diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
deleted file mode 100644
index c176f13e..00000000
--- a/.github/workflows/ci.yml
+++ /dev/null
@@ -1,206 +0,0 @@
-name: Build and test symengine
-on: [push, pull_request]
-
-jobs:
-  build:
-    runs-on: ${{ matrix.OS }}
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - BUILD_TYPE: Debug
-            WITH_BFD: yes
-            PYTHON_VERSION: '3.12'
-            TEST_SYMPY: yes
-            OS: ubuntu-22.04
-            CC: gcc
-
-          - BUILD_TYPE: Debug
-            WITH_BFD: yes
-            PYTHON_VERSION: '3.11'
-            TEST_SYMPY: yes
-            OS: ubuntu-22.04
-            CC: gcc
-
-          - BUILD_TYPE: Debug
-            WITH_BFD: yes
-            PYTHON_VERSION: '3.10'
-            TEST_SYMPY: yes
-            OS: ubuntu-22.04
-            CC: gcc
-
-          - BUILD_TYPE: Debug
-            WITH_BFD: yes
-            PYTHON_VERSION: '3.9'
-            TEST_SYMPY: yes
-            OS: ubuntu-22.04
-            CC: gcc
-
-          - BUILD_TYPE: Release
-            PYTHON_VERSION: '3.13'
-            BUILD_SHARED_LIBS: yes
-            OS: ubuntu-22.04
-            CC: gcc
-
-          - BUILD_TYPE: Release
-            PYTHON_VERSION: '3.13'
-            WITH_MPFR: yes
-            INTEGER_CLASS: gmpxx
-            WITH_NUMPY: no
-            OS: ubuntu-22.04
-            CC: gcc
-
-          - BUILD_TYPE: Release
-            PYTHON_VERSION: '3.13'
-            WITH_MPC: yes
-            OS: ubuntu-22.04
-            CC: gcc
-
-          - BUILD_TYPE: Release
-            WITH_MPFR: yes
-            PYTHON_VERSION: '3.13'
-            OS: ubuntu-22.04
-            CC: gcc
-
-          - BUILD_TYPE: Release
-            PYTHON_VERSION: '3.9'
-            WITH_MPC: yes
-            OS: ubuntu-22.04
-            CC: gcc
-
-          - BUILD_TYPE: Release
-            PYTHON_VERSION: '3.9'
-            WITH_MPC: yes
-            INTEGER_CLASS: flint
-            WITH_FLINT: yes
-            OS: ubuntu-22.04
-            CC: gcc
-
-          #- BUILD_TYPE: Debug
-          #  PYTHON_VERSION: '3.9'
-          #  WITH_BFD: yes
-          #  WITH_PIRANHA: yes
-          #  OS: ubuntu-22.04
-          #  CC: gcc
-
-          - BUILD_TYPE: Debug
-            PYTHON_VERSION: '3.13'
-            WITH_BFD: yes
-            BUILD_SHARED_LIBS: yes
-            OS: ubuntu-22.04
-            CC: clang
-    
-          - BUILD_TYPE: Release
-            PYTHON_VERSION: '3.13'
-            WITH_NUMPY: yes
-            OS: ubuntu-22.04
-            CC: clang
- 
-          - BUILD_TYPE: Debug
-            PYTHON_VERSION: '3.12'
-            WITH_SYMPY: yes
-            WITH_LLVM: 18
-            WITH_SCIPY: yes
-            WITH_LATEST_GCC: yes
-            INTEGER_CLASS: 'boostmp'
-            PYTEST_ADDOPTS: '-k "not integer_nthroot"'
-            OS: ubuntu-24.04
-            CC: gcc  # ubuntu nobel uses gcc-13
-            #EXTRA_APT_REPOSITORY: 'deb http://apt.llvm.org/jammy/ llvm-toolchain-nobel-18 main'
-            EXTRA_APT_PACKAGES: 'llvm-18'
-
-          - BUILD_TYPE: Debug
-            PYTHON_VERSION: '3.13'
-            WITH_SCIPY: yes
-            WITH_LLVM: 5.0
-            OS: macos-13
-            CC: clang
-
-          - BUILD_TYPE: Release
-            PYTHON_VERSION: '3.9'
-            WITH_NUMPY: no
-            OS: macos-13
-            CC: clang
-
-          - BUILD_TYPE: Debug
-            PYTHON_VERSION: '3.13'
-            WITH_NUMPY: no
-            OS: macos-13
-            CC: gcc
-
-          - BUILD_TYPE: Release
-            PYTHON_VERSION: '3.13'
-            OS: macos-13
-            CC: gcc
-
-          - BUILD_TYPE: Release
-            PYTHON_VERSION: '3.11'
-            OS: ubuntu-22.04
-            WITH_MPC: yes
-            WITH_MPFR: yes
-            WITH_FLINT: yes
-            WITH_FLINT_PY: yes
-            WITH_SCIPY: yes
-            WITH_DOCS: yes
-            INTEGER_CLASS: flint
-            TEST_SYMPY: yes
-            CC: gcc
-
-    steps:
-
-    - uses: conda-incubator/setup-miniconda@v3
-      if: matrix.MSYS_ENV == ''
-      with:
-        activate-environment: symengine
-        channel-priority: strict
-        architecture: x86_64
-        channels: conda-forge
-        conda-remove-defaults: "true"
-
-    - name: Checkout code
-      uses: actions/checkout@v4
-
-    - name: Build and test symengine
-      shell: bash -el {0}
-      run: |
-        source bin/test_symengine_unix.sh
-      env:
-        PYTEST_ADDOPTS: ${{ matrix.PYTEST_ADDOPTS }}
-        USE_GLIBCXX_DEBUG: ${{ matrix.USE_GLIBCXX_DEBUG }}
-        WITH_MPFR: ${{ matrix.WITH_MPFR }}
-        BUILD_BENCHMARKS: ${{ matrix.BUILD_BENCHMARKS }}
-        WITH_LLVM: ${{ matrix.WITH_LLVM }}
-        WITH_BENCHMARKS_NONIUS: ${{ matrix.WITH_BENCHMARKS_NONIUS }}
-        WITH_SYMENGINE_RCP: ${{ matrix.WITH_SYMENGINE_RCP }}
-        TEST_IN_TREE: ${{ matrix.TEST_IN_TREE }}
-        WITH_SYMENGINE_THREAD_SAFE: ${{ matrix.WITH_SYMENGINE_THREAD_SAFE }}
-        WITH_PRIMESIEVE: ${{ matrix.WITH_PRIMESIEVE }}
-        INTEGER_CLASS: ${{ matrix.INTEGER_CLASS }}
-        WITH_ARB: ${{ matrix.WITH_ARB }}
-        WITH_PIRANHA: ${{ matrix.WITH_PIRANHA }}
-        WITH_GCC_6: ${{ matrix.WITH_GCC_6 }}
-        CONDA_ENV_FILE: ${{ matrix.CONDA_ENV_FILE }}
-        WITH_BFD: ${{ matrix.WITH_BFD }}
-        WITH_FLINT: ${{ matrix.WITH_FLINT }}
-        EXTRA_APT_REPOSITORY: ${{ matrix.EXTRA_APT_REPOSITORY }}
-        EXTRA_APT_PACKAGES: ${{ matrix.EXTRA_APT_PACKAGES }}
-        TEST_CLANG_FORMAT: ${{ matrix.TEST_CLANG_FORMAT }}
-        WITH_ECM: ${{ matrix.WITH_ECM }}
-        WITH_LATEST_GCC: ${{ matrix.WITH_LATEST_GCC }}
-        OS: ${{ matrix.OS }}
-        WITH_FLINT_DEV: ${{ matrix.WITH_FLINT_DEV }}
-        CC: ${{ matrix.CC }}
-        WITH_COVERAGE: ${{ matrix.WITH_COVERAGE }}
-        BUILD_TYPE: ${{ matrix.BUILD_TYPE }}
-        WITH_SANITIZE: ${{ matrix.WITH_SANITIZE }}
-        WITH_MPC: ${{ matrix.WITH_MPC }}
-        MAKEFLAGS: ${{ matrix.MAKEFLAGS }}
-        BUILD_SHARED_LIBS: ${{ matrix.BUILD_SHARED_LIBS }}
-        PYTHON_VERSION: ${{ matrix.PYTHON_VERSION }}
-
-    - name: Deploy Documentation
-      if: ${{ (github.ref == 'refs/heads/main' && github.repository == 'Symengine/symengine.py') || (github.ref == 'refs/heads/master' && github.repository == 'Symengine/symengine.py')}}
-      uses: peaceiris/actions-gh-pages@v3
-      with:
-        github_token: ${{ secrets.GITHUB_TOKEN }}
-        publish_dir: ./genDocs
diff --git a/.gitignore b/.gitignore
deleted file mode 100644
index f93c0227..00000000
--- a/.gitignore
+++ /dev/null
@@ -1,45 +0,0 @@
-# CMake
-CMakeCache.txt
-CMakeFiles
-Makefile
-cmake_install.cmake
-install_manifest.txt
-CTestTestfile.cmake
-cython_test.cpp
-
-# Compiled Object Files, Static/Dynamic Libraries
-*.so
-*.a
-*.o
-*.out
-*.exe
-*.pyd
-*.sln
-*.vcxproj
-*.filters
-symengine/lib/symengine_wrapper.cpp
-symengine/lib/symengine_wrapper.pyx
-symengine/lib/symengine_wrapper.pxd
-
-# Config Files
-symengine/lib/config.pxi
-
-# Python build files
-build*
-*__pycache__*
-*.pyc
-MANIFEST
-*.egg-info
-dist/
-.*cache/
-symengine.egg-info/
-
-# Temp files
-*~
-.eggs/
-
-# Docs
-genDocs/
-docs/_build/
-docs/source/
-symengine/lib/version_script_symengine_wrapper.txt
diff --git a/.mailmap b/.mailmap
deleted file mode 100644
index 11654a9b..00000000
--- a/.mailmap
+++ /dev/null
@@ -1,25 +0,0 @@
-# Prevent git from showing duplicate names with commands like "git shortlog"
-# See the manpage of git-shortlog for details.
-# The syntax is:
-# Name that should be used <email that should be used> Bad name <bad email>
-#
-# You can skip Bad name if it is the same as the one that should be used, and is unique.
-#
-# This file is up-to-date if the command git log --format="%aN <%aE>" | sort -u
-# gives no duplicates.
-
-Ondřej Čertík <ondrej@certik.us> <ondrej.certik@gmail.com>
-Peter Brady <petertbrady@gmail.com> <ptb@lanl.gov>
-Isuru Fernando <isuruf@gmail.com> <isuru.11@cse.mrt.ac.lk>
-Isuru Fernando <isuruf@gmail.com> <idf2@illinois.edu>
-Alan Hu <alanlh2@illinois.edu> <31489167+alanlh@users.noreply.github.com>
-Shivam Vats <shivamvats.iitkgp@gmail.com> <shivamvats@users.noreply.github.com>
-Shikhar Jaiswal <jaiswalshikhar87@gmail.com>
-Sumith Kulal <sumith1896@gmail.com>
-Sushant Hiray <hiraysushant@gmail.com>
-Abhinav Agarwal <abhinavagarwal1996@gmail.com>
-Nilay Pochhi <pochhi.nilay@gmail.com>
-Björn Dahlgren <bjodah@gmail.com>
-Richard Otis <richard.otis@outlook.com> richardotis
-Firat Bezir <bezir.1@osu.edu>
-Adrian Ostrowski <adrian.ostrowski@intel.com> <81568391+aostrowski-hbn@users.noreply.github.com>
diff --git a/symengine/lib/__init__.py b/.nojekyll
similarity index 100%
rename from symengine/lib/__init__.py
rename to .nojekyll
diff --git a/AUTHORS b/AUTHORS
deleted file mode 100644
index 484d38be..00000000
--- a/AUTHORS
+++ /dev/null
@@ -1,41 +0,0 @@
-All people who contributed to symengine.py by sending at least a patch or more
-(Note that this repository was a subfolder of symengine repo and early contributors
-to the python bindings maybe listed in AUTHORS of symengine repo).
-You can generate this file by: bin/update_authors.sh.
-
-Ondřej Čertík <ondrej@certik.us>
-Thilina Bandara Rathanyake <thilinarmtb@gmail.com>
-Isuru Fernando <isuruf@gmail.com>
-Sushant Hiray <hiraysushant@gmail.com>
-Peter Brady <petertbrady@gmail.com>
-Thilina Bandara Rathnayake <thilinarmtb@gmail.com>
-Shivam Vats <shivamvats.iitkgp@gmail.com>
-Sumith Kulal <sumith1896@gmail.com>
-Connor Behan <connor.behan@gmail.com>
-Ralf Stephan <ralf@ark.in-berlin.de>
-Björn Dahlgren <bjodah@gmail.com>
-Indrek Mandre <indrek@mare.ee>
-Abhinav Agarwal <abhinavagarwal1996@gmail.com>
-Matt Wala <wala1@illinois.edu>
-Shikhar Jaiswal <jaiswalshikhar87@gmail.com>
-Nilay Pochhi <pochhi.nilay@gmail.com>
-xoviat <xoviat@users.noreply.github.com>
-Jean-Christophe Fillion-Robin <jchris.fillionr@kitware.com>
-Moritz E. Beber <morbeb@biosustain.dtu.dk>
-Alan Hu <alanlh2@illinois.edu>
-Richard Otis <richard.otis@outlook.com>
-Erik Jansson Agnvall <erikjansson90@gmail.com>
-Simon Stelter <stelter@uni-bremen.de>
-Jialin Ma <marlin@inventati.org>
-Rikard Nordgren <rikard.nordgren@farmaci.uu.se>
-Rohit Goswami <rgoswami@ieee.org>
-Matthew Treinish <mtreinish@kortar.org>
-Michał Górny <mgorny@gentoo.org>
-Garming Sam <garming@catalyst.net.nz>
-Pieter Eendebak <pieter.eendebak@gmail.com>
-Ayush Kumar <ayushk7102@gmail.com>
-Christian Clauss <cclauss@me.com>
-Moraxyc <i@qaq.li>
-Aaron Miller <78561124+aaron-skydio@users.noreply.github.com>
-Firat Bezir <bezir.1@osu.edu>
-Adrian Ostrowski <adrian.ostrowski@intel.com>
diff --git a/CMakeLists.txt b/CMakeLists.txt
deleted file mode 100644
index e83c95b1..00000000
--- a/CMakeLists.txt
+++ /dev/null
@@ -1,76 +0,0 @@
-cmake_minimum_required(VERSION 2.8.12...4.0.0)
-
-if (POLICY CMP0057)
-  cmake_policy(SET CMP0057 NEW) # needed for llvm >= 16
-endif ()
-if (POLICY CMP0074)
-  cmake_policy(SET CMP0074 NEW)  # allow user to set *_ROOT variables
-endif()
-
-project(python_wrapper)
-
-set(CMAKE_PREFIX_PATH ${SymEngine_DIR} ${CMAKE_PREFIX_PATH})
-
-include(GNUInstallDirs)
-
-find_package(SymEngine 0.14.0 REQUIRED CONFIG
-             PATH_SUFFIXES lib/cmake/symengine cmake/symengine CMake/)
-message("SymEngine_DIR : " ${SymEngine_DIR})
-message("SymEngine Version : " ${SymEngine_VERSION})
-set(CMAKE_BUILD_TYPE ${SYMENGINE_BUILD_TYPE})
-set(CMAKE_CXX_FLAGS_RELEASE ${SYMENGINE_CXX_FLAGS_RELEASE})
-set(CMAKE_CXX_FLAGS_DEBUG ${SYMENGINE_CXX_FLAGS_DEBUG})
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${SYMENGINE_CXX_FLAGS}")
-include_directories(${SYMENGINE_INCLUDE_DIRS})
-
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake/")
-find_package(Python REQUIRED)
-find_package(Cython REQUIRED)
-include_directories(${PYTHON_INCLUDE_PATH})
-
-if (MINGW AND ("${CMAKE_SIZEOF_VOID_P}" STREQUAL "8"))
-    set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -DMS_WIN64")
-    set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -DMS_WIN64")
-endif()
-
-if (MINGW AND (CMAKE_BUILD_TYPE STREQUAL "Release"))
-    try_compile(CHECK_PYTHON_HYPOT "${CMAKE_CURRENT_BINARY_DIR}/" "${CMAKE_SOURCE_DIR}/cmake/check_python_hypot.cpp")
-    if (NOT ${CHECK_PYTHON_HYPOT})
-        # include cmath before all headers
-        set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -include cmath")
-    endif()
-endif()
-
-include(CheckTypeSize)
-check_type_size("long double" SYMENGINE_SIZEOF_LONG_DOUBLE)
-
-if (HAVE_SYMENGINE_LLVM AND  SYMENGINE_SIZEOF_LONG_DOUBLE GREATER "8" AND CMAKE_SYSTEM_PROCESSOR MATCHES "(x86)|(X86)|(amd64)|(AMD64)")
-    set (HAVE_SYMENGINE_LLVM_LONG_DOUBLE True)
-else ()
-    set (HAVE_SYMENGINE_LLVM_LONG_DOUBLE False)
-endif ()
-
-foreach (PKG MPC MPFR PIRANHA FLINT LLVM)
-    if ("${HAVE_SYMENGINE_${PKG}}" STREQUAL "")
-        set(HAVE_SYMENGINE_${PKG} False)
-    endif()
-endforeach()
-option(SYMENGINE_INSTALL_PY_FILES "Install python files" ON)
-
-message("CMAKE_SYSTEM_PROCESSOR              : ${CMAKE_SYSTEM_PROCESSOR}")
-message("CMAKE_BUILD_TYPE                    : ${CMAKE_BUILD_TYPE}")
-message("CMAKE_CXX_FLAGS                     : ${CMAKE_CXX_FLAGS}")
-message("CMAKE_CXX_FLAGS_RELEASE             : ${CMAKE_CXX_FLAGS_RELEASE}")
-message("CMAKE_CXX_FLAGS_DEBUG               : ${CMAKE_CXX_FLAGS_DEBUG}")
-message("HAVE_SYMENGINE_MPFR                 : ${HAVE_SYMENGINE_MPFR}")
-message("HAVE_SYMENGINE_MPC                  : ${HAVE_SYMENGINE_MPC}")
-message("HAVE_SYMENGINE_PIRANHA              : ${HAVE_SYMENGINE_PIRANHA}")
-message("HAVE_SYMENGINE_FLINT                : ${HAVE_SYMENGINE_FLINT}")
-message("HAVE_SYMENGINE_LLVM                 : ${HAVE_SYMENGINE_LLVM}")
-message("HAVE_SYMENGINE_LLVM_LONG_DOUBLE     : ${HAVE_SYMENGINE_LLVM_LONG_DOUBLE}")
-message("SYMENGINE_COPY_EXTENSION            : ${SYMENGINE_COPY_EXTENSION}")
-
-message("Copying source of python wrappers into: ${CMAKE_CURRENT_BINARY_DIR}")
-file(COPY symengine/ DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/symengine)
-
-add_subdirectory(symengine)
diff --git a/LICENSE b/LICENSE
deleted file mode 100644
index 6472ae39..00000000
--- a/LICENSE
+++ /dev/null
@@ -1,19 +0,0 @@
-Copyright (c) 2013-2015 SymPy Development Team
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
diff --git a/MANIFEST.in b/MANIFEST.in
deleted file mode 100644
index c5d457e2..00000000
--- a/MANIFEST.in
+++ /dev/null
@@ -1,3 +0,0 @@
-include CMakeLists.txt LICENSE README.md symengine_version.txt
-recursive-include symengine *.cpp *.h *.hpp CMakeLists.txt *.in *.cmake *.pyx *.pxd *.py *.pxi
-recursive-include cmake *.cpp *.in *.cmake *.pyx *.py *.txt
diff --git a/README.md b/README.md
deleted file mode 100644
index e13eb727..00000000
--- a/README.md
+++ /dev/null
@@ -1,118 +0,0 @@
-# SymEngine Python Wrappers
-
-Python wrappers to the C++ library [SymEngine](https://github.com/symengine/symengine),
-a fast C++ symbolic manipulation library.
-
-[![Build Status](https://travis-ci.org/symengine/symengine.py.svg)](https://travis-ci.org/symengine/symengine.py)  
-[![Build status](https://ci.appveyor.com/api/projects/status/sl189l9ck3gd8qvk/branch/master?svg=true)](https://ci.appveyor.com/project/symengine/symengine-py/branch/master)
-
-## Installation
-
-### Pip
-
-See License section for information about wheels
-
-```bash
-pip install symengine --user
-```
-
-### Conda package manager
-
-```bash
-conda install python-symengine -c conda-forge
-```
-
-### Build from source
-
-Install prerequisites.
-
-```bash
-CMake       >= 2.8.12
-Python3     >= 3.8
-Cython      >= 0.29.24
-SymEngine   >= 0.7.0
-```
-
-For **SymEngine**, only a specific commit/tag (see `symengine_version.txt`) is
-supported.   The latest git master branch may not work as there may be breaking
-changes in **SymEngine**.
-
-Python wrappers can be installed by,
-
-```bash
-python setup.py install
-```
-
-Additional options to `setup.py` are:
-
-```bash
-python setup.py install build_ext
-    --symengine-dir=/path/to/symengine/install/dir          # Path to SymEngine install directory or build directory
-    --compiler=mingw32|msvc|cygwin                          # Select the compiler for Windows
-    --generator=cmake-generator                             # CMake Generator
-    --build-type=Release|Debug                              # Set build-type for multi-configuration generators like MSVC
-    --define="var1=value1;var2=value2"                      # Give options to CMake
-    --inplace                                               # Build the extension in source tree
-```
-
-Standard options to `setup.py` like `--user`, `--prefix` can be used to
-configure install location.  NumPy is used if found by default, if you wish
-to make your choice of NumPy use explicit: then add
-e.g. `WITH_NUMPY=False` to `--define`.
-
-### Notes on Dependencies
-
-If you intend to evaluate floating-point expressions (using **lambdify**),
-you should consider linking against **LLVM**. Many users might also benefit
-from linking against **FLINT**, as it is now LGPL-licensed.
-
-In general, **sudo** is only required if you are installing to the default
-prefix (`/usr/local`). We recommend specifying a custom prefix
-(`--prefix=$HOME/.local`) to avoid requiring administrative privileges,
-which most users can do without using **sudo**.
-
-If you're uncomfortable specifying the prefix manually, we suggest using
-**Conda** or installing the pre-built wheels via **pip** instead of building
-from source.
-
-## Verification
-
-You can verify the installation of **SymEngine** by using the provided code
-snippet in this README. This snippet ensures that the installation works as
-expected and that basic functionality is available.
-
-```python
-from symengine import var
-x, y, z = var('x y z')
-e = (x + y + z)**2
-expanded_e = e.expand()
-print(expanded_e)
-```
-This will output:
-```python
-x**2 + y**2 + z**2 + 2*x*y + 2*x*z + 2*y*z
-```
-
-Note: The verification code provided above checks the functionality of
-SymEngine. For additional verification specific to SymEngine, please refer to
-the [official SymEngine Python bindings repository](https://github.com/symengine/symengine.py)
-for further tests and examples.
-
-## License
-
-symengine.py is MIT licensed and uses several LGPL, BSD-3, and MIT licensed
-libraries.
-
-Licenses for the dependencies of pip wheels are as follows:
-
-- pip wheels on Unix use **GMP** (LGPL-3.0-or-later),
-  **MPFR** (LGPL-3.0-or-later), **MPC** (LGPL-3.0-or-later),
-  **LLVM** (Apache-2.0), **zlib** (Zlib), **libxml2** (MIT),
-  **zstd** (BSD-3-Clause), and **symengine** (MIT AND BSD-3-Clause).
-- pip wheels on Windows use **MPIR** (LGPL-3.0-or-later) instead of **GMP**
-  above and **pthreads-win32** (LGPL-3.0-or-later) additionally.
-- **NumPy** (BSD-3-Clause) and **SymPy** (BSD-3-Clause) are optional
-  dependencies.
-- Sources for these binary dependencies can be found on
-  [symengine-wheels](https://github.com/symengine/symengine-wheels/releases).
-
diff --git a/appveyor.yml b/appveyor.yml
deleted file mode 100644
index ce1c487c..00000000
--- a/appveyor.yml
+++ /dev/null
@@ -1,146 +0,0 @@
-version: '{build}'
-
-image: "Visual Studio 2019"
-
-environment:
-  global:
-    PLATFORMTOOLSET: "v140"
-
-  matrix:
-    - BUILD_TYPE: "Release"
-      COMPILER: MSVC15
-      PLATFORM: "Win32"
-      PYTHON_VERSION: 39
-      CONDA_INSTALL_LOCN: C:\\Miniconda38-x64
-      WITH_MPFR: yes
-      WITH_MPC: yes
-    - BUILD_TYPE: "Release"
-      COMPILER: MSVC15
-      PLATFORM: "x64"
-      PYTHON_VERSION: 310-x64
-      CONDA_INSTALL_LOCN: C:\\Miniconda38-x64
-      WITH_MPFR: yes
-      WITH_MPC: yes
-    - BUILD_TYPE: "Release"
-      COMPILER: MSVC15
-      PLATFORM: "x64"
-      PYTHON_VERSION: 312-x64
-      CONDA_INSTALL_LOCN: C:\\Miniconda38-x64
-    - BUILD_TYPE: "Release"
-      COMPILER: MSVC15
-      PLATFORM: "x64"
-      PYTHON_VERSION: 39-x64
-      WITH_SYMPY: no
-      CONDA_INSTALL_LOCN: C:\\Miniconda38-x64
-    - BUILD_TYPE: "Release"
-      COMPILER: MSVC15
-      PLATFORM: "x64"
-      PYTHON_VERSION: 311-x64
-      WITH_NUMPY: no
-      CONDA_INSTALL_LOCN: C:\\Miniconda38-x64
-    #- BUILD_TYPE: "Debug"
-    #  COMPILER: MinGW-w64
-    #  PYTHON_VERSION: 39-x64
-    #  WITH_NUMPY: no
-    #- BUILD_TYPE: "Release"
-    #  COMPILER: MinGW-w64
-    #  PYTHON_VERSION: 39-x64
-    #- BUILD_TYPE: "Debug"
-    #  COMPILER: MinGW-w64
-    #  PYTHON_VERSION: 39-x64
-    #  WITH_SYMPY: no
-    - BUILD_TYPE: "Release"
-      COMPILER: MSVC15
-      PLATFORM: "x64"
-      PYTHON_VERSION: 310-x64
-      CONDA_INSTALL_LOCN: C:\\Miniconda38-x64
-      WITH_MPFR: yes
-      WITH_MPC: yes
-      WITH_LLVM: yes
-
-install:
-- set PYTHON_SOURCE_DIR=%CD%
-- git clone https://github.com/sympy/symengine symengine-cpp
-- if [%PLATFORM%]==[Win32] set "CONDA_SUBDIR=win-32"
-
-- if [%COMPILER%]==[MSVC15] call %CONDA_INSTALL_LOCN%\Scripts\activate.bat
-- if [%COMPILER%]==[MSVC15] set "CONDA_DEPS=mpir=3.0.0 vc=14"
-- if [%COMPILER%]==[MSVC15] if [%WITH_MPFR%]==[yes] set "CONDA_DEPS=%CONDA_DEPS% mpfr=3.1.5"
-- if [%COMPILER%]==[MSVC15] if [%WITH_MPC%]==[yes] set "CONDA_DEPS=%CONDA_DEPS% mpc=1.0.3"
-- if [%COMPILER%]==[MSVC15] if [%WITH_LLVM%]==[yes] set "CONDA_DEPS=%CONDA_DEPS% llvmdev=4.0"
-- if [%COMPILER%]==[MSVC15] set "CONDA_DEPS=%CONDA_DEPS% -c conda-forge"
-- if [%COMPILER%]==[MSVC15] if [%BUILD_TYPE%]==[Debug] set "CONDA_DEPS=%CONDA_DEPS% -c symengine/label/debug"
-- if [%COMPILER%]==[MSVC15] conda create -n deps --yes %CONDA_DEPS%
-- if [%COMPILER%]==[MSVC15] call conda activate deps
-- if [%COMPILER%]==[MSVC15] echo %CONDA_PREFIX%
-- if [%COMPILER%]==[MSVC15] echo %PATH%
-- if [%COMPILER%]==[MSVC15] set "PATH=%PATH%;%CONDA_PREFIX%\\Library\\bin;%CONDA_PREFIX%"
-- if [%COMPILER%]==[MSVC15] echo %PATH%
-
-- if [%COMPILER%]==[MinGW] set "PATH=C:\MinGW\bin;%PATH%"
-- if [%COMPILER%]==[MinGW] mingw-get update
-# workaround for https://github.com/appveyor/ci/issues/996
-- if [%COMPILER%]==[MinGW] mingw-get upgrade mingw32-libstdc++
-- if [%COMPILER%]==[MinGW] mingw-get install mingw32-gmp
-
-- if [%COMPILER%]==[MinGW-w64] set "PATH=C:\mingw64\bin;%PATH%"
-
-- rename "C:\Program Files\Git\usr\bin\sh.exe" "sh2.exe"
-
-- if [%COMPILER%]==[MinGW-w64] call symengine-cpp\bin\appveyor-download.cmd "https://raw.githubusercontent.com/symengine/dependencies/5cff7d1736877336cf9fb58267111beea4fa152f/x86_64-4.9.1-release-posix-seh-rt_v3-rev1.7z" -FileName mw64.7z
-- if [%COMPILER%]==[MinGW-w64] 7z x -oC:\ mw64.7z > NUL
-- if [%COMPILER%]==[MinGW-w64] call symengine-cpp\bin\appveyor-download.cmd "https://raw.githubusercontent.com/symengine/dependencies/5cff7d1736877336cf9fb58267111beea4fa152f/gmp-6.0.0-x86_64-w64-mingw32.7z" -FileName gmp.7z
-- if [%COMPILER%]==[MinGW-w64] 7z x -oC:\mingw64 gmp.7z > NUL
-
-- if NOT [%COMPILER%]==[MSVC15] call symengine-cpp\bin\appveyor-download.cmd "https://raw.githubusercontent.com/symengine/dependencies/dcc10cce2133e2b57e61c5ced6120139bbcdfa20/python-libs-mingw32.7z" -FileName pylibs.7z
-- if NOT [%COMPILER%]==[MSVC15] 7z x -aoa -oC:\ pylibs.7z > NUL
-
-- set "PATH=C:\Python%PYTHON_VERSION%;C:\Python%PYTHON_VERSION%\Scripts;%PATH%"
-- echo %PATH%
-- pip install nose pytest cython setuptools
-- if NOT [%WITH_NUMPY%]==[no] pip install numpy
-- if NOT [%WITH_SYMPY%]==[no] pip install sympy
-
-- set /p commit=<symengine_version.txt
-- cd symengine-cpp
-- git checkout %commit%
-- mkdir build
-- cd build
-
-- if [%COMPILER%]==[MSVC15] if [%PLATFORM%]==[Win32] set "CMAKE_GENERATOR=Visual Studio 14 2015"
-- if [%COMPILER%]==[MSVC15] if [%PLATFORM%]==[x64] set "CMAKE_GENERATOR=Visual Studio 14 2015 Win64"
-- if [%COMPILER%]==[MinGW]  set "CMAKE_GENERATOR=MinGW Makefiles"
-- if [%COMPILER%]==[MinGW-w64] set "CMAKE_GENERATOR=MinGW Makefiles"
-
-- if [%COMPILER%]==[MSVC15] set "CMAKE_ARGS=-DCMAKE_PREFIX_PATH=%CONDA_PREFIX%\\Library"
-- if [%COMPILER%]==[MinGW] set "CMAKE_ARGS=-DCMAKE_PREFIX_PATH=C:\MinGW -DCMAKE_BUILD_TYPE=%BUILD_TYPE%"
-- if [%COMPILER%]==[MinGW-w64] set "CMAKE_ARGS=-DCMAKE_PREFIX_PATH=C:\mingw64 -DCMAKE_BUILD_TYPE=%BUILD_TYPE%"
-
-- if [%WITH_MPFR%]==[yes] set "CMAKE_ARGS=%CMAKE_ARGS% -DWITH_MPFR=yes"
-- if [%WITH_MPC%]==[yes] set "CMAKE_ARGS=%CMAKE_ARGS% -DWITH_MPC=yes"
-- if [%WITH_LLVM%]==[yes] set "CMAKE_ARGS=%CMAKE_ARGS% -DWITH_LLVM=yes -DMSVC_USE_MT=no"
-
-- echo "CMAKE_ARGS=%CMAKE_ARGS%"
-- cmake %CMAKE_ARGS% -DBUILD_SHARED_LIBS=yes -DBUILD_TESTS=no -DBUILD_BENCHMARKS=no -DCMAKE_INSTALL_PREFIX=C:\symengine ..
-
-- cmake --build . --config %BUILD_TYPE% --target install
-- cd ../../
-
-build_script:
-- set "PATH=C:\symengine\bin\;%PATH%"
-- set "SYMENGINE_PY_ADD_PATH_TO_SEARCH_DIRS=1"
-- echo %PATH%
-- if [%COMPILER%]==[MSVC15] python setup.py install build_ext --compiler=msvc --build-type=%BUILD_TYPE%
-- if [%COMPILER%]==[MinGW] python setup.py install build_ext --compiler=mingw --inplace
-- if [%COMPILER%]==[MinGW-w64] python setup.py install build_ext --compiler=mingw --inplace
-
-test_script:
-- if not [%COMPILER%]==[MSVC15] nosetests
-- mkdir empty && cd empty
-- python %PYTHON_SOURCE_DIR%\bin\test_python.py
-
-# Enable this to be able to login to the build worker. You can use the
-# `remmina` program in Ubuntu, use the login information that the line below
-# prints into the log.
-# #on_finish:
-#- ps: $blockRdp = $true; iex ((new-object net.webclient).DownloadString('https://raw.githubusercontent.com/appveyor/ci/master/scripts/enable-rdp.ps1'))
diff --git a/benchmarks/6_links_rhs.txt b/benchmarks/6_links_rhs.txt
deleted file mode 100644
index 88270b74..00000000
--- a/benchmarks/6_links_rhs.txt
+++ /dev/null
@@ -1 +0,0 @@
-[y0, y1, y2, y3, y4, y5, y6, l0*m1*y1**2*cos(x1) + l0*m2*y1**2*cos(x1) + l0*m3*y1**2*cos(x1) + l0*m4*y1**2*cos(x1) + l0*m5*y1**2*cos(x1) + l0*m6*y1**2*cos(x1) + l1*m2*y2**2*cos(x2) + l1*m3*y2**2*cos(x2) + l1*m4*y2**2*cos(x2) + l1*m5*y2**2*cos(x2) + l1*m6*y2**2*cos(x2) + l2*m3*y3**2*cos(x3) + l2*m4*y3**2*cos(x3) + l2*m5*y3**2*cos(x3) + l2*m6*y3**2*cos(x3) + l3*m4*y4**2*cos(x4) + l3*m5*y4**2*cos(x4) + l3*m6*y4**2*cos(x4) + l4*m5*y5**2*cos(x5) + l4*m6*y5**2*cos(x5) + l5*m6*y6**2*cos(x6), -g*l0*m1*cos(x1) - g*l0*m2*cos(x1) - g*l0*m3*cos(x1) - g*l0*m4*cos(x1) - g*l0*m5*cos(x1) - g*l0*m6*cos(x1) + l0*l1*m2*y2**2*(-sin(x1)*cos(x2) + sin(x2)*cos(x1)) + l0*l1*m3*y2**2*(-sin(x1)*cos(x2) + sin(x2)*cos(x1)) + l0*l1*m4*y2**2*(-sin(x1)*cos(x2) + sin(x2)*cos(x1)) + l0*l1*m5*y2**2*(-sin(x1)*cos(x2) + sin(x2)*cos(x1)) + l0*l1*m6*y2**2*(-sin(x1)*cos(x2) + sin(x2)*cos(x1)) + l0*l2*m3*y3**2*(-sin(x1)*cos(x3) + sin(x3)*cos(x1)) + l0*l2*m4*y3**2*(-sin(x1)*cos(x3) + sin(x3)*cos(x1)) + l0*l2*m5*y3**2*(-sin(x1)*cos(x3) + sin(x3)*cos(x1)) + l0*l2*m6*y3**2*(-sin(x1)*cos(x3) + sin(x3)*cos(x1)) + l0*l3*m4*y4**2*(-sin(x1)*cos(x4) + sin(x4)*cos(x1)) + l0*l3*m5*y4**2*(-sin(x1)*cos(x4) + sin(x4)*cos(x1)) + l0*l3*m6*y4**2*(-sin(x1)*cos(x4) + sin(x4)*cos(x1)) + l0*l4*m5*y5**2*(-sin(x1)*cos(x5) + sin(x5)*cos(x1)) + l0*l4*m6*y5**2*(-sin(x1)*cos(x5) + sin(x5)*cos(x1)) + l0*l5*m6*y6**2*(-sin(x1)*cos(x6) + sin(x6)*cos(x1)), -g*l1*m2*cos(x2) - g*l1*m3*cos(x2) - g*l1*m4*cos(x2) - g*l1*m5*cos(x2) - g*l1*m6*cos(x2) + l0*l1*m2*y1**2*(sin(x1)*cos(x2) - sin(x2)*cos(x1)) + l0*l1*m3*y1**2*(sin(x1)*cos(x2) - sin(x2)*cos(x1)) + l0*l1*m4*y1**2*(sin(x1)*cos(x2) - sin(x2)*cos(x1)) + l0*l1*m5*y1**2*(sin(x1)*cos(x2) - sin(x2)*cos(x1)) + l0*l1*m6*y1**2*(sin(x1)*cos(x2) - sin(x2)*cos(x1)) + l1*l2*m3*y3**2*(-sin(x2)*cos(x3) + sin(x3)*cos(x2)) + l1*l2*m4*y3**2*(-sin(x2)*cos(x3) + sin(x3)*cos(x2)) + l1*l2*m5*y3**2*(-sin(x2)*cos(x3) + sin(x3)*cos(x2)) + l1*l2*m6*y3**2*(-sin(x2)*cos(x3) + sin(x3)*cos(x2)) + l1*l3*m4*y4**2*(-sin(x2)*cos(x4) + sin(x4)*cos(x2)) + l1*l3*m5*y4**2*(-sin(x2)*cos(x4) + sin(x4)*cos(x2)) + l1*l3*m6*y4**2*(-sin(x2)*cos(x4) + sin(x4)*cos(x2)) + l1*l4*m5*y5**2*(-sin(x2)*cos(x5) + sin(x5)*cos(x2)) + l1*l4*m6*y5**2*(-sin(x2)*cos(x5) + sin(x5)*cos(x2)) + l1*l5*m6*y6**2*(-sin(x2)*cos(x6) + sin(x6)*cos(x2)), -g*l2*m3*cos(x3) - g*l2*m4*cos(x3) - g*l2*m5*cos(x3) - g*l2*m6*cos(x3) + l0*l2*m3*y1**2*(sin(x1)*cos(x3) - sin(x3)*cos(x1)) + l0*l2*m4*y1**2*(sin(x1)*cos(x3) - sin(x3)*cos(x1)) + l0*l2*m5*y1**2*(sin(x1)*cos(x3) - sin(x3)*cos(x1)) + l0*l2*m6*y1**2*(sin(x1)*cos(x3) - sin(x3)*cos(x1)) + l1*l2*m3*y2**2*(sin(x2)*cos(x3) - sin(x3)*cos(x2)) + l1*l2*m4*y2**2*(sin(x2)*cos(x3) - sin(x3)*cos(x2)) + l1*l2*m5*y2**2*(sin(x2)*cos(x3) - sin(x3)*cos(x2)) + l1*l2*m6*y2**2*(sin(x2)*cos(x3) - sin(x3)*cos(x2)) + l2*l3*m4*y4**2*(-sin(x3)*cos(x4) + sin(x4)*cos(x3)) + l2*l3*m5*y4**2*(-sin(x3)*cos(x4) + sin(x4)*cos(x3)) + l2*l3*m6*y4**2*(-sin(x3)*cos(x4) + sin(x4)*cos(x3)) + l2*l4*m5*y5**2*(-sin(x3)*cos(x5) + sin(x5)*cos(x3)) + l2*l4*m6*y5**2*(-sin(x3)*cos(x5) + sin(x5)*cos(x3)) + l2*l5*m6*y6**2*(-sin(x3)*cos(x6) + sin(x6)*cos(x3)), -g*l3*m4*cos(x4) - g*l3*m5*cos(x4) - g*l3*m6*cos(x4) + l0*l3*m4*y1**2*(sin(x1)*cos(x4) - sin(x4)*cos(x1)) + l0*l3*m5*y1**2*(sin(x1)*cos(x4) - sin(x4)*cos(x1)) + l0*l3*m6*y1**2*(sin(x1)*cos(x4) - sin(x4)*cos(x1)) + l1*l3*m4*y2**2*(sin(x2)*cos(x4) - sin(x4)*cos(x2)) + l1*l3*m5*y2**2*(sin(x2)*cos(x4) - sin(x4)*cos(x2)) + l1*l3*m6*y2**2*(sin(x2)*cos(x4) - sin(x4)*cos(x2)) + l2*l3*m4*y3**2*(sin(x3)*cos(x4) - sin(x4)*cos(x3)) + l2*l3*m5*y3**2*(sin(x3)*cos(x4) - sin(x4)*cos(x3)) + l2*l3*m6*y3**2*(sin(x3)*cos(x4) - sin(x4)*cos(x3)) + l3*l4*m5*y5**2*(-sin(x4)*cos(x5) + sin(x5)*cos(x4)) + l3*l4*m6*y5**2*(-sin(x4)*cos(x5) + sin(x5)*cos(x4)) + l3*l5*m6*y6**2*(-sin(x4)*cos(x6) + sin(x6)*cos(x4)), -g*l4*m5*cos(x5) - g*l4*m6*cos(x5) + l0*l4*m5*y1**2*(sin(x1)*cos(x5) - sin(x5)*cos(x1)) + l0*l4*m6*y1**2*(sin(x1)*cos(x5) - sin(x5)*cos(x1)) + l1*l4*m5*y2**2*(sin(x2)*cos(x5) - sin(x5)*cos(x2)) + l1*l4*m6*y2**2*(sin(x2)*cos(x5) - sin(x5)*cos(x2)) + l2*l4*m5*y3**2*(sin(x3)*cos(x5) - sin(x5)*cos(x3)) + l2*l4*m6*y3**2*(sin(x3)*cos(x5) - sin(x5)*cos(x3)) + l3*l4*m5*y4**2*(sin(x4)*cos(x5) - sin(x5)*cos(x4)) + l3*l4*m6*y4**2*(sin(x4)*cos(x5) - sin(x5)*cos(x4)) + l4*l5*m6*y6**2*(-sin(x5)*cos(x6) + sin(x6)*cos(x5)), -g*l5*m6*cos(x6) + l0*l5*m6*y1**2*(sin(x1)*cos(x6) - sin(x6)*cos(x1)) + l1*l5*m6*y2**2*(sin(x2)*cos(x6) - sin(x6)*cos(x2)) + l2*l5*m6*y3**2*(sin(x3)*cos(x6) - sin(x6)*cos(x3)) + l3*l5*m6*y4**2*(sin(x4)*cos(x6) - sin(x6)*cos(x4)) + l4*l5*m6*y5**2*(sin(x5)*cos(x6) - sin(x6)*cos(x5))]
\ No newline at end of file
diff --git a/benchmarks/Lambdify.py b/benchmarks/Lambdify.py
deleted file mode 100644
index f0f1cc72..00000000
--- a/benchmarks/Lambdify.py
+++ /dev/null
@@ -1,103 +0,0 @@
-#!/usr/bin/env python
-from time import clock
-import numpy as np
-import sympy as sp
-import symengine as se
-import warnings
-
-# Real-life example (ion speciation problem in water chemistry)
-
-x = sp.symarray('x', 14)
-p = sp.symarray('p', 14)
-args = np.concatenate((x, p))
-exp = sp.exp
-exprs = [x[0] + x[1] - x[4] + 36.252574322669, x[0] - x[2] + x[3] + 21.3219379611249, x[3] + x[5] - x[6] + 9.9011158998744, 2*x[3] + x[5] - x[7] + 18.190422234653, 3*x[3] + x[5] - x[8] + 24.8679190043357, 4*x[3] + x[5] - x[9] + 29.9336062089226, -x[10] + 5*x[3] + x[5] + 28.5520551531262, 2*x[0] + x[11] - 2*x[4] - 2*x[5] + 32.4401680272417, 3*x[1] - x[12] + x[5] + 34.9992934135095, 4*x[1] - x[13] + x[5] + 37.0716199972041, p[0] - p[1] + 2*p[10] + 2*p[11] - p[12] - 2*p[13] + p[2] + 2*p[5] + 2*p[6] + 2*p[7] + 2*p[8] + 2*p[9] - exp(x[0]) + exp(x[1]) - 2*exp(x[10]) - 2*exp(x[11]) + exp(x[12]) + 2*exp(x[13]) - exp(x[2]) - 2*exp(x[5]) - 2*exp(x[6]) - 2*exp(x[7]) - 2*exp(x[8]) - 2*exp(x[9]), -p[0] - p[1] - 15*p[10] - 2*p[11] - 3*p[12] - 4*p[13] - 4*p[2] - 3*p[3] - 2*p[4] - 3*p[6] - 6*p[7] - 9*p[8] - 12*p[9] + exp(x[0]) + exp(x[1]) + 15*exp(x[10]) + 2*exp(x[11]) + 3*exp(x[12]) + 4*exp(x[13]) + 4*exp(x[2]) + 3*exp(x[3]) + 2*exp(x[4]) + 3*exp(x[6]) + 6*exp(x[7]) + 9*exp(x[8]) + 12*exp(x[9]), -5*p[10] - p[2] - p[3] - p[6] - 2*p[7] - 3*p[8] - 4*p[9] + 5*exp(x[10]) + exp(x[2]) + exp(x[3]) + exp(x[6]) + 2*exp(x[7]) + 3*exp(x[8]) + 4*exp(x[9]), -p[1] - 2*p[11] - 3*p[12] - 4*p[13] - p[4] + exp(x[1]) + 2*exp(x[11]) + 3*exp(x[12]) + 4*exp(x[13]) + exp(x[4]), -p[10] - 2*p[11] - p[12] - p[13] - p[5] - p[6] - p[7] - p[8] - p[9] + exp(x[10]) + 2*exp(x[11]) + exp(x[12]) + exp(x[13]) + exp(x[5]) + exp(x[6]) + exp(x[7]) + exp(x[8]) + exp(x[9])]
-
-lmb_sp = sp.lambdify(args, exprs, modules='math')
-lmb_se = se.Lambdify(args, exprs)
-lmb_se_cse = se.LambdifyCSE(args, exprs)
-lmb_se_llvm = se.Lambdify(args, exprs, backend='llvm')
-
-inp = np.ones(28)
-
-lmb_sp(*inp)
-tim_sympy = clock()
-for i in range(500):
-    res_sympy = lmb_sp(*inp)
-tim_sympy = clock() - tim_sympy
-
-lmb_se(inp)
-tim_se = clock()
-res_se = np.empty(len(exprs))
-for i in range(500):
-    res_se = lmb_se(inp)
-tim_se = clock() - tim_se
-
-lmb_se_cse(inp)
-tim_se_cse = clock()
-res_se_cse = np.empty(len(exprs))
-for i in range(500):
-    res_se_cse = lmb_se_cse(inp)
-tim_se_cse = clock() - tim_se_cse
-
-lmb_se_llvm(inp)
-tim_se_llvm = clock()
-res_se_llvm = np.empty(len(exprs))
-for i in range(500):
-    res_se_llvm = lmb_se_llvm(inp)
-tim_se_llvm = clock() - tim_se_llvm
-
-
-print('SymEngine (lambda double)       speed-up factor (higher is better) vs sympy: %12.5g' %
-      (tim_sympy/tim_se))
-
-print('symengine (lambda double + CSE) speed-up factor (higher is better) vs sympy: %12.5g' %
-      (tim_sympy/tim_se_cse))
-
-print('symengine (LLVM)                speed-up factor (higher is better) vs sympy: %12.5g' %
-      (tim_sympy/tim_se_llvm))
-
-import itertools
-from functools import reduce
-from operator import mul
-
-def ManualLLVM(inputs, *outputs):
-    outputs_ravel = list(itertools.chain(*outputs))
-    cb = se.Lambdify(inputs, outputs_ravel, backend="llvm")
-    def func(*args):
-        result = []
-        n = np.empty(len(outputs_ravel))
-        t = cb.unsafe_real(np.concatenate([arg.ravel() for arg in args]), n)
-        start = 0
-        for output in outputs:
-            elems = reduce(mul, output.shape)
-            result.append(n[start:start+elems].reshape(output.shape))
-            start += elems
-        return result
-    return func
-
-lmb_se_llvm_manual = ManualLLVM(args, np.array(exprs))
-lmb_se_llvm_manual(inp)
-tim_se_llvm_manual = clock()
-res_se_llvm_manual = np.empty(len(exprs))
-for i in range(500):
-    res_se_llvm_manual = lmb_se_llvm_manual(inp)
-tim_se_llvm_manual = clock() - tim_se_llvm_manual
-print('symengine (ManualLLVM)          speed-up factor (higher is better) vs sympy: %12.5g' %
-      (tim_sympy/tim_se_llvm_manual))
-
-if tim_se_llvm_manual < tim_se_llvm:
-    warnings.warn("Cython code for Lambdify.__call__ is slow.")
-
-import setuptools
-import pyximport
-pyximport.install()
-from Lambdify_reference import _benchmark_reference_for_Lambdify as lmb_ref
-
-lmb_ref(inp)
-tim_ref = clock()
-for i in range(500):
-    res_ref = lmb_ref(inp)
-tim_ref = clock() - tim_ref
-print('Hard-coded Cython code          speed-up factor (higher is better) vs sympy: %12.5g' %
-      (tim_sympy/tim_ref))
diff --git a/benchmarks/Lambdify_reference.pyx b/benchmarks/Lambdify_reference.pyx
deleted file mode 100644
index 9a3f6588..00000000
--- a/benchmarks/Lambdify_reference.pyx
+++ /dev/null
@@ -1,10 +0,0 @@
-# Benchmark reference:
-cimport numpy as cnp
-import numpy as np
-from libc.math cimport exp as exp_
-
-def _benchmark_reference_for_Lambdify(cnp.ndarray[cnp.float64_t] x):
-    cdef cnp.ndarray[cnp.float64_t] out = np.empty(14)
-    cdef double * data = <double *>out.data
-    data[:] = [x[0] + x[1] - x[4] + 36.252574322669, x[0] - x[2] + x[3] + 21.3219379611249, x[3] + x[5] - x[6] + 9.9011158998744, 2*x[3] + x[5] - x[7] + 18.190422234653, 3*x[3] + x[5] - x[8] + 24.8679190043357, 4*x[3] + x[5] - x[9] + 29.9336062089226, -x[10] + 5*x[3] + x[5] + 28.5520551531262, 2*x[0] + x[11] - 2*x[4] - 2*x[5] + 32.4401680272417, 3*x[1] - x[12] + x[5] + 34.9992934135095, 4*x[1] - x[13] + x[5] + 37.0716199972041, x[14+0] - x[14+1] + 2*x[14+10] + 2*x[14+11] - x[14+12] - 2*x[14+13] + x[14+2] + 2*x[14+5] + 2*x[14+6] + 2*x[14+7] + 2*x[14+8] + 2*x[14+9] - exp_(x[0]) + exp_(x[1]) - 2*exp_(x[10]) - 2*exp_(x[11]) + exp_(x[12]) + 2*exp_(x[13]) - exp_(x[2]) - 2*exp_(x[5]) - 2*exp_(x[6]) - 2*exp_(x[7]) - 2*exp_(x[8]) - 2*exp_(x[9]), -x[14+0] - x[14+1] - 15*x[14+10] - 2*x[14+11] - 3*x[14+12] - 4*x[14+13] - 4*x[14+2] - 3*x[14+3] - 2*x[14+4] - 3*x[14+6] - 6*x[14+7] - 9*x[14+8] - 12*x[14+9] + exp_(x[0]) + exp_(x[1]) + 15*exp_(x[10]) + 2*exp_(x[11]) + 3*exp_(x[12]) + 4*exp_(x[13]) + 4*exp_(x[2]) + 3*exp_(x[3]) + 2*exp_(x[4]) + 3*exp_(x[6]) + 6*exp_(x[7]) + 9*exp_(x[8]) + 12*exp_(x[9]), -5*x[14+10] - x[14+2] - x[14+3] - x[14+6] - 2*x[14+7] - 3*x[14+8] - 4*x[14+9] + 5*exp_(x[10]) + exp_(x[2]) + exp_(x[3]) + exp_(x[6]) + 2*exp_(x[7]) + 3*exp_(x[8]) + 4*exp_(x[9]), -x[14+1] - 2*x[14+11] - 3*x[14+12] - 4*x[14+13] - x[14+4] + exp_(x[1]) + 2*exp_(x[11]) + 3*exp_(x[12]) + 4*exp_(x[13]) + exp_(x[4]), -x[14+10] - 2*x[14+11] - x[14+12] - x[14+13] - x[14+5] - x[14+6] - x[14+7] - x[14+8] - x[14+9] + exp_(x[10]) + 2*exp_(x[11]) + exp_(x[12]) + exp_(x[13]) + exp_(x[5]) + exp_(x[6]) + exp_(x[7]) + exp_(x[8]) + exp_(x[9])]
-    return out
diff --git a/benchmarks/expand1.py b/benchmarks/expand1.py
deleted file mode 100644
index fb910b31..00000000
--- a/benchmarks/expand1.py
+++ /dev/null
@@ -1,10 +0,0 @@
-import sys
-sys.path.append("..")
