module M0_0
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]
    
    9.00239411475607e-11*l1.^2 - 1.10330950130372e-10*l1.*l2 - 7.07348217074767e-11*l1.*l3 + 1.54854445732105e-13*l1 + 3.38058845865336e-11*l2.^2 + 4.33428102083718e-11*l2.*l3 - 9.49119158842984e-14*l2 + 1.38960161444059e-11*l3.^2 - 6.08170432755409e-14*l3 + 6.666876091763e-17
end
end