hand_eye_WQD.cpp

// LibQPEP: A Library for Globally Optimal Solving Quadratic Pose Estimation Problems,
//          It also gives highly accurate uncertainty description of the solutions.
//
// Author: Jin Wu
// Affiliation: Hong Kong University of Science and Technology (HKUST)
// Emails: jin_wu_uestc@hotmail.com; jwucp@connect.ust.hk
// Reference: Wu, J., et al. (2022) Quadratic Pose Estimation Problems:
//                                  Globally Optimal Solutions,
//                                  Solvability/Observability Analysis,
//                                  and Uncertainty Description.
//                                  IEEE Transactions on Robotics.
//                                  https://doi.org/10.1109/TRO.2022.3155880
//
//
// hand_eye_WQD.cpp: Functions for computing matrices of hand-eye calibration problems

#include "hand_eye_WQD.h"
#include "utils.h"
#include <numeric>
#include <thread>

static double Power(double a, double b) {
    if (b == 2.0)
        return a * a;

    return a * Power(a, b - 1.0);
}

void mixed_hand_eye_func(Eigen::Matrix<double, 1, 85> &coef_J_pure,
                     const Eigen::Matrix4d &A, const Eigen::Matrix4d &B) {
    double A11 = A(0, 0);
    double A12 = A(0, 1);
    double A13 = A(0, 2);
    double A14 = A(0, 3);
    double A21 = A(1, 0);
    double A22 = A(1, 1);
    double A23 = A(1, 2);
    double A24 = A(1, 3);
    double A31 = A(2, 0);
    double A32 = A(2, 1);
    double A33 = A(2, 2);
    double A34 = A(2, 3);
    double B11 = B(0, 0);
    double B12 = B(0, 1);
    double B13 = B(0, 2);
    double B14 = B(0, 3);
    double B21 = B(1, 0);
    double B22 = B(1, 1);
    double B23 = B(1, 2);
    double B24 = B(1, 3);
    double B31 = B(2, 0);
    double B32 = B(2, 1);
    double B33 = B(2, 2);

    double B34 = B(2, 3);

    double symobj[1][85];

    std::memset(symobj, 0, 1 * 85 * sizeof(double));
    symobj[0][0] = Power(A11 - B11, 2.0) + Power(A12 - B12, 2.0) + Power(A13 - B13, 2.0) + Power(A21 - B21, 2.0) +
                   Power(A22 - B22, 2.0) + Power(A23 - B23, 2.0) + Power(A31 - B31, 2.0) + Power(A32 - B32, 2.0) +
                   Power(A33 - B33, 2.0) + B14 * B14 + B24 * B24 + B34 * B34;
    symobj[0][1] = (A22 - B22) * (A23 * 2.0 + B32 * 2.0) * -2.0 + (A23 - B23) * (A22 * 2.0 - B33 * 2.0) * 2.0 -
                   (A32 - B32) * (A33 * 2.0 - B22 * 2.0) * 2.0 + (A33 - B33) * (A32 * 2.0 + B23 * 2.0) * 2.0 -
                   A13 * (A12 - B12) * 4.0 + A12 * (A13 - B13) * 4.0 - B31 * (A21 - B21) * 4.0 +
                   B21 * (A31 - B31) * 4.0;
    symobj[0][2] = (A11 - B11) * (A13 * 2.0 + B31 * 2.0) * 2.0 - (A13 - B13) * (A11 * 2.0 - B33 * 2.0) * 2.0 +
                   (A31 - B31) * (A33 * 2.0 - B11 * 2.0) * 2.0 - (A33 - B33) * (A31 * 2.0 + B13 * 2.0) * 2.0 +
                   A23 * (A21 - B21) * 4.0 - A21 * (A23 - B23) * 4.0 + B32 * (A12 - B12) * 4.0 -
                   B12 * (A32 - B32) * 4.0;
    symobj[0][3] = (A11 - B11) * (A12 * 2.0 + B21 * 2.0) * -2.0 + (A12 - B12) * (A11 * 2.0 - B22 * 2.0) * 2.0 -
                   (A21 - B21) * (A22 * 2.0 - B11 * 2.0) * 2.0 + (A22 - B22) * (A21 * 2.0 + B12 * 2.0) * 2.0 -
                   A32 * (A31 - B31) * 4.0 + A31 * (A32 - B32) * 4.0 - B23 * (A13 - B13) * 4.0 +
                   B13 * (A23 - B23) * 4.0;
    symobj[0][4] = Power(A22 * 2.0 - B33 * 2.0, 2.0) + Power(A23 * 2.0 + B32 * 2.0, 2.0) + Power(A32 * 2.0 + B23 * 2.0, 2.0) +
                   Power(A33 * 2.0 - B22 * 2.0, 2.0) - (A12 - B12) * (A12 + B12) * 2.0 - (A13 - B13) * (A13 + B13) * 2.0 +
                   (A21 - B21) * (A21 + B21) * 2.0 + (A31 - B31) * (A31 + B31) * 2.0 + (A12 * A12) * 4.0 +
                   (A13 * A13) * 4.0 + Power(A11 - B11, 2.0) * 2.0 - Power(A22 - B22, 2.0) * 2.0 -
                   Power(A23 - B23, 2.0) * 2.0 - Power(A32 - B32, 2.0) * 2.0 - Power(A33 - B33, 2.0) * 2.0 +
                   (B14 * B14) * 2.0 + (B21 * B21) * 4.0 + (B24 * B24) * 2.0 + (B31 * B31) * 4.0 + (B34 * B34) * 2.0;
    symobj[0][5] = A12 * (A11 * 2.0 - B33 * 2.0) * -4.0 - A21 * (A22 * 2.0 - B33 * 2.0) * 4.0 +
                   (A11 - B11) * (A12 * 2.0 - B21 * 2.0) * 2.0 + (A12 - B12) * (A11 * 2.0 - B22 * 2.0) * 2.0 +
                   (A21 - B21) * (A22 * 2.0 - B11 * 2.0) * 2.0 + (A22 - B22) * (A21 * 2.0 - B12 * 2.0) * 2.0 +
                   B21 * (A33 * 2.0 - B11 * 2.0) * 4.0 + B12 * (A33 * 2.0 - B22 * 2.0) * 4.0 -
                   (A31 * 2.0 + B13 * 2.0) * (A32 * 2.0 + B23 * 2.0) * 2.0 + A32 * (A31 - B31) * 4.0 +
                   A31 * (A32 - B32) * 4.0 - A13 * B32 * 8.0 - A23 * B31 * 8.0 - B23 * (A13 - B13) * 4.0 -
                   B13 * (A23 - B23) * 4.0;
    symobj[0][6] = A13 * (A11 * 2.0 - B22 * 2.0) * -4.0 - A31 * (A33 * 2.0 - B22 * 2.0) * 4.0 +
                   (A11 - B11) * (A13 * 2.0 - B31 * 2.0) * 2.0 + (A13 - B13) * (A11 * 2.0 - B33 * 2.0) * 2.0 +
                   (A31 - B31) * (A33 * 2.0 - B11 * 2.0) * 2.0 + (A33 - B33) * (A31 * 2.0 - B13 * 2.0) * 2.0 +
                   B31 * (A22 * 2.0 - B11 * 2.0) * 4.0 + B13 * (A22 * 2.0 - B33 * 2.0) * 4.0 -
                   (A21 * 2.0 + B12 * 2.0) * (A23 * 2.0 + B32 * 2.0) * 2.0 + A23 * (A21 - B21) * 4.0 +
                   A21 * (A23 - B23) * 4.0 - A12 * B23 * 8.0 - A32 * B21 * 8.0 - B32 * (A12 - B12) * 4.0 -
                   B12 * (A32 - B32) * 4.0;
    symobj[0][7] = Power(A11 * 2.0 - B33 * 2.0, 2.0) + Power(A13 * 2.0 + B31 * 2.0, 2.0) + Power(A31 * 2.0 + B13 * 2.0, 2.0) +
                   Power(A33 * 2.0 - B11 * 2.0, 2.0) + (A12 - B12) * (A12 + B12) * 2.0 - (A21 - B21) * (A21 + B21) * 2.0 -
                   (A23 - B23) * (A23 + B23) * 2.0 + (A32 - B32) * (A32 + B32) * 2.0 + (A21 * A21) * 4.0 +
                   (A23 * A23) * 4.0 - Power(A11 - B11, 2.0) * 2.0 - Power(A13 - B13, 2.0) * 2.0 +
                   Power(A22 - B22, 2.0) * 2.0 - Power(A31 - B31, 2.0) * 2.0 - Power(A33 - B33, 2.0) * 2.0 +
                   (B12 * B12) * 4.0 + (B14 * B14) * 2.0 + (B24 * B24) * 2.0 + (B32 * B32) * 4.0 + (B34 * B34) * 2.0;
    symobj[0][8] = A23 * (A22 * 2.0 - B11 * 2.0) * -4.0 - A32 * (A33 * 2.0 - B11 * 2.0) * 4.0 +
                   (A22 - B22) * (A23 * 2.0 - B32 * 2.0) * 2.0 + (A23 - B23) * (A22 * 2.0 - B33 * 2.0) * 2.0 +
                   (A32 - B32) * (A33 * 2.0 - B22 * 2.0) * 2.0 + (A33 - B33) * (A32 * 2.0 - B23 * 2.0) * 2.0 +
                   B32 * (A11 * 2.0 - B22 * 2.0) * 4.0 + B23 * (A11 * 2.0 - B33 * 2.0) * 4.0 -
                   (A12 * 2.0 + B21 * 2.0) * (A13 * 2.0 + B31 * 2.0) * 2.0 + A13 * (A12 - B12) * 4.0 +
                   A12 * (A13 - B13) * 4.0 - A21 * B13 * 8.0 - A31 * B12 * 8.0 - B31 * (A21 - B21) * 4.0 -
                   B21 * (A31 - B31) * 4.0;
    symobj[0][9] = Power(A11 * 2.0 - B22 * 2.0, 2.0) + Power(A12 * 2.0 + B21 * 2.0, 2.0) + Power(A21 * 2.0 + B12 * 2.0, 2.0) +
                   Power(A22 * 2.0 - B11 * 2.0, 2.0) + (A13 - B13) * (A13 + B13) * 2.0 + (A23 - B23) * (A23 + B23) * 2.0 -
                   (A31 - B31) * (A31 + B31) * 2.0 - (A32 - B32) * (A32 + B32) * 2.0 + (A31 * A31) * 4.0 +
                   (A32 * A32) * 4.0 - Power(A11 - B11, 2.0) * 2.0 - Power(A12 - B12, 2.0) * 2.0 -
                   Power(A21 - B21, 2.0) * 2.0 - Power(A22 - B22, 2.0) * 2.0 + Power(A33 - B33, 2.0) * 2.0 +
                   (B13 * B13) * 4.0 + (B14 * B14) * 2.0 + (B23 * B23) * 4.0 + (B24 * B24) * 2.0 + (B34 * B34) * 2.0;
    symobj[0][10] = B14 * (A11 - 1.0) * -2.0 - A21 * B24 * 2.0 - A31 * B34 * 2.0;
    symobj[0][11] = B24 * (A22 - 1.0) * -2.0 - A12 * B14 * 2.0 - A32 * B34 * 2.0;
    symobj[0][12] = B34 * (A33 - 1.0) * -2.0 - A13 * B14 * 2.0 - A23 * B24 * 2.0;
    symobj[0][13] = A14 * B14 * -2.0 - A24 * B24 * 2.0 - A34 * B34 * 2.0;
    symobj[0][14] = (A22 - B22) * (A23 * 2.0 + B32 * 2.0) * 2.0 - (A23 - B23) * (A22 * 2.0 - B33 * 2.0) * 2.0 +
                    (A32 - B32) * (A33 * 2.0 - B22 * 2.0) * 2.0 - (A33 - B33) * (A32 * 2.0 + B23 * 2.0) * 2.0 +
                    A13 * (A12 + B12) * 4.0 - A12 * (A13 + B13) * 4.0 - B31 * (A21 + B21) * 4.0 +
                    B21 * (A31 + B31) * 4.0;
    symobj[0][15] = A13 * (A11 * 2.0 - B22 * 2.0) * -4.0 - A31 * (A33 * 2.0 - B22 * 2.0) * 4.0 +
                    (A11 - B11) * (A13 * 2.0 + B31 * 2.0) * 2.0 + (A33 - B33) * (A31 * 2.0 + B13 * 2.0) * 2.0 -
                    B31 * (A22 * 2.0 - B11 * 2.0) * 4.0 - B13 * (A22 * 2.0 - B33 * 2.0) * 4.0 +
                    A23 * (A21 + B21) * 4.0 - B32 * (A12 + B12) * 4.0 -
                    (A21 * 2.0 - B12 * 2.0) * (A23 * 2.0 + B32 * 2.0) * 2.0 + A21 * (A23 - B23) * 4.0 -
                    A12 * B23 * 8.0 + A32 * B21 * 8.0 + (A11 * 2.0 - B33 * 2.0) * (A13 + B13) * 2.0 +
                    (A33 * 2.0 - B11 * 2.0) * (A31 + B31) * 2.0 + B12 * (A32 - B32) * 4.0;
    symobj[0][16] = A12 * (A11 * 2.0 - B33 * 2.0) * 4.0 + A21 * (A22 * 2.0 - B33 * 2.0) * 4.0 -
                    (A11 - B11) * (A12 * 2.0 + B21 * 2.0) * 2.0 - (A22 - B22) * (A21 * 2.0 + B12 * 2.0) * 2.0 +
                    B21 * (A33 * 2.0 - B11 * 2.0) * 4.0 + B12 * (A33 * 2.0 - B22 * 2.0) * 4.0 -
                    A32 * (A31 + B31) * 4.0 + B23 * (A13 + B13) * 4.0 +
                    (A31 * 2.0 - B13 * 2.0) * (A32 * 2.0 + B23 * 2.0) * 2.0 - A31 * (A32 - B32) * 4.0 +
                    A13 * B32 * 8.0 - A23 * B31 * 8.0 - (A11 * 2.0 - B22 * 2.0) * (A12 + B12) * 2.0 -
                    (A22 * 2.0 - B11 * 2.0) * (A21 + B21) * 2.0 - B13 * (A23 - B23) * 4.0;
    symobj[0][17] = A23 * (A22 * 2.0 - B11 * 2.0) * 4.0 + A32 * (A33 * 2.0 - B11 * 2.0) * 4.0 -
                    (A22 - B22) * (A23 * 2.0 + B32 * 2.0) * 2.0 - (A33 - B33) * (A32 * 2.0 + B23 * 2.0) * 2.0 +
                    B32 * (A11 * 2.0 - B22 * 2.0) * 4.0 + B23 * (A11 * 2.0 - B33 * 2.0) * 4.0 -
                    A13 * (A12 + B12) * 4.0 + B31 * (A21 + B21) * 4.0 +
                    (A12 * 2.0 - B21 * 2.0) * (A13 * 2.0 + B31 * 2.0) * 2.0 - A12 * (A13 - B13) * 4.0 +
                    A21 * B13 * 8.0 - A31 * B12 * 8.0 - (A22 * 2.0 - B33 * 2.0) * (A23 + B23) * 2.0 -
                    (A33 * 2.0 - B22 * 2.0) * (A32 + B32) * 2.0 - B21 * (A31 - B31) * 4.0;
    symobj[0][18] = Power(A11 * 2.0 - B22 * 2.0, 2.0) * 2.0 - Power(A22 * 2.0 - B11 * 2.0, 2.0) * 2.0 -
                    Power(A11 * 2.0 - B33 * 2.0, 2.0) * 2.0 + Power(A33 * 2.0 - B11 * 2.0, 2.0) * 2.0 +
                    Power(A22 * 2.0 - B33 * 2.0, 2.0) * 2.0 - Power(A33 * 2.0 - B22 * 2.0, 2.0) * 2.0 + (A12 * A12) * 8.0 -
                    (A13 * A13) * 8.0 - (A21 * A21) * 8.0 + (A23 * A23) * 8.0 + (A31 * A31) * 8.0 - (A32 * A32) * 8.0 +
                    (B12 * B12) * 8.0 - (B13 * B13) * 8.0 - (B21 * B21) * 8.0 + (B23 * B23) * 8.0 + (B31 * B31) * 8.0 -
                    (B32 * B32) * 8.0 - (A12 * 2.0 - B21 * 2.0) * (A12 * 2.0 + B21 * 2.0) * 2.0 +
                    (A21 * 2.0 - B12 * 2.0) * (A21 * 2.0 + B12 * 2.0) * 2.0 +
                    (A13 * 2.0 - B31 * 2.0) * (A13 * 2.0 + B31 * 2.0) * 2.0 -
                    (A31 * 2.0 - B13 * 2.0) * (A31 * 2.0 + B13 * 2.0) * 2.0 -
                    (A23 * 2.0 - B32 * 2.0) * (A23 * 2.0 + B32 * 2.0) * 2.0 +
                    (A32 * 2.0 - B23 * 2.0) * (A32 * 2.0 + B23 * 2.0) * 2.0;
    symobj[0][19] = A23 * (A22 * 2.0 - B11 * 2.0) * -4.0 - A32 * (A33 * 2.0 - B11 * 2.0) * 4.0 +
                    (A22 - B22) * (A23 * 2.0 + B32 * 2.0) * 2.0 + (A33 - B33) * (A32 * 2.0 + B23 * 2.0) * 2.0 -
                    B32 * (A11 * 2.0 - B22 * 2.0) * 4.0 - B23 * (A11 * 2.0 - B33 * 2.0) * 4.0 +
                    A12 * (A13 + B13) * 4.0 - B21 * (A31 + B31) * 4.0 -
                    (A12 * 2.0 + B21 * 2.0) * (A13 * 2.0 - B31 * 2.0) * 2.0 + A13 * (A12 - B12) * 4.0 +
                    A21 * B13 * 8.0 - A31 * B12 * 8.0 + (A22 * 2.0 - B33 * 2.0) * (A23 + B23) * 2.0 +
                    (A33 * 2.0 - B22 * 2.0) * (A32 + B32) * 2.0 + B31 * (A21 - B21) * 4.0;
    symobj[0][20] = A21 * B34 * -4.0 + A31 * B24 * 4.0;
    symobj[0][21] = B34 * (A22 - 1.0) * -4.0 + A32 * B24 * 4.0;
    symobj[0][22] = B24 * (A33 - 1.0) * 4.0 - A23 * B34 * 4.0;
    symobj[0][23] = A24 * B34 * -4.0 + A34 * B24 * 4.0;
    symobj[0][24] = (A11 - B11) * (A13 * 2.0 + B31 * 2.0) * -2.0 + (A13 - B13) * (A11 * 2.0 - B33 * 2.0) * 2.0 -
                    (A31 - B31) * (A33 * 2.0 - B11 * 2.0) * 2.0 + (A33 - B33) * (A31 * 2.0 + B13 * 2.0) * 2.0 -
                    A23 * (A21 + B21) * 4.0 + A21 * (A23 + B23) * 4.0 + B32 * (A12 + B12) * 4.0 -
                    B12 * (A32 + B32) * 4.0;
    symobj[0][25] = A12 * (A11 * 2.0 - B33 * 2.0) * -4.0 - A21 * (A22 * 2.0 - B33 * 2.0) * 4.0 +
                    (A11 - B11) * (A12 * 2.0 + B21 * 2.0) * 2.0 + (A22 - B22) * (A21 * 2.0 + B12 * 2.0) * 2.0 -
                    B21 * (A33 * 2.0 - B11 * 2.0) * 4.0 - B12 * (A33 * 2.0 - B22 * 2.0) * 4.0 +
                    A31 * (A32 + B32) * 4.0 - B13 * (A23 + B23) * 4.0 -
                    (A31 * 2.0 + B13 * 2.0) * (A32 * 2.0 - B23 * 2.0) * 2.0 + A32 * (A31 - B31) * 4.0 +
                    A13 * B32 * 8.0 - A23 * B31 * 8.0 + (A11 * 2.0 - B22 * 2.0) * (A12 + B12) * 2.0 +
                    (A22 * 2.0 - B11 * 2.0) * (A21 + B21) * 2.0 + B23 * (A13 - B13) * 4.0;
    symobj[0][26] = A13 * (A11 * 2.0 - B22 * 2.0) * 4.0 + A31 * (A33 * 2.0 - B22 * 2.0) * 4.0 -
                    (A11 - B11) * (A13 * 2.0 + B31 * 2.0) * 2.0 - (A33 - B33) * (A31 * 2.0 + B13 * 2.0) * 2.0 +
                    B31 * (A22 * 2.0 - B11 * 2.0) * 4.0 + B13 * (A22 * 2.0 - B33 * 2.0) * 4.0 -
                    A21 * (A23 + B23) * 4.0 + B12 * (A32 + B32) * 4.0 +
                    (A21 * 2.0 + B12 * 2.0) * (A23 * 2.0 - B32 * 2.0) * 2.0 - A23 * (A21 - B21) * 4.0 -
                    A12 * B23 * 8.0 + A32 * B21 * 8.0 - (A11 * 2.0 - B33 * 2.0) * (A13 + B13) * 2.0 -
                    (A33 * 2.0 - B11 * 2.0) * (A31 + B31) * 2.0 - B32 * (A12 - B12) * 4.0;
    symobj[0][27] = B34 * (A11 - 1.0) * 4.0 - A31 * B14 * 4.0;
    symobj[0][28] = A12 * B34 * 4.0 - A32 * B14 * 4.0;
    symobj[0][29] = B14 * (A33 - 1.0) * -4.0 + A13 * B34 * 4.0;
    symobj[0][30] = A14 * B34 * 4.0 - A34 * B14 * 4.0;
    symobj[0][31] = (A11 - B11) * (A12 * 2.0 + B21 * 2.0) * 2.0 - (A12 - B12) * (A11 * 2.0 - B22 * 2.0) * 2.0 +
                    (A21 - B21) * (A22 * 2.0 - B11 * 2.0) * 2.0 - (A22 - B22) * (A21 * 2.0 + B12 * 2.0) * 2.0 +
                    A32 * (A31 + B31) * 4.0 - A31 * (A32 + B32) * 4.0 - B23 * (A13 + B13) * 4.0 +
                    B13 * (A23 + B23) * 4.0;
    symobj[0][32] = B24 * (A11 - 1.0) * -4.0 + A21 * B14 * 4.0;
    symobj[0][33] = B14 * (A22 - 1.0) * 4.0 - A12 * B24 * 4.0;
    symobj[0][34] = A13 * B24 * -4.0 + A23 * B14 * 4.0;
    symobj[0][35] = A14 * B24 * -4.0 + A24 * B14 * 4.0;
    symobj[0][36] = Power(A12 + B12, 2.0) + Power(A13 + B13, 2.0) + Power(A21 + B21, 2.0) + Power(A31 + B31, 2.0) +
                    Power(A11 - B11, 2.0) + Power(A22 - B22, 2.0) + Power(A23 - B23, 2.0) + Power(A32 - B32, 2.0) +
                    Power(A33 - B33, 2.0) + B14 * B14 + B24 * B24 + B34 * B34;
    symobj[0][37] = (A11 - B11) * (A12 * 2.0 - B21 * 2.0) * 2.0 - (A22 - B22) * (A21 * 2.0 - B12 * 2.0) * 2.0 +
                    A32 * (A31 + B31) * 4.0 + B23 * (A13 + B13) * 4.0 - A31 * (A32 - B32) * 4.0 -
                    (A11 * 2.0 - B22 * 2.0) * (A12 + B12) * 2.0 + (A22 * 2.0 - B11 * 2.0) * (A21 + B21) * 2.0 +
                    B13 * (A23 - B23) * 4.0;
    symobj[0][38] = (A11 - B11) * (A13 * 2.0 - B31 * 2.0) * 2.0 - (A33 - B33) * (A31 * 2.0 - B13 * 2.0) * 2.0 +
                    A23 * (A21 + B21) * 4.0 + B32 * (A12 + B12) * 4.0 - A21 * (A23 - B23) * 4.0 -
                    (A11 * 2.0 - B33 * 2.0) * (A13 + B13) * 2.0 + (A33 * 2.0 - B11 * 2.0) * (A31 + B31) * 2.0 +
                    B12 * (A32 - B32) * 4.0;
    symobj[0][39] =
            Power(A11 * 2.0 - B22 * 2.0, 2.0) + Power(A12 * 2.0 - B21 * 2.0, 2.0) + Power(A21 * 2.0 - B12 * 2.0, 2.0) +
            Power(A22 * 2.0 - B11 * 2.0, 2.0) - Power(A12 + B12, 2.0) * 2.0 - Power(A21 + B21, 2.0) * 2.0 +
            (A13 - B13) * (A13 + B13) * 2.0 + (A23 - B23) * (A23 + B23) * 2.0 - (A31 - B31) * (A31 + B31) * 2.0 -
            (A32 - B32) * (A32 + B32) * 2.0 + (A31 * A31) * 4.0 + (A32 * A32) * 4.0 - Power(A11 - B11, 2.0) * 2.0 -
            Power(A22 - B22, 2.0) * 2.0 + Power(A33 - B33, 2.0) * 2.0 + (B13 * B13) * 4.0 + (B14 * B14) * 2.0 +
            (B23 * B23) * 4.0 + (B24 * B24) * 2.0 + (B34 * B34) * 2.0;
    symobj[0][40] = A23 * (A22 * 2.0 - B11 * 2.0) * 4.0 + A32 * (A33 * 2.0 - B11 * 2.0) * 4.0 -
                    (A22 - B22) * (A23 * 2.0 - B32 * 2.0) * 2.0 - (A23 - B23) * (A22 * 2.0 - B33 * 2.0) * 2.0 -
                    (A32 - B32) * (A33 * 2.0 - B22 * 2.0) * 2.0 - (A33 - B33) * (A32 * 2.0 - B23 * 2.0) * 2.0 -
                    B32 * (A11 * 2.0 - B22 * 2.0) * 4.0 - B23 * (A11 * 2.0 - B33 * 2.0) * 4.0 -
                    A13 * (A12 + B12) * 4.0 - A12 * (A13 + B13) * 4.0 - B31 * (A21 + B21) * 4.0 -
                    B21 * (A31 + B31) * 4.0 + (A12 * 2.0 - B21 * 2.0) * (A13 * 2.0 - B31 * 2.0) * 2.0 -
                    A21 * B13 * 8.0 - A31 * B12 * 8.0;
    symobj[0][41] =
            Power(A11 * 2.0 - B33 * 2.0, 2.0) + Power(A13 * 2.0 - B31 * 2.0, 2.0) + Power(A31 * 2.0 - B13 * 2.0, 2.0) +
            Power(A33 * 2.0 - B11 * 2.0, 2.0) - Power(A13 + B13, 2.0) * 2.0 - Power(A31 + B31, 2.0) * 2.0 +
            (A12 - B12) * (A12 + B12) * 2.0 - (A21 - B21) * (A21 + B21) * 2.0 - (A23 - B23) * (A23 + B23) * 2.0 +
            (A32 - B32) * (A32 + B32) * 2.0 + (A21 * A21) * 4.0 + (A23 * A23) * 4.0 - Power(A11 - B11, 2.0) * 2.0 +
            Power(A22 - B22, 2.0) * 2.0 - Power(A33 - B33, 2.0) * 2.0 + (B12 * B12) * 4.0 + (B14 * B14) * 2.0 +
            (B24 * B24) * 2.0 + (B32 * B32) * 4.0 + (B34 * B34) * 2.0;
    symobj[0][42] = B14 * (A11 - 1.0) * -2.0 + A21 * B24 * 2.0 + A31 * B34 * 2.0;
    symobj[0][43] = B24 * (A22 - 1.0) * 2.0 - A12 * B14 * 2.0 + A32 * B34 * 2.0;
    symobj[0][44] = B34 * (A33 - 1.0) * 2.0 - A13 * B14 * 2.0 + A23 * B24 * 2.0;
    symobj[0][45] = A14 * B14 * -2.0 + A24 * B24 * 2.0 + A34 * B34 * 2.0;
    symobj[0][46] = (A11 - B11) * (A12 * 2.0 - B21 * 2.0) * -2.0 + (A22 - B22) * (A21 * 2.0 - B12 * 2.0) * 2.0 +
                    A31 * (A32 + B32) * 4.0 + B13 * (A23 + B23) * 4.0 - A32 * (A31 - B31) * 4.0 +
                    (A11 * 2.0 - B22 * 2.0) * (A12 + B12) * 2.0 - (A22 * 2.0 - B11 * 2.0) * (A21 + B21) * 2.0 +
                    B23 * (A13 - B13) * 4.0;
    symobj[0][47] = A13 * (A11 * 2.0 - B22 * 2.0) * 4.0 + A31 * (A33 * 2.0 - B22 * 2.0) * 4.0 -
                    (A11 - B11) * (A13 * 2.0 - B31 * 2.0) * 2.0 - (A13 - B13) * (A11 * 2.0 - B33 * 2.0) * 2.0 -
                    (A31 - B31) * (A33 * 2.0 - B11 * 2.0) * 2.0 - (A33 - B33) * (A31 * 2.0 - B13 * 2.0) * 2.0 -
                    B31 * (A22 * 2.0 - B11 * 2.0) * 4.0 - B13 * (A22 * 2.0 - B33 * 2.0) * 4.0 -
                    A23 * (A21 + B21) * 4.0 - A21 * (A23 + B23) * 4.0 - B32 * (A12 + B12) * 4.0 -
                    B12 * (A32 + B32) * 4.0 + (A21 * 2.0 - B12 * 2.0) * (A23 * 2.0 - B32 * 2.0) * 2.0 -
                    A12 * B23 * 8.0 - A32 * B21 * 8.0;
    symobj[0][48] = A12 * (A11 * 2.0 - B33 * 2.0) * 4.0 + A21 * (A22 * 2.0 - B33 * 2.0) * 4.0 -
                    (A11 - B11) * (A12 * 2.0 - B21 * 2.0) * 2.0 - (A12 - B12) * (A11 * 2.0 - B22 * 2.0) * 2.0 -
                    (A21 - B21) * (A22 * 2.0 - B11 * 2.0) * 2.0 - (A22 - B22) * (A21 * 2.0 - B12 * 2.0) * 2.0 -
                    B21 * (A33 * 2.0 - B11 * 2.0) * 4.0 - B12 * (A33 * 2.0 - B22 * 2.0) * 4.0 -
                    A32 * (A31 + B31) * 4.0 - A31 * (A32 + B32) * 4.0 - B23 * (A13 + B13) * 4.0 -
                    B13 * (A23 + B23) * 4.0 + (A31 * 2.0 - B13 * 2.0) * (A32 * 2.0 - B23 * 2.0) * 2.0 -
                    A13 * B32 * 8.0 - A23 * B31 * 8.0;
    symobj[0][49] = B24 * (A11 - 1.0) * -4.0 - A21 * B14 * 4.0;
    symobj[0][50] = B14 * (A22 - 1.0) * -4.0 - A12 * B24 * 4.0;
    symobj[0][51] = A13 * B24 * -4.0 - A23 * B14 * 4.0;
    symobj[0][52] = A14 * B24 * -4.0 - A24 * B14 * 4.0;
    symobj[0][53] = (A11 - B11) * (A13 * 2.0 - B31 * 2.0) * -2.0 + (A33 - B33) * (A31 * 2.0 - B13 * 2.0) * 2.0 +
                    A21 * (A23 + B23) * 4.0 + B12 * (A32 + B32) * 4.0 - A23 * (A21 - B21) * 4.0 +
                    (A11 * 2.0 - B33 * 2.0) * (A13 + B13) * 2.0 - (A33 * 2.0 - B11 * 2.0) * (A31 + B31) * 2.0 +
                    B32 * (A12 - B12) * 4.0;
    symobj[0][54] = B34 * (A11 - 1.0) * -4.0 - A31 * B14 * 4.0;
    symobj[0][55] = A12 * B34 * -4.0 - A32 * B14 * 4.0;
    symobj[0][56] = B14 * (A33 - 1.0) * -4.0 - A13 * B34 * 4.0;
    symobj[0][57] = A14 * B34 * -4.0 - A34 * B14 * 4.0;
    symobj[0][58] = Power(A12 + B12, 2.0) + Power(A21 + B21, 2.0) + Power(A23 + B23, 2.0) + Power(A32 + B32, 2.0) +
                    Power(A11 - B11, 2.0) + Power(A13 - B13, 2.0) + Power(A22 - B22, 2.0) + Power(A31 - B31, 2.0) +
                    Power(A33 - B33, 2.0) + B14 * B14 + B24 * B24 + B34 * B34;
    symobj[0][59] = (A22 - B22) * (A23 * 2.0 - B32 * 2.0) * 2.0 - (A33 - B33) * (A32 * 2.0 - B23 * 2.0) * 2.0 +
                    A13 * (A12 + B12) * 4.0 + B31 * (A21 + B21) * 4.0 - A12 * (A13 - B13) * 4.0 -
                    (A22 * 2.0 - B33 * 2.0) * (A23 + B23) * 2.0 + (A33 * 2.0 - B22 * 2.0) * (A32 + B32) * 2.0 +
                    B21 * (A31 - B31) * 4.0;
    symobj[0][60] =
            Power(A22 * 2.0 - B33 * 2.0, 2.0) + Power(A23 * 2.0 - B32 * 2.0, 2.0) + Power(A32 * 2.0 - B23 * 2.0, 2.0) +
            Power(A33 * 2.0 - B22 * 2.0, 2.0) - Power(A23 + B23, 2.0) * 2.0 - Power(A32 + B32, 2.0) * 2.0 -
            (A12 - B12) * (A12 + B12) * 2.0 - (A13 - B13) * (A13 + B13) * 2.0 + (A21 - B21) * (A21 + B21) * 2.0 +
            (A31 - B31) * (A31 + B31) * 2.0 + (A12 * A12) * 4.0 + (A13 * A13) * 4.0 + Power(A11 - B11, 2.0) * 2.0 -
            Power(A22 - B22, 2.0) * 2.0 - Power(A33 - B33, 2.0) * 2.0 + (B14 * B14) * 2.0 + (B21 * B21) * 4.0 +
            (B24 * B24) * 2.0 + (B31 * B31) * 4.0 + (B34 * B34) * 2.0;
    symobj[0][61] = B14 * (A11 - 1.0) * 2.0 - A21 * B24 * 2.0 + A31 * B34 * 2.0;
    symobj[0][62] = B24 * (A22 - 1.0) * -2.0 + A12 * B14 * 2.0 + A32 * B34 * 2.0;
    symobj[0][63] = B34 * (A33 - 1.0) * 2.0 + A13 * B14 * 2.0 - A23 * B24 * 2.0;
    symobj[0][64] = A14 * B14 * 2.0 - A24 * B24 * 2.0 + A34 * B34 * 2.0;
    symobj[0][65] = (A22 - B22) * (A23 * 2.0 - B32 * 2.0) * -2.0 + (A33 - B33) * (A32 * 2.0 - B23 * 2.0) * 2.0 +
                    A12 * (A13 + B13) * 4.0 + B21 * (A31 + B31) * 4.0 - A13 * (A12 - B12) * 4.0 +
                    (A22 * 2.0 - B33 * 2.0) * (A23 + B23) * 2.0 - (A33 * 2.0 - B22 * 2.0) * (A32 + B32) * 2.0 +
                    B31 * (A21 - B21) * 4.0;
    symobj[0][66] = A21 * B34 * -4.0 - A31 * B24 * 4.0;
    symobj[0][67] = B34 * (A22 - 1.0) * -4.0 - A32 * B24 * 4.0;
    symobj[0][68] = B24 * (A33 - 1.0) * -4.0 - A23 * B34 * 4.0;
    symobj[0][69] = A24 * B34 * -4.0 - A34 * B24 * 4.0;
    symobj[0][70] = Power(A13 + B13, 2.0) + Power(A23 + B23, 2.0) + Power(A31 + B31, 2.0) + Power(A32 + B32, 2.0) +
                    Power(A11 - B11, 2.0) + Power(A12 - B12, 2.0) + Power(A21 - B21, 2.0) + Power(A22 - B22, 2.0) +
                    Power(A33 - B33, 2.0) + B14 * B14 + B24 * B24 + B34 * B34;
    symobj[0][71] = B14 * (A11 - 1.0) * 2.0 + A21 * B24 * 2.0 - A31 * B34 * 2.0;
    symobj[0][72] = B24 * (A22 - 1.0) * 2.0 + A12 * B14 * 2.0 - A32 * B34 * 2.0;
    symobj[0][73] = B34 * (A33 - 1.0) * -2.0 + A13 * B14 * 2.0 + A23 * B24 * 2.0;
    symobj[0][74] = A14 * B14 * 2.0 + A24 * B24 * 2.0 - A34 * B34 * 2.0;
    symobj[0][75] = A21 * A21 + A31 * A31 + Power(A11 - 1.0, 2.0);
    symobj[0][76] = A12 * (A11 - 1.0) * 2.0 + A21 * (A22 - 1.0) * 2.0 + A31 * A32 * 2.0;
    symobj[0][77] = A13 * (A11 - 1.0) * 2.0 + A31 * (A33 - 1.0) * 2.0 + A21 * A23 * 2.0;
    symobj[0][78] = A14 * (A11 - 1.0) * 2.0 + A21 * A24 * 2.0 + A31 * A34 * 2.0;
    symobj[0][79] = A12 * A12 + A32 * A32 + Power(A22 - 1.0, 2.0);
    symobj[0][80] = A23 * (A22 - 1.0) * 2.0 + A32 * (A33 - 1.0) * 2.0 + A12 * A13 * 2.0;
    symobj[0][81] = A24 * (A22 - 1.0) * 2.0 + A12 * A14 * 2.0 + A32 * A34 * 2.0;
    symobj[0][82] = A13 * A13 + A23 * A23 + Power(A33 - 1.0, 2.0);
    symobj[0][83] = A34 * (A33 - 1.0) * 2.0 + A13 * A14 * 2.0 + A23 * A24 * 2.0;
    symobj[0][84] = A14 * A14 + A24 * A24 + A34 * A34;

    for (int i = 0; i < 1; ++i)
        for (int j = 0; j < 85; ++j)
            coef_J_pure(i, j) = symobj[i][j];
}


void mixed2_hand_eye_func(Eigen::Matrix<double, 3, 3> &G,
                      Eigen::Matrix<double, 1, 11> &coeftq1,
                      Eigen::Matrix<double, 1, 11> &coeftq2,
                      Eigen::Matrix<double, 1, 11> &coeftq3,
                      Eigen::Matrix<double, 1, 36> &coef_Jacob1_qt,
                      Eigen::Matrix<double, 1, 36> &coef_Jacob2_qt,
                      Eigen::Matrix<double, 1, 36> &coef_Jacob3_qt,
                      Eigen::Matrix<double, 1, 36> &coef_Jacob4_qt,
                      const Eigen::Matrix4d &A, const Eigen::Matrix4d &B) {
    double A11 = A(0, 0);
    double A12 = A(0, 1);
    double A13 = A(0, 2);
    double A14 = A(0, 3);
    double A21 = A(1, 0);
    double A22 = A(1, 1);
    double A23 = A(1, 2);
    double A24 = A(1, 3);
    double A31 = A(2, 0);
    double A32 = A(2, 1);
    double A33 = A(2, 2);
    double A34 = A(2, 3);
    double B11 = B(0, 0);
    double B12 = B(0, 1);
    double B13 = B(0, 2);
    double B14 = B(0, 3);
    double B21 = B(1, 0);
    double B22 = B(1, 1);
    double B23 = B(1, 2);
    double B24 = B(1, 3);
    double B31 = B(2, 0);
    double B32 = B(2, 1);
    double B33 = B(2, 2);
    double B34 = B(2, 3);

