```python
from sympy import sympify

expor = sympify("Matrix([[-b1*l1*cos(a1) - l2*(b1 + b2)*cos(a1 + a2) - l3*(b1 + b2 + b3)*cos(a1 + a2 + a3) - l4*(b1 + b2 + b3 + b4)*cos(a1 + a2 + a3 + a4), -l2*(b1 + b2)*cos(a1 + a2) - l3*(b1 + b2 + b3)*cos(a1 + a2 + a3) - l4*(b1 + b2 + b3 + b4)*cos(a1 + a2 + a3 + a4), -l3*(b1 + b2 + b3)*cos(a1 + a2 + a3) - l4*(b1 + b2 + b3 + b4)*cos(a1 + a2 + a3 + a4), -l4*(b1 + b2 + b3 + b4)*cos(a1 + a2 + a3 + a4)], [-b1*l1*sin(a1) - l2*(b1 + b2)*sin(a1 + a2) - l3*(b1 + b2 + b3)*sin(a1 + a2 + a3) - l4*(b1 + b2 + b3 + b4)*sin(a1 + a2 + a3 + a4), -l2*(b1 + b2)*sin(a1 + a2) - l3*(b1 + b2 + b3)*sin(a1 + a2 + a3) - l4*(b1 + b2 + b3 + b4)*sin(a1 + a2 + a3 + a4), -l3*(b1 + b2 + b3)*sin(a1 + a2 + a3) - l4*(b1 + b2 + b3 + b4)*sin(a1 + a2 + a3 + a4), -l4*(b1 + b2 + b3 + b4)*sin(a1 + a2 + a3 + a4)]])")
```


```python
expor
```




$\displaystyle \left[\begin{matrix}- b_{1} l_{1} \cos{\left(a_{1} \right)} - l_{2} \left(b_{1} + b_{2}\right) \cos{\left(a_{1} + a_{2} \right)} - l_{3} \left(b_{1} + b_{2} + b_{3}\right) \cos{\left(a_{1} + a_{2} + a_{3} \right)} - l_{4} \left(b_{1} + b_{2} + b_{3} + b_{4}\right) \cos{\left(a_{1} + a_{2} + a_{3} + a_{4} \right)} & - l_{2} \left(b_{1} + b_{2}\right) \cos{\left(a_{1} + a_{2} \right)} - l_{3} \left(b_{1} + b_{2} + b_{3}\right) \cos{\left(a_{1} + a_{2} + a_{3} \right)} - l_{4} \left(b_{1} + b_{2} + b_{3} + b_{4}\right) \cos{\left(a_{1} + a_{2} + a_{3} + a_{4} \right)} & - l_{3} \left(b_{1} + b_{2} + b_{3}\right) \cos{\left(a_{1} + a_{2} + a_{3} \right)} - l_{4} \left(b_{1} + b_{2} + b_{3} + b_{4}\right) \cos{\left(a_{1} + a_{2} + a_{3} + a_{4} \right)} & - l_{4} \left(b_{1} + b_{2} + b_{3} + b_{4}\right) \cos{\left(a_{1} + a_{2} + a_{3} + a_{4} \right)}\\- b_{1} l_{1} \sin{\left(a_{1} \right)} - l_{2} \left(b_{1} + b_{2}\right) \sin{\left(a_{1} + a_{2} \right)} - l_{3} \left(b_{1} + b_{2} + b_{3}\right) \sin{\left(a_{1} + a_{2} + a_{3} \right)} - l_{4} \left(b_{1} + b_{2} + b_{3} + b_{4}\right) \sin{\left(a_{1} + a_{2} + a_{3} + a_{4} \right)} & - l_{2} \left(b_{1} + b_{2}\right) \sin{\left(a_{1} + a_{2} \right)} - l_{3} \left(b_{1} + b_{2} + b_{3}\right) \sin{\left(a_{1} + a_{2} + a_{3} \right)} - l_{4} \left(b_{1} + b_{2} + b_{3} + b_{4}\right) \sin{\left(a_{1} + a_{2} + a_{3} + a_{4} \right)} & - l_{3} \left(b_{1} + b_{2} + b_{3}\right) \sin{\left(a_{1} + a_{2} + a_{3} \right)} - l_{4} \left(b_{1} + b_{2} + b_{3} + b_{4}\right) \sin{\left(a_{1} + a_{2} + a_{3} + a_{4} \right)} & - l_{4} \left(b_{1} + b_{2} + b_{3} + b_{4}\right) \sin{\left(a_{1} + a_{2} + a_{3} + a_{4} \right)}\end{matrix}\right]$



b6177bf0d11fb3e72b1faa56a83b06ce7d8daf2d
ipynb
Jupyter Notebook
o/soft_robot/derivation_of_dynamics/misc/sim.ipynb
YoshimitsuMatsutaIe/ctrlab2021_soudan
7841c981e6804cc92d34715a00e7c3efce41d1d0
MIT
o/soft_robot/derivation_of_dynamics/misc/sim.ipynb
YoshimitsuMatsutaIe/ctrlab2021_soudan
7841c981e6804cc92d34715a00e7c3efce41d1d0
MIT
o/soft_robot/derivation_of_dynamics/misc/sim.ipynb
YoshimitsuMatsutaIe/ctrlab2021_soudan
7841c981e6804cc92d34715a00e7c3efce41d1d0
MIT
Qwen/Qwen-72B
1. YES
2. YES