function tau_mat = standard_dynamics_R1000(in1)
%standard_dynamics_R1000
%    TAU_MAT = standard_dynamics_R1000(IN1)

%    This function was generated by the Symbolic Math Toolbox version 9.1.
%    07-Oct-2024 20:05:17

q2 = in1(2,:);
q3 = in1(3,:);
q4 = in1(4,:);
q5 = in1(5,:);
q6 = in1(6,:);
q7 = in1(7,:);
q8 = in1(8,:);
q9 = in1(9,:);
t2 = cos(q2);
t3 = cos(q3);
t4 = cos(q4);
t5 = cos(q5);
t6 = cos(q6);
t7 = cos(q7);
t8 = cos(q8);
t9 = sin(q2);
t10 = sin(q3);
t11 = sin(q4);
t12 = sin(q5);
t13 = sin(q6);
t14 = sin(q7);
t15 = sin(q8);
t38 = q9+3.647515815399993e-2;
t16 = t2.*t3.*9.806;
t17 = t2.*t10.*9.806;
t18 = t3.*t9.*9.806;
t19 = t9.*t10.*9.806;
t21 = t2.*t3.*2.373052e+1;
t22 = t2.*t10.*2.373052e+1;
t23 = t3.*t9.*2.373052e+1;
t24 = t9.*t10.*2.373052e+1;
t32 = t4.*4.922552299946314e-7;
t33 = t11.*4.922552299946314e-7;
t36 = t3.*4.409419000001025e-5;
t37 = t10.*4.409419000001025e-5;
t39 = t8.*2.32103180000387e-5;
t40 = t15.*2.32103180000387e-5;
t43 = t7.*4.740360800000037e-3;
t44 = t14.*4.740360800000037e-3;
t45 = t6.*1.230157900000001e-2;
t46 = t13.*1.230157900000001e-2;
t48 = t8.*2.0257876e-1;
t49 = t15.*2.0257876e-1;
t51 = t3.*1.2654643e-1;
t52 = t10.*1.2654643e-1;
t55 = t5.*6.595131499999993e-2;
t56 = t12.*6.595131499999993e-2;
t57 = t4.*2.618828899999998e-1;
t58 = t11.*2.618828899999998e-1;
t62 = t6.*4.895353899999624e-5;
t63 = t13.*4.895353899999624e-5;
t68 = t7.*5.992854699999624e-5;
t69 = t14.*5.992854699999624e-5;
t70 = t5.*9.036099100000004e-3;
t71 = t12.*9.036099100000004e-3;
t20 = -t19;
t25 = -t24;
t26 = t17+t18;
t35 = -t32;
t41 = -t36;
t42 = -t40;
t50 = -t44;
t61 = -t56;
t67 = -t62;
t99 = t33+t57+5.404868499999996e-2;
t100 = t37+t51+1.8811711e-1;
t101 = t39+t49+3.657193499999997e-2;
t107 = t43+t69+2.32103180000387e-5;
t113 = t45+t63-2.8858572e-2;
t119 = t55+t71+1.302852800000001e-1;
t27 = t16+t20;
t28 = t4.*t26;
t29 = t11.*t26;
t97 = t41+t52+4.922552299946314e-7;
t98 = t35+t58+5.091563100000002e-3;
t102 = t42+t48+4.712426700000003e-2;
t105 = t4.*t99;
t106 = t11.*t99;
t108 = t8.*t101;
t109 = t15.*t101;
t114 = t7.*t107;
t115 = t14.*t107;
t118 = t46+t67+5.992854699999624e-5;
t120 = t6.*t113;
t121 = t13.*t113;
t123 = t12.*t119;
t124 = t61+t70+4.895353899999624e-5;
t125 = t50+t68+9.503114400000004e-3;
t128 = t5.*t119;
t30 = t4.*t27;
t31 = t11.*t27;
t34 = -t29;
t47 = t29.*(1.11e+2./5.0e+1);
t59 = t28.*(5.19e+2./1.0e+2);
t60 = t29.*(7.41e+2./1.0e+2);
t103 = t4.*t98;
t104 = t11.*t98;
t110 = -t106;
t111 = t8.*t102;
t112 = t15.*t102;
t117 = -t114;
t122 = -t121;
t126 = t6.*t118;
t127 = t13.*t118;
t129 = -t128;
t130 = t5.*t124;
t131 = t7.*t125;
t132 = t12.*t124;
t133 = t14.*t125;
t53 = t30.*(1.11e+2./5.0e+1);
t54 = -t47;
t64 = t30.*(7.41e+2./1.0e+2);
t65 = t31.*(5.19e+2./1.0e+2);
t66 = -t60;
t72 = t28+t31;
t73 = t30+t34;
t76 = -t6.*(t29-t30);
t77 = -t13.*(t29-t30);
t85 = t13.*(t29-t30).*(-9.0./5.0);
t92 = t6.*(t29-t30).*(-2.31e+2./1.0e+2);
t93 = t6.*(t29-t30).*(-4.11e+2./1.0e+2);
t116 = -t112;
t154 = t104+t105;
t155 = t103+t110;
t156 = t109+t111;
t164 = t115+t131;
t165 = t120+t127;
t166 = t117+t133;
t167 = t122+t126;
