% The AMBF Galen robot forward kinematics. These results were recalculated % due to mild errors in the first version. Hence the 2 in the name % Inputs % q_state - the current joint states, a 5x1 or 1x5 vectore % Outputs % Fk - the transform from AMBF world to galen tool tip % Fkto35 - the transform from AMBF world to galen end effector % FktoT - the transform from AMBF world to galen tilt joint % FktoR - the transform from AMBF world to galen roll joint % FktoP - the transform from AMBF world to galen delta platform % Created by Brevin Banks % Modified 4/25/2023 function [Fk,FktoE35,FktoT,FktoR,FktoP] = galen_fk2(q_state) theta1 = q_state(1); theta2 = q_state(2); theta3 = q_state(3); theta4 = q_state(4); theta5 = q_state(5); pb11 = -3.67324084038501e-06; pb12 = -0.999999999993254; pb13 = -6.97425863880356e-13; pb14 = -0.504161160403451; pb21 = 0.999999999993236; pb22 = -3.67324084038501e-06; pb23 = 1.89860988282034e-07; pb24 = -6.16349500154316e-07; pb31 = -1.89860988283315e-07; pb32 = -2.07277167824804e-17; pb33 = 0.999999999999982; pb34 = -1.14230000000000; MpRABx = 0.0324986733401938; % MpRABy = 0; MpRABz = 0.0580014126707007; RABTDLFx = 0.588399570422111; % RABTDLFy = 0; RABTDLFz = -0.0129995573458910; TDLFE35x = 0.042926375096223; % TDLFE35y = 0.000100604375186015; TDLFE35z = 0.024214916397148; E35zoff =-0.069414985474804; E35xoff = 2.251067817075432-(pi/2); THpx = 0.07290743048672868; % THpy = 0.0001016308354309764; THpz = -0.5192307434950012; E35Hpx = 0.15966197324; % E35Hpy = 1.022064708172975e-04; E35Hpz = -0.375122340856; % Endo35toEndoTipxyz = TipHomeposition-E35Homepos; Exoff = -0.890522834903571-(pi/2); FktoP =[pb11, pb12, pb13, pb14 + (pb13*(5804419715539420*theta1 + 6790589032499990*theta2 + 6791794416933423*theta3 - 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1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^3 - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^2 + 3748464273228495872*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^2 + (8770192138944777*theta1 + 5088448909229277/2)*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) + (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^4*(theta3 + 1306489997507401/4503599627370496) + (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^4 - 17572251233936354*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496) + 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^4*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496) + 5994864729184784)^(1/2))/16777216 - 46600201825998400*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496) - 46600314595834280*(theta1 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) - 46627120543463376*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) - (theta3 + 1306489997507401/4503599627370496)^2*(46600314595834280*theta1 + 13518707242567014) - (theta2 + 1306489997507401/4503599627370496)^2*(46600201825998400*theta1 + 13518674528144156) + 5624093284124905))/(186401032843665376*(theta1 + 1306489997507401/4503599627370496)^2 - (theta2 + 1306489997507401/4503599627370496)*(186400807303993600*theta1 + 54074698112576624) + 186454644738923552*(theta2 + 1306489997507401/4503599627370496)^2 + 186454870278595328*(theta3 + 1306489997507401/4503599627370496)^2 - 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(248855101526612819761532346762081795636143488761856*theta1 + 72192629868174854748840665867110056688472901550080)*(theta3 + 1306489997507401/4503599627370496) + (19181038639512176130225756484029153816115937280*theta2 + 5564401189667305983475576643800359050282008576)*(theta3 + 1306489997507401/4503599627370496) - 5992901045580166300864525190619412014279873043365888*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^2 + 5992925719455559416093442338667670863332769808777216*(theta1 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^2 - 24673875394068623862977298678797117390715879424*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^2 + (1997625457234923952135870752551760087139971999203328*theta1 + 579509258057070822562813490046928068596003988570112)*(theta2 + 1306489997507401/4503599627370496)^3 - (1997650131110317731978785793057955388096398904786944*theta1 + 579516415925013929955976794418095295074349740982272)*(theta3 + 1306489997507401/4503599627370496)^3 + (1997650131110318064285784739286923614048163974873088*theta2 + 579516415925014096109476267532579408050232276025344)*(theta3 + 1306489997507401/4503599627370496)^3 - 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17572251233936354*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496) + 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^4*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496) + 5994864729184784)^(1/2) + (988567587665188296634625953914464697302210576384*theta3 + 286782523316506507267320787891398169362849333248)*(50082276508224064*(theta1 + 1306489997507401/4503599627370496)^2 + 49456797899948800*(theta2 + 1306489997507401/4503599627370496)^2 - 86602790043583056*(theta1 + 1306489997507401/4503599627370496)^4 + 49456196952357176*(theta3 + 1306489997507401/4503599627370496)^2 - 86627698380398880*(theta2 + 1306489997507401/4503599627370496)^4 - 86627803167183264*(theta3 + 1306489997507401/4503599627370496)^4 + (164413933737288032*theta1 + 47696326861104464)*(theta2 + 1306489997507401/4503599627370496)^3 + 173194748194915072*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496) + 173216411979417184*(theta1 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496) + 182096859784307456*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496) + (theta3 + 1306489997507401/4503599627370496)^3*(182086237465625184*theta2 + 52823045478288904) - 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624744045538082688*(theta1 + 1306489997507401/4503599627370496)^4*(theta3 + 1306489997507401/4503599627370496)^2 - 624744045538082688*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^4 + 1249488091076165376*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496)^3 - 624744045538082688*(theta2 + 1306489997507401/4503599627370496)^4*(theta3 + 1306489997507401/4503599627370496)^2 + (164424975203107872*theta1 + 47699529979908312)*(theta3 + 1306489997507401/4503599627370496)^3 - (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^3 - (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496)^2 + (theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^2*(8802059094991578*theta1 + 5106938056920437/2) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^3 - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^2 + 3748464273228495872*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^2 + (8770192138944777*theta1 + 5088448909229277/2)*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) + (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^4*(theta3 + 1306489997507401/4503599627370496) + (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^4 - 17572251233936354*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496) + 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^4*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496) + 5994864729184784)^(1/2) + (1353619654784090791529613513395403111576365983445465169920*theta1 + 392683783135802275651537904891896523949804443095435051008)*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) + (1353633093247945299821419550944694592374291184459689492480*theta1 + 392687681621471652049590415012334788546808733713418944512)*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^2 - 2707252748115336343650419482593465341610959000742962135040*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496) - 493360572929385253733561288187622148012943444279296))/(1163669410636236036207644137627761295809551216224799555584*(theta1 + 1306489997507401/4503599627370496)^2 + 1164004100426343185567018100303202225884882991385728253952*(theta2 + 1306489997507401/4503599627370496)^2 + 1164005508431507741411069609580286459246266049907667238912*(theta3 + 1306489997507401/4503599627370496)^2 - (1163668002631071480363592628350677062448168157702860570624*theta1 + 337578988286881998691846115926019972021154379752332591104)*(theta2 + 1306489997507401/4503599627370496) - (1163670818641400592051695646904845529170934274746738540544*theta1 + 337579805208818315489367755281986199310204251094229450752)*(theta3 + 1306489997507401/4503599627370496) - (1164340198221614716545871708735234096073798820003271671808*theta2 + 337773991592698991191736974450183022451893451198287577088)*(theta3 + 1306489997507401/4503599627370496) + 121028459279115638306624182468200079029534406145935933440); 0, 0, 0, 1]; FktoT =[cos(theta5)*((8985507641290995*pb12)/9007199254740992 - (2477896991763523*pb13)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + (4611234024436301*pb11*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb11*sin(theta4))/2251799813685248) - sin(theta5)*((156183154282845*pb12)/2251799813685248 - (2756479672725957*pb13)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + (5300353942617791*pb11*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb11*sin(theta4))/9007199254740992), - sin(theta5)*((8985507641290995*pb12)/9007199254740992 - (2477896991763523*pb13)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + (4611234024436301*pb11*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb11*sin(theta4))/2251799813685248) - cos(theta5)*((156183154282845*pb12)/2251799813685248 - (2756479672725957*pb13)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + (5300353942617791*pb11*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb11*sin(theta4))/9007199254740992), (684969180613545*pb13)/182687704666362864775460604089535377456991567872 - (4967757600021511*pb12)/81129638414606681695789005144064 + (4967757600021511*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13) + pb11*cos(theta4) - (4967757600021511*pb11*sin(theta4))/81129638414606681695789005144064, pb14 + MpRABz*pb13 - MpRABx*(pb12 - (4967757600021511*pb13)/81129638414606681695789005144064) - RABTDLFx*(pb12 - (4967757600021511*pb13)/81129638414606681695789005144064) - RABTDLFz*((4967757600021511*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 - cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13) + (4967757600021511*pb11*cos(theta4))/81129638414606681695789005144064 + pb11*sin(theta4)) + (pb13*(5804419715539420*theta1 + 6790589032499990*theta2 + 6791794416933423*theta3 - (46627120543463376*theta2 + 13526483622651576)*(theta3 + 1306489997507401/4503599627370496)^2 + 93200516421832688*(theta1 + 1306489997507401/4503599627370496)^3 + 93227322369461776*(theta2 + 1306489997507401/4503599627370496)^3 + 93227435139297664*(theta3 + 1306489997507401/4503599627370496)^3 + (1713567497935139*(50082276508224064*(theta1 + 1306489997507401/4503599627370496)^2 + 49456797899948800*(theta2 + 1306489997507401/4503599627370496)^2 - 86602790043583056*(theta1 + 1306489997507401/4503599627370496)^4 + 49456196952357176*(theta3 + 1306489997507401/4503599627370496)^2 - 86627698380398880*(theta2 + 1306489997507401/4503599627370496)^4 - 86627803167183264*(theta3 + 1306489997507401/4503599627370496)^4 + (164413933737288032*theta1 + 47696326861104464)*(theta2 + 1306489997507401/4503599627370496)^3 + 173194748194915072*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496) + 173216411979417184*(theta1 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496) + 182096859784307456*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496) + (theta3 + 1306489997507401/4503599627370496)^3*(182086237465625184*theta2 + 52823045478288904) - (50081675560632440*theta1 + 14528646769735230)*(theta3 + 1306489997507401/4503599627370496) - (50082877455815688*theta1 + 14528995438392502)*(theta2 + 1306489997507401/4503599627370496) - (48830718344081912*theta2 + 14165745262949376)*(theta3 + 1306489997507401/4503599627370496) - 251005996675404448*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^2 - 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624744045538082688*(theta2 + 1306489997507401/4503599627370496)^4*(theta3 + 1306489997507401/4503599627370496)^2 + (164424975203107872*theta1 + 47699529979908312)*(theta3 + 1306489997507401/4503599627370496)^3 - (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^3 - (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496)^2 + (theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^2*(8802059094991578*theta1 + 5106938056920437/2) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^3 - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) - 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624744045538082688*(theta1 + 1306489997507401/4503599627370496)^4*(theta3 + 1306489997507401/4503599627370496)^2 - 624744045538082688*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^4 + 1249488091076165376*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496)^3 - 624744045538082688*(theta2 + 1306489997507401/4503599627370496)^4*(theta3 + 1306489997507401/4503599627370496)^2 + (164424975203107872*theta1 + 47699529979908312)*(theta3 + 1306489997507401/4503599627370496)^3 - (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^3 - (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496)^2 + (theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^2*(8802059094991578*theta1 + 5106938056920437/2) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^3 - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^2 + 3748464273228495872*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^2 + (8770192138944777*theta1 + 5088448909229277/2)*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) + (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^4*(theta3 + 1306489997507401/4503599627370496) + (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^4 - 17572251233936354*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496) + 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^4*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496) + 5994864729184784)^(1/2) + (1353619654784090791529613513395403111576365983445465169920*theta1 + 392683783135802275651537904891896523949804443095435051008)*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) + (1353633093247945299821419550944694592374291184459689492480*theta1 + 392687681621471652049590415012334788546808733713418944512)*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^2 - 2707252748115336343650419482593465341610959000742962135040*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496) - 493360572929385253733561288187622148012943444279296))/(1163669410636236036207644137627761295809551216224799555584*(theta1 + 1306489997507401/4503599627370496)^2 + 1164004100426343185567018100303202225884882991385728253952*(theta2 + 1306489997507401/4503599627370496)^2 + 1164005508431507741411069609580286459246266049907667238912*(theta3 + 1306489997507401/4503599627370496)^2 - (1163668002631071480363592628350677062448168157702860570624*theta1 + 337578988286881998691846115926019972021154379752332591104)*(theta2 + 1306489997507401/4503599627370496) - (1163670818641400592051695646904845529170934274746738540544*theta1 + 337579805208818315489367755281986199310204251094229450752)*(theta3 + 1306489997507401/4503599627370496) - (1164340198221614716545871708735234096073798820003271671808*theta2 + 337773991592698991191736974450183022451893451198287577088)*(theta3 + 1306489997507401/4503599627370496) + 121028459279115638306624182468200079029534406145935933440); cos(theta5)*((8985507641290995*pb22)/9007199254740992 - (2477896991763523*pb23)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + (4611234024436301*pb21*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb21*sin(theta4))/2251799813685248) - sin(theta5)*((156183154282845*pb22)/2251799813685248 - (2756479672725957*pb23)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + (5300353942617791*pb21*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb21*sin(theta4))/9007199254740992), - sin(theta5)*((8985507641290995*pb22)/9007199254740992 - (2477896991763523*pb23)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + (4611234024436301*pb21*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb21*sin(theta4))/2251799813685248) - cos(theta5)*((156183154282845*pb22)/2251799813685248 - (2756479672725957*pb23)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + (5300353942617791*pb21*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb21*sin(theta4))/9007199254740992), (684969180613545*pb23)/182687704666362864775460604089535377456991567872 - (4967757600021511*pb22)/81129638414606681695789005144064 + (4967757600021511*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23) + pb21*cos(theta4) - (4967757600021511*pb21*sin(theta4))/81129638414606681695789005144064, pb24 + MpRABz*pb23 - MpRABx*(pb22 - (4967757600021511*pb23)/81129638414606681695789005144064) - RABTDLFx*(pb22 - (4967757600021511*pb23)/81129638414606681695789005144064) - RABTDLFz*((4967757600021511*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 - cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23) + (4967757600021511*pb21*cos(theta4))/81129638414606681695789005144064 + pb21*sin(theta4)) + (pb23*(5804419715539420*theta1 + 6790589032499990*theta2 + 6791794416933423*theta3 - (46627120543463376*theta2 + 13526483622651576)*(theta3 + 1306489997507401/4503599627370496)^2 + 93200516421832688*(theta1 + 1306489997507401/4503599627370496)^3 + 93227322369461776*(theta2 + 1306489997507401/4503599627370496)^3 + 93227435139297664*(theta3 + 1306489997507401/4503599627370496)^3 + (1713567497935139*(50082276508224064*(theta1 + 1306489997507401/4503599627370496)^2 + 49456797899948800*(theta2 + 1306489997507401/4503599627370496)^2 - 86602790043583056*(theta1 + 1306489997507401/4503599627370496)^4 + 49456196952357176*(theta3 + 1306489997507401/4503599627370496)^2 - 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624744045538082688*(theta2 + 1306489997507401/4503599627370496)^4*(theta3 + 1306489997507401/4503599627370496)^2 + (164424975203107872*theta1 + 47699529979908312)*(theta3 + 1306489997507401/4503599627370496)^3 - (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^3 - (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496)^2 + (theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^2*(8802059094991578*theta1 + 5106938056920437/2) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^3 - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^2 + 3748464273228495872*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^2 + (8770192138944777*theta1 + 5088448909229277/2)*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) + (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^4*(theta3 + 1306489997507401/4503599627370496) + (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^4 - 17572251233936354*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496) + 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^4*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496) + 5994864729184784)^(1/2))/16777216 - 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17572251233936354*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496) + 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^4*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496) + 5994864729184784)^(1/2) + (1353619654784090791529613513395403111576365983445465169920*theta1 + 392683783135802275651537904891896523949804443095435051008)*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) + (1353633093247945299821419550944694592374291184459689492480*theta1 + 392687681621471652049590415012334788546808733713418944512)*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^2 - 2707252748115336343650419482593465341610959000742962135040*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496) - 493360572929385253733561288187622148012943444279296))/(1163669410636236036207644137627761295809551216224799555584*(theta1 + 1306489997507401/4503599627370496)^2 + 1164004100426343185567018100303202225884882991385728253952*(theta2 + 1306489997507401/4503599627370496)^2 + 1164005508431507741411069609580286459246266049907667238912*(theta3 + 1306489997507401/4503599627370496)^2 - (1163668002631071480363592628350677062448168157702860570624*theta1 + 337578988286881998691846115926019972021154379752332591104)*(theta2 + 1306489997507401/4503599627370496) - (1163670818641400592051695646904845529170934274746738540544*theta1 + 337579805208818315489367755281986199310204251094229450752)*(theta3 + 1306489997507401/4503599627370496) - (1164340198221614716545871708735234096073798820003271671808*theta2 + 337773991592698991191736974450183022451893451198287577088)*(theta3 + 1306489997507401/4503599627370496) + 121028459279115638306624182468200079029534406145935933440); cos(theta5)*((8985507641290995*pb32)/9007199254740992 - (2477896991763523*pb33)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (4611234024436301*pb31*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb31*sin(theta4))/2251799813685248) - sin(theta5)*((156183154282845*pb32)/2251799813685248 - (2756479672725957*pb33)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (5300353942617791*pb31*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb31*sin(theta4))/9007199254740992), - sin(theta5)*((8985507641290995*pb32)/9007199254740992 - (2477896991763523*pb33)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (4611234024436301*pb31*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb31*sin(theta4))/2251799813685248) - cos(theta5)*((156183154282845*pb32)/2251799813685248 - (2756479672725957*pb33)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (5300353942617791*pb31*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb31*sin(theta4))/9007199254740992), (684969180613545*pb33)/182687704666362864775460604089535377456991567872 - (4967757600021511*pb32)/81129638414606681695789005144064 + (4967757600021511*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33) + pb31*cos(theta4) - (4967757600021511*pb31*sin(theta4))/81129638414606681695789005144064, pb34 + MpRABz*pb33 - MpRABx*(pb32 - (4967757600021511*pb33)/81129638414606681695789005144064) - RABTDLFx*(pb32 - (4967757600021511*pb33)/81129638414606681695789005144064) - RABTDLFz*((4967757600021511*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 - cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33) + (4967757600021511*pb31*cos(theta4))/81129638414606681695789005144064 + pb31*sin(theta4)) + (pb33*(5804419715539420*theta1 + 6790589032499990*theta2 + 6791794416933423*theta3 - (46627120543463376*theta2 + 