import numpy as np M01 = [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0.089159], [0, 0, 0, 1]] M12 = [[0, 0, 1, 0.28], [0, 1, 0, 0.13585], [-1, 0, 0, 0], [0, 0, 0, 1]] M23 = [[1, 0, 0, 0], [0, 1, 0, -0.1197], [0, 0, 1, 0.395], [0, 0, 0, 1]] M34 = [[0, 0, 1, 0], [0, 1, 0, 0], [-1, 0, 0, 0.14225], [0, 0, 0, 1]] M45 = [[1, 0, 0, 0], [0, 1, 0, 0.093], [0, 0, 1, 0], [0, 0, 0, 1]] M56 = [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0.09465], [0, 0, 0, 1]] M67 = [[1, 0, 0, 0], [0, 0, 1, 0.0823], [0, -1, 0, 0], [0, 0, 0, 1]] G1 = np.diag([0.010267495893, 0.010267495893, 0.00666, 3.7, 3.7, 3.7]) G2 = np.diag([0.22689067591, 0.22689067591, 0.0151074, 8.393, 8.393, 8.393]) G3 = np.diag([0.049443313556, 0.049443313556, 0.004095, 2.275, 2.275, 2.275]) G4 = np.diag([0.111172755531, 0.111172755531, 0.21942, 1.219, 1.219, 1.219]) G5 = np.diag([0.111172755531, 0.111172755531, 0.21942, 1.219, 1.219, 1.219]) G6 = np.diag([0.0171364731454, 0.0171364731454, 0.033822, 0.1879, 0.1879, 0.1879]) Glist = [G1, G2, G3, G4, G5, G6] Mlist = [M01, M12, M23, M34, M45, M56, M67] Slist = [[0, 0, 0, 0, 0, 0], [0, 1, 1, 1, 0, 1], [1, 0, 0, 0, -1, 0], [0, -0.089159, -0.089159, -0.089159, -0.10915, 0.005491], [0, 0, 0, 0, 0.81725, 0], [0, 0, 0.425, 0.81725, 0, 0.81725]]