t168 = t123+t130;
t169 = t129+t132;
t74 = t6.*t12.*t72;
t75 = t12.*t13.*t72;
t78 = t5.*t7.*t72;
t80 = t5.*t72.*(9.0./5.0);
t82 = t5.*t14.*t72.*(6.0./5.0);
t84 = t5.*t72.*(2.01e+2./5.0e+1);
t86 = t12.*t72.*(1.11e+2./5.0e+1);
t88 = t5.*t14.*t72.*(1.31e+2./2.5e+1);
t89 = t5.*t14.*t72.*(2.93e+2./1.0e+2);
t96 = t5.*t14.*t72.*5.529408000000002e-2;
t160 = t108+t116;
t79 = -t74;
t81 = -t78;
t83 = t74.*(9.0./5.0);
t90 = t75.*(2.31e+2./1.0e+2);
t91 = t75.*(4.11e+2./1.0e+2);
t94 = t78.*(2.31e+2./1.0e+2);
t134 = t75+t76;
t136 = -t14.*(t74+t13.*(t29-t30));
t138 = t7.*(t74+t13.*(t29-t30)).*(-6.0./5.0);
t141 = t7.*(t74+t13.*(t29-t30)).*(-1.31e+2./2.5e+1);
t143 = t7.*(t74+t13.*(t29-t30)).*(-2.93e+2./1.0e+2);
t144 = t14.*(t74+t13.*(t29-t30)).*(-2.31e+2./1.0e+2);
t147 = t7.*(t74+t13.*(t29-t30)).*(-5.529408000000002e-2);
t153 = t15.*(t78+t14.*(t74+t13.*(t29-t30))).*(-6.0./5.0);
t158 = t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(-2.93e+2./1.0e+2);
t159 = t15.*(t78+t14.*(t74+t13.*(t29-t30))).*(-2.93e+2./1.0e+2);
t170 = t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(-5.529408000000002e-2);
t171 = t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(-6.05542308e-4);
t172 = t15.*(t78+t14.*(t74+t13.*(t29-t30))).*(-6.05542308e-4);
t87 = -t83;
t95 = -t94;
t135 = t77+t79;
t137 = t8.*t134.*(6.0./5.0);
t139 = t8.*t134.*(2.93e+2./1.0e+2);
t140 = t15.*t134.*(2.93e+2./1.0e+2);
t145 = t15.*t134.*5.529408000000002e-2;
t148 = t15.*t134.*6.05542308e-4;
t149 = t8.*t134.*6.05542308e-4;
t151 = t81+t136;
t152 = t82+t138;
t157 = t88+t141;
t161 = t89+t143;
t142 = -t140;
t146 = -t145;
t150 = -t148;
t162 = t7.*t157;
t163 = t14.*t157;
t173 = t38.*t152;
t177 = t107.*t157;
t178 = t137+t153;
t179 = t139+t159;
t183 = -t8.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2));
t184 = -t15.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2));
t185 = t15.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2));
t190 = t8.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2)).*(-9.140287820000001e-3);
t193 = t156.*t161;
t194 = t160.*t161;
t197 = -t102.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2));
t202 = t96+t147+t149+t172;
t174 = t162.*1.65162668e-1;
t175 = t163.*1.65162668e-1;
t180 = t142+t158;
t181 = t8.*t179;
t182 = t15.*t179;
t186 = t38.*t178;
t191 = t185.*(-9.140287820000001e-3);
t192 = t185.*9.140287820000001e-3;
t195 = -t194;
t196 = t101.*t179;
t198 = t150+t171+t173;
t199 = -t8.*(t148-t173+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*6.05542308e-4);
t200 = -t15.*(t148-t173+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*6.05542308e-4);
t201 = t15.*(t148-t173+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*6.05542308e-4);
t203 = t8.*t202;
t204 = t15.*t202;
t176 = -t175;
t187 = -t186;
t188 = t181.*9.140287820000001e-3;
t189 = t182.*9.140287820000001e-3;
t205 = t90+t92+t181+t185;
t206 = t91+t93+t181+t185;
t211 = t95+t144+t182+t183;
t212 = -t7.*(t94-t182+t14.*(t74+t13.*(t29-t30)).*(2.31e+2./1.0e+2)+t8.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2)));