13526483622651576)*(theta3 + 1306489997507401/4503599627370496)^2 + 93200516421832688*(theta1 + 1306489997507401/4503599627370496)^3 + 93227322369461776*(theta2 + 1306489997507401/4503599627370496)^3 + 93227435139297664*(theta3 + 1306489997507401/4503599627370496)^3 + (1713567497935139*(50082276508224064*(theta1 + 1306489997507401/4503599627370496)^2 + 49456797899948800*(theta2 + 1306489997507401/4503599627370496)^2 - 86602790043583056*(theta1 + 1306489997507401/4503599627370496)^4 + 49456196952357176*(theta3 + 1306489997507401/4503599627370496)^2 - 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624744045538082688*(theta2 + 1306489997507401/4503599627370496)^4*(theta3 + 1306489997507401/4503599627370496)^2 + (164424975203107872*theta1 + 47699529979908312)*(theta3 + 1306489997507401/4503599627370496)^3 - (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^3 - (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496)^2 + (theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^2*(8802059094991578*theta1 + 5106938056920437/2) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^3 - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^2 + 3748464273228495872*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^2 + (8770192138944777*theta1 + 5088448909229277/2)*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) + (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^4*(theta3 + 1306489997507401/4503599627370496) + (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^4 - 17572251233936354*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496) + 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^4*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496) + 5994864729184784)^(1/2))/16777216 - 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17572251233936354*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496) + 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^4*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496) + 5994864729184784)^(1/2) + (1353619654784090791529613513395403111576365983445465169920*theta1 + 392683783135802275651537904891896523949804443095435051008)*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) + (1353633093247945299821419550944694592374291184459689492480*theta1 + 392687681621471652049590415012334788546808733713418944512)*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^2 - 2707252748115336343650419482593465341610959000742962135040*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496) - 493360572929385253733561288187622148012943444279296))/(1163669410636236036207644137627761295809551216224799555584*(theta1 + 1306489997507401/4503599627370496)^2 + 1164004100426343185567018100303202225884882991385728253952*(theta2 + 1306489997507401/4503599627370496)^2 + 1164005508431507741411069609580286459246266049907667238912*(theta3 + 1306489997507401/4503599627370496)^2 - (1163668002631071480363592628350677062448168157702860570624*theta1 + 337578988286881998691846115926019972021154379752332591104)*(theta2 + 1306489997507401/4503599627370496) - (1163670818641400592051695646904845529170934274746738540544*theta1 + 337579805208818315489367755281986199310204251094229450752)*(theta3 + 1306489997507401/4503599627370496) - (1164340198221614716545871708735234096073798820003271671808*theta2 + 337773991592698991191736974450183022451893451198287577088)*(theta3 + 1306489997507401/4503599627370496) + 121028459279115638306624182468200079029534406145935933440); 0, 0, 0, 1]; FktoE35 =[(684969180613545*pb13)/182687704666362864775460604089535377456991567872 - (4967757600021511*pb12)/81129638414606681695789005144064 + (43069994886343*pb11*cos(E35zoff - theta4 + theta5))/20282409603651670423947251286016 + (5466556812951353*pb12*cos(E35zoff - theta4 + theta5))/2923003274661805836407369665432566039311865085952 + (2477896991763523*pb13*cos(E35zoff - theta4 + theta5))/81129638414606681695789005144064 + (2477896991763523*pb11*sin(E35zoff - theta4 + theta5))/81129638414606681695789005144064 - (3040572869814441*pb12*sin(E35zoff - theta4 + theta5))/23384026197294446691258957323460528314494920687616 - (43069994886343*pb13*sin(E35zoff - theta4 + theta5))/20282409603651670423947251286016 - (5512959345451909*pb12*cos(E35zoff + theta5))/1298074214633706907132624082305024 + (6081145739628887*pb13*cos(E35zoff + theta5))/23384026197294446691258957323460528314494920687616 - (2477896991763523*pb12*sin(E35zoff + theta5))/40564819207303340847894502572032 + (5466556812951353*pb13*sin(E35zoff + theta5))/1461501637330902918203684832716283019655932542976 + pb11*cos(theta4) + (684969180613545*pb12*cos(theta4))/182687704666362864775460604089535377456991567872 + (4967757600021511*pb13*cos(theta4))/81129638414606681695789005144064 - (4967757600021511*pb11*sin(theta4))/81129638414606681695789005144064 + (4967757600021511*pb12*sin(theta4))/81129638414606681695789005144064 + pb13*sin(theta4) - (5512959345451915*pb11*cos(E35zoff + theta4 + theta5))/2596148429267413814265248164610048 + (2733278406475677*pb12*cos(E35zoff + theta4 + theta5))/1461501637330902918203684832716283019655932542976 + (2477896991763523*pb13*cos(E35zoff + theta4 + theta5))/81129638414606681695789005144064 - (2477896991763523*pb11*sin(E35zoff + theta4 + theta5))/81129638414606681695789005144064 - (6081145739628893*pb12*sin(E35zoff + theta4 + theta5))/46768052394588893382517914646921056628989841375232 - (5512959345451915*pb13*sin(E35zoff + theta4 + theta5))/2596148429267413814265248164610048, (156183154282845*pb11*sin(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 - (5512959345451915*pb12*cos(E35xoff + E35zoff + theta4 + theta5))/2596148429267413814265248164610048 - (156183154282845*pb13*cos(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 - (2246376910322749*pb11*cos(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 - (2477896991763523*pb12*sin(E35xoff + E35zoff + theta4 + theta5))/81129638414606681695789005144064 - (2246376910322749*pb13*sin(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (684969180613545*pb11*cos(E35xoff + theta4))/365375409332725729550921208179070754913983135744 - (684969180613545*pb12*cos(E35xoff + theta4))/365375409332725729550921208179070754913983135744 - (4967757600021511*pb13*cos(E35xoff + theta4))/162259276829213363391578010288128 + (4967757600021511*pb11*sin(E35xoff + theta4))/162259276829213363391578010288128 + (3022258756833769*pb12*sin(E35xoff + theta4))/26328072917139296674479506920917608079723773850137277813577744384 + (684969180613545*pb13*sin(E35xoff + theta4))/365375409332725729550921208179070754913983135744 + (8985507641290995*pb11*cos(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 - (43069994886343*pb12*cos(E35xoff + E35zoff - theta4 + theta5))/20282409603651670423947251286016 - (4997860937051031*pb13*cos(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 - (4997860937051031*pb11*sin(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 - (2477896991763523*pb12*sin(E35xoff + E35zoff - theta4 + theta5))/81129638414606681695789005144064 - (8985507641290995*pb13*sin(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 - (684969180613545*pb12*sin(E35xoff))/182687704666362864775460604089535377456991567872 + (3022258756833769*pb13*sin(E35xoff))/13164036458569648337239753460458804039861886925068638906788872192 - (8985507641290995*pb12*cos(E35xoff + E35zoff + theta5))/9007199254740992 + (2477896991763523*pb13*cos(E35xoff + E35zoff + theta5))/40564819207303340847894502572032 + (1249465234262759*pb12*sin(E35xoff + E35zoff + theta5))/18014398509481984 - (5512959345451909*pb13*sin(E35xoff + E35zoff + theta5))/1298074214633706907132624082305024 - (684969180613545*pb11*cos(E35xoff - theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb12*cos(E35xoff - theta4))/365375409332725729550921208179070754913983135744 + (4967757600021511*pb13*cos(E35xoff - theta4))/162259276829213363391578010288128 + (4967757600021511*pb11*sin(E35xoff - theta4))/162259276829213363391578010288128 + (3022258756833769*pb12*sin(E35xoff - theta4))/26328072917139296674479506920917608079723773850137277813577744384 + (684969180613545*pb13*sin(E35xoff - theta4))/365375409332725729550921208179070754913983135744, (156183154282845*pb11*cos(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 - (2477896991763523*pb12*cos(E35xoff + E35zoff + theta4 + theta5))/81129638414606681695789005144064 - (2246376910322749*pb13*cos(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (2246376910322749*pb11*sin(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (5512959345451915*pb12*sin(E35xoff + E35zoff + theta4 + theta5))/2596148429267413814265248164610048 + (156183154282845*pb13*sin(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (4967757600021511*pb11*cos(E35xoff + theta4))/162259276829213363391578010288128 + (3022258756833769*pb12*cos(E35xoff + theta4))/26328072917139296674479506920917608079723773850137277813577744384 + (684969180613545*pb13*cos(E35xoff + theta4))/365375409332725729550921208179070754913983135744 - (684969180613545*pb11*sin(E35xoff + theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb12*sin(E35xoff + theta4))/365375409332725729550921208179070754913983135744 + (4967757600021511*pb13*sin(E35xoff + theta4))/162259276829213363391578010288128 - (4997860937051031*pb11*cos(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 - (2477896991763523*pb12*cos(E35xoff + E35zoff - theta4 + theta5))/81129638414606681695789005144064 - (8985507641290995*pb13*cos(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 - (8985507641290995*pb11*sin(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 + (43069994886343*pb12*sin(E35xoff + E35zoff - theta4 + theta5))/20282409603651670423947251286016 + (4997860937051031*pb13*sin(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 - (684969180613545*pb12*cos(E35xoff))/182687704666362864775460604089535377456991567872 + (3022258756833769*pb13*cos(E35xoff))/13164036458569648337239753460458804039861886925068638906788872192 + (1249465234262759*pb12*cos(E35xoff + E35zoff + theta5))/18014398509481984 - (5512959345451909*pb13*cos(E35xoff + E35zoff + theta5))/1298074214633706907132624082305024 + (8985507641290995*pb12*sin(E35xoff + E35zoff + theta5))/9007199254740992 - (2477896991763523*pb13*sin(E35xoff + E35zoff + theta5))/40564819207303340847894502572032 + (4967757600021511*pb11*cos(E35xoff - theta4))/162259276829213363391578010288128 + (3022258756833769*pb12*cos(E35xoff - theta4))/26328072917139296674479506920917608079723773850137277813577744384 + (684969180613545*pb13*cos(E35xoff - theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb11*sin(E35xoff - theta4))/365375409332725729550921208179070754913983135744 - (684969180613545*pb12*sin(E35xoff - theta4))/365375409332725729550921208179070754913983135744 - (4967757600021511*pb13*sin(E35xoff - theta4))/162259276829213363391578010288128, pb14 + MpRABz*pb13 - MpRABx*(pb12 - (4967757600021511*pb13)/81129638414606681695789005144064) - RABTDLFx*(pb12 - (4967757600021511*pb13)/81129638414606681695789005144064) - TDLFE35x*(cos(E35zoff)*(cos(theta5)*((8985507641290995*pb12)/9007199254740992 - (2477896991763523*pb13)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + (4611234024436301*pb11*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb11*sin(theta4))/2251799813685248) - sin(theta5)*((156183154282845*pb12)/2251799813685248 - (2756479672725957*pb13)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + (5300353942617791*pb11*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb11*sin(theta4))/9007199254740992)) - sin(E35zoff)*(sin(theta5)*((8985507641290995*pb12)/9007199254740992 - (2477896991763523*pb13)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + (4611234024436301*pb11*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb11*sin(theta4))/2251799813685248) + cos(theta5)*((156183154282845*pb12)/2251799813685248 - (2756479672725957*pb13)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + (5300353942617791*pb11*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb11*sin(theta4))/9007199254740992))) - TDLFE35z*(cos(E35zoff)*(sin(theta5)*((8985507641290995*pb12)/9007199254740992 - (2477896991763523*pb13)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + (4611234024436301*pb11*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb11*sin(theta4))/2251799813685248) + cos(theta5)*((156183154282845*pb12)/2251799813685248 - (2756479672725957*pb13)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + (5300353942617791*pb11*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb11*sin(theta4))/9007199254740992)) - (4967757600021511*cos(E35zoff)*(cos(theta5)*((8985507641290995*pb12)/9007199254740992 - (2477896991763523*pb13)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + (4611234024436301*pb11*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb11*sin(theta4))/2251799813685248) - sin(theta5)*((156183154282845*pb12)/2251799813685248 - (2756479672725957*pb13)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + (5300353942617791*pb11*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb11*sin(theta4))/9007199254740992)))/81129638414606681695789005144064 + (4967757600021511*sin(E35zoff)*(sin(theta5)*((8985507641290995*pb12)/9007199254740992 - (2477896991763523*pb13)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + (4611234024436301*pb11*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb11*sin(theta4))/2251799813685248) + cos(theta5)*((156183154282845*pb12)/2251799813685248 - (2756479672725957*pb13)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + (5300353942617791*pb11*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb11*sin(theta4))/9007199254740992)))/81129638414606681695789005144064 + sin(E35zoff)*(cos(theta5)*((8985507641290995*pb12)/9007199254740992 - (2477896991763523*pb13)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + (4611234024436301*pb11*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb11*sin(theta4))/2251799813685248) - sin(theta5)*((156183154282845*pb12)/2251799813685248 - 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(4967757600021511*pb23*cos(E35xoff + theta4))/162259276829213363391578010288128 + (4967757600021511*pb21*sin(E35xoff + theta4))/162259276829213363391578010288128 + (3022258756833769*pb22*sin(E35xoff + theta4))/26328072917139296674479506920917608079723773850137277813577744384 + (684969180613545*pb23*sin(E35xoff + theta4))/365375409332725729550921208179070754913983135744 + (8985507641290995*pb21*cos(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 - (43069994886343*pb22*cos(E35xoff + E35zoff - theta4 + theta5))/20282409603651670423947251286016 - (4997860937051031*pb23*cos(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 - (4997860937051031*pb21*sin(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 - (2477896991763523*pb22*sin(E35xoff + E35zoff - theta4 + theta5))/81129638414606681695789005144064 - (8985507641290995*pb23*sin(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 - (684969180613545*pb22*sin(E35xoff))/182687704666362864775460604089535377456991567872 + (3022258756833769*pb23*sin(E35xoff))/13164036458569648337239753460458804039861886925068638906788872192 - (8985507641290995*pb22*cos(E35xoff + E35zoff + theta5))/9007199254740992 + (2477896991763523*pb23*cos(E35xoff + E35zoff + theta5))/40564819207303340847894502572032 + (1249465234262759*pb22*sin(E35xoff + E35zoff + theta5))/18014398509481984 - (5512959345451909*pb23*sin(E35xoff + E35zoff + theta5))/1298074214633706907132624082305024 - (684969180613545*pb21*cos(E35xoff - theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb22*cos(E35xoff - theta4))/365375409332725729550921208179070754913983135744 + (4967757600021511*pb23*cos(E35xoff - theta4))/162259276829213363391578010288128 + (4967757600021511*pb21*sin(E35xoff - theta4))/162259276829213363391578010288128 + (3022258756833769*pb22*sin(E35xoff - theta4))/26328072917139296674479506920917608079723773850137277813577744384 + (684969180613545*pb23*sin(E35xoff - theta4))/365375409332725729550921208179070754913983135744, (156183154282845*pb21*cos(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 - (2477896991763523*pb22*cos(E35xoff + E35zoff + theta4 + theta5))/81129638414606681695789005144064 - (2246376910322749*pb23*cos(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (2246376910322749*pb21*sin(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (5512959345451915*pb22*sin(E35xoff + E35zoff + theta4 + theta5))/2596148429267413814265248164610048 + (156183154282845*pb23*sin(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (4967757600021511*pb21*cos(E35xoff + theta4))/162259276829213363391578010288128 + (3022258756833769*pb22*cos(E35xoff + theta4))/26328072917139296674479506920917608079723773850137277813577744384 + (684969180613545*pb23*cos(E35xoff + theta4))/365375409332725729550921208179070754913983135744 - (684969180613545*pb21*sin(E35xoff + theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb22*sin(E35xoff + theta4))/365375409332725729550921208179070754913983135744 + (4967757600021511*pb23*sin(E35xoff + theta4))/162259276829213363391578010288128 - (4997860937051031*pb21*cos(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 - (2477896991763523*pb22*cos(E35xoff + E35zoff - theta4 + theta5))/81129638414606681695789005144064 - (8985507641290995*pb23*cos(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 - (8985507641290995*pb21*sin(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 + (43069994886343*pb22*sin(E35xoff + E35zoff - theta4 + theta5))/20282409603651670423947251286016 + (4997860937051031*pb23*sin(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 - (684969180613545*pb22*cos(E35xoff))/182687704666362864775460604089535377456991567872 + (3022258756833769*pb23*cos(E35xoff))/13164036458569648337239753460458804039861886925068638906788872192 + (1249465234262759*pb22*cos(E35xoff + E35zoff + theta5))/18014398509481984 - (5512959345451909*pb23*cos(E35xoff + E35zoff + theta5))/1298074214633706907132624082305024 + (8985507641290995*pb22*sin(E35xoff + E35zoff + theta5))/9007199254740992 - (2477896991763523*pb23*sin(E35xoff + E35zoff + theta5))/40564819207303340847894502572032 + (4967757600021511*pb21*cos(E35xoff - theta4))/162259276829213363391578010288128 + (3022258756833769*pb22*cos(E35xoff - theta4))/26328072917139296674479506920917608079723773850137277813577744384 + (684969180613545*pb23*cos(E35xoff - theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb21*sin(E35xoff - theta4))/365375409332725729550921208179070754913983135744 - (684969180613545*pb22*sin(E35xoff - theta4))/365375409332725729550921208179070754913983135744 - (4967757600021511*pb23*sin(E35xoff - theta4))/162259276829213363391578010288128, pb24 + MpRABz*pb23 - MpRABx*(pb22 - (4967757600021511*pb23)/81129638414606681695789005144064) - RABTDLFx*(pb22 - (4967757600021511*pb23)/81129638414606681695789005144064) - TDLFE35x*(cos(E35zoff)*(cos(theta5)*((8985507641290995*pb22)/9007199254740992 - (2477896991763523*pb23)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + (4611234024436301*pb21*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb21*sin(theta4))/2251799813685248) - sin(theta5)*((156183154282845*pb22)/2251799813685248 - (2756479672725957*pb23)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + (5300353942617791*pb21*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb21*sin(theta4))/9007199254740992)) - sin(E35zoff)*(sin(theta5)*((8985507641290995*pb22)/9007199254740992 - (2477896991763523*pb23)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + (4611234024436301*pb21*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb21*sin(theta4))/2251799813685248) + cos(theta5)*((156183154282845*pb22)/2251799813685248 - (2756479672725957*pb23)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + (5300353942617791*pb21*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb21*sin(theta4))/9007199254740992))) - TDLFE35z*(cos(E35zoff)*(sin(theta5)*((8985507641290995*pb22)/9007199254740992 - (2477896991763523*pb23)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + (4611234024436301*pb21*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb21*sin(theta4))/2251799813685248) + cos(theta5)*((156183154282845*pb22)/2251799813685248 - (2756479672725957*pb23)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + (5300353942617791*pb21*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb21*sin(theta4))/9007199254740992)) - (4967757600021511*cos(E35zoff)*(cos(theta5)*((8985507641290995*pb22)/9007199254740992 - (2477896991763523*pb23)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + (4611234024436301*pb21*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb21*sin(theta4))/2251799813685248) - sin(theta5)*((156183154282845*pb22)/2251799813685248 - (2756479672725957*pb23)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + (5300353942617791*pb21*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb21*sin(theta4))/9007199254740992)))/81129638414606681695789005144064 + (4967757600021511*sin(E35zoff)*(sin(theta5)*((8985507641290995*pb22)/9007199254740992 - (2477896991763523*pb23)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + (4611234024436301*pb21*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb21*sin(theta4))/2251799813685248) + cos(theta5)*((156183154282845*pb22)/2251799813685248 - (2756479672725957*pb23)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + (5300353942617791*pb21*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb21*sin(theta4))/9007199254740992)))/81129638414606681695789005144064 + sin(E35zoff)*(cos(theta5)*((8985507641290995*pb22)/9007199254740992 - (2477896991763523*pb23)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + (4611234024436301*pb21*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb21*sin(theta4))/2251799813685248) - sin(theta5)*((156183154282845*pb22)/2251799813685248 - (2756479672725957*pb23)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + (5300353942617791*pb21*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb21*sin(theta4))/9007199254740992))) - RABTDLFz*((4967757600021511*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 - cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23) + (4967757600021511*pb21*cos(theta4))/81129638414606681695789005144064 + pb21*sin(theta4)) + (pb23*(5804419715539420*theta1 + 6790589032499990*theta2 + 6791794416933423*theta3 - (46627120543463376*theta2 + 13526483622651576)*(theta3 + 1306489997507401/4503599627370496)^2 + 93200516421832688*(theta1 + 