是否可以为用Sympy编写的函数生成python代码？

Question

我有一个复杂的表达式，涉及用Sympy编写的带有许多符号变量的非线性动力学。是否可以生成一个用python编写的函数，该函数将这些变量作为输入并计算最终输出作为数值？

我有下面的代码来计算机器人的雅可比行列式。 rotB已与theta以外的所有变量一起定义。我希望能够使用theta作为输入将最终的符号表达式转换为函数。有没有办法做到这一点？

我是python的新手，以前在可能的情况下使用过Matlab。 。 。！任何帮助将不胜感激。

i = 0
j = 0
k = 0

diff_l1 = {}
sum_l1 = {}
sumR_l1 = {}
sum_l1[0] = zeros(3,1)

diff_l2 = {}
sum_l2 = {}
sumR_l2 = {}
sum_l2[0] = zeros(3,1)

Jvm={}
J_vm = {}


while i < n:
    sumR_manip = Matrix(zeros(3,n))
    while j <= i:
        k = 0
        if j == 0:
            while k <= j:
                diff_l1[k] = diff(rotB[j+1],theta[k])*b[j+1,:].T
                sum_l1[k+1] = sum_l1[k] + diff_l1[k]
                sumR_l1[k] = sum_l1[k+1]

                diff_l2[k] = zeros(3,1)
                sum_l2[k+1] = sum_l2[k] + diff_l2[k]
                sumR_l2[k] = sum_l2[k+1]
                f = k
                p = k
                k += 1
        else:
            k = 0
            while k <= j:
                diff_l1[k] = diff(rotB[j+1],theta[k])*b[j+1,:].T
                sum_l1[k+1] = sum_l1[k] + diff_l1[k]
                sumR_l1[k] = sum_l1[k+1]
                f = k
                k += 1

            k = 0
            while k <= j-1:
                diff_l2[k] = diff(rotB[j],theta[k])*s[j,:].T
                sum_l2[k+1] = sum_l2[k] + diff_l2[k]
                sumR_l2[k] = sum_l2[k+1]
                p = k
                k += 1

        sumR1 = sumR_l1[f]
        sumR2 = sumR_l2[p]
        sumR_manip[:,j] = sumR1+sumR2
        j += 1

    Jvm[i] = sumR_manip
    i += 1 
    j = 0
    k = 0

i = 0
while i < n:
    J_vm[i] = Jvm[i] 
    i += 1