text: /******************************************************************************
   *                      Code generated with sympy 0.7.6                       *
   *                                                                            *
   *              See http://www.sympy.org/ for more information.               *
   *                                                                            *
   *                       This file is part of 'project'                       *
   ******************************************************************************/
  #include "pinky_dist_pinky_inter_bend_1.h"
  #include <math.h>
  
  double pinky_dist_pinky_inter_bend_1(double fore_arm_bend, double fore_arm_side, double hind_arm_bend, double hind_arm_side, double local_x, double local_y, double local_z, double pinky_dist_bend, double pinky_dist_length, double pinky_dist_side, double pinky_inter_bend, double pinky_inter_length, double pinky_inter_side, double pinky_metacarpal_bend, double pinky_metacarpal_side, double pinky_prox_bend, double pinky_prox_side, double root_scale) {
  
     double pinky_dist_pinky_inter_bend_1_result;
     pinky_dist_pinky_inter_bend_1_result = 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))*cos(pinky_inter_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))*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))*sin(pinky_inter_side))*sin(pinky_inter_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))*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))*cos(pinky_inter_bend))*cos(pinky_dist_bend)*cos(pinky_dist_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))*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))*cos(pinky_inter_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))*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))*sin(pinky_inter_side))*cos(pinky_inter_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))*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))*sin(pinky_inter_bend))*sin(pinky_dist_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))*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))*cos(pinky_inter_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))*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))*sin(pinky_inter_side))*sin(pinky_inter_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))*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))*cos(pinky_inter_bend))*sin(pinky_dist_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))*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))*cos(pinky_inter_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))*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))*sin(pinky_inter_side))*sin(pinky_inter_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))*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))*cos(pinky_inter_bend))*sin(pinky_dist_bend)*cos(pinky_dist_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))*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))*cos(pinky_inter_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))*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))*sin(pinky_inter_side))*cos(pinky_inter_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))*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))*sin(pinky_inter_bend))*cos(pinky_dist_bend)) + pinky_dist_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))*cos(pinky_inter_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))*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))*sin(pinky_inter_side))*sin(pinky_inter_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))*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))*cos(pinky_inter_bend))*cos(pinky_dist_bend)*cos(pinky_dist_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))*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))*cos(pinky_inter_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))*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))*sin(pinky_inter_side))*cos(pinky_inter_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))*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))*sin(pinky_inter_bend))*sin(pinky_dist_bend)) + pinky_inter_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))*cos(pinky_inter_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))*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))*sin(pinky_inter_side))*sin(pinky_inter_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))*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))*cos(pinky_inter_bend));
     return pinky_dist_pinky_inter_bend_1_result;
  
  }
  