% The AMBF Galen robot jacobian. 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
%   J - the Jacobian from AMBF world to galen tool tip

% Created by Brevin Banks
% Modified 4/25/2023

function J = galen_jacob2(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);



 
J = [((pb11 + 0.00000000000000006123233995736766035868820147292*pb12)*(6.7973245483961660257323828305328e+46*theta1 + 2.4878712828112887171077186698405e+50*theta2 - 2.4885510152661281976153234676208e+50*theta3 + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3 - 1.997650131110317731978785793058e+51*(theta3 + 0.29009905533503599350808599410811)^3 - 1.0*(theta2 + 0.29009905533503599350808599410811)^2*(1.1985802091160332601729050381239e+52*theta1 + 3.4770698640783114528504856077457e+51) - 1.0*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta2 + 1.7385349320391557264252428038728e+51) + (theta3 + 0.29009905533503599350808599410811)^2*(1.1985851438911118832186884677335e+52*theta1 + 3.477084179814197447086027608543e+51) - 1.4489060629306480765719116415536e+37*(1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^3 - 251038492352157600.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^4 - 251005996675404448.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 277530385745933568.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(48830718344081912.0*theta2 + 14165745262949376.0) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(50081675560632440.0*theta1 + 14528646769735230.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(50082877455815688.0*theta1 + 14528995438392502.0) + 50082276508224064.0*(theta1 + 0.29009905533503599350808599410811)^2 + 49456797899948800.0*(theta2 + 0.29009905533503599350808599410811)^2 - 86602790043583056.0*(theta1 + 0.29009905533503599350808599410811)^4 + 49456196952357176.0*(theta3 + 0.29009905533503599350808599410811)^2 - 86627698380398880.0*(theta2 + 0.29009905533503599350808599410811)^4 - 86627803167183264.0*(theta3 + 0.29009905533503599350808599410811)^4 + (theta2 + 0.29009905533503599350808599410811)^3*(164413933737288032.0*theta1 + 47696326861104464.0) + (theta3 + 0.29009905533503599350808599410811)^3*(164424975203107872.0*theta1 + 47699529979908312.0) + (theta3 + 0.29009905533503599350808599410811)^3*(182086237465625184.0*theta2 + 52823045478288904.0) + 173194748194915072.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 173216411979417184.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 182096859784307456.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 17572251233936354.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) - 1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) + 1.1985826765035725716957967529287e+52*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811) - 1.1985826765035725716957967529287e+52*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + 5.9929257194555594160934423386677e+51*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)*(4.9347750787451367621592710644703e+46*theta1 + 1.4315735886348420317944844859067e+46) + (0.5*(1.4489060629306480765719116415536e+37*theta1 + 4.2032628012538724121765161927348e+36)*(50082877455815688.0*theta2 - 100164553016448128.0*theta1 + 50081675560632440.0*theta3 - 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3 + 2498976182152330752.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2 - 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3 + 2498976182152330752.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2 + 346411160174332224.0*(theta1 + 0.29009905533503599350808599410811)^3 - 164413933737288032.0*(theta2 + 0.29009905533503599350808599410811)^3 - 164424975203107872.0*(theta3 + 0.29009905533503599350808599410811)^3 + (theta2 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.57154458426106) + (theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.57154458426106) - 1.0*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta2 + 362475314873572992.57154458426106) + (theta2 + 0.29009905533503599350808599410811)^2*(502011993350808896.0*theta1 + 145633205037928031.16045619852044) + (theta3 + 0.29009905533503599350808599410811)^2*(502076984704315200.0*theta1 + 145652058968185155.33009033830929) - 1.0*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta2 + 2553469028460218.6245661776073441) - 519584244584745216.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811) - 519649235938251520.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) - 8770192138944777.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811) - 4997952364304661504.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) - 1.0*(7496928546456991744.0*theta1 + 2174851889241437806.8985511740279)*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)*(35144502467872708.0*theta1 + 10195386966149713.751762052796203) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3*(2498976182152330752.0*theta1 + 724950629747145985.14308916852212) + (theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)*(2498976182152330752.0*theta1 + 724950629747145985.14308916852212)))/(1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^3 - 251038492352157600.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^4 - 251005996675404448.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 277530385745933568.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(48830718344081912.0*theta2 + 14165745262949376.0) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(50081675560632440.0*theta1 + 14528646769735230.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(50082877455815688.0*theta1 + 14528995438392502.0) + 50082276508224064.0*(theta1 + 0.29009905533503599350808599410811)^2 + 49456797899948800.0*(theta2 + 0.29009905533503599350808599410811)^2 - 86602790043583056.0*(theta1 + 0.29009905533503599350808599410811)^4 + 49456196952357176.0*(theta3 + 0.29009905533503599350808599410811)^2 - 86627698380398880.0*(theta2 + 0.29009905533503599350808599410811)^4 - 86627803167183264.0*(theta3 + 0.29009905533503599350808599410811)^4 + (theta2 + 0.29009905533503599350808599410811)^3*(164413933737288032.0*theta1 + 47696326861104464.0) + (theta3 + 0.29009905533503599350808599410811)^3*(164424975203107872.0*theta1 + 47699529979908312.0) + (theta3 + 0.29009905533503599350808599410811)^3*(182086237465625184.0*theta2 + 52823045478288904.0) + 173194748194915072.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 173216411979417184.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 182096859784307456.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 17572251233936354.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) - 1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) + (0.5*(4.3783353705055374221489549813737e+42*theta3 + 1.2701509549236312451951965993064e+42)*(50082877455815688.0*theta2 - 100164553016448128.0*theta1 + 50081675560632440.0*theta3 - 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3 + 2498976182152330752.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2 - 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3 + 2498976182152330752.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2 + 346411160174332224.0*(theta1 + 0.29009905533503599350808599410811)^3 - 164413933737288032.0*(theta2 + 0.29009905533503599350808599410811)^3 - 164424975203107872.0*(theta3 + 0.29009905533503599350808599410811)^3 + (theta2 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.57154458426106) + (theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.57154458426106) - 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17572251233936354.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) - 1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 4.479474287298821370376658978974e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 4.479474287298821370376658978974e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.3536286138204542533329942678005e+57*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 2.7072527481153363436504194825935e+57*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(1.3536196547840907915296135133954e+57*theta1 + 3.926837831358022756515379048919e+56) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(1.3536330932479452998214195509447e+57*theta1 + 3.9268768162147165204959041501233e+56) - 4.9336057292938525373356128818762e+50))/(1.1636694106362360362076441376278e+57*(theta1 + 0.29009905533503599350808599410811)^2 + 1.1640041004263431855670181003032e+57*(theta2 + 0.29009905533503599350808599410811)^2 + 1.1640055084315077414110696095803e+57*(theta3 + 0.29009905533503599350808599410811)^2 - 1.0*(1.1636680026310714803635926283507e+57*theta1 + 3.3757898828688199869184611592602e+56)*(theta2 + 0.29009905533503599350808599410811) - 1.0*(1.1636708186414005920516956469048e+57*theta1 + 3.3757980520881831548936775528199e+56)*(theta3 + 0.29009905533503599350808599410811) - 1.0*(1.1643401982216147165458717087352e+57*theta2 + 3.3777399159269899119173697445018e+56)*(theta3 + 0.29009905533503599350808599410811) + 1.210284592791156383066241824682e+56)^2, (cos(E35xoff)*(0.49879587356532728570357448916184*pb11*cos(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*cos(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*cos(E35xoff + E35zoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb11*sin(E35xoff + E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb12*sin(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb13*sin(E35xoff + E35zoff + theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb11*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb12*cos(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb13*cos(E35xoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb11*sin(E35xoff + theta4) - 1.147922510829233746446529638671e-49*pb12*sin(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb13*sin(E35xoff + theta4) + 0.49879587356532723019242325790401*pb11*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.0000000000000000021235146971190555280824739675254*pb12*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.03467962678867946707539360318151*pb13*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.03467962678867946707539360318151*pb11*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb13*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb11*cos(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb12*cos(E35xoff - 1.0*theta4) + 0.00000000000000003061616997868383017934410073646*pb13*cos(E35xoff - 1.0*theta4) + 0.00000000000000003061616997868383017934410073646*pb11*sin(E35xoff - 1.0*theta4) + 1.147922510829233746446529638671e-49*pb12*sin(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb13*sin(E35xoff - 1.0*theta4)) + sin(E35xoff)*(0.034679626788679529525438738346566*pb11*cos(E35xoff + E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35xoff + E35zoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb13*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb11*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*sin(E35xoff + E35zoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb11*cos(E35xoff + theta4) + 1.147922510829233746446529638671e-49*pb12*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb13*cos(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb11*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb12*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb13*sin(E35xoff + theta4) + 0.03467962678867946707539360318151*pb11*cos(E35xoff + E35zoff - 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0.0000000000000000042470293942381149080248367095224*pb13*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb12*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb13*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb11*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb13*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb11*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb12*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb13*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb11*cos(E35xoff - 1.0*theta4) + 1.147922510829233746446529638671e-49*pb12*cos(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb13*cos(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb11*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb12*sin(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb13*sin(E35xoff - 1.0*theta4)) - 1.0*sin(E35xoff)*(0.49879587356532728570357448916184*pb11*cos(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*cos(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*cos(E35xoff + E35zoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb11*sin(E35xoff + E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb12*sin(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb13*sin(E35xoff + E35zoff + theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb11*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb12*cos(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb13*cos(E35xoff + theta4) - 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1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb13*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 1.8746997283273220097945288769292e-33*pb11*cos(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb12*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb13*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb11*sin(E35xoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb12*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb13*sin(E35xoff - 1.0*theta4)))*(E35Hpz - 1.0*THpz) + 1.0*TDLFE35x*(1.0*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb12 - 0.0000000000000000042470293942381187598847254839942*pb13 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*pb11*cos(theta4) + 0.99759174713065446038484651580802*pb11*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb12 - 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0.069359253577359059050877476693131*pb11*sin(theta4)))) + MpRABz*pb13 - 1.0*TDLFE35z*(cos(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb12 - 0.0000000000000000042470293942381187598847254839942*pb13 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*pb11*cos(theta4) + 0.99759174713065446038484651580802*pb11*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb12 - 0.000000000000000061084876998968587110695697647698*pb13 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000056837847604730463728579105634338*pb11*cos(theta4) - 0.069359253577359059050877476693131*pb11*sin(theta4))) + 0.00000000000000006123233995736766035868820147292*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb12 - 0.0000000000000000042470293942381187598847254839942*pb13 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*pb11*cos(theta4) + 0.99759174713065446038484651580802*pb11*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb12 - 0.000000000000000061084876998968587110695697647698*pb13 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000056837847604730463728579105634338*pb11*cos(theta4) - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.034679626788679529525438738346566*pb11*cos(E35zoff + Exoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35zoff + Exoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb13*cos(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb11*sin(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*sin(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*sin(E35zoff + Exoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb11*cos(Exoff + theta4) + 1.147922510829233746446529638671e-49*pb12*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb13*cos(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb11*sin(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb12*sin(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb13*sin(Exoff + theta4) - 3.7493994566546440195890577538583e-33*pb12*cos(Exoff) + 2.295845021658467492893059277342e-49*pb13*cos(Exoff) + 0.069359253577359003539726245435304*pb12*cos(E35zoff + Exoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb13*cos(E35zoff + Exoff + theta5) + 0.99759174713065446038484651580802*pb12*sin(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb13*sin(E35zoff + Exoff + theta5) - 0.03467962678867946707539360318151*pb11*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb13*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb11*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb12*sin(E35zoff + Exoff - 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1.8746997283273220097945288769292e-33*pb21*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb22*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb23*cos(E35xoff) + 0.069359253577359003539726245435304*pb22*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb23*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb22*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*sin(E35xoff + E35zoff - 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1.8746997283273220097945288769292e-33*pb21*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*cos(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*cos(E35xoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb21*sin(E35xoff + theta4) - 1.147922510829233746446529638671e-49*pb22*sin(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(E35xoff + theta4) + 3.7493994566546440195890577538583e-33*pb22*sin(E35xoff) - 2.295845021658467492893059277342e-49*pb23*sin(E35xoff) + 0.99759174713065446038484651580802*pb22*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb22*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb23*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb23*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 1.8746997283273220097945288769292e-33*pb21*cos(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb22*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb23*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb21*sin(E35xoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb22*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(E35xoff - 1.0*theta4)))*(E35Hpz - 1.0*THpz) + 1.0*TDLFE35x*(1.0*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 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cos(theta5)*(0.99759174713065446038484651580802*pb22 - 0.000000000000000061084876998968587110695697647698*pb23 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*pb21*cos(theta4) - 0.069359253577359059050877476693131*pb21*sin(theta4)))) + MpRABz*pb23 - 1.0*TDLFE35z*(cos(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*pb21*cos(theta4) + 0.99759174713065446038484651580802*pb21*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb22 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.034679626788679529525438738346566*pb21*cos(E35zoff + Exoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35zoff + Exoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb23*cos(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb21*sin(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb22*sin(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb23*sin(E35zoff + Exoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb21*cos(Exoff + theta4) + 1.147922510829233746446529638671e-49*pb22*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb23*cos(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb21*sin(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*sin(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*sin(Exoff + theta4) - 3.7493994566546440195890577538583e-33*pb22*cos(Exoff) + 2.295845021658467492893059277342e-49*pb23*cos(Exoff) + 0.069359253577359003539726245435304*pb22*cos(E35zoff + Exoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb23*cos(E35zoff + Exoff + theta5) + 0.99759174713065446038484651580802*pb22*sin(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*sin(E35zoff + Exoff + theta5) - 0.03467962678867946707539360318151*pb21*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb23*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb21*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*sin(E35zoff + Exoff - 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1.8746997283273220097945288769292e-33*pb31*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb32*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb33*cos(E35xoff) + 0.069359253577359003539726245435304*pb32*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb33*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb32*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb31*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb33*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb31*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*sin(E35xoff + E35zoff - 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(theta3 + 0.29009905533503599350808599410811)^3*(1.9976501311103180642857847392869e+51*theta2 + 5.7951641592501409610947626753258e+50) + 1.0*(1.4489060629306480765719116415536e+37*theta1 + 4.2032628012538724121765161927348e+36)*(1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^3 - 251038492352157600.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^4 - 251005996675404448.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 277530385745933568.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(48830718344081912.0*theta2 + 14165745262949376.0) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(50081675560632440.0*theta1 + 14528646769735230.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(50082877455815688.0*theta1 + 14528995438392502.0) + 50082276508224064.0*(theta1 + 0.29009905533503599350808599410811)^2 + 49456797899948800.0*(theta2 + 0.29009905533503599350808599410811)^2 - 86602790043583056.0*(theta1 + 0.29009905533503599350808599410811)^4 + 49456196952357176.0*(theta3 + 0.29009905533503599350808599410811)^2 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.034679626788679529525438738346566*pb31*cos(E35zoff + Exoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35zoff + Exoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb33*cos(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb31*sin(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb32*sin(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb33*sin(E35zoff + Exoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb31*cos(Exoff + theta4) + 1.147922510829233746446529638671e-49*pb32*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb33*cos(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb31*sin(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*sin(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*sin(Exoff + theta4) - 3.7493994566546440195890577538583e-33*pb32*cos(Exoff) + 2.295845021658467492893059277342e-49*pb33*cos(Exoff) + 0.069359253577359003539726245435304*pb32*cos(E35zoff + Exoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb33*cos(E35zoff + Exoff + theta5) + 0.99759174713065446038484651580802*pb32*sin(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*sin(E35zoff + Exoff + theta5) - 0.03467962678867946707539360318151*pb31*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb33*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb31*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb33*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb31*cos(Exoff - 1.0*theta4) + 1.147922510829233746446529638671e-49*pb32*cos(Exoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb33*cos(Exoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb31*sin(Exoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb32*sin(Exoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb33*sin(Exoff - 1.0*theta4)))*(0.49879587356532728570357448916184*pb11*cos(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*cos(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*cos(E35zoff + Exoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb11*sin(E35zoff + Exoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb12*sin(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb13*sin(E35zoff + Exoff + theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb11*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb12*cos(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb13*cos(Exoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb11*sin(Exoff + theta4) - 1.147922510829233746446529638671e-49*pb12*sin(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb13*sin(Exoff + theta4) + 0.49879587356532723019242325790401*pb11*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.0000000000000000021235146971190555280824739675254*pb12*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.03467962678867946707539360318151*pb13*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.03467962678867946707539360318151*pb11*sin(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*sin(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb13*sin(E35zoff + Exoff - 1.0*theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb11*cos(Exoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb12*cos(Exoff - 1.0*theta4) + 0.00000000000000003061616997868383017934410073646*pb13*cos(Exoff - 1.0*theta4) + 0.00000000000000003061616997868383017934410073646*pb11*sin(Exoff - 1.0*theta4) + 1.147922510829233746446529638671e-49*pb12*sin(Exoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb13*sin(Exoff - 1.0*theta4)) - 1.0*RABTDLFz*(0.00000000000000006123233995736766035868820147292*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + pb11*cos(theta4) - 0.00000000000000006123233995736766035868820147292*pb11*sin(theta4)) - 1.0*(cos(E35xoff)*(0.034679626788679529525438738346566*pb11*cos(E35xoff + E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35xoff + E35zoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb13*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb11*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*sin(E35xoff + E35zoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb11*cos(E35xoff + theta4) + 1.147922510829233746446529638671e-49*pb12*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb13*cos(E35xoff + theta4) - 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3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.49879587356532728570357448916184*pb11*cos(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*cos(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*cos(E35zoff + Exoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb11*sin(E35zoff + Exoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb12*sin(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb13*sin(E35zoff + Exoff + theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb11*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb12*cos(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb13*cos(Exoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb11*sin(Exoff + theta4) - 1.147922510829233746446529638671e-49*pb12*sin(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb13*sin(Exoff + theta4) + 3.7493994566546440195890577538583e-33*pb12*sin(Exoff) - 2.295845021658467492893059277342e-49*pb13*sin(Exoff) + 0.99759174713065446038484651580802*pb12*cos(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb13*cos(E35zoff + Exoff + theta5) - 0.069359253577359003539726245435304*pb12*sin(E35zoff + Exoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb13*sin(E35zoff + Exoff + theta5) - 0.49879587356532723019242325790401*pb11*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb12*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb13*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb11*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb12*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb13*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 1.8746997283273220097945288769292e-33*pb11*cos(Exoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb12*cos(Exoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb13*cos(Exoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb11*sin(Exoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb12*sin(Exoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb13*sin(Exoff - 1.0*theta4)) + (pb24 + (cos(E35xoff)*(0.034679626788679529525438738346566*pb21*cos(E35xoff + E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35xoff + E35zoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb23*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb21*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb22*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb23*sin(E35xoff + E35zoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb21*cos(E35xoff + theta4) + 1.147922510829233746446529638671e-49*pb22*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb23*cos(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb21*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb22*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb23*cos(E35xoff) + 0.069359253577359003539726245435304*pb22*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb23*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb22*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb23*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb21*cos(E35xoff - 1.0*theta4) + 1.147922510829233746446529638671e-49*pb22*cos(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb23*cos(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb21*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb22*sin(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb23*sin(E35xoff - 1.0*theta4)) - 1.0*sin(E35xoff)*(0.49879587356532728570357448916184*pb21*cos(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb22*cos(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb23*cos(E35xoff + E35zoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb21*sin(E35xoff + E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb23*sin(E35xoff + E35zoff + theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb21*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*cos(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*cos(E35xoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb21*sin(E35xoff + theta4) - 1.147922510829233746446529638671e-49*pb22*sin(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(E35xoff + theta4) + 3.7493994566546440195890577538583e-33*pb22*sin(E35xoff) - 2.295845021658467492893059277342e-49*pb23*sin(E35xoff) + 0.99759174713065446038484651580802*pb22*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb22*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb23*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb23*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 1.8746997283273220097945288769292e-33*pb21*cos(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb22*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb23*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb21*sin(E35xoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb22*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(E35xoff - 1.0*theta4)))*(E35Hpz - 1.0*THpz) + 1.0*TDLFE35x*(1.0*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*pb21*cos(theta4) + 0.99759174713065446038484651580802*pb21*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb22 - 0.000000000000000061084876998968587110695697647698*pb23 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*pb21*cos(theta4) - 0.069359253577359059050877476693131*pb21*sin(theta4))) + cos(E35zoff)*(1.0*sin(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*pb21*cos(theta4) + 0.99759174713065446038484651580802*pb21*sin(theta4)) - cos(theta5)*(0.99759174713065446038484651580802*pb22 - 0.000000000000000061084876998968587110695697647698*pb23 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*pb21*cos(theta4) - 0.069359253577359059050877476693131*pb21*sin(theta4)))) + MpRABz*pb23 - 1.0*TDLFE35z*(cos(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*pb21*cos(theta4) + 0.99759174713065446038484651580802*pb21*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb22 - 0.000000000000000061084876998968587110695697647698*pb23 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*pb21*cos(theta4) - 0.069359253577359059050877476693131*pb21*sin(theta4))) + 0.00000000000000006123233995736766035868820147292*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*pb21*cos(theta4) + 0.99759174713065446038484651580802*pb21*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb22 - 0.000000000000000061084876998968587110695697647698*pb23 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*pb21*cos(theta4) - 0.069359253577359059050877476693131*pb21*sin(theta4))) + 0.00000000000000006123233995736766035868820147292*cos(E35zoff)*(1.0*sin(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*pb21*cos(theta4) + 0.99759174713065446038484651580802*pb21*sin(theta4)) - cos(theta5)*(0.99759174713065446038484651580802*pb22 - 0.000000000000000061084876998968587110695697647698*pb23 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*pb21*cos(theta4) - 0.069359253577359059050877476693131*pb21*sin(theta4))) - sin(E35zoff)*(1.0*sin(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 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1.0*MpRABx*(pb22 - 0.00000000000000006123233995736766035868820147292*pb23) - 1.0*RABTDLFx*(pb22 - 0.00000000000000006123233995736766035868820147292*pb23) + (E35Hpx - 1.0*THpx)*(sin(E35xoff)*(0.034679626788679529525438738346566*pb21*cos(E35xoff + E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35xoff + E35zoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb23*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb21*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb22*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb23*sin(E35xoff + E35zoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb21*cos(E35xoff + theta4) + 1.147922510829233746446529638671e-49*pb22*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb23*cos(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb21*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*sin(E35xoff + theta4) - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.49879587356532728570357448916184*pb21*cos(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb22*cos(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb23*cos(E35zoff + Exoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb21*sin(E35zoff + Exoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb23*sin(E35zoff + Exoff + theta4 + theta5) - 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2.295845021658467492893059277342e-49*pb33*sin(E35xoff) + 0.99759174713065446038484651580802*pb32*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb32*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb33*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb31*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb33*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb31*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb32*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb33*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 1.8746997283273220097945288769292e-33*pb31*cos(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb32*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb33*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb31*sin(E35xoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb32*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb33*sin(E35xoff - 1.0*theta4)))*(E35Hpz - 1.0*THpz) + 1.0*TDLFE35x*(1.0*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*pb31*cos(theta4) + 0.99759174713065446038484651580802*pb31*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb32 - 0.000000000000000061084876998968587110695697647698*pb33 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*pb31*cos(theta4) - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.49879587356532728570357448916184*pb31*cos(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb32*cos(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb33*cos(E35zoff + Exoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb31*sin(E35zoff + Exoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb32*sin(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb33*sin(E35zoff + Exoff + theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb31*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*cos(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*cos(Exoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb31*sin(Exoff + theta4) - 1.147922510829233746446529638671e-49*pb32*sin(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb33*sin(Exoff + theta4) + 3.7493994566546440195890577538583e-33*pb32*sin(Exoff) - 2.295845021658467492893059277342e-49*pb33*sin(Exoff) + 0.99759174713065446038484651580802*pb32*cos(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*cos(E35zoff + Exoff + theta5) - 0.069359253577359003539726245435304*pb32*sin(E35zoff + Exoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb33*sin(E35zoff + Exoff + theta5) - 0.49879587356532723019242325790401*pb31*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*cos(E35zoff + Exoff - 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1.8746997283273220097945288769292e-33*pb11*sin(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb12*sin(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb13*sin(Exoff + theta4) + 0.03467962678867946707539360318151*pb11*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb12*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb13*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb11*sin(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.0000000000000000021235146971190555280824739675254*pb12*sin(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.03467962678867946707539360318151*pb13*sin(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.00000000000000003061616997868383017934410073646*pb11*cos(Exoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb12*cos(Exoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb13*cos(Exoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb11*sin(Exoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb12*sin(Exoff - 1.0*theta4) + 0.00000000000000003061616997868383017934410073646*pb13*sin(Exoff - 1.0*theta4)) + TDLFE35z*(sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) - 0.000000000000000056837847604730463728579105634338*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.069359253577359059050877476693131*pb11*cos(theta4) + 0.000000000000000056837847604730463728579105634338*pb11*sin(theta4)) + sin(theta5)*(0.000000000000000065331906393206710492812289661058*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.99759174713065446038484651580802*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.99759174713065446038484651580802*pb11*cos(theta4) - 0.000000000000000065331906393206710492812289661058*pb11*sin(theta4))) - 0.00000000000000006123233995736766035868820147292*cos(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) - 0.000000000000000056837847604730463728579105634338*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.069359253577359059050877476693131*pb11*cos(theta4) + 0.000000000000000056837847604730463728579105634338*pb11*sin(theta4)) + sin(theta5)*(0.000000000000000065331906393206710492812289661058*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.99759174713065446038484651580802*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.99759174713065446038484651580802*pb11*cos(theta4) - 0.000000000000000065331906393206710492812289661058*pb11*sin(theta4))) + cos(E35zoff)*(sin(theta5)*(0.069359253577359059050877476693131*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) - 0.000000000000000056837847604730463728579105634338*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.069359253577359059050877476693131*pb11*cos(theta4) + 0.000000000000000056837847604730463728579105634338*pb11*sin(theta4)) - 1.0*cos(theta5)*(0.000000000000000065331906393206710492812289661058*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.99759174713065446038484651580802*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.99759174713065446038484651580802*pb11*cos(theta4) - 0.000000000000000065331906393206710492812289661058*pb11*sin(theta4))) + 0.00000000000000006123233995736766035868820147292*sin(E35zoff)*(sin(theta5)*(0.069359253577359059050877476693131*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) - 0.000000000000000056837847604730463728579105634338*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.069359253577359059050877476693131*pb11*cos(theta4) + 0.000000000000000056837847604730463728579105634338*pb11*sin(theta4)) - 1.0*cos(theta5)*(0.000000000000000065331906393206710492812289661058*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.99759174713065446038484651580802*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.99759174713065446038484651580802*pb11*cos(theta4) - 0.000000000000000065331906393206710492812289661058*pb11*sin(theta4)))) + ((pb14 + (cos(E35xoff)*(0.034679626788679529525438738346566*pb11*cos(E35xoff + E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35xoff + E35zoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb13*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb11*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*sin(E35xoff + E35zoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb11*cos(E35xoff + theta4) + 1.147922510829233746446529638671e-49*pb12*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb13*cos(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb11*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb12*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb13*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb12*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb13*cos(E35xoff) + 0.069359253577359003539726245435304*pb12*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb13*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb12*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb13*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb11*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb13*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb11*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb12*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb13*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb11*cos(E35xoff - 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1.8746997283273220097945288769292e-33*pb11*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb12*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb13*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb12*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb13*cos(E35xoff) + 0.069359253577359003539726245435304*pb12*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb13*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb12*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb13*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb11*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb13*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb11*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb12*sin(E35xoff + E35zoff - 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624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(48830718344081912.0*theta2 + 14165745262949376.0) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(50081675560632440.0*theta1 + 14528646769735230.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(50082877455815688.0*theta1 + 14528995438392502.0) + 50082276508224064.0*(theta1 + 0.29009905533503599350808599410811)^2 + 49456797899948800.0*(theta2 + 0.29009905533503599350808599410811)^2 - 86602790043583056.0*(theta1 + 0.29009905533503599350808599410811)^4 + 49456196952357176.0*(theta3 + 0.29009905533503599350808599410811)^2 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) + 5.9929010455801663008645251906194e+51*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 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(theta3 + 0.29009905533503599350808599410811)^3*(1.9976501311103180642857847392869e+51*theta2 + 5.7951641592501409610947626753258e+50) + 1.0*(1.4489060629306480765719116415536e+37*theta1 + 4.2032628012538724121765161927348e+36)*(1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^3 - 251038492352157600.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^4 - 251005996675404448.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 277530385745933568.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(3.7493994566546440195890577538583e-33*pb23 - 0.00000000000000006123233995736766035868820147292*pb22 - 0.0000000000000000042470293942381149080248367095224*pb22*cos(E35zoff + theta5) + 2.6005554767692148529468201241131e-34*pb23*cos(E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb22*sin(E35zoff + theta5) + 3.7403699546548326355677777250263e-33*pb23*sin(E35zoff + theta5) + 0.0000000000000000021235146971190555280824739675254*pb21*cos(E35zoff - 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1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(3.7493994566546440195890577538583e-33*pb33 - 0.00000000000000006123233995736766035868820147292*pb32 - 0.0000000000000000042470293942381149080248367095224*pb32*cos(E35zoff + theta5) + 2.6005554767692148529468201241131e-34*pb33*cos(E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb32*sin(E35zoff + theta5) + 3.7403699546548326355677777250263e-33*pb33*sin(E35zoff + theta5) + 0.0000000000000000021235146971190555280824739675254*pb31*cos(E35zoff - 1.0*theta4 + theta5) + 1.8701849773274163177838888625132e-33*pb32*cos(E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb33*cos(E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb31*sin(E35zoff - 1.0*theta4 + theta5) - 1.3002777383846063573675260251783e-34*pb32*sin(E35zoff - 1.0*theta4 + theta5) - 0.0000000000000000021235146971190555280824739675254*pb33*sin(E35zoff - 1.0*theta4 + theta5) + pb31*cos(theta4) + 3.7493994566546440195890577538583e-33*pb32*cos(theta4) + 0.00000000000000006123233995736766035868820147292*pb33*cos(theta4) - 0.00000000000000006123233995736766035868820147292*pb31*sin(theta4) + 0.00000000000000006123233995736766035868820147292*pb32*sin(theta4) + pb33*sin(theta4) - 0.0000000000000000021235146971190597651283516194442*pb31*cos(E35zoff + theta4 + theta5) + 1.8701849773274166598977717543142e-33*pb32*cos(E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb33*cos(E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb31*sin(E35zoff + theta4 + theta5) - 1.3002777383846087094004709063104e-34*pb32*sin(E35zoff + theta4 + theta5) - 0.0000000000000000021235146971190597651283516194442*pb33*sin(E35zoff + theta4 + theta5)))*(0.000000000000000030542438499484293555347848823849*pb11*cos(E35zoff - 1.0*theta4 + theta5) - 1.3002777383846063573675260251783e-34*pb12*cos(E35zoff - 1.0*theta4 + theta5) - 0.0000000000000000021235146971190555280824739675254*pb13*cos(E35zoff - 1.0*theta4 + theta5) - 0.0000000000000000021235146971190555280824739675254*pb11*sin(E35zoff - 1.0*theta4 + theta5) - 1.8701849773274163177838888625132e-33*pb12*sin(E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb13*sin(E35zoff - 1.0*theta4 + theta5) + 0.00000000000000006123233995736766035868820147292*pb11*cos(theta4) - 0.00000000000000006123233995736766035868820147292*pb12*cos(theta4) - 1.0*pb13*cos(theta4) + pb11*sin(theta4) + 3.7493994566546440195890577538583e-33*pb12*sin(theta4) + 0.00000000000000006123233995736766035868820147292*pb13*sin(theta4) + 0.000000000000000030542438499484293555347848823849*pb11*cos(E35zoff + theta4 + theta5) + 1.3002777383846087094004709063104e-34*pb12*cos(E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb13*cos(E35zoff + theta4 + theta5) - 0.0000000000000000021235146971190597651283516194442*pb11*sin(E35zoff + theta4 + theta5) + 1.8701849773274166598977717543142e-33*pb12*sin(E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb13*sin(E35zoff + theta4 + theta5)) + 1.0*TDLFE35x*(1.0*cos(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) - 0.000000000000000056837847604730463728579105634338*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.069359253577359059050877476693131*pb11*cos(theta4) + 0.000000000000000056837847604730463728579105634338*pb11*sin(theta4)) + sin(theta5)*(0.000000000000000065331906393206710492812289661058*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.99759174713065446038484651580802*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.99759174713065446038484651580802*pb11*cos(theta4) - 0.000000000000000065331906393206710492812289661058*pb11*sin(theta4))) - sin(E35zoff)*(sin(theta5)*(0.069359253577359059050877476693131*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) - 0.000000000000000056837847604730463728579105634338*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.069359253577359059050877476693131*pb11*cos(theta4) + 0.000000000000000056837847604730463728579105634338*pb11*sin(theta4)) - 1.0*cos(theta5)*(0.000000000000000065331906393206710492812289661058*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.99759174713065446038484651580802*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.99759174713065446038484651580802*pb11*cos(theta4) - 0.000000000000000065331906393206710492812289661058*pb11*sin(theta4)))), ((pb14 + (cos(E35xoff)*(0.034679626788679529525438738346566*pb11*cos(E35xoff + E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35xoff + E35zoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb13*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb11*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*sin(E35xoff + E35zoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb11*cos(E35xoff + theta4) + 1.147922510829233746446529638671e-49*pb12*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb13*cos(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb11*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb12*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb13*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb12*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb13*cos(E35xoff) + 0.069359253577359003539726245435304*pb12*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb13*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb12*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb13*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb11*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb13*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb11*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb12*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb13*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb11*cos(E35xoff - 1.0*theta4) + 1.147922510829233746446529638671e-49*pb12*cos(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb13*cos(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb11*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb12*sin(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb13*sin(E35xoff - 1.0*theta4)) - 1.0*sin(E35xoff)*(0.49879587356532728570357448916184*pb11*cos(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*cos(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*cos(E35xoff + E35zoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb11*sin(E35xoff + E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb12*sin(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb13*sin(E35xoff + E35zoff + theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb11*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb12*cos(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb13*cos(E35xoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb11*sin(E35xoff + theta4) - 1.147922510829233746446529638671e-49*pb12*sin(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb13*sin(E35xoff + theta4) + 3.7493994566546440195890577538583e-33*pb12*sin(E35xoff) - 2.295845021658467492893059277342e-49*pb13*sin(E35xoff) + 0.99759174713065446038484651580802*pb12*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb13*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb12*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb13*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb11*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb12*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb13*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb11*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb12*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb13*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 1.8746997283273220097945288769292e-33*pb11*cos(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb12*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb13*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb11*sin(E35xoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb12*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb13*sin(E35xoff - 1.0*theta4)))*(E35Hpz - 1.0*THpz) + 1.0*TDLFE35x*(1.0*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb12 - 0.0000000000000000042470293942381187598847254839942*pb13 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*pb11*cos(theta4) + 0.99759174713065446038484651580802*pb11*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb12 - 0.000000000000000061084876998968587110695697647698*pb13 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000056837847604730463728579105634338*pb11*cos(theta4) - 0.069359253577359059050877476693131*pb11*sin(theta4))) + cos(E35zoff)*(1.0*sin(theta5)*(0.069359253577359059050877476693131*pb12 - 0.0000000000000000042470293942381187598847254839942*pb13 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*pb11*cos(theta4) + 0.99759174713065446038484651580802*pb11*sin(theta4)) - cos(theta5)*(0.99759174713065446038484651580802*pb12 - 0.000000000000000061084876998968587110695697647698*pb13 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000056837847604730463728579105634338*pb11*cos(theta4) - 0.069359253577359059050877476693131*pb11*sin(theta4)))) + MpRABz*pb13 - 1.0*TDLFE35z*(cos(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb12 - 0.0000000000000000042470293942381187598847254839942*pb13 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*pb11*cos(theta4) + 0.99759174713065446038484651580802*pb11*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb12 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.49879587356532728570357448916184*pb11*cos(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*cos(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*cos(E35zoff + Exoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb11*sin(E35zoff + Exoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb12*sin(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb13*sin(E35zoff + Exoff + theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb11*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb12*cos(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb13*cos(Exoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb11*sin(Exoff + theta4) - 1.147922510829233746446529638671e-49*pb12*sin(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb13*sin(Exoff + theta4) + 3.7493994566546440195890577538583e-33*pb12*sin(Exoff) - 2.295845021658467492893059277342e-49*pb13*sin(Exoff) + 0.99759174713065446038484651580802*pb12*cos(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb13*cos(E35zoff + Exoff + theta5) - 0.069359253577359003539726245435304*pb12*sin(E35zoff + Exoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb13*sin(E35zoff + Exoff + theta5) - 0.49879587356532723019242325790401*pb11*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb12*cos(E35zoff + Exoff - 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0.49879587356532728570357448916184*pb23*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb21*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb22*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb23*sin(E35xoff + E35zoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb21*cos(E35xoff + theta4) + 1.147922510829233746446529638671e-49*pb22*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb23*cos(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb21*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb22*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb23*cos(E35xoff) + 0.069359253577359003539726245435304*pb22*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb23*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb22*sin(E35xoff + E35zoff + theta5) - 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2.295845021658467492893059277342e-49*pb23*sin(E35xoff) + 0.99759174713065446038484651580802*pb22*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb22*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb23*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb23*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 1.8746997283273220097945288769292e-33*pb21*cos(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb22*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb23*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb21*sin(E35xoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb22*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(E35xoff - 1.0*theta4)))*(E35Hpz - 1.0*THpz) + 1.0*TDLFE35x*(1.0*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*pb21*cos(theta4) + 0.99759174713065446038484651580802*pb21*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb22 - 0.000000000000000061084876998968587110695697647698*pb23 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*pb21*cos(theta4) - 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1.0*MpRABx*(pb22 - 0.00000000000000006123233995736766035868820147292*pb23) - 1.0*RABTDLFx*(pb22 - 0.00000000000000006123233995736766035868820147292*pb23) + (E35Hpx - 1.0*THpx)*(sin(E35xoff)*(0.034679626788679529525438738346566*pb21*cos(E35xoff + E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35xoff + E35zoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb23*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb21*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb22*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb23*sin(E35xoff + E35zoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb21*cos(E35xoff + theta4) + 1.147922510829233746446529638671e-49*pb22*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb23*cos(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb21*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb22*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb23*cos(E35xoff) + 0.069359253577359003539726245435304*pb22*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb23*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb22*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb23*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb21*cos(E35xoff - 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0.00000000000000003061616997868383017934410073646*pb21*sin(E35xoff + theta4) - 1.147922510829233746446529638671e-49*pb22*sin(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(E35xoff + theta4) + 3.7493994566546440195890577538583e-33*pb22*sin(E35xoff) - 2.295845021658467492893059277342e-49*pb23*sin(E35xoff) + 0.99759174713065446038484651580802*pb22*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb22*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb23*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35xoff + E35zoff - 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624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(48830718344081912.0*theta2 + 14165745262949376.0) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(50081675560632440.0*theta1 + 14528646769735230.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(50082877455815688.0*theta1 + 14528995438392502.0) + 50082276508224064.0*(theta1 + 0.29009905533503599350808599410811)^2 + 49456797899948800.0*(theta2 + 0.29009905533503599350808599410811)^2 - 86602790043583056.0*(theta1 + 0.29009905533503599350808599410811)^4 + 49456196952357176.0*(theta3 + 0.29009905533503599350808599410811)^2 - 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3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 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1.8746997283273220097945288769292e-33*pb21*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*cos(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*cos(Exoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb21*sin(Exoff + theta4) - 1.147922510829233746446529638671e-49*pb22*sin(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(Exoff + theta4) + 3.7493994566546440195890577538583e-33*pb22*sin(Exoff) - 2.295845021658467492893059277342e-49*pb23*sin(Exoff) + 0.99759174713065446038484651580802*pb22*cos(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*cos(E35zoff + Exoff + theta5) - 0.069359253577359003539726245435304*pb22*sin(E35zoff + Exoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb23*sin(E35zoff + Exoff + theta5) - 0.49879587356532723019242325790401*pb21*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*cos(E35zoff + Exoff - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) + 5.9929010455801663008645251906194e+51*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 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1.8746997283273220097945288769292e-33*pb31*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*cos(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*cos(Exoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb31*sin(Exoff + theta4) - 1.147922510829233746446529638671e-49*pb32*sin(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb33*sin(Exoff + theta4) + 3.7493994566546440195890577538583e-33*pb32*sin(Exoff) - 2.295845021658467492893059277342e-49*pb33*sin(Exoff) + 0.99759174713065446038484651580802*pb32*cos(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*cos(E35zoff + Exoff + theta5) - 0.069359253577359003539726245435304*pb32*sin(E35zoff + Exoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb33*sin(E35zoff + Exoff + theta5) - 0.49879587356532723019242325790401*pb31*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*cos(E35zoff + Exoff - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.034679626788679529525438738346566*pb11*cos(E35zoff + Exoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35zoff + Exoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb13*cos(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb11*sin(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*sin(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*sin(E35zoff + Exoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb11*cos(Exoff + theta4) + 1.147922510829233746446529638671e-49*pb12*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb13*cos(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb11*sin(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb12*sin(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb13*sin(Exoff + theta4) - 3.7493994566546440195890577538583e-33*pb12*cos(Exoff) + 2.295845021658467492893059277342e-49*pb13*cos(Exoff) + 0.069359253577359003539726245435304*pb12*cos(E35zoff + Exoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb13*cos(E35zoff + Exoff + theta5) + 0.99759174713065446038484651580802*pb12*sin(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb13*sin(E35zoff + Exoff + theta5) - 0.03467962678867946707539360318151*pb11*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb13*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb11*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb12*sin(E35zoff + Exoff - 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1.8746997283273220097945288769292e-33*pb21*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb22*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb23*cos(E35xoff) + 0.069359253577359003539726245435304*pb22*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb23*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb22*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*sin(E35xoff + E35zoff - 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1.8746997283273220097945288769292e-33*pb21*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*cos(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*cos(E35xoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb21*sin(E35xoff + theta4) - 1.147922510829233746446529638671e-49*pb22*sin(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(E35xoff + theta4) + 3.7493994566546440195890577538583e-33*pb22*sin(E35xoff) - 2.295845021658467492893059277342e-49*pb23*sin(E35xoff) + 0.99759174713065446038484651580802*pb22*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb22*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb23*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb23*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 1.8746997283273220097945288769292e-33*pb21*cos(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb22*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb23*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb21*sin(E35xoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb22*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(E35xoff - 1.0*theta4)))*(E35Hpz - 1.0*THpz) + 1.0*TDLFE35x*(1.0*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 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cos(theta5)*(0.99759174713065446038484651580802*pb22 - 0.000000000000000061084876998968587110695697647698*pb23 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*pb21*cos(theta4) - 0.069359253577359059050877476693131*pb21*sin(theta4)))) + MpRABz*pb23 - 1.0*TDLFE35z*(cos(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*pb21*cos(theta4) + 0.99759174713065446038484651580802*pb21*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb22 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.034679626788679529525438738346566*pb21*cos(E35zoff + Exoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35zoff + Exoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb23*cos(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb21*sin(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb22*sin(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb23*sin(E35zoff + Exoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb21*cos(Exoff + theta4) + 1.147922510829233746446529638671e-49*pb22*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb23*cos(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb21*sin(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*sin(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*sin(Exoff + theta4) - 3.7493994566546440195890577538583e-33*pb22*cos(Exoff) + 2.295845021658467492893059277342e-49*pb23*cos(Exoff) + 0.069359253577359003539726245435304*pb22*cos(E35zoff + Exoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb23*cos(E35zoff + Exoff + theta5) + 0.99759174713065446038484651580802*pb22*sin(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*sin(E35zoff + Exoff + theta5) - 0.03467962678867946707539360318151*pb21*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb23*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb21*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*sin(E35zoff + Exoff - 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1.8746997283273220097945288769292e-33*pb31*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb32*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb33*cos(E35xoff) + 0.069359253577359003539726245435304*pb32*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb33*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb32*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb31*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb33*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb31*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*sin(E35xoff + E35zoff - 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(theta3 + 0.29009905533503599350808599410811)^3*(1.9976501311103180642857847392869e+51*theta2 + 5.7951641592501409610947626753258e+50) + 1.0*(1.4489060629306480765719116415536e+37*theta1 + 4.2032628012538724121765161927348e+36)*(1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^3 - 251038492352157600.