[y0, y1, y2, y3, y4, y5, y6, l0*m1*y1**2*cos(x1) + l0*m2*y1**2*cos(x1) + l0*m3*y1**2*cos(x1) + l0*m4*y1**2*cos(x1) + l0*m5*y1**2*cos(x1) + l0*m6*y1**2*cos(x1) + l1*m2*y2**2*cos(x2) + l1*m3*y2**2*cos(x2) + l1*m4*y2**2*cos(x2) + l1*m5*y2**2*cos(x2) + l1*m6*y2**2*cos(x2) + l2*m3*y3**2*cos(x3) + l2*m4*y3**2*cos(x3) + l2*m5*y3**2*cos(x3) + l2*m6*y3**2*cos(x3) + l3*m4*y4**2*cos(x4) + l3*m5*y4**2*cos(x4) + l3*m6*y4**2*cos(x4) + l4*m5*y5**2*cos(x5) + l4*m6*y5**2*cos(x5) + l5*m6*y6**2*cos(x6), -g*l0*m1*cos(x1) - g*l0*m2*cos(x1) - g*l0*m3*cos(x1) - g*l0*m4*cos(x1) - g*l0*m5*cos(x1) - g*l0*m6*cos(x1) + l0*l1*m2*y2**2*(-sin(x1)*cos(x2) + sin(x2)*cos(x1)) + l0*l1*m3*y2**2*(-sin(x1)*cos(x2) + sin(x2)*cos(x1)) + l0*l1*m4*y2**2*(-sin(x1)*cos(x2) + sin(x2)*cos(x1)) + l0*l1*m5*y2**2*(-sin(x1)*cos(x2) + sin(x2)*cos(x1)) + l0*l1*m6*y2**2*(-sin(x1)*cos(x2) + sin(x2)*cos(x1)) + l0*l2*m3*y3**2*(-sin(x1)*cos(x3) + sin(x3)*cos(x1)) + l0*l2*m4*y3**2*(-sin(x1)*cos(x3) + sin(x3)*cos(x1)) + l0*l2*m5*y3**2*(-sin(x1)*cos(x3) + sin(x3)*cos(x1)) + l0*l2*m6*y3**2*(-sin(x1)*cos(x3) + sin(x3)*cos(x1)) + l0*l3*m4*y4**2*(-sin(x1)*cos(x4) + sin(x4)*cos(x1)) + l0*l3*m5*y4**2*(-sin(x1)*cos(x4) + sin(x4)*cos(x1)) + l0*l3*m6*y4**2*(-sin(x1)*cos(x4) + sin(x4)*cos(x1)) + l0*l4*m5*y5**2*(-sin(x1)*cos(x5) + sin(x5)*cos(x1)) + l0*l4*m6*y5**2*(-sin(x1)*cos(x5) + sin(x5)*cos(x1)) + l0*l5*m6*y6**2*(-sin(x1)*cos(x6) + sin(x6)*cos(x1)), -g*l1*m2*cos(x2) - g*l1*m3*cos(x2) - g*l1*m4*cos(x2) - g*l1*m5*cos(x2) - g*l1*m6*cos(x2) + l0*l1*m2*y1**2*(sin(x1)*cos(x2) - sin(x2)*cos(x1)) + l0*l1*m3*y1**2*(sin(x1)*cos(x2) - sin(x2)*cos(x1)) + l0*l1*m4*y1**2*(sin(x1)*cos(x2) - sin(x2)*cos(x1)) + l0*l1*m5*y1**2*(sin(x1)*cos(x2) - sin(x2)*cos(x1)) + l0*l1*m6*y1**2*(sin(x1)*cos(x2) - sin(x2)*cos(x1)) + l1*l2*m3*y3**2*(-sin(x2)*cos(x3) + sin(x3)*cos(x2)) + l1*l2*m4*y3**2*(-sin(x2)*cos(x3) + sin(x3)*cos(x2)) + l1*l2*m5*y3**2*(-sin(x2)*cos(x3) + sin(x3)*cos(x2)) + l1*l2*m6*y3**2*(-sin(x2)*cos(x3) + sin(x3)*cos(x2)) + l1*l3*m4*y4**2*(-sin(x2)*cos(x4) + sin(x4)*cos(x2)) + l1*l3*m5*y4**2*(-sin(x2)*cos(x4) + sin(x4)*cos(x2)) + l1*l3*m6*y4**2*(-sin(x2)*cos(x4) + sin(x4)*cos(x2)) + l1*l4*m5*y5**2*(-sin(x2)*cos(x5) + sin(x5)*cos(x2)) + l1*l4*m6*y5**2*(-sin(x2)*cos(x5) + sin(x5)*cos(x2)) + l1*l5*m6*y6**2*(-sin(x2)*cos(x6) + sin(x6)*cos(x2)), -g*