1306489997507401/4503599627370496)^3 + 93227322369461776*(theta2 + 1306489997507401/4503599627370496)^3 + 93227435139297664*(theta3 + 1306489997507401/4503599627370496)^3 + (1713567497935139*(50082276508224064*(theta1 + 1306489997507401/4503599627370496)^2 + 49456797899948800*(theta2 + 1306489997507401/4503599627370496)^2 - 86602790043583056*(theta1 + 1306489997507401/4503599627370496)^4 + 49456196952357176*(theta3 + 1306489997507401/4503599627370496)^2 - 86627698380398880*(theta2 + 1306489997507401/4503599627370496)^4 - 86627803167183264*(theta3 + 1306489997507401/4503599627370496)^4 + (164413933737288032*theta1 + 47696326861104464)*(theta2 + 1306489997507401/4503599627370496)^3 + 173194748194915072*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496) + 173216411979417184*(theta1 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496) + 182096859784307456*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496) + (theta3 + 1306489997507401/4503599627370496)^3*(182086237465625184*theta2 + 52823045478288904) - (50081675560632440*theta1 + 14528646769735230)*(theta3 + 1306489997507401/4503599627370496) - (50082877455815688*theta1 + 14528995438392502)*(theta2 + 1306489997507401/4503599627370496) - (48830718344081912*theta2 + 14165745262949376)*(theta3 + 1306489997507401/4503599627370496) - 251005996675404448*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^2 - 251038492352157600*(theta1 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^2 - 624744045538082688*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^4 + 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496)^3 - 277530385745933568*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^2 - 624744045538082688*(theta1 + 1306489997507401/4503599627370496)^4*(theta2 + 1306489997507401/4503599627370496)^2 - 624744045538082688*(theta1 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^4 + 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496)^3 - 624744045538082688*(theta1 + 1306489997507401/4503599627370496)^4*(theta3 + 1306489997507401/4503599627370496)^2 - 624744045538082688*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^4 + 1249488091076165376*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496)^3 - 624744045538082688*(theta2 + 1306489997507401/4503599627370496)^4*(theta3 + 1306489997507401/4503599627370496)^2 + (164424975203107872*theta1 + 47699529979908312)*(theta3 + 1306489997507401/4503599627370496)^3 - (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^3 - (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496)^2 + (theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^2*(8802059094991578*theta1 + 5106938056920437/2) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^3 - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^2 + 3748464273228495872*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^2 + (8770192138944777*theta1 + 5088448909229277/2)*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) + (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^4*(theta3 + 1306489997507401/4503599627370496) + (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^4 - 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(2477896991763523*pb32*cos(E35xoff + E35zoff - theta4 + theta5))/81129638414606681695789005144064 - (8985507641290995*pb33*cos(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 - (8985507641290995*pb31*sin(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 + (43069994886343*pb32*sin(E35xoff + E35zoff - theta4 + theta5))/20282409603651670423947251286016 + (4997860937051031*pb33*sin(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 - (684969180613545*pb32*cos(E35xoff))/182687704666362864775460604089535377456991567872 + (3022258756833769*pb33*cos(E35xoff))/13164036458569648337239753460458804039861886925068638906788872192 + (1249465234262759*pb32*cos(E35xoff + E35zoff + theta5))/18014398509481984 - (5512959345451909*pb33*cos(E35xoff + E35zoff + theta5))/1298074214633706907132624082305024 + (8985507641290995*pb32*sin(E35xoff + E35zoff + theta5))/9007199254740992 - (2477896991763523*pb33*sin(E35xoff + E35zoff + theta5))/40564819207303340847894502572032 + (4967757600021511*pb31*cos(E35xoff - theta4))/162259276829213363391578010288128 + (3022258756833769*pb32*cos(E35xoff - theta4))/26328072917139296674479506920917608079723773850137277813577744384 + (684969180613545*pb33*cos(E35xoff - theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb31*sin(E35xoff - theta4))/365375409332725729550921208179070754913983135744 - (684969180613545*pb32*sin(E35xoff - theta4))/365375409332725729550921208179070754913983135744 - (4967757600021511*pb33*sin(E35xoff - theta4))/162259276829213363391578010288128, pb34 + MpRABz*pb33 - MpRABx*(pb32 - (4967757600021511*pb33)/81129638414606681695789005144064) - RABTDLFx*(pb32 - (4967757600021511*pb33)/81129638414606681695789005144064) - TDLFE35x*(cos(E35zoff)*(cos(theta5)*((8985507641290995*pb32)/9007199254740992 - (2477896991763523*pb33)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (4611234024436301*pb31*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb31*sin(theta4))/2251799813685248) - sin(theta5)*((156183154282845*pb32)/2251799813685248 - (2756479672725957*pb33)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (5300353942617791*pb31*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb31*sin(theta4))/9007199254740992)) - sin(E35zoff)*(sin(theta5)*((8985507641290995*pb32)/9007199254740992 - (2477896991763523*pb33)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (4611234024436301*pb31*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb31*sin(theta4))/2251799813685248) + cos(theta5)*((156183154282845*pb32)/2251799813685248 - (2756479672725957*pb33)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (5300353942617791*pb31*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb31*sin(theta4))/9007199254740992))) - TDLFE35z*(cos(E35zoff)*(sin(theta5)*((8985507641290995*pb32)/9007199254740992 - (2477896991763523*pb33)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (4611234024436301*pb31*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb31*sin(theta4))/2251799813685248) + cos(theta5)*((156183154282845*pb32)/2251799813685248 - (2756479672725957*pb33)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (5300353942617791*pb31*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb31*sin(theta4))/9007199254740992)) - (4967757600021511*cos(E35zoff)*(cos(theta5)*((8985507641290995*pb32)/9007199254740992 - (2477896991763523*pb33)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (4611234024436301*pb31*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb31*sin(theta4))/2251799813685248) - sin(theta5)*((156183154282845*pb32)/2251799813685248 - (2756479672725957*pb33)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (5300353942617791*pb31*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb31*sin(theta4))/9007199254740992)))/81129638414606681695789005144064 + (4967757600021511*sin(E35zoff)*(sin(theta5)*((8985507641290995*pb32)/9007199254740992 - (2477896991763523*pb33)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (4611234024436301*pb31*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb31*sin(theta4))/2251799813685248) + cos(theta5)*((156183154282845*pb32)/2251799813685248 - (2756479672725957*pb33)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (5300353942617791*pb31*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb31*sin(theta4))/9007199254740992)))/81129638414606681695789005144064 + sin(E35zoff)*(cos(theta5)*((8985507641290995*pb32)/9007199254740992 - (2477896991763523*pb33)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (4611234024436301*pb31*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb31*sin(theta4))/2251799813685248) - sin(theta5)*((156183154282845*pb32)/2251799813685248 - (2756479672725957*pb33)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (5300353942617791*pb31*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb31*sin(theta4))/9007199254740992))) - RABTDLFz*((4967757600021511*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 - cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33) + (4967757600021511*pb31*cos(theta4))/81129638414606681695789005144064 + pb31*sin(theta4)) + (pb33*(5804419715539420*theta1 + 6790589032499990*theta2 + 6791794416933423*theta3 - (46627120543463376*theta2 + 13526483622651576)*(theta3 + 1306489997507401/4503599627370496)^2 + 93200516421832688*(theta1 + 1306489997507401/4503599627370496)^3 + 93227322369461776*(theta2 + 1306489997507401/4503599627370496)^3 + 93227435139297664*(theta3 + 1306489997507401/4503599627370496)^3 + (1713567497935139*(50082276508224064*(theta1 + 1306489997507401/4503599627370496)^2 + 49456797899948800*(theta2 + 1306489997507401/4503599627370496)^2 - 86602790043583056*(theta1 + 1306489997507401/4503599627370496)^4 + 49456196952357176*(theta3 + 1306489997507401/4503599627370496)^2 - 86627698380398880*(theta2 + 1306489997507401/4503599627370496)^4 - 86627803167183264*(theta3 + 1306489997507401/4503599627370496)^4 + (164413933737288032*theta1 + 47696326861104464)*(theta2 + 1306489997507401/4503599627370496)^3 + 173194748194915072*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496) + 173216411979417184*(theta1 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496) + 182096859784307456*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496) + (theta3 + 1306489997507401/4503599627370496)^3*(182086237465625184*theta2 + 52823045478288904) - (50081675560632440*theta1 + 14528646769735230)*(theta3 + 1306489997507401/4503599627370496) - (50082877455815688*theta1 + 14528995438392502)*(theta2 + 1306489997507401/4503599627370496) - (48830718344081912*theta2 + 14165745262949376)*(theta3 + 1306489997507401/4503599627370496) - 251005996675404448*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^2 - 251038492352157600*(theta1 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^2 - 624744045538082688*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^4 + 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496)^3 - 277530385745933568*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^2 - 624744045538082688*(theta1 + 1306489997507401/4503599627370496)^4*(theta2 + 1306489997507401/4503599627370496)^2 - 624744045538082688*(theta1 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^4 + 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496)^3 - 624744045538082688*(theta1 + 1306489997507401/4503599627370496)^4*(theta3 + 1306489997507401/4503599627370496)^2 - 624744045538082688*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^4 + 1249488091076165376*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496)^3 - 624744045538082688*(theta2 + 1306489997507401/4503599627370496)^4*(theta3 + 1306489997507401/4503599627370496)^2 + (164424975203107872*theta1 + 47699529979908312)*(theta3 + 1306489997507401/4503599627370496)^3 - (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^3 - (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496)^2 + (theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^2*(8802059094991578*theta1 + 5106938056920437/2) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^3 - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^2 + 3748464273228495872*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^2 + (8770192138944777*theta1 + 5088448909229277/2)*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) + (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^4*(theta3 + 1306489997507401/4503599627370496) + (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^4 - 17572251233936354*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496) + 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^4*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496) + 5994864729184784)^(1/2))/16777216 - 46600201825998400*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496) - 46600314595834280*(theta1 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) - 46627120543463376*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) - (theta3 + 1306489997507401/4503599627370496)^2*(46600314595834280*theta1 + 13518707242567014) - (theta2 + 1306489997507401/4503599627370496)^2*(46600201825998400*theta1 + 13518674528144156) + 5624093284124905))/(186401032843665376*(theta1 + 1306489997507401/4503599627370496)^2 - (theta2 + 1306489997507401/4503599627370496)*(186400807303993600*theta1 + 54074698112576624) + 186454644738923552*(theta2 + 1306489997507401/4503599627370496)^2 + 186454870278595328*(theta3 + 1306489997507401/4503599627370496)^2 - (186401258383337120*theta1 + 54074828970268056)*(theta3 + 1306489997507401/4503599627370496) - (186508482173853504*theta2 + 54105934490606304)*(theta3 + 1306489997507401/4503599627370496) + 19386803164972832) + ((pb31 + (4967757600021511*pb32)/81129638414606681695789005144064)*(33986622741980830128661914152664171850995073024*(theta1 + 1306489997507401/4503599627370496)^2 - 124403154659884180232894801461882464430887402471424*(theta2 + 1306489997507401/4503599627370496)^2 + 124417960243986644734069871271871580145722580795392*(theta3 + 1306489997507401/4503599627370496)^2 + 3995275588345242348728654438067651927139901044162560*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496) - 3995275588345242348728654438067651927139901044162560*(theta1 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496) - 1997625457234923952135870752551760087139971999203328*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496) + (248787128281128871710771866984047321761047111532544*theta1 + 72172910893871901543308903800366127696546883436544)*(theta2 + 1306489997507401/4503599627370496) - (248855101526612819761532346762081795636143488761856*theta1 + 72192629868174854748840665867110056688472901550080)*(theta3 + 1306489997507401/4503599627370496) + (19181038639512176130225756484029153816115937280*theta2 + 5564401189667305983475576643800359050282008576)*(theta3 + 1306489997507401/4503599627370496) - 5992901045580166300864525190619412014279873043365888*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^2 + 5992925719455559416093442338667670863332769808777216*(theta1 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^2 - 24673875394068623862977298678797117390715879424*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^2 + (1997625457234923952135870752551760087139971999203328*theta1 + 579509258057070822562813490046928068596003988570112)*(theta2 + 1306489997507401/4503599627370496)^3 - (1997650131110317731978785793057955388096398904786944*theta1 + 579516415925013929955976794418095295074349740982272)*(theta3 + 1306489997507401/4503599627370496)^3 + (1997650131110318064285784739286923614048163974873088*theta2 + 579516415925014096109476267532579408050232276025344)*(theta3 + 1306489997507401/4503599627370496)^3 - 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(4967757600021511*pb13*cos(E35xoff - theta4))/162259276829213363391578010288128 - (4967757600021511*pb11*sin(E35xoff - theta4))/162259276829213363391578010288128 - (3022258756833769*pb12*sin(E35xoff - theta4))/26328072917139296674479506920917608079723773850137277813577744384 - (684969180613545*pb13*sin(E35xoff - theta4))/365375409332725729550921208179070754913983135744)) + (E35Hpz - THpz)*(cos(E35xoff)*((156183154282845*pb11*cos(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 - (2477896991763523*pb12*cos(E35xoff + E35zoff + theta4 + theta5))/81129638414606681695789005144064 - (2246376910322749*pb13*cos(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (2246376910322749*pb11*sin(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (5512959345451915*pb12*sin(E35xoff + E35zoff + theta4 + theta5))/2596148429267413814265248164610048 + (156183154282845*pb13*sin(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (4967757600021511*pb11*cos(E35xoff + theta4))/162259276829213363391578010288128 + (3022258756833769*pb12*cos(E35xoff + theta4))/26328072917139296674479506920917608079723773850137277813577744384 + (684969180613545*pb13*cos(E35xoff + theta4))/365375409332725729550921208179070754913983135744 - (684969180613545*pb11*sin(E35xoff + theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb12*sin(E35xoff + theta4))/365375409332725729550921208179070754913983135744 + (4967757600021511*pb13*sin(E35xoff + theta4))/162259276829213363391578010288128 - (4997860937051031*pb11*cos(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 - (2477896991763523*pb12*cos(E35xoff + E35zoff - theta4 + theta5))/81129638414606681695789005144064 - (8985507641290995*pb13*cos(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 - (8985507641290995*pb11*sin(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 + (43069994886343*pb12*sin(E35xoff + E35zoff - theta4 + theta5))/20282409603651670423947251286016 + (4997860937051031*pb13*sin(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 - (684969180613545*pb12*cos(E35xoff))/182687704666362864775460604089535377456991567872 + (3022258756833769*pb13*cos(E35xoff))/13164036458569648337239753460458804039861886925068638906788872192 + (1249465234262759*pb12*cos(E35xoff + E35zoff + theta5))/18014398509481984 - (5512959345451909*pb13*cos(E35xoff + E35zoff + theta5))/1298074214633706907132624082305024 + (8985507641290995*pb12*sin(E35xoff + E35zoff + theta5))/9007199254740992 - (2477896991763523*pb13*sin(E35xoff + E35zoff + theta5))/40564819207303340847894502572032 + (4967757600021511*pb11*cos(E35xoff - theta4))/162259276829213363391578010288128 + (3022258756833769*pb12*cos(E35xoff - theta4))/26328072917139296674479506920917608079723773850137277813577744384 + (684969180613545*pb13*cos(E35xoff - theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb11*sin(E35xoff - theta4))/365375409332725729550921208179070754913983135744 - (684969180613545*pb12*sin(E35xoff - theta4))/365375409332725729550921208179070754913983135744 - (4967757600021511*pb13*sin(E35xoff - theta4))/162259276829213363391578010288128) - sin(E35xoff)*((2246376910322749*pb11*cos(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (5512959345451915*pb12*cos(E35xoff + E35zoff + theta4 + theta5))/2596148429267413814265248164610048 + (156183154282845*pb13*cos(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 - (156183154282845*pb11*sin(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (2477896991763523*pb12*sin(E35xoff + E35zoff + theta4 + theta5))/81129638414606681695789005144064 + (2246376910322749*pb13*sin(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 - (684969180613545*pb11*cos(E35xoff + theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb12*cos(E35xoff + theta4))/365375409332725729550921208179070754913983135744 + (4967757600021511*pb13*cos(E35xoff + theta4))/162259276829213363391578010288128 - (4967757600021511*pb11*sin(E35xoff + theta4))/162259276829213363391578010288128 - (3022258756833769*pb12*sin(E35xoff + theta4))/26328072917139296674479506920917608079723773850137277813577744384 - (684969180613545*pb13*sin(E35xoff + theta4))/365375409332725729550921208179070754913983135744 - (8985507641290995*pb11*cos(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 + (43069994886343*pb12*cos(E35xoff + E35zoff - theta4 + theta5))/20282409603651670423947251286016 + (4997860937051031*pb13*cos(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 + (4997860937051031*pb11*sin(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 + (2477896991763523*pb12*sin(E35xoff + E35zoff - theta4 + theta5))/81129638414606681695789005144064 + (8985507641290995*pb13*sin(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 + (684969180613545*pb12*sin(E35xoff))/182687704666362864775460604089535377456991567872 - (3022258756833769*pb13*sin(E35xoff))/13164036458569648337239753460458804039861886925068638906788872192 + (8985507641290995*pb12*cos(E35xoff + E35zoff + theta5))/9007199254740992 - (2477896991763523*pb13*cos(E35xoff + E35zoff + theta5))/40564819207303340847894502572032 - (1249465234262759*pb12*sin(E35xoff + E35zoff + theta5))/18014398509481984 + (5512959345451909*pb13*sin(E35xoff + E35zoff + theta5))/1298074214633706907132624082305024 + (684969180613545*pb11*cos(E35xoff - theta4))/365375409332725729550921208179070754913983135744 - (684969180613545*pb12*cos(E35xoff - theta4))/365375409332725729550921208179070754913983135744 - (4967757600021511*pb13*cos(E35xoff - theta4))/162259276829213363391578010288128 - (4967757600021511*pb11*sin(E35xoff - theta4))/162259276829213363391578010288128 - (3022258756833769*pb12*sin(E35xoff - theta4))/26328072917139296674479506920917608079723773850137277813577744384 - (684969180613545*pb13*sin(E35xoff - theta4))/365375409332725729550921208179070754913983135744)) + MpRABz*pb13 - MpRABx*(pb12 - (4967757600021511*pb13)/81129638414606681695789005144064) - RABTDLFx*(pb12 - (4967757600021511*pb13)/81129638414606681695789005144064) - TDLFE35x*(cos(E35zoff)*(cos(theta5)*((8985507641290995*pb12)/9007199254740992 - (2477896991763523*pb13)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + (4611234024436301*pb11*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb11*sin(theta4))/2251799813685248) - sin(theta5)*((156183154282845*pb12)/2251799813685248 - (2756479672725957*pb13)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + (5300353942617791*pb11*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb11*sin(theta4))/9007199254740992)) - sin(E35zoff)*(sin(theta5)*((8985507641290995*pb12)/9007199254740992 - (2477896991763523*pb13)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + (4611234024436301*pb11*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb11*sin(theta4))/2251799813685248) + cos(theta5)*((156183154282845*pb12)/2251799813685248 - (2756479672725957*pb13)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + (5300353942617791*pb11*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb11*sin(theta4))/9007199254740992))) - TDLFE35z*(cos(E35zoff)*(sin(theta5)*((8985507641290995*pb12)/9007199254740992 - (2477896991763523*pb13)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + (4611234024436301*pb11*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb11*sin(theta4))/2251799813685248) + cos(theta5)*((156183154282845*pb12)/2251799813685248 - (2756479672725957*pb13)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + (5300353942617791*pb11*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb11*sin(theta4))/9007199254740992)) - (4967757600021511*cos(E35zoff)*(cos(theta5)*((8985507641290995*pb12)/9007199254740992 - (2477896991763523*pb13)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + (4611234024436301*pb11*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb11*sin(theta4))/2251799813685248) - sin(theta5)*((156183154282845*pb12)/2251799813685248 - (2756479672725957*pb13)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + (5300353942617791*pb11*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb11*sin(theta4))/9007199254740992)))/81129638414606681695789005144064 + (4967757600021511*sin(E35zoff)*(sin(theta5)*((8985507641290995*pb12)/9007199254740992 - (2477896991763523*pb13)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + (4611234024436301*pb11*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb11*sin(theta4))/2251799813685248) + cos(theta5)*((156183154282845*pb12)/2251799813685248 - (2756479672725957*pb13)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + (5300353942617791*pb11*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb11*sin(theta4))/9007199254740992)))/81129638414606681695789005144064 + sin(E35zoff)*(cos(theta5)*((8985507641290995*pb12)/9007199254740992 - (2477896991763523*pb13)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + (4611234024436301*pb11*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb11*sin(theta4))/2251799813685248) - sin(theta5)*((156183154282845*pb12)/2251799813685248 - (2756479672725957*pb13)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 + (5300353942617791*pb11*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb11*sin(theta4))/9007199254740992))) - RABTDLFz*((4967757600021511*sin(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13))/81129638414606681695789005144064 - cos(theta4)*((4967757600021511*pb12)/81129638414606681695789005144064 + pb13) + (4967757600021511*pb11*cos(theta4))/81129638414606681695789005144064 + pb11*sin(theta4)) + (pb13*(5804419715539420*theta1 + 6790589032499990*theta2 + 6791794416933423*theta3 - (46627120543463376*theta2 + 13526483622651576)*(theta3 + 1306489997507401/4503599627370496)^2 + 93200516421832688*(theta1 + 1306489997507401/4503599627370496)^3 + 93227322369461776*(theta2 + 1306489997507401/4503599627370496)^3 + 93227435139297664*(theta3 + 1306489997507401/4503599627370496)^3 + (1713567497935139*(50082276508224064*(theta1 + 1306489997507401/4503599627370496)^2 + 49456797899948800*(theta2 + 1306489997507401/4503599627370496)^2 - 86602790043583056*(theta1 + 1306489997507401/4503599627370496)^4 + 49456196952357176*(theta3 + 1306489997507401/4503599627370496)^2 - 86627698380398880*(theta2 + 1306489997507401/4503599627370496)^4 - 86627803167183264*(theta3 + 1306489997507401/4503599627370496)^4 + (164413933737288032*theta1 + 47696326861104464)*(theta2 + 1306489997507401/4503599627370496)^3 + 173194748194915072*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496) + 173216411979417184*(theta1 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496) + 182096859784307456*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496) + (theta3 + 1306489997507401/4503599627370496)^3*(182086237465625184*theta2 + 52823045478288904) - (50081675560632440*theta1 + 14528646769735230)*(theta3 + 1306489997507401/4503599627370496) - (50082877455815688*theta1 + 14528995438392502)*(theta2 + 1306489997507401/4503599627370496) - (48830718344081912*theta2 + 14165745262949376)*(theta3 + 1306489997507401/4503599627370496) - 251005996675404448*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^2 - 251038492352157600*(theta1 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^2 - 624744045538082688*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^4 + 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496)^3 - 277530385745933568*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^2 - 624744045538082688*(theta1 + 1306489997507401/4503599627370496)^4*(theta2 + 1306489997507401/4503599627370496)^2 - 624744045538082688*(theta1 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^4 + 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496)^3 - 624744045538082688*(theta1 + 1306489997507401/4503599627370496)^4*(theta3 + 1306489997507401/4503599627370496)^2 - 624744045538082688*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^4 + 1249488091076165376*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496)^3 - 624744045538082688*(theta2 + 1306489997507401/4503599627370496)^4*(theta3 + 1306489997507401/4503599627370496)^2 + (164424975203107872*theta1 + 47699529979908312)*(theta3 + 1306489997507401/4503599627370496)^3 - (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^3 - (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496)^2 + (theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^2*(8802059094991578*theta1 + 5106938056920437/2) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^3 - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^2 + 3748464273228495872*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^2 + (8770192138944777*theta1 + 5088448909229277/2)*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) + (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^4*(theta3 + 1306489997507401/4503599627370496) + (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^4 - 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theta4))/26328072917139296674479506920917608079723773850137277813577744384 + (684969180613545*pb23*cos(Exoff - theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb21*sin(Exoff - theta4))/365375409332725729550921208179070754913983135744 - (684969180613545*pb22*sin(Exoff - theta4))/365375409332725729550921208179070754913983135744 - (4967757600021511*pb23*sin(Exoff - theta4))/162259276829213363391578010288128, pb24 + (E35Hpx - THpx)*(sin(E35xoff)*((156183154282845*pb21*cos(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 - (2477896991763523*pb22*cos(E35xoff + E35zoff + theta4 + theta5))/81129638414606681695789005144064 - (2246376910322749*pb23*cos(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (2246376910322749*pb21*sin(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (5512959345451915*pb22*sin(E35xoff + E35zoff + theta4 + theta5))/2596148429267413814265248164610048 + (156183154282845*pb23*sin(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (4967757600021511*pb21*cos(E35xoff + theta4))/162259276829213363391578010288128 + (3022258756833769*pb22*cos(E35xoff + theta4))/26328072917139296674479506920917608079723773850137277813577744384 + (684969180613545*pb23*cos(E35xoff + theta4))/365375409332725729550921208179070754913983135744 - (684969180613545*pb21*sin(E35xoff + theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb22*sin(E35xoff + theta4))/365375409332725729550921208179070754913983135744 + (4967757600021511*pb23*sin(E35xoff + theta4))/162259276829213363391578010288128 - (4997860937051031*pb21*cos(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 - (2477896991763523*pb22*cos(E35xoff + E35zoff - theta4 + theta5))/81129638414606681695789005144064 - (8985507641290995*pb23*cos(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 - (8985507641290995*pb21*sin(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 + (43069994886343*pb22*sin(E35xoff + E35zoff - theta4 + theta5))/20282409603651670423947251286016 + (4997860937051031*pb23*sin(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 - (684969180613545*pb22*cos(E35xoff))/182687704666362864775460604089535377456991567872 + (3022258756833769*pb23*cos(E35xoff))/13164036458569648337239753460458804039861886925068638906788872192 + (1249465234262759*pb22*cos(E35xoff + E35zoff + theta5))/18014398509481984 - (5512959345451909*pb23*cos(E35xoff + E35zoff + theta5))/1298074214633706907132624082305024 + (8985507641290995*pb22*sin(E35xoff + E35zoff + theta5))/9007199254740992 - (2477896991763523*pb23*sin(E35xoff + E35zoff + theta5))/40564819207303340847894502572032 + (4967757600021511*pb21*cos(E35xoff - theta4))/162259276829213363391578010288128 + (3022258756833769*pb22*cos(E35xoff - theta4))/26328072917139296674479506920917608079723773850137277813577744384 + (684969180613545*pb23*cos(E35xoff - theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb21*sin(E35xoff - theta4))/365375409332725729550921208179070754913983135744 - (684969180613545*pb22*sin(E35xoff - theta4))/365375409332725729550921208179070754913983135744 - (4967757600021511*pb23*sin(E35xoff - theta4))/162259276829213363391578010288128) + cos(E35xoff)*((2246376910322749*pb21*cos(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (5512959345451915*pb22*cos(E35xoff + E35zoff + theta4 + theta5))/2596148429267413814265248164610048 + (156183154282845*pb23*cos(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 - (156183154282845*pb21*sin(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (2477896991763523*pb22*sin(E35xoff + E35zoff + theta4 + theta5))/81129638414606681695789005144064 + (2246376910322749*pb23*sin(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 - (684969180613545*pb21*cos(E35xoff + theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb22*cos(E35xoff + theta4))/365375409332725729550921208179070754913983135744 + (4967757600021511*pb23*cos(E35xoff + theta4))/162259276829213363391578010288128 - (4967757600021511*pb21*sin(E35xoff + theta4))/162259276829213363391578010288128 - (3022258756833769*pb22*sin(E35xoff + theta4))/26328072917139296674479506920917608079723773850137277813577744384 - (684969180613545*pb23*sin(E35xoff + theta4))/365375409332725729550921208179070754913983135744 - (8985507641290995*pb21*cos(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 + (43069994886343*pb22*cos(E35xoff + E35zoff - theta4 + theta5))/20282409603651670423947251286016 + (4997860937051031*pb23*cos(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 + (4997860937051031*pb21*sin(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 + (2477896991763523*pb22*sin(E35xoff + E35zoff - theta4 + theta5))/81129638414606681695789005144064 + (8985507641290995*pb23*sin(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 + (684969180613545*pb22*sin(E35xoff))/182687704666362864775460604089535377456991567872 - (3022258756833769*pb23*sin(E35xoff))/13164036458569648337239753460458804039861886925068638906788872192 + (8985507641290995*pb22*cos(E35xoff + E35zoff + theta5))/9007199254740992 - (2477896991763523*pb23*cos(E35xoff + E35zoff + theta5))/40564819207303340847894502572032 - (1249465234262759*pb22*sin(E35xoff + E35zoff + theta5))/18014398509481984 + (5512959345451909*pb23*sin(E35xoff + E35zoff + theta5))/1298074214633706907132624082305024 + (684969180613545*pb21*cos(E35xoff - theta4))/365375409332725729550921208179070754913983135744 - (684969180613545*pb22*cos(E35xoff - theta4))/365375409332725729550921208179070754913983135744 - (4967757600021511*pb23*cos(E35xoff - theta4))/162259276829213363391578010288128 - (4967757600021511*pb21*sin(E35xoff - theta4))/162259276829213363391578010288128 - (3022258756833769*pb22*sin(E35xoff - theta4))/26328072917139296674479506920917608079723773850137277813577744384 - (684969180613545*pb23*sin(E35xoff - theta4))/365375409332725729550921208179070754913983135744)) + (E35Hpz - THpz)*(cos(E35xoff)*((156183154282845*pb21*cos(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 - (2477896991763523*pb22*cos(E35xoff + E35zoff + theta4 + theta5))/81129638414606681695789005144064 - (2246376910322749*pb23*cos(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (2246376910322749*pb21*sin(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (5512959345451915*pb22*sin(E35xoff + E35zoff + theta4 + theta5))/2596148429267413814265248164610048 + (156183154282845*pb23*sin(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (4967757600021511*pb21*cos(E35xoff + theta4))/162259276829213363391578010288128 + (3022258756833769*pb22*cos(E35xoff + theta4))/26328072917139296674479506920917608079723773850137277813577744384 + (684969180613545*pb23*cos(E35xoff + theta4))/365375409332725729550921208179070754913983135744 - (684969180613545*pb21*sin(E35xoff + theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb22*sin(E35xoff + theta4))/365375409332725729550921208179070754913983135744 + (4967757600021511*pb23*sin(E35xoff + theta4))/162259276829213363391578010288128 - (4997860937051031*pb21*cos(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 - (2477896991763523*pb22*cos(E35xoff + E35zoff - theta4 + theta5))/81129638414606681695789005144064 - (8985507641290995*pb23*cos(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 - (8985507641290995*pb21*sin(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 + (43069994886343*pb22*sin(E35xoff + E35zoff - theta4 + theta5))/20282409603651670423947251286016 + (4997860937051031*pb23*sin(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 - (684969180613545*pb22*cos(E35xoff))/182687704666362864775460604089535377456991567872 + (3022258756833769*pb23*cos(E35xoff))/13164036458569648337239753460458804039861886925068638906788872192 + (1249465234262759*pb22*cos(E35xoff + E35zoff + theta5))/18014398509481984 - (5512959345451909*pb23*cos(E35xoff + E35zoff + theta5))/1298074214633706907132624082305024 + (8985507641290995*pb22*sin(E35xoff + E35zoff + theta5))/9007199254740992 - (2477896991763523*pb23*sin(E35xoff + E35zoff + theta5))/40564819207303340847894502572032 + (4967757600021511*pb21*cos(E35xoff - theta4))/162259276829213363391578010288128 + (3022258756833769*pb22*cos(E35xoff - theta4))/26328072917139296674479506920917608079723773850137277813577744384 + (684969180613545*pb23*cos(E35xoff - theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb21*sin(E35xoff - theta4))/365375409332725729550921208179070754913983135744 - (684969180613545*pb22*sin(E35xoff - theta4))/365375409332725729550921208179070754913983135744 - (4967757600021511*pb23*sin(E35xoff - theta4))/162259276829213363391578010288128) - sin(E35xoff)*((2246376910322749*pb21*cos(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (5512959345451915*pb22*cos(E35xoff + E35zoff + theta4 + theta5))/2596148429267413814265248164610048 + (156183154282845*pb23*cos(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 - (156183154282845*pb21*sin(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (2477896991763523*pb22*sin(E35xoff + E35zoff + theta4 + theta5))/81129638414606681695789005144064 + (2246376910322749*pb23*sin(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 - (684969180613545*pb21*cos(E35xoff + theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb22*cos(E35xoff + theta4))/365375409332725729550921208179070754913983135744 + (4967757600021511*pb23*cos(E35xoff + theta4))/162259276829213363391578010288128 - (4967757600021511*pb21*sin(E35xoff + theta4))/162259276829213363391578010288128 - (3022258756833769*pb22*sin(E35xoff + theta4))/26328072917139296674479506920917608079723773850137277813577744384 - (684969180613545*pb23*sin(E35xoff + theta4))/365375409332725729550921208179070754913983135744 - (8985507641290995*pb21*cos(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 + (43069994886343*pb22*cos(E35xoff + E35zoff - theta4 + theta5))/20282409603651670423947251286016 + (4997860937051031*pb23*cos(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 + (4997860937051031*pb21*sin(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 + (2477896991763523*pb22*sin(E35xoff + E35zoff - theta4 + theta5))/81129638414606681695789005144064 + (8985507641290995*pb23*sin(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 + (684969180613545*pb22*sin(E35xoff))/182687704666362864775460604089535377456991567872 - (3022258756833769*pb23*sin(E35xoff))/13164036458569648337239753460458804039861886925068638906788872192 + (8985507641290995*pb22*cos(E35xoff + E35zoff + theta5))/9007199254740992 - (2477896991763523*pb23*cos(E35xoff + E35zoff + theta5))/40564819207303340847894502572032 - (1249465234262759*pb22*sin(E35xoff + E35zoff + theta5))/18014398509481984 + (5512959345451909*pb23*sin(E35xoff + E35zoff + theta5))/1298074214633706907132624082305024 + (684969180613545*pb21*cos(E35xoff - theta4))/365375409332725729550921208179070754913983135744 - (684969180613545*pb22*cos(E35xoff - theta4))/365375409332725729550921208179070754913983135744 - (4967757600021511*pb23*cos(E35xoff - theta4))/162259276829213363391578010288128 - (4967757600021511*pb21*sin(E35xoff - theta4))/162259276829213363391578010288128 - (3022258756833769*pb22*sin(E35xoff - theta4))/26328072917139296674479506920917608079723773850137277813577744384 - (684969180613545*pb23*sin(E35xoff - theta4))/365375409332725729550921208179070754913983135744)) + MpRABz*pb23 - MpRABx*(pb22 - (4967757600021511*pb23)/81129638414606681695789005144064) - RABTDLFx*(pb22 - (4967757600021511*pb23)/81129638414606681695789005144064) - TDLFE35x*(cos(E35zoff)*(cos(theta5)*((8985507641290995*pb22)/9007199254740992 - (2477896991763523*pb23)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + (4611234024436301*pb21*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb21*sin(theta4))/2251799813685248) - sin(theta5)*((156183154282845*pb22)/2251799813685248 - (2756479672725957*pb23)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + (5300353942617791*pb21*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb21*sin(theta4))/9007199254740992)) - sin(E35zoff)*(sin(theta5)*((8985507641290995*pb22)/9007199254740992 - (2477896991763523*pb23)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + (4611234024436301*pb21*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb21*sin(theta4))/2251799813685248) + cos(theta5)*((156183154282845*pb22)/2251799813685248 - (2756479672725957*pb23)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + (5300353942617791*pb21*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb21*sin(theta4))/9007199254740992))) - TDLFE35z*(cos(E35zoff)*(sin(theta5)*((8985507641290995*pb22)/9007199254740992 - (2477896991763523*pb23)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + (4611234024436301*pb21*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb21*sin(theta4))/2251799813685248) + cos(theta5)*((156183154282845*pb22)/2251799813685248 - (2756479672725957*pb23)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + (5300353942617791*pb21*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb21*sin(theta4))/9007199254740992)) - (4967757600021511*cos(E35zoff)*(cos(theta5)*((8985507641290995*pb22)/9007199254740992 - (2477896991763523*pb23)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + (4611234024436301*pb21*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb21*sin(theta4))/2251799813685248) - sin(theta5)*((156183154282845*pb22)/2251799813685248 - (2756479672725957*pb23)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + (5300353942617791*pb21*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb21*sin(theta4))/9007199254740992)))/81129638414606681695789005144064 + (4967757600021511*sin(E35zoff)*(sin(theta5)*((8985507641290995*pb22)/9007199254740992 - (2477896991763523*pb23)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + (4611234024436301*pb21*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb21*sin(theta4))/2251799813685248) + cos(theta5)*((156183154282845*pb22)/2251799813685248 - (2756479672725957*pb23)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + (5300353942617791*pb21*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb21*sin(theta4))/9007199254740992)))/81129638414606681695789005144064 + sin(E35zoff)*(cos(theta5)*((8985507641290995*pb22)/9007199254740992 - (2477896991763523*pb23)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb22)/81129638414606681695789005144064 + pb23))/81129638414606681695789005144064 + (4611234024436301*pb21*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb21*sin(theta4))/2251799813685248) - sin(theta5)*((156183154282845*pb22)/2251799813685248 - 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(8985507641290995*pb32*cos(E35zoff + Exoff + theta5))/9007199254740992 + (2477896991763523*pb33*cos(E35zoff + Exoff + theta5))/40564819207303340847894502572032 + (1249465234262759*pb32*sin(E35zoff + Exoff + theta5))/18014398509481984 - (5512959345451909*pb33*sin(E35zoff + Exoff + theta5))/1298074214633706907132624082305024 - (684969180613545*pb31*cos(Exoff - theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb32*cos(Exoff - theta4))/365375409332725729550921208179070754913983135744 + (4967757600021511*pb33*cos(Exoff - theta4))/162259276829213363391578010288128 + (4967757600021511*pb31*sin(Exoff - theta4))/162259276829213363391578010288128 + (3022258756833769*pb32*sin(Exoff - theta4))/26328072917139296674479506920917608079723773850137277813577744384 + (684969180613545*pb33*sin(Exoff - theta4))/365375409332725729550921208179070754913983135744, (156183154282845*pb31*cos(E35zoff + Exoff + theta4 + theta5))/4503599627370496 - (2477896991763523*pb32*cos(E35zoff + Exoff + theta4 + theta5))/81129638414606681695789005144064 - (2246376910322749*pb33*cos(E35zoff + Exoff + theta4 + theta5))/4503599627370496 + (2246376910322749*pb31*sin(E35zoff + Exoff + theta4 + theta5))/4503599627370496 + (5512959345451915*pb32*sin(E35zoff + Exoff + theta4 + theta5))/2596148429267413814265248164610048 + (156183154282845*pb33*sin(E35zoff + Exoff + theta4 + theta5))/4503599627370496 + (4967757600021511*pb31*cos(Exoff + theta4))/162259276829213363391578010288128 + (3022258756833769*pb32*cos(Exoff + theta4))/26328072917139296674479506920917608079723773850137277813577744384 + (684969180613545*pb33*cos(Exoff + theta4))/365375409332725729550921208179070754913983135744 - (684969180613545*pb31*sin(Exoff + theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb32*sin(Exoff + theta4))/365375409332725729550921208179070754913983135744 + (4967757600021511*pb33*sin(Exoff + theta4))/162259276829213363391578010288128 - (4997860937051031*pb31*cos(E35zoff + Exoff - theta4 + theta5))/144115188075855872 - (2477896991763523*pb32*cos(E35zoff + Exoff - theta4 + theta5))/81129638414606681695789005144064 - (8985507641290995*pb33*cos(E35zoff + Exoff - theta4 + theta5))/18014398509481984 - (8985507641290995*pb31*sin(E35zoff + Exoff - theta4 + theta5))/18014398509481984 + (43069994886343*pb32*sin(E35zoff + Exoff - theta4 + theta5))/20282409603651670423947251286016 + (4997860937051031*pb33*sin(E35zoff + Exoff - theta4 + theta5))/144115188075855872 - (684969180613545*pb32*cos(Exoff))/182687704666362864775460604089535377456991567872 + (3022258756833769*pb33*cos(Exoff))/13164036458569648337239753460458804039861886925068638906788872192 + (1249465234262759*pb32*cos(E35zoff + Exoff + theta5))/18014398509481984 - (5512959345451909*pb33*cos(E35zoff + Exoff + theta5))/1298074214633706907132624082305024 + (8985507641290995*pb32*sin(E35zoff + Exoff + theta5))/9007199254740992 - (2477896991763523*pb33*sin(E35zoff + Exoff + theta5))/40564819207303340847894502572032 + (4967757600021511*pb31*cos(Exoff - theta4))/162259276829213363391578010288128 + (3022258756833769*pb32*cos(Exoff - theta4))/26328072917139296674479506920917608079723773850137277813577744384 + (684969180613545*pb33*cos(Exoff - theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb31*sin(Exoff - theta4))/365375409332725729550921208179070754913983135744 - (684969180613545*pb32*sin(Exoff - theta4))/365375409332725729550921208179070754913983135744 - (4967757600021511*pb33*sin(Exoff - theta4))/162259276829213363391578010288128, pb34 + (E35Hpx - THpx)*(sin(E35xoff)*((156183154282845*pb31*cos(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 - (2477896991763523*pb32*cos(E35xoff + E35zoff + theta4 + theta5))/81129638414606681695789005144064 - (2246376910322749*pb33*cos(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (2246376910322749*pb31*sin(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (5512959345451915*pb32*sin(E35xoff + E35zoff + theta4 + theta5))/2596148429267413814265248164610048 + (156183154282845*pb33*sin(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (4967757600021511*pb31*cos(E35xoff + theta4))/162259276829213363391578010288128 + (3022258756833769*pb32*cos(E35xoff + theta4))/26328072917139296674479506920917608079723773850137277813577744384 + (684969180613545*pb33*cos(E35xoff + theta4))/365375409332725729550921208179070754913983135744 - (684969180613545*pb31*sin(E35xoff + theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb32*sin(E35xoff + theta4))/365375409332725729550921208179070754913983135744 + (4967757600021511*pb33*sin(E35xoff + theta4))/162259276829213363391578010288128 - (4997860937051031*pb31*cos(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 - (2477896991763523*pb32*cos(E35xoff + E35zoff - theta4 + theta5))/81129638414606681695789005144064 - (8985507641290995*pb33*cos(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 - (8985507641290995*pb31*sin(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 + (43069994886343*pb32*sin(E35xoff + E35zoff - theta4 + theta5))/20282409603651670423947251286016 + (4997860937051031*pb33*sin(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 - (684969180613545*pb32*cos(E35xoff))/182687704666362864775460604089535377456991567872 + (3022258756833769*pb33*cos(E35xoff))/13164036458569648337239753460458804039861886925068638906788872192 + (1249465234262759*pb32*cos(E35xoff + E35zoff + theta5))/18014398509481984 - (5512959345451909*pb33*cos(E35xoff + E35zoff + theta5))/1298074214633706907132624082305024 + (8985507641290995*pb32*sin(E35xoff + E35zoff + theta5))/9007199254740992 - (2477896991763523*pb33*sin(E35xoff + E35zoff + theta5))/40564819207303340847894502572032 + (4967757600021511*pb31*cos(E35xoff - theta4))/162259276829213363391578010288128 + (3022258756833769*pb32*cos(E35xoff - theta4))/26328072917139296674479506920917608079723773850137277813577744384 + (684969180613545*pb33*cos(E35xoff - theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb31*sin(E35xoff - theta4))/365375409332725729550921208179070754913983135744 - (684969180613545*pb32*sin(E35xoff - theta4))/365375409332725729550921208179070754913983135744 - (4967757600021511*pb33*sin(E35xoff - theta4))/162259276829213363391578010288128) + cos(E35xoff)*((2246376910322749*pb31*cos(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (5512959345451915*pb32*cos(E35xoff + E35zoff + theta4 + theta5))/2596148429267413814265248164610048 + (156183154282845*pb33*cos(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 - (156183154282845*pb31*sin(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (2477896991763523*pb32*sin(E35xoff + E35zoff + theta4 + theta5))/81129638414606681695789005144064 + (2246376910322749*pb33*sin(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 - (684969180613545*pb31*cos(E35xoff + theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb32*cos(E35xoff + theta4))/365375409332725729550921208179070754913983135744 + (4967757600021511*pb33*cos(E35xoff + theta4))/162259276829213363391578010288128 - (4967757600021511*pb31*sin(E35xoff + theta4))/162259276829213363391578010288128 - (3022258756833769*pb32*sin(E35xoff + theta4))/26328072917139296674479506920917608079723773850137277813577744384 - (684969180613545*pb33*sin(E35xoff + theta4))/365375409332725729550921208179070754913983135744 - (8985507641290995*pb31*cos(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 + (43069994886343*pb32*cos(E35xoff + E35zoff - theta4 + theta5))/20282409603651670423947251286016 + (4997860937051031*pb33*cos(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 + (4997860937051031*pb31*sin(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 + (2477896991763523*pb32*sin(E35xoff + E35zoff - theta4 + theta5))/81129638414606681695789005144064 + (8985507641290995*pb33*sin(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 + (684969180613545*pb32*sin(E35xoff))/182687704666362864775460604089535377456991567872 - (3022258756833769*pb33*sin(E35xoff))/13164036458569648337239753460458804039861886925068638906788872192 + (8985507641290995*pb32*cos(E35xoff + E35zoff + theta5))/9007199254740992 - (2477896991763523*pb33*cos(E35xoff + E35zoff + theta5))/40564819207303340847894502572032 - (1249465234262759*pb32*sin(E35xoff + E35zoff + theta5))/18014398509481984 + (5512959345451909*pb33*sin(E35xoff + E35zoff + theta5))/1298074214633706907132624082305024 + (684969180613545*pb31*cos(E35xoff - theta4))/365375409332725729550921208179070754913983135744 - (684969180613545*pb32*cos(E35xoff - theta4))/365375409332725729550921208179070754913983135744 - (4967757600021511*pb33*cos(E35xoff - theta4))/162259276829213363391578010288128 - (4967757600021511*pb31*sin(E35xoff - theta4))/162259276829213363391578010288128 - (3022258756833769*pb32*sin(E35xoff - theta4))/26328072917139296674479506920917608079723773850137277813577744384 - (684969180613545*pb33*sin(E35xoff - theta4))/365375409332725729550921208179070754913983135744)) + (E35Hpz - THpz)*(cos(E35xoff)*((156183154282845*pb31*cos(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 - (2477896991763523*pb32*cos(E35xoff + E35zoff + theta4 + theta5))/81129638414606681695789005144064 - (2246376910322749*pb33*cos(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (2246376910322749*pb31*sin(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (5512959345451915*pb32*sin(E35xoff + E35zoff + theta4 + theta5))/2596148429267413814265248164610048 + (156183154282845*pb33*sin(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (4967757600021511*pb31*cos(E35xoff + theta4))/162259276829213363391578010288128 + (3022258756833769*pb32*cos(E35xoff + theta4))/26328072917139296674479506920917608079723773850137277813577744384 + (684969180613545*pb33*cos(E35xoff + theta4))/365375409332725729550921208179070754913983135744 - (684969180613545*pb31*sin(E35xoff + theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb32*sin(E35xoff + theta4))/365375409332725729550921208179070754913983135744 + (4967757600021511*pb33*sin(E35xoff + theta4))/162259276829213363391578010288128 - (4997860937051031*pb31*cos(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 - (2477896991763523*pb32*cos(E35xoff + E35zoff - theta4 + theta5))/81129638414606681695789005144064 - (8985507641290995*pb33*cos(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 - (8985507641290995*pb31*sin(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 + (43069994886343*pb32*sin(E35xoff + E35zoff - theta4 + theta5))/20282409603651670423947251286016 + (4997860937051031*pb33*sin(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 - (684969180613545*pb32*cos(E35xoff))/182687704666362864775460604089535377456991567872 + (3022258756833769*pb33*cos(E35xoff))/13164036458569648337239753460458804039861886925068638906788872192 + (1249465234262759*pb32*cos(E35xoff + E35zoff + theta5))/18014398509481984 - (5512959345451909*pb33*cos(E35xoff + E35zoff + theta5))/1298074214633706907132624082305024 + (8985507641290995*pb32*sin(E35xoff + E35zoff + theta5))/9007199254740992 - (2477896991763523*pb33*sin(E35xoff + E35zoff + theta5))/40564819207303340847894502572032 + (4967757600021511*pb31*cos(E35xoff - theta4))/162259276829213363391578010288128 + (3022258756833769*pb32*cos(E35xoff - theta4))/26328072917139296674479506920917608079723773850137277813577744384 + (684969180613545*pb33*cos(E35xoff - theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb31*sin(E35xoff - theta4))/365375409332725729550921208179070754913983135744 - (684969180613545*pb32*sin(E35xoff - theta4))/365375409332725729550921208179070754913983135744 - (4967757600021511*pb33*sin(E35xoff - theta4))/162259276829213363391578010288128) - sin(E35xoff)*((2246376910322749*pb31*cos(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (5512959345451915*pb32*cos(E35xoff + E35zoff + theta4 + theta5))/2596148429267413814265248164610048 + (156183154282845*pb33*cos(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 - (156183154282845*pb31*sin(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 + (2477896991763523*pb32*sin(E35xoff + E35zoff + theta4 + theta5))/81129638414606681695789005144064 + (2246376910322749*pb33*sin(E35xoff + E35zoff + theta4 + theta5))/4503599627370496 - (684969180613545*pb31*cos(E35xoff + theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb32*cos(E35xoff + theta4))/365375409332725729550921208179070754913983135744 + (4967757600021511*pb33*cos(E35xoff + theta4))/162259276829213363391578010288128 - (4967757600021511*pb31*sin(E35xoff + theta4))/162259276829213363391578010288128 - (3022258756833769*pb32*sin(E35xoff + theta4))/26328072917139296674479506920917608079723773850137277813577744384 - (684969180613545*pb33*sin(E35xoff + theta4))/365375409332725729550921208179070754913983135744 - (8985507641290995*pb31*cos(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 + (43069994886343*pb32*cos(E35xoff + E35zoff - theta4 + theta5))/20282409603651670423947251286016 + (4997860937051031*pb33*cos(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 + (4997860937051031*pb31*sin(E35xoff + E35zoff - theta4 + theta5))/144115188075855872 + (2477896991763523*pb32*sin(E35xoff + E35zoff - theta4 + theta5))/81129638414606681695789005144064 + (8985507641290995*pb33*sin(E35xoff + E35zoff - theta4 + theta5))/18014398509481984 + (684969180613545*pb32*sin(E35xoff))/182687704666362864775460604089535377456991567872 - (3022258756833769*pb33*sin(E35xoff))/13164036458569648337239753460458804039861886925068638906788872192 + (8985507641290995*pb32*cos(E35xoff + E35zoff + theta5))/9007199254740992 - (2477896991763523*pb33*cos(E35xoff + E35zoff + theta5))/40564819207303340847894502572032 - (1249465234262759*pb32*sin(E35xoff + E35zoff + theta5))/18014398509481984 + (5512959345451909*pb33*sin(E35xoff + E35zoff + theta5))/1298074214633706907132624082305024 + (684969180613545*pb31*cos(E35xoff - theta4))/365375409332725729550921208179070754913983135744 - (684969180613545*pb32*cos(E35xoff - theta4))/365375409332725729550921208179070754913983135744 - (4967757600021511*pb33*cos(E35xoff - theta4))/162259276829213363391578010288128 - (4967757600021511*pb31*sin(E35xoff - theta4))/162259276829213363391578010288128 - (3022258756833769*pb32*sin(E35xoff - theta4))/26328072917139296674479506920917608079723773850137277813577744384 - (684969180613545*pb33*sin(E35xoff - theta4))/365375409332725729550921208179070754913983135744)) + MpRABz*pb33 - MpRABx*(pb32 - (4967757600021511*pb33)/81129638414606681695789005144064) - RABTDLFx*(pb32 - (4967757600021511*pb33)/81129638414606681695789005144064) - TDLFE35x*(cos(E35zoff)*(cos(theta5)*((8985507641290995*pb32)/9007199254740992 - (2477896991763523*pb33)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (4611234024436301*pb31*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb31*sin(theta4))/2251799813685248) - sin(theta5)*((156183154282845*pb32)/2251799813685248 - (2756479672725957*pb33)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (5300353942617791*pb31*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb31*sin(theta4))/9007199254740992)) - sin(E35zoff)*(sin(theta5)*((8985507641290995*pb32)/9007199254740992 - (2477896991763523*pb33)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (4611234024436301*pb31*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb31*sin(theta4))/2251799813685248) + cos(theta5)*((156183154282845*pb32)/2251799813685248 - (2756479672725957*pb33)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (5300353942617791*pb31*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb31*sin(theta4))/9007199254740992))) - TDLFE35z*(cos(E35zoff)*(sin(theta5)*((8985507641290995*pb32)/9007199254740992 - (2477896991763523*pb33)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (4611234024436301*pb31*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb31*sin(theta4))/2251799813685248) + cos(theta5)*((156183154282845*pb32)/2251799813685248 - (2756479672725957*pb33)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (5300353942617791*pb31*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb31*sin(theta4))/9007199254740992)) - (4967757600021511*cos(E35zoff)*(cos(theta5)*((8985507641290995*pb32)/9007199254740992 - (2477896991763523*pb33)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (4611234024436301*pb31*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb31*sin(theta4))/2251799813685248) - sin(theta5)*((156183154282845*pb32)/2251799813685248 - (2756479672725957*pb33)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (5300353942617791*pb31*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb31*sin(theta4))/9007199254740992)))/81129638414606681695789005144064 + (4967757600021511*sin(E35zoff)*(sin(theta5)*((8985507641290995*pb32)/9007199254740992 - (2477896991763523*pb33)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (4611234024436301*pb31*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb31*sin(theta4))/2251799813685248) + cos(theta5)*((156183154282845*pb32)/2251799813685248 - (2756479672725957*pb33)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (5300353942617791*pb31*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb31*sin(theta4))/9007199254740992)))/81129638414606681695789005144064 + sin(E35zoff)*(cos(theta5)*((8985507641290995*pb32)/9007199254740992 - (2477896991763523*pb33)/40564819207303340847894502572032 + (156183154282845*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/2251799813685248 + (4611234024436301*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (4611234024436301*pb31*cos(theta4))/81129638414606681695789005144064 - (156183154282845*pb31*sin(theta4))/2251799813685248) - sin(theta5)*((156183154282845*pb32)/2251799813685248 - (2756479672725957*pb33)/649037107316853453566312041152512 - (8985507641290995*cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/9007199254740992 + (5300353942617791*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 + (5300353942617791*pb31*cos(theta4))/81129638414606681695789005144064 + (8985507641290995*pb31*sin(theta4))/9007199254740992))) - RABTDLFz*((4967757600021511*sin(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33))/81129638414606681695789005144064 - cos(theta4)*((4967757600021511*pb32)/81129638414606681695789005144064 + pb33) + (4967757600021511*pb31*cos(theta4))/81129638414606681695789005144064 + pb31*sin(theta4)) + (pb33*(5804419715539420*theta1 + 6790589032499990*theta2 + 6791794416933423*theta3 - (46627120543463376*theta2 + 13526483622651576)*(theta3 + 1306489997507401/4503599627370496)^2 + 93200516421832688*(theta1 + 1306489997507401/4503599627370496)^3 + 93227322369461776*(theta2 + 1306489997507401/4503599627370496)^3 + 93227435139297664*(theta3 + 1306489997507401/4503599627370496)^3 + (1713567497935139*(50082276508224064*(theta1 + 1306489997507401/4503599627370496)^2 + 49456797899948800*(theta2 + 1306489997507401/4503599627370496)^2 - 86602790043583056*(theta1 + 1306489997507401/4503599627370496)^4 + 49456196952357176*(theta3 + 1306489997507401/4503599627370496)^2 - 86627698380398880*(theta2 + 1306489997507401/4503599627370496)^4 - 86627803167183264*(theta3 + 1306489997507401/4503599627370496)^4 + (164413933737288032*theta1 + 47696326861104464)*(theta2 + 1306489997507401/4503599627370496)^3 + 173194748194915072*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496) + 173216411979417184*(theta1 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496) + 182096859784307456*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496) + (theta3 + 1306489997507401/4503599627370496)^3*(182086237465625184*theta2 + 52823045478288904) - (50081675560632440*theta1 + 14528646769735230)*(theta3 + 1306489997507401/4503599627370496) - (50082877455815688*theta1 + 14528995438392502)*(theta2 + 1306489997507401/4503599627370496) - (48830718344081912*theta2 + 14165745262949376)*(theta3 + 1306489997507401/4503599627370496) - 251005996675404448*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^2 - 251038492352157600*(theta1 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^2 - 624744045538082688*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^4 + 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496)^3 - 277530385745933568*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^2 - 624744045538082688*(theta1 + 1306489997507401/4503599627370496)^4*(theta2 + 1306489997507401/4503599627370496)^2 - 624744045538082688*(theta1 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^4 + 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496)^3 - 624744045538082688*(theta1 + 1306489997507401/4503599627370496)^4*(theta3 + 1306489997507401/4503599627370496)^2 - 624744045538082688*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^4 + 1249488091076165376*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496)^3 - 624744045538082688*(theta2 + 1306489997507401/4503599627370496)^4*(theta3 + 1306489997507401/4503599627370496)^2 + (164424975203107872*theta1 + 47699529979908312)*(theta3 + 1306489997507401/4503599627370496)^3 - (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^3 - (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496)^2 + (theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^2*(8802059094991578*theta1 + 5106938056920437/2) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^3 - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^2 + 3748464273228495872*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^2 + (8770192138944777*theta1 + 5088448909229277/2)*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) + (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^4*(theta3 + 1306489997507401/4503599627370496) + (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^4 - 17572251233936354*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496) + 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^4*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496) + 5994864729184784)^(1/2))/16777216 - 46600201825998400*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496) - 46600314595834280*(theta1 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) - 46627120543463376*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) - (theta3 + 1306489997507401/4503599627370496)^2*(46600314595834280*theta1 + 13518707242567014) - (theta2 + 1306489997507401/4503599627370496)^2*(46600201825998400*theta1 + 13518674528144156) + 5624093284124905))/(186401032843665376*(theta1 + 1306489997507401/4503599627370496)^2 - (theta2 + 1306489997507401/4503599627370496)*(186400807303993600*theta1 + 54074698112576624) + 186454644738923552*(theta2 + 1306489997507401/4503599627370496)^2 + 186454870278595328*(theta3 + 1306489997507401/4503599627370496)^2 - (186401258383337120*theta1 + 54074828970268056)*(theta3 + 1306489997507401/4503599627370496) - (186508482173853504*theta2 + 54105934490606304)*(theta3 + 1306489997507401/4503599627370496) + 19386803164972832) + ((pb31 + (4967757600021511*pb32)/81129638414606681695789005144064)*(33986622741980830128661914152664171850995073024*(theta1 + 1306489997507401/4503599627370496)^2 - 124403154659884180232894801461882464430887402471424*(theta2 + 1306489997507401/4503599627370496)^2 + 124417960243986644734069871271871580145722580795392*(theta3 + 1306489997507401/4503599627370496)^2 + 3995275588345242348728654438067651927139901044162560*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496) - 3995275588345242348728654438067651927139901044162560*(theta1 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496) - 1997625457234923952135870752551760087139971999203328*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496) + (248787128281128871710771866984047321761047111532544*theta1 + 72172910893871901543308903800366127696546883436544)*(theta2 + 1306489997507401/4503599627370496) - 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624744045538082688*(theta1 + 1306489997507401/4503599627370496)^4*(theta3 + 1306489997507401/4503599627370496)^2 - 624744045538082688*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^4 + 1249488091076165376*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496)^3 - 624744045538082688*(theta2 + 1306489997507401/4503599627370496)^4*(theta3 + 1306489997507401/4503599627370496)^2 + (164424975203107872*theta1 + 47699529979908312)*(theta3 + 1306489997507401/4503599627370496)^3 - (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^3 - (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496)^2 + (theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^2*(8802059094991578*theta1 + 5106938056920437/2) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^3*(theta3 + 1306489997507401/4503599627370496) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^3 - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) - 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^3*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^2 + 3748464273228495872*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496)^2 + (8770192138944777*theta1 + 5088448909229277/2)*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) + (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)^4*(theta3 + 1306489997507401/4503599627370496) + (1249488091076165376*theta1 + 362475314873572992)*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^4 - 17572251233936354*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496) + 