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^4 - 251005996675404448.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 277530385745933568.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(48830718344081912.0*theta2 + 14165745262949376.0) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(50081675560632440.0*theta1 + 14528646769735230.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(50082877455815688.0*theta1 + 14528995438392502.0) + 50082276508224064.0*(theta1 + 0.29009905533503599350808599410811)^2 + 49456797899948800.0*(theta2 + 0.29009905533503599350808599410811)^2 - 86602790043583056.0*(theta1 + 0.29009905533503599350808599410811)^4 + 49456196952357176.0*(theta3 + 0.29009905533503599350808599410811)^2 - 86627698380398880.0*(theta2 + 0.29009905533503599350808599410811)^4 - 86627803167183264.0*(theta3 + 0.29009905533503599350808599410811)^4 + (theta2 + 0.29009905533503599350808599410811)^3*(164413933737288032.0*theta1 + 47696326861104464.0) + (theta3 + 0.29009905533503599350808599410811)^3*(164424975203107872.0*theta1 + 47699529979908312.0) + (theta3 + 0.29009905533503599350808599410811)^3*(182086237465625184.0*theta2 + 52823045478288904.0) + 173194748194915072.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 173216411979417184.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 182096859784307456.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 17572251233936354.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) - 1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.034679626788679529525438738346566*pb31*cos(E35zoff + Exoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35zoff + Exoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb33*cos(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb31*sin(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb32*sin(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb33*sin(E35zoff + Exoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb31*cos(Exoff + theta4) + 1.147922510829233746446529638671e-49*pb32*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb33*cos(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb31*sin(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*sin(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*sin(Exoff + theta4) - 3.7493994566546440195890577538583e-33*pb32*cos(Exoff) + 2.295845021658467492893059277342e-49*pb33*cos(Exoff) + 0.069359253577359003539726245435304*pb32*cos(E35zoff + Exoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb33*cos(E35zoff + Exoff + theta5) + 0.99759174713065446038484651580802*pb32*sin(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*sin(E35zoff + Exoff + theta5) - 0.03467962678867946707539360318151*pb31*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb33*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb31*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb33*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb31*cos(Exoff - 1.0*theta4) + 1.147922510829233746446529638671e-49*pb32*cos(Exoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb33*cos(Exoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb31*sin(Exoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb32*sin(Exoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb33*sin(Exoff - 1.0*theta4)))*(0.49879587356532728570357448916184*pb11*cos(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*cos(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*cos(E35zoff + Exoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb11*sin(E35zoff + Exoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb12*sin(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb13*sin(E35zoff + Exoff + theta4 + theta5) + 0.99759174713065446038484651580802*pb12*cos(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb13*cos(E35zoff + Exoff + theta5) - 0.069359253577359003539726245435304*pb12*sin(E35zoff + Exoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb13*sin(E35zoff + Exoff + theta5) - 0.49879587356532723019242325790401*pb11*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb12*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb13*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb11*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb12*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb13*sin(E35zoff + Exoff - 1.0*theta4 + theta5)) + TDLFE35x*(cos(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb12 - 0.0000000000000000042470293942381187598847254839942*pb13 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*pb11*cos(theta4) + 0.99759174713065446038484651580802*pb11*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb12 - 0.000000000000000061084876998968587110695697647698*pb13 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000056837847604730463728579105634338*pb11*cos(theta4) - 0.069359253577359059050877476693131*pb11*sin(theta4))) - sin(E35zoff)*(1.0*sin(theta5)*(0.069359253577359059050877476693131*pb12 - 0.0000000000000000042470293942381187598847254839942*pb13 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*pb11*cos(theta4) + 0.99759174713065446038484651580802*pb11*sin(theta4)) - cos(theta5)*(0.99759174713065446038484651580802*pb12 - 0.000000000000000061084876998968587110695697647698*pb13 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000056837847604730463728579105634338*pb11*cos(theta4) - 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624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(48830718344081912.0*theta2 + 14165745262949376.0) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(50081675560632440.0*theta1 + 14528646769735230.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(50082877455815688.0*theta1 + 14528995438392502.0) + 50082276508224064.0*(theta1 + 0.29009905533503599350808599410811)^2 + 49456797899948800.0*(theta2 + 0.29009905533503599350808599410811)^2 - 86602790043583056.0*(theta1 + 0.29009905533503599350808599410811)^4 + 49456196952357176.0*(theta3 + 0.29009905533503599350808599410811)^2 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) + 5.9929010455801663008645251906194e+51*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 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(theta3 + 0.29009905533503599350808599410811)^3*(1.9976501311103180642857847392869e+51*theta2 + 5.7951641592501409610947626753258e+50) + 1.0*(1.4489060629306480765719116415536e+37*theta1 + 4.2032628012538724121765161927348e+36)*(1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^3 - 251038492352157600.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^4 - 251005996675404448.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 277530385745933568.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(3.7493994566546440195890577538583e-33*pb13 - 0.00000000000000006123233995736766035868820147292*pb12 - 0.0000000000000000042470293942381149080248367095224*pb12*cos(E35zoff + theta5) + 2.6005554767692148529468201241131e-34*pb13*cos(E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb12*sin(E35zoff + theta5) + 3.7403699546548326355677777250263e-33*pb13*sin(E35zoff + theta5) + 0.0000000000000000021235146971190555280824739675254*pb11*cos(E35zoff - 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1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(3.7493994566546440195890577538583e-33*pb23 - 0.00000000000000006123233995736766035868820147292*pb22 - 0.0000000000000000042470293942381149080248367095224*pb22*cos(E35zoff + theta5) + 2.6005554767692148529468201241131e-34*pb23*cos(E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb22*sin(E35zoff + theta5) + 3.7403699546548326355677777250263e-33*pb23*sin(E35zoff + theta5) + 0.0000000000000000021235146971190555280824739675254*pb21*cos(E35zoff - 1.0*theta4 + theta5) + 1.8701849773274163177838888625132e-33*pb22*cos(E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb23*cos(E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb21*sin(E35zoff - 1.0*theta4 + theta5) - 1.3002777383846063573675260251783e-34*pb22*sin(E35zoff - 1.0*theta4 + theta5) - 0.0000000000000000021235146971190555280824739675254*pb23*sin(E35zoff - 1.0*theta4 + theta5) + pb21*cos(theta4) + 3.7493994566546440195890577538583e-33*pb22*cos(theta4) + 0.00000000000000006123233995736766035868820147292*pb23*cos(theta4) - 0.00000000000000006123233995736766035868820147292*pb21*sin(theta4) + 0.00000000000000006123233995736766035868820147292*pb22*sin(theta4) + pb23*sin(theta4) - 0.0000000000000000021235146971190597651283516194442*pb21*cos(E35zoff + theta4 + theta5) + 1.8701849773274166598977717543142e-33*pb22*cos(E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb23*cos(E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb21*sin(E35zoff + theta4 + theta5) - 1.3002777383846087094004709063104e-34*pb22*sin(E35zoff + theta4 + theta5) - 0.0000000000000000021235146971190597651283516194442*pb23*sin(E35zoff + theta4 + theta5)) + (pb34 + (cos(E35xoff)*(0.034679626788679529525438738346566*pb31*cos(E35xoff + E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35xoff + E35zoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb33*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb31*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb32*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb33*sin(E35xoff + E35zoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb31*cos(E35xoff + theta4) + 1.147922510829233746446529638671e-49*pb32*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb33*cos(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb31*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb32*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb33*cos(E35xoff) + 0.069359253577359003539726245435304*pb32*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb33*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb32*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb31*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb33*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb31*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb33*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb31*cos(E35xoff - 1.0*theta4) + 1.147922510829233746446529638671e-49*pb32*cos(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb33*cos(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb31*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb32*sin(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb33*sin(E35xoff - 1.0*theta4)) - 1.0*sin(E35xoff)*(0.49879587356532728570357448916184*pb31*cos(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb32*cos(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb33*cos(E35xoff + E35zoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb31*sin(E35xoff + E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb32*sin(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb33*sin(E35xoff + E35zoff + theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb31*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*cos(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*cos(E35xoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb31*sin(E35xoff + theta4) - 1.147922510829233746446529638671e-49*pb32*sin(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb33*sin(E35xoff + theta4) + 3.7493994566546440195890577538583e-33*pb32*sin(E35xoff) - 2.295845021658467492893059277342e-49*pb33*sin(E35xoff) + 0.99759174713065446038484651580802*pb32*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb32*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb33*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb31*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb33*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb31*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb32*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb33*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 1.8746997283273220097945288769292e-33*pb31*cos(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb32*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb33*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb31*sin(E35xoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb32*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb33*sin(E35xoff - 1.0*theta4)))*(E35Hpz - 1.0*THpz) + 1.0*TDLFE35x*(1.0*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*pb31*cos(theta4) + 0.99759174713065446038484651580802*pb31*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb32 - 0.000000000000000061084876998968587110695697647698*pb33 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*pb31*cos(theta4) - 0.069359253577359059050877476693131*pb31*sin(theta4))) + cos(E35zoff)*(1.0*sin(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*pb31*cos(theta4) + 0.99759174713065446038484651580802*pb31*sin(theta4)) - cos(theta5)*(0.99759174713065446038484651580802*pb32 - 0.000000000000000061084876998968587110695697647698*pb33 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*pb31*cos(theta4) - 0.069359253577359059050877476693131*pb31*sin(theta4)))) + MpRABz*pb33 - 1.0*TDLFE35z*(cos(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*pb31*cos(theta4) + 0.99759174713065446038484651580802*pb31*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb32 - 0.000000000000000061084876998968587110695697647698*pb33 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*pb31*cos(theta4) - 0.069359253577359059050877476693131*pb31*sin(theta4))) + 0.00000000000000006123233995736766035868820147292*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*pb31*cos(theta4) + 0.99759174713065446038484651580802*pb31*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb32 - 0.000000000000000061084876998968587110695697647698*pb33 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*pb31*cos(theta4) - 0.069359253577359059050877476693131*pb31*sin(theta4))) + 0.00000000000000006123233995736766035868820147292*cos(E35zoff)*(1.0*sin(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*pb31*cos(theta4) + 0.99759174713065446038484651580802*pb31*sin(theta4)) - cos(theta5)*(0.99759174713065446038484651580802*pb32 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(3.7493994566546440195890577538583e-33*pb33 - 0.00000000000000006123233995736766035868820147292*pb32 - 0.0000000000000000042470293942381149080248367095224*pb32*cos(E35zoff + theta5) + 2.6005554767692148529468201241131e-34*pb33*cos(E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb32*sin(E35zoff + theta5) + 3.7403699546548326355677777250263e-33*pb33*sin(E35zoff + theta5) + 0.0000000000000000021235146971190555280824739675254*pb31*cos(E35zoff - 1.0*theta4 + theta5) + 1.8701849773274163177838888625132e-33*pb32*cos(E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb33*cos(E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb31*sin(E35zoff - 1.0*theta4 + theta5) - 1.3002777383846063573675260251783e-34*pb32*sin(E35zoff - 1.0*theta4 + theta5) - 0.0000000000000000021235146971190555280824739675254*pb33*sin(E35zoff - 1.0*theta4 + theta5) + pb31*cos(theta4) + 3.7493994566546440195890577538583e-33*pb32*cos(theta4) + 0.00000000000000006123233995736766035868820147292*pb33*cos(theta4) - 0.00000000000000006123233995736766035868820147292*pb31*sin(theta4) + 0.00000000000000006123233995736766035868820147292*pb32*sin(theta4) + pb33*sin(theta4) - 0.0000000000000000021235146971190597651283516194442*pb31*cos(E35zoff + theta4 + theta5) + 1.8701849773274166598977717543142e-33*pb32*cos(E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb33*cos(E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb31*sin(E35zoff + theta4 + theta5) - 1.3002777383846087094004709063104e-34*pb32*sin(E35zoff + theta4 + theta5) - 0.0000000000000000021235146971190597651283516194442*pb33*sin(E35zoff + theta4 + theta5)))*(0.000000000000000061084876998968587110695697647698*pb12*cos(E35zoff + theta5) - 3.7403699546548326355677777250263e-33*pb13*cos(E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb12*sin(E35zoff + theta5) + 2.6005554767692148529468201241131e-34*pb13*sin(E35zoff + theta5) - 0.000000000000000030542438499484293555347848823849*pb11*cos(E35zoff - 1.0*theta4 + theta5) + 1.3002777383846063573675260251783e-34*pb12*cos(E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb13*cos(E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb11*sin(E35zoff - 1.0*theta4 + theta5) + 1.8701849773274163177838888625132e-33*pb12*sin(E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb13*sin(E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb11*cos(E35zoff + theta4 + theta5) + 1.3002777383846087094004709063104e-34*pb12*cos(E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb13*cos(E35zoff + theta4 + theta5) - 0.0000000000000000021235146971190597651283516194442*pb11*sin(E35zoff + theta4 + theta5) + 1.8701849773274166598977717543142e-33*pb12*sin(E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb13*sin(E35zoff + theta4 + theta5)) + (cos(E35xoff)*(0.49879587356532728570357448916184*pb11*cos(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*cos(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*cos(E35xoff + E35zoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb11*sin(E35xoff + E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb12*sin(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb13*sin(E35xoff + E35zoff + theta4 + theta5) + 0.99759174713065446038484651580802*pb12*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb13*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb12*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb13*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb11*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb12*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb13*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb11*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb12*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb13*sin(E35xoff + E35zoff - 1.0*theta4 + theta5)) + sin(E35xoff)*(0.034679626788679529525438738346566*pb11*cos(E35xoff + E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35xoff + E35zoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb13*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb11*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*sin(E35xoff + E35zoff + theta4 + theta5) + 0.069359253577359003539726245435304*pb12*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb13*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb12*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb13*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb11*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb13*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb11*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb12*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb13*sin(E35xoff + E35zoff - 1.0*theta4 + theta5)))*(E35Hpz - 1.0*THpz);
((pb21 + 0.00000000000000006123233995736766035868820147292*pb22)*(6.7973245483961660257323828305328e+46*theta1 + 2.4878712828112887171077186698405e+50*theta2 - 2.4885510152661281976153234676208e+50*theta3 + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3 - 1.997650131110317731978785793058e+51*(theta3 + 0.29009905533503599350808599410811)^3 - 1.0*(theta2 + 0.29009905533503599350808599410811)^2*(1.1985802091160332601729050381239e+52*theta1 + 3.4770698640783114528504856077457e+51) - 1.0*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta2 + 1.7385349320391557264252428038728e+51) + (theta3 + 0.29009905533503599350808599410811)^2*(1.1985851438911118832186884677335e+52*theta1 + 3.477084179814197447086027608543e+51) - 1.4489060629306480765719116415536e+37*(1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^3 - 251038492352157600.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^4 - 251005996675404448.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 277530385745933568.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(48830718344081912.0*theta2 + 14165745262949376.0) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(50081675560632440.0*theta1 + 14528646769735230.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(50082877455815688.0*theta1 + 14528995438392502.0) + 50082276508224064.0*(theta1 + 0.29009905533503599350808599410811)^2 + 49456797899948800.0*(theta2 + 0.29009905533503599350808599410811)^2 - 86602790043583056.0*(theta1 + 0.29009905533503599350808599410811)^4 + 49456196952357176.0*(theta3 + 0.29009905533503599350808599410811)^2 - 86627698380398880.0*(theta2 + 0.29009905533503599350808599410811)^4 - 86627803167183264.0*(theta3 + 0.29009905533503599350808599410811)^4 + (theta2 + 0.29009905533503599350808599410811)^3*(164413933737288032.0*theta1 + 47696326861104464.0) + (theta3 + 0.29009905533503599350808599410811)^3*(164424975203107872.0*theta1 + 47699529979908312.0) + (theta3 + 0.29009905533503599350808599410811)^3*(182086237465625184.0*theta2 + 52823045478288904.0) + 173194748194915072.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 173216411979417184.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 182096859784307456.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 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17572251233936354.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) - 1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) + (9.8856758766518829663462595391446e+47*theta3 + 2.867825233165065072673207878914e+47)*(1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^3 - 251038492352157600.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^4 - 251005996675404448.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 277530385745933568.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(48830718344081912.0*theta2 + 14165745262949376.0) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(50081675560632440.0*theta1 + 14528646769735230.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(50082877455815688.0*theta1 + 14528995438392502.0) + 50082276508224064.0*(theta1 + 0.29009905533503599350808599410811)^2 + 49456797899948800.0*(theta2 + 0.29009905533503599350808599410811)^2 - 86602790043583056.0*(theta1 + 0.29009905533503599350808599410811)^4 + 49456196952357176.0*(theta3 + 0.29009905533503599350808599410811)^2 - 86627698380398880.0*(theta2 + 0.29009905533503599350808599410811)^4 - 86627803167183264.0*(theta3 + 0.29009905533503599350808599410811)^4 + (theta2 + 0.29009905533503599350808599410811)^3*(164413933737288032.0*theta1 + 47696326861104464.0) + (theta3 + 0.29009905533503599350808599410811)^3*(164424975203107872.0*theta1 + 47699529979908312.0) + (theta3 + 0.29009905533503599350808599410811)^3*(182086237465625184.0*theta2 + 52823045478288904.0) + 173194748194915072.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 173216411979417184.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 182096859784307456.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 17572251233936354.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) - 1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 4.479474287298821370376658978974e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 4.479474287298821370376658978974e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.3536286138204542533329942678005e+57*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 2.7072527481153363436504194825935e+57*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(1.3536196547840907915296135133954e+57*theta1 + 3.926837831358022756515379048919e+56) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(1.3536330932479452998214195509447e+57*theta1 + 3.9268768162147165204959041501233e+56) - 4.9336057292938525373356128818762e+50))/(1.1636694106362360362076441376278e+57*(theta1 + 0.29009905533503599350808599410811)^2 + 1.1640041004263431855670181003032e+57*(theta2 + 0.29009905533503599350808599410811)^2 + 1.1640055084315077414110696095803e+57*(theta3 + 0.29009905533503599350808599410811)^2 - 1.0*(1.1636680026310714803635926283507e+57*theta1 + 3.3757898828688199869184611592602e+56)*(theta2 + 0.29009905533503599350808599410811) - 1.0*(1.1636708186414005920516956469048e+57*theta1 + 3.3757980520881831548936775528199e+56)*(theta3 + 0.29009905533503599350808599410811) - 1.0*(1.1643401982216147165458717087352e+57*theta2 + 3.3777399159269899119173697445018e+56)*(theta3 + 0.29009905533503599350808599410811) + 1.210284592791156383066241824682e+56)^2, (cos(E35xoff)*(0.49879587356532728570357448916184*pb21*cos(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb22*cos(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb23*cos(E35xoff + E35zoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb21*sin(E35xoff + E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb23*sin(E35xoff + E35zoff + theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb21*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*cos(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*cos(E35xoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb21*sin(E35xoff + theta4) - 1.147922510829233746446529638671e-49*pb22*sin(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(E35xoff + theta4) + 0.49879587356532723019242325790401*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.0000000000000000021235146971190555280824739675254*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.03467962678867946707539360318151*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.03467962678867946707539360318151*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb23*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb21*cos(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb22*cos(E35xoff - 1.0*theta4) + 0.00000000000000003061616997868383017934410073646*pb23*cos(E35xoff - 1.0*theta4) + 0.00000000000000003061616997868383017934410073646*pb21*sin(E35xoff - 1.0*theta4) + 1.147922510829233746446529638671e-49*pb22*sin(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb23*sin(E35xoff - 1.0*theta4)) + sin(E35xoff)*(0.034679626788679529525438738346566*pb21*cos(E35xoff + E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35xoff + E35zoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb23*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb21*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb22*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb23*sin(E35xoff + E35zoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb21*cos(E35xoff + theta4) + 1.147922510829233746446529638671e-49*pb22*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb23*cos(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb21*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*sin(E35xoff + theta4) + 0.03467962678867946707539360318151*pb21*cos(E35xoff + E35zoff - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.034679626788679529525438738346566*pb11*cos(E35zoff + Exoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35zoff + Exoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb13*cos(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb11*sin(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*sin(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*sin(E35zoff + Exoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb11*cos(Exoff + theta4) + 1.147922510829233746446529638671e-49*pb12*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb13*cos(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb11*sin(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb12*sin(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb13*sin(Exoff + theta4) - 3.7493994566546440195890577538583e-33*pb12*cos(Exoff) + 2.295845021658467492893059277342e-49*pb13*cos(Exoff) + 0.069359253577359003539726245435304*pb12*cos(E35zoff + Exoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb13*cos(E35zoff + Exoff + theta5) + 0.99759174713065446038484651580802*pb12*sin(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb13*sin(E35zoff + Exoff + theta5) - 0.03467962678867946707539360318151*pb11*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb13*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb11*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb12*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb13*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb11*cos(Exoff - 1.0*theta4) + 1.147922510829233746446529638671e-49*pb12*cos(Exoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb13*cos(Exoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb11*sin(Exoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb12*sin(Exoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb13*sin(Exoff - 1.0*theta4)) + (pb24 + (cos(E35xoff)*(0.034679626788679529525438738346566*pb21*cos(E35xoff + E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35xoff + E35zoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb23*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb21*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb22*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb23*sin(E35xoff + E35zoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb21*cos(E35xoff + theta4) + 1.147922510829233746446529638671e-49*pb22*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb23*cos(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb21*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb22*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb23*cos(E35xoff) + 0.069359253577359003539726245435304*pb22*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb23*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb22*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb23*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb21*cos(E35xoff - 1.0*theta4) + 1.147922510829233746446529638671e-49*pb22*cos(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb23*cos(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb21*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb22*sin(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb23*sin(E35xoff - 1.0*theta4)) - 1.0*sin(E35xoff)*(0.49879587356532728570357448916184*pb21*cos(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb22*cos(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb23*cos(E35xoff + E35zoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb21*sin(E35xoff + E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb23*sin(E35xoff + E35zoff + theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb21*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*cos(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*cos(E35xoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb21*sin(E35xoff + theta4) - 1.147922510829233746446529638671e-49*pb22*sin(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(E35xoff + theta4) + 3.7493994566546440195890577538583e-33*pb22*sin(E35xoff) - 2.295845021658467492893059277342e-49*pb23*sin(E35xoff) + 0.99759174713065446038484651580802*pb22*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb22*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb23*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb23*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 1.8746997283273220097945288769292e-33*pb21*cos(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb22*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb23*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb21*sin(E35xoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb22*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(E35xoff - 1.0*theta4)))*(E35Hpz - 1.0*THpz) + 1.0*TDLFE35x*(1.0*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*pb21*cos(theta4) + 0.99759174713065446038484651580802*pb21*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb22 - 0.000000000000000061084876998968587110695697647698*pb23 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*pb21*cos(theta4) - 0.069359253577359059050877476693131*pb21*sin(theta4))) + cos(E35zoff)*(1.0*sin(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*pb21*cos(theta4) + 0.99759174713065446038484651580802*pb21*sin(theta4)) - cos(theta5)*(0.99759174713065446038484651580802*pb22 - 