l2*m3*cos(x3) - g*l2*m4*cos(x3) - g*l2*m5*cos(x3) - g*l2*m6*cos(x3) + l0*l2*m3*y1**2*(sin(x1)*cos(x3) - sin(x3)*cos(x1)) + l0*l2*m4*y1**2*(sin(x1)*cos(x3) - sin(x3)*cos(x1)) + l0*l2*m5*y1**2*(sin(x1)*cos(x3) - sin(x3)*cos(x1)) + l0*l2*m6*y1**2*(sin(x1)*cos(x3) - sin(x3)*cos(x1)) + l1*l2*m3*y2**2*(sin(x2)*cos(x3) - sin(x3)*cos(x2)) + l1*l2*m4*y2**2*(sin(x2)*cos(x3) - sin(x3)*cos(x2)) + l1*l2*m5*y2**2*(sin(x2)*cos(x3) - sin(x3)*cos(x2)) + l1*l2*m6*y2**2*(sin(x2)*cos(x3) - sin(x3)*cos(x2)) + l2*l3*m4*y4**2*(-sin(x3)*cos(x4) + sin(x4)*cos(x3)) + l2*l3*m5*y4**2*(-sin(x3)*cos(x4) + sin(x4)*cos(x3)) + l2*l3*m6*y4**2*(-sin(x3)*cos(x4) + sin(x4)*cos(x3)) + l2*l4*m5*y5**2*(-sin(x3)*cos(x5) + sin(x5)*cos(x3)) + l2*l4*m6*y5**2*(-sin(x3)*cos(x5) + sin(x5)*cos(x3)) + l2*l5*m6*y6**2*(-sin(x3)*cos(x6) + sin(x6)*cos(x3)), -g*l3*m4*cos(x4) - g*l3*m5*cos(x4) - g*l3*m6*cos(x4) + l0*l3*m4*y1**2*(sin(x1)*cos(x4) - sin(x4)*cos(x1)) + l0*l3*m5*y1**2*(sin(x1)*cos(x4) - sin(x4)*cos(x1)) + l0*l3*m6*y1**2*(sin(x1)*cos(x4) - sin(x4)*cos(x1)) + l1*l3*m4*y2**2*(sin(x2)*cos(x4) - sin(x4)*cos(x2)) + l1*l3*m5*y2**2*(sin(x2)*cos(x4) - sin(x4)*cos(x2)) + l1*l3*m6*y2**2*(sin(x2)*cos(x4) - sin(x4)*cos(x2)) + l2*l3*m4*y3**2*(sin(x3)*cos(x4) - sin(x4)*cos(x3)) + l2*l3*m5*y3**2*(sin(x3)*cos(x4) - sin(x4)*cos(x3)) + l2*l3*m6*y3**2*(sin(x3)*cos(x4) - sin(x4)*cos(x3)) + l3*l4*m5*y5**2*(-sin(x4)*cos(x5) + sin(x5)*cos(x4)) + l3*l4*m6*y5**2*(-sin(x4)*cos(x5) + sin(x5)*cos(x4)) + l3*l5*m6*y6**2*(-sin(x4)*cos(x6) + sin(x6)*cos(x4)), -g*l4*m5*cos(x5) - g*l4*m6*cos(x5) + l0*l4*m5*y1**2*(sin(x1)*cos(x5) - sin(x5)*cos(x1)) + l0*l4*m6*y1**2*(sin(x1)*cos(x5) - sin(x5)*cos(x1)) + l1*l4*m5*y2**2*(sin(x2)*cos(x5) - sin(x5)*cos(x2)) + l1*l4*m6*y2**2*(sin(x2)*cos(x5) - sin(x5)*cos(x2)) + l2*l4*m5*y3**2*(sin(x3)*cos(x5) - sin(x5)*cos(x3)) + l2*l4*m6*y3**2*(sin(x3)*cos(x5) - sin(x5)*cos(x3)) + l3*l4*m5*y4**2*(sin(x4)*cos(x5) - sin(x5)*cos(x4)) + l3*l4*m6*y4**2*(sin(x4)*cos(x5) - sin(x5)*cos(x4)) + l4*l5*m6*y6**2*(-sin(x5)*cos(x6) + sin(x6)*cos(x5)), -g*l5*m6*cos(x6) + l0*l5*m6*y1**2*(sin(x1)*cos(x6) - sin(x6)*cos(x1)) + l1*l5*m6*y2**2*(sin(x2)*cos(x6) - sin(x6)*cos(x2)) + l2*l5*m6*y3**2*(sin(x3)*cos(x6) - sin(x6)*cos(x3)) + l3*l5*m6*y4**2*(sin(x4)*cos(x6) - sin(x6)*cos(x4)) + l4*l5*m6*y5**2*(sin(x5)*cos(x6) - sin(x6)*cos(x5))]