SymbolicMain.hx:73: ((((((var(b1.imass)*outer({vec(-1,0)
0},{vec(-1,0)
0}))+(var(b1.imass)*outer({vec(0,-1)
0},{vec(0,-1)
0})))+(var(b1.iinertia)*outer({(-1*perp(var(anchor1)))
-1},{(-1*perp(var(anchor1)))
-1})))+(var(b2.imass)*outer({vec(1,0)
0},{vec(1,0)
0})))+(var(b2.imass)*outer({vec(0,1)
0},{vec(0,1)
0})))+(var(b2.iinertia)*outer({perp(var(anchor2))
1},{perp(var(anchor2))
1})))