f = pd_tm1_adams.f()
re = pd_tm1_adams.l2()
rf = pd_tm1_adams.l1()

# Constantes Trigonometricas
sqrt3 = pd_tm1_adams.sqrt3()
pi = pd_tm1_adams.pi()
sin120 = sqrt3 / 2.0
cos120 = pd_tm1_adams.cos120()
tan60 = sqrt3
sin30 = pd_tm1_adams.sin30()
tan30 = pd_tm1_adams.tan30()

dtr = pd_tm1_adams.dtr()
mtmm = pd_tm1_adams.mtmm()
mmtm = pd_tm1_adams.mmtm()
rtd = pd_tm1_adams.rtd()


###############################################
########### [Jacobian Total] ##################
###############################################
def jacobian_total(px, py, pz, theta11, theta12, theta13):
    # Cambio unidades Internacional
    pxx = px * mmtm
    pyy = py * mmtm
    pzz = pz * mmtm

    # Ordenar segun  sistema LOCAL
    punto = [-pyy, -pxx, -pzz]
    phi_orden = [0, 120, 240]
i_motor = pd_tm1_adams.inercia_m()
g = pd_tm1_adams.gg()
mp = pd_tm1_adams.mp()

# Trigonometric constants
sqrt3 = pd_tm1_adams.sqrt3()
pi = pd_tm1_adams.pi()
sin120 = sqrt3 / 2.0
cos120 = pd_tm1_adams.cos120()
tan60 = sqrt3
sin30 = pd_tm1_adams.sin30()
tan30 = pd_tm1_adams.tan30()

dtr = pd_tm1_adams.dtr()  # degrees to radians
mtmm = pd_tm1_adams.mtmm()  # Metros a Milimetros
mmtm = pd_tm1_adams.mmtm()  # Milimetros a Metros
kgm2tgrmm2 = pd_tm1_adams.kgm2tgrmm2()
rtd = pd_tm1_adams.rtd()  # degrees to radians


###############################################
########## [Torque Menu Input] ################
###############################################
# |------------------------------------------|
# |------- Torque TOTAL (puntual) -----------|
# |------------------------------------------|
def ti(theta11_pp_deg, theta12_pp_deg, theta13_pp_deg, theta11_deg,
       theta12_deg, theta13_deg, xp_mm, yp_mm, zp_mm, xp_pp_mm, yp_pp_mm,
       zp_pp_mm, fpx, fpy, fpz, m_playload):
    # Cambiar unidades a SI
    # Cambiar orden angulos y coordenadas cartesianas a sistema referencia LOCAL