    G(0, 0) = A11 * 4.0 - (A11 * A11) * 2.0 - (A21 * A21) * 2.0 - (A31 * A31) * 2.0 - 2.0;
    G(0, 1) = A12 * 2.0 + A21 * 2.0 - A11 * A12 * 2.0 - A21 * A22 * 2.0 - A31 * A32 * 2.0;
    G(0, 2) = A13 * 2.0 + A31 * 2.0 - A11 * A13 * 2.0 - A21 * A23 * 2.0 - A31 * A33 * 2.0;
    G(1, 0) = A12 * 2.0 + A21 * 2.0 - A11 * A12 * 2.0 - A21 * A22 * 2.0 - A31 * A32 * 2.0;
    G(1, 1) = A22 * 4.0 - (A12 * A12) * 2.0 - (A22 * A22) * 2.0 - (A32 * A32) * 2.0 - 2.0;
    G(1, 2) = A23 * 2.0 + A32 * 2.0 - A12 * A13 * 2.0 - A22 * A23 * 2.0 - A32 * A33 * 2.0;
    G(2, 0) = A13 * 2.0 + A31 * 2.0 - A11 * A13 * 2.0 - A21 * A23 * 2.0 - A31 * A33 * 2.0;
    G(2, 1) = A23 * 2.0 + A32 * 2.0 - A12 * A13 * 2.0 - A22 * A23 * 2.0 - A32 * A33 * 2.0;
    G(2, 2) = A33 * 4.0 - (A13 * A13) * 2.0 - (A23 * A23) * 2.0 - (A33 * A33) * 2.0 - 2.0;

    coeftq1(0, 0) = B14 * 2.0 - A11 * B14 * 2.0 - A21 * B24 * 2.0 - A31 * B34 * 2.0;
    coeftq1(0, 1) = A21 * B34 * -4.0 + A31 * B24 * 4.0;
    coeftq1(0, 2) = B34 * -4.0 + A11 * B34 * 4.0 - A31 * B14 * 4.0;
    coeftq1(0, 3) = B24 * 4.0 - A11 * B24 * 4.0 + A21 * B14 * 4.0;
    coeftq1(0, 4) = B14 * 2.0 - A11 * B14 * 2.0 + A21 * B24 * 2.0 + A31 * B34 * 2.0;
    coeftq1(0, 5) = B24 * 4.0 - A11 * B24 * 4.0 - A21 * B14 * 4.0;
    coeftq1(0, 6) = B34 * 4.0 - A11 * B34 * 4.0 - A31 * B14 * 4.0;
    coeftq1(0, 7) = B14 * -2.0 + A11 * B14 * 2.0 - A21 * B24 * 2.0 + A31 * B34 * 2.0;
    coeftq1(0, 8) = A21 * B34 * -4.0 - A31 * B24 * 4.0;
    coeftq1(0, 9) = B14 * -2.0 + A11 * B14 * 2.0 + A21 * B24 * 2.0 - A31 * B34 * 2.0;
    coeftq1(0, 10) = A14 * -2.0 + A11 * A14 * 2.0 + A21 * A24 * 2.0 + A31 * A34 * 2.0;

    coeftq2(0, 0) = B24 * 2.0 - A12 * B14 * 2.0 - A22 * B24 * 2.0 - A32 * B34 * 2.0;
    coeftq2(0, 1) = B34 * 4.0 - A22 * B34 * 4.0 + A32 * B24 * 4.0;
    coeftq2(0, 2) = A12 * B34 * 4.0 - A32 * B14 * 4.0;
    coeftq2(0, 3) = B14 * -4.0 - A12 * B24 * 4.0 + A22 * B14 * 4.0;
    coeftq2(0, 4) = B24 * -2.0 - A12 * B14 * 2.0 + A22 * B24 * 2.0 + A32 * B34 * 2.0;
    coeftq2(0, 5) = B14 * 4.0 - A12 * B24 * 4.0 - A22 * B14 * 4.0;
    coeftq2(0, 6) = A12 * B34 * -4.0 - A32 * B14 * 4.0;
    coeftq2(0, 7) = B24 * 2.0 + A12 * B14 * 2.0 - A22 * B24 * 2.0 + A32 * B34 * 2.0;
    coeftq2(0, 8) = B34 * 4.0 - A22 * B34 * 4.0 - A32 * B24 * 4.0;
    coeftq2(0, 9) = B24 * -2.0 + A12 * B14 * 2.0 + A22 * B24 * 2.0 - A32 * B34 * 2.0;
    coeftq2(0, 10) = A24 * -2.0 + A12 * A14 * 2.0 + A22 * A24 * 2.0 + A32 * A34 * 2.0;

    coeftq3(0, 0) = B34 * 2.0 - A13 * B14 * 2.0 - A23 * B24 * 2.0 - A33 * B34 * 2.0;
    coeftq3(0, 1) = B24 * -4.0 - A23 * B34 * 4.0 + A33 * B24 * 4.0;
    coeftq3(0, 2) = B14 * 4.0 + A13 * B34 * 4.0 - A33 * B14 * 4.0;
    coeftq3(0, 3) = A13 * B24 * -4.0 + A23 * B14 * 4.0;
    coeftq3(0, 4) = B34 * -2.0 - A13 * B14 * 2.0 + A23 * B24 * 2.0 + A33 * B34 * 2.0;
    coeftq3(0, 5) = A13 * B24 * -4.0 - A23 * B14 * 4.0;
    coeftq3(0, 6) = B14 * 4.0 - A13 * B34 * 4.0 - A33 * B14 * 4.0;
    coeftq3(0, 7) = B34 * -2.0 + A13 * B14 * 2.0 - A23 * B24 * 2.0 + A33 * B34 * 2.0;
    coeftq3(0, 8) = B24 * 4.0 - A23 * B34 * 4.0 - A33 * B24 * 4.0;
    coeftq3(0, 9) = B34 * 2.0 + A13 * B14 * 2.0 + A23 * B24 * 2.0 - A33 * B34 * 2.0;
    coeftq3(0, 10) = A34 * -2.0 + A13 * A14 * 2.0 + A23 * A24 * 2.0 + A33 * A34 * 2.0;

    coef_Jacob1_qt(0, 0) =
            (A11 * A11) * 4.0 + (A12 * A12) * 4.0 + (A13 * A13) * 4.0 + (A21 * A21) * 4.0 + (A22 * A22) * 4.0 +
            (A23 * A23) * 4.0 + (A31 * A31) * 4.0 + (A32 * A32) * 4.0 + (A33 * A33) * 4.0 + (B11 * B11) * 4.0 +
            (B12 * B12) * 4.0 + (B13 * B13) * 4.0 + (B14 * B14) * 4.0 + (B21 * B21) * 4.0 + (B22 * B22) * 4.0 +
            (B23 * B23) * 4.0 + (B24 * B24) * 4.0 + (B31 * B31) * 4.0 + (B32 * B32) * 4.0 + (B33 * B33) * 4.0 +
            (B34 * B34) * 4.0 - A11 * B11 * 8.0 - A12 * B12 * 8.0 - A13 * B13 * 8.0 - A21 * B21 * 8.0 -
            A22 * B22 * 8.0 - A23 * B23 * 8.0 - A31 * B31 * 8.0 - A32 * B32 * 8.0 - A33 * B33 * 8.0;
    coef_Jacob1_qt(0, 1) =
            A12 * B13 * -1.2E1 + A13 * B12 * 1.2E1 - A22 * B23 * 1.2E1 + A23 * B22 * 1.2E1 - A21 * B31 * 1.2E1 +
            A31 * B21 * 1.2E1 - A22 * B32 * 1.2E1 + A32 * B22 * 1.2E1 - A23 * B33 * 1.2E1 + A33 * B23 * 1.2E1 -
            A32 * B33 * 1.2E1 + A33 * B32 * 1.2E1;
    coef_Jacob1_qt(0, 2) =
            A11 * B13 * 1.2E1 - A13 * B11 * 1.2E1 + A11 * B31 * 1.2E1 - A31 * B11 * 1.2E1 + A12 * B32 * 1.2E1 +
            A21 * B23 * 1.2E1 - A23 * B21 * 1.2E1 - A32 * B12 * 1.2E1 + A13 * B33 * 1.2E1 - A33 * B13 * 1.2E1 +
            A31 * B33 * 1.2E1 - A33 * B31 * 1.2E1;
    coef_Jacob1_qt(0, 3) =
            A11 * B12 * -1.2E1 + A12 * B11 * 1.2E1 - A11 * B21 * 1.2E1 + A21 * B11 * 1.2E1 - A12 * B22 * 1.2E1 +
            A22 * B12 * 1.2E1 - A13 * B23 * 1.2E1 + A23 * B13 * 1.2E1 - A21 * B22 * 1.2E1 + A22 * B21 * 1.2E1 -
            A31 * B32 * 1.2E1 + A32 * B31 * 1.2E1;
    coef_Jacob1_qt(0, 4) =
            (A11 * A11) * 4.0 + (A12 * A12) * 4.0 + (A13 * A13) * 4.0 + (A21 * A21) * 4.0 + (A22 * A22) * 4.0 +
            (A23 * A23) * 4.0 + (A31 * A31) * 4.0 + (A32 * A32) * 4.0 + (A33 * A33) * 4.0 + (B11 * B11) * 4.0 +
            (B12 * B12) * 4.0 + (B13 * B13) * 4.0 + (B14 * B14) * 4.0 + (B21 * B21) * 4.0 + (B22 * B22) * 4.0 +
            (B23 * B23) * 4.0 + (B24 * B24) * 4.0 + (B31 * B31) * 4.0 + (B32 * B32) * 4.0 + (B33 * B33) * 4.0 +
            (B34 * B34) * 4.0 - A11 * B11 * 8.0 + A22 * B22 * 8.0 + A23 * B23 * 8.0 - A22 * B33 * 1.6E1 +
            A23 * B32 * 1.6E1 + A32 * B23 * 1.6E1 - A33 * B22 * 1.6E1 + A32 * B32 * 8.0 + A33 * B33 * 8.0;
    coef_Jacob1_qt(0, 5) =
            A11 * B12 * -8.0 - A12 * B11 * 8.0 - A11 * B21 * 8.0 - A21 * B11 * 8.0 - A12 * B22 * 8.0 - A22 * B12 * 8.0 -
            A13 * B23 * 8.0 - A23 * B13 * 8.0 - A21 * B22 * 8.0 - A22 * B21 * 8.0 + A12 * B33 * 1.6E1 -
            A13 * B32 * 1.6E1 - A32 * B13 * 1.6E1 + A33 * B12 * 1.6E1 + A21 * B33 * 1.6E1 - A23 * B31 * 1.6E1 -
            A31 * B23 * 1.6E1 + A33 * B21 * 1.6E1 - A31 * B32 * 8.0 - A32 * B31 * 8.0;
    coef_Jacob1_qt(0, 6) =
            A11 * B13 * -8.0 - A13 * B11 * 8.0 - A12 * B23 * 1.6E1 + A13 * B22 * 1.6E1 + A22 * B13 * 1.6E1 -
            A23 * B12 * 1.6E1 - A11 * B31 * 8.0 - A31 * B11 * 8.0 - A12 * B32 * 8.0 - A21 * B23 * 8.0 -
            A23 * B21 * 8.0 - A32 * B12 * 8.0 - A13 * B33 * 8.0 - A33 * B13 * 8.0 - A21 * B32 * 1.6E1 +
            A22 * B31 * 1.6E1 + A31 * B22 * 1.6E1 - A32 * B21 * 1.6E1 - A31 * B33 * 8.0 - A33 * B31 * 8.0;
    coef_Jacob1_qt(0, 7) =
            (A11 * A11) * 4.0 + (A12 * A12) * 4.0 + (A13 * A13) * 4.0 + (A21 * A21) * 4.0 + (A22 * A22) * 4.0 +
            (A23 * A23) * 4.0 + (A31 * A31) * 4.0 + (A32 * A32) * 4.0 + (A33 * A33) * 4.0 + (B11 * B11) * 4.0 +
            (B12 * B12) * 4.0 + (B13 * B13) * 4.0 + (B14 * B14) * 4.0 + (B21 * B21) * 4.0 + (B22 * B22) * 4.0 +
            (B23 * B23) * 4.0 + (B24 * B24) * 4.0 + (B31 * B31) * 4.0 + (B32 * B32) * 4.0 + (B33 * B33) * 4.0 +
            (B34 * B34) * 4.0 + A11 * B11 * 8.0 + A13 * B13 * 8.0 - A11 * B33 * 1.6E1 + A13 * B31 * 1.6E1 -
            A22 * B22 * 8.0 + A31 * B13 * 1.6E1 - A33 * B11 * 1.6E1 + A31 * B31 * 8.0 + A33 * B33 * 8.0;
    coef_Jacob1_qt(0, 8) =
            A12 * B13 * -8.0 - A13 * B12 * 8.0 + A11 * B23 * 1.6E1 - A13 * B21 * 1.6E1 - A21 * B13 * 1.6E1 +
            A23 * B11 * 1.6E1 + A11 * B32 * 1.6E1 - A12 * B31 * 1.6E1 - A31 * B12 * 1.6E1 + A32 * B11 * 1.6E1 -
            A22 * B23 * 8.0 - A23 * B22 * 8.0 - A21 * B31 * 8.0 - A31 * B21 * 8.0 - A22 * B32 * 8.0 - A32 * B22 * 8.0 -
            A23 * B33 * 8.0 - A33 * B23 * 8.0 - A32 * B33 * 8.0 - A33 * B32 * 8.0;
    coef_Jacob1_qt(0, 9) =
            (A11 * A11) * 4.0 + (A12 * A12) * 4.0 + (A13 * A13) * 4.0 + (A21 * A21) * 4.0 + (A22 * A22) * 4.0 +
            (A23 * A23) * 4.0 + (A31 * A31) * 4.0 + (A32 * A32) * 4.0 + (A33 * A33) * 4.0 + (B11 * B11) * 4.0 +
            (B12 * B12) * 4.0 + (B13 * B13) * 4.0 + (B14 * B14) * 4.0 + (B21 * B21) * 4.0 + (B22 * B22) * 4.0 +
            (B23 * B23) * 4.0 + (B24 * B24) * 4.0 + (B31 * B31) * 4.0 + (B32 * B32) * 4.0 + (B33 * B33) * 4.0 +
            (B34 * B34) * 4.0 + A11 * B11 * 8.0 + A12 * B12 * 8.0 - A11 * B22 * 1.6E1 + A12 * B21 * 1.6E1 +
            A21 * B12 * 1.6E1 - A22 * B11 * 1.6E1 + A21 * B21 * 8.0 + A22 * B22 * 8.0 - A33 * B33 * 8.0;
    coef_Jacob1_qt(0, 10) = B14 * 4.0 - A11 * B14 * 4.0 - A21 * B24 * 4.0 - A31 * B34 * 4.0;
    coef_Jacob1_qt(0, 11) = B24 * 4.0 - A12 * B14 * 4.0 - A22 * B24 * 4.0 - A32 * B34 * 4.0;
    coef_Jacob1_qt(0, 12) = B34 * 4.0 - A13 * B14 * 4.0 - A23 * B24 * 4.0 - A33 * B34 * 4.0;
    coef_Jacob1_qt(0, 13) = A14 * B14 * -4.0 - A24 * B24 * 4.0 - A34 * B34 * 4.0;
    coef_Jacob1_qt(0, 14) =
            A12 * B13 * -4.0 + A13 * B12 * 4.0 + A22 * B23 * 4.0 - A23 * B22 * 4.0 - A21 * B31 * 4.0 + A31 * B21 * 4.0 +
            A22 * B32 * 4.0 - A32 * B22 * 4.0 + A23 * B33 * 4.0 - A33 * B23 * 4.0 + A32 * B33 * 4.0 - A33 * B32 * 4.0;
    coef_Jacob1_qt(0, 15) =
            A11 * B13 * 4.0 - A13 * B11 * 4.0 - A12 * B23 * 8.0 + A13 * B22 * 8.0 - A22 * B13 * 8.0 + A23 * B12 * 8.0 +
            A11 * B31 * 4.0 - A31 * B11 * 4.0 - A12 * B32 * 4.0 - A21 * B23 * 4.0 + A23 * B21 * 4.0 + A32 * B12 * 4.0 -
            A13 * B33 * 4.0 + A33 * B13 * 4.0 - A21 * B32 * 8.0 - A22 * B31 * 8.0 + A31 * B22 * 8.0 + A32 * B21 * 8.0 -
            A31 * B33 * 4.0 + A33 * B31 * 4.0;
    coef_Jacob1_qt(0, 16) =
            A11 * B12 * -4.0 + A12 * B11 * 4.0 - A11 * B21 * 4.0 + A21 * B11 * 4.0 + A12 * B22 * 4.0 - A22 * B12 * 4.0 +
            A13 * B23 * 4.0 - A23 * B13 * 4.0 + A21 * B22 * 4.0 - A22 * B21 * 4.0 - A12 * B33 * 8.0 + A13 * B32 * 8.0 -
            A32 * B13 * 8.0 + A33 * B12 * 8.0 - A21 * B33 * 8.0 - A23 * B31 * 8.0 + A31 * B23 * 8.0 + A33 * B21 * 8.0 +
            A31 * B32 * 4.0 - A32 * B31 * 4.0;
    coef_Jacob1_qt(0, 17) =
            A12 * B13 * 4.0 - A13 * B12 * 4.0 + A11 * B23 * 8.0 - A13 * B21 * 8.0 + A21 * B13 * 8.0 - A23 * B11 * 8.0 +
            A11 * B32 * 8.0 + A12 * B31 * 8.0 - A31 * B12 * 8.0 - A32 * B11 * 8.0 - A22 * B23 * 4.0 + A23 * B22 * 4.0 +
            A21 * B31 * 4.0 - A31 * B21 * 4.0 - A22 * B32 * 4.0 + A32 * B22 * 4.0 + A23 * B33 * 4.0 - A33 * B23 * 4.0 +
            A32 * B33 * 4.0 - A33 * B32 * 4.0;
    coef_Jacob1_qt(0, 18) =
            A11 * B22 * -1.6E1 + A22 * B11 * 1.6E1 + A11 * B33 * 1.6E1 - A33 * B11 * 1.6E1 - A22 * B33 * 1.6E1 +
            A33 * B22 * 1.6E1;
    coef_Jacob1_qt(0, 19) =
            A12 * B13 * 4.0 - A13 * B12 * 4.0 - A11 * B23 * 8.0 - A13 * B21 * 8.0 + A21 * B13 * 8.0 + A23 * B11 * 8.0 -
            A11 * B32 * 8.0 + A12 * B31 * 8.0 - A31 * B12 * 8.0 + A32 * B11 * 8.0 + A22 * B23 * 4.0 - A23 * B22 * 4.0 +
            A21 * B31 * 4.0 - A31 * B21 * 4.0 + A22 * B32 * 4.0 - A32 * B22 * 4.0 - A23 * B33 * 4.0 + A33 * B23 * 4.0 -
            A32 * B33 * 4.0 + A33 * B32 * 4.0;
    coef_Jacob1_qt(0, 20) = A21 * B34 * -4.0 + A31 * B24 * 4.0;
    coef_Jacob1_qt(0, 21) = B34 * 4.0 - A22 * B34 * 4.0 + A32 * B24 * 4.0;
    coef_Jacob1_qt(0, 22) = B24 * -4.0 - A23 * B34 * 4.0 + A33 * B24 * 4.0;
    coef_Jacob1_qt(0, 23) = A24 * B34 * -4.0 + A34 * B24 * 4.0;
    coef_Jacob1_qt(0, 24) =
            A11 * B13 * -4.0 + A13 * B11 * 4.0 - A11 * B31 * 4.0 + A31 * B11 * 4.0 + A12 * B32 * 4.0 + A21 * B23 * 4.0 -
            A23 * B21 * 4.0 - A32 * B12 * 4.0 - A13 * B33 * 4.0 + A33 * B13 * 4.0 - A31 * B33 * 4.0 + A33 * B31 * 4.0;
    coef_Jacob1_qt(0, 25) =
            A11 * B12 * 4.0 - A12 * B11 * 4.0 + A11 * B21 * 4.0 - A21 * B11 * 4.0 - A12 * B22 * 4.0 + A22 * B12 * 4.0 +
            A13 * B23 * 4.0 - A23 * B13 * 4.0 - A21 * B22 * 4.0 + A22 * B21 * 4.0 + A12 * B33 * 8.0 + A13 * B32 * 8.0 -
            A32 * B13 * 8.0 - A33 * B12 * 8.0 + A21 * B33 * 8.0 - A23 * B31 * 8.0 + A31 * B23 * 8.0 - A33 * B21 * 8.0 +
            A31 * B32 * 4.0 - A32 * B31 * 4.0;
    coef_Jacob1_qt(0, 26) =
            A11 * B13 * -4.0 + A13 * B11 * 4.0 - A12 * B23 * 8.0 - A13 * B22 * 8.0 + A22 * B13 * 8.0 + A23 * B12 * 8.0 -
            A11 * B31 * 4.0 + A31 * B11 * 4.0 - A12 * B32 * 4.0 - A21 * B23 * 4.0 + A23 * B21 * 4.0 + A32 * B12 * 4.0 +
            A13 * B33 * 4.0 - A33 * B13 * 4.0 - A21 * B32 * 8.0 + A22 * B31 * 8.0 - A31 * B22 * 8.0 + A32 * B21 * 8.0 +
            A31 * B33 * 4.0 - A33 * B31 * 4.0;
    coef_Jacob1_qt(0, 27) = B34 * -4.0 + A11 * B34 * 4.0 - A31 * B14 * 4.0;
    coef_Jacob1_qt(0, 28) = A12 * B34 * 4.0 - A32 * B14 * 4.0;
    coef_Jacob1_qt(0, 29) = B14 * 4.0 + A13 * B34 * 4.0 - A33 * B14 * 4.0;
    coef_Jacob1_qt(0, 30) = A14 * B34 * 4.0 - A34 * B14 * 4.0;
    coef_Jacob1_qt(0, 31) =
            A11 * B12 * 4.0 - A12 * B11 * 4.0 + A11 * B21 * 4.0 - A21 * B11 * 4.0 + A12 * B22 * 4.0 - A22 * B12 * 4.0 -
            A13 * B23 * 4.0 + A23 * B13 * 4.0 + A21 * B22 * 4.0 - A22 * B21 * 4.0 - A31 * B32 * 4.0 + A32 * B31 * 4.0;
    coef_Jacob1_qt(0, 32) = B24 * 4.0 - A11 * B24 * 4.0 + A21 * B14 * 4.0;
    coef_Jacob1_qt(0, 33) = B14 * -4.0 - A12 * B24 * 4.0 + A22 * B14 * 4.0;
    coef_Jacob1_qt(0, 34) = A13 * B24 * -4.0 + A23 * B14 * 4.0;
    coef_Jacob1_qt(0, 35) = A14 * B24 * -4.0 + A24 * B14 * 4.0;

    coef_Jacob2_qt(0, 0) =
            A12 * B13 * -4.0 + A13 * B12 * 4.0 - A22 * B23 * 4.0 + A23 * B22 * 4.0 - A21 * B31 * 4.0 + A31 * B21 * 4.0 -
            A22 * B32 * 4.0 + A32 * B22 * 4.0 - A23 * B33 * 4.0 + A33 * B23 * 4.0 - A32 * B33 * 4.0 + A33 * B32 * 4.0;
    coef_Jacob2_qt(0, 1) =
            (A11 * A11) * 4.0 + (A12 * A12) * 4.0 + (A13 * A13) * 4.0 + (A21 * A21) * 4.0 + (A22 * A22) * 4.0 +
            (A23 * A23) * 4.0 + (A31 * A31) * 4.0 + (A32 * A32) * 4.0 + (A33 * A33) * 4.0 + (B11 * B11) * 4.0 +
            (B12 * B12) * 4.0 + (B13 * B13) * 4.0 + (B14 * B14) * 4.0 + (B21 * B21) * 4.0 + (B22 * B22) * 4.0 +
            (B23 * B23) * 4.0 + (B24 * B24) * 4.0 + (B31 * B31) * 4.0 + (B32 * B32) * 4.0 + (B33 * B33) * 4.0 +
            (B34 * B34) * 4.0 - A11 * B11 * 8.0 + A22 * B22 * 8.0 + A23 * B23 * 8.0 - A22 * B33 * 1.6E1 +
            A23 * B32 * 1.6E1 + A32 * B23 * 1.6E1 - A33 * B22 * 1.6E1 + A32 * B32 * 8.0 + A33 * B33 * 8.0;
    coef_Jacob2_qt(0, 2) =
            A11 * B12 * -4.0 - A12 * B11 * 4.0 - A11 * B21 * 4.0 - A21 * B11 * 4.0 - A12 * B22 * 4.0 - A22 * B12 * 4.0 -
            A13 * B23 * 4.0 - A23 * B13 * 4.0 - A21 * B22 * 4.0 - A22 * B21 * 4.0 + A12 * B33 * 8.0 - A13 * B32 * 8.0 -
            A32 * B13 * 8.0 + A33 * B12 * 8.0 + A21 * B33 * 8.0 - A23 * B31 * 8.0 - A31 * B23 * 8.0 + A33 * B21 * 8.0 -
            A31 * B32 * 4.0 - A32 * B31 * 4.0;
    coef_Jacob2_qt(0, 3) =
            A11 * B13 * -4.0 - A13 * B11 * 4.0 - A12 * B23 * 8.0 + A13 * B22 * 8.0 + A22 * B13 * 8.0 - A23 * B12 * 8.0 -
            A11 * B31 * 4.0 - A31 * B11 * 4.0 - A12 * B32 * 4.0 - A21 * B23 * 4.0 - A23 * B21 * 4.0 - A32 * B12 * 4.0 -
            A13 * B33 * 4.0 - A33 * B13 * 4.0 - A21 * B32 * 8.0 + A22 * B31 * 8.0 + A31 * B22 * 8.0 - A32 * B21 * 8.0 -
            A31 * B33 * 4.0 - A33 * B31 * 4.0;
    coef_Jacob2_qt(0, 4) =
            A12 * B13 * -1.2E1 + A13 * B12 * 1.2E1 + A22 * B23 * 1.2E1 - A23 * B22 * 1.2E1 - A21 * B31 * 1.2E1 +
            A31 * B21 * 1.2E1 + A22 * B32 * 1.2E1 - A32 * B22 * 1.2E1 + A23 * B33 * 1.2E1 - A33 * B23 * 1.2E1 +
            A32 * B33 * 1.2E1 - A33 * B32 * 1.2E1;
    coef_Jacob2_qt(0, 5) =
            A11 * B13 * 8.0 - A13 * B11 * 8.0 - A12 * B23 * 1.6E1 + A13 * B22 * 1.6E1 - A22 * B13 * 1.6E1 +
            A23 * B12 * 1.6E1 + A11 * B31 * 8.0 - A31 * B11 * 8.0 - A12 * B32 * 8.0 - A21 * B23 * 8.0 +
            A23 * B21 * 8.0 + A32 * B12 * 8.0 - A13 * B33 * 8.0 + A33 * B13 * 8.0 - A21 * B32 * 1.6E1 -
            A22 * B31 * 1.6E1 + A31 * B22 * 1.6E1 + A32 * B21 * 1.6E1 - A31 * B33 * 8.0 + A33 * B31 * 8.0;
    coef_Jacob2_qt(0, 6) =
            A11 * B12 * -8.0 + A12 * B11 * 8.0 - A11 * B21 * 8.0 + A21 * B11 * 8.0 + A12 * B22 * 8.0 - A22 * B12 * 8.0 +
            A13 * B23 * 8.0 - A23 * B13 * 8.0 + A21 * B22 * 8.0 - A22 * B21 * 8.0 - A12 * B33 * 1.6E1 +
            A13 * B32 * 1.6E1 - A32 * B13 * 1.6E1 + A33 * B12 * 1.6E1 - A21 * B33 * 1.6E1 - A23 * B31 * 1.6E1 +
            A31 * B23 * 1.6E1 + A33 * B21 * 1.6E1 + A31 * B32 * 8.0 - A32 * B31 * 8.0;
    coef_Jacob2_qt(0, 7) =
            A12 * B13 * 4.0 - A13 * B12 * 4.0 + A11 * B23 * 8.0 - A13 * B21 * 8.0 + A21 * B13 * 8.0 - A23 * B11 * 8.0 +
            A11 * B32 * 8.0 + A12 * B31 * 8.0 - A31 * B12 * 8.0 - A32 * B11 * 8.0 - A22 * B23 * 4.0 + A23 * B22 * 4.0 +
            A21 * B31 * 4.0 - A31 * B21 * 4.0 - A22 * B32 * 4.0 + A32 * B22 * 4.0 + A23 * B33 * 4.0 - A33 * B23 * 4.0 +
            A32 * B33 * 4.0 - A33 * B32 * 4.0;
    coef_Jacob2_qt(0, 8) =
            A11 * B22 * -1.6E1 + A22 * B11 * 1.6E1 + A11 * B33 * 1.6E1 - A33 * B11 * 1.6E1 - A22 * B33 * 1.6E1 +
            A33 * B22 * 1.6E1;
    coef_Jacob2_qt(0, 9) =
            A12 * B13 * 4.0 - A13 * B12 * 4.0 - A11 * B23 * 8.0 - A13 * B21 * 8.0 + A21 * B13 * 8.0 + A23 * B11 * 8.0 -
            A11 * B32 * 8.0 + A12 * B31 * 8.0 - A31 * B12 * 8.0 + A32 * B11 * 8.0 + A22 * B23 * 4.0 - A23 * B22 * 4.0 +
            A21 * B31 * 4.0 - A31 * B21 * 4.0 + A22 * B32 * 4.0 - A32 * B22 * 4.0 - A23 * B33 * 4.0 + A33 * B23 * 4.0 -
            A32 * B33 * 4.0 + A33 * B32 * 4.0;
    coef_Jacob2_qt(0, 10) = A21 * B34 * -4.0 + A31 * B24 * 4.0;
    coef_Jacob2_qt(0, 11) = B34 * 4.0 - A22 * B34 * 4.0 + A32 * B24 * 4.0;
    coef_Jacob2_qt(0, 12) = B24 * -4.0 - A23 * B34 * 4.0 + A33 * B24 * 4.0;
    coef_Jacob2_qt(0, 13) = A24 * B34 * -4.0 + A34 * B24 * 4.0;
    coef_Jacob2_qt(0, 14) =
            (A11 * A11) * 4.0 + (A12 * A12) * 4.0 + (A13 * A13) * 4.0 + (A21 * A21) * 4.0 + (A22 * A22) * 4.0 +
            (A23 * A23) * 4.0 + (A31 * A31) * 4.0 + (A32 * A32) * 4.0 + (A33 * A33) * 4.0 + (B11 * B11) * 4.0 +
            (B12 * B12) * 4.0 + (B13 * B13) * 4.0 + (B14 * B14) * 4.0 + (B21 * B21) * 4.0 + (B22 * B22) * 4.0 +
            (B23 * B23) * 4.0 + (B24 * B24) * 4.0 + (B31 * B31) * 4.0 + (B32 * B32) * 4.0 + (B33 * B33) * 4.0 +
            (B34 * B34) * 4.0 - A11 * B11 * 8.0 + A12 * B12 * 8.0 + A13 * B13 * 8.0 + A21 * B21 * 8.0 -
            A22 * B22 * 8.0 - A23 * B23 * 8.0 + A31 * B31 * 8.0 - A32 * B32 * 8.0 - A33 * B33 * 8.0;
    coef_Jacob2_qt(0, 15) =
            A11 * B12 * -1.2E1 - A12 * B11 * 1.2E1 - A11 * B21 * 1.2E1 - A21 * B11 * 1.2E1 + A12 * B22 * 1.2E1 +
            A22 * B12 * 1.2E1 + A13 * B23 * 1.2E1 + A23 * B13 * 1.2E1 + A21 * B22 * 1.2E1 + A22 * B21 * 1.2E1 +
            A31 * B32 * 1.2E1 + A32 * B31 * 1.2E1;
    coef_Jacob2_qt(0, 16) =
            A11 * B13 * -1.2E1 - A13 * B11 * 1.2E1 - A11 * B31 * 1.2E1 - A31 * B11 * 1.2E1 + A12 * B32 * 1.2E1 +
            A21 * B23 * 1.2E1 + A23 * B21 * 1.2E1 + A32 * B12 * 1.2E1 + A13 * B33 * 1.2E1 + A33 * B13 * 1.2E1 +
            A31 * B33 * 1.2E1 + A33 * B31 * 1.2E1;
    coef_Jacob2_qt(0, 17) =
            (A11 * A11) * 4.0 + (A12 * A12) * 4.0 + (A13 * A13) * 4.0 + (A21 * A21) * 4.0 + (A22 * A22) * 4.0 +
            (A23 * A23) * 4.0 + (A31 * A31) * 4.0 + (A32 * A32) * 4.0 + (A33 * A33) * 4.0 + (B11 * B11) * 4.0 +
            (B12 * B12) * 4.0 + (B13 * B13) * 4.0 + (B14 * B14) * 4.0 + (B21 * B21) * 4.0 + (B22 * B22) * 4.0 +
            (B23 * B23) * 4.0 + (B24 * B24) * 4.0 + (B31 * B31) * 4.0 + (B32 * B32) * 4.0 + (B33 * B33) * 4.0 +
            (B34 * B34) * 4.0 + A11 * B11 * 8.0 - A12 * B12 * 8.0 - A11 * B22 * 1.6E1 - A12 * B21 * 1.6E1 -
            A21 * B12 * 1.6E1 - A22 * B11 * 1.6E1 - A21 * B21 * 8.0 + A22 * B22 * 8.0 - A33 * B33 * 8.0;
    coef_Jacob2_qt(0, 18) =
            A12 * B13 * -8.0 - A13 * B12 * 8.0 - A11 * B23 * 1.6E1 - A13 * B21 * 1.6E1 - A21 * B13 * 1.6E1 -
            A23 * B11 * 1.6E1 - A11 * B32 * 1.6E1 - A12 * B31 * 1.6E1 - A31 * B12 * 1.6E1 - A32 * B11 * 1.6E1 +
            A22 * B23 * 8.0 + A23 * B22 * 8.0 - A21 * B31 * 8.0 - A31 * B21 * 8.0 + A22 * B32 * 8.0 + A32 * B22 * 8.0 +
            A23 * B33 * 8.0 + A33 * B23 * 8.0 + A32 * B33 * 8.0 + A33 * B32 * 8.0;
    coef_Jacob2_qt(0, 19) =
            (A11 * A11) * 4.0 + (A12 * A12) * 4.0 + (A13 * A13) * 4.0 + (A21 * A21) * 4.0 + (A22 * A22) * 4.0 +
            (A23 * A23) * 4.0 + (A31 * A31) * 4.0 + (A32 * A32) * 4.0 + (A33 * A33) * 4.0 + (B11 * B11) * 4.0 +
            (B12 * B12) * 4.0 + (B13 * B13) * 4.0 + (B14 * B14) * 4.0 + (B21 * B21) * 4.0 + (B22 * B22) * 4.0 +
            (B23 * B23) * 4.0 + (B24 * B24) * 4.0 + (B31 * B31) * 4.0 + (B32 * B32) * 4.0 + (B33 * B33) * 4.0 +
            (B34 * B34) * 4.0 + A11 * B11 * 8.0 - A13 * B13 * 8.0 - A11 * B33 * 1.6E1 - A13 * B31 * 1.6E1 -
            A22 * B22 * 8.0 - A31 * B13 * 1.6E1 - A33 * B11 * 1.6E1 - A31 * B31 * 8.0 + A33 * B33 * 8.0;
    coef_Jacob2_qt(0, 20) = B14 * 4.0 - A11 * B14 * 4.0 + A21 * B24 * 4.0 + A31 * B34 * 4.0;
    coef_Jacob2_qt(0, 21) = B24 * -4.0 - A12 * B14 * 4.0 + A22 * B24 * 4.0 + A32 * B34 * 4.0;
    coef_Jacob2_qt(0, 22) = B34 * -4.0 - A13 * B14 * 4.0 + A23 * B24 * 4.0 + A33 * B34 * 4.0;
    coef_Jacob2_qt(0, 23) = A14 * B14 * -4.0 + A24 * B24 * 4.0 + A34 * B34 * 4.0;
    coef_Jacob2_qt(0, 24) =
            A11 * B12 * 4.0 + A12 * B11 * 4.0 + A11 * B21 * 4.0 + A21 * B11 * 4.0 - A12 * B22 * 4.0 - A22 * B12 * 4.0 +
            A13 * B23 * 4.0 + A23 * B13 * 4.0 - A21 * B22 * 4.0 - A22 * B21 * 4.0 + A31 * B32 * 4.0 + A32 * B31 * 4.0;
    coef_Jacob2_qt(0, 25) =
            A11 * B13 * 4.0 + A13 * B11 * 4.0 - A12 * B23 * 8.0 - A13 * B22 * 8.0 - A22 * B13 * 8.0 - A23 * B12 * 8.0 +
            A11 * B31 * 4.0 + A31 * B11 * 4.0 - A12 * B32 * 4.0 - A21 * B23 * 4.0 - A23 * B21 * 4.0 - A32 * B12 * 4.0 +
            A13 * B33 * 4.0 + A33 * B13 * 4.0 - A21 * B32 * 8.0 - A22 * B31 * 8.0 - A31 * B22 * 8.0 - A32 * B21 * 8.0 +
            A31 * B33 * 4.0 + A33 * B31 * 4.0;
    coef_Jacob2_qt(0, 26) =
            A11 * B12 * 4.0 + A12 * B11 * 4.0 + A11 * B21 * 4.0 + A21 * B11 * 4.0 + A12 * B22 * 4.0 + A22 * B12 * 4.0 -
            A13 * B23 * 4.0 - A23 * B13 * 4.0 + A21 * B22 * 4.0 + A22 * B21 * 4.0 - A12 * B33 * 8.0 - A13 * B32 * 8.0 -
            A32 * B13 * 8.0 - A33 * B12 * 8.0 - A21 * B33 * 8.0 - A23 * B31 * 8.0 - A31 * B23 * 8.0 - A33 * B21 * 8.0 -
            A31 * B32 * 4.0 - A32 * B31 * 4.0;
    coef_Jacob2_qt(0, 27) = B24 * 4.0 - A11 * B24 * 4.0 - A21 * B14 * 4.0;
    coef_Jacob2_qt(0, 28) = B14 * 4.0 - A12 * B24 * 4.0 - A22 * B14 * 4.0;
    coef_Jacob2_qt(0, 29) = A13 * B24 * -4.0 - A23 * B14 * 4.0;
    coef_Jacob2_qt(0, 30) = A14 * B24 * -4.0 - A24 * B14 * 4.0;
    coef_Jacob2_qt(0, 31) =
            A11 * B13 * 4.0 + A13 * B11 * 4.0 + A11 * B31 * 4.0 + A31 * B11 * 4.0 + A12 * B32 * 4.0 + A21 * B23 * 4.0 +
            A23 * B21 * 4.0 + A32 * B12 * 4.0 - A13 * B33 * 4.0 - A33 * B13 * 4.0 - A31 * B33 * 4.0 - A33 * B31 * 4.0;
    coef_Jacob2_qt(0, 32) = B34 * 4.0 - A11 * B34 * 4.0 - A31 * B14 * 4.0;
    coef_Jacob2_qt(0, 33) = A12 * B34 * -4.0 - A32 * B14 * 4.0;
    coef_Jacob2_qt(0, 34) = B14 * 4.0 - A13 * B34 * 4.0 - A33 * B14 * 4.0;
    coef_Jacob2_qt(0, 35) = A14 * B34 * -4.0 - A34 * B14 * 4.0;

    coef_Jacob3_qt(0, 0) =
            A11 * B13 * 4.0 - A13 * B11 * 4.0 + A11 * B31 * 4.0 - A31 * B11 * 4.0 + A12 * B32 * 4.0 + A21 * B23 * 4.0 -
            A23 * B21 * 4.0 - A32 * B12 * 4.0 + A13 * B33 * 4.0 - A33 * B13 * 4.0 + A31 * B33 * 4.0 - A33 * B31 * 4.0;
    coef_Jacob3_qt(0, 1) =
            A11 * B12 * -4.0 - A12 * B11 * 4.0 - A11 * B21 * 4.0 - A21 * B11 * 4.0 - A12 * B22 * 4.0 - A22 * B12 * 4.0 -
            A13 * B23 * 4.0 - A23 * B13 * 4.0 - A21 * B22 * 4.0 - A22 * B21 * 4.0 + A12 * B33 * 8.0 - A13 * B32 * 8.0 -
            A32 * B13 * 8.0 + A33 * B12 * 8.0 + A21 * B33 * 8.0 - A23 * B31 * 8.0 - A31 * B23 * 8.0 + A33 * B21 * 8.0 -
            A31 * B32 * 4.0 - A32 * B31 * 4.0;
    coef_Jacob3_qt(0, 2) =
            (A11 * A11) * 4.0 + (A12 * A12) * 4.0 + (A13 * A13) * 4.0 + (A21 * A21) * 4.0 + (A22 * A22) * 4.0 +
            (A23 * A23) * 4.0 + (A31 * A31) * 4.0 + (A32 * A32) * 4.0 + (A33 * A33) * 4.0 + (B11 * B11) * 4.0 +
            (B12 * B12) * 4.0 + (B13 * B13) * 4.0 + (B14 * B14) * 4.0 + (B21 * B21) * 4.0 + (B22 * B22) * 4.0 +
            (B23 * B23) * 4.0 + (B24 * B24) * 4.0 + (B31 * B31) * 4.0 + (B32 * B32) * 4.0 + (B33 * B33) * 4.0 +
            (B34 * B34) * 4.0 + A11 * B11 * 8.0 + A13 * B13 * 8.0 - A11 * B33 * 1.6E1 + A13 * B31 * 1.6E1 -
            A22 * B22 * 8.0 + A31 * B13 * 1.6E1 - A33 * B11 * 1.6E1 + A31 * B31 * 8.0 + A33 * B33 * 8.0;
    coef_Jacob3_qt(0, 3) =
            A12 * B13 * -4.0 - A13 * B12 * 4.0 + A11 * B23 * 8.0 - A13 * B21 * 8.0 - A21 * B13 * 8.0 + A23 * B11 * 8.0 +
            A11 * B32 * 8.0 - A12 * B31 * 8.0 - A31 * B12 * 8.0 + A32 * B11 * 8.0 - A22 * B23 * 4.0 - A23 * B22 * 4.0 -
            A21 * B31 * 4.0 - A31 * B21 * 4.0 - A22 * B32 * 4.0 - A32 * B22 * 4.0 - A23 * B33 * 4.0 - A33 * B23 * 4.0 -
            A32 * B33 * 4.0 - A33 * B32 * 4.0;
    coef_Jacob3_qt(0, 4) =
            A11 * B13 * 4.0 - A13 * B11 * 4.0 - A12 * B23 * 8.0 + A13 * B22 * 8.0 - A22 * B13 * 8.0 + A23 * B12 * 8.0 +
            A11 * B31 * 4.0 - A31 * B11 * 4.0 - A12 * B32 * 4.0 - A21 * B23 * 4.0 + A23 * B21 * 4.0 + A32 * B12 * 4.0 -
            A13 * B33 * 4.0 + A33 * B13 * 4.0 - A21 * B32 * 8.0 - A22 * B31 * 8.0 + A31 * B22 * 8.0 + A32 * B21 * 8.0 -
            A31 * B33 * 4.0 + A33 * B31 * 4.0;
    coef_Jacob3_qt(0, 5) =
            A12 * B13 * 8.0 - A13 * B12 * 8.0 + A11 * B23 * 1.6E1 - A13 * B21 * 1.6E1 + A21 * B13 * 1.6E1 -
            A23 * B11 * 1.6E1 + A11 * B32 * 1.6E1 + A12 * B31 * 1.6E1 - A31 * B12 * 1.6E1 - A32 * B11 * 1.6E1 -
            A22 * B23 * 8.0 + A23 * B22 * 8.0 + A21 * B31 * 8.0 - A31 * B21 * 8.0 - A22 * B32 * 8.0 + A32 * B22 * 8.0 +
            A23 * B33 * 8.0 - A33 * B23 * 8.0 + A32 * B33 * 8.0 - A33 * B32 * 8.0;
    coef_Jacob3_qt(0, 6) =
            A11 * B22 * -1.6E1 + A22 * B11 * 1.6E1 + A11 * B33 * 1.6E1 - A33 * B11 * 1.6E1 - A22 * B33 * 1.6E1 +
            A33 * B22 * 1.6E1;
    coef_Jacob3_qt(0, 7) =
            A11 * B13 * -1.2E1 + A13 * B11 * 1.2E1 - A11 * B31 * 1.2E1 + A31 * B11 * 1.2E1 + A12 * B32 * 1.2E1 +
            A21 * B23 * 1.2E1 - A23 * B21 * 1.2E1 - A32 * B12 * 1.2E1 - A13 * B33 * 1.2E1 + A33 * B13 * 1.2E1 -
            A31 * B33 * 1.2E1 + A33 * B31 * 1.2E1;
    coef_Jacob3_qt(0, 8) =
            A11 * B12 * 8.0 - A12 * B11 * 8.0 + A11 * B21 * 8.0 - A21 * B11 * 8.0 - A12 * B22 * 8.0 + A22 * B12 * 8.0 +
            A13 * B23 * 8.0 - A23 * B13 * 8.0 - A21 * B22 * 8.0 + A22 * B21 * 8.0 + A12 * B33 * 1.6E1 +
            A13 * B32 * 1.6E1 - A32 * B13 * 1.6E1 - A33 * B12 * 1.6E1 + A21 * B33 * 1.6E1 - A23 * B31 * 1.6E1 +
            A31 * B23 * 1.6E1 - A33 * B21 * 1.6E1 + A31 * B32 * 8.0 - A32 * B31 * 8.0;
    coef_Jacob3_qt(0, 9) =
            A11 * B13 * -4.0 + A13 * B11 * 4.0 - A12 * B23 * 8.0 - A13 * B22 * 8.0 + A22 * B13 * 8.0 + A23 * B12 * 8.0 -
            A11 * B31 * 4.0 + A31 * B11 * 4.0 - A12 * B32 * 4.0 - A21 * B23 * 4.0 + A23 * B21 * 4.0 + A32 * B12 * 4.0 +
            A13 * B33 * 4.0 - A33 * B13 * 4.0 - A21 * B32 * 8.0 + A22 * B31 * 8.0 - A31 * B22 * 8.0 + A32 * B21 * 8.0 +
            A31 * B33 * 4.0 - A33 * B31 * 4.0;
    coef_Jacob3_qt(0, 10) = B34 * -4.0 + A11 * B34 * 4.0 - A31 * B14 * 4.0;
    coef_Jacob3_qt(0, 11) = A12 * B34 * 4.0 - A32 * B14 * 4.0;
    coef_Jacob3_qt(0, 12) = B14 * 4.0 + A13 * B34 * 4.0 - A33 * B14 * 4.0;
    coef_Jacob3_qt(0, 13) = A14 * B34 * 4.0 - A34 * B14 * 4.0;
    coef_Jacob3_qt(0, 14) =
            A11 * B12 * -4.0 - A12 * B11 * 4.0 - A11 * B21 * 4.0 - A21 * B11 * 4.0 + A12 * B22 * 4.0 + A22 * B12 * 4.0 +
            A13 * B23 * 4.0 + A23 * B13 * 4.0 + A21 * B22 * 4.0 + A22 * B21 * 4.0 + A31 * B32 * 4.0 + A32 * B31 * 4.0;
    coef_Jacob3_qt(0, 15) =
            (A11 * A11) * 4.0 + (A12 * A12) * 4.0 + (A13 * A13) * 4.0 + (A21 * A21) * 4.0 + (A22 * A22) * 4.0 +
            (A23 * A23) * 4.0 + (A31 * A31) * 4.0 + (A32 * A32) * 4.0 + (A33 * A33) * 4.0 + (B11 * B11) * 4.0 +
            (B12 * B12) * 4.0 + (B13 * B13) * 4.0 + (B14 * B14) * 4.0 + (B21 * B21) * 4.0 + (B22 * B22) * 4.0 +
            (B23 * B23) * 4.0 + (B24 * B24) * 4.0 + (B31 * B31) * 4.0 + (B32 * B32) * 4.0 + (B33 * B33) * 4.0 +
            (B34 * B34) * 4.0 + A11 * B11 * 8.0 - A12 * B12 * 8.0 - A11 * B22 * 1.6E1 - A12 * B21 * 1.6E1 -
            A21 * B12 * 1.6E1 - A22 * B11 * 1.6E1 - A21 * B21 * 8.0 + A22 * B22 * 8.0 - A33 * B33 * 8.0;
    coef_Jacob3_qt(0, 16) =
            A12 * B13 * -4.0 - A13 * B12 * 4.0 - A11 * B23 * 8.0 - A13 * B21 * 8.0 - A21 * B13 * 8.0 - A23 * B11 * 8.0 -
            A11 * B32 * 8.0 - A12 * B31 * 8.0 - A31 * B12 * 8.0 - A32 * B11 * 8.0 + A22 * B23 * 4.0 + A23 * B22 * 4.0 -
            A21 * B31 * 4.0 - A31 * B21 * 4.0 + A22 * B32 * 4.0 + A32 * B22 * 4.0 + A23 * B33 * 4.0 + A33 * B23 * 4.0 +
            A32 * B33 * 4.0 + A33 * B32 * 4.0;
    coef_Jacob3_qt(0, 17) =
            A11 * B12 * 1.2E1 + A12 * B11 * 1.2E1 + A11 * B21 * 1.2E1 + A21 * B11 * 1.2E1 - A12 * B22 * 1.2E1 -
            A22 * B12 * 1.2E1 + A13 * B23 * 1.2E1 + A23 * B13 * 1.2E1 - A21 * B22 * 1.2E1 - A22 * B21 * 1.2E1 +
            A31 * B32 * 1.2E1 + A32 * B31 * 1.2E1;
    coef_Jacob3_qt(0, 18) =
            A11 * B13 * 8.0 + A13 * B11 * 8.0 - A12 * B23 * 1.6E1 - A13 * B22 * 1.6E1 - A22 * B13 * 1.6E1 -
            A23 * B12 * 1.6E1 + A11 * B31 * 8.0 + A31 * B11 * 8.0 - A12 * B32 * 8.0 - A21 * B23 * 8.0 -
            A23 * B21 * 8.0 - A32 * B12 * 8.0 + A13 * B33 * 8.0 + A33 * B13 * 8.0 - A21 * B32 * 1.6E1 -
            A22 * B31 * 1.6E1 - A31 * B22 * 1.6E1 - A32 * B21 * 1.6E1 + A31 * B33 * 8.0 + A33 * B31 * 8.0;
    coef_Jacob3_qt(0, 19) =
            A11 * B12 * 4.0 + A12 * B11 * 4.0 + A11 * B21 * 4.0 + A21 * B11 * 4.0 + A12 * B22 * 4.0 + A22 * B12 * 4.0 -
            A13 * B23 * 4.0 - A23 * B13 * 4.0 + A21 * B22 * 4.0 + A22 * B21 * 4.0 - A12 * B33 * 8.0 - A13 * B32 * 8.0 -
            A32 * B13 * 8.0 - A33 * B12 * 8.0 - A21 * B33 * 8.0 - A23 * B31 * 8.0 - A31 * B23 * 8.0 - A33 * B21 * 8.0 -
            A31 * B32 * 4.0 - A32 * B31 * 4.0;
    coef_Jacob3_qt(0, 20) = B24 * 4.0 - A11 * B24 * 4.0 - A21 * B14 * 4.0;
    coef_Jacob3_qt(0, 21) = B14 * 4.0 - A12 * B24 * 4.0 - A22 * B14 * 4.0;
    coef_Jacob3_qt(0, 22) = A13 * B24 * -4.0 - A23 * B14 * 4.0;
    coef_Jacob3_qt(0, 23) = A14 * B24 * -4.0 - A24 * B14 * 4.0;
    coef_Jacob3_qt(0, 24) =
            (A11 * A11) * 4.0 + (A12 * A12) * 4.0 + (A13 * A13) * 4.0 + (A21 * A21) * 4.0 + (A22 * A22) * 4.0 +
            (A23 * A23) * 4.0 + (A31 * A31) * 4.0 + (A32 * A32) * 4.0 + (A33 * A33) * 4.0 + (B11 * B11) * 4.0 +
            (B12 * B12) * 4.0 + (B13 * B13) * 4.0 + (B14 * B14) * 4.0 + (B21 * B21) * 4.0 + (B22 * B22) * 4.0 +
            (B23 * B23) * 4.0 + (B24 * B24) * 4.0 + (B31 * B31) * 4.0 + (B32 * B32) * 4.0 + (B33 * B33) * 4.0 +
            (B34 * B34) * 4.0 - A11 * B11 * 8.0 + A12 * B12 * 8.0 - A13 * B13 * 8.0 + A21 * B21 * 8.0 -
            A22 * B22 * 8.0 + A23 * B23 * 8.0 - A31 * B31 * 8.0 + A32 * B32 * 8.0 - A33 * B33 * 8.0;
    coef_Jacob3_qt(0, 25) =
            A12 * B13 * 1.2E1 + A13 * B12 * 1.2E1 - A22 * B23 * 1.2E1 - A23 * B22 * 1.2E1 + A21 * B31 * 1.2E1 +
            A31 * B21 * 1.2E1 - A22 * B32 * 1.2E1 - A32 * B22 * 1.2E1 + A23 * B33 * 1.2E1 + A33 * B23 * 1.2E1 +
            A32 * B33 * 1.2E1 + A33 * B32 * 1.2E1;
    coef_Jacob3_qt(0, 26) =
            (A11 * A11) * 4.0 + (A12 * A12) * 4.0 + (A13 * A13) * 4.0 + (A21 * A21) * 4.0 + (A22 * A22) * 4.0 +
            (A23 * A23) * 4.0 + (A31 * A31) * 4.0 + (A32 * A32) * 4.0 + (A33 * A33) * 4.0 + (B11 * B11) * 4.0 +
            (B12 * B12) * 4.0 + (B13 * B13) * 4.0 + (B14 * B14) * 4.0 + (B21 * B21) * 4.0 + (B22 * B22) * 4.0 +
            (B23 * B23) * 4.0 + (B24 * B24) * 4.0 + (B31 * B31) * 4.0 + (B32 * B32) * 4.0 + (B33 * B33) * 4.0 +
            (B34 * B34) * 4.0 - A11 * B11 * 8.0 + A22 * B22 * 8.0 - A23 * B23 * 8.0 - A22 * B33 * 1.6E1 -
            A23 * B32 * 1.6E1 - A32 * B23 * 1.6E1 - A33 * B22 * 1.6E1 - A32 * B32 * 8.0 + A33 * B33 * 8.0;
    coef_Jacob3_qt(0, 27) = B14 * -4.0 + A11 * B14 * 4.0 - A21 * B24 * 4.0 + A31 * B34 * 4.0;
    coef_Jacob3_qt(0, 28) = B24 * 4.0 + A12 * B14 * 4.0 - A22 * B24 * 4.0 + A32 * B34 * 4.0;
    coef_Jacob3_qt(0, 29) = B34 * -4.0 + A13 * B14 * 4.0 - A23 * B24 * 4.0 + A33 * B34 * 4.0;
    coef_Jacob3_qt(0, 30) = A14 * B14 * 4.0 - A24 * B24 * 4.0 + A34 * B34 * 4.0;
    coef_Jacob3_qt(0, 31) =
            A12 * B13 * 4.0 + A13 * B12 * 4.0 + A22 * B23 * 4.0 + A23 * B22 * 4.0 + A21 * B31 * 4.0 + A31 * B21 * 4.0 +
            A22 * B32 * 4.0 + A32 * B22 * 4.0 - A23 * B33 * 4.0 - A33 * B23 * 4.0 - A32 * B33 * 4.0 - A33 * B32 * 4.0;
    coef_Jacob3_qt(0, 32) = A21 * B34 * -4.0 - A31 * B24 * 4.0;
    coef_Jacob3_qt(0, 33) = B34 * 4.0 - A22 * B34 * 4.0 - A32 * B24 * 4.0;
    coef_Jacob3_qt(0, 34) = B24 * 4.0 - A23 * B34 * 4.0 - A33 * B24 * 4.0;
    coef_Jacob3_qt(0, 35) = A24 * B34 * -4.0 - A34 * B24 * 4.0;