0.000000000000000061084876998968587110695697647698*pb23 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*pb21*cos(theta4) - 0.069359253577359059050877476693131*pb21*sin(theta4)))) + MpRABz*pb23 - 1.0*TDLFE35z*(cos(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*pb21*cos(theta4) + 0.99759174713065446038484651580802*pb21*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb22 - 0.000000000000000061084876998968587110695697647698*pb23 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*pb21*cos(theta4) - 0.069359253577359059050877476693131*pb21*sin(theta4))) + 0.00000000000000006123233995736766035868820147292*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*pb21*cos(theta4) + 0.99759174713065446038484651580802*pb21*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb22 - 0.000000000000000061084876998968587110695697647698*pb23 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*pb21*cos(theta4) - 0.069359253577359059050877476693131*pb21*sin(theta4))) + 0.00000000000000006123233995736766035868820147292*cos(E35zoff)*(1.0*sin(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*pb21*cos(theta4) + 0.99759174713065446038484651580802*pb21*sin(theta4)) - cos(theta5)*(0.99759174713065446038484651580802*pb22 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.034679626788679529525438738346566*pb21*cos(E35zoff + Exoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35zoff + Exoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb23*cos(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb21*sin(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb22*sin(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb23*sin(E35zoff + Exoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb21*cos(Exoff + theta4) + 1.147922510829233746446529638671e-49*pb22*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb23*cos(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb21*sin(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*sin(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*sin(Exoff + theta4) - 3.7493994566546440195890577538583e-33*pb22*cos(Exoff) + 2.295845021658467492893059277342e-49*pb23*cos(Exoff) + 0.069359253577359003539726245435304*pb22*cos(E35zoff + Exoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb23*cos(E35zoff + Exoff + theta5) + 0.99759174713065446038484651580802*pb22*sin(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*sin(E35zoff + Exoff + theta5) - 0.03467962678867946707539360318151*pb21*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb23*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb21*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*sin(E35zoff + Exoff - 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1.8746997283273220097945288769292e-33*pb31*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb32*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb33*cos(E35xoff) + 0.069359253577359003539726245435304*pb32*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb33*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb32*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb31*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb33*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb31*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*sin(E35xoff + E35zoff - 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1.8746997283273220097945288769292e-33*pb31*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*cos(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*cos(E35xoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb31*sin(E35xoff + theta4) - 1.147922510829233746446529638671e-49*pb32*sin(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb33*sin(E35xoff + theta4) + 3.7493994566546440195890577538583e-33*pb32*sin(E35xoff) - 2.295845021658467492893059277342e-49*pb33*sin(E35xoff) + 0.99759174713065446038484651580802*pb32*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb32*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb33*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb31*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb33*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb31*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb32*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb33*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 1.8746997283273220097945288769292e-33*pb31*cos(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb32*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb33*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb31*sin(E35xoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb32*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb33*sin(E35xoff - 1.0*theta4)))*(E35Hpz - 1.0*THpz) + 1.0*TDLFE35x*(1.0*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.034679626788679529525438738346566*pb31*cos(E35zoff + Exoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35zoff + Exoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb33*cos(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb31*sin(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb32*sin(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb33*sin(E35zoff + Exoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb31*cos(Exoff + theta4) + 1.147922510829233746446529638671e-49*pb32*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb33*cos(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb31*sin(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*sin(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*sin(Exoff + theta4) - 3.7493994566546440195890577538583e-33*pb32*cos(Exoff) + 2.295845021658467492893059277342e-49*pb33*cos(Exoff) + 0.069359253577359003539726245435304*pb32*cos(E35zoff + Exoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb33*cos(E35zoff + Exoff + theta5) + 0.99759174713065446038484651580802*pb32*sin(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*sin(E35zoff + Exoff + theta5) - 0.03467962678867946707539360318151*pb31*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb33*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb31*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*sin(E35zoff + Exoff - 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1.8746997283273220097945288769292e-33*pb21*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*cos(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*cos(Exoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb21*sin(Exoff + theta4) - 1.147922510829233746446529638671e-49*pb22*sin(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(Exoff + theta4) + 0.49879587356532723019242325790401*pb21*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.0000000000000000021235146971190555280824739675254*pb22*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.03467962678867946707539360318151*pb23*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.03467962678867946707539360318151*pb21*sin(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*sin(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb23*sin(E35zoff + Exoff - 1.0*theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb21*cos(Exoff - 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624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(48830718344081912.0*theta2 + 14165745262949376.0) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(50081675560632440.0*theta1 + 14528646769735230.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(50082877455815688.0*theta1 + 14528995438392502.0) + 50082276508224064.0*(theta1 + 0.29009905533503599350808599410811)^2 + 49456797899948800.0*(theta2 + 0.29009905533503599350808599410811)^2 - 86602790043583056.0*(theta1 + 0.29009905533503599350808599410811)^4 + 49456196952357176.0*(theta3 + 0.29009905533503599350808599410811)^2 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) + 5.9929010455801663008645251906194e+51*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 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(theta3 + 0.29009905533503599350808599410811)^3*(1.9976501311103180642857847392869e+51*theta2 + 5.7951641592501409610947626753258e+50) + 1.0*(1.4489060629306480765719116415536e+37*theta1 + 4.2032628012538724121765161927348e+36)*(1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^3 - 251038492352157600.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^4 - 251005996675404448.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 277530385745933568.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(48830718344081912.0*theta2 + 14165745262949376.0) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(50081675560632440.0*theta1 + 14528646769735230.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(50082877455815688.0*theta1 + 14528995438392502.0) + 50082276508224064.0*(theta1 + 0.29009905533503599350808599410811)^2 + 49456797899948800.0*(theta2 + 0.29009905533503599350808599410811)^2 - 86602790043583056.0*(theta1 + 0.29009905533503599350808599410811)^4 + 49456196952357176.0*(theta3 + 0.29009905533503599350808599410811)^2 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.49879587356532728570357448916184*pb11*cos(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*cos(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*cos(E35zoff + Exoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb11*sin(E35zoff + Exoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb12*sin(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb13*sin(E35zoff + Exoff + theta4 + theta5) - 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2.295845021658467492893059277342e-49*pb23*sin(E35xoff) + 0.99759174713065446038484651580802*pb22*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb22*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb23*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb23*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 1.8746997283273220097945288769292e-33*pb21*cos(E35xoff - 1.0*theta4) - 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3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.49879587356532728570357448916184*pb21*cos(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb22*cos(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb23*cos(E35zoff + Exoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb21*sin(E35zoff + Exoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb23*sin(E35zoff + Exoff + theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb21*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*cos(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*cos(Exoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb21*sin(Exoff + theta4) - 1.147922510829233746446529638671e-49*pb22*sin(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(Exoff + theta4) + 3.7493994566546440195890577538583e-33*pb22*sin(Exoff) - 2.295845021658467492893059277342e-49*pb23*sin(Exoff) + 0.99759174713065446038484651580802*pb22*cos(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*cos(E35zoff + Exoff + theta5) - 0.069359253577359003539726245435304*pb22*sin(E35zoff + Exoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb23*sin(E35zoff + Exoff + theta5) - 0.49879587356532723019242325790401*pb21*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb23*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb21*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb23*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 1.8746997283273220097945288769292e-33*pb21*cos(Exoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb22*cos(Exoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb23*cos(Exoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb21*sin(Exoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb22*sin(Exoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(Exoff - 1.0*theta4)) + (pb34 + (cos(E35xoff)*(0.034679626788679529525438738346566*pb31*cos(E35xoff + E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35xoff + E35zoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb33*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb31*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb32*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb33*sin(E35xoff + E35zoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb31*cos(E35xoff + theta4) + 1.147922510829233746446529638671e-49*pb32*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb33*cos(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb31*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb32*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb33*cos(E35xoff) + 0.069359253577359003539726245435304*pb32*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb33*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb32*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb31*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb33*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb31*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb33*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb31*cos(E35xoff - 1.0*theta4) + 1.147922510829233746446529638671e-49*pb32*cos(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb33*cos(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb31*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb32*sin(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb33*sin(E35xoff - 1.0*theta4)) - 1.0*sin(E35xoff)*(0.49879587356532728570357448916184*pb31*cos(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb32*cos(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb33*cos(E35xoff + E35zoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb31*sin(E35xoff + E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb32*sin(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb33*sin(E35xoff + E35zoff + theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb31*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*cos(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*cos(E35xoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb31*sin(E35xoff + theta4) - 1.147922510829233746446529638671e-49*pb32*sin(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb33*sin(E35xoff + theta4) + 3.7493994566546440195890577538583e-33*pb32*sin(E35xoff) - 2.295845021658467492893059277342e-49*pb33*sin(E35xoff) + 0.99759174713065446038484651580802*pb32*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb32*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb33*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb31*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb33*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb31*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb32*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb33*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 1.8746997283273220097945288769292e-33*pb31*cos(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb32*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb33*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb31*sin(E35xoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb32*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb33*sin(E35xoff - 1.0*theta4)))*(E35Hpz - 1.0*THpz) + 1.0*TDLFE35x*(1.0*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*pb31*cos(theta4) + 0.99759174713065446038484651580802*pb31*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb32 - 0.000000000000000061084876998968587110695697647698*pb33 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*pb31*cos(theta4) - 0.069359253577359059050877476693131*pb31*sin(theta4))) + cos(E35zoff)*(1.0*sin(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*pb31*cos(theta4) + 0.99759174713065446038484651580802*pb31*sin(theta4)) - cos(theta5)*(0.99759174713065446038484651580802*pb32 - 0.000000000000000061084876998968587110695697647698*pb33 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*pb31*cos(theta4) - 0.069359253577359059050877476693131*pb31*sin(theta4)))) + MpRABz*pb33 - 1.0*TDLFE35z*(cos(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*pb31*cos(theta4) + 0.99759174713065446038484651580802*pb31*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb32 - 0.000000000000000061084876998968587110695697647698*pb33 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*pb31*cos(theta4) - 0.069359253577359059050877476693131*pb31*sin(theta4))) + 0.00000000000000006123233995736766035868820147292*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*pb31*cos(theta4) + 0.99759174713065446038484651580802*pb31*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb32 - 0.000000000000000061084876998968587110695697647698*pb33 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*pb31*cos(theta4) - 0.069359253577359059050877476693131*pb31*sin(theta4))) + 0.00000000000000006123233995736766035868820147292*cos(E35zoff)*(1.0*sin(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*pb31*cos(theta4) + 0.99759174713065446038484651580802*pb31*sin(theta4)) - cos(theta5)*(0.99759174713065446038484651580802*pb32 - 0.000000000000000061084876998968587110695697647698*pb33 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*pb31*cos(theta4) - 0.069359253577359059050877476693131*pb31*sin(theta4))) - sin(E35zoff)*(1.0*sin(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.49879587356532728570357448916184*pb31*cos(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb32*cos(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb33*cos(E35zoff + Exoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb31*sin(E35zoff + Exoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb32*sin(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb33*sin(E35zoff + Exoff + theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb31*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*cos(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*cos(Exoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb31*sin(Exoff + theta4) - 1.147922510829233746446529638671e-49*pb32*sin(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb33*sin(Exoff + theta4) + 3.7493994566546440195890577538583e-33*pb32*sin(Exoff) - 2.295845021658467492893059277342e-49*pb33*sin(Exoff) + 0.99759174713065446038484651580802*pb32*cos(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*cos(E35zoff + Exoff + theta5) - 0.069359253577359003539726245435304*pb32*sin(E35zoff + Exoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb33*sin(E35zoff + Exoff + theta5) - 0.49879587356532723019242325790401*pb31*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*cos(E35zoff + Exoff - 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1.8746997283273220097945288769292e-33*pb21*sin(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*sin(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*sin(Exoff + theta4) + 0.03467962678867946707539360318151*pb21*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb23*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb21*sin(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.0000000000000000021235146971190555280824739675254*pb22*sin(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.03467962678867946707539360318151*pb23*sin(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.00000000000000003061616997868383017934410073646*pb21*cos(Exoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb22*cos(Exoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb23*cos(Exoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb21*sin(Exoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb22*sin(Exoff - 1.0*theta4) + 0.00000000000000003061616997868383017934410073646*pb23*sin(Exoff - 1.0*theta4)) + TDLFE35z*(sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) - 0.000000000000000056837847604730463728579105634338*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.069359253577359059050877476693131*pb21*cos(theta4) + 0.000000000000000056837847604730463728579105634338*pb21*sin(theta4)) + sin(theta5)*(0.000000000000000065331906393206710492812289661058*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.99759174713065446038484651580802*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.99759174713065446038484651580802*pb21*cos(theta4) - 0.000000000000000065331906393206710492812289661058*pb21*sin(theta4))) - 0.00000000000000006123233995736766035868820147292*cos(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) - 0.000000000000000056837847604730463728579105634338*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.069359253577359059050877476693131*pb21*cos(theta4) + 0.000000000000000056837847604730463728579105634338*pb21*sin(theta4)) + sin(theta5)*(0.000000000000000065331906393206710492812289661058*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.99759174713065446038484651580802*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.99759174713065446038484651580802*pb21*cos(theta4) - 0.000000000000000065331906393206710492812289661058*pb21*sin(theta4))) + cos(E35zoff)*(sin(theta5)*(0.069359253577359059050877476693131*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) - 0.000000000000000056837847604730463728579105634338*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.069359253577359059050877476693131*pb21*cos(theta4) + 0.000000000000000056837847604730463728579105634338*pb21*sin(theta4)) - 1.0*cos(theta5)*(0.000000000000000065331906393206710492812289661058*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.99759174713065446038484651580802*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.99759174713065446038484651580802*pb21*cos(theta4) - 0.000000000000000065331906393206710492812289661058*pb21*sin(theta4))) + 0.00000000000000006123233995736766035868820147292*sin(E35zoff)*(sin(theta5)*(0.069359253577359059050877476693131*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) - 0.000000000000000056837847604730463728579105634338*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.069359253577359059050877476693131*pb21*cos(theta4) + 0.000000000000000056837847604730463728579105634338*pb21*sin(theta4)) - 1.0*cos(theta5)*(0.000000000000000065331906393206710492812289661058*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.99759174713065446038484651580802*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.99759174713065446038484651580802*pb21*cos(theta4) - 0.000000000000000065331906393206710492812289661058*pb21*sin(theta4)))) + ((pb14 + (cos(E35xoff)*(0.034679626788679529525438738346566*pb11*cos(E35xoff + E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35xoff + E35zoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb13*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb11*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*sin(E35xoff + E35zoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb11*cos(E35xoff + theta4) + 1.147922510829233746446529638671e-49*pb12*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb13*cos(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb11*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb12*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb13*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb12*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb13*cos(E35xoff) + 0.069359253577359003539726245435304*pb12*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb13*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb12*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb13*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb11*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb13*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb11*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb12*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb13*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb11*cos(E35xoff - 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1.8746997283273220097945288769292e-33*pb11*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb12*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb13*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb12*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb13*cos(E35xoff) + 0.069359253577359003539726245435304*pb12*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb13*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb12*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb13*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb11*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb13*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb11*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb12*sin(E35xoff + E35zoff - 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624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(48830718344081912.0*theta2 + 14165745262949376.0) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(50081675560632440.0*theta1 + 14528646769735230.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(50082877455815688.0*theta1 + 14528995438392502.0) + 50082276508224064.0*(theta1 + 0.29009905533503599350808599410811)^2 + 49456797899948800.0*(theta2 + 0.29009905533503599350808599410811)^2 - 86602790043583056.0*(theta1 + 0.29009905533503599350808599410811)^4 + 49456196952357176.0*(theta3 + 0.29009905533503599350808599410811)^2 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) + 5.9929010455801663008645251906194e+51*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 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(theta3 + 0.29009905533503599350808599410811)^3*(1.9976501311103180642857847392869e+51*theta2 + 5.7951641592501409610947626753258e+50) + 1.0*(1.4489060629306480765719116415536e+37*theta1 + 4.2032628012538724121765161927348e+36)*(1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^3 - 251038492352157600.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^4 - 251005996675404448.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 277530385745933568.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(3.7493994566546440195890577538583e-33*pb23 - 0.00000000000000006123233995736766035868820147292*pb22 - 0.0000000000000000042470293942381149080248367095224*pb22*cos(E35zoff + theta5) + 2.6005554767692148529468201241131e-34*pb23*cos(E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb22*sin(E35zoff + theta5) + 3.7403699546548326355677777250263e-33*pb23*sin(E35zoff + theta5) + 0.0000000000000000021235146971190555280824739675254*pb21*cos(E35zoff - 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1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(3.7493994566546440195890577538583e-33*pb33 - 0.00000000000000006123233995736766035868820147292*pb32 - 0.0000000000000000042470293942381149080248367095224*pb32*cos(E35zoff + theta5) + 2.6005554767692148529468201241131e-34*pb33*cos(E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb32*sin(E35zoff + theta5) + 3.7403699546548326355677777250263e-33*pb33*sin(E35zoff + theta5) + 0.0000000000000000021235146971190555280824739675254*pb31*cos(E35zoff - 1.0*theta4 + theta5) + 1.8701849773274163177838888625132e-33*pb32*cos(E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb33*cos(E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb31*sin(E35zoff - 1.0*theta4 + theta5) - 1.3002777383846063573675260251783e-34*pb32*sin(E35zoff - 1.0*theta4 + theta5) - 0.0000000000000000021235146971190555280824739675254*pb33*sin(E35zoff - 1.0*theta4 + theta5) + pb31*cos(theta4) + 3.7493994566546440195890577538583e-33*pb32*cos(theta4) + 0.00000000000000006123233995736766035868820147292*pb33*cos(theta4) - 0.00000000000000006123233995736766035868820147292*pb31*sin(theta4) + 0.00000000000000006123233995736766035868820147292*pb32*sin(theta4) + pb33*sin(theta4) - 0.0000000000000000021235146971190597651283516194442*pb31*cos(E35zoff + theta4 + theta5) + 1.8701849773274166598977717543142e-33*pb32*cos(E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb33*cos(E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb31*sin(E35zoff + theta4 + theta5) - 1.3002777383846087094004709063104e-34*pb32*sin(E35zoff + theta4 + theta5) - 0.0000000000000000021235146971190597651283516194442*pb33*sin(E35zoff + theta4 + theta5)))*(0.000000000000000030542438499484293555347848823849*pb21*cos(E35zoff - 1.0*theta4 + theta5) - 1.3002777383846063573675260251783e-34*pb22*cos(E35zoff - 1.0*theta4 + theta5) - 0.0000000000000000021235146971190555280824739675254*pb23*cos(E35zoff - 1.0*theta4 + theta5) - 0.0000000000000000021235146971190555280824739675254*pb21*sin(E35zoff - 1.0*theta4 + theta5) - 1.8701849773274163177838888625132e-33*pb22*sin(E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb23*sin(E35zoff - 1.0*theta4 + theta5) + 0.00000000000000006123233995736766035868820147292*pb21*cos(theta4) - 0.00000000000000006123233995736766035868820147292*pb22*cos(theta4) - 1.0*pb23*cos(theta4) + pb21*sin(theta4) + 3.7493994566546440195890577538583e-33*pb22*sin(theta4) + 0.00000000000000006123233995736766035868820147292*pb23*sin(theta4) + 0.000000000000000030542438499484293555347848823849*pb21*cos(E35zoff + theta4 + theta5) + 1.3002777383846087094004709063104e-34*pb22*cos(E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb23*cos(E35zoff + theta4 + theta5) - 0.0000000000000000021235146971190597651283516194442*pb21*sin(E35zoff + theta4 + theta5) + 1.8701849773274166598977717543142e-33*pb22*sin(E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb23*sin(E35zoff + theta4 + theta5)) + 1.0*TDLFE35x*(1.0*cos(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) - 0.000000000000000056837847604730463728579105634338*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.069359253577359059050877476693131*pb21*cos(theta4) + 0.000000000000000056837847604730463728579105634338*pb21*sin(theta4)) + sin(theta5)*(0.000000000000000065331906393206710492812289661058*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.99759174713065446038484651580802*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.99759174713065446038484651580802*pb21*cos(theta4) - 0.000000000000000065331906393206710492812289661058*pb21*sin(theta4))) - sin(E35zoff)*(sin(theta5)*(0.069359253577359059050877476693131*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) - 0.000000000000000056837847604730463728579105634338*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.069359253577359059050877476693131*pb21*cos(theta4) + 0.000000000000000056837847604730463728579105634338*pb21*sin(theta4)) - 1.0*cos(theta5)*(0.000000000000000065331906393206710492812289661058*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.99759174713065446038484651580802*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.99759174713065446038484651580802*pb21*cos(theta4) - 0.000000000000000065331906393206710492812289661058*pb21*sin(theta4)))), ((pb14 + (cos(E35xoff)*(0.034679626788679529525438738346566*pb11*cos(E35xoff + E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35xoff + E35zoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb13*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb11*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*sin(E35xoff + E35zoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb11*cos(E35xoff + theta4) + 1.147922510829233746446529638671e-49*pb12*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb13*cos(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb11*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb12*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb13*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb12*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb13*cos(E35xoff) + 0.069359253577359003539726245435304*pb12*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb13*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb12*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb13*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb11*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb13*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb11*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb12*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb13*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb11*cos(E35xoff - 1.0*theta4) + 1.147922510829233746446529638671e-49*pb12*cos(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb13*cos(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb11*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb12*sin(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb13*sin(E35xoff - 1.0*theta4)) - 1.0*sin(E35xoff)*(0.49879587356532728570357448916184*pb11*cos(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*cos(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*cos(E35xoff + E35zoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb11*sin(E35xoff + E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb12*sin(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb13*sin(E35xoff + E35zoff + theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb11*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb12*cos(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb13*cos(E35xoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb11*sin(E35xoff + theta4) - 1.147922510829233746446529638671e-49*pb12*sin(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb13*sin(E35xoff + theta4) + 3.7493994566546440195890577538583e-33*pb12*sin(E35xoff) - 2.295845021658467492893059277342e-49*pb13*sin(E35xoff) + 