t213 = -t14.*(t94-t182+t14.*(t74+t13.*(t29-t30)).*(2.31e+2./1.0e+2)+t8.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2)));
t214 = t7.*(t94-t182+t14.*(t74+t13.*(t29-t30)).*(2.31e+2./1.0e+2)+t8.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2)));
t216 = t14.*(t94-t182+t14.*(t74+t13.*(t29-t30)).*(2.31e+2./1.0e+2)+t8.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2))).*(-1.65162668e-1);
t218 = -t125.*(t94-t182+t14.*(t74+t13.*(t29-t30)).*(2.31e+2./1.0e+2)+t8.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2)));
t219 = t125.*(t94-t182+t14.*(t74+t13.*(t29-t30)).*(2.31e+2./1.0e+2)+t8.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2)));
t231 = -t6.*(t83-t162+t14.*(t94-t182+t14.*(t74+t13.*(t29-t30)).*(2.31e+2./1.0e+2)+t8.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2)))+t13.*(t29-t30).*(9.0./5.0));
t232 = -t13.*(t83-t162+t14.*(t94-t182+t14.*(t74+t13.*(t29-t30)).*(2.31e+2./1.0e+2)+t8.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2)))+t13.*(t29-t30).*(9.0./5.0));
t233 = t6.*(t83-t162+t14.*(t94-t182+t14.*(t74+t13.*(t29-t30)).*(2.31e+2./1.0e+2)+t8.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2)))+t13.*(t29-t30).*(9.0./5.0));
t235 = t13.*(t83-t162+t14.*(t94-t182+t14.*(t74+t13.*(t29-t30)).*(2.31e+2./1.0e+2)+t8.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2)))+t13.*(t29-t30).*(9.0./5.0)).*(-1.448743539999999e-1);
t238 = -t113.*(t83-t162+t14.*(t94-t182+t14.*(t74+t13.*(t29-t30)).*(2.31e+2./1.0e+2)+t8.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2)))+t13.*(t29-t30).*(9.0./5.0));
t239 = t113.*(t83-t162+t14.*(t94-t182+t14.*(t74+t13.*(t29-t30)).*(2.31e+2./1.0e+2)+t8.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2)))+t13.*(t29-t30).*(9.0./5.0));
t244 = -t7.*(t145+t186-t196+t102.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2))+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*5.529408000000002e-2);
t245 = -t14.*(t145+t186-t196+t102.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2))+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*5.529408000000002e-2);
t207 = t13.*t206;
t208 = t6.*t206;
t215 = t214.*(-1.65162668e-1);
t217 = t118.*t206;
t220 = t164.*t205;
t221 = -t205.*(t114-t133);
t223 = t80+t163+t214;
t224 = t84+t163+t214;
t230 = t85+t87+t162+t213;
t234 = t233.*(-1.448743539999999e-1);
t236 = t233.*1.448743539999999e-1;
t243 = t146+t170+t187+t196+t197;
t265 = t188+t192+t193+t201+t203;
t279 = t177+t189+t190+t195+t199+t204+t219;
t209 = t208.*1.448743539999999e-1;
t210 = t207.*1.448743539999999e-1;
t222 = -t220;
t225 = t5.*t224;
t226 = t12.*t224;
t237 = t124.*t224;
t240 = t165.*t223;
t241 = -t223.*(t121-t126);
t246 = t86+t207+t233;
t247 = t53+t54+t208+t232;
t250 = t64+t66+t208+t232;
t251 = -t4.*(t60-t64-t208+t13.*(t83-t162+t14.*(t94-t182+t14.*(t74+t13.*(t29-t30)).*(2.31e+2./1.0e+2)+t8.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2)))+t13.*(t29-t30).*(9.0./5.0)));
t252 = -t11.*(t60-t64-t208+t13.*(t83-t162+t14.*(t94-t182+t14.*(t74+t13.*(t29-t30)).*(2.31e+2./1.0e+2)+t8.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2)))+t13.*(t29-t30).*(9.0./5.0)));