    coef_Jacob4_qt(0, 0) =
            A11 * B12 * -4.0 + A12 * B11 * 4.0 - A11 * B21 * 4.0 + A21 * B11 * 4.0 - A12 * B22 * 4.0 + A22 * B12 * 4.0 -
            A13 * B23 * 4.0 + A23 * B13 * 4.0 - A21 * B22 * 4.0 + A22 * B21 * 4.0 - A31 * B32 * 4.0 + A32 * B31 * 4.0;
    coef_Jacob4_qt(0, 1) =
            A11 * B13 * -4.0 - A13 * B11 * 4.0 - A12 * B23 * 8.0 + A13 * B22 * 8.0 + A22 * B13 * 8.0 - A23 * B12 * 8.0 -
            A11 * B31 * 4.0 - A31 * B11 * 4.0 - A12 * B32 * 4.0 - A21 * B23 * 4.0 - A23 * B21 * 4.0 - A32 * B12 * 4.0 -
            A13 * B33 * 4.0 - A33 * B13 * 4.0 - A21 * B32 * 8.0 + A22 * B31 * 8.0 + A31 * B22 * 8.0 - A32 * B21 * 8.0 -
            A31 * B33 * 4.0 - A33 * B31 * 4.0;
    coef_Jacob4_qt(0, 2) =
            A12 * B13 * -4.0 - A13 * B12 * 4.0 + A11 * B23 * 8.0 - A13 * B21 * 8.0 - A21 * B13 * 8.0 + A23 * B11 * 8.0 +
            A11 * B32 * 8.0 - A12 * B31 * 8.0 - A31 * B12 * 8.0 + A32 * B11 * 8.0 - A22 * B23 * 4.0 - A23 * B22 * 4.0 -
            A21 * B31 * 4.0 - A31 * B21 * 4.0 - A22 * B32 * 4.0 - A32 * B22 * 4.0 - A23 * B33 * 4.0 - A33 * B23 * 4.0 -
            A32 * B33 * 4.0 - A33 * B32 * 4.0;
    coef_Jacob4_qt(0, 3) =
            (A11 * A11) * 4.0 + (A12 * A12) * 4.0 + (A13 * A13) * 4.0 + (A21 * A21) * 4.0 + (A22 * A22) * 4.0 +
            (A23 * A23) * 4.0 + (A31 * A31) * 4.0 + (A32 * A32) * 4.0 + (A33 * A33) * 4.0 + (B11 * B11) * 4.0 +
            (B12 * B12) * 4.0 + (B13 * B13) * 4.0 + (B14 * B14) * 4.0 + (B21 * B21) * 4.0 + (B22 * B22) * 4.0 +
            (B23 * B23) * 4.0 + (B24 * B24) * 4.0 + (B31 * B31) * 4.0 + (B32 * B32) * 4.0 + (B33 * B33) * 4.0 +
            (B34 * B34) * 4.0 + A11 * B11 * 8.0 + A12 * B12 * 8.0 - A11 * B22 * 1.6E1 + A12 * B21 * 1.6E1 +
            A21 * B12 * 1.6E1 - A22 * B11 * 1.6E1 + A21 * B21 * 8.0 + A22 * B22 * 8.0 - A33 * B33 * 8.0;
    coef_Jacob4_qt(0, 4) =
            A11 * B12 * -4.0 + A12 * B11 * 4.0 - A11 * B21 * 4.0 + A21 * B11 * 4.0 + A12 * B22 * 4.0 - A22 * B12 * 4.0 +
            A13 * B23 * 4.0 - A23 * B13 * 4.0 + A21 * B22 * 4.0 - A22 * B21 * 4.0 - A12 * B33 * 8.0 + A13 * B32 * 8.0 -
            A32 * B13 * 8.0 + A33 * B12 * 8.0 - A21 * B33 * 8.0 - A23 * B31 * 8.0 + A31 * B23 * 8.0 + A33 * B21 * 8.0 +
            A31 * B32 * 4.0 - A32 * B31 * 4.0;
    coef_Jacob4_qt(0, 5) =
            A11 * B22 * -1.6E1 + A22 * B11 * 1.6E1 + A11 * B33 * 1.6E1 - A33 * B11 * 1.6E1 - A22 * B33 * 1.6E1 +
            A33 * B22 * 1.6E1;
    coef_Jacob4_qt(0, 6) =
            A12 * B13 * 8.0 - A13 * B12 * 8.0 - A11 * B23 * 1.6E1 - A13 * B21 * 1.6E1 + A21 * B13 * 1.6E1 +
            A23 * B11 * 1.6E1 - A11 * B32 * 1.6E1 + A12 * B31 * 1.6E1 - A31 * B12 * 1.6E1 + A32 * B11 * 1.6E1 +
            A22 * B23 * 8.0 - A23 * B22 * 8.0 + A21 * B31 * 8.0 - A31 * B21 * 8.0 + A22 * B32 * 8.0 - A32 * B22 * 8.0 -
            A23 * B33 * 8.0 + A33 * B23 * 8.0 - A32 * B33 * 8.0 + A33 * B32 * 8.0;
    coef_Jacob4_qt(0, 7) =
            A11 * B12 * 4.0 - A12 * B11 * 4.0 + A11 * B21 * 4.0 - A21 * B11 * 4.0 - A12 * B22 * 4.0 + A22 * B12 * 4.0 +
            A13 * B23 * 4.0 - A23 * B13 * 4.0 - A21 * B22 * 4.0 + A22 * B21 * 4.0 + A12 * B33 * 8.0 + A13 * B32 * 8.0 -
            A32 * B13 * 8.0 - A33 * B12 * 8.0 + A21 * B33 * 8.0 - A23 * B31 * 8.0 + A31 * B23 * 8.0 - A33 * B21 * 8.0 +
            A31 * B32 * 4.0 - A32 * B31 * 4.0;
    coef_Jacob4_qt(0, 8) =
            A11 * B13 * -8.0 + A13 * B11 * 8.0 - A12 * B23 * 1.6E1 - A13 * B22 * 1.6E1 + A22 * B13 * 1.6E1 +
            A23 * B12 * 1.6E1 - A11 * B31 * 8.0 + A31 * B11 * 8.0 - A12 * B32 * 8.0 - A21 * B23 * 8.0 +
            A23 * B21 * 8.0 + A32 * B12 * 8.0 + A13 * B33 * 8.0 - A33 * B13 * 8.0 - A21 * B32 * 1.6E1 +
            A22 * B31 * 1.6E1 - A31 * B22 * 1.6E1 + A32 * B21 * 1.6E1 + A31 * B33 * 8.0 - A33 * B31 * 8.0;
    coef_Jacob4_qt(0, 9) =
            A11 * B12 * 1.2E1 - A12 * B11 * 1.2E1 + A11 * B21 * 1.2E1 - A21 * B11 * 1.2E1 + A12 * B22 * 1.2E1 -
            A22 * B12 * 1.2E1 - A13 * B23 * 1.2E1 + A23 * B13 * 1.2E1 + A21 * B22 * 1.2E1 - A22 * B21 * 1.2E1 -
            A31 * B32 * 1.2E1 + A32 * B31 * 1.2E1;
    coef_Jacob4_qt(0, 10) = B24 * 4.0 - A11 * B24 * 4.0 + A21 * B14 * 4.0;
    coef_Jacob4_qt(0, 11) = B14 * -4.0 - A12 * B24 * 4.0 + A22 * B14 * 4.0;
    coef_Jacob4_qt(0, 12) = A13 * B24 * -4.0 + A23 * B14 * 4.0;
    coef_Jacob4_qt(0, 13) = A14 * B24 * -4.0 + A24 * B14 * 4.0;
    coef_Jacob4_qt(0, 14) =
            A11 * B13 * -4.0 - A13 * B11 * 4.0 - A11 * B31 * 4.0 - A31 * B11 * 4.0 + A12 * B32 * 4.0 + A21 * B23 * 4.0 +
            A23 * B21 * 4.0 + A32 * B12 * 4.0 + A13 * B33 * 4.0 + A33 * B13 * 4.0 + A31 * B33 * 4.0 + A33 * B31 * 4.0;
    coef_Jacob4_qt(0, 15) =
            A12 * B13 * -4.0 - A13 * B12 * 4.0 - A11 * B23 * 8.0 - A13 * B21 * 8.0 - A21 * B13 * 8.0 - A23 * B11 * 8.0 -
            A11 * B32 * 8.0 - A12 * B31 * 8.0 - A31 * B12 * 8.0 - A32 * B11 * 8.0 + A22 * B23 * 4.0 + A23 * B22 * 4.0 -
            A21 * B31 * 4.0 - A31 * B21 * 4.0 + A22 * B32 * 4.0 + A32 * B22 * 4.0 + A23 * B33 * 4.0 + A33 * B23 * 4.0 +
            A32 * B33 * 4.0 + A33 * B32 * 4.0;
    coef_Jacob4_qt(0, 16) =
            (A11 * A11) * 4.0 + (A12 * A12) * 4.0 + (A13 * A13) * 4.0 + (A21 * A21) * 4.0 + (A22 * A22) * 4.0 +
            (A23 * A23) * 4.0 + (A31 * A31) * 4.0 + (A32 * A32) * 4.0 + (A33 * A33) * 4.0 + (B11 * B11) * 4.0 +
            (B12 * B12) * 4.0 + (B13 * B13) * 4.0 + (B14 * B14) * 4.0 + (B21 * B21) * 4.0 + (B22 * B22) * 4.0 +
            (B23 * B23) * 4.0 + (B24 * B24) * 4.0 + (B31 * B31) * 4.0 + (B32 * B32) * 4.0 + (B33 * B33) * 4.0 +
            (B34 * B34) * 4.0 + A11 * B11 * 8.0 - A13 * B13 * 8.0 - A11 * B33 * 1.6E1 - A13 * B31 * 1.6E1 -
            A22 * B22 * 8.0 - A31 * B13 * 1.6E1 - A33 * B11 * 1.6E1 - A31 * B31 * 8.0 + A33 * B33 * 8.0;
    coef_Jacob4_qt(0, 17) =
            A11 * B13 * 4.0 + A13 * B11 * 4.0 - A12 * B23 * 8.0 - A13 * B22 * 8.0 - A22 * B13 * 8.0 - A23 * B12 * 8.0 +
            A11 * B31 * 4.0 + A31 * B11 * 4.0 - A12 * B32 * 4.0 - A21 * B23 * 4.0 - A23 * B21 * 4.0 - A32 * B12 * 4.0 +
            A13 * B33 * 4.0 + A33 * B13 * 4.0 - A21 * B32 * 8.0 - A22 * B31 * 8.0 - A31 * B22 * 8.0 - A32 * B21 * 8.0 +
            A31 * B33 * 4.0 + A33 * B31 * 4.0;
    coef_Jacob4_qt(0, 18) =
            A11 * B12 * 8.0 + A12 * B11 * 8.0 + A11 * B21 * 8.0 + A21 * B11 * 8.0 + A12 * B22 * 8.0 + A22 * B12 * 8.0 -
            A13 * B23 * 8.0 - A23 * B13 * 8.0 + A21 * B22 * 8.0 + A22 * B21 * 8.0 - A12 * B33 * 1.6E1 -
            A13 * B32 * 1.6E1 - A32 * B13 * 1.6E1 - A33 * B12 * 1.6E1 - A21 * B33 * 1.6E1 - A23 * B31 * 1.6E1 -
            A31 * B23 * 1.6E1 - A33 * B21 * 1.6E1 - A31 * B32 * 8.0 - A32 * B31 * 8.0;
    coef_Jacob4_qt(0, 19) =
            A11 * B13 * 1.2E1 + A13 * B11 * 1.2E1 + A11 * B31 * 1.2E1 + A31 * B11 * 1.2E1 + A12 * B32 * 1.2E1 +
            A21 * B23 * 1.2E1 + A23 * B21 * 1.2E1 + A32 * B12 * 1.2E1 - A13 * B33 * 1.2E1 - A33 * B13 * 1.2E1 -
            A31 * B33 * 1.2E1 - A33 * B31 * 1.2E1;
    coef_Jacob4_qt(0, 20) = B34 * 4.0 - A11 * B34 * 4.0 - A31 * B14 * 4.0;
    coef_Jacob4_qt(0, 21) = A12 * B34 * -4.0 - A32 * B14 * 4.0;
    coef_Jacob4_qt(0, 22) = B14 * 4.0 - A13 * B34 * 4.0 - A33 * B14 * 4.0;
    coef_Jacob4_qt(0, 23) = A14 * B34 * -4.0 - A34 * B14 * 4.0;
    coef_Jacob4_qt(0, 24) =
            A12 * B13 * 4.0 + A13 * B12 * 4.0 - A22 * B23 * 4.0 - A23 * B22 * 4.0 + A21 * B31 * 4.0 + A31 * B21 * 4.0 -
            A22 * B32 * 4.0 - A32 * B22 * 4.0 + A23 * B33 * 4.0 + A33 * B23 * 4.0 + A32 * B33 * 4.0 + A33 * B32 * 4.0;
    coef_Jacob4_qt(0, 25) =
            (A11 * A11) * 4.0 + (A12 * A12) * 4.0 + (A13 * A13) * 4.0 + (A21 * A21) * 4.0 + (A22 * A22) * 4.0 +
            (A23 * A23) * 4.0 + (A31 * A31) * 4.0 + (A32 * A32) * 4.0 + (A33 * A33) * 4.0 + (B11 * B11) * 4.0 +
            (B12 * B12) * 4.0 + (B13 * B13) * 4.0 + (B14 * B14) * 4.0 + (B21 * B21) * 4.0 + (B22 * B22) * 4.0 +
            (B23 * B23) * 4.0 + (B24 * B24) * 4.0 + (B31 * B31) * 4.0 + (B32 * B32) * 4.0 + (B33 * B33) * 4.0 +
            (B34 * B34) * 4.0 - A11 * B11 * 8.0 + A22 * B22 * 8.0 - A23 * B23 * 8.0 - A22 * B33 * 1.6E1 -
            A23 * B32 * 1.6E1 - A32 * B23 * 1.6E1 - A33 * B22 * 1.6E1 - A32 * B32 * 8.0 + A33 * B33 * 8.0;
    coef_Jacob4_qt(0, 26) =
            A12 * B13 * 1.2E1 + A13 * B12 * 1.2E1 + A22 * B23 * 1.2E1 + A23 * B22 * 1.2E1 + A21 * B31 * 1.2E1 +
            A31 * B21 * 1.2E1 + A22 * B32 * 1.2E1 + A32 * B22 * 1.2E1 - A23 * B33 * 1.2E1 - A33 * B23 * 1.2E1 -
            A32 * B33 * 1.2E1 - A33 * B32 * 1.2E1;
    coef_Jacob4_qt(0, 27) = A21 * B34 * -4.0 - A31 * B24 * 4.0;
    coef_Jacob4_qt(0, 28) = B34 * 4.0 - A22 * B34 * 4.0 - A32 * B24 * 4.0;
    coef_Jacob4_qt(0, 29) = B24 * 4.0 - A23 * B34 * 4.0 - A33 * B24 * 4.0;
    coef_Jacob4_qt(0, 30) = A24 * B34 * -4.0 - A34 * B24 * 4.0;
    coef_Jacob4_qt(0, 31) =
            (A11 * A11) * 4.0 + (A12 * A12) * 4.0 + (A13 * A13) * 4.0 + (A21 * A21) * 4.0 + (A22 * A22) * 4.0 +
            (A23 * A23) * 4.0 + (A31 * A31) * 4.0 + (A32 * A32) * 4.0 + (A33 * A33) * 4.0 + (B11 * B11) * 4.0 +
            (B12 * B12) * 4.0 + (B13 * B13) * 4.0 + (B14 * B14) * 4.0 + (B21 * B21) * 4.0 + (B22 * B22) * 4.0 +
            (B23 * B23) * 4.0 + (B24 * B24) * 4.0 + (B31 * B31) * 4.0 + (B32 * B32) * 4.0 + (B33 * B33) * 4.0 +
            (B34 * B34) * 4.0 - A11 * B11 * 8.0 - A12 * B12 * 8.0 + A13 * B13 * 8.0 - A21 * B21 * 8.0 -
            A22 * B22 * 8.0 + A23 * B23 * 8.0 + A31 * B31 * 8.0 + A32 * B32 * 8.0 - A33 * B33 * 8.0;
    coef_Jacob4_qt(0, 32) = B14 * -4.0 + A11 * B14 * 4.0 + A21 * B24 * 4.0 - A31 * B34 * 4.0;
    coef_Jacob4_qt(0, 33) = B24 * -4.0 + A12 * B14 * 4.0 + A22 * B24 * 4.0 - A32 * B34 * 4.0;
    coef_Jacob4_qt(0, 34) = B34 * 4.0 + A13 * B14 * 4.0 + A23 * B24 * 4.0 - A33 * B34 * 4.0;
    coef_Jacob4_qt(0, 35) = A14 * B14 * 4.0 + A24 * B24 * 4.0 - A34 * B34 * 4.0;

}


void mixed3_hand_eye_func(Eigen::Matrix<double, 4, 24> &coef_f_q_sym,
                      Eigen::Matrix<double, 4, 64> &W,
                      Eigen::Matrix<double, 4, 4> &Q,
                      const Eigen::Matrix<double, 3, 3> &pinvG,
                      const Eigen::Matrix<double, 3, 11> &coefs_tq,
                      const Eigen::Matrix<double, 4, 36> &coef_Jacob_qt_syms) {
    double pinvG1_1 = pinvG(0, 0);
    double pinvG1_2 = pinvG(0, 1);
    double pinvG1_3 = pinvG(0, 2);
    double pinvG2_1 = pinvG(1, 0);
    double pinvG2_2 = pinvG(1, 1);
    double pinvG2_3 = pinvG(1, 2);
    double pinvG3_1 = pinvG(2, 0);
    double pinvG3_2 = pinvG(2, 1);
    double pinvG3_3 = pinvG(2, 2);
    double coefs_tq1_1 = coefs_tq(0, 0);
    double coefs_tq1_2 = coefs_tq(0, 1);
    double coefs_tq1_3 = coefs_tq(0, 2);
    double coefs_tq1_4 = coefs_tq(0, 3);
    double coefs_tq1_5 = coefs_tq(0, 4);
    double coefs_tq1_6 = coefs_tq(0, 5);
    double coefs_tq1_7 = coefs_tq(0, 6);
    double coefs_tq1_8 = coefs_tq(0, 7);
    double coefs_tq1_9 = coefs_tq(0, 8);
    double coefs_tq1_10 = coefs_tq(0, 9);
    double coefs_tq1_11 = coefs_tq(0, 10);
    double coefs_tq2_1 = coefs_tq(1, 0);
    double coefs_tq2_2 = coefs_tq(1, 1);
    double coefs_tq2_3 = coefs_tq(1, 2);
    double coefs_tq2_4 = coefs_tq(1, 3);
    double coefs_tq2_5 = coefs_tq(1, 4);
    double coefs_tq2_6 = coefs_tq(1, 5);
    double coefs_tq2_7 = coefs_tq(1, 6);
    double coefs_tq2_8 = coefs_tq(1, 7);
    double coefs_tq2_9 = coefs_tq(1, 8);
    double coefs_tq2_10 = coefs_tq(1, 9);
    double coefs_tq2_11 = coefs_tq(1, 10);
    double coefs_tq3_1 = coefs_tq(2, 0);
    double coefs_tq3_2 = coefs_tq(2, 1);
    double coefs_tq3_3 = coefs_tq(2, 2);
    double coefs_tq3_4 = coefs_tq(2, 3);
    double coefs_tq3_5 = coefs_tq(2, 4);
    double coefs_tq3_6 = coefs_tq(2, 5);
    double coefs_tq3_7 = coefs_tq(2, 6);
    double coefs_tq3_8 = coefs_tq(2, 7);
    double coefs_tq3_9 = coefs_tq(2, 8);
    double coefs_tq3_10 = coefs_tq(2, 9);
    double coefs_tq3_11 = coefs_tq(2, 10);
    double coef_Jacob1_qt_syms1 = coef_Jacob_qt_syms(0, 0);
    double coef_Jacob1_qt_syms2 = coef_Jacob_qt_syms(0, 1);
    double coef_Jacob1_qt_syms3 = coef_Jacob_qt_syms(0, 2);
    double coef_Jacob1_qt_syms4 = coef_Jacob_qt_syms(0, 3);
    double coef_Jacob1_qt_syms5 = coef_Jacob_qt_syms(0, 4);
    double coef_Jacob1_qt_syms6 = coef_Jacob_qt_syms(0, 5);
    double coef_Jacob1_qt_syms7 = coef_Jacob_qt_syms(0, 6);
    double coef_Jacob1_qt_syms8 = coef_Jacob_qt_syms(0, 7);
    double coef_Jacob1_qt_syms9 = coef_Jacob_qt_syms(0, 8);
    double coef_Jacob1_qt_syms10 = coef_Jacob_qt_syms(0, 9);
    double coef_Jacob1_qt_syms11 = coef_Jacob_qt_syms(0, 10);
    double coef_Jacob1_qt_syms12 = coef_Jacob_qt_syms(0, 11);
    double coef_Jacob1_qt_syms13 = coef_Jacob_qt_syms(0, 12);
    double coef_Jacob1_qt_syms14 = coef_Jacob_qt_syms(0, 13);
    double coef_Jacob1_qt_syms15 = coef_Jacob_qt_syms(0, 14);
    double coef_Jacob1_qt_syms16 = coef_Jacob_qt_syms(0, 15);
    double coef_Jacob1_qt_syms17 = coef_Jacob_qt_syms(0, 16);
    double coef_Jacob1_qt_syms18 = coef_Jacob_qt_syms(0, 17);
    double coef_Jacob1_qt_syms19 = coef_Jacob_qt_syms(0, 18);
    double coef_Jacob1_qt_syms20 = coef_Jacob_qt_syms(0, 19);
    double coef_Jacob1_qt_syms21 = coef_Jacob_qt_syms(0, 20);
    double coef_Jacob1_qt_syms22 = coef_Jacob_qt_syms(0, 21);
    double coef_Jacob1_qt_syms23 = coef_Jacob_qt_syms(0, 22);
    double coef_Jacob1_qt_syms24 = coef_Jacob_qt_syms(0, 23);
    double coef_Jacob1_qt_syms25 = coef_Jacob_qt_syms(0, 24);
    double coef_Jacob1_qt_syms26 = coef_Jacob_qt_syms(0, 25);
    double coef_Jacob1_qt_syms27 = coef_Jacob_qt_syms(0, 26);
    double coef_Jacob1_qt_syms28 = coef_Jacob_qt_syms(0, 27);
    double coef_Jacob1_qt_syms29 = coef_Jacob_qt_syms(0, 28);
    double coef_Jacob1_qt_syms30 = coef_Jacob_qt_syms(0, 29);
    double coef_Jacob1_qt_syms31 = coef_Jacob_qt_syms(0, 30);
    double coef_Jacob1_qt_syms32 = coef_Jacob_qt_syms(0, 31);
    double coef_Jacob1_qt_syms33 = coef_Jacob_qt_syms(0, 32);
    double coef_Jacob1_qt_syms34 = coef_Jacob_qt_syms(0, 33);
    double coef_Jacob1_qt_syms35 = coef_Jacob_qt_syms(0, 34);
    double coef_Jacob1_qt_syms36 = coef_Jacob_qt_syms(0, 35);
    double coef_Jacob2_qt_syms1 = coef_Jacob_qt_syms(1, 0);
    double coef_Jacob2_qt_syms2 = coef_Jacob_qt_syms(1, 1);
    double coef_Jacob2_qt_syms3 = coef_Jacob_qt_syms(1, 2);
    double coef_Jacob2_qt_syms4 = coef_Jacob_qt_syms(1, 3);
    double coef_Jacob2_qt_syms5 = coef_Jacob_qt_syms(1, 4);
    double coef_Jacob2_qt_syms6 = coef_Jacob_qt_syms(1, 5);
    double coef_Jacob2_qt_syms7 = coef_Jacob_qt_syms(1, 6);
    double coef_Jacob2_qt_syms8 = coef_Jacob_qt_syms(1, 7);
    double coef_Jacob2_qt_syms9 = coef_Jacob_qt_syms(1, 8);
    double coef_Jacob2_qt_syms10 = coef_Jacob_qt_syms(1, 9);
    double coef_Jacob2_qt_syms11 = coef_Jacob_qt_syms(1, 10);
    double coef_Jacob2_qt_syms12 = coef_Jacob_qt_syms(1, 11);
    double coef_Jacob2_qt_syms13 = coef_Jacob_qt_syms(1, 12);
    double coef_Jacob2_qt_syms14 = coef_Jacob_qt_syms(1, 13);
    double coef_Jacob2_qt_syms15 = coef_Jacob_qt_syms(1, 14);
    double coef_Jacob2_qt_syms16 = coef_Jacob_qt_syms(1, 15);
    double coef_Jacob2_qt_syms17 = coef_Jacob_qt_syms(1, 16);
    double coef_Jacob2_qt_syms18 = coef_Jacob_qt_syms(1, 17);
    double coef_Jacob2_qt_syms19 = coef_Jacob_qt_syms(1, 18);
    double coef_Jacob2_qt_syms20 = coef_Jacob_qt_syms(1, 19);
    double coef_Jacob2_qt_syms21 = coef_Jacob_qt_syms(1, 20);
    double coef_Jacob2_qt_syms22 = coef_Jacob_qt_syms(1, 21);
    double coef_Jacob2_qt_syms23 = coef_Jacob_qt_syms(1, 22);
    double coef_Jacob2_qt_syms24 = coef_Jacob_qt_syms(1, 23);
    double coef_Jacob2_qt_syms25 = coef_Jacob_qt_syms(1, 24);
    double coef_Jacob2_qt_syms26 = coef_Jacob_qt_syms(1, 25);
    double coef_Jacob2_qt_syms27 = coef_Jacob_qt_syms(1, 26);
    double coef_Jacob2_qt_syms28 = coef_Jacob_qt_syms(1, 27);
    double coef_Jacob2_qt_syms29 = coef_Jacob_qt_syms(1, 28);
    double coef_Jacob2_qt_syms30 = coef_Jacob_qt_syms(1, 29);
    double coef_Jacob2_qt_syms31 = coef_Jacob_qt_syms(1, 30);
    double coef_Jacob2_qt_syms32 = coef_Jacob_qt_syms(1, 31);
    double coef_Jacob2_qt_syms33 = coef_Jacob_qt_syms(1, 32);
    double coef_Jacob2_qt_syms34 = coef_Jacob_qt_syms(1, 33);
    double coef_Jacob2_qt_syms35 = coef_Jacob_qt_syms(1, 34);
    double coef_Jacob2_qt_syms36 = coef_Jacob_qt_syms(1, 35);
    double coef_Jacob3_qt_syms1 = coef_Jacob_qt_syms(2, 0);
    double coef_Jacob3_qt_syms2 = coef_Jacob_qt_syms(2, 1);
    double coef_Jacob3_qt_syms3 = coef_Jacob_qt_syms(2, 2);
    double coef_Jacob3_qt_syms4 = coef_Jacob_qt_syms(2, 3);
    double coef_Jacob3_qt_syms5 = coef_Jacob_qt_syms(2, 4);
    double coef_Jacob3_qt_syms6 = coef_Jacob_qt_syms(2, 5);
    double coef_Jacob3_qt_syms7 = coef_Jacob_qt_syms(2, 6);
    double coef_Jacob3_qt_syms8 = coef_Jacob_qt_syms(2, 7);
    double coef_Jacob3_qt_syms9 = coef_Jacob_qt_syms(2, 8);
    double coef_Jacob3_qt_syms10 = coef_Jacob_qt_syms(2, 9);
    double coef_Jacob3_qt_syms11 = coef_Jacob_qt_syms(2, 10);
    double coef_Jacob3_qt_syms12 = coef_Jacob_qt_syms(2, 11);
    double coef_Jacob3_qt_syms13 = coef_Jacob_qt_syms(2, 12);
    double coef_Jacob3_qt_syms14 = coef_Jacob_qt_syms(2, 13);
    double coef_Jacob3_qt_syms15 = coef_Jacob_qt_syms(2, 14);
    double coef_Jacob3_qt_syms16 = coef_Jacob_qt_syms(2, 15);
    double coef_Jacob3_qt_syms17 = coef_Jacob_qt_syms(2, 16);
    double coef_Jacob3_qt_syms18 = coef_Jacob_qt_syms(2, 17);
    double coef_Jacob3_qt_syms19 = coef_Jacob_qt_syms(2, 18);
    double coef_Jacob3_qt_syms20 = coef_Jacob_qt_syms(2, 19);
    double coef_Jacob3_qt_syms21 = coef_Jacob_qt_syms(2, 20);
    double coef_Jacob3_qt_syms22 = coef_Jacob_qt_syms(2, 21);
    double coef_Jacob3_qt_syms23 = coef_Jacob_qt_syms(2, 22);
    double coef_Jacob3_qt_syms24 = coef_Jacob_qt_syms(2, 23);
    double coef_Jacob3_qt_syms25 = coef_Jacob_qt_syms(2, 24);
    double coef_Jacob3_qt_syms26 = coef_Jacob_qt_syms(2, 25);
    double coef_Jacob3_qt_syms27 = coef_Jacob_qt_syms(2, 26);
    double coef_Jacob3_qt_syms28 = coef_Jacob_qt_syms(2, 27);
    double coef_Jacob3_qt_syms29 = coef_Jacob_qt_syms(2, 28);
    double coef_Jacob3_qt_syms30 = coef_Jacob_qt_syms(2, 29);
    double coef_Jacob3_qt_syms31 = coef_Jacob_qt_syms(2, 30);
    double coef_Jacob3_qt_syms32 = coef_Jacob_qt_syms(2, 31);
    double coef_Jacob3_qt_syms33 = coef_Jacob_qt_syms(2, 32);
    double coef_Jacob3_qt_syms34 = coef_Jacob_qt_syms(2, 33);
    double coef_Jacob3_qt_syms35 = coef_Jacob_qt_syms(2, 34);
    double coef_Jacob3_qt_syms36 = coef_Jacob_qt_syms(2, 35);
    double coef_Jacob4_qt_syms1 = coef_Jacob_qt_syms(3, 0);
    double coef_Jacob4_qt_syms2 = coef_Jacob_qt_syms(3, 1);
    double coef_Jacob4_qt_syms3 = coef_Jacob_qt_syms(3, 2);
    double coef_Jacob4_qt_syms4 = coef_Jacob_qt_syms(3, 3);
    double coef_Jacob4_qt_syms5 = coef_Jacob_qt_syms(3, 4);
    double coef_Jacob4_qt_syms6 = coef_Jacob_qt_syms(3, 5);
    double coef_Jacob4_qt_syms7 = coef_Jacob_qt_syms(3, 6);
    double coef_Jacob4_qt_syms8 = coef_Jacob_qt_syms(3, 7);
    double coef_Jacob4_qt_syms9 = coef_Jacob_qt_syms(3, 8);
    double coef_Jacob4_qt_syms10 = coef_Jacob_qt_syms(3, 9);
    double coef_Jacob4_qt_syms11 = coef_Jacob_qt_syms(3, 10);
    double coef_Jacob4_qt_syms12 = coef_Jacob_qt_syms(3, 11);
    double coef_Jacob4_qt_syms13 = coef_Jacob_qt_syms(3, 12);
    double coef_Jacob4_qt_syms14 = coef_Jacob_qt_syms(3, 13);
    double coef_Jacob4_qt_syms15 = coef_Jacob_qt_syms(3, 14);
    double coef_Jacob4_qt_syms16 = coef_Jacob_qt_syms(3, 15);
    double coef_Jacob4_qt_syms17 = coef_Jacob_qt_syms(3, 16);
    double coef_Jacob4_qt_syms18 = coef_Jacob_qt_syms(3, 17);
    double coef_Jacob4_qt_syms19 = coef_Jacob_qt_syms(3, 18);
    double coef_Jacob4_qt_syms20 = coef_Jacob_qt_syms(3, 19);
    double coef_Jacob4_qt_syms21 = coef_Jacob_qt_syms(3, 20);
    double coef_Jacob4_qt_syms22 = coef_Jacob_qt_syms(3, 21);
    double coef_Jacob4_qt_syms23 = coef_Jacob_qt_syms(3, 22);
    double coef_Jacob4_qt_syms24 = coef_Jacob_qt_syms(3, 23);
    double coef_Jacob4_qt_syms25 = coef_Jacob_qt_syms(3, 24);
    double coef_Jacob4_qt_syms26 = coef_Jacob_qt_syms(3, 25);
    double coef_Jacob4_qt_syms27 = coef_Jacob_qt_syms(3, 26);
    double coef_Jacob4_qt_syms28 = coef_Jacob_qt_syms(3, 27);
    double coef_Jacob4_qt_syms29 = coef_Jacob_qt_syms(3, 28);
    double coef_Jacob4_qt_syms30 = coef_Jacob_qt_syms(3, 29);
    double coef_Jacob4_qt_syms31 = coef_Jacob_qt_syms(3, 30);
    double coef_Jacob4_qt_syms32 = coef_Jacob_qt_syms(3, 31);
    double coef_Jacob4_qt_syms33 = coef_Jacob_qt_syms(3, 32);
    double coef_Jacob4_qt_syms34 = coef_Jacob_qt_syms(3, 33);
    double coef_Jacob4_qt_syms35 = coef_Jacob_qt_syms(3, 34);
    double coef_Jacob4_qt_syms36 = coef_Jacob_qt_syms(3, 35);

    double symobj[4][64];

