-WRrad*g*mfork*sin(q2(t)) - WRrad*g*mframe*sin(q2(t)) - WRrad*g*mwf*sin(q2(t)) - WRrad*g*mwr*sin(q2(t)) + forkcg1*g*mfork*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*sin(htangle + q4(t))*sin(q5(t)) - forkcg3*g*mfork*sin(htangle + q4(t))**2*sin(q5(t))*cos(q2(t)) - forklength*g*mwf*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*sin(htangle + q4(t))*sin(q5(t)) - forkoffset*g*mwf*sin(htangle + q4(t))**2*sin(q5(t))*cos(q2(t)) - framelength*g*mfork*sin(q2(t))*cos(htangle + q4(t)) - framelength*g*mwf*sin(q2(t))*cos(htangle + q4(t)) + g*mfork*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(-forkcg1*sin(htangle + q4(t))*cos(q5(t)) - forkcg3*cos(htangle + q4(t))) + g*mframe*(-framecg1*sin(htangle + q4(t)) - framecg3*cos(htangle + q4(t)))*sin(q2(t)) + g*mwf*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t))) + ((-WFrad*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad*(-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*sin(htangle + q4(t))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - (-WFrad*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*(WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))*sin(htangle + q4(t))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1))*(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t))) + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))))/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2))*(-WFrad*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*((forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*sin(htangle + q4(t))*sin(q5(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q5(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*cos(htangle + q4(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad*(WFrad/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - WRrad*cos(q2(t)) - framelength*cos(htangle + q4(t))*cos(q2(t)) + (forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*sin(htangle + q4(t))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - (-WFrad*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*(WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))*sin(htangle + q4(t))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1))*(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-WRrad*sin(q2(t)) - framelength*sin(q2(t))*cos(htangle + q4(t)) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t))) - (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + ((forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*sin(htangle + q4(t))*sin(q5(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q5(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*cos(htangle + q4(t)))*(WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t))) + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))*(WFrad/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - WRrad*cos(q2(t)) - framelength*cos(htangle + q4(t))*cos(q2(t)) + (forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*sin(q2(t))))/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2) - (-WFrad*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad*(-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*sin(htangle + q4(t))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - (-WFrad*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*(WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))*sin(htangle + q4(t))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1))*(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t))) + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))))/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2))*(-(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t))) + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))))*(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-WRrad*sin(q2(t)) - framelength*sin(q2(t))*cos(htangle + q4(t)) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t))) - (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + ((forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*sin(htangle + q4(t))*sin(q5(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q5(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*cos(htangle + q4(t)))*(WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t))) + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))*(WFrad/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - WRrad*cos(q2(t)) - framelength*cos(htangle + q4(t))*cos(q2(t)) + (forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*sin(q2(t))))/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2) + ((forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*sin(htangle + q4(t))*sin(q5(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q5(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*cos(htangle + q4(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))) + (-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t)))*(-WRrad*sin(q2(t)) - framelength*sin(q2(t))*cos(htangle + q4(t)) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t))) - (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(WFrad/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - WRrad*cos(q2(t)) - framelength*cos(htangle + q4(t))*cos(q2(t)) + (forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*sin(q2(t))))/(-(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t))) + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))))**2/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2) + (-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t)))**2 + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))**2 + (-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t)))**2))/((-(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t))) + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))))**2/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2) + (-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t)))**2 + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))**2 + (-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t)))**2)*(WFrad**2*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))**2/((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad**2*sin(htangle + q4(t))**2*sin(q5(t))**2/((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - (-WFrad*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*(WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))*sin(htangle + q4(t))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1))**2/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2) - (-WFrad*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad*(-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*sin(htangle + q4(t))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - (-WFrad*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*(WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))*sin(htangle + q4(t))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1))*(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t))) + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))))/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2))**2/(-(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t))) + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))))**2/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2) + (-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t)))**2 + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))**2 + (-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t)))**2))) - (-(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t))) + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))))*(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-WRrad*sin(q2(t)) - framelength*sin(q2(t))*cos(htangle + q4(t)) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t))) - (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + ((forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*sin(htangle + q4(t))*sin(q5(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q5(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*cos(htangle + q4(t)))*(WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t))) + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))*(WFrad/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - WRrad*cos(q2(t)) - framelength*cos(htangle + q4(t))*cos(q2(t)) + (forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*sin(q2(t))))/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2) + ((forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*sin(htangle + q4(t))*sin(q5(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q5(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*cos(htangle + q4(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))) + (-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t)))*(-WRrad*sin(q2(t)) - framelength*sin(q2(t))*cos(htangle + q4(t)) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t))) - (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(WFrad/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - WRrad*cos(q2(t)) - framelength*cos(htangle + q4(t))*cos(q2(t)) + (forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*sin(q2(t))))/(-(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t))) + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))))**2/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2) + (-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t)))**2 + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))**2 + (-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t)))**2))*(forkcg1*g*mfork*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) + forkcg1*g*mfork*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - forkcg3*g*mfork*sin(htangle + q4(t))*cos(q2(t))*cos(q5(t)) - forklength*g*mwf*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*g*mwf*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - forkoffset*g*mwf*sin(htangle + q4(t))*cos(q2(t))*cos(q5(t)) + framecg1*g*mframe*cos(htangle + q4(t))*cos(q2(t)) - framecg3*g*mframe*sin(htangle + q4(t))*cos(q2(t)) - framelength*g*mfork*sin(htangle + q4(t))*cos(q2(t)) - framelength*g*mwf*sin(htangle + q4(t))*cos(q2(t))) + ((-WFrad*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*(WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))*sin(htangle + q4(t))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1))*(-WFrad*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*((forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*sin(htangle + q4(t))*sin(q5(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q5(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*cos(htangle + q4(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad*(WFrad/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - WRrad*cos(q2(t)) - framelength*cos(htangle + q4(t))*cos(q2(t)) + (forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*sin(htangle + q4(t))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - (-WFrad*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*(WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))*sin(htangle + q4(t))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1))*(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-WRrad*sin(q2(t)) - framelength*sin(q2(t))*cos(htangle + q4(t)) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t))) - (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + ((forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*sin(htangle + q4(t))*sin(q5(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q5(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*cos(htangle + q4(t)))*(WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t))) + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))*(WFrad/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - WRrad*cos(q2(t)) - framelength*cos(htangle + q4(t))*cos(q2(t)) + (forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*sin(q2(t))))/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2) - (-WFrad*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad*(-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*sin(htangle + q4(t))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - (-WFrad*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*(WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))*sin(htangle + q4(t))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1))*(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t))) + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))))/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2))*(-(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t))) + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))))*(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-WRrad*sin(q2(t)) - framelength*sin(q2(t))*cos(htangle + q4(t)) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t))) - (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + ((forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*sin(htangle + q4(t))*sin(q5(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q5(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*cos(htangle + q4(t)))*(WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t))) + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))*(WFrad/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - WRrad*cos(q2(t)) - framelength*cos(htangle + q4(t))*cos(q2(t)) + (forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*sin(q2(t))))/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2) + ((forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*sin(htangle + q4(t))*sin(q5(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q5(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*cos(htangle + q4(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))) + (-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t)))*(-WRrad*sin(q2(t)) - framelength*sin(q2(t))*cos(htangle + q4(t)) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t))) - (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(WFrad/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - WRrad*cos(q2(t)) - framelength*cos(htangle + q4(t))*cos(q2(t)) + (forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*sin(q2(t))))/(-(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t))) + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))))**2/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2) + (-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t)))**2 + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))**2 + (-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t)))**2))/((((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2)*(WFrad**2*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))**2/((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad**2*sin(htangle + q4(t))**2*sin(q5(t))**2/((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - (-WFrad*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*(WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))*sin(htangle + q4(t))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1))**2/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2) - (-WFrad*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad*(-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*sin(htangle + q4(t))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - (-WFrad*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*(WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))*sin(htangle + q4(t))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1))*(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t))) + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))))/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2))**2/(-(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t))) + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))))**2/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2) + (-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t)))**2 + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))**2 + (-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t)))**2))) + (-(-WFrad*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad*(-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*sin(htangle + q4(t))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - (-WFrad*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*(WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))*sin(htangle + q4(t))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1))*(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t))) + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))))/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2))*(-WFrad*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*((forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*sin(htangle + q4(t))*sin(q5(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q5(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*cos(htangle + q4(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad*(WFrad/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - WRrad*cos(q2(t)) - framelength*cos(htangle + q4(t))*cos(q2(t)) + (forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*sin(htangle + q4(t))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - (-WFrad*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*(WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))*sin(htangle + q4(t))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1))*(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-WRrad*sin(q2(t)) - framelength*sin(q2(t))*cos(htangle + q4(t)) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t))) - (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + ((forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*sin(htangle + q4(t))*sin(q5(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q5(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*cos(htangle + q4(t)))*(WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t))) + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))*(WFrad/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - WRrad*cos(q2(t)) - framelength*cos(htangle + q4(t))*cos(q2(t)) + (forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*sin(q2(t))))/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2) - (-WFrad*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad*(-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*sin(htangle + q4(t))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - (-WFrad*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*(WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))*sin(htangle + q4(t))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1))*(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t))) + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))))/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2))*(-(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t))) + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))))*(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-WRrad*sin(q2(t)) - framelength*sin(q2(t))*cos(htangle + q4(t)) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t))) - (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + ((forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*sin(htangle + q4(t))*sin(q5(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q5(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*cos(htangle + q4(t)))*(WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t))) + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))*(WFrad/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - WRrad*cos(q2(t)) - framelength*cos(htangle + q4(t))*cos(q2(t)) + (forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*sin(q2(t))))/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2) + ((forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*sin(htangle + q4(t))*sin(q5(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q5(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*cos(htangle + q4(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))) + (-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t)))*(-WRrad*sin(q2(t)) - framelength*sin(q2(t))*cos(htangle + q4(t)) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t))) - (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(WFrad/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - WRrad*cos(q2(t)) - framelength*cos(htangle + q4(t))*cos(q2(t)) + (forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*sin(q2(t))))/(-(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t))) + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))))**2/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2) + (-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t)))**2 + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))**2 + (-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t)))**2))/((-(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t))) + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))))**2/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2) + (-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t)))**2 + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))**2 + (-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t)))**2)*(WFrad**2*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))**2/((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad**2*sin(htangle + q4(t))**2*sin(q5(t))**2/((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - (-WFrad*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*(WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))*sin(htangle + q4(t))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1))**2/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2) - (-WFrad*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad*(-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*sin(htangle + q4(t))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - (-WFrad*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*(WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WFrad*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))*sin(htangle + q4(t))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1))*(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t))) + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))))/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2))**2/(-(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t))) + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))))**2/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2) + (-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t)))**2 + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))**2 + (-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t)))**2))) + (-(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t))) + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))))*(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-WRrad*sin(q2(t)) - framelength*sin(q2(t))*cos(htangle + q4(t)) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t))) - (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + ((forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*sin(htangle + q4(t))*sin(q5(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q5(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*cos(htangle + q4(t)))*(WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t))) + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))*(WFrad/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - WRrad*cos(q2(t)) - framelength*cos(htangle + q4(t))*cos(q2(t)) + (forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*sin(q2(t))))/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2) + ((forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*sin(htangle + q4(t))*sin(q5(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q5(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*cos(htangle + q4(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))) + (-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t)))*(-WRrad*sin(q2(t)) - framelength*sin(q2(t))*cos(htangle + q4(t)) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t))) - (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(WFrad/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - WRrad*cos(q2(t)) - framelength*cos(htangle + q4(t))*cos(q2(t)) + (forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*sin(q2(t))))/(-(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t))) + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))))**2/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2) + (-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t)))**2 + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))**2 + (-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t)))**2))*(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*cos(q5(t)) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t)) - framelength*sin(htangle + q4(t))*cos(q2(t)) - (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + (-forklength*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t)))*sin(q5(t)) - forklength*(-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*cos(q5(t)) + framelength*sin(htangle + q4(t))*sin(q2(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*sin(htangle + q4(t))*sin(q2(t)))*(framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t))) + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))*(-WFrad*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + WRrad - forklength*sin(htangle + q4(t))*sin(q5(t))**2 - forklength*sin(htangle + q4(t))*cos(q5(t))**2 + framelength*cos(htangle + q4(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*cos(q5(t)))*cos(htangle + q4(t))))/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2) - (((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))*(-WRrad*sin(q2(t)) - framelength*sin(q2(t))*cos(htangle + q4(t)) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t))) - (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q2(t))) + ((forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*sin(htangle + q4(t))*sin(q5(t)) + (WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*cos(q5(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*cos(htangle + q4(t)))*(WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t))) + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))*(WFrad/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - WRrad*cos(q2(t)) - framelength*cos(htangle + q4(t))*cos(q2(t)) + (forklength*sin(htangle + q4(t))*cos(q5(t)) - forkoffset*cos(htangle + q4(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*cos(htangle + q4(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*sin(htangle + q4(t))*sin(q5(t))) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q5(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*sin(htangle + q4(t))*sin(q5(t)))*sin(htangle + q4(t))*sin(q2(t))))/(((forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + (-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) - (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q2(t)))**2 + (WRrad*sin(q2(t)) + framelength*sin(q2(t))*cos(htangle + q4(t)) + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*sin(q5(t)) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*cos(htangle + q4(t)) + (-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*cos(q5(t)))**2 + (framelength*sin(htangle + q4(t))*sin(q2(t))**2 + framelength*sin(htangle + q4(t))*cos(q2(t))**2 + (forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(-sin(q2(t))*sin(q5(t))*cos(htangle + q4(t)) + cos(q2(t))*cos(q5(t))) + (-sin(q2(t))*cos(htangle + q4(t))*cos(q5(t)) - sin(q5(t))*cos(q2(t)))*(-WFrad*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) - forklength*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))) + (-WFrad*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))/sqrt((-sin(q2(t))*cos(q5(t)) - sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + 1) + forkoffset*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))*sin(htangle + q4(t))*sin(q2(t)))**2))*(forkcg1*g*mfork*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) - forkcg3*g*mfork*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t)) - forklength*g*mwf*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) - forkoffset*g*mwf*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t)))*sin(htangle + q4(t))*cos(q2(t)) + framecg1*g*mframe*sin(q2(t))*cos(htangle + q4(t))*cos(q2(t)) - framecg3*g*mframe*sin(htangle + q4(t))*sin(q2(t))*cos(q2(t)) + g*mfork*(-forkcg1*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkcg3*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))) + g*mframe*(-framecg1*cos(htangle + q4(t))*cos(q2(t)) + framecg3*sin(htangle + q4(t))*cos(q2(t)))*sin(q2(t)) + g*mwf*(forklength*(-sin(q2(t))*sin(q5(t)) + cos(htangle + q4(t))*cos(q2(t))*cos(q5(t))) + forkoffset*sin(htangle + q4(t))*cos(q2(t)))*(sin(q2(t))*cos(q5(t)) + sin(q5(t))*cos(htangle + q4(t))*cos(q2(t))))