-from timeit import default_timer as clock
-from symengine import var
-var("x y z w")
-e = (x+y+z+w)**60
-t1 = clock()
-g = e.expand()
-t2 = clock()
-print("Total time:", t2-t1, "s")
diff --git a/benchmarks/expand1_sage.py b/benchmarks/expand1_sage.py
deleted file mode 100644
index a7b14ede..00000000
--- a/benchmarks/expand1_sage.py
+++ /dev/null
@@ -1,8 +0,0 @@
-from timeit import default_timer as clock
-from sage.all import var
-var("x y z w")
-e = (x+y+z+w)**60
-t1 = clock()
-g = e.expand()
-t2 = clock()
-print("Total time:", t2-t1, "s")
diff --git a/benchmarks/expand2.py b/benchmarks/expand2.py
deleted file mode 100755
index 6c9d5197..00000000
--- a/benchmarks/expand2.py
+++ /dev/null
@@ -1,26 +0,0 @@
-#!/usr/bin/env python
-
-import sys
-sys.path.append("..")
-import os
-from timeit import default_timer as clock
-if os.environ.get("USE_SYMENGINE"):
-    from symengine import var
-else:
-    from sympy import var
-
-def run_benchmark(n):
-    var("x y z w")
-    e = (x + y + z + w)**n
-    f = e * (e + w)
-    t1 = clock()
-    g = f.expand()
-    t2 = clock()
-    print("%s ms" % (1000 * (t2 - t1)))
-
-if __name__ == '__main__':
-    if len(sys.argv) > 1:
-        n = int(sys.argv[1])
-    else:
-        n = 15
-    run_benchmark(n)
diff --git a/benchmarks/expand2_sage.py b/benchmarks/expand2_sage.py
deleted file mode 100644
index f29f55dd..00000000
--- a/benchmarks/expand2_sage.py
+++ /dev/null
@@ -1,10 +0,0 @@
-from timeit import default_timer as clock
-from sage.all import var
-var("x y z w")
-e = (x+y+z+w)**15
-f = e*(e+w)
-print(f)
-t1 = clock()
-g = f.expand()
-t2 = clock()
-print("Total time:", t2-t1, "s")
diff --git a/benchmarks/expand2b_sage.sage b/benchmarks/expand2b_sage.sage
deleted file mode 100644
index 66056b04..00000000
--- a/benchmarks/expand2b_sage.sage
+++ /dev/null
@@ -1,10 +0,0 @@
-from timeit import default_timer as clock
-R.<x, y, z, w> = QQ[]
-# Let this expand first, we don't time it:
-e = (x+y+z+w)**15
-# Time the actual multiplication of two long polynomials:
-t1 = clock()
-f = e*(e+w)
-t2 = clock()
-print "Total time:", t2-t1, "s"
-print "Number of terms:", len(f.monomials())
diff --git a/benchmarks/expand2b_sympy.py b/benchmarks/expand2b_sympy.py
deleted file mode 100644
index 43dcd77b..00000000
--- a/benchmarks/expand2b_sympy.py
+++ /dev/null
@@ -1,10 +0,0 @@
-from timeit import default_timer as clock
-from sympy import ring, ZZ
-R, x, y, z, w = ring("x y z w", ZZ)
-e = (x+y+z+w)**15
-t1 = clock()
-f = e*(e+w)
-t2 = clock()
-#print f
-print("Total time:", t2-t1, "s")
-print("number of terms:", len(f))
diff --git a/benchmarks/expand3.py b/benchmarks/expand3.py
deleted file mode 100644
index 18f0a9cb..00000000
--- a/benchmarks/expand3.py
+++ /dev/null
@@ -1,11 +0,0 @@
-import sys
-sys.path.append("..")
-from timeit import default_timer as clock
-from symengine import var
-var("x y z")
-f = (x**y + y**z + z**x)**100
-print(f)
-t1 = clock()
-g = f.expand()
-t2 = clock()
-print("Total time:", t2-t1, "s")
diff --git a/benchmarks/expand3_sage.py b/benchmarks/expand3_sage.py
deleted file mode 100644
index 75872fa4..00000000
--- a/benchmarks/expand3_sage.py
+++ /dev/null
@@ -1,9 +0,0 @@
-from timeit import default_timer as clock
-from sage.all import var
-var("x y z")
-f = (x**y + y**z + z**x)**100
-print(f)
-t1 = clock()
-g = f.expand()
-t2 = clock()
-print("Total time:", t2-t1, "s")
diff --git a/benchmarks/expand4.py b/benchmarks/expand4.py
deleted file mode 100644
index 1bcdc6e7..00000000
--- a/benchmarks/expand4.py
+++ /dev/null
@@ -1,12 +0,0 @@
-import sys
-sys.path.append("..")
-from timeit import default_timer as clock
-from symengine import var
-var("x")
-e = 1
-for i in range(1, 351):
-    e *= (i+x)**3
-t1 = clock()
-f = e.expand()
-t2 = clock()
-print("Total time:", t2-t1, "s")
diff --git a/benchmarks/expand4_sage.py b/benchmarks/expand4_sage.py
deleted file mode 100644
index 961f5d3b..00000000
--- a/benchmarks/expand4_sage.py
+++ /dev/null
@@ -1,13 +0,0 @@
-print("import...")
-from timeit import default_timer as clock
-from sage.all import var
-var("x")
-e = 1
-print("constructing expression...")
-for i in range(1, 351):
-    e *= (i+x)**3
-print("running benchmark...")
-t1 = clock()
-f = e.expand()
-t2 = clock()
-print("Total time:", t2-t1, "s")
diff --git a/benchmarks/expand5.py b/benchmarks/expand5.py
deleted file mode 100644
index 25ab7e7a..00000000
--- a/benchmarks/expand5.py
+++ /dev/null
@@ -1,12 +0,0 @@
-import sys
-sys.path.append("..")
-from timeit import default_timer as clock
-from symengine import var
-var("x y z")
-e = (x+y+z+1)**15
-f = e*(e+1)
-print(f)
-t1 = clock()
-g = f.expand()
-t2 = clock()
-print("Total time:", t2-t1, "s")
diff --git a/benchmarks/expand5_sage.py b/benchmarks/expand5_sage.py
deleted file mode 100644
index 8fb7ab45..00000000
--- a/benchmarks/expand5_sage.py
+++ /dev/null
@@ -1,10 +0,0 @@
-from timeit import default_timer as clock
-from sage.all import var
-var("x y z")
-e = (x+y+z+1)**15
-f = e*(e+1)
-print(f)
-t1 = clock()
-g = f.expand()
-t2 = clock()
-print("Total time:", t2-t1, "s")
diff --git a/benchmarks/expand6.py b/benchmarks/expand6.py
deleted file mode 100755
index b78d833d..00000000
--- a/benchmarks/expand6.py
+++ /dev/null
@@ -1,34 +0,0 @@
-#!/usr/bin/env python
-
-import sys
-sys.path.append("..")
-import os
-from timeit import default_timer as clock
-if os.environ.get("USE_SYMENGINE"):
-    from symengine import symbols, expand
-else:
-    from sympy import symbols, expand
-
-def run_benchmark(n):
-    a0 = symbols("a0")
-    a1 = symbols("a1")
-    e = a0 + a1
-    f = 0;
-    for i in range(2, n):
-        s = symbols("a%s" % i)
-        e = e + s
-        f = f + s
-    f = -f
-    t1 = clock()
-    e = expand(e**2)
-    e = e.xreplace({a0: f})
-    e = expand(e)
-    t2 = clock()
-    print("%s ms" % (1000 * (t2 - t1)))
-
-if __name__ == '__main__':
-    if len(sys.argv) > 1:
-        n = int(sys.argv[1])
-    else:
-        n = 100
-    run_benchmark(n)
diff --git a/benchmarks/expand6b.py b/benchmarks/expand6b.py
deleted file mode 100755
index 16b571a3..00000000
--- a/benchmarks/expand6b.py
+++ /dev/null
@@ -1,34 +0,0 @@
-#!/usr/bin/env python
-
-import sys
-sys.path.append("..")
-import os
-from timeit import default_timer as clock
-if os.environ.get("USE_SYMENGINE"):
-    from symengine import symbols, expand, sin
-else:
-    from sympy import symbols, expand, sin
-
-def run_benchmark(n):
-    a0 = symbols("a0")
-    a1 = symbols("a1")
-    e = a0 + a1
-    f = 0;
-    for i in range(2, n):
-        s = symbols("a%s" % i)
-        e = e + sin(s)
-        f = f + sin(s)
-    f = -f
-    t1 = clock()
-    e = expand(e**2)
-    e = e.xreplace({a0: f})
-    e = expand(e)
-    t2 = clock()
-    print("%s ms" % (1000 * (t2 - t1)))
-
-if __name__ == '__main__':
-    if len(sys.argv) > 1:
-        n = int(sys.argv[1])
-    else:
-        n = 100
-    run_benchmark(n)
diff --git a/benchmarks/expand7.py b/benchmarks/expand7.py
deleted file mode 100755
index c09c2bd7..00000000
--- a/benchmarks/expand7.py
+++ /dev/null
@@ -1,26 +0,0 @@
-#!/usr/bin/env python
-
-import sys
-sys.path.append("..")
-import os
-from timeit import default_timer as clock
-if os.environ.get("USE_SYMENGINE"):
-    from symengine import symbols, sqrt, expand
-else:
-    from sympy import symbols, sqrt, expand
-
-def run_benchmark(n):
-    x, y = symbols("x y")
-    e = (1 + sqrt(3) * x + sqrt(5) * y) ** n
-    f = e * (e + sqrt(7))
-    t1 = clock()
-    f = expand(f)
-    t2 = clock()
-    print("%s ms" % (1000 * (t2 - t1)))
-
-if __name__ == '__main__':
-    if len(sys.argv) > 1:
-        n = int(sys.argv[1])
-    else:
-        n = 20
-    run_benchmark(n)
diff --git a/benchmarks/expr.txt b/benchmarks/expr.txt
deleted file mode 100644
index a6e31ce2..00000000
--- a/benchmarks/expr.txt
+++ /dev/null
@@ -1 +0,0 @@
--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))))
\ No newline at end of file
diff --git a/benchmarks/heterogeneous_output_Lambdify.py b/benchmarks/heterogeneous_output_Lambdify.py
deleted file mode 100644
index f54d7ab1..00000000
--- a/benchmarks/heterogeneous_output_Lambdify.py
+++ /dev/null
@@ -1,83 +0,0 @@
-#!/usr/bin/env python
-import os
-from time import clock
-import numpy as np
-import sympy as sp
-from sympy.parsing.sympy_parser import parse_expr
-from sympy.parsing.sympy_parser import standard_transformations
-import symengine as se
-import warnings
-
-src = os.path.join(os.path.dirname(__file__), '6_links_rhs.txt')
-serial = open(src).read()
-parsed = parse_expr(serial, transformations=standard_transformations)
-vec = sp.Matrix(1, 14, parsed)
-args = tuple(sorted(vec.free_symbols, key=lambda arg: arg.name))
-exprs = vec, vec.jacobian(args[:-14])
-inp = np.ones(len(args))
-assert inp.size == 26
-
-
-lmb_sp = sp.lambdify(args, exprs, modules=['math', 'sympy'])
-lmb_se = se.Lambdify(args, *exprs)
-lmb_se_llvm = se.Lambdify(args, *exprs, backend='llvm')
-
-
-lmb_sp(*inp)
-tim_sympy = clock()
-for i in range(500):
-    v, m = lmb_sp(*inp)
-tim_sympy = clock() - tim_sympy
-
-lmb_se(inp)
-tim_se = clock()
-for i in range(500):
-    v, m = lmb_se(inp)
-tim_se = clock() - tim_se
-
-
-lmb_se_llvm(inp)
-tim_se_llvm = clock()
-res_se_llvm = np.empty(len(exprs))
-for i in range(500):
-    v, m = lmb_se_llvm(inp)
-tim_se_llvm = clock() - tim_se_llvm
-
-
-print('SymEngine (lambda double)       speed-up factor (higher is better) vs sympy: %12.5g' %
-      (tim_sympy/tim_se))
-
-
-print('symengine (LLVM)                speed-up factor (higher is better) vs sympy: %12.5g' %
-      (tim_sympy/tim_se_llvm))
-
-import itertools
-from functools import reduce
-from operator import mul
-
-def ManualLLVM(inputs, *outputs):
-    outputs_ravel = list(itertools.chain(*outputs))
-    cb = se.Lambdify(inputs, outputs_ravel, backend="llvm")
-    def func(*args):
-        result = []
-        n = np.empty(len(outputs_ravel))
-        t = cb.unsafe_real(np.concatenate([arg.ravel() for arg in args]), n)
-        start = 0
-        for output in outputs:
-            elems = reduce(mul, output.shape)
-            result.append(n[start:start+elems].reshape(output.shape))
-            start += elems
-        return result
-    return func
-
-lmb_se_llvm_manual = ManualLLVM(args, *exprs)
-lmb_se_llvm_manual(inp)
-tim_se_llvm_manual = clock()
-for i in range(500):
-    v, m = lmb_se_llvm_manual(inp)
-tim_se_llvm_manual = clock() - tim_se_llvm_manual
-print('symengine (ManualLLVM)          speed-up factor (higher is better) vs sympy: %12.5g' %
-      (tim_sympy/tim_se_llvm_manual))
-
-if tim_se_llvm_manual < tim_se_llvm:
-    warnings.warn("Cython code for Lambdify.__call__ is slow.")
diff --git a/benchmarks/kane.py b/benchmarks/kane.py
deleted file mode 100644
index 96d5fb66..00000000
--- a/benchmarks/kane.py
+++ /dev/null
@@ -1,32 +0,0 @@
-import sys
-sys.path.append("..")
-from timeit import default_timer as clock
-from symengine import var, sympify, function_symbol, Symbol
-import sympy
-s = open("expr.txt").read()
-printr("Converting to SymPy...")
-e = sympy.sympify(s)
-print("Converting to SymEngine...")
-ce = sympify(e)
-print("    Done.")
-print("SymPy subs:")
-t1 = clock()
-f = e.subs(sympy.Function("q5")(sympy.Symbol("t")), sympy.Symbol("sq5"))
-t2 = clock()
-print("Total time:", t2-t1, "s")
-print("SymEngine subs:")
-t1 = clock()
-cf = ce.subs(function_symbol("q5", Symbol("t")), Symbol("sq5"))
-t2 = clock()
-print("Total time:", t2-t1, "s")
-
-print("SymPy diff:")
-t1 = clock()
-g = f.diff(sympy.Symbol("sq5"))
-t2 = clock()
-print("Total time:", t2-t1, "s")
-print("SymEngine diff:")
-t1 = clock()
-cg = cf.diff(Symbol("sq5"))
-t2 = clock()
-print("Total time:", t2-t1, "s")
diff --git a/benchmarks/kane_generate.py b/benchmarks/kane_generate.py
deleted file mode 100644
index b3c81284..00000000
--- a/benchmarks/kane_generate.py
+++ /dev/null
@@ -1,304 +0,0 @@
-from sympy import evalf, symbols, zeros, pi, sin, cos, sqrt, acos, Matrix
-from sympy.physics.mechanics import (ReferenceFrame, dynamicsymbols, inertia,
-                                     KanesMethod, RigidBody, Point, dot)
-from sympy.utilities.pytest import slow
-
-def test_bicycle():
-    # Code to get equations of motion for a bicycle modeled as in:
-    # J.P Meijaard, Jim M Papadopoulos, Andy Ruina and A.L Schwab. Linearized
-    # dynamics equations for the balance and steer of a bicycle: a benchmark
-    # and review. Proceedings of The Royal Society (2007) 463, 1955-1982
-    # doi: 10.1098/rspa.2007.1857
-
-    # Note that this code has been crudely ported from Autolev, which is the
-    # reason for some of the unusual naming conventions. It was purposefully as
-    # similar as possible in order to aide debugging.
-
-    # Declare Coordinates & Speeds
-    # Simple definitions for qdots - qd = u
-    # Speeds are: yaw frame ang. rate, roll frame ang. rate, rear wheel frame
-    # ang.  rate (spinning motion), frame ang. rate (pitching motion), steering
-    # frame ang. rate, and front wheel ang. rate (spinning motion).
-    # Wheel positions are ignorable coordinates, so they are not introduced.
-    q1, q2, q4, q5 = dynamicsymbols('q1 q2 q4 q5')
-    q1d, q2d, q4d, q5d = dynamicsymbols('q1 q2 q4 q5', 1)
-    u1, u2, u3, u4, u5, u6 = dynamicsymbols('u1 u2 u3 u4 u5 u6')
-    u1d, u2d, u3d, u4d, u5d, u6d = dynamicsymbols('u1 u2 u3 u4 u5 u6', 1)
-
-    # Declare System's Parameters
-    WFrad, WRrad, htangle, forkoffset = symbols('WFrad WRrad htangle forkoffset')
-    forklength, framelength, forkcg1 = symbols('forklength framelength forkcg1')
-    forkcg3, framecg1, framecg3, Iwr11 = symbols('forkcg3 framecg1 framecg3 Iwr11')
-    Iwr22, Iwf11, Iwf22, Iframe11 = symbols('Iwr22 Iwf11 Iwf22 Iframe11')
-    Iframe22, Iframe33, Iframe31, Ifork11 = symbols('Iframe22 Iframe33 Iframe31 Ifork11')
-    Ifork22, Ifork33, Ifork31, g = symbols('Ifork22 Ifork33 Ifork31 g')
-    mframe, mfork, mwf, mwr = symbols('mframe mfork mwf mwr')
-
-    # Set up reference frames for the system
-    # N - inertial
-    # Y - yaw
-    # R - roll
-    # WR - rear wheel, rotation angle is ignorable coordinate so not oriented
-    # Frame - bicycle frame
-    # TempFrame - statically rotated frame for easier reference inertia definition
-    # Fork - bicycle fork
-    # TempFork - statically rotated frame for easier reference inertia definition
-    # WF - front wheel, again posses a ignorable coordinate
-    N = ReferenceFrame('N')
-    Y = N.orientnew('Y', 'Axis', [q1, N.z])
-    R = Y.orientnew('R', 'Axis', [q2, Y.x])
-    Frame = R.orientnew('Frame', 'Axis', [q4 + htangle, R.y])
-    WR = ReferenceFrame('WR')
-    TempFrame = Frame.orientnew('TempFrame', 'Axis', [-htangle, Frame.y])
-    Fork = Frame.orientnew('Fork', 'Axis', [q5, Frame.x])
-    TempFork = Fork.orientnew('TempFork', 'Axis', [-htangle, Fork.y])
-    WF = ReferenceFrame('WF')
-
-    # Kinematics of the Bicycle First block of code is forming the positions of
-    # the relevant points
-    # rear wheel contact -> rear wheel mass center -> frame mass center +
-    # frame/fork connection -> fork mass center + front wheel mass center ->
-    # front wheel contact point
-    WR_cont = Point('WR_cont')
-    WR_mc = WR_cont.locatenew('WR_mc', WRrad * R.z)
-    Steer = WR_mc.locatenew('Steer', framelength * Frame.z)
-    Frame_mc = WR_mc.locatenew('Frame_mc', - framecg1 * Frame.x
-                                           + framecg3 * Frame.z)
-    Fork_mc = Steer.locatenew('Fork_mc', - forkcg1 * Fork.x
-                                         + forkcg3 * Fork.z)
-    WF_mc = Steer.locatenew('WF_mc', forklength * Fork.x + forkoffset * Fork.z)
-    WF_cont = WF_mc.locatenew('WF_cont', WFrad * (dot(Fork.y, Y.z) * Fork.y -
-                                                  Y.z).normalize())
-
-    # Set the angular velocity of each frame.
-    # Angular accelerations end up being calculated automatically by
-    # differentiating the angular velocities when first needed.
-    # u1 is yaw rate
-    # u2 is roll rate
-    # u3 is rear wheel rate
-    # u4 is frame pitch rate
-    # u5 is fork steer rate
-    # u6 is front wheel rate
-    Y.set_ang_vel(N, u1 * Y.z)
-    R.set_ang_vel(Y, u2 * R.x)
-    WR.set_ang_vel(Frame, u3 * Frame.y)
-    Frame.set_ang_vel(R, u4 * Frame.y)
-    Fork.set_ang_vel(Frame, u5 * Fork.x)
-    WF.set_ang_vel(Fork, u6 * Fork.y)
-
-    # Form the velocities of the previously defined points, using the 2 - point
-    # theorem (written out by hand here).  Accelerations again are calculated
-    # automatically when first needed.
-    WR_cont.set_vel(N, 0)
-    WR_mc.v2pt_theory(WR_cont, N, WR)
-    Steer.v2pt_theory(WR_mc, N, Frame)
-    Frame_mc.v2pt_theory(WR_mc, N, Frame)
-    Fork_mc.v2pt_theory(Steer, N, Fork)
-    WF_mc.v2pt_theory(Steer, N, Fork)
-    WF_cont.v2pt_theory(WF_mc, N, WF)
-
-    # Sets the inertias of each body. Uses the inertia frame to construct the
-    # inertia dyadics. Wheel inertias are only defined by principle moments of
-    # inertia, and are in fact constant in the frame and fork reference frames;
-    # it is for this reason that the orientations of the wheels does not need
-    # to be defined. The frame and fork inertias are defined in the 'Temp'
-    # frames which are fixed to the appropriate body frames; this is to allow
-    # easier input of the reference values of the benchmark paper. Note that
-    # due to slightly different orientations, the products of inertia need to
-    # have their signs flipped; this is done later when entering the numerical
-    # value.
-
-    Frame_I = (inertia(TempFrame, Iframe11, Iframe22, Iframe33, 0, 0, Iframe31), Frame_mc)
-    Fork_I = (inertia(TempFork, Ifork11, Ifork22, Ifork33, 0, 0, Ifork31), Fork_mc)
-    WR_I = (inertia(Frame, Iwr11, Iwr22, Iwr11), WR_mc)
-    WF_I = (inertia(Fork, Iwf11, Iwf22, Iwf11), WF_mc)
-
-    # Declaration of the RigidBody containers. ::
-
-    BodyFrame = RigidBody('BodyFrame', Frame_mc, Frame, mframe, Frame_I)
-    BodyFork = RigidBody('BodyFork', Fork_mc, Fork, mfork, Fork_I)
-    BodyWR = RigidBody('BodyWR', WR_mc, WR, mwr, WR_I)
-    BodyWF = RigidBody('BodyWF', WF_mc, WF, mwf, WF_I)
-
-
-    # The kinematic differential equations; they are defined quite simply. Each
-    # entry in this list is equal to zero.
-    kd = [q1d - u1, q2d - u2, q4d - u4, q5d - u5]
-
-    # The nonholonomic constraints are the velocity of the front wheel contact
-    # point dotted into the X, Y, and Z directions; the yaw frame is used as it
-    # is "closer" to the front wheel (1 less DCM connecting them). These
-    # constraints force the velocity of the front wheel contact point to be 0
-    # in the inertial frame; the X and Y direction constraints enforce a
-    # "no-slip" condition, and the Z direction constraint forces the front
-    # wheel contact point to not move away from the ground frame, essentially
-    # replicating the holonomic constraint which does not allow the frame pitch
-    # to change in an invalid fashion.
-
-    conlist_speed = [WF_cont.vel(N) & Y.x, WF_cont.vel(N) & Y.y, WF_cont.vel(N) & Y.z]
-
-    # The holonomic constraint is that the position from the rear wheel contact
-    # point to the front wheel contact point when dotted into the
-    # normal-to-ground plane direction must be zero; effectively that the front
-    # and rear wheel contact points are always touching the ground plane. This
-    # is actually not part of the dynamic equations, but instead is necessary
-    # for the lineraization process.
-
-    conlist_coord = [WF_cont.pos_from(WR_cont) & Y.z]
-
-    # The force list; each body has the appropriate gravitational force applied
-    # at its mass center.
-    FL = [(Frame_mc, -mframe * g * Y.z),
-        (Fork_mc, -mfork * g * Y.z),
-        (WF_mc, -mwf * g * Y.z),
-        (WR_mc, -mwr * g * Y.z)]
-    BL = [BodyFrame, BodyFork, BodyWR, BodyWF]
-
-
-    # The N frame is the inertial frame, coordinates are supplied in the order
-    # of independent, dependent coordinates, as are the speeds. The kinematic
-    # differential equation are also entered here.  Here the dependent speeds
-    # are specified, in the same order they were provided in earlier, along
-    # with the non-holonomic constraints.  The dependent coordinate is also
-    # provided, with the holonomic constraint.  Again, this is only provided
-    # for the linearization process.
-
-    KM = KanesMethod(N, q_ind=[q1, q2, q5],
-            q_dependent=[q4], configuration_constraints=conlist_coord,
-            u_ind=[u2, u3, u5],
-            u_dependent=[u1, u4, u6], velocity_constraints=conlist_speed,
-            kd_eqs=kd)
-    (fr, frstar) = KM.kanes_equations(FL, BL)
-
-    # This is the start of entering in the numerical values from the benchmark
-    # paper to validate the eigen values of the linearized equations from this
-    # model to the reference eigen values. Look at the aforementioned paper for
-    # more information. Some of these are intermediate values, used to
-    # transform values from the paper into the coordinate systems used in this
-    # model.
-    PaperRadRear                    =  0.3
-    PaperRadFront                   =  0.35
-    HTA                             =  evalf.N(pi / 2 - pi / 10)
-    TrailPaper                      =  0.08
-    rake                            =  evalf.N(-(TrailPaper*sin(HTA)-(PaperRadFront*cos(HTA))))
-    PaperWb                         =  1.02
-    PaperFrameCgX                   =  0.3
-    PaperFrameCgZ                   =  0.9
-    PaperForkCgX                    =  0.9
-    PaperForkCgZ                    =  0.7
-    FrameLength                     =  evalf.N(PaperWb*sin(HTA)-(rake-(PaperRadFront-PaperRadRear)*cos(HTA)))
-    FrameCGNorm                     =  evalf.N((PaperFrameCgZ - PaperRadRear-(PaperFrameCgX/sin(HTA))*cos(HTA))*sin(HTA))
-    FrameCGPar                      =  evalf.N(PaperFrameCgX / sin(HTA) + (PaperFrameCgZ - PaperRadRear - PaperFrameCgX / sin(HTA) * cos(HTA)) * cos(HTA))
-    tempa                           =  evalf.N(PaperForkCgZ - PaperRadFront)
-    tempb                           =  evalf.N(PaperWb-PaperForkCgX)
-    tempc                           =  evalf.N(sqrt(tempa**2+tempb**2))
-    PaperForkL                      =  evalf.N(PaperWb*cos(HTA)-(PaperRadFront-PaperRadRear)*sin(HTA))
-    ForkCGNorm                      =  evalf.N(rake+(tempc * sin(pi/2-HTA-acos(tempa/tempc))))
-    ForkCGPar                       =  evalf.N(tempc * cos((pi/2-HTA)-acos(tempa/tempc))-PaperForkL)
-
-    # Here is the final assembly of the numerical values. The symbol 'v' is the
-    # forward speed of the bicycle (a concept which only makes sense in the
-    # upright, static equilibrium case?). These are in a dictionary which will
-    # later be substituted in. Again the sign on the *product* of inertia
-    # values is flipped here, due to different orientations of coordinate
-    # systems.
-    v = symbols('v')
-    val_dict = {WFrad: PaperRadFront,
-                WRrad: PaperRadRear,
-                htangle: HTA,
-                forkoffset: rake,
-                forklength: PaperForkL,
-                framelength: FrameLength,
-                forkcg1: ForkCGPar,
-                forkcg3: ForkCGNorm,
-                framecg1: FrameCGNorm,
-                framecg3: FrameCGPar,
-                Iwr11: 0.0603,
-                Iwr22: 0.12,
-                Iwf11: 0.1405,
-                Iwf22: 0.28,
-                Ifork11: 0.05892,
-                Ifork22: 0.06,
-                Ifork33: 0.00708,
-                Ifork31: 0.00756,
-                Iframe11: 9.2,
-                Iframe22: 11,
-                Iframe33: 2.8,
-                Iframe31: -2.4,
-                mfork: 4,
-                mframe: 85,
-                mwf: 3,
-                mwr: 2,
-                g: 9.81,
-                q1: 0,
-                q2: 0,
-                q4: 0,
-                q5: 0,
-                u1: 0,
-                u2: 0,
-                u3: v / PaperRadRear,
-                u4: 0,
-                u5: 0,
-                u6: v / PaperRadFront}
-
-    # Linearizes the forcing vector; the equations are set up as MM udot =
-    # forcing, where MM is the mass matrix, udot is the vector representing the
-    # time derivatives of the generalized speeds, and forcing is a vector which
-    # contains both external forcing terms and internal forcing terms, such as
-    # centripital or coriolis forces.  This actually returns a matrix with as
-    # many rows as *total* coordinates and speeds, but only as many columns as
-    # independent coordinates and speeds.
-
-    e = KM._fr[0]
-    #import symengine
-    #print "Converting to symengine..."
-    #f = symengine.sympify(e)
-    print("Saving to expr.txt")
-    s = str(e)
-    open("expr.txt", "w").write(s)
-    return
-    import IPython
-    IPython.embed()
-    forcing_lin = KM.linearize()[0]
-
-    # As mentioned above, the size of the linearized forcing terms is expanded
-    # to include both q's and u's, so the mass matrix must have this done as
-    # well.  This will likely be changed to be part of the linearized process,
-    # for future reference.
-    MM_full = KM.mass_matrix_full
-
-    MM_full_s = MM_full.subs(val_dict)
-    forcing_lin_s = forcing_lin.subs(KM.kindiffdict()).subs(val_dict)
-
-
-    MM_full_s = MM_full_s.evalf()
-    forcing_lin_s = forcing_lin_s.evalf()
-
-    # Finally, we construct an "A" matrix for the form xdot = A x (x being the
-    # state vector, although in this case, the sizes are a little off). The
-    # following line extracts only the minimum entries required for eigenvalue
-    # analysis, which correspond to rows and columns for lean, steer, lean
-    # rate, and steer rate.
-    Amat = MM_full_s.inv() * forcing_lin_s
-    A = Amat.extract([1, 2, 4, 6], [1, 2, 3, 5])
-
-    # Precomputed for comparison
-    Res = Matrix([[               0,                                           0,                  1.0,                    0],
-                  [               0,                                           0,                    0,                  1.0],
-                  [9.48977444677355, -0.891197738059089*v**2 - 0.571523173729245, -0.105522449805691*v, -0.330515398992311*v],
-                  [11.7194768719633,   -1.97171508499972*v**2 + 30.9087533932407,   3.67680523332152*v,  -3.08486552743311*v]])
-
-
-    # Actual eigenvalue comparison
-    for i in range(6):
-        # Pull out eigenvalues, put in a list
-        e_valsA = list(A.subs(v, i).eigenvals(rational=False).keys())
-        e_valsR = list(Res.subs(v, i).eigenvals(rational=False).keys())
-        # sort the list
-        e_valsA.sort()
-        e_valsR.sort()
-        # numerically compare eigenvalues
-        for i in range(4):
-            assert abs(e_valsA[i] - e_valsR[i]) < 1e-12
-
-test_bicycle()
diff --git a/benchmarks/legendre1.py b/benchmarks/legendre1.py
deleted file mode 100644
index 6fa30739..00000000
--- a/benchmarks/legendre1.py
+++ /dev/null
@@ -1,28 +0,0 @@
-import sys
-sys.path.append("..")
-from timeit import default_timer as clock
-from symengine import var, Integer
-
-def fact(n):
-    if n in [0, 1]:
-        return 1
-    else:
-        return n*fact(n-1)
-
-def diff(e, x, n):
-    for i in range(n):
-        e = e.diff(x)
-    return e
-
-def legendre(n, x):
-    e = Integer(1)/(Integer(2)**n * fact(Integer(n))) * diff((x**2-1)**n, x, n)
-    return e.expand()
-
-var("x")
-for n in range(10):
-    print(n, legendre(n, x))
-
-t1 = clock()
-e = legendre(500, x)
-t2 = clock()
-print("Total time for legendre(500, x):", t2-t1, "s")
diff --git a/benchmarks/legendre1_sage.py b/benchmarks/legendre1_sage.py
deleted file mode 100644
index 4cddc843..00000000
--- a/benchmarks/legendre1_sage.py
+++ /dev/null
@@ -1,28 +0,0 @@
-print("import...")
-from timeit import default_timer as clock
-from sage.all import var, Integer
-print("    done.")
-
-def fact(n):
-    if n in [0, 1]:
-        return 1
-    else:
-        return n*fact(n-1)
-
-def diff(e, x, n):
-    for i in range(n):
-        e = e.diff(x)
-    return e
-
-def legendre(n, x):
-    e = Integer(1)/(Integer(2)**n * fact(Integer(n))) * diff((x**2-1)**n, x, n)
-    return e.expand()
-
-var("x")
-for n in range(10):
-    print(n, legendre(n, x))
-
-t1 = clock()
-e = legendre(500, x)
-t2 = clock()
-print("Total time for legendre(500, x):", t2-t1, "s")
diff --git a/benchmarks/pydy_pendulum.py b/benchmarks/pydy_pendulum.py
deleted file mode 100644
index 708aec87..00000000
--- a/benchmarks/pydy_pendulum.py
+++ /dev/null
@@ -1,26 +0,0 @@
-import os
-import time
-import sys
-sys.path = ["../sympy", "../pydy", "../symengine.py"] + sys.path
-
-import sympy
-import symengine
-import pydy
-from sympy.physics.mechanics.models import n_link_pendulum_on_cart
-
-print(sympy.__file__)
-print(symengine.__file__)
-print(pydy.__file__)
-
-if (len(sys.argv) > 1):
-    n = int(sys.argv[1])
-else:
-    n = 4
-
-start = time.time()
-sys = n_link_pendulum_on_cart(n, cart_force=False)
-end = time.time()
-
-print("%s s" % (end-start))
-
-#print(sys.eom_method.mass_matrix)
diff --git a/benchmarks/symbench.py b/benchmarks/symbench.py
deleted file mode 100755
index 999ea89b..00000000
--- a/benchmarks/symbench.py
+++ /dev/null
@@ -1,45 +0,0 @@
-#!/usr/bin/env python
-
-"""
-Benchmarks listed at http://wiki.sagemath.org/symbench can be run using this script
-To run all benchmarks using symengine, sympy and sage, python symbench.py sympy sage
-"""
-
-import sys
-import subprocess
-
-benchmarks = ['R1', 'R2', 'R3', 'R5', 'S1', 'S2', 'S3', 'S3a']
-symengine_skip = [False, False, False, False, False, False, False, False]
-sympy_skip = [False, False, False, False, False, False, False, True]
-sage_skip = [False, False, False, False, False, False, False, False]
-
-args = sys.argv[1:]
-sympy = False
-sage = False
-if "sympy" in sys.argv:
-    sympy = True
-if "sage" in sys.argv:
-    sage = True
-ws = "\t\t\t\t"
-
-for i in range(len(benchmarks)):
-    benchmark = benchmarks[i]
-    sys.stdout.write("Time for " + benchmark)
-    a = None
-    b = None
-    c = None
-    if not symengine_skip[i]:
-        a = subprocess.check_output(['python', 'symbench_def.py', benchmark])
-        a = "\t SymEngine : " + a + " s"
-    sys.stdout.write(a or ws)
-    if sympy:
-        if not sympy_skip[i]:
-            b = subprocess.check_output(['python', 'symbench_def.py', 'sympy', benchmark])
-            b = "\t SymPy  : " + b + " s"
-        sys.stdout.write(b or ws)
-    if sage:
-        if not sage_skip[i]:
-            c = subprocess.check_output(['sage', 'symbench_sage.py', benchmark])
-            c = "\t Sage   : " + c + " s"
-        sys.stdout.write(c or ws)
-    print("")
diff --git a/benchmarks/symbench_def.py b/benchmarks/symbench_def.py
deleted file mode 100644
index 97de2c16..00000000
--- a/benchmarks/symbench_def.py
+++ /dev/null
@@ -1,101 +0,0 @@
-#!/usr/bin/env python
-
-"""
-Benchmarks listed at http://wiki.sagemath.org/symbench can be run using this script
-To run the benchmark in symengine, run python symbench.py <benchmark_name>
-To run the benchmark in sympy, run python symbench.py sympy <benchmark_name>
-"""
-
-from timeit import default_timer as clock
-from random import random
-import sys
-
-if "sympy" in sys.argv:
-    is_sympy = True
-    from sympy import sqrt, Integer, var, I, sin, cos
-else :
-    is_sympy = False
-    from symengine import sqrt, Integer, var, I, sin, cos
-
-def R1():
-    def f(z):
-        return sqrt(Integer(1)/3)*z**2 + I/3
-    if (is_sympy):
-        t1 = clock()
-        g = f(f(f(f(f(f(f(f(f(f(I/2)))))))))).as_real_imag()[0]
-        t2 = clock()
-    else :
-        t1 = clock()
-        g = f(f(f(f(f(f(f(f(f(f(I/2)))))))))).expand()
-        t2 = clock()
-    return t2 - t1
-
-def R2():
-    def hermite(n,y):
-          if n == 1: return 2*y
-          if n == 0: return 1
-          return (2*y*hermite(n-1,y) - 2*(n-1)*hermite(n-2,y)).expand()
-    t1 = clock()
-    hermite(15, var('y'))
-    t2 = clock()
-    return t2 - t1
-
-def R3():
-    var('x y z')
-    f = x+y+z
-    t1 = clock()
-    a = [bool(f==f) for _ in range(10)]
-    t2 = clock()
-    return t2 - t1
-
-def R5():
-    def blowup(L,n):
-        for i in range(n):
-            L.append( (L[i] + L[i+1]) * L[i+2] )
-    def uniq(x):
-        v = list(set(x))
-        return v
-    var('x y z')
-    L = [x,y,z]
-    blowup(L,8)
-    t1 = clock()
-    L = uniq(L)
-    t2 = clock()
-    return t2 - t1
-
-def S1():
-    var("x y z")
-    e = (x+y+z+1)**7
-    f = e*(e+1)
-    t1 = clock()
-    f = f.expand()
-    t2 = clock()
-    return t2 - t1
-
-def S2():
-    var("x y z")
-    e = (x**sin(x) + y**cos(y) + z**(x + y))**100
-    t1 = clock()
-    f = e.expand()
-    t2 = clock()
-    return t2 - t1
-
-def S3():
-    var("x y z")
-    e = (x**y + y**z + z**x)**50
-    e = e.expand()
-    t1 = clock()
-    f = e.diff(x)
-    t2 = clock()
-    return t2 - t1
-
-def S3a():
-    var("x y z")
-    e = (x**y + y**z + z**x)**500
-    e = e.expand()
-    t1 = clock()
-    f = e.diff(x)
-    t2 = clock()
-    return t2 - t1
-
-sys.stdout.write("%15.9f" % locals()[sys.argv[-1]]())
diff --git a/benchmarks/symbench_sage.py b/benchmarks/symbench_sage.py
deleted file mode 100755
index f1b4e96c..00000000
--- a/benchmarks/symbench_sage.py
+++ /dev/null
@@ -1,80 +0,0 @@
-#!/usr/bin/env sage
-
-"""
-Benchmarks listed at http://wiki.sagemath.org/symbench can be run using this script
-To run the benchmark in symengine, run python symbench.py <benchmark_name>
-To run the benchmark in sympy, run python symbench.py sympy <benchmark_name>
-"""
-
-from timeit import default_timer as clock
-from sage.all import *
-
-def R1():
-    def f(z): return sqrt(1/3)*z**2 + i/3
-    t1 = clock()
-    a = real(f(f(f(f(f(f(f(f(f(f(I/2)))))))))))
-    t2 = clock()
-    return t2 - t1
-
-def R2():
-    def hermite(n,y):
-        if n == 1: return 2*y
-        if n == 0: return 1
-        return expand(2*y*hermite(n-1,y) - 2*(n-1)*hermite(n-2,y))
-    t1 = clock()
-    hermite(15,var('y'))
-    t2 = clock()
-    return t2 - t1
-
-def R3():
-    var('x,y,z')
-    f = x+y+z
-    t1 = clock()
-    a = [bool(f==f) for _ in range(10)]
-    t2 = clock()
-    return t2 - t1
-
-def R5():
-    def blowup(L,n):
-        for i in range(n):
-            L.append( (L[i] + L[i+1]) * L[i+2] )
-    (x, y, z)=var('x,y,z')
-    L = [x, y, z]
-    blowup(L, 8)
-    t1 = clock()
-    L=uniq(L)
-    t2 = clock()
-    return t2 - t1
-
-def S1():
-    var('x,y,z')
-    f = (x+y+z+1)**7
-    t1 = clock()
-    g = expand(f*(f+1))
-    t2 = clock()
-    return t2 - t1
-
-def S2():
-    var('x,y,z')
-    t1 = clock()
-    a = expand((x**sin(x) + y**cos(y) - z**(x+y))**100)
-    t2 = clock()
-    return t2 - t1
-
-def S3():
-    var('x,y,z')
-    f = expand((x**y + y**z + z**x)**50)
-    t1 = clock()
-    g = f.diff(x)
-    t2 = clock()
-    return t2 - t1
-
-def S3a():
-    var('x,y,z')
-    f = expand((x**y + y**z + z**x)**500)
-    t1 = clock()
-    g = f.diff(x)
-    t2 = clock()
-    return t2 - t1
-
-sys.stdout.write("%15.9f" % locals()[sys.argv[-1]]())
diff --git a/bin/install_travis.sh b/bin/install_travis.sh
deleted file mode 100644
index f63a4747..00000000
--- a/bin/install_travis.sh
+++ /dev/null
@@ -1,36 +0,0 @@
-#!/usr/bin/env bash
-
-# symengine's bin/install_travis.sh will install miniconda
-
-export conda_pkgs="python=${PYTHON_VERSION} pip pytest setuptools gmp mpfr"
-
-if [[ "${WITH_NUMPY}" != "no" ]]; then
-    export conda_pkgs="${conda_pkgs} numpy";
-fi
-
-if [[ "${WITH_SCIPY}" == "yes" ]]; then
-    export conda_pkgs="${conda_pkgs} scipy";
-fi
-
-if [[ "${WITH_DOCS}" == "yes" ]]; then
-    export conda_pkgs="${conda_pkgs} sphinx recommonmark";
-fi
-
-if [[ "${WITH_FLINT_PY}" == "yes" ]]; then
-    export conda_pkgs="${conda_pkgs} python-flint";  # python-flint affects sympy, see e.g. sympy/sympy#26645
-fi
-
-if [[ "${WITH_SAGE}" == "yes" ]]; then
-    # This is split to avoid the 10 minute limit
-    conda install -q sagelib=8.1
-    conda clean --all
-    export conda_pkgs="${conda_pkgs} sage=8.1";
-fi
-
-conda install -q ${conda_pkgs} "cython>=0.29.24"
-
-if [[ "${WITH_SYMPY}" != "no" ]]; then
-    pip install sympy;
-fi
-
-conda clean --all
\ No newline at end of file
diff --git a/bin/test_python.py b/bin/test_python.py
deleted file mode 100644
index 98c337ab..00000000
--- a/bin/test_python.py
+++ /dev/null
@@ -1,18 +0,0 @@
-import os
-TEST_SYMPY = os.getenv('TEST_SYMPY', False)
-
-import symengine
-if not symengine.test():
-    raise Exception('Tests failed')
-
-if TEST_SYMPY:
-    import sympy
-    from sympy.core.cache import clear_cache
-    import atexit
-
-    atexit.register(clear_cache)
-    print('Testing SYMPY')
-    if not sympy.test('sympy/physics/mechanics'):
-        raise Exception('Tests failed')
-    if not sympy.test('sympy/liealgebras'):
-        raise Exception('Tests failed')
diff --git a/bin/test_symengine_unix.sh b/bin/test_symengine_unix.sh
deleted file mode 100644
index 0c62b7d1..00000000
--- a/bin/test_symengine_unix.sh
+++ /dev/null
@@ -1,22 +0,0 @@
-export PYTHON_SOURCE_DIR=`pwd`
-export TEST_CPP="no"
-export MAKEFLAGS="-j2"
-
-git clone https://github.com/symengine/symengine symengine-cpp
-cd symengine-cpp
-export SOURCE_DIR=`pwd`
-git checkout `cat ../symengine_version.txt`
-cd ..
-
-# Setup travis for C++ library
-cd $SOURCE_DIR
-source bin/test_symengine.sh
-
-# Setup travis for Python wrappers
-cd $PYTHON_SOURCE_DIR
-source bin/install_travis.sh
-
-# Build Python wrappers and test
-cd $PYTHON_SOURCE_DIR
-bin/test_travis.sh
-
diff --git a/bin/test_travis.sh b/bin/test_travis.sh
deleted file mode 100755
index d83b27db..00000000
--- a/bin/test_travis.sh
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env bash
-
-# Exit on error
-set -e
-# Echo each command
-set -x
-
-python setup.py sdist
-mkdir dist-extract
-cd dist-extract
-tar -xvf ../dist/symengine-*.tar.gz
-cd symengine-*
-
-# Build inplace so that nosetests can be run inside source directory
-python3 setup.py install build_ext --inplace --symengine-dir=$our_install_dir
-
-# Test python wrappers
-python3 -m pip install pytest
-python3 -m pytest -s -v $PWD/symengine/tests/test_*.py
-mkdir -p empty && cd empty
-python3 $PYTHON_SOURCE_DIR/bin/test_python.py
diff --git a/bin/trigger_feedstock.sh b/bin/trigger_feedstock.sh
deleted file mode 100755
index d7fe21c6..00000000
--- a/bin/trigger_feedstock.sh
+++ /dev/null
@@ -1,57 +0,0 @@
-#!/usr/bin/env bash
-
-set -x
-
-if [[ "${TRIGGER_FEEDSTOCK}" != "yes" ]]; then
-    exit 0;
-fi
-if [[ "${TRAVIS_PULL_REQUEST}" != "false" ]]; then
-    echo "Testing a pull request, feedstock is not triggered.";
-    exit 0;
-fi
-if [[ "${GH_TOKEN}" == "" ]]; then
-    echo "Testing a fork, feedstock is not triggered.";
-    exit 0;
-fi
-
-
-cd $PYTHON_SOURCE_DIR;
-git clean -dfx;
-export ver=`git describe --tags`
-if [[ $ver == "v"* ]]
-then
-  ver=${ver:1};
-fi
-
-export symengine_ver=`cat symengine_version.txt`
-if [[ $symengine_ver == "v"* ]]
-then
-  symengine_ver=${symengine_ver:1};
-fi
-
-export commit=`git rev-parse HEAD`
-
-git config --global user.name "Isuru Fernando"
-git config --global user.email "isuruf@gmail.com"
-
-set +x
-git clone "https://${GH_TOKEN}@github.com/symengine/python-symengine-feedstock.git" feedstock -q
-set -x
-
-cd feedstock
-if [[ "${TRAVIS_TAG}" != "" ]]; then
-    git checkout tagged
-else
-    echo "Testing merge. Not triggering feedstock"
-    exit 0
-    # git checkout dev
-fi
-
-sed -ie '1,2d' recipe/meta.yaml
-sed -i '1s/^/{% set version = "'${ver}'" %}\n/' recipe/meta.yaml
-sed -i '1s/^/{% set commit = "'${commit}'" %}\n/' recipe/meta.yaml
-sed -i 's/^    - symengine     [0-9].*/    - symengine     '${symengine_ver}'/' recipe/meta.yaml
-git add recipe/meta.yaml
-git commit -m "Update symengine version to ${ver}"
-git push -q
-
diff --git a/cmake/FindCython.cmake b/cmake/FindCython.cmake
deleted file mode 100644
index beac6c56..00000000
--- a/cmake/FindCython.cmake
+++ /dev/null
@@ -1,75 +0,0 @@
-#
-# Cython
-#
-
-# This finds the "cython" executable in your PATH, and then in some standard
-# paths:
-
-find_program(CYTHON_BIN NAMES cython cython3 cython2)
-SET(CYTHON_FLAGS --cplus --fast-fail -3)
-
-SET(Cython_FOUND FALSE)
-IF (CYTHON_BIN)
-    # Try to run Cython, to make sure it works:
-    execute_process(
-        COMMAND ${CYTHON_BIN} ${CYTHON_FLAGS} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/cython_test.pyx
-        RESULT_VARIABLE CYTHON_RESULT
-        OUTPUT_VARIABLE CYTHON_OUTPUT
-        ERROR_VARIABLE CYTHON_ERROR
-        )
-    if (CYTHON_RESULT EQUAL 0)
-        # Only if cython exits with the return code 0, we know that all is ok:
-        SET(Cython_FOUND TRUE)
-        SET(Cython_Compilation_Failed FALSE)
-    else (CYTHON_RESULT EQUAL 0)
-        SET(Cython_Compilation_Failed TRUE)
-    endif (CYTHON_RESULT EQUAL 0)
-ENDIF (CYTHON_BIN)
-
-
-IF (Cython_FOUND)
-    IF (NOT Cython_FIND_QUIETLY)
-        MESSAGE(STATUS "Found CYTHON: ${CYTHON_BIN}")
-    ENDIF (NOT Cython_FIND_QUIETLY)
-ELSE (Cython_FOUND)
-    IF (Cython_FIND_REQUIRED)
-        if(Cython_Compilation_Failed)
-            MESSAGE(STATUS "Found CYTHON: ${CYTHON_BIN}")
-            # On Win the testing of Cython does not return any accessible value, so the test is not carried out.
-            # Fresh Cython install was tested and works.
-            IF(NOT MSVC)
-                MESSAGE(FATAL_ERROR
-                    "Your Cython version is too old. Please upgrade Cython."
-                    "STDOUT: ${CYTHON_OUTPUT}"
-                    "STDERROR: ${CYTHON_ERROR}"
-                )
-            ENDIF(NOT MSVC)
-        else(Cython_Compilation_Failed)
-            MESSAGE(FATAL_ERROR "Could not find Cython. Please install Cython.")
-        endif(Cython_Compilation_Failed)
-    ENDIF (Cython_FIND_REQUIRED)
-ENDIF (Cython_FOUND)
-
-
-# This allows to link Cython files
-# Examples:
-# 1) to compile assembly.pyx to assembly.so:
-#   CYTHON_ADD_MODULE(assembly)
-# 2) to compile assembly.pyx and something.cpp to assembly.so:
-#   CYTHON_ADD_MODULE(assembly something.cpp)
-
-if(NOT CYTHON_INCLUDE_DIRECTORIES)
-    set(CYTHON_INCLUDE_DIRECTORIES .)