    std::memset(symobj, 0, 4 * 24 * sizeof(double));
    symobj[0][0] = coef_Jacob1_qt_syms1 + coefs_tq1_1 * coef_Jacob1_qt_syms11 * pinvG1_1 +
                   coefs_tq1_1 * coef_Jacob1_qt_syms12 * pinvG2_1 + coefs_tq2_1 * coef_Jacob1_qt_syms11 * pinvG1_2 +
                   coefs_tq1_1 * coef_Jacob1_qt_syms13 * pinvG3_1 + coefs_tq2_1 * coef_Jacob1_qt_syms12 * pinvG2_2 +
                   coefs_tq3_1 * coef_Jacob1_qt_syms11 * pinvG1_3 + coefs_tq2_1 * coef_Jacob1_qt_syms13 * pinvG3_2 +
                   coefs_tq3_1 * coef_Jacob1_qt_syms12 * pinvG2_3 + coefs_tq3_1 * coef_Jacob1_qt_syms13 * pinvG3_3;
    symobj[0][1] = coef_Jacob1_qt_syms2 + coefs_tq1_2 * coef_Jacob1_qt_syms11 * pinvG1_1 +
                   coefs_tq1_1 * coef_Jacob1_qt_syms21 * pinvG1_1 + coefs_tq1_2 * coef_Jacob1_qt_syms12 * pinvG2_1 +
                   coefs_tq2_2 * coef_Jacob1_qt_syms11 * pinvG1_2 + coefs_tq1_1 * coef_Jacob1_qt_syms22 * pinvG2_1 +
                   coefs_tq2_1 * coef_Jacob1_qt_syms21 * pinvG1_2 + coefs_tq1_2 * coef_Jacob1_qt_syms13 * pinvG3_1 +
                   coefs_tq2_2 * coef_Jacob1_qt_syms12 * pinvG2_2 + coefs_tq3_2 * coef_Jacob1_qt_syms11 * pinvG1_3 +
                   coefs_tq1_1 * coef_Jacob1_qt_syms23 * pinvG3_1 + coefs_tq2_1 * coef_Jacob1_qt_syms22 * pinvG2_2 +
                   coefs_tq3_1 * coef_Jacob1_qt_syms21 * pinvG1_3 + coefs_tq2_2 * coef_Jacob1_qt_syms13 * pinvG3_2 +
                   coefs_tq3_2 * coef_Jacob1_qt_syms12 * pinvG2_3 + coefs_tq2_1 * coef_Jacob1_qt_syms23 * pinvG3_2 +
                   coefs_tq3_1 * coef_Jacob1_qt_syms22 * pinvG2_3 + coefs_tq3_2 * coef_Jacob1_qt_syms13 * pinvG3_3 +
                   coefs_tq3_1 * coef_Jacob1_qt_syms23 * pinvG3_3;
    symobj[0][2] = coef_Jacob1_qt_syms3 + coefs_tq1_3 * coef_Jacob1_qt_syms11 * pinvG1_1 +
                   coefs_tq1_3 * coef_Jacob1_qt_syms12 * pinvG2_1 + coefs_tq2_3 * coef_Jacob1_qt_syms11 * pinvG1_2 +
                   coefs_tq1_1 * coef_Jacob1_qt_syms28 * pinvG1_1 + coefs_tq1_3 * coef_Jacob1_qt_syms13 * pinvG3_1 +
                   coefs_tq2_3 * coef_Jacob1_qt_syms12 * pinvG2_2 + coefs_tq3_3 * coef_Jacob1_qt_syms11 * pinvG1_3 +
                   coefs_tq1_1 * coef_Jacob1_qt_syms29 * pinvG2_1 + coefs_tq2_1 * coef_Jacob1_qt_syms28 * pinvG1_2 +
                   coefs_tq2_3 * coef_Jacob1_qt_syms13 * pinvG3_2 + coefs_tq3_3 * coef_Jacob1_qt_syms12 * pinvG2_3 +
                   coefs_tq1_1 * coef_Jacob1_qt_syms30 * pinvG3_1 + coefs_tq2_1 * coef_Jacob1_qt_syms29 * pinvG2_2 +
                   coefs_tq3_1 * coef_Jacob1_qt_syms28 * pinvG1_3 + coefs_tq3_3 * coef_Jacob1_qt_syms13 * pinvG3_3 +
                   coefs_tq2_1 * coef_Jacob1_qt_syms30 * pinvG3_2 + coefs_tq3_1 * coef_Jacob1_qt_syms29 * pinvG2_3 +
                   coefs_tq3_1 * coef_Jacob1_qt_syms30 * pinvG3_3;
    symobj[0][3] = coef_Jacob1_qt_syms4 + coefs_tq1_4 * coef_Jacob1_qt_syms11 * pinvG1_1 +
                   coefs_tq1_4 * coef_Jacob1_qt_syms12 * pinvG2_1 + coefs_tq2_4 * coef_Jacob1_qt_syms11 * pinvG1_2 +
                   coefs_tq1_1 * coef_Jacob1_qt_syms33 * pinvG1_1 + coefs_tq1_4 * coef_Jacob1_qt_syms13 * pinvG3_1 +
                   coefs_tq2_4 * coef_Jacob1_qt_syms12 * pinvG2_2 + coefs_tq3_4 * coef_Jacob1_qt_syms11 * pinvG1_3 +
                   coefs_tq1_1 * coef_Jacob1_qt_syms34 * pinvG2_1 + coefs_tq2_1 * coef_Jacob1_qt_syms33 * pinvG1_2 +
                   coefs_tq2_4 * coef_Jacob1_qt_syms13 * pinvG3_2 + coefs_tq3_4 * coef_Jacob1_qt_syms12 * pinvG2_3 +
                   coefs_tq1_1 * coef_Jacob1_qt_syms35 * pinvG3_1 + coefs_tq2_1 * coef_Jacob1_qt_syms34 * pinvG2_2 +
                   coefs_tq3_1 * coef_Jacob1_qt_syms33 * pinvG1_3 + coefs_tq3_4 * coef_Jacob1_qt_syms13 * pinvG3_3 +
                   coefs_tq2_1 * coef_Jacob1_qt_syms35 * pinvG3_2 + coefs_tq3_1 * coef_Jacob1_qt_syms34 * pinvG2_3 +
                   coefs_tq3_1 * coef_Jacob1_qt_syms35 * pinvG3_3;
    symobj[0][4] = coef_Jacob1_qt_syms5 + coefs_tq1_5 * coef_Jacob1_qt_syms11 * pinvG1_1 +
                   coefs_tq1_2 * coef_Jacob1_qt_syms21 * pinvG1_1 + coefs_tq1_5 * coef_Jacob1_qt_syms12 * pinvG2_1 +
                   coefs_tq2_5 * coef_Jacob1_qt_syms11 * pinvG1_2 + coefs_tq1_2 * coef_Jacob1_qt_syms22 * pinvG2_1 +
                   coefs_tq2_2 * coef_Jacob1_qt_syms21 * pinvG1_2 + coefs_tq1_5 * coef_Jacob1_qt_syms13 * pinvG3_1 +
                   coefs_tq2_5 * coef_Jacob1_qt_syms12 * pinvG2_2 + coefs_tq3_5 * coef_Jacob1_qt_syms11 * pinvG1_3 +
                   coefs_tq1_2 * coef_Jacob1_qt_syms23 * pinvG3_1 + coefs_tq2_2 * coef_Jacob1_qt_syms22 * pinvG2_2 +
                   coefs_tq3_2 * coef_Jacob1_qt_syms21 * pinvG1_3 + coefs_tq2_5 * coef_Jacob1_qt_syms13 * pinvG3_2 +
                   coefs_tq3_5 * coef_Jacob1_qt_syms12 * pinvG2_3 + coefs_tq2_2 * coef_Jacob1_qt_syms23 * pinvG3_2 +
                   coefs_tq3_2 * coef_Jacob1_qt_syms22 * pinvG2_3 + coefs_tq3_5 * coef_Jacob1_qt_syms13 * pinvG3_3 +
                   coefs_tq3_2 * coef_Jacob1_qt_syms23 * pinvG3_3;
    symobj[0][5] = coef_Jacob1_qt_syms6 + coefs_tq1_6 * coef_Jacob1_qt_syms11 * pinvG1_1 +
                   coefs_tq1_3 * coef_Jacob1_qt_syms21 * pinvG1_1 + coefs_tq1_6 * coef_Jacob1_qt_syms12 * pinvG2_1 +
                   coefs_tq2_6 * coef_Jacob1_qt_syms11 * pinvG1_2 + coefs_tq1_2 * coef_Jacob1_qt_syms28 * pinvG1_1 +
                   coefs_tq1_3 * coef_Jacob1_qt_syms22 * pinvG2_1 + coefs_tq2_3 * coef_Jacob1_qt_syms21 * pinvG1_2 +
                   coefs_tq1_6 * coef_Jacob1_qt_syms13 * pinvG3_1 + coefs_tq2_6 * coef_Jacob1_qt_syms12 * pinvG2_2 +
                   coefs_tq3_6 * coef_Jacob1_qt_syms11 * pinvG1_3 + coefs_tq1_2 * coef_Jacob1_qt_syms29 * pinvG2_1 +
                   coefs_tq2_2 * coef_Jacob1_qt_syms28 * pinvG1_2 + coefs_tq1_3 * coef_Jacob1_qt_syms23 * pinvG3_1 +
                   coefs_tq2_3 * coef_Jacob1_qt_syms22 * pinvG2_2 + coefs_tq3_3 * coef_Jacob1_qt_syms21 * pinvG1_3 +
                   coefs_tq2_6 * coef_Jacob1_qt_syms13 * pinvG3_2 + coefs_tq3_6 * coef_Jacob1_qt_syms12 * pinvG2_3 +
                   coefs_tq1_2 * coef_Jacob1_qt_syms30 * pinvG3_1 + coefs_tq2_2 * coef_Jacob1_qt_syms29 * pinvG2_2 +
                   coefs_tq3_2 * coef_Jacob1_qt_syms28 * pinvG1_3 + coefs_tq2_3 * coef_Jacob1_qt_syms23 * pinvG3_2 +
                   coefs_tq3_3 * coef_Jacob1_qt_syms22 * pinvG2_3 + coefs_tq3_6 * coef_Jacob1_qt_syms13 * pinvG3_3 +
                   coefs_tq2_2 * coef_Jacob1_qt_syms30 * pinvG3_2 + coefs_tq3_2 * coef_Jacob1_qt_syms29 * pinvG2_3 +
                   coefs_tq3_3 * coef_Jacob1_qt_syms23 * pinvG3_3 + coefs_tq3_2 * coef_Jacob1_qt_syms30 * pinvG3_3;
    symobj[0][6] = coef_Jacob1_qt_syms7 + coefs_tq1_7 * coef_Jacob1_qt_syms11 * pinvG1_1 +
                   coefs_tq1_4 * coef_Jacob1_qt_syms21 * pinvG1_1 + coefs_tq1_7 * coef_Jacob1_qt_syms12 * pinvG2_1 +
                   coefs_tq2_7 * coef_Jacob1_qt_syms11 * pinvG1_2 + coefs_tq1_2 * coef_Jacob1_qt_syms33 * pinvG1_1 +
                   coefs_tq1_4 * coef_Jacob1_qt_syms22 * pinvG2_1 + coefs_tq2_4 * coef_Jacob1_qt_syms21 * pinvG1_2 +
                   coefs_tq1_7 * coef_Jacob1_qt_syms13 * pinvG3_1 + coefs_tq2_7 * coef_Jacob1_qt_syms12 * pinvG2_2 +
                   coefs_tq3_7 * coef_Jacob1_qt_syms11 * pinvG1_3 + coefs_tq1_2 * coef_Jacob1_qt_syms34 * pinvG2_1 +
                   coefs_tq2_2 * coef_Jacob1_qt_syms33 * pinvG1_2 + coefs_tq1_4 * coef_Jacob1_qt_syms23 * pinvG3_1 +
                   coefs_tq2_4 * coef_Jacob1_qt_syms22 * pinvG2_2 + coefs_tq3_4 * coef_Jacob1_qt_syms21 * pinvG1_3 +
                   coefs_tq2_7 * coef_Jacob1_qt_syms13 * pinvG3_2 + coefs_tq3_7 * coef_Jacob1_qt_syms12 * pinvG2_3 +
                   coefs_tq1_2 * coef_Jacob1_qt_syms35 * pinvG3_1 + coefs_tq2_2 * coef_Jacob1_qt_syms34 * pinvG2_2 +
                   coefs_tq3_2 * coef_Jacob1_qt_syms33 * pinvG1_3 + coefs_tq2_4 * coef_Jacob1_qt_syms23 * pinvG3_2 +
                   coefs_tq3_4 * coef_Jacob1_qt_syms22 * pinvG2_3 + coefs_tq3_7 * coef_Jacob1_qt_syms13 * pinvG3_3 +
                   coefs_tq2_2 * coef_Jacob1_qt_syms35 * pinvG3_2 + coefs_tq3_2 * coef_Jacob1_qt_syms34 * pinvG2_3 +
                   coefs_tq3_4 * coef_Jacob1_qt_syms23 * pinvG3_3 + coefs_tq3_2 * coef_Jacob1_qt_syms35 * pinvG3_3;
    symobj[0][7] = coef_Jacob1_qt_syms8 + coefs_tq1_8 * coef_Jacob1_qt_syms11 * pinvG1_1 +
                   coefs_tq1_8 * coef_Jacob1_qt_syms12 * pinvG2_1 + coefs_tq2_8 * coef_Jacob1_qt_syms11 * pinvG1_2 +
                   coefs_tq1_3 * coef_Jacob1_qt_syms28 * pinvG1_1 + coefs_tq1_8 * coef_Jacob1_qt_syms13 * pinvG3_1 +
                   coefs_tq2_8 * coef_Jacob1_qt_syms12 * pinvG2_2 + coefs_tq3_8 * coef_Jacob1_qt_syms11 * pinvG1_3 +
                   coefs_tq1_3 * coef_Jacob1_qt_syms29 * pinvG2_1 + coefs_tq2_3 * coef_Jacob1_qt_syms28 * pinvG1_2 +
                   coefs_tq2_8 * coef_Jacob1_qt_syms13 * pinvG3_2 + coefs_tq3_8 * coef_Jacob1_qt_syms12 * pinvG2_3 +
                   coefs_tq1_3 * coef_Jacob1_qt_syms30 * pinvG3_1 + coefs_tq2_3 * coef_Jacob1_qt_syms29 * pinvG2_2 +
                   coefs_tq3_3 * coef_Jacob1_qt_syms28 * pinvG1_3 + coefs_tq3_8 * coef_Jacob1_qt_syms13 * pinvG3_3 +
                   coefs_tq2_3 * coef_Jacob1_qt_syms30 * pinvG3_2 + coefs_tq3_3 * coef_Jacob1_qt_syms29 * pinvG2_3 +
                   coefs_tq3_3 * coef_Jacob1_qt_syms30 * pinvG3_3;
    symobj[0][8] = coef_Jacob1_qt_syms9 + coefs_tq1_9 * coef_Jacob1_qt_syms11 * pinvG1_1 +
                   coefs_tq1_9 * coef_Jacob1_qt_syms12 * pinvG2_1 + coefs_tq2_9 * coef_Jacob1_qt_syms11 * pinvG1_2 +
                   coefs_tq1_4 * coef_Jacob1_qt_syms28 * pinvG1_1 + coefs_tq1_3 * coef_Jacob1_qt_syms33 * pinvG1_1 +
                   coefs_tq1_9 * coef_Jacob1_qt_syms13 * pinvG3_1 + coefs_tq2_9 * coef_Jacob1_qt_syms12 * pinvG2_2 +
                   coefs_tq3_9 * coef_Jacob1_qt_syms11 * pinvG1_3 + coefs_tq1_4 * coef_Jacob1_qt_syms29 * pinvG2_1 +
                   coefs_tq2_4 * coef_Jacob1_qt_syms28 * pinvG1_2 + coefs_tq1_3 * coef_Jacob1_qt_syms34 * pinvG2_1 +
                   coefs_tq2_3 * coef_Jacob1_qt_syms33 * pinvG1_2 + coefs_tq2_9 * coef_Jacob1_qt_syms13 * pinvG3_2 +
                   coefs_tq3_9 * coef_Jacob1_qt_syms12 * pinvG2_3 + coefs_tq1_4 * coef_Jacob1_qt_syms30 * pinvG3_1 +
                   coefs_tq2_4 * coef_Jacob1_qt_syms29 * pinvG2_2 + coefs_tq3_4 * coef_Jacob1_qt_syms28 * pinvG1_3 +
                   coefs_tq1_3 * coef_Jacob1_qt_syms35 * pinvG3_1 + coefs_tq2_3 * coef_Jacob1_qt_syms34 * pinvG2_2 +
                   coefs_tq3_3 * coef_Jacob1_qt_syms33 * pinvG1_3 + coefs_tq3_9 * coef_Jacob1_qt_syms13 * pinvG3_3 +
                   coefs_tq2_4 * coef_Jacob1_qt_syms30 * pinvG3_2 + coefs_tq3_4 * coef_Jacob1_qt_syms29 * pinvG2_3 +
                   coefs_tq2_3 * coef_Jacob1_qt_syms35 * pinvG3_2 + coefs_tq3_3 * coef_Jacob1_qt_syms34 * pinvG2_3 +
                   coefs_tq3_4 * coef_Jacob1_qt_syms30 * pinvG3_3 + coefs_tq3_3 * coef_Jacob1_qt_syms35 * pinvG3_3;
    symobj[0][9] = coef_Jacob1_qt_syms10 + coefs_tq1_4 * coef_Jacob1_qt_syms33 * pinvG1_1 +
                   coefs_tq1_4 * coef_Jacob1_qt_syms34 * pinvG2_1 + coefs_tq2_4 * coef_Jacob1_qt_syms33 * pinvG1_2 +
                   coefs_tq1_4 * coef_Jacob1_qt_syms35 * pinvG3_1 + coefs_tq2_4 * coef_Jacob1_qt_syms34 * pinvG2_2 +
                   coefs_tq3_4 * coef_Jacob1_qt_syms33 * pinvG1_3 + coefs_tq2_4 * coef_Jacob1_qt_syms35 * pinvG3_2 +
                   coefs_tq3_4 * coef_Jacob1_qt_syms34 * pinvG2_3 + coefs_tq3_4 * coef_Jacob1_qt_syms35 * pinvG3_3 +
                   coefs_tq1_10 * coef_Jacob1_qt_syms11 * pinvG1_1 + coefs_tq1_10 * coef_Jacob1_qt_syms12 * pinvG2_1 +
                   coefs_tq1_10 * coef_Jacob1_qt_syms13 * pinvG3_1 + coefs_tq2_10 * coef_Jacob1_qt_syms11 * pinvG1_2 +
                   coefs_tq2_10 * coef_Jacob1_qt_syms12 * pinvG2_2 + coefs_tq2_10 * coef_Jacob1_qt_syms13 * pinvG3_2 +
                   coefs_tq3_10 * coef_Jacob1_qt_syms11 * pinvG1_3 + coefs_tq3_10 * coef_Jacob1_qt_syms12 * pinvG2_3 +
                   coefs_tq3_10 * coef_Jacob1_qt_syms13 * pinvG3_3;
    symobj[0][10] = coef_Jacob1_qt_syms14 + coefs_tq1_11 * coef_Jacob1_qt_syms11 * pinvG1_1 +
                    coefs_tq1_11 * coef_Jacob1_qt_syms12 * pinvG2_1 + coefs_tq1_11 * coef_Jacob1_qt_syms13 * pinvG3_1 +
                    coefs_tq2_11 * coef_Jacob1_qt_syms11 * pinvG1_2 + coefs_tq2_11 * coef_Jacob1_qt_syms12 * pinvG2_2 +
                    coefs_tq2_11 * coef_Jacob1_qt_syms13 * pinvG3_2 + coefs_tq3_11 * coef_Jacob1_qt_syms11 * pinvG1_3 +
                    coefs_tq3_11 * coef_Jacob1_qt_syms12 * pinvG2_3 + coefs_tq3_11 * coef_Jacob1_qt_syms13 * pinvG3_3;
    symobj[0][11] = coef_Jacob1_qt_syms15 + coefs_tq1_5 * coef_Jacob1_qt_syms21 * pinvG1_1 +
                    coefs_tq1_5 * coef_Jacob1_qt_syms22 * pinvG2_1 + coefs_tq2_5 * coef_Jacob1_qt_syms21 * pinvG1_2 +
                    coefs_tq1_5 * coef_Jacob1_qt_syms23 * pinvG3_1 + coefs_tq2_5 * coef_Jacob1_qt_syms22 * pinvG2_2 +
                    coefs_tq3_5 * coef_Jacob1_qt_syms21 * pinvG1_3 + coefs_tq2_5 * coef_Jacob1_qt_syms23 * pinvG3_2 +
                    coefs_tq3_5 * coef_Jacob1_qt_syms22 * pinvG2_3 + coefs_tq3_5 * coef_Jacob1_qt_syms23 * pinvG3_3;
    symobj[0][12] = coef_Jacob1_qt_syms16 + coefs_tq1_6 * coef_Jacob1_qt_syms21 * pinvG1_1 +
                    coefs_tq1_5 * coef_Jacob1_qt_syms28 * pinvG1_1 + coefs_tq1_6 * coef_Jacob1_qt_syms22 * pinvG2_1 +
                    coefs_tq2_6 * coef_Jacob1_qt_syms21 * pinvG1_2 + coefs_tq1_5 * coef_Jacob1_qt_syms29 * pinvG2_1 +
                    coefs_tq2_5 * coef_Jacob1_qt_syms28 * pinvG1_2 + coefs_tq1_6 * coef_Jacob1_qt_syms23 * pinvG3_1 +
                    coefs_tq2_6 * coef_Jacob1_qt_syms22 * pinvG2_2 + coefs_tq3_6 * coef_Jacob1_qt_syms21 * pinvG1_3 +
                    coefs_tq1_5 * coef_Jacob1_qt_syms30 * pinvG3_1 + coefs_tq2_5 * coef_Jacob1_qt_syms29 * pinvG2_2 +
                    coefs_tq3_5 * coef_Jacob1_qt_syms28 * pinvG1_3 + coefs_tq2_6 * coef_Jacob1_qt_syms23 * pinvG3_2 +
                    coefs_tq3_6 * coef_Jacob1_qt_syms22 * pinvG2_3 + coefs_tq2_5 * coef_Jacob1_qt_syms30 * pinvG3_2 +
                    coefs_tq3_5 * coef_Jacob1_qt_syms29 * pinvG2_3 + coefs_tq3_6 * coef_Jacob1_qt_syms23 * pinvG3_3 +
                    coefs_tq3_5 * coef_Jacob1_qt_syms30 * pinvG3_3;
    symobj[0][13] = coef_Jacob1_qt_syms17 + coefs_tq1_7 * coef_Jacob1_qt_syms21 * pinvG1_1 +
                    coefs_tq1_5 * coef_Jacob1_qt_syms33 * pinvG1_1 + coefs_tq1_7 * coef_Jacob1_qt_syms22 * pinvG2_1 +
                    coefs_tq2_7 * coef_Jacob1_qt_syms21 * pinvG1_2 + coefs_tq1_5 * coef_Jacob1_qt_syms34 * pinvG2_1 +
                    coefs_tq2_5 * coef_Jacob1_qt_syms33 * pinvG1_2 + coefs_tq1_7 * coef_Jacob1_qt_syms23 * pinvG3_1 +
                    coefs_tq2_7 * coef_Jacob1_qt_syms22 * pinvG2_2 + coefs_tq3_7 * coef_Jacob1_qt_syms21 * pinvG1_3 +
                    coefs_tq1_5 * coef_Jacob1_qt_syms35 * pinvG3_1 + coefs_tq2_5 * coef_Jacob1_qt_syms34 * pinvG2_2 +
                    coefs_tq3_5 * coef_Jacob1_qt_syms33 * pinvG1_3 + coefs_tq2_7 * coef_Jacob1_qt_syms23 * pinvG3_2 +
                    coefs_tq3_7 * coef_Jacob1_qt_syms22 * pinvG2_3 + coefs_tq2_5 * coef_Jacob1_qt_syms35 * pinvG3_2 +
                    coefs_tq3_5 * coef_Jacob1_qt_syms34 * pinvG2_3 + coefs_tq3_7 * coef_Jacob1_qt_syms23 * pinvG3_3 +
                    coefs_tq3_5 * coef_Jacob1_qt_syms35 * pinvG3_3;
    symobj[0][14] = coef_Jacob1_qt_syms18 + coefs_tq1_8 * coef_Jacob1_qt_syms21 * pinvG1_1 +
                    coefs_tq1_6 * coef_Jacob1_qt_syms28 * pinvG1_1 + coefs_tq1_8 * coef_Jacob1_qt_syms22 * pinvG2_1 +
                    coefs_tq2_8 * coef_Jacob1_qt_syms21 * pinvG1_2 + coefs_tq1_6 * coef_Jacob1_qt_syms29 * pinvG2_1 +
                    coefs_tq2_6 * coef_Jacob1_qt_syms28 * pinvG1_2 + coefs_tq1_8 * coef_Jacob1_qt_syms23 * pinvG3_1 +
                    coefs_tq2_8 * coef_Jacob1_qt_syms22 * pinvG2_2 + coefs_tq3_8 * coef_Jacob1_qt_syms21 * pinvG1_3 +
                    coefs_tq1_6 * coef_Jacob1_qt_syms30 * pinvG3_1 + coefs_tq2_6 * coef_Jacob1_qt_syms29 * pinvG2_2 +
                    coefs_tq3_6 * coef_Jacob1_qt_syms28 * pinvG1_3 + coefs_tq2_8 * coef_Jacob1_qt_syms23 * pinvG3_2 +
                    coefs_tq3_8 * coef_Jacob1_qt_syms22 * pinvG2_3 + coefs_tq2_6 * coef_Jacob1_qt_syms30 * pinvG3_2 +
                    coefs_tq3_6 * coef_Jacob1_qt_syms29 * pinvG2_3 + coefs_tq3_8 * coef_Jacob1_qt_syms23 * pinvG3_3 +
                    coefs_tq3_6 * coef_Jacob1_qt_syms30 * pinvG3_3;
    symobj[0][15] = coef_Jacob1_qt_syms19 + coefs_tq1_9 * coef_Jacob1_qt_syms21 * pinvG1_1 +
                    coefs_tq1_7 * coef_Jacob1_qt_syms28 * pinvG1_1 + coefs_tq1_6 * coef_Jacob1_qt_syms33 * pinvG1_1 +
                    coefs_tq1_9 * coef_Jacob1_qt_syms22 * pinvG2_1 + coefs_tq2_9 * coef_Jacob1_qt_syms21 * pinvG1_2 +
                    coefs_tq1_7 * coef_Jacob1_qt_syms29 * pinvG2_1 + coefs_tq2_7 * coef_Jacob1_qt_syms28 * pinvG1_2 +
                    coefs_tq1_6 * coef_Jacob1_qt_syms34 * pinvG2_1 + coefs_tq2_6 * coef_Jacob1_qt_syms33 * pinvG1_2 +
                    coefs_tq1_9 * coef_Jacob1_qt_syms23 * pinvG3_1 + coefs_tq2_9 * coef_Jacob1_qt_syms22 * pinvG2_2 +
                    coefs_tq3_9 * coef_Jacob1_qt_syms21 * pinvG1_3 + coefs_tq1_7 * coef_Jacob1_qt_syms30 * pinvG3_1 +
                    coefs_tq2_7 * coef_Jacob1_qt_syms29 * pinvG2_2 + coefs_tq3_7 * coef_Jacob1_qt_syms28 * pinvG1_3 +
                    coefs_tq1_6 * coef_Jacob1_qt_syms35 * pinvG3_1 + coefs_tq2_6 * coef_Jacob1_qt_syms34 * pinvG2_2 +
                    coefs_tq3_6 * coef_Jacob1_qt_syms33 * pinvG1_3 + coefs_tq2_9 * coef_Jacob1_qt_syms23 * pinvG3_2 +
                    coefs_tq3_9 * coef_Jacob1_qt_syms22 * pinvG2_3 + coefs_tq2_7 * coef_Jacob1_qt_syms30 * pinvG3_2 +
                    coefs_tq3_7 * coef_Jacob1_qt_syms29 * pinvG2_3 + coefs_tq2_6 * coef_Jacob1_qt_syms35 * pinvG3_2 +
                    coefs_tq3_6 * coef_Jacob1_qt_syms34 * pinvG2_3 + coefs_tq3_9 * coef_Jacob1_qt_syms23 * pinvG3_3 +
                    coefs_tq3_7 * coef_Jacob1_qt_syms30 * pinvG3_3 + coefs_tq3_6 * coef_Jacob1_qt_syms35 * pinvG3_3;
    symobj[0][16] = coef_Jacob1_qt_syms20 + coefs_tq1_7 * coef_Jacob1_qt_syms33 * pinvG1_1 +
                    coefs_tq1_7 * coef_Jacob1_qt_syms34 * pinvG2_1 + coefs_tq2_7 * coef_Jacob1_qt_syms33 * pinvG1_2 +
                    coefs_tq1_7 * coef_Jacob1_qt_syms35 * pinvG3_1 + coefs_tq2_7 * coef_Jacob1_qt_syms34 * pinvG2_2 +
                    coefs_tq3_7 * coef_Jacob1_qt_syms33 * pinvG1_3 + coefs_tq2_7 * coef_Jacob1_qt_syms35 * pinvG3_2 +
                    coefs_tq3_7 * coef_Jacob1_qt_syms34 * pinvG2_3 + coefs_tq3_7 * coef_Jacob1_qt_syms35 * pinvG3_3 +
                    coefs_tq1_10 * coef_Jacob1_qt_syms21 * pinvG1_1 + coefs_tq1_10 * coef_Jacob1_qt_syms22 * pinvG2_1 +
                    coefs_tq1_10 * coef_Jacob1_qt_syms23 * pinvG3_1 + coefs_tq2_10 * coef_Jacob1_qt_syms21 * pinvG1_2 +
                    coefs_tq2_10 * coef_Jacob1_qt_syms22 * pinvG2_2 + coefs_tq2_10 * coef_Jacob1_qt_syms23 * pinvG3_2 +
                    coefs_tq3_10 * coef_Jacob1_qt_syms21 * pinvG1_3 + coefs_tq3_10 * coef_Jacob1_qt_syms22 * pinvG2_3 +
                    coefs_tq3_10 * coef_Jacob1_qt_syms23 * pinvG3_3;
    symobj[0][17] = coef_Jacob1_qt_syms24 + coefs_tq1_11 * coef_Jacob1_qt_syms21 * pinvG1_1 +
                    coefs_tq1_11 * coef_Jacob1_qt_syms22 * pinvG2_1 + coefs_tq1_11 * coef_Jacob1_qt_syms23 * pinvG3_1 +
                    coefs_tq2_11 * coef_Jacob1_qt_syms21 * pinvG1_2 + coefs_tq2_11 * coef_Jacob1_qt_syms22 * pinvG2_2 +
                    coefs_tq2_11 * coef_Jacob1_qt_syms23 * pinvG3_2 + coefs_tq3_11 * coef_Jacob1_qt_syms21 * pinvG1_3 +
                    coefs_tq3_11 * coef_Jacob1_qt_syms22 * pinvG2_3 + coefs_tq3_11 * coef_Jacob1_qt_syms23 * pinvG3_3;
    symobj[0][18] = coef_Jacob1_qt_syms25 + coefs_tq1_8 * coef_Jacob1_qt_syms28 * pinvG1_1 +
                    coefs_tq1_8 * coef_Jacob1_qt_syms29 * pinvG2_1 + coefs_tq2_8 * coef_Jacob1_qt_syms28 * pinvG1_2 +
                    coefs_tq1_8 * coef_Jacob1_qt_syms30 * pinvG3_1 + coefs_tq2_8 * coef_Jacob1_qt_syms29 * pinvG2_2 +
                    coefs_tq3_8 * coef_Jacob1_qt_syms28 * pinvG1_3 + coefs_tq2_8 * coef_Jacob1_qt_syms30 * pinvG3_2 +
                    coefs_tq3_8 * coef_Jacob1_qt_syms29 * pinvG2_3 + coefs_tq3_8 * coef_Jacob1_qt_syms30 * pinvG3_3;
    symobj[0][19] = coef_Jacob1_qt_syms26 + coefs_tq1_9 * coef_Jacob1_qt_syms28 * pinvG1_1 +
                    coefs_tq1_8 * coef_Jacob1_qt_syms33 * pinvG1_1 + coefs_tq1_9 * coef_Jacob1_qt_syms29 * pinvG2_1 +
                    coefs_tq2_9 * coef_Jacob1_qt_syms28 * pinvG1_2 + coefs_tq1_8 * coef_Jacob1_qt_syms34 * pinvG2_1 +
                    coefs_tq2_8 * coef_Jacob1_qt_syms33 * pinvG1_2 + coefs_tq1_9 * coef_Jacob1_qt_syms30 * pinvG3_1 +
                    coefs_tq2_9 * coef_Jacob1_qt_syms29 * pinvG2_2 + coefs_tq3_9 * coef_Jacob1_qt_syms28 * pinvG1_3 +
                    coefs_tq1_8 * coef_Jacob1_qt_syms35 * pinvG3_1 + coefs_tq2_8 * coef_Jacob1_qt_syms34 * pinvG2_2 +
                    coefs_tq3_8 * coef_Jacob1_qt_syms33 * pinvG1_3 + coefs_tq2_9 * coef_Jacob1_qt_syms30 * pinvG3_2 +
                    coefs_tq3_9 * coef_Jacob1_qt_syms29 * pinvG2_3 + coefs_tq2_8 * coef_Jacob1_qt_syms35 * pinvG3_2 +
                    coefs_tq3_8 * coef_Jacob1_qt_syms34 * pinvG2_3 + coefs_tq3_9 * coef_Jacob1_qt_syms30 * pinvG3_3 +
                    coefs_tq3_8 * coef_Jacob1_qt_syms35 * pinvG3_3;
    symobj[0][20] = coef_Jacob1_qt_syms27 + coefs_tq1_9 * coef_Jacob1_qt_syms33 * pinvG1_1 +
                    coefs_tq1_9 * coef_Jacob1_qt_syms34 * pinvG2_1 + coefs_tq2_9 * coef_Jacob1_qt_syms33 * pinvG1_2 +
                    coefs_tq1_9 * coef_Jacob1_qt_syms35 * pinvG3_1 + coefs_tq2_9 * coef_Jacob1_qt_syms34 * pinvG2_2 +
                    coefs_tq3_9 * coef_Jacob1_qt_syms33 * pinvG1_3 + coefs_tq2_9 * coef_Jacob1_qt_syms35 * pinvG3_2 +
                    coefs_tq3_9 * coef_Jacob1_qt_syms34 * pinvG2_3 + coefs_tq3_9 * coef_Jacob1_qt_syms35 * pinvG3_3 +
                    coefs_tq1_10 * coef_Jacob1_qt_syms28 * pinvG1_1 + coefs_tq1_10 * coef_Jacob1_qt_syms29 * pinvG2_1 +
                    coefs_tq1_10 * coef_Jacob1_qt_syms30 * pinvG3_1 + coefs_tq2_10 * coef_Jacob1_qt_syms28 * pinvG1_2 +
                    coefs_tq2_10 * coef_Jacob1_qt_syms29 * pinvG2_2 + coefs_tq2_10 * coef_Jacob1_qt_syms30 * pinvG3_2 +
                    coefs_tq3_10 * coef_Jacob1_qt_syms28 * pinvG1_3 + coefs_tq3_10 * coef_Jacob1_qt_syms29 * pinvG2_3 +
                    coefs_tq3_10 * coef_Jacob1_qt_syms30 * pinvG3_3;
    symobj[0][21] = coef_Jacob1_qt_syms31 + coefs_tq1_11 * coef_Jacob1_qt_syms28 * pinvG1_1 +
                    coefs_tq1_11 * coef_Jacob1_qt_syms29 * pinvG2_1 + coefs_tq1_11 * coef_Jacob1_qt_syms30 * pinvG3_1 +
                    coefs_tq2_11 * coef_Jacob1_qt_syms28 * pinvG1_2 + coefs_tq2_11 * coef_Jacob1_qt_syms29 * pinvG2_2 +
                    coefs_tq2_11 * coef_Jacob1_qt_syms30 * pinvG3_2 + coefs_tq3_11 * coef_Jacob1_qt_syms28 * pinvG1_3 +
                    coefs_tq3_11 * coef_Jacob1_qt_syms29 * pinvG2_3 + coefs_tq3_11 * coef_Jacob1_qt_syms30 * pinvG3_3;
    symobj[0][22] = coef_Jacob1_qt_syms32 + coefs_tq1_10 * coef_Jacob1_qt_syms33 * pinvG1_1 +
                    coefs_tq1_10 * coef_Jacob1_qt_syms34 * pinvG2_1 + coefs_tq1_10 * coef_Jacob1_qt_syms35 * pinvG3_1 +
                    coefs_tq2_10 * coef_Jacob1_qt_syms33 * pinvG1_2 + coefs_tq2_10 * coef_Jacob1_qt_syms34 * pinvG2_2 +
                    coefs_tq2_10 * coef_Jacob1_qt_syms35 * pinvG3_2 + coefs_tq3_10 * coef_Jacob1_qt_syms33 * pinvG1_3 +
                    coefs_tq3_10 * coef_Jacob1_qt_syms34 * pinvG2_3 + coefs_tq3_10 * coef_Jacob1_qt_syms35 * pinvG3_3;
    symobj[0][23] = coef_Jacob1_qt_syms36 + coefs_tq1_11 * coef_Jacob1_qt_syms33 * pinvG1_1 +
                    coefs_tq1_11 * coef_Jacob1_qt_syms34 * pinvG2_1 + coefs_tq1_11 * coef_Jacob1_qt_syms35 * pinvG3_1 +
                    coefs_tq2_11 * coef_Jacob1_qt_syms33 * pinvG1_2 + coefs_tq2_11 * coef_Jacob1_qt_syms34 * pinvG2_2 +
                    coefs_tq2_11 * coef_Jacob1_qt_syms35 * pinvG3_2 + coefs_tq3_11 * coef_Jacob1_qt_syms33 * pinvG1_3 +
                    coefs_tq3_11 * coef_Jacob1_qt_syms34 * pinvG2_3 + coefs_tq3_11 * coef_Jacob1_qt_syms35 * pinvG3_3;
    symobj[1][0] = coef_Jacob2_qt_syms1 + coefs_tq1_1 * coef_Jacob2_qt_syms11 * pinvG1_1 +
                   coefs_tq1_1 * coef_Jacob2_qt_syms12 * pinvG2_1 + coefs_tq2_1 * coef_Jacob2_qt_syms11 * pinvG1_2 +
                   coefs_tq1_1 * coef_Jacob2_qt_syms13 * pinvG3_1 + coefs_tq2_1 * coef_Jacob2_qt_syms12 * pinvG2_2 +
                   coefs_tq3_1 * coef_Jacob2_qt_syms11 * pinvG1_3 + coefs_tq2_1 * coef_Jacob2_qt_syms13 * pinvG3_2 +
                   coefs_tq3_1 * coef_Jacob2_qt_syms12 * pinvG2_3 + coefs_tq3_1 * coef_Jacob2_qt_syms13 * pinvG3_3;
    symobj[1][1] = coef_Jacob2_qt_syms2 + coefs_tq1_2 * coef_Jacob2_qt_syms11 * pinvG1_1 +
                   coefs_tq1_1 * coef_Jacob2_qt_syms21 * pinvG1_1 + coefs_tq1_2 * coef_Jacob2_qt_syms12 * pinvG2_1 +
                   coefs_tq2_2 * coef_Jacob2_qt_syms11 * pinvG1_2 + coefs_tq1_1 * coef_Jacob2_qt_syms22 * pinvG2_1 +
                   coefs_tq2_1 * coef_Jacob2_qt_syms21 * pinvG1_2 + coefs_tq1_2 * coef_Jacob2_qt_syms13 * pinvG3_1 +
                   coefs_tq2_2 * coef_Jacob2_qt_syms12 * pinvG2_2 + coefs_tq3_2 * coef_Jacob2_qt_syms11 * pinvG1_3 +
                   coefs_tq1_1 * coef_Jacob2_qt_syms23 * pinvG3_1 + coefs_tq2_1 * coef_Jacob2_qt_syms22 * pinvG2_2 +
                   coefs_tq3_1 * coef_Jacob2_qt_syms21 * pinvG1_3 + coefs_tq2_2 * coef_Jacob2_qt_syms13 * pinvG3_2 +
                   coefs_tq3_2 * coef_Jacob2_qt_syms12 * pinvG2_3 + coefs_tq2_1 * coef_Jacob2_qt_syms23 * pinvG3_2 +
                   coefs_tq3_1 * coef_Jacob2_qt_syms22 * pinvG2_3 + coefs_tq3_2 * coef_Jacob2_qt_syms13 * pinvG3_3 +
                   coefs_tq3_1 * coef_Jacob2_qt_syms23 * pinvG3_3;
    symobj[1][2] = coef_Jacob2_qt_syms3 + coefs_tq1_3 * coef_Jacob2_qt_syms11 * pinvG1_1 +
                   coefs_tq1_3 * coef_Jacob2_qt_syms12 * pinvG2_1 + coefs_tq2_3 * coef_Jacob2_qt_syms11 * pinvG1_2 +
                   coefs_tq1_1 * coef_Jacob2_qt_syms28 * pinvG1_1 + coefs_tq1_3 * coef_Jacob2_qt_syms13 * pinvG3_1 +
                   coefs_tq2_3 * coef_Jacob2_qt_syms12 * pinvG2_2 + coefs_tq3_3 * coef_Jacob2_qt_syms11 * pinvG1_3 +
                   coefs_tq1_1 * coef_Jacob2_qt_syms29 * pinvG2_1 + coefs_tq2_1 * coef_Jacob2_qt_syms28 * pinvG1_2 +
                   coefs_tq2_3 * coef_Jacob2_qt_syms13 * pinvG3_2 + coefs_tq3_3 * coef_Jacob2_qt_syms12 * pinvG2_3 +
                   coefs_tq1_1 * coef_Jacob2_qt_syms30 * pinvG3_1 + coefs_tq2_1 * coef_Jacob2_qt_syms29 * pinvG2_2 +
                   coefs_tq3_1 * coef_Jacob2_qt_syms28 * pinvG1_3 + coefs_tq3_3 * coef_Jacob2_qt_syms13 * pinvG3_3 +
                   coefs_tq2_1 * coef_Jacob2_qt_syms30 * pinvG3_2 + coefs_tq3_1 * coef_Jacob2_qt_syms29 * pinvG2_3 +
                   coefs_tq3_1 * coef_Jacob2_qt_syms30 * pinvG3_3;
    symobj[1][3] = coef_Jacob2_qt_syms4 + coefs_tq1_4 * coef_Jacob2_qt_syms11 * pinvG1_1 +
                   coefs_tq1_4 * coef_Jacob2_qt_syms12 * pinvG2_1 + coefs_tq2_4 * coef_Jacob2_qt_syms11 * pinvG1_2 +
                   coefs_tq1_1 * coef_Jacob2_qt_syms33 * pinvG1_1 + coefs_tq1_4 * coef_Jacob2_qt_syms13 * pinvG3_1 +
                   coefs_tq2_4 * coef_Jacob2_qt_syms12 * pinvG2_2 + coefs_tq3_4 * coef_Jacob2_qt_syms11 * pinvG1_3 +
                   coefs_tq1_1 * coef_Jacob2_qt_syms34 * pinvG2_1 + coefs_tq2_1 * coef_Jacob2_qt_syms33 * pinvG1_2 +
                   coefs_tq2_4 * coef_Jacob2_qt_syms13 * pinvG3_2 + coefs_tq3_4 * coef_Jacob2_qt_syms12 * pinvG2_3 +
                   coefs_tq1_1 * coef_Jacob2_qt_syms35 * pinvG3_1 + coefs_tq2_1 * coef_Jacob2_qt_syms34 * pinvG2_2 +
                   coefs_tq3_1 * coef_Jacob2_qt_syms33 * pinvG1_3 + coefs_tq3_4 * coef_Jacob2_qt_syms13 * pinvG3_3 +
                   coefs_tq2_1 * coef_Jacob2_qt_syms35 * pinvG3_2 + coefs_tq3_1 * coef_Jacob2_qt_syms34 * pinvG2_3 +
                   coefs_tq3_1 * coef_Jacob2_qt_syms35 * pinvG3_3;
    symobj[1][4] = coef_Jacob2_qt_syms5 + coefs_tq1_5 * coef_Jacob2_qt_syms11 * pinvG1_1 +
                   coefs_tq1_2 * coef_Jacob2_qt_syms21 * pinvG1_1 + coefs_tq1_5 * coef_Jacob2_qt_syms12 * pinvG2_1 +
                   coefs_tq2_5 * coef_Jacob2_qt_syms11 * pinvG1_2 + coefs_tq1_2 * coef_Jacob2_qt_syms22 * pinvG2_1 +
                   coefs_tq2_2 * coef_Jacob2_qt_syms21 * pinvG1_2 + coefs_tq1_5 * coef_Jacob2_qt_syms13 * pinvG3_1 +
                   coefs_tq2_5 * coef_Jacob2_qt_syms12 * pinvG2_2 + coefs_tq3_5 * coef_Jacob2_qt_syms11 * pinvG1_3 +
                   coefs_tq1_2 * coef_Jacob2_qt_syms23 * pinvG3_1 + coefs_tq2_2 * coef_Jacob2_qt_syms22 * pinvG2_2 +
                   coefs_tq3_2 * coef_Jacob2_qt_syms21 * pinvG1_3 + coefs_tq2_5 * coef_Jacob2_qt_syms13 * pinvG3_2 +
                   coefs_tq3_5 * coef_Jacob2_qt_syms12 * pinvG2_3 + coefs_tq2_2 * coef_Jacob2_qt_syms23 * pinvG3_2 +
                   coefs_tq3_2 * coef_Jacob2_qt_syms22 * pinvG2_3 + coefs_tq3_5 * coef_Jacob2_qt_syms13 * pinvG3_3 +
                   coefs_tq3_2 * coef_Jacob2_qt_syms23 * pinvG3_3;
    symobj[1][5] = coef_Jacob2_qt_syms6 + coefs_tq1_6 * coef_Jacob2_qt_syms11 * pinvG1_1 +
                   coefs_tq1_3 * coef_Jacob2_qt_syms21 * pinvG1_1 + coefs_tq1_6 * coef_Jacob2_qt_syms12 * pinvG2_1 +
                   coefs_tq2_6 * coef_Jacob2_qt_syms11 * pinvG1_2 + coefs_tq1_2 * coef_Jacob2_qt_syms28 * pinvG1_1 +
                   coefs_tq1_3 * coef_Jacob2_qt_syms22 * pinvG2_1 + coefs_tq2_3 * coef_Jacob2_qt_syms21 * pinvG1_2 +
                   coefs_tq1_6 * coef_Jacob2_qt_syms13 * pinvG3_1 + coefs_tq2_6 * coef_Jacob2_qt_syms12 * pinvG2_2 +
                   coefs_tq3_6 * coef_Jacob2_qt_syms11 * pinvG1_3 + coefs_tq1_2 * coef_Jacob2_qt_syms29 * pinvG2_1 +
                   coefs_tq2_2 * coef_Jacob2_qt_syms28 * pinvG1_2 + coefs_tq1_3 * coef_Jacob2_qt_syms23 * pinvG3_1 +
                   coefs_tq2_3 * coef_Jacob2_qt_syms22 * pinvG2_2 + coefs_tq3_3 * coef_Jacob2_qt_syms21 * pinvG1_3 +
                   coefs_tq2_6 * coef_Jacob2_qt_syms13 * pinvG3_2 + coefs_tq3_6 * coef_Jacob2_qt_syms12 * pinvG2_3 +
                   coefs_tq1_2 * coef_Jacob2_qt_syms30 * pinvG3_1 + coefs_tq2_2 * coef_Jacob2_qt_syms29 * pinvG2_2 +
                   coefs_tq3_2 * coef_Jacob2_qt_syms28 * pinvG1_3 + coefs_tq2_3 * coef_Jacob2_qt_syms23 * pinvG3_2 +
                   coefs_tq3_3 * coef_Jacob2_qt_syms22 * pinvG2_3 + coefs_tq3_6 * coef_Jacob2_qt_syms13 * pinvG3_3 +
                   coefs_tq2_2 * coef_Jacob2_qt_syms30 * pinvG3_2 + coefs_tq3_2 * coef_Jacob2_qt_syms29 * pinvG2_3 +
                   coefs_tq3_3 * coef_Jacob2_qt_syms23 * pinvG3_3 + coefs_tq3_2 * coef_Jacob2_qt_syms30 * pinvG3_3;
    symobj[1][6] = coef_Jacob2_qt_syms7 + coefs_tq1_7 * coef_Jacob2_qt_syms11 * pinvG1_1 +
                   coefs_tq1_4 * coef_Jacob2_qt_syms21 * pinvG1_1 + coefs_tq1_7 * coef_Jacob2_qt_syms12 * pinvG2_1 +
                   coefs_tq2_7 * coef_Jacob2_qt_syms11 * pinvG1_2 + coefs_tq1_2 * coef_Jacob2_qt_syms33 * pinvG1_1 +
                   coefs_tq1_4 * coef_Jacob2_qt_syms22 * pinvG2_1 + coefs_tq2_4 * coef_Jacob2_qt_syms21 * pinvG1_2 +
                   coefs_tq1_7 * coef_Jacob2_qt_syms13 * pinvG3_1 + coefs_tq2_7 * coef_Jacob2_qt_syms12 * pinvG2_2 +
                   coefs_tq3_7 * coef_Jacob2_qt_syms11 * pinvG1_3 + coefs_tq1_2 * coef_Jacob2_qt_syms34 * pinvG2_1 +
                   coefs_tq2_2 * coef_Jacob2_qt_syms33 * pinvG1_2 + coefs_tq1_4 * coef_Jacob2_qt_syms23 * pinvG3_1 +
                   coefs_tq2_4 * coef_Jacob2_qt_syms22 * pinvG2_2 + coefs_tq3_4 * coef_Jacob2_qt_syms21 * pinvG1_3 +
                   coefs_tq2_7 * coef_Jacob2_qt_syms13 * pinvG3_2 + coefs_tq3_7 * coef_Jacob2_qt_syms12 * pinvG2_3 +
                   coefs_tq1_2 * coef_Jacob2_qt_syms35 * pinvG3_1 + coefs_tq2_2 * coef_Jacob2_qt_syms34 * pinvG2_2 +
                   coefs_tq3_2 * coef_Jacob2_qt_syms33 * pinvG1_3 + coefs_tq2_4 * coef_Jacob2_qt_syms23 * pinvG3_2 +
                   coefs_tq3_4 * coef_Jacob2_qt_syms22 * pinvG2_3 + coefs_tq3_7 * coef_Jacob2_qt_syms13 * pinvG3_3 +
                   coefs_tq2_2 * coef_Jacob2_qt_syms35 * pinvG3_2 + coefs_tq3_2 * coef_Jacob2_qt_syms34 * pinvG2_3 +