0.99759174713065446038484651580802*pb12*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb13*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb12*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb13*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb11*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb12*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb13*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb11*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb12*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb13*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 1.8746997283273220097945288769292e-33*pb11*cos(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb12*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb13*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb11*sin(E35xoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb12*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb13*sin(E35xoff - 1.0*theta4)))*(E35Hpz - 1.0*THpz) + 1.0*TDLFE35x*(1.0*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb12 - 0.0000000000000000042470293942381187598847254839942*pb13 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*pb11*cos(theta4) + 0.99759174713065446038484651580802*pb11*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb12 - 0.000000000000000061084876998968587110695697647698*pb13 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000056837847604730463728579105634338*pb11*cos(theta4) - 0.069359253577359059050877476693131*pb11*sin(theta4))) + cos(E35zoff)*(1.0*sin(theta5)*(0.069359253577359059050877476693131*pb12 - 0.0000000000000000042470293942381187598847254839942*pb13 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*pb11*cos(theta4) + 0.99759174713065446038484651580802*pb11*sin(theta4)) - cos(theta5)*(0.99759174713065446038484651580802*pb12 - 0.000000000000000061084876998968587110695697647698*pb13 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000056837847604730463728579105634338*pb11*cos(theta4) - 0.069359253577359059050877476693131*pb11*sin(theta4)))) + MpRABz*pb13 - 1.0*TDLFE35z*(cos(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb12 - 0.0000000000000000042470293942381187598847254839942*pb13 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*pb11*cos(theta4) + 0.99759174713065446038484651580802*pb11*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb12 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.49879587356532728570357448916184*pb11*cos(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*cos(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*cos(E35zoff + Exoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb11*sin(E35zoff + Exoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb12*sin(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb13*sin(E35zoff + Exoff + theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb11*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb12*cos(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb13*cos(Exoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb11*sin(Exoff + theta4) - 1.147922510829233746446529638671e-49*pb12*sin(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb13*sin(Exoff + theta4) + 3.7493994566546440195890577538583e-33*pb12*sin(Exoff) - 2.295845021658467492893059277342e-49*pb13*sin(Exoff) + 0.99759174713065446038484651580802*pb12*cos(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb13*cos(E35zoff + Exoff + theta5) - 0.069359253577359003539726245435304*pb12*sin(E35zoff + Exoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb13*sin(E35zoff + Exoff + theta5) - 0.49879587356532723019242325790401*pb11*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb12*cos(E35zoff + Exoff - 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0.49879587356532728570357448916184*pb23*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb21*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb22*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb23*sin(E35xoff + E35zoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb21*cos(E35xoff + theta4) + 1.147922510829233746446529638671e-49*pb22*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb23*cos(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb21*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb22*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb23*cos(E35xoff) + 0.069359253577359003539726245435304*pb22*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb23*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb22*sin(E35xoff + E35zoff + theta5) - 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2.295845021658467492893059277342e-49*pb23*sin(E35xoff) + 0.99759174713065446038484651580802*pb22*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb22*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb23*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb23*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 1.8746997283273220097945288769292e-33*pb21*cos(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb22*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb23*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb21*sin(E35xoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb22*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(E35xoff - 1.0*theta4)))*(E35Hpz - 1.0*THpz) + 1.0*TDLFE35x*(1.0*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*pb21*cos(theta4) + 0.99759174713065446038484651580802*pb21*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb22 - 0.000000000000000061084876998968587110695697647698*pb23 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*pb21*cos(theta4) - 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1.0*MpRABx*(pb22 - 0.00000000000000006123233995736766035868820147292*pb23) - 1.0*RABTDLFx*(pb22 - 0.00000000000000006123233995736766035868820147292*pb23) + (E35Hpx - 1.0*THpx)*(sin(E35xoff)*(0.034679626788679529525438738346566*pb21*cos(E35xoff + E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35xoff + E35zoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb23*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb21*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb22*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb23*sin(E35xoff + E35zoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb21*cos(E35xoff + theta4) + 1.147922510829233746446529638671e-49*pb22*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb23*cos(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb21*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb22*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb23*cos(E35xoff) + 0.069359253577359003539726245435304*pb22*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb23*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb22*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb23*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb21*cos(E35xoff - 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0.00000000000000003061616997868383017934410073646*pb21*sin(E35xoff + theta4) - 1.147922510829233746446529638671e-49*pb22*sin(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(E35xoff + theta4) + 3.7493994566546440195890577538583e-33*pb22*sin(E35xoff) - 2.295845021658467492893059277342e-49*pb23*sin(E35xoff) + 0.99759174713065446038484651580802*pb22*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb22*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb23*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35xoff + E35zoff - 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624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(48830718344081912.0*theta2 + 14165745262949376.0) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(50081675560632440.0*theta1 + 14528646769735230.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(50082877455815688.0*theta1 + 14528995438392502.0) + 50082276508224064.0*(theta1 + 0.29009905533503599350808599410811)^2 + 49456797899948800.0*(theta2 + 0.29009905533503599350808599410811)^2 - 86602790043583056.0*(theta1 + 0.29009905533503599350808599410811)^4 + 49456196952357176.0*(theta3 + 0.29009905533503599350808599410811)^2 - 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3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 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1.8746997283273220097945288769292e-33*pb21*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*cos(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*cos(Exoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb21*sin(Exoff + theta4) - 1.147922510829233746446529638671e-49*pb22*sin(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(Exoff + theta4) + 3.7493994566546440195890577538583e-33*pb22*sin(Exoff) - 2.295845021658467492893059277342e-49*pb23*sin(Exoff) + 0.99759174713065446038484651580802*pb22*cos(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*cos(E35zoff + Exoff + theta5) - 0.069359253577359003539726245435304*pb22*sin(E35zoff + Exoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb23*sin(E35zoff + Exoff + theta5) - 0.49879587356532723019242325790401*pb21*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*cos(E35zoff + Exoff - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) + 5.9929010455801663008645251906194e+51*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 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1.8746997283273220097945288769292e-33*pb31*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*cos(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*cos(Exoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb31*sin(Exoff + theta4) - 1.147922510829233746446529638671e-49*pb32*sin(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb33*sin(Exoff + theta4) + 3.7493994566546440195890577538583e-33*pb32*sin(Exoff) - 2.295845021658467492893059277342e-49*pb33*sin(Exoff) + 0.99759174713065446038484651580802*pb32*cos(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*cos(E35zoff + Exoff + theta5) - 0.069359253577359003539726245435304*pb32*sin(E35zoff + Exoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb33*sin(E35zoff + Exoff + theta5) - 0.49879587356532723019242325790401*pb31*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*cos(E35zoff + Exoff - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.034679626788679529525438738346566*pb11*cos(E35zoff + Exoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35zoff + Exoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb13*cos(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb11*sin(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*sin(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*sin(E35zoff + Exoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb11*cos(Exoff + theta4) + 1.147922510829233746446529638671e-49*pb12*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb13*cos(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb11*sin(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb12*sin(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb13*sin(Exoff + theta4) - 3.7493994566546440195890577538583e-33*pb12*cos(Exoff) + 2.295845021658467492893059277342e-49*pb13*cos(Exoff) + 0.069359253577359003539726245435304*pb12*cos(E35zoff + Exoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb13*cos(E35zoff + Exoff + theta5) + 0.99759174713065446038484651580802*pb12*sin(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb13*sin(E35zoff + Exoff + theta5) - 0.03467962678867946707539360318151*pb11*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb13*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb11*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb12*sin(E35zoff + Exoff - 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1.8746997283273220097945288769292e-33*pb21*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb22*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb23*cos(E35xoff) + 0.069359253577359003539726245435304*pb22*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb23*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb22*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*sin(E35xoff + E35zoff - 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1.8746997283273220097945288769292e-33*pb21*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*cos(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*cos(E35xoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb21*sin(E35xoff + theta4) - 1.147922510829233746446529638671e-49*pb22*sin(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(E35xoff + theta4) + 3.7493994566546440195890577538583e-33*pb22*sin(E35xoff) - 2.295845021658467492893059277342e-49*pb23*sin(E35xoff) + 0.99759174713065446038484651580802*pb22*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb22*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb23*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb23*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 1.8746997283273220097945288769292e-33*pb21*cos(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb22*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb23*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb21*sin(E35xoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb22*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(E35xoff - 1.0*theta4)))*(E35Hpz - 1.0*THpz) + 1.0*TDLFE35x*(1.0*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 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cos(theta5)*(0.99759174713065446038484651580802*pb22 - 0.000000000000000061084876998968587110695697647698*pb23 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*pb21*cos(theta4) - 0.069359253577359059050877476693131*pb21*sin(theta4)))) + MpRABz*pb23 - 1.0*TDLFE35z*(cos(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*pb21*cos(theta4) + 0.99759174713065446038484651580802*pb21*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb22 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.034679626788679529525438738346566*pb21*cos(E35zoff + Exoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35zoff + Exoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb23*cos(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb21*sin(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb22*sin(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb23*sin(E35zoff + Exoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb21*cos(Exoff + theta4) + 1.147922510829233746446529638671e-49*pb22*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb23*cos(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb21*sin(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*sin(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*sin(Exoff + theta4) - 3.7493994566546440195890577538583e-33*pb22*cos(Exoff) + 2.295845021658467492893059277342e-49*pb23*cos(Exoff) + 0.069359253577359003539726245435304*pb22*cos(E35zoff + Exoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb23*cos(E35zoff + Exoff + theta5) + 0.99759174713065446038484651580802*pb22*sin(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*sin(E35zoff + Exoff + theta5) - 0.03467962678867946707539360318151*pb21*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb23*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb21*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*sin(E35zoff + Exoff - 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1.8746997283273220097945288769292e-33*pb31*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb32*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb33*cos(E35xoff) + 0.069359253577359003539726245435304*pb32*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb33*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb32*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb31*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb33*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb31*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*sin(E35xoff + E35zoff - 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(theta3 + 0.29009905533503599350808599410811)^3*(1.9976501311103180642857847392869e+51*theta2 + 5.7951641592501409610947626753258e+50) + 1.0*(1.4489060629306480765719116415536e+37*theta1 + 4.2032628012538724121765161927348e+36)*(1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^3 - 251038492352157600.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^4 - 251005996675404448.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 277530385745933568.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(48830718344081912.0*theta2 + 14165745262949376.0) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(50081675560632440.0*theta1 + 14528646769735230.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(50082877455815688.0*theta1 + 14528995438392502.0) + 50082276508224064.0*(theta1 + 0.29009905533503599350808599410811)^2 + 49456797899948800.0*(theta2 + 0.29009905533503599350808599410811)^2 - 86602790043583056.0*(theta1 + 0.29009905533503599350808599410811)^4 + 49456196952357176.0*(theta3 + 0.29009905533503599350808599410811)^2 - 86627698380398880.0*(theta2 + 0.29009905533503599350808599410811)^4 - 86627803167183264.0*(theta3 + 0.29009905533503599350808599410811)^4 + (theta2 + 0.29009905533503599350808599410811)^3*(164413933737288032.0*theta1 + 47696326861104464.0) + (theta3 + 0.29009905533503599350808599410811)^3*(164424975203107872.0*theta1 + 47699529979908312.0) + (theta3 + 0.29009905533503599350808599410811)^3*(182086237465625184.0*theta2 + 52823045478288904.0) + 173194748194915072.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 173216411979417184.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 182096859784307456.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 17572251233936354.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) - 1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.034679626788679529525438738346566*pb31*cos(E35zoff + Exoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35zoff + Exoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb33*cos(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb31*sin(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb32*sin(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb33*sin(E35zoff + Exoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb31*cos(Exoff + theta4) + 1.147922510829233746446529638671e-49*pb32*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb33*cos(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb31*sin(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*sin(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*sin(Exoff + theta4) - 3.7493994566546440195890577538583e-33*pb32*cos(Exoff) + 2.295845021658467492893059277342e-49*pb33*cos(Exoff) + 0.069359253577359003539726245435304*pb32*cos(E35zoff + Exoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb33*cos(E35zoff + Exoff + theta5) + 0.99759174713065446038484651580802*pb32*sin(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*sin(E35zoff + Exoff + theta5) - 0.03467962678867946707539360318151*pb31*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb33*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb31*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb33*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb31*cos(Exoff - 1.0*theta4) + 1.147922510829233746446529638671e-49*pb32*cos(Exoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb33*cos(Exoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb31*sin(Exoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb32*sin(Exoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb33*sin(Exoff - 1.0*theta4)))*(0.49879587356532728570357448916184*pb21*cos(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb22*cos(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb23*cos(E35zoff + Exoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb21*sin(E35zoff + Exoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb23*sin(E35zoff + Exoff + theta4 + theta5) + 0.99759174713065446038484651580802*pb22*cos(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*cos(E35zoff + Exoff + theta5) - 0.069359253577359003539726245435304*pb22*sin(E35zoff + Exoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb23*sin(E35zoff + Exoff + theta5) - 0.49879587356532723019242325790401*pb21*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb23*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb21*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb23*sin(E35zoff + Exoff - 1.0*theta4 + theta5)) + TDLFE35x*(cos(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*pb21*cos(theta4) + 0.99759174713065446038484651580802*pb21*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb22 - 0.000000000000000061084876998968587110695697647698*pb23 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*pb21*cos(theta4) - 0.069359253577359059050877476693131*pb21*sin(theta4))) - sin(E35zoff)*(1.0*sin(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*pb21*cos(theta4) + 0.99759174713065446038484651580802*pb21*sin(theta4)) - cos(theta5)*(0.99759174713065446038484651580802*pb22 - 0.000000000000000061084876998968587110695697647698*pb23 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*pb21*cos(theta4) - 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624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(48830718344081912.0*theta2 + 14165745262949376.0) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(50081675560632440.0*theta1 + 14528646769735230.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(50082877455815688.0*theta1 + 14528995438392502.0) + 50082276508224064.0*(theta1 + 0.29009905533503599350808599410811)^2 + 49456797899948800.0*(theta2 + 0.29009905533503599350808599410811)^2 - 86602790043583056.0*(theta1 + 0.29009905533503599350808599410811)^4 + 49456196952357176.0*(theta3 + 0.29009905533503599350808599410811)^2 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) + 5.9929010455801663008645251906194e+51*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 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(theta3 + 0.29009905533503599350808599410811)^3*(1.9976501311103180642857847392869e+51*theta2 + 5.7951641592501409610947626753258e+50) + 1.0*(1.4489060629306480765719116415536e+37*theta1 + 4.2032628012538724121765161927348e+36)*(1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^3 - 251038492352157600.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^4 - 251005996675404448.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 277530385745933568.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(3.7493994566546440195890577538583e-33*pb13 - 0.00000000000000006123233995736766035868820147292*pb12 - 0.0000000000000000042470293942381149080248367095224*pb12*cos(E35zoff + theta5) + 2.6005554767692148529468201241131e-34*pb13*cos(E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb12*sin(E35zoff + theta5) + 3.7403699546548326355677777250263e-33*pb13*sin(E35zoff + theta5) + 0.0000000000000000021235146971190555280824739675254*pb11*cos(E35zoff - 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1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(3.7493994566546440195890577538583e-33*pb23 - 0.00000000000000006123233995736766035868820147292*pb22 - 0.0000000000000000042470293942381149080248367095224*pb22*cos(E35zoff + theta5) + 2.6005554767692148529468201241131e-34*pb23*cos(E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb22*sin(E35zoff + theta5) + 3.7403699546548326355677777250263e-33*pb23*sin(E35zoff + theta5) + 0.0000000000000000021235146971190555280824739675254*pb21*cos(E35zoff - 1.0*theta4 + theta5) + 1.8701849773274163177838888625132e-33*pb22*cos(E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb23*cos(E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb21*sin(E35zoff - 1.0*theta4 + theta5) - 1.3002777383846063573675260251783e-34*pb22*sin(E35zoff - 1.0*theta4 + theta5) - 0.0000000000000000021235146971190555280824739675254*pb23*sin(E35zoff - 1.0*theta4 + theta5) + pb21*cos(theta4) + 3.7493994566546440195890577538583e-33*pb22*cos(theta4) + 0.00000000000000006123233995736766035868820147292*pb23*cos(theta4) - 0.00000000000000006123233995736766035868820147292*pb21*sin(theta4) + 0.00000000000000006123233995736766035868820147292*pb22*sin(theta4) + pb23*sin(theta4) - 0.0000000000000000021235146971190597651283516194442*pb21*cos(E35zoff + theta4 + theta5) + 1.8701849773274166598977717543142e-33*pb22*cos(E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb23*cos(E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb21*sin(E35zoff + theta4 + theta5) - 1.3002777383846087094004709063104e-34*pb22*sin(E35zoff + theta4 + theta5) - 0.0000000000000000021235146971190597651283516194442*pb23*sin(E35zoff + theta4 + theta5)) + (pb34 + (cos(E35xoff)*(0.034679626788679529525438738346566*pb31*cos(E35xoff + E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35xoff + E35zoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb33*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb31*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb32*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb33*sin(E35xoff + E35zoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb31*cos(E35xoff + theta4) + 1.147922510829233746446529638671e-49*pb32*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb33*cos(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb31*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb32*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb33*cos(E35xoff) + 0.069359253577359003539726245435304*pb32*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb33*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb32*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb31*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb33*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb31*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb33*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb31*cos(E35xoff - 1.0*theta4) + 1.147922510829233746446529638671e-49*pb32*cos(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb33*cos(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb31*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb32*sin(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb33*sin(E35xoff - 1.0*theta4)) - 1.0*sin(E35xoff)*(0.49879587356532728570357448916184*pb31*cos(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb32*cos(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb33*cos(E35xoff + E35zoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb31*sin(E35xoff + E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb32*sin(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb33*sin(E35xoff + E35zoff + theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb31*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*cos(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*cos(E35xoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb31*sin(E35xoff + theta4) - 1.147922510829233746446529638671e-49*pb32*sin(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb33*sin(E35xoff + theta4) + 3.7493994566546440195890577538583e-33*pb32*sin(E35xoff) - 2.295845021658467492893059277342e-49*pb33*sin(E35xoff) + 0.99759174713065446038484651580802*pb32*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb32*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb33*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb31*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb33*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb31*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb32*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb33*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 1.8746997283273220097945288769292e-33*pb31*cos(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb32*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb33*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb31*sin(E35xoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb32*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb33*sin(E35xoff - 1.0*theta4)))*(E35Hpz - 1.0*THpz) + 1.0*TDLFE35x*(1.0*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*pb31*cos(theta4) + 0.99759174713065446038484651580802*pb31*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb32 - 0.000000000000000061084876998968587110695697647698*pb33 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*pb31*cos(theta4) - 0.069359253577359059050877476693131*pb31*sin(theta4))) + cos(E35zoff)*(1.0*sin(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*pb31*cos(theta4) + 0.99759174713065446038484651580802*pb31*sin(theta4)) - cos(theta5)*(0.99759174713065446038484651580802*pb32 - 0.000000000000000061084876998968587110695697647698*pb33 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*pb31*cos(theta4) - 0.069359253577359059050877476693131*pb31*sin(theta4)))) + MpRABz*pb33 - 1.0*TDLFE35z*(cos(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*pb31*cos(theta4) + 0.99759174713065446038484651580802*pb31*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb32 - 0.000000000000000061084876998968587110695697647698*pb33 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*pb31*cos(theta4) - 0.069359253577359059050877476693131*pb31*sin(theta4))) + 0.00000000000000006123233995736766035868820147292*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*pb31*cos(theta4) + 0.99759174713065446038484651580802*pb31*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb32 - 0.000000000000000061084876998968587110695697647698*pb33 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*pb31*cos(theta4) - 0.069359253577359059050877476693131*pb31*sin(theta4))) + 0.00000000000000006123233995736766035868820147292*cos(E35zoff)*(1.0*sin(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*pb31*cos(theta4) + 0.99759174713065446038484651580802*pb31*sin(theta4)) - cos(theta5)*(0.99759174713065446038484651580802*pb32 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(3.7493994566546440195890577538583e-33*pb33 - 0.00000000000000006123233995736766035868820147292*pb32 - 0.0000000000000000042470293942381149080248367095224*pb32*cos(E35zoff + theta5) + 2.6005554767692148529468201241131e-34*pb33*cos(E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb32*sin(E35zoff + theta5) + 3.7403699546548326355677777250263e-33*pb33*sin(E35zoff + theta5) + 0.0000000000000000021235146971190555280824739675254*pb31*cos(E35zoff - 1.0*theta4 + theta5) + 1.8701849773274163177838888625132e-33*pb32*cos(E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb33*cos(E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb31*sin(E35zoff - 1.0*theta4 + theta5) - 1.3002777383846063573675260251783e-34*pb32*sin(E35zoff - 1.0*theta4 + theta5) - 0.0000000000000000021235146971190555280824739675254*pb33*sin(E35zoff - 1.0*theta4 + theta5) + pb31*cos(theta4) + 3.7493994566546440195890577538583e-33*pb32*cos(theta4) + 0.00000000000000006123233995736766035868820147292*pb33*cos(theta4) - 0.00000000000000006123233995736766035868820147292*pb31*sin(theta4) + 0.00000000000000006123233995736766035868820147292*pb32*sin(theta4) + pb33*sin(theta4) - 0.0000000000000000021235146971190597651283516194442*pb31*cos(E35zoff + theta4 + theta5) + 1.8701849773274166598977717543142e-33*pb32*cos(E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb33*cos(E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb31*sin(E35zoff + theta4 + theta5) - 1.3002777383846087094004709063104e-34*pb32*sin(E35zoff + theta4 + theta5) - 0.0000000000000000021235146971190597651283516194442*pb33*sin(E35zoff + theta4 + theta5)))*(0.000000000000000061084876998968587110695697647698*pb22*cos(E35zoff + theta5) - 3.7403699546548326355677777250263e-33*pb23*cos(E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb22*sin(E35zoff + theta5) + 2.6005554767692148529468201241131e-34*pb23*sin(E35zoff + theta5) - 0.000000000000000030542438499484293555347848823849*pb21*cos(E35zoff - 1.0*theta4 + theta5) + 1.3002777383846063573675260251783e-34*pb22*cos(E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb23*cos(E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb21*sin(E35zoff - 1.0*theta4 + theta5) + 1.8701849773274163177838888625132e-33*pb22*sin(E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb23*sin(E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb21*cos(E35zoff + theta4 + theta5) + 1.3002777383846087094004709063104e-34*pb22*cos(E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb23*cos(E35zoff + theta4 + theta5) - 0.0000000000000000021235146971190597651283516194442*pb21*sin(E35zoff + theta4 + theta5) + 1.8701849773274166598977717543142e-33*pb22*sin(E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb23*sin(E35zoff + theta4 + theta5)) + (cos(E35xoff)*(0.49879587356532728570357448916184*pb21*cos(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb22*cos(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb23*cos(E35xoff + E35zoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb21*sin(E35xoff + E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb23*sin(E35xoff + E35zoff + theta4 + theta5) + 0.99759174713065446038484651580802*pb22*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb22*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb23*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb23*sin(E35xoff + E35zoff - 1.0*theta4 + theta5)) + sin(E35xoff)*(0.034679626788679529525438738346566*pb21*cos(E35xoff + E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35xoff + E35zoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb23*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb21*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb22*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb23*sin(E35xoff + E35zoff + theta4 + theta5) + 0.069359253577359003539726245435304*pb22*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb23*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb22*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb23*sin(E35xoff + E35zoff - 1.0*theta4 + theta5)))*(E35Hpz - 1.0*THpz);