-endif(NOT CYTHON_INCLUDE_DIRECTORIES)
-
-# Cythonizes the .pyx files into .cpp file (but doesn't compile it)
-macro(CYTHON_ADD_MODULE_PYX cpp_name pyx_name)
-    # Allow the user to specify dependencies as optional arguments
-    set(DEPENDS ${DEPENDS} ${ARGN})
-    add_custom_command(
-        OUTPUT ${cpp_name}
-        COMMAND ${CYTHON_BIN}
-        ARGS ${CYTHON_FLAGS} -I ${CYTHON_INCLUDE_DIRECTORIES} -o ${cpp_name} ${pyx_name}
-        DEPENDS ${DEPENDS} ${pyx_name}
-        COMMENT "Cythonizing ${pyx_name}")
-endmacro(CYTHON_ADD_MODULE_PYX)
diff --git a/cmake/FindNumPy.cmake b/cmake/FindNumPy.cmake
deleted file mode 100644
index 66bf7bf4..00000000
--- a/cmake/FindNumPy.cmake
+++ /dev/null
@@ -1,19 +0,0 @@
-execute_process(
-	COMMAND ${PYTHON_BIN} -c "import numpy; print(numpy.get_include())"
-        RESULT_VARIABLE NUMPY_FIND_RESULT
-	OUTPUT_VARIABLE NUMPY_FIND_OUTPUT
-        ERROR_VARIABLE NUMPY_FIND_ERROR
-        OUTPUT_STRIP_TRAILING_WHITESPACE
-        )
-if(NOT NUMPY_FIND_RESULT MATCHES 0)
-  set(NUMPY_FOUND FALSE)
-  message(STATUS "NumPy import failure:\n${NUMPY_FIND_ERROR}")  
-else()
-  find_path(NUMPY_INCLUDE_PATH numpy/arrayobject.h
-    HINTS "${NUMPY_FIND_OUTPUT}" NO_DEFAULT_PATH)
-  if(NUMPY_INCLUDE_PATH)
-    set(NUMPY_FOUND TRUE CACHE BOOL INTERNAL "NumPy found")
-    INCLUDE(FindPackageHandleStandardArgs)
-    FIND_PACKAGE_HANDLE_STANDARD_ARGS(NUMPY DEFAULT_MSG NUMPY_INCLUDE_PATH)
-  endif()
-endif()
diff --git a/cmake/FindPython.cmake b/cmake/FindPython.cmake
deleted file mode 100644
index c1f6c439..00000000
--- a/cmake/FindPython.cmake
+++ /dev/null
@@ -1,147 +0,0 @@
-set(PYTHON_BIN python CACHE STRING "Python executable name")
-
-execute_process(
-	COMMAND ${PYTHON_BIN} -c "from sysconfig import get_paths; print(get_paths()['include'])"
-	OUTPUT_VARIABLE PYTHON_SYS_PATH
-	)
-string(STRIP ${PYTHON_SYS_PATH} PYTHON_SYS_PATH)
-FIND_PATH(PYTHON_INCLUDE_PATH Python.h
-    PATHS ${PYTHON_SYS_PATH}
-    NO_DEFAULT_PATH
-    NO_SYSTEM_ENVIRONMENT_PATH
-    )
-message(STATUS "Python include path: ${PYTHON_INCLUDE_PATH}")
-
-set(PYTHON_INSTALL_HEADER_PATH ${PYTHON_INCLUDE_PATH}/symengine
-    CACHE BOOL "Python install headers path")
-
-execute_process(
-	COMMAND ${PYTHON_BIN} -c "from sysconfig import get_config_var; print(get_config_var('LIBDIR'))"
-	OUTPUT_VARIABLE PYTHON_LIB_PATH
-	)
-string(STRIP ${PYTHON_LIB_PATH} PYTHON_LIB_PATH)
-
-execute_process(
-    COMMAND ${PYTHON_BIN} -c "import sys; print(sys.prefix)"
-    OUTPUT_VARIABLE PYTHON_PREFIX_PATH
-)
-
-string(STRIP ${PYTHON_PREFIX_PATH} PYTHON_PREFIX_PATH)
-
-execute_process(
-    COMMAND ${PYTHON_BIN} -c "import sys; print('%s.%s' % sys.version_info[:2])"
-    OUTPUT_VARIABLE PYTHON_VERSION
-)
-string(STRIP ${PYTHON_VERSION} PYTHON_VERSION)
-message(STATUS "Python version: ${PYTHON_VERSION}")
-
-string(REPLACE "." "" PYTHON_VERSION_WITHOUT_DOTS ${PYTHON_VERSION})
-
-execute_process(
-    COMMAND ${PYTHON_BIN} -c "import sysconfig;print(bool(sysconfig.get_config_var('Py_GIL_DISABLED')))"
-    OUTPUT_VARIABLE PY_GIL_DISABLED
-)
-string(STRIP ${PY_GIL_DISABLED} PY_GIL_DISABLED)
-
-if ("${PY_GIL_DISABLED}" STREQUAL "True")
-  set (PY_THREAD "t")
-endif()
-
-if (${CMAKE_SYSTEM_NAME} STREQUAL "Windows")
-  FIND_LIBRARY(PYTHON_LIBRARY NAMES
-        python${PYTHON_VERSION}${PY_THREAD}
-        python${PYTHON_VERSION}m
-        python${PYTHON_VERSION_WITHOUT_DOTS}${PY_THREAD}
-      PATHS ${PYTHON_LIB_PATH} ${PYTHON_PREFIX_PATH}/lib ${PYTHON_PREFIX_PATH}/libs
-      PATH_SUFFIXES ${CMAKE_LIBRARY_ARCHITECTURE}
-      NO_DEFAULT_PATH
-      NO_SYSTEM_ENVIRONMENT_PATH
-  )
-endif()
-
-execute_process(
-    COMMAND ${PYTHON_BIN} -c "from sysconfig import get_paths; print(get_paths()['platlib'])"
-    OUTPUT_VARIABLE PYTHON_INSTALL_PATH_tmp
-)
-string(STRIP ${PYTHON_INSTALL_PATH_tmp} PYTHON_INSTALL_PATH_tmp)
-set(PYTHON_INSTALL_PATH ${PYTHON_INSTALL_PATH_tmp}
-    CACHE BOOL "Python install path")
-message(STATUS "Python install path: ${PYTHON_INSTALL_PATH}")
-
-execute_process(
-    COMMAND ${PYTHON_BIN} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/get_suffix.py
-    OUTPUT_VARIABLE PYTHON_EXTENSION_SOABI_tmp
-)
-string(STRIP ${PYTHON_EXTENSION_SOABI_tmp} PYTHON_EXTENSION_SOABI_tmp)
-
-set(PYTHON_EXTENSION_SOABI ${PYTHON_EXTENSION_SOABI_tmp}
-    CACHE STRING "Suffix for python extensions")
-
-INCLUDE(FindPackageHandleStandardArgs)
-
-if (${CMAKE_SYSTEM_NAME} STREQUAL "Windows")
-    FIND_PACKAGE_HANDLE_STANDARD_ARGS(Python DEFAULT_MSG PYTHON_LIBRARY PYTHON_INCLUDE_PATH PYTHON_INSTALL_PATH)
-else ()
-    FIND_PACKAGE_HANDLE_STANDARD_ARGS(Python DEFAULT_MSG PYTHON_INCLUDE_PATH PYTHON_INSTALL_PATH)
-endif ()
-
-
-# Links a Python extension module.
-#
-# The exact link flags are platform dependent and this macro makes it possible
-# to write platform independent cmakefiles. All you have to do is to change
-# this:
-#
-# add_library(simple_wrapper SHARED ${SRC})  # Linux only
-# set_target_properties(simple_wrapper PROPERTIES PREFIX "")
-#
-# to this:
-#
-# add_python_library(simple_wrapper ${SRC})  # Platform independent
-#
-# Full example:
-#
-# set(SRC
-#     iso_c_utilities.f90
-#     pde_pointers.f90
-#     example1.f90
-#     example2.f90
-#     example_eigen.f90
-#     simple.f90
-#     simple_wrapper.c
-# )
-# add_python_library(simple_wrapper ${SRC})
-
-macro(ADD_PYTHON_LIBRARY name)
-    # When linking Python extension modules, a special care must be taken about
-    # the link flags, which are platform dependent:
-    IF(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
-        # on Mac, we need to use the "-bundle" gcc flag, which is what MODULE
-        # does:
-        add_library(${name} MODULE ${ARGN})
-        # and "-undefined dynamic_lookup" link flags, that we need to add by hand:
-        set_property(TARGET ${name} APPEND_STRING PROPERTY
-            LINK_FLAGS " -undefined dynamic_lookup -Wl,-exported_symbol,_PyInit_${name}")
-    ELSEIF(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
-        # on Linux, we need to use the "-shared" gcc flag, which is what SHARED
-        # does:
-        set(PYTHON_EXTENSION_NAME ${name})
-        add_library(${name} SHARED ${ARGN})
-        configure_file(${CMAKE_SOURCE_DIR}/cmake/version_script.txt
-            ${CMAKE_CURRENT_BINARY_DIR}/version_script_${name}.txt @ONLY)
-        set_property(TARGET ${name} APPEND_STRING PROPERTY
-            LINK_FLAGS " \"-Wl,--version-script=${CMAKE_CURRENT_BINARY_DIR}/version_script_${name}.txt\"")
-    ELSE()
-        add_library(${name} SHARED ${ARGN})
-    ENDIF()
-    set_target_properties(${name} PROPERTIES PREFIX "")
-    set_target_properties(${name} PROPERTIES OUTPUT_NAME "${name}${PYTHON_EXTENSION_SOABI}")
-    IF(${CMAKE_SYSTEM_NAME} STREQUAL "Windows")
-        target_link_libraries(${name} ${PYTHON_LIBRARY})
-        set_target_properties(${name} PROPERTIES SUFFIX ".pyd")
-        IF("${PY_GIL_DISABLED}" STREQUAL "True")
-            target_compile_definitions(${name} PRIVATE Py_GIL_DISABLED=1)
-        ENDIF()
-    ENDIF()
-
-endmacro(ADD_PYTHON_LIBRARY)
diff --git a/cmake/check_python_hypot.cpp b/cmake/check_python_hypot.cpp
deleted file mode 100644
index dab1400b..00000000
--- a/cmake/check_python_hypot.cpp
+++ /dev/null
@@ -1,8 +0,0 @@
-// python header pyconfig.h defines hypot to be _hypot and therefore build might fail in MinGW
-// http://stackoverflow.com/questions/10660524/error-building-boost-1-49-0-with-gcc-4-7-0
-// This file checks whether the build fail
-
-#include <Python.h>
-#include <math.h>
-
-
diff --git a/cmake/cython_test.pyx b/cmake/cython_test.pyx
deleted file mode 100644
index e97be0b4..00000000
--- a/cmake/cython_test.pyx
+++ /dev/null
@@ -1,82 +0,0 @@
-# Test that libcpp module is present:
-from libcpp.vector cimport vector
-from libcpp.string cimport string
-
-# Test the math library:
-from libc.math cimport sin, cos, atan2
-
-# Test that templates work:
-cdef vector[int] array2vector_int(a):
-    cdef vector[int] v
-    for i in range(len(a)):
-        v.push_back(a[i])
-    return v
-
-# Test that bool support works
-from libcpp cimport bool
-
-# Test that C++ support works
-
-cdef extern from "electrostatics.h":
-
-    ctypedef double scalar
-
-    cdef cppclass Function:
-        pass
-
-    cdef cppclass MeshFunction(Function):
-        scalar get_pt_value(double x, double y)
-
-    cdef cppclass Solution(MeshFunction):
-        void copy(Solution *s)
-
-    cdef cppclass Electrostatics:
-        void set_mesh_str(char *mesh)
-        void set_initial_mesh_refinement(int init_ref_num)
-        void set_initial_poly_degree(int p)
-        void set_material_markers(vector[int] &mat_markers)
-        void set_permittivity_array(vector[double] &p_array)
-        void set_charge_density_array(vector[double] &cd_array)
-        void set_boundary_markers_value(vector[int] &bdy_markers_val)
-        void set_boundary_values(vector[double] &bc_val)
-        void set_boundary_markers_derivative(vector[int] &bdy_markers_der)
-        void set_boundary_derivatives(vector[double] &bc_der)
-        bool calculate(Solution* phi)
-
-cdef extern from "<symengine/symengine_rcp.h>" namespace "SymEngine":
-    cdef enum ENull:
-        null
-
-    cdef cppclass RCP[T]:
-        T& operator*() nogil except +
-        void reset() nogil except +
-
-    cdef cppclass Ptr[T]:
-        T& operator*() nogil except +
-
-    RCP[Symbol] rcp_static_cast_Symbol "SymEngine::rcp_static_cast<SymEngine::Symbol>"(const RCP[Basic] &b) nogil
-    RCP[Add] rcp_static_cast_Add "SymEngine::rcp_static_cast<SymEngine::Add>"(const RCP[Basic] &b) nogil
-
-
-cdef extern from "<symengine/basic.h>" namespace "SymEngine":
-    cdef cppclass Basic:
-        string __str__() nogil except +
-        RCP[Basic] diff(const RCP[Symbol] &x) nogil except +
-
-    bool eq(RCP[Basic] &a, RCP[Basic] &b) nogil except +
-    bool neq(RCP[Basic] &a, RCP[Basic] &b) nogil except +
-
-    bool is_a_Add "SymEngine::is_a<SymEngine::Add>"(const Basic &b) nogil
-    bool is_a_Mul "SymEngine::is_a<SymEngine::Mul>"(const Basic &b) nogil
-
-cdef extern from "<symengine/symbol.h>" namespace "SymEngine":
-    cdef cppclass Symbol(Basic):
-        Symbol(string name) nogil
-        string get_name() nogil
-
-cdef extern from "<symengine/add.h>" namespace "SymEngine":
-    cdef RCP[Basic] add(RCP[Basic] &a, RCP[Basic] &b) nogil except +
-    cdef RCP[Basic] sub(RCP[Basic] &a, RCP[Basic] &b) nogil except +
-
-    cdef cppclass Add(Basic):
-        void as_two_terms(const Ptr[RCP[Basic]] &a, const Ptr[RCP[Basic]] &b)
diff --git a/cmake/get_suffix.py b/cmake/get_suffix.py
deleted file mode 100644
index 42470fce..00000000
--- a/cmake/get_suffix.py
+++ /dev/null
@@ -1,6 +0,0 @@
-from sysconfig import get_config_var
-extsuffix = get_config_var('EXT_SUFFIX')
-if extsuffix is None:
-    print("")
-else:
-    print(extsuffix[0:].rsplit(".", 1)[0])
diff --git a/cmake/preprocess.py b/cmake/preprocess.py
deleted file mode 100644
index a99d2489..00000000
--- a/cmake/preprocess.py
+++ /dev/null
@@ -1,38 +0,0 @@
-import sys
-
-
-def main(input_name, output_name, replacements):
-    replacements = dict((item.split("=")[0], item.split("=")[1] == "True") for item in replacements)
-    with open(input_name, "r") as inp:
-        text = inp.readlines()
-
-    new_text = []
-    in_cond = [True]
-    nspaces = [0]
-    for i, line in enumerate(text):
-        if line.strip().startswith("IF"):
-            s = len(line) - len(line.lstrip())
-            while s <= nspaces[-1] and len(in_cond) > 1:
-                in_cond = in_cond[:-1]
-                nspaces = nspaces[:-1]
-
-            cond = line.lstrip()[3:-2]
-            in_cond.append(replacements[cond])
-            nspaces.append(s)
-        elif line.strip().startswith("ELSE"):
-            in_cond[-1] = not in_cond[-1] and in_cond[-2]
-
-        if len(line) > 1 and not line.strip().startswith(("IF", "ELSE")):
-            while len(in_cond) > 1 and (len(line) <= nspaces[-1] or not line.startswith(" "*nspaces[-1]) or line[nspaces[-1]] != " "):
-                in_cond = in_cond[:-1]
-                nspaces = nspaces[:-1]
-        if len(line) == 1:
-            new_text.append(line)
-        elif in_cond[-1] and not line.strip().startswith(("IF", "ELSE")):
-            new_text.append(line[4*(len(in_cond) - 1):])
-    
-    with open(output_name, "w") as out:
-        out.writelines(new_text)
-
-if __name__ == "__main__":
-    main(sys.argv[1], sys.argv[2], sys.argv[3:])
diff --git a/cmake/version_script.txt b/cmake/version_script.txt
deleted file mode 100644
index 0b24ad9f..00000000
--- a/cmake/version_script.txt
+++ /dev/null
@@ -1,4 +0,0 @@
-{
-  global: PyInit_@PYTHON_EXTENSION_NAME@;
-  local: *;
-};
diff --git a/docs/conf.py b/docs/conf.py
deleted file mode 100644
index 8643d463..00000000
--- a/docs/conf.py
+++ /dev/null
@@ -1,90 +0,0 @@
-# Configuration file for the Sphinx documentation builder.
-#
-# This file only contains a selection of the most common options. For a full
-# list see the documentation:
-# https://www.sphinx-doc.org/en/master/usage/configuration.html
-
-# -- Path setup --------------------------------------------------------------
-
-# If extensions (or modules to document with autodoc) are in another directory,
-# add these directories to sys.path here. If the directory is relative to the
-# documentation root, use os.path.abspath to make it absolute, like shown here.
-#
-# import os
-# import sys
-# sys.path.insert(0, os.path.abspath('.'))
-
-import os
-import sys
-
-sys.path.insert(0, os.path.abspath(".."))
-
-import symengine
-
-# -- Project information -----------------------------------------------------
-
-project = 'symengine'
-copyright = '2021, SymEngine development team <symengine@googlegroups.com>'
-author = 'SymEngine development team <symengine@googlegroups.com>'
-
-# The full version, including alpha/beta/rc tags
-release = symengine.__version__
-
-
-# -- General configuration ---------------------------------------------------
-
-# Add any Sphinx extension module names here, as strings. They can be
-# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
-# ones.
-extensions = [
-    "sphinx.ext.autodoc",  # Consumes docstrings
-    "sphinx.ext.napoleon",  # Allows for Google Style Docs
-    "sphinx.ext.viewcode",  # Links to source code
-    "sphinx.ext.intersphinx",  # Connects to other documentation
-    "sphinx.ext.todo",  # Show TODO details
-    "sphinx.ext.imgconverter",  # Handle svg images
-    "sphinx.ext.duration",  # Shows times in the processing pipeline
-    "sphinx.ext.mathjax",  # Need math support
-    "sphinx.ext.githubpages",  # Puts the .nojekyll and CNAME files
-    "sphinxcontrib.apidoc",  # Automatically sets up sphinx-apidoc
-    # "recommonmark", # Parses markdown
-    "m2r2", # Parses markdown in rst
-]
-
-# Add any paths that contain templates here, relative to this directory.
-templates_path = ['_templates']
-
-# List of patterns, relative to source directory, that match files and
-# directories to ignore when looking for source files.
-# This pattern also affects html_static_path and html_extra_path.
-exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
-
-# API Doc settings
-apidoc_module_dir = "../"
-apidoc_output_dir = "source"
-apidoc_excluded_paths = ["tests"]
-apidoc_separate_modules = True
-
-# -- Options for HTML output -------------------------------------------------
-
-# The theme to use for HTML and HTML Help pages.  See the documentation for
-# a list of builtin themes.
-#
-html_theme = "sphinx_book_theme"
-html_title = "Symengine Python Bindings"
-# html_logo = "path/to/logo.png"
-# html_favicon = "path/to/favicon.ico"
-html_theme_options = {
-    "repository_url": "https://github.com/symengine/symengine.py",
-    "use_repository_button": True,
-    "use_issues_button": True,
-    "use_edit_page_button": True,
-    "path_to_docs": "docs",
-    "use_download_button": True,
-    "home_page_in_toc": True
-}
-
-# Add any paths that contain custom static files (such as style sheets) here,
-# relative to this directory. They are copied after the builtin static files,
-# so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = ['_static']
diff --git a/docs/index.rst b/docs/index.rst
deleted file mode 100644
index 9a47bd0a..00000000
--- a/docs/index.rst
+++ /dev/null
@@ -1,22 +0,0 @@
-.. symengine documentation master file, created by
-   sphinx-quickstart on Tue Jan 26 09:42:30 2021.
-   You can adapt this file completely to your liking, but it should at least
-   contain the root `toctree` directive.
-
-Symengine Python API Documentation
-===================================
-
-.. toctree::
-   :maxdepth: 2
-   :caption: Contents:
-
-   source/modules
-
-.. mdinclude:: ../README.md
-
-Indices and tables
-==================
-
-* :ref:`genindex`
-* :ref:`modindex`
-* :ref:`search`
diff --git a/setup.py b/setup.py
deleted file mode 100644
index 23d948ef..00000000
--- a/setup.py
+++ /dev/null
@@ -1,250 +0,0 @@
-from os import getenv, path, makedirs
-import os
-import subprocess
-import sys
-import platform
-
-# Make sure the system has the right Python version.
-if sys.version_info[:2] < (3, 9):
-    print("SymEngine requires Python 3.9 or newer. "
-          "Python %d.%d detected" % sys.version_info[:2])
-    sys.exit(-1)
-
-# use setuptools by default as per the official advice at:
-# packaging.python.org/en/latest/current.html#packaging-tool-recommendations
-use_setuptools = True
-# set the environment variable USE_DISTUTILS=True to force the use of distutils
-use_distutils = getenv('USE_DISTUTILS')
-if use_distutils is not None:
-    if use_distutils.lower() == 'true':
-        use_setuptools = False
-    else:
-        print("Value {} for USE_DISTUTILS treated as False".
-              format(use_distutils))
-
-if use_setuptools:
-    try:
-        from setuptools import setup
-        from setuptools.command.install import install as _install
-        from setuptools.command.build_ext import build_ext as _build_ext
-    except ImportError:
-        use_setuptools = False
-    else:
-        try:
-            from setuptools.command.build import build as _build
-        except ImportError:
-            from distutils.command.build import build as _build
-
-if not use_setuptools:
-    from distutils.core import setup
-    from distutils.command.install import install as _install
-    from distutils.command.build_ext import build_ext as _build_ext
-    from distutils.command.build import build as _build
-
-cmake_opts = [("PYTHON_BIN", sys.executable),
-              ("CMAKE_INSTALL_RPATH_USE_LINK_PATH", "yes")]
-cmake_generator = [None]
-cmake_build_type = ["Release"]
-
-
-def process_opts(opts):
-    return ['-D'+'='.join(o) for o in opts]
-
-
-def get_build_dir(dist):
-    source_dir = path.dirname(path.realpath(__file__))
-    build = dist.get_command_obj('build')
-    build_ext = dist.get_command_obj('build_ext')
-    return source_dir if build_ext.inplace else build.build_platlib
-
-
-global_user_options = [
-    ('symengine-dir=', None,
-     'path to symengine installation or build directory'),
-    ('generator=', None, 'cmake build generator'),
-    ('build-type=', None, 'build type: Release or Debug'),
-    ('define=', 'D',
-     'options to cmake <var>:<type>=<value>'),
-]
-
-def _process_define(arg):
-    (defs, one), = getattr(arg, 'define', None) or [('', '1')]
-    assert one == '1'
-    defs = [df for df in defs.split(';') if df != '']
-    return [(s.strip(), None) if '=' not in s else
-            tuple(ss.strip() for ss in s.split('='))
-            for s in defs]
-
-
-class BuildWithCmake(_build):
-    sub_commands = [('build_ext', None)]
-
-
-class BuildExtWithCmake(_build_ext):
-    _build_opts = _build_ext.user_options
-    user_options = list(global_user_options)
-    user_options.extend(_build_opts)
-
-    def initialize_options(self):
-        _build_ext.initialize_options(self)
-        self.define = None
-        self.symengine_dir = None
-        self.generator = None
-        self.build_type = "Release"
-
-    def finalize_options(self):
-        _build_ext.finalize_options(self)
-        # The argument parsing will result in self.define being a string, but
-        # it has to be a list of 2-tuples.
-        # Multiple symbols can be separated with semi-colons.
-        self.define = _process_define(self)
-        cmake_opts.extend(self.define)
-        if self.symengine_dir:
-            cmake_opts.extend([('SymEngine_DIR', self.symengine_dir)])
-
-        if self.generator:
-            cmake_generator[0] = self.generator
-
-        cmake_build_type[0] = self.build_type
-
-    def cmake_build(self):
-        source_dir = path.dirname(path.realpath(__file__))
-        build_dir = get_build_dir(self.distribution)
-        if not path.exists(build_dir):
-            makedirs(build_dir)
-        if build_dir != source_dir and path.exists("CMakeCache.txt"):
-            os.remove("CMakeCache.txt")
-
-        cmake_cmd = ["cmake", source_dir,
-            "-DCMAKE_BUILD_TYPE=" + cmake_build_type[0],
-            "-DSYMENGINE_INSTALL_PY_FILES=ON",
-        ]
-        cmake_cmd.extend(process_opts(cmake_opts))
-        if not path.exists(path.join(build_dir, "CMakeCache.txt")):
-            cmake_cmd.extend(self.get_generator())
-        if subprocess.call(cmake_cmd, cwd=build_dir) != 0:
-            raise OSError("error calling cmake")
-
-        if subprocess.call(["cmake", "--build", ".",
-                            "--config", cmake_build_type[0]],
-                           cwd=build_dir) != 0:
-            raise OSError("error building project")
-
-    def get_generator(self):
-        if cmake_generator[0]:
-            return ["-G", cmake_generator[0]]
-        elif "CMAKE_GENERATOR" not in os.environ and platform.system() == "Windows":
-            compiler = str(self.compiler).lower()
-            if ("msys" in compiler):
-                return ["-G", "MSYS Makefiles"]
-            elif ("mingw" in compiler):
-                return ["-G", "MinGW Makefiles"]
-            else:
-                return ["-G", "NMake Makefiles"]
-        else:
-            return []
-
-    def run(self):
-        self.cmake_build()
-        _build_ext.run(self)
-
-
-class InstallWithCmake(_install):
-    _install_opts = _install.user_options
-    user_options = list(global_user_options)
-    user_options.extend(_install_opts)
-
-    def initialize_options(self):
-        _install.initialize_options(self)
-        self.define = None
-        self.symengine_dir = None
-        self.generator = None
-        self.build_type = "Release"
-
-    def finalize_options(self):
-        _install.finalize_options(self)
-        # The argument parsing will result in self.define being a string, but
-        # it has to be a list of 2-tuples.
-        # Multiple symbols can be separated with semi-colons.
-        self.define = _process_define(self)
-        cmake_opts.extend(self.define)
-        cmake_build_type[0] = self.build_type
-        cmake_opts.extend([('PYTHON_INSTALL_PATH', path.join(os.getcwd(), self.install_platlib))])
-
-    def cmake_install(self):
-        source_dir = path.dirname(path.realpath(__file__))
-        build_dir = get_build_dir(self.distribution)
-        cmake_cmd = ["cmake", source_dir]
-        cmake_cmd.extend(process_opts(cmake_opts))
-
-        # CMake has to be called here to update PYTHON_INSTALL_PATH
-        # if build and install were called separately by the user
-        if subprocess.call(cmake_cmd, cwd=build_dir) != 0:
-            raise OSError("error calling cmake")
-
-        if subprocess.call(["cmake", "--build", ".",
-                            "--config", cmake_build_type[0],
-                            "--target", "install"],
-                           cwd=build_dir) != 0:
-            raise OSError("error installing")
-
-        import compileall
-        compileall.compile_dir(path.join(self.install_platlib, "symengine"))
-
-    def run(self):
-        _install.run(self)
-        self.cmake_install()
-
-cmdclass={
-          'build': BuildWithCmake,
-          'build_ext': BuildExtWithCmake,
-          'install': InstallWithCmake,
-          }
-
-try:
-    from wheel.bdist_wheel import bdist_wheel
-    class BdistWheelWithCmake(bdist_wheel):
-        def finalize_options(self):
-            bdist_wheel.finalize_options(self)
-            self.root_is_pure = False
-    cmdclass["bdist_wheel"] = BdistWheelWithCmake
-except ImportError:
-    pass
-
-long_description = '''
-SymEngine is a standalone fast C++ symbolic manipulation library.
-Optional thin Python wrappers (SymEngine) allow easy usage from Python and
-integration with SymPy and Sage.
-
-See https://github.com/symengine/symengine.py for information about License
-and dependencies of wheels
-
-'''
-
-setup(name="symengine",
-      version="0.14.1",
-      description="Python library providing wrappers to SymEngine",
-      setup_requires=['cython>=0.29.24', 'setuptools'],
-      long_description=long_description,
-      author="SymEngine development team",
-      author_email="symengine@googlegroups.com",
-      license="MIT",
-      url="https://github.com/symengine/symengine.py",
-      python_requires='>=3.9,<4',
-      zip_safe=False,
-      packages=[],
-      cmdclass = cmdclass,
-      classifiers=[
-        'License :: OSI Approved :: MIT License',
-        'Operating System :: OS Independent',
-        'Programming Language :: Python',
-        'Topic :: Scientific/Engineering',
-        'Topic :: Scientific/Engineering :: Mathematics',
-        'Topic :: Scientific/Engineering :: Physics',
-        'Programming Language :: Python :: 3.9',
-        'Programming Language :: Python :: 3.10',
-        'Programming Language :: Python :: 3.11',
-        'Programming Language :: Python :: 3.12',
-        'Programming Language :: Python :: 3.13',
-        ]
-      )
diff --git a/symengine/CMakeLists.txt b/symengine/CMakeLists.txt
deleted file mode 100644
index bedec397..00000000
--- a/symengine/CMakeLists.txt
+++ /dev/null
@@ -1,17 +0,0 @@
-add_subdirectory(lib)
-
-if (SYMENGINE_INSTALL_PY_FILES)
-  add_subdirectory(tests)
-  set(PY_PATH ${PYTHON_INSTALL_PATH}/symengine)
-  install(
-    FILES
-      __init__.py
-      functions.py
-      printing.py
-      sympy_compat.py
-      test_utilities.py
-      utilities.py
-    DESTINATION
-      ${PY_PATH}
-)
-endif ()
diff --git a/symengine/__init__.py b/symengine/__init__.py
deleted file mode 100644
index e9545baf..00000000
--- a/symengine/__init__.py
+++ /dev/null
@@ -1,79 +0,0 @@
-import os
-import sys
-
-if sys.platform == 'win32' \
-       and 'SYMENGINE_PY_ADD_PATH_TO_SEARCH_DIRS' in os.environ:
-    for directory in os.environ['PATH'].split(';'):
-        if os.path.isdir(directory):
-            os.add_dll_directory(directory)
-
-del os, sys
-
-import symengine.lib.symengine_wrapper as wrapper
-
-from .lib.symengine_wrapper import (
-    have_mpfr, have_mpc, have_flint, have_piranha, have_llvm, have_llvm_long_double,
-    I, E, pi, oo, zoo, nan, Symbol, Dummy, S, sympify, SympifyError,
-    Integer, Rational, Float, Number, RealNumber, RealDouble, ComplexDouble,
-    add, Add, Mul, Pow, function_symbol,
-    Max, Min, DenseMatrix, Matrix,
-    ImmutableMatrix, ImmutableDenseMatrix, MutableDenseMatrix,
-    MatrixBase, Basic, DictBasic, symarray, series, diff, zeros,
-    eye, diag, ones, Derivative, Subs, expand, has_symbol,
-    UndefFunction, Function, UnevaluatedExpr, latex,
-    have_numpy, true, false, Equality, Unequality, GreaterThan,
-    LessThan, StrictGreaterThan, StrictLessThan, Eq, Ne, Ge, Le,
-    Gt, Lt, And, Or, Not, Nand, Nor, Xor, Xnor, perfect_power, integer_nthroot,
-    isprime, sqrt_mod, Expr, cse, count_ops, ccode, Piecewise, Contains, Interval, FiniteSet,
-    linsolve,
-    FunctionSymbol,
-    golden_ratio as GoldenRatio,
-    catalan as Catalan,
-    eulergamma as EulerGamma,
-    unicode
-)
-from .utilities import var, symbols
-from .functions import *
-from .printing import init_printing
-
-
-AppliedUndef = FunctionSymbol  # an alias
-EmptySet = wrapper.S.EmptySet
-UniversalSet = wrapper.S.UniversalSet
-Reals = wrapper.S.Reals
-Integers = wrapper.S.Integers
-Rationals = wrapper.S.Rationals
-
-
-if have_mpfr:
-    from .lib.symengine_wrapper import RealMPFR
-
-if have_mpc:
-    from .lib.symengine_wrapper import ComplexMPC
-
-if have_numpy:
-    from .lib.symengine_wrapper import (Lambdify, LambdifyCSE)
-
-    def lambdify(args, exprs, **kwargs):
-        return Lambdify(args, *exprs, **kwargs)
-else:
-    def __getattr__(name):
-        if name == 'lambdify':
-            raise AttributeError("Cannot import numpy, which is required for `lambdify` to work")
-        raise AttributeError(f"module 'symengine' has no attribute '{name}'")
-
-
-__version__ = "0.14.1"
-
-
-# To not expose internals
-del lib.symengine_wrapper
-del lib
-del wrapper
-
-
-def test():
-    import pytest
-    import os
-    return not pytest.cmdline.main(
-        [os.path.dirname(os.path.abspath(__file__))])
diff --git a/symengine/functions.py b/symengine/functions.py
deleted file mode 100644
index a50af815..00000000
--- a/symengine/functions.py
+++ /dev/null
@@ -1,10 +0,0 @@
-from .lib.symengine_wrapper import (sin, cos, tan, cot, csc, sec,
-    asin, acos, atan, acot, acsc, asec,
-    sinh, cosh, tanh, coth, sech, csch,
-    asinh, acosh, atanh, acoth, asech, acsch,
-    gamma, log, atan2, sqrt, exp, Abs,
-    LambertW, zeta, dirichlet_eta,
-    KroneckerDelta, LeviCivita, erf, erfc,
-    lowergamma, uppergamma, loggamma, beta,
-    polygamma, sign, floor, ceiling, 
-    conjugate, digamma, trigamma)
diff --git a/symengine/lib/CMakeLists.txt b/symengine/lib/CMakeLists.txt
deleted file mode 100644
index 7683d4aa..00000000
--- a/symengine/lib/CMakeLists.txt
+++ /dev/null
@@ -1,83 +0,0 @@
-set(SRC
-    ${CMAKE_CURRENT_BINARY_DIR}/symengine_wrapper.cpp
-    pywrapper.cpp
-    )
-
-include_directories(BEFORE ${CMAKE_CURRENT_BINARY_DIR})
-
-add_custom_command(
-    OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/symengine_wrapper.pxd
-    DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/symengine_wrapper.in.pxd
-       ${PROJECT_SOURCE_DIR}/cmake/preprocess.py
-    COMMAND ${PYTHON_BIN} ${PROJECT_SOURCE_DIR}/cmake/preprocess.py
-       ${CMAKE_CURRENT_SOURCE_DIR}/symengine_wrapper.in.pxd
-       ${CMAKE_CURRENT_BINARY_DIR}/symengine_wrapper.pxd
-       HAVE_SYMENGINE_MPFR=${HAVE_SYMENGINE_MPFR}
-       HAVE_SYMENGINE_MPC=${HAVE_SYMENGINE_MPC}
-       HAVE_SYMENGINE_PIRANHA=${HAVE_SYMENGINE_PIRANHA}
-       HAVE_SYMENGINE_FLINT=${HAVE_SYMENGINE_FLINT}
-       HAVE_SYMENGINE_LLVM=${HAVE_SYMENGINE_LLVM}
-       HAVE_SYMENGINE_LLVM_LONG_DOUBLE=${HAVE_SYMENGINE_LLVM_LONG_DOUBLE}
-    COMMENT "Preprocessing symengine_wrapper.in.pxd"
-)
-add_custom_command(
-    OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/symengine_wrapper.pyx
-    DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/symengine_wrapper.in.pyx
-       ${CMAKE_CURRENT_SOURCE_DIR}/symengine_wrapper.in.pxd
-       ${CMAKE_CURRENT_BINARY_DIR}/symengine_wrapper.pxd
-       ${PROJECT_SOURCE_DIR}/cmake/preprocess.py
-    COMMAND ${PYTHON_BIN} ${PROJECT_SOURCE_DIR}/cmake/preprocess.py
-       ${CMAKE_CURRENT_SOURCE_DIR}/symengine_wrapper.in.pyx
-       ${CMAKE_CURRENT_BINARY_DIR}/symengine_wrapper.pyx
-       HAVE_SYMENGINE_MPFR=${HAVE_SYMENGINE_MPFR}
-       HAVE_SYMENGINE_MPC=${HAVE_SYMENGINE_MPC}
-       HAVE_SYMENGINE_PIRANHA=${HAVE_SYMENGINE_PIRANHA}
-       HAVE_SYMENGINE_FLINT=${HAVE_SYMENGINE_FLINT}
-       HAVE_SYMENGINE_LLVM=${HAVE_SYMENGINE_LLVM}
-       HAVE_SYMENGINE_LLVM_LONG_DOUBLE=${HAVE_SYMENGINE_LLVM_LONG_DOUBLE}
-    COMMENT "Preprocessing symengine_wrapper.in.pyx"
-)
-
-cython_add_module_pyx(symengine_wrapper.cpp
-    ${CMAKE_CURRENT_BINARY_DIR}/symengine_wrapper.pyx
-    ${CMAKE_CURRENT_BINARY_DIR}/symengine_wrapper.pxd
-    ${CMAKE_CURRENT_SOURCE_DIR}/symengine.pxd)
-add_python_library(symengine_wrapper ${SRC})
-target_link_libraries(symengine_wrapper ${SYMENGINE_LIBRARIES})
-if (CMAKE_CXX_COMPILER_ID MATCHES GNU|Clang)
-  # Must suppress strict aliasing for this file
-  set_source_files_properties(
-    symengine_wrapper.cpp
-    PROPERTIES COMPILE_FLAGS "-fno-strict-aliasing -Wno-unused-function"
-    )
-endif()
-
-set(PY_PATH ${PYTHON_INSTALL_PATH}/symengine/lib)
-install(TARGETS symengine_wrapper
-            RUNTIME DESTINATION ${PY_PATH}
-            ARCHIVE DESTINATION ${PY_PATH}
-            LIBRARY DESTINATION ${PY_PATH}
-        )
-install(FILES
-    symengine.pxd
-    ${CMAKE_CURRENT_BINARY_DIR}/symengine_wrapper.pxd
-    pywrapper.h
-    DESTINATION ${PY_PATH}
-    )
-
-if (SYMENGINE_INSTALL_PY_FILES)
-  install(FILES __init__.py DESTINATION ${PY_PATH})
-endif ()
-
-if (${SYMENGINE_COPY_EXTENSION})
-  if ("${PYTHON_EXTENSION_SOABI}" MATCHES "ppc64le")
-    string(REPLACE "ppc64le" "powerpc64le" COPY_PYTHON_EXTENSION_SOABI "${PYTHON_EXTENSION_SOABI}")
-  endif ()
-  if ("${PYTHON_EXTENSION_SOABI}" MATCHES "powerpc64le")
-    string(REPLACE "powerpc64le" "ppc64le" COPY_PYTHON_EXTENSION_SOABI "${PYTHON_EXTENSION_SOABI}")
-  endif ()
-  message("${PYTHON_EXTENSION_SOABI} ${COPY_PYTHON_EXTENSION_SOABI}")
-  set(SOURCE_NAME "${PY_PATH}/symengine_wrapper${PYTHON_EXTENSION_SOABI}.so")
-  set(DEST_NAME "${PY_PATH}/symengine_wrapper${COPY_PYTHON_EXTENSION_SOABI}.so")
-  install(CODE "execute_process(COMMAND ${CMAKE_COMMAND} -E copy ${SOURCE_NAME} ${DEST_NAME})")
-endif ()
diff --git a/symengine/lib/pywrapper.cpp b/symengine/lib/pywrapper.cpp
deleted file mode 100644
index 5ab5e586..00000000
--- a/symengine/lib/pywrapper.cpp
+++ /dev/null
@@ -1,371 +0,0 @@
-#include "pywrapper.h"
-#include <symengine/serialize-cereal.h>
-
-#if PY_MAJOR_VERSION >= 3
-#define PyInt_FromLong PyLong_FromLong
-#define PyNumber_Divide PyNumber_TrueDivide
-#endif
-
-namespace SymEngine {
-
-// PyModule
-PyModule::PyModule(PyObject* (*to_py)(const RCP<const Basic>), RCP<const Basic> (*from_py)(PyObject*),
-                   RCP<const Number> (*eval)(PyObject*, long), RCP<const Basic> (*diff)(PyObject*, RCP<const Basic>)) :
-        to_py_(to_py), from_py_(from_py), eval_(eval), diff_(diff) {
-    zero = PyInt_FromLong(0);
-    one = PyInt_FromLong(1);
-    minus_one = PyInt_FromLong(-1);
-}
-
-PyModule::~PyModule(){
-    Py_DECREF(zero);
-    Py_DECREF(one);
-    Py_DECREF(minus_one);
-}
-
-// PyNumber
-PyNumber::PyNumber(PyObject* pyobject, const RCP<const PyModule> &pymodule) :
-        pyobject_(pyobject), pymodule_(pymodule) {
-}
-
-hash_t PyNumber::__hash__() const {
-    return PyObject_Hash(pyobject_);
-}
-
-bool PyNumber::__eq__(const Basic &o) const {
-    return is_a<PyNumber>(o) and
-        PyObject_RichCompareBool(pyobject_, static_cast<const PyNumber &>(o).get_py_object(), Py_EQ) == 1;
-}
-
-int PyNumber::compare(const Basic &o) const {
-    SYMENGINE_ASSERT(is_a<PyNumber>(o))
-    PyObject* o1 = static_cast<const PyNumber &>(o).get_py_object();
-    if (PyObject_RichCompareBool(pyobject_, o1, Py_EQ) == 1)
-        return 0;
-    return PyObject_RichCompareBool(pyobject_, o1, Py_LT) == 1 ? -1 : 1;
-}
-
-bool PyNumber::is_zero() const {
-    return PyObject_RichCompareBool(pyobject_, pymodule_->get_zero(), Py_EQ) == 1;
-}
-//! \return true if `1`
-bool PyNumber::is_one() const {
-    return PyObject_RichCompareBool(pyobject_, pymodule_->get_one(), Py_EQ) == 1;
-}
-//! \return true if `-1`
-bool PyNumber::is_minus_one() const {
-    return PyObject_RichCompareBool(pyobject_, pymodule_->get_minus_one(), Py_EQ) == 1;
-}
-//! \return true if negative
-bool PyNumber::is_negative() const {
-    return PyObject_RichCompareBool(pyobject_, pymodule_->get_zero(), Py_LT) == 1;
-}
-//! \return true if positive
-bool PyNumber::is_positive() const {
-    return PyObject_RichCompareBool(pyobject_, pymodule_->get_zero(), Py_GT) == 1;
-}
-//! \return true if complex
-bool PyNumber::is_complex() const {
-    return false;
-}
-
-//! Addition
-RCP<const Number> PyNumber::add(const Number &other) const {
-    PyObject *other_p, *result;
-    if (is_a<PyNumber>(other)) {
-        other_p = static_cast<const PyNumber &>(other).pyobject_;
-        result = PyNumber_Add(pyobject_, other_p);
-    } else {
-        other_p = pymodule_->to_py_(other.rcp_from_this_cast<const Basic>());
-        result = PyNumber_Add(pyobject_, other_p);
-        Py_XDECREF(other_p);
-    }
-    return make_rcp<PyNumber>(result, pymodule_);
-}
-//! Subtraction
-RCP<const Number> PyNumber::sub(const Number &other) const {
-    PyObject *other_p, *result;
-    if (is_a<PyNumber>(other)) {
-        other_p = static_cast<const PyNumber &>(other).pyobject_;
-        result = PyNumber_Subtract(pyobject_, other_p);
-    } else {
-        other_p = pymodule_->to_py_(other.rcp_from_this_cast<const Basic>());
-        result = PyNumber_Subtract(pyobject_, other_p);
-        Py_XDECREF(other_p);
-    }
-    return make_rcp<PyNumber>(result, pymodule_);
-}
-RCP<const Number> PyNumber::rsub(const Number &other) const {
-    PyObject *other_p, *result;
-    if (is_a<PyNumber>(other)) {
-        other_p = static_cast<const PyNumber &>(other).pyobject_;
-        result = PyNumber_Subtract(other_p, pyobject_);
-    } else {
-        other_p = pymodule_->to_py_(other.rcp_from_this_cast<const Basic>());
-        result = PyNumber_Subtract(other_p, pyobject_);
-        Py_XDECREF(other_p);
-    }
-    return make_rcp<PyNumber>(result, pymodule_);
-}
-//! Multiplication
-RCP<const Number> PyNumber::mul(const Number &other) const {
-    PyObject *other_p, *result;
-    if (is_a<PyNumber>(other)) {
-        other_p = static_cast<const PyNumber &>(other).pyobject_;
-        result = PyNumber_Multiply(pyobject_, other_p);
-    } else {
-        other_p = pymodule_->to_py_(other.rcp_from_this_cast<const Basic>());
-        result = PyNumber_Multiply(pyobject_, other_p);
-        Py_XDECREF(other_p);
-    }
-    return make_rcp<PyNumber>(result, pymodule_);
-}
-//! Division
-RCP<const Number> PyNumber::div(const Number &other) const {
-    PyObject *other_p, *result;
-    if (is_a<PyNumber>(other)) {
-        other_p = static_cast<const PyNumber &>(other).pyobject_;
-        result = PyNumber_Divide(pyobject_, other_p);
-    } else {
-        other_p = pymodule_->to_py_(other.rcp_from_this_cast<const Basic>());
-        result = PyNumber_Divide(pyobject_, other_p);
-        Py_XDECREF(other_p);
-    }
-    return make_rcp<PyNumber>(result, pymodule_);
-}
-RCP<const Number> PyNumber::rdiv(const Number &other) const {
-    PyObject *other_p, *result;
-    if (is_a<PyNumber>(other)) {
-        other_p = static_cast<const PyNumber &>(other).pyobject_;
-        result = PyNumber_Divide(pyobject_, other_p);
-    } else {
-        other_p = pymodule_->to_py_(other.rcp_from_this_cast<const Basic>());
-        result = PyNumber_Divide(pyobject_, other_p);
-        Py_XDECREF(other_p);
-    }
-    return make_rcp<PyNumber>(result, pymodule_);
-}
-//! Power
-RCP<const Number> PyNumber::pow(const Number &other) const {
-    PyObject *other_p, *result;
-    if (is_a<PyNumber>(other)) {
-        other_p = static_cast<const PyNumber &>(other).pyobject_;
-        result = PyNumber_Power(pyobject_, other_p, Py_None);
-    } else {
-        other_p = pymodule_->to_py_(other.rcp_from_this_cast<const Basic>());
-        result = PyNumber_Power(pyobject_, other_p, Py_None);
-        Py_XDECREF(other_p);
-    }
-    return make_rcp<PyNumber>(result, pymodule_);
-}
-RCP<const Number> PyNumber::rpow(const Number &other) const {
-    PyObject *other_p, *result;
-    if (is_a<PyNumber>(other)) {
-        other_p = static_cast<const PyNumber &>(other).pyobject_;
-        result = PyNumber_Power(other_p, pyobject_, Py_None);
-    } else {
-        other_p = pymodule_->to_py_(other.rcp_from_this_cast<const Basic>());
-        result = PyNumber_Power(other_p, pyobject_, Py_None);
-        Py_XDECREF(other_p);
-    }
-    return make_rcp<PyNumber>(result, pymodule_);
-}
-
-RCP<const Number> PyNumber::eval(long bits) const {
-    return pymodule_->eval_(pyobject_, bits);
-}
-
-std::string PyNumber::__str__() const {
-    Py_ssize_t size;
-    PyObject *pystr = PyObject_Str(pyobject_);
-    const char* data = PyUnicode_AsUTF8AndSize(pystr, &size);
-    std::string result = std::string(data, size);
-    Py_XDECREF(pystr);
-    return result;
-}
-
-// PyFunctionClass
-
-PyFunctionClass::PyFunctionClass(PyObject *pyobject, std::string name, const RCP<const PyModule> &pymodule) :
-        pyobject_{pyobject}, name_{name}, pymodule_{pymodule} {
-
-}
-
-PyObject* PyFunctionClass::call(const vec_basic &vec) const {
-    PyObject *tuple = PyTuple_New(vec.size());
-    for (unsigned i = 0; i < vec.size(); i++) {
-        PyTuple_SetItem(tuple, i, pymodule_->to_py_(vec[i]));
-    }
-    PyObject* result = PyObject_CallObject(pyobject_, tuple);
-    Py_DECREF(tuple);
-    return result;
-}
-
-bool PyFunctionClass::__eq__(const PyFunctionClass &x) const {
-    return PyObject_RichCompareBool(pyobject_, x.pyobject_, Py_EQ) == 1;
-}
-
-int PyFunctionClass::compare(const PyFunctionClass &x) const {
-    if (__eq__(x)) return 0;
-    return PyObject_RichCompareBool(pyobject_, x.pyobject_, Py_LT) == 1 ? 1 : -1;
-}
-
-hash_t PyFunctionClass::hash() const {
-    if (hash_ == 0)
-        hash_ = PyObject_Hash(pyobject_);
-    return hash_;
-}
-
-// PyFunction
-PyFunction::PyFunction(const vec_basic &vec, const RCP<const PyFunctionClass> &pyfunc_class,
-           PyObject *pyobject) : FunctionWrapper(pyfunc_class->get_name(), std::move(vec)),
-           pyfunction_class_{pyfunc_class}, pyobject_{pyobject} {
-
-}
-
-PyFunction::~PyFunction() {
-    Py_DECREF(pyobject_);
-}
-
-PyObject* PyFunction::get_py_object() const {
-    return pyobject_;
-}
-
-RCP<const PyFunctionClass> PyFunction::get_pyfunction_class() const {
-    return pyfunction_class_;
-}
-
-RCP<const Basic> PyFunction::create(const vec_basic &x) const {
-    PyObject* pyobj = pyfunction_class_->call(x);
-    RCP<const Basic> result = pyfunction_class_->get_py_module()->from_py_(pyobj);
-    Py_XDECREF(pyobj);
-    return result;
-}
-
-RCP<const Number> PyFunction::eval(long bits) const {
-    return pyfunction_class_->get_py_module()->eval_(pyobject_, bits);
-}
-
-RCP<const Basic> PyFunction::diff_impl(const RCP<const Symbol> &s) const {
-    return pyfunction_class_->get_py_module()->diff_(pyobject_, s);
-}
-
-hash_t PyFunction::__hash__() const {
-    return PyObject_Hash(pyobject_);
-}
-
-bool PyFunction::__eq__(const Basic &o) const {
-    if (is_a<PyFunction>(o) and
-        pyfunction_class_->__eq__(*static_cast<const PyFunction &>(o).get_pyfunction_class()) and
-        unified_eq(get_vec(), static_cast<const PyFunction &>(o).get_vec()))
-        return true;
-    return false;
-}
-
-int PyFunction::compare(const Basic &o) const {
-    SYMENGINE_ASSERT(is_a<PyFunction>(o))
-    const PyFunction &s = static_cast<const PyFunction &>(o);
-    int cmp = pyfunction_class_->compare(*s.get_pyfunction_class());
-    if (cmp != 0) return cmp;
-    return unified_compare(get_vec(), s.get_vec());
-}
-
-inline PyObject* get_pickle_module() {
-    static PyObject *module = NULL;
-    if (module == NULL) {
-        module = PyImport_ImportModule("pickle");
-    }
-    if (module == NULL) {
-        throw SymEngineException("error importing pickle module.");
-    }
-    return module;
-}
-
-PyObject* pickle_loads(const std::string &pickle_str) {
-    PyObject *module = get_pickle_module();
-    PyObject *pickle_bytes = PyBytes_FromStringAndSize(pickle_str.data(), pickle_str.size());
-    PyObject *obj = PyObject_CallMethod(module, "loads", "O", pickle_bytes);
-    Py_XDECREF(pickle_bytes);
-    if (obj == NULL) {
-        throw SerializationError("error when loading pickled symbol subclass object");
-    }
-    return obj;
-}
-
-RCP<const Basic> load_basic(RCPBasicAwareInputArchive<cereal::PortableBinaryInputArchive> &ar, RCP<const Symbol> &)
-{
-    bool is_pysymbol;
-    bool store_pickle;
-    std::string name;
-    ar(is_pysymbol);
-    ar(name);
-    if (is_pysymbol) {
-        std::string pickle_str;
-        ar(pickle_str);
-        ar(store_pickle);
-        PyObject *obj = pickle_loads(pickle_str);
-        RCP<const Basic> result = make_rcp<PySymbol>(name, obj, store_pickle);
-        Py_XDECREF(obj);
-        return result;
-    } else {
-        return symbol(name);
-    }
-}
-
-std::string pickle_dumps(const PyObject * obj) {
-    PyObject *module = get_pickle_module();
-    PyObject *pickle_bytes = PyObject_CallMethod(module, "dumps", "O", obj);
-    if (pickle_bytes == NULL) {
-        throw SerializationError("error when pickling symbol subclass object");
-    }
-    Py_ssize_t size;
-    char* buffer;
-    PyBytes_AsStringAndSize(pickle_bytes, &buffer, &size);
-    return std::string(buffer, size);
-}
-
-void save_basic(RCPBasicAwareOutputArchive<cereal::PortableBinaryOutputArchive> &ar, const Symbol &b)
-{
-    bool is_pysymbol = is_a_sub<PySymbol>(b);
-    ar(is_pysymbol);
-    ar(b.__str__());
-    if (is_pysymbol) {
-        RCP<const PySymbol> p = rcp_static_cast<const PySymbol>(b.rcp_from_this());
-        PyObject *obj = p->get_py_object();
-        std::string pickle_str = pickle_dumps(obj);
-        ar(pickle_str);
-        ar(p->store_pickle);
-        Py_XDECREF(obj);
-    }
-}
-
-std::string wrapper_dumps(const Basic &x)
-{
-    std::ostringstream oss;
-    unsigned short major = SYMENGINE_MAJOR_VERSION;
-    unsigned short minor = SYMENGINE_MINOR_VERSION;
-    RCPBasicAwareOutputArchive<cereal::PortableBinaryOutputArchive>{oss}(major, minor,
-                                             x.rcp_from_this());
-    return oss.str();
-}
-
-RCP<const Basic> wrapper_loads(const std::string &serialized)
-{
-    unsigned short major, minor;
-    RCP<const Basic> obj;
-    std::istringstream iss(serialized);
-    RCPBasicAwareInputArchive<cereal::PortableBinaryInputArchive> iarchive{iss};
-    iarchive(major, minor);
-    if (major != SYMENGINE_MAJOR_VERSION or minor != SYMENGINE_MINOR_VERSION) {
-        throw SerializationError(StreamFmt()
-                                 << "SymEngine-" << SYMENGINE_MAJOR_VERSION
-                                 << "." << SYMENGINE_MINOR_VERSION
-                                 << " was asked to deserialize an object "
-                                 << "created using SymEngine-" << major << "."