                   coefs_tq3_4 * coef_Jacob2_qt_syms23 * pinvG3_3 + coefs_tq3_2 * coef_Jacob2_qt_syms35 * pinvG3_3;
    symobj[1][7] = coef_Jacob2_qt_syms8 + coefs_tq1_8 * coef_Jacob2_qt_syms11 * pinvG1_1 +
                   coefs_tq1_8 * coef_Jacob2_qt_syms12 * pinvG2_1 + coefs_tq2_8 * coef_Jacob2_qt_syms11 * pinvG1_2 +
                   coefs_tq1_3 * coef_Jacob2_qt_syms28 * pinvG1_1 + coefs_tq1_8 * coef_Jacob2_qt_syms13 * pinvG3_1 +
                   coefs_tq2_8 * coef_Jacob2_qt_syms12 * pinvG2_2 + coefs_tq3_8 * coef_Jacob2_qt_syms11 * pinvG1_3 +
                   coefs_tq1_3 * coef_Jacob2_qt_syms29 * pinvG2_1 + coefs_tq2_3 * coef_Jacob2_qt_syms28 * pinvG1_2 +
                   coefs_tq2_8 * coef_Jacob2_qt_syms13 * pinvG3_2 + coefs_tq3_8 * coef_Jacob2_qt_syms12 * pinvG2_3 +
                   coefs_tq1_3 * coef_Jacob2_qt_syms30 * pinvG3_1 + coefs_tq2_3 * coef_Jacob2_qt_syms29 * pinvG2_2 +
                   coefs_tq3_3 * coef_Jacob2_qt_syms28 * pinvG1_3 + coefs_tq3_8 * coef_Jacob2_qt_syms13 * pinvG3_3 +
                   coefs_tq2_3 * coef_Jacob2_qt_syms30 * pinvG3_2 + coefs_tq3_3 * coef_Jacob2_qt_syms29 * pinvG2_3 +
                   coefs_tq3_3 * coef_Jacob2_qt_syms30 * pinvG3_3;
    symobj[1][8] = coef_Jacob2_qt_syms9 + coefs_tq1_9 * coef_Jacob2_qt_syms11 * pinvG1_1 +
                   coefs_tq1_9 * coef_Jacob2_qt_syms12 * pinvG2_1 + coefs_tq2_9 * coef_Jacob2_qt_syms11 * pinvG1_2 +
                   coefs_tq1_4 * coef_Jacob2_qt_syms28 * pinvG1_1 + coefs_tq1_3 * coef_Jacob2_qt_syms33 * pinvG1_1 +
                   coefs_tq1_9 * coef_Jacob2_qt_syms13 * pinvG3_1 + coefs_tq2_9 * coef_Jacob2_qt_syms12 * pinvG2_2 +
                   coefs_tq3_9 * coef_Jacob2_qt_syms11 * pinvG1_3 + coefs_tq1_4 * coef_Jacob2_qt_syms29 * pinvG2_1 +
                   coefs_tq2_4 * coef_Jacob2_qt_syms28 * pinvG1_2 + coefs_tq1_3 * coef_Jacob2_qt_syms34 * pinvG2_1 +
                   coefs_tq2_3 * coef_Jacob2_qt_syms33 * pinvG1_2 + coefs_tq2_9 * coef_Jacob2_qt_syms13 * pinvG3_2 +
                   coefs_tq3_9 * coef_Jacob2_qt_syms12 * pinvG2_3 + coefs_tq1_4 * coef_Jacob2_qt_syms30 * pinvG3_1 +
                   coefs_tq2_4 * coef_Jacob2_qt_syms29 * pinvG2_2 + coefs_tq3_4 * coef_Jacob2_qt_syms28 * pinvG1_3 +
                   coefs_tq1_3 * coef_Jacob2_qt_syms35 * pinvG3_1 + coefs_tq2_3 * coef_Jacob2_qt_syms34 * pinvG2_2 +
                   coefs_tq3_3 * coef_Jacob2_qt_syms33 * pinvG1_3 + coefs_tq3_9 * coef_Jacob2_qt_syms13 * pinvG3_3 +
                   coefs_tq2_4 * coef_Jacob2_qt_syms30 * pinvG3_2 + coefs_tq3_4 * coef_Jacob2_qt_syms29 * pinvG2_3 +
                   coefs_tq2_3 * coef_Jacob2_qt_syms35 * pinvG3_2 + coefs_tq3_3 * coef_Jacob2_qt_syms34 * pinvG2_3 +
                   coefs_tq3_4 * coef_Jacob2_qt_syms30 * pinvG3_3 + coefs_tq3_3 * coef_Jacob2_qt_syms35 * pinvG3_3;
    symobj[1][9] = coef_Jacob2_qt_syms10 + coefs_tq1_4 * coef_Jacob2_qt_syms33 * pinvG1_1 +
                   coefs_tq1_4 * coef_Jacob2_qt_syms34 * pinvG2_1 + coefs_tq2_4 * coef_Jacob2_qt_syms33 * pinvG1_2 +
                   coefs_tq1_4 * coef_Jacob2_qt_syms35 * pinvG3_1 + coefs_tq2_4 * coef_Jacob2_qt_syms34 * pinvG2_2 +
                   coefs_tq3_4 * coef_Jacob2_qt_syms33 * pinvG1_3 + coefs_tq2_4 * coef_Jacob2_qt_syms35 * pinvG3_2 +
                   coefs_tq3_4 * coef_Jacob2_qt_syms34 * pinvG2_3 + coefs_tq3_4 * coef_Jacob2_qt_syms35 * pinvG3_3 +
                   coefs_tq1_10 * coef_Jacob2_qt_syms11 * pinvG1_1 + coefs_tq1_10 * coef_Jacob2_qt_syms12 * pinvG2_1 +
                   coefs_tq1_10 * coef_Jacob2_qt_syms13 * pinvG3_1 + coefs_tq2_10 * coef_Jacob2_qt_syms11 * pinvG1_2 +
                   coefs_tq2_10 * coef_Jacob2_qt_syms12 * pinvG2_2 + coefs_tq2_10 * coef_Jacob2_qt_syms13 * pinvG3_2 +
                   coefs_tq3_10 * coef_Jacob2_qt_syms11 * pinvG1_3 + coefs_tq3_10 * coef_Jacob2_qt_syms12 * pinvG2_3 +
                   coefs_tq3_10 * coef_Jacob2_qt_syms13 * pinvG3_3;
    symobj[1][10] = coef_Jacob2_qt_syms14 + coefs_tq1_11 * coef_Jacob2_qt_syms11 * pinvG1_1 +
                    coefs_tq1_11 * coef_Jacob2_qt_syms12 * pinvG2_1 + coefs_tq1_11 * coef_Jacob2_qt_syms13 * pinvG3_1 +
                    coefs_tq2_11 * coef_Jacob2_qt_syms11 * pinvG1_2 + coefs_tq2_11 * coef_Jacob2_qt_syms12 * pinvG2_2 +
                    coefs_tq2_11 * coef_Jacob2_qt_syms13 * pinvG3_2 + coefs_tq3_11 * coef_Jacob2_qt_syms11 * pinvG1_3 +
                    coefs_tq3_11 * coef_Jacob2_qt_syms12 * pinvG2_3 + coefs_tq3_11 * coef_Jacob2_qt_syms13 * pinvG3_3;
    symobj[1][11] = coef_Jacob2_qt_syms15 + coefs_tq1_5 * coef_Jacob2_qt_syms21 * pinvG1_1 +
                    coefs_tq1_5 * coef_Jacob2_qt_syms22 * pinvG2_1 + coefs_tq2_5 * coef_Jacob2_qt_syms21 * pinvG1_2 +
                    coefs_tq1_5 * coef_Jacob2_qt_syms23 * pinvG3_1 + coefs_tq2_5 * coef_Jacob2_qt_syms22 * pinvG2_2 +
                    coefs_tq3_5 * coef_Jacob2_qt_syms21 * pinvG1_3 + coefs_tq2_5 * coef_Jacob2_qt_syms23 * pinvG3_2 +
                    coefs_tq3_5 * coef_Jacob2_qt_syms22 * pinvG2_3 + coefs_tq3_5 * coef_Jacob2_qt_syms23 * pinvG3_3;
    symobj[1][12] = coef_Jacob2_qt_syms16 + coefs_tq1_6 * coef_Jacob2_qt_syms21 * pinvG1_1 +
                    coefs_tq1_5 * coef_Jacob2_qt_syms28 * pinvG1_1 + coefs_tq1_6 * coef_Jacob2_qt_syms22 * pinvG2_1 +
                    coefs_tq2_6 * coef_Jacob2_qt_syms21 * pinvG1_2 + coefs_tq1_5 * coef_Jacob2_qt_syms29 * pinvG2_1 +
                    coefs_tq2_5 * coef_Jacob2_qt_syms28 * pinvG1_2 + coefs_tq1_6 * coef_Jacob2_qt_syms23 * pinvG3_1 +
                    coefs_tq2_6 * coef_Jacob2_qt_syms22 * pinvG2_2 + coefs_tq3_6 * coef_Jacob2_qt_syms21 * pinvG1_3 +
                    coefs_tq1_5 * coef_Jacob2_qt_syms30 * pinvG3_1 + coefs_tq2_5 * coef_Jacob2_qt_syms29 * pinvG2_2 +
                    coefs_tq3_5 * coef_Jacob2_qt_syms28 * pinvG1_3 + coefs_tq2_6 * coef_Jacob2_qt_syms23 * pinvG3_2 +
                    coefs_tq3_6 * coef_Jacob2_qt_syms22 * pinvG2_3 + coefs_tq2_5 * coef_Jacob2_qt_syms30 * pinvG3_2 +
                    coefs_tq3_5 * coef_Jacob2_qt_syms29 * pinvG2_3 + coefs_tq3_6 * coef_Jacob2_qt_syms23 * pinvG3_3 +
                    coefs_tq3_5 * coef_Jacob2_qt_syms30 * pinvG3_3;
    symobj[1][13] = coef_Jacob2_qt_syms17 + coefs_tq1_7 * coef_Jacob2_qt_syms21 * pinvG1_1 +
                    coefs_tq1_5 * coef_Jacob2_qt_syms33 * pinvG1_1 + coefs_tq1_7 * coef_Jacob2_qt_syms22 * pinvG2_1 +
                    coefs_tq2_7 * coef_Jacob2_qt_syms21 * pinvG1_2 + coefs_tq1_5 * coef_Jacob2_qt_syms34 * pinvG2_1 +
                    coefs_tq2_5 * coef_Jacob2_qt_syms33 * pinvG1_2 + coefs_tq1_7 * coef_Jacob2_qt_syms23 * pinvG3_1 +
                    coefs_tq2_7 * coef_Jacob2_qt_syms22 * pinvG2_2 + coefs_tq3_7 * coef_Jacob2_qt_syms21 * pinvG1_3 +
                    coefs_tq1_5 * coef_Jacob2_qt_syms35 * pinvG3_1 + coefs_tq2_5 * coef_Jacob2_qt_syms34 * pinvG2_2 +
                    coefs_tq3_5 * coef_Jacob2_qt_syms33 * pinvG1_3 + coefs_tq2_7 * coef_Jacob2_qt_syms23 * pinvG3_2 +
                    coefs_tq3_7 * coef_Jacob2_qt_syms22 * pinvG2_3 + coefs_tq2_5 * coef_Jacob2_qt_syms35 * pinvG3_2 +
                    coefs_tq3_5 * coef_Jacob2_qt_syms34 * pinvG2_3 + coefs_tq3_7 * coef_Jacob2_qt_syms23 * pinvG3_3 +
                    coefs_tq3_5 * coef_Jacob2_qt_syms35 * pinvG3_3;
    symobj[1][14] = coef_Jacob2_qt_syms18 + coefs_tq1_8 * coef_Jacob2_qt_syms21 * pinvG1_1 +
                    coefs_tq1_6 * coef_Jacob2_qt_syms28 * pinvG1_1 + coefs_tq1_8 * coef_Jacob2_qt_syms22 * pinvG2_1 +
                    coefs_tq2_8 * coef_Jacob2_qt_syms21 * pinvG1_2 + coefs_tq1_6 * coef_Jacob2_qt_syms29 * pinvG2_1 +
                    coefs_tq2_6 * coef_Jacob2_qt_syms28 * pinvG1_2 + coefs_tq1_8 * coef_Jacob2_qt_syms23 * pinvG3_1 +
                    coefs_tq2_8 * coef_Jacob2_qt_syms22 * pinvG2_2 + coefs_tq3_8 * coef_Jacob2_qt_syms21 * pinvG1_3 +
                    coefs_tq1_6 * coef_Jacob2_qt_syms30 * pinvG3_1 + coefs_tq2_6 * coef_Jacob2_qt_syms29 * pinvG2_2 +
                    coefs_tq3_6 * coef_Jacob2_qt_syms28 * pinvG1_3 + coefs_tq2_8 * coef_Jacob2_qt_syms23 * pinvG3_2 +
                    coefs_tq3_8 * coef_Jacob2_qt_syms22 * pinvG2_3 + coefs_tq2_6 * coef_Jacob2_qt_syms30 * pinvG3_2 +
                    coefs_tq3_6 * coef_Jacob2_qt_syms29 * pinvG2_3 + coefs_tq3_8 * coef_Jacob2_qt_syms23 * pinvG3_3 +
                    coefs_tq3_6 * coef_Jacob2_qt_syms30 * pinvG3_3;
    symobj[1][15] = coef_Jacob2_qt_syms19 + coefs_tq1_9 * coef_Jacob2_qt_syms21 * pinvG1_1 +
                    coefs_tq1_7 * coef_Jacob2_qt_syms28 * pinvG1_1 + coefs_tq1_6 * coef_Jacob2_qt_syms33 * pinvG1_1 +
                    coefs_tq1_9 * coef_Jacob2_qt_syms22 * pinvG2_1 + coefs_tq2_9 * coef_Jacob2_qt_syms21 * pinvG1_2 +
                    coefs_tq1_7 * coef_Jacob2_qt_syms29 * pinvG2_1 + coefs_tq2_7 * coef_Jacob2_qt_syms28 * pinvG1_2 +
                    coefs_tq1_6 * coef_Jacob2_qt_syms34 * pinvG2_1 + coefs_tq2_6 * coef_Jacob2_qt_syms33 * pinvG1_2 +
                    coefs_tq1_9 * coef_Jacob2_qt_syms23 * pinvG3_1 + coefs_tq2_9 * coef_Jacob2_qt_syms22 * pinvG2_2 +
                    coefs_tq3_9 * coef_Jacob2_qt_syms21 * pinvG1_3 + coefs_tq1_7 * coef_Jacob2_qt_syms30 * pinvG3_1 +
                    coefs_tq2_7 * coef_Jacob2_qt_syms29 * pinvG2_2 + coefs_tq3_7 * coef_Jacob2_qt_syms28 * pinvG1_3 +
                    coefs_tq1_6 * coef_Jacob2_qt_syms35 * pinvG3_1 + coefs_tq2_6 * coef_Jacob2_qt_syms34 * pinvG2_2 +
                    coefs_tq3_6 * coef_Jacob2_qt_syms33 * pinvG1_3 + coefs_tq2_9 * coef_Jacob2_qt_syms23 * pinvG3_2 +
                    coefs_tq3_9 * coef_Jacob2_qt_syms22 * pinvG2_3 + coefs_tq2_7 * coef_Jacob2_qt_syms30 * pinvG3_2 +
                    coefs_tq3_7 * coef_Jacob2_qt_syms29 * pinvG2_3 + coefs_tq2_6 * coef_Jacob2_qt_syms35 * pinvG3_2 +
                    coefs_tq3_6 * coef_Jacob2_qt_syms34 * pinvG2_3 + coefs_tq3_9 * coef_Jacob2_qt_syms23 * pinvG3_3 +
                    coefs_tq3_7 * coef_Jacob2_qt_syms30 * pinvG3_3 + coefs_tq3_6 * coef_Jacob2_qt_syms35 * pinvG3_3;
    symobj[1][16] = coef_Jacob2_qt_syms20 + coefs_tq1_7 * coef_Jacob2_qt_syms33 * pinvG1_1 +
                    coefs_tq1_7 * coef_Jacob2_qt_syms34 * pinvG2_1 + coefs_tq2_7 * coef_Jacob2_qt_syms33 * pinvG1_2 +
                    coefs_tq1_7 * coef_Jacob2_qt_syms35 * pinvG3_1 + coefs_tq2_7 * coef_Jacob2_qt_syms34 * pinvG2_2 +
                    coefs_tq3_7 * coef_Jacob2_qt_syms33 * pinvG1_3 + coefs_tq2_7 * coef_Jacob2_qt_syms35 * pinvG3_2 +
                    coefs_tq3_7 * coef_Jacob2_qt_syms34 * pinvG2_3 + coefs_tq3_7 * coef_Jacob2_qt_syms35 * pinvG3_3 +
                    coefs_tq1_10 * coef_Jacob2_qt_syms21 * pinvG1_1 + coefs_tq1_10 * coef_Jacob2_qt_syms22 * pinvG2_1 +
                    coefs_tq1_10 * coef_Jacob2_qt_syms23 * pinvG3_1 + coefs_tq2_10 * coef_Jacob2_qt_syms21 * pinvG1_2 +
                    coefs_tq2_10 * coef_Jacob2_qt_syms22 * pinvG2_2 + coefs_tq2_10 * coef_Jacob2_qt_syms23 * pinvG3_2 +
                    coefs_tq3_10 * coef_Jacob2_qt_syms21 * pinvG1_3 + coefs_tq3_10 * coef_Jacob2_qt_syms22 * pinvG2_3 +
                    coefs_tq3_10 * coef_Jacob2_qt_syms23 * pinvG3_3;
    symobj[1][17] = coef_Jacob2_qt_syms24 + coefs_tq1_11 * coef_Jacob2_qt_syms21 * pinvG1_1 +
                    coefs_tq1_11 * coef_Jacob2_qt_syms22 * pinvG2_1 + coefs_tq1_11 * coef_Jacob2_qt_syms23 * pinvG3_1 +
                    coefs_tq2_11 * coef_Jacob2_qt_syms21 * pinvG1_2 + coefs_tq2_11 * coef_Jacob2_qt_syms22 * pinvG2_2 +
                    coefs_tq2_11 * coef_Jacob2_qt_syms23 * pinvG3_2 + coefs_tq3_11 * coef_Jacob2_qt_syms21 * pinvG1_3 +
                    coefs_tq3_11 * coef_Jacob2_qt_syms22 * pinvG2_3 + coefs_tq3_11 * coef_Jacob2_qt_syms23 * pinvG3_3;
    symobj[1][18] = coef_Jacob2_qt_syms25 + coefs_tq1_8 * coef_Jacob2_qt_syms28 * pinvG1_1 +
                    coefs_tq1_8 * coef_Jacob2_qt_syms29 * pinvG2_1 + coefs_tq2_8 * coef_Jacob2_qt_syms28 * pinvG1_2 +
                    coefs_tq1_8 * coef_Jacob2_qt_syms30 * pinvG3_1 + coefs_tq2_8 * coef_Jacob2_qt_syms29 * pinvG2_2 +
                    coefs_tq3_8 * coef_Jacob2_qt_syms28 * pinvG1_3 + coefs_tq2_8 * coef_Jacob2_qt_syms30 * pinvG3_2 +
                    coefs_tq3_8 * coef_Jacob2_qt_syms29 * pinvG2_3 + coefs_tq3_8 * coef_Jacob2_qt_syms30 * pinvG3_3;
    symobj[1][19] = coef_Jacob2_qt_syms26 + coefs_tq1_9 * coef_Jacob2_qt_syms28 * pinvG1_1 +
                    coefs_tq1_8 * coef_Jacob2_qt_syms33 * pinvG1_1 + coefs_tq1_9 * coef_Jacob2_qt_syms29 * pinvG2_1 +
                    coefs_tq2_9 * coef_Jacob2_qt_syms28 * pinvG1_2 + coefs_tq1_8 * coef_Jacob2_qt_syms34 * pinvG2_1 +
                    coefs_tq2_8 * coef_Jacob2_qt_syms33 * pinvG1_2 + coefs_tq1_9 * coef_Jacob2_qt_syms30 * pinvG3_1 +
                    coefs_tq2_9 * coef_Jacob2_qt_syms29 * pinvG2_2 + coefs_tq3_9 * coef_Jacob2_qt_syms28 * pinvG1_3 +
                    coefs_tq1_8 * coef_Jacob2_qt_syms35 * pinvG3_1 + coefs_tq2_8 * coef_Jacob2_qt_syms34 * pinvG2_2 +
                    coefs_tq3_8 * coef_Jacob2_qt_syms33 * pinvG1_3 + coefs_tq2_9 * coef_Jacob2_qt_syms30 * pinvG3_2 +
                    coefs_tq3_9 * coef_Jacob2_qt_syms29 * pinvG2_3 + coefs_tq2_8 * coef_Jacob2_qt_syms35 * pinvG3_2 +
                    coefs_tq3_8 * coef_Jacob2_qt_syms34 * pinvG2_3 + coefs_tq3_9 * coef_Jacob2_qt_syms30 * pinvG3_3 +
                    coefs_tq3_8 * coef_Jacob2_qt_syms35 * pinvG3_3;
    symobj[1][20] = coef_Jacob2_qt_syms27 + coefs_tq1_9 * coef_Jacob2_qt_syms33 * pinvG1_1 +
                    coefs_tq1_9 * coef_Jacob2_qt_syms34 * pinvG2_1 + coefs_tq2_9 * coef_Jacob2_qt_syms33 * pinvG1_2 +
                    coefs_tq1_9 * coef_Jacob2_qt_syms35 * pinvG3_1 + coefs_tq2_9 * coef_Jacob2_qt_syms34 * pinvG2_2 +
                    coefs_tq3_9 * coef_Jacob2_qt_syms33 * pinvG1_3 + coefs_tq2_9 * coef_Jacob2_qt_syms35 * pinvG3_2 +
                    coefs_tq3_9 * coef_Jacob2_qt_syms34 * pinvG2_3 + coefs_tq3_9 * coef_Jacob2_qt_syms35 * pinvG3_3 +
                    coefs_tq1_10 * coef_Jacob2_qt_syms28 * pinvG1_1 + coefs_tq1_10 * coef_Jacob2_qt_syms29 * pinvG2_1 +
                    coefs_tq1_10 * coef_Jacob2_qt_syms30 * pinvG3_1 + coefs_tq2_10 * coef_Jacob2_qt_syms28 * pinvG1_2 +
                    coefs_tq2_10 * coef_Jacob2_qt_syms29 * pinvG2_2 + coefs_tq2_10 * coef_Jacob2_qt_syms30 * pinvG3_2 +
                    coefs_tq3_10 * coef_Jacob2_qt_syms28 * pinvG1_3 + coefs_tq3_10 * coef_Jacob2_qt_syms29 * pinvG2_3 +
                    coefs_tq3_10 * coef_Jacob2_qt_syms30 * pinvG3_3;
    symobj[1][21] = coef_Jacob2_qt_syms31 + coefs_tq1_11 * coef_Jacob2_qt_syms28 * pinvG1_1 +
                    coefs_tq1_11 * coef_Jacob2_qt_syms29 * pinvG2_1 + coefs_tq1_11 * coef_Jacob2_qt_syms30 * pinvG3_1 +
                    coefs_tq2_11 * coef_Jacob2_qt_syms28 * pinvG1_2 + coefs_tq2_11 * coef_Jacob2_qt_syms29 * pinvG2_2 +
                    coefs_tq2_11 * coef_Jacob2_qt_syms30 * pinvG3_2 + coefs_tq3_11 * coef_Jacob2_qt_syms28 * pinvG1_3 +
                    coefs_tq3_11 * coef_Jacob2_qt_syms29 * pinvG2_3 + coefs_tq3_11 * coef_Jacob2_qt_syms30 * pinvG3_3;
    symobj[1][22] = coef_Jacob2_qt_syms32 + coefs_tq1_10 * coef_Jacob2_qt_syms33 * pinvG1_1 +
                    coefs_tq1_10 * coef_Jacob2_qt_syms34 * pinvG2_1 + coefs_tq1_10 * coef_Jacob2_qt_syms35 * pinvG3_1 +
                    coefs_tq2_10 * coef_Jacob2_qt_syms33 * pinvG1_2 + coefs_tq2_10 * coef_Jacob2_qt_syms34 * pinvG2_2 +
                    coefs_tq2_10 * coef_Jacob2_qt_syms35 * pinvG3_2 + coefs_tq3_10 * coef_Jacob2_qt_syms33 * pinvG1_3 +
                    coefs_tq3_10 * coef_Jacob2_qt_syms34 * pinvG2_3 + coefs_tq3_10 * coef_Jacob2_qt_syms35 * pinvG3_3;
    symobj[1][23] = coef_Jacob2_qt_syms36 + coefs_tq1_11 * coef_Jacob2_qt_syms33 * pinvG1_1 +
                    coefs_tq1_11 * coef_Jacob2_qt_syms34 * pinvG2_1 + coefs_tq1_11 * coef_Jacob2_qt_syms35 * pinvG3_1 +
                    coefs_tq2_11 * coef_Jacob2_qt_syms33 * pinvG1_2 + coefs_tq2_11 * coef_Jacob2_qt_syms34 * pinvG2_2 +
                    coefs_tq2_11 * coef_Jacob2_qt_syms35 * pinvG3_2 + coefs_tq3_11 * coef_Jacob2_qt_syms33 * pinvG1_3 +
                    coefs_tq3_11 * coef_Jacob2_qt_syms34 * pinvG2_3 + coefs_tq3_11 * coef_Jacob2_qt_syms35 * pinvG3_3;
    symobj[2][0] = coef_Jacob3_qt_syms1 + coefs_tq1_1 * coef_Jacob3_qt_syms11 * pinvG1_1 +
                   coefs_tq1_1 * coef_Jacob3_qt_syms12 * pinvG2_1 + coefs_tq2_1 * coef_Jacob3_qt_syms11 * pinvG1_2 +
                   coefs_tq1_1 * coef_Jacob3_qt_syms13 * pinvG3_1 + coefs_tq2_1 * coef_Jacob3_qt_syms12 * pinvG2_2 +
                   coefs_tq3_1 * coef_Jacob3_qt_syms11 * pinvG1_3 + coefs_tq2_1 * coef_Jacob3_qt_syms13 * pinvG3_2 +
                   coefs_tq3_1 * coef_Jacob3_qt_syms12 * pinvG2_3 + coefs_tq3_1 * coef_Jacob3_qt_syms13 * pinvG3_3;
    symobj[2][1] = coef_Jacob3_qt_syms2 + coefs_tq1_2 * coef_Jacob3_qt_syms11 * pinvG1_1 +
                   coefs_tq1_1 * coef_Jacob3_qt_syms21 * pinvG1_1 + coefs_tq1_2 * coef_Jacob3_qt_syms12 * pinvG2_1 +
                   coefs_tq2_2 * coef_Jacob3_qt_syms11 * pinvG1_2 + coefs_tq1_1 * coef_Jacob3_qt_syms22 * pinvG2_1 +
                   coefs_tq2_1 * coef_Jacob3_qt_syms21 * pinvG1_2 + coefs_tq1_2 * coef_Jacob3_qt_syms13 * pinvG3_1 +
                   coefs_tq2_2 * coef_Jacob3_qt_syms12 * pinvG2_2 + coefs_tq3_2 * coef_Jacob3_qt_syms11 * pinvG1_3 +
                   coefs_tq1_1 * coef_Jacob3_qt_syms23 * pinvG3_1 + coefs_tq2_1 * coef_Jacob3_qt_syms22 * pinvG2_2 +
                   coefs_tq3_1 * coef_Jacob3_qt_syms21 * pinvG1_3 + coefs_tq2_2 * coef_Jacob3_qt_syms13 * pinvG3_2 +
                   coefs_tq3_2 * coef_Jacob3_qt_syms12 * pinvG2_3 + coefs_tq2_1 * coef_Jacob3_qt_syms23 * pinvG3_2 +
                   coefs_tq3_1 * coef_Jacob3_qt_syms22 * pinvG2_3 + coefs_tq3_2 * coef_Jacob3_qt_syms13 * pinvG3_3 +
                   coefs_tq3_1 * coef_Jacob3_qt_syms23 * pinvG3_3;
    symobj[2][2] = coef_Jacob3_qt_syms3 + coefs_tq1_3 * coef_Jacob3_qt_syms11 * pinvG1_1 +
                   coefs_tq1_3 * coef_Jacob3_qt_syms12 * pinvG2_1 + coefs_tq2_3 * coef_Jacob3_qt_syms11 * pinvG1_2 +
                   coefs_tq1_1 * coef_Jacob3_qt_syms28 * pinvG1_1 + coefs_tq1_3 * coef_Jacob3_qt_syms13 * pinvG3_1 +
                   coefs_tq2_3 * coef_Jacob3_qt_syms12 * pinvG2_2 + coefs_tq3_3 * coef_Jacob3_qt_syms11 * pinvG1_3 +
                   coefs_tq1_1 * coef_Jacob3_qt_syms29 * pinvG2_1 + coefs_tq2_1 * coef_Jacob3_qt_syms28 * pinvG1_2 +
                   coefs_tq2_3 * coef_Jacob3_qt_syms13 * pinvG3_2 + coefs_tq3_3 * coef_Jacob3_qt_syms12 * pinvG2_3 +
                   coefs_tq1_1 * coef_Jacob3_qt_syms30 * pinvG3_1 + coefs_tq2_1 * coef_Jacob3_qt_syms29 * pinvG2_2 +
                   coefs_tq3_1 * coef_Jacob3_qt_syms28 * pinvG1_3 + coefs_tq3_3 * coef_Jacob3_qt_syms13 * pinvG3_3 +
                   coefs_tq2_1 * coef_Jacob3_qt_syms30 * pinvG3_2 + coefs_tq3_1 * coef_Jacob3_qt_syms29 * pinvG2_3 +
                   coefs_tq3_1 * coef_Jacob3_qt_syms30 * pinvG3_3;
    symobj[2][3] = coef_Jacob3_qt_syms4 + coefs_tq1_4 * coef_Jacob3_qt_syms11 * pinvG1_1 +
                   coefs_tq1_4 * coef_Jacob3_qt_syms12 * pinvG2_1 + coefs_tq2_4 * coef_Jacob3_qt_syms11 * pinvG1_2 +
                   coefs_tq1_1 * coef_Jacob3_qt_syms33 * pinvG1_1 + coefs_tq1_4 * coef_Jacob3_qt_syms13 * pinvG3_1 +
                   coefs_tq2_4 * coef_Jacob3_qt_syms12 * pinvG2_2 + coefs_tq3_4 * coef_Jacob3_qt_syms11 * pinvG1_3 +
                   coefs_tq1_1 * coef_Jacob3_qt_syms34 * pinvG2_1 + coefs_tq2_1 * coef_Jacob3_qt_syms33 * pinvG1_2 +
                   coefs_tq2_4 * coef_Jacob3_qt_syms13 * pinvG3_2 + coefs_tq3_4 * coef_Jacob3_qt_syms12 * pinvG2_3 +
                   coefs_tq1_1 * coef_Jacob3_qt_syms35 * pinvG3_1 + coefs_tq2_1 * coef_Jacob3_qt_syms34 * pinvG2_2 +
                   coefs_tq3_1 * coef_Jacob3_qt_syms33 * pinvG1_3 + coefs_tq3_4 * coef_Jacob3_qt_syms13 * pinvG3_3 +
                   coefs_tq2_1 * coef_Jacob3_qt_syms35 * pinvG3_2 + coefs_tq3_1 * coef_Jacob3_qt_syms34 * pinvG2_3 +
                   coefs_tq3_1 * coef_Jacob3_qt_syms35 * pinvG3_3;
    symobj[2][4] = coef_Jacob3_qt_syms5 + coefs_tq1_5 * coef_Jacob3_qt_syms11 * pinvG1_1 +
                   coefs_tq1_2 * coef_Jacob3_qt_syms21 * pinvG1_1 + coefs_tq1_5 * coef_Jacob3_qt_syms12 * pinvG2_1 +
                   coefs_tq2_5 * coef_Jacob3_qt_syms11 * pinvG1_2 + coefs_tq1_2 * coef_Jacob3_qt_syms22 * pinvG2_1 +
                   coefs_tq2_2 * coef_Jacob3_qt_syms21 * pinvG1_2 + coefs_tq1_5 * coef_Jacob3_qt_syms13 * pinvG3_1 +
                   coefs_tq2_5 * coef_Jacob3_qt_syms12 * pinvG2_2 + coefs_tq3_5 * coef_Jacob3_qt_syms11 * pinvG1_3 +
                   coefs_tq1_2 * coef_Jacob3_qt_syms23 * pinvG3_1 + coefs_tq2_2 * coef_Jacob3_qt_syms22 * pinvG2_2 +
                   coefs_tq3_2 * coef_Jacob3_qt_syms21 * pinvG1_3 + coefs_tq2_5 * coef_Jacob3_qt_syms13 * pinvG3_2 +
                   coefs_tq3_5 * coef_Jacob3_qt_syms12 * pinvG2_3 + coefs_tq2_2 * coef_Jacob3_qt_syms23 * pinvG3_2 +
                   coefs_tq3_2 * coef_Jacob3_qt_syms22 * pinvG2_3 + coefs_tq3_5 * coef_Jacob3_qt_syms13 * pinvG3_3 +
                   coefs_tq3_2 * coef_Jacob3_qt_syms23 * pinvG3_3;
    symobj[2][5] = coef_Jacob3_qt_syms6 + coefs_tq1_6 * coef_Jacob3_qt_syms11 * pinvG1_1 +
                   coefs_tq1_3 * coef_Jacob3_qt_syms21 * pinvG1_1 + coefs_tq1_6 * coef_Jacob3_qt_syms12 * pinvG2_1 +
                   coefs_tq2_6 * coef_Jacob3_qt_syms11 * pinvG1_2 + coefs_tq1_2 * coef_Jacob3_qt_syms28 * pinvG1_1 +
                   coefs_tq1_3 * coef_Jacob3_qt_syms22 * pinvG2_1 + coefs_tq2_3 * coef_Jacob3_qt_syms21 * pinvG1_2 +
                   coefs_tq1_6 * coef_Jacob3_qt_syms13 * pinvG3_1 + coefs_tq2_6 * coef_Jacob3_qt_syms12 * pinvG2_2 +
                   coefs_tq3_6 * coef_Jacob3_qt_syms11 * pinvG1_3 + coefs_tq1_2 * coef_Jacob3_qt_syms29 * pinvG2_1 +
                   coefs_tq2_2 * coef_Jacob3_qt_syms28 * pinvG1_2 + coefs_tq1_3 * coef_Jacob3_qt_syms23 * pinvG3_1 +
                   coefs_tq2_3 * coef_Jacob3_qt_syms22 * pinvG2_2 + coefs_tq3_3 * coef_Jacob3_qt_syms21 * pinvG1_3 +
                   coefs_tq2_6 * coef_Jacob3_qt_syms13 * pinvG3_2 + coefs_tq3_6 * coef_Jacob3_qt_syms12 * pinvG2_3 +
                   coefs_tq1_2 * coef_Jacob3_qt_syms30 * pinvG3_1 + coefs_tq2_2 * coef_Jacob3_qt_syms29 * pinvG2_2 +
                   coefs_tq3_2 * coef_Jacob3_qt_syms28 * pinvG1_3 + coefs_tq2_3 * coef_Jacob3_qt_syms23 * pinvG3_2 +
                   coefs_tq3_3 * coef_Jacob3_qt_syms22 * pinvG2_3 + coefs_tq3_6 * coef_Jacob3_qt_syms13 * pinvG3_3 +
                   coefs_tq2_2 * coef_Jacob3_qt_syms30 * pinvG3_2 + coefs_tq3_2 * coef_Jacob3_qt_syms29 * pinvG2_3 +
                   coefs_tq3_3 * coef_Jacob3_qt_syms23 * pinvG3_3 + coefs_tq3_2 * coef_Jacob3_qt_syms30 * pinvG3_3;
    symobj[2][6] = coef_Jacob3_qt_syms7 + coefs_tq1_7 * coef_Jacob3_qt_syms11 * pinvG1_1 +
                   coefs_tq1_4 * coef_Jacob3_qt_syms21 * pinvG1_1 + coefs_tq1_7 * coef_Jacob3_qt_syms12 * pinvG2_1 +
                   coefs_tq2_7 * coef_Jacob3_qt_syms11 * pinvG1_2 + coefs_tq1_2 * coef_Jacob3_qt_syms33 * pinvG1_1 +
                   coefs_tq1_4 * coef_Jacob3_qt_syms22 * pinvG2_1 + coefs_tq2_4 * coef_Jacob3_qt_syms21 * pinvG1_2 +
                   coefs_tq1_7 * coef_Jacob3_qt_syms13 * pinvG3_1 + coefs_tq2_7 * coef_Jacob3_qt_syms12 * pinvG2_2 +
                   coefs_tq3_7 * coef_Jacob3_qt_syms11 * pinvG1_3 + coefs_tq1_2 * coef_Jacob3_qt_syms34 * pinvG2_1 +
                   coefs_tq2_2 * coef_Jacob3_qt_syms33 * pinvG1_2 + coefs_tq1_4 * coef_Jacob3_qt_syms23 * pinvG3_1 +
                   coefs_tq2_4 * coef_Jacob3_qt_syms22 * pinvG2_2 + coefs_tq3_4 * coef_Jacob3_qt_syms21 * pinvG1_3 +
                   coefs_tq2_7 * coef_Jacob3_qt_syms13 * pinvG3_2 + coefs_tq3_7 * coef_Jacob3_qt_syms12 * pinvG2_3 +
                   coefs_tq1_2 * coef_Jacob3_qt_syms35 * pinvG3_1 + coefs_tq2_2 * coef_Jacob3_qt_syms34 * pinvG2_2 +
                   coefs_tq3_2 * coef_Jacob3_qt_syms33 * pinvG1_3 + coefs_tq2_4 * coef_Jacob3_qt_syms23 * pinvG3_2 +
                   coefs_tq3_4 * coef_Jacob3_qt_syms22 * pinvG2_3 + coefs_tq3_7 * coef_Jacob3_qt_syms13 * pinvG3_3 +
                   coefs_tq2_2 * coef_Jacob3_qt_syms35 * pinvG3_2 + coefs_tq3_2 * coef_Jacob3_qt_syms34 * pinvG2_3 +
                   coefs_tq3_4 * coef_Jacob3_qt_syms23 * pinvG3_3 + coefs_tq3_2 * coef_Jacob3_qt_syms35 * pinvG3_3;
    symobj[2][7] = coef_Jacob3_qt_syms8 + coefs_tq1_8 * coef_Jacob3_qt_syms11 * pinvG1_1 +
                   coefs_tq1_8 * coef_Jacob3_qt_syms12 * pinvG2_1 + coefs_tq2_8 * coef_Jacob3_qt_syms11 * pinvG1_2 +
                   coefs_tq1_3 * coef_Jacob3_qt_syms28 * pinvG1_1 + coefs_tq1_8 * coef_Jacob3_qt_syms13 * pinvG3_1 +
                   coefs_tq2_8 * coef_Jacob3_qt_syms12 * pinvG2_2 + coefs_tq3_8 * coef_Jacob3_qt_syms11 * pinvG1_3 +
                   coefs_tq1_3 * coef_Jacob3_qt_syms29 * pinvG2_1 + coefs_tq2_3 * coef_Jacob3_qt_syms28 * pinvG1_2 +
                   coefs_tq2_8 * coef_Jacob3_qt_syms13 * pinvG3_2 + coefs_tq3_8 * coef_Jacob3_qt_syms12 * pinvG2_3 +
                   coefs_tq1_3 * coef_Jacob3_qt_syms30 * pinvG3_1 + coefs_tq2_3 * coef_Jacob3_qt_syms29 * pinvG2_2 +
                   coefs_tq3_3 * coef_Jacob3_qt_syms28 * pinvG1_3 + coefs_tq3_8 * coef_Jacob3_qt_syms13 * pinvG3_3 +
                   coefs_tq2_3 * coef_Jacob3_qt_syms30 * pinvG3_2 + coefs_tq3_3 * coef_Jacob3_qt_syms29 * pinvG2_3 +
                   coefs_tq3_3 * coef_Jacob3_qt_syms30 * pinvG3_3;
    symobj[2][8] = coef_Jacob3_qt_syms9 + coefs_tq1_9 * coef_Jacob3_qt_syms11 * pinvG1_1 +
                   coefs_tq1_9 * coef_Jacob3_qt_syms12 * pinvG2_1 + coefs_tq2_9 * coef_Jacob3_qt_syms11 * pinvG1_2 +
                   coefs_tq1_4 * coef_Jacob3_qt_syms28 * pinvG1_1 + coefs_tq1_3 * coef_Jacob3_qt_syms33 * pinvG1_1 +
                   coefs_tq1_9 * coef_Jacob3_qt_syms13 * pinvG3_1 + coefs_tq2_9 * coef_Jacob3_qt_syms12 * pinvG2_2 +
                   coefs_tq3_9 * coef_Jacob3_qt_syms11 * pinvG1_3 + coefs_tq1_4 * coef_Jacob3_qt_syms29 * pinvG2_1 +
                   coefs_tq2_4 * coef_Jacob3_qt_syms28 * pinvG1_2 + coefs_tq1_3 * coef_Jacob3_qt_syms34 * pinvG2_1 +
                   coefs_tq2_3 * coef_Jacob3_qt_syms33 * pinvG1_2 + coefs_tq2_9 * coef_Jacob3_qt_syms13 * pinvG3_2 +
                   coefs_tq3_9 * coef_Jacob3_qt_syms12 * pinvG2_3 + coefs_tq1_4 * coef_Jacob3_qt_syms30 * pinvG3_1 +
                   coefs_tq2_4 * coef_Jacob3_qt_syms29 * pinvG2_2 + coefs_tq3_4 * coef_Jacob3_qt_syms28 * pinvG1_3 +
                   coefs_tq1_3 * coef_Jacob3_qt_syms35 * pinvG3_1 + coefs_tq2_3 * coef_Jacob3_qt_syms34 * pinvG2_2 +
                   coefs_tq3_3 * coef_Jacob3_qt_syms33 * pinvG1_3 + coefs_tq3_9 * coef_Jacob3_qt_syms13 * pinvG3_3 +
                   coefs_tq2_4 * coef_Jacob3_qt_syms30 * pinvG3_2 + coefs_tq3_4 * coef_Jacob3_qt_syms29 * pinvG2_3 +
                   coefs_tq2_3 * coef_Jacob3_qt_syms35 * pinvG3_2 + coefs_tq3_3 * coef_Jacob3_qt_syms34 * pinvG2_3 +
                   coefs_tq3_4 * coef_Jacob3_qt_syms30 * pinvG3_3 + coefs_tq3_3 * coef_Jacob3_qt_syms35 * pinvG3_3;
    symobj[2][9] = coef_Jacob3_qt_syms10 + coefs_tq1_4 * coef_Jacob3_qt_syms33 * pinvG1_1 +
                   coefs_tq1_4 * coef_Jacob3_qt_syms34 * pinvG2_1 + coefs_tq2_4 * coef_Jacob3_qt_syms33 * pinvG1_2 +
                   coefs_tq1_4 * coef_Jacob3_qt_syms35 * pinvG3_1 + coefs_tq2_4 * coef_Jacob3_qt_syms34 * pinvG2_2 +
                   coefs_tq3_4 * coef_Jacob3_qt_syms33 * pinvG1_3 + coefs_tq2_4 * coef_Jacob3_qt_syms35 * pinvG3_2 +
                   coefs_tq3_4 * coef_Jacob3_qt_syms34 * pinvG2_3 + coefs_tq3_4 * coef_Jacob3_qt_syms35 * pinvG3_3 +
                   coefs_tq1_10 * coef_Jacob3_qt_syms11 * pinvG1_1 + coefs_tq1_10 * coef_Jacob3_qt_syms12 * pinvG2_1 +
                   coefs_tq1_10 * coef_Jacob3_qt_syms13 * pinvG3_1 + coefs_tq2_10 * coef_Jacob3_qt_syms11 * pinvG1_2 +
                   coefs_tq2_10 * coef_Jacob3_qt_syms12 * pinvG2_2 + coefs_tq2_10 * coef_Jacob3_qt_syms13 * pinvG3_2 +
                   coefs_tq3_10 * coef_Jacob3_qt_syms11 * pinvG1_3 + coefs_tq3_10 * coef_Jacob3_qt_syms12 * pinvG2_3 +
                   coefs_tq3_10 * coef_Jacob3_qt_syms13 * pinvG3_3;
    symobj[2][10] = coef_Jacob3_qt_syms14 + coefs_tq1_11 * coef_Jacob3_qt_syms11 * pinvG1_1 +
                    coefs_tq1_11 * coef_Jacob3_qt_syms12 * pinvG2_1 + coefs_tq1_11 * coef_Jacob3_qt_syms13 * pinvG3_1 +
                    coefs_tq2_11 * coef_Jacob3_qt_syms11 * pinvG1_2 + coefs_tq2_11 * coef_Jacob3_qt_syms12 * pinvG2_2 +
                    coefs_tq2_11 * coef_Jacob3_qt_syms13 * pinvG3_2 + coefs_tq3_11 * coef_Jacob3_qt_syms11 * pinvG1_3 +
                    coefs_tq3_11 * coef_Jacob3_qt_syms12 * pinvG2_3 + coefs_tq3_11 * coef_Jacob3_qt_syms13 * pinvG3_3;
    symobj[2][11] = coef_Jacob3_qt_syms15 + coefs_tq1_5 * coef_Jacob3_qt_syms21 * pinvG1_1 +
                    coefs_tq1_5 * coef_Jacob3_qt_syms22 * pinvG2_1 + coefs_tq2_5 * coef_Jacob3_qt_syms21 * pinvG1_2 +
                    coefs_tq1_5 * coef_Jacob3_qt_syms23 * pinvG3_1 + coefs_tq2_5 * coef_Jacob3_qt_syms22 * pinvG2_2 +
                    coefs_tq3_5 * coef_Jacob3_qt_syms21 * pinvG1_3 + coefs_tq2_5 * coef_Jacob3_qt_syms23 * pinvG3_2 +
                    coefs_tq3_5 * coef_Jacob3_qt_syms22 * pinvG2_3 + coefs_tq3_5 * coef_Jacob3_qt_syms23 * pinvG3_3;
    symobj[2][12] = coef_Jacob3_qt_syms16 + coefs_tq1_6 * coef_Jacob3_qt_syms21 * pinvG1_1 +
                    coefs_tq1_5 * coef_Jacob3_qt_syms28 * pinvG1_1 + coefs_tq1_6 * coef_Jacob3_qt_syms22 * pinvG2_1 +
                    coefs_tq2_6 * coef_Jacob3_qt_syms21 * pinvG1_2 + coefs_tq1_5 * coef_Jacob3_qt_syms29 * pinvG2_1 +
                    coefs_tq2_5 * coef_Jacob3_qt_syms28 * pinvG1_2 + coefs_tq1_6 * coef_Jacob3_qt_syms23 * pinvG3_1 +
                    coefs_tq2_6 * coef_Jacob3_qt_syms22 * pinvG2_2 + coefs_tq3_6 * coef_Jacob3_qt_syms21 * pinvG1_3 +
                    coefs_tq1_5 * coef_Jacob3_qt_syms30 * pinvG3_1 + coefs_tq2_5 * coef_Jacob3_qt_syms29 * pinvG2_2 +
                    coefs_tq3_5 * coef_Jacob3_qt_syms28 * pinvG1_3 + coefs_tq2_6 * coef_Jacob3_qt_syms23 * pinvG3_2 +
                    coefs_tq3_6 * coef_Jacob3_qt_syms22 * pinvG2_3 + coefs_tq2_5 * coef_Jacob3_qt_syms30 * pinvG3_2 +
                    coefs_tq3_5 * coef_Jacob3_qt_syms29 * pinvG2_3 + coefs_tq3_6 * coef_Jacob3_qt_syms23 * pinvG3_3 +
                    coefs_tq3_5 * coef_Jacob3_qt_syms30 * pinvG3_3;
    symobj[2][13] = coef_Jacob3_qt_syms17 + coefs_tq1_7 * coef_Jacob3_qt_syms21 * pinvG1_1 +
                    coefs_tq1_5 * coef_Jacob3_qt_syms33 * pinvG1_1 + coefs_tq1_7 * coef_Jacob3_qt_syms22 * pinvG2_1 +
                    coefs_tq2_7 * coef_Jacob3_qt_syms21 * pinvG1_2 + coefs_tq1_5 * coef_Jacob3_qt_syms34 * pinvG2_1 +
                    coefs_tq2_5 * coef_Jacob3_qt_syms33 * pinvG1_2 + coefs_tq1_7 * coef_Jacob3_qt_syms23 * pinvG3_1 +
                    coefs_tq2_7 * coef_Jacob3_qt_syms22 * pinvG2_2 + coefs_tq3_7 * coef_Jacob3_qt_syms21 * pinvG1_3 +
                    coefs_tq1_5 * coef_Jacob3_qt_syms35 * pinvG3_1 + coefs_tq2_5 * coef_Jacob3_qt_syms34 * pinvG2_2 +
                    coefs_tq3_5 * coef_Jacob3_qt_syms33 * pinvG1_3 + coefs_tq2_7 * coef_Jacob3_qt_syms23 * pinvG3_2 +
                    coefs_tq3_7 * coef_Jacob3_qt_syms22 * pinvG2_3 + coefs_tq2_5 * coef_Jacob3_qt_syms35 * pinvG3_2 +
                    coefs_tq3_5 * coef_Jacob3_qt_syms34 * pinvG2_3 + coefs_tq3_7 * coef_Jacob3_qt_syms23 * pinvG3_3 +
                    coefs_tq3_5 * coef_Jacob3_qt_syms35 * pinvG3_3;
    symobj[2][14] = coef_Jacob3_qt_syms18 + coefs_tq1_8 * coef_Jacob3_qt_syms21 * pinvG1_1 +
                    coefs_tq1_6 * coef_Jacob3_qt_syms28 * pinvG1_1 + coefs_tq1_8 * coef_Jacob3_qt_syms22 * pinvG2_1 +
                    coefs_tq2_8 * coef_Jacob3_qt_syms21 * pinvG1_2 + coefs_tq1_6 * coef_Jacob3_qt_syms29 * pinvG2_1 +
                    coefs_tq2_6 * coef_Jacob3_qt_syms28 * pinvG1_2 + coefs_tq1_8 * coef_Jacob3_qt_syms23 * pinvG3_1 +
                    coefs_tq2_8 * coef_Jacob3_qt_syms22 * pinvG2_2 + coefs_tq3_8 * coef_Jacob3_qt_syms21 * pinvG1_3 +
                    coefs_tq1_6 * coef_Jacob3_qt_syms30 * pinvG3_1 + coefs_tq2_6 * coef_Jacob3_qt_syms29 * pinvG2_2 +
                    coefs_tq3_6 * coef_Jacob3_qt_syms28 * pinvG1_3 + coefs_tq2_8 * coef_Jacob3_qt_syms23 * pinvG3_2 +
