text: /******************************************************************************
   *                      Code generated with sympy 0.7.6                       *
   *                                                                            *
   *              See http://www.sympy.org/ for more information.               *
   *                                                                            *
   *                       This file is part of 'project'                       *
   ******************************************************************************/
  #include "pinky_prox.h"
  #include <math.h>
  
  void pinky_prox(double fore_arm_bend, double fore_arm_length, double fore_arm_side, double hind_arm_bend, double hind_arm_length, double hind_arm_side, double local_x, double local_y, double local_z, double pinky_metacarpal_bend, double pinky_metacarpal_length, double pinky_metacarpal_side, double pinky_prox_bend, double pinky_prox_length, double pinky_prox_side, double root_scale, double root_x, double root_y, double root_z, double *out_6408122852478573128) {
  
     out_6408122852478573128[0] = fore_arm_length*root_scale*((-sin(fore_arm_side)*sin(hind_arm_side) + cos(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side))*cos(fore_arm_bend) - sin(fore_arm_bend)*sin(hind_arm_bend)*cos(hind_arm_side)) + hind_arm_length*root_scale*cos(hind_arm_bend)*cos(hind_arm_side) + local_x*((((((-sin(fore_arm_side)*sin(hind_arm_side) + cos(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side))*cos(fore_arm_bend) - sin(fore_arm_bend)*sin(hind_arm_bend)*cos(hind_arm_side))*cos(pinky_metacarpal_side) + (-sin(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side) - sin(hind_arm_side)*cos(fore_arm_side))*sin(pinky_metacarpal_side))*cos(pinky_metacarpal_bend) - ((-sin(fore_arm_side)*sin(hind_arm_side) + cos(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side))*sin(fore_arm_bend) + sin(hind_arm_bend)*cos(fore_arm_bend)*cos(hind_arm_side))*sin(pinky_metacarpal_bend))*cos(pinky_prox_side) + (-((-sin(fore_arm_side)*sin(hind_arm_side) + cos(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side))*cos(fore_arm_bend) - sin(fore_arm_bend)*sin(hind_arm_bend)*cos(hind_arm_side))*sin(pinky_metacarpal_side) + (-sin(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side) - sin(hind_arm_side)*cos(fore_arm_side))*cos(pinky_metacarpal_side))*sin(pinky_prox_side))*cos(pinky_prox_bend) - ((((-sin(fore_arm_side)*sin(hind_arm_side) + cos(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side))*cos(fore_arm_bend) - sin(fore_arm_bend)*sin(hind_arm_bend)*cos(hind_arm_side))*cos(pinky_metacarpal_side) + (-sin(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side) - sin(hind_arm_side)*cos(fore_arm_side))*sin(pinky_metacarpal_side))*sin(pinky_metacarpal_bend) + ((-sin(fore_arm_side)*sin(hind_arm_side) + cos(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side))*sin(fore_arm_bend) + sin(hind_arm_bend)*cos(fore_arm_bend)*cos(hind_arm_side))*cos(pinky_metacarpal_bend))*sin(pinky_prox_bend)) + local_y*(-((((-sin(fore_arm_side)*sin(hind_arm_side) + cos(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