-                                 << minor << ".");
-    }
-    iarchive(obj);
-    return obj;
-}
-
-} // SymEngine
diff --git a/symengine/lib/pywrapper.h b/symengine/lib/pywrapper.h
deleted file mode 100644
index 20a6dbee..00000000
--- a/symengine/lib/pywrapper.h
+++ /dev/null
@@ -1,220 +0,0 @@
-#ifndef SYMENGINE_PYWRAPPER_H
-#define SYMENGINE_PYWRAPPER_H
-
-#include <Python.h>
-#include <symengine/number.h>
-#include <symengine/constants.h>
-#include <symengine/functions.h>
-
-namespace SymEngine {
-
-std::string pickle_dumps(const PyObject *);
-PyObject* pickle_loads(const std::string &);
-
-/*
- * PySymbol is a subclass of Symbol that keeps a reference to a Python object.
- * When subclassing a Symbol from Python, the information stored in subclassed
- * object is lost because all the arithmetic and function evaluations happen on
- * the C++ side. The object returned by `(x + 1) - 1` is wrapped in the Python
- * class Symbol and therefore the fact that `x` is a subclass of Symbol is lost.
- *
- * By subclassing in the C++ side and keeping a python object reference, the
- * subclassed python object can be returned instead of wrapping in a Python
- * class Symbol.
- *
- * TODO: Python object and C++ object both keep a reference to each other as one
- * must be alive when the other is alive. This creates a cyclic reference and
- * should be fixed.
-*/
-
-class PySymbol : public Symbol {
-private:
-    PyObject* obj;
-    std::string bytes;
-public:
-    const bool store_pickle;
-    PySymbol(const std::string& name, PyObject* obj, bool store_pickle) :
-            Symbol(name), obj(obj), store_pickle(store_pickle) {
-        if (store_pickle) {
-            bytes = pickle_dumps(obj);
-        } else {
-            Py_INCREF(obj);
-        }
-    }
-    PyObject* get_py_object() const {
-        if (store_pickle) {
-            return pickle_loads(bytes);
-        } else {
-            Py_INCREF(obj);
-            return obj;
-        }
-    }
-    virtual ~PySymbol() {
-        if (not store_pickle) {
-            // TODO: This is never called because of the cyclic reference.
-            Py_DECREF(obj);
-        }
-    }
-};
-
-/*
- * This module provides classes to wrap Python objects defined in SymPy
- * or Sage into SymEngine.
- *
- * PyModule is a python module (SymPy or Sage) that provides Python callbacks.
- * These callback functions for conversion, evaluation and differentiation are
- * defined in the Cython module `symengine_wrapper.pyx` and passed to C++.
- *
- * PyNumber is for numeric types where addition, subtraction, multiplication
- * and division with other numeric types produce a numeric type.
- *
- * PyFunction is an instance of a function defined in SymPy or Sage and contains
- * a PyFunctionClass instance which holds the callback functions needed for
- * interaction with other SymEngine functions
- *
- * C++ Evaluation methods like eval_double, eval_mpfr calls the eval_ method to
- * convert PyNumber and PyFunction to known SymEngine types.
- */
-
-//! Class to store the Python objects and Cython callback functions specific
-//  to a Python module. eg: SymPy or Sage
-class PyModule : public EnableRCPFromThis<PyModule> {
-public:
-    // Callback function to convert a SymEngine object to Python
-    PyObject* (*to_py_)(const RCP<const Basic>);
-    // Callback function to convert a Python object to SymEngine
-    RCP<const Basic> (*from_py_)(PyObject*);
-    // Callback function to evaluate a Python object to a bits number of
-    // precision and return a SymEngine Number
-    RCP<const Number> (*eval_)(PyObject*, long bits);
-    // Callback function to differentiate a Python object with respect to
-    // a SymEngine symbol and get a SymEngine object
-    RCP<const Basic> (*diff_)(PyObject*, RCP<const Basic>);
-    // Common constants in Python
-    PyObject *one, *zero, *minus_one;
-public:
-    PyModule(PyObject* (*)(const RCP<const Basic> x), RCP<const Basic> (*)(PyObject*),
-             RCP<const Number> (*)(PyObject*, long), RCP<const Basic> (*)(PyObject*, RCP<const Basic>));
-    ~PyModule();
-    PyObject* get_zero() const { return zero; }
-    PyObject* get_one() const { return one; }
-    PyObject* get_minus_one() const { return minus_one; }
-};
-
-//! Python numeric types that do not have direct counterparts in SymEngine are
-//  wrapped using this method. Eg: Sage's real_mpfi.
-//  Arithmetic operations are done by calling Python/C API's PyNumber_* methods
-//  after converting SymEngine::Number to Python module type. Arithmetic
-//  operations always returns a PyNumber type.
-class PyNumber : public NumberWrapper {
-private:
-    //! Python reference to the object being wrapped
-    PyObject* pyobject_;
-    //! Python module that this object belongs to
-    RCP<const PyModule> pymodule_;
-public:
-    PyNumber(PyObject* pyobject, const RCP<const PyModule> &pymodule);
-    ~PyNumber() {
-        Py_DECREF(pyobject_);
-    }
-    PyObject* get_py_object() const { return pyobject_; }
-    RCP<const PyModule> get_py_module() const { return pymodule_; }
-    //! \return true if `0`
-    virtual bool is_zero() const;
-    //! \return true if `1`
-    virtual bool is_one() const;
-    //! \return true if `-1`
-    virtual bool is_minus_one() const;
-    //! \return true if negative
-    virtual bool is_negative() const;
-    //! \return true if positive
-    virtual bool is_positive() const;
-    //! \return true if complex
-    virtual bool is_complex() const;
-    //! return true if the number is an exact representation
-    //  false if the number is an approximation
-    virtual bool is_exact() const { return true; };
-
-    //! Addition
-    virtual RCP<const Number> add(const Number &other) const;
-    //! Subtraction
-    virtual RCP<const Number> sub(const Number &other) const;
-    virtual RCP<const Number> rsub(const Number &other) const;
-    //! Multiplication
-    virtual RCP<const Number> mul(const Number &other) const;
-    //! Division
-    virtual RCP<const Number> div(const Number &other) const;
-    virtual RCP<const Number> rdiv(const Number &other) const;
-    //! Power
-    virtual RCP<const Number> pow(const Number &other) const;
-    virtual RCP<const Number> rpow(const Number &other) const;
-
-    virtual RCP<const Number> eval(long bits) const;
-    virtual std::string __str__() const;
-    virtual int compare(const Basic &o) const;
-    virtual bool __eq__(const Basic &o) const;
-    virtual hash_t __hash__() const;
-};
-
-/*! Class to represent the parent class for a PyFunction. Stores
- *  a python reference `pyobject_` to a python callable object.
- *  A PyFunction instance is an instance of the parent PyFunctionClass's
- *  `pyobject_`.
- * */
-class PyFunctionClass : public EnableRCPFromThis<PyFunctionClass> {
-private:
-    //! Callable python object to construct an instance of this class
-    PyObject *pyobject_;
-    //! Name of the function
-    std::string name_;
-    //! Hash of the python function
-    mutable hash_t hash_;
-    //! PyModule that this python function belongs to
-    RCP<const PyModule> pymodule_;
-public:
-    PyFunctionClass(PyObject *pyobject, std::string name, const RCP<const PyModule> &pymodule);
-    PyObject* get_py_object() const { return pyobject_; }
-    RCP<const PyModule> get_py_module() const { return pymodule_; }
-    std::string get_name() const { return name_; }
-    //! Create an instance of this class with arguments `vec`.
-    PyObject* call(const vec_basic &vec) const;
-    bool __eq__(const PyFunctionClass &x) const;
-    int compare(const PyFunctionClass &x) const;
-    hash_t hash() const;
-};
-
-/*! Class to represent the parent class for a PyFunction. Stores
- *  a python reference `pyobject_` to a python callable object.
- *  A PyFunction instance is an instance of the parent PyFunctionClass's
- *  `pyobject_`.
- * */
-class PyFunction : public FunctionWrapper {
-private:
-    RCP<const PyFunctionClass> pyfunction_class_;
-    PyObject *pyobject_;
-public:
-    PyFunction(const vec_basic &vec, const RCP<const PyFunctionClass> &pyfunc_class,
-               PyObject *pyobject);
-    ~PyFunction();
-
-    PyObject *get_py_object() const;
-    RCP<const PyFunctionClass> get_pyfunction_class() const;
-    //! Create an instance of similar type with arguments `x`.
-    virtual RCP<const Basic> create(const vec_basic &x) const;
-    //! Eval the number to bits precision and return a SymEngine::Number type
-    virtual RCP<const Number> eval(long bits) const;
-    /*! Evaluate the derivative w.r.t. `x` by calling the callback function
-     *  of the module that this function belongs to.
-     * */
-    virtual RCP<const Basic> diff_impl(const RCP<const Symbol> &x) const;
-    virtual int compare(const Basic &o) const;
-    virtual bool __eq__(const Basic &o) const;
-    virtual hash_t __hash__() const;
-};
-
-std::string wrapper_dumps(const Basic &x);
-RCP<const Basic> wrapper_loads(const std::string &s);
-
-}
-
-#endif //SYMENGINE_PYWRAPPER_H
diff --git a/symengine/lib/symengine.pxd b/symengine/lib/symengine.pxd
deleted file mode 100644
index 65b3456a..00000000
--- a/symengine/lib/symengine.pxd
+++ /dev/null
@@ -1,955 +0,0 @@
-from libcpp cimport bool
-from libcpp.string cimport string
-from libcpp.map cimport map
-from libcpp.vector cimport vector
-from cpython.ref cimport PyObject
-from libcpp.pair cimport pair
-from libcpp.set cimport set
-from libcpp.unordered_map cimport unordered_map
-
-cdef extern from "<set>" namespace "std":
-    # Cython's libcpp.set does not support multiset in 0.29.x
-    cdef cppclass multiset[T]:
-        cppclass iterator:
-            T& operator*()
-            iterator operator++() nogil
-            iterator operator--() nogil
-            bint operator==(iterator) nogil
-            bint operator!=(iterator) nogil
-        iterator begin() nogil
-        iterator end() nogil
-        iterator insert(T&) nogil
-
-cdef extern from 'symengine/mp_class.h' namespace "SymEngine":
-    ctypedef unsigned long mp_limb_t
-    ctypedef struct __mpz_struct:
-        pass
-    ctypedef struct __mpq_struct:
-        pass
-    ctypedef __mpz_struct mpz_t[1]
-    ctypedef __mpq_struct mpq_t[1]
-
-    cdef cppclass integer_class:
-        integer_class()
-        integer_class(int i)
-        integer_class(integer_class)
-        integer_class(mpz_t)
-        integer_class(const string &s) except +
-    mpz_t get_mpz_t(integer_class &a)
-    const mpz_t get_mpz_t(const integer_class &a)
-    string mp_get_hex_str(const integer_class &a)
-    void mp_set_str(integer_class &a, const string &s)
-    cdef cppclass rational_class:
-        rational_class()
-        rational_class(mpq_t)
-    const mpq_t get_mpq_t(const rational_class &a)
-
-cdef extern from "<symengine/symengine_rcp.h>" namespace "SymEngine":
-    cdef enum ENull:
-        null
-
-    cdef cppclass RCP[T]:
-        T& operator*() nogil
-        # Not yet supported in Cython:
-#        RCP[T]& operator=(RCP[T] &r_ptr) nogil except +
-        void reset() nogil except +
-
-    cdef cppclass Ptr[T]:
-        T& operator*() nogil except +
-
-    void print_stack_on_segfault() nogil
-
-cdef extern from "<symengine/basic.h>" namespace "SymEngine":
-    ctypedef Basic const_Basic "const SymEngine::Basic"
-    # RCP[const_Basic] instead of RCP[const Basic] is because of https://github.com/cython/cython/issues/5478
-    ctypedef RCP[const_Basic] rcp_const_basic "SymEngine::RCP<const SymEngine::Basic>"
-    #cdef cppclass rcp_const_basic "SymEngine::RCP<const SymEngine::Basic>":
-    #    Basic& operator*() nogil
-    #    void reset() nogil except +
-    #    pass
-    # Cython has broken support for the following:
-    # ctypedef map[rcp_const_basic, rcp_const_basic] map_basic_basic
-    # So instead we replicate the map features we need here
-    cdef cppclass std_pair_short_rcp_const_basic "std::pair<short, SymEngine::RCP<const SymEngine::Basic>>":
-        short first
-        rcp_const_basic second
-
-    cdef cppclass std_pair_rcp_const_basic_rcp_const_basic "std::pair<SymEngine::RCP<const SymEngine::Basic>, SymEngine::RCP<const SymEngine::Basic>>":
-        rcp_const_basic first
-        rcp_const_basic second
-
-    cdef cppclass map_basic_basic:
-        map_basic_basic() except +
-        map_basic_basic(map_basic_basic&) except +
-        cppclass iterator:
-            std_pair_rcp_const_basic_rcp_const_basic& operator*()
-            iterator operator++()
-            iterator operator--()
-            bint operator==(iterator)
-            bint operator!=(iterator)
-        rcp_const_basic& operator[](rcp_const_basic&)
-        void clear()
-        bint empty()
-        size_t size()
-        void swap(map_basic_basic&)
-        iterator begin()
-        iterator end()
-        iterator find(rcp_const_basic&)
-        void erase(iterator, iterator)
-        void erase_it(iterator)
-        size_t erase(rcp_const_basic&)
-        pair[iterator, bint] insert(std_pair_rcp_const_basic_rcp_const_basic) except +
-        iterator insert(iterator, std_pair_rcp_const_basic_rcp_const_basic) except +
-        void insert(iterator, iterator) except +
-
-    ctypedef vector[rcp_const_basic] vec_basic "SymEngine::vec_basic"
-    ctypedef vector[RCP[Symbol]] vec_sym "SymEngine::vec_sym"
-    ctypedef vector[RCP[Integer]] vec_integer "SymEngine::vec_integer"
-    ctypedef map[RCP[Integer], unsigned] map_integer_uint "SymEngine::map_integer_uint"
-    cdef struct RCPIntegerKeyLess
-    cdef struct RCPBasicKeyLess
-    ctypedef set[rcp_const_basic] set_basic "SymEngine::set_basic"
-    ctypedef multiset[rcp_const_basic] multiset_basic "SymEngine::multiset_basic"
-
-    cdef cppclass Basic:
-        string __str__() nogil except +
-        unsigned int hash() nogil except +
-        vec_basic get_args() nogil
-        int __cmp__(const Basic &o) nogil
-
-    ctypedef RCP[const Number] rcp_const_number "SymEngine::RCP<const SymEngine::Number>"
-    ctypedef unordered_map[int, rcp_const_basic] umap_int_basic "SymEngine::umap_int_basic"
-    ctypedef unordered_map[int, rcp_const_basic].iterator umap_int_basic_iterator "SymEngine::umap_int_basic::iterator"
-    ctypedef unordered_map[rcp_const_basic, rcp_const_number] umap_basic_num "SymEngine::umap_basic_num"
-    ctypedef unordered_map[rcp_const_basic, rcp_const_number].iterator umap_basic_num_iterator "SymEngine::umap_basic_num::iterator"
-    ctypedef vector[pair[rcp_const_basic, rcp_const_basic]] vec_pair "SymEngine::vec_pair"
-
-    bool eq(const Basic &a, const Basic &b) nogil except +
-    bool neq(const Basic &a, const Basic &b) nogil except +
-
-    RCP[const Symbol] rcp_static_cast_Symbol "SymEngine::rcp_static_cast<const SymEngine::Symbol>"(rcp_const_basic &b) nogil
-    RCP[const PySymbol] rcp_static_cast_PySymbol "SymEngine::rcp_static_cast<const SymEngine::PySymbol>"(rcp_const_basic &b) nogil except +
-    RCP[const Integer] rcp_static_cast_Integer "SymEngine::rcp_static_cast<const SymEngine::Integer>"(rcp_const_basic &b) nogil
-    RCP[const Rational] rcp_static_cast_Rational "SymEngine::rcp_static_cast<const SymEngine::Rational>"(rcp_const_basic &b) nogil
-    RCP[const Complex] rcp_static_cast_Complex "SymEngine::rcp_static_cast<const SymEngine::Complex>"(rcp_const_basic &b) nogil
-    RCP[const Number] rcp_static_cast_Number "SymEngine::rcp_static_cast<const SymEngine::Number>"(rcp_const_basic &b) nogil
-    RCP[const Add] rcp_static_cast_Add "SymEngine::rcp_static_cast<const SymEngine::Add>"(rcp_const_basic &b) nogil
-    RCP[const Mul] rcp_static_cast_Mul "SymEngine::rcp_static_cast<const SymEngine::Mul>"(rcp_const_basic &b) nogil
-    RCP[const Pow] rcp_static_cast_Pow "SymEngine::rcp_static_cast<const SymEngine::Pow>"(rcp_const_basic &b) nogil
-    RCP[const OneArgFunction] rcp_static_cast_OneArgFunction "SymEngine::rcp_static_cast<const SymEngine::OneArgFunction>"(rcp_const_basic &b) nogil
-    RCP[const FunctionSymbol] rcp_static_cast_FunctionSymbol "SymEngine::rcp_static_cast<const SymEngine::FunctionSymbol>"(rcp_const_basic &b) nogil
-    RCP[const FunctionWrapper] rcp_static_cast_FunctionWrapper "SymEngine::rcp_static_cast<const SymEngine::FunctionWrapper>"(rcp_const_basic &b) nogil
-    RCP[const Abs] rcp_static_cast_Abs "SymEngine::rcp_static_cast<const SymEngine::Abs>"(rcp_const_basic &b) nogil
-    RCP[const Max] rcp_static_cast_Max "SymEngine::rcp_static_cast<const SymEngine::Max>"(rcp_const_basic &b) nogil
-    RCP[const Min] rcp_static_cast_Min "SymEngine::rcp_static_cast<const SymEngine::Min>"(rcp_const_basic &b) nogil
-    RCP[const Infty] rcp_static_cast_Infty "SymEngine::rcp_static_cast<const SymEngine::Infty>"(rcp_const_basic &b) nogil
-    RCP[const Gamma] rcp_static_cast_Gamma "SymEngine::rcp_static_cast<const SymEngine::Gamma>"(rcp_const_basic &b) nogil
-    RCP[const Derivative] rcp_static_cast_Derivative "SymEngine::rcp_static_cast<const SymEngine::Derivative>"(rcp_const_basic &b) nogil
-    RCP[const Subs] rcp_static_cast_Subs "SymEngine::rcp_static_cast<const SymEngine::Subs>"(rcp_const_basic &b) nogil
-    RCP[const RealDouble] rcp_static_cast_RealDouble "SymEngine::rcp_static_cast<const SymEngine::RealDouble>"(rcp_const_basic &b) nogil
-    RCP[const ComplexDouble] rcp_static_cast_ComplexDouble "SymEngine::rcp_static_cast<const SymEngine::ComplexDouble>"(rcp_const_basic &b) nogil
-    RCP[const ComplexBase] rcp_static_cast_ComplexBase "SymEngine::rcp_static_cast<const SymEngine::ComplexBase>"(rcp_const_basic &b) nogil
-    RCP[const RealMPFR] rcp_static_cast_RealMPFR "SymEngine::rcp_static_cast<const SymEngine::RealMPFR>"(rcp_const_basic &b) nogil
-    RCP[const ComplexMPC] rcp_static_cast_ComplexMPC "SymEngine::rcp_static_cast<const SymEngine::ComplexMPC>"(rcp_const_basic &b) nogil
-    RCP[const Log] rcp_static_cast_Log "SymEngine::rcp_static_cast<const SymEngine::Log>"(rcp_const_basic &b) nogil
-    RCP[const BooleanAtom] rcp_static_cast_BooleanAtom "SymEngine::rcp_static_cast<const SymEngine::BooleanAtom>"(rcp_const_basic &b) nogil
-    RCP[const PyNumber] rcp_static_cast_PyNumber "SymEngine::rcp_static_cast<const SymEngine::PyNumber>"(rcp_const_basic &b) nogil
-    RCP[const PyFunction] rcp_static_cast_PyFunction "SymEngine::rcp_static_cast<const SymEngine::PyFunction>"(rcp_const_basic &b) nogil
-    RCP[const Boolean] rcp_static_cast_Boolean "SymEngine::rcp_static_cast<const SymEngine::Boolean>"(rcp_const_basic &b) nogil
-    RCP[const Set] rcp_static_cast_Set "SymEngine::rcp_static_cast<const SymEngine::Set>"(rcp_const_basic &b) nogil
-    Ptr[RCP[Basic]] outArg(rcp_const_basic &arg) nogil
-    Ptr[RCP[Integer]] outArg_Integer "SymEngine::outArg<SymEngine::RCP<const SymEngine::Integer>>"(RCP[const Integer] &arg) nogil
-
-    bool is_a[T] (const Basic &b) nogil
-    bool is_a_sub[T] (const Basic &b) nogil
-    rcp_const_basic expand(rcp_const_basic &o, bool deep) nogil except +
-    void as_numer_denom(rcp_const_basic &x, const Ptr[RCP[Basic]] &numer, const Ptr[RCP[Basic]] &denom) nogil
-    void as_real_imag(rcp_const_basic &x, const Ptr[RCP[Basic]] &real, const Ptr[RCP[Basic]] &imag) nogil
-    void cse(vec_pair &replacements, vec_basic &reduced_exprs, const vec_basic &exprs) nogil except +
-
-cdef extern from "<symengine/subs.h>" namespace "SymEngine":
-    rcp_const_basic msubs (rcp_const_basic &x, const map_basic_basic &x) nogil except +
-    rcp_const_basic ssubs (rcp_const_basic &x, const map_basic_basic &x) nogil except +
-    rcp_const_basic xreplace (rcp_const_basic &x, const map_basic_basic &x) nogil except +
-
-cdef extern from "<symengine/derivative.h>" namespace "SymEngine":
-    rcp_const_basic diff "SymEngine::sdiff"(rcp_const_basic &arg, rcp_const_basic &x) nogil except +
-
-cdef extern from "<symengine/symbol.h>" namespace "SymEngine":
-    cdef cppclass Symbol(Basic):
-        Symbol(string name) nogil
-        string get_name() nogil
-    cdef cppclass Dummy(Symbol):
-        pass
-
-cdef extern from "<symengine/number.h>" namespace "SymEngine":
-    cdef cppclass Number(Basic):
-        bool is_positive() nogil
-        bool is_negative() nogil
-        bool is_zero() nogil
-        bool is_one() nogil
-        bool is_minus_one() nogil
-        bool is_complex() nogil
-        pass
-    cdef cppclass NumberWrapper(Basic):
-        pass
-    cdef tribool is_zero(const Basic &x) nogil
-    cdef tribool is_positive(const Basic &x) nogil
-    cdef tribool is_negative(const Basic &x) nogil
-    cdef tribool is_nonnegative(const Basic &x) nogil
-    cdef tribool is_nonpositive(const Basic &x) nogil
-    cdef tribool is_real(const Basic &x) nogil
-
-cdef extern from "pywrapper.h" namespace "SymEngine":
-    cdef cppclass PyNumber(NumberWrapper):
-        PyObject* get_py_object()
-    cdef cppclass PyModule:
-        pass
-    cdef cppclass PyFunctionClass:
-        PyObject* call(const vec_basic &vec)
-    cdef cppclass PyFunction:
-        PyObject* get_py_object()
-
-cdef extern from "pywrapper.h" namespace "SymEngine":
-    cdef cppclass PySymbol(Symbol):
-        PySymbol(string name, PyObject* pyobj, bool use_pickle) except +
-        PyObject* get_py_object() except +
-
-    string wrapper_dumps(const Basic &x) nogil except +
-    rcp_const_basic wrapper_loads(const string &s) nogil except +
-
-cdef extern from "<symengine/integer.h>" namespace "SymEngine":
-    cdef cppclass Integer(Number):
-        Integer(int i) nogil
-        Integer(integer_class i) nogil
-        int compare(const Basic &o) nogil
-        integer_class as_integer_class() nogil
-        RCP[Number] divint(const Integer &other) nogil
-    cdef long mp_get_si(integer_class &i) nogil
-    cdef double mp_get_d(integer_class &i) nogil
-    cdef RCP[const Integer] integer(int i) nogil
-    cdef RCP[const Integer] integer(integer_class i) nogil
-    int i_nth_root(const Ptr[RCP[Integer]] &r, const Integer &a, unsigned long int n) nogil
-    bool perfect_square(const Integer &n) nogil
-    bool perfect_power(const Integer &n) nogil
-
-cdef extern from "<symengine/rational.h>" namespace "SymEngine":
-    cdef cppclass Rational(Number):
-        rational_class as_rational_class() nogil
-        @staticmethod
-        RCP[const Number] from_two_ints(const long n, const long d) nogil
-    cdef double mp_get_d(rational_class &i) nogil
-    cdef RCP[const Number] from_mpq "SymEngine::Rational::from_mpq"(rational_class r) nogil
-    cdef void get_num_den(const Rational &rat, const Ptr[RCP[Integer]] &num,
-                     const Ptr[RCP[Integer]] &den) nogil
-    cdef RCP[const Number] rational(long n, long d) nogil
-
-cdef extern from "<symengine/complex.h>" namespace "SymEngine":
-    cdef cppclass ComplexBase(Number):
-        RCP[const Number] real_part() nogil
-        RCP[const Number] imaginary_part() nogil
-    cdef cppclass Complex(ComplexBase):
-        pass
-
-cdef extern from "<symengine/real_double.h>" namespace "SymEngine":
-    cdef cppclass RealDouble(Number):
-        RealDouble(double x) nogil
-        double as_double() nogil
-    RCP[const RealDouble] real_double(double d) nogil
-
-cdef extern from "<symengine/complex_double.h>" namespace "SymEngine":
-    cdef cppclass ComplexDouble(ComplexBase):
-        ComplexDouble(double complex x) nogil
-        double complex as_complex_double() nogil
-    RCP[const ComplexDouble] complex_double(double complex d) nogil
-
-cdef extern from "<symengine/constants.h>" namespace "SymEngine":
-    cdef cppclass Constant(Basic):
-        Constant(string name) nogil
-        string get_name() nogil
-    rcp_const_basic I
-    rcp_const_basic E
-    rcp_const_basic pi
-    rcp_const_basic GoldenRatio
-    rcp_const_basic Catalan
-    rcp_const_basic EulerGamma
-    rcp_const_basic Inf
-    rcp_const_basic ComplexInf
-    rcp_const_basic Nan
-
-cdef extern from "<symengine/infinity.h>" namespace "SymEngine":
-    cdef cppclass Infty(Number):
-        pass
-
-cdef extern from "<symengine/nan.h>" namespace "SymEngine":
-    cdef cppclass NaN(Number):
-        pass
-
-cdef extern from "<symengine/add.h>" namespace "SymEngine":
-    cdef rcp_const_basic add(rcp_const_basic &a, rcp_const_basic &b) nogil except +
-    cdef rcp_const_basic sub(rcp_const_basic &a, rcp_const_basic &b) nogil except +
-    cdef rcp_const_basic add(const vec_basic &a) nogil except +
-
-    cdef cppclass Add(Basic):
-        void as_two_terms(const Ptr[RCP[Basic]] &a, const Ptr[RCP[Basic]] &b)
-        RCP[const Number] get_coef()
-        const umap_basic_num &get_dict()
-
-cdef extern from "<symengine/mul.h>" namespace "SymEngine":
-    cdef rcp_const_basic mul(rcp_const_basic &a, rcp_const_basic &b) nogil except +
-    cdef rcp_const_basic div(rcp_const_basic &a, rcp_const_basic &b) nogil except +
-    cdef rcp_const_basic neg(rcp_const_basic &a) nogil except +
-    cdef rcp_const_basic mul(const vec_basic &a) nogil except +
-
-    cdef cppclass Mul(Basic):
-        void as_two_terms(const Ptr[RCP[Basic]] &a, const Ptr[RCP[Basic]] &b)
-        RCP[const Number] get_coef()
-        const map_basic_basic &get_dict()
-    cdef RCP[const Mul] mul_from_dict "SymEngine::Mul::from_dict"(RCP[const Number] coef, map_basic_basic &d) nogil
-
-cdef extern from "<symengine/pow.h>" namespace "SymEngine":
-    cdef rcp_const_basic pow(rcp_const_basic &a, rcp_const_basic &b) nogil except +
-    cdef rcp_const_basic sqrt(rcp_const_basic &x) nogil except +
-    cdef rcp_const_basic exp(rcp_const_basic &x) nogil except +
-
-    cdef cppclass Pow(Basic):
-        rcp_const_basic get_base() nogil
-        rcp_const_basic get_exp() nogil
-
-
-cdef extern from "<symengine/basic.h>" namespace "SymEngine":
-    # We need to specialize these for our classes:
-    rcp_const_basic make_rcp_Symbol "SymEngine::make_rcp<const SymEngine::Symbol>"(string name) nogil
-    rcp_const_basic make_rcp_Dummy "SymEngine::make_rcp<const SymEngine::Dummy>"() nogil
-    rcp_const_basic make_rcp_Dummy "SymEngine::make_rcp<const SymEngine::Dummy>"(string name) nogil
-    rcp_const_basic make_rcp_PySymbol "SymEngine::make_rcp<const SymEngine::PySymbol>"(string name, PyObject * pyobj, bool use_pickle) except +
-    rcp_const_basic make_rcp_Constant "SymEngine::make_rcp<const SymEngine::Constant>"(string name) nogil
-    rcp_const_basic make_rcp_Infty "SymEngine::make_rcp<const SymEngine::Infty>"(RCP[const Number] i) nogil
-    rcp_const_basic make_rcp_NaN "SymEngine::make_rcp<const SymEngine::NaN>"() nogil
-    rcp_const_basic make_rcp_Integer "SymEngine::make_rcp<const SymEngine::Integer>"(int i) nogil
-    rcp_const_basic make_rcp_Integer "SymEngine::make_rcp<const SymEngine::Integer>"(integer_class i) nogil
-    rcp_const_basic make_rcp_Subs "SymEngine::make_rcp<const SymEngine::Subs>"(rcp_const_basic arg, const map_basic_basic &x) nogil
-    rcp_const_basic make_rcp_Derivative "SymEngine::make_rcp<const SymEngine::Derivative>"(rcp_const_basic arg, const multiset_basic &x) nogil
-    rcp_const_basic make_rcp_FunctionWrapper "SymEngine::make_rcp<const SymEngine::FunctionWrapper>"(void* obj, string name, string hash_, const vec_basic &arg, \
-            void (*dec_ref)(void *), int (*comp)(void *, void *)) nogil
-    rcp_const_basic make_rcp_RealDouble "SymEngine::make_rcp<const SymEngine::RealDouble>"(double x) nogil
-    rcp_const_basic make_rcp_ComplexDouble "SymEngine::make_rcp<const SymEngine::ComplexDouble>"(double complex x) nogil
-    RCP[const PyModule] make_rcp_PyModule "SymEngine::make_rcp<const SymEngine::PyModule>"(PyObject* (*) (rcp_const_basic x) except +, \
-            rcp_const_basic (*)(PyObject*) except +, RCP[const Number] (*)(PyObject*, long bits) except +,
-            rcp_const_basic (*)(PyObject*, rcp_const_basic) except +) except +
-    rcp_const_basic make_rcp_PyNumber "SymEngine::make_rcp<const SymEngine::PyNumber>"(PyObject*, RCP[const PyModule] x) nogil
-    RCP[const PyFunctionClass] make_rcp_PyFunctionClass "SymEngine::make_rcp<const SymEngine::PyFunctionClass>"(PyObject* pyobject,
-            string name, RCP[const PyModule] pymodule) nogil
-    rcp_const_basic make_rcp_PyFunction "SymEngine::make_rcp<const SymEngine::PyFunction>" (const vec_basic &vec,
-            RCP[const PyFunctionClass] pyfunc_class, const PyObject* pyobject) nogil
-
-cdef extern from "<symengine/functions.h>" namespace "SymEngine":
-    cdef rcp_const_basic sin(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic cos(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic tan(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic cot(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic csc(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic sec(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic asin(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic acos(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic atan(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic acot(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic acsc(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic asec(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic sinh(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic cosh(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic tanh(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic coth(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic csch(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic sech(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic asinh(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic acosh(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic atanh(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic acoth(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic acsch(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic asech(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic function_symbol(string name, const vec_basic &arg) nogil except +
-    cdef rcp_const_basic abs(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic max(const vec_basic &arg) nogil except +
-    cdef rcp_const_basic min(const vec_basic &arg) nogil except +
-    cdef rcp_const_basic gamma(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic atan2(rcp_const_basic &num, rcp_const_basic &den) nogil except +
-    cdef rcp_const_basic lambertw(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic zeta(rcp_const_basic &s) nogil except +
-    cdef rcp_const_basic zeta(rcp_const_basic &s, rcp_const_basic &a) nogil except +
-    cdef rcp_const_basic dirichlet_eta(rcp_const_basic &s) nogil except +
-    cdef rcp_const_basic kronecker_delta(rcp_const_basic &i, rcp_const_basic &j) nogil except +
-    cdef rcp_const_basic levi_civita(const vec_basic &arg) nogil except +
-    cdef rcp_const_basic erf(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic erfc(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic lowergamma(rcp_const_basic &s, rcp_const_basic &x) nogil except +
-    cdef rcp_const_basic uppergamma(rcp_const_basic &s, rcp_const_basic &x) nogil except +
-    cdef rcp_const_basic loggamma(rcp_const_basic &arg) nogil except +
-    cdef rcp_const_basic beta(rcp_const_basic &x, rcp_const_basic &y) nogil except +
-    cdef rcp_const_basic polygamma(rcp_const_basic &n, rcp_const_basic &x) nogil except +
-    cdef rcp_const_basic digamma(rcp_const_basic &x) nogil except +
-    cdef rcp_const_basic trigamma(rcp_const_basic &x) nogil except +
-    cdef rcp_const_basic sign(rcp_const_basic &x) nogil except +
-    cdef rcp_const_basic floor(rcp_const_basic &x) nogil except +
-    cdef rcp_const_basic ceiling(rcp_const_basic &x) nogil except +
-    cdef rcp_const_basic conjugate(rcp_const_basic &x) nogil except +
-    cdef rcp_const_basic log(rcp_const_basic &x) nogil except +
-    cdef rcp_const_basic log(rcp_const_basic &x, rcp_const_basic &y) nogil except +
-    cdef rcp_const_basic unevaluated_expr(rcp_const_basic &x) nogil except +
-
-    cdef cppclass Function(Basic):
-        pass
-
-    cdef cppclass OneArgFunction(Function):
-        rcp_const_basic get_arg() nogil
-
-    cdef cppclass TrigFunction(OneArgFunction):
-        pass
-
-    cdef cppclass Sin(TrigFunction):
-        pass
-
-    cdef cppclass Cos(TrigFunction):
-        pass
-
-    cdef cppclass Tan(TrigFunction):
-        pass
-
-    cdef cppclass Cot(TrigFunction):
-        pass
-
-    cdef cppclass Csc(TrigFunction):
-        pass
-
-    cdef cppclass Sec(TrigFunction):
-        pass
-
-    cdef cppclass ASin(TrigFunction):
-        pass
-
-    cdef cppclass ACos(TrigFunction):
-        pass
-
-    cdef cppclass ATan(TrigFunction):
-        pass
-
-    cdef cppclass ACot(TrigFunction):
-        pass
-
-    cdef cppclass ACsc(TrigFunction):
-        pass
-
-    cdef cppclass ASec(TrigFunction):
-        pass
-
-    cdef cppclass HyperbolicFunction(OneArgFunction):
-        pass
-
-    cdef cppclass Sinh(HyperbolicFunction):
-        pass
-
-    cdef cppclass Cosh(HyperbolicFunction):
-        pass
-
-    cdef cppclass Tanh(HyperbolicFunction):
-        pass
-
-    cdef cppclass Coth(HyperbolicFunction):
-        pass
-
-    cdef cppclass Csch(HyperbolicFunction):
-        pass
-
-    cdef cppclass Sech(HyperbolicFunction):
-        pass
-
-    cdef cppclass ASinh(HyperbolicFunction):
-        pass
-
-    cdef cppclass ACosh(HyperbolicFunction):
-        pass
-
-    cdef cppclass ATanh(HyperbolicFunction):
-        pass
-
-    cdef cppclass ACoth(HyperbolicFunction):
-        pass
-
-    cdef cppclass ACsch(HyperbolicFunction):
-        pass
-
-    cdef cppclass ASech(HyperbolicFunction):
-        pass
-
-    cdef cppclass FunctionSymbol(Function):
-        string get_name() nogil
-
-    cdef cppclass FunctionWrapper(FunctionSymbol):
-        FunctionWrapper(void* obj, string name, string hash_, const vec_basic &arg, \
-            void (*dec_ref)(void *), int (*comp)(void *, void *))
-        void* get_object()
-
-    cdef cppclass Derivative(Basic):
-        Derivative(const rcp_const_basic &arg, const vec_basic &x) nogil
-        rcp_const_basic get_arg() nogil
-        multiset_basic get_symbols() nogil
-
-    cdef cppclass Subs(Basic):
-        Subs(const rcp_const_basic &arg, const map_basic_basic &x) nogil
-        rcp_const_basic get_arg() nogil
-        vec_basic get_variables() nogil
-        vec_basic get_point() nogil
-
-    cdef cppclass Abs(OneArgFunction):
-        pass
-
-    cdef cppclass Max(Function):
-        pass
-
-    cdef cppclass Min(Function):
-        pass
-
-    cdef cppclass Gamma(OneArgFunction):
-        pass
-
-    cdef cppclass ATan2(Function):
-        pass
-
-    cdef cppclass LambertW(OneArgFunction):
-        pass
-
-    cdef cppclass Zeta(Function):
-        pass
-
-    cdef cppclass Dirichlet_eta(OneArgFunction):
-        pass
-
-    cdef cppclass KroneckerDelta(Function):
-        pass
-
-    cdef cppclass LeviCivita(Function):
-        pass
-
-    cdef cppclass Erf(OneArgFunction):
-        pass
-
-    cdef cppclass Erfc(OneArgFunction):
-        pass
-
-    cdef cppclass LowerGamma(Function):
-        pass
-
-    cdef cppclass UpperGamma(Function):
-        pass
-
-    cdef cppclass LogGamma(OneArgFunction):
-        pass
-
-    cdef cppclass Beta(Function):
-        pass
-
-    cdef cppclass PolyGamma(Function):
-        pass
-
-    cdef cppclass Sign(OneArgFunction):
-        pass
-
-    cdef cppclass Floor(OneArgFunction):
-        pass
-
-    cdef cppclass Ceiling(OneArgFunction):
-        pass
-
-    cdef cppclass Conjugate(OneArgFunction):
-        pass
-
-    cdef cppclass UnevaluatedExpr(OneArgFunction):
-        pass
-
-    cdef cppclass Log(Function):
-        pass
-
-cdef extern from "<symengine/real_mpfr.h>":
-    # These come from mpfr.h, but don't include mpfr.h to not break
-    # builds without mpfr
-    ctypedef struct __mpfr_struct:
-        pass
-    ctypedef __mpfr_struct mpfr_t[1]
-    ctypedef __mpfr_struct* mpfr_ptr
-    ctypedef const __mpfr_struct* mpfr_srcptr
-    ctypedef long mpfr_prec_t
-    ctypedef enum mpfr_rnd_t:
-        MPFR_RNDN
-        MPFR_RNDZ
-        MPFR_RNDU
-        MPFR_RNDD
-        MPFR_RNDA
-        MPFR_RNDF
-        MPFR_RNDNA
-
-cdef extern from "<symengine/real_mpfr.h>" namespace "SymEngine":
-    cdef cppclass mpfr_class:
-        mpfr_class() nogil
-        mpfr_class(mpfr_prec_t prec) nogil
-        mpfr_class(string s, mpfr_prec_t prec, unsigned base) nogil
-        mpfr_class(mpfr_t m) nogil
-        mpfr_ptr get_mpfr_t() nogil
-
-    cdef cppclass RealMPFR(Number):
-        RealMPFR(mpfr_class) nogil
-        mpfr_class as_mpfr() nogil
-        mpfr_prec_t get_prec() nogil
-
-    RCP[const RealMPFR] real_mpfr(mpfr_class t) nogil
-
-cdef extern from "<symengine/complex_mpc.h>":
-    # These come from mpc.h, but don't include mpc.h to not break
-    # builds without mpc
-    ctypedef struct __mpc_struct:
-        pass
-    ctypedef __mpc_struct mpc_t[1]
-    ctypedef __mpc_struct* mpc_ptr
-    ctypedef const __mpc_struct* mpc_srcptr
-
-cdef extern from "<symengine/complex_mpc.h>" namespace "SymEngine":
-    cdef cppclass mpc_class:
-        mpc_class() nogil
-        mpc_class(mpfr_prec_t prec) nogil
-        mpc_class(mpc_t m) nogil
-        mpc_ptr get_mpc_t() nogil
-        mpc_class(string s, mpfr_prec_t prec, unsigned base) nogil
-
-    cdef cppclass ComplexMPC(ComplexBase):
-        ComplexMPC(mpc_class) nogil
-        mpc_class as_mpc() nogil
-        mpfr_prec_t get_prec() nogil
-
-    RCP[const ComplexMPC] complex_mpc(mpc_class t) nogil
-
-cdef extern from "<symengine/matrix.h>" namespace "SymEngine":
-    cdef cppclass MatrixBase:
-        const unsigned nrows() nogil
-        const unsigned ncols() nogil
-        rcp_const_basic get(unsigned i, unsigned j) nogil
-        rcp_const_basic set(unsigned i, unsigned j, rcp_const_basic e) nogil
-        string __str__() nogil except +
-        bool eq(const MatrixBase &) nogil
-        rcp_const_basic det() nogil
-        void inv(MatrixBase &)
-        bool is_square() nogil
-        void add_matrix(const MatrixBase &other, MatrixBase &result) nogil
-        void mul_matrix(const MatrixBase &other, MatrixBase &result) nogil
-        void elementwise_mul_matrix(const MatrixBase &other, MatrixBase &result) nogil
-        void conjugate(MatrixBase &result) nogil
-        void conjugate_transpose(MatrixBase &result) nogil
-        void add_scalar(rcp_const_basic k, MatrixBase &result) nogil
-        void mul_scalar(rcp_const_basic k, MatrixBase &result) nogil
-        void transpose(MatrixBase &result) nogil
-        void submatrix(MatrixBase &result,
-                       unsigned row_start, unsigned col_start,
-                       unsigned row_end, unsigned col_end,
-                       unsigned row_step, unsigned col_step) nogil
-        void LU(MatrixBase &L, MatrixBase &U) nogil
-        void LDL(MatrixBase &L, MatrixBase &D) nogil
-        void LU_solve(const MatrixBase &b, MatrixBase &x) nogil
-        void FFLU(MatrixBase &LU) nogil
-        void FFLDU(MatrixBase &L, MatrixBase &D, MatrixBase &U) nogil
-        void QR(MatrixBase &Q, MatrixBase &R) nogil
-        void cholesky(MatrixBase &L) nogil
-
-    cdef cppclass DenseMatrix(MatrixBase):
-        DenseMatrix()
-        DenseMatrix(unsigned i, unsigned j) nogil
-        DenseMatrix(unsigned i, unsigned j, const vec_basic &v) nogil
-        void resize(unsigned i, unsigned j) nogil
-        void row_join(const DenseMatrix &B) nogil
-        void col_join(const DenseMatrix &B) nogil
-        void row_insert(const DenseMatrix &B, unsigned pos) nogil
-        void col_insert(const DenseMatrix &B, unsigned pos) nogil
-        void row_del(unsigned k) nogil
-        void col_del(unsigned k) nogil
-        rcp_const_basic trace() nogil
-        tribool is_zero() nogil
-        tribool is_real() nogil
-        tribool is_diagonal() nogil
-        tribool is_symmetric() nogil
-        tribool is_hermitian() nogil
-        tribool is_weakly_diagonally_dominant() nogil
-        tribool is_strictly_diagonally_dominant() nogil
-        tribool is_positive_definite() nogil
-        tribool is_negative_definite() nogil
-
-    DenseMatrix* static_cast_DenseMatrix "static_cast<SymEngine::DenseMatrix*>"(const MatrixBase *a)
-    void inverse_FFLU "SymEngine::inverse_fraction_free_LU"(const DenseMatrix &A,
-        DenseMatrix &B) nogil except +
-    void pivoted_LU_solve (const DenseMatrix &A, const DenseMatrix &b, DenseMatrix &x) nogil except +
-    void inverse_GJ "SymEngine::inverse_gauss_jordan"(const DenseMatrix &A,
-        DenseMatrix &B) nogil except +
-    void FFLU_solve "SymEngine::fraction_free_LU_solve"(const DenseMatrix &A,
-        const DenseMatrix &b, DenseMatrix &x) nogil except +
-    void FFGJ_solve "SymEngine::fraction_free_gauss_jordan_solve"(const DenseMatrix &A,
-        const DenseMatrix &b, DenseMatrix &x) nogil except +
-    void LDL_solve "SymEngine::LDL_solve"(const DenseMatrix &A, const DenseMatrix &b,
-        DenseMatrix &x) nogil except +
-    void jacobian "SymEngine::sjacobian"(const DenseMatrix &A,
-            const DenseMatrix &x, DenseMatrix &result) nogil except +
-    void diff "SymEngine::sdiff"(const DenseMatrix &A,
-            rcp_const_basic &x, DenseMatrix &result) nogil except +
-    void eye (DenseMatrix &A, int k) nogil
-    void diag(DenseMatrix &A, vec_basic &v, int k) nogil
-    void ones(DenseMatrix &A) nogil
-    void zeros(DenseMatrix &A) nogil
-    void row_exchange_dense(DenseMatrix &A, unsigned i, unsigned j) nogil
-    void row_mul_scalar_dense(DenseMatrix &A, unsigned i, rcp_const_basic &c) nogil
-    void row_add_row_dense(DenseMatrix &A, unsigned i, unsigned j, rcp_const_basic &c) nogil
-    void column_exchange_dense(DenseMatrix &A, unsigned i, unsigned j) nogil
-    void dot(const DenseMatrix &A, const DenseMatrix &B, DenseMatrix &C) nogil
-    void cross(const DenseMatrix &A, const DenseMatrix &B, DenseMatrix &C) nogil
-
-cdef extern from "<symengine/matrix.h>":
-    void pivoted_LU (const DenseMatrix &A, DenseMatrix &L, DenseMatrix &U, vector[pair[int, int]] &P) nogil except +
-
-cdef extern from "<symengine/ntheory.h>" namespace "SymEngine":
-    int probab_prime_p(const Integer &a, int reps)
-    RCP[const Integer] nextprime (const Integer &a) nogil
-    RCP[const Integer] gcd(const Integer &a, const Integer &b) nogil
-    RCP[const Integer] lcm(const Integer &a, const Integer &b) nogil
-    void gcd_ext(const Ptr[RCP[Integer]] &g, const Ptr[RCP[Integer]] &s,
-            const Ptr[RCP[Integer]] &t, const Integer &a, const Integer &b) nogil
-    RCP[const Integer] mod "SymEngine::mod_f"(const Integer &n, const Integer &d) nogil except +
-    RCP[const Integer] quotient "SymEngine::quotient_f"(const Integer &n, const Integer &d) nogil except +
-    void quotient_mod "SymEngine::quotient_mod_f"(const Ptr[RCP[Integer]] &q, const Ptr[RCP[Integer]] &mod,
-            const Integer &n, const Integer &d) nogil except +
-    int mod_inverse(const Ptr[RCP[Integer]] &b, const Integer &a,
-            const Integer &m) nogil
-    bool crt(const Ptr[RCP[Integer]] &R, const vec_integer &rem,
-           const vec_integer &mod) nogil
-    RCP[const Integer] fibonacci(unsigned long n) nogil
-    void fibonacci2(const Ptr[RCP[Integer]] &g, const Ptr[RCP[Integer]] &s,
-            unsigned long n) nogil
-    RCP[const Integer] lucas(unsigned long n) nogil
-    void lucas2(const Ptr[RCP[Integer]] &g, const Ptr[RCP[Integer]] &s,
-            unsigned long n) nogil
-    RCP[const Integer] binomial(const Integer &n,unsigned long k) nogil
-    RCP[const Integer] factorial(unsigned long n) nogil
-    bool divides(const Integer &a, const Integer &b) nogil
-    int factor(const Ptr[RCP[Integer]] &f, const Integer &n, double B1) nogil
-    int factor_lehman_method(const Ptr[RCP[Integer]] &f, const Integer &n) nogil
-    int factor_pollard_pm1_method(const Ptr[RCP[Integer]] &f, const Integer &n,
-            unsigned B, unsigned retries) nogil
-    int factor_pollard_rho_method(const Ptr[RCP[Integer]] &f, const Integer &n,
-            unsigned retries) nogil
-    void prime_factors(vec_integer &primes, const Integer &n) nogil except +
-    void prime_factor_multiplicities(map_integer_uint &primes, const Integer &n) nogil except +
-    RCP[const Number] bernoulli(unsigned long n) nogil except +
-    bool primitive_root(const Ptr[RCP[Integer]] &g, const Integer &n) nogil
-    void primitive_root_list(vec_integer &roots, const Integer &n) nogil
-    RCP[const Integer] totient(RCP[const Integer] n) nogil
-    RCP[const Integer] carmichael(RCP[const Integer] n) nogil
-    bool multiplicative_order(const Ptr[RCP[Integer]] &o, RCP[const Integer] a,
-            RCP[const Integer] n) nogil
-    int legendre(const Integer &a, const Integer &n) nogil
-    int jacobi(const Integer &a, const Integer &n) nogil
-    int kronecker(const Integer &a, const Integer &n) nogil
-    void nthroot_mod_list(vec_integer &roots, RCP[const Integer] n,
-            RCP[const Integer] a, RCP[const Integer] m) nogil
-    bool nthroot_mod(const Ptr[RCP[Integer]] &root, RCP[const Integer] n,
-            RCP[const Integer] a, RCP[const Integer] m) nogil
-    bool powermod(const Ptr[RCP[Integer]] &powm, RCP[const Integer] a,
-            RCP[const Number] b, RCP[const Integer] m) nogil
-    void powermod_list(vec_integer &powm, RCP[const Integer] a,
-            RCP[const Number] b, RCP[const Integer] m) nogil
-
-cdef extern from "<symengine/prime_sieve.h>" namespace "SymEngine":
-    void sieve_generate_primes "SymEngine::Sieve::generate_primes"(vector[unsigned] &primes, unsigned limit) nogil
-
-    cdef cppclass sieve_iterator "SymEngine::Sieve::iterator":
-        sieve_iterator()
-        sieve_iterator(unsigned limit) nogil
-        unsigned next_prime() nogil
-
-cdef extern from "<symengine/visitor.h>" namespace "SymEngine":
-    bool has_symbol(const Basic &b, const Basic &x) nogil except +
-    rcp_const_basic coeff(const Basic &b, const Basic &x, const Basic &n) nogil except +
-    set_basic free_symbols(const Basic &b) nogil except +
-    set_basic free_symbols(const MatrixBase &b) nogil except +
-    unsigned count_ops(const vec_basic &a) nogil
-
-cdef extern from "<symengine/logic.h>" namespace "SymEngine":
-    cdef cppclass Boolean(Basic):
-        RCP[const Boolean] logical_not() nogil except +
-    cdef cppclass BooleanAtom(Boolean):
-        bool get_val() nogil
-    cdef cppclass Relational(Boolean):
-        pass
-    cdef cppclass Equality(Relational):
-        pass
-    cdef cppclass Unequality(Relational):
-        pass
-    cdef cppclass LessThan(Relational):
-        pass
-    cdef cppclass StrictLessThan(Relational):
-        pass
-    cdef cppclass Piecewise(Basic):
-        pass
-    cdef cppclass Contains(Boolean):
-        pass
-    cdef cppclass And(Boolean):
-        pass
-    cdef cppclass Or(Boolean):
-        pass
-    cdef cppclass Not(Boolean):
-        pass
-    cdef cppclass Xor(Boolean):
-        pass
-
-    rcp_const_basic boolTrue
-    rcp_const_basic boolFalse
-    cdef RCP[const Boolean] Eq(rcp_const_basic &lhs) nogil except +
-    cdef RCP[const Boolean] Eq(rcp_const_basic &lhs, rcp_const_basic &rhs) nogil except +
-    cdef RCP[const Boolean] Ne(rcp_const_basic &lhs, rcp_const_basic &rhs) nogil except +
-    cdef RCP[const Boolean] Ge(rcp_const_basic &lhs, rcp_const_basic &rhs) nogil except +
-    cdef RCP[const Boolean] Gt(rcp_const_basic &lhs, rcp_const_basic &rhs) nogil except +
-    cdef RCP[const Boolean] Le(rcp_const_basic &lhs, rcp_const_basic &rhs) nogil except +
-    cdef RCP[const Boolean] Lt(rcp_const_basic &lhs, rcp_const_basic &rhs) nogil except +
-    ctypedef Boolean const_Boolean "const SymEngine::Boolean"
-    ctypedef vector[pair[rcp_const_basic, RCP[const_Boolean]]] PiecewiseVec;
-    ctypedef vector[RCP[Boolean]] vec_boolean "SymEngine::vec_boolean"
-    ctypedef set[RCP[Boolean]] set_boolean "SymEngine::set_boolean"
-    cdef RCP[const Boolean] logical_and(set_boolean &s) nogil except +
-    cdef RCP[const Boolean] logical_nand(set_boolean &s) nogil except +
-    cdef RCP[const Boolean] logical_or(set_boolean &s) nogil except +
-    cdef RCP[const Boolean] logical_not(RCP[const Boolean] &s) nogil except +
-    cdef RCP[const Boolean] logical_nor(set_boolean &s) nogil except +
-    cdef RCP[const Boolean] logical_xor(vec_boolean &s) nogil except +
-    cdef RCP[const Boolean] logical_xnor(vec_boolean &s) nogil except +
-    cdef rcp_const_basic piecewise(PiecewiseVec vec) nogil except +
-    cdef RCP[const Boolean] contains(rcp_const_basic &expr,
-                                     RCP[const Set] &set) nogil
-
-cdef extern from "<symengine/eval.h>" namespace "SymEngine":
-    cdef cppclass EvalfDomain:
-        pass
-    cdef EvalfDomain EvalfComplex "SymEngine::EvalfDomain::Complex"
-    cdef EvalfDomain EvalfReal "SymEngine::EvalfDomain::Real"
-    cdef EvalfDomain EvalfSymbolic "SymEngine::EvalfDomain::Symbolic"
-    rcp_const_basic evalf(const Basic &b, unsigned long bits, EvalfDomain domain) nogil except +
-
-cdef extern from "<symengine/eval_double.h>" namespace "SymEngine":
-    double eval_double(const Basic &b) nogil except +
-    double complex eval_complex_double(const Basic &b) nogil except +
-
-cdef extern from "<symengine/lambda_double.h>" namespace "SymEngine":
-    cdef cppclass LambdaRealDoubleVisitor:
-        LambdaRealDoubleVisitor() nogil
-        void init(const vec_basic &x, const vec_basic &b, bool cse) nogil except +
-        void call(double *r, const double *x) nogil
-    cdef cppclass LambdaComplexDoubleVisitor:
-        LambdaComplexDoubleVisitor() nogil