1249488091076165376*(theta1 + 1306489997507401/4503599627370496)^4*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496) + 5994864729184784)^(1/2) + (1353619654784090791529613513395403111576365983445465169920*theta1 + 392683783135802275651537904891896523949804443095435051008)*(theta2 + 1306489997507401/4503599627370496)^2*(theta3 + 1306489997507401/4503599627370496) + (1353633093247945299821419550944694592374291184459689492480*theta1 + 392687681621471652049590415012334788546808733713418944512)*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496)^2 - 2707252748115336343650419482593465341610959000742962135040*(theta1 + 1306489997507401/4503599627370496)^2*(theta2 + 1306489997507401/4503599627370496)*(theta3 + 1306489997507401/4503599627370496) - 493360572929385253733561288187622148012943444279296))/(1163669410636236036207644137627761295809551216224799555584*(theta1 + 1306489997507401/4503599627370496)^2 + 1164004100426343185567018100303202225884882991385728253952*(theta2 + 1306489997507401/4503599627370496)^2 + 1164005508431507741411069609580286459246266049907667238912*(theta3 + 1306489997507401/4503599627370496)^2 - (1163668002631071480363592628350677062448168157702860570624*theta1 + 337578988286881998691846115926019972021154379752332591104)*(theta2 + 1306489997507401/4503599627370496) - (1163670818641400592051695646904845529170934274746738540544*theta1 + 337579805208818315489367755281986199310204251094229450752)*(theta3 + 1306489997507401/4503599627370496) - (1164340198221614716545871708735234096073798820003271671808*theta2 + 337773991592698991191736974450183022451893451198287577088)*(theta3 + 1306489997507401/4503599627370496) + 121028459279115638306624182468200079029534406145935933440); % 0, 0, 0, 1]; Fk = [1.1219e-22*sin(theta4 + theta5 - 0.069415) + 4.24703e-18*cos(theta5 - 0.069415) + 6.10849e-17*sin(theta5 - 0.069415) - 7.8002e-24*cos(theta4 - 1.0*theta5 + 0.069415) + 1.1219e-22*sin(theta4 - 1.0*theta5 + 0.069415) - 0.00000367324*cos(theta4) - 6.97487e-13*sin(theta4) + 7.80016e-24*cos(theta4 + theta5 - 0.069415) + 6.12323e-17, 2.13544e-29*cos(theta4 - 2.46132) - 1.27386e-7*sin(theta4 + theta5 - 2.53073) - 2.13544e-29*cos(theta4 + 2.46132) + 0.997592*cos(theta5 - 2.53073) - 1.12461e-22*sin(theta4 - 2.46132) + 1.12461e-22*sin(theta4 + 2.46132) - 0.0693593*sin(theta5 - 2.53073) - 0.0000018322*cos(theta4 - 1.0*theta5 + 2.53073) - 1.27387e-7*sin(theta4 - 1.0*theta5 + 2.53073) + 0.0000018322*cos(theta4 + theta5 - 2.53073) - 2.35839e-33, 1.27387e-7*cos(theta4 - 1.0*theta5 + 2.53073) - 1.12461e-22*cos(theta4 - 2.46132) - 1.12461e-22*cos(theta4 + 2.46132) - 0.0693593*cos(theta5 - 2.53073) - 2.13544e-29*sin(theta4 - 2.46132) - 2.13544e-29*sin(theta4 + 2.46132) - 0.997592*sin(theta5 - 2.53073) - 0.0000018322*sin(theta4 + theta5 - 2.53073) - 0.0000018322*sin(theta4 - 1.0*theta5 + 2.53073) - 1.27386e-7*cos(theta4 + theta5 - 2.53073) - 2.91479e-33, 0.0115906*cos(theta5 + 0.610857) - 3.08198e-7*sin(theta4 + theta5 + 0.610857) - 1.87358e-23*cos(theta4 - 0.680271) - 1.87358e-23*cos(theta4 + 0.680271) - 0.167807*sin(theta5 + 0.610857) - 2.12874e-8*cos(theta5 - 1.0*theta4 + 0.610857) + 2.60926e-24*sin(theta4 - 0.680271) - 2.60927e-24*sin(theta4 + 0.680271) + 3.08198e-7*sin(theta5 - 1.0*theta4 + 0.610857) + 9.06702e-15*cos(theta4) - 4.77505e-8*sin(theta4) + 2.12875e-8*cos(theta4 + theta5 + 0.610857) + 0.0271339*cos(theta5)*(0.00000366439*sin(theta4) - 6.95807e-13*cos(theta4) + 0.0693593) + 0.0411435*cos(theta5)*(4.83772e-14*cos(theta4) - 2.54773e-7*sin(theta4) + 0.997592) - 0.0411435*sin(theta5)*(0.00000366439*sin(theta4) - 6.95807e-13*cos(theta4) + 0.0693593) + 0.0271339*sin(theta5)*(4.83772e-14*cos(theta4) - 2.54773e-7*sin(theta4) + 0.997592) - (1.0*(4048.15*theta1 + 4735.93*theta2 + 4736.77*theta3 + 65000.5*(theta1 + 0.290099)^3 + 65019.1*(theta2 + 0.290099)^3 + 65019.2*(theta3 + 0.290099)^3 + 0.0000712327*(1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^3 - 2.51038e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^4 - 2.51006e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2 - 2.7753e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^4*(theta2 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta1 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta1 + 0.290099)^4*(theta3 + 0.290099)^2 - 6.24744e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta2 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta2 + 0.290099)^4*(theta3 + 0.290099)^2 - 1.0*(theta3 + 0.290099)*(4.88307e+16*theta2 + 1.41657e+16) - 1.0*(theta3 + 0.290099)*(5.00817e+16*theta1 + 1.45286e+16) - 1.0*(theta2 + 0.290099)*(5.00829e+16*theta1 + 1.4529e+16) + 5.00823e+16*(theta1 + 0.290099)^2 + 4.94568e+16*(theta2 + 0.290099)^2 - 8.66028e+16*(theta1 + 0.290099)^4 + 4.94562e+16*(theta3 + 0.290099)^2 - 8.66277e+16*(theta2 + 0.290099)^4 - 8.66278e+16*(theta3 + 0.290099)^4 + (theta2 + 0.290099)^3*(1.64414e+17*theta1 + 4.76963e+16) + (theta3 + 0.290099)^3*(1.64425e+17*theta1 + 4.76995e+16) + (theta3 + 0.290099)^3*(1.82086e+17*theta2 + 5.2823e+16) + 1.73195e+17*(theta1 + 0.290099)^3*(theta2 + 0.290099) + 1.73216e+17*(theta1 + 0.290099)^3*(theta3 + 0.290099) + 1.82097e+17*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.75723e+16*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099) + 1.24949e+18*(theta1 + 0.290099)^4*(theta2 + 0.290099)*(theta3 + 0.290099) - 1.0*(theta2 + 0.290099)^2*(theta3 + 0.290099)^3*(1.24949e+18*theta1 + 3.62475e+17) - 1.0*(theta2 + 0.290099)^3*(theta3 + 0.290099)^2*(1.24949e+18*theta1 + 3.62475e+17) - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099)^3 - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)*(theta3 + 0.290099)^2 - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^2*(theta3 + 0.290099) + (theta2 + 0.290099)*(theta3 + 0.290099)^4*(1.24949e+18*theta1 + 3.62475e+17) + (theta2 + 0.290099)^4*(theta3 + 0.290099)*(1.24949e+18*theta1 + 3.62475e+17) + 3.74846e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 + (theta2 + 0.290099)^2*(theta3 + 0.290099)*(8.77019e+15*theta1 + 2.54422e+15) + (theta2 + 0.290099)*(theta3 + 0.290099)^2*(8.80206e+15*theta1 + 2.55347e+15) + 5.99486e+15)^(1/2) - 6.97426e-13*(theta2 + 0.290099)^2*(4.66002e+16*theta1 + 1.35187e+16) - 6.97426e-13*(theta3 + 0.290099)^2*(4.66003e+16*theta1 + 1.35187e+16) - 1.00974e-28*(theta3 + 0.290099)^2*(3.22052e+32*theta2 + 9.3427e+31) - 32500.2*(theta1 + 0.290099)^2*(theta2 + 0.290099) - 32500.3*(theta1 + 0.290099)^2*(theta3 + 0.290099) - 32519.0*(theta2 + 0.290099)^2*(theta3 + 0.290099) + 3922.39))/(1.86401e+17*(theta1 + 0.290099)^2 - 1.0*(theta3 + 0.290099)*(1.86401e+17*theta1 + 5.40748e+16) - 1.0*(theta3 + 0.290099)*(1.86508e+17*theta2 + 5.41059e+16) - 1.0*(theta2 + 0.290099)*(1.86401e+17*theta1 + 5.40747e+16) + 1.86455e+17*(theta2 + 0.290099)^2 + 1.86455e+17*(theta3 + 0.290099)^2 + 1.93868e+16) - (1.0*(1.35363e+57*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2 + 1.35362e+57*(theta1 + 0.290099)^2*(theta3 + 0.290099)^2 - 2.70725e+57*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 + 1.11022e-16*(theta3 + 0.290099)*(1.18414e+72*theta2 + 3.43518e+71) + 7.52768e+55*(theta1 + 0.290099)^2 - 2.81004e+55*(theta2 + 0.290099)^2 - 2.8089e+55*(theta3 + 0.290099)^2 - 1.11022e-16*(6.77931e+71*theta1 + 1.96667e+71)*(theta2 + 0.290099) - 1.11022e-16*(6.78135e+71*theta1 + 1.96726e+71)*(theta3 + 0.290099) - 1.11022e-16*(theta3 + 0.290099)^3*(1.21924e+73*theta1 + 3.53699e+72) + 1.11022e-16*(theta3 + 0.290099)^3*(1.21924e+73*theta2 + 3.53699e+72) - 1.11022e-16*(theta2 + 0.290099)^3*(1.21924e+73*theta1 + 3.537e+72) + 1.11022e-16*(8.90412e+63*theta2 + 2.58308e+63)*(1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^3 - 2.51038e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^4 - 2.51006e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2 - 2.7753e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^4*(theta2 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta1 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta1 + 0.290099)^4*(theta3 + 0.290099)^2 - 6.24744e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta2 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta2 + 0.290099)^4*(theta3 + 0.290099)^2 - 1.0*(theta3 + 0.290099)*(4.88307e+16*theta2 + 1.41657e+16) - 1.0*(theta3 + 0.290099)*(5.00817e+16*theta1 + 1.45286e+16) - 1.0*(theta2 + 0.290099)*(5.00829e+16*theta1 + 1.4529e+16) + 5.00823e+16*(theta1 + 0.290099)^2 + 4.94568e+16*(theta2 + 0.290099)^2 - 8.66028e+16*(theta1 + 0.290099)^4 + 4.94562e+16*(theta3 + 0.290099)^2 - 8.66277e+16*(theta2 + 0.290099)^4 - 8.66278e+16*(theta3 + 0.290099)^4 + (theta2 + 0.290099)^3*(1.64414e+17*theta1 + 4.76963e+16) + (theta3 + 0.290099)^3*(1.64425e+17*theta1 + 4.76995e+16) + (theta3 + 0.290099)^3*(1.82086e+17*theta2 + 5.2823e+16) + 1.73195e+17*(theta1 + 0.290099)^3*(theta2 + 0.290099) + 1.73216e+17*(theta1 + 0.290099)^3*(theta3 + 0.290099) + 1.82097e+17*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.75723e+16*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099) + 1.24949e+18*(theta1 + 0.290099)^4*(theta2 + 0.290099)*(theta3 + 0.290099) - 1.0*(theta2 + 0.290099)^2*(theta3 + 0.290099)^3*(1.24949e+18*theta1 + 3.62475e+17) - 1.0*(theta2 + 0.290099)^3*(theta3 + 0.290099)^2*(1.24949e+18*theta1 + 3.62475e+17) - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099)^3 - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)*(theta3 + 0.290099)^2 - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^2*(theta3 + 0.290099) + (theta2 + 0.290099)*(theta3 + 0.290099)^4*(1.24949e+18*theta1 + 3.62475e+17) + (theta2 + 0.290099)^4*(theta3 + 0.290099)*(1.24949e+18*theta1 + 3.62475e+17) + 3.74846e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 + (theta2 + 0.290099)^2*(theta3 + 0.290099)*(8.77019e+15*theta1 + 2.54422e+15) + (theta2 + 0.290099)*(theta3 + 0.290099)^2*(8.80206e+15*theta1 + 2.55347e+15) + 5.99486e+15)^(1/2) - 1.11022e-16*(1.78083e+64*theta1 + 5.16618e+63)*(1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^3 - 2.51038e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^4 - 2.51006e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2 - 2.7753e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^4*(theta2 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta1 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta1 + 0.290099)^4*(theta3 + 0.290099)^2 - 6.24744e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta2 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta2 + 0.290099)^4*(theta3 + 0.290099)^2 - 1.0*(theta3 + 0.290099)*(4.88307e+16*theta2 + 1.41657e+16) - 1.0*(theta3 + 0.290099)*(5.00817e+16*theta1 + 1.45286e+16) - 1.0*(theta2 + 0.290099)*(5.00829e+16*theta1 + 1.4529e+16) + 5.00823e+16*(theta1 + 0.290099)^2 + 4.94568e+16*(theta2 + 0.290099)^2 - 8.66028e+16*(theta1 + 0.290099)^4 + 4.94562e+16*(theta3 + 0.290099)^2 - 8.66277e+16*(theta2 + 0.290099)^4 - 8.66278e+16*(theta3 + 0.290099)^4 + (theta2 + 0.290099)^3*(1.64414e+17*theta1 + 4.76963e+16) + (theta3 + 0.290099)^3*(1.64425e+17*theta1 + 4.76995e+16) + (theta3 + 0.290099)^3*(1.82086e+17*theta2 + 5.2823e+16) + 1.73195e+17*(theta1 + 0.290099)^3*(theta2 + 0.290099) + 1.73216e+17*(theta1 + 0.290099)^3*(theta3 + 0.290099) + 1.82097e+17*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.75723e+16*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099) + 1.24949e+18*(theta1 + 0.290099)^4*(theta2 + 0.290099)*(theta3 + 0.290099) - 1.0*(theta2 + 0.290099)^2*(theta3 + 0.290099)^3*(1.24949e+18*theta1 + 3.62475e+17) - 1.0*(theta2 + 0.290099)^3*(theta3 + 0.290099)^2*(1.24949e+18*theta1 + 3.62475e+17) - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099)^3 - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)*(theta3 + 0.290099)^2 - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^2*(theta3 + 0.290099) + (theta2 + 0.290099)*(theta3 + 0.290099)^4*(1.24949e+18*theta1 + 3.62475e+17) + (theta2 + 0.290099)^4*(theta3 + 0.290099)*(1.24949e+18*theta1 + 3.62475e+17) + 3.74846e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 + (theta2 + 0.290099)^2*(theta3 + 0.290099)*(8.77019e+15*theta1 + 2.54422e+15) + (theta2 + 0.290099)*(theta3 + 0.290099)^2*(8.80206e+15*theta1 + 2.55347e+15) + 5.99486e+15)^(1/2) + 1.11022e-16*(8.90423e+63*theta3 + 2.58311e+63)*(1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^3 - 2.51038e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^4 - 2.51006e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2 - 2.7753e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^4*(theta2 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta1 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta1 + 0.290099)^4*(theta3 + 0.290099)^2 - 6.24744e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta2 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta2 + 0.290099)^4*(theta3 + 0.290099)^2 - 1.0*(theta3 + 0.290099)*(4.88307e+16*theta2 + 1.41657e+16) - 1.0*(theta3 + 0.290099)*(5.00817e+16*theta1 + 1.45286e+16) - 1.0*(theta2 + 0.290099)*(5.00829e+16*theta1 + 1.4529e+16) + 5.00823e+16*(theta1 + 0.290099)^2 + 4.94568e+16*(theta2 + 0.290099)^2 - 8.66028e+16*(theta1 + 0.290099)^4 + 4.94562e+16*(theta3 + 0.290099)^2 - 8.66277e+16*(theta2 + 0.290099)^4 - 8.66278e+16*(theta3 + 0.290099)^4 + (theta2 + 0.290099)^3*(1.64414e+17*theta1 + 4.76963e+16) + (theta3 + 0.290099)^3*(1.64425e+17*theta1 + 4.76995e+16) + (theta3 + 0.290099)^3*(1.82086e+17*theta2 + 5.2823e+16) + 1.73195e+17*(theta1 + 0.290099)^3*(theta2 + 0.290099) + 1.73216e+17*(theta1 + 0.290099)^3*(theta3 + 0.290099) + 1.82097e+17*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.75723e+16*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099) + 1.24949e+18*(theta1 + 0.290099)^4*(theta2 + 0.290099)*(theta3 + 0.290099) - 1.0*(theta2 + 0.290099)^2*(theta3 + 0.290099)^3*(1.24949e+18*theta1 + 3.62475e+17) - 1.0*(theta2 + 0.290099)^3*(theta3 + 0.290099)^2*(1.24949e+18*theta1 + 3.62475e+17) - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099)^3 - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)*(theta3 + 0.290099)^2 - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^2*(theta3 + 0.290099) + (theta2 + 0.290099)*(theta3 + 0.290099)^4*(1.24949e+18*theta1 + 3.62475e+17) + (theta2 + 0.290099)^4*(theta3 + 0.290099)*(1.24949e+18*theta1 + 3.62475e+17) + 3.74846e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 + (theta2 + 0.290099)^2*(theta3 + 0.290099)*(8.77019e+15*theta1 + 2.54422e+15) + (theta2 + 0.290099)*(theta3 + 0.290099)^2*(8.80206e+15*theta1 + 2.55347e+15) + 5.99486e+15)^(1/2) - 4.47947e+51*(theta1 + 0.290099)^3*(theta2 + 0.290099) + 4.47947e+51*(theta1 + 0.290099)^3*(theta3 + 0.290099) + 1.35363e+57*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 2.70725e+57*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099) + 1.11022e-16*(theta2 + 0.290099)^2*(theta3 + 0.290099)*(1.21923e+73*theta1 + 3.53698e+72) + 1.11022e-16*(theta2 + 0.290099)*(theta3 + 0.290099)^2*(1.21924e+73*theta1 + 3.53702e+72) - 4.93361e+50))/(1.16367e+57*(theta1 + 0.290099)^2 + 1.164e+57*(theta2 + 0.290099)^2 + 1.16401e+57*(theta3 + 0.290099)^2 - 1.0*(1.16367e+57*theta1 + 3.37579e+56)*(theta2 + 0.290099) - 1.0*(1.16367e+57*theta1 + 3.3758e+56)*(theta3 + 0.290099) - 1.0*(1.16434e+57*theta2 + 3.37774e+56)*(theta3 + 0.290099) + 1.21028e+56) + (1.0*(4.23516e-22*(3.79742e+58*theta3 + 1.10163e+58)*(1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^3 - 2.51038e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^4 - 2.51006e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2 - 2.7753e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^4*(theta2 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta1 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta1 + 0.290099)^4*(theta3 + 0.290099)^2 - 6.24744e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta2 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta2 + 0.290099)^4*(theta3 + 0.290099)^2 - 1.0*(theta3 + 0.290099)*(4.88307e+16*theta2 + 1.41657e+16) - 1.0*(theta3 + 0.290099)*(5.00817e+16*theta1 + 1.45286e+16) - 1.0*(theta2 + 0.290099)*(5.00829e+16*theta1 + 1.4529e+16) + 5.00823e+16*(theta1 + 0.290099)^2 + 4.94568e+16*(theta2 + 0.290099)^2 - 8.66028e+16*(theta1 + 0.290099)^4 + 4.94562e+16*(theta3 + 0.290099)^2 - 8.66277e+16*(theta2 + 0.290099)^4 - 8.66278e+16*(theta3 + 0.290099)^4 + (theta2 + 0.290099)^3*(1.64414e+17*theta1 + 4.76963e+16) + (theta3 + 0.290099)^3*(1.64425e+17*theta1 + 4.76995e+16) + (theta3 + 0.290099)^3*(1.82086e+17*theta2 + 5.2823e+16) + 1.73195e+17*(theta1 + 0.290099)^3*(theta2 + 0.290099) + 1.73216e+17*(theta1 + 0.290099)^3*(theta3 + 0.290099) + 1.82097e+17*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.75723e+16*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099) + 1.24949e+18*(theta1 + 0.290099)^4*(theta2 + 0.290099)*(theta3 + 0.290099) - 1.0*(theta2 + 0.290099)^2*(theta3 + 0.290099)^3*(1.24949e+18*theta1 + 3.62475e+17) - 1.0*(theta2 + 0.290099)^3*(theta3 + 0.290099)^2*(1.24949e+18*theta1 + 3.62475e+17) - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099)^3 - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)*(theta3 + 0.290099)^2 - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^2*(theta3 + 0.290099) + (theta2 + 0.290099)*(theta3 + 0.290099)^4*(1.24949e+18*theta1 + 3.62475e+17) + (theta2 + 0.290099)^4*(theta3 + 0.290099)*(1.24949e+18*theta1 + 3.62475e+17) + 3.74846e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 + (theta2 + 0.290099)^2*(theta3 + 0.290099)*(8.77019e+15*theta1 + 2.54422e+15) + (theta2 + 0.290099)*(theta3 + 0.290099)^2*(8.80206e+15*theta1 + 2.55347e+15) + 5.99486e+15)^(1/2) - 4.23516e-22*(3.79743e+58*theta2 + 1.10163e+58)*(1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^3 - 2.51038e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^4 - 2.51006e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2 - 2.7753e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^4*(theta2 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta1 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta1 + 0.290099)^4*(theta3 + 0.290099)^2 - 6.24744e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta2 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta2 + 0.290099)^4*(theta3 + 0.290099)^2 - 1.0*(theta3 + 0.290099)*(4.88307e+16*theta2 + 1.41657e+16) - 1.0*(theta3 + 0.290099)*(5.00817e+16*theta1 + 1.45286e+16) - 1.0*(theta2 + 0.290099)*(5.00829e+16*theta1 + 1.4529e+16) + 5.00823e+16*(theta1 + 0.290099)^2 + 4.94568e+16*(theta2 + 0.290099)^2 - 8.66028e+16*(theta1 + 0.290099)^4 + 4.94562e+16*(theta3 + 0.290099)^2 - 8.66277e+16*(theta2 + 0.290099)^4 - 8.66278e+16*(theta3 + 0.290099)^4 + (theta2 + 0.290099)^3*(1.64414e+17*theta1 + 4.76963e+16) + (theta3 + 0.290099)^3*(1.64425e+17*theta1 + 4.76995e+16) + (theta3 + 0.290099)^3*(1.82086e+17*theta2 + 5.2823e+16) + 1.73195e+17*(theta1 + 0.290099)^3*(theta2 + 0.290099) + 1.73216e+17*(theta1 + 0.290099)^3*(theta3 + 0.290099) + 1.82097e+17*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.75723e+16*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099) + 1.24949e+18*(theta1 + 0.290099)^4*(theta2 + 0.290099)*(theta3 + 0.290099) - 1.0*(theta2 + 0.290099)^2*(theta3 + 0.290099)^3*(1.24949e+18*theta1 + 3.62475e+17) - 1.0*(theta2 + 0.290099)^3*(theta3 + 0.290099)^2*(1.24949e+18*theta1 + 3.62475e+17) - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099)^3 - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)*(theta3 + 0.290099)^2 - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^2*(theta3 + 0.290099) + (theta2 + 0.290099)*(theta3 + 0.290099)^4*(1.24949e+18*theta1 + 3.62475e+17) + (theta2 + 0.290099)^4*(theta3 + 0.290099)*(1.24949e+18*theta1 + 3.62475e+17) + 3.74846e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 + (theta2 + 0.290099)^2*(theta3 + 0.290099)*(8.77019e+15*theta1 + 2.54422e+15) + (theta2 + 0.290099)*(theta3 + 0.290099)^2*(8.80206e+15*theta1 + 2.55347e+15) + 5.99486e+15)^(1/2) + 2.20134e+46*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2 - 2.20135e+46*(theta1 + 0.290099)^2*(theta3 + 0.290099)^2 + 9.06331e+40*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 - 4.23516e-22*(theta2 + 0.290099)*(2.15778e+66*theta1 + 6.2597e+65) + 4.23516e-22*(theta3 + 0.290099)*(2.15837e+66*theta1 + 6.26141e+65) - 1.24841e+41*(theta1 + 0.290099)^2 + 4.56963e+44*(theta2 + 0.290099)^2 - 4.57017e+44*(theta3 + 0.290099)^2 - 4.23516e-22*(1.66361e+62*theta2 + 4.82611e+61)*(theta3 + 0.290099) - 4.23516e-22*(theta2 + 0.290099)^3*(1.73258e+67*theta1 + 5.0262e+66) + 4.23516e-22*(theta3 + 0.290099)^3*(1.7326e+67*theta1 + 5.02626e+66) - 4.23516e-22*(theta3 + 0.290099)^3*(1.7326e+67*theta2 + 5.02626e+66) + 4.23516e-22*(1.25666e+53*theta1 + 3.64557e+52)*(1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^3 - 2.51038e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^4 - 2.51006e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2 - 2.7753e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^4*(theta2 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta1 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta1 + 0.290099)^4*(theta3 + 0.290099)^2 - 6.24744e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta2 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta2 + 0.290099)^4*(theta3 + 0.290099)^2 - 1.0*(theta3 + 0.290099)*(4.88307e+16*theta2 + 1.41657e+16) - 1.0*(theta3 + 0.290099)*(5.00817e+16*theta1 + 1.45286e+16) - 1.0*(theta2 + 0.290099)*(5.00829e+16*theta1 + 1.4529e+16) + 5.00823e+16*(theta1 + 0.290099)^2 + 4.94568e+16*(theta2 + 0.290099)^2 - 8.66028e+16*(theta1 + 0.290099)^4 + 4.94562e+16*(theta3 + 0.290099)^2 - 8.66277e+16*(theta2 + 0.290099)^4 - 8.66278e+16*(theta3 + 0.290099)^4 + (theta2 + 0.290099)^3*(1.64414e+17*theta1 + 4.76963e+16) + (theta3 + 0.290099)^3*(1.64425e+17*theta1 + 4.76995e+16) + (theta3 + 0.290099)^3*(1.82086e+17*theta2 + 5.2823e+16) + 1.73195e+17*(theta1 + 0.290099)^3*(theta2 + 0.290099) + 1.73216e+17*(theta1 + 0.290099)^3*(theta3 + 0.290099) + 1.82097e+17*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.75723e+16*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099) + 1.24949e+18*(theta1 + 0.290099)^4*(theta2 + 0.290099)*(theta3 + 0.290099) - 1.0*(theta2 + 0.290099)^2*(theta3 + 0.290099)^3*(1.24949e+18*theta1 + 3.62475e+17) - 1.0*(theta2 + 0.290099)^3*(theta3 + 0.290099)^2*(1.24949e+18*theta1 + 3.62475e+17) - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099)^3 - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)*(theta3 + 0.290099)^2 - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^2*(theta3 + 0.290099) + (theta2 + 