side))*cos(fore_arm_bend) - sin(fore_arm_bend)*sin(hind_arm_bend)*cos(hind_arm_side))*cos(pinky_metacarpal_side) + (-sin(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side) - sin(hind_arm_side)*cos(fore_arm_side))*sin(pinky_metacarpal_side))*cos(pinky_metacarpal_bend) - ((-sin(fore_arm_side)*sin(hind_arm_side) + cos(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side))*sin(fore_arm_bend) + sin(hind_arm_bend)*cos(fore_arm_bend)*cos(hind_arm_side))*sin(pinky_metacarpal_bend))*sin(pinky_prox_side) + (-((-sin(fore_arm_side)*sin(hind_arm_side) + cos(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side))*cos(fore_arm_bend) - sin(fore_arm_bend)*sin(hind_arm_bend)*cos(hind_arm_side))*sin(pinky_metacarpal_side) + (-sin(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side) - sin(hind_arm_side)*cos(fore_arm_side))*cos(pinky_metacarpal_side))*cos(pinky_prox_side)) + local_z*((((((-sin(fore_arm_side)*sin(hind_arm_side) + cos(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side))*cos(fore_arm_bend) - sin(fore_arm_bend)*sin(hind_arm_bend)*cos(hind_arm_side))*cos(pinky_metacarpal_side) + (-sin(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side) - sin(hind_arm_side)*cos(fore_arm_side))*sin(pinky_metacarpal_side))*cos(pinky_metacarpal_bend) - ((-sin(fore_arm_side)*sin(hind_arm_side) + cos(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side))*sin(fore_arm_bend) + sin(hind_arm_bend)*cos(fore_arm_bend)*cos(hind_arm_side))*sin(pinky_metacarpal_bend))*cos(pinky_prox_side) + (-((-sin(fore_arm_side)*sin(hind_arm_side) + cos(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side))*cos(fore_arm_bend) - sin(fore_arm_bend)*sin(hind_arm_bend)*cos(hind_arm_side))*sin(pinky_metacarpal_side) + (-sin(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side) - sin(hind_arm_side)*cos(fore_arm_side))*cos(pinky_metacarpal_side))*sin(pinky_prox_side))*sin(pinky_prox_bend) + ((((-sin(fore_arm_side)*sin(hind_arm_side) + cos(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side))*cos(fore_arm_bend) - sin(fore_arm_bend)*sin(hind_arm_bend)*cos(hind_arm_side))*cos(pinky_metacarpal_side) + (-sin(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side) - sin(hind_arm_side)*cos(fore_arm_side))*sin(pinky_metacarpal_side))*sin(pinky_metacarpal_bend) + ((-sin(fore_arm_side)*sin(hind_arm_side) + cos(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side))*sin(fore_arm_bend) + sin(hind_arm_bend)*cos(fore_arm_bend)*cos(hind_arm_side))*cos(pinky_metacarpal_bend))*cos(pinky_prox_bend)) + pinky_metacarpal_length*root_scale*((((-sin(fore_arm_side)*sin(hind_arm_side) + cos(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side))*cos(fore_arm_bend) - sin(fore_arm_bend)*sin(hind_arm_bend)*cos(hind_arm_side))*cos(pinky_metacarpal_side) + (-sin(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side) - sin(hind_arm_side)*cos(fore_arm_side))*sin(pinky_metacarpal_side))*cos(pinky_metacarpal_bend) - ((-sin(fore_arm_side)*sin(hind_arm_side) + cos(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side))*sin(fore_arm_bend) + sin(hind_arm_bend)*cos(fore_arm_bend)*cos(hind_arm_side))*sin(pinky_metacarpal_bend