-        void init(const vec_basic &x, const vec_basic &b, bool cse) nogil except +
-        void call(double complex *r, const double complex *x) nogil
-
-cdef extern from "<symengine/llvm_double.h>" namespace "SymEngine":
-    cdef cppclass LLVMVisitor:
-        LLVMVisitor() nogil
-        void init(const vec_basic &x, const vec_basic &b, bool cse, int opt_level) nogil except +
-        const string& dumps() nogil
-        void loads(const string&) nogil
-
-    cdef cppclass LLVMFloatVisitor(LLVMVisitor):
-        void call(float *r, const float *x) nogil
-
-    cdef cppclass LLVMDoubleVisitor(LLVMVisitor):
-        void call(double *r, const double *x) nogil
-
-    cdef cppclass LLVMLongDoubleVisitor(LLVMVisitor):
-        void call(long double *r, const long double *x) nogil
-
-
-cdef extern from "<symengine/series.h>" namespace "SymEngine":
-    cdef cppclass SeriesCoeffInterface:
-        rcp_const_basic as_basic() nogil except +
-        umap_int_basic as_dict() nogil except +
-        rcp_const_basic get_coeff(int) nogil except +
-    ctypedef RCP[const SeriesCoeffInterface] rcp_const_seriescoeffinterface "SymEngine::RCP<const SymEngine::SeriesCoeffInterface>"
-    rcp_const_seriescoeffinterface series "SymEngine::series"(rcp_const_basic &ex, RCP[const Symbol] &var, unsigned int prec) nogil except +
-
-cdef extern from "<symengine/eval_mpfr.h>" namespace "SymEngine":
-    void eval_mpfr(mpfr_t result, const Basic &b, mpfr_rnd_t rnd) nogil except +
-
-cdef extern from "<symengine/eval_mpc.h>" namespace "SymEngine":
-    void eval_mpc(mpc_t result, const Basic &b, mpfr_rnd_t rnd) nogil except +
-
-cdef extern from "<symengine/parser.h>" namespace "SymEngine":
-    rcp_const_basic parse(const string &n) nogil except +
-
-cdef extern from "<symengine/sets.h>" namespace "SymEngine":
-    cdef cppclass Set(Basic):
-        RCP[const Set] set_intersection(RCP[const Set] &o) nogil except +
-        RCP[const Set] set_union(RCP[const Set] &o) nogil except +
-        RCP[const Set] set_complement(RCP[const Set] &o) nogil except +
-        RCP[const Boolean] contains(rcp_const_basic &a) nogil except +
-    cdef cppclass Interval(Set):
-        pass
-    cdef cppclass EmptySet(Set):
-        pass
-    cdef cppclass Reals(Set):
-        pass
-    cdef cppclass Rationals(Set):
-        pass
-    cdef cppclass Integers(Set):
-        pass
-    cdef cppclass UniversalSet(Set):
-        pass
-    cdef cppclass FiniteSet(Set):
-        pass
-    cdef cppclass Union(Set):
-        pass
-    cdef cppclass Complement(Set):
-        pass
-    cdef cppclass ConditionSet(Set):
-        pass
-    cdef cppclass ImageSet(Set):
-        pass
-    ctypedef set[RCP[Set]] set_set "SymEngine::set_set"
-    cdef rcp_const_basic interval(RCP[const Number] &start, RCP[const Number] &end, bool l, bool r) nogil except +
-    cdef RCP[const EmptySet] emptyset() nogil except +
-    cdef RCP[const Reals] reals() nogil except +
-    cdef RCP[const Rationals] rationals() nogil except +
-    cdef RCP[const Integers] integers() nogil except +
-    cdef RCP[const UniversalSet] universalset() nogil except +
-    cdef RCP[const Set] finiteset(set_basic &container) nogil except +
-    cdef RCP[const Set] set_union(set_set &a) nogil except +
-    cdef RCP[const Set] set_intersection(set_set &a) nogil except +
-    cdef RCP[const Set] set_complement_helper(RCP[const Set] &container, RCP[const Set] &universe) nogil except +
-    cdef RCP[const Set] set_complement(RCP[const Set] &universe, RCP[const Set] &container) nogil except +
-    cdef RCP[const Set] conditionset(rcp_const_basic &sym, RCP[const Boolean] &condition) nogil except +
-    cdef RCP[const Set] imageset(rcp_const_basic &sym, rcp_const_basic &expr, RCP[const Set] &base) nogil except +
-
-cdef extern from "<symengine/solve.h>" namespace "SymEngine":
-    cdef RCP[const Set] solve(rcp_const_basic &f, RCP[const Symbol] &sym) nogil except +
-    cdef RCP[const Set] solve(rcp_const_basic &f, RCP[const Symbol] &sym, RCP[const Set] &domain) nogil except +
-    cdef vec_basic linsolve(const vec_basic &eqs, const vec_sym &syms) nogil except +
-
-cdef extern from "symengine/tribool.h" namespace "SymEngine":
-    cdef cppclass tribool:
-        pass  # tribool is an enum class
-
-    cdef bool is_true(tribool) nogil
-    cdef bool is_false(tribool) nogil
-    cdef bool is_indeterminate(tribool) nogil
-
-cdef extern from "symengine/tribool.h" namespace "SymEngine::tribool":
-    cdef tribool indeterminate
-    cdef tribool trifalse
-    cdef tribool tritrue
-
-cdef extern from "<symengine/printers.h>" namespace "SymEngine":
-    string ccode(const Basic &x) nogil except +
-    string latex(const Basic &x) nogil except +
-    string latex(const DenseMatrix &x, unsigned max_rows, unsigned max_cols) nogil except +
-    string unicode(const Basic &x) nogil except +
-
-## Defined in 'symengine/cwrapper.cpp'
-cdef struct CRCPBasic:
-    rcp_const_basic m
diff --git a/symengine/lib/symengine_wrapper.in.pxd b/symengine/lib/symengine_wrapper.in.pxd
deleted file mode 100644
index 03dbf1f0..00000000
--- a/symengine/lib/symengine_wrapper.in.pxd
+++ /dev/null
@@ -1,85 +0,0 @@
-#cython: language_level=3
-
-cimport symengine
-from symengine cimport RCP, map_basic_basic, rcp_const_basic
-from libcpp.memory cimport unique_ptr
-from libcpp.vector cimport vector
-from libcpp.string cimport string
-from libcpp cimport bool as cppbool
-
-cdef class Basic(object):
-    cdef rcp_const_basic thisptr
-
-cdef class MatrixBase(object):
-    cdef symengine.MatrixBase* thisptr
-
-cdef class PyFunctionClass(object):
-    cdef RCP[const symengine.PyFunctionClass] thisptr
-
-cdef class PyModule(object):
-    cdef RCP[const symengine.PyModule] thisptr
-
-cdef class _DictBasic(object):
-    cdef map_basic_basic c
-
-cdef class DictBasicIter(object):
-    cdef map_basic_basic.iterator begin
-    cdef map_basic_basic.iterator end
-    cdef init(self, map_basic_basic.iterator begin, map_basic_basic.iterator end)
-
-cdef object c2py(rcp_const_basic o)
-
-cdef class _Lambdify(object):
-    cdef size_t args_size, tot_out_size
-    cdef list out_shapes
-    cdef readonly bint real
-    cdef readonly size_t n_exprs
-    cdef public str order
-    cdef vector[int] accum_out_sizes
-    cdef object numpy_dtype
-
-    cdef _init(self, symengine.vec_basic& args_, symengine.vec_basic& outs_, cppbool cse)
-    cdef _load(self, const string &s)
-    cpdef eval_real(self, inp, out)
-    cpdef eval_complex(self, inp, out)
-    cpdef unsafe_eval(sef, inp, out, unsigned nbroadcast=*)
-
-cdef class LambdaDouble(_Lambdify):
-    cdef unique_ptr[symengine.LambdaRealDoubleVisitor] lambda_visitor
-    cdef _init(self, symengine.vec_basic& args_, symengine.vec_basic& outs_, cppbool cse)
-    cpdef unsafe_real(self, double[::1] inp, double[::1] out, int inp_offset=*, int out_offset=*)
-    cpdef as_scipy_low_level_callable(self)
-    cpdef as_ctypes(self)
-    cpdef unsafe_real(self,
-                      double[::1] inp, double[::1] out,
-                      int inp_offset=*, int out_offset=*)
-
-cdef class LambdaComplexDouble(_Lambdify):
-    cdef unique_ptr[symengine.LambdaComplexDoubleVisitor] lambda_visitor
-    cdef _init(self, symengine.vec_basic& args_, symengine.vec_basic& outs_, cppbool cse)
-    cpdef unsafe_complex(self, double complex[::1] inp, double complex[::1] out, int inp_offset=*, int out_offset=*)
-
-IF HAVE_SYMENGINE_LLVM:
-    cdef class _LLVMLambdify(_Lambdify):
-        cdef int opt_level
-
-    cdef class LLVMDouble(_LLVMLambdify):
-        cdef unique_ptr[symengine.LLVMDoubleVisitor] lambda_visitor
-        cdef _init(self, symengine.vec_basic& args_, symengine.vec_basic& outs_, cppbool cse)
-        cdef _load(self, const string &s)
-        cpdef unsafe_real(self, double[::1] inp, double[::1] out, int inp_offset=*, int out_offset=*)
-        cpdef as_scipy_low_level_callable(self)
-        cpdef as_ctypes(self)
-
-    cdef class LLVMFloat(_LLVMLambdify):
-        cdef unique_ptr[symengine.LLVMFloatVisitor] lambda_visitor
-        cdef _init(self, symengine.vec_basic& args_, symengine.vec_basic& outs_, cppbool cse)
-        cdef _load(self, const string &s)
-        cpdef unsafe_real(self, float[::1] inp, float[::1] out, int inp_offset=*, int out_offset=*)
-
-    IF HAVE_SYMENGINE_LLVM_LONG_DOUBLE:
-        cdef class LLVMLongDouble(_LLVMLambdify):
-            cdef unique_ptr[symengine.LLVMLongDoubleVisitor] lambda_visitor
-            cdef _init(self, symengine.vec_basic& args_, symengine.vec_basic& outs_, cppbool cse)
-            cdef _load(self, const string &s)
-            cpdef unsafe_real(self, long double[::1] inp, long double[::1] out, int inp_offset=*, int out_offset=*)
diff --git a/symengine/lib/symengine_wrapper.in.pyx b/symengine/lib/symengine_wrapper.in.pyx
deleted file mode 100644
index 6fe0ffa5..00000000
--- a/symengine/lib/symengine_wrapper.in.pyx
+++ /dev/null
@@ -1,5705 +0,0 @@
-from cython.operator cimport dereference as deref, preincrement as inc
-cimport symengine
-from symengine cimport (RCP, pair, map_basic_basic, umap_int_basic,
-    umap_int_basic_iterator, umap_basic_num, umap_basic_num_iterator,
-    rcp_const_basic, std_pair_short_rcp_const_basic,
-                        rcp_const_seriescoeffinterface, CRCPBasic, tribool, is_indeterminate, is_true, is_false)
-from libcpp cimport bool as cppbool
-from libcpp.utility cimport move
-from libcpp.string cimport string
-from libcpp.vector cimport vector
-from cpython cimport PyObject, Py_XINCREF, Py_XDECREF, \
-    PyObject_CallMethodObjArgs
-from libc.string cimport memcpy
-import cython
-import itertools
-import numbers
-from operator import mul
-from functools import reduce
-import collections
-import warnings
-from symengine.utilities import is_sequence
-import os
-import sys
-from cpython.pycapsule cimport PyCapsule_GetPointer
-from collections.abc import MutableMapping
-
-try:
-    import numpy as np
-    # Lambdify requires NumPy (since b713a61, see gh-112)
-    have_numpy = True
-except ImportError:
-    have_numpy = False
-
-
-class SympifyError(Exception):
-    pass
-
-cpdef object capsule_to_basic(object capsule):
-    cdef CRCPBasic *p = <CRCPBasic*>PyCapsule_GetPointer(capsule, NULL)
-    return c2py(p.m)
-
-cpdef void assign_to_capsule(object capsule, object value):
-    cdef CRCPBasic *p_cap = <CRCPBasic*>PyCapsule_GetPointer(capsule, NULL)
-    cdef Basic v = sympify(value)
-    p_cap.m = v.thisptr
-
-cdef object c2py(rcp_const_basic o):
-    cdef Basic r
-    cdef PyObject *obj
-    if (symengine.is_a[symengine.Add](deref(o))):
-        r = Expr.__new__(Add)
-    elif (symengine.is_a[symengine.Mul](deref(o))):
-        r = Expr.__new__(Mul)
-    elif (symengine.is_a[symengine.Pow](deref(o))):
-        r = Expr.__new__(Pow)
-    elif (symengine.is_a[symengine.Integer](deref(o))):
-        if (deref(symengine.rcp_static_cast_Integer(o)).is_zero()):
-            return S.Zero
-        elif (deref(symengine.rcp_static_cast_Integer(o)).is_one()):
-            return S.One
-        elif (deref(symengine.rcp_static_cast_Integer(o)).is_minus_one()):
-            return S.NegativeOne
-        r = Number.__new__(Integer)
-    elif (symengine.is_a[symengine.Rational](deref(o))):
-        r = S.Half
-        if (symengine.eq(deref(o), deref(r.thisptr))):
-            return S.Half
-        r = Number.__new__(Rational)
-    elif (symengine.is_a[symengine.Complex](deref(o))):
-        r = S.ImaginaryUnit
-        if (symengine.eq(deref(o), deref(r.thisptr))):
-            return S.ImaginaryUnit
-        r = Complex.__new__(Complex)
-    elif (symengine.is_a[symengine.Dummy](deref(o))):
-        r = Dummy.__new__(Dummy)
-    elif (symengine.is_a[symengine.Symbol](deref(o))):
-        if (symengine.is_a_sub[symengine.PySymbol](deref(o))):
-            obj = deref(symengine.rcp_static_cast_PySymbol(o)).get_py_object()
-            result = <object>(obj)
-            Py_XDECREF(obj);
-            return result
-        r = Symbol.__new__(Symbol)
-    elif (symengine.is_a[symengine.Constant](deref(o))):
-        r = S.Pi
-        if (symengine.eq(deref(o), deref(r.thisptr))):
-            return S.Pi
-        r = S.Exp1
-        if (symengine.eq(deref(o), deref(r.thisptr))):
-            return S.Exp1
-        r = S.GoldenRatio
-        if (symengine.eq(deref(o), deref(r.thisptr))):
-            return S.GoldenRatio
-        r = S.Catalan
-        if (symengine.eq(deref(o), deref(r.thisptr))):
-            return S.Catalan
-        r = S.EulerGamma
-        if (symengine.eq(deref(o), deref(r.thisptr))):
-            return S.EulerGamma
-        r = Constant.__new__(Constant)
-    elif (symengine.is_a[symengine.Infty](deref(o))):
-        if (deref(symengine.rcp_static_cast_Infty(o)).is_positive()):
-            return S.Infinity
-        elif (deref(symengine.rcp_static_cast_Infty(o)).is_negative()):
-            return S.NegativeInfinity
-        return S.ComplexInfinity
-    elif (symengine.is_a[symengine.NaN](deref(o))):
-        return S.NaN
-    elif (symengine.is_a[symengine.PyFunction](deref(o))):
-        r = PyFunction.__new__(PyFunction)
-    elif (symengine.is_a[symengine.FunctionSymbol](deref(o))):
-        r = FunctionSymbol.__new__(FunctionSymbol)
-    elif (symengine.is_a[symengine.Abs](deref(o))):
-        r = Function.__new__(Abs)
-    elif (symengine.is_a[symengine.Max](deref(o))):
-        r = Function.__new__(Max)
-    elif (symengine.is_a[symengine.Min](deref(o))):
-        r = Function.__new__(Min)
-    elif (symengine.is_a[symengine.BooleanAtom](deref(o))):
-        if (deref(symengine.rcp_static_cast_BooleanAtom(o)).get_val()):
-            return S.true
-        return S.false
-    elif (symengine.is_a[symengine.Equality](deref(o))):
-        r = Relational.__new__(Equality)
-    elif (symengine.is_a[symengine.Unequality](deref(o))):
-        r = Relational.__new__(Unequality)
-    elif (symengine.is_a[symengine.LessThan](deref(o))):
-        r = Relational.__new__(LessThan)
-    elif (symengine.is_a[symengine.StrictLessThan](deref(o))):
-        r = Relational.__new__(StrictLessThan)
-    elif (symengine.is_a[symengine.Gamma](deref(o))):
-        r = Function.__new__(Gamma)
-    elif (symengine.is_a[symengine.Derivative](deref(o))):
-        r = Expr.__new__(Derivative)
-    elif (symengine.is_a[symengine.Subs](deref(o))):
-        r = Expr.__new__(Subs)
-    elif (symengine.is_a[symengine.RealDouble](deref(o))):
-        r = Number.__new__(RealDouble)
-    elif (symengine.is_a[symengine.ComplexDouble](deref(o))):
-        r = ComplexDouble.__new__(ComplexDouble)
-    elif (symengine.is_a[symengine.RealMPFR](deref(o))):
-        r = Number.__new__(RealMPFR)
-    elif (symengine.is_a[symengine.ComplexMPC](deref(o))):
-        r = ComplexMPC.__new__(ComplexMPC)
-    elif (symengine.is_a[symengine.Log](deref(o))):
-        r = Function.__new__(Log)
-    elif (symengine.is_a[symengine.Sin](deref(o))):
-        r = Function.__new__(Sin)
-    elif (symengine.is_a[symengine.Cos](deref(o))):
-        r = Function.__new__(Cos)
-    elif (symengine.is_a[symengine.Tan](deref(o))):
-        r = Function.__new__(Tan)
-    elif (symengine.is_a[symengine.Cot](deref(o))):
-        r = Function.__new__(Cot)
-    elif (symengine.is_a[symengine.Csc](deref(o))):
-        r = Function.__new__(Csc)
-    elif (symengine.is_a[symengine.Sec](deref(o))):
-        r = Function.__new__(Sec)
-    elif (symengine.is_a[symengine.ASin](deref(o))):
-        r = Function.__new__(ASin)
-    elif (symengine.is_a[symengine.ACos](deref(o))):
-        r = Function.__new__(ACos)
-    elif (symengine.is_a[symengine.ATan](deref(o))):
-        r = Function.__new__(ATan)
-    elif (symengine.is_a[symengine.ACot](deref(o))):
-        r = Function.__new__(ACot)
-    elif (symengine.is_a[symengine.ACsc](deref(o))):
-        r = Function.__new__(ACsc)
-    elif (symengine.is_a[symengine.ASec](deref(o))):
-        r = Function.__new__(ASec)
-    elif (symengine.is_a[symengine.Sinh](deref(o))):
-        r = Function.__new__(Sinh)
-    elif (symengine.is_a[symengine.Cosh](deref(o))):
-        r = Function.__new__(Cosh)
-    elif (symengine.is_a[symengine.Tanh](deref(o))):
-        r = Function.__new__(Tanh)
-    elif (symengine.is_a[symengine.Coth](deref(o))):
-        r = Function.__new__(Coth)
-    elif (symengine.is_a[symengine.Csch](deref(o))):
-        r = Function.__new__(Csch)
-    elif (symengine.is_a[symengine.Sech](deref(o))):
-        r = Function.__new__(Sech)
-    elif (symengine.is_a[symengine.ASinh](deref(o))):
-        r = Function.__new__(ASinh)
-    elif (symengine.is_a[symengine.ACosh](deref(o))):
-        r = Function.__new__(ACosh)
-    elif (symengine.is_a[symengine.ATanh](deref(o))):
-        r = Function.__new__(ATanh)
-    elif (symengine.is_a[symengine.ACoth](deref(o))):
-        r = Function.__new__(ACoth)
-    elif (symengine.is_a[symengine.ACsch](deref(o))):
-        r = Function.__new__(ACsch)
-    elif (symengine.is_a[symengine.ASech](deref(o))):
-        r = Function.__new__(ASech)
-    elif (symengine.is_a[symengine.ATan2](deref(o))):
-        r = Function.__new__(ATan2)
-    elif (symengine.is_a[symengine.LambertW](deref(o))):
-        r = Function.__new__(LambertW)
-    elif (symengine.is_a[symengine.Zeta](deref(o))):
-        r = Function.__new__(zeta)
-    elif (symengine.is_a[symengine.Dirichlet_eta](deref(o))):
-        r = Function.__new__(dirichlet_eta)
-    elif (symengine.is_a[symengine.KroneckerDelta](deref(o))):
-        r = Function.__new__(KroneckerDelta)
-    elif (symengine.is_a[symengine.LeviCivita](deref(o))):
-        r = Function.__new__(LeviCivita)
-    elif (symengine.is_a[symengine.Erf](deref(o))):
-        r = Function.__new__(erf)
-    elif (symengine.is_a[symengine.Erfc](deref(o))):
-        r = Function.__new__(erfc)
-    elif (symengine.is_a[symengine.LowerGamma](deref(o))):
-        r = Function.__new__(lowergamma)
-    elif (symengine.is_a[symengine.UpperGamma](deref(o))):
-        r = Function.__new__(uppergamma)
-    elif (symengine.is_a[symengine.LogGamma](deref(o))):
-        r = Function.__new__(loggamma)
-    elif (symengine.is_a[symengine.Beta](deref(o))):
-        r = Function.__new__(beta)
-    elif (symengine.is_a[symengine.PolyGamma](deref(o))):
-        r = Function.__new__(polygamma)
-    elif (symengine.is_a[symengine.Sign](deref(o))):
-        r = Function.__new__(sign)
-    elif (symengine.is_a[symengine.Floor](deref(o))):
-        r = Function.__new__(floor)
-    elif (symengine.is_a[symengine.Ceiling](deref(o))):
-        r = Function.__new__(ceiling)
-    elif (symengine.is_a[symengine.Conjugate](deref(o))):
-        r = Function.__new__(conjugate)
-    elif (symengine.is_a[symengine.PyNumber](deref(o))):
-        r = PyNumber.__new__(PyNumber)
-    elif (symengine.is_a[symengine.Piecewise](deref(o))):
-        r = Function.__new__(Piecewise)
-    elif (symengine.is_a[symengine.Contains](deref(o))):
-        r = Boolean.__new__(Contains)
-    elif (symengine.is_a[symengine.Interval](deref(o))):
-        r = Set.__new__(Interval)
-    elif (symengine.is_a[symengine.EmptySet](deref(o))):
-        r = Set.__new__(EmptySet)
-    elif (symengine.is_a[symengine.Reals](deref(o))):
-        r = Set.__new__(Reals)
-    elif (symengine.is_a[symengine.Integers](deref(o))):
-        r = Set.__new__(Integers)
-    elif (symengine.is_a[symengine.Rationals](deref(o))):
-        r = Set.__new__(Rationals)
-    elif (symengine.is_a[symengine.UniversalSet](deref(o))):
-        r = Set.__new__(UniversalSet)
-    elif (symengine.is_a[symengine.FiniteSet](deref(o))):
-        r = Set.__new__(FiniteSet)
-    elif (symengine.is_a[symengine.Union](deref(o))):
-        r = Set.__new__(Union)
-    elif (symengine.is_a[symengine.Complement](deref(o))):
-        r = Set.__new__(Complement)
-    elif (symengine.is_a[symengine.ConditionSet](deref(o))):
-        r = Set.__new__(ConditionSet)
-    elif (symengine.is_a[symengine.ImageSet](deref(o))):
-        r = Set.__new__(ImageSet)
-    elif (symengine.is_a[symengine.And](deref(o))):
-        r = Boolean.__new__(And)
-    elif (symengine.is_a[symengine.Not](deref(o))):
-        r = Boolean.__new__(Not)
-    elif (symengine.is_a[symengine.Or](deref(o))):
-        r = Boolean.__new__(Or)
-    elif (symengine.is_a[symengine.Xor](deref(o))):
-        r = Boolean.__new__(Xor)
-    elif (symengine.is_a[symengine.UnevaluatedExpr](deref(o))):
-        r = Function.__new__(UnevaluatedExpr)
-    else:
-        raise Exception("Unsupported SymEngine class.")
-    r.thisptr = o
-    return r
-
-def sympy2symengine(a, raise_error=False):
-    """
-    Converts 'a' from SymPy to SymEngine.
-
-    If the expression cannot be converted, it either returns None (if
-    raise_error==False) or raises a SympifyError exception (if
-    raise_error==True).
-    """
-    import sympy
-    from sympy.core.function import AppliedUndef as sympy_AppliedUndef
-    if isinstance(a, sympy.Symbol):
-        return Symbol(a.name)
-    elif isinstance(a, sympy.Dummy):
-        return Dummy(a.name)
-    elif isinstance(a, sympy.Mul):
-        return mul(*[sympy2symengine(x, raise_error) for x in a.args])
-    elif isinstance(a, sympy.Add):
-        return add(*[sympy2symengine(x, raise_error) for x in a.args])
-    elif isinstance(a, (sympy.Pow, sympy.exp)):
-        x, y = a.as_base_exp()
-        return sympy2symengine(x, raise_error) ** sympy2symengine(y, raise_error)
-    elif isinstance(a, sympy.Integer):
-        return Integer(a.p)
-    elif isinstance(a, sympy.Rational):
-        return Integer(a.p) / Integer(a.q)
-    elif isinstance(a, sympy.Float):
-        IF HAVE_SYMENGINE_MPFR:
-            if a._prec > 53:
-                return RealMPFR(str(a), a._prec)
-            else:
-                return RealDouble(float(a))
-        ELSE:
-            return RealDouble(float(a))
-    elif a is sympy.I:
-        return I
-    elif a is sympy.E:
-        return E
-    elif a is sympy.pi:
-        return pi
-    elif a is sympy.GoldenRatio:
-        return golden_ratio
-    elif a is sympy.Catalan:
-        return catalan
-    elif a is sympy.EulerGamma:
-        return eulergamma
-    elif a is sympy.S.NegativeInfinity:
-        return minus_oo
-    elif a is sympy.S.Infinity:
-        return oo
-    elif a is sympy.S.ComplexInfinity:
-        return zoo
-    elif a is sympy.nan:
-        return nan
-    elif a is sympy.S.true:
-        return true
-    elif a is sympy.S.false:
-        return false
-    elif isinstance(a, sympy.functions.elementary.trigonometric.TrigonometricFunction):
-        if isinstance(a, sympy.sin):
-            return sin(a.args[0])
-        elif isinstance(a, sympy.cos):
-            return cos(a.args[0])
-        elif isinstance(a, sympy.tan):
-            return tan(a.args[0])
-        elif isinstance(a, sympy.cot):
-            return cot(a.args[0])
-        elif isinstance(a, sympy.csc):
-            return csc(a.args[0])
-        elif isinstance(a, sympy.sec):
-            return sec(a.args[0])
-    elif isinstance(a, sympy.functions.elementary.trigonometric.InverseTrigonometricFunction):
-        if isinstance(a, sympy.asin):
-            return asin(a.args[0])
-        elif isinstance(a, sympy.acos):
-            return acos(a.args[0])
-        elif isinstance(a, sympy.atan):
-            return atan(a.args[0])
-        elif isinstance(a, sympy.acot):
-            return acot(a.args[0])
-        elif isinstance(a, sympy.acsc):
-            return acsc(a.args[0])
-        elif isinstance(a, sympy.asec):
-            return asec(a.args[0])
-        elif isinstance(a, sympy.atan2):
-            return atan2(*a.args)
-    elif isinstance(a, sympy.functions.elementary.hyperbolic.HyperbolicFunction):
-        if isinstance(a, sympy.sinh):
-            return sinh(a.args[0])
-        elif isinstance(a, sympy.cosh):
-            return cosh(a.args[0])
-        elif isinstance(a, sympy.tanh):
-            return tanh(a.args[0])
-        elif isinstance(a, sympy.coth):
-            return coth(a.args[0])
-        elif isinstance(a, sympy.csch):
-            return csch(a.args[0])
-        elif isinstance(a, sympy.sech):
-            return sech(a.args[0])
-    elif isinstance(a, sympy.asinh):
-        return asinh(a.args[0])
-    elif isinstance(a, sympy.acosh):
-        return acosh(a.args[0])
-    elif isinstance(a, sympy.atanh):
-        return atanh(a.args[0])
-    elif isinstance(a, sympy.acoth):
-        return acoth(a.args[0])
-    elif isinstance(a, sympy.log):
-        return log(a.args[0])
-    elif isinstance(a, sympy.Abs):
-        return abs(sympy2symengine(a.args[0], raise_error))
-    elif isinstance(a, sympy.Max):
-        return _max(*a.args)
-    elif isinstance(a, sympy.Min):
-        return _min(*a.args)
-    elif isinstance(a, sympy.Equality):
-        return eq(*a.args)
-    elif isinstance(a, sympy.Unequality):
-        return ne(*a.args)
-    elif isinstance(a, sympy.GreaterThan):
-        return ge(*a.args)
-    elif isinstance(a, sympy.StrictGreaterThan):
-        return gt(*a.args)
-    elif isinstance(a, sympy.LessThan):
-        return le(*a.args)
-    elif isinstance(a, sympy.StrictLessThan):
-        return lt(*a.args)
-    elif isinstance(a, sympy.LambertW):
-        return LambertW(a.args[0])
-    elif isinstance(a, sympy.zeta):
-        return zeta(*a.args)
-    elif isinstance(a, sympy.dirichlet_eta):
-        return dirichlet_eta(a.args[0])
-    elif isinstance(a, sympy.KroneckerDelta):
-        return KroneckerDelta(*a.args)
-    elif isinstance(a, sympy.LeviCivita):
-        return LeviCivita(*a.args)
-    elif isinstance(a, sympy.erf):
-        return erf(a.args[0])
-    elif isinstance(a, sympy.erfc):
-        return erfc(a.args[0])
-    elif isinstance(a, sympy.lowergamma):
-        return lowergamma(*a.args)
-    elif isinstance(a, sympy.uppergamma):
-        return uppergamma(*a.args)
-    elif isinstance(a, sympy.loggamma):
-        return loggamma(a.args[0])
-    elif isinstance(a, sympy.beta):
-        return beta(*a.args)
-    elif isinstance(a, sympy.polygamma):
-        return polygamma(*a.args)
-    elif isinstance(a, sympy.sign):
-        return sign(a.args[0])
-    elif isinstance(a, sympy.floor):
-        return floor(a.args[0])
-    elif isinstance(a, sympy.ceiling):
-        return ceiling(a.args[0])
-    elif isinstance(a, sympy.conjugate):
-        return conjugate(a.args[0])
-    elif isinstance(a, sympy.And):
-        return logical_and(*a.args)
-    elif isinstance(a, sympy.Or):
-        return logical_or(*a.args)
-    elif isinstance(a, sympy.Not):
-        return logical_not(a.args[0])
-    elif isinstance(a, sympy.Nor):
-        return Nor(*a.args)
-    elif isinstance(a, sympy.Nand):
-        return Nand(*a.args)
-    elif isinstance(a, sympy.Xor):
-        return logical_xor(*a.args)
-    elif isinstance(a, sympy.gamma):
-        return gamma(a.args[0])
-    elif isinstance(a, sympy.Derivative):
-        return Derivative(a.expr, *a.variables)
-    elif isinstance(a, sympy.Subs):
-        return Subs(a.expr, a.variables, a.point)
-    elif isinstance(a, sympy_AppliedUndef):
-        name = str(a.func)
-        return function_symbol(name, *(a.args))
-    elif isinstance(a, (sympy.Piecewise)):
-        return piecewise(*(a.args))
-    elif a is sympy.S.Reals:
-        return S.Reals
-    elif a is sympy.S.Integers:
-        return S.Integers
-    elif a is sympy.S.Rationals:
-        return S.Rationals
-    elif isinstance(a, sympy.Interval):
-        return interval(*(a.args))
-    elif a is sympy.S.EmptySet:
-        return S.EmptySet
-    elif a is sympy.S.UniversalSet:
-        return S.UniversalSet
-    elif isinstance(a, sympy.FiniteSet):
-        return finiteset(*(a.args))
-    elif isinstance(a, sympy.Contains):
-        return contains(*(a.args))
-    elif isinstance(a, sympy.Union):
-        return set_union(*(a.args))
-    elif isinstance(a, sympy.Intersection):
-        return set_intersection(*(a.args))
-    elif isinstance(a, sympy.Complement):
-        return set_complement(*(a.args))
-    elif isinstance(a, sympy.ImageSet):
-        return imageset(*(a.args))
-    elif isinstance(a, sympy.Function):
-        return PyFunction(a, a.args, a.func, sympy_module)
-    elif isinstance(a, sympy.UnevaluatedExpr):
-        return UnevaluatedExpr(a.args[0])
-    elif isinstance(a, sympy.MatrixBase):
-        row, col = a.shape
-        v = []
-        for r in a.tolist():
-            for e in r:
-                v.append(e)
-        if isinstance(a, sympy.MutableDenseMatrix):
-            return MutableDenseMatrix(row, col, v)
-        elif isinstance(a, sympy.ImmutableDenseMatrix):
-            return ImmutableDenseMatrix(row, col, v)
-        else:
-            raise NotImplementedError
-    elif isinstance(a, sympy.polys.domains.modularinteger.ModularInteger):
-        return PyNumber(a, sympy_module)
-    elif sympy.__version__ > '1.0':
-        if isinstance(a, sympy.acsch):
-            return acsch(a.args[0])
-        elif isinstance(a, sympy.asech):
-            return asech(a.args[0])
-        elif isinstance(a, sympy.ConditionSet):
-            return conditionset(*(a.args))
-
-    if raise_error:
-        raise SympifyError(("sympy2symengine: Cannot convert '%r' (of type %s)"
-                            " to a symengine type.") % (a, type(a)))
-
-
-def sympify(a):
-    """
-    Converts an expression 'a' into a SymEngine type.
-
-    Arguments
-    =========
-
-    a ............. An expression to convert.
-
-    Examples
-    ========
-
-    >>> from symengine import sympify
-    >>> sympify(1)
-    1
-    >>> sympify("a+b")
-    a + b
-    """
-    if isinstance(a, str):
-        return c2py(symengine.parse(a.encode("utf-8")))
-    elif isinstance(a, tuple):
-        v = []
-        for e in a:
-            v.append(sympify(e))
-        return tuple(v)
-    elif isinstance(a, list):
-        v = []
-        for e in a:
-            v.append(sympify(e))
-        return v
-    return _sympify(a, True)
-
-
-def _sympify(a, raise_error=True):
-    """
-    Converts an expression 'a' into a SymEngine type.
-
-    Arguments
-    =========
-
-    a ............. An expression to convert.
-    raise_error ... Will raise an error on a failure (default True), otherwise
-                    it returns None if 'a' cannot be converted.
-
-    Examples
-    ========
-
-    >>> from symengine.li.symengine_wrapper import _sympify
-    >>> _sympify(1)
-    1
-    >>> _sympify("abc", False)
-    >>>
-
-    """
-    if isinstance(a, (Basic, MatrixBase)):
-        return a
-    elif isinstance(a, bool):
-        return (true if a else false)
-    elif isinstance(a, numbers.Integral):
-        return Integer(a)
-    elif isinstance(a, float):
-        return RealDouble(a)
-    elif have_numpy and isinstance(a, (np.float16, np.float32)):
-        return RealDouble(a)
-    elif isinstance(a, complex):
-        return ComplexDouble(a)
-    elif hasattr(a, '_symengine_'):
-        return _sympify(a._symengine_(), raise_error)
-    elif hasattr(a, '_sympy_'):
-        return _sympify(a._sympy_(), raise_error)
-    elif hasattr(a, 'pyobject'):
-        return _sympify(a.pyobject(), raise_error)
-
-    try:
-        import sympy
-        return sympy2symengine(a, raise_error)
-    except ImportError:
-        pass
-
-    if raise_error:
-        raise SympifyError(
-            "sympify: Cannot convert '%r' (of type %s) to a symengine type." % (
-                a, type(a)))
-
-funcs = {}
-
-def get_function_class(function, module):
-    if not function in funcs:
-        funcs[function] = PyFunctionClass(function, module)
-    return funcs[function]
-
-class Singleton(object):
-
-    __call__ = staticmethod(sympify)
-
-    @property
-    def Zero(self):
-        return zero
-
-    @property
-    def One(self):
-        return one
-
-    @property
-    def NegativeOne(self):
-        return minus_one
-
-    @property
-    def Half(self):
-        return half
-
-    @property
-    def Pi(self):
-        return pi
-
-    @property
-    def NaN(self):
-        return nan
-
-    @property
-    def Infinity(self):
-        return oo
-
-    @property
-    def NegativeInfinity(self):
-        return minus_oo
-
-    @property
-    def ComplexInfinity(self):
-        return zoo
-
-    @property
-    def Exp1(self):
-        return E
-
-    @property
-    def GoldenRatio(self):
-        return golden_ratio
-
-    @property
-    def Catalan(self):
-        return catalan
-
-    @property
-    def EulerGamma(self):
-        return eulergamma
-
-    @property
-    def ImaginaryUnit(self):
-        return I
-
-    @property
-    def true(self):
-        return true
-
-    @property
-    def false(self):
-        return false
-
-    @property
-    def EmptySet(self):
-        return empty_set_singleton
-
-    @property
-    def UniversalSet(self):
-        return universal_set_singleton
-
-    @property
-    def Integers(self):
-        return integers_singleton
-
-    @property
-    def Rationals(self):
-        return rationals_singleton
-
-    @property
-    def Reals(self):
-        return reals_singleton
-
-S = Singleton()
-
-
-cdef class DictBasicIter(object):
-
-    cdef init(self, map_basic_basic.iterator begin, map_basic_basic.iterator end):
-        self.begin = begin
-        self.end = end
-
-    def __iter__(self):
-        return self
-
-    def __next__(self):
-        if self.begin != self.end:
-            obj = c2py(deref(self.begin).first)
-        else:
-            raise StopIteration
-        inc(self.begin)
-        return obj
-
-
-cdef class _DictBasic(object):
-
-    def __init__(self, tocopy = None):
-        if tocopy != None:
-            self.add_dict(tocopy)
-
-    def as_dict(self):
-        ret = {}
-        it = self.c.begin()
-        while it != self.c.end():
-            ret[c2py(deref(it).first)] = c2py(deref(it).second)
-            inc(it)
-        return ret
-
-    def add_dict(self, d):
-        cdef _DictBasic D
-        if isinstance(d, DictBasic):
-            D = d
-            self.c.insert(D.c.begin(), D.c.end())
-        else:
-            for key, value in d.iteritems():
-                self.add(key, value)
-
-    def add(self, key, value):
-        cdef Basic K = sympify(key)
-        cdef Basic V = sympify(value)
-        cdef symengine.std_pair_rcp_const_basic_rcp_const_basic pair
-        pair.first = K.thisptr
-        pair.second = V.thisptr
-        return self.c.insert(pair).second
-
-    def copy(self):
-        return DictBasic(self)
-
-    __copy__ = copy
-
-    def __len__(self):
-        return self.c.size()
-
-    def __getitem__(self, key):
-        cdef Basic K = sympify(key)
-        it = self.c.find(K.thisptr)
-        if it == self.c.end():
-            raise KeyError(key)
-        else:
-            return c2py(deref(it).second)
-
-    def __setitem__(self, key, value):
-        cdef Basic K = sympify(key)
-        cdef Basic V = sympify(value)
-        self.c[K.thisptr] = V.thisptr
-
-    def clear(self):
-        self.clear()
-
-    def __delitem__(self, key):
-        cdef Basic K = sympify(key)
-        self.c.erase(K.thisptr)
-
-    def __contains__(self, key):
-        cdef Basic K = sympify(key)
-        it = self.c.find(K.thisptr)
-        return it != self.c.end()
-
-    def __iter__(self):
-        cdef DictBasicIter d = DictBasicIter()
-        d.init(self.c.begin(), self.c.end())
-        return d
-
-
-class DictBasic(_DictBasic, MutableMapping):
-
-    def __str__(self):
-        return "{" + ", ".join(["%s: %s" % (str(key), str(value)) for key, value in self.items()]) + "}"
-
-    def __repr__(self):
-        return self.__str__()
-
-def get_dict(*args):
-    """
-    Returns a DictBasic instance from args. Inputs can be,
-        1. a DictBasic
-        2. a Python dictionary
-        3. two args old, new
-    """
-    cdef _DictBasic D = DictBasic()
-    if len(args) == 2:
-        if is_sequence(args[0]):
-            for k, v in zip(args[0], args[1]):
-                D.add(k, v)
-        else:
-            D.add(args[0], args[1])
-        return D
-    elif len(args) == 1:
-        arg = args[0]
-    else:
-        raise TypeError("subs/msubs takes one or two arguments (%d given)" % \
-                len(args))
-    if isinstance(arg, DictBasic):
-        return arg
-    for k, v in arg.items():
-        D.add(k, v)
-    return D
-
-
-cdef tuple vec_basic_to_tuple(symengine.vec_basic& vec):
-    return tuple(vec_basic_to_list(vec))
-
-
-cdef list vec_basic_to_list(symengine.vec_basic& vec):
-    result = []
-    for i in range(vec.size()):
-        result.append(c2py(<rcp_const_basic>(vec[i])))
-    return result
-
-
-cdef list vec_pair_to_list(symengine.vec_pair& vec):
-    result = []
-    cdef rcp_const_basic a, b
-    for i in range(vec.size()):
-        a = <rcp_const_basic>vec[i].first
-        b = <rcp_const_basic>vec[i].second
-        result.append((c2py(a), c2py(b)))
-    return result
-
-
-def load_basic(bytes s):
-    return c2py(symengine.wrapper_loads(s))
-
-
-repr_latex=[False]
-
-cdef class Basic(object):
-
-    def __str__(self):
-        return deref(self.thisptr).__str__().decode("utf-8")
-
-    def __repr__(self):
-        return self.__str__()
-
-    def __reduce__(self):
-        cdef bytes s = symengine.wrapper_dumps(deref(self.thisptr))
-        return (load_basic, (s,))
-
-    def _repr_latex_(self):
-        if repr_latex[0]:
-            return "${}$".format(latex(self))
-        else:
-            return None
-
-    def __hash__(self):
-        return deref(self.thisptr).hash()
-
-    def __dealloc__(self):
-        self.thisptr.reset()
-
-    def _unsafe_reset(self):
-        self.thisptr.reset()
-
-    def __add__(a, b):
-        cdef Basic A = _sympify(a, False)
-        B_ = _sympify(b, False)
-        if A is None or B_ is None or isinstance(B_, MatrixBase): return NotImplemented
-        cdef Basic B = B_
-        return c2py(symengine.add(A.thisptr, B.thisptr))
-
-    def __radd__(Basic self, b):
-        B_ = _sympify(b, False)
-        if B_ is None or isinstance(B_, MatrixBase): return NotImplemented
-        cdef Basic B = B_
-        return c2py(symengine.add(B.thisptr, self.thisptr))
-
-    def __sub__(a, b):
-        cdef Basic A = _sympify(a, False)
-        B_ = _sympify(b, False)
-        if A is None or B_ is None or isinstance(B_, MatrixBase): return NotImplemented
-        cdef Basic B = B_
-        return c2py(symengine.sub(A.thisptr, B.thisptr))
-
-    def __rsub__(Basic self, b):
-        B_ = _sympify(b, False)
-        if B_ is None or isinstance(B_, MatrixBase): return NotImplemented
-        cdef Basic B = B_
-        return c2py(symengine.sub(B.thisptr, self.thisptr))
-
-    def __mul__(a, b):
-        cdef Basic A = _sympify(a, False)
-        B_ = _sympify(b, False)
-        if A is None or B_ is None or isinstance(B_, MatrixBase): return NotImplemented
-        cdef Basic B = B_
-        return c2py(symengine.mul(A.thisptr, B.thisptr))
-
-    def __rmul__(Basic self, b):
-        B_ = _sympify(b, False)
-        if B_ is None or isinstance(B_, MatrixBase): return NotImplemented
-        cdef Basic B = B_
-        return c2py(symengine.mul(B.thisptr, self.thisptr))
-
-    def __truediv__(a, b):
-        cdef Basic A = _sympify(a, False)
-        B_ = _sympify(b, False)
-        if A is None or B_ is None or isinstance(B_, MatrixBase): return NotImplemented
-        cdef Basic B = B_
-        return c2py(symengine.div(A.thisptr, B.thisptr))
-
-    def __rtruediv__(Basic self, b):
-        B_ = _sympify(b, False)
-        if B_ is None or isinstance(B_, MatrixBase): return NotImplemented
-        cdef Basic B = B_
-        return c2py(symengine.div(B.thisptr, self.thisptr))
-
-    def __floordiv__(x, y):
-        return floor(x/y)
-
-    def __rfloordiv__(y, x):
-        return floor(x/y)
-
-    def __mod__(x, y):
-        return x - y * floor(x/y)
-
-    def __rmod__(y, x):
-        return x - y * floor(x/y)
-
-    def __divmod__(x, y):
-        f = floor(x/y)
-        return f, x - y * f
-
-    def __rdivmod__(y, x):
-        f = floor(x/y)
-        return f, x - y * f
-
-    def __pow__(a, b, c):
-        if c is not None:
-            return powermod(a, b, c)
-        cdef Basic A = _sympify(a, False)
-        cdef Basic B = _sympify(b, False)
-        if A is None or B is None: return NotImplemented
-        return c2py(symengine.pow(A.thisptr, B.thisptr))
-
-    def __rpow__(Basic self, b):
-        cdef Basic B = _sympify(b, False)
-        if B is None: return NotImplemented
-        return c2py(symengine.pow(B.thisptr, self.thisptr))
-
-    def __neg__(Basic self not None):
-        return c2py(symengine.neg(self.thisptr))
-
-    def __pos__(self):
-        return self
-
-    def __abs__(Basic self not None):
-        return c2py(symengine.abs(self.thisptr))
-
-    def __richcmp__(a, b, int op):
-        A = _sympify(a, False)
-        B = _sympify(b, False)
-        if not (isinstance(A, Basic) and isinstance(B, Basic)):
-            if (op == 2):
-                return False
-            elif (op == 3):
-                return True
-            else:
-                return NotImplemented
-        return Basic._richcmp_(A, B, op)
-
-    def _richcmp_(Basic A, Basic B, int op):
-        if (op == 2):
-            return symengine.eq(deref(A.thisptr), deref(B.thisptr))
-        elif (op == 3):
-            return symengine.neq(deref(A.thisptr), deref(B.thisptr))
-        if (op == 0):
-            return c2py(<rcp_const_basic>(symengine.Lt(A.thisptr, B.thisptr)))
-        elif (op == 1):
-            return c2py(<rcp_const_basic>(symengine.Le(A.thisptr, B.thisptr)))
-        elif (op == 4):
-            return c2py(<rcp_const_basic>(symengine.Gt(A.thisptr, B.thisptr)))
-        elif (op == 5):
-            return c2py(<rcp_const_basic>(symengine.Ge(A.thisptr, B.thisptr)))
-
-    def expand(Basic self not None, cppbool deep=True):
-        return c2py(symengine.expand(self.thisptr, deep))
-
-    def _diff(Basic self not None, Basic x):
-        return c2py(symengine.diff(self.thisptr, x.thisptr))
-
-    def diff(self, *args):
-        if len(args) == 0:
-            f = self.free_symbols
-            if (len(f) != 1):
-                raise RuntimeError("Variable w.r.t should be given")
-            return self._diff(f.pop())
-        return _diff(self, *args)
-
-    def subs_dict(Basic self not None, *args):
-        warnings.warn("subs_dict() is deprecated. Use subs() instead", DeprecationWarning)
-        return self.subs(*args)
-
-    def subs_oldnew(Basic self not None, old, new):
-        warnings.warn("subs_oldnew() is deprecated. Use subs() instead", DeprecationWarning)
-        return self.subs({old: new})
-
-    def subs(Basic self not None, *args):
-        cdef _DictBasic D = get_dict(*args)
-        return c2py(symengine.ssubs(self.thisptr, D.c))
-
-    def xreplace(Basic self not None, *args):
-        cdef _DictBasic D = get_dict(*args)
-        return c2py(symengine.xreplace(self.thisptr, D.c))
-
-    replace = xreplace
-
-    def msubs(Basic self not None, *args):
-        cdef _DictBasic D = get_dict(*args)
-        return c2py(symengine.msubs(self.thisptr, D.c))
-
-    def as_numer_denom(Basic self not None):
-        cdef rcp_const_basic _num, _den
-        symengine.as_numer_denom(self.thisptr, symengine.outArg(_num), symengine.outArg(_den))
-        return c2py(<rcp_const_basic>_num), c2py(<rcp_const_basic>_den)
-
-    def as_real_imag(Basic self not None):
-        cdef rcp_const_basic _real, _imag
-        symengine.as_real_imag(self.thisptr, symengine.outArg(_real), symengine.outArg(_imag))
-        return c2py(<rcp_const_basic>_real), c2py(<rcp_const_basic>_imag)
-
-    def n(self, unsigned long prec = 53, real=None):
-        return evalf(self, prec, real)
-
-    evalf = n
-
-    @property
-    def args(self):
-        cdef symengine.vec_basic args = deref(self.thisptr).get_args()
-        return vec_basic_to_tuple(args)
-
-    @property
-    def free_symbols(self):
-        cdef symengine.set_basic _set = symengine.free_symbols(deref(self.thisptr))
-        return {c2py(<rcp_const_basic>(elem)) for elem in _set}
-
-    @property
-    def is_Atom(self):
-        return False
-
-    @property
-    def is_Symbol(self):
-        return False
-
-    @property
-    def is_symbol(self):
-        return False
-
-    @property
-    def is_Dummy(self):
-        return False
-
-    @property
-    def is_Function(self):
-        return False
-
-    @property
-    def is_Add(self):
-        return False
-
-    @property
-    def is_Mul(self):
-        return False
-
-    @property
-    def is_Pow(self):
-        return False
-
-    @property
-    def is_Number(self):
-        return False
-
-    @property
-    def is_number(self):
-        return None
-
-    @property
-    def is_Float(self):
-        return False
-
-    @property
-    def is_Rational(self):
-        return False
-
-    @property
-    def is_Integer(self):
-        return False
-
-    @property
-    def is_integer(self):
-        return False
-
-    @property
-    def is_finite(self):
-        return None
-
-    @property
-    def is_Derivative(self):
-        return False
-
-    @property
-    def is_AlgebraicNumber(self):
-        return False
-
-    @property
-    def is_Relational(self):
-        return False
-
-    @property
-    def is_Equality(self):
-        return False
-
-    @property
-    def is_Boolean(self):
-        return False
-
-    @property
-    def is_Not(self):
-        return False
-
-    @property
-    def is_Matrix(self):
-        return False
-
-    @property
-    def is_zero(self):
-        return is_zero(self)
-
-    @property
-    def is_positive(self):
-        return is_positive(self)
-
-    @property
-    def is_negative(self):
-        return is_negative(self)
-
-    @property
-    def is_nonpositive(self):
-        return is_nonpositive(self)
-
-    @property
-    def is_nonnegative(self):
-        return is_nonnegative(self)
-
-    @property
-    def is_real(self):
-        return is_real(self)
-
-    def copy(self):
-        return self
-
-    def _symbolic_(self, ring):
-        return ring(self._sage_())
-
-    def atoms(self, *types):
-        if types:
-            s = set()
-            if (isinstance(self, types)):
-                s.add(self)
-            for arg in self.args:
-                s.update(arg.atoms(*types))
-            return s
-        else:
-            return self.free_symbols
-
-    def simplify(self, *args, **kwargs):
-        return sympify(self._sympy_().simplify(*args, **kwargs))
-
-    def as_coefficients_dict(self):
-        d = collections.defaultdict(int)
-        d[self] = 1
-        return d
-
-    def coeff(self, x, n=1):
-        cdef Basic _x = sympify(x)
-        require(_x, Symbol)
-        cdef Basic _n = sympify(n)
-        return c2py(symengine.coeff(deref(self.thisptr), deref(_x.thisptr), deref(_n.thisptr)))
-
-    def has(self, *symbols):
-        return any([has_symbol(self, symbol) for symbol in symbols])
-
-    def args_as_sage(Basic self):
-        cdef symengine.vec_basic Y = deref(self.thisptr).get_args()
-        s = []
-        for i in range(Y.size()):
-            s.append(c2py(<rcp_const_basic>(Y[i]))._sage_())
-        return s
-
-    def args_as_sympy(Basic self):
-        cdef symengine.vec_basic Y = deref(self.thisptr).get_args()
-        s = []
-        for i in range(Y.size()):
-            s.append(c2py(<rcp_const_basic>(Y[i]))._sympy_())
-        return s
-
-    def __float__(self):
-        f = self.n(real=True)
-        if not isinstance(f, RealDouble):
-            raise TypeError("Can't convert expression to float")
-        return float(f)
-
-    def __int__(self):
-        return int(float(self))
-
-    def __complex__(self):
-        f = self.n(real=False)
-        if not isinstance(f, (ComplexDouble, RealDouble)):
-            raise TypeError("Can't convert expression to float")
-        return complex(f)
-
-    def as_powers_dict(self):
-        d = collections.defaultdict(int)
-        d[self] = 1
-        return d
-
-
-def series(ex, x=None, x0=0, n=6, as_deg_coef_pair=False):
-    # TODO: check for x0 an infinity, see sympy/core/expr.py
-    # TODO: nonzero x0
-    # underscored local vars are of symengine.py type
-    cdef Basic _ex = sympify(ex)
-    syms = _ex.free_symbols
-    if not syms:
-        return _ex
-
-    cdef Basic _x
-    if x is None:
-        _x = list(syms)[0]
-    else:
-        _x = sympify(x)
-    require(_x, Symbol)
-    if not _x in syms:
-        return _ex
-
-    if x0 != 0:
-        _ex = _ex.subs({_x: _x + x0})
-
-    cdef RCP[const symengine.Symbol] X = symengine.rcp_static_cast_Symbol(_x.thisptr)
-    cdef umap_int_basic umap
-    cdef umap_int_basic_iterator iter, iterend
-
-    if not as_deg_coef_pair:
-        b = c2py(<symengine.rcp_const_basic>deref(symengine.series(_ex.thisptr, X, n)).as_basic())
-        if x0 != 0:
-            b = b.subs({_x: _x - x0})
-        return b
-
-    umap = deref(symengine.series(_ex.thisptr, X, n)).as_dict()
-
-    iter = umap.begin()
-    iterend = umap.end()
-    poly = 0
-    l = []
-    while iter != iterend:
-        l.append([deref(iter).first, c2py(<symengine.rcp_const_basic>(deref(iter).second))])
-        inc(iter)
-    if as_deg_coef_pair:
-        return l
-    return add(*l)
-
-
-cdef class Expr(Basic):
-    pass
-
-
-cdef class Symbol(Expr):
-    """
-    Symbol is a class to store a symbolic variable with a given name.