                    coefs_tq3_8 * coef_Jacob3_qt_syms22 * pinvG2_3 + coefs_tq2_6 * coef_Jacob3_qt_syms30 * pinvG3_2 +
                    coefs_tq3_6 * coef_Jacob3_qt_syms29 * pinvG2_3 + coefs_tq3_8 * coef_Jacob3_qt_syms23 * pinvG3_3 +
                    coefs_tq3_6 * coef_Jacob3_qt_syms30 * pinvG3_3;
    symobj[2][15] = coef_Jacob3_qt_syms19 + coefs_tq1_9 * coef_Jacob3_qt_syms21 * pinvG1_1 +
                    coefs_tq1_7 * coef_Jacob3_qt_syms28 * pinvG1_1 + coefs_tq1_6 * coef_Jacob3_qt_syms33 * pinvG1_1 +
                    coefs_tq1_9 * coef_Jacob3_qt_syms22 * pinvG2_1 + coefs_tq2_9 * coef_Jacob3_qt_syms21 * pinvG1_2 +
                    coefs_tq1_7 * coef_Jacob3_qt_syms29 * pinvG2_1 + coefs_tq2_7 * coef_Jacob3_qt_syms28 * pinvG1_2 +
                    coefs_tq1_6 * coef_Jacob3_qt_syms34 * pinvG2_1 + coefs_tq2_6 * coef_Jacob3_qt_syms33 * pinvG1_2 +
                    coefs_tq1_9 * coef_Jacob3_qt_syms23 * pinvG3_1 + coefs_tq2_9 * coef_Jacob3_qt_syms22 * pinvG2_2 +
                    coefs_tq3_9 * coef_Jacob3_qt_syms21 * pinvG1_3 + coefs_tq1_7 * coef_Jacob3_qt_syms30 * pinvG3_1 +
                    coefs_tq2_7 * coef_Jacob3_qt_syms29 * pinvG2_2 + coefs_tq3_7 * coef_Jacob3_qt_syms28 * pinvG1_3 +
                    coefs_tq1_6 * coef_Jacob3_qt_syms35 * pinvG3_1 + coefs_tq2_6 * coef_Jacob3_qt_syms34 * pinvG2_2 +
                    coefs_tq3_6 * coef_Jacob3_qt_syms33 * pinvG1_3 + coefs_tq2_9 * coef_Jacob3_qt_syms23 * pinvG3_2 +
                    coefs_tq3_9 * coef_Jacob3_qt_syms22 * pinvG2_3 + coefs_tq2_7 * coef_Jacob3_qt_syms30 * pinvG3_2 +
                    coefs_tq3_7 * coef_Jacob3_qt_syms29 * pinvG2_3 + coefs_tq2_6 * coef_Jacob3_qt_syms35 * pinvG3_2 +
                    coefs_tq3_6 * coef_Jacob3_qt_syms34 * pinvG2_3 + coefs_tq3_9 * coef_Jacob3_qt_syms23 * pinvG3_3 +
                    coefs_tq3_7 * coef_Jacob3_qt_syms30 * pinvG3_3 + coefs_tq3_6 * coef_Jacob3_qt_syms35 * pinvG3_3;
    symobj[2][16] = coef_Jacob3_qt_syms20 + coefs_tq1_7 * coef_Jacob3_qt_syms33 * pinvG1_1 +
                    coefs_tq1_7 * coef_Jacob3_qt_syms34 * pinvG2_1 + coefs_tq2_7 * coef_Jacob3_qt_syms33 * pinvG1_2 +
                    coefs_tq1_7 * coef_Jacob3_qt_syms35 * pinvG3_1 + coefs_tq2_7 * coef_Jacob3_qt_syms34 * pinvG2_2 +
                    coefs_tq3_7 * coef_Jacob3_qt_syms33 * pinvG1_3 + coefs_tq2_7 * coef_Jacob3_qt_syms35 * pinvG3_2 +
                    coefs_tq3_7 * coef_Jacob3_qt_syms34 * pinvG2_3 + coefs_tq3_7 * coef_Jacob3_qt_syms35 * pinvG3_3 +
                    coefs_tq1_10 * coef_Jacob3_qt_syms21 * pinvG1_1 + coefs_tq1_10 * coef_Jacob3_qt_syms22 * pinvG2_1 +
                    coefs_tq1_10 * coef_Jacob3_qt_syms23 * pinvG3_1 + coefs_tq2_10 * coef_Jacob3_qt_syms21 * pinvG1_2 +
                    coefs_tq2_10 * coef_Jacob3_qt_syms22 * pinvG2_2 + coefs_tq2_10 * coef_Jacob3_qt_syms23 * pinvG3_2 +
                    coefs_tq3_10 * coef_Jacob3_qt_syms21 * pinvG1_3 + coefs_tq3_10 * coef_Jacob3_qt_syms22 * pinvG2_3 +
                    coefs_tq3_10 * coef_Jacob3_qt_syms23 * pinvG3_3;
    symobj[2][17] = coef_Jacob3_qt_syms24 + coefs_tq1_11 * coef_Jacob3_qt_syms21 * pinvG1_1 +
                    coefs_tq1_11 * coef_Jacob3_qt_syms22 * pinvG2_1 + coefs_tq1_11 * coef_Jacob3_qt_syms23 * pinvG3_1 +
                    coefs_tq2_11 * coef_Jacob3_qt_syms21 * pinvG1_2 + coefs_tq2_11 * coef_Jacob3_qt_syms22 * pinvG2_2 +
                    coefs_tq2_11 * coef_Jacob3_qt_syms23 * pinvG3_2 + coefs_tq3_11 * coef_Jacob3_qt_syms21 * pinvG1_3 +
                    coefs_tq3_11 * coef_Jacob3_qt_syms22 * pinvG2_3 + coefs_tq3_11 * coef_Jacob3_qt_syms23 * pinvG3_3;
    symobj[2][18] = coef_Jacob3_qt_syms25 + coefs_tq1_8 * coef_Jacob3_qt_syms28 * pinvG1_1 +
                    coefs_tq1_8 * coef_Jacob3_qt_syms29 * pinvG2_1 + coefs_tq2_8 * coef_Jacob3_qt_syms28 * pinvG1_2 +
                    coefs_tq1_8 * coef_Jacob3_qt_syms30 * pinvG3_1 + coefs_tq2_8 * coef_Jacob3_qt_syms29 * pinvG2_2 +
                    coefs_tq3_8 * coef_Jacob3_qt_syms28 * pinvG1_3 + coefs_tq2_8 * coef_Jacob3_qt_syms30 * pinvG3_2 +
                    coefs_tq3_8 * coef_Jacob3_qt_syms29 * pinvG2_3 + coefs_tq3_8 * coef_Jacob3_qt_syms30 * pinvG3_3;
    symobj[2][19] = coef_Jacob3_qt_syms26 + coefs_tq1_9 * coef_Jacob3_qt_syms28 * pinvG1_1 +
                    coefs_tq1_8 * coef_Jacob3_qt_syms33 * pinvG1_1 + coefs_tq1_9 * coef_Jacob3_qt_syms29 * pinvG2_1 +
                    coefs_tq2_9 * coef_Jacob3_qt_syms28 * pinvG1_2 + coefs_tq1_8 * coef_Jacob3_qt_syms34 * pinvG2_1 +
                    coefs_tq2_8 * coef_Jacob3_qt_syms33 * pinvG1_2 + coefs_tq1_9 * coef_Jacob3_qt_syms30 * pinvG3_1 +
                    coefs_tq2_9 * coef_Jacob3_qt_syms29 * pinvG2_2 + coefs_tq3_9 * coef_Jacob3_qt_syms28 * pinvG1_3 +
                    coefs_tq1_8 * coef_Jacob3_qt_syms35 * pinvG3_1 + coefs_tq2_8 * coef_Jacob3_qt_syms34 * pinvG2_2 +
                    coefs_tq3_8 * coef_Jacob3_qt_syms33 * pinvG1_3 + coefs_tq2_9 * coef_Jacob3_qt_syms30 * pinvG3_2 +
                    coefs_tq3_9 * coef_Jacob3_qt_syms29 * pinvG2_3 + coefs_tq2_8 * coef_Jacob3_qt_syms35 * pinvG3_2 +
                    coefs_tq3_8 * coef_Jacob3_qt_syms34 * pinvG2_3 + coefs_tq3_9 * coef_Jacob3_qt_syms30 * pinvG3_3 +
                    coefs_tq3_8 * coef_Jacob3_qt_syms35 * pinvG3_3;
    symobj[2][20] = coef_Jacob3_qt_syms27 + coefs_tq1_9 * coef_Jacob3_qt_syms33 * pinvG1_1 +
                    coefs_tq1_9 * coef_Jacob3_qt_syms34 * pinvG2_1 + coefs_tq2_9 * coef_Jacob3_qt_syms33 * pinvG1_2 +
                    coefs_tq1_9 * coef_Jacob3_qt_syms35 * pinvG3_1 + coefs_tq2_9 * coef_Jacob3_qt_syms34 * pinvG2_2 +
                    coefs_tq3_9 * coef_Jacob3_qt_syms33 * pinvG1_3 + coefs_tq2_9 * coef_Jacob3_qt_syms35 * pinvG3_2 +
                    coefs_tq3_9 * coef_Jacob3_qt_syms34 * pinvG2_3 + coefs_tq3_9 * coef_Jacob3_qt_syms35 * pinvG3_3 +
                    coefs_tq1_10 * coef_Jacob3_qt_syms28 * pinvG1_1 + coefs_tq1_10 * coef_Jacob3_qt_syms29 * pinvG2_1 +
                    coefs_tq1_10 * coef_Jacob3_qt_syms30 * pinvG3_1 + coefs_tq2_10 * coef_Jacob3_qt_syms28 * pinvG1_2 +
                    coefs_tq2_10 * coef_Jacob3_qt_syms29 * pinvG2_2 + coefs_tq2_10 * coef_Jacob3_qt_syms30 * pinvG3_2 +
                    coefs_tq3_10 * coef_Jacob3_qt_syms28 * pinvG1_3 + coefs_tq3_10 * coef_Jacob3_qt_syms29 * pinvG2_3 +
                    coefs_tq3_10 * coef_Jacob3_qt_syms30 * pinvG3_3;
    symobj[2][21] = coef_Jacob3_qt_syms31 + coefs_tq1_11 * coef_Jacob3_qt_syms28 * pinvG1_1 +
                    coefs_tq1_11 * coef_Jacob3_qt_syms29 * pinvG2_1 + coefs_tq1_11 * coef_Jacob3_qt_syms30 * pinvG3_1 +
                    coefs_tq2_11 * coef_Jacob3_qt_syms28 * pinvG1_2 + coefs_tq2_11 * coef_Jacob3_qt_syms29 * pinvG2_2 +
                    coefs_tq2_11 * coef_Jacob3_qt_syms30 * pinvG3_2 + coefs_tq3_11 * coef_Jacob3_qt_syms28 * pinvG1_3 +
                    coefs_tq3_11 * coef_Jacob3_qt_syms29 * pinvG2_3 + coefs_tq3_11 * coef_Jacob3_qt_syms30 * pinvG3_3;
    symobj[2][22] = coef_Jacob3_qt_syms32 + coefs_tq1_10 * coef_Jacob3_qt_syms33 * pinvG1_1 +
                    coefs_tq1_10 * coef_Jacob3_qt_syms34 * pinvG2_1 + coefs_tq1_10 * coef_Jacob3_qt_syms35 * pinvG3_1 +
                    coefs_tq2_10 * coef_Jacob3_qt_syms33 * pinvG1_2 + coefs_tq2_10 * coef_Jacob3_qt_syms34 * pinvG2_2 +
                    coefs_tq2_10 * coef_Jacob3_qt_syms35 * pinvG3_2 + coefs_tq3_10 * coef_Jacob3_qt_syms33 * pinvG1_3 +
                    coefs_tq3_10 * coef_Jacob3_qt_syms34 * pinvG2_3 + coefs_tq3_10 * coef_Jacob3_qt_syms35 * pinvG3_3;
    symobj[2][23] = coef_Jacob3_qt_syms36 + coefs_tq1_11 * coef_Jacob3_qt_syms33 * pinvG1_1 +
                    coefs_tq1_11 * coef_Jacob3_qt_syms34 * pinvG2_1 + coefs_tq1_11 * coef_Jacob3_qt_syms35 * pinvG3_1 +
                    coefs_tq2_11 * coef_Jacob3_qt_syms33 * pinvG1_2 + coefs_tq2_11 * coef_Jacob3_qt_syms34 * pinvG2_2 +
                    coefs_tq2_11 * coef_Jacob3_qt_syms35 * pinvG3_2 + coefs_tq3_11 * coef_Jacob3_qt_syms33 * pinvG1_3 +
                    coefs_tq3_11 * coef_Jacob3_qt_syms34 * pinvG2_3 + coefs_tq3_11 * coef_Jacob3_qt_syms35 * pinvG3_3;
    symobj[3][0] = coef_Jacob4_qt_syms1 + coefs_tq1_1 * coef_Jacob4_qt_syms11 * pinvG1_1 +
                   coefs_tq1_1 * coef_Jacob4_qt_syms12 * pinvG2_1 + coefs_tq2_1 * coef_Jacob4_qt_syms11 * pinvG1_2 +
                   coefs_tq1_1 * coef_Jacob4_qt_syms13 * pinvG3_1 + coefs_tq2_1 * coef_Jacob4_qt_syms12 * pinvG2_2 +
                   coefs_tq3_1 * coef_Jacob4_qt_syms11 * pinvG1_3 + coefs_tq2_1 * coef_Jacob4_qt_syms13 * pinvG3_2 +
                   coefs_tq3_1 * coef_Jacob4_qt_syms12 * pinvG2_3 + coefs_tq3_1 * coef_Jacob4_qt_syms13 * pinvG3_3;
    symobj[3][1] = coef_Jacob4_qt_syms2 + coefs_tq1_2 * coef_Jacob4_qt_syms11 * pinvG1_1 +
                   coefs_tq1_1 * coef_Jacob4_qt_syms21 * pinvG1_1 + coefs_tq1_2 * coef_Jacob4_qt_syms12 * pinvG2_1 +
                   coefs_tq2_2 * coef_Jacob4_qt_syms11 * pinvG1_2 + coefs_tq1_1 * coef_Jacob4_qt_syms22 * pinvG2_1 +
                   coefs_tq2_1 * coef_Jacob4_qt_syms21 * pinvG1_2 + coefs_tq1_2 * coef_Jacob4_qt_syms13 * pinvG3_1 +
                   coefs_tq2_2 * coef_Jacob4_qt_syms12 * pinvG2_2 + coefs_tq3_2 * coef_Jacob4_qt_syms11 * pinvG1_3 +
                   coefs_tq1_1 * coef_Jacob4_qt_syms23 * pinvG3_1 + coefs_tq2_1 * coef_Jacob4_qt_syms22 * pinvG2_2 +
                   coefs_tq3_1 * coef_Jacob4_qt_syms21 * pinvG1_3 + coefs_tq2_2 * coef_Jacob4_qt_syms13 * pinvG3_2 +
                   coefs_tq3_2 * coef_Jacob4_qt_syms12 * pinvG2_3 + coefs_tq2_1 * coef_Jacob4_qt_syms23 * pinvG3_2 +
                   coefs_tq3_1 * coef_Jacob4_qt_syms22 * pinvG2_3 + coefs_tq3_2 * coef_Jacob4_qt_syms13 * pinvG3_3 +
                   coefs_tq3_1 * coef_Jacob4_qt_syms23 * pinvG3_3;
    symobj[3][2] = coef_Jacob4_qt_syms3 + coefs_tq1_3 * coef_Jacob4_qt_syms11 * pinvG1_1 +
                   coefs_tq1_3 * coef_Jacob4_qt_syms12 * pinvG2_1 + coefs_tq2_3 * coef_Jacob4_qt_syms11 * pinvG1_2 +
                   coefs_tq1_1 * coef_Jacob4_qt_syms28 * pinvG1_1 + coefs_tq1_3 * coef_Jacob4_qt_syms13 * pinvG3_1 +
                   coefs_tq2_3 * coef_Jacob4_qt_syms12 * pinvG2_2 + coefs_tq3_3 * coef_Jacob4_qt_syms11 * pinvG1_3 +
                   coefs_tq1_1 * coef_Jacob4_qt_syms29 * pinvG2_1 + coefs_tq2_1 * coef_Jacob4_qt_syms28 * pinvG1_2 +
                   coefs_tq2_3 * coef_Jacob4_qt_syms13 * pinvG3_2 + coefs_tq3_3 * coef_Jacob4_qt_syms12 * pinvG2_3 +
                   coefs_tq1_1 * coef_Jacob4_qt_syms30 * pinvG3_1 + coefs_tq2_1 * coef_Jacob4_qt_syms29 * pinvG2_2 +
                   coefs_tq3_1 * coef_Jacob4_qt_syms28 * pinvG1_3 + coefs_tq3_3 * coef_Jacob4_qt_syms13 * pinvG3_3 +
                   coefs_tq2_1 * coef_Jacob4_qt_syms30 * pinvG3_2 + coefs_tq3_1 * coef_Jacob4_qt_syms29 * pinvG2_3 +
                   coefs_tq3_1 * coef_Jacob4_qt_syms30 * pinvG3_3;
    symobj[3][3] = coef_Jacob4_qt_syms4 + coefs_tq1_4 * coef_Jacob4_qt_syms11 * pinvG1_1 +
                   coefs_tq1_4 * coef_Jacob4_qt_syms12 * pinvG2_1 + coefs_tq2_4 * coef_Jacob4_qt_syms11 * pinvG1_2 +
                   coefs_tq1_1 * coef_Jacob4_qt_syms33 * pinvG1_1 + coefs_tq1_4 * coef_Jacob4_qt_syms13 * pinvG3_1 +
                   coefs_tq2_4 * coef_Jacob4_qt_syms12 * pinvG2_2 + coefs_tq3_4 * coef_Jacob4_qt_syms11 * pinvG1_3 +
                   coefs_tq1_1 * coef_Jacob4_qt_syms34 * pinvG2_1 + coefs_tq2_1 * coef_Jacob4_qt_syms33 * pinvG1_2 +
                   coefs_tq2_4 * coef_Jacob4_qt_syms13 * pinvG3_2 + coefs_tq3_4 * coef_Jacob4_qt_syms12 * pinvG2_3 +
                   coefs_tq1_1 * coef_Jacob4_qt_syms35 * pinvG3_1 + coefs_tq2_1 * coef_Jacob4_qt_syms34 * pinvG2_2 +
                   coefs_tq3_1 * coef_Jacob4_qt_syms33 * pinvG1_3 + coefs_tq3_4 * coef_Jacob4_qt_syms13 * pinvG3_3 +
                   coefs_tq2_1 * coef_Jacob4_qt_syms35 * pinvG3_2 + coefs_tq3_1 * coef_Jacob4_qt_syms34 * pinvG2_3 +
                   coefs_tq3_1 * coef_Jacob4_qt_syms35 * pinvG3_3;
    symobj[3][4] = coef_Jacob4_qt_syms5 + coefs_tq1_5 * coef_Jacob4_qt_syms11 * pinvG1_1 +
                   coefs_tq1_2 * coef_Jacob4_qt_syms21 * pinvG1_1 + coefs_tq1_5 * coef_Jacob4_qt_syms12 * pinvG2_1 +
                   coefs_tq2_5 * coef_Jacob4_qt_syms11 * pinvG1_2 + coefs_tq1_2 * coef_Jacob4_qt_syms22 * pinvG2_1 +
                   coefs_tq2_2 * coef_Jacob4_qt_syms21 * pinvG1_2 + coefs_tq1_5 * coef_Jacob4_qt_syms13 * pinvG3_1 +
                   coefs_tq2_5 * coef_Jacob4_qt_syms12 * pinvG2_2 + coefs_tq3_5 * coef_Jacob4_qt_syms11 * pinvG1_3 +
                   coefs_tq1_2 * coef_Jacob4_qt_syms23 * pinvG3_1 + coefs_tq2_2 * coef_Jacob4_qt_syms22 * pinvG2_2 +
                   coefs_tq3_2 * coef_Jacob4_qt_syms21 * pinvG1_3 + coefs_tq2_5 * coef_Jacob4_qt_syms13 * pinvG3_2 +
                   coefs_tq3_5 * coef_Jacob4_qt_syms12 * pinvG2_3 + coefs_tq2_2 * coef_Jacob4_qt_syms23 * pinvG3_2 +
                   coefs_tq3_2 * coef_Jacob4_qt_syms22 * pinvG2_3 + coefs_tq3_5 * coef_Jacob4_qt_syms13 * pinvG3_3 +
                   coefs_tq3_2 * coef_Jacob4_qt_syms23 * pinvG3_3;
    symobj[3][5] = coef_Jacob4_qt_syms6 + coefs_tq1_6 * coef_Jacob4_qt_syms11 * pinvG1_1 +
                   coefs_tq1_3 * coef_Jacob4_qt_syms21 * pinvG1_1 + coefs_tq1_6 * coef_Jacob4_qt_syms12 * pinvG2_1 +
                   coefs_tq2_6 * coef_Jacob4_qt_syms11 * pinvG1_2 + coefs_tq1_2 * coef_Jacob4_qt_syms28 * pinvG1_1 +
                   coefs_tq1_3 * coef_Jacob4_qt_syms22 * pinvG2_1 + coefs_tq2_3 * coef_Jacob4_qt_syms21 * pinvG1_2 +
                   coefs_tq1_6 * coef_Jacob4_qt_syms13 * pinvG3_1 + coefs_tq2_6 * coef_Jacob4_qt_syms12 * pinvG2_2 +
                   coefs_tq3_6 * coef_Jacob4_qt_syms11 * pinvG1_3 + coefs_tq1_2 * coef_Jacob4_qt_syms29 * pinvG2_1 +
                   coefs_tq2_2 * coef_Jacob4_qt_syms28 * pinvG1_2 + coefs_tq1_3 * coef_Jacob4_qt_syms23 * pinvG3_1 +
                   coefs_tq2_3 * coef_Jacob4_qt_syms22 * pinvG2_2 + coefs_tq3_3 * coef_Jacob4_qt_syms21 * pinvG1_3 +
                   coefs_tq2_6 * coef_Jacob4_qt_syms13 * pinvG3_2 + coefs_tq3_6 * coef_Jacob4_qt_syms12 * pinvG2_3 +
                   coefs_tq1_2 * coef_Jacob4_qt_syms30 * pinvG3_1 + coefs_tq2_2 * coef_Jacob4_qt_syms29 * pinvG2_2 +
                   coefs_tq3_2 * coef_Jacob4_qt_syms28 * pinvG1_3 + coefs_tq2_3 * coef_Jacob4_qt_syms23 * pinvG3_2 +
                   coefs_tq3_3 * coef_Jacob4_qt_syms22 * pinvG2_3 + coefs_tq3_6 * coef_Jacob4_qt_syms13 * pinvG3_3 +
                   coefs_tq2_2 * coef_Jacob4_qt_syms30 * pinvG3_2 + coefs_tq3_2 * coef_Jacob4_qt_syms29 * pinvG2_3 +
                   coefs_tq3_3 * coef_Jacob4_qt_syms23 * pinvG3_3 + coefs_tq3_2 * coef_Jacob4_qt_syms30 * pinvG3_3;
    symobj[3][6] = coef_Jacob4_qt_syms7 + coefs_tq1_7 * coef_Jacob4_qt_syms11 * pinvG1_1 +
                   coefs_tq1_4 * coef_Jacob4_qt_syms21 * pinvG1_1 + coefs_tq1_7 * coef_Jacob4_qt_syms12 * pinvG2_1 +
                   coefs_tq2_7 * coef_Jacob4_qt_syms11 * pinvG1_2 + coefs_tq1_2 * coef_Jacob4_qt_syms33 * pinvG1_1 +
                   coefs_tq1_4 * coef_Jacob4_qt_syms22 * pinvG2_1 + coefs_tq2_4 * coef_Jacob4_qt_syms21 * pinvG1_2 +
                   coefs_tq1_7 * coef_Jacob4_qt_syms13 * pinvG3_1 + coefs_tq2_7 * coef_Jacob4_qt_syms12 * pinvG2_2 +
                   coefs_tq3_7 * coef_Jacob4_qt_syms11 * pinvG1_3 + coefs_tq1_2 * coef_Jacob4_qt_syms34 * pinvG2_1 +
                   coefs_tq2_2 * coef_Jacob4_qt_syms33 * pinvG1_2 + coefs_tq1_4 * coef_Jacob4_qt_syms23 * pinvG3_1 +
                   coefs_tq2_4 * coef_Jacob4_qt_syms22 * pinvG2_2 + coefs_tq3_4 * coef_Jacob4_qt_syms21 * pinvG1_3 +
                   coefs_tq2_7 * coef_Jacob4_qt_syms13 * pinvG3_2 + coefs_tq3_7 * coef_Jacob4_qt_syms12 * pinvG2_3 +
                   coefs_tq1_2 * coef_Jacob4_qt_syms35 * pinvG3_1 + coefs_tq2_2 * coef_Jacob4_qt_syms34 * pinvG2_2 +
                   coefs_tq3_2 * coef_Jacob4_qt_syms33 * pinvG1_3 + coefs_tq2_4 * coef_Jacob4_qt_syms23 * pinvG3_2 +
                   coefs_tq3_4 * coef_Jacob4_qt_syms22 * pinvG2_3 + coefs_tq3_7 * coef_Jacob4_qt_syms13 * pinvG3_3 +
                   coefs_tq2_2 * coef_Jacob4_qt_syms35 * pinvG3_2 + coefs_tq3_2 * coef_Jacob4_qt_syms34 * pinvG2_3 +
                   coefs_tq3_4 * coef_Jacob4_qt_syms23 * pinvG3_3 + coefs_tq3_2 * coef_Jacob4_qt_syms35 * pinvG3_3;
    symobj[3][7] = coef_Jacob4_qt_syms8 + coefs_tq1_8 * coef_Jacob4_qt_syms11 * pinvG1_1 +
                   coefs_tq1_8 * coef_Jacob4_qt_syms12 * pinvG2_1 + coefs_tq2_8 * coef_Jacob4_qt_syms11 * pinvG1_2 +
                   coefs_tq1_3 * coef_Jacob4_qt_syms28 * pinvG1_1 + coefs_tq1_8 * coef_Jacob4_qt_syms13 * pinvG3_1 +
                   coefs_tq2_8 * coef_Jacob4_qt_syms12 * pinvG2_2 + coefs_tq3_8 * coef_Jacob4_qt_syms11 * pinvG1_3 +
                   coefs_tq1_3 * coef_Jacob4_qt_syms29 * pinvG2_1 + coefs_tq2_3 * coef_Jacob4_qt_syms28 * pinvG1_2 +
                   coefs_tq2_8 * coef_Jacob4_qt_syms13 * pinvG3_2 + coefs_tq3_8 * coef_Jacob4_qt_syms12 * pinvG2_3 +
                   coefs_tq1_3 * coef_Jacob4_qt_syms30 * pinvG3_1 + coefs_tq2_3 * coef_Jacob4_qt_syms29 * pinvG2_2 +
                   coefs_tq3_3 * coef_Jacob4_qt_syms28 * pinvG1_3 + coefs_tq3_8 * coef_Jacob4_qt_syms13 * pinvG3_3 +
                   coefs_tq2_3 * coef_Jacob4_qt_syms30 * pinvG3_2 + coefs_tq3_3 * coef_Jacob4_qt_syms29 * pinvG2_3 +
                   coefs_tq3_3 * coef_Jacob4_qt_syms30 * pinvG3_3;
    symobj[3][8] = coef_Jacob4_qt_syms9 + coefs_tq1_9 * coef_Jacob4_qt_syms11 * pinvG1_1 +
                   coefs_tq1_9 * coef_Jacob4_qt_syms12 * pinvG2_1 + coefs_tq2_9 * coef_Jacob4_qt_syms11 * pinvG1_2 +
                   coefs_tq1_4 * coef_Jacob4_qt_syms28 * pinvG1_1 + coefs_tq1_3 * coef_Jacob4_qt_syms33 * pinvG1_1 +
                   coefs_tq1_9 * coef_Jacob4_qt_syms13 * pinvG3_1 + coefs_tq2_9 * coef_Jacob4_qt_syms12 * pinvG2_2 +
                   coefs_tq3_9 * coef_Jacob4_qt_syms11 * pinvG1_3 + coefs_tq1_4 * coef_Jacob4_qt_syms29 * pinvG2_1 +
                   coefs_tq2_4 * coef_Jacob4_qt_syms28 * pinvG1_2 + coefs_tq1_3 * coef_Jacob4_qt_syms34 * pinvG2_1 +
                   coefs_tq2_3 * coef_Jacob4_qt_syms33 * pinvG1_2 + coefs_tq2_9 * coef_Jacob4_qt_syms13 * pinvG3_2 +
                   coefs_tq3_9 * coef_Jacob4_qt_syms12 * pinvG2_3 + coefs_tq1_4 * coef_Jacob4_qt_syms30 * pinvG3_1 +
                   coefs_tq2_4 * coef_Jacob4_qt_syms29 * pinvG2_2 + coefs_tq3_4 * coef_Jacob4_qt_syms28 * pinvG1_3 +
                   coefs_tq1_3 * coef_Jacob4_qt_syms35 * pinvG3_1 + coefs_tq2_3 * coef_Jacob4_qt_syms34 * pinvG2_2 +
                   coefs_tq3_3 * coef_Jacob4_qt_syms33 * pinvG1_3 + coefs_tq3_9 * coef_Jacob4_qt_syms13 * pinvG3_3 +
                   coefs_tq2_4 * coef_Jacob4_qt_syms30 * pinvG3_2 + coefs_tq3_4 * coef_Jacob4_qt_syms29 * pinvG2_3 +
                   coefs_tq2_3 * coef_Jacob4_qt_syms35 * pinvG3_2 + coefs_tq3_3 * coef_Jacob4_qt_syms34 * pinvG2_3 +
                   coefs_tq3_4 * coef_Jacob4_qt_syms30 * pinvG3_3 + coefs_tq3_3 * coef_Jacob4_qt_syms35 * pinvG3_3;
    symobj[3][9] = coef_Jacob4_qt_syms10 + coefs_tq1_4 * coef_Jacob4_qt_syms33 * pinvG1_1 +
                   coefs_tq1_4 * coef_Jacob4_qt_syms34 * pinvG2_1 + coefs_tq2_4 * coef_Jacob4_qt_syms33 * pinvG1_2 +
                   coefs_tq1_4 * coef_Jacob4_qt_syms35 * pinvG3_1 + coefs_tq2_4 * coef_Jacob4_qt_syms34 * pinvG2_2 +
                   coefs_tq3_4 * coef_Jacob4_qt_syms33 * pinvG1_3 + coefs_tq2_4 * coef_Jacob4_qt_syms35 * pinvG3_2 +
                   coefs_tq3_4 * coef_Jacob4_qt_syms34 * pinvG2_3 + coefs_tq3_4 * coef_Jacob4_qt_syms35 * pinvG3_3 +
                   coefs_tq1_10 * coef_Jacob4_qt_syms11 * pinvG1_1 + coefs_tq1_10 * coef_Jacob4_qt_syms12 * pinvG2_1 +
                   coefs_tq1_10 * coef_Jacob4_qt_syms13 * pinvG3_1 + coefs_tq2_10 * coef_Jacob4_qt_syms11 * pinvG1_2 +
                   coefs_tq2_10 * coef_Jacob4_qt_syms12 * pinvG2_2 + coefs_tq2_10 * coef_Jacob4_qt_syms13 * pinvG3_2 +
                   coefs_tq3_10 * coef_Jacob4_qt_syms11 * pinvG1_3 + coefs_tq3_10 * coef_Jacob4_qt_syms12 * pinvG2_3 +
                   coefs_tq3_10 * coef_Jacob4_qt_syms13 * pinvG3_3;
    symobj[3][10] = coef_Jacob4_qt_syms14 + coefs_tq1_11 * coef_Jacob4_qt_syms11 * pinvG1_1 +
                    coefs_tq1_11 * coef_Jacob4_qt_syms12 * pinvG2_1 + coefs_tq1_11 * coef_Jacob4_qt_syms13 * pinvG3_1 +
                    coefs_tq2_11 * coef_Jacob4_qt_syms11 * pinvG1_2 + coefs_tq2_11 * coef_Jacob4_qt_syms12 * pinvG2_2 +
                    coefs_tq2_11 * coef_Jacob4_qt_syms13 * pinvG3_2 + coefs_tq3_11 * coef_Jacob4_qt_syms11 * pinvG1_3 +
                    coefs_tq3_11 * coef_Jacob4_qt_syms12 * pinvG2_3 + coefs_tq3_11 * coef_Jacob4_qt_syms13 * pinvG3_3;
    symobj[3][11] = coef_Jacob4_qt_syms15 + coefs_tq1_5 * coef_Jacob4_qt_syms21 * pinvG1_1 +
                    coefs_tq1_5 * coef_Jacob4_qt_syms22 * pinvG2_1 + coefs_tq2_5 * coef_Jacob4_qt_syms21 * pinvG1_2 +
                    coefs_tq1_5 * coef_Jacob4_qt_syms23 * pinvG3_1 + coefs_tq2_5 * coef_Jacob4_qt_syms22 * pinvG2_2 +
                    coefs_tq3_5 * coef_Jacob4_qt_syms21 * pinvG1_3 + coefs_tq2_5 * coef_Jacob4_qt_syms23 * pinvG3_2 +
                    coefs_tq3_5 * coef_Jacob4_qt_syms22 * pinvG2_3 + coefs_tq3_5 * coef_Jacob4_qt_syms23 * pinvG3_3;
    symobj[3][12] = coef_Jacob4_qt_syms16 + coefs_tq1_6 * coef_Jacob4_qt_syms21 * pinvG1_1 +
                    coefs_tq1_5 * coef_Jacob4_qt_syms28 * pinvG1_1 + coefs_tq1_6 * coef_Jacob4_qt_syms22 * pinvG2_1 +
                    coefs_tq2_6 * coef_Jacob4_qt_syms21 * pinvG1_2 + coefs_tq1_5 * coef_Jacob4_qt_syms29 * pinvG2_1 +
                    coefs_tq2_5 * coef_Jacob4_qt_syms28 * pinvG1_2 + coefs_tq1_6 * coef_Jacob4_qt_syms23 * pinvG3_1 +
                    coefs_tq2_6 * coef_Jacob4_qt_syms22 * pinvG2_2 + coefs_tq3_6 * coef_Jacob4_qt_syms21 * pinvG1_3 +
                    coefs_tq1_5 * coef_Jacob4_qt_syms30 * pinvG3_1 + coefs_tq2_5 * coef_Jacob4_qt_syms29 * pinvG2_2 +
                    coefs_tq3_5 * coef_Jacob4_qt_syms28 * pinvG1_3 + coefs_tq2_6 * coef_Jacob4_qt_syms23 * pinvG3_2 +
                    coefs_tq3_6 * coef_Jacob4_qt_syms22 * pinvG2_3 + coefs_tq2_5 * coef_Jacob4_qt_syms30 * pinvG3_2 +
                    coefs_tq3_5 * coef_Jacob4_qt_syms29 * pinvG2_3 + coefs_tq3_6 * coef_Jacob4_qt_syms23 * pinvG3_3 +
                    coefs_tq3_5 * coef_Jacob4_qt_syms30 * pinvG3_3;
    symobj[3][13] = coef_Jacob4_qt_syms17 + coefs_tq1_7 * coef_Jacob4_qt_syms21 * pinvG1_1 +
                    coefs_tq1_5 * coef_Jacob4_qt_syms33 * pinvG1_1 + coefs_tq1_7 * coef_Jacob4_qt_syms22 * pinvG2_1 +
                    coefs_tq2_7 * coef_Jacob4_qt_syms21 * pinvG1_2 + coefs_tq1_5 * coef_Jacob4_qt_syms34 * pinvG2_1 +
                    coefs_tq2_5 * coef_Jacob4_qt_syms33 * pinvG1_2 + coefs_tq1_7 * coef_Jacob4_qt_syms23 * pinvG3_1 +
                    coefs_tq2_7 * coef_Jacob4_qt_syms22 * pinvG2_2 + coefs_tq3_7 * coef_Jacob4_qt_syms21 * pinvG1_3 +
                    coefs_tq1_5 * coef_Jacob4_qt_syms35 * pinvG3_1 + coefs_tq2_5 * coef_Jacob4_qt_syms34 * pinvG2_2 +
                    coefs_tq3_5 * coef_Jacob4_qt_syms33 * pinvG1_3 + coefs_tq2_7 * coef_Jacob4_qt_syms23 * pinvG3_2 +
                    coefs_tq3_7 * coef_Jacob4_qt_syms22 * pinvG2_3 + coefs_tq2_5 * coef_Jacob4_qt_syms35 * pinvG3_2 +
                    coefs_tq3_5 * coef_Jacob4_qt_syms34 * pinvG2_3 + coefs_tq3_7 * coef_Jacob4_qt_syms23 * pinvG3_3 +
                    coefs_tq3_5 * coef_Jacob4_qt_syms35 * pinvG3_3;
    symobj[3][14] = coef_Jacob4_qt_syms18 + coefs_tq1_8 * coef_Jacob4_qt_syms21 * pinvG1_1 +
                    coefs_tq1_6 * coef_Jacob4_qt_syms28 * pinvG1_1 + coefs_tq1_8 * coef_Jacob4_qt_syms22 * pinvG2_1 +
                    coefs_tq2_8 * coef_Jacob4_qt_syms21 * pinvG1_2 + coefs_tq1_6 * coef_Jacob4_qt_syms29 * pinvG2_1 +
                    coefs_tq2_6 * coef_Jacob4_qt_syms28 * pinvG1_2 + coefs_tq1_8 * coef_Jacob4_qt_syms23 * pinvG3_1 +
                    coefs_tq2_8 * coef_Jacob4_qt_syms22 * pinvG2_2 + coefs_tq3_8 * coef_Jacob4_qt_syms21 * pinvG1_3 +
                    coefs_tq1_6 * coef_Jacob4_qt_syms30 * pinvG3_1 + coefs_tq2_6 * coef_Jacob4_qt_syms29 * pinvG2_2 +
                    coefs_tq3_6 * coef_Jacob4_qt_syms28 * pinvG1_3 + coefs_tq2_8 * coef_Jacob4_qt_syms23 * pinvG3_2 +
                    coefs_tq3_8 * coef_Jacob4_qt_syms22 * pinvG2_3 + coefs_tq2_6 * coef_Jacob4_qt_syms30 * pinvG3_2 +
                    coefs_tq3_6 * coef_Jacob4_qt_syms29 * pinvG2_3 + coefs_tq3_8 * coef_Jacob4_qt_syms23 * pinvG3_3 +
                    coefs_tq3_6 * coef_Jacob4_qt_syms30 * pinvG3_3;
    symobj[3][15] = coef_Jacob4_qt_syms19 + coefs_tq1_9 * coef_Jacob4_qt_syms21 * pinvG1_1 +
                    coefs_tq1_7 * coef_Jacob4_qt_syms28 * pinvG1_1 + coefs_tq1_6 * coef_Jacob4_qt_syms33 * pinvG1_1 +
                    coefs_tq1_9 * coef_Jacob4_qt_syms22 * pinvG2_1 + coefs_tq2_9 * coef_Jacob4_qt_syms21 * pinvG1_2 +
                    coefs_tq1_7 * coef_Jacob4_qt_syms29 * pinvG2_1 + coefs_tq2_7 * coef_Jacob4_qt_syms28 * pinvG1_2 +
                    coefs_tq1_6 * coef_Jacob4_qt_syms34 * pinvG2_1 + coefs_tq2_6 * coef_Jacob4_qt_syms33 * pinvG1_2 +
                    coefs_tq1_9 * coef_Jacob4_qt_syms23 * pinvG3_1 + coefs_tq2_9 * coef_Jacob4_qt_syms22 * pinvG2_2 +
                    coefs_tq3_9 * coef_Jacob4_qt_syms21 * pinvG1_3 + coefs_tq1_7 * coef_Jacob4_qt_syms30 * pinvG3_1 +
                    coefs_tq2_7 * coef_Jacob4_qt_syms29 * pinvG2_2 + coefs_tq3_7 * coef_Jacob4_qt_syms28 * pinvG1_3 +
                    coefs_tq1_6 * coef_Jacob4_qt_syms35 * pinvG3_1 + coefs_tq2_6 * coef_Jacob4_qt_syms34 * pinvG2_2 +
                    coefs_tq3_6 * coef_Jacob4_qt_syms33 * pinvG1_3 + coefs_tq2_9 * coef_Jacob4_qt_syms23 * pinvG3_2 +
                    coefs_tq3_9 * coef_Jacob4_qt_syms22 * pinvG2_3 + coefs_tq2_7 * coef_Jacob4_qt_syms30 * pinvG3_2 +
                    coefs_tq3_7 * coef_Jacob4_qt_syms29 * pinvG2_3 + coefs_tq2_6 * coef_Jacob4_qt_syms35 * pinvG3_2 +
                    coefs_tq3_6 * coef_Jacob4_qt_syms34 * pinvG2_3 + coefs_tq3_9 * coef_Jacob4_qt_syms23 * pinvG3_3 +
                    coefs_tq3_7 * coef_Jacob4_qt_syms30 * pinvG3_3 + coefs_tq3_6 * coef_Jacob4_qt_syms35 * pinvG3_3;
    symobj[3][16] = coef_Jacob4_qt_syms20 + coefs_tq1_7 * coef_Jacob4_qt_syms33 * pinvG1_1 +
                    coefs_tq1_7 * coef_Jacob4_qt_syms34 * pinvG2_1 + coefs_tq2_7 * coef_Jacob4_qt_syms33 * pinvG1_2 +
                    coefs_tq1_7 * coef_Jacob4_qt_syms35 * pinvG3_1 + coefs_tq2_7 * coef_Jacob4_qt_syms34 * pinvG2_2 +
                    coefs_tq3_7 * coef_Jacob4_qt_syms33 * pinvG1_3 + coefs_tq2_7 * coef_Jacob4_qt_syms35 * pinvG3_2 +
                    coefs_tq3_7 * coef_Jacob4_qt_syms34 * pinvG2_3 + coefs_tq3_7 * coef_Jacob4_qt_syms35 * pinvG3_3 +
                    coefs_tq1_10 * coef_Jacob4_qt_syms21 * pinvG1_1 + coefs_tq1_10 * coef_Jacob4_qt_syms22 * pinvG2_1 +
                    coefs_tq1_10 * coef_Jacob4_qt_syms23 * pinvG3_1 + coefs_tq2_10 * coef_Jacob4_qt_syms21 * pinvG1_2 +
                    coefs_tq2_10 * coef_Jacob4_qt_syms22 * pinvG2_2 + coefs_tq2_10 * coef_Jacob4_qt_syms23 * pinvG3_2 +
                    coefs_tq3_10 * coef_Jacob4_qt_syms21 * pinvG1_3 + coefs_tq3_10 * coef_Jacob4_qt_syms22 * pinvG2_3 +
                    coefs_tq3_10 * coef_Jacob4_qt_syms23 * pinvG3_3;
    symobj[3][17] = coef_Jacob4_qt_syms24 + coefs_tq1_11 * coef_Jacob4_qt_syms21 * pinvG1_1 +
                    coefs_tq1_11 * coef_Jacob4_qt_syms22 * pinvG2_1 + coefs_tq1_11 * coef_Jacob4_qt_syms23 * pinvG3_1 +
                    coefs_tq2_11 * coef_Jacob4_qt_syms21 * pinvG1_2 + coefs_tq2_11 * coef_Jacob4_qt_syms22 * pinvG2_2 +
                    coefs_tq2_11 * coef_Jacob4_qt_syms23 * pinvG3_2 + coefs_tq3_11 * coef_Jacob4_qt_syms21 * pinvG1_3 +
                    coefs_tq3_11 * coef_Jacob4_qt_syms22 * pinvG2_3 + coefs_tq3_11 * coef_Jacob4_qt_syms23 * pinvG3_3;
    symobj[3][18] = coef_Jacob4_qt_syms25 + coefs_tq1_8 * coef_Jacob4_qt_syms28 * pinvG1_1 +
                    coefs_tq1_8 * coef_Jacob4_qt_syms29 * pinvG2_1 + coefs_tq2_8 * coef_Jacob4_qt_syms28 * pinvG1_2 +
                    coefs_tq1_8 * coef_Jacob4_qt_syms30 * pinvG3_1 + coefs_tq2_8 * coef_Jacob4_qt_syms29 * pinvG2_2 +
                    coefs_tq3_8 * coef_Jacob4_qt_syms28 * pinvG1_3 + coefs_tq2_8 * coef_Jacob4_qt_syms30 * pinvG3_2 +
                    coefs_tq3_8 * coef_Jacob4_qt_syms29 * pinvG2_3 + coefs_tq3_8 * coef_Jacob4_qt_syms30 * pinvG3_3;
    symobj[3][19] = coef_Jacob4_qt_syms26 + coefs_tq1_9 * coef_Jacob4_qt_syms28 * pinvG1_1 +
                    coefs_tq1_8 * coef_Jacob4_qt_syms33 * pinvG1_1 + coefs_tq1_9 * coef_Jacob4_qt_syms29 * pinvG2_1 +
                    coefs_tq2_9 * coef_Jacob4_qt_syms28 * pinvG1_2 + coefs_tq1_8 * coef_Jacob4_qt_syms34 * pinvG2_1 +
                    coefs_tq2_8 * coef_Jacob4_qt_syms33 * pinvG1_2 + coefs_tq1_9 * coef_Jacob4_qt_syms30 * pinvG3_1 +
                    coefs_tq2_9 * coef_Jacob4_qt_syms29 * pinvG2_2 + coefs_tq3_9 * coef_Jacob4_qt_syms28 * pinvG1_3 +
                    coefs_tq1_8 * coef_Jacob4_qt_syms35 * pinvG3_1 + coefs_tq2_8 * coef_Jacob4_qt_syms34 * pinvG2_2 +
                    coefs_tq3_8 * coef_Jacob4_qt_syms33 * pinvG1_3 + coefs_tq2_9 * coef_Jacob4_qt_syms30 * pinvG3_2 +
                    coefs_tq3_9 * coef_Jacob4_qt_syms29 * pinvG2_3 + coefs_tq2_8 * coef_Jacob4_qt_syms35 * pinvG3_2 +
                    coefs_tq3_8 * coef_Jacob4_qt_syms34 * pinvG2_3 + coefs_tq3_9 * coef_Jacob4_qt_syms30 * pinvG3_3 +
                    coefs_tq3_8 * coef_Jacob4_qt_syms35 * pinvG3_3;
    symobj[3][20] = coef_Jacob4_qt_syms27 + coefs_tq1_9 * coef_Jacob4_qt_syms33 * pinvG1_1 +
                    coefs_tq1_9 * coef_Jacob4_qt_syms34 * pinvG2_1 + coefs_tq2_9 * coef_Jacob4_qt_syms33 * pinvG1_2 +
                    coefs_tq1_9 * coef_Jacob4_qt_syms35 * pinvG3_1 + coefs_tq2_9 * coef_Jacob4_qt_syms34 * pinvG2_2 +
                    coefs_tq3_9 * coef_Jacob4_qt_syms33 * pinvG1_3 + coefs_tq2_9 * coef_Jacob4_qt_syms35 * pinvG3_2 +
                    coefs_tq3_9 * coef_Jacob4_qt_syms34 * pinvG2_3 + coefs_tq3_9 * coef_Jacob4_qt_syms35 * pinvG3_3 +
                    coefs_tq1_10 * coef_Jacob4_qt_syms28 * pinvG1_1 + coefs_tq1_10 * coef_Jacob4_qt_syms29 * pinvG2_1 +
                    coefs_tq1_10 * coef_Jacob4_qt_syms30 * pinvG3_1 + coefs_tq2_10 * coef_Jacob4_qt_syms28 * pinvG1_2 +
                    coefs_tq2_10 * coef_Jacob4_qt_syms29 * pinvG2_2 + coefs_tq2_10 * coef_Jacob4_qt_syms30 * pinvG3_2 +
                    coefs_tq3_10 * coef_Jacob4_qt_syms28 * pinvG1_3 + coefs_tq3_10 * coef_Jacob4_qt_syms29 * pinvG2_3 +
                    coefs_tq3_10 * coef_Jacob4_qt_syms30 * pinvG3_3;
    symobj[3][21] = coef_Jacob4_qt_syms31 + coefs_tq1_11 * coef_Jacob4_qt_syms28 * pinvG1_1 +
                    coefs_tq1_11 * coef_Jacob4_qt_syms29 * pinvG2_1 + coefs_tq1_11 * coef_Jacob4_qt_syms30 * pinvG3_1 +
                    coefs_tq2_11 * coef_Jacob4_qt_syms28 * pinvG1_2 + coefs_tq2_11 * coef_Jacob4_qt_syms29 * pinvG2_2 +
                    coefs_tq2_11 * coef_Jacob4_qt_syms30 * pinvG3_2 + coefs_tq3_11 * coef_Jacob4_qt_syms28 * pinvG1_3 +
                    coefs_tq3_11 * coef_Jacob4_qt_syms29 * pinvG2_3 + coefs_tq3_11 * coef_Jacob4_qt_syms30 * pinvG3_3;
    symobj[3][22] = coef_Jacob4_qt_syms32 + coefs_tq1_10 * coef_Jacob4_qt_syms33 * pinvG1_1 +
                    coefs_tq1_10 * coef_Jacob4_qt_syms34 * pinvG2_1 + coefs_tq1_10 * coef_Jacob4_qt_syms35 * pinvG3_1 +
                    coefs_tq2_10 * coef_Jacob4_qt_syms33 * pinvG1_2 + coefs_tq2_10 * coef_Jacob4_qt_syms34 * pinvG2_2 +
                    coefs_tq2_10 * coef_Jacob4_qt_syms35 * pinvG3_2 + coefs_tq3_10 * coef_Jacob4_qt_syms33 * pinvG1_3 +
                    coefs_tq3_10 * coef_Jacob4_qt_syms34 * pinvG2_3 + coefs_tq3_10 * coef_Jacob4_qt_syms35 * pinvG3_3;
    symobj[3][23] = coef_Jacob4_qt_syms36 + coefs_tq1_11 * coef_Jacob4_qt_syms33 * pinvG1_1 +
                    coefs_tq1_11 * coef_Jacob4_qt_syms34 * pinvG2_1 + coefs_tq1_11 * coef_Jacob4_qt_syms35 * pinvG3_1 +
                    coefs_tq2_11 * coef_Jacob4_qt_syms33 * pinvG1_2 + coefs_tq2_11 * coef_Jacob4_qt_syms34 * pinvG2_2 +
                    coefs_tq2_11 * coef_Jacob4_qt_syms35 * pinvG3_2 + coefs_tq3_11 * coef_Jacob4_qt_syms33 * pinvG1_3 +
                    coefs_tq3_11 * coef_Jacob4_qt_syms34 * pinvG2_3 + coefs_tq3_11 * coef_Jacob4_qt_syms35 * pinvG3_3;