)) + pinky_prox_length*root_scale*((((((-sin(fore_arm_side)*sin(hind_arm_side) + cos(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side))*cos(fore_arm_bend) - sin(fore_arm_bend)*sin(hind_arm_bend)*cos(hind_arm_side))*cos(pinky_metacarpal_side) + (-sin(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side) - sin(hind_arm_side)*cos(fore_arm_side))*sin(pinky_metacarpal_side))*cos(pinky_metacarpal_bend) - ((-sin(fore_arm_side)*sin(hind_arm_side) + cos(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side))*sin(fore_arm_bend) + sin(hind_arm_bend)*cos(fore_arm_bend)*cos(hind_arm_side))*sin(pinky_metacarpal_bend))*cos(pinky_prox_side) + (-((-sin(fore_arm_side)*sin(hind_arm_side) + cos(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side))*cos(fore_arm_bend) - sin(fore_arm_bend)*sin(hind_arm_bend)*cos(hind_arm_side))*sin(pinky_metacarpal_side) + (-sin(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side) - sin(hind_arm_side)*cos(fore_arm_side))*cos(pinky_metacarpal_side))*sin(pinky_prox_side))*cos(pinky_prox_bend) - ((((-sin(fore_arm_side)*sin(hind_arm_side) + cos(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side))*cos(fore_arm_bend) - sin(fore_arm_bend)*sin(hind_arm_bend)*cos(hind_arm_side))*cos(pinky_metacarpal_side) + (-sin(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side) - sin(hind_arm_side)*cos(fore_arm_side))*sin(pinky_metacarpal_side))*sin(pinky_metacarpal_bend) + ((-sin(fore_arm_side)*sin(hind_arm_side) + cos(fore_arm_side)*cos(hind_arm_bend)*cos(hind_arm_side))*sin(fore_arm_bend) + sin(hind_arm_bend)*cos(fore_arm_bend)*cos(hind_arm_side))*cos(pinky_metacarpal_bend))*sin(pinky_prox_bend)) + root_x;
     out_6408122852478573128[1] = fore_arm_length*root_scale*((sin(fore_arm_side)*cos(hind_arm_side) + sin(hind_arm_side)*cos(fore_arm_side)*cos(hind_arm_bend))*cos(fore_arm_bend) - sin(fore_arm_bend)*sin(hind_arm_bend)*sin(hind_arm_side)) + hind_arm_length*root_scale*sin(hind_arm_side)*cos(hind_arm_bend) + local_x*((((((sin(fore_arm_side)*cos(hind_arm_side) + sin(hind_arm_side)*cos(fore_arm_side)*cos(hind_arm_bend))*cos(fore_arm_bend) - sin(fore_arm_bend)*sin(hind_arm_bend)*sin(hind_arm_side))*cos(pinky_metacarpal_side) + (-sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) + cos(fore_arm_side)*cos(hind_arm_side))*sin(pinky_metacarpal_side))*cos(pinky_metacarpal_bend) - ((sin(fore_arm_side)*cos(hind_arm_side) + sin(hind_arm_side)*cos(fore_arm_side)*cos(hind_arm_bend))*sin(fore_arm_bend) + sin(hind_arm_bend)*sin(hind_arm_side)*cos(fore_arm_bend))*sin(pinky_metacarpal_bend))*cos(pinky_prox_side) + (-((sin(fore_arm_side)*cos(hind_arm_side) + sin(hind_arm_side)*cos(fore_arm_side)*cos(hind_arm_bend))*cos(fore_arm_bend) - sin(fore_arm_bend)*sin(hind_arm_bend)*sin(hind_arm_side))*sin(pinky_metacarpal_side) + (-sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) + cos(fore_arm_side)*cos(hind_arm_side))*cos(pinky_metacarpal_side))*sin(pinky_prox_side))*cos(pinky_prox_bend) - ((((sin(fore_arm_side)*cos(hind_arm_side) + sin(hind_arm_side)*cos(fore_arm_side)*cos(hind_arm_bend))*cos(fore_arm_bend) - sin(fore_arm_bend)*sin(hind_arm_bend)*sin(hind_arm_side))*cos(pinky_metacarpal_side) + (-sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) + cos(fore_arm_side)*cos(hind_arm_side))*sin(pinky_metacarpal_side))*sin(pinky_metacarpal_bend) + ((sin(fore_arm_side)*cos(hind_arm_side) + sin(hind_arm_side)*cos(fore_arm_side)*cos(hind_arm_bend))*sin(fore_arm_bend) + sin(hind_arm_bend)*sin(hind_arm_side)*cos(fore_arm_bend))*cos(pinky_metacarpal_bend))*sin(pinky_prox_bend)) + local_y*(-((((sin(fore_arm_side)*cos(hind_arm_side) + sin(hind_arm_side)*cos(fore_arm_side)*cos(hind_arm_bend))*cos(fore_arm_bend) - sin(fore_arm_bend)*sin(hind_arm_bend)*sin(hind_arm_side))*cos(pinky_metacarpal_side) + (-sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) + cos(fore_arm_side)*cos(hind_arm_side))*sin(pinky_metacarpal_side))*cos(pinky_metacarpal_bend) - ((sin(fore_arm_side)*cos(hind_arm_side) + sin(hind_arm_side)*cos(fore_arm_side)*cos(hind_arm_bend))*sin(fore_arm_bend) + sin(hind_arm_bend)*sin(hind_arm_side)*cos(fore_arm_bend))*sin(pinky_metacarpal_bend))*sin(pinky_prox_side) + (-((sin(fore_arm_side)*cos(hind_arm_side) + sin(hind_arm_side)*cos(fore_arm_side)*cos(hind_arm_bend))*cos(fore_arm_bend) - sin(fore_arm_bend)*sin(hind_arm_bend)*sin(hind_arm_side))*sin(pinky_metacarpal_side) + (-sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) + cos(fore_arm_side)*cos(hind_arm_side))*cos(pinky_metacarpal_side))*cos(pinky_prox_side)) + local_z*((((((sin(fore_arm_side)*cos(hind_arm_side) + sin(hind_arm_side)*cos(fore_arm_side)*cos(hind_arm_bend))*cos(fore_arm_bend) - sin(fore_arm_bend)*sin(hind_arm_bend)*sin(hind_arm_side))*cos(pinky_metacarpal_side) + (-sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) + cos(fore_arm_side)*cos(hind_arm_side))*sin(pinky_metacarpal_side))*cos(pinky_metacarpal_bend) - ((sin(fore_arm_side)*cos(hind_arm_side) + sin(hind_arm_side)*cos(fore_arm_side)*cos(hind_arm_bend))*sin(fore_arm_bend) + sin(hind_arm_bend)*sin(hind_arm_side)*cos(fore_arm_bend))*sin(pinky_metacarpal_bend))*cos(pinky_prox_side) + (-((sin(fore_arm_side)*cos(hind_arm_side) + sin(hind_arm_side)*cos(fore_arm_side)*cos(hind_arm_bend))*cos(fore_arm_bend) - sin(fore_arm_bend)*sin(hind_arm_bend)*sin(hind_arm_side))*sin(pinky_metacarpal_side) + (-sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) + cos(fore_arm_side)*cos(hind_arm_side))*cos(pinky_metacarpal_side))*sin(pinky_prox_side))*sin(pinky_prox_bend) + ((((sin(fore_arm_side)*cos(hind_arm_side) + sin(hind_arm_side)*cos(fore_arm_side)*cos(hind_arm_bend))*cos(fore_arm_bend) - sin(fore_arm_bend)*sin(hind_arm_bend)*sin(hind_arm_side))*cos(pinky_metacarpal_side) + (-sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) + cos(fore_arm_side)*cos(hind_arm_side))*sin(pinky_metacarpal_side))*sin(pinky_metacarpal_bend) + ((sin(fore_arm_side)*cos(hind_arm_side) + sin(hind_arm_side)*cos(fore_arm_side)*cos(hind_arm_bend))*sin(fore_arm_bend) + sin(hind_arm_bend)*sin(hind_arm_side)*cos(fore_arm_bend))*cos(pinky_metacarpal_bend))*cos(pinky_prox_bend)) + pinky_metacarpal_length*root_scale*((((sin(fore_arm_side)*cos(hind_arm_side) + sin(hind_arm_side)*cos(fore_arm_side)*cos(hind_arm_bend))*cos(fore_arm_bend) - sin(fore_arm_bend)*sin(hind_arm_bend)*sin(hind_arm_side))*cos(pinky_metacarpal_side) + (-sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) + cos(fore_arm_side)*cos(hind_arm_side))*sin(pinky_metacarpal_side))*cos(pinky_metacarpal_bend) - ((sin(fore_arm_side)*cos(hind_arm_side) + sin(hind_arm_side)*cos(fore_arm_side)*cos(hind_arm_bend))*sin(fore_arm_bend) + sin(hind_arm_bend)*sin(hind_arm_side)*cos(fore_arm_bend))*sin(pinky_metacarpal_bend)) + pinky_prox_length*root_scale*((((((sin(fore_arm_side)*cos(hind_arm_side) + sin(hind_arm_side)*cos(fore_arm_side)*cos(hind_arm_bend))*cos(fore_arm_bend) - sin(fore_arm_bend)*sin(hind_arm_bend)*sin(hind_arm_side))*cos(pinky_metacarpal_side) + (-sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) + cos(fore_arm_side)*cos(hind_arm_side))*sin(pinky_metacarpal_side))*cos(pinky_metacarpal_bend) - ((sin(fore_arm_side)*cos(hind_arm_side) + sin(hind_arm_side)*cos(fore_arm_side)*cos(hind_arm_bend))*sin(fore_arm_bend) + sin(hind_arm_bend)*sin(hind_arm_side)*cos(fore_arm_bend))*sin(pinky_metacarpal_bend))*cos(pinky_prox_side) + (-((sin(fore_arm_side)*cos(hind_arm_side) + sin(hind_arm_side)*cos(fore_arm_side)*cos(hind_arm_bend))*cos(fore_arm_bend) - sin(fore_arm_bend)*sin(hind_arm_bend)*sin(hind_arm_side))*sin(pinky_metacarpal_side) + (-sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) + cos(fore_arm_side)*cos(hind_arm_side))*cos(pinky_metacarpal_side))*sin(pinky_prox_side))*cos(pinky_prox_bend) - ((((sin(fore_arm_side)*cos(hind_arm_side) + sin(hind_arm_side)*cos(fore_arm_side)*cos(hind_arm_bend))*cos(fore_arm_bend) - sin(fore_arm_bend)*sin(hind_arm_bend)*sin(hind_arm_side))*cos(pinky_metacarpal_side) + (-sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) + cos(fore_arm_side)*cos(hind_arm_side))*sin(pinky_metacarpal_side))*sin(pinky_metacarpal_bend) + ((sin(fore_arm_side)*cos(hind_arm_side) + sin(hind_arm_side)*cos(fore_arm_side)*cos(hind_arm_bend))*sin(fore_arm_bend) + sin(hind_arm_bend)*sin(hind_arm_side)*cos(fore_arm_bend))*cos(pinky_metacarpal_bend))*sin(pinky_prox_bend)) + root_y;
     out_6408122852478573128[2] = fore_arm_length*root_scale*(-sin(fore_arm_bend)*cos(hind_arm_bend) - sin(hind_arm_bend)*cos(fore_arm_bend)*cos(fore_arm_side)) - hind_arm_length*root_scale*sin(hind_arm_bend) + local_x*(((((-sin(fore_arm_bend)*cos(hind_arm_bend) - sin(hind_arm_bend)*cos(fore_arm_bend)*cos(fore_arm_side))*cos(pinky_metacarpal_side) + sin(fore_arm_side)*sin(hind_arm_bend)*sin(pinky_metacarpal_side))*cos(pinky_metacarpal_bend) - (-sin(fore_arm_bend)*sin(hind_arm_bend)*cos(fore_arm_side) + cos(fore_arm_bend)*cos(hind_arm_bend))*sin(pinky_metacarpal_bend))*cos(pinky_prox_side) + (-(-sin(fore_arm_bend)*cos(hind_arm_bend) - sin(hind_arm_bend)*cos(fore_arm_bend)*cos(fore_arm_side))*sin(pinky_metacarpal_side) + sin(fore_arm_side)*sin(hind_arm_bend)*cos(pinky_metacarpal_side))*sin(pinky_prox_side))*cos(pinky_prox_bend) - (((-sin(fore_arm_bend)*cos(hind_arm_bend) - sin(hind_arm_bend)*cos(fore_arm_bend)*cos(fore_arm_side))*cos(pinky_metacarpal_side) + sin(fore_arm_side)*sin(hind_arm_bend)*sin(pinky_metacarpal_side))*sin(pinky_metacarpal_bend) + (-sin(fore_arm_bend)*sin(hind_arm_bend)*cos(fore_arm_side) + cos(fore_arm_bend)