In [2]:

    

import sympy as sp
import numpy as np
import cloudpickle


    

    




['m1', 'g'] [1, 9.81]

In [37]:

    

q = q0, q1 = sp.symbols('q:2')
sympars = m1, g = sp.symbols('m_1, g') # Same order should be used inside MechanicalSystem Class
order = ['m1', 'g']
G = sp.Matrix([sp.cos(q0)*g, sp.sin(q1)*m1])


    

In [40]:

    

to_save = {'order': order,
            'G' : sp.lambdify([q, *sympars], G)}

with open('gfile.txt', 'wb') as gfile:
    test = cloudpickle.dumps(to_save)
    gfile.write(test)
    
with open('gfile.txt', 'rb') as gfile:    
    model = cloudpickle.load(gfile)


    

In [42]:

    

# In main script
pars = {'m1' : 1, 'g' : 9.81} # order is arbitrary

# In systemsym
constant_names = model['order']
constant_value = [pars[name] for name in constant_names] # Corresponding numbers in same order as above


Luse = lambda q: model['G'](q, *constant_value) # in systemsym class
Luse([0,3.14/2]) # in equations of motion


    

    
Out[42]:





array([[ 9.81      ],
       [ 0.99999968]])