0.290099)*(theta3 + 0.290099)^4*(1.24949e+18*theta1 + 3.62475e+17) + (theta2 + 0.290099)^4*(theta3 + 0.290099)*(1.24949e+18*theta1 + 3.62475e+17) + 3.74846e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 + (theta2 + 0.290099)^2*(theta3 + 0.290099)*(8.77019e+15*theta1 + 2.54422e+15) + (theta2 + 0.290099)*(theta3 + 0.290099)^2*(8.80206e+15*theta1 + 2.55347e+15) + 5.99486e+15)^(1/2) - 1.46756e+46*(theta1 + 0.290099)^3*(theta2 + 0.290099) + 1.46756e+46*(theta1 + 0.290099)^3*(theta3 + 0.290099) + 7.33776e+45*(theta2 + 0.290099)^3*(theta3 + 0.290099) + 9.06331e+40*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099) + 4.23516e-22*(theta2 + 0.290099)*(theta3 + 0.290099)^2*(5.19776e+67*theta1 + 1.50787e+67) - 4.23516e-22*(theta2 + 0.290099)^2*(theta3 + 0.290099)*(5.19778e+67*theta1 + 1.50787e+67) - 1.27734e+40))/(2.97503e+51*(theta1 + 0.290099)^2 - 1.0*(theta3 + 0.290099)*(2.97504e+51*theta1 + 8.63055e+50) - 1.0*(theta3 + 0.290099)*(2.97675e+51*theta2 + 8.63551e+50) - 1.0*(theta2 + 0.290099)*(2.97503e+51*theta1 + 8.63053e+50) + 2.97589e+51*(theta2 + 0.290099)^2 + 2.97589e+51*(theta3 + 0.290099)^2 + 3.09421e+50) + 0.116737; 1.56004e-23*cos(theta5 - 0.069415) - 3.05424e-17*sin(theta4 + theta5 - 0.069415) + 2.24379e-22*sin(theta5 - 0.069415) + 2.12352e-18*cos(theta4 - 1.0*theta5 + 0.069415) - 3.05424e-17*sin(theta4 - 1.0*theta5 + 0.069415) + 1.0*cos(theta4) + 1.89861e-7*sin(theta4) - 2.12351e-18*cos(theta4 + theta5 - 0.069415) + 2.24921e-22, 0.0346795*sin(theta4 + theta5 - 2.53073) - 5.81282e-24*cos(theta4 - 2.46132) + 5.81282e-24*cos(theta4 + 2.46132) + 0.00000366439*cos(theta5 - 2.53073) + 3.06162e-17*sin(theta4 - 2.46132) - 3.06162e-17*sin(theta4 + 2.46132) - 2.54773e-7*sin(theta5 - 2.53073) + 0.498796*cos(theta4 - 1.0*theta5 + 2.53073) + 0.0346797*sin(theta4 - 1.0*theta5 + 2.53073) - 0.498796*cos(theta4 + theta5 - 2.53073) - 8.66295e-39, 0.498796*sin(theta4 + theta5 - 2.53073) + 3.06162e-17*cos(theta4 - 2.46132) + 3.06162e-17*cos(theta4 + 2.46132) - 2.54773e-7*cos(theta5 - 2.53073) + 5.81282e-24*sin(theta4 - 2.46132) + 5.81282e-24*sin(theta4 + 2.46132) - 0.00000366439*sin(theta5 - 2.53073) - 0.0346797*cos(theta4 - 1.0*theta5 + 2.53073) + 0.498796*sin(theta4 - 1.0*theta5 + 2.53073) + 0.0346795*cos(theta4 + theta5 - 2.53073) - 1.07067e-38, 0.0839036*sin(theta4 + theta5 + 0.610857) + 4.25749e-8*cos(theta5 + 0.610857) + 5.10063e-18*cos(theta4 - 0.680271) + 5.10063e-18*cos(theta4 + 0.680271) - 6.16396e-7*sin(theta5 + 0.610857) + 0.00579526*cos(theta5 - 1.0*theta4 + 0.610857) - 7.10344e-19*sin(theta4 - 0.680271) + 7.10346e-19*sin(theta4 + 0.680271) - 0.0839036*sin(theta5 - 1.0*theta4 + 0.610857) - 2.46811e-9*cos(theta4) + 0.0129996*sin(theta4) - 0.00579529*cos(theta4 + theta5 + 0.610857) + 0.0271339*cos(theta5)*(1.89404e-7*cos(theta4) - 0.997592*sin(theta4) + 2.54773e-7) - (1.11022e-16*(3.94365e+58*theta3 + 1.14405e+58)*(1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^3 - 2.51038e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^4 - 2.51006e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2 - 2.7753e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^4*(theta2 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta1 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta1 + 0.290099)^4*(theta3 + 0.290099)^2 - 6.24744e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta2 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta2 + 0.290099)^4*(theta3 + 0.290099)^2 - 1.0*(theta3 + 0.290099)*(4.88307e+16*theta2 + 1.41657e+16) - 1.0*(theta3 + 0.290099)*(5.00817e+16*theta1 + 1.45286e+16) - 1.0*(theta2 + 0.290099)*(5.00829e+16*theta1 + 1.4529e+16) + 5.00823e+16*(theta1 + 0.290099)^2 + 4.94568e+16*(theta2 + 0.290099)^2 - 8.66028e+16*(theta1 + 0.290099)^4 + 4.94562e+16*(theta3 + 0.290099)^2 - 8.66277e+16*(theta2 + 0.290099)^4 - 8.66278e+16*(theta3 + 0.290099)^4 + (theta2 + 0.290099)^3*(1.64414e+17*theta1 + 4.76963e+16) + (theta3 + 0.290099)^3*(1.64425e+17*theta1 + 4.76995e+16) + (theta3 + 0.290099)^3*(1.82086e+17*theta2 + 5.2823e+16) + 1.73195e+17*(theta1 + 0.290099)^3*(theta2 + 0.290099) + 1.73216e+17*(theta1 + 0.290099)^3*(theta3 + 0.290099) + 1.82097e+17*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.75723e+16*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099) + 1.24949e+18*(theta1 + 0.290099)^4*(theta2 + 0.290099)*(theta3 + 0.290099) - 1.0*(theta2 + 0.290099)^2*(theta3 + 0.290099)^3*(1.24949e+18*theta1 + 3.62475e+17) - 1.0*(theta2 + 0.290099)^3*(theta3 + 0.290099)^2*(1.24949e+18*theta1 + 3.62475e+17) - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099)^3 - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)*(theta3 + 0.290099)^2 - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^2*(theta3 + 0.290099) + (theta2 + 0.290099)*(theta3 + 0.290099)^4*(1.24949e+18*theta1 + 3.62475e+17) + (theta2 + 0.290099)^4*(theta3 + 0.290099)*(1.24949e+18*theta1 + 3.62475e+17) + 3.74846e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 + (theta2 + 0.290099)^2*(theta3 + 0.290099)*(8.77019e+15*theta1 + 2.54422e+15) + (theta2 + 0.290099)*(theta3 + 0.290099)^2*(8.80206e+15*theta1 + 2.55347e+15) + 5.99486e+15)^(1/2) - 1.11022e-16*(3.94367e+58*theta2 + 1.14405e+58)*(1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^3 - 2.51038e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^4 - 2.51006e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2 - 2.7753e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^4*(theta2 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta1 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta1 + 0.290099)^4*(theta3 + 0.290099)^2 - 6.24744e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta2 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta2 + 0.290099)^4*(theta3 + 0.290099)^2 - 1.0*(theta3 + 0.290099)*(4.88307e+16*theta2 + 1.41657e+16) - 1.0*(theta3 + 0.290099)*(5.00817e+16*theta1 + 1.45286e+16) - 1.0*(theta2 + 0.290099)*(5.00829e+16*theta1 + 1.4529e+16) + 5.00823e+16*(theta1 + 0.290099)^2 + 4.94568e+16*(theta2 + 0.290099)^2 - 8.66028e+16*(theta1 + 0.290099)^4 + 4.94562e+16*(theta3 + 0.290099)^2 - 8.66277e+16*(theta2 + 0.290099)^4 - 8.66278e+16*(theta3 + 0.290099)^4 + (theta2 + 0.290099)^3*(1.64414e+17*theta1 + 4.76963e+16) + (theta3 + 0.290099)^3*(1.64425e+17*theta1 + 4.76995e+16) + (theta3 + 0.290099)^3*(1.82086e+17*theta2 + 5.2823e+16) + 1.73195e+17*(theta1 + 0.290099)^3*(theta2 + 0.290099) + 1.73216e+17*(theta1 + 0.290099)^3*(theta3 + 0.290099) + 1.82097e+17*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.75723e+16*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099) + 1.24949e+18*(theta1 + 0.290099)^4*(theta2 + 0.290099)*(theta3 + 0.290099) - 1.0*(theta2 + 0.290099)^2*(theta3 + 0.290099)^3*(1.24949e+18*theta1 + 3.62475e+17) - 1.0*(theta2 + 0.290099)^3*(theta3 + 0.290099)^2*(1.24949e+18*theta1 + 3.62475e+17) - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099)^3 - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)*(theta3 + 0.290099)^2 - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^2*(theta3 + 0.290099) + (theta2 + 0.290099)*(theta3 + 0.290099)^4*(1.24949e+18*theta1 + 3.62475e+17) + (theta2 + 0.290099)^4*(theta3 + 0.290099)*(1.24949e+18*theta1 + 3.62475e+17) + 3.74846e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 + (theta2 + 0.290099)^2*(theta3 + 0.290099)*(8.77019e+15*theta1 + 2.54422e+15) + (theta2 + 0.290099)*(theta3 + 0.290099)^2*(8.80206e+15*theta1 + 2.55347e+15) + 5.99486e+15)^(1/2) + 5.9929e+51*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2 - 5.99293e+51*(theta1 + 0.290099)^2*(theta3 + 0.290099)^2 + 2.46739e+46*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 - 1.11022e-16*(theta2 + 0.290099)*(2.24088e+66*theta1 + 6.50076e+65) + 1.11022e-16*(theta3 + 0.290099)*(2.24149e+66*theta1 + 6.50253e+65) - 3.39866e+46*(theta1 + 0.290099)^2 + 1.24403e+50*(theta2 + 0.290099)^2 - 1.24418e+50*(theta3 + 0.290099)^2 - 1.11022e-16*(1.72767e+62*theta2 + 5.01197e+61)*(theta3 + 0.290099) - 1.11022e-16*(theta2 + 0.290099)^3*(1.7993e+67*theta1 + 5.21976e+66) + 1.11022e-16*(theta3 + 0.290099)^3*(1.79932e+67*theta1 + 5.21982e+66) - 1.11022e-16*(theta3 + 0.290099)^3*(1.79932e+67*theta2 + 5.21982e+66) + 1.11022e-16*(1.30506e+53*theta1 + 3.78596e+52)*(1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^3 - 2.51038e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^4 - 2.51006e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2 - 2.7753e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^4*(theta2 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta1 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta1 + 0.290099)^4*(theta3 + 0.290099)^2 - 6.24744e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta2 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta2 + 0.290099)^4*(theta3 + 0.290099)^2 - 1.0*(theta3 + 0.290099)*(4.88307e+16*theta2 + 1.41657e+16) - 1.0*(theta3 + 0.290099)*(5.00817e+16*theta1 + 1.45286e+16) - 1.0*(theta2 + 0.290099)*(5.00829e+16*theta1 + 1.4529e+16) + 5.00823e+16*(theta1 + 0.290099)^2 + 4.94568e+16*(theta2 + 0.290099)^2 - 8.66028e+16*(theta1 + 0.290099)^4 + 4.94562e+16*(theta3 + 0.290099)^2 - 8.66277e+16*(theta2 + 0.290099)^4 - 8.66278e+16*(theta3 + 0.290099)^4 + (theta2 + 0.290099)^3*(1.64414e+17*theta1 + 4.76963e+16) + (theta3 + 0.290099)^3*(1.64425e+17*theta1 + 4.76995e+16) + (theta3 + 0.290099)^3*(1.82086e+17*theta2 + 5.2823e+16) + 1.73195e+17*(theta1 + 0.290099)^3*(theta2 + 0.290099) + 1.73216e+17*(theta1 + 0.290099)^3*(theta3 + 0.290099) + 1.82097e+17*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.75723e+16*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099) + 1.24949e+18*(theta1 + 0.290099)^4*(theta2 + 0.290099)*(theta3 + 0.290099) - 1.0*(theta2 + 0.290099)^2*(theta3 + 0.290099)^3*(1.24949e+18*theta1 + 3.62475e+17) - 1.0*(theta2 + 0.290099)^3*(theta3 + 0.290099)^2*(1.24949e+18*theta1 + 3.62475e+17) - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099)^3 - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)*(theta3 + 0.290099)^2 - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^2*(theta3 + 0.290099) + (theta2 + 0.290099)*(theta3 + 0.290099)^4*(1.24949e+18*theta1 + 3.62475e+17) + (theta2 + 0.290099)^4*(theta3 + 0.290099)*(1.24949e+18*theta1 + 3.62475e+17) + 3.74846e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 + (theta2 + 0.290099)^2*(theta3 + 0.290099)*(8.77019e+15*theta1 + 2.54422e+15) + (theta2 + 0.290099)*(theta3 + 0.290099)^2*(8.80206e+15*theta1 + 2.55347e+15) + 5.99486e+15)^(1/2) - 3.99528e+51*(theta1 + 0.290099)^3*(theta2 + 0.290099) + 3.99528e+51*(theta1 + 0.290099)^3*(theta3 + 0.290099) + 1.99763e+51*(theta2 + 0.290099)^3*(theta3 + 0.290099) + 2.46739e+46*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099) + 1.11022e-16*(theta2 + 0.290099)*(theta3 + 0.290099)^2*(5.39793e+67*theta1 + 1.56593e+67) - 1.11022e-16*(theta2 + 0.290099)^2*(theta3 + 0.290099)*(5.39795e+67*theta1 + 1.56594e+67) - 3.47743e+45)/(2.97503e+51*(theta1 + 0.290099)^2 - 1.0*(theta3 + 0.290099)*(2.97504e+51*theta1 + 8.63055e+50) - 1.0*(theta3 + 0.290099)*(2.97675e+51*theta2 + 8.63551e+50) - 1.0*(theta2 + 0.290099)*(2.97503e+51*theta1 + 8.63053e+50) + 2.97589e+51*(theta2 + 0.290099)^2 + 2.97589e+51*(theta3 + 0.290099)^2 + 3.09421e+50) + 0.0411435*cos(theta5)*(0.0693593*sin(theta4) - 1.31686e-8*cos(theta4) + 0.00000366439) - 0.0411435*sin(theta5)*(1.89404e-7*cos(theta4) - 0.997592*sin(theta4) + 2.54773e-7) + 0.0271339*sin(theta5)*(0.0693593*sin(theta4) - 1.31686e-8*cos(theta4) + 0.00000366439) - (1.0*(4.97222e+51*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2 + 4.97217e+51*(theta1 + 0.290099)^2*(theta3 + 0.290099)^2 - 9.94439e+51*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 + 4.23516e-22*(theta3 + 0.290099)*(1.14023e+72*theta2 + 3.3078e+71) - 4.23516e-22*(theta2 + 0.290099)*(6.52792e+71*theta1 + 1.89374e+71) - 4.23516e-22*(theta3 + 0.290099)*(6.52988e+71*theta1 + 1.89431e+71) + 2.7651e+50*(theta1 + 0.290099)^2 - 1.03219e+50*(theta2 + 0.290099)^2 - 1.03178e+50*(theta3 + 0.290099)^2 + 4.23516e-22*(8.57393e+63*theta2 + 2.48729e+63)*(1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^3 - 2.51038e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^4 - 2.51006e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2 - 2.7753e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^4*(theta2 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta1 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta1 + 0.290099)^4*(theta3 + 0.290099)^2 - 6.24744e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta2 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta2 + 0.290099)^4*(theta3 + 0.290099)^2 - 1.0*(theta3 + 0.290099)*(4.88307e+16*theta2 + 1.41657e+16) - 1.0*(theta3 + 0.290099)*(5.00817e+16*theta1 + 1.45286e+16) - 1.0*(theta2 + 0.290099)*(5.00829e+16*theta1 + 1.4529e+16) + 5.00823e+16*(theta1 + 0.290099)^2 + 4.94568e+16*(theta2 + 0.290099)^2 - 8.66028e+16*(theta1 + 0.290099)^4 + 4.94562e+16*(theta3 + 0.290099)^2 - 8.66277e+16*(theta2 + 0.290099)^4 - 8.66278e+16*(theta3 + 0.290099)^4 + (theta2 + 0.290099)^3*(1.64414e+17*theta1 + 4.76963e+16) + (theta3 + 0.290099)^3*(1.64425e+17*theta1 + 4.76995e+16) + (theta3 + 0.290099)^3*(1.82086e+17*theta2 + 5.2823e+16) + 1.73195e+17*(theta1 + 0.290099)^3*(theta2 + 0.290099) + 1.73216e+17*(theta1 + 0.290099)^3*(theta3 + 0.290099) + 1.82097e+17*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.75723e+16*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099) + 1.24949e+18*(theta1 + 0.290099)^4*(theta2 + 0.290099)*(theta3 + 0.290099) - 1.0*(theta2 + 0.290099)^2*(theta3 + 0.290099)^3*(1.24949e+18*theta1 + 3.62475e+17) - 1.0*(theta2 + 0.290099)^3*(theta3 + 0.290099)^2*(1.24949e+18*theta1 + 3.62475e+17) - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099)^3 - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)*(theta3 + 0.290099)^2 - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^2*(theta3 + 0.290099) + (theta2 + 0.290099)*(theta3 + 0.290099)^4*(1.24949e+18*theta1 + 3.62475e+17) + (theta2 + 0.290099)^4*(theta3 + 0.290099)*(1.24949e+18*theta1 + 3.62475e+17) + 3.74846e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 + (theta2 + 0.290099)^2*(theta3 + 0.290099)*(8.77019e+15*theta1 + 2.54422e+15) + (theta2 + 0.290099)*(theta3 + 0.290099)^2*(8.80206e+15*theta1 + 2.55347e+15) + 5.99486e+15)^(1/2) - 4.23516e-22*(1.7148e+64*theta1 + 4.97461e+63)*(1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^3 - 2.51038e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^4 - 2.51006e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2 - 2.7753e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^4*(theta2 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta1 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta1 + 0.290099)^4*(theta3 + 0.290099)^2 - 6.24744e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta2 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta2 + 0.290099)^4*(theta3 + 0.290099)^2 - 1.0*(theta3 + 0.290099)*(4.88307e+16*theta2 + 1.41657e+16) - 1.0*(theta3 + 0.290099)*(5.00817e+16*theta1 + 1.45286e+16) - 1.0*(theta2 + 0.290099)*(5.00829e+16*theta1 + 1.4529e+16) + 5.00823e+16*(theta1 + 0.290099)^2 + 4.94568e+16*(theta2 + 0.290099)^2 - 8.66028e+16*(theta1 + 0.290099)^4 + 4.94562e+16*(theta3 + 0.290099)^2 - 8.66277e+16*(theta2 + 0.290099)^4 - 8.66278e+16*(theta3 + 0.290099)^4 + (theta2 + 0.290099)^3*(1.64414e+17*theta1 + 4.76963e+16) + (theta3 + 0.290099)^3*(1.64425e+17*theta1 + 4.76995e+16) + (theta3 + 0.290099)^3*(1.82086e+17*theta2 + 5.2823e+16) + 1.73195e+17*(theta1 + 0.290099)^3*(theta2 + 0.290099) + 1.73216e+17*(theta1 + 0.290099)^3*(theta3 + 0.290099) + 1.82097e+17*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.75723e+16*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099) + 1.24949e+18*(theta1 + 0.290099)^4*(theta2 + 0.290099)*(theta3 + 0.290099) - 1.0*(theta2 + 0.290099)^2*(theta3 + 0.290099)^3*(1.24949e+18*theta1 + 3.62475e+17) - 1.0*(theta2 + 0.290099)^3*(theta3 + 0.290099)^2*(1.24949e+18*theta1 + 3.62475e+17) - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099)^3 - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)*(theta3 + 0.290099)^2 - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^2*(theta3 + 0.290099) + (theta2 + 0.290099)*(theta3 + 0.290099)^4*(1.24949e+18*theta1 + 3.62475e+17) + (theta2 + 0.290099)^4*(theta3 + 0.290099)*(1.24949e+18*theta1 + 3.62475e+17) + 3.74846e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 + (theta2 + 0.290099)^2*(theta3 + 0.290099)*(8.77019e+15*theta1 + 2.54422e+15) + (theta2 + 0.290099)*(theta3 + 0.290099)^2*(8.80206e+15*theta1 + 2.55347e+15) + 5.99486e+15)^(1/2) + 4.23516e-22*(8.57404e+63*theta3 + 2.48732e+63)*(1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^3 - 2.51038e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^4 - 2.51006e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2 - 2.7753e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^4*(theta2 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta1 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta1 + 0.290099)^4*(theta3 + 0.290099)^2 - 6.24744e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta2 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta2 + 0.290099)^4*(theta3 + 0.290099)^2 - 1.0*(theta3 + 0.290099)*(4.88307e+16*theta2 + 1.41657e+16) - 1.0*(theta3 + 0.290099)*(5.00817e+16*theta1 + 1.45286e+16) - 1.0*(theta2 + 0.290099)*(5.00829e+16*theta1 + 1.4529e+16) + 5.00823e+16*(theta1 + 0.290099)^2 + 4.94568e+16*(theta2 + 0.290099)^2 - 8.66028e+16*(theta1 + 0.290099)^4 + 4.94562e+16*(theta3 + 0.290099)^2 - 8.66277e+16*(theta2 + 0.290099)^4 - 8.66278e+16*(theta3 + 0.290099)^4 + (theta2 + 0.290099)^3*(1.64414e+17*theta1 + 4.76963e+16) + (theta3 + 0.290099)^3*(1.64425e+17*theta1 + 4.76995e+16) + (theta3 + 0.290099)^3*(1.82086e+17*theta2 + 5.2823e+16) + 1.73195e+17*(theta1 + 0.290099)^3*(theta2 + 0.290099) + 1.73216e+17*(theta1 + 0.290099)^3*(theta3 + 0.290099) + 1.82097e+17*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.75723e+16*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099) + 1.24949e+18*(theta1 + 0.290099)^4*(theta2 + 0.290099)*(theta3 + 0.290099) - 1.0*(theta2 + 0.290099)^2*(theta3 + 0.290099)^3*(1.24949e+18*theta1 + 3.62475e+17) - 1.0*(theta2 + 0.290099)^3*(theta3 + 0.290099)^2*(1.24949e+18*theta1 + 3.62475e+17) - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099)^3 - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)*(theta3 + 0.290099)^2 - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^2*(theta3 + 0.290099) + (theta2 + 0.290099)*(theta3 + 0.290099)^4*(1.24949e+18*theta1 + 3.62475e+17) + (theta2 + 0.290099)^4*(theta3 + 0.290099)*(1.24949e+18*theta1 + 3.62475e+17) + 3.74846e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 + (theta2 + 0.290099)^2*(theta3 + 0.290099)*(8.77019e+15*theta1 + 2.54422e+15) + (theta2 + 0.290099)*(theta3 + 0.290099)^2*(8.80206e+15*theta1 + 2.55347e+15) + 5.99486e+15)^(1/2) - 4.23516e-22*(1.17402e+73*theta1 + 3.40583e+72)*(theta3 + 0.290099)^3 + 4.23516e-22*(1.17402e+73*theta2 + 3.40583e+72)*(theta3 + 0.290099)^3 - 4.23516e-22*(1.17403e+73*theta1 + 3.40585e+72)*(theta2 + 0.290099)^3 - 1.64542e+46*(theta1 + 0.290099)^3*(theta2 + 0.290099) + 1.64542e+46*(theta1 + 0.290099)^3*(theta3 + 0.290099) + 4.9722e+51*(theta2 + 0.290099)^3*(theta3 + 0.290099) + 4.23516e-22*(1.17402e+73*theta1 + 3.40582e+72)*(theta2 + 0.290099)^2*(theta3 + 0.290099) + 4.23516e-22*(1.17403e+73*theta1 + 3.40586e+72)*(theta2 + 0.290099)*(theta3 + 0.290099)^2 - 9.94439e+51*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099) - 1.81223e+45))/(1.16367e+57*(theta1 + 0.290099)^2 + 1.164e+57*(theta2 + 0.290099)^2 + 1.16401e+57*(theta3 + 0.290099)^2 - 1.0*(1.16367e+57*theta1 + 3.37579e+56)*(theta2 + 0.290099) - 1.0*(1.16367e+57*theta1 + 3.3758e+56)*(theta3 + 0.290099) - 1.0*(1.16434e+57*theta2 + 3.37774e+56)*(theta3 + 0.290099) + 1.21028e+56) + (1.10203e+9*theta1 + 1.28927e+9*theta2 + 1.2895e+9*theta3 + 1.76951e+10*(theta1 + 0.290099)^3 + 1.77002e+10*(theta2 + 0.290099)^3 + 1.77003e+10*(theta3 + 0.290099)^3 - 2.64698e-23*(theta3 + 0.290099)^2*(3.34444e+32*theta2 + 9.7022e+31) + 19.3918*(1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^3 - 2.51038e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^4 - 2.51006e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2 - 2.7753e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^4*(theta2 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta1 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta1 + 0.290099)^4*(theta3 + 0.290099)^2 - 6.24744e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta2 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta2 + 0.290099)^4*(theta3 + 0.290099)^2 - 1.0*(theta3 + 0.290099)*(4.88307e+16*theta2 + 1.41657e+16) - 1.0*(theta3 + 0.290099)*(5.00817e+16*theta1 + 1.45286e+16) - 1.0*(theta2 + 0.290099)*(5.00829e+16*theta1 + 1.4529e+16) + 5.00823e+16*(theta1 + 0.290099)^2 + 4.94568e+16*(theta2 + 0.290099)^2 - 8.66028e+16*(theta1 + 0.290099)^4 + 4.94562e+16*(theta3 + 0.290099)^2 - 8.66277e+16*(theta2 + 0.290099)^4 - 8.66278e+16*(theta3 + 0.290099)^4 + (theta2 + 0.290099)^3*(1.64414e+17*theta1 + 4.76963e+16) + (theta3 + 0.290099)^3*(1.64425e+17*theta1 + 4.76995e+16) + (theta3 + 0.290099)^3*(1.82086e+17*theta2 + 5.2823e+16) + 1.73195e+17*(theta1 + 0.290099)^3*(theta2 + 0.290099) + 1.73216e+17*(theta1 + 0.290099)^3*(theta3 + 0.290099) + 1.82097e+17*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.75723e+16*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099) + 1.24949e+18*(theta1 + 0.290099)^4*(theta2 + 0.290099)*(theta3 + 0.290099) - 1.0*(theta2 + 0.290099)^2*(theta3 + 0.290099)^3*(1.24949e+18*theta1 + 3.62475e+17) - 1.0*(theta2 + 0.290099)^3*(theta3 + 0.290099)^2*(1.24949e+18*theta1 + 3.62475e+17) - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099)^3 - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)*(theta3 + 0.290099)^2 - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^2*(theta3 + 0.290099) + (theta2 + 0.290099)*(theta3 + 0.290099)^4*(1.24949e+18*theta1 + 3.62475e+17) + (theta2 + 0.290099)^4*(theta3 + 0.290099)*(1.24949e+18*theta1 + 3.62475e+17) + 3.74846e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 + (theta2 + 0.290099)^2*(theta3 + 0.290099)*(8.77019e+15*theta1 + 2.54422e+15) + (theta2 + 0.290099)*(theta3 + 0.290099)^2*(8.80206e+15*theta1 + 2.55347e+15) + 5.99486e+15)^(1/2) - 1.89861e-7*(theta2 + 0.290099)^2*(4.66002e+16*theta1 + 1.35187e+16) - 1.89861e-7*(theta3 + 0.290099)^2*(4.66003e+16*theta1 + 1.35187e+16) - 8.84756e+9*(theta1 + 0.290099)^2*(theta2 + 0.290099) - 8.84758e+9*(theta1 + 0.290099)^2*(theta3 + 0.290099) - 8.85267e+9*(theta2 + 0.290099)^2*(theta3 + 0.290099) + 1.0678e+9)/(1.86401e+17*(theta1 + 0.290099)^2 - 1.0*(theta3 + 0.290099)*(1.86401e+17*theta1 + 5.40748e+16) - 1.0*(theta3 + 0.290099)*(1.86508e+17*theta2 + 5.41059e+16) - 1.0*(theta2 + 0.290099)*(1.86401e+17*theta1 + 5.40747e+16) + 1.86455e+17*(theta2 + 0.290099)^2 + 1.86455e+17*(theta3 + 0.290099)^2 + 1.93868e+16) + 0.00000167537; 3.48087e-34*cos(theta5 - 0.069415) - 2.12351e-18*sin(theta4 + theta5 - 0.069415) + 5.00652e-33*sin(theta5 - 0.069415) + 3.05424e-17*cos(theta4 - 1.0*theta5 + 0.069415) + 2.12352e-18*sin(theta4 - 1.0*theta5 + 0.069415) - 1.89861e-7*cos(theta4) + sin(theta4) + 3.05424e-17*cos(theta4 + theta5 - 0.069415) + 5.01861e-33, 3.06162e-17*cos(theta4 + 2.46132) - 3.06162e-17*cos(theta4 - 2.46132) - 0.498796*sin(theta4 + theta5 - 2.53073) + 8.17627e-17*cos(theta5 - 2.53073) - 5.81282e-24*sin(theta4 - 2.46132) + 5.81282e-24*sin(theta4 + 2.46132) - 5.68469e-18*sin(theta5 - 2.53073) - 0.0346797*cos(theta4 - 1.0*theta5 + 2.53073) + 0.498796*sin(theta4 - 1.0*theta5 + 2.53073) - 0.0346795*cos(theta4 + theta5 - 2.53073) - 1.93294e-49, 0.0346795*sin(theta4 + theta5 - 2.53073) - 5.81282e-24*cos(theta4 - 2.46132) - 5.81282e-24*cos(theta4 + 2.46132) - 5.68469e-18*cos(theta5 - 2.53073) + 3.06162e-17*sin(theta4 - 2.46132) + 3.06162e-17*sin(theta4 + 2.46132) - 8.17627e-17*sin(theta5 - 2.53073) - 0.498796*cos(theta4 - 1.0*theta5 + 2.53073) - 0.0346797*sin(theta4 - 1.0*theta5 + 2.53073) - 0.498796*cos(theta4 + theta5 - 2.53073) - 2.38896e-49, 9.49963e-19*cos(theta5 + 0.610857) - 0.00579529*sin(theta4 + theta5 + 0.610857) + 7.10344e-19*cos(theta4 - 0.680271) - 7.10346e-19*cos(theta4 + 0.680271) - 1.37535e-17*sin(theta5 + 0.610857) - 0.0839036*cos(theta5 - 1.0*theta4 + 0.610857) + 5.10063e-18*sin(theta4 - 0.680271) + 5.10063e-18*sin(theta4 + 0.680271) - 0.00579526*sin(theta5 - 1.0*theta4 + 0.610857) - 0.0129996*cos(theta4) - 2.46811e-9*sin(theta4) - 0.0839036*cos(theta4 + theta5 + 0.610857) + (5.80442e+15*theta1 + 6.79059e+15*theta2 + 6.79179e+15*theta3 + 9.32005e+16*(theta1 + 0.290099)^3 + 9.32273e+16*(theta2 + 0.290099)^3 + 9.32274e+16*(theta3 + 0.290099)^3 + 1.02137e+8*(1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^3 - 2.51038e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^4 - 2.51006e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2 - 2.7753e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^4*(theta2 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta1 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta1 + 0.290099)^4*(theta3 + 0.290099)^2 - 6.24744e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta2 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta2 + 0.290099)^4*(theta3 + 0.290099)^2 - 1.0*(theta3 + 0.290099)*(4.88307e+16*theta2 + 1.41657e+16) - 1.0*(theta3 + 0.290099)*(5.00817e+16*theta1 + 1.45286e+16) - 1.0*(theta2 + 0.290099)*(5.00829e+16*theta1 + 1.4529e+16) + 5.00823e+16*(theta1 + 0.290099)^2 + 4.94568e+16*(theta2 + 0.290099)^2 - 8.66028e+16*(theta1 + 0.290099)^4 + 4.94562e+16*(theta3 + 0.290099)^2 - 8.66277e+16*(theta2 + 0.290099)^4 - 8.66278e+16*(theta3 + 0.290099)^4 + (theta2 + 0.290099)^3*(1.64414e+17*theta1 + 4.76963e+16) + (theta3 + 0.290099)^3*(1.64425e+17*theta1 + 4.76995e+16) + (theta3 + 0.290099)^3*(1.82086e+17*theta2 + 5.2823e+16) + 1.73195e+17*(theta1 + 0.290099)^3*(theta2 + 0.290099) + 1.73216e+17*(theta1 + 0.290099)^3*(theta3 + 0.290099) + 1.82097e+17*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.75723e+16*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099) + 1.24949e+18*(theta1 + 0.290099)^4*(theta2 + 0.290099)*(theta3 + 0.290099) - 1.0*(theta2 + 0.290099)^2*(theta3 + 0.290099)^3*(1.24949e+18*theta1 + 3.62475e+17) - 1.0*(theta2 + 0.290099)^3*(theta3 + 0.290099)^2*(1.24949e+18*theta1 + 3.62475e+17) - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099)^3 - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)*(theta3 + 0.290099)^2 - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^2*(theta3 + 0.290099) + (theta2 + 0.290099)*(theta3 + 0.290099)^4*(1.24949e+18*theta1 + 3.62475e+17) + (theta2 + 0.290099)^4*(theta3 + 0.290099)*(1.24949e+18*theta1 + 3.62475e+17) + 3.74846e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 + (theta2 + 0.290099)^2*(theta3 + 0.290099)*(8.77019e+15*theta1 + 2.54422e+15) + (theta2 + 0.290099)*(theta3 + 0.290099)^2*(8.80206e+15*theta1 + 2.55347e+15) + 5.99486e+15)^(1/2) - 1.0*(theta2 + 0.290099)^2*(4.66002e+16*theta1 + 1.35187e+16) - 1.0*(theta3 + 0.290099)^2*(4.66003e+16*theta1 + 1.35187e+16) - 1.0*(theta3 + 0.290099)^2*(4.66271e+16*theta2 + 1.35265e+16) - 4.66002e+16*(theta1 + 0.290099)^2*(theta2 + 0.290099) - 4.66003e+16*(theta1 + 0.290099)^2*(theta3 + 0.290099) - 4.66271e+16*(theta2 + 0.290099)^2*(theta3 + 0.290099) + 5.62409e+15)/(1.86401e+17*(theta1 + 0.290099)^2 - 1.0*(theta3 + 0.290099)*(1.86401e+17*theta1 + 5.40748e+16) - 1.0*(theta3 + 0.290099)*(1.86508e+17*theta2 + 5.41059e+16) - 1.0*(theta2 + 0.290099)*(1.86401e+17*theta1 + 5.40747e+16) + 1.86455e+17*(theta2 + 0.290099)^2 + 1.86455e+17*(theta3 + 0.290099)^2 + 1.93868e+16) - (1.0*(2.46519e-32*(theta3 + 0.290099)*(1.10539e+71*theta2 + 3.20672e+70) - 2.46519e-32*(theta2 + 0.290099)*(6.32844e+70*theta1 + 1.83587e+70) - 2.46519e-32*(theta3 + 0.290099)*(6.33034e+70*theta1 + 1.83643e+70) + 2.80577e+40*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2 + 2.80574e+40*(theta1 + 0.290099)^2*(theta3 + 0.290099)^2 - 5.61151e+40*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 + 1.56031e+39*(theta1 + 0.290099)^2 - 5.82456e+38*(theta2 + 0.290099)^2 - 5.82222e+38*(theta3 + 0.290099)^2 + 2.46519e-32*(8.31193e+62*theta2 + 2.41128e+62)*(1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^3 - 2.51038e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^4 - 2.51006e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2 - 2.7753e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^4*(theta2 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta1 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta1 + 0.290099)^4*(theta3 + 0.290099)^2 - 6.24744e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta2 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta2 + 0.290099)^4*(theta3 + 0.290099)^2 - 1.0*(theta3 + 0.290099)*(4.88307e+16*theta2 + 1.41657e+16) - 1.0*(theta3 + 0.290099)*(5.00817e+16*theta1 + 1.45286e+16) - 1.0*(theta2 + 0.290099)*(5.00829e+16*theta1 + 1.4529e+16) + 5.00823e+16*(theta1 + 0.290099)^2 + 4.94568e+16*(theta2 + 0.290099)^2 - 8.66028e+16*(theta1 + 0.290099)^4 + 4.94562e+16*(theta3 + 0.290099)^2 - 8.66277e+16*(theta2 + 0.290099)^4 - 8.66278e+16*(theta3 + 0.290099)^4 + (theta2 + 0.290099)^3*(1.64414e+17*theta1 + 4.76963e+16) + (theta3 + 0.290099)^3*(1.64425e+17*theta1 + 4.76995e+16) + (theta3 + 0.290099)^3*(1.82086e+17*theta2 + 5.2823e+16) + 1.73195e+17*(theta1 + 0.290099)^3*(theta2 + 0.290099) + 1.73216e+17*(theta1 + 0.290099)^3*(theta3 + 0.290099) + 1.82097e+17*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.75723e+16*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099) + 1.24949e+18*(theta1 + 0.290099)^4*(theta2 + 0.290099)*(theta3 + 0.290099) - 1.0*(theta2 + 0.290099)^2*(theta3 + 0.290099)^3*(1.24949e+18*theta1 + 3.62475e+17) - 1.0*(theta2 + 0.290099)^3*(theta3 + 0.290099)^2*(1.24949e+18*theta1 + 3.62475e+17) - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099)^3 - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)*(theta3 + 0.290099)^2 - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^2*(theta3 + 0.290099) + (theta2 + 0.290099)*(theta3 + 0.290099)^4*(1.24949e+18*theta1 + 3.62475e+17) + (theta2 + 0.290099)^4*(theta3 + 0.290099)*(1.24949e+18*theta1 + 3.62475e+17) + 3.74846e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 + (theta2 + 0.290099)^2*(theta3 + 0.290099)*(8.77019e+15*theta1 + 2.54422e+15) + (theta2 + 0.290099)*(theta3 + 0.290099)^2*(8.80206e+15*theta1 + 2.55347e+15) + 5.99486e+15)^(1/2) - 2.46519e-32*(1.6624e+63*theta1 + 4.82259e+62)*(1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^3 - 2.51038e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^4 - 2.51006e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2 - 2.7753e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^4*(theta2 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta1 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta1 + 0.290099)^4*(theta3 + 0.290099)^2 - 6.24744e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta2 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta2 + 0.290099)^4*(theta3 + 0.290099)^2 - 1.0*(theta3 + 0.290099)*(4.88307e+16*theta2 + 1.41657e+16) - 1.0*(theta3 + 0.290099)*(5.00817e+16*theta1 + 1.45286e+16) - 1.0*(theta2 + 0.290099)*(5.00829e+16*theta1 + 1.4529e+16) + 5.00823e+16*(theta1 + 0.290099)^2 + 4.94568e+16*(theta2 + 0.290099)^2 - 8.66028e+16*(theta1 + 0.290099)^4 + 4.94562e+16*(theta3 + 0.290099)^2 - 8.66277e+16*(theta2 + 0.290099)^4 - 8.66278e+16*(theta3 + 0.290099)^4 + (theta2 + 0.290099)^3*(1.64414e+17*theta1 + 4.76963e+16) + (theta3 + 0.290099)^3*(1.64425e+17*theta1 + 4.76995e+16) + (theta3 + 0.290099)^3*(1.82086e+17*theta2 + 5.2823e+16) + 1.73195e+17*(theta1 + 0.290099)^3*(theta2 + 0.290099) + 1.73216e+17*(theta1 + 0.290099)^3*(theta3 + 0.290099) + 1.82097e+17*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.75723e+16*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099) + 1.24949e+18*(theta1 + 0.290099)^4*(theta2 + 0.290099)*(theta3 + 0.290099) - 1.0*(theta2 + 0.290099)^2*(theta3 + 0.290099)^3*(1.24949e+18*theta1 + 3.62475e+17) - 1.0*(theta2 + 0.290099)^3*(theta3 + 0.290099)^2*(1.24949e+18*theta1 + 3.62475e+17) - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099)^3 - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)*(theta3 + 0.290099)^2 - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^2*(theta3 + 0.290099) + (theta2 + 0.290099)*(theta3 + 0.290099)^4*(1.24949e+18*theta1 + 3.62475e+17) + (theta2 + 0.290099)^4*(theta3 + 0.290099)*(1.24949e+18*theta1 + 3.62475e+17) + 3.74846e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 + (theta2 + 0.290099)^2*(theta3 + 0.290099)*(8.77019e+15*theta1 + 2.54422e+15) + (theta2 + 0.290099)*(theta3 + 0.290099)^2*(8.80206e+15*theta1 + 2.55347e+15) + 5.99486e+15)^(1/2) + 2.46519e-32*(8.31203e+62*theta3 + 2.41131e+62)*(1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^3 - 2.51038e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^4 - 2.51006e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2 - 2.7753e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^4*(theta2 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta1 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta1 + 0.290099)^4*(theta3 + 0.290099)^2 - 6.24744e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta2 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta2 + 0.290099)^4*(theta3 + 0.290099)^2 - 1.0*(theta3 + 0.290099)*(4.88307e+16*theta2 + 1.41657e+16) - 1.0*(theta3 + 0.290099)*(5.00817e+16*theta1 + 1.45286e+16) - 1.0*(theta2 + 0.290099)*(5.00829e+16*theta1 + 1.4529e+16) + 5.00823e+16*(theta1 + 0.290099)^2 + 4.94568e+16*(theta2 + 0.290099)^2 - 8.66028e+16*(theta1 + 0.290099)^4 + 4.94562e+16*(theta3 + 0.290099)^2 - 8.66277e+16*(theta2 + 0.290099)^4 - 8.66278e+16*(theta3 + 0.290099)^4 + (theta2 + 0.290099)^3*(1.64414e+17*theta1 + 4.76963e+16) + (theta3 + 0.290099)^3*(1.64425e+17*theta1 + 4.76995e+16) + (theta3 + 0.290099)^3*(1.82086e+17*theta2 + 5.2823e+16) + 1.73195e+17*(theta1 + 0.290099)^3*(theta2 + 0.290099) + 1.73216e+17*(theta1 + 0.290099)^3*(theta3 + 0.290099) + 1.82097e+17*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.75723e+16*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099) + 1.24949e+18*(theta1 + 0.290099)^4*(theta2 + 0.290099)*(theta3 + 0.290099) - 1.0*(theta2 + 0.290099)^2*(theta3 + 0.290099)^3*(1.24949e+18*theta1 + 3.62475e+17) - 1.0*(theta2 + 0.290099)^3*(theta3 + 0.290099)^2*(1.24949e+18*theta1 + 3.62475e+17) - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099)^3 - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)*(theta3 + 0.290099)^2 - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^2*(theta3 + 0.290099) + (theta2 + 0.290099)*(theta3 + 0.290099)^4*(1.24949e+18*theta1 + 3.62475e+17) + (theta2 + 0.290099)^4*(theta3 + 0.290099)*(1.24949e+18*theta1 + 3.62475e+17) + 3.74846e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 + (theta2 + 0.290099)^2*(theta3 + 0.290099)*(8.77019e+15*theta1 + 2.54422e+15) + (theta2 + 0.290099)*(theta3 + 0.290099)^2*(8.80206e+15*theta1 + 2.55347e+15) + 5.99486e+15)^(1/2) - 2.46519e-32*(theta3 + 0.290099)^3*(1.13815e+72*theta1 + 3.30176e+71) + 2.46519e-32*(theta3 + 0.290099)^3*(1.13815e+72*theta2 + 3.30176e+71) - 2.46519e-32*(theta2 + 0.290099)^3*(1.13815e+72*theta1 + 3.30177e+71) - 9.28492e+34*(theta1 + 0.290099)^3*(theta2 + 0.290099) + 9.28492e+34*(theta1 + 0.290099)^3*(theta3 + 0.290099) + 2.80576e+40*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 5.61151e+40*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099) + 2.46519e-32*(theta2 + 0.290099)^2*(theta3 + 0.290099)*(1.13814e+72*theta1 + 3.30175e+71) + 2.46519e-32*(theta2 + 0.290099)*(theta3 + 0.290099)^2*(1.13816e+72*theta1 + 3.30178e+71) - 1.02262e+34))/(1.16367e+57*(theta1 + 0.290099)^2 + 1.164e+57*(theta2 + 0.290099)^2 + 1.16401e+57*(theta3 + 0.290099)^2 - 1.0*(1.16367e+57*theta1 + 3.37579e+56)*(theta2 + 0.290099) - 1.0*(1.16367e+57*theta1 + 3.3758e+56)*(theta3 + 0.290099) - 1.0*(1.16434e+57*theta2 + 3.37774e+56)*(theta3 + 0.290099) + 1.21028e+56) - 0.0411435*cos(theta5)*(0.0693593*cos(theta4) + 1.31686e-8*sin(theta4) - 8.17627e-17) - 0.0271339*sin(theta5)*(0.0693593*cos(theta4) + 1.31686e-8*sin(theta4) - 8.17627e-17) + 0.0271339*cos(theta5)*(0.997592*cos(theta4) + 1.89404e-7*sin(theta4) + 5.68469e-18) - 0.0411435*sin(theta5)*(0.997592*cos(theta4) + 1.89404e-7*sin(theta4) + 5.68469e-18) - (1.0*(2.64698e-23*(theta2 + 0.290099)*(1.78449e+66*theta1 + 5.17678e+65) - 2.64698e-23*(theta3 + 0.290099)*(1.78497e+66*theta1 + 5.17819e+65) - 1.13782e+45*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2 + 1.13782e+45*(theta1 + 0.290099)^2*(theta3 + 0.290099)^2 - 4.68461e+39*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 + 2.64698e-23*(theta3 + 0.290099)*(1.37581e+62*theta2 + 3.9912e+61) + 6.45273e+39*(theta1 + 0.290099)^2 - 2.36193e+43*(theta2 + 0.290099)^2 + 2.36221e+43*(theta3 + 0.290099)^2 + 2.64698e-23*(theta2 + 0.290099)^3*(1.43285e+67*theta1 + 4.15667e+66) - 2.64698e-23*(theta3 + 0.290099)^3*(1.43286e+67*theta1 + 4.15672e+66) + 2.64698e-23*(theta3 + 0.290099)^3*(1.43286e+67*theta2 + 4.15672e+66) - 2.64698e-23*(1.03926e+53*theta1 + 3.01489e+52)*(1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^3 - 2.51038e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^4 - 2.51006e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2 - 2.7753e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^4*(theta2 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta1 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta1 + 0.290099)^4*(theta3 + 0.290099)^2 - 6.24744e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta2 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta2 + 0.290099)^4*(theta3 + 0.290099)^2 - 1.0*(theta3 + 0.290099)*(4.88307e+16*theta2 + 1.41657e+16) - 1.0*(theta3 + 0.290099)*(5.00817e+16*theta1 + 1.45286e+16) - 1.0*(theta2 + 0.290099)*(5.00829e+16*theta1 + 1.4529e+16) + 5.00823e+16*(theta1 + 0.290099)^2 + 4.94568e+16*(theta2 + 0.290099)^2 - 8.66028e+16*(theta1 + 0.290099)^4 + 4.94562e+16*(theta3 + 0.290099)^2 - 8.66277e+16*(theta2 + 0.290099)^4 - 8.66278e+16*(theta3 + 0.290099)^4 + (theta2 + 0.290099)^3*(1.64414e+17*theta1 + 4.76963e+16) + (theta3 + 0.290099)^3*(1.64425e+17*theta1 + 4.76995e+16) + (theta3 + 0.290099)^3*(1.82086e+17*theta2 + 5.2823e+16) + 1.73195e+17*(theta1 + 0.290099)^3*(theta2 + 0.290099) + 1.73216e+17*(theta1 + 0.290099)^3*(theta3 + 0.290099) + 1.82097e+17*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.75723e+16*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099) + 1.24949e+18*(theta1 + 0.290099)^4*(theta2 + 0.290099)*(theta3 + 0.290099) - 1.0*(theta2 + 0.290099)^2*(theta3 + 0.290099)^3*(1.24949e+18*theta1 + 3.62475e+17) - 1.0*(theta2 + 0.290099)^3*(theta3 + 0.290099)^2*(1.24949e+18*theta1 + 3.62475e+17) - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099)^3 - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)*(theta3 + 0.290099)^2 - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^2*(theta3 + 0.290099) + (theta2 + 0.290099)*(theta3 + 0.290099)^4*(1.24949e+18*theta1 + 3.62475e+17) + (theta2 + 0.290099)^4*(theta3 + 0.290099)*(1.24949e+18*theta1 + 3.62475e+17) + 3.74846e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 + (theta2 + 0.290099)^2*(theta3 + 0.290099)*(8.77019e+15*theta1 + 2.54422e+15) + (theta2 + 0.290099)*(theta3 + 0.290099)^2*(8.80206e+15*theta1 + 2.55347e+15) + 5.99486e+15)^(1/2) - 2.64698e-23*(3.14047e+58*theta3 + 9.11047e+57)*(1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^3 - 2.51038e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^4 - 2.51006e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2 - 2.7753e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^4*(theta2 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta1 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta1 + 0.290099)^4*(theta3 + 0.290099)^2 - 6.24744e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta2 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta2 + 0.290099)^4*(theta3 + 0.290099)^2 - 1.0*(theta3 + 0.290099)*(4.88307e+16*theta2 + 1.41657e+16) - 1.0*(theta3 + 0.290099)*(5.00817e+16*theta1 + 1.45286e+16) - 1.0*(theta2 + 0.290099)*(5.00829e+16*theta1 + 1.4529e+16) + 5.00823e+16*(theta1 + 0.290099)^2 + 4.94568e+16*(theta2 + 0.290099)^2 - 8.66028e+16*(theta1 + 0.290099)^4 + 4.94562e+16*(theta3 + 0.290099)^2 - 8.66277e+16*(theta2 + 0.290099)^4 - 8.66278e+16*(theta3 + 0.290099)^4 + (theta2 + 0.290099)^3*(1.64414e+17*theta1 + 4.76963e+16) + (theta3 + 0.290099)^3*(1.64425e+17*theta1 + 4.76995e+16) + (theta3 + 0.290099)^3*(1.82086e+17*theta2 + 5.2823e+16) + 1.73195e+17*(theta1 + 0.290099)^3*(theta2 + 0.290099) + 1.73216e+17*(theta1 + 0.290099)^3*(theta3 + 0.290099) + 1.82097e+17*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.75723e+16*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099) + 1.24949e+18*(theta1 + 0.290099)^4*(theta2 + 0.290099)*(theta3 + 0.290099) - 1.0*(theta2 + 0.290099)^2*(theta3 + 0.290099)^3*(1.24949e+18*theta1 + 3.62475e+17) - 1.0*(theta2 + 0.290099)^3*(theta3 + 0.290099)^2*(1.24949e+18*theta1 + 3.62475e+17) - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099)^3 - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)*(theta3 + 0.290099)^2 - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^2*(theta3 + 0.290099) + (theta2 + 0.290099)*(theta3 + 0.290099)^4*(1.24949e+18*theta1 + 3.62475e+17) + (theta2 + 0.290099)^4*(theta3 + 0.290099)*(1.24949e+18*theta1 + 3.62475e+17) + 3.74846e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 + (theta2 + 0.290099)^2*(theta3 + 0.290099)*(8.77019e+15*theta1 + 2.54422e+15) + (theta2 + 0.290099)*(theta3 + 0.290099)^2*(8.80206e+15*theta1 + 2.55347e+15) + 5.99486e+15)^(1/2) + 2.64698e-23*(3.14048e+58*theta2 + 9.1105e+57)*(1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^3 - 2.51038e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^4 - 2.51006e+17*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2 - 2.7753e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^4*(theta2 + 0.290099)^2 - 6.24744e+17*(theta1 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta1 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta1 + 0.290099)^4*(theta3 + 0.290099)^2 - 6.24744e+17*(theta2 + 0.290099)^2*(theta3 + 0.290099)^4 + 1.24949e+18*(theta2 + 0.290099)^3*(theta3 + 0.290099)^3 - 6.24744e+17*(theta2 + 0.290099)^4*(theta3 + 0.290099)^2 - 1.0*(theta3 + 0.290099)*(4.88307e+16*theta2 + 1.41657e+16) - 1.0*(theta3 + 0.290099)*(5.00817e+16*theta1 + 1.45286e+16) - 1.0*(theta2 + 0.290099)*(5.00829e+16*theta1 + 1.4529e+16) + 5.00823e+16*(theta1 + 0.290099)^2 + 4.94568e+16*(theta2 + 0.290099)^2 - 8.66028e+16*(theta1 + 0.290099)^4 + 4.94562e+16*(theta3 + 0.290099)^2 - 8.66277e+16*(theta2 + 0.290099)^4 - 8.66278e+16*(theta3 + 0.290099)^4 + (theta2 + 0.290099)^3*(1.64414e+17*theta1 + 4.76963e+16) + (theta3 + 0.290099)^3*(1.64425e+17*theta1 + 4.76995e+16) + (theta3 + 0.290099)^3*(1.82086e+17*theta2 + 5.2823e+16) + 1.73195e+17*(theta1 + 0.290099)^3*(theta2 + 0.290099) + 1.73216e+17*(theta1 + 0.290099)^3*(theta3 + 0.290099) + 1.82097e+17*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.75723e+16*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099) + 1.24949e+18*(theta1 + 0.290099)^4*(theta2 + 0.290099)*(theta3 + 0.290099) - 1.0*(theta2 + 0.290099)^2*(theta3 + 0.290099)^3*(1.24949e+18*theta1 + 3.62475e+17) - 1.0*(theta2 + 0.290099)^3*(theta3 + 0.290099)^2*(1.24949e+18*theta1 + 3.62475e+17) - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099)^3 - 1.24949e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)*(theta3 + 0.290099)^2 - 1.24949e+18*(theta1 + 0.290099)^3*(theta2 + 0.290099)^2*(theta3 + 0.290099) + (theta2 + 0.290099)*(theta3 + 0.290099)^4*(1.24949e+18*theta1 + 3.62475e+17) + (theta2 + 0.290099)^4*(theta3 + 0.290099)*(1.24949e+18*theta1 + 3.62475e+17) + 3.74846e+18*(theta1 + 0.290099)^2*(theta2 + 0.290099)^2*(theta3 + 0.290099)^2 + (theta2 + 0.290099)^2*(theta3 + 0.290099)*(8.77019e+15*theta1 + 2.54422e+15) + (theta2 + 0.290099)*(theta3 + 0.290099)^2*(8.80206e+15*theta1 + 2.55347e+15) + 5.99486e+15)^(1/2) + 7.58547e+44*(theta1 + 0.290099)^3*(theta2 + 0.290099) - 7.58547e+44*(theta1 + 0.290099)^3*(theta3 + 0.290099) - 3.79271e+44*(theta2 + 0.290099)^3*(theta3 + 0.290099) - 2.64698e-23*(4.29856e+67*theta1 + 1.24701e+67)*(theta2 + 0.290099)*(theta3 + 0.290099)^2 + 2.64698e-23*(4.29857e+67*theta1 + 1.24701e+67)*(theta2 + 0.290099)^2*(theta3 + 0.290099) - 4.68461e+39*(theta1 + 0.290099)^2*(theta2 + 0.290099)*(theta3 + 0.290099) + 6.60228e+38))/(2.97503e+51*(theta1 + 0.290099)^2 - 1.0*(theta3 + 0.290099)*(2.97504e+51*theta1 + 8.63055e+50) - 1.0*(theta3 + 0.290099)*(2.97675e+51*theta2 + 8.63551e+50) - 1.0*(theta2 + 0.290099)*(2.97503e+51*theta1 + 8.63053e+50) + 2.97589e+51*(theta2 + 0.290099)^2 + 2.97589e+51*(theta3 + 0.290099)^2 + 3.09421e+50) - 1.0843; 0, 0, 0, 1.0]; end