*cos(hind_arm_bend))*cos(pinky_metacarpal_bend))*sin(pinky_prox_bend)) + local_y*(-(((-sin(fore_arm_bend)*cos(hind_arm_bend) - sin(hind_arm_bend)*cos(fore_arm_bend)*cos(fore_arm_side))*cos(pinky_metacarpal_side) + sin(fore_arm_side)*sin(hind_arm_bend)*sin(pinky_metacarpal_side))*cos(pinky_metacarpal_bend) - (-sin(fore_arm_bend)*sin(hind_arm_bend)*cos(fore_arm_side) + cos(fore_arm_bend)*cos(hind_arm_bend))*sin(pinky_metacarpal_bend))*sin(pinky_prox_side) + (-(-sin(fore_arm_bend)*cos(hind_arm_bend) - sin(hind_arm_bend)*cos(fore_arm_bend)*cos(fore_arm_side))*sin(pinky_metacarpal_side) + sin(fore_arm_side)*sin(hind_arm_bend)*cos(pinky_metacarpal_side))*cos(pinky_prox_side)) + local_z*(((((-sin(fore_arm_bend)*cos(hind_arm_bend) - sin(hind_arm_bend)*cos(fore_arm_bend)*cos(fore_arm_side))*cos(pinky_metacarpal_side) + sin(fore_arm_side)*sin(hind_arm_bend)*sin(pinky_metacarpal_side))*cos(pinky_metacarpal_bend) - (-sin(fore_arm_bend)*sin(hind_arm_bend)*cos(fore_arm_side) + cos(fore_arm_bend)*cos(hind_arm_bend))*sin(pinky_metacarpal_bend))*cos(pinky_prox_side) + (-(-sin(fore_arm_bend)*cos(hind_arm_bend) - sin(hind_arm_bend)*cos(fore_arm_bend)*cos(fore_arm_side))*sin(pinky_metacarpal_side) + sin(fore_arm_side)*sin(hind_arm_bend)*cos(pinky_metacarpal_side))*sin(pinky_prox_side))*sin(pinky_prox_bend) + (((-sin(fore_arm_bend)*cos(hind_arm_bend) - sin(hind_arm_bend)*cos(fore_arm_bend)*cos(fore_arm_side))*cos(pinky_metacarpal_side) + sin(fore_arm_side)*sin(hind_arm_bend)*sin(pinky_metacarpal_side))*sin(pinky_metacarpal_bend) + (-sin(fore_arm_bend)*sin(hind_arm_bend)*cos(fore_arm_side) + cos(fore_arm_bend)*cos(hind_arm_bend))*cos(pinky_metacarpal_bend))*cos(pinky_prox_bend)) + pinky_metacarpal_length*root_scale*(((-sin(fore_arm_bend)*cos(hind_arm_bend) - sin(hind_arm_bend)*cos(fore_arm_bend)*cos(fore_arm_side))*cos(pinky_metacarpal_side) + sin(fore_arm_side)*sin(hind_arm_bend)*sin(pinky_metacarpal_side))*cos(pinky_metacarpal_bend) - (-sin(fore_arm_bend)*sin(hind_arm_bend)*cos(fore_arm_side) + cos(fore_arm_bend)*cos(hind_arm_bend))*sin(pinky_metacarpal_bend)) + pinky_prox_length*root_scale*(((((-sin(fore_arm_bend)*cos(hind_arm_bend) - sin(hind_arm_bend)*cos(fore_arm_bend)*cos(fore_arm_side))*cos(pinky_metacarpal_side) + sin(fore_arm_side)*sin(hind_arm_bend)*sin(pinky_metacarpal_side))*cos(pinky_metacarpal_bend) - (-sin(fore_arm_bend)*sin(hind_arm_bend)*cos(fore_arm_side) + cos(fore_arm_bend)*cos(hind_arm_bend))*sin(pinky_metacarpal_bend))*cos(pinky_prox_side) + (-(-sin(fore_arm_bend)*cos(hind_arm_bend) - sin(hind_arm_bend)*cos(fore_arm_bend)*cos(fore_arm_side))*sin(pinky_metacarpal_side) + sin(fore_arm_side)*sin(hind_arm_bend)*cos(pinky_metacarpal_side))*sin(pinky_prox_side))*cos(pinky_prox_bend) - (((-sin(fore_arm_bend)*cos(hind_arm_bend) - sin(hind_arm_bend)*cos(fore_arm_bend)*cos(fore_arm_side))*cos(pinky_metacarpal_side) + sin(fore_arm_side)*sin(hind_arm_bend)*sin(pinky_metacarpal_side))*sin(pinky_metacarpal_bend) + (-sin(fore_arm_bend)*sin(hind_arm_bend)*cos(fore_arm_side) + cos(fore_arm_bend)*cos(hind_arm_bend))*cos(pinky_metacarpal_bend))*sin(pinky_prox_bend)) + root_z;
     out_6408122852478573128[3] = 1;
  
  }
  