((pb31 + 0.00000000000000006123233995736766035868820147292*pb32)*(6.7973245483961660257323828305328e+46*theta1 + 2.4878712828112887171077186698405e+50*theta2 - 2.4885510152661281976153234676208e+50*theta3 + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3 - 1.997650131110317731978785793058e+51*(theta3 + 0.29009905533503599350808599410811)^3 - 1.0*(theta2 + 0.29009905533503599350808599410811)^2*(1.1985802091160332601729050381239e+52*theta1 + 3.4770698640783114528504856077457e+51) - 1.0*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta2 + 1.7385349320391557264252428038728e+51) + (theta3 + 0.29009905533503599350808599410811)^2*(1.1985851438911118832186884677335e+52*theta1 + 3.477084179814197447086027608543e+51) - 1.4489060629306480765719116415536e+37*(1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^3 - 251038492352157600.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^4 - 251005996675404448.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 277530385745933568.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(48830718344081912.0*theta2 + 14165745262949376.0) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(50081675560632440.0*theta1 + 14528646769735230.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(50082877455815688.0*theta1 + 14528995438392502.0) + 50082276508224064.0*(theta1 + 0.29009905533503599350808599410811)^2 + 49456797899948800.0*(theta2 + 0.29009905533503599350808599410811)^2 - 86602790043583056.0*(theta1 + 0.29009905533503599350808599410811)^4 + 49456196952357176.0*(theta3 + 0.29009905533503599350808599410811)^2 - 86627698380398880.0*(theta2 + 0.29009905533503599350808599410811)^4 - 86627803167183264.0*(theta3 + 0.29009905533503599350808599410811)^4 + (theta2 + 0.29009905533503599350808599410811)^3*(164413933737288032.0*theta1 + 47696326861104464.0) + (theta3 + 0.29009905533503599350808599410811)^3*(164424975203107872.0*theta1 + 47699529979908312.0) + (theta3 + 0.29009905533503599350808599410811)^3*(182086237465625184.0*theta2 + 52823045478288904.0) + 173194748194915072.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 173216411979417184.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 182096859784307456.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 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17572251233936354.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) - 1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) + (9.8856758766518829663462595391446e+47*theta3 + 2.867825233165065072673207878914e+47)*(1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^3 - 251038492352157600.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^4 - 251005996675404448.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 277530385745933568.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 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17572251233936354.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) - 1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 4.479474287298821370376658978974e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 4.479474287298821370376658978974e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.3536286138204542533329942678005e+57*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 2.7072527481153363436504194825935e+57*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(1.3536196547840907915296135133954e+57*theta1 + 3.926837831358022756515379048919e+56) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(1.3536330932479452998214195509447e+57*theta1 + 3.9268768162147165204959041501233e+56) - 4.9336057292938525373356128818762e+50))/(1.1636694106362360362076441376278e+57*(theta1 + 0.29009905533503599350808599410811)^2 + 1.1640041004263431855670181003032e+57*(theta2 + 0.29009905533503599350808599410811)^2 + 1.1640055084315077414110696095803e+57*(theta3 + 0.29009905533503599350808599410811)^2 - 1.0*(1.1636680026310714803635926283507e+57*theta1 + 3.3757898828688199869184611592602e+56)*(theta2 + 0.29009905533503599350808599410811) - 1.0*(1.1636708186414005920516956469048e+57*theta1 + 3.3757980520881831548936775528199e+56)*(theta3 + 0.29009905533503599350808599410811) - 1.0*(1.1643401982216147165458717087352e+57*theta2 + 3.3777399159269899119173697445018e+56)*(theta3 + 0.29009905533503599350808599410811) + 1.210284592791156383066241824682e+56)^2, (cos(E35xoff)*(0.49879587356532728570357448916184*pb31*cos(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb32*cos(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb33*cos(E35xoff + E35zoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb31*sin(E35xoff + E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb32*sin(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb33*sin(E35xoff + E35zoff + theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb31*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*cos(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*cos(E35xoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb31*sin(E35xoff + theta4) - 1.147922510829233746446529638671e-49*pb32*sin(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb33*sin(E35xoff + theta4) + 0.49879587356532723019242325790401*pb31*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.0000000000000000021235146971190555280824739675254*pb32*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.03467962678867946707539360318151*pb33*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.03467962678867946707539360318151*pb31*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb33*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb31*cos(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb32*cos(E35xoff - 1.0*theta4) + 0.00000000000000003061616997868383017934410073646*pb33*cos(E35xoff - 1.0*theta4) + 0.00000000000000003061616997868383017934410073646*pb31*sin(E35xoff - 1.0*theta4) + 1.147922510829233746446529638671e-49*pb32*sin(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb33*sin(E35xoff - 1.0*theta4)) + sin(E35xoff)*(0.034679626788679529525438738346566*pb31*cos(E35xoff + E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35xoff + E35zoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb33*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb31*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb32*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb33*sin(E35xoff + E35zoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb31*cos(E35xoff + theta4) + 1.147922510829233746446529638671e-49*pb32*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb33*cos(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb31*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*sin(E35xoff + theta4) + 0.03467962678867946707539360318151*pb31*cos(E35xoff + E35zoff - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.034679626788679529525438738346566*pb11*cos(E35zoff + Exoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35zoff + Exoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb13*cos(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb11*sin(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*sin(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*sin(E35zoff + Exoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb11*cos(Exoff + theta4) + 1.147922510829233746446529638671e-49*pb12*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb13*cos(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb11*sin(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb12*sin(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb13*sin(Exoff + theta4) - 3.7493994566546440195890577538583e-33*pb12*cos(Exoff) + 2.295845021658467492893059277342e-49*pb13*cos(Exoff) + 0.069359253577359003539726245435304*pb12*cos(E35zoff + Exoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb13*cos(E35zoff + Exoff + theta5) + 0.99759174713065446038484651580802*pb12*sin(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb13*sin(E35zoff + Exoff + theta5) - 0.03467962678867946707539360318151*pb11*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb13*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb11*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb12*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb13*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb11*cos(Exoff - 1.0*theta4) + 1.147922510829233746446529638671e-49*pb12*cos(Exoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb13*cos(Exoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb11*sin(Exoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb12*sin(Exoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb13*sin(Exoff - 1.0*theta4)) + (pb24 + (cos(E35xoff)*(0.034679626788679529525438738346566*pb21*cos(E35xoff + E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35xoff + E35zoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb23*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb21*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb22*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb23*sin(E35xoff + E35zoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb21*cos(E35xoff + theta4) + 1.147922510829233746446529638671e-49*pb22*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb23*cos(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb21*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb22*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb23*cos(E35xoff) + 0.069359253577359003539726245435304*pb22*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb23*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb22*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb23*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb21*cos(E35xoff - 1.0*theta4) + 1.147922510829233746446529638671e-49*pb22*cos(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb23*cos(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb21*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb22*sin(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb23*sin(E35xoff - 1.0*theta4)) - 1.0*sin(E35xoff)*(0.49879587356532728570357448916184*pb21*cos(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb22*cos(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb23*cos(E35xoff + E35zoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb21*sin(E35xoff + E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb23*sin(E35xoff + E35zoff + theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb21*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*cos(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*cos(E35xoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb21*sin(E35xoff + theta4) - 1.147922510829233746446529638671e-49*pb22*sin(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(E35xoff + theta4) + 3.7493994566546440195890577538583e-33*pb22*sin(E35xoff) - 2.295845021658467492893059277342e-49*pb23*sin(E35xoff) + 0.99759174713065446038484651580802*pb22*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb22*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb23*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb23*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 1.8746997283273220097945288769292e-33*pb21*cos(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb22*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb23*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb21*sin(E35xoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb22*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(E35xoff - 1.0*theta4)))*(E35Hpz - 1.0*THpz) + 1.0*TDLFE35x*(1.0*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*pb21*cos(theta4) + 0.99759174713065446038484651580802*pb21*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb22 - 0.000000000000000061084876998968587110695697647698*pb23 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*pb21*cos(theta4) - 0.069359253577359059050877476693131*pb21*sin(theta4))) + cos(E35zoff)*(1.0*sin(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*pb21*cos(theta4) + 0.99759174713065446038484651580802*pb21*sin(theta4)) - cos(theta5)*(0.99759174713065446038484651580802*pb22 - 0.000000000000000061084876998968587110695697647698*pb23 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*pb21*cos(theta4) - 0.069359253577359059050877476693131*pb21*sin(theta4)))) + MpRABz*pb23 - 1.0*TDLFE35z*(cos(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*pb21*cos(theta4) + 0.99759174713065446038484651580802*pb21*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb22 - 0.000000000000000061084876998968587110695697647698*pb23 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*pb21*cos(theta4) - 0.069359253577359059050877476693131*pb21*sin(theta4))) + 0.00000000000000006123233995736766035868820147292*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*pb21*cos(theta4) + 0.99759174713065446038484651580802*pb21*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb22 - 0.000000000000000061084876998968587110695697647698*pb23 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*pb21*cos(theta4) - 0.069359253577359059050877476693131*pb21*sin(theta4))) + 0.00000000000000006123233995736766035868820147292*cos(E35zoff)*(1.0*sin(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*pb21*cos(theta4) + 0.99759174713065446038484651580802*pb21*sin(theta4)) - cos(theta5)*(0.99759174713065446038484651580802*pb22 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.034679626788679529525438738346566*pb21*cos(E35zoff + Exoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35zoff + Exoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb23*cos(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb21*sin(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb22*sin(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb23*sin(E35zoff + Exoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb21*cos(Exoff + theta4) + 1.147922510829233746446529638671e-49*pb22*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb23*cos(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb21*sin(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*sin(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*sin(Exoff + theta4) - 3.7493994566546440195890577538583e-33*pb22*cos(Exoff) + 2.295845021658467492893059277342e-49*pb23*cos(Exoff) + 0.069359253577359003539726245435304*pb22*cos(E35zoff + Exoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb23*cos(E35zoff + Exoff + theta5) + 0.99759174713065446038484651580802*pb22*sin(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*sin(E35zoff + Exoff + theta5) - 0.03467962678867946707539360318151*pb21*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb23*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb21*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*sin(E35zoff + Exoff - 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1.8746997283273220097945288769292e-33*pb31*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb32*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb33*cos(E35xoff) + 0.069359253577359003539726245435304*pb32*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb33*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb32*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb31*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb33*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb31*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*sin(E35xoff + E35zoff - 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1.8746997283273220097945288769292e-33*pb31*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*cos(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*cos(E35xoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb31*sin(E35xoff + theta4) - 1.147922510829233746446529638671e-49*pb32*sin(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb33*sin(E35xoff + theta4) + 3.7493994566546440195890577538583e-33*pb32*sin(E35xoff) - 2.295845021658467492893059277342e-49*pb33*sin(E35xoff) + 0.99759174713065446038484651580802*pb32*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb32*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb33*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb31*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb33*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb31*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb32*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb33*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 1.8746997283273220097945288769292e-33*pb31*cos(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb32*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb33*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb31*sin(E35xoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb32*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb33*sin(E35xoff - 1.0*theta4)))*(E35Hpz - 1.0*THpz) + 1.0*TDLFE35x*(1.0*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 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1.8746997283273220097945288769292e-33*pb31*sin(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*sin(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*sin(Exoff + theta4) - 3.7493994566546440195890577538583e-33*pb32*cos(Exoff) + 2.295845021658467492893059277342e-49*pb33*cos(Exoff) + 0.069359253577359003539726245435304*pb32*cos(E35zoff + Exoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb33*cos(E35zoff + Exoff + theta5) + 0.99759174713065446038484651580802*pb32*sin(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*sin(E35zoff + Exoff + theta5) - 0.03467962678867946707539360318151*pb31*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb33*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb31*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*sin(E35zoff + Exoff - 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624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(48830718344081912.0*theta2 + 14165745262949376.0) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(50081675560632440.0*theta1 + 14528646769735230.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(50082877455815688.0*theta1 + 14528995438392502.0) + 50082276508224064.0*(theta1 + 0.29009905533503599350808599410811)^2 + 49456797899948800.0*(theta2 + 0.29009905533503599350808599410811)^2 - 86602790043583056.0*(theta1 + 0.29009905533503599350808599410811)^4 + 49456196952357176.0*(theta3 + 0.29009905533503599350808599410811)^2 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) + 5.9929010455801663008645251906194e+51*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 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(theta3 + 0.29009905533503599350808599410811)^3*(1.9976501311103180642857847392869e+51*theta2 + 5.7951641592501409610947626753258e+50) + 1.0*(1.4489060629306480765719116415536e+37*theta1 + 4.2032628012538724121765161927348e+36)*(1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^3 - 251038492352157600.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^4 - 251005996675404448.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 277530385745933568.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(48830718344081912.0*theta2 + 14165745262949376.0) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(50081675560632440.0*theta1 + 14528646769735230.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(50082877455815688.0*theta1 + 14528995438392502.0) + 50082276508224064.0*(theta1 + 0.29009905533503599350808599410811)^2 + 49456797899948800.0*(theta2 + 0.29009905533503599350808599410811)^2 - 86602790043583056.0*(theta1 + 0.29009905533503599350808599410811)^4 + 49456196952357176.0*(theta3 + 0.29009905533503599350808599410811)^2 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.49879587356532728570357448916184*pb11*cos(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*cos(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*cos(E35zoff + Exoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb11*sin(E35zoff + Exoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb12*sin(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb13*sin(E35zoff + Exoff + theta4 + theta5) - 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2.295845021658467492893059277342e-49*pb23*sin(E35xoff) + 0.99759174713065446038484651580802*pb22*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb22*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb23*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb23*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 1.8746997283273220097945288769292e-33*pb21*cos(E35xoff - 1.0*theta4) - 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3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.49879587356532728570357448916184*pb21*cos(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb22*cos(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb23*cos(E35zoff + Exoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb21*sin(E35zoff + Exoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb23*sin(E35zoff + Exoff + theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb21*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*cos(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*cos(Exoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb21*sin(Exoff + theta4) - 1.147922510829233746446529638671e-49*pb22*sin(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(Exoff + theta4) + 3.7493994566546440195890577538583e-33*pb22*sin(Exoff) - 2.295845021658467492893059277342e-49*pb23*sin(Exoff) + 0.99759174713065446038484651580802*pb22*cos(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*cos(E35zoff + Exoff + theta5) - 0.069359253577359003539726245435304*pb22*sin(E35zoff + Exoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb23*sin(E35zoff + Exoff + theta5) - 0.49879587356532723019242325790401*pb21*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb23*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb21*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb23*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 1.8746997283273220097945288769292e-33*pb21*cos(Exoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb22*cos(Exoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb23*cos(Exoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb21*sin(Exoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb22*sin(Exoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(Exoff - 1.0*theta4)) + (pb34 + (cos(E35xoff)*(0.034679626788679529525438738346566*pb31*cos(E35xoff + E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35xoff + E35zoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb33*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb31*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb32*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb33*sin(E35xoff + E35zoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb31*cos(E35xoff + theta4) + 1.147922510829233746446529638671e-49*pb32*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb33*cos(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb31*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb32*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb33*cos(E35xoff) + 0.069359253577359003539726245435304*pb32*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb33*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb32*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb31*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb33*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb31*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb33*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb31*cos(E35xoff - 1.0*theta4) + 1.147922510829233746446529638671e-49*pb32*cos(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb33*cos(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb31*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb32*sin(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb33*sin(E35xoff - 1.0*theta4)) - 1.0*sin(E35xoff)*(0.49879587356532728570357448916184*pb31*cos(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb32*cos(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb33*cos(E35xoff + E35zoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb31*sin(E35xoff + E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb32*sin(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb33*sin(E35xoff + E35zoff + theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb31*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*cos(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*cos(E35xoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb31*sin(E35xoff + theta4) - 1.147922510829233746446529638671e-49*pb32*sin(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb33*sin(E35xoff + theta4) + 3.7493994566546440195890577538583e-33*pb32*sin(E35xoff) - 2.295845021658467492893059277342e-49*pb33*sin(E35xoff) + 0.99759174713065446038484651580802*pb32*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb32*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb33*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb31*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb33*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb31*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb32*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb33*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 1.8746997283273220097945288769292e-33*pb31*cos(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb32*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb33*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb31*sin(E35xoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb32*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb33*sin(E35xoff - 1.0*theta4)))*(E35Hpz - 1.0*THpz) + 1.0*TDLFE35x*(1.0*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*pb31*cos(theta4) + 0.99759174713065446038484651580802*pb31*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb32 - 0.000000000000000061084876998968587110695697647698*pb33 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*pb31*cos(theta4) - 0.069359253577359059050877476693131*pb31*sin(theta4))) + cos(E35zoff)*(1.0*sin(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*pb31*cos(theta4) + 0.99759174713065446038484651580802*pb31*sin(theta4)) - cos(theta5)*(0.99759174713065446038484651580802*pb32 - 0.000000000000000061084876998968587110695697647698*pb33 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*pb31*cos(theta4) - 0.069359253577359059050877476693131*pb31*sin(theta4)))) + MpRABz*pb33 - 1.0*TDLFE35z*(cos(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*pb31*cos(theta4) + 0.99759174713065446038484651580802*pb31*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb32 - 0.000000000000000061084876998968587110695697647698*pb33 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*pb31*cos(theta4) - 0.069359253577359059050877476693131*pb31*sin(theta4))) + 0.00000000000000006123233995736766035868820147292*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*pb31*cos(theta4) + 0.99759174713065446038484651580802*pb31*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb32 - 0.000000000000000061084876998968587110695697647698*pb33 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*pb31*cos(theta4) - 0.069359253577359059050877476693131*pb31*sin(theta4))) + 0.00000000000000006123233995736766035868820147292*cos(E35zoff)*(1.0*sin(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*pb31*cos(theta4) + 0.99759174713065446038484651580802*pb31*sin(theta4)) - cos(theta5)*(0.99759174713065446038484651580802*pb32 - 0.000000000000000061084876998968587110695697647698*pb33 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*pb31*cos(theta4) - 0.069359253577359059050877476693131*pb31*sin(theta4))) - sin(E35zoff)*(1.0*sin(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.49879587356532728570357448916184*pb31*cos(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb32*cos(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb33*cos(E35zoff + Exoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb31*sin(E35zoff + Exoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb32*sin(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb33*sin(E35zoff + Exoff + theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb31*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*cos(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*cos(Exoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb31*sin(Exoff + theta4) - 1.147922510829233746446529638671e-49*pb32*sin(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb33*sin(Exoff + theta4) + 3.7493994566546440195890577538583e-33*pb32*sin(Exoff) - 2.295845021658467492893059277342e-49*pb33*sin(Exoff) + 0.99759174713065446038484651580802*pb32*cos(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*cos(E35zoff + Exoff + theta5) - 0.069359253577359003539726245435304*pb32*sin(E35zoff + Exoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb33*sin(E35zoff + Exoff + theta5) - 0.49879587356532723019242325790401*pb31*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*cos(E35zoff + Exoff - 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1.8746997283273220097945288769292e-33*pb31*sin(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*sin(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*sin(Exoff + theta4) + 0.03467962678867946707539360318151*pb31*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb32*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb33*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb31*sin(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.0000000000000000021235146971190555280824739675254*pb32*sin(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.03467962678867946707539360318151*pb33*sin(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.00000000000000003061616997868383017934410073646*pb31*cos(Exoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb32*cos(Exoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb33*cos(Exoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb31*sin(Exoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb32*sin(Exoff - 1.0*theta4) + 0.00000000000000003061616997868383017934410073646*pb33*sin(Exoff - 1.0*theta4)) + TDLFE35z*(sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) - 0.000000000000000056837847604730463728579105634338*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.069359253577359059050877476693131*pb31*cos(theta4) + 0.000000000000000056837847604730463728579105634338*pb31*sin(theta4)) + sin(theta5)*(0.000000000000000065331906393206710492812289661058*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.99759174713065446038484651580802*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.99759174713065446038484651580802*pb31*cos(theta4) - 0.000000000000000065331906393206710492812289661058*pb31*sin(theta4))) - 0.00000000000000006123233995736766035868820147292*cos(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) - 0.000000000000000056837847604730463728579105634338*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.069359253577359059050877476693131*pb31*cos(theta4) + 0.000000000000000056837847604730463728579105634338*pb31*sin(theta4)) + sin(theta5)*(0.000000000000000065331906393206710492812289661058*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.99759174713065446038484651580802*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.99759174713065446038484651580802*pb31*cos(theta4) - 0.000000000000000065331906393206710492812289661058*pb31*sin(theta4))) + cos(E35zoff)*(sin(theta5)*(0.069359253577359059050877476693131*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) - 0.000000000000000056837847604730463728579105634338*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.069359253577359059050877476693131*pb31*cos(theta4) + 0.000000000000000056837847604730463728579105634338*pb31*sin(theta4)) - 1.0*cos(theta5)*(0.000000000000000065331906393206710492812289661058*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.99759174713065446038484651580802*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.99759174713065446038484651580802*pb31*cos(theta4) - 0.000000000000000065331906393206710492812289661058*pb31*sin(theta4))) + 0.00000000000000006123233995736766035868820147292*sin(E35zoff)*(sin(theta5)*(0.069359253577359059050877476693131*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) - 0.000000000000000056837847604730463728579105634338*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.069359253577359059050877476693131*pb31*cos(theta4) + 0.000000000000000056837847604730463728579105634338*pb31*sin(theta4)) - 1.0*cos(theta5)*(0.000000000000000065331906393206710492812289661058*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.99759174713065446038484651580802*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.99759174713065446038484651580802*pb31*cos(theta4) - 0.000000000000000065331906393206710492812289661058*pb31*sin(theta4)))) + ((pb14 + (cos(E35xoff)*(0.034679626788679529525438738346566*pb11*cos(E35xoff + E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35xoff + E35zoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb13*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb11*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*sin(E35xoff + E35zoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb11*cos(E35xoff + theta4) + 1.147922510829233746446529638671e-49*pb12*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb13*cos(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb11*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb12*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb13*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb12*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb13*cos(E35xoff) + 0.069359253577359003539726245435304*pb12*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb13*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb12*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb13*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb11*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb13*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb11*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb12*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb13*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb11*cos(E35xoff - 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1.8746997283273220097945288769292e-33*pb11*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb12*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb13*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb12*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb13*cos(E35xoff) + 0.069359253577359003539726245435304*pb12*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb13*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb12*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb13*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb11*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb13*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb11*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb12*sin(E35xoff + E35zoff - 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624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(48830718344081912.0*theta2 + 14165745262949376.0) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(50081675560632440.0*theta1 + 14528646769735230.