t253 = t11.*(t60-t64-t208+t13.*(t83-t162+t14.*(t94-t182+t14.*(t74+t13.*(t29-t30)).*(2.31e+2./1.0e+2)+t8.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2)))+t13.*(t29-t30).*(9.0./5.0)));
t257 = t4.*(t60-t64-t208+t13.*(t83-t162+t14.*(t94-t182+t14.*(t74+t13.*(t29-t30)).*(2.31e+2./1.0e+2)+t8.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2)))+t13.*(t29-t30).*(9.0./5.0))).*(-5.562904389999999e-2);
t260 = -t99.*(t60-t64-t208+t13.*(t83-t162+t14.*(t94-t182+t14.*(t74+t13.*(t29-t30)).*(2.31e+2./1.0e+2)+t8.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2)))+t13.*(t29-t30).*(9.0./5.0)));
t262 = -t168.*(t47-t53-t208+t13.*(t83-t162+t14.*(t94-t182+t14.*(t74+t13.*(t29-t30)).*(2.31e+2./1.0e+2)+t8.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2)))+t13.*(t29-t30).*(9.0./5.0)));
t263 = (t128-t132).*(t47-t53-t208+t13.*(t83-t162+t14.*(t94-t182+t14.*(t74+t13.*(t29-t30)).*(2.31e+2./1.0e+2)+t8.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2)))+t13.*(t29-t30).*(9.0./5.0)));
t266 = t7.*t265;
t267 = t14.*t265;
t280 = t6.*t279;
t281 = t13.*t279;
t227 = -t226;
t228 = t225.*6.710016000000013e-3;
t229 = t226.*6.710016000000013e-3;
t242 = -t240;
t248 = t5.*t246;
t249 = t12.*t246;
t258 = t253.*(-5.562904389999999e-2);
t259 = t253.*5.562904389999999e-2;
t261 = t119.*t246;
t264 = -t263;
t268 = -t267;
t282 = -t280;
t286 = -t13.*(t175+t214.*1.65162668e-1+t267+t7.*(t145+t186-t196+t102.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2))+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*5.529408000000002e-2)+t205.*(t114-t133));
t287 = -t6.*(t175+t214.*1.65162668e-1+t267+t7.*(t145+t186-t196+t102.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2))+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*5.529408000000002e-2)+t205.*(t114-t133));
t288 = t13.*(t175+t214.*1.65162668e-1+t267+t7.*(t145+t186-t196+t102.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2))+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*5.529408000000002e-2)+t205.*(t114-t133));
t289 = t6.*(t175+t214.*1.65162668e-1+t267+t7.*(t145+t186-t196+t102.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2))+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*5.529408000000002e-2)+t205.*(t114-t133));
t290 = t174+t216+t217+t222+t239+t245+t266;
t254 = t248.*6.710016000000013e-3;
t255 = t249.*6.710016000000013e-3;
t269 = t227+t248;
t270 = t59+t65+t225+t249;
t276 = -t154.*(t226-t248);
t277 = -t155.*(t226-t248);
t278 = t155.*(t226-t248);
t285 = t176+t215+t221+t244+t268;
t291 = t5.*t290;
t292 = t12.*t290;
t294 = t209+t235+t242+t281+t289;
t297 = t210+t236+t237+t241+t261+t282+t288;
t256 = -t254;
t271 = t4.*t270;
t272 = t11.*t270;
t275 = t98.*t270;
t293 = -t292;
t295 = t5.*t294;
t296 = t12.*t294;
t298 = t4.*t297;
t299 = t11.*t297;
t273 = t271.*5.562904389999999e-2;
t274 = t272.*5.562904389999999e-2;
t283 = t21+t25+t251+t272;
t284 = t22+t23+t253+t271;
t300 = t229+t256+t262+t291+t296;
t301 = t4.*t300;
t302 = t11.*t300;
t303 = -t302;
t305 = t257+t274+t278+t299+t301;
t304 = t259+t273+t276+t298+t303;
et1 = t2.*(t2.*1.0040117e-1+t9.*3.452226e-2+3.734539500000001e-1);