-    Subclassing Symbol leads to a memory leak due to a cycle in reference counting.
-    To avoid this with a performance penalty, set the kwarg store_pickle=True
-    in the constructor and support the pickle protocol in the subclass by
-    implmenting __reduce__.
-    """
-
-    def __init__(Basic self, name, *args, **kwargs):
-        cdef cppbool store_pickle;
-        if type(self) == Symbol:
-            self.thisptr = symengine.make_rcp_Symbol(name.encode("utf-8"))
-        else:
-            store_pickle = kwargs.pop("store_pickle", False)
-            if store_pickle:
-                # First set the pointer to a regular symbol so that when pickle.dumps
-                # is called when the PySymbol is created, methods like name works.
-                self.thisptr = symengine.make_rcp_Symbol(name.encode("utf-8"))
-            self.thisptr = symengine.make_rcp_PySymbol(name.encode("utf-8"), <PyObject*>self,
-                store_pickle)
-
-    def _sympy_(self):
-        import sympy
-        return sympy.Symbol(str(self))
-
-    def __reduce__(self):
-        if type(self) == Symbol:
-            return Basic.__reduce__(self)
-        else:
-            raise NotImplementedError("pickling for Symbol subclass not implemented")
-
-    def _sage_(self):
-        import sage.all as sage
-        return sage.SR.symbol(str(self))
-
-    @property
-    def name(self):
-        return self.__str__()
-
-    @property
-    def is_Atom(self):
-        return True
-
-    @property
-    def is_Symbol(self):
-        return True
-
-    @property
-    def is_symbol(self):
-        return True
-
-    @property
-    def is_commutative(self):
-        return True
-
-    @property
-    def func(self):
-        return self.__class__
-
-
-cdef class Dummy(Symbol):
-
-    def __init__(Basic self, name=None, *args, **kwargs):
-        if name is None:
-            self.thisptr = symengine.make_rcp_Dummy()
-        else:
-            self.thisptr = symengine.make_rcp_Dummy(name.encode("utf-8"))
-
-    def _sympy_(self):
-        import sympy
-        return sympy.Dummy(str(self)[1:])
-
-    @property
-    def is_Dummy(self):
-        return True
-
-    @property
-    def func(self):
-        return self.__class__
-
-
-def symarray(prefix, shape, **kwargs):
-    """ Creates an nd-array of symbols
-
-    Parameters
-    ----------
-    prefix: str
-    shape: tuple
-    \*\*kwargs:
-        Passed on to :class:`Symbol`.
-
-    Notes
-    -----
-    This function requires NumPy.
-
-    """
-    arr = np.empty(shape, dtype=object)
-    for index in np.ndindex(shape):
-        arr[index] = Symbol('%s_%s' % (prefix, '_'.join(map(str, index))), **kwargs)
-    return arr
-
-
-cdef class Constant(Expr):
-
-    def __cinit__(self, name = None):
-        if name is None:
-            return
-        self.thisptr = symengine.make_rcp_Constant(name.encode("utf-8"))
-
-    @property
-    def is_number(self):
-        return True
-
-    def _sympy_(self):
-        raise Exception("Unknown Constant")
-
-    def _sage_(self):
-        raise Exception("Unknown Constant")
-
-
-cdef class ImaginaryUnit(Complex):
-
-    def __cinit__(Basic self):
-        self.thisptr = symengine.I
-
-    def as_powers_dict(self):
-        d = collections.defaultdict(int)
-        d[minus_one] = half
-        return d
-
-I = ImaginaryUnit()
-
-
-cdef class Pi(Constant):
-
-    def __cinit__(Basic self):
-        self.thisptr = symengine.pi
-
-    def _sympy_(self):
-        import sympy
-        return sympy.pi
-
-    def _sage_(self):
-        import sage.all as sage
-        return sage.pi
-
-pi = Pi()
-
-
-cdef class Exp1(Constant):
-
-    def __cinit__(Basic self):
-        self.thisptr = symengine.E
-
-    def _sympy_(self):
-        import sympy
-        return sympy.E
-
-    def _sage_(self):
-        import sage.all as sage
-        return sage.e
-
-E = Exp1()
-
-
-cdef class GoldenRatio(Constant):
-
-    def __cinit__(Basic self):
-        self.thisptr = symengine.GoldenRatio
-
-    def _sympy_(self):
-        import sympy
-        return sympy.GoldenRatio
-
-    def _sage_(self):
-        import sage.all as sage
-        return sage.golden_ratio
-
-golden_ratio = GoldenRatio()
-
-
-cdef class Catalan(Constant):
-
-    def __cinit__(Basic self):
-        self.thisptr = symengine.Catalan
-
-    def _sympy_(self):
-        import sympy
-        return sympy.Catalan
-
-    def _sage_(self):
-        import sage.all as sage
-        return sage.catalan
-
-catalan = Catalan()
-
-
-cdef class EulerGamma(Constant):
-
-    def __cinit__(Basic self):
-        self.thisptr = symengine.EulerGamma
-
-    def _sympy_(self):
-        import sympy
-        return sympy.EulerGamma
-
-    def _sage_(self):
-        import sage.all as sage
-        return sage.euler_gamma
-
-eulergamma = EulerGamma()
-
-
-cdef class Boolean(Expr):
-
-    def logical_not(self):
-        return c2py(<rcp_const_basic>(deref(symengine.rcp_static_cast_Boolean(self.thisptr)).logical_not()))
-
-    def __bool__(self):
-        raise TypeError("cannot determine truth value of Boolean")
-
-
-cdef class BooleanAtom(Boolean):
-
-    @property
-    def is_Boolean(self):
-        return True
-
-    @property
-    def is_Atom(self):
-        return True
-
-
-cdef class BooleanTrue(BooleanAtom):
-
-    def __cinit__(Basic self):
-        self.thisptr = symengine.boolTrue
-
-    def _sympy_(self):
-        import sympy
-        return sympy.S.true
-
-    def _sage_(self):
-        return True
-
-    def __bool__(self):
-        return True
-
-
-true = BooleanTrue()
-
-
-cdef class BooleanFalse(BooleanAtom):
-
-    def __cinit__(Basic self):
-        self.thisptr = symengine.boolFalse
-
-    def _sympy_(self):
-        import sympy
-        return sympy.S.false
-
-    def _sage_(self):
-        return False
-
-    def __nonzero__(self):
-        return False
-
-    def __bool__(self):
-        return False
-
-false = BooleanFalse()
-
-
-class And(Boolean):
-
-    def __new__(cls, *args):
-        return logical_and(*args)
-
-    def _sympy_(self):
-        import sympy
-        s = self.args_as_sympy()
-        return sympy.And(*s)
-
-
-class Or(Boolean):
-
-    def __new__(cls, *args):
-        return logical_or(*args)
-
-    def _sympy_(self):
-        import sympy
-        s = self.args_as_sympy()
-        return sympy.Or(*s)
-
-
-class Not(Boolean):
-
-    def __new__(cls, x):
-        return logical_not(x)
-
-    def _sympy_(self):
-        import sympy
-        s = self.args_as_sympy()[0]
-        return sympy.Not(s)
-
-
-class Xor(Boolean):
-
-    def __new__(cls, *args):
-        return logical_xor(*args)
-
-    def _sympy_(self):
-        import sympy
-        s = self.args_as_sympy()
-        return sympy.Xor(*s)
-
-
-class Relational(Boolean):
-
-    @property
-    def is_Relational(self):
-        return True
-
-    def __bool__(self):
-        raise TypeError("cannot determine truth value of Relational")
-
-
-Rel = Relational
-
-
-class Equality(Relational):
-
-    def __new__(cls, *args):
-        return eq(*args)
-
-    def _sympy_(self):
-        import sympy
-        s = self.args_as_sympy()
-        return sympy.Equality(*s)
-
-    def _sage_(self):
-        import sage.all as sage
-        s = self.args_as_sage()
-        return sage.eq(*s)
-
-    @property
-    def is_Equality(self):
-        return True
-
-    @property
-    def func(self):
-        return self.__class__
-
-
-Eq = Equality
-
-
-class Unequality(Relational):
-
-    def __new__(cls, *args):
-        return ne(*args)
-
-    def _sympy_(self):
-        import sympy
-        s = self.args_as_sympy()
-        return sympy.Unequality(*s)
-
-    def _sage_(self):
-        import sage.all as sage
-        s = self.args_as_sage()
-        return sage.ne(*s)
-
-    @property
-    def func(self):
-        return self.__class__
-
-
-Ne = Unequality
-
-
-class LessThan(Relational):
-
-    def __new__(cls, *args):
-        return le(*args)
-
-    def _sympy_(self):
-        import sympy
-        s = self.args_as_sympy()
-        return sympy.LessThan(*s)
-
-    def _sage_(self):
-        import sage.all as sage
-        s = self.args_as_sage()
-        return sage.le(*s)
-
-
-Le = LessThan
-
-
-class StrictLessThan(Relational):
-
-    def __new__(cls, *args):
-        return lt(*args)
-
-    def _sympy_(self):
-        import sympy
-        s = self.args_as_sympy()
-        return sympy.StrictLessThan(*s)
-
-    def _sage_(self):
-        import sage.all as sage
-        s = self.args_as_sage()
-        return sage.lt(*s)
-
-
-Lt = StrictLessThan
-
-
-cdef class Number(Expr):
-    @property
-    def is_Atom(self):
-        return True
-
-    @property
-    def is_Number(self):
-        return True
-
-    @property
-    def is_number(self):
-        return True
-
-    @property
-    def is_commutative(self):
-        return True
-
-    @property
-    def is_positive(Basic self):
-        return deref(symengine.rcp_static_cast_Number(self.thisptr)).is_positive()
-
-    @property
-    def is_negative(Basic self):
-        return deref(symengine.rcp_static_cast_Number(self.thisptr)).is_negative()
-
-    @property
-    def is_nonzero(self):
-        return not (self.is_complex or self.is_zero)
-
-    @property
-    def is_nonnegative(self):
-        return not (self.is_complex or self.is_negative)
-
-    @property
-    def is_nonpositive(self):
-        return not (self.is_complex or self.is_positive)
-
-    @property
-    def is_complex(Basic self):
-        return deref(symengine.rcp_static_cast_Number(self.thisptr)).is_complex()
-
-    @property
-    def real(self):
-        return self
-
-    @property
-    def imag(self):
-        return S.Zero
-
-
-class Rational(Number):
-
-    def __new__(cls, p, q):
-        p = int(p)
-        q = int(q)
-        cdef int p_
-        cdef int q_
-        cdef symengine.integer_class p__
-        cdef symengine.integer_class q__
-        cdef string tmp
-        try:
-            # Try to convert p and q to int
-            p_ = p
-            q_ = q
-            return c2py(<rcp_const_basic>symengine.Rational.from_two_ints(p_, q_));
-        except OverflowError:
-            # Too big, need to use mpz
-            tmp = hex(p).encode("utf-8")
-            symengine.mp_set_str(p__, tmp)
-            tmp = hex(q).encode("utf-8")
-            symengine.mp_set_str(q__, tmp)
-            return c2py(<rcp_const_basic>symengine.Integer(p__).divint(symengine.Integer(q__)))
-
-    @property
-    def is_Rational(self):
-        return True
-
-    @property
-    def is_rational(self):
-        return True
-
-    @property
-    def is_real(self):
-        return True
-
-    @property
-    def is_finite(self):
-        return True
-
-    @property
-    def is_integer(self):
-        return False
-
-    @property
-    def p(self):
-        return self.get_num_den()[0]
-
-    @property
-    def q(self):
-        return self.get_num_den()[1]
-
-    def get_num_den(Basic self):
-        cdef RCP[const symengine.Integer] _num, _den
-        symengine.get_num_den(deref(symengine.rcp_static_cast_Rational(self.thisptr)),
-                           symengine.outArg_Integer(_num), symengine.outArg_Integer(_den))
-        return [c2py(<rcp_const_basic>_num), c2py(<rcp_const_basic>_den)]
-
-    def _sympy_(self):
-        rat = self.get_num_den()
-        return rat[0]._sympy_() / rat[1]._sympy_()
-
-    def _sage_(self):
-        try:
-            from sage.symbolic.symengine_conversions import convert_to_rational
-            return convert_to_rational(self)
-        except ImportError:
-            rat = self.get_num_den()
-            return rat[0]._sage_() / rat[1]._sage_()
-
-    @property
-    def func(self):
-        return self.__class__
-
-
-class Integer(Rational):
-
-    def __new__(cls, i):
-        i = int(i)
-        cdef int i_
-        cdef symengine.integer_class i__
-        cdef string tmp
-        try:
-            # Try to convert "i" to int
-            i_ = i
-            int_ok = True
-        except OverflowError:
-            # Too big, need to use mpz
-            int_ok = False
-            tmp = hex(i).encode("utf-8")
-            symengine.mp_set_str(i__, tmp)
-        # Note: all other exceptions are left intact
-        if int_ok:
-            return c2py(<rcp_const_basic>symengine.integer(i_))
-        else:
-            return c2py(<rcp_const_basic>symengine.integer(i__))
-
-    @property
-    def is_Integer(self):
-        return True
-
-    @property
-    def is_integer(self):
-        return True
-
-    def doit(self, **hints):
-        return self
-
-    def __hash__(Basic self):
-        return deref(self.thisptr).hash()
-
-    def __richcmp__(a, b, int op):
-        A = _sympify(a, False)
-        B = _sympify(b, False)
-        if not (isinstance(A, Integer) and isinstance(B, Integer)):
-            if (op == 2):
-                return False
-            elif (op == 3):
-                return True
-            return NotImplemented
-        return Integer._richcmp_(A, B, op)
-
-    def _richcmp_(Basic A, Basic B, int op):
-        cdef int i = deref(symengine.rcp_static_cast_Integer(A.thisptr)).compare(deref(symengine.rcp_static_cast_Integer(B.thisptr)))
-        if (op == 0):
-            return i < 0
-        elif (op == 1):
-            return i <= 0
-        elif (op == 2):
-            return i == 0
-        elif (op == 3):
-            return i != 0
-        elif (op == 4):
-            return i > 0
-        elif (op == 5):
-            return i >= 0
-        else:
-            return NotImplemented
-
-    def _sympy_(Basic self):
-        import sympy
-        return sympy.Integer(int(self))
-
-    def _sage_(Basic self):
-        try:
-            from sage.symbolic.symengine_conversions import convert_to_integer
-            return convert_to_integer(self)
-        except ImportError:
-            import sage.all as sage
-            return sage.Integer(str(self))
-
-    def __int__(Basic self):
-        cdef string s = symengine.mp_get_hex_str(
-            deref(symengine.rcp_static_cast_Integer(self.thisptr)).as_integer_class())
-        return int(s.decode("utf-8"), base=16)
-
-    @property
-    def p(self):
-        return int(self)
-
-    @property
-    def q(self):
-        return 1
-
-    def get_num_den(Basic self):
-        return self, 1
-
-    @property
-    def func(self):
-        return self.__class__
-
-
-def dps_to_prec(n):
-    """Return the number of bits required to represent n decimals accurately."""
-    return max(1, int(round((int(n)+1)*3.3219280948873626)))
-
-
-class BasicMeta(type):
-    def __instancecheck__(self, instance):
-        return isinstance(instance, self._classes)
-
-class Float(Number):
-
-    @property
-    def is_rational(self):
-        return None
-
-    @property
-    def is_irrational(self):
-        return None
-
-    @property
-    def is_real(self):
-        return True
-
-    @property
-    def is_Float(self):
-        return True
-
-    def __new__(cls, num, dps=None, precision=None):
-        if cls is not Float:
-            return super(Float, cls).__new__(cls)
-
-        if dps is not None and precision is not None:
-            raise ValueError('Both decimal and binary precision supplied. '
-                             'Supply only one. ')
-        if dps is None and precision is None:
-            dps = 15
-        if precision is None:
-            precision = dps_to_prec(dps)
-
-        IF HAVE_SYMENGINE_MPFR:
-            if precision > 53:
-                if isinstance(num, RealMPFR) and precision == num.get_prec():
-                    return num
-                return RealMPFR(str(num), precision)
-        if precision > 53:
-            raise ValueError('RealMPFR unavailable for high precision numerical values.')
-        elif isinstance(num, RealDouble):
-            return num
-        else:
-            return RealDouble(float(num))
-
-
-RealNumber = Float
-
-
-class RealDouble(Float):
-
-    def __new__(cls, i):
-        cdef double i_ = i
-        return c2py(symengine.make_rcp_RealDouble(i_))
-
-    def _sympy_(Basic self):
-        import sympy
-        return sympy.Float(float(self))
-
-    def _sage_(Basic self):
-        import sage.all as sage
-        return sage.RealDoubleField()(float(self))
-
-    def __float__(Basic self):
-        return deref(symengine.rcp_static_cast_RealDouble(self.thisptr)).as_double()
-
-    def __complex__(self):
-        return complex(float(self))
-
-
-cdef class ComplexBase(Number):
-
-    def real_part(Basic self):
-        return c2py(<rcp_const_basic>deref(symengine.rcp_static_cast_ComplexBase(self.thisptr)).real_part())
-
-    def imaginary_part(Basic self):
-        return c2py(<rcp_const_basic>deref(symengine.rcp_static_cast_ComplexBase(self.thisptr)).imaginary_part())
-
-    @property
-    def real(self):
-        return self.real_part()
-
-    @property
-    def imag(self):
-        return self.imaginary_part()
-
-
-cdef class ComplexDouble(ComplexBase):
-
-    def __cinit__(self, i = None):
-        if i is None:
-            return
-        cdef double complex i_ = i
-        self.thisptr = symengine.make_rcp_ComplexDouble(i_)
-
-    def _sympy_(self):
-        import sympy
-        return self.real_part()._sympy_() + sympy.I * self.imaginary_part()._sympy_()
-
-    def _sage_(self):
-        import sage.all as sage
-        return self.real_part()._sage_() + sage.I * self.imaginary_part()._sage_()
-
-    def __complex__(Basic self):
-        return deref(symengine.rcp_static_cast_ComplexDouble(self.thisptr)).as_complex_double()
-
-
-class RealMPFR(Float):
-
-    IF HAVE_SYMENGINE_MPFR:
-        def __new__(cls, i = None, long prec = 53, unsigned base = 10):
-            if i is None:
-                return
-            cdef string i_ = str(i).encode("utf-8")
-            cdef symengine.mpfr_class m
-            m = symengine.mpfr_class(i_, prec, base)
-            return c2py(<rcp_const_basic>symengine.real_mpfr(move[symengine.mpfr_class](m)))
-
-        def get_prec(Basic self):
-            return Integer(deref(symengine.rcp_static_cast_RealMPFR(self.thisptr)).get_prec())
-
-        def _sympy_(self):
-            import sympy
-            cdef long prec_ = self.get_prec()
-            prec = max(1, int(round(prec_/3.3219280948873626)-1))
-            return sympy.Float(str(self), prec)
-
-        def _sage_(self):
-            try:
-                from sage.symbolic.symengine_conversions import convert_to_real_number
-                return convert_to_real_number(self)
-            except ImportError:
-                import sage.all as sage
-                return sage.RealField(int(self.get_prec()))(str(self))
-    ELSE:
-        pass
-
-
-cdef class ComplexMPC(ComplexBase):
-    IF HAVE_SYMENGINE_MPC:
-        def __cinit__(self, i = None, j = 0, long prec = 53, unsigned base = 10):
-            if i is None:
-                return
-            cdef string i_ = ("(" + str(i) + " " + str(j) + ")").encode("utf-8")
-            cdef symengine.mpc_class m = symengine.mpc_class(i_, prec, base)
-            self.thisptr = <rcp_const_basic>symengine.complex_mpc(move[symengine.mpc_class](m))
-
-        def _sympy_(self):
-            import sympy
-            return self.real_part()._sympy_() + sympy.I * self.imaginary_part()._sympy_()
-
-        def _sage_(self):
-            try:
-                from sage.symbolic.symengine_conversions import convert_to_mpcomplex_number
-                return convert_to_mpcomplex_number(self)
-            except ImportError:
-                import sage.all as sage
-                return sage.MPComplexField(int(self.get_prec()))(str(self.real_part()), str(self.imaginary_part()))
-    ELSE:
-        pass
-
-
-cdef class Complex(ComplexBase):
-
-    def _sympy_(self):
-        import sympy
-        return self.real_part()._sympy_() + sympy.I * self.imaginary_part()._sympy_()
-
-    def _sage_(self):
-        import sage.all as sage
-        return self.real_part()._sage_() + sage.I * self.imaginary_part()._sage_()
-
-
-cdef class Infinity(Number):
-
-    @property
-    def is_infinite(self):
-        return True
-
-    def __cinit__(Basic self):
-        self.thisptr = symengine.Inf
-
-    def _sympy_(self):
-        import sympy
-        return sympy.oo
-
-    def _sage_(self):
-        import sage.all as sage
-        return sage.oo
-
-oo = Infinity()
-
-
-cdef class NegativeInfinity(Number):
-
-    @property
-    def is_infinite(self):
-        return True
-
-    def __cinit__(Basic self):
-        self.thisptr = symengine.neg(symengine.Inf)
-
-    def _sympy_(self):
-        import sympy
-        return -sympy.oo
-
-    def _sage_(self):
-        import sage.all as sage
-        return -sage.oo
-
-    def as_powers_dict(self):
-        d = collections.defaultdict(int)
-        d[minus_one] = 1
-        d[oo] = 1
-        return d
-
-
-minus_oo = NegativeInfinity()
-
-
-cdef class ComplexInfinity(Number):
-
-    @property
-    def is_infinite(self):
-        return True
-
-    def __cinit__(Basic self):
-        self.thisptr = symengine.ComplexInf
-
-    def _sympy_(self):
-        import sympy
-        return sympy.zoo
-
-    def _sage_(self):
-        import sage.all as sage
-        return sage.unsigned_infinity
-
-zoo = ComplexInfinity()
-
-
-cdef class NaN(Number):
-
-    @property
-    def is_rational(self):
-        return None
-
-    @property
-    def is_integer(self):
-        return None
-
-    @property
-    def is_real(self):
-        return None
-
-    @property
-    def is_finite(self):
-        return None
-
-    def __cinit__(Basic self):
-        self.thisptr = symengine.Nan
-
-    def _sympy_(self):
-        import sympy
-        return sympy.nan
-
-    def _sage_(self):
-        import sage.all as sage
-        return sage.NaN
-
-nan = NaN()
-
-
-class Zero(Integer):
-    def __new__(cls):
-        cdef Basic r = Number.__new__(Zero)
-        r.thisptr = <rcp_const_basic>symengine.integer(0)
-        return r
-
-zero = Zero()
-
-
-class One(Integer):
-    def __new__(cls):
-        cdef Basic r = Number.__new__(One)
-        r.thisptr = <rcp_const_basic>symengine.integer(1)
-        return r
-
-one = One()
-
-
-class NegativeOne(Integer):
-    def __new__(cls):
-        cdef Basic r = Number.__new__(NegativeOne)
-        r.thisptr = <rcp_const_basic>symengine.integer(-1)
-        return r
-
-minus_one = NegativeOne()
-
-
-class Half(Rational):
-    def __new__(cls):
-        cdef Basic q = Number.__new__(Half)
-        q.thisptr = <rcp_const_basic>symengine.rational(1, 2)
-        return q
-
-half = Half()
-
-
-class AssocOp(Expr):
-
-    @classmethod
-    def make_args(cls, expr):
-        if isinstance(expr, cls):
-            return expr.args
-        else:
-            return (sympify(expr),)
-
-
-class Add(AssocOp):
-
-    identity = 0
-
-    def __new__(cls, *args, **kwargs):
-        cdef symengine.vec_basic v_ = iter_to_vec_basic(args)
-        return c2py(symengine.add(v_))
-
-    @classmethod
-    def _from_args(self, args):
-        if len(args) == 0:
-            return self.identity
-        elif len(args) == 1:
-            return args[0]
-
-        return Add(*args)
-
-    @property
-    def is_Add(self):
-        return True
-
-    def _sympy_(self):
-        from sympy import Add
-        return Add(*self.args)
-
-    def _sage_(Basic self):
-        cdef RCP[const symengine.Add] X = symengine.rcp_static_cast_Add(self.thisptr)
-        cdef rcp_const_basic a, b
-        deref(X).as_two_terms(symengine.outArg(a), symengine.outArg(b))
-        return c2py(a)._sage_() + c2py(b)._sage_()
-
-    @property
-    def func(self):
-        return self.__class__
-
-    def as_coefficients_dict(Basic self):
-        cdef RCP[const symengine.Add] X = symengine.rcp_static_cast_Add(self.thisptr)
-        cdef umap_basic_num umap
-        cdef umap_basic_num_iterator iter, iterend
-        d = collections.defaultdict(int)
-        d[Integer(1)] = c2py(<rcp_const_basic>(deref(X).get_coef()))
-        umap = deref(X).get_dict()
-        iter = umap.begin()
-        iterend = umap.end()
-        while iter != iterend:
-            d[c2py(<rcp_const_basic>(deref(iter).first))] =\
-                    c2py(<rcp_const_basic>(deref(iter).second))
-            inc(iter)
-        return d
-
-
-class Mul(AssocOp):
-
-    identity = 1
-
-    def __new__(cls, *args, **kwargs):
-        cdef symengine.vec_basic v_ = iter_to_vec_basic(args)
-        return c2py(symengine.mul(v_))
-
-    @classmethod
-    def _from_args(self, args):
-        if len(args) == 0:
-            return self.identity
-        elif len(args) == 1:
-            return args[0]
-
-        return Mul(*args)
-
-    @property
-    def is_Mul(self):
-        return True
-
-    def _sympy_(self):
-        from sympy import Mul
-        return Mul(*self.args)
-
-    def _sage_(Basic self):
-        cdef RCP[const symengine.Mul] X = symengine.rcp_static_cast_Mul(self.thisptr)
-        cdef rcp_const_basic a, b
-        deref(X).as_two_terms(symengine.outArg(a), symengine.outArg(b))
-        return c2py(a)._sage_() * c2py(b)._sage_()
-
-    @property
-    def func(self):
-        return self.__class__
-
-    def as_coefficients_dict(Basic self):
-        cdef RCP[const symengine.Mul] X = symengine.rcp_static_cast_Mul(self.thisptr)
-        cdef RCP[const symengine.Integer] one = symengine.integer(1)
-        cdef map_basic_basic dict = deref(X).get_dict()
-        d = collections.defaultdict(int)
-        d[c2py(<rcp_const_basic>symengine.mul_from_dict(\
-                <RCP[const symengine.Number]>(one),
-                move[symengine.map_basic_basic](dict)))] =\
-                c2py(<rcp_const_basic>deref(X).get_coef())
-        return d
-
-    def as_powers_dict(Basic self):
-        cdef RCP[const symengine.Mul] X = symengine.rcp_static_cast_Mul(self.thisptr)
-        cdef map_basic_basic m = deref(X).get_dict()
-        coef = c2py(<rcp_const_basic>(deref(X).get_coef()))
-        if coef == 1:
-            d = collections.defaultdict(int)
-        else:
-            d = coef.as_powers_dict()
-
-        it = m.begin()
-        it_end = m.end()
-        while it != it_end:
-            base = c2py(<rcp_const_basic>(deref(it).first))
-            exp = c2py(<rcp_const_basic>(deref(it).second))
-            if base.is_Rational and base.p < base.q and base.p > 0:
-                d[1/base] -= exp
-            else:
-                d[base] += exp
-            inc(it)
-
-        return d
-
-
-class Pow(Expr):
-
-    def __new__(cls, a, b):
-        return _sympify(a) ** b
-
-    @property
-    def base(Basic self):
-        cdef RCP[const symengine.Pow] X = symengine.rcp_static_cast_Pow(self.thisptr)
-        return c2py(deref(X).get_base())
-
-    @property
-    def exp(Basic self):
-        cdef RCP[const symengine.Pow] X = symengine.rcp_static_cast_Pow(self.thisptr)
-        return c2py(deref(X).get_exp())
-
-    def as_base_exp(self):
-        return self.base, self.exp
-
-    @property
-    def is_Pow(self):
-        return True
-
-    @property
-    def is_commutative(self):
-        return (self.base.is_commutative and self.exp.is_commutative)
-
-    def _sympy_(Basic self):
-        cdef RCP[const symengine.Pow] X = symengine.rcp_static_cast_Pow(self.thisptr)
-        base = c2py(deref(X).get_base())
-        exp = c2py(deref(X).get_exp())
-        return base._sympy_() ** exp._sympy_()
-
-    def _sage_(Basic self):
-        cdef RCP[const symengine.Pow] X = symengine.rcp_static_cast_Pow(self.thisptr)
-        base = c2py(deref(X).get_base())
-        exp = c2py(deref(X).get_exp())
-        return base._sage_() ** exp._sage_()
-
-    @property
-    def func(self):
-        return self.__class__
-
-    def as_powers_dict(Basic self):
-        d = collections.defaultdict(int)
-        base, exp = self.as_base_exp()
-        if base.is_Rational and base.p < base.q and base.p > 0:
-            d[1/base] = -exp
-        else:
-            d[base] = exp
-        return d
-
-
-class Function(Expr):
-
-    def __new__(cls, *args, **kwargs):
-        if cls == Function:
-            nargs = len(args)
-            if nargs == 0:
-                raise TypeError("Required at least one argument to Function")
-            elif nargs == 1:
-                return UndefFunction(args[0])
-            elif nargs > 1:
-                raise TypeError(f"Unexpected extra arguments {args[1:]}.")
-
-        return super(Function, cls).__new__(cls)
-
-    @property
-    def is_Function(self):
-        return True
-
-    def func(self, *values):
-        import sys
-        return getattr(sys.modules[__name__], self.__class__.__name__.lower())(*values)
-
-
-class OneArgFunction(Function):
-
-    def get_arg(Basic self):
-        cdef RCP[const symengine.OneArgFunction] X = symengine.rcp_static_cast_OneArgFunction(self.thisptr)
-        return c2py(deref(X).get_arg())
-
-    def _sympy_(self):
-        import sympy
-        return getattr(sympy, self.__class__.__name__)(self.get_arg()._sympy_())
-
-    def _sage_(self):
-        import sage.all as sage
-        return getattr(sage, self.__class__.__name__.lower())(self.get_arg()._sage_())
-
-
-class HyperbolicFunction(OneArgFunction):
-    pass
-
-class TrigFunction(OneArgFunction):
-    pass
-
-class gamma(OneArgFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.gamma(X.thisptr))
-
-class LambertW(OneArgFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.lambertw(X.thisptr))
-
-    def _sage_(self):
-        import sage.all as sage
-        return sage.lambert_w(self.get_arg()._sage_())
-
-class zeta(Function):
-    def __new__(cls, s, a = None):
-        cdef Basic S = sympify(s)
-        if a == None:
-            return c2py(symengine.zeta(S.thisptr))
-        cdef Basic A = sympify(a)
-        return c2py(symengine.zeta(S.thisptr, A.thisptr))
-
-    def _sympy_(self):
-        import sympy
-        return sympy.zeta(*self.args_as_sympy())
-
-class dirichlet_eta(OneArgFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.dirichlet_eta(X.thisptr))
-
-class KroneckerDelta(Function):
-    def __new__(cls, x, y):
-        cdef Basic X = sympify(x)
-        cdef Basic Y = sympify(y)
-        return c2py(symengine.kronecker_delta(X.thisptr, Y.thisptr))
-
-    def _sympy_(self):
-        import sympy
-        return sympy.KroneckerDelta(*self.args_as_sympy())
-
-    def _sage_(self):
-        import sage.all as sage
-        return sage.kronecker_delta(*self.args_as_sage())
-
-class LeviCivita(Function):
-    def __new__(cls, *args):
-        cdef symengine.vec_basic v = iter_to_vec_basic(args)
-        return c2py(symengine.levi_civita(v))
-
-    def _sympy_(self):
-        import sympy
-        return sympy.LeviCivita(*self.args_as_sympy())
-
-class erf(OneArgFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.erf(X.thisptr))
-
-class erfc(OneArgFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.erfc(X.thisptr))
-
-class lowergamma(Function):
-    def __new__(cls, x, y):
-        cdef Basic X = sympify(x)
-        cdef Basic Y = sympify(y)
-        return c2py(symengine.lowergamma(X.thisptr, Y.thisptr))
-
-    def _sympy_(self):
-        import sympy
-        return sympy.lowergamma(*self.args_as_sympy())
-
-    def _sage_(self):
-        import sage.all as sage
-        return sage.gamma_inc_lower(*self.args_as_sage())
-
-class uppergamma(Function):
-    def __new__(cls, x, y):
-        cdef Basic X = sympify(x)
-        cdef Basic Y = sympify(y)
-        return c2py(symengine.uppergamma(X.thisptr, Y.thisptr))
-
-    def _sympy_(self):
-        import sympy
-        return sympy.uppergamma(*self.args_as_sympy())
-
-    def _sage_(self):
-        import sage.all as sage
-        return sage.gamma_inc(*self.args_as_sage())
-
-class loggamma(OneArgFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.loggamma(X.thisptr))
-
-    def _sage_(self):
-        import sage.all as sage
-        return sage.log_gamma(self.get_arg()._sage_())
-
-class beta(Function):
-    def __new__(cls, x, y):
-        cdef Basic X = sympify(x)
-        cdef Basic Y = sympify(y)
-        return c2py(symengine.beta(X.thisptr, Y.thisptr))
-
-    def _sympy_(self):
-        import sympy
-        return sympy.beta(*self.args_as_sympy())
-
-    def _sage_(self):
-        import sage.all as sage
-        return sage.beta(*self.args_as_sage())
-
-class polygamma(Function):
-    def __new__(cls, x, y):
-        cdef Basic X = sympify(x)
-        cdef Basic Y = sympify(y)
-        return c2py(symengine.polygamma(X.thisptr, Y.thisptr))
-
-    def _sympy_(self):
-        import sympy
-        return sympy.polygamma(*self.args_as_sympy())
-
-class sign(OneArgFunction):
-
-    @property
-    def is_complex(self):
-        return True
-
-    @property
-    def is_finite(self):
-        return True
-
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.sign(X.thisptr))
-
-class floor(OneArgFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.floor(X.thisptr))
-
-class ceiling(OneArgFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.ceiling(X.thisptr))
-
-    def _sage_(self):
-        import sage.all as sage
-        return sage.ceil(self.get_arg()._sage_())
-
-class conjugate(OneArgFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.conjugate(X.thisptr))
-
-class log(OneArgFunction):
-    def __new__(cls, x, y=None):
-        cdef Basic X = sympify(x)
-        if y == None:
-            return c2py(symengine.log(X.thisptr))
-        cdef Basic Y = sympify(y)
-        return c2py(symengine.log(X.thisptr, Y.thisptr))
-
-class sin(TrigFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.sin(X.thisptr))
-
-class cos(TrigFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.cos(X.thisptr))
-
-class tan(TrigFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.tan(X.thisptr))
-
-class cot(TrigFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.cot(X.thisptr))
-
-class sec(TrigFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.sec(X.thisptr))
-
-class csc(TrigFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.csc(X.thisptr))
-
-class asin(TrigFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.asin(X.thisptr))
-
-class acos(TrigFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.acos(X.thisptr))
-
-class atan(TrigFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.atan(X.thisptr))
-
-class acot(TrigFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.acot(X.thisptr))
-
-class asec(TrigFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.asec(X.thisptr))
-
-class acsc(TrigFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.acsc(X.thisptr))
-
-class sinh(HyperbolicFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.sinh(X.thisptr))
-
-class cosh(HyperbolicFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.cosh(X.thisptr))
-
-class tanh(HyperbolicFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.tanh(X.thisptr))
-
-class coth(HyperbolicFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.coth(X.thisptr))
-
-class sech(HyperbolicFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.sech(X.thisptr))
-
-class csch(HyperbolicFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.csch(X.thisptr))
-
-class asinh(HyperbolicFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.asinh(X.thisptr))
-
-class acosh(HyperbolicFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.acosh(X.thisptr))
-
-class atanh(HyperbolicFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.atanh(X.thisptr))
-
-class acoth(HyperbolicFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.acoth(X.thisptr))
-
-class asech(HyperbolicFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.asech(X.thisptr))
-
-class acsch(HyperbolicFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.acsch(X.thisptr))
-
-class atan2(Function):
-    def __new__(cls, x, y):
-        cdef Basic X = sympify(x)
-        cdef Basic Y = sympify(y)
-        return c2py(symengine.atan2(X.thisptr, Y.thisptr))
-
-    def _sympy_(self):
-        import sympy
-        return sympy.atan2(*self.args_as_sympy())
-
-    def _sage_(self):
-        import sage.all as sage
-        return sage.atan2(*self.args_as_sage())
-
-# For backwards compatibility
-
-Sin = sin
-Cos = cos
-Tan = tan
-Cot = cot
-Sec = sec
-Csc = csc
-ASin = asin
-ACos = acos
-ATan = atan
-ACot = acot
-ASec = asec
-ACsc = acsc
-Sinh = sinh
-Cosh = cosh
-Tanh = tanh
-Coth = coth
-Sech = sech
-Csch = csch
-ASinh = asinh
-ACosh = acosh
-ATanh = atanh
-ACoth = acoth
-ASech = asech
-ACsch = acsch
-ATan2 = atan2
-Log = log
-Gamma = gamma
-
-add = Add
-mul = Mul
-
-
-class UnevaluatedExpr(OneArgFunction):
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.unevaluated_expr(X.thisptr))
-
-    @property
-    def is_number(self):
-        return self.args[0].is_number
-
-    @property
-    def is_integer(self):
-        return self.args[0].is_integer
-
-    @property
-    def is_finite(self):
-        return self.args[0].is_finite
-
-
-class Abs(OneArgFunction):
-
-    @property
-    def is_real(self):
-        return True
-
-    @property
-    def is_negative(self):
-        return False
-
-    def __new__(cls, x):
-        cdef Basic X = sympify(x)
-        return c2py(symengine.abs(X.thisptr))
-
-    def _sympy_(Basic self):
-        cdef RCP[const symengine.Abs] X = symengine.rcp_static_cast_Abs(self.thisptr)
-        arg = c2py(deref(X).get_arg())._sympy_()
-        return abs(arg)
-
-    def _sage_(Basic self):
-        cdef RCP[const symengine.Abs] X = symengine.rcp_static_cast_Abs(self.thisptr)
-        arg = c2py(deref(X).get_arg())._sage_()
-        return abs(arg)
-
-    @property
-    def func(self):
-        return self.__class__
-
-class FunctionSymbol(Function):
-
-    def get_name(Basic self):
-        cdef RCP[const symengine.FunctionSymbol] X = \
-            symengine.rcp_static_cast_FunctionSymbol(self.thisptr)
-        name = deref(X).get_name().decode("utf-8")
-        return str(name)
-
-    @property
-    def name(Basic self):
-        return self.get_name()
-
-    def _sympy_(self):
-        import sympy
-        name = self.get_name()
-        return sympy.Function(name)(*self.args_as_sympy())
-
-    def _sage_(self):
-        import sage.all as sage
-        name = self.get_name()
-        return sage.function(name)(*self.args_as_sage())
-
-    def func(self, *values):
-        name = self.get_name()
-        return function_symbol(name, *values)
-
-
-class UndefFunction(object):
-    def __init__(self, name):
-        self.name = name
-
-    def __call__(self, *values):
-        return function_symbol(self.name, *values)
-
-
-cdef rcp_const_basic pynumber_to_symengine(PyObject* o1):
-    cdef Basic X = sympify(<object>o1)
-    return X.thisptr
-
-cdef PyObject* symengine_to_sage(rcp_const_basic o1):
-    import sage.all as sage
-    t = c2py(o1)._sage_()
-    Py_XINCREF(<PyObject*>t)
-    return <PyObject*>(t)
-
-cdef PyObject* symengine_to_sympy(rcp_const_basic o1):
-    t = c2py(o1)._sympy_()
-    Py_XINCREF(<PyObject*>t)
-    return <PyObject*>(t)
-
-cdef RCP[const symengine.Number] sympy_eval(PyObject* o1, long bits):
-    prec = max(1, int(round(bits/3.3219280948873626)-1))
-    cdef Number X = sympify((<object>o1).n(prec))
-    return symengine.rcp_static_cast_Number(X.thisptr)
-
-cdef RCP[const symengine.Number] sage_eval(PyObject* o1, long bits):
-    cdef Number X = sympify((<object>o1).n(bits))
-    return symengine.rcp_static_cast_Number(X.thisptr)
-
-cdef rcp_const_basic sage_diff(PyObject* o1, rcp_const_basic symbol):
-    cdef Basic X = sympify((<object>o1).diff(c2py(symbol)._sage_()))
-    return X.thisptr
-
-cdef rcp_const_basic sympy_diff(PyObject* o1, rcp_const_basic symbol):
-    cdef Basic X = sympify((<object>o1).diff(c2py(symbol)._sympy_()))
-    return X.thisptr
-
-def create_sympy_module():
-    cdef PyModule s = PyModule.__new__(PyModule)
-    s.thisptr = symengine.make_rcp_PyModule(&symengine_to_sympy, &pynumber_to_symengine, &sympy_eval,
-                                    &sympy_diff)
-    return s
-
-def create_sage_module():
-    cdef PyModule s = PyModule.__new__(PyModule)
-    s.thisptr = symengine.make_rcp_PyModule(&symengine_to_sage, &pynumber_to_symengine, &sage_eval,
-                                    &sage_diff)
-    return s
-
-sympy_module = create_sympy_module()
-sage_module = create_sage_module()
-
-cdef class PyNumber(Number):
-    def __cinit__(self, obj = None, PyModule module = None):
-        if obj is None:
-            return
-        Py_XINCREF(<PyObject*>(obj))
-        self.thisptr = symengine.make_rcp_PyNumber(<PyObject*>(obj), module.thisptr)
-
-    def _sympy_(self):
-        import sympy
-        return sympy.sympify(self.pyobject())
-
-    def _sage_(self):
-        import sage.all as sage
-        res = self.pyobject()
-        if hasattr(res, '_sage_'):
-            return res._sage_()
-        return res
-
-    def pyobject(self):
-        return <object>deref(symengine.rcp_static_cast_PyNumber(self.thisptr)).get_py_object()
-
-
-class PyFunction(FunctionSymbol):
-
-    def __init__(Basic self, pyfunction = None, args = None, pyfunction_class=None, module=None):
-        if pyfunction is None:
-            return
-        cdef symengine.vec_basic v = iter_to_vec_basic(args)
-        cdef PyFunctionClass _pyfunction_class = get_function_class(pyfunction_class, module)
-        cdef PyObject* _pyfunction = <PyObject*>pyfunction
-        Py_XINCREF(_pyfunction)
-        self.thisptr = symengine.make_rcp_PyFunction(v, _pyfunction_class.thisptr, _pyfunction)
-
-    def _sympy_(self):
-        import sympy
-        return sympy.sympify(self.pyobject())
-
-    def _sage_(self):
-        import sage.all as sage
-        return sage.SR(self.pyobject())
-
-    def pyobject(Basic self):
-        return <object>deref(symengine.rcp_static_cast_PyFunction(self.thisptr)).get_py_object()
-
-cdef class PyFunctionClass(object):
-
-    def __cinit__(self, function, PyModule module not None):
-        self.thisptr = symengine.make_rcp_PyFunctionClass(<PyObject*>(function), str(function).encode("utf-8"),
-                                module.thisptr)
-
-# TODO: remove this once SymEngine conversions are available in Sage.