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(50082877455815688.0*theta1 + 14528995438392502.0) + 50082276508224064.0*(theta1 + 0.29009905533503599350808599410811)^2 + 49456797899948800.0*(theta2 + 0.29009905533503599350808599410811)^2 - 86602790043583056.0*(theta1 + 0.29009905533503599350808599410811)^4 + 49456196952357176.0*(theta3 + 0.29009905533503599350808599410811)^2 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) + 5.9929010455801663008645251906194e+51*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 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(theta3 + 0.29009905533503599350808599410811)^3*(1.9976501311103180642857847392869e+51*theta2 + 5.7951641592501409610947626753258e+50) + 1.0*(1.4489060629306480765719116415536e+37*theta1 + 4.2032628012538724121765161927348e+36)*(1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^3 - 251038492352157600.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^4 - 251005996675404448.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 277530385745933568.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(3.7493994566546440195890577538583e-33*pb23 - 0.00000000000000006123233995736766035868820147292*pb22 - 0.0000000000000000042470293942381149080248367095224*pb22*cos(E35zoff + theta5) + 2.6005554767692148529468201241131e-34*pb23*cos(E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb22*sin(E35zoff + theta5) + 3.7403699546548326355677777250263e-33*pb23*sin(E35zoff + theta5) + 0.0000000000000000021235146971190555280824739675254*pb21*cos(E35zoff - 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1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(3.7493994566546440195890577538583e-33*pb33 - 0.00000000000000006123233995736766035868820147292*pb32 - 0.0000000000000000042470293942381149080248367095224*pb32*cos(E35zoff + theta5) + 2.6005554767692148529468201241131e-34*pb33*cos(E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb32*sin(E35zoff + theta5) + 3.7403699546548326355677777250263e-33*pb33*sin(E35zoff + theta5) + 0.0000000000000000021235146971190555280824739675254*pb31*cos(E35zoff - 1.0*theta4 + theta5) + 1.8701849773274163177838888625132e-33*pb32*cos(E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb33*cos(E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb31*sin(E35zoff - 1.0*theta4 + theta5) - 1.3002777383846063573675260251783e-34*pb32*sin(E35zoff - 1.0*theta4 + theta5) - 0.0000000000000000021235146971190555280824739675254*pb33*sin(E35zoff - 1.0*theta4 + theta5) + pb31*cos(theta4) + 3.7493994566546440195890577538583e-33*pb32*cos(theta4) + 0.00000000000000006123233995736766035868820147292*pb33*cos(theta4) - 0.00000000000000006123233995736766035868820147292*pb31*sin(theta4) + 0.00000000000000006123233995736766035868820147292*pb32*sin(theta4) + pb33*sin(theta4) - 0.0000000000000000021235146971190597651283516194442*pb31*cos(E35zoff + theta4 + theta5) + 1.8701849773274166598977717543142e-33*pb32*cos(E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb33*cos(E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb31*sin(E35zoff + theta4 + theta5) - 1.3002777383846087094004709063104e-34*pb32*sin(E35zoff + theta4 + theta5) - 0.0000000000000000021235146971190597651283516194442*pb33*sin(E35zoff + theta4 + theta5)))*(0.000000000000000030542438499484293555347848823849*pb31*cos(E35zoff - 1.0*theta4 + theta5) - 1.3002777383846063573675260251783e-34*pb32*cos(E35zoff - 1.0*theta4 + theta5) - 0.0000000000000000021235146971190555280824739675254*pb33*cos(E35zoff - 1.0*theta4 + theta5) - 0.0000000000000000021235146971190555280824739675254*pb31*sin(E35zoff - 1.0*theta4 + theta5) - 1.8701849773274163177838888625132e-33*pb32*sin(E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb33*sin(E35zoff - 1.0*theta4 + theta5) + 0.00000000000000006123233995736766035868820147292*pb31*cos(theta4) - 0.00000000000000006123233995736766035868820147292*pb32*cos(theta4) - 1.0*pb33*cos(theta4) + pb31*sin(theta4) + 3.7493994566546440195890577538583e-33*pb32*sin(theta4) + 0.00000000000000006123233995736766035868820147292*pb33*sin(theta4) + 0.000000000000000030542438499484293555347848823849*pb31*cos(E35zoff + theta4 + theta5) + 1.3002777383846087094004709063104e-34*pb32*cos(E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb33*cos(E35zoff + theta4 + theta5) - 0.0000000000000000021235146971190597651283516194442*pb31*sin(E35zoff + theta4 + theta5) + 1.8701849773274166598977717543142e-33*pb32*sin(E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb33*sin(E35zoff + theta4 + theta5)) + 1.0*TDLFE35x*(1.0*cos(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) - 0.000000000000000056837847604730463728579105634338*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.069359253577359059050877476693131*pb31*cos(theta4) + 0.000000000000000056837847604730463728579105634338*pb31*sin(theta4)) + sin(theta5)*(0.000000000000000065331906393206710492812289661058*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.99759174713065446038484651580802*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.99759174713065446038484651580802*pb31*cos(theta4) - 0.000000000000000065331906393206710492812289661058*pb31*sin(theta4))) - sin(E35zoff)*(sin(theta5)*(0.069359253577359059050877476693131*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) - 0.000000000000000056837847604730463728579105634338*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.069359253577359059050877476693131*pb31*cos(theta4) + 0.000000000000000056837847604730463728579105634338*pb31*sin(theta4)) - 1.0*cos(theta5)*(0.000000000000000065331906393206710492812289661058*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.99759174713065446038484651580802*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.99759174713065446038484651580802*pb31*cos(theta4) - 0.000000000000000065331906393206710492812289661058*pb31*sin(theta4)))), ((pb14 + (cos(E35xoff)*(0.034679626788679529525438738346566*pb11*cos(E35xoff + E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35xoff + E35zoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb13*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb11*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*sin(E35xoff + E35zoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb11*cos(E35xoff + theta4) + 1.147922510829233746446529638671e-49*pb12*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb13*cos(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb11*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb12*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb13*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb12*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb13*cos(E35xoff) + 0.069359253577359003539726245435304*pb12*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb13*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb12*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb13*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb11*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb13*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb11*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb12*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb13*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb11*cos(E35xoff - 1.0*theta4) + 1.147922510829233746446529638671e-49*pb12*cos(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb13*cos(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb11*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb12*sin(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb13*sin(E35xoff - 1.0*theta4)) - 1.0*sin(E35xoff)*(0.49879587356532728570357448916184*pb11*cos(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*cos(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*cos(E35xoff + E35zoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb11*sin(E35xoff + E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb12*sin(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb13*sin(E35xoff + E35zoff + theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb11*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb12*cos(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb13*cos(E35xoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb11*sin(E35xoff + theta4) - 1.147922510829233746446529638671e-49*pb12*sin(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb13*sin(E35xoff + theta4) + 3.7493994566546440195890577538583e-33*pb12*sin(E35xoff) - 2.295845021658467492893059277342e-49*pb13*sin(E35xoff) + 0.99759174713065446038484651580802*pb12*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb13*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb12*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb13*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb11*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb12*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb13*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb11*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb12*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb13*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 1.8746997283273220097945288769292e-33*pb11*cos(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb12*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb13*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb11*sin(E35xoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb12*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb13*sin(E35xoff - 1.0*theta4)))*(E35Hpz - 1.0*THpz) + 1.0*TDLFE35x*(1.0*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb12 - 0.0000000000000000042470293942381187598847254839942*pb13 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*pb11*cos(theta4) + 0.99759174713065446038484651580802*pb11*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb12 - 0.000000000000000061084876998968587110695697647698*pb13 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000056837847604730463728579105634338*pb11*cos(theta4) - 0.069359253577359059050877476693131*pb11*sin(theta4))) + cos(E35zoff)*(1.0*sin(theta5)*(0.069359253577359059050877476693131*pb12 - 0.0000000000000000042470293942381187598847254839942*pb13 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*pb11*cos(theta4) + 0.99759174713065446038484651580802*pb11*sin(theta4)) - cos(theta5)*(0.99759174713065446038484651580802*pb12 - 0.000000000000000061084876998968587110695697647698*pb13 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000056837847604730463728579105634338*pb11*cos(theta4) - 0.069359253577359059050877476693131*pb11*sin(theta4)))) + MpRABz*pb13 - 1.0*TDLFE35z*(cos(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb12 - 0.0000000000000000042470293942381187598847254839942*pb13 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb12 + pb13) + 0.000000000000000065331906393206710492812289661058*pb11*cos(theta4) + 0.99759174713065446038484651580802*pb11*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb12 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.49879587356532728570357448916184*pb11*cos(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*cos(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*cos(E35zoff + Exoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb11*sin(E35zoff + Exoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb12*sin(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb13*sin(E35zoff + Exoff + theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb11*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb12*cos(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb13*cos(Exoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb11*sin(Exoff + theta4) - 1.147922510829233746446529638671e-49*pb12*sin(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb13*sin(Exoff + theta4) + 3.7493994566546440195890577538583e-33*pb12*sin(Exoff) - 2.295845021658467492893059277342e-49*pb13*sin(Exoff) + 0.99759174713065446038484651580802*pb12*cos(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb13*cos(E35zoff + Exoff + theta5) - 0.069359253577359003539726245435304*pb12*sin(E35zoff + Exoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb13*sin(E35zoff + Exoff + theta5) - 0.49879587356532723019242325790401*pb11*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb12*cos(E35zoff + Exoff - 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0.49879587356532728570357448916184*pb23*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb21*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb22*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb23*sin(E35xoff + E35zoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb21*cos(E35xoff + theta4) + 1.147922510829233746446529638671e-49*pb22*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb23*cos(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb21*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb22*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb23*cos(E35xoff) + 0.069359253577359003539726245435304*pb22*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb23*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb22*sin(E35xoff + E35zoff + theta5) - 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2.295845021658467492893059277342e-49*pb23*sin(E35xoff) + 0.99759174713065446038484651580802*pb22*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb22*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb23*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb23*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 1.8746997283273220097945288769292e-33*pb21*cos(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb22*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb23*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb21*sin(E35xoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb22*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(E35xoff - 1.0*theta4)))*(E35Hpz - 1.0*THpz) + 1.0*TDLFE35x*(1.0*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*pb21*cos(theta4) + 0.99759174713065446038484651580802*pb21*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb22 - 0.000000000000000061084876998968587110695697647698*pb23 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*pb21*cos(theta4) - 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1.0*MpRABx*(pb22 - 0.00000000000000006123233995736766035868820147292*pb23) - 1.0*RABTDLFx*(pb22 - 0.00000000000000006123233995736766035868820147292*pb23) + (E35Hpx - 1.0*THpx)*(sin(E35xoff)*(0.034679626788679529525438738346566*pb21*cos(E35xoff + E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35xoff + E35zoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb23*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb21*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb22*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb23*sin(E35xoff + E35zoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb21*cos(E35xoff + theta4) + 1.147922510829233746446529638671e-49*pb22*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb23*cos(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb21*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb22*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb23*cos(E35xoff) + 0.069359253577359003539726245435304*pb22*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb23*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb22*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb23*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb21*cos(E35xoff - 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0.00000000000000003061616997868383017934410073646*pb21*sin(E35xoff + theta4) - 1.147922510829233746446529638671e-49*pb22*sin(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(E35xoff + theta4) + 3.7493994566546440195890577538583e-33*pb22*sin(E35xoff) - 2.295845021658467492893059277342e-49*pb23*sin(E35xoff) + 0.99759174713065446038484651580802*pb22*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb22*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb23*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35xoff + E35zoff - 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624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(48830718344081912.0*theta2 + 14165745262949376.0) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(50081675560632440.0*theta1 + 14528646769735230.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(50082877455815688.0*theta1 + 14528995438392502.0) + 50082276508224064.0*(theta1 + 0.29009905533503599350808599410811)^2 + 49456797899948800.0*(theta2 + 0.29009905533503599350808599410811)^2 - 86602790043583056.0*(theta1 + 0.29009905533503599350808599410811)^4 + 49456196952357176.0*(theta3 + 0.29009905533503599350808599410811)^2 - 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3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 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1.8746997283273220097945288769292e-33*pb21*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*cos(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*cos(Exoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb21*sin(Exoff + theta4) - 1.147922510829233746446529638671e-49*pb22*sin(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(Exoff + theta4) + 3.7493994566546440195890577538583e-33*pb22*sin(Exoff) - 2.295845021658467492893059277342e-49*pb23*sin(Exoff) + 0.99759174713065446038484651580802*pb22*cos(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*cos(E35zoff + Exoff + theta5) - 0.069359253577359003539726245435304*pb22*sin(E35zoff + Exoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb23*sin(E35zoff + Exoff + theta5) - 0.49879587356532723019242325790401*pb21*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*cos(E35zoff + Exoff - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) + 5.9929010455801663008645251906194e+51*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.034679626788679529525438738346566*pb11*cos(E35zoff + Exoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35zoff + Exoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb13*cos(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb11*sin(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb12*sin(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb13*sin(E35zoff + Exoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb11*cos(Exoff + theta4) + 1.147922510829233746446529638671e-49*pb12*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb13*cos(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb11*sin(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb12*sin(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb13*sin(Exoff + theta4) - 3.7493994566546440195890577538583e-33*pb12*cos(Exoff) + 2.295845021658467492893059277342e-49*pb13*cos(Exoff) + 0.069359253577359003539726245435304*pb12*cos(E35zoff + Exoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb13*cos(E35zoff + Exoff + theta5) + 0.99759174713065446038484651580802*pb12*sin(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb13*sin(E35zoff + Exoff + theta5) - 0.03467962678867946707539360318151*pb11*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb12*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb13*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb11*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb12*sin(E35zoff + Exoff - 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1.8746997283273220097945288769292e-33*pb21*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb22*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb23*cos(E35xoff) + 0.069359253577359003539726245435304*pb22*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb23*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb22*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*sin(E35xoff + E35zoff - 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1.8746997283273220097945288769292e-33*pb21*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*cos(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*cos(E35xoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb21*sin(E35xoff + theta4) - 1.147922510829233746446529638671e-49*pb22*sin(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(E35xoff + theta4) + 3.7493994566546440195890577538583e-33*pb22*sin(E35xoff) - 2.295845021658467492893059277342e-49*pb23*sin(E35xoff) + 0.99759174713065446038484651580802*pb22*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb22*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb23*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb21*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb23*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb21*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb22*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb23*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 1.8746997283273220097945288769292e-33*pb21*cos(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb22*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb23*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb21*sin(E35xoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb22*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb23*sin(E35xoff - 1.0*theta4)))*(E35Hpz - 1.0*THpz) + 1.0*TDLFE35x*(1.0*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 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cos(theta5)*(0.99759174713065446038484651580802*pb22 - 0.000000000000000061084876998968587110695697647698*pb23 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000056837847604730463728579105634338*pb21*cos(theta4) - 0.069359253577359059050877476693131*pb21*sin(theta4)))) + MpRABz*pb23 - 1.0*TDLFE35z*(cos(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb22 - 0.0000000000000000042470293942381187598847254839942*pb23 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb22 + pb23) + 0.000000000000000065331906393206710492812289661058*pb21*cos(theta4) + 0.99759174713065446038484651580802*pb21*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb22 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.034679626788679529525438738346566*pb21*cos(E35zoff + Exoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35zoff + Exoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb23*cos(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb21*sin(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb22*sin(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb23*sin(E35zoff + Exoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb21*cos(Exoff + theta4) + 1.147922510829233746446529638671e-49*pb22*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb23*cos(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb21*sin(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb22*sin(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb23*sin(Exoff + theta4) - 3.7493994566546440195890577538583e-33*pb22*cos(Exoff) + 2.295845021658467492893059277342e-49*pb23*cos(Exoff) + 0.069359253577359003539726245435304*pb22*cos(E35zoff + Exoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb23*cos(E35zoff + Exoff + theta5) + 0.99759174713065446038484651580802*pb22*sin(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb23*sin(E35zoff + Exoff + theta5) - 0.03467962678867946707539360318151*pb21*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb22*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb23*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb21*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb22*sin(E35zoff + Exoff - 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1.8746997283273220097945288769292e-33*pb31*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb32*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb33*cos(E35xoff) + 0.069359253577359003539726245435304*pb32*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb33*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb32*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb31*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb33*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb31*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*sin(E35xoff + E35zoff - 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(theta3 + 0.29009905533503599350808599410811)^3*(1.9976501311103180642857847392869e+51*theta2 + 5.7951641592501409610947626753258e+50) + 1.0*(1.4489060629306480765719116415536e+37*theta1 + 4.2032628012538724121765161927348e+36)*(1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^3 - 251038492352157600.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^4 - 251005996675404448.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 277530385745933568.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(48830718344081912.0*theta2 + 14165745262949376.0) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(50081675560632440.0*theta1 + 14528646769735230.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(50082877455815688.0*theta1 + 14528995438392502.0) + 50082276508224064.0*(theta1 + 0.29009905533503599350808599410811)^2 + 49456797899948800.0*(theta2 + 0.29009905533503599350808599410811)^2 - 86602790043583056.0*(theta1 + 0.29009905533503599350808599410811)^4 + 49456196952357176.0*(theta3 + 0.29009905533503599350808599410811)^2 - 86627698380398880.0*(theta2 + 0.29009905533503599350808599410811)^4 - 86627803167183264.0*(theta3 + 0.29009905533503599350808599410811)^4 + (theta2 + 0.29009905533503599350808599410811)^3*(164413933737288032.0*theta1 + 47696326861104464.0) + (theta3 + 0.29009905533503599350808599410811)^3*(164424975203107872.0*theta1 + 47699529979908312.0) + (theta3 + 0.29009905533503599350808599410811)^3*(182086237465625184.0*theta2 + 52823045478288904.0) + 173194748194915072.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 173216411979417184.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 182096859784307456.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 17572251233936354.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) - 1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(0.034679626788679529525438738346566*pb31*cos(E35zoff + Exoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35zoff + Exoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb33*cos(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb31*sin(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb32*sin(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb33*sin(E35zoff + Exoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb31*cos(Exoff + theta4) + 1.147922510829233746446529638671e-49*pb32*cos(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb33*cos(Exoff + theta4) - 1.8746997283273220097945288769292e-33*pb31*sin(Exoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*sin(Exoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*sin(Exoff + theta4) - 3.7493994566546440195890577538583e-33*pb32*cos(Exoff) + 2.295845021658467492893059277342e-49*pb33*cos(Exoff) + 0.069359253577359003539726245435304*pb32*cos(E35zoff + Exoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb33*cos(E35zoff + Exoff + theta5) + 0.99759174713065446038484651580802*pb32*sin(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*sin(E35zoff + Exoff + theta5) - 0.03467962678867946707539360318151*pb31*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb33*cos(E35zoff + Exoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb31*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb33*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb31*cos(Exoff - 1.0*theta4) + 1.147922510829233746446529638671e-49*pb32*cos(Exoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb33*cos(Exoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb31*sin(Exoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb32*sin(Exoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb33*sin(Exoff - 1.0*theta4)))*(0.49879587356532728570357448916184*pb31*cos(E35zoff + Exoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb32*cos(E35zoff + Exoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb33*cos(E35zoff + Exoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb31*sin(E35zoff + Exoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb32*sin(E35zoff + Exoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb33*sin(E35zoff + Exoff + theta4 + theta5) + 0.99759174713065446038484651580802*pb32*cos(E35zoff + Exoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*cos(E35zoff + Exoff + theta5) - 0.069359253577359003539726245435304*pb32*sin(E35zoff + Exoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb33*sin(E35zoff + Exoff + theta5) - 0.49879587356532723019242325790401*pb31*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb33*cos(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb31*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb32*sin(E35zoff + Exoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb33*sin(E35zoff + Exoff - 1.0*theta4 + theta5)) + TDLFE35x*(cos(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*pb31*cos(theta4) + 0.99759174713065446038484651580802*pb31*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb32 - 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624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(48830718344081912.0*theta2 + 14165745262949376.0) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(50081675560632440.0*theta1 + 14528646769735230.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(50082877455815688.0*theta1 + 14528995438392502.0) + 50082276508224064.0*(theta1 + 0.29009905533503599350808599410811)^2 + 49456797899948800.0*(theta2 + 0.29009905533503599350808599410811)^2 - 86602790043583056.0*(theta1 + 0.29009905533503599350808599410811)^4 + 49456196952357176.0*(theta3 + 0.29009905533503599350808599410811)^2 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) + 5.9929010455801663008645251906194e+51*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 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(theta3 + 0.29009905533503599350808599410811)^3*(1.9976501311103180642857847392869e+51*theta2 + 5.7951641592501409610947626753258e+50) + 1.0*(1.4489060629306480765719116415536e+37*theta1 + 4.2032628012538724121765161927348e+36)*(1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^3 - 251038492352157600.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^4 - 251005996675404448.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2 - 277530385745933568.