    for (int i = 0; i < 4; ++i)
        for (int j = 0; j < 24; ++j)
            coef_f_q_sym(i, j) = symobj[i][j];


    std::memset(symobj, 0, 4 * 64 * sizeof(double));
    symobj[0][0] = -coef_Jacob1_qt_syms1 - coefs_tq1_1 * coef_Jacob1_qt_syms11 * pinvG1_1 -
                   coefs_tq1_1 * coef_Jacob1_qt_syms12 * pinvG2_1 - coefs_tq2_1 * coef_Jacob1_qt_syms11 * pinvG1_2 -
                   coefs_tq1_1 * coef_Jacob1_qt_syms13 * pinvG3_1 - coefs_tq2_1 * coef_Jacob1_qt_syms12 * pinvG2_2 -
                   coefs_tq3_1 * coef_Jacob1_qt_syms11 * pinvG1_3 - coefs_tq2_1 * coef_Jacob1_qt_syms13 * pinvG3_2 -
                   coefs_tq3_1 * coef_Jacob1_qt_syms12 * pinvG2_3 - coefs_tq3_1 * coef_Jacob1_qt_syms13 * pinvG3_3;
    symobj[0][1] = coef_Jacob1_qt_syms2 * (-1.0 / 3.0) - coefs_tq1_2 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][2] = coef_Jacob1_qt_syms3 * (-1.0 / 3.0) - coefs_tq1_3 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_3 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_3 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_3 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_3 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_3 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq2_3 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_3 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq3_3 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][3] = coef_Jacob1_qt_syms4 * (-1.0 / 3.0) - coefs_tq1_4 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_4 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_4 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_4 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_4 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_4 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq2_4 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_4 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq3_4 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][4] = coef_Jacob1_qt_syms2 * (-1.0 / 3.0) - coefs_tq1_2 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][5] = coef_Jacob1_qt_syms5 * (-1.0 / 3.0) - coefs_tq1_5 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_5 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_5 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_5 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_5 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_5 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq2_5 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_5 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq3_5 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][6] = coef_Jacob1_qt_syms6 * (-1.0 / 6.0) - coefs_tq1_6 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_3 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_6 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_6 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_3 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_3 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_6 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_6 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_6 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_3 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_3 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_3 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq2_6 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_6 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq2_3 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_3 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq3_6 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq3_3 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 6.0);
    symobj[0][7] = coef_Jacob1_qt_syms7 * (-1.0 / 6.0) - coefs_tq1_7 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_4 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_7 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_7 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_4 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_4 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_7 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_7 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_7 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_4 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_4 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_4 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq2_7 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_7 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq2_4 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_4 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq3_7 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq3_4 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[0][8] = coef_Jacob1_qt_syms3 * (-1.0 / 3.0) - coefs_tq1_3 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_3 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_3 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_3 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_3 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_3 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq2_3 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_3 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq3_3 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][9] = coef_Jacob1_qt_syms6 * (-1.0 / 6.0) - coefs_tq1_6 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_3 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_6 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_6 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_3 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_3 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_6 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_6 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_6 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_3 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_3 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_3 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq2_6 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_6 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq2_3 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_3 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq3_6 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq3_3 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 6.0);
    symobj[0][10] = coef_Jacob1_qt_syms8 * (-1.0 / 3.0) - coefs_tq1_8 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_8 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_8 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][11] = coef_Jacob1_qt_syms9 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[0][12] = coef_Jacob1_qt_syms4 * (-1.0 / 3.0) - coefs_tq1_4 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][13] = coef_Jacob1_qt_syms7 * (-1.0 / 6.0) - coefs_tq1_7 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[0][14] = coef_Jacob1_qt_syms9 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[0][15] =
            coef_Jacob1_qt_syms10 * (-1.0 / 3.0) - coefs_tq1_4 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_4 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_4 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][16] = coef_Jacob1_qt_syms2 * (-1.0 / 3.0) - coefs_tq1_2 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][17] = coef_Jacob1_qt_syms5 * (-1.0 / 3.0) - coefs_tq1_5 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_5 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_5 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_5 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_5 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_5 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq2_5 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_5 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_5 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][18] = coef_Jacob1_qt_syms6 * (-1.0 / 6.0) - coefs_tq1_6 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 6.0);
    symobj[0][19] = coef_Jacob1_qt_syms7 * (-1.0 / 6.0) - coefs_tq1_7 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[0][20] = coef_Jacob1_qt_syms5 * (-1.0 / 3.0) - coefs_tq1_5 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_5 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_5 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_5 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_5 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_5 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq2_5 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_5 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_5 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][21] = -coef_Jacob1_qt_syms15 - coefs_tq1_5 * coef_Jacob1_qt_syms21 * pinvG1_1 -
                    coefs_tq1_5 * coef_Jacob1_qt_syms22 * pinvG2_1 - coefs_tq2_5 * coef_Jacob1_qt_syms21 * pinvG1_2 -
                    coefs_tq1_5 * coef_Jacob1_qt_syms23 * pinvG3_1 - coefs_tq2_5 * coef_Jacob1_qt_syms22 * pinvG2_2 -
                    coefs_tq3_5 * coef_Jacob1_qt_syms21 * pinvG1_3 - coefs_tq2_5 * coef_Jacob1_qt_syms23 * pinvG3_2 -
                    coefs_tq3_5 * coef_Jacob1_qt_syms22 * pinvG2_3 - coefs_tq3_5 * coef_Jacob1_qt_syms23 * pinvG3_3;
    symobj[0][22] =
            coef_Jacob1_qt_syms16 * (-1.0 / 3.0) - coefs_tq1_6 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][23] =
            coef_Jacob1_qt_syms17 * (-1.0 / 3.0) - coefs_tq1_7 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][24] = coef_Jacob1_qt_syms6 * (-1.0 / 6.0) - coefs_tq1_6 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 6.0);
    symobj[0][25] =
            coef_Jacob1_qt_syms16 * (-1.0 / 3.0) - coefs_tq1_6 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][26] =
            coef_Jacob1_qt_syms18 * (-1.0 / 3.0) - coefs_tq1_8 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][27] =
            coef_Jacob1_qt_syms19 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[0][28] = coef_Jacob1_qt_syms7 * (-1.0 / 6.0) - coefs_tq1_7 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[0][29] =
            coef_Jacob1_qt_syms17 * (-1.0 / 3.0) - coefs_tq1_7 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][30] =
            coef_Jacob1_qt_syms19 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[0][31] =
            coef_Jacob1_qt_syms20 * (-1.0 / 3.0) - coefs_tq1_7 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][32] = coef_Jacob1_qt_syms3 * (-1.0 / 3.0) - coefs_tq1_3 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][33] = coef_Jacob1_qt_syms6 * (-1.0 / 6.0) - coefs_tq1_6 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 6.0);
    symobj[0][34] = coef_Jacob1_qt_syms8 * (-1.0 / 3.0) - coefs_tq1_8 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_8 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_8 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][35] = coef_Jacob1_qt_syms9 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[0][36] = coef_Jacob1_qt_syms6 * (-1.0 / 6.0) - coefs_tq1_6 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 6.0);
    symobj[0][37] =
            coef_Jacob1_qt_syms16 * (-1.0 / 3.0) - coefs_tq1_6 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][38] =
            coef_Jacob1_qt_syms18 * (-1.0 / 3.0) - coefs_tq1_8 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][39] =
            coef_Jacob1_qt_syms19 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[0][40] = coef_Jacob1_qt_syms8 * (-1.0 / 3.0) - coefs_tq1_8 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_8 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_8 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][41] =
            coef_Jacob1_qt_syms18 * (-1.0 / 3.0) - coefs_tq1_8 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][42] = -coef_Jacob1_qt_syms25 - coefs_tq1_8 * coef_Jacob1_qt_syms28 * pinvG1_1 -
                    coefs_tq1_8 * coef_Jacob1_qt_syms29 * pinvG2_1 - coefs_tq2_8 * coef_Jacob1_qt_syms28 * pinvG1_2 -
                    coefs_tq1_8 * coef_Jacob1_qt_syms30 * pinvG3_1 - coefs_tq2_8 * coef_Jacob1_qt_syms29 * pinvG2_2 -
                    coefs_tq3_8 * coef_Jacob1_qt_syms28 * pinvG1_3 - coefs_tq2_8 * coef_Jacob1_qt_syms30 * pinvG3_2 -
                    coefs_tq3_8 * coef_Jacob1_qt_syms29 * pinvG2_3 - coefs_tq3_8 * coef_Jacob1_qt_syms30 * pinvG3_3;
    symobj[0][43] =
            coef_Jacob1_qt_syms26 * (-1.0 / 3.0) - coefs_tq1_9 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][44] = coef_Jacob1_qt_syms9 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[0][45] =
            coef_Jacob1_qt_syms19 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[0][46] =
            coef_Jacob1_qt_syms26 * (-1.0 / 3.0) - coefs_tq1_9 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][47] =
            coef_Jacob1_qt_syms27 * (-1.0 / 3.0) - coefs_tq1_9 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][48] = coef_Jacob1_qt_syms4 * (-1.0 / 3.0) - coefs_tq1_4 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][49] = coef_Jacob1_qt_syms7 * (-1.0 / 6.0) - coefs_tq1_7 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[0][50] = coef_Jacob1_qt_syms9 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[0][51] =
            coef_Jacob1_qt_syms10 * (-1.0 / 3.0) - coefs_tq1_4 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_4 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_4 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][52] = coef_Jacob1_qt_syms7 * (-1.0 / 6.0) - coefs_tq1_7 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[0][53] =
            coef_Jacob1_qt_syms17 * (-1.0 / 3.0) - coefs_tq1_7 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][54] =
            coef_Jacob1_qt_syms19 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[0][55] =
            coef_Jacob1_qt_syms20 * (-1.0 / 3.0) - coefs_tq1_7 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][56] = coef_Jacob1_qt_syms9 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[0][57] =
            coef_Jacob1_qt_syms19 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[0][58] =
            coef_Jacob1_qt_syms26 * (-1.0 / 3.0) - coefs_tq1_9 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][59] =
            coef_Jacob1_qt_syms27 * (-1.0 / 3.0) - coefs_tq1_9 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][60] =
            coef_Jacob1_qt_syms10 * (-1.0 / 3.0) - coefs_tq1_4 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_4 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_4 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob1_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob1_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob1_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob1_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob1_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob1_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob1_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob1_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob1_qt_syms13 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][61] =
            coef_Jacob1_qt_syms20 * (-1.0 / 3.0) - coefs_tq1_7 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob1_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob1_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob1_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob1_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob1_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob1_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob1_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob1_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob1_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][62] =
            coef_Jacob1_qt_syms27 * (-1.0 / 3.0) - coefs_tq1_9 * coef_Jacob1_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob1_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob1_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob1_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob1_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob1_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob1_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob1_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob1_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob1_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob1_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob1_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob1_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob1_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[0][63] = -coef_Jacob1_qt_syms32 - coefs_tq1_10 * coef_Jacob1_qt_syms33 * pinvG1_1 -
                    coefs_tq1_10 * coef_Jacob1_qt_syms34 * pinvG2_1 - coefs_tq1_10 * coef_Jacob1_qt_syms35 * pinvG3_1 -
                    coefs_tq2_10 * coef_Jacob1_qt_syms33 * pinvG1_2 - coefs_tq2_10 * coef_Jacob1_qt_syms34 * pinvG2_2 -
                    coefs_tq2_10 * coef_Jacob1_qt_syms35 * pinvG3_2 - coefs_tq3_10 * coef_Jacob1_qt_syms33 * pinvG1_3 -
                    coefs_tq3_10 * coef_Jacob1_qt_syms34 * pinvG2_3 - coefs_tq3_10 * coef_Jacob1_qt_syms35 * pinvG3_3;
    symobj[1][0] = -coef_Jacob2_qt_syms1 - coefs_tq1_1 * coef_Jacob2_qt_syms11 * pinvG1_1 -
                   coefs_tq1_1 * coef_Jacob2_qt_syms12 * pinvG2_1 - coefs_tq2_1 * coef_Jacob2_qt_syms11 * pinvG1_2 -
                   coefs_tq1_1 * coef_Jacob2_qt_syms13 * pinvG3_1 - coefs_tq2_1 * coef_Jacob2_qt_syms12 * pinvG2_2 -
                   coefs_tq3_1 * coef_Jacob2_qt_syms11 * pinvG1_3 - coefs_tq2_1 * coef_Jacob2_qt_syms13 * pinvG3_2 -
                   coefs_tq3_1 * coef_Jacob2_qt_syms12 * pinvG2_3 - coefs_tq3_1 * coef_Jacob2_qt_syms13 * pinvG3_3;
    symobj[1][1] = coef_Jacob2_qt_syms2 * (-1.0 / 3.0) - coefs_tq1_2 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][2] = coef_Jacob2_qt_syms3 * (-1.0 / 3.0) - coefs_tq1_3 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_3 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_3 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_3 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_3 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_3 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq2_3 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_3 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq3_3 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][3] = coef_Jacob2_qt_syms4 * (-1.0 / 3.0) - coefs_tq1_4 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_4 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_4 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_4 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_4 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_4 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq2_4 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_4 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq3_4 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][4] = coef_Jacob2_qt_syms2 * (-1.0 / 3.0) - coefs_tq1_2 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][5] = coef_Jacob2_qt_syms5 * (-1.0 / 3.0) - coefs_tq1_5 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_5 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_5 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_5 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_5 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_5 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq2_5 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_5 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq3_5 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][6] = coef_Jacob2_qt_syms6 * (-1.0 / 6.0) - coefs_tq1_6 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_3 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_6 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_6 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_3 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_3 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_6 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_6 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_6 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_3 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_3 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_3 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq2_6 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_6 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq2_3 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_3 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq3_6 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq3_3 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 6.0);
    symobj[1][7] = coef_Jacob2_qt_syms7 * (-1.0 / 6.0) - coefs_tq1_7 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_4 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_7 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_7 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_4 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_4 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_7 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_7 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_7 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_4 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_4 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_4 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq2_7 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_7 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq2_4 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_4 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq3_7 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq3_4 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[1][8] = coef_Jacob2_qt_syms3 * (-1.0 / 3.0) - coefs_tq1_3 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_3 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_3 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_3 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_3 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_3 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq2_3 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_3 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq3_3 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][9] = coef_Jacob2_qt_syms6 * (-1.0 / 6.0) - coefs_tq1_6 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_3 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_6 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_6 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_3 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_3 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_6 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_6 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_6 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_3 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_3 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_3 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq2_6 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_6 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq2_3 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_3 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq3_6 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq3_3 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 6.0);
    symobj[1][10] = coef_Jacob2_qt_syms8 * (-1.0 / 3.0) - coefs_tq1_8 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_8 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_8 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][11] = coef_Jacob2_qt_syms9 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[1][12] = coef_Jacob2_qt_syms4 * (-1.0 / 3.0) - coefs_tq1_4 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][13] = coef_Jacob2_qt_syms7 * (-1.0 / 6.0) - coefs_tq1_7 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[1][14] = coef_Jacob2_qt_syms9 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[1][15] =
            coef_Jacob2_qt_syms10 * (-1.0 / 3.0) - coefs_tq1_4 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_4 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_4 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][16] = coef_Jacob2_qt_syms2 * (-1.0 / 3.0) - coefs_tq1_2 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][17] = coef_Jacob2_qt_syms5 * (-1.0 / 3.0) - coefs_tq1_5 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_5 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_5 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_5 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_5 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_5 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq2_5 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_5 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_5 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][18] = coef_Jacob2_qt_syms6 * (-1.0 / 6.0) - coefs_tq1_6 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 6.0);
    symobj[1][19] = coef_Jacob2_qt_syms7 * (-1.0 / 6.0) - coefs_tq1_7 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[1][20] = coef_Jacob2_qt_syms5 * (-1.0 / 3.0) - coefs_tq1_5 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_5 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_5 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_5 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_5 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_5 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq2_5 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_5 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_5 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][21] = -coef_Jacob2_qt_syms15 - coefs_tq1_5 * coef_Jacob2_qt_syms21 * pinvG1_1 -
                    coefs_tq1_5 * coef_Jacob2_qt_syms22 * pinvG2_1 - coefs_tq2_5 * coef_Jacob2_qt_syms21 * pinvG1_2 -
                    coefs_tq1_5 * coef_Jacob2_qt_syms23 * pinvG3_1 - coefs_tq2_5 * coef_Jacob2_qt_syms22 * pinvG2_2 -
                    coefs_tq3_5 * coef_Jacob2_qt_syms21 * pinvG1_3 - coefs_tq2_5 * coef_Jacob2_qt_syms23 * pinvG3_2 -
                    coefs_tq3_5 * coef_Jacob2_qt_syms22 * pinvG2_3 - coefs_tq3_5 * coef_Jacob2_qt_syms23 * pinvG3_3;
    symobj[1][22] =
            coef_Jacob2_qt_syms16 * (-1.0 / 3.0) - coefs_tq1_6 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][23] =
            coef_Jacob2_qt_syms17 * (-1.0 / 3.0) - coefs_tq1_7 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][24] = coef_Jacob2_qt_syms6 * (-1.0 / 6.0) - coefs_tq1_6 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 6.0);
    symobj[1][25] =
            coef_Jacob2_qt_syms16 * (-1.0 / 3.0) - coefs_tq1_6 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][26] =
            coef_Jacob2_qt_syms18 * (-1.0 / 3.0) - coefs_tq1_8 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][27] =
            coef_Jacob2_qt_syms19 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[1][28] = coef_Jacob2_qt_syms7 * (-1.0 / 6.0) - coefs_tq1_7 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[1][29] =
            coef_Jacob2_qt_syms17 * (-1.0 / 3.0) - coefs_tq1_7 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][30] =
            coef_Jacob2_qt_syms19 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[1][31] =
            coef_Jacob2_qt_syms20 * (-1.0 / 3.0) - coefs_tq1_7 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][32] = coef_Jacob2_qt_syms3 * (-1.0 / 3.0) - coefs_tq1_3 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][33] = coef_Jacob2_qt_syms6 * (-1.0 / 6.0) - coefs_tq1_6 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 6.0);
    symobj[1][34] = coef_Jacob2_qt_syms8 * (-1.0 / 3.0) - coefs_tq1_8 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_8 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_8 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][35] = coef_Jacob2_qt_syms9 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[1][36] = coef_Jacob2_qt_syms6 * (-1.0 / 6.0) - coefs_tq1_6 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 6.0);
    symobj[1][37] =
            coef_Jacob2_qt_syms16 * (-1.0 / 3.0) - coefs_tq1_6 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][38] =
            coef_Jacob2_qt_syms18 * (-1.0 / 3.0) - coefs_tq1_8 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][39] =
            coef_Jacob2_qt_syms19 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[1][40] = coef_Jacob2_qt_syms8 * (-1.0 / 3.0) - coefs_tq1_8 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_8 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_8 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][41] =
            coef_Jacob2_qt_syms18 * (-1.0 / 3.0) - coefs_tq1_8 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][42] = -coef_Jacob2_qt_syms25 - coefs_tq1_8 * coef_Jacob2_qt_syms28 * pinvG1_1 -
                    coefs_tq1_8 * coef_Jacob2_qt_syms29 * pinvG2_1 - coefs_tq2_8 * coef_Jacob2_qt_syms28 * pinvG1_2 -
                    coefs_tq1_8 * coef_Jacob2_qt_syms30 * pinvG3_1 - coefs_tq2_8 * coef_Jacob2_qt_syms29 * pinvG2_2 -
                    coefs_tq3_8 * coef_Jacob2_qt_syms28 * pinvG1_3 - coefs_tq2_8 * coef_Jacob2_qt_syms30 * pinvG3_2 -
                    coefs_tq3_8 * coef_Jacob2_qt_syms29 * pinvG2_3 - coefs_tq3_8 * coef_Jacob2_qt_syms30 * pinvG3_3;
    symobj[1][43] =
            coef_Jacob2_qt_syms26 * (-1.0 / 3.0) - coefs_tq1_9 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][44] = coef_Jacob2_qt_syms9 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[1][45] =
            coef_Jacob2_qt_syms19 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[1][46] =
            coef_Jacob2_qt_syms26 * (-1.0 / 3.0) - coefs_tq1_9 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][47] =
            coef_Jacob2_qt_syms27 * (-1.0 / 3.0) - coefs_tq1_9 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][48] = coef_Jacob2_qt_syms4 * (-1.0 / 3.0) - coefs_tq1_4 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][49] = coef_Jacob2_qt_syms7 * (-1.0 / 6.0) - coefs_tq1_7 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[1][50] = coef_Jacob2_qt_syms9 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[1][51] =
            coef_Jacob2_qt_syms10 * (-1.0 / 3.0) - coefs_tq1_4 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_4 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_4 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][52] = coef_Jacob2_qt_syms7 * (-1.0 / 6.0) - coefs_tq1_7 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[1][53] =
            coef_Jacob2_qt_syms17 * (-1.0 / 3.0) - coefs_tq1_7 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][54] =
            coef_Jacob2_qt_syms19 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[1][55] =
            coef_Jacob2_qt_syms20 * (-1.0 / 3.0) - coefs_tq1_7 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][56] = coef_Jacob2_qt_syms9 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[1][57] =
            coef_Jacob2_qt_syms19 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[1][58] =
            coef_Jacob2_qt_syms26 * (-1.0 / 3.0) - coefs_tq1_9 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][59] =
            coef_Jacob2_qt_syms27 * (-1.0 / 3.0) - coefs_tq1_9 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][60] =
            coef_Jacob2_qt_syms10 * (-1.0 / 3.0) - coefs_tq1_4 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_4 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_4 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob2_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob2_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob2_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob2_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob2_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob2_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob2_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob2_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob2_qt_syms13 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][61] =
            coef_Jacob2_qt_syms20 * (-1.0 / 3.0) - coefs_tq1_7 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob2_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob2_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob2_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob2_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob2_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob2_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob2_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob2_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob2_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][62] =
            coef_Jacob2_qt_syms27 * (-1.0 / 3.0) - coefs_tq1_9 * coef_Jacob2_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob2_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob2_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob2_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob2_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob2_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob2_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob2_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob2_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob2_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob2_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob2_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob2_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob2_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[1][63] = -coef_Jacob2_qt_syms32 - coefs_tq1_10 * coef_Jacob2_qt_syms33 * pinvG1_1 -
                    coefs_tq1_10 * coef_Jacob2_qt_syms34 * pinvG2_1 - coefs_tq1_10 * coef_Jacob2_qt_syms35 * pinvG3_1 -
                    coefs_tq2_10 * coef_Jacob2_qt_syms33 * pinvG1_2 - coefs_tq2_10 * coef_Jacob2_qt_syms34 * pinvG2_2 -
                    coefs_tq2_10 * coef_Jacob2_qt_syms35 * pinvG3_2 - coefs_tq3_10 * coef_Jacob2_qt_syms33 * pinvG1_3 -
                    coefs_tq3_10 * coef_Jacob2_qt_syms34 * pinvG2_3 - coefs_tq3_10 * coef_Jacob2_qt_syms35 * pinvG3_3;
    symobj[2][0] = -coef_Jacob3_qt_syms1 - coefs_tq1_1 * coef_Jacob3_qt_syms11 * pinvG1_1 -
                   coefs_tq1_1 * coef_Jacob3_qt_syms12 * pinvG2_1 - coefs_tq2_1 * coef_Jacob3_qt_syms11 * pinvG1_2 -
                   coefs_tq1_1 * coef_Jacob3_qt_syms13 * pinvG3_1 - coefs_tq2_1 * coef_Jacob3_qt_syms12 * pinvG2_2 -
                   coefs_tq3_1 * coef_Jacob3_qt_syms11 * pinvG1_3 - coefs_tq2_1 * coef_Jacob3_qt_syms13 * pinvG3_2 -
                   coefs_tq3_1 * coef_Jacob3_qt_syms12 * pinvG2_3 - coefs_tq3_1 * coef_Jacob3_qt_syms13 * pinvG3_3;
    symobj[2][1] = coef_Jacob3_qt_syms2 * (-1.0 / 3.0) - coefs_tq1_2 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][2] = coef_Jacob3_qt_syms3 * (-1.0 / 3.0) - coefs_tq1_3 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_3 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_3 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_3 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_3 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_3 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq2_3 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_3 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq3_3 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][3] = coef_Jacob3_qt_syms4 * (-1.0 / 3.0) - coefs_tq1_4 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_4 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_4 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_4 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_4 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_4 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq2_4 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_4 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq3_4 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][4] = coef_Jacob3_qt_syms2 * (-1.0 / 3.0) - coefs_tq1_2 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][5] = coef_Jacob3_qt_syms5 * (-1.0 / 3.0) - coefs_tq1_5 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_5 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_5 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_5 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_5 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_5 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq2_5 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_5 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq3_5 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][6] = coef_Jacob3_qt_syms6 * (-1.0 / 6.0) - coefs_tq1_6 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_3 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_6 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_6 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_3 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_3 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_6 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_6 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_6 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_3 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_3 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_3 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq2_6 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_6 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq2_3 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_3 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq3_6 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq3_3 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 6.0);
    symobj[2][7] = coef_Jacob3_qt_syms7 * (-1.0 / 6.0) - coefs_tq1_7 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_4 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_7 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_7 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_4 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_4 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_7 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_7 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_7 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_4 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_4 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_4 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq2_7 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_7 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq2_4 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_4 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq3_7 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq3_4 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[2][8] = coef_Jacob3_qt_syms3 * (-1.0 / 3.0) - coefs_tq1_3 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_3 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_3 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_3 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_3 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_3 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq2_3 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_3 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq3_3 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][9] = coef_Jacob3_qt_syms6 * (-1.0 / 6.0) - coefs_tq1_6 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_3 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_6 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_6 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_3 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_3 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_6 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_6 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_6 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_3 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_3 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_3 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq2_6 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_6 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq2_3 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_3 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq3_6 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq3_3 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 6.0);
    symobj[2][10] = coef_Jacob3_qt_syms8 * (-1.0 / 3.0) - coefs_tq1_8 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_8 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_8 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][11] = coef_Jacob3_qt_syms9 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[2][12] = coef_Jacob3_qt_syms4 * (-1.0 / 3.0) - coefs_tq1_4 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][13] = coef_Jacob3_qt_syms7 * (-1.0 / 6.0) - coefs_tq1_7 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[2][14] = coef_Jacob3_qt_syms9 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[2][15] =
            coef_Jacob3_qt_syms10 * (-1.0 / 3.0) - coefs_tq1_4 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_4 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_4 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][16] = coef_Jacob3_qt_syms2 * (-1.0 / 3.0) - coefs_tq1_2 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][17] = coef_Jacob3_qt_syms5 * (-1.0 / 3.0) - coefs_tq1_5 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_5 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_5 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_5 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_5 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_5 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq2_5 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_5 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_5 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][18] = coef_Jacob3_qt_syms6 * (-1.0 / 6.0) - coefs_tq1_6 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 6.0);
    symobj[2][19] = coef_Jacob3_qt_syms7 * (-1.0 / 6.0) - coefs_tq1_7 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[2][20] = coef_Jacob3_qt_syms5 * (-1.0 / 3.0) - coefs_tq1_5 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_5 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_5 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_5 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_5 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_5 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq2_5 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_5 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_5 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][21] = -coef_Jacob3_qt_syms15 - coefs_tq1_5 * coef_Jacob3_qt_syms21 * pinvG1_1 -
                    coefs_tq1_5 * coef_Jacob3_qt_syms22 * pinvG2_1 - coefs_tq2_5 * coef_Jacob3_qt_syms21 * pinvG1_2 -
                    coefs_tq1_5 * coef_Jacob3_qt_syms23 * pinvG3_1 - coefs_tq2_5 * coef_Jacob3_qt_syms22 * pinvG2_2 -
                    coefs_tq3_5 * coef_Jacob3_qt_syms21 * pinvG1_3 - coefs_tq2_5 * coef_Jacob3_qt_syms23 * pinvG3_2 -
                    coefs_tq3_5 * coef_Jacob3_qt_syms22 * pinvG2_3 - coefs_tq3_5 * coef_Jacob3_qt_syms23 * pinvG3_3;
    symobj[2][22] =
            coef_Jacob3_qt_syms16 * (-1.0 / 3.0) - coefs_tq1_6 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][23] =
            coef_Jacob3_qt_syms17 * (-1.0 / 3.0) - coefs_tq1_7 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][24] = coef_Jacob3_qt_syms6 * (-1.0 / 6.0) - coefs_tq1_6 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 6.0);
    symobj[2][25] =
            coef_Jacob3_qt_syms16 * (-1.0 / 3.0) - coefs_tq1_6 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][26] =
            coef_Jacob3_qt_syms18 * (-1.0 / 3.0) - coefs_tq1_8 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][27] =
            coef_Jacob3_qt_syms19 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[2][28] = coef_Jacob3_qt_syms7 * (-1.0 / 6.0) - coefs_tq1_7 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[2][29] =
            coef_Jacob3_qt_syms17 * (-1.0 / 3.0) - coefs_tq1_7 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][30] =
            coef_Jacob3_qt_syms19 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[2][31] =
            coef_Jacob3_qt_syms20 * (-1.0 / 3.0) - coefs_tq1_7 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][32] = coef_Jacob3_qt_syms3 * (-1.0 / 3.0) - coefs_tq1_3 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][33] = coef_Jacob3_qt_syms6 * (-1.0 / 6.0) - coefs_tq1_6 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 6.0);
    symobj[2][34] = coef_Jacob3_qt_syms8 * (-1.0 / 3.0) - coefs_tq1_8 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_8 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_8 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][35] = coef_Jacob3_qt_syms9 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[2][36] = coef_Jacob3_qt_syms6 * (-1.0 / 6.0) - coefs_tq1_6 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 6.0);
    symobj[2][37] =
            coef_Jacob3_qt_syms16 * (-1.0 / 3.0) - coefs_tq1_6 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][38] =
            coef_Jacob3_qt_syms18 * (-1.0 / 3.0) - coefs_tq1_8 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][39] =
            coef_Jacob3_qt_syms19 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[2][40] = coef_Jacob3_qt_syms8 * (-1.0 / 3.0) - coefs_tq1_8 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_8 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_8 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][41] =
            coef_Jacob3_qt_syms18 * (-1.0 / 3.0) - coefs_tq1_8 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][42] = -coef_Jacob3_qt_syms25 - coefs_tq1_8 * coef_Jacob3_qt_syms28 * pinvG1_1 -
                    coefs_tq1_8 * coef_Jacob3_qt_syms29 * pinvG2_1 - coefs_tq2_8 * coef_Jacob3_qt_syms28 * pinvG1_2 -
                    coefs_tq1_8 * coef_Jacob3_qt_syms30 * pinvG3_1 - coefs_tq2_8 * coef_Jacob3_qt_syms29 * pinvG2_2 -
                    coefs_tq3_8 * coef_Jacob3_qt_syms28 * pinvG1_3 - coefs_tq2_8 * coef_Jacob3_qt_syms30 * pinvG3_2 -
                    coefs_tq3_8 * coef_Jacob3_qt_syms29 * pinvG2_3 - coefs_tq3_8 * coef_Jacob3_qt_syms30 * pinvG3_3;
    symobj[2][43] =
            coef_Jacob3_qt_syms26 * (-1.0 / 3.0) - coefs_tq1_9 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][44] = coef_Jacob3_qt_syms9 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[2][45] =
            coef_Jacob3_qt_syms19 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[2][46] =
            coef_Jacob3_qt_syms26 * (-1.0 / 3.0) - coefs_tq1_9 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][47] =
            coef_Jacob3_qt_syms27 * (-1.0 / 3.0) - coefs_tq1_9 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][48] = coef_Jacob3_qt_syms4 * (-1.0 / 3.0) - coefs_tq1_4 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][49] = coef_Jacob3_qt_syms7 * (-1.0 / 6.0) - coefs_tq1_7 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[2][50] = coef_Jacob3_qt_syms9 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[2][51] =
            coef_Jacob3_qt_syms10 * (-1.0 / 3.0) - coefs_tq1_4 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_4 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_4 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][52] = coef_Jacob3_qt_syms7 * (-1.0 / 6.0) - coefs_tq1_7 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[2][53] =
            coef_Jacob3_qt_syms17 * (-1.0 / 3.0) - coefs_tq1_7 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][54] =
            coef_Jacob3_qt_syms19 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[2][55] =
            coef_Jacob3_qt_syms20 * (-1.0 / 3.0) - coefs_tq1_7 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][56] = coef_Jacob3_qt_syms9 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[2][57] =
            coef_Jacob3_qt_syms19 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[2][58] =
            coef_Jacob3_qt_syms26 * (-1.0 / 3.0) - coefs_tq1_9 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][59] =
            coef_Jacob3_qt_syms27 * (-1.0 / 3.0) - coefs_tq1_9 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][60] =
            coef_Jacob3_qt_syms10 * (-1.0 / 3.0) - coefs_tq1_4 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_4 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_4 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob3_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob3_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob3_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob3_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob3_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob3_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob3_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob3_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob3_qt_syms13 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][61] =
            coef_Jacob3_qt_syms20 * (-1.0 / 3.0) - coefs_tq1_7 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob3_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob3_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob3_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob3_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob3_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob3_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob3_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob3_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob3_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][62] =
            coef_Jacob3_qt_syms27 * (-1.0 / 3.0) - coefs_tq1_9 * coef_Jacob3_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob3_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob3_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob3_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob3_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob3_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob3_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob3_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob3_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob3_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob3_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob3_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob3_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob3_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[2][63] = -coef_Jacob3_qt_syms32 - coefs_tq1_10 * coef_Jacob3_qt_syms33 * pinvG1_1 -
                    coefs_tq1_10 * coef_Jacob3_qt_syms34 * pinvG2_1 - coefs_tq1_10 * coef_Jacob3_qt_syms35 * pinvG3_1 -
                    coefs_tq2_10 * coef_Jacob3_qt_syms33 * pinvG1_2 - coefs_tq2_10 * coef_Jacob3_qt_syms34 * pinvG2_2 -
                    coefs_tq2_10 * coef_Jacob3_qt_syms35 * pinvG3_2 - coefs_tq3_10 * coef_Jacob3_qt_syms33 * pinvG1_3 -
                    coefs_tq3_10 * coef_Jacob3_qt_syms34 * pinvG2_3 - coefs_tq3_10 * coef_Jacob3_qt_syms35 * pinvG3_3;
    symobj[3][0] = -coef_Jacob4_qt_syms1 - coefs_tq1_1 * coef_Jacob4_qt_syms11 * pinvG1_1 -
                   coefs_tq1_1 * coef_Jacob4_qt_syms12 * pinvG2_1 - coefs_tq2_1 * coef_Jacob4_qt_syms11 * pinvG1_2 -
                   coefs_tq1_1 * coef_Jacob4_qt_syms13 * pinvG3_1 - coefs_tq2_1 * coef_Jacob4_qt_syms12 * pinvG2_2 -
                   coefs_tq3_1 * coef_Jacob4_qt_syms11 * pinvG1_3 - coefs_tq2_1 * coef_Jacob4_qt_syms13 * pinvG3_2 -
                   coefs_tq3_1 * coef_Jacob4_qt_syms12 * pinvG2_3 - coefs_tq3_1 * coef_Jacob4_qt_syms13 * pinvG3_3;
    symobj[3][1] = coef_Jacob4_qt_syms2 * (-1.0 / 3.0) - coefs_tq1_2 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][2] = coef_Jacob4_qt_syms3 * (-1.0 / 3.0) - coefs_tq1_3 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_3 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_3 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_3 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_3 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_3 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq2_3 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_3 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq3_3 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][3] = coef_Jacob4_qt_syms4 * (-1.0 / 3.0) - coefs_tq1_4 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_4 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_4 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_4 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_4 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_4 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq2_4 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_4 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq3_4 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][4] = coef_Jacob4_qt_syms2 * (-1.0 / 3.0) - coefs_tq1_2 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][5] = coef_Jacob4_qt_syms5 * (-1.0 / 3.0) - coefs_tq1_5 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_5 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_5 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_5 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_5 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_5 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq1_2 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq2_5 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_5 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq2_2 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq3_5 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                   coefs_tq3_2 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][6] = coef_Jacob4_qt_syms6 * (-1.0 / 6.0) - coefs_tq1_6 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_3 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_6 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_6 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_3 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_3 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_6 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_6 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_6 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_3 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_3 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_3 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq2_6 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_6 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq2_3 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_3 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq3_6 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq3_3 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 6.0);
    symobj[3][7] = coef_Jacob4_qt_syms7 * (-1.0 / 6.0) - coefs_tq1_7 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_4 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_7 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_7 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_4 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_4 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_7 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_7 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_7 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_4 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_4 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_4 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq2_7 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_7 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq2_4 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_4 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq3_7 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq3_4 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[3][8] = coef_Jacob4_qt_syms3 * (-1.0 / 3.0) - coefs_tq1_3 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_3 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_3 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
                   coefs_tq1_3 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_3 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_3 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
                   coefs_tq2_3 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_3 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq1_1 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
                   coefs_tq3_3 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                   coefs_tq2_1 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
                   coefs_tq3_1 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][9] = coef_Jacob4_qt_syms6 * (-1.0 / 6.0) - coefs_tq1_6 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_3 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_6 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_6 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                   coefs_tq1_3 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_3 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_6 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_6 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_6 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                   coefs_tq1_3 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_3 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_3 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq2_6 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_6 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq1_2 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                   coefs_tq2_3 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_3 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq3_6 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                   coefs_tq2_2 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                   coefs_tq3_3 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                   coefs_tq3_2 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 6.0);
    symobj[3][10] = coef_Jacob4_qt_syms8 * (-1.0 / 3.0) - coefs_tq1_8 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_8 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_8 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][11] = coef_Jacob4_qt_syms9 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[3][12] = coef_Jacob4_qt_syms4 * (-1.0 / 3.0) - coefs_tq1_4 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][13] = coef_Jacob4_qt_syms7 * (-1.0 / 6.0) - coefs_tq1_7 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[3][14] = coef_Jacob4_qt_syms9 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[3][15] =
            coef_Jacob4_qt_syms10 * (-1.0 / 3.0) - coefs_tq1_4 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_4 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_4 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][16] = coef_Jacob4_qt_syms2 * (-1.0 / 3.0) - coefs_tq1_2 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][17] = coef_Jacob4_qt_syms5 * (-1.0 / 3.0) - coefs_tq1_5 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_5 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_5 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_5 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_5 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_5 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq2_5 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_5 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_5 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][18] = coef_Jacob4_qt_syms6 * (-1.0 / 6.0) - coefs_tq1_6 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 6.0);
    symobj[3][19] = coef_Jacob4_qt_syms7 * (-1.0 / 6.0) - coefs_tq1_7 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[3][20] = coef_Jacob4_qt_syms5 * (-1.0 / 3.0) - coefs_tq1_5 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_5 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_5 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_5 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_5 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_5 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq2_5 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_5 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_5 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][21] = -coef_Jacob4_qt_syms15 - coefs_tq1_5 * coef_Jacob4_qt_syms21 * pinvG1_1 -
                    coefs_tq1_5 * coef_Jacob4_qt_syms22 * pinvG2_1 - coefs_tq2_5 * coef_Jacob4_qt_syms21 * pinvG1_2 -
                    coefs_tq1_5 * coef_Jacob4_qt_syms23 * pinvG3_1 - coefs_tq2_5 * coef_Jacob4_qt_syms22 * pinvG2_2 -
                    coefs_tq3_5 * coef_Jacob4_qt_syms21 * pinvG1_3 - coefs_tq2_5 * coef_Jacob4_qt_syms23 * pinvG3_2 -
                    coefs_tq3_5 * coef_Jacob4_qt_syms22 * pinvG2_3 - coefs_tq3_5 * coef_Jacob4_qt_syms23 * pinvG3_3;
    symobj[3][22] =
            coef_Jacob4_qt_syms16 * (-1.0 / 3.0) - coefs_tq1_6 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][23] =
            coef_Jacob4_qt_syms17 * (-1.0 / 3.0) - coefs_tq1_7 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][24] = coef_Jacob4_qt_syms6 * (-1.0 / 6.0) - coefs_tq1_6 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 6.0);
    symobj[3][25] =
            coef_Jacob4_qt_syms16 * (-1.0 / 3.0) - coefs_tq1_6 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][26] =
            coef_Jacob4_qt_syms18 * (-1.0 / 3.0) - coefs_tq1_8 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][27] =
            coef_Jacob4_qt_syms19 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[3][28] = coef_Jacob4_qt_syms7 * (-1.0 / 6.0) - coefs_tq1_7 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[3][29] =
            coef_Jacob4_qt_syms17 * (-1.0 / 3.0) - coefs_tq1_7 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][30] =
            coef_Jacob4_qt_syms19 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[3][31] =
            coef_Jacob4_qt_syms20 * (-1.0 / 3.0) - coefs_tq1_7 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][32] = coef_Jacob4_qt_syms3 * (-1.0 / 3.0) - coefs_tq1_3 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][33] = coef_Jacob4_qt_syms6 * (-1.0 / 6.0) - coefs_tq1_6 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 6.0);
    symobj[3][34] = coef_Jacob4_qt_syms8 * (-1.0 / 3.0) - coefs_tq1_8 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_8 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_8 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][35] = coef_Jacob4_qt_syms9 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[3][36] = coef_Jacob4_qt_syms6 * (-1.0 / 6.0) - coefs_tq1_6 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_6 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_6 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_6 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 6.0);
    symobj[3][37] =
            coef_Jacob4_qt_syms16 * (-1.0 / 3.0) - coefs_tq1_6 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][38] =
            coef_Jacob4_qt_syms18 * (-1.0 / 3.0) - coefs_tq1_8 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][39] =
            coef_Jacob4_qt_syms19 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[3][40] = coef_Jacob4_qt_syms8 * (-1.0 / 3.0) - coefs_tq1_8 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_8 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_8 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq2_8 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq3_8 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][41] =
            coef_Jacob4_qt_syms18 * (-1.0 / 3.0) - coefs_tq1_8 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][42] = -coef_Jacob4_qt_syms25 - coefs_tq1_8 * coef_Jacob4_qt_syms28 * pinvG1_1 -
                    coefs_tq1_8 * coef_Jacob4_qt_syms29 * pinvG2_1 - coefs_tq2_8 * coef_Jacob4_qt_syms28 * pinvG1_2 -
                    coefs_tq1_8 * coef_Jacob4_qt_syms30 * pinvG3_1 - coefs_tq2_8 * coef_Jacob4_qt_syms29 * pinvG2_2 -
                    coefs_tq3_8 * coef_Jacob4_qt_syms28 * pinvG1_3 - coefs_tq2_8 * coef_Jacob4_qt_syms30 * pinvG3_2 -
                    coefs_tq3_8 * coef_Jacob4_qt_syms29 * pinvG2_3 - coefs_tq3_8 * coef_Jacob4_qt_syms30 * pinvG3_3;
    symobj[3][43] =
            coef_Jacob4_qt_syms26 * (-1.0 / 3.0) - coefs_tq1_9 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][44] = coef_Jacob4_qt_syms9 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[3][45] =
            coef_Jacob4_qt_syms19 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[3][46] =
            coef_Jacob4_qt_syms26 * (-1.0 / 3.0) - coefs_tq1_9 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][47] =
            coef_Jacob4_qt_syms27 * (-1.0 / 3.0) - coefs_tq1_9 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][48] = coef_Jacob4_qt_syms4 * (-1.0 / 3.0) - coefs_tq1_4 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq1_1 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 3.0) -
                    coefs_tq2_1 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
                    coefs_tq3_1 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][49] = coef_Jacob4_qt_syms7 * (-1.0 / 6.0) - coefs_tq1_7 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[3][50] = coef_Jacob4_qt_syms9 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[3][51] =
            coef_Jacob4_qt_syms10 * (-1.0 / 3.0) - coefs_tq1_4 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_4 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_4 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][52] = coef_Jacob4_qt_syms7 * (-1.0 / 6.0) - coefs_tq1_7 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_7 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_7 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_2 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_7 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_2 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_2 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[3][53] =
            coef_Jacob4_qt_syms17 * (-1.0 / 3.0) - coefs_tq1_7 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_5 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_5 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_5 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][54] =
            coef_Jacob4_qt_syms19 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[3][55] =
            coef_Jacob4_qt_syms20 * (-1.0 / 3.0) - coefs_tq1_7 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][56] = coef_Jacob4_qt_syms9 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
                    coefs_tq1_9 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
                    coefs_tq2_9 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq1_4 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq1_3 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
                    coefs_tq3_9 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq2_4 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq2_3 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
                    coefs_tq3_4 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
                    coefs_tq3_3 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[3][57] =
            coef_Jacob4_qt_syms19 * (-1.0 / 6.0) - coefs_tq1_9 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 6.0) -
            coefs_tq1_9 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq1_6 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 6.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq2_6 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 6.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 6.0) -
            coefs_tq3_6 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 6.0);
    symobj[3][58] =
            coef_Jacob4_qt_syms26 * (-1.0 / 3.0) - coefs_tq1_9 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq1_8 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq2_8 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq3_8 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][59] =
            coef_Jacob4_qt_syms27 * (-1.0 / 3.0) - coefs_tq1_9 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][60] =
            coef_Jacob4_qt_syms10 * (-1.0 / 3.0) - coefs_tq1_4 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_4 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_4 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_4 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_4 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob4_qt_syms11 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob4_qt_syms12 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob4_qt_syms13 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob4_qt_syms11 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob4_qt_syms12 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob4_qt_syms13 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob4_qt_syms11 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob4_qt_syms12 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob4_qt_syms13 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][61] =
            coef_Jacob4_qt_syms20 * (-1.0 / 3.0) - coefs_tq1_7 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_7 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_7 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_7 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob4_qt_syms21 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob4_qt_syms22 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob4_qt_syms23 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob4_qt_syms21 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob4_qt_syms22 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob4_qt_syms23 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob4_qt_syms21 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob4_qt_syms22 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob4_qt_syms23 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][62] =
            coef_Jacob4_qt_syms27 * (-1.0 / 3.0) - coefs_tq1_9 * coef_Jacob4_qt_syms33 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob4_qt_syms34 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms33 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq1_9 * coef_Jacob4_qt_syms35 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms34 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms33 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq2_9 * coef_Jacob4_qt_syms35 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms34 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_9 * coef_Jacob4_qt_syms35 * pinvG3_3 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob4_qt_syms28 * pinvG1_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob4_qt_syms29 * pinvG2_1 * (1.0 / 3.0) -
            coefs_tq1_10 * coef_Jacob4_qt_syms30 * pinvG3_1 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob4_qt_syms28 * pinvG1_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob4_qt_syms29 * pinvG2_2 * (1.0 / 3.0) -
            coefs_tq2_10 * coef_Jacob4_qt_syms30 * pinvG3_2 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob4_qt_syms28 * pinvG1_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob4_qt_syms29 * pinvG2_3 * (1.0 / 3.0) -
            coefs_tq3_10 * coef_Jacob4_qt_syms30 * pinvG3_3 * (1.0 / 3.0);
    symobj[3][63] = -coef_Jacob4_qt_syms32 - coefs_tq1_10 * coef_Jacob4_qt_syms33 * pinvG1_1 -
                    coefs_tq1_10 * coef_Jacob4_qt_syms34 * pinvG2_1 - coefs_tq1_10 * coef_Jacob4_qt_syms35 * pinvG3_1 -
                    coefs_tq2_10 * coef_Jacob4_qt_syms33 * pinvG1_2 - coefs_tq2_10 * coef_Jacob4_qt_syms34 * pinvG2_2 -
                    coefs_tq2_10 * coef_Jacob4_qt_syms35 * pinvG3_2 - coefs_tq3_10 * coef_Jacob4_qt_syms33 * pinvG1_3 -
                    coefs_tq3_10 * coef_Jacob4_qt_syms34 * pinvG2_3 - coefs_tq3_10 * coef_Jacob4_qt_syms35 * pinvG3_3;