-def wrap_sage_function(func):
-    return PyFunction(func, func.operands(), func.operator(), sage_module)
-
-
-class Max(Function):
-
-    def __new__(cls, *args):
-        return _max(*args)
-
-    def _sympy_(self):
-        import sympy
-        s = self.args_as_sympy()
-        return sympy.Max(*s)
-
-    def _sage_(self):
-        import sage.all as sage
-        s = self.args_as_sage()
-        return sage.max(*s)
-
-    @property
-    def func(self):
-        return self.__class__
-
-class Min(Function):
-
-    def __new__(cls, *args):
-        return _min(*args)
-
-    def _sympy_(self):
-        import sympy
-        s = self.args_as_sympy()
-        return sympy.Min(*s)
-
-    def _sage_(self):
-        import sage.all as sage
-        s = self.args_as_sage()
-        return sage.min(*s)
-
-    @property
-    def func(self):
-        return self.__class__
-
-
-class Derivative(Expr):
-
-    def __new__(self, expr, *variables):
-        if len(variables) == 1 and is_sequence(variables[0]):
-            return diff(expr, *variables[0])
-        return diff(expr, *variables)
-
-    @property
-    def is_Derivative(self):
-        return True
-
-    @property
-    def expr(Basic self):
-        cdef RCP[const symengine.Derivative] X = symengine.rcp_static_cast_Derivative(self.thisptr)
-        return c2py(deref(X).get_arg())
-
-    @property
-    def variables(self):
-        return self.args[1:]
-
-    def _sympy_(Basic self):
-        cdef RCP[const symengine.Derivative] X = \
-            symengine.rcp_static_cast_Derivative(self.thisptr)
-        arg = c2py(deref(X).get_arg())._sympy_()
-        cdef symengine.multiset_basic Y = deref(X).get_symbols()
-        s = []
-        for i in Y:
-            s.append(c2py(<rcp_const_basic>(i))._sympy_())
-        import sympy
-        return sympy.Derivative(arg, *s)
-
-    def _sage_(Basic self):
-        cdef RCP[const symengine.Derivative] X = \
-            symengine.rcp_static_cast_Derivative(self.thisptr)
-        arg = c2py(deref(X).get_arg())._sage_()
-        cdef symengine.multiset_basic Y = deref(X).get_symbols()
-        s = []
-        for i in Y:
-            s.append(c2py(<rcp_const_basic>(i))._sage_())
-        return arg.diff(*s)
-
-    @property
-    def func(self):
-        return self.__class__
-
-
-class Subs(Expr):
-
-    def __new__(self, expr, variables, point):
-        return sympify(expr).subs(variables, point)
-
-    @property
-    def expr(Basic self):
-        cdef RCP[const symengine.Subs] me = symengine.rcp_static_cast_Subs(self.thisptr)
-        return c2py(deref(me).get_arg())
-
-    @property
-    def variables(Basic self):
-        cdef RCP[const symengine.Subs] me = symengine.rcp_static_cast_Subs(self.thisptr)
-        cdef symengine.vec_basic variables = deref(me).get_variables()
-        return vec_basic_to_tuple(variables)
-
-    @property
-    def point(Basic self):
-        cdef RCP[const symengine.Subs] me = symengine.rcp_static_cast_Subs(self.thisptr)
-        cdef symengine.vec_basic point = deref(me).get_point()
-        return vec_basic_to_tuple(point)
-
-    def _sympy_(Basic self):
-        cdef RCP[const symengine.Subs] X = symengine.rcp_static_cast_Subs(self.thisptr)
-        arg = c2py(deref(X).get_arg())._sympy_()
-        cdef symengine.vec_basic V = deref(X).get_variables()
-        cdef symengine.vec_basic P = deref(X).get_point()
-        v = []
-        p = []
-        for i in range(V.size()):
-            v.append(c2py(<rcp_const_basic>(V[i]))._sympy_())
-            p.append(c2py(<rcp_const_basic>(P[i]))._sympy_())
-        import sympy
-        return sympy.Subs(arg, v, p)
-
-    def _sage_(Basic self):
-        cdef RCP[const symengine.Subs] X = symengine.rcp_static_cast_Subs(self.thisptr)
-        arg = c2py(deref(X).get_arg())._sage_()
-        cdef symengine.vec_basic V = deref(X).get_variables()
-        cdef symengine.vec_basic P = deref(X).get_point()
-        v = {}
-        for i in range(V.size()):
-            v[c2py(<rcp_const_basic>(V[i]))._sage_()] = \
-                c2py(<rcp_const_basic>(P[i]))._sage_()
-        return arg.subs(v)
-
-    @property
-    def func(self):
-        return self.__class__
-
-
-class Piecewise(Function):
-
-    def __new__(self, *args):
-        return piecewise(*args)
-
-    def _sympy_(self):
-        import sympy
-        a = self.args
-        l = []
-        for i in range(0, len(a), 2):
-            l.append((a[i]._sympy_(), a[i + 1]._sympy_()))
-        return sympy.Piecewise(*l)
-
-
-cdef class Set(Expr):
-
-    def intersection(self, a):
-        cdef Set other = sympify(a)
-        cdef RCP[const symengine.Set] other_ = symengine.rcp_static_cast_Set(other.thisptr)
-        return c2py(<rcp_const_basic>(deref(symengine.rcp_static_cast_Set(self.thisptr))
-                    .set_intersection(other_)))
-
-    def union(self, a):
-        cdef Set other = sympify(a)
-        cdef RCP[const symengine.Set] other_ = symengine.rcp_static_cast_Set(other.thisptr)
-        return c2py(<rcp_const_basic>(deref(symengine.rcp_static_cast_Set(self.thisptr))
-                    .set_union(other_)))
-
-    def complement(self, a):
-        cdef Set other = sympify(a)
-        cdef RCP[const symengine.Set] other_ = symengine.rcp_static_cast_Set(other.thisptr)
-        return c2py(<rcp_const_basic>(deref(symengine.rcp_static_cast_Set(self.thisptr))
-                    .set_complement(other_)))
-
-    def contains(self, a):
-        cdef Basic a_ = sympify(a)
-        return c2py(<rcp_const_basic>(deref(symengine.rcp_static_cast_Set(self.thisptr))
-                    .contains(a_.thisptr)))
-
-
-class Interval(Set):
-
-    def __new__(self, *args, left_open=None, right_open=None):
-        list_args = list(args)
-        if ((left_open is not None) and (right_open is None)) or ((left_open is None) and (right_open is not None)):
-            raise ValueError("Both (or neither) keyword arguments for Interval should be specified")
-        if left_open is not None:
-            list_args.append(left_open)
-        if right_open is not None:
-            list_args.append(right_open)
-        return interval(*list_args)
-
-    @property
-    def start(self):
-        return self.args[0]
-
-    @property
-    def end(self):
-        return self.args[1]
-
-    def _sympy_(self):
-        import sympy
-        return sympy.Interval(*[arg._sympy_() for arg in self.args])
-
-
-class EmptySet(Set):
-
-    def __new__(self):
-        return emptyset()
-
-    def _sympy_(self):
-        import sympy
-        return sympy.S.EmptySet
-
-    @property
-    def func(self):
-        return self.__class__
-
-
-class Reals(Set):
-
-    def __new__(self):
-        return reals()
-
-    def _sympy_(self):
-        import sympy
-        return sympy.S.Reals
-
-    @property
-    def func(self):
-        return self.__class__
-
-
-class Rationals(Set):
-
-    def __new__(self):
-        return rationals()
-
-    def _sympy_(self):
-        import sympy
-        return sympy.S.Rationals
-
-    @property
-    def func(self):
-        return self.__class__
-
-
-class Integers(Set):
-
-    def __new__(self):
-        return integers()
-
-    def _sympy_(self):
-        import sympy
-        return sympy.S.Integers
-
-    @property
-    def func(self):
-        return self.__class__
-
-
-class UniversalSet(Set):
-
-    def __new__(self):
-        return universalset()
-
-    def _sympy_(self):
-        import sympy
-        return sympy.S.UniversalSet
-
-    @property
-    def func(self):
-        return self.__class__
-
-
-class FiniteSet(Set):
-
-    def __new__(self, *args):
-        return finiteset(*args)
-
-    def _sympy_(self):
-        import sympy
-        return sympy.FiniteSet(*[arg._sympy_() for arg in self.args])
-
-
-class Contains(Boolean):
-
-    def __new__(self, expr, sset):
-        return contains(expr, sset)
-
-    def _sympy_(self):
-        import sympy
-        return sympy.Contains(*[arg._sympy_() for arg in self.args])
-
-
-class Union(Set):
-
-    def __new__(self, *args):
-        return set_union(*args)
-
-    def _sympy_(self):
-        import sympy
-        return sympy.Union(*[arg._sympy_() for arg in self.args])
-
-
-class Complement(Set):
-
-    def __new__(self, universe, container):
-        return set_complement(universe, container)
-
-    def _sympy_(self):
-        import sympy
-        return sympy.Complement(*[arg._sympy_() for arg in self.args])
-
-
-class ConditionSet(Set):
-
-    def __new__(self, sym, condition):
-        return conditionset(sym, condition)
-
-
-class ImageSet(Set):
-
-    def __new__(self, sym, expr, base):
-        return imageset(sym, expr, base)
-
-
-
-cdef class MatrixBase:
-
-    @property
-    def is_Matrix(self):
-        return True
-
-    def __richcmp__(a, b, int op):
-        A = _sympify(a, False)
-        B = _sympify(b, False)
-        if not (isinstance(A, MatrixBase) and isinstance(B, MatrixBase)):
-            if (op == 2):
-                return False
-            elif (op == 3):
-                return True
-            return NotImplemented
-        return A._richcmp_(B, op)
-
-    def _richcmp_(MatrixBase A, MatrixBase B, int op):
-        if (op == 2):
-            return deref(A.thisptr).eq(deref(B.thisptr))
-        elif (op == 3):
-            return not deref(A.thisptr).eq(deref(B.thisptr))
-        else:
-            return NotImplemented
-
-    def __dealloc__(self):
-        del self.thisptr
-
-    def _symbolic_(self, ring):
-        return ring(self._sage_())
-
-    # TODO: fix this
-    def __hash__(self):
-        return 0
-
-
-class MatrixError(Exception):
-    pass
-
-
-class ShapeError(ValueError, MatrixError):
-    """Wrong matrix shape"""
-    pass
-
-
-class NonSquareMatrixError(ShapeError):
-    pass
-
-cdef class DenseMatrixBase(MatrixBase):
-    """
-    Represents a two-dimensional dense matrix.
-
-    Examples
-    ========
-
-    Empty matrix:
-
-    >>> DenseMatrix(3, 2)
-
-    2D Matrix:
-
-    >>> DenseMatrix(3, 2, [1, 2, 3, 4, 5, 6])
-    [1, 2]
-    [3, 4]
-    [5, 6]
-
-    >>> DenseMatrix([[1, 2], [3, 4], [5, 6]])
-    [1, 2]
-    [3, 4]
-    [5, 6]
-
-    """
-
-    def __cinit__(self, row=None, col=None, v=None):
-        if row is None:
-            self.thisptr = new symengine.DenseMatrix(0, 0)
-            return
-        if v is None and col is not None:
-            self.thisptr = new symengine.DenseMatrix(row, col)
-            return
-        if col is None:
-            v = sympify(row)
-            row = 0
-        cdef symengine.vec_basic v_
-        cdef DenseMatrixBase A
-        cdef Basic e_
-        #TODO: Add a constructor to DenseMatrix in C++
-        if (isinstance(v, DenseMatrixBase)):
-            matrix_to_vec(v, v_)
-            if col is None:
-                row = v.nrows()
-                col = v.ncols()
-            self.thisptr = new symengine.DenseMatrix(row, col, v_)
-            return
-        for e in v:
-            f = sympify(e)
-            if isinstance(f, DenseMatrixBase):
-                matrix_to_vec(f, v_)
-                if col is None:
-                    row = row + f.nrows()
-                continue
-            try:
-                for e_ in f:
-                    v_.push_back(e_.thisptr)
-                if col is None:
-                    row = row + 1
-            except TypeError:
-                e_ = f
-                v_.push_back(e_.thisptr)
-                if col is None:
-                    row = row + 1
-        if (row == 0):
-            if (v_.size() != 0):
-                self.thisptr = new symengine.DenseMatrix(0, 0, v_)
-                raise ValueError("sizes don't match.")
-            else:
-                self.thisptr = new symengine.DenseMatrix(0, 0, v_)
-        elif col is not None and (row*col != v_.size()):
-            raise ValueError("Number of elements should equal rows*columns.")
-        else:
-            self.thisptr = new symengine.DenseMatrix(row, v_.size() / row, v_)
-
-    def __repr__(self):
-        return self.__str__()
-
-    def __str__(self):
-        return deref(self.thisptr).__str__().decode("utf-8")
-
-    def _repr_latex_(self):
-        if repr_latex[0]:
-            return "${}$".format(latex(self))
-        else:
-            return None
-
-    def __add__(a, b):
-        a = _sympify(a, False)
-        b = _sympify(b, False)
-        if not isinstance(a, MatrixBase) or not isinstance(b, MatrixBase):
-            return NotImplemented
-        cdef MatrixBase a_ = a
-        cdef MatrixBase b_ = b
-        if (a_.shape == (0, 0)):
-            return b_
-        if (b_.shape == (0, 0)):
-            return a_
-        if (a_.shape != b_.shape):
-            raise ShapeError("Invalid shapes for matrix addition. Got %s %s" % (a_.shape, b_.shape))
-        return a_.add_matrix(b_)
-
-    def __radd__(MatrixBase self, a):
-        a = _sympify(a, False)
-        if not isinstance(a, MatrixBase):
-            return NotImplemented
-        cdef MatrixBase a_ = a
-        if (a_.shape == (0, 0)):
-            return self
-        if (self.shape == (0, 0)):
-            return a_
-        if (self.shape != a_.shape):
-            raise ShapeError("Invalid shapes for matrix addition. Got %s %s" % (a_.shape, self.shape))
-        return a_.add_matrix(self)
-
-    def __mul__(a, b):
-        a = _sympify(a, False)
-        b = _sympify(b, False)
-        if isinstance(a, MatrixBase):
-            if isinstance(b, MatrixBase):
-                if (a.ncols() != b.nrows()):
-                    raise ShapeError("Invalid shapes for matrix multiplication. Got %s %s" % (a.shape, b.shape))
-                return a.mul_matrix(b)
-            elif isinstance(b, Basic):
-                return a.mul_scalar(b)
-            else:
-                return NotImplemented
-        elif isinstance(a, Basic):
-            return b.mul_scalar(a)
-        else:
-            return NotImplemented
-
-    def __rmul__(Basic self, a):
-        a = _sympify(a, False)
-        if isinstance(a, MatrixBase):
-            if (a.ncols() != self.nrows()):
-                raise ShapeError("Invalid shapes for matrix multiplication. Got %s %s" % (a.shape, self.shape))
-            return a.mul_matrix(self)
-        elif isinstance(a, Basic):
-            return self.mul_scalar(a)
-        else:
-            return NotImplemented
-
-    def __matmul__(a, b):
-        a = _sympify(a, False)
-        b = _sympify(b, False)
-        if (a.ncols() != b.nrows()):
-            raise ShapeError("Invalid shapes for matrix multiplication. Got %s %s" % (a.shape, b.shape))
-        return a.mul_matrix(b)
-
-    def __rmatmul__(Basic self, a):
-        a = _sympify(a, False)
-        if (a.ncols() != self.nrows()):
-            raise ShapeError("Invalid shapes for matrix multiplication. Got %s %s" % (a.shape, self.shape))
-        return a.mul_matrix(self)
-
-    def __truediv__(a, b):
-        a = _sympify(a, False)
-        b = _sympify(b, False)
-        if isinstance(a, MatrixBase):
-            if isinstance(b, MatrixBase):
-                return a.mul_matrix(b.inv())
-            elif isinstance(b, Basic):
-                return a.mul_scalar(1/b)
-            else:
-                return NotImplemented
-        else:
-            return NotImplemented
-
-    def __rtruediv__(Basic self, a):
-        a = _sympify(a, False)
-        if isinstance(a, MatrixBase):
-            return a.mul_matrix(self.inv())
-        else:
-            return NotImplemented
-
-    def __sub__(a, b):
-        a = _sympify(a, False)
-        b = _sympify(b, False)
-        if not isinstance(a, MatrixBase) or not isinstance(b, MatrixBase):
-            return NotImplemented
-        cdef MatrixBase a_ = a
-        cdef MatrixBase b_ = b
-        if (a_.shape != b_.shape):
-            raise ShapeError("Invalid shapes for matrix subtraction. Got %s %s" % (a.shape, b.shape))
-        return a_.add_matrix(-b_)
-
-    def __rsub__(MatrixBase self, a):
-        a = _sympify(a, False)
-        if not isinstance(a, MatrixBase):
-            return NotImplemented
-        cdef MatrixBase a_ = a
-        if (a_.shape != self.shape):
-            raise ShapeError("Invalid shapes for matrix subtraction. Got %s %s" % (a.shape, self.shape))
-        return a_.add_matrix(-self)
-
-    def __neg__(self):
-        return self.mul_scalar(-1)
-
-    def __abs__(self):
-        return self.applyfunc(abs)
-
-    def __getitem__(self, item):
-        if isinstance(item, slice):
-            if (self.ncols() == 0 or self.nrows() == 0):
-                return []
-            return [self.get(i // self.ncols(), i % self.ncols()) for i in range(*item.indices(len(self)))]
-        elif isinstance(item, int):
-            return self.get(item // self.ncols(), item % self.ncols())
-        elif isinstance(item, tuple) and len(item) == 2:
-            if is_sequence(item[0]) or is_sequence(item[1]):
-                if isinstance(item[0], slice):
-                    row_iter = range(*item[0].indices(self.rows))
-                elif is_sequence(item[0]):
-                    row_iter = item[0]
-                else:
-                    row_iter = [item[0]]
-
-                if isinstance(item[1], slice):
-                    col_iter = range(*item[1].indices(self.cols))
-                elif is_sequence(item[1]):
-                    col_iter = item[1]
-                else:
-                    col_iter = [item[1]]
-
-                v = []
-                for row in row_iter:
-                    for col in col_iter:
-                        v.append(self.get(row, col))
-                return self.__class__(len(row_iter), len(col_iter), v)
-
-            if isinstance(item[0], int) and isinstance(item[1], int):
-                return self.get(item[0], item[1])
-            else:
-                s = [0, 0, 0, 0, 0, 0]
-                for i in (0, 1):
-                    if isinstance(item[i], slice):
-                        s[i], s[i+2], s[i+4] = item[i].indices(self.nrows() if i == 0 else self.ncols())
-                    else:
-                        s[i], s[i+2], s[i+4] = item[i], item[i] + 1, 1
-                if (s[0] < 0 or s[0] > self.rows or s[0] >= s[2] or s[2] < 0 or s[2] > self.rows):
-                    raise IndexError
-                if (s[1] < 0 or s[1] > self.cols or s[1] >= s[3] or s[3] < 0 or s[3] > self.cols):
-                    raise IndexError
-                return self._submatrix(*s)
-        elif is_sequence(item):
-            return [self.get(ind // self.ncols(), ind % self.ncols()) for ind in item]
-        else:
-            raise NotImplementedError
-
-    def __setitem__(self, key, value):
-        cdef unsigned k, l
-        if isinstance(key, int):
-            self.set(key // self.ncols(), key % self.ncols(), value)
-        elif isinstance(key, slice):
-            k = 0
-            for i in range(*key.indices(len(self))):
-                self.set(i // self.ncols(), i % self.ncols(), value[k])
-                k = k + 1
-        elif isinstance(key, tuple) and len(key) == 2:
-            if isinstance(key[0], slice):
-                row_iter = range(*key[0].indices(self.rows))
-            elif is_sequence(key[0]):
-                row_iter = key[0]
-            else:
-                row_iter = [key[0]]
-
-            if isinstance(key[1], slice):
-                col_iter = range(*key[1].indices(self.cols))
-            elif is_sequence(key[1]):
-                col_iter = key[1]
-            else:
-                col_iter = [key[1]]
-
-            for r, row in enumerate(row_iter):
-                for c, col in enumerate(col_iter):
-                    if not is_sequence(value):
-                        self.set(row, col, value)
-                        continue
-                    try:
-                        self.set(row, col, value[r, c])
-                        continue
-                    except TypeError:
-                        pass
-                    try:
-                        self.set(row, col, value[r][c])
-                        continue
-                    except TypeError:
-                        pass
-
-                    if len(row_iter) == 1:
-                        self.set(row, col, value[c])
-                        continue
-
-                    if len(col_iter) == 1:
-                        self.set(row, col, value[r])
-                        continue
-
-        elif is_sequence(key) and is_sequence(value):
-            for val, ind in zip(value, key):
-                self.set(ind // self.ncols(), ind % self.ncols(), val)
-        else:
-            raise NotImplementedError
-
-    def row_join(self, rhs):
-        cdef DenseMatrixBase o = sympify(rhs)
-        if self.rows != o.rows:
-            raise ShapeError("`self` and `rhs` must have the same number of rows.")
-        cdef DenseMatrixBase d = self.__class__(self)
-        deref(symengine.static_cast_DenseMatrix(d.thisptr)).row_join(deref(symengine.static_cast_DenseMatrix(o.thisptr)))
-        return d
-
-    def col_join(self, bott):
-        cdef DenseMatrixBase o = sympify(bott)
-        if self.cols != o.cols:
-            raise ShapeError("`self` and `rhs` must have the same number of columns.")
-        cdef DenseMatrixBase d = self.__class__(self)
-        deref(symengine.static_cast_DenseMatrix(d.thisptr)).col_join(deref(symengine.static_cast_DenseMatrix(o.thisptr)))
-        return d
-
-    def row_insert(self, pos, bott):
-        cdef DenseMatrixBase o = sympify(bott)
-        if pos < 0:
-            pos = self.rows + pos
-        if pos < 0:
-            pos = 0
-        elif pos > self.rows:
-            pos = self.rows
-        if self.cols != o.cols:
-            raise ShapeError("`self` and `other` must have the same number of columns.")
-        cdef DenseMatrixBase d = self.__class__(self)
-        deref(symengine.static_cast_DenseMatrix(d.thisptr)).row_insert(deref(symengine.static_cast_DenseMatrix(o.thisptr)), pos)
-        return d
-
-    def col_insert(self, pos, bott):
-        cdef DenseMatrixBase o = sympify(bott)
-        if pos < 0:
-            pos = self.cols + pos
-        if pos < 0:
-            pos = 0
-        elif pos > self.cols:
-            pos = self.cols
-        if self.rows != o.rows:
-            raise ShapeError("`self` and `other` must have the same number of rows.")
-        cdef DenseMatrixBase d = self.__class__(self)
-        deref(symengine.static_cast_DenseMatrix(d.thisptr)).col_insert(deref(symengine.static_cast_DenseMatrix(o.thisptr)), pos)
-        return d
-
-    def dot(self, b):
-        cdef DenseMatrixBase o = sympify(b)
-        cdef DenseMatrixBase result = self.__class__(self.rows, self.cols)
-        symengine.dot(deref(symengine.static_cast_DenseMatrix(self.thisptr)), deref(symengine.static_cast_DenseMatrix(o.thisptr)), deref(symengine.static_cast_DenseMatrix(result.thisptr)))
-        if len(result) == 1:
-            return result[0, 0]
-        else:
-            return result
-
-    def cross(self, b):
-        cdef DenseMatrixBase o = sympify(b)
-        if self.cols * self.rows != 3 or o.cols * o.rows != 3:
-            raise ShapeError("Dimensions incorrect for cross product: %s x %s" %
-                             ((self.rows, self.cols), (b.rows, b.cols)))
-        cdef DenseMatrixBase result = self.__class__(self.rows, self.cols)
-        symengine.cross(deref(symengine.static_cast_DenseMatrix(self.thisptr)), deref(symengine.static_cast_DenseMatrix(o.thisptr)), deref(symengine.static_cast_DenseMatrix(result.thisptr)))
-        return result
-
-    @property
-    def rows(self):
-        return self.nrows()
-
-    @property
-    def cols(self):
-        return self.ncols()
-
-    @property
-    def is_square(self):
-        return deref(self.thisptr).is_square()
-
-    def nrows(self):
-        return deref(self.thisptr).nrows()
-
-    def ncols(self):
-        return deref(self.thisptr).ncols()
-
-    def __len__(self):
-        return self.nrows() * self.ncols()
-
-    property shape:
-        def __get__(self):
-            return (self.nrows(), self.ncols())
-
-    property size:
-        def __get__(self):
-            return self.nrows()*self.ncols()
-
-    def ravel(self, order='C'):
-        if order == 'C':
-            return [self._get(i, j) for i in range(self.nrows())
-                    for j in range(self.ncols())]
-        elif order == 'F':
-            return [self._get(i, j) for j in range(self.ncols())
-                    for i in range(self.nrows())]
-        else:
-            raise NotImplementedError("Unknown order '%s'" % order)
-
-    def reshape(self, rows, cols):
-        if len(self) != rows*cols:
-            raise ValueError("Invalid reshape parameters %d %d" % (rows, cols))
-        cdef DenseMatrixBase r = self.__class__(self)
-        deref(symengine.static_cast_DenseMatrix(r.thisptr)).resize(rows, cols)
-        return r
-
-    def _get_index(self, i, j):
-        nr = self.nrows()
-        nc = self.ncols()
-        if i < 0:
-            i += nr
-        if j < 0:
-            j += nc
-        if i < 0 or i >= nr:
-            raise IndexError("Row index out of bounds: %d" % i)
-        if j < 0 or j >= nc:
-            raise IndexError("Column index out of bounds: %d" % j)
-        return i, j
-
-    def get(self, i, j):
-        i, j = self._get_index(i, j)
-        return self._get(i, j)
-
-    def _get(self, i, j):
-        # No error checking is done
-        return c2py(deref(self.thisptr).get(i, j))
-
-    def col(self, j):
-        return self[:, j]
-
-    def row(self, i):
-        return self[i, :]
-
-    def set(self, i, j, e):
-        i, j = self._get_index(i, j)
-        return self._set(i, j, e)
-
-    def _set(self, i, j, e):
-        # No error checking is done
-        cdef Basic e_ = sympify(e)
-        if e_ is not None:
-            deref(self.thisptr).set(i, j, e_.thisptr)
-
-    def det(self):
-        if self.nrows() != self.ncols():
-            raise NonSquareMatrixError()
-        return c2py(deref(self.thisptr).det())
-
-    def inv(self, method='LU'):
-        cdef DenseMatrixBase result = self.__class__(self.nrows(), self.ncols())
-
-        if method.upper() == 'LU':
-            ## inv() method of DenseMatrixBase uses LU factorization
-            deref(self.thisptr).inv(deref(result.thisptr))
-        elif method.upper() == 'FFLU':
-            symengine.inverse_FFLU(deref(symengine.static_cast_DenseMatrix(self.thisptr)),
-                deref(symengine.static_cast_DenseMatrix(result.thisptr)))
-        elif method.upper() == 'GJ':
-            symengine.inverse_GJ(deref(symengine.static_cast_DenseMatrix(self.thisptr)),
-                deref(symengine.static_cast_DenseMatrix(result.thisptr)))
-        else:
-            raise Exception("Unsupported method.")
-        return result
-
-    def add_matrix(self, A):
-        cdef MatrixBase A_ = sympify(A)
-        if isinstance(A, ImmutableDenseMatrix):
-            cls = A.__class__
-        else:
-            cls = self.__class__
-        cdef DenseMatrixBase result = cls(self.nrows(), self.ncols())
-        deref(self.thisptr).add_matrix(deref(A_.thisptr), deref(result.thisptr))
-        return result
-
-    def mul_matrix(self, A):
-        cdef MatrixBase A_ = sympify(A)
-        if isinstance(A, ImmutableDenseMatrix):
-            cls = A.__class__
-        else:
-            cls = self.__class__
-        cdef DenseMatrixBase result = cls(self.nrows(), A.ncols())
-        deref(self.thisptr).mul_matrix(deref(A_.thisptr), deref(result.thisptr))
-        return result
-
-    def multiply_elementwise(self, A):
-        cdef MatrixBase A_ = sympify(A)
-        if isinstance(A, ImmutableDenseMatrix):
-            cls = A.__class__
-        else:
-            cls = self.__class__
-        cdef DenseMatrixBase result = cls(self.nrows(), self.ncols())
-        deref(self.thisptr).elementwise_mul_matrix(deref(A_.thisptr), deref(result.thisptr))
-        return result
-
-    def add_scalar(self, k):
-        cdef Basic k_ = sympify(k)
-        cdef DenseMatrixBase result = self.__class__(self.nrows(), self.ncols())
-        deref(self.thisptr).add_scalar(k_.thisptr, deref(result.thisptr))
-        return result
-
-    def mul_scalar(self, k):
-        cdef Basic k_ = sympify(k)
-        cdef DenseMatrixBase result = self.__class__(self.nrows(), self.ncols())
-        deref(self.thisptr).mul_scalar(k_.thisptr, deref(result.thisptr))
-        return result
-
-    def transpose(self):
-        cdef DenseMatrixBase result = self.__class__(self.ncols(), self.nrows())
-        deref(self.thisptr).transpose(deref(result.thisptr))
-        return result
-
-    def conjugate(self):
-        cdef DenseMatrixBase result = self.__class__(self.nrows(), self.ncols())
-        deref(self.thisptr).conjugate(deref(result.thisptr))
-        return result
-
-    def conjugate_transpose(self):
-        cdef DenseMatrixBase result = self.__class__(self.nrows(), self.ncols())
-        deref(self.thisptr).conjugate_transpose(deref(result.thisptr))
-        return result
-
-    @property
-    def H(self):
-        return self.conjugate_transpose()
-
-    def trace(self):
-        return c2py(deref(symengine.static_cast_DenseMatrix(self.thisptr)).trace())
-
-    @property
-    def is_zero_matrix(self):
-        return tribool_py(deref(symengine.static_cast_DenseMatrix(self.thisptr)).is_zero())
-
-    @property
-    def is_real_matrix(self):
-        return tribool_py(deref(symengine.static_cast_DenseMatrix(self.thisptr)).is_real())
-
-    @property
-    def is_diagonal(self):
-        return tribool_py(deref(symengine.static_cast_DenseMatrix(self.thisptr)).is_diagonal())
-
-    @property
-    def is_symmetric(self):
-        return tribool_py(deref(symengine.static_cast_DenseMatrix(self.thisptr)).is_symmetric())
-
-    @property
-    def is_hermitian(self):
-        return tribool_py(deref(symengine.static_cast_DenseMatrix(self.thisptr)).is_hermitian())
-
-    @property
-    def is_weakly_diagonally_dominant(self):
-        return tribool_py(deref(symengine.static_cast_DenseMatrix(self.thisptr)).is_weakly_diagonally_dominant())
-
-    @property
-    def is_strongly_diagonally_dominant(self):
-        return tribool_py(deref(symengine.static_cast_DenseMatrix(self.thisptr)).is_strictly_diagonally_dominant())
-
-    @property
-    def is_positive_definite(self):
-        return tribool_py(deref(symengine.static_cast_DenseMatrix(self.thisptr)).is_positive_definite())
-
-    @property
-    def is_negative_definite(self):
-        return tribool_py(deref(symengine.static_cast_DenseMatrix(self.thisptr)).is_negative_definite())
-
-    @property
-    def T(self):
-        return self.transpose()
-
-    def applyfunc(self, f):
-        cdef DenseMatrixBase out = self.__class__(self)
-        cdef int nr = self.nrows()
-        cdef int nc = self.ncols()
-        cdef Basic e_;
-        for i in range(nr):
-            for j in range(nc):
-                e_ = sympify(f(self._get(i, j)))
-                if e_ is not None:
-                    deref(out.thisptr).set(i, j, e_.thisptr)
-        return out
-
-    def _applyfunc(self, f):
-        cdef int nr = self.nrows()
-        cdef int nc = self.ncols()
-        for i in range(nr):
-            for j in range(nc):
-                self._set(i, j, f(self._get(i, j)))
-
-    def msubs(self, *args):
-        cdef _DictBasic D = get_dict(*args)
-        return self.applyfunc(lambda x: x.msubs(D))
-
-    def _diff(self, Basic x):
-        cdef DenseMatrixBase R = self.__class__(self.rows, self.cols)
-        symengine.diff(<const symengine.DenseMatrix &>deref(self.thisptr),
-                x.thisptr, <symengine.DenseMatrix &>deref(R.thisptr))
-        return R
-
-    def diff(self, *args):
-        return _diff(self, *args)
-
-    #TODO: implement this in C++
-    def subs(self, *args):
-        cdef _DictBasic D = get_dict(*args)
-        return self.applyfunc(lambda x: x.subs(D))
-
-    def xreplace(self, *args):
-        cdef _DictBasic D = get_dict(*args)
-        return self.applyfunc(lambda x: x.xreplace(D))
-
-    replace = xreplace
-
-    @property
-    def free_symbols(self):
-        cdef symengine.set_basic _set = symengine.free_symbols(deref(self.thisptr))
-        return {c2py(<rcp_const_basic>(elem)) for elem in _set}
-
-    def _submatrix(self, unsigned r_i, unsigned c_i, unsigned r_j, unsigned c_j, unsigned r_s=1, unsigned c_s=1):
-        r_j, c_j = r_j - 1, c_j - 1
-        cdef DenseMatrixBase result = self.__class__(((r_j - r_i) // r_s) + 1, ((c_j - c_i) // c_s) + 1)
-        deref(self.thisptr).submatrix(deref(result.thisptr), r_i, c_i, r_j, c_j, r_s, c_s)
-        return result
-
-    def LU(self):
-        cdef DenseMatrixBase L = self.__class__(self.nrows(), self.ncols())
-        cdef DenseMatrixBase U = self.__class__(self.nrows(), self.ncols())
-        deref(self.thisptr).LU(deref(L.thisptr), deref(U.thisptr))
-        return L, U
-
-    def LUdecomposition(self):
-        if self.rows != self.cols:
-            raise NotImplementedError("LU decomposition not implemented for non-square matrices yet.")
-        cdef DenseMatrixBase L = self.__class__(self.nrows(), self.ncols())
-        cdef DenseMatrixBase U = self.__class__(self.nrows(), self.ncols())
-        cdef vector[pair[int, int]] perm
-        symengine.pivoted_LU(
-            deref(symengine.static_cast_DenseMatrix(self.thisptr)),
-            deref(symengine.static_cast_DenseMatrix(L.thisptr)),
-            deref(symengine.static_cast_DenseMatrix(U.thisptr)),
-            perm)
-        return L, U, perm
-
-    def LDL(self):
-        cdef DenseMatrixBase L = self.__class__(self.nrows(), self.ncols())
-        cdef DenseMatrixBase D = self.__class__(self.nrows(), self.ncols())
-        deref(self.thisptr).LDL(deref(L.thisptr), deref(D.thisptr))
-        return L, D
-
-    def solve(self, b, method='LU'):
-        cdef DenseMatrixBase b_ = sympify(b)
-        cdef DenseMatrixBase x = self.__class__(b_.nrows(), b_.ncols())
-
-        if method.upper() == 'LU':
-            ## solve() method of DenseMatrixBase uses LU factorization
-            symengine.pivoted_LU_solve(deref(symengine.static_cast_DenseMatrix(self.thisptr)),
-                deref(symengine.static_cast_DenseMatrix(b_.thisptr)),
-                deref(symengine.static_cast_DenseMatrix(x.thisptr)))
-        elif method.upper() == 'FFLU':
-            symengine.FFLU_solve(deref(symengine.static_cast_DenseMatrix(self.thisptr)),
-                deref(symengine.static_cast_DenseMatrix(b_.thisptr)),
-                deref(symengine.static_cast_DenseMatrix(x.thisptr)))
-        elif method.upper() == 'LDL':
-            symengine.LDL_solve(deref(symengine.static_cast_DenseMatrix(self.thisptr)),
-                deref(symengine.static_cast_DenseMatrix(b_.thisptr)),
-                deref(symengine.static_cast_DenseMatrix(x.thisptr)))
-        elif method.upper() == 'FFGJ':
-            symengine.FFGJ_solve(deref(symengine.static_cast_DenseMatrix(self.thisptr)),
-                deref(symengine.static_cast_DenseMatrix(b_.thisptr)),
-                deref(symengine.static_cast_DenseMatrix(x.thisptr)))
-        else:
-            raise Exception("Unsupported method.")
-
-        return x
-
-    def LUsolve(self, b):
-        cdef DenseMatrixBase b_ = sympify(b)
-        cdef DenseMatrixBase x = self.__class__(b.nrows(), b.ncols())
-        symengine.pivoted_LU_solve(deref(symengine.static_cast_DenseMatrix(self.thisptr)),
-            deref(symengine.static_cast_DenseMatrix(b_.thisptr)),
-            deref(symengine.static_cast_DenseMatrix(x.thisptr)))
-        return x
-
-    def FFLU(self):
-        cdef DenseMatrixBase L = self.__class__(self.nrows(), self.ncols())
-        cdef DenseMatrixBase U = self.__class__(self.nrows(), self.ncols(), [0]*self.nrows()*self.ncols())
-        deref(self.thisptr).FFLU(deref(L.thisptr))
-
-        for i in range(self.nrows()):
-            for j in range(i + 1, self.ncols()):
-                U.set(i, j, L.get(i, j))
-                L.set(i, j, 0)
-            U.set(i, i, L.get(i, i))
-
-        return L, U
-
-    def FFLDU(self):
-        cdef DenseMatrixBase L = self.__class__(self.nrows(), self.ncols())
-        cdef DenseMatrixBase D = self.__class__(self.nrows(), self.ncols())
-        cdef DenseMatrixBase U = self.__class__(self.nrows(), self.ncols())
-        deref(self.thisptr).FFLDU(deref(L.thisptr), deref(D.thisptr), deref(U.thisptr))
-        return L, D, U
-
-    def QR(self):
-        cdef DenseMatrixBase Q = self.__class__(self.nrows(), self.ncols())
-        cdef DenseMatrixBase R = self.__class__(self.nrows(), self.ncols())
-        deref(self.thisptr).QR(deref(Q.thisptr), deref(R.thisptr))
-        return Q, R
-
-    def cholesky(self):
-        cdef DenseMatrixBase L = self.__class__(self.nrows(), self.ncols())
-        deref(self.thisptr).cholesky(deref(L.thisptr))
-        return L
-
-    def jacobian(self, x):
-        cdef DenseMatrixBase x_ = sympify(x)
-        cdef DenseMatrixBase R = self.__class__(self.nrows(), x.nrows())
-        symengine.jacobian(<const symengine.DenseMatrix &>deref(self.thisptr),
-                <const symengine.DenseMatrix &>deref(x_.thisptr),
-                <symengine.DenseMatrix &>deref(R.thisptr))
-        return R
-
-    def _sympy_(self):
-        s = []
-        cdef symengine.DenseMatrix A = deref(symengine.static_cast_DenseMatrix(self.thisptr))
-        for i in range(A.nrows()):
-            l = []
-            for j in range(A.ncols()):
-                l.append(c2py(A.get(i, j))._sympy_())
-            s.append(l)
-        import sympy
-        return sympy.ImmutableMatrix(s)
-
-    def _sage_(self):
-        s = []
-        cdef symengine.DenseMatrix A = deref(symengine.static_cast_DenseMatrix(self.thisptr))
-        for i in range(A.nrows()):
-            l = []
-            for j in range(A.ncols()):
-                l.append(c2py(A.get(i, j))._sage_())
-            s.append(l)
-        import sage.all as sage
-        return sage.Matrix(s, immutable=True)
-
-    def dump_real(self, double[::1] out):
-        cdef size_t ri, ci, nr, nc
-        if out.size < self.size:
-            raise ValueError("out parameter too short")
-        nr = self.nrows()
-        nc = self.ncols()
-        for ri in range(nr):
-            for ci in range(nc):
-                out[ri*nc + ci] = symengine.eval_double(deref(
-                    <symengine.rcp_const_basic>(deref(self.thisptr).get(ri, ci))))
-
-    def dump_complex(self, double complex[::1] out):
-        cdef size_t ri, ci, nr, nc
-        if out.size < self.size:
-            raise ValueError("out parameter too short")
-        nr = self.nrows()
-        nc = self.ncols()
-        for ri in range(nr):
-            for ci in range(nc):
-                out[ri*nc + ci] = symengine.eval_complex_double(deref(
-                    <symengine.rcp_const_basic>(deref(self.thisptr).get(ri, ci))))
-
-    def __iter__(self):
-        return DenseMatrixBaseIter(self)
-
-    def as_mutable(self):
-        return MutableDenseMatrix(self)
-
-    def as_immutable(self):
-        return ImmutableDenseMatrix(self)
-
-    def tolist(self):
-        return [[self[rowi, coli] for coli in range(self.ncols())]
-                for rowi in range(self.nrows())]
-
-    def __array__(self):
-        return np.array(self.tolist())
-
-    def _mat(self):
-        return self
-
-    def atoms(self, *types):
-        if types:
-            s = set()
-            if (isinstance(self, types)):
-                s.add(self)
-            for arg in self:
-                s.update(arg.atoms(*types))
-            return s
-        else:
-           return self.free_symbols
-
-    def simplify(self, *args, **kwargs):
-        return self._applyfunc(lambda x : x.simplify(*args, **kwargs))
-
-    def expand(self, *args, **kwargs):
-        return self.applyfunc(lambda x : x.expand(*args, **kwargs))
-
-
-class DenseMatrixBaseIter(object):
-
-    def __init__(self, d):
-        self.curr = -1
-        self.d = d
-
-    def __iter__(self):
-        return self
-
-    def __next__(self):
-        self.curr = self.curr + 1
-        if (self.curr < self.d.rows * self.d.cols):
-            return self.d._get(self.curr // self.d.cols, self.curr % self.d.cols)
-        else:
-            raise StopIteration
-
-    next = __next__
-
-cdef class MutableDenseMatrix(DenseMatrixBase):
-
-    def col_swap(self, i, j):
-        symengine.column_exchange_dense(deref(symengine.static_cast_DenseMatrix(self.thisptr)), i, j)
-
-    def fill(self, value):
-        for i in range(self.rows):
-            for j in range(self.cols):
-                self[i, j] = value
-
-    def row_swap(self, i, j):
-        symengine.row_exchange_dense(deref(symengine.static_cast_DenseMatrix(self.thisptr)), i, j)
-
-    def rowmul(self, i, c, *args):
-        cdef Basic _c = sympify(c)
-        symengine.row_mul_scalar_dense(deref(symengine.static_cast_DenseMatrix(self.thisptr)), i, _c.thisptr)
-        return self
-
-    def rowadd(self, i, j, c, *args):
-        cdef Basic _c = sympify(c)
-        symengine.row_add_row_dense(deref(symengine.static_cast_DenseMatrix(self.thisptr)), i, j, _c.thisptr)
-        return self
-
-    def row_del(self, i):
-        if i < -self.rows or i >= self.rows:
-            raise IndexError("Index out of range: 'i = %s', valid -%s <= i"
-                             " < %s" % (i, self.rows, self.rows))
-        if i < 0:
-            i += self.rows
-        deref(symengine.static_cast_DenseMatrix(self.thisptr)).row_del(i)
-        return self
-
-    def col_del(self, i):
-        if i < -self.cols or i >= self.cols:
-            raise IndexError("Index out of range: 'i=%s', valid -%s <= i < %s"
-                             % (i, self.cols, self.cols))
-        if i < 0:
-            i += self.cols
-        deref(symengine.static_cast_DenseMatrix(self.thisptr)).col_del(i)
-        return self
-
-Matrix = DenseMatrix = MutableDenseMatrix
-
-cdef class ImmutableDenseMatrix(DenseMatrixBase):
-
-    def __setitem__(self, key, value):
-        raise TypeError("Cannot set values of {}".format(self.__class__))
-
-    def _applyfunc(self, f):
-        res = DenseMatrix(self)
-        res._applyfunc(f)
-        return ImmutableDenseMatrix(res)
-
-
-ImmutableMatrix = ImmutableDenseMatrix
-
-
-cdef matrix_to_vec(DenseMatrixBase d, symengine.vec_basic& v):
-    cdef Basic e_
-    for i in range(d.nrows()):
-        for j in range(d.ncols()):
-            e_ = d._get(i, j)
-            v.push_back(e_.thisptr)
-
-
-def eye(n):
-    cdef DenseMatrixBase d = DenseMatrix(n, n)
-    symengine.eye(deref(symengine.static_cast_DenseMatrix(d.thisptr)), 0)
-    return d
-
-
-cdef symengine.vec_basic iter_to_vec_basic(iter):
-    cdef Basic B
-    cdef symengine.vec_basic V
-    for b in iter:
-        B = sympify(b)
-        V.push_back(B.thisptr)
-    return V
-
-
-def diag(*values):
-    cdef DenseMatrixBase d = DenseMatrix(len(values), len(values))
-    cdef symengine.vec_basic V = iter_to_vec_basic(values)
-    symengine.diag(deref(symengine.static_cast_DenseMatrix(d.thisptr)), V, 0)
-    return d
-
-
-def ones(r, c = None):
-    if c is None:
-        c = r
-    cdef DenseMatrixBase d = DenseMatrix(r, c)
-    symengine.ones(deref(symengine.static_cast_DenseMatrix(d.thisptr)))
-    return d
-
-
-def zeros(r, c = None):
-    if c is None:
-        c = r
-    cdef DenseMatrixBase d = DenseMatrix(r, c)
-    symengine.zeros(deref(symengine.static_cast_DenseMatrix(d.thisptr)))
-    return d
-
-
-cdef class Sieve:
-    @staticmethod
-    def generate_primes(n):
-        cdef symengine.vector[unsigned] primes
-        symengine.sieve_generate_primes(primes, n)
-        s = []
-        for i in range(primes.size()):
-            s.append(primes[i])
-        return s
-
-
-cdef class Sieve_iterator:
-    cdef symengine.sieve_iterator *thisptr
-    cdef unsigned limit
-    def __cinit__(self):
-        self.thisptr = new symengine.sieve_iterator()
-        self.limit = 0
-
-    def __cinit__(self, n):
-        self.thisptr = new symengine.sieve_iterator(n)
-        self.limit = n
-
-    def __iter__(self):
-        return self
-
-    def __next__(self):
-        n = deref(self.thisptr).next_prime()
-        if self.limit > 0 and n > self.limit:
-            raise StopIteration
-        else:
-            return n
-
-
-def module_cleanup():
-    global I, E, pi, oo, minus_oo, zoo, nan, true, false, golden_ratio, \
-           catalan, eulergamma, sympy_module, sage_module, half, one, \
-           minus_one, zero
-    funcs.clear()
-    del    I, E, pi, oo, minus_oo, zoo, nan, true, false, golden_ratio, \
-           catalan, eulergamma, sympy_module, sage_module, half, one, \
-           minus_one, zero
-
-import atexit
-atexit.register(module_cleanup)
-
-
-def diff(expr, *args):
-    if isinstance(expr, MatrixBase):
-        # Don't sympify matrices so that mutable matrices
-        # return mutable matrices
-        return _diff(expr, *args)
-    return _diff(sympify(expr), *args)
-
-
-def _diff(expr, *args):
-    cdef Basic prev
-    cdef Basic b
-    cdef size_t i
-    cdef size_t length = len(args)
-
-    if not length:
-        return expr
-
-    cdef size_t l = 0
-    cdef Basic cur_arg, next_arg
-    cur_arg = sympify(args[l])
-
-    while l < length:
-        if isinstance(cur_arg, Integer):
-            raise ValueError("Unexpected integer argument")
-
-        if l + 1 == length:
-            # No next argument, differentiate with no integer argument
-            return expr._diff(cur_arg)
-
-        next_arg = sympify(args[l + 1])
-        # Check if the next arg was derivative order
-        if isinstance(next_arg, Integer):
-            i = int(next_arg)
-            for _ in range(i):
-                expr = expr._diff(cur_arg)
-            l += 2
-            if l == length:
-                return expr
-            cur_arg = sympify(args[l])
-        else:
-            expr = expr._diff(cur_arg)
-            l += 1
-            cur_arg = next_arg
-
-
-def expand(x, deep=True):
-    return sympify(x).expand(deep)
-
-expand_mul = expand
-
-def function_symbol(name, *args):
-    cdef symengine.vec_basic v
-    cdef Basic e_
-    for e in args:
-        e_ = sympify(e)
-        if e_ is not None:
-            v.push_back(e_.thisptr)
-    return c2py(symengine.function_symbol(name.encode("utf-8"), v))
-
-def sqrt(x):
-    cdef Basic X = sympify(x)
-    return c2py(symengine.sqrt(X.thisptr))
-
-def exp(x):
-    cdef Basic X = sympify(x)
-    return c2py(symengine.exp(X.thisptr))
-
-def perfect_power(n):
-    cdef Basic _n = sympify(n)
-    require(_n, Integer)
-    return symengine.perfect_power(deref(symengine.rcp_static_cast_Integer(_n.thisptr)))
-
-def is_square(n):
-    cdef Basic _n = sympify(n)
-    require(_n, Integer)
-    return symengine.perfect_square(deref(symengine.rcp_static_cast_Integer(_n.thisptr)))
-
-def integer_nthroot(a, n):
-    cdef Basic _a = sympify(a)
-    require(_a, Integer)
-    cdef RCP[const symengine.Integer] _r
-    cdef int ret_val = symengine.i_nth_root(symengine.outArg_Integer(_r), deref(symengine.rcp_static_cast_Integer(_a.thisptr)), n)
-    return (c2py(<rcp_const_basic>_r), ret_val == 1)
-
-def _max(*args):
-    cdef symengine.vec_basic v
-    cdef Basic e_
-    for e in args:
-        e_ = sympify(e)
-        v.push_back(e_.thisptr)
-    return c2py(symengine.max(v))
-
-def _min(*args):
-    cdef symengine.vec_basic v
-    cdef Basic e_
-    for e in args:
-        e_ = sympify(e)
-        v.push_back(e_.thisptr)
-    return c2py(symengine.min(v))
-
-def gamma(x):
-    cdef Basic X = sympify(x)
-    return c2py(symengine.gamma(X.thisptr))
-
-def eq(lhs, rhs = None):
-    cdef Basic X = sympify(lhs)
-    if rhs is None:
-        return c2py(<rcp_const_basic>(symengine.Eq(X.thisptr)))
-    cdef Basic Y = sympify(rhs)
-    return c2py(<rcp_const_basic>(symengine.Eq(X.thisptr, Y.thisptr)))
-
-def ne(lhs, rhs):
-    cdef Basic X = sympify(lhs)
-    cdef Basic Y = sympify(rhs)
-    return c2py(<rcp_const_basic>(symengine.Ne(X.thisptr, Y.thisptr)))
-
-def ge(lhs, rhs):
-    cdef Basic X = sympify(lhs)
-    cdef Basic Y = sympify(rhs)
-    return c2py(<rcp_const_basic>(symengine.Ge(X.thisptr, Y.thisptr)))
-
-Ge = GreaterThan = ge
-
-def gt(lhs, rhs):
-    cdef Basic X = sympify(lhs)
-    cdef Basic Y = sympify(rhs)
-    return c2py(<rcp_const_basic>(symengine.Gt(X.thisptr, Y.thisptr)))
-
-Gt = StrictGreaterThan = gt
-
-def le(lhs, rhs):
-    cdef Basic X = sympify(lhs)
-    cdef Basic Y = sympify(rhs)
-    return c2py(<rcp_const_basic>(symengine.Le(X.thisptr, Y.thisptr)))
-
-def lt(lhs, rhs):
-    cdef Basic X = sympify(lhs)
-    cdef Basic Y = sympify(rhs)
-    return c2py(<rcp_const_basic>(symengine.Lt(X.thisptr, Y.thisptr)))
-
-def digamma(x):
-    cdef Basic X = sympify(x)
-    return c2py(symengine.digamma(X.thisptr))
-
-def trigamma(x):
-    cdef Basic X = sympify(x)
-    return c2py(symengine.trigamma(X.thisptr))
-
-def logical_and(*args):
-    cdef symengine.set_boolean s
-    cdef Boolean e_
-    for e in args:
-        e_ = sympify(e)
-        s.insert(symengine.rcp_static_cast_Boolean(e_.thisptr))
-    return c2py(<rcp_const_basic>(symengine.logical_and(s)))
