009*r01/9999918409*sj0*cj6 - 9999400009*r00/9999918409*sj0*sj6 - 71997840*r02/9999918409*sj0 + 71997840*r21/9999918409*cj6 + 71997840*r20/9999918409*sj6 + 518400*r22/9999918409 - 5183688964665600*cos(j3)/99998368186657091281 - 268738560000/99998368186657091281, cj0, sj0, cj6, sj6, htj1, domain='QQ[r00,r01,r02,r10,r11,r12,r20,r21,r22,cos(j3)]'))
INFO: not unique: [Poly((-14399568*cos(j3)/9999918409 - 2609843402349*9999918409**(1/2)*cos(j3)/192304554205109790925 + 2609843402349*9999918409**(1/2)/192304554205109790925)*cj2 + (-99997*9999918409**(1/2)*sin(j3)/49999592045 - 289982600261*sin(j3)/1538448986000)*sj2, cj2, sj2, cj4, sj4, htj1, domain='EX'), Poly(-141295761*r11/249997960225*cj0*cj6 - 141295761*r10/249997960225*cj0*sj6 - 99997*9999918409**(1/2)*py/9999918409*cj0 + 141295761*r01/249997960225*sj0*cj6 + 141295761*r00/249997960225*sj0*sj6 + 99997*9999918409**(1/2)*px/9999918409*sj0 - 203472*r21/49999592045*cj6 - 203472*r20/49999592045*sj6 - 720*9999918409**(1/2)*pz/9999918409 + 2609843402349*9999918409**(1/2)*cos(j3)/192304554205109790925 + 14399568*cos(j3)/9999918409 + 110773739088*9999918409**(1/2)/7692182168204391637, cj0, sj0, cj6, sj6, htj1, domain='EX')]
INFO: assuming equation htj1 is non-zero
INFO: not unique: (Poly((-14399568*cos(j3)/9999918409 - 2609843402349*9999918409**(1/2)*cos(j3)/192304554205109790925 + 2609843402349*9999918409**(1/2)/192304554205109790925)*cj2 + (-99997*9999918409**(1/2)*sin(j3)/49999592045 - 289982600261*sin(j3)/1538448986000)*sj2, cj2, sj2, cj4, sj4, htj1, domain='EX'), Poly(-141295761*r11/249997960225*cj0*cj6 - 141295761*r10/249997960225*cj0*sj6 - 99997*9999918409**(1/2)*py/9999918409*cj0 + 141295761*r01/249997960225*sj0*cj6 + 141295761*r00/249997960225*sj0*sj6 + 99997*9999918409**(1/2)*px/9999918409*sj0 - 203472*r21/49999592045*cj6 - 203472*r20/49999592045*sj6 - 720*9999918409**(1/2)*pz/9999918409 + 2609843402349*9999918409**(1/2)*cos(j3)/192304554205109790925 + 14399568*cos(j3)/9999918409 + 110773739088*9999918409**(1/2)/7692182168204391637, cj0, sj0, cj6, sj6, htj1, domain='EX'))
INFO: assuming equation htj1 is non-zero
INFO: not unique: (Poly((-287981545513643424*sin(j3)/99998368186657091281 - 69925804262937*9999918409**(1/2)*sin(j3)/2499959204666427282025)*cj2*cj4 + (99997*9999918409**(1/2)*cos(j3)/49999592045 + 7692159219677158693*cos(j3)/38460910841021958185 + 2899652015659686802349/15384364336408783274000 + 999910002699973*9999918409**(1/2)/499991840933285456405)*cj2*sj4 + (-1439913601296*9999918409**(1/2)*sin(j3)/99998368186657091281 - 143987040388796112*sin(j3)/99998368186657091281)*cj2 + (37699503929901473601737*cos(j3)/199996736373314182562000 + 99997*9999918409**(1/2)*cos(j3)/49999592045 + 99988000539989200081/499991840933285456405 + 999910002699973*9999918409**(1/2)/499991840933285456405)*sj2*cj4 + (14399568*sin(j3)/9999918409 + 69925804262937*9999918409**(1/2)*sin(j3)/2499959204666427282025)*sj2*sj4 + (1036737792933120*cos(j3)/99998368186657091281 - 10367688960*9999918409**(1/2)/99998368186657091281 - 1036737792933120/99998368186657091281)*sj2 + (-143987040388796112*sin(j3)/99998368186657091281 - 2609843402349*9999918409**(1/2)*sin(j3)/192304554205109790925)*cj4 + (375817449938256*cos(j3)/38460910841021958185 - 10367688960*9999918409**(1/2)/99998368186657091281 - 375817449938256/38460910841021958185)*sj4, cj2, sj2, cj4, sj4, htj1, domain='EX'), Poly((-20346589584*9999918409**(1/2)*r10/499991840933285456405 + 9999400009*rxp1_1/9999918409)*cj0*cj6 + (20346589584*9999918409**(1/2)*r11/499991840933285456405 + 9999400009*rxp0_1/9999918409)*cj0*sj6 + 71997840*rxp2_1/9999918409*cj0 + (20346589584*9999918409**(1/2)*r00/499991840933285456405 - 9999400009*rxp1_0/9999918409)*sj0*cj6 + (-20346589584*9999918409**(1/2)*r01/499991840933285456405 - 9999400009*rxp0_0/9999918409)*sj0*sj6 - 71997840*rxp2_0/9999918409*sj0 + (-29299968*9999918409**(1/2)*r20/99998368186657091281 + 71997840*rxp1_2/9999918409)*cj6 + (29299968*9999918409**(1/2)*r21/99998368186657091281 + 71997840*rxp0_2/9999918409)*sj6 + 518400*rxp2_2/9999918409 - 7464736051200*sin(j3)/99998368186657091281, cj0, sj0, cj6, sj6, htj1, domain='EX'))
INFO: assuming equation htj1 is non-zero
INFO: not unique: (Poly((-41472*cos(j3)/9999918409 - 7516574496*9999918409**(1/2)*cos(j3)/192304554205109790925 + 7516574496*9999918409**(1/2)/192304554205109790925)*cj2 + (-288*9999918409**(1/2)*sin(j3)/49999592045 - 52198434*sin(j3)/96153061625)*sj2, cj2, sj2, cj4, sj4, htj1, domain='EX'), Poly(2826*9999918409**(1/2)*npy/249997960225*cj6 + 2826*9999918409**(1/2)*npx/249997960225*sj6 + pp - 59765446728907617*9999918409**(1/2)*cos(j3)/38460910841021958185000 - 7769533806993*cos(j3)/49999592045000 - 6221382811271161/39999673636000000 - 59768453358706017*9999918409**(1/2)/38460910841021958185000, cj0, sj0, cj6, sj6, htj1, domain='EX'))
INFO: assuming equation htj1 is non-zero
INFO: not unique: (Poly((7464736051200*cos(j3)/99998368186657091281 + 143987040388796112/99998368186657091281)*cj2*cj4 + 10367688960*9999918409**(1/2)*sin(j3)/99998368186657091281*cj2*sj4 + (7464736051200*cos(j3)/99998368186657091281 - 7464736051200/99998368186657091281)*cj2 + 10367688960*9999918409**(1/2)*sin(j3)/99998368186657091281*sj2*cj4 - 14399568*cos(j3)/9999918409*sj2*sj4 + 10367688960*9999918409**(1/2)*sin(j3)/99998368186657091281*sj2 + (-1439913601296*9999918409**(1/2)*cos(j3)/99998368186657091281 - 143987040388796112*cos(j3)/99998368186657091281 - 7464736051200/99998368186657091281 + 1439913601296*9999918409**(1/2)/99998368186657091281)*cj4 + (-9999400009*sin(j3)/49999592045 - 999910002699973*9999918409**(1/2)*sin(j3)/499991840933285456405)*sj4, cj2, sj2, cj4, sj4, htj1, domain='EX'), Poly(-99997*9999918409**(1/2)*npy/9999918409*cj6 - 99997*9999918409**(1/2)*npx/9999918409*sj6 - 720*9999918409**(1/2)*npz/9999918409 + 143987040388796112*cos(j3)/99998368186657091281 + 1439913601296*9999918409**(1/2)*cos(j3)/99998368186657091281 + 2187103164984898551/2499959204666427282025 + 33931589401737*9999918409**(1/2)/2499959204666427282025, cj0, sj0, cj6, sj6, htj1, domain='EX'))
INFO: assuming equation htj1 is non-zero
INFO: not unique: (Poly((379008106460249563173*cos(j3)/2438984589918465641000 + 77697669*9999918409**(1/2)*cos(j3)/49999592045000 + 776930072097879021*9999918409**(1/2)/499991840933285456405000 + 62205434787942941057192449/399993472746628365124000000)*cj2*cj4 + (1597758122197908612*sin(j3)/961522771025548954625 + 83130621938222049*9999918409**(1/2)*sin(j3)/4999918409332854564050000)*cj2*sj4 + (-244723243678852041*cos(j3)/62498980116660682050625 - 7516574496*9999918409**(1/2)*cos(j3)/192304554205109790925 - 273659089715707959/62498980116660682050625 - 4147075584*9999918409**(1/2)/99998368186657091281)*cj2 + (83130621938222049*9999918409**(1/2)*sin(j3)/4999918409332854564050000 + 21184818329690600778*sin(j3)/12499796023332136410125)*sj2*cj4 + (-4785401777828198665170373*cos(j3)/30768728672817566548000000 - 77697669*9999918409**(1/2)*cos(j3)/49999592045000 - 5976365376550574977149/38460910841021958185000 - 776930072097879021*9999918409**(1/2)/499991840933285456405000)*sj2*sj4 + (1606800506047551*9999918409**(1/2)*sin(j3)/4999918409332854564050000 + 413610965431376022*sin(j3)/12499796023332136410125)*sj2 + (-14474641482427959*cos(j3)/62498980116660682050625 - 201392358048*9999918409**(1/2)/2499959204666427282025 - 5968531871972001/1524365368699041025625)*cj4 + (521953021409385906*sin(j3)/961522771025548954625 + 663170207996889*9999918409**(1/2)*sin(j3)/121949229495923282050000)*sj4, cj2, sj2, cj4, sj4, htj1, domain='EX'), Poly((-19998800018*npy*py/9999918409 + 9999400009*pp*r11/9999918409 - 19964492076569121*r11/62498980116660682050625 + 40693179168*9999918409**(1/2)*rxp0_1/499991840933285456405)*cj0*cj6 + (-19998800018*npx*py/9999918409 + 9999400009*pp*r10/9999918409 - 19964492076569121*r10/62498980116660682050625 - 40693179168*9999918409**(1/2)*rxp1_1/499991840933285456405)*cj0*sj6 + (-143995680*npz*py/9999918409 + 71997840*pp*r12/9999918409 - 28258304425434*9999918409**(1/2)*py/2499959204666427282025 + 28749731082192*r12/12499796023332136410125)*cj0 + (19998800018*npy*px/9999918409 - 9999400009*pp*r01/9999918409 + 19964492076569121*r01/62498980116660682050625 - 40693179168*9999918409**(1/2)*rxp0_0/499991840933285456405)*sj0*cj6 + (19998800018*npx*px/9999918409 - 9999400009*pp*r00/9999918409 + 19964492076569121*r00/62498980116660682050625 + 40693179168*9999918409**(1/2)*rxp1_0/499991840933285456405)*sj0*sj6 + (143995680*npz*px/9999918409 - 71997840*pp*r02/9999918409 + 28258304425434*9999918409**(1/2)*px/2499959204666427282025 - 28749731082192*r02/12499796023332136410125)*sj0 + (-143995680*npy*pz/9999918409 + 71997840*pp*r21/9999918409 - 28749731082192*r21/12499796023332136410125 + 58599936*9999918409**(1/2)*rxp0_2/99998368186657091281)*cj6 + (-143995680*npx*pz/9999918409 + 71997840*pp*r20/9999918409 - 28749731082192*r20/12499796023332136410125 - 58599936*9999918409**(1/2)*rxp1_2/99998368186657091281)*sj6 - 1036800*npz*pz/9999918409 + 518400*pp*r22/9999918409 - 40693179168*9999918409**(1/2)*pz/499991840933285456405 + 41400854784*r22/2499959204666427282025 + 7516574496*9999918409**(1/2)*cos(j3)/192304554205109790925 + 5968531871972001*cos(j3)/1524365368699041025625 + 1954346050832544/499991840933285456405 + 4147075584*9999918409**(1/2)/99998368186657091281, cj0, sj0, cj6, sj6, htj1, domain='EX'))
INFO: matrix has 98 symbols
INFO: skipping dependent index 1
INFO: skipping dependent index 3
INFO: skipping dependent index 9
INFO: skipping dependent index 11
INFO: computed non-singular AU matrix
INFO: reducing 8 equations
WARNING: equation way too complex (10370), looking for another solution
WARNING: equation way too complex (10382), looking for another solution
WARNING: equation way too complex (20788), looking for another solution
WARNING: equation way too complex (20786), looking for another solution
WARNING: equation way too complex (21023), looking for another solution
WARNING: equation way too complex (21018), looking for another solution
Killed
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