et2 = t9.*(t2.*(-3.452226e-2)+t9.*1.0040117e-1+4.431314100000749e-5);
et3 = t226.*9.743525e-2-t248.*9.743525e-2+t2.*(t3.*t284.*1.043363139e-1-t10.*t283.*1.043363139e-1-t3.*t304+t10.*t305+(t226-t248).*(t3.*t100+t10.*t97));
et4 = t9.*(t3.*t283.*(-1.043363139e-1)-t10.*t284.*1.043363139e-1+t3.*t305+t10.*t304+(t226-t248).*(t3.*t97-t10.*t100))+(et1+et2).*(t226-t248)+t9.*(t2.*7.55062e+1+t3.*t283+t10.*t284).*3.967117054999999e-2;
et5 = t2.*(t9.*7.55062e+1+t3.*t284-t10.*t283).*(-3.967117054999999e-2);
et6 = t2.*2.819808863949e+1+t9.*3.345916886974766e-3+t228+t255+t260+t264+t275+t293+t295+t3.*t283.*3.734539500000001e-1+t3.*t284.*4.431314100000749e-5;
et7 = t10.*t283.*(-4.431314100000749e-5)+t10.*t284.*3.734539500000001e-1+t97.*t284+t100.*t283;
et8 = t228+t255+t260+t264+t272.*1.8811711e-1+t275+t293+t295+t2.*t3.*4.4641168411972+t2.*t10.*1.16814725804922e-5+t3.*t9.*1.16814725804922e-5;
et9 = t9.*t10.*(-4.4641168411972)+t32.*t270-t4.*(t60-t64-t208+t13.*(t83-t162+t14.*(t94-t182+t14.*(t74+t13.*(t29-t30)).*(2.31e+2./1.0e+2)+t8.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2)))+t13.*(t29-t30).*(9.0./5.0))).*1.8811711e-1;
et10 = t33.*(t60-t64-t208+t13.*(t83-t162+t14.*(t94-t182+t14.*(t74+t13.*(t29-t30)).*(2.31e+2./1.0e+2)+t8.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2)))+t13.*(t29-t30).*(9.0./5.0)));
et11 = t28.*2.642521248900001e-2-t29.*4.005007558499997e-1+t30.*4.005007558499997e-1+t31.*2.642521248900001e-2+t208.*5.404868499999996e-2;
et12 = t225.*1.180157910000001e-2+t249.*1.180157910000001e-2+t264+t293+t295-t13.*(t83-t162+t14.*(t94-t182+t14.*(t74+t13.*(t29-t30)).*(2.31e+2./1.0e+2)+t8.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2)))+t13.*(t29-t30).*(9.0./5.0)).*5.404868499999996e-2;
et13 = t163.*(-4.895353899999624e-5)-t207.*2.75159634e-1-t214.*4.895353899999624e-5-t233.*2.75159634e-1+t280+t286-t5.*t72.*1.967932267799849e-4;
et14 = t12.*t72.*(-2.892333216000002e-1)+t223.*(t121-t126);
et15 = t74.*(-5.19454296e-2)+t75.*2.463063281699846e-4+t162.*1.9402124e-1+t181.*5.992854699999624e-5+t185.*5.992854699999624e-5+t222+t245+t266;
et16 = t14.*(t94-t182+t14.*(t74+t13.*(t29-t30)).*(2.31e+2./1.0e+2)+t8.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2))).*(-1.9402124e-1)-t6.*(t29-t30).*2.463063281699846e-4-t13.*(t29-t30).*5.19454296e-2;
et17 = t78.*(-2.195219426400001e-2)+t182.*3.628265800000032e-4+t194-t204+t7.*(t74+t13.*(t29-t30)).*1.216220663202028e-4-t14.*(t74+t13.*(t29-t30)).*2.195219426400001e-2;
et18 = t8.*(t148-t173+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*6.05542308e-4)-t8.*(t140+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(2.93e+2./1.0e+2)).*3.628265800000032e-4-t5.*t14.*t72.*1.216220663202028e-4;
mt1 = [et3+et4+et5;et6+et7;et8+et9+et10;et11+et12;et13+et14;et15+et16;et17+et18];
mt2 = [t186-t8.*t134.*1.071557695499999e-1+t15.*t134.*1.933681823100001e-1+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*1.933681823100001e-1+t15.*(t78+t14.*(t74+t13.*(t29-t30))).*1.071557695499999e-1];
mt3 = [t15.*t134.*(6.0./5.0)+t8.*(t78+t14.*(t74+t13.*(t29-t30))).*(6.0./5.0)];
tau_mat = [mt1;mt2;mt3];