text: /******************************************************************************
   *                      Code generated with sympy 0.7.6                       *
   *                                                                            *
   *              See http://www.sympy.org/ for more information.               *
   *                                                                            *
   *                       This file is part of 'project'                       *
   ******************************************************************************/
  #include "ring_inter_hind_arm_side_0.h"
  #include <math.h>
  
  double ring_inter_hind_arm_side_0(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 ring_inter_bend, double ring_inter_length, double ring_inter_side, double ring_metacarpal_bend, double ring_metacarpal_length, double ring_metacarpal_side, double ring_prox_bend, double ring_prox_length, double ring_prox_side, double root_scale) {
  
     double ring_inter_hind_arm_side_0_result;
     ring_inter_hind_arm_side_0_result = 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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*sin(ring_metacarpal_side))*cos(ring_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(ring_metacarpal_bend))*cos(ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*cos(ring_metacarpal_side))*sin(ring_prox_side))*cos(ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*sin(ring_metacarpal_side))*sin(ring_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(ring_metacarpal_bend))*sin(ring_prox_bend))*cos(ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*sin(ring_metacarpal_side))*cos(ring_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(ring_metacarpal_bend))*sin(ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*cos(ring_metacarpal_side))*cos(ring_prox_side))*sin(ring_inter_side))*cos(ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*sin(ring_metacarpal_side))*cos(ring_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(ring_metacarpal_bend))*cos(ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*cos(ring_metacarpal_side))*sin(ring_prox_side))*sin(ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*sin(ring_metacarpal_side))*sin(ring_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(ring_metacarpal_bend))*cos(ring_prox_bend))*sin(ring_inter_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*sin(ring_metacarpal_side))*cos(ring_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(ring_metacarpal_bend))*cos(ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*cos(ring_metacarpal_side))*sin(ring_prox_side))*cos(ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*sin(ring_metacarpal_side))*sin(ring_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(ring_metacarpal_bend))*sin(ring_prox_bend))*sin(ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*sin(ring_metacarpal_side))*cos(ring_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(ring_metacarpal_bend))*sin(ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*cos(ring_metacarpal_side))*cos(ring_prox_side))*cos(ring_inter_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*sin(ring_metacarpal_side))*cos(ring_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(ring_metacarpal_bend))*cos(ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*cos(ring_metacarpal_side))*sin(ring_prox_side))*cos(ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*sin(ring_metacarpal_side))*sin(ring_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(ring_metacarpal_bend))*sin(ring_prox_bend))*cos(ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*sin(ring_metacarpal_side))*cos(ring_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(ring_metacarpal_bend))*sin(ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*cos(ring_metacarpal_side))*cos(ring_prox_side))*sin(ring_inter_side))*sin(ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*sin(ring_metacarpal_side))*cos(ring_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(ring_metacarpal_bend))*cos(ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*cos(ring_metacarpal_side))*sin(ring_prox_side))*sin(ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*sin(ring_metacarpal_side))*sin(ring_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(ring_metacarpal_bend))*cos(ring_prox_bend))*cos(ring_inter_bend)) + ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*sin(ring_metacarpal_side))*cos(ring_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(ring_metacarpal_bend))*cos(ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*cos(ring_metacarpal_side))*sin(ring_prox_side))*cos(ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*sin(ring_metacarpal_side))*sin(ring_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(ring_metacarpal_bend))*sin(ring_prox_bend))*cos(ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*sin(ring_metacarpal_side))*cos(ring_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(ring_metacarpal_bend))*sin(ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*cos(ring_metacarpal_side))*cos(ring_prox_side))*sin(ring_inter_side))*cos(ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*sin(ring_metacarpal_side))*cos(ring_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(ring_metacarpal_bend))*cos(ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*cos(ring_metacarpal_side))*sin(ring_prox_side))*sin(ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*sin(ring_metacarpal_side))*sin(ring_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(ring_metacarpal_bend))*cos(ring_prox_bend))*sin(ring_inter_bend)) + ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*sin(ring_metacarpal_side))*cos(ring_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(ring_metacarpal_bend)) + ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*sin(ring_metacarpal_side))*cos(ring_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(ring_metacarpal_bend))*cos(ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*cos(ring_metacarpal_side))*sin(ring_prox_side))*cos(ring_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(ring_metacarpal_side) + (sin(fore_arm_side)*sin(hind_arm_side)*cos(hind_arm_bend) - cos(fore_arm_side)*cos(hind_arm_side))*sin(ring_metacarpal_side))*sin(ring_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(ring_metacarpal_bend))*sin(ring_prox_bend));
     return ring_inter_hind_arm_side_0_result;
  
  }
  