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta2 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(3.7493994566546440195890577538583e-33*pb13 - 0.00000000000000006123233995736766035868820147292*pb12 - 0.0000000000000000042470293942381149080248367095224*pb12*cos(E35zoff + theta5) + 2.6005554767692148529468201241131e-34*pb13*cos(E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb12*sin(E35zoff + theta5) + 3.7403699546548326355677777250263e-33*pb13*sin(E35zoff + theta5) + 0.0000000000000000021235146971190555280824739675254*pb11*cos(E35zoff - 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1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(3.7493994566546440195890577538583e-33*pb23 - 0.00000000000000006123233995736766035868820147292*pb22 - 0.0000000000000000042470293942381149080248367095224*pb22*cos(E35zoff + theta5) + 2.6005554767692148529468201241131e-34*pb23*cos(E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb22*sin(E35zoff + theta5) + 3.7403699546548326355677777250263e-33*pb23*sin(E35zoff + theta5) + 0.0000000000000000021235146971190555280824739675254*pb21*cos(E35zoff - 1.0*theta4 + theta5) + 1.8701849773274163177838888625132e-33*pb22*cos(E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb23*cos(E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb21*sin(E35zoff - 1.0*theta4 + theta5) - 1.3002777383846063573675260251783e-34*pb22*sin(E35zoff - 1.0*theta4 + theta5) - 0.0000000000000000021235146971190555280824739675254*pb23*sin(E35zoff - 1.0*theta4 + theta5) + pb21*cos(theta4) + 3.7493994566546440195890577538583e-33*pb22*cos(theta4) + 0.00000000000000006123233995736766035868820147292*pb23*cos(theta4) - 0.00000000000000006123233995736766035868820147292*pb21*sin(theta4) + 0.00000000000000006123233995736766035868820147292*pb22*sin(theta4) + pb23*sin(theta4) - 0.0000000000000000021235146971190597651283516194442*pb21*cos(E35zoff + theta4 + theta5) + 1.8701849773274166598977717543142e-33*pb22*cos(E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb23*cos(E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb21*sin(E35zoff + theta4 + theta5) - 1.3002777383846087094004709063104e-34*pb22*sin(E35zoff + theta4 + theta5) - 0.0000000000000000021235146971190597651283516194442*pb23*sin(E35zoff + theta4 + theta5)) + (pb34 + (cos(E35xoff)*(0.034679626788679529525438738346566*pb31*cos(E35xoff + E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35xoff + E35zoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb33*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb31*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb32*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb33*sin(E35xoff + E35zoff + theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb31*cos(E35xoff + theta4) + 1.147922510829233746446529638671e-49*pb32*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb33*cos(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb31*sin(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*sin(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*sin(E35xoff + theta4) - 3.7493994566546440195890577538583e-33*pb32*cos(E35xoff) + 2.295845021658467492893059277342e-49*pb33*cos(E35xoff) + 0.069359253577359003539726245435304*pb32*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb33*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb32*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb31*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb33*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb31*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb33*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.00000000000000003061616997868383017934410073646*pb31*cos(E35xoff - 1.0*theta4) + 1.147922510829233746446529638671e-49*pb32*cos(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb33*cos(E35xoff - 1.0*theta4) + 1.8746997283273220097945288769292e-33*pb31*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb32*sin(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb33*sin(E35xoff - 1.0*theta4)) - 1.0*sin(E35xoff)*(0.49879587356532728570357448916184*pb31*cos(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb32*cos(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb33*cos(E35xoff + E35zoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb31*sin(E35xoff + E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb32*sin(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb33*sin(E35xoff + E35zoff + theta4 + theta5) - 1.8746997283273220097945288769292e-33*pb31*cos(E35xoff + theta4) + 1.8746997283273220097945288769292e-33*pb32*cos(E35xoff + theta4) + 0.00000000000000003061616997868383017934410073646*pb33*cos(E35xoff + theta4) - 0.00000000000000003061616997868383017934410073646*pb31*sin(E35xoff + theta4) - 1.147922510829233746446529638671e-49*pb32*sin(E35xoff + theta4) - 1.8746997283273220097945288769292e-33*pb33*sin(E35xoff + theta4) + 3.7493994566546440195890577538583e-33*pb32*sin(E35xoff) - 2.295845021658467492893059277342e-49*pb33*sin(E35xoff) + 0.99759174713065446038484651580802*pb32*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb32*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb33*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb31*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb33*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb31*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb32*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb33*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 1.8746997283273220097945288769292e-33*pb31*cos(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb32*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb33*cos(E35xoff - 1.0*theta4) - 0.00000000000000003061616997868383017934410073646*pb31*sin(E35xoff - 1.0*theta4) - 1.147922510829233746446529638671e-49*pb32*sin(E35xoff - 1.0*theta4) - 1.8746997283273220097945288769292e-33*pb33*sin(E35xoff - 1.0*theta4)))*(E35Hpz - 1.0*THpz) + 1.0*TDLFE35x*(1.0*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*pb31*cos(theta4) + 0.99759174713065446038484651580802*pb31*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb32 - 0.000000000000000061084876998968587110695697647698*pb33 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*pb31*cos(theta4) - 0.069359253577359059050877476693131*pb31*sin(theta4))) + cos(E35zoff)*(1.0*sin(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*pb31*cos(theta4) + 0.99759174713065446038484651580802*pb31*sin(theta4)) - cos(theta5)*(0.99759174713065446038484651580802*pb32 - 0.000000000000000061084876998968587110695697647698*pb33 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*pb31*cos(theta4) - 0.069359253577359059050877476693131*pb31*sin(theta4)))) + MpRABz*pb33 - 1.0*TDLFE35z*(cos(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*pb31*cos(theta4) + 0.99759174713065446038484651580802*pb31*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb32 - 0.000000000000000061084876998968587110695697647698*pb33 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*pb31*cos(theta4) - 0.069359253577359059050877476693131*pb31*sin(theta4))) + 0.00000000000000006123233995736766035868820147292*sin(E35zoff)*(cos(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*pb31*cos(theta4) + 0.99759174713065446038484651580802*pb31*sin(theta4)) + sin(theta5)*(0.99759174713065446038484651580802*pb32 - 0.000000000000000061084876998968587110695697647698*pb33 + 0.069359253577359059050877476693131*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000056837847604730463728579105634338*pb31*cos(theta4) - 0.069359253577359059050877476693131*pb31*sin(theta4))) + 0.00000000000000006123233995736766035868820147292*cos(E35zoff)*(1.0*sin(theta5)*(0.069359253577359059050877476693131*pb32 - 0.0000000000000000042470293942381187598847254839942*pb33 - 0.99759174713065446038484651580802*cos(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*sin(theta4)*(0.00000000000000006123233995736766035868820147292*pb32 + pb33) + 0.000000000000000065331906393206710492812289661058*pb31*cos(theta4) + 0.99759174713065446038484651580802*pb31*sin(theta4)) - cos(theta5)*(0.99759174713065446038484651580802*pb32 - 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624744045538082688.0*(theta1 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^4 + 1249488091076165376.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^3 - 624744045538082688.0*(theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(48830718344081912.0*theta2 + 14165745262949376.0) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(50081675560632440.0*theta1 + 14528646769735230.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(50082877455815688.0*theta1 + 14528995438392502.0) + 50082276508224064.0*(theta1 + 0.29009905533503599350808599410811)^2 + 49456797899948800.0*(theta2 + 0.29009905533503599350808599410811)^2 - 86602790043583056.0*(theta1 + 0.29009905533503599350808599410811)^4 + 49456196952357176.0*(theta3 + 0.29009905533503599350808599410811)^2 - 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1.0*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^3*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1.0*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811)^2*(1249488091076165376.0*theta1 + 362475314873572992.0) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^3 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2 - 1249488091076165376.0*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^4*(1249488091076165376.0*theta1 + 362475314873572992.0) + (theta2 + 0.29009905533503599350808599410811)^4*(theta3 + 0.29009905533503599350808599410811)*(1249488091076165376.0*theta1 + 362475314873572992.0) + 3748464273228495872.0*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)^2 + (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(8770192138944777.0*theta1 + 2544224454614638.5) + (theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(8802059094991578.0*theta1 + 2553469028460218.5) + 5994864729184784.0)^(1/2) - 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta2 + 0.29009905533503599350808599410811) + 3.9952755883452423487286544380677e+51*(theta1 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 1.9976254572349239521358707525518e+51*(theta2 + 0.29009905533503599350808599410811)^3*(theta3 + 0.29009905533503599350808599410811) + 2.4673875393725683810796355322351e+46*(theta1 + 0.29009905533503599350808599410811)^2*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811) + 1.0*(theta2 + 0.29009905533503599350808599410811)*(theta3 + 0.29009905533503599350808599410811)^2*(5.9929010455801663008645251906194e+51*theta1 + 1.7385349320391557412351032476264e+51) - (theta2 + 0.29009905533503599350808599410811)^2*(theta3 + 0.29009905533503599350808599410811)*(5.9929257194555594160934423386677e+51*theta1 + 1.7385420899070986824747670788831e+51) - 3.4774295883099518139962247905528e+45))/(2.9750318287527615967760446618138e+51*(theta1 + 0.29009905533503599350808599410811)^2 - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9750354284522473461223349496638e+51*theta1 + 8.6305496738226109301903605854331e+50) - 1.0*(theta3 + 0.29009905533503599350808599410811)*(2.9767467611885488024789404548311e+51*theta2 + 8.6355142339242603722917655499953e+50) - 1.0*(theta2 + 0.29009905533503599350808599410811)*(2.9750282290532751828157564815058e+51*theta1 + 8.630528788434201645232068808074e+50) + 2.975887495120912158800847941283e+51*(theta2 + 0.29009905533503599350808599410811)^2 + 2.9758910948203985727611361215909e+51*(theta3 + 0.29009905533503599350808599410811)^2 + 3.0942079876741957600303876482518e+50))*(3.7493994566546440195890577538583e-33*pb33 - 0.00000000000000006123233995736766035868820147292*pb32 - 0.0000000000000000042470293942381149080248367095224*pb32*cos(E35zoff + theta5) + 2.6005554767692148529468201241131e-34*pb33*cos(E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb32*sin(E35zoff + theta5) + 3.7403699546548326355677777250263e-33*pb33*sin(E35zoff + theta5) + 0.0000000000000000021235146971190555280824739675254*pb31*cos(E35zoff - 1.0*theta4 + theta5) + 1.8701849773274163177838888625132e-33*pb32*cos(E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb33*cos(E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb31*sin(E35zoff - 1.0*theta4 + theta5) - 1.3002777383846063573675260251783e-34*pb32*sin(E35zoff - 1.0*theta4 + theta5) - 0.0000000000000000021235146971190555280824739675254*pb33*sin(E35zoff - 1.0*theta4 + theta5) + pb31*cos(theta4) + 3.7493994566546440195890577538583e-33*pb32*cos(theta4) + 0.00000000000000006123233995736766035868820147292*pb33*cos(theta4) - 0.00000000000000006123233995736766035868820147292*pb31*sin(theta4) + 0.00000000000000006123233995736766035868820147292*pb32*sin(theta4) + pb33*sin(theta4) - 0.0000000000000000021235146971190597651283516194442*pb31*cos(E35zoff + theta4 + theta5) + 1.8701849773274166598977717543142e-33*pb32*cos(E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb33*cos(E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb31*sin(E35zoff + theta4 + theta5) - 1.3002777383846087094004709063104e-34*pb32*sin(E35zoff + theta4 + theta5) - 0.0000000000000000021235146971190597651283516194442*pb33*sin(E35zoff + theta4 + theta5)))*(0.000000000000000061084876998968587110695697647698*pb32*cos(E35zoff + theta5) - 3.7403699546548326355677777250263e-33*pb33*cos(E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb32*sin(E35zoff + theta5) + 2.6005554767692148529468201241131e-34*pb33*sin(E35zoff + theta5) - 0.000000000000000030542438499484293555347848823849*pb31*cos(E35zoff - 1.0*theta4 + theta5) + 1.3002777383846063573675260251783e-34*pb32*cos(E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb33*cos(E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb31*sin(E35zoff - 1.0*theta4 + theta5) + 1.8701849773274163177838888625132e-33*pb32*sin(E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb33*sin(E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb31*cos(E35zoff + theta4 + theta5) + 1.3002777383846087094004709063104e-34*pb32*cos(E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb33*cos(E35zoff + theta4 + theta5) - 0.0000000000000000021235146971190597651283516194442*pb31*sin(E35zoff + theta4 + theta5) + 1.8701849773274166598977717543142e-33*pb32*sin(E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb33*sin(E35zoff + theta4 + theta5)) + (cos(E35xoff)*(0.49879587356532728570357448916184*pb31*cos(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb32*cos(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb33*cos(E35xoff + E35zoff + theta4 + theta5) - 0.034679626788679529525438738346566*pb31*sin(E35xoff + E35zoff + theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb32*sin(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb33*sin(E35xoff + E35zoff + theta4 + theta5) + 0.99759174713065446038484651580802*pb32*cos(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*cos(E35xoff + E35zoff + theta5) - 0.069359253577359003539726245435304*pb32*sin(E35xoff + E35zoff + theta5) + 0.0000000000000000042470293942381149080248367095224*pb33*sin(E35xoff + E35zoff + theta5) - 0.49879587356532723019242325790401*pb31*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb33*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb31*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.000000000000000030542438499484293555347848823849*pb32*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.49879587356532723019242325790401*pb33*sin(E35xoff + E35zoff - 1.0*theta4 + theta5)) + sin(E35xoff)*(0.034679626788679529525438738346566*pb31*cos(E35xoff + E35zoff + theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35xoff + E35zoff + theta4 + theta5) - 0.49879587356532728570357448916184*pb33*cos(E35xoff + E35zoff + theta4 + theta5) + 0.49879587356532728570357448916184*pb31*sin(E35xoff + E35zoff + theta4 + theta5) + 0.0000000000000000021235146971190597651283516194442*pb32*sin(E35xoff + E35zoff + theta4 + theta5) + 0.034679626788679529525438738346566*pb33*sin(E35xoff + E35zoff + theta4 + theta5) + 0.069359253577359003539726245435304*pb32*cos(E35xoff + E35zoff + theta5) - 0.0000000000000000042470293942381149080248367095224*pb33*cos(E35xoff + E35zoff + theta5) + 0.99759174713065446038484651580802*pb32*sin(E35xoff + E35zoff + theta5) - 0.000000000000000061084876998968587110695697647698*pb33*sin(E35xoff + E35zoff + theta5) - 0.03467962678867946707539360318151*pb31*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.000000000000000030542438499484293555347848823849*pb32*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb33*cos(E35xoff + E35zoff - 1.0*theta4 + theta5) - 0.49879587356532723019242325790401*pb31*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.0000000000000000021235146971190555280824739675254*pb32*sin(E35xoff + E35zoff - 1.0*theta4 + theta5) + 0.03467962678867946707539360318151*pb33*sin(E35xoff + E35zoff - 1.0*theta4 + theta5)))*(E35Hpz - 1.0*THpz);
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  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                                                                                                                                                                                                                                                                  ((2246376910322749*pb31*cos(E35zoff + Exoff + theta4 + theta5))/4503599627370496 + (5512959345451915*pb32*cos(E35zoff + Exoff + theta4 + theta5))/2596148429267413814265248164610048 + (156183154282845*pb33*cos(E35zoff + Exoff + theta4 + theta5))/4503599627370496 - (156183154282845*pb31*sin(E35zoff + Exoff + theta4 + theta5))/4503599627370496 + (2477896991763523*pb32*sin(E35zoff + Exoff + theta4 + theta5))/81129638414606681695789005144064 + (2246376910322749*pb33*sin(E35zoff + Exoff + theta4 + theta5))/4503599627370496 - (8985507641290995*pb31*cos(E35zoff + Exoff - theta4 + theta5))/18014398509481984 + (43069994886343*pb32*cos(E35zoff + Exoff - theta4 + theta5))/20282409603651670423947251286016 + (4997860937051031*pb33*cos(E35zoff + Exoff - theta4 + theta5))/144115188075855872 + (4997860937051031*pb31*sin(E35zoff + Exoff - theta4 + theta5))/144115188075855872 + (2477896991763523*pb32*sin(E35zoff + Exoff - theta4 + theta5))/81129638414606681695789005144064 + (8985507641290995*pb33*sin(E35zoff + Exoff - theta4 + theta5))/18014398509481984 + (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)*((156183154282845*pb21*cos(E35zoff + Exoff + theta4 + theta5))/4503599627370496 - (2477896991763523*pb22*cos(E35zoff + Exoff + theta4 + theta5))/81129638414606681695789005144064 - (2246376910322749*pb23*cos(E35zoff + Exoff + theta4 + theta5))/4503599627370496 + (2246376910322749*pb21*sin(E35zoff + Exoff + theta4 + theta5))/4503599627370496 + (5512959345451915*pb22*sin(E35zoff + Exoff + theta4 + theta5))/2596148429267413814265248164610048 + (156183154282845*pb23*sin(E35zoff + Exoff + theta4 + theta5))/4503599627370496 + (4967757600021511*pb21*cos(Exoff + theta4))/162259276829213363391578010288128 + (3022258756833769*pb22*cos(Exoff + 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 - (4997860937051031*pb21*cos(E35zoff + Exoff - theta4 + theta5))/144115188075855872 - (2477896991763523*pb22*cos(E35zoff + Exoff - theta4 + theta5))/81129638414606681695789005144064 - (8985507641290995*pb23*cos(E35zoff + Exoff - theta4 + theta5))/18014398509481984 - (8985507641290995*pb21*sin(E35zoff + Exoff - theta4 + theta5))/18014398509481984 + (43069994886343*pb22*sin(E35zoff + Exoff - theta4 + theta5))/20282409603651670423947251286016 + (4997860937051031*pb23*sin(E35zoff + Exoff - theta4 + theta5))/144115188075855872 - (684969180613545*pb22*cos(Exoff))/182687704666362864775460604089535377456991567872 + (3022258756833769*pb23*cos(Exoff))/13164036458569648337239753460458804039861886925068638906788872192 + (1249465234262759*pb22*cos(E35zoff + Exoff + theta5))/18014398509481984 - (5512959345451909*pb23*cos(E35zoff + Exoff + theta5))/1298074214633706907132624082305024 + (8985507641290995*pb22*sin(E35zoff + Exoff + theta5))/9007199254740992 - (2477896991763523*pb23*sin(E35zoff + Exoff + theta5))/40564819207303340847894502572032 + (4967757600021511*pb21*cos(Exoff - theta4))/162259276829213363391578010288128 + (3022258756833769*pb22*cos(Exoff - 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) - ((3040572869814441*pb32*cos(E35zoff - theta4 + theta5))/23384026197294446691258957323460528314494920687616 - (2477896991763523*pb31*cos(E35zoff - theta4 + theta5))/81129638414606681695789005144064 + (43069994886343*pb33*cos(E35zoff - theta4 + theta5))/20282409603651670423947251286016 + (43069994886343*pb31*sin(E35zoff - theta4 + theta5))/20282409603651670423947251286016 + (5466556812951353*pb32*sin(E35zoff - theta4 + theta5))/2923003274661805836407369665432566039311865085952 + (2477896991763523*pb33*sin(E35zoff - theta4 + theta5))/81129638414606681695789005144064 + (2477896991763523*pb32*cos(E35zoff + theta5))/40564819207303340847894502572032 - (5466556812951353*pb33*cos(E35zoff + theta5))/1461501637330902918203684832716283019655932542976 - (5512959345451909*pb32*sin(E35zoff + theta5))/1298074214633706907132624082305024 + (6081145739628887*pb33*sin(E35zoff + theta5))/23384026197294446691258957323460528314494920687616 + (2477896991763523*pb31*cos(E35zoff + theta4 + theta5))/81129638414606681695789005144064 + (6081145739628893*pb32*cos(E35zoff + theta4 + theta5))/46768052394588893382517914646921056628989841375232 + (5512959345451915*pb33*cos(E35zoff + theta4 + theta5))/2596148429267413814265248164610048 - (5512959345451915*pb31*sin(E35zoff + theta4 + theta5))/2596148429267413814265248164610048 + (2733278406475677*pb32*sin(E35zoff + theta4 + theta5))/1461501637330902918203684832716283019655932542976 + (2477896991763523*pb33*sin(E35zoff + theta4 + theta5))/81129638414606681695789005144064)*((684969180613545*pb23)/182687704666362864775460604089535377456991567872 - (4967757600021511*pb22)/81129638414606681695789005144064 + (43069994886343*pb21*cos(E35zoff - theta4 + theta5))/20282409603651670423947251286016 + (5466556812951353*pb22*cos(E35zoff - theta4 + theta5))/2923003274661805836407369665432566039311865085952 + (2477896991763523*pb23*cos(E35zoff - theta4 + theta5))/81129638414606681695789005144064 + (2477896991763523*pb21*sin(E35zoff - theta4 + theta5))/81129638414606681695789005144064 - (3040572869814441*pb22*sin(E35zoff - theta4 + theta5))/23384026197294446691258957323460528314494920687616 - (43069994886343*pb23*sin(E35zoff - theta4 + theta5))/20282409603651670423947251286016 - (5512959345451909*pb22*cos(E35zoff + theta5))/1298074214633706907132624082305024 + (6081145739628887*pb23*cos(E35zoff + theta5))/23384026197294446691258957323460528314494920687616 - (2477896991763523*pb22*sin(E35zoff + theta5))/40564819207303340847894502572032 + (5466556812951353*pb23*sin(E35zoff + theta5))/1461501637330902918203684832716283019655932542976 + pb21*cos(theta4) + (684969180613545*pb22*cos(theta4))/182687704666362864775460604089535377456991567872 + (4967757600021511*pb23*cos(theta4))/81129638414606681695789005144064 - (4967757600021511*pb21*sin(theta4))/81129638414606681695789005144064 + (4967757600021511*pb22*sin(theta4))/81129638414606681695789005144064 + pb23*sin(theta4) - (5512959345451915*pb21*cos(E35zoff + theta4 + theta5))/2596148429267413814265248164610048 + (2733278406475677*pb22*cos(E35zoff + theta4 + theta5))/1461501637330902918203684832716283019655932542976 + (2477896991763523*pb23*cos(E35zoff + theta4 + theta5))/81129638414606681695789005144064 - (2477896991763523*pb21*sin(E35zoff + theta4 + theta5))/81129638414606681695789005144064 - (6081145739628893*pb22*sin(E35zoff + theta4 + theta5))/46768052394588893382517914646921056628989841375232 - (5512959345451915*pb23*sin(E35zoff + theta4 + theta5))/2596148429267413814265248164610048) - ((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 - (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 + (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)*((2246376910322749*pb21*cos(E35zoff + Exoff + theta4 + theta5))/4503599627370496 + (5512959345451915*pb22*cos(E35zoff + Exoff + theta4 + theta5))/2596148429267413814265248164610048 + (156183154282845*pb23*cos(E35zoff + Exoff + theta4 + theta5))/4503599627370496 - (156183154282845*pb21*sin(E35zoff + Exoff + theta4 + theta5))/4503599627370496 + (2477896991763523*pb22*sin(E35zoff + Exoff + theta4 + theta5))/81129638414606681695789005144064 + (2246376910322749*pb23*sin(E35zoff + Exoff + theta4 + theta5))/4503599627370496 - (684969180613545*pb21*cos(Exoff + theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb22*cos(Exoff + theta4))/365375409332725729550921208179070754913983135744 + (4967757600021511*pb23*cos(Exoff + theta4))/162259276829213363391578010288128 - (4967757600021511*pb21*sin(Exoff + theta4))/162259276829213363391578010288128 - (3022258756833769*pb22*sin(Exoff + theta4))/26328072917139296674479506920917608079723773850137277813577744384 - (684969180613545*pb23*sin(Exoff + theta4))/365375409332725729550921208179070754913983135744 - (8985507641290995*pb21*cos(E35zoff + Exoff - theta4 + theta5))/18014398509481984 + (43069994886343*pb22*cos(E35zoff + Exoff - theta4 + theta5))/20282409603651670423947251286016 + (4997860937051031*pb23*cos(E35zoff + Exoff - theta4 + theta5))/144115188075855872 + (4997860937051031*pb21*sin(E35zoff + Exoff - theta4 + theta5))/144115188075855872 + (2477896991763523*pb22*sin(E35zoff + Exoff - theta4 + theta5))/81129638414606681695789005144064 + (8985507641290995*pb23*sin(E35zoff + Exoff - theta4 + theta5))/18014398509481984 + (684969180613545*pb22*sin(Exoff))/182687704666362864775460604089535377456991567872 - (3022258756833769*pb23*sin(Exoff))/13164036458569648337239753460458804039861886925068638906788872192 + (8985507641290995*pb22*cos(E35zoff + Exoff + theta5))/9007199254740992 - (2477896991763523*pb23*cos(E35zoff + Exoff + theta5))/40564819207303340847894502572032 - (1249465234262759*pb22*sin(E35zoff + Exoff + theta5))/18014398509481984 + (5512959345451909*pb23*sin(E35zoff + Exoff + theta5))/1298074214633706907132624082305024 + (684969180613545*pb21*cos(Exoff - theta4))/365375409332725729550921208179070754913983135744 - (684969180613545*pb22*cos(Exoff - theta4))/365375409332725729550921208179070754913983135744 - (4967757600021511*pb23*cos(Exoff - theta4))/162259276829213363391578010288128 - (4967757600021511*pb21*sin(Exoff - theta4))/162259276829213363391578010288128 - (3022258756833769*pb22*sin(Exoff - theta4))/26328072917139296674479506920917608079723773850137277813577744384 - (684969180613545*pb23*sin(Exoff - theta4))/365375409332725729550921208179070754913983135744);
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         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theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb12*sin(Exoff - theta4))/365375409332725729550921208179070754913983135744 + (4967757600021511*pb13*sin(Exoff - theta4))/162259276829213363391578010288128)*((2246376910322749*pb31*cos(E35zoff + Exoff + theta4 + theta5))/4503599627370496 + (5512959345451915*pb32*cos(E35zoff + Exoff + theta4 + theta5))/2596148429267413814265248164610048 + (156183154282845*pb33*cos(E35zoff + Exoff + theta4 + theta5))/4503599627370496 - (156183154282845*pb31*sin(E35zoff + Exoff + theta4 + theta5))/4503599627370496 + (2477896991763523*pb32*sin(E35zoff + Exoff + theta4 + theta5))/81129638414606681695789005144064 + (2246376910322749*pb33*sin(E35zoff + Exoff + theta4 + theta5))/4503599627370496 - (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 - (8985507641290995*pb31*cos(E35zoff + Exoff - theta4 + theta5))/18014398509481984 + (43069994886343*pb32*cos(E35zoff + Exoff - theta4 + theta5))/20282409603651670423947251286016 + (4997860937051031*pb33*cos(E35zoff + Exoff - theta4 + theta5))/144115188075855872 + (4997860937051031*pb31*sin(E35zoff + Exoff - theta4 + theta5))/144115188075855872 + (2477896991763523*pb32*sin(E35zoff + Exoff - theta4 + theta5))/81129638414606681695789005144064 + (8985507641290995*pb33*sin(E35zoff + Exoff - theta4 + theta5))/18014398509481984 + (684969180613545*pb32*sin(Exoff))/182687704666362864775460604089535377456991567872 - (3022258756833769*pb33*sin(Exoff))/13164036458569648337239753460458804039861886925068638906788872192 + (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),                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         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(3022258756833769*pb12*cos(Exoff - theta4))/26328072917139296674479506920917608079723773850137277813577744384 + (684969180613545*pb13*cos(Exoff - theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb11*sin(Exoff - theta4))/365375409332725729550921208179070754913983135744 - (684969180613545*pb12*sin(Exoff - theta4))/365375409332725729550921208179070754913983135744 - (4967757600021511*pb13*sin(Exoff - theta4))/162259276829213363391578010288128) - ((2477896991763523*pb21*cos(E35zoff - theta4 + theta5))/81129638414606681695789005144064 - (3040572869814441*pb22*cos(E35zoff - theta4 + theta5))/23384026197294446691258957323460528314494920687616 - (43069994886343*pb23*cos(E35zoff - theta4 + theta5))/20282409603651670423947251286016 - (43069994886343*pb21*sin(E35zoff - theta4 + theta5))/20282409603651670423947251286016 - (5466556812951353*pb22*sin(E35zoff - theta4 + theta5))/2923003274661805836407369665432566039311865085952 - (2477896991763523*pb23*sin(E35zoff - theta4 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theta5))/81129638414606681695789005144064)*((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*pb21*cos(E35zoff + Exoff + theta4 + theta5))/4503599627370496 - (2477896991763523*pb22*cos(E35zoff + Exoff + theta4 + theta5))/81129638414606681695789005144064 - (2246376910322749*pb23*cos(E35zoff + Exoff + theta4 + theta5))/4503599627370496 + (2246376910322749*pb21*sin(E35zoff + Exoff + theta4 + theta5))/4503599627370496 + (5512959345451915*pb22*sin(E35zoff + Exoff + theta4 + theta5))/2596148429267413814265248164610048 + (156183154282845*pb23*sin(E35zoff + Exoff + theta4 + theta5))/4503599627370496 + (4967757600021511*pb21*cos(Exoff + theta4))/162259276829213363391578010288128 + (3022258756833769*pb22*cos(Exoff + 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 + (4997860937051031*pb21*cos(E35zoff + Exoff - theta4 + theta5))/144115188075855872 + (2477896991763523*pb22*cos(E35zoff + Exoff - theta4 + theta5))/81129638414606681695789005144064 + (8985507641290995*pb23*cos(E35zoff + Exoff - theta4 + theta5))/18014398509481984 + (8985507641290995*pb21*sin(E35zoff + Exoff - theta4 + theta5))/18014398509481984 - (43069994886343*pb22*sin(E35zoff + Exoff - theta4 + theta5))/20282409603651670423947251286016 - (4997860937051031*pb23*sin(E35zoff + Exoff - theta4 + theta5))/144115188075855872 - (4967757600021511*pb21*cos(Exoff - theta4))/162259276829213363391578010288128 - (3022258756833769*pb22*cos(Exoff - 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)*((2246376910322749*pb11*cos(E35zoff + Exoff + theta4 + theta5))/4503599627370496 + (5512959345451915*pb12*cos(E35zoff + Exoff + theta4 + theta5))/2596148429267413814265248164610048 + (156183154282845*pb13*cos(E35zoff + Exoff + theta4 + theta5))/4503599627370496 - (156183154282845*pb11*sin(E35zoff + Exoff + theta4 + theta5))/4503599627370496 + (2477896991763523*pb12*sin(E35zoff + Exoff + theta4 + theta5))/81129638414606681695789005144064 + (2246376910322749*pb13*sin(E35zoff + Exoff + theta4 + theta5))/4503599627370496 - (684969180613545*pb11*cos(Exoff + theta4))/365375409332725729550921208179070754913983135744 + (684969180613545*pb12*cos(Exoff + theta4))/365375409332725729550921208179070754913983135744 + (4967757600021511*pb13*cos(Exoff + theta4))/162259276829213363391578010288128 - (4967757600021511*pb11*sin(Exoff + theta4))/162259276829213363391578010288128 - (3022258756833769*pb12*sin(Exoff + theta4))/26328072917139296674479506920917608079723773850137277813577744384 - (684969180613545*pb13*sin(Exoff + theta4))/365375409332725729550921208179070754913983135744 - (8985507641290995*pb11*cos(E35zoff + Exoff - theta4 + theta5))/18014398509481984 + (43069994886343*pb12*cos(E35zoff + Exoff - theta4 + theta5))/20282409603651670423947251286016 + (4997860937051031*pb13*cos(E35zoff + Exoff - theta4 + theta5))/144115188075855872 + (4997860937051031*pb11*sin(E35zoff + Exoff - theta4 + theta5))/144115188075855872 + (2477896991763523*pb12*sin(E35zoff + Exoff - theta4 + theta5))/81129638414606681695789005144064 + (8985507641290995*pb13*sin(E35zoff + Exoff - theta4 + theta5))/18014398509481984 + (684969180613545*pb12*sin(Exoff))/182687704666362864775460604089535377456991567872 - (3022258756833769*pb13*sin(Exoff))/13164036458569648337239753460458804039861886925068638906788872192 + (8985507641290995*pb12*cos(E35zoff + Exoff + theta5))/9007199254740992 - (2477896991763523*pb13*cos(E35zoff + Exoff + theta5))/40564819207303340847894502572032 - (1249465234262759*pb12*sin(E35zoff + Exoff + theta5))/18014398509481984 + (5512959345451909*pb13*sin(E35zoff + Exoff + theta5))/1298074214633706907132624082305024 + (684969180613545*pb11*cos(Exoff - theta4))/365375409332725729550921208179070754913983135744 - (684969180613545*pb12*cos(Exoff - theta4))/365375409332725729550921208179070754913983135744 - (4967757600021511*pb13*cos(Exoff - theta4))/162259276829213363391578010288128 - (4967757600021511*pb11*sin(Exoff - theta4))/162259276829213363391578010288128 - (3022258756833769*pb12*sin(Exoff - theta4))/26328072917139296674479506920917608079723773850137277813577744384 - (684969180613545*pb13*sin(Exoff - theta4))/365375409332725729550921208179070754913983135744),                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           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end