module M2_2
function f(q::Vector{T}, q_dot::Vector{T}, xi::T) where T
    l1 = q[1]
    l2 = q[2]
    l3 = q[3]
    l1_dot = q_dot[1]
    l2_dot = q_dot[2]
    l3_dot = q_dot[3]
    
    1.38960161444059e-11*l1.^2 + 1.13826433538242e-11*l1.*l2 - 3.92837735785805e-11*l1.*l3 + 1.6885767684885e-14*l1 + 2.33986794159514e-12*l2.^2 - 1.61071218647439e-11*l2.*l3 + 6.89771216933803e-15*l2 + 2.77725822370262e-11*l3.^2 - 2.38497041715743e-14*l3 + 5.13890013369217e-18
end
end