def _Kane_inlist_insyms(self):

        uaux = self.eom_method._uaux[:]
        uauxdot = [sm.diff(i, dynamicsymbols._t) for i in uaux]

        # Checking for dynamic symbols outside the dynamic differential
        # equations; throws error if there is.

        if sympy_equal_to_or_newer_than('0.7.6'):
            # TODO : KanesMethod should provide public attributes for qdot,
            # udot, uaux, and uauxdot.
            insyms = set(self.eom_method.q[:] + self.eom_method._qdot[:] +
                         self.eom_method.u[:] + self.eom_method._udot[:] +
                         uaux + uauxdot)
        else:
            insyms = set(self.eom_method._q + self.eom_method._qdot +
                         self.eom_method._u + self.eom_method._udot + uaux +
                         uauxdot)

        inlist = (self.eom_method.forcing_full[:] +
                  self.eom_method.mass_matrix_full[:])

        return inlist, insyms
TODO temporary.
dataset/ETHPy150Open pydy/pydy/pydy/system.py/System._Kane_inlist_insyms