    for (int i = 0; i < 4; ++i)
        for (int j = 0; j < 64; ++j)
            W(i, j) = symobj[i][j];


    std::memset(symobj, 0, 4 * 4 * sizeof(double));
    symobj[0][0] = coef_Jacob1_qt_syms14 + coefs_tq1_11 * coef_Jacob1_qt_syms11 * pinvG1_1 +
                   coefs_tq1_11 * coef_Jacob1_qt_syms12 * pinvG2_1 + coefs_tq1_11 * coef_Jacob1_qt_syms13 * pinvG3_1 +
                   coefs_tq2_11 * coef_Jacob1_qt_syms11 * pinvG1_2 + coefs_tq2_11 * coef_Jacob1_qt_syms12 * pinvG2_2 +
                   coefs_tq2_11 * coef_Jacob1_qt_syms13 * pinvG3_2 + coefs_tq3_11 * coef_Jacob1_qt_syms11 * pinvG1_3 +
                   coefs_tq3_11 * coef_Jacob1_qt_syms12 * pinvG2_3 + coefs_tq3_11 * coef_Jacob1_qt_syms13 * pinvG3_3;
    symobj[0][1] = coef_Jacob1_qt_syms24 + coefs_tq1_11 * coef_Jacob1_qt_syms21 * pinvG1_1 +
                   coefs_tq1_11 * coef_Jacob1_qt_syms22 * pinvG2_1 + coefs_tq1_11 * coef_Jacob1_qt_syms23 * pinvG3_1 +
                   coefs_tq2_11 * coef_Jacob1_qt_syms21 * pinvG1_2 + coefs_tq2_11 * coef_Jacob1_qt_syms22 * pinvG2_2 +
                   coefs_tq2_11 * coef_Jacob1_qt_syms23 * pinvG3_2 + coefs_tq3_11 * coef_Jacob1_qt_syms21 * pinvG1_3 +
                   coefs_tq3_11 * coef_Jacob1_qt_syms22 * pinvG2_3 + coefs_tq3_11 * coef_Jacob1_qt_syms23 * pinvG3_3;
    symobj[0][2] = coef_Jacob1_qt_syms31 + coefs_tq1_11 * coef_Jacob1_qt_syms28 * pinvG1_1 +
                   coefs_tq1_11 * coef_Jacob1_qt_syms29 * pinvG2_1 + coefs_tq1_11 * coef_Jacob1_qt_syms30 * pinvG3_1 +
                   coefs_tq2_11 * coef_Jacob1_qt_syms28 * pinvG1_2 + coefs_tq2_11 * coef_Jacob1_qt_syms29 * pinvG2_2 +
                   coefs_tq2_11 * coef_Jacob1_qt_syms30 * pinvG3_2 + coefs_tq3_11 * coef_Jacob1_qt_syms28 * pinvG1_3 +
                   coefs_tq3_11 * coef_Jacob1_qt_syms29 * pinvG2_3 + coefs_tq3_11 * coef_Jacob1_qt_syms30 * pinvG3_3;
    symobj[0][3] = coef_Jacob1_qt_syms36 + coefs_tq1_11 * coef_Jacob1_qt_syms33 * pinvG1_1 +
                   coefs_tq1_11 * coef_Jacob1_qt_syms34 * pinvG2_1 + coefs_tq1_11 * coef_Jacob1_qt_syms35 * pinvG3_1 +
                   coefs_tq2_11 * coef_Jacob1_qt_syms33 * pinvG1_2 + coefs_tq2_11 * coef_Jacob1_qt_syms34 * pinvG2_2 +
                   coefs_tq2_11 * coef_Jacob1_qt_syms35 * pinvG3_2 + coefs_tq3_11 * coef_Jacob1_qt_syms33 * pinvG1_3 +
                   coefs_tq3_11 * coef_Jacob1_qt_syms34 * pinvG2_3 + coefs_tq3_11 * coef_Jacob1_qt_syms35 * pinvG3_3;
    symobj[1][0] = coef_Jacob2_qt_syms14 + coefs_tq1_11 * coef_Jacob2_qt_syms11 * pinvG1_1 +
                   coefs_tq1_11 * coef_Jacob2_qt_syms12 * pinvG2_1 + coefs_tq1_11 * coef_Jacob2_qt_syms13 * pinvG3_1 +
                   coefs_tq2_11 * coef_Jacob2_qt_syms11 * pinvG1_2 + coefs_tq2_11 * coef_Jacob2_qt_syms12 * pinvG2_2 +
                   coefs_tq2_11 * coef_Jacob2_qt_syms13 * pinvG3_2 + coefs_tq3_11 * coef_Jacob2_qt_syms11 * pinvG1_3 +
                   coefs_tq3_11 * coef_Jacob2_qt_syms12 * pinvG2_3 + coefs_tq3_11 * coef_Jacob2_qt_syms13 * pinvG3_3;
    symobj[1][1] = coef_Jacob2_qt_syms24 + coefs_tq1_11 * coef_Jacob2_qt_syms21 * pinvG1_1 +
                   coefs_tq1_11 * coef_Jacob2_qt_syms22 * pinvG2_1 + coefs_tq1_11 * coef_Jacob2_qt_syms23 * pinvG3_1 +
                   coefs_tq2_11 * coef_Jacob2_qt_syms21 * pinvG1_2 + coefs_tq2_11 * coef_Jacob2_qt_syms22 * pinvG2_2 +
                   coefs_tq2_11 * coef_Jacob2_qt_syms23 * pinvG3_2 + coefs_tq3_11 * coef_Jacob2_qt_syms21 * pinvG1_3 +
                   coefs_tq3_11 * coef_Jacob2_qt_syms22 * pinvG2_3 + coefs_tq3_11 * coef_Jacob2_qt_syms23 * pinvG3_3;
    symobj[1][2] = coef_Jacob2_qt_syms31 + coefs_tq1_11 * coef_Jacob2_qt_syms28 * pinvG1_1 +
                   coefs_tq1_11 * coef_Jacob2_qt_syms29 * pinvG2_1 + coefs_tq1_11 * coef_Jacob2_qt_syms30 * pinvG3_1 +
                   coefs_tq2_11 * coef_Jacob2_qt_syms28 * pinvG1_2 + coefs_tq2_11 * coef_Jacob2_qt_syms29 * pinvG2_2 +
                   coefs_tq2_11 * coef_Jacob2_qt_syms30 * pinvG3_2 + coefs_tq3_11 * coef_Jacob2_qt_syms28 * pinvG1_3 +
                   coefs_tq3_11 * coef_Jacob2_qt_syms29 * pinvG2_3 + coefs_tq3_11 * coef_Jacob2_qt_syms30 * pinvG3_3;
    symobj[1][3] = coef_Jacob2_qt_syms36 + coefs_tq1_11 * coef_Jacob2_qt_syms33 * pinvG1_1 +
                   coefs_tq1_11 * coef_Jacob2_qt_syms34 * pinvG2_1 + coefs_tq1_11 * coef_Jacob2_qt_syms35 * pinvG3_1 +
                   coefs_tq2_11 * coef_Jacob2_qt_syms33 * pinvG1_2 + coefs_tq2_11 * coef_Jacob2_qt_syms34 * pinvG2_2 +
                   coefs_tq2_11 * coef_Jacob2_qt_syms35 * pinvG3_2 + coefs_tq3_11 * coef_Jacob2_qt_syms33 * pinvG1_3 +
                   coefs_tq3_11 * coef_Jacob2_qt_syms34 * pinvG2_3 + coefs_tq3_11 * coef_Jacob2_qt_syms35 * pinvG3_3;
    symobj[2][0] = coef_Jacob3_qt_syms14 + coefs_tq1_11 * coef_Jacob3_qt_syms11 * pinvG1_1 +
                   coefs_tq1_11 * coef_Jacob3_qt_syms12 * pinvG2_1 + coefs_tq1_11 * coef_Jacob3_qt_syms13 * pinvG3_1 +
                   coefs_tq2_11 * coef_Jacob3_qt_syms11 * pinvG1_2 + coefs_tq2_11 * coef_Jacob3_qt_syms12 * pinvG2_2 +
                   coefs_tq2_11 * coef_Jacob3_qt_syms13 * pinvG3_2 + coefs_tq3_11 * coef_Jacob3_qt_syms11 * pinvG1_3 +
                   coefs_tq3_11 * coef_Jacob3_qt_syms12 * pinvG2_3 + coefs_tq3_11 * coef_Jacob3_qt_syms13 * pinvG3_3;
    symobj[2][1] = coef_Jacob3_qt_syms24 + coefs_tq1_11 * coef_Jacob3_qt_syms21 * pinvG1_1 +
                   coefs_tq1_11 * coef_Jacob3_qt_syms22 * pinvG2_1 + coefs_tq1_11 * coef_Jacob3_qt_syms23 * pinvG3_1 +
                   coefs_tq2_11 * coef_Jacob3_qt_syms21 * pinvG1_2 + coefs_tq2_11 * coef_Jacob3_qt_syms22 * pinvG2_2 +
                   coefs_tq2_11 * coef_Jacob3_qt_syms23 * pinvG3_2 + coefs_tq3_11 * coef_Jacob3_qt_syms21 * pinvG1_3 +
                   coefs_tq3_11 * coef_Jacob3_qt_syms22 * pinvG2_3 + coefs_tq3_11 * coef_Jacob3_qt_syms23 * pinvG3_3;
    symobj[2][2] = coef_Jacob3_qt_syms31 + coefs_tq1_11 * coef_Jacob3_qt_syms28 * pinvG1_1 +
                   coefs_tq1_11 * coef_Jacob3_qt_syms29 * pinvG2_1 + coefs_tq1_11 * coef_Jacob3_qt_syms30 * pinvG3_1 +
                   coefs_tq2_11 * coef_Jacob3_qt_syms28 * pinvG1_2 + coefs_tq2_11 * coef_Jacob3_qt_syms29 * pinvG2_2 +
                   coefs_tq2_11 * coef_Jacob3_qt_syms30 * pinvG3_2 + coefs_tq3_11 * coef_Jacob3_qt_syms28 * pinvG1_3 +
                   coefs_tq3_11 * coef_Jacob3_qt_syms29 * pinvG2_3 + coefs_tq3_11 * coef_Jacob3_qt_syms30 * pinvG3_3;
    symobj[2][3] = coef_Jacob3_qt_syms36 + coefs_tq1_11 * coef_Jacob3_qt_syms33 * pinvG1_1 +
                   coefs_tq1_11 * coef_Jacob3_qt_syms34 * pinvG2_1 + coefs_tq1_11 * coef_Jacob3_qt_syms35 * pinvG3_1 +
                   coefs_tq2_11 * coef_Jacob3_qt_syms33 * pinvG1_2 + coefs_tq2_11 * coef_Jacob3_qt_syms34 * pinvG2_2 +
                   coefs_tq2_11 * coef_Jacob3_qt_syms35 * pinvG3_2 + coefs_tq3_11 * coef_Jacob3_qt_syms33 * pinvG1_3 +
                   coefs_tq3_11 * coef_Jacob3_qt_syms34 * pinvG2_3 + coefs_tq3_11 * coef_Jacob3_qt_syms35 * pinvG3_3;
    symobj[3][0] = coef_Jacob4_qt_syms14 + coefs_tq1_11 * coef_Jacob4_qt_syms11 * pinvG1_1 +
                   coefs_tq1_11 * coef_Jacob4_qt_syms12 * pinvG2_1 + coefs_tq1_11 * coef_Jacob4_qt_syms13 * pinvG3_1 +
                   coefs_tq2_11 * coef_Jacob4_qt_syms11 * pinvG1_2 + coefs_tq2_11 * coef_Jacob4_qt_syms12 * pinvG2_2 +
                   coefs_tq2_11 * coef_Jacob4_qt_syms13 * pinvG3_2 + coefs_tq3_11 * coef_Jacob4_qt_syms11 * pinvG1_3 +
                   coefs_tq3_11 * coef_Jacob4_qt_syms12 * pinvG2_3 + coefs_tq3_11 * coef_Jacob4_qt_syms13 * pinvG3_3;
    symobj[3][1] = coef_Jacob4_qt_syms24 + coefs_tq1_11 * coef_Jacob4_qt_syms21 * pinvG1_1 +
                   coefs_tq1_11 * coef_Jacob4_qt_syms22 * pinvG2_1 + coefs_tq1_11 * coef_Jacob4_qt_syms23 * pinvG3_1 +
                   coefs_tq2_11 * coef_Jacob4_qt_syms21 * pinvG1_2 + coefs_tq2_11 * coef_Jacob4_qt_syms22 * pinvG2_2 +
                   coefs_tq2_11 * coef_Jacob4_qt_syms23 * pinvG3_2 + coefs_tq3_11 * coef_Jacob4_qt_syms21 * pinvG1_3 +
                   coefs_tq3_11 * coef_Jacob4_qt_syms22 * pinvG2_3 + coefs_tq3_11 * coef_Jacob4_qt_syms23 * pinvG3_3;
    symobj[3][2] = coef_Jacob4_qt_syms31 + coefs_tq1_11 * coef_Jacob4_qt_syms28 * pinvG1_1 +
                   coefs_tq1_11 * coef_Jacob4_qt_syms29 * pinvG2_1 + coefs_tq1_11 * coef_Jacob4_qt_syms30 * pinvG3_1 +
                   coefs_tq2_11 * coef_Jacob4_qt_syms28 * pinvG1_2 + coefs_tq2_11 * coef_Jacob4_qt_syms29 * pinvG2_2 +
                   coefs_tq2_11 * coef_Jacob4_qt_syms30 * pinvG3_2 + coefs_tq3_11 * coef_Jacob4_qt_syms28 * pinvG1_3 +
                   coefs_tq3_11 * coef_Jacob4_qt_syms29 * pinvG2_3 + coefs_tq3_11 * coef_Jacob4_qt_syms30 * pinvG3_3;
    symobj[3][3] = coef_Jacob4_qt_syms36 + coefs_tq1_11 * coef_Jacob4_qt_syms33 * pinvG1_1 +
                   coefs_tq1_11 * coef_Jacob4_qt_syms34 * pinvG2_1 + coefs_tq1_11 * coef_Jacob4_qt_syms35 * pinvG3_1 +
                   coefs_tq2_11 * coef_Jacob4_qt_syms33 * pinvG1_2 + coefs_tq2_11 * coef_Jacob4_qt_syms34 * pinvG2_2 +
                   coefs_tq2_11 * coef_Jacob4_qt_syms35 * pinvG3_2 + coefs_tq3_11 * coef_Jacob4_qt_syms33 * pinvG1_3 +
                   coefs_tq3_11 * coef_Jacob4_qt_syms34 * pinvG2_3 + coefs_tq3_11 * coef_Jacob4_qt_syms35 * pinvG3_3;
    
    for (int i = 0; i < 4; ++i)
        for (int j = 0; j < 4; ++j)
            Q(i, j) = symobj[i][j];
}


void D_hand_eye_func(Eigen::Matrix<double, 3, 28> &D,
                 Eigen::Matrix<double, 3, 9> &G,
                 Eigen::Vector3d &c,
                 const Eigen::Matrix<double, 4, 24> &coef_f_q_sym) {
    double coef_f0_q_sym1 = coef_f_q_sym(0, 0);
    double coef_f0_q_sym2 = coef_f_q_sym(0, 1);
    double coef_f0_q_sym3 = coef_f_q_sym(0, 2);
    double coef_f0_q_sym4 = coef_f_q_sym(0, 3);
    double coef_f0_q_sym5 = coef_f_q_sym(0, 4);
    double coef_f0_q_sym6 = coef_f_q_sym(0, 5);
    double coef_f0_q_sym7 = coef_f_q_sym(0, 6);
    double coef_f0_q_sym8 = coef_f_q_sym(0, 7);
    double coef_f0_q_sym9 = coef_f_q_sym(0, 8);
    double coef_f0_q_sym10 = coef_f_q_sym(0, 9);
    double coef_f0_q_sym11 = coef_f_q_sym(0, 10);
    double coef_f0_q_sym12 = coef_f_q_sym(0, 11);
    double coef_f0_q_sym13 = coef_f_q_sym(0, 12);
    double coef_f0_q_sym14 = coef_f_q_sym(0, 13);
    double coef_f0_q_sym15 = coef_f_q_sym(0, 14);
    double coef_f0_q_sym16 = coef_f_q_sym(0, 15);
    double coef_f0_q_sym17 = coef_f_q_sym(0, 16);
    double coef_f0_q_sym18 = coef_f_q_sym(0, 17);
    double coef_f0_q_sym19 = coef_f_q_sym(0, 18);
    double coef_f0_q_sym20 = coef_f_q_sym(0, 19);
    double coef_f0_q_sym21 = coef_f_q_sym(0, 20);
    double coef_f0_q_sym22 = coef_f_q_sym(0, 21);
    double coef_f0_q_sym23 = coef_f_q_sym(0, 22);
    double coef_f0_q_sym24 = coef_f_q_sym(0, 23);
    double coef_f1_q_sym1 = coef_f_q_sym(1, 0);
    double coef_f1_q_sym2 = coef_f_q_sym(1, 1);
    double coef_f1_q_sym3 = coef_f_q_sym(1, 2);
    double coef_f1_q_sym4 = coef_f_q_sym(1, 3);
    double coef_f1_q_sym5 = coef_f_q_sym(1, 4);
    double coef_f1_q_sym6 = coef_f_q_sym(1, 5);
    double coef_f1_q_sym7 = coef_f_q_sym(1, 6);
    double coef_f1_q_sym8 = coef_f_q_sym(1, 7);
    double coef_f1_q_sym9 = coef_f_q_sym(1, 8);
    double coef_f1_q_sym10 = coef_f_q_sym(1, 9);
    double coef_f1_q_sym11 = coef_f_q_sym(1, 10);
    double coef_f1_q_sym12 = coef_f_q_sym(1, 11);
    double coef_f1_q_sym13 = coef_f_q_sym(1, 12);
    double coef_f1_q_sym14 = coef_f_q_sym(1, 13);
    double coef_f1_q_sym15 = coef_f_q_sym(1, 14);
    double coef_f1_q_sym16 = coef_f_q_sym(1, 15);
    double coef_f1_q_sym17 = coef_f_q_sym(1, 16);
    double coef_f1_q_sym18 = coef_f_q_sym(1, 17);
    double coef_f1_q_sym19 = coef_f_q_sym(1, 18);
    double coef_f1_q_sym20 = coef_f_q_sym(1, 19);
    double coef_f1_q_sym21 = coef_f_q_sym(1, 20);
    double coef_f1_q_sym22 = coef_f_q_sym(1, 21);
    double coef_f1_q_sym23 = coef_f_q_sym(1, 22);
    double coef_f1_q_sym24 = coef_f_q_sym(1, 23);
    double coef_f2_q_sym1 = coef_f_q_sym(2, 0);
    double coef_f2_q_sym2 = coef_f_q_sym(2, 1);
    double coef_f2_q_sym3 = coef_f_q_sym(2, 2);
    double coef_f2_q_sym4 = coef_f_q_sym(2, 3);
    double coef_f2_q_sym5 = coef_f_q_sym(2, 4);
    double coef_f2_q_sym6 = coef_f_q_sym(2, 5);
    double coef_f2_q_sym7 = coef_f_q_sym(2, 6);
    double coef_f2_q_sym8 = coef_f_q_sym(2, 7);
    double coef_f2_q_sym9 = coef_f_q_sym(2, 8);
    double coef_f2_q_sym10 = coef_f_q_sym(2, 9);
    double coef_f2_q_sym11 = coef_f_q_sym(2, 10);
    double coef_f2_q_sym12 = coef_f_q_sym(2, 11);
    double coef_f2_q_sym13 = coef_f_q_sym(2, 12);
    double coef_f2_q_sym14 = coef_f_q_sym(2, 13);
    double coef_f2_q_sym15 = coef_f_q_sym(2, 14);
    double coef_f2_q_sym16 = coef_f_q_sym(2, 15);
    double coef_f2_q_sym17 = coef_f_q_sym(2, 16);
    double coef_f2_q_sym18 = coef_f_q_sym(2, 17);
    double coef_f2_q_sym19 = coef_f_q_sym(2, 18);
    double coef_f2_q_sym20 = coef_f_q_sym(2, 19);
    double coef_f2_q_sym21 = coef_f_q_sym(2, 20);
    double coef_f2_q_sym22 = coef_f_q_sym(2, 21);
    double coef_f2_q_sym23 = coef_f_q_sym(2, 22);
    double coef_f2_q_sym24 = coef_f_q_sym(2, 23);
    double coef_f3_q_sym1 = coef_f_q_sym(3, 0);
    double coef_f3_q_sym2 = coef_f_q_sym(3, 1);
    double coef_f3_q_sym3 = coef_f_q_sym(3, 2);
    double coef_f3_q_sym4 = coef_f_q_sym(3, 3);
    double coef_f3_q_sym5 = coef_f_q_sym(3, 4);
    double coef_f3_q_sym6 = coef_f_q_sym(3, 5);
    double coef_f3_q_sym7 = coef_f_q_sym(3, 6);
    double coef_f3_q_sym8 = coef_f_q_sym(3, 7);
    double coef_f3_q_sym9 = coef_f_q_sym(3, 8);
    double coef_f3_q_sym10 = coef_f_q_sym(3, 9);
    double coef_f3_q_sym11 = coef_f_q_sym(3, 10);
    double coef_f3_q_sym12 = coef_f_q_sym(3, 11);
    double coef_f3_q_sym13 = coef_f_q_sym(3, 12);
    double coef_f3_q_sym14 = coef_f_q_sym(3, 13);
    double coef_f3_q_sym15 = coef_f_q_sym(3, 14);
    double coef_f3_q_sym16 = coef_f_q_sym(3, 15);
    double coef_f3_q_sym17 = coef_f_q_sym(3, 16);
    double coef_f3_q_sym18 = coef_f_q_sym(3, 17);
    double coef_f3_q_sym19 = coef_f_q_sym(3, 18);
    double coef_f3_q_sym20 = coef_f_q_sym(3, 19);
    double coef_f3_q_sym21 = coef_f_q_sym(3, 20);
    double coef_f3_q_sym22 = coef_f_q_sym(3, 21);
    double coef_f3_q_sym23 = coef_f_q_sym(3, 22);
    double coef_f3_q_sym24 = coef_f_q_sym(3, 23);

    double symobj[3][28];

    std::memset(symobj, 0, 3 * 28 * sizeof(double));
    symobj[0][0] = -coef_f1_q_sym1;
    symobj[0][1] = coef_f0_q_sym1 - coef_f1_q_sym2;
    symobj[0][2] = -coef_f1_q_sym3;
    symobj[0][3] = -coef_f1_q_sym4;
    symobj[0][4] = coef_f0_q_sym5 - coef_f1_q_sym12;
    symobj[0][5] = coef_f0_q_sym6 - coef_f1_q_sym13;
    symobj[0][6] = coef_f0_q_sym7 - coef_f1_q_sym14;
    symobj[0][7] = coef_f0_q_sym8 - coef_f1_q_sym15;
    symobj[0][8] = coef_f0_q_sym9 - coef_f1_q_sym16;
    symobj[0][9] = coef_f0_q_sym11 - coef_f1_q_sym18;
    symobj[0][10] = -coef_f1_q_sym19;
    symobj[0][11] = -coef_f1_q_sym20;
    symobj[0][12] = -coef_f1_q_sym22;
    symobj[0][13] = -coef_f1_q_sym24;
    symobj[0][14] = -coef_f0_q_sym2 + coef_f0_q_sym12 + coef_f1_q_sym5;
    symobj[0][15] = -coef_f0_q_sym3 + coef_f0_q_sym13 + coef_f1_q_sym6;
    symobj[0][16] = -coef_f0_q_sym4 + coef_f0_q_sym14 + coef_f1_q_sym7;
    symobj[0][17] = -coef_f0_q_sym2 + coef_f0_q_sym15 + coef_f1_q_sym5 + coef_f1_q_sym8;
    symobj[0][18] = coef_f0_q_sym16 + coef_f1_q_sym9;
    symobj[0][19] = coef_f0_q_sym2 - coef_f1_q_sym5 + coef_f0_q_sym18 + coef_f1_q_sym11;
    symobj[0][20] = -coef_f0_q_sym3 + coef_f1_q_sym6 + coef_f0_q_sym19;
    symobj[0][21] = -coef_f0_q_sym4 + coef_f1_q_sym7 + coef_f0_q_sym20;
    symobj[0][22] = coef_f0_q_sym3 - coef_f1_q_sym6 + coef_f0_q_sym22;
    symobj[0][23] = coef_f0_q_sym4 - coef_f1_q_sym7 + coef_f0_q_sym24;
    symobj[0][24] = coef_f1_q_sym8;
    symobj[0][25] = coef_f1_q_sym9;
    symobj[0][26] = -coef_f1_q_sym8 + coef_f1_q_sym11;
    symobj[0][27] = -coef_f1_q_sym9;
    symobj[1][0] = -coef_f2_q_sym1;
    symobj[1][1] = -coef_f2_q_sym2;
    symobj[1][2] = coef_f0_q_sym1 - coef_f2_q_sym3;
    symobj[1][3] = -coef_f2_q_sym4;
    symobj[1][4] = -coef_f2_q_sym12;
    symobj[1][5] = coef_f0_q_sym5 - coef_f2_q_sym13;
    symobj[1][6] = -coef_f2_q_sym14;
    symobj[1][7] = coef_f0_q_sym6 - coef_f2_q_sym15;
    symobj[1][8] = coef_f0_q_sym7 - coef_f2_q_sym16;
    symobj[1][9] = -coef_f2_q_sym18;
    symobj[1][10] = coef_f0_q_sym8 - coef_f2_q_sym19;
    symobj[1][11] = coef_f0_q_sym9 - coef_f2_q_sym20;
    symobj[1][12] = coef_f0_q_sym11 - coef_f2_q_sym22;
    symobj[1][13] = -coef_f2_q_sym24;
    symobj[1][14] = coef_f2_q_sym5;
    symobj[1][15] = -coef_f0_q_sym2 + coef_f0_q_sym12 + coef_f2_q_sym6;
    symobj[1][16] = coef_f2_q_sym7;
    symobj[1][17] = -coef_f0_q_sym3 + coef_f0_q_sym13 + coef_f2_q_sym5 + coef_f2_q_sym8;
    symobj[1][18] = -coef_f0_q_sym4 + coef_f0_q_sym14 + coef_f2_q_sym9;
    symobj[1][19] = -coef_f2_q_sym5 + coef_f2_q_sym11;
    symobj[1][20] = -coef_f0_q_sym2 + coef_f0_q_sym15 + coef_f2_q_sym6;
    symobj[1][21] = coef_f0_q_sym16 + coef_f2_q_sym7;
    symobj[1][22] = coef_f0_q_sym2 + coef_f0_q_sym18 - coef_f2_q_sym6;
    symobj[1][23] = -coef_f2_q_sym7;
    symobj[1][24] = -coef_f0_q_sym3 + coef_f0_q_sym19 + coef_f2_q_sym8;
    symobj[1][25] = -coef_f0_q_sym4 + coef_f0_q_sym20 + coef_f2_q_sym9;
    symobj[1][26] = coef_f0_q_sym3 + coef_f0_q_sym22 - coef_f2_q_sym8 + coef_f2_q_sym11;
    symobj[1][27] = coef_f0_q_sym4 + coef_f0_q_sym24 - coef_f2_q_sym9;
    symobj[2][0] = -coef_f3_q_sym1;
    symobj[2][1] = -coef_f3_q_sym2;
    symobj[2][2] = -coef_f3_q_sym3;
    symobj[2][3] = coef_f0_q_sym1 - coef_f3_q_sym4;
    symobj[2][4] = -coef_f3_q_sym12;
    symobj[2][5] = -coef_f3_q_sym13;
    symobj[2][6] = coef_f0_q_sym5 - coef_f3_q_sym14;
    symobj[2][7] = -coef_f3_q_sym15;
    symobj[2][8] = coef_f0_q_sym6 - coef_f3_q_sym16;
    symobj[2][9] = -coef_f3_q_sym18;
    symobj[2][10] = -coef_f3_q_sym19;
    symobj[2][11] = coef_f0_q_sym8 - coef_f3_q_sym20;
    symobj[2][12] = -coef_f3_q_sym22;
    symobj[2][13] = coef_f0_q_sym11 - coef_f3_q_sym24;
    symobj[2][14] = coef_f3_q_sym5;
    symobj[2][15] = coef_f3_q_sym6;
    symobj[2][16] = -coef_f0_q_sym2 + coef_f0_q_sym12 + coef_f3_q_sym7;
    symobj[2][17] = coef_f3_q_sym5 + coef_f3_q_sym8;
    symobj[2][18] = -coef_f0_q_sym3 + coef_f0_q_sym13 + coef_f3_q_sym9;
    symobj[2][19] = -coef_f3_q_sym5 + coef_f3_q_sym11;
    symobj[2][20] = coef_f3_q_sym6;
    symobj[2][21] = -coef_f0_q_sym2 + coef_f0_q_sym15 + coef_f3_q_sym7;
    symobj[2][22] = -coef_f3_q_sym6;
    symobj[2][23] = coef_f0_q_sym2 + coef_f0_q_sym18 - coef_f3_q_sym7;
    symobj[2][24] = coef_f3_q_sym8;
    symobj[2][25] = -coef_f0_q_sym3 + coef_f0_q_sym19 + coef_f3_q_sym9;
    symobj[2][26] = -coef_f3_q_sym8 + coef_f3_q_sym11;
    symobj[2][27] = coef_f0_q_sym3 + coef_f0_q_sym22 - coef_f3_q_sym9;

    for (int i = 0; i < 3; ++i)
        for (int j = 0; j < 28; ++j)
            D(i, j) = symobj[i][j];

    std::memset(symobj, 0, 3 * 9 * sizeof(double));
    symobj[0][0] = coef_f0_q_sym10 - coef_f1_q_sym17;
    symobj[0][1] = -coef_f1_q_sym21;
    symobj[0][2] = -coef_f1_q_sym23;
    symobj[0][3] = -coef_f0_q_sym2 + coef_f1_q_sym5 + coef_f0_q_sym17 + coef_f1_q_sym10;
    symobj[0][4] = -coef_f0_q_sym3 + coef_f1_q_sym6 + coef_f0_q_sym21;
    symobj[0][5] = -coef_f0_q_sym4 + coef_f1_q_sym7 + coef_f0_q_sym23;
    symobj[0][6] = coef_f1_q_sym8 + coef_f1_q_sym10;
    symobj[0][7] = coef_f1_q_sym9;
    symobj[0][8] = coef_f1_q_sym10;
    symobj[1][0] = -coef_f2_q_sym17;
    symobj[1][1] = coef_f0_q_sym10 - coef_f2_q_sym21;
    symobj[1][2] = -coef_f2_q_sym23;
    symobj[1][3] = coef_f2_q_sym5 + coef_f2_q_sym10;
    symobj[1][4] = -coef_f0_q_sym2 + coef_f0_q_sym17 + coef_f2_q_sym6;
    symobj[1][5] = coef_f2_q_sym7;
    symobj[1][6] = -coef_f0_q_sym3 + coef_f0_q_sym21 + coef_f2_q_sym8 + coef_f2_q_sym10;
    symobj[1][7] = -coef_f0_q_sym4 + coef_f0_q_sym23 + coef_f2_q_sym9;
    symobj[1][8] = coef_f2_q_sym10;
    symobj[2][0] = coef_f0_q_sym7 - coef_f3_q_sym17;
    symobj[2][1] = coef_f0_q_sym9 - coef_f3_q_sym21;
    symobj[2][2] = coef_f0_q_sym10 - coef_f3_q_sym23;
    symobj[2][3] = -coef_f0_q_sym4 + coef_f0_q_sym14 + coef_f3_q_sym5 + coef_f3_q_sym10;
    symobj[2][4] = coef_f0_q_sym16 + coef_f3_q_sym6;
    symobj[2][5] = -coef_f0_q_sym2 + coef_f0_q_sym17 + coef_f3_q_sym7;
    symobj[2][6] = -coef_f0_q_sym4 + coef_f0_q_sym20 + coef_f3_q_sym8 + coef_f3_q_sym10;
    symobj[2][7] = -coef_f0_q_sym3 + coef_f0_q_sym21 + coef_f3_q_sym9;
    symobj[2][8] = -coef_f0_q_sym4 + coef_f0_q_sym23 + coef_f3_q_sym10;

    for (int i = 0; i < 3; ++i)
        for (int j = 0; j < 9; ++j)
            G(i, j) = symobj[i][j];

    std::memset(symobj, 0, 3 * 1 * sizeof(double));
    symobj[0][0] = -coef_f1_q_sym10 + coef_f1_q_sym11;
    symobj[1][0] = -coef_f2_q_sym10 + coef_f2_q_sym11;
    symobj[2][0] = coef_f0_q_sym4 + coef_f0_q_sym24 - coef_f3_q_sym10 + coef_f3_q_sym11;

    for (int i = 0; i < 3; ++i)
            c(i) = symobj[i][0];
}


static bool init = false;

void hand_eye_WQD(Eigen::Matrix<double, 4, 64> &W,
              Eigen::Matrix<double, 4, 4> &Q,
              Eigen::Matrix<double, 3, 28> &D,
              Eigen::Matrix<double, 3, 9> &GG,
              Eigen::Vector3d &c,
              Eigen::Matrix<double, 4, 24> &coef_f_q_sym,
              Eigen::Matrix<double, 1, 85> &coef_J_pure,
              Eigen::Matrix<double, 3, 11> &coefs_tq,
              Eigen::Matrix<double, 3, 3> &pinvG,
              const std::vector<Eigen::Matrix4d> &As,
              const std::vector<Eigen::Matrix4d> &Bs) {
    if (!init) {
        init = true;
    }

    int len = As.size();

    double factor = 1.0 / ((double) len);

    Eigen::Matrix<double, 1, 11> coeftq1;
    Eigen::Matrix<double, 1, 11> coeftq2;
    Eigen::Matrix<double, 1, 11> coeftq3;
    Eigen::Matrix<double, 1, 36> coef_Jacob1_qt;
    Eigen::Matrix<double, 1, 36> coef_Jacob2_qt;
    Eigen::Matrix<double, 1, 36> coef_Jacob3_qt;
    Eigen::Matrix<double, 1, 36> coef_Jacob4_qt;
    Eigen::Matrix3d G;

    {
        std::vector<Eigen::Matrix<double, 1, 85> > coef_J_pures(len, Eigen::Matrix<double, 1, 85>::Zero());
        std::vector<Eigen::Matrix<double, 1, 11> > coeftq1s(len, Eigen::Matrix<double, 1, 11>::Zero());
        std::vector<Eigen::Matrix<double, 1, 11> > coeftq2s(len, Eigen::Matrix<double, 1, 11>::Zero());
        std::vector<Eigen::Matrix<double, 1, 11> > coeftq3s(len, Eigen::Matrix<double, 1, 11>::Zero());
        std::vector<Eigen::Matrix<double, 1, 36> > coef_Jacob1_qts(len, Eigen::Matrix<double, 1, 36>::Zero());
        std::vector<Eigen::Matrix<double, 1, 36> > coef_Jacob2_qts(len, Eigen::Matrix<double, 1, 36>::Zero());
        std::vector<Eigen::Matrix<double, 1, 36> > coef_Jacob3_qts(len, Eigen::Matrix<double, 1, 36>::Zero());
        std::vector<Eigen::Matrix<double, 1, 36> > coef_Jacob4_qts(len, Eigen::Matrix<double, 1, 36>::Zero());
        std::vector<Eigen::Matrix3d > Gs(len, Eigen::Matrix3d::Zero());

        for (int ii = 0; ii < len; ++ii) {
            mixed_hand_eye_func(coef_J_pures[ii], As[ii], Bs[ii]);
            mixed2_hand_eye_func(Gs[ii], coeftq1s[ii], coeftq2s[ii], coeftq3s[ii],
                                 coef_Jacob1_qts[ii], coef_Jacob2_qts[ii], coef_Jacob3_qts[ii], coef_Jacob4_qts[ii],
                                 As[ii], Bs[ii]);
        }

        coef_J_pure = factor * std::accumulate(coef_J_pures.begin(), coef_J_pures.end(),
                                               Eigen::Matrix<double, 1, 85>::Zero().eval());
        coeftq1 = factor * std::accumulate(coeftq1s.begin(), coeftq1s.end(),
                                               Eigen::Matrix<double, 1, 11>::Zero().eval());
        coeftq2 = factor * std::accumulate(coeftq2s.begin(), coeftq2s.end(),
                                           Eigen::Matrix<double, 1, 11>::Zero().eval());
        coeftq3 = factor * std::accumulate(coeftq3s.begin(), coeftq3s.end(),
                                           Eigen::Matrix<double, 1, 11>::Zero().eval());
        coef_Jacob1_qt = factor * std::accumulate(coef_Jacob1_qts.begin(), coef_Jacob1_qts.end(),
                                           Eigen::Matrix<double, 1, 36>::Zero().eval());
        coef_Jacob2_qt = factor * std::accumulate(coef_Jacob2_qts.begin(), coef_Jacob2_qts.end(),
                                                  Eigen::Matrix<double, 1, 36>::Zero().eval());
        coef_Jacob3_qt = factor * std::accumulate(coef_Jacob3_qts.begin(), coef_Jacob3_qts.end(),
                                                  Eigen::Matrix<double, 1, 36>::Zero().eval());
        coef_Jacob4_qt = factor * std::accumulate(coef_Jacob4_qts.begin(), coef_Jacob4_qts.end(),
                                                  Eigen::Matrix<double, 1, 36>::Zero().eval());
        G = factor * std::accumulate(Gs.begin(), Gs.end(),
                                                  Eigen::Matrix3d::Zero().eval());
    }



    auto svd = G.jacobiSvd(Eigen::ComputeFullU | Eigen::ComputeFullV);
    const auto &singularValues = svd.singularValues();
    Eigen::Matrix3d singularValuesInv;
    singularValuesInv.setZero();
    double pinvtoler = 1.e-9; // choose your tolerance wisely
    for (int i = 0; i < 3; ++i) {
        if (singularValues(i) > pinvtoler)
            singularValuesInv(i, i) = 1.0 / singularValues(i);
        else
            singularValuesInv(i, i) = 0.0;
    }

    pinvG = svd.matrixV() * singularValuesInv * svd.matrixU().transpose();

    coefs_tq << coeftq1, coeftq2, coeftq3;

    Eigen::Matrix<double, 4, 36> coef_Jacob_qt_syms;
    coef_Jacob_qt_syms << coef_Jacob1_qt, coef_Jacob2_qt, coef_Jacob3_qt, coef_Jacob4_qt;
    mixed3_hand_eye_func(coef_f_q_sym, W, Q, pinvG, coefs_tq, coef_Jacob_qt_syms);
    D_hand_eye_func(D, GG, c, coef_f_q_sym);
}