-
-def logical_or(*args):
-    cdef symengine.set_boolean s
-    cdef Boolean e_
-    for e in args:
-        e_ = sympify(e)
-        s.insert(symengine.rcp_static_cast_Boolean(e_.thisptr))
-    return c2py(<rcp_const_basic>(symengine.logical_or(s)))
-
-def Nor(*args):
-    cdef symengine.set_boolean s
-    cdef Boolean e_
-    for e in args:
-        e_ = sympify(e)
-        s.insert(symengine.rcp_static_cast_Boolean(e_.thisptr))
-    return c2py(<rcp_const_basic>(symengine.logical_nor(s)))
-
-def Nand(*args):
-    cdef symengine.set_boolean s
-    cdef Boolean e_
-    for e in args:
-        e_ = sympify(e)
-        s.insert(symengine.rcp_static_cast_Boolean(e_.thisptr))
-    return c2py(<rcp_const_basic>(symengine.logical_nand(s)))
-
-def logical_not(x):
-    cdef Basic x_ = sympify(x)
-    require(x_, Boolean)
-    cdef RCP[const symengine.Boolean] _x = symengine.rcp_static_cast_Boolean(x_.thisptr)
-    return c2py(<rcp_const_basic>(symengine.logical_not(_x)))
-
-def logical_xor(*args):
-    cdef symengine.vec_boolean v
-    cdef Boolean e_
-    for e in args:
-        e_ = sympify(e)
-        v.push_back(symengine.rcp_static_cast_Boolean(e_.thisptr))
-    return c2py(<rcp_const_basic>(symengine.logical_xor(v)))
-
-def Xnor(*args):
-    cdef symengine.vec_boolean v
-    cdef Boolean e_
-    for e in args:
-        e_ = sympify(e)
-        v.push_back(symengine.rcp_static_cast_Boolean(e_.thisptr))
-    return c2py(<rcp_const_basic>(symengine.logical_xnor(v)))
-
-def evalf(x, unsigned long bits=53, real=None):
-    cdef Basic X = sympify(x)
-    cdef symengine.EvalfDomain d
-    if real is None:
-        d = symengine.EvalfSymbolic
-    elif real:
-        d = symengine.EvalfReal
-    else:
-        d = symengine.EvalfComplex
-    return c2py(<rcp_const_basic>(symengine.evalf(deref(X.thisptr), bits, d)))
-
-def eval_double(x):
-    warnings.warn("eval_double is deprecated. Use evalf(..., real=True)", DeprecationWarning)
-    return evalf(x, 53, real=True)
-
-def eval_complex_double(x):
-    warnings.warn("eval_complex_double is deprecated. Use evalf(..., real=False)", DeprecationWarning)
-    return evalf(x, 53, real=False)
-
-have_mpfr = False
-have_mpc = False
-have_piranha = False
-have_flint = False
-have_llvm = False
-have_llvm_long_double = False
-
-IF HAVE_SYMENGINE_MPFR:
-    have_mpfr = True
-    def eval_mpfr(x, unsigned long prec):
-        warnings.warn("eval_mpfr is deprecated. Use evalf(..., real=True)", DeprecationWarning)
-        return evalf(x, prec, real=True)
-
-IF HAVE_SYMENGINE_MPC:
-    have_mpc = True
-    def eval_mpc(x, unsigned long prec):
-        warnings.warn("eval_mpc is deprecated. Use evalf(..., real=False)", DeprecationWarning)
-        return evalf(x, prec, real=False)
-
-IF HAVE_SYMENGINE_PIRANHA:
-    have_piranha = True
-
-IF HAVE_SYMENGINE_FLINT:
-    have_flint = True
-
-IF HAVE_SYMENGINE_LLVM:
-    have_llvm = True
-
-IF HAVE_SYMENGINE_LLVM_LONG_DOUBLE:
-    have_llvm_long_double = True
-
-def require(obj, t):
-    if not isinstance(obj, t):
-        raise TypeError("{} required. {} is of type {}".format(t, obj, type(obj)))
-
-def eval(x, long prec):
-    warnings.warn("eval is deprecated. Use evalf(..., real=False)", DeprecationWarning)
-    return evalf(x, prec, real=False)
-
-def eval_real(x, long prec):
-    warnings.warn("eval_real is deprecated. Use evalf(..., real=True)", DeprecationWarning)
-    return evalf(x, prec, real=True)
-
-def probab_prime_p(n, reps = 25):
-    cdef Basic _n = sympify(n)
-    require(_n, Integer)
-    return symengine.probab_prime_p(deref(symengine.rcp_static_cast_Integer(_n.thisptr)), reps) >= 1
-
-isprime = probab_prime_p
-
-def nextprime(n):
-    cdef Basic _n = sympify(n)
-    require(_n, Integer)
-    return c2py(<rcp_const_basic>(symengine.nextprime(deref(symengine.rcp_static_cast_Integer(_n.thisptr)))))
-
-def gcd(a, b):
-    cdef Basic _a = sympify(a)
-    cdef Basic _b = sympify(b)
-    require(_a, Integer)
-    require(_b, Integer)
-    return c2py(<rcp_const_basic>(symengine.gcd(deref(symengine.rcp_static_cast_Integer(_a.thisptr)),
-        deref(symengine.rcp_static_cast_Integer(_b.thisptr)))))
-
-def lcm(a, b):
-    cdef Basic _a = sympify(a)
-    cdef Basic _b = sympify(b)
-    require(_a, Integer)
-    require(_b, Integer)
-    return c2py(<rcp_const_basic>(symengine.lcm(deref(symengine.rcp_static_cast_Integer(_a.thisptr)),
-        deref(symengine.rcp_static_cast_Integer(_b.thisptr)))))
-
-def gcd_ext(a, b):
-    cdef Basic _a = sympify(a)
-    cdef Basic _b = sympify(b)
-    require(_a, Integer)
-    require(_b, Integer)
-    cdef RCP[const symengine.Integer] g, s, t
-    symengine.gcd_ext(symengine.outArg_Integer(g), symengine.outArg_Integer(s), symengine.outArg_Integer(t),
-        deref(symengine.rcp_static_cast_Integer(_a.thisptr)), deref(symengine.rcp_static_cast_Integer(_b.thisptr)))
-    return (c2py(<rcp_const_basic>s), c2py(<rcp_const_basic>t), c2py(<rcp_const_basic>g))
-
-igcdex = gcd_ext
-
-def mod(a, b):
-    if b == 0:
-        raise ZeroDivisionError
-    cdef Basic _a = sympify(a)
-    cdef Basic _b = sympify(b)
-    require(_a, Integer)
-    require(_b, Integer)
-    return c2py(<rcp_const_basic>(symengine.mod(deref(symengine.rcp_static_cast_Integer(_a.thisptr)),
-        deref(symengine.rcp_static_cast_Integer(_b.thisptr)))))
-
-def quotient(a, b):
-    if b == 0:
-        raise ZeroDivisionError
-    cdef Basic _a = sympify(a)
-    cdef Basic _b = sympify(b)
-    require(_a, Integer)
-    require(_b, Integer)
-    return c2py(<rcp_const_basic>(symengine.quotient(deref(symengine.rcp_static_cast_Integer(_a.thisptr)),
-        deref(symengine.rcp_static_cast_Integer(_b.thisptr)))))
-
-def quotient_mod(a, b):
-    if b == 0:
-        raise ZeroDivisionError
-    cdef RCP[const symengine.Integer] q, r
-    cdef Basic _a = sympify(a)
-    cdef Basic _b = sympify(b)
-    require(_a, Integer)
-    require(_b, Integer)
-    symengine.quotient_mod(symengine.outArg_Integer(q), symengine.outArg_Integer(r),
-        deref(symengine.rcp_static_cast_Integer(_a.thisptr)), deref(symengine.rcp_static_cast_Integer(_b.thisptr)))
-    return (c2py(<rcp_const_basic>q), c2py(<rcp_const_basic>r))
-
-def mod_inverse(a, b):
-    cdef RCP[const symengine.Integer] inv
-    cdef Basic _a = sympify(a)
-    cdef Basic _b = sympify(b)
-    require(_a, Integer)
-    require(_b, Integer)
-    cdef int ret_val = symengine.mod_inverse(symengine.outArg_Integer(inv),
-        deref(symengine.rcp_static_cast_Integer(_a.thisptr)), deref(symengine.rcp_static_cast_Integer(_b.thisptr)))
-    if ret_val == 0:
-        return None
-    return c2py(<rcp_const_basic>inv)
-
-def crt(rem, mod):
-    cdef symengine.vec_integer _rem, _mod
-    cdef Basic _a
-    cdef cppbool ret_val
-    for i in range(len(rem)):
-        _a = sympify(rem[i])
-        require(_a, Integer)
-        _rem.push_back(symengine.rcp_static_cast_Integer(_a.thisptr))
-        _a = sympify(mod[i])
-        require(_a, Integer)
-        _mod.push_back(symengine.rcp_static_cast_Integer(_a.thisptr))
-
-    cdef RCP[const symengine.Integer] c
-    ret_val = symengine.crt(symengine.outArg_Integer(c), _rem, _mod)
-    if not ret_val:
-        return None
-    return c2py(<rcp_const_basic>c)
-
-def fibonacci(n):
-    if n < 0 :
-        raise NotImplementedError
-    return c2py(<rcp_const_basic>(symengine.fibonacci(n)))
-
-def fibonacci2(n):
-    if n < 0 :
-        raise NotImplementedError
-    cdef RCP[const symengine.Integer] f1, f2
-    symengine.fibonacci2(symengine.outArg_Integer(f1), symengine.outArg_Integer(f2), n)
-    return [c2py(<rcp_const_basic>f1), c2py(<rcp_const_basic>f2)]
-
-def lucas(n):
-    if n < 0 :
-        raise NotImplementedError
-    return c2py(<rcp_const_basic>(symengine.lucas(n)))
-
-def lucas2(n):
-    if n < 0 :
-        raise NotImplementedError
-    cdef RCP[const symengine.Integer] f1, f2
-    symengine.lucas2(symengine.outArg_Integer(f1), symengine.outArg_Integer(f2), n)
-    return [c2py(<rcp_const_basic>f1), c2py(<rcp_const_basic>f2)]
-
-def binomial(n, k):
-    if k < 0:
-        raise ArithmeticError
-    cdef Basic _n = sympify(n)
-    require(_n, Integer)
-    return c2py(<rcp_const_basic>symengine.binomial(deref(symengine.rcp_static_cast_Integer(_n.thisptr)), k))
-
-def factorial(n):
-    if n < 0:
-        raise ArithmeticError
-    return c2py(<rcp_const_basic>(symengine.factorial(n)))
-
-def divides(a, b):
-    cdef Basic _a = sympify(a)
-    cdef Basic _b = sympify(b)
-    require(_a, Integer)
-    require(_b, Integer)
-    return symengine.divides(deref(symengine.rcp_static_cast_Integer(_a.thisptr)),
-        deref(symengine.rcp_static_cast_Integer(_b.thisptr)))
-
-def factor(n, B1 = 1.0):
-    cdef Basic _n = sympify(n)
-    require(_n, Integer)
-    cdef RCP[const symengine.Integer] f
-    cdef int ret_val = symengine.factor(symengine.outArg_Integer(f),
-        deref(symengine.rcp_static_cast_Integer(_n.thisptr)), B1)
-    if (ret_val == 1):
-        return c2py(<rcp_const_basic>f)
-    else:
-        return None
-
-def factor_lehman_method(n):
-    cdef Basic _n = sympify(n)
-    require(_n, Integer)
-    cdef RCP[const symengine.Integer] f
-    cdef int ret_val = symengine.factor_lehman_method(symengine.outArg_Integer(f),
-        deref(symengine.rcp_static_cast_Integer(_n.thisptr)))
-    if (ret_val == 1):
-        return c2py(<rcp_const_basic>f)
-    else:
-        return None
-
-def factor_pollard_pm1_method(n, B = 10, retries = 5):
-    cdef Basic _n = sympify(n)
-    require(_n, Integer)
-    cdef RCP[const symengine.Integer] f
-    cdef int ret_val = symengine.factor_pollard_pm1_method(symengine.outArg_Integer(f),
-        deref(symengine.rcp_static_cast_Integer(_n.thisptr)), B, retries)
-    if (ret_val == 1):
-        return c2py(<rcp_const_basic>f)
-    else:
-        return None
-
-def factor_pollard_rho_method(n, retries = 5):
-    cdef Basic _n = sympify(n)
-    require(_n, Integer)
-    cdef RCP[const symengine.Integer] f
-    cdef int ret_val = symengine.factor_pollard_rho_method(symengine.outArg_Integer(f),
-        deref(symengine.rcp_static_cast_Integer(_n.thisptr)), retries)
-    if (ret_val == 1):
-        return c2py(<rcp_const_basic>f)
-    else:
-        return None
-
-def prime_factors(n):
-    cdef symengine.vec_integer factors
-    cdef Basic _n = sympify(n)
-    require(_n, Integer)
-    symengine.prime_factors(factors, deref(symengine.rcp_static_cast_Integer(_n.thisptr)))
-    s = []
-    for i in range(factors.size()):
-        s.append(c2py(<rcp_const_basic>(factors[i])))
-    return s
-
-def prime_factor_multiplicities(n):
-    cdef symengine.vec_integer factors
-    cdef Basic _n = sympify(n)
-    require(_n, Integer)
-    symengine.prime_factors(factors, deref(symengine.rcp_static_cast_Integer(_n.thisptr)))
-    cdef Basic r
-    dict = {}
-    for i in range(factors.size()):
-        r = c2py(<rcp_const_basic>(factors[i]))
-        if (r not in dict):
-            dict[r] = 1
-        else:
-            dict[r] += 1
-    return dict
-
-def bernoulli(n):
-    if n < 0:
-        raise ArithmeticError
-    return c2py(<rcp_const_basic>(symengine.bernoulli(n)))
-
-def primitive_root(n):
-    cdef RCP[const symengine.Integer] g
-    cdef Basic _n = sympify(n)
-    require(_n, Integer)
-    cdef cppbool ret_val = symengine.primitive_root(symengine.outArg_Integer(g),
-        deref(symengine.rcp_static_cast_Integer(_n.thisptr)))
-    if ret_val == 0:
-        return None
-    return c2py(<rcp_const_basic>g)
-
-def primitive_root_list(n):
-    cdef symengine.vec_integer root_list
-    cdef Basic _n = sympify(n)
-    require(_n, Integer)
-    symengine.primitive_root_list(root_list,
-        deref(symengine.rcp_static_cast_Integer(_n.thisptr)))
-    s = []
-    for i in range(root_list.size()):
-        s.append(c2py(<rcp_const_basic>(root_list[i])))
-    return s
-
-def totient(n):
-    cdef Basic _n = sympify(n)
-    require(_n, Integer)
-    cdef RCP[const symengine.Integer] m = symengine.rcp_static_cast_Integer(_n.thisptr)
-    return c2py(<rcp_const_basic>symengine.totient(m))
-
-def carmichael(n):
-    cdef Basic _n = sympify(n)
-    require(_n, Integer)
-    cdef RCP[const symengine.Integer] m = symengine.rcp_static_cast_Integer(_n.thisptr)
-    return c2py(<rcp_const_basic>symengine.carmichael(m))
-
-def multiplicative_order(a, n):
-    cdef Basic _n = sympify(n)
-    cdef Basic _a = sympify(a)
-    require(_n, Integer)
-    require(_a, Integer)
-    cdef RCP[const symengine.Integer] n1 = symengine.rcp_static_cast_Integer(_n.thisptr)
-    cdef RCP[const symengine.Integer] a1 = symengine.rcp_static_cast_Integer(_a.thisptr)
-    cdef RCP[const symengine.Integer] o
-    cdef cppbool c = symengine.multiplicative_order(symengine.outArg_Integer(o),
-        a1, n1)
-    if not c:
-        return None
-    return c2py(<rcp_const_basic>o)
-
-def legendre(a, n):
-    cdef Basic _n = sympify(n)
-    cdef Basic _a = sympify(a)
-    require(_n, Integer)
-    require(_a, Integer)
-    return symengine.legendre(deref(symengine.rcp_static_cast_Integer(_a.thisptr)),
-        deref(symengine.rcp_static_cast_Integer(_n.thisptr)))
-
-def jacobi(a, n):
-    cdef Basic _n = sympify(n)
-    cdef Basic _a = sympify(a)
-    require(_n, Integer)
-    require(_a, Integer)
-    return symengine.jacobi(deref(symengine.rcp_static_cast_Integer(_a.thisptr)),
-        deref(symengine.rcp_static_cast_Integer(_n.thisptr)))
-
-def kronecker(a, n):
-    cdef Basic _n = sympify(n)
-    cdef Basic _a = sympify(a)
-    require(_n, Integer)
-    require(_a, Integer)
-    return symengine.kronecker(deref(symengine.rcp_static_cast_Integer(_a.thisptr)),
-        deref(symengine.rcp_static_cast_Integer(_n.thisptr)))
-
-def nthroot_mod(a, n, m):
-    cdef RCP[const symengine.Integer] root
-    cdef Basic _n = sympify(n)
-    cdef Basic _a = sympify(a)
-    cdef Basic _m = sympify(m)
-    require(_n, Integer)
-    require(_a, Integer)
-    require(_m, Integer)
-    cdef RCP[const symengine.Integer] n1 = symengine.rcp_static_cast_Integer(_n.thisptr)
-    cdef RCP[const symengine.Integer] a1 = symengine.rcp_static_cast_Integer(_a.thisptr)
-    cdef RCP[const symengine.Integer] m1 = symengine.rcp_static_cast_Integer(_m.thisptr)
-    cdef cppbool ret_val = symengine.nthroot_mod(symengine.outArg_Integer(root), a1, n1, m1)
-    if not ret_val:
-        return None
-    return c2py(<rcp_const_basic>root)
-
-def nthroot_mod_list(a, n, m):
-    cdef symengine.vec_integer root_list
-    cdef Basic _n = sympify(n)
-    cdef Basic _a = sympify(a)
-    cdef Basic _m = sympify(m)
-    require(_n, Integer)
-    require(_a, Integer)
-    require(_m, Integer)
-    cdef RCP[const symengine.Integer] n1 = symengine.rcp_static_cast_Integer(_n.thisptr)
-    cdef RCP[const symengine.Integer] a1 = symengine.rcp_static_cast_Integer(_a.thisptr)
-    cdef RCP[const symengine.Integer] m1 = symengine.rcp_static_cast_Integer(_m.thisptr)
-    symengine.nthroot_mod_list(root_list, a1, n1, m1)
-    s = []
-    for i in range(root_list.size()):
-        s.append(c2py(<rcp_const_basic>(root_list[i])))
-    return s
-
-def sqrt_mod(a, p, all_roots=False):
-    if all_roots:
-        return nthroot_mod_list(a, 2, p)
-    return nthroot_mod(a, 2, p)
-
-def powermod(a, b, m):
-    cdef Basic _a = sympify(a)
-    cdef Basic _m = sympify(m)
-    cdef Number _b = sympify(b)
-    require(_a, Integer)
-    require(_m, Integer)
-    cdef RCP[const symengine.Integer] a1 = symengine.rcp_static_cast_Integer(_a.thisptr)
-    cdef RCP[const symengine.Integer] m1 = symengine.rcp_static_cast_Integer(_m.thisptr)
-    cdef RCP[const symengine.Number] b1 = symengine.rcp_static_cast_Number(_b.thisptr)
-    cdef RCP[const symengine.Integer] root
-    cdef cppbool ret_val = symengine.powermod(symengine.outArg_Integer(root), a1, b1, m1)
-    if ret_val == 0:
-        return None
-    return c2py(<rcp_const_basic>root)
-
-def powermod_list(a, b, m):
-    cdef Basic _a = sympify(a)
-    cdef Basic _m = sympify(m)
-    cdef Number _b = sympify(b)
-    require(_a, Integer)
-    require(_m, Integer)
-    cdef RCP[const symengine.Integer] a1 = symengine.rcp_static_cast_Integer(_a.thisptr)
-    cdef RCP[const symengine.Integer] m1 = symengine.rcp_static_cast_Integer(_m.thisptr)
-    cdef RCP[const symengine.Number] b1 = symengine.rcp_static_cast_Number(_b.thisptr)
-    cdef symengine.vec_integer v
-
-    symengine.powermod_list(v, a1, b1, m1)
-    s = []
-    for i in range(v.size()):
-        s.append(c2py(<rcp_const_basic>(v[i])))
-    return s
-
-def has_symbol(obj, symbol=None):
-    cdef Basic b = _sympify(obj)
-    cdef Basic s = _sympify(symbol)
-    require(s, (Symbol, FunctionSymbol))
-    if (not symbol):
-        return not b.free_symbols.empty()
-    else:
-        return symengine.has_symbol(deref(b.thisptr), deref(s.thisptr))
-
-
-cdef class _Lambdify(object):
-    def __init__(self, args, *exprs, cppbool real=True, order='C', cppbool cse=False, cppbool _load=False, dtype=None, **kwargs):
-        cdef:
-            Basic e_
-            size_t ri, ci, nr, nc
-            symengine.MatrixBase *mtx
-            rcp_const_basic b_
-            symengine.vec_basic args_, outs_
-            vector[int] out_sizes
-
-        if _load:
-            self.args_size, self.tot_out_size, self.out_shapes, self.real, \
-                self.n_exprs, self.order, self.accum_out_sizes, self.numpy_dtype, \
-                llvm_function = args
-            self._load(llvm_function)
-            return
-
-        args = np.asanyarray(args)
-        self.args_size = args.size
-        exprs = tuple(np.asanyarray(expr) for expr in exprs)
-        self.out_shapes = [expr.shape for expr in exprs]
-        self.n_exprs = len(exprs)
-        self.real = real
-        self.order = order
-        self.numpy_dtype = dtype if dtype else (np.float64 if self.real else np.complex128)
-        if self.args_size == 0:
-            raise NotImplementedError("Support for zero arguments not yet supported")
-        self.tot_out_size = 0
-        for idx, shape in enumerate(self.out_shapes):
-            out_sizes.push_back(reduce(mul, shape or (1,)))
-            self.tot_out_size += out_sizes[idx]
-        for i in range(self.n_exprs + 1):
-            self.accum_out_sizes.push_back(0)
-            for j in range(i):
-                self.accum_out_sizes[i] += out_sizes[j]
-
-        for arg in np.ravel(args, order=self.order):
-            e_ = _sympify(arg)
-            args_.push_back(e_.thisptr)
-
-        for curr_expr in exprs:
-            if curr_expr.ndim == 0:
-                e_ = _sympify(curr_expr.item())
-                outs_.push_back(e_.thisptr)
-            else:
-                for e in np.ravel(curr_expr, order=self.order):
-                    e_ = _sympify(e)
-                    outs_.push_back(e_.thisptr)
-        self._init(args_, outs_, cse)
-
-    cdef _init(self, symengine.vec_basic& args_, symengine.vec_basic& outs_, cppbool cse):
-        raise ValueError("Not supported")
-
-    cdef _load(self, const string &s):
-        raise ValueError("Not supported")
-
-    cpdef eval_real(self, inp, out):
-        if inp.size != self.args_size:
-            raise ValueError("Size of inp incompatible with number of args.")
-        if out.size != self.tot_out_size:
-            raise ValueError("Size of out incompatible with number of exprs.")
-        self.unsafe_real(inp, out)
-
-    cpdef eval_complex(self, inp, out):
-        if inp.size != self.args_size:
-            raise ValueError("Size of inp incompatible with number of args.")
-        if out.size != self.tot_out_size:
-            raise ValueError("Size of out incompatible with number of exprs.")
-        self.unsafe_complex(inp, out)
-
-    cpdef unsafe_eval(self, inp, out, unsigned nbroadcast=1):
-        raise ValueError("Not supported")
-
-    def __call__(self, *args, out=None):
-        """
-        Parameters
-        ----------
-        inp: array_like
-            last dimension must be equal to number of arguments.
-        out: array_like or None (default)
-            Allows for low-overhead use (output argument, must be contiguous).
-            If ``None``: an output container will be allocated (NumPy ndarray).
-            If ``len(exprs) > 0`` output is found in the corresponding
-            order.
-
-        Returns
-        -------
-        If ``len(exprs) == 1``: ``numpy.ndarray``, otherwise a tuple of such.
-
-        """
-        cdef:
-            size_t idx, new_tot_out_size, nbroadcast = 1
-        if self.order not in ('C', 'F'):
-            raise NotImplementedError("Only C & F order supported for now.")
-
-        if len(args) == 1:
-            args = args[0]
-
-        try:
-            inp = np.asanyarray(args, dtype=self.numpy_dtype)
-        except TypeError:
-            inp = np.fromiter(args, dtype=self.numpy_dtype)
-
-        if inp.size < self.args_size or inp.size % self.args_size != 0:
-            raise ValueError("Broadcasting failed (input/arg size mismatch)")
-        nbroadcast = inp.size // self.args_size
-
-        if inp.ndim > 1:
-            if self.args_size > 1:
-                if self.order == 'C':
-                    if inp.shape[inp.ndim-1] != self.args_size:
-                        raise ValueError(("C order implies last dim (%d) == len(args)"
-                                          " (%d)") % (inp.shape[inp.ndim-1], self.args_size))
-                    extra_dim = inp.shape[:inp.ndim-1]
-                elif self.order == 'F':
-                    if inp.shape[0] != self.args_size:
-                        raise ValueError("F order implies first dim (%d) == len(args) (%d)"
-                                         % (inp.shape[0], self.args_size))
-                    extra_dim = inp.shape[1:]
-            else:
-                extra_dim = inp.shape
-        else:
-            if nbroadcast > 1 and inp.ndim == 1:
-                extra_dim = (nbroadcast,)  # special case
-            else:
-                extra_dim = ()
-        extra_left = extra_dim if self.order == 'C' else ()
-        extra_right = () if self.order == 'C' else extra_dim
-        new_out_shapes = [extra_left + out_shape + extra_right
-                          for out_shape in self.out_shapes]
-
-        new_tot_out_size = nbroadcast * self.tot_out_size
-        if out is None:
-            out = np.empty(new_tot_out_size, dtype=self.numpy_dtype, order=self.order)
-        else:
-            if out.size < new_tot_out_size:
-                raise ValueError("Incompatible size of output argument")
-            if out.ndim > 1:
-                if len(self.out_shapes) > 1:
-                    raise ValueError("output array with ndim > 1 assumes one output")
-                out_shape, = self.out_shapes
-                if self.order == 'C':
-                    if not out.flags['C_CONTIGUOUS']:
-                        raise ValueError("Output argument needs to be C-contiguous")
-                    if out.shape[-len(out_shape):] != tuple(out_shape):
-                        raise ValueError("shape mismatch for output array")
-                elif self.order == 'F':
-                    if not out.flags['F_CONTIGUOUS']:
-                        raise ValueError("Output argument needs to be F-contiguous")
-                    if out.shape[:len(out_shape)] != tuple(out_shape):
-                        raise ValueError("shape mismatch for output array")
-            else:
-                if not out.flags['F_CONTIGUOUS']:  # or C_CONTIGUOUS (ndim <= 1)
-                    raise ValueError("Output array need to be contiguous")
-            if not out.flags['WRITEABLE']:
-                raise ValueError("Output argument needs to be writeable")
-            out = out.ravel(order=self.order)
-
-        self.unsafe_eval(inp, out, nbroadcast)
-
-        if self.order == 'C':
-            out = out.reshape((nbroadcast, self.tot_out_size), order='C')
-            result = [
-                out[:, self.accum_out_sizes[idx]:self.accum_out_sizes[idx+1]].reshape(
-                    new_out_shapes[idx], order='C') for idx in range(self.n_exprs)
-            ]
-        elif self.order == 'F':
-            out = out.reshape((self.tot_out_size, nbroadcast), order='F')
-            result = [
-                out[self.accum_out_sizes[idx]:self.accum_out_sizes[idx+1], :].reshape(
-                    new_out_shapes[idx], order='F') for idx in range(self.n_exprs)
-            ]
-        if self.n_exprs == 1:
-            return result[0]
-        else:
-            return result
-
-
-cdef double _scipy_callback_lambda_real(int n, double *x, void *user_data) noexcept nogil:
-    cdef symengine.LambdaRealDoubleVisitor* lamb = <symengine.LambdaRealDoubleVisitor *>user_data
-    cdef double result
-    deref(lamb).call(&result, x)
-    return result
-
-cdef void _ctypes_callback_lambda_real(double *output, const double *input, void *user_data) noexcept nogil:
-    cdef symengine.LambdaRealDoubleVisitor* lamb = <symengine.LambdaRealDoubleVisitor *>user_data
-    deref(lamb).call(output, input)
-
-IF HAVE_SYMENGINE_LLVM:
-    cdef double _scipy_callback_llvm_real(int n, double *x, void *user_data) noexcept nogil:
-        cdef symengine.LLVMDoubleVisitor* lamb = <symengine.LLVMDoubleVisitor *>user_data
-        cdef double result
-        deref(lamb).call(&result, x)
-        return result
-
-    cdef void _ctypes_callback_llvm_real(double *output, const double *input, void *user_data) noexcept nogil:
-        cdef symengine.LLVMDoubleVisitor* lamb = <symengine.LLVMDoubleVisitor *>user_data
-        deref(lamb).call(output, input)
-
-
-def create_low_level_callable(lambdify, *args):
-    from scipy import LowLevelCallable
-    class LambdifyLowLevelCallable(LowLevelCallable):
-        def __init__(self, lambdify, *args):
-            self.lambdify = lambdify
-        def __new__(cls, value, *args, **kwargs):
-            return super(LambdifyLowLevelCallable, cls).__new__(cls, *args)
-    return LambdifyLowLevelCallable(lambdify, *args)
-
-
-cdef class LambdaDouble(_Lambdify):
-    def __cinit__(self, args, *exprs, cppbool real=True, order='C', cppbool cse=False, cppbool _load=False, dtype=None):
-        # reject additional arguments
-        pass
-
-    cdef _init(self, symengine.vec_basic& args_, symengine.vec_basic& outs_, cppbool cse):
-        self.lambda_visitor.reset(new symengine.LambdaRealDoubleVisitor())
-        deref(self.lambda_visitor).init(args_, outs_, cse)
-
-    cpdef unsafe_real(self, double[::1] inp, double[::1] out, int inp_offset=0, int out_offset=0):
-        deref(self.lambda_visitor).call(&out[out_offset], &inp[inp_offset])
-
-    cpdef unsafe_eval(self, inp, out, unsigned nbroadcast=1):
-        cdef double[::1] c_inp, c_out
-        cdef unsigned idx
-        c_inp = np.ascontiguousarray(inp.ravel(order=self.order), dtype=self.numpy_dtype)
-        c_out = out
-        for idx in range(nbroadcast):
-            deref(self.lambda_visitor).call(&c_out[idx*self.tot_out_size], &c_inp[idx*self.args_size])
-
-    cpdef as_scipy_low_level_callable(self):
-        from ctypes import c_double, c_void_p, c_int, cast, POINTER, CFUNCTYPE
-        if self.tot_out_size > 1:
-            raise RuntimeError("SciPy LowLevelCallable supports only functions with 1 output")
-        addr1 = cast(<size_t>&_scipy_callback_lambda_real,
-                        CFUNCTYPE(c_double, c_int, POINTER(c_double), c_void_p))
-        addr2 = cast(<size_t>self.lambda_visitor.get(), c_void_p)
-        return create_low_level_callable(self, addr1, addr2)
-
-    cpdef as_ctypes(self):
-        """
-        Returns a tuple with first element being a ctypes function with signature
-
-            void func(double \*output, const double \*input, void \*user_data)
-
-        and second element being a ctypes void pointer. This void pointer needs to be
-        passed as input to the function as the third argument `user_data`.
-        """
-        from ctypes import c_double, c_void_p, c_int, cast, POINTER, CFUNCTYPE
-        addr1 = cast(<size_t>&_ctypes_callback_lambda_real,
-                        CFUNCTYPE(c_void_p, POINTER(c_double), POINTER(c_double), c_void_p))
-        addr2 = cast(<size_t>self.lambda_visitor.get(), c_void_p)
-        return addr1, addr2
-
-
-cdef class LambdaComplexDouble(_Lambdify):
-    def __cinit__(self, args, *exprs, cppbool real=True, order='C', cppbool cse=False, cppbool _load=False, dtype=None):
-        # reject additional arguments
-        pass
-
-    cdef _init(self, symengine.vec_basic& args_, symengine.vec_basic& outs_, cppbool cse):
-        self.lambda_visitor.reset(new symengine.LambdaComplexDoubleVisitor())
-        deref(self.lambda_visitor).init(args_, outs_, cse)
-
-    cpdef unsafe_complex(self, double complex[::1] inp, double complex[::1] out, int inp_offset=0, int out_offset=0):
-        deref(self.lambda_visitor).call(&out[out_offset], &inp[inp_offset])
-
-    cpdef unsafe_eval(self, inp, out, unsigned nbroadcast=1):
-        cdef double complex[::1] c_inp, c_out
-        cdef unsigned idx
-        c_inp = np.ascontiguousarray(inp.ravel(order=self.order), dtype=self.numpy_dtype)
-        c_out = out
-        for idx in range(nbroadcast):
-            deref(self.lambda_visitor).call(&c_out[idx*self.tot_out_size], &c_inp[idx*self.args_size])
-
-
-IF HAVE_SYMENGINE_LLVM:
-    cdef class LLVMDouble(_LLVMLambdify):
-        def __cinit__(self, args, *exprs, cppbool real=True, order='C', cppbool cse=False, cppbool _load=False, opt_level=3, dtype=None):
-            self.opt_level = opt_level
-
-        cdef _init(self, symengine.vec_basic& args_, symengine.vec_basic& outs_, cppbool cse):
-            self.lambda_visitor.reset(new symengine.LLVMDoubleVisitor())
-            deref(self.lambda_visitor).init(args_, outs_, cse, self.opt_level)
-
-        cdef _load(self, const string &s):
-            self.lambda_visitor.reset(new symengine.LLVMDoubleVisitor())
-            deref(self.lambda_visitor).loads(s)
-
-        def __reduce__(self):
-            """
-            Interface for pickle. Note that the resulting object is platform dependent.
-            """
-            cdef bytes s = deref(self.lambda_visitor).dumps()
-            return llvm_loading_func, (self.args_size, self.tot_out_size, self.out_shapes, self.real, \
-                self.n_exprs, self.order, self.accum_out_sizes, self.numpy_dtype, s)
-
-        cpdef unsafe_real(self, double[::1] inp, double[::1] out, int inp_offset=0, int out_offset=0):
-            deref(self.lambda_visitor).call(&out[out_offset], &inp[inp_offset])
-
-        cpdef unsafe_eval(self, inp, out, unsigned nbroadcast=1):
-            cdef double[::1] c_inp, c_out
-            cdef unsigned idx
-            c_inp = np.ascontiguousarray(inp.ravel(order=self.order), dtype=self.numpy_dtype)
-            c_out = out
-            for idx in range(nbroadcast):
-                deref(self.lambda_visitor).call(&c_out[idx*self.tot_out_size], &c_inp[idx*self.args_size])
-
-        cpdef as_scipy_low_level_callable(self):
-            from ctypes import c_double, c_void_p, c_int, cast, POINTER, CFUNCTYPE
-            if not self.real:
-                raise RuntimeError("Lambda function has to be real")
-            if self.tot_out_size > 1:
-                raise RuntimeError("SciPy LowLevelCallable supports only functions with 1 output")
-            addr1 = cast(<size_t>&_scipy_callback_llvm_real,
-                            CFUNCTYPE(c_double, c_int, POINTER(c_double), c_void_p))
-            addr2 = cast(<size_t>self.lambda_visitor.get(), c_void_p)
-            return create_low_level_callable(self, addr1, addr2)
-
-        cpdef as_ctypes(self):
-            """
-            Returns a tuple with first element being a ctypes function with signature
-
-                void func(double * output, const double *input, void *user_data)
-
-            and second element being a ctypes void pointer. This void pointer needs to be
-            passed as input to the function as the third argument `user_data`.
-            """
-            from ctypes import c_double, c_void_p, c_int, cast, POINTER, CFUNCTYPE
-            if not self.real:
-                raise RuntimeError("Lambda function has to be real")
-            addr1 = cast(<size_t>&_ctypes_callback_llvm_real,
-                            CFUNCTYPE(c_void_p, POINTER(c_double), POINTER(c_double), c_void_p))
-            addr2 = cast(<size_t>self.lambda_visitor.get(), c_void_p)
-            return addr1, addr2
-
-    cdef class LLVMFloat(_LLVMLambdify):
-        def __cinit__(self, args, *exprs, cppbool real=True, order='C', cppbool cse=False, cppbool _load=False, opt_level=3, dtype=None):
-            self.opt_level = opt_level
-
-        cdef _init(self, symengine.vec_basic& args_, symengine.vec_basic& outs_, cppbool cse):
-            self.lambda_visitor.reset(new symengine.LLVMFloatVisitor())
-            deref(self.lambda_visitor).init(args_, outs_, cse, self.opt_level)
-
-        cdef _load(self, const string &s):
-            self.lambda_visitor.reset(new symengine.LLVMFloatVisitor())
-            deref(self.lambda_visitor).loads(s)
-
-        def __reduce__(self):
-            """
-            Interface for pickle. Note that the resulting object is platform dependent.
-            """
-            cdef bytes s = deref(self.lambda_visitor).dumps()
-            return llvm_float_loading_func, (self.args_size, self.tot_out_size, self.out_shapes, self.real, \
-                self.n_exprs, self.order, self.accum_out_sizes, self.numpy_dtype, s)
-
-        cpdef unsafe_real(self, float[::1] inp, float[::1] out, int inp_offset=0, int out_offset=0):
-            deref(self.lambda_visitor).call(&out[out_offset], &inp[inp_offset])
-
-        cpdef unsafe_eval(self, inp, out, unsigned nbroadcast=1):
-            cdef float[::1] c_inp, c_out
-            cdef unsigned idx
-            c_inp = np.ascontiguousarray(inp.ravel(order=self.order), dtype=self.numpy_dtype)
-            c_out = out
-            for idx in range(nbroadcast):
-                deref(self.lambda_visitor).call(&c_out[idx*self.tot_out_size], &c_inp[idx*self.args_size])
-
-    IF HAVE_SYMENGINE_LLVM_LONG_DOUBLE:
-        cdef class LLVMLongDouble(_LLVMLambdify):
-            def __cinit__(self, args, *exprs, cppbool real=True, order='C', cppbool cse=False, cppbool _load=False, opt_level=3, dtype=None):
-                self.opt_level = opt_level
-
-            cdef _init(self, symengine.vec_basic& args_, symengine.vec_basic& outs_, cppbool cse):
-                self.lambda_visitor.reset(new symengine.LLVMLongDoubleVisitor())
-                deref(self.lambda_visitor).init(args_, outs_, cse, self.opt_level)
-
-            cdef _load(self, const string &s):
-                self.lambda_visitor.reset(new symengine.LLVMLongDoubleVisitor())
-                deref(self.lambda_visitor).loads(s)
-
-            def __reduce__(self):
-                """
-                Interface for pickle. Note that the resulting object is platform dependent.
-                """
-                cdef bytes s = deref(self.lambda_visitor).dumps()
-                return llvm_long_double_loading_func, (self.args_size, self.tot_out_size, self.out_shapes, self.real, \
-                    self.n_exprs, self.order, self.accum_out_sizes, self.numpy_dtype, s)
-
-            cpdef unsafe_real(self, long double[::1] inp, long double[::1] out, int inp_offset=0, int out_offset=0):
-                deref(self.lambda_visitor).call(&out[out_offset], &inp[inp_offset])
-
-            cpdef unsafe_eval(self, inp, out, unsigned nbroadcast=1):
-                cdef long double[::1] c_inp, c_out
-                cdef unsigned idx
-                c_inp = np.ascontiguousarray(inp.ravel(order=self.order), dtype=self.numpy_dtype)
-                c_out = out
-                for idx in range(nbroadcast):
-                    deref(self.lambda_visitor).call(&c_out[idx*self.tot_out_size], &c_inp[idx*self.args_size])
-
-    def llvm_loading_func(*args):
-        return LLVMDouble(args, _load=True)
-
-    def llvm_float_loading_func(*args):
-        return LLVMFloat(args, _load=True)
-
-    IF HAVE_SYMENGINE_LLVM_LONG_DOUBLE:
-        def llvm_long_double_loading_func(*args):
-            return LLVMLongDouble(args, _load=True)
-
-def Lambdify(args, *exprs, cppbool real=True, backend=None, order='C',
-             as_scipy=False, cse=False, dtype=None, **kwargs):
-    """
-    Lambdify instances are callbacks that numerically evaluate their symbolic
-    expressions from user provided input (real or complex) into (possibly user
-    provided) output buffers (real or complex). Multidimensional data are
-    processed in their most cache-friendly way (i.e. "ravelled").
-
-    Parameters
-    ----------
-    args: iterable of Symbols
-    \*exprs: array_like of expressions
-        the shape of exprs is preserved
-    real : bool
-        Whether datatype is ``double`` (``double complex`` otherwise).
-    backend : str
-        'llvm' or 'lambda'. When ``None`` the environment variable
-        'SYMENGINE_LAMBDIFY_BACKEND' is used (taken as 'llvm' if available, otherwise 'lambda').
-    order : 'C' or 'F'
-        C- or Fortran-contiguous memory layout. Note that this affects
-        broadcasting: e.g. a (m, n) matrix taking 3 arguments and given a
-        (k, l, 3) (C-contiguous) input will give a (k, l, m, n) shaped output,
-        whereas a (3, k, l) (C-contiguous) input will give a (m, n, k, l) shaped
-        output. If ``None`` order is taken as ``self.order`` (from initialization).
-    as_scipy : bool
-        return a SciPy LowLevelCallable which can be used in SciPy's integrate
-        methods
-    cse : bool
-        Run Common Subexpression Elimination on the output before generating
-        the callback.
-    dtype : numpy.dtype type
-
-    Returns
-    -------
-    callback instance with signature f(inp, out=None)
-
-    Examples
-    --------
-    >>> from symengine import var, Lambdify
-    >>> var('x y z')
-    >>> f = Lambdify([x, y, z], [x+y+z, x*y*z])
-    >>> f([2, 3, 4])
-    [ 9., 24.]
-    >>> out = np.array(2)
-    >>> f(x, out); out
-    [ 9., 24.]
-
-    """
-    if backend is None:
-        IF HAVE_SYMENGINE_LLVM:
-            backend_default = 'llvm' if real else 'lambda'
-        ELSE:
-            backend_default = 'lambda'
-        backend = os.getenv('SYMENGINE_LAMBDIFY_BACKEND', backend_default)
-    if backend == "llvm":
-        IF HAVE_SYMENGINE_LLVM:
-            if dtype == None:
-                dtype = np.float64
-            if dtype == np.float64:
-                ret = LLVMDouble(args, *exprs, real=real, order=order, cse=cse, dtype=np.float64, **kwargs)
-            elif dtype == np.float32:
-                ret = LLVMFloat(args, *exprs, real=real, order=order, cse=cse, dtype=np.float32, **kwargs)
-            elif dtype == np.longdouble:
-                IF HAVE_SYMENGINE_LLVM_LONG_DOUBLE:
-                    ret = LLVMLongDouble(args, *exprs, real=real, order=order, cse=cse, dtype=np.longdouble, **kwargs)
-                ELSE:
-                    raise ValueError("Long double not supported on this platform")
-            else:
-                raise ValueError("Unknown numpy dtype.")
-
-            if as_scipy:
-                return ret.as_scipy_low_level_callable()
-            return ret
-        ELSE:
-            raise ValueError("""llvm backend is chosen, but symengine is not compiled
-                                with llvm support.""")
-    elif backend == "lambda":
-        pass
-    else:
-        warnings.warn("Unknown SymEngine backend: %s\nUsing backend='lambda'" % backend)
-    if real:
-        ret = LambdaDouble(args, *exprs, real=real, order=order, cse=cse, **kwargs)
-    else:
-        ret = LambdaComplexDouble(args, *exprs, real=real, order=order, cse=cse, **kwargs)
-    if as_scipy:
-        return ret.as_scipy_low_level_callable()
-    return ret
-
-
-def LambdifyCSE(args, *exprs, order='C', **kwargs):
-    """ Analogous with Lambdify but performs common subexpression elimination.
-    """
-    warnings.warn("LambdifyCSE is deprecated. Use Lambdify(..., cse=True)", DeprecationWarning)
-    return Lambdify(args, *exprs, cse=True, order=order, **kwargs)
-
-
-def ccode(expr):
-    cdef Basic expr_ = sympify(expr)
-    return symengine.ccode(deref(expr_.thisptr)).decode("utf-8")
-
-
-def piecewise(*v):
-    cdef symengine.PiecewiseVec vec
-    cdef pair[rcp_const_basic, RCP[symengine.const_Boolean]] p
-    cdef Basic e
-    cdef Boolean b
-    for expr, rel in v:
-        e = sympify(expr)
-        b = sympify(rel)
-        p.first = <rcp_const_basic>e.thisptr
-        p.second = <RCP[symengine.const_Boolean]>symengine.rcp_static_cast_Boolean(b.thisptr)
-        vec.push_back(p)
-    return c2py(symengine.piecewise(move[symengine.PiecewiseVec](vec)))
-
-
-def interval(start, end, left_open=False, right_open=False):
-    if isinstance(start, NegativeInfinity):
-        left_open = True
-    if isinstance(end, Infinity):
-        right_open = True
-    cdef Number start_ = sympify(start)
-    cdef Number end_ = sympify(end)
-    cdef cppbool left_open_ = left_open
-    cdef cppbool right_open_ = right_open
-    cdef RCP[const symengine.Number] n1 = symengine.rcp_static_cast_Number(start_.thisptr)
-    cdef RCP[const symengine.Number] n2 = symengine.rcp_static_cast_Number(end_.thisptr)
-    return c2py(symengine.interval(n1, n2, left_open_, right_open_))
-
-
-def emptyset():
-    return c2py(<rcp_const_basic>(symengine.emptyset()))
-
-
-def universalset():
-    return c2py(<rcp_const_basic>(symengine.universalset()))
-
-
-def reals():
-    return c2py(<rcp_const_basic>(symengine.reals()))
-
-
-def rationals():
-    return c2py(<rcp_const_basic>(symengine.rationals()))
-
-
-def integers():
-    return c2py(<rcp_const_basic>(symengine.integers()))
-
-
-def finiteset(*args):
-    cdef symengine.set_basic s
-    cdef Basic e_
-    for e in args:
-        e_ = sympify(e)
-        s.insert(<rcp_const_basic>(e_.thisptr))
-    return c2py(<rcp_const_basic>(symengine.finiteset(s)))
-
-
-def contains(expr, sset):
-    cdef Basic expr_ = sympify(expr)
-    cdef Set sset_ = sympify(sset)
-    cdef RCP[const symengine.Set] s = symengine.rcp_static_cast_Set(sset_.thisptr)
-    return c2py(<rcp_const_basic>(symengine.contains(expr_.thisptr, s)))
-
-
-cdef tribool_py(tribool value):
-    if is_indeterminate(value):
-        return None
-    elif is_true(value):
-        return True
-    elif is_false(value):
-        return False
-    else:
-        raise RuntimeError("Internal error in symengine.py, tribool got a fourth value.")
-
-
-def is_zero(expr):
-    cdef Basic expr_ = sympify(expr)
-    cdef tribool tbool = symengine.is_zero(deref(expr_.thisptr))
-    return tribool_py(tbool)
-
-
-def is_positive(expr):
-    cdef Basic expr_ = sympify(expr)
-    cdef tribool tbool = symengine.is_positive(deref(expr_.thisptr))
-    return tribool_py(tbool)
-
-
-def is_negative(expr):
-    cdef Basic expr_ = sympify(expr)
-    cdef tribool tbool = symengine.is_negative(deref(expr_.thisptr))
-    return tribool_py(tbool)
-
-
-def is_nonpositive(expr):
-    cdef Basic expr_ = sympify(expr)
-    cdef tribool tbool = symengine.is_nonpositive(deref(expr_.thisptr))
-    return tribool_py(tbool)
-
-
-def is_nonnegative(expr):
-    cdef Basic expr_ = sympify(expr)
-    cdef tribool tbool = symengine.is_nonnegative(deref(expr_.thisptr))
-    return tribool_py(tbool)
-
-
-def is_real(expr):
-    cdef Basic expr_ = sympify(expr)
-    cdef tribool tbool = symengine.is_real(deref(expr_.thisptr))
-    return tribool_py(tbool)
-
-
-def set_union(*args):
-    cdef symengine.set_set s
-    cdef Set e_
-    for e in args:
-        e_ = sympify(e)
-        s.insert(symengine.rcp_static_cast_Set(e_.thisptr))
-    return c2py(<rcp_const_basic>(symengine.set_union(s)))
-
-
-def set_intersection(*args):
-    cdef symengine.set_set s
-    cdef Set e_
-    for e in args:
-        e_ = sympify(e)
-        s.insert(symengine.rcp_static_cast_Set(e_.thisptr))
-    return c2py(<rcp_const_basic>(symengine.set_intersection(s)))
-
-
-def set_complement(universe, container):
-    cdef Set universe_ = sympify(universe)
-    cdef Set container_ = sympify(container)
-    cdef RCP[const symengine.Set] u = symengine.rcp_static_cast_Set(universe_.thisptr)
-    cdef RCP[const symengine.Set] c = symengine.rcp_static_cast_Set(container_.thisptr)
-    return c2py(<rcp_const_basic>(symengine.set_complement(u, c)))
-
-
-def set_complement_helper(container, universe):
-    cdef Set container_ = sympify(container)
-    cdef Set universe_ = sympify(universe)
-    cdef RCP[const symengine.Set] c = symengine.rcp_static_cast_Set(container_.thisptr)
-    cdef RCP[const symengine.Set] u = symengine.rcp_static_cast_Set(universe_.thisptr)
-    return c2py(<rcp_const_basic>(symengine.set_complement_helper(c, u)))
-
-
-def conditionset(sym, condition):
-    cdef Basic sym_ = sympify(sym)
-    cdef Boolean condition_ = sympify(condition)
-    cdef RCP[const symengine.Boolean] c = symengine.rcp_static_cast_Boolean(condition_.thisptr)
-    return c2py(<rcp_const_basic>(symengine.conditionset(sym_.thisptr, c)))
-
-
-def imageset(sym, expr, base):
-    cdef Basic sym_ = sympify(sym)
-    cdef Basic expr_ = sympify(expr)
-    cdef Set base_ = sympify(base)
-    cdef RCP[const symengine.Set] b = symengine.rcp_static_cast_Set(base_.thisptr)
-    return c2py(<rcp_const_basic>(symengine.imageset(sym_.thisptr, expr_.thisptr, b)))
-
-
-universal_set_singleton = UniversalSet()
-integers_singleton = Integers()
-rationals_singleton = Rationals()
-reals_singleton = Reals()
-empty_set_singleton = EmptySet()
-
-
-def solve(f, sym, domain=None):
-    cdef Basic f_ = sympify(f)
-    cdef Basic sym_ = sympify(sym)
-    require(sym_, Symbol)
-    cdef RCP[const symengine.Symbol] x = symengine.rcp_static_cast_Symbol(sym_.thisptr)
-    if domain is None:
-        return c2py(<rcp_const_basic>(symengine.solve(f_.thisptr, x)))
-    cdef Set domain_ = sympify(domain)
-    cdef RCP[const symengine.Set] d = symengine.rcp_static_cast_Set(domain_.thisptr)
-    return c2py(<rcp_const_basic>(symengine.solve(f_.thisptr, x, d)))
-
-
-def linsolve(eqs, syms):
-    """
-    Solve a set of linear equations given as an iterable `eqs`
-    which are linear w.r.t the symbols given as an iterable `syms`
-    """
-    cdef symengine.vec_basic eqs_ = iter_to_vec_basic(eqs)
-    cdef symengine.vec_sym syms_
-    cdef RCP[const symengine.Symbol] sym_
-    cdef Symbol B
-    for sym in syms:
-        B = sympify(sym)
-        sym_ = symengine.rcp_static_cast_Symbol(B.thisptr)
-        syms_.push_back(sym_)
-    if syms_.size() != eqs_.size():
-        raise RuntimeError("Number of equations and symbols do not match")
-    cdef symengine.vec_basic ret = symengine.linsolve(eqs_, syms_)
-    return vec_basic_to_tuple(ret)
-
-
-def cse(exprs):
-    cdef symengine.vec_basic vec
-    cdef symengine.vec_pair replacements
-    cdef symengine.vec_basic reduced_exprs
-    cdef Basic b
-    for expr in exprs:
-        b = sympify(expr)
-        vec.push_back(b.thisptr)
-    symengine.cse(replacements, reduced_exprs, vec)
-    return (vec_pair_to_list(replacements), vec_basic_to_list(reduced_exprs))
-
-def latex(expr):
-    cdef DenseMatrixBase mat_expr
-    cdef Basic basic_expr
-    if isinstance(expr, DenseMatrixBase):
-        mat_expr = expr
-        return symengine.latex(deref(symengine.static_cast_DenseMatrix(mat_expr.thisptr)), 20, 12).decode("utf-8")
-    else:
-        basic_expr = sympify(expr)
-        return symengine.latex(deref(basic_expr.thisptr)).decode("utf-8")
-
-def unicode(expr):
-    cdef Basic basic_expr
-    basic_expr = sympify(expr)
-    return symengine.unicode(deref(basic_expr.thisptr)).decode("utf-8")
-
-cdef _flattened_vec(symengine.vec_basic &vec, exprs):
-    cdef Basic b
-    if is_sequence(exprs):
-        for expr in exprs:
-            _flattened_vec(vec, expr)
-    else:
-        b = sympify(exprs)
-        vec.push_back(b.thisptr)
-
-
-def count_ops(*exprs):
-    cdef symengine.vec_basic vec
-    _flattened_vec(vec, exprs)
-    return symengine.count_ops(vec)
-
-
-# Turn on nice stacktraces:
-symengine.print_stack_on_segfault()
diff --git a/symengine/printing.py b/symengine/printing.py
deleted file mode 100644
index 4d16d0f2..00000000
--- a/symengine/printing.py
+++ /dev/null
@@ -1,33 +0,0 @@
-from .lib.symengine_wrapper import ccode, sympify, Basic, repr_latex as _repr_latex
-
-class CCodePrinter:
-
-    def doprint(self, expr, assign_to=None):
-        if not isinstance(assign_to, (Basic, type(None), str)):
-            raise TypeError("{} cannot assign to object of type {}".format(
-                    type(self).__name__, type(assign_to)))
-
-        expr = sympify(expr)
-        if not assign_to:
-            if expr.is_Matrix:
-                raise RuntimeError("Matrices need a assign_to parameter")
-            return ccode(expr)
-
-        assign_to = str(assign_to)
-        if not expr.is_Matrix:
-            return f"{assign_to} = {ccode(expr)};"
-
-        code_lines = []
-        for i, element in enumerate(expr):
-            code_line = f'{assign_to}[{i}] = {element};'
-            code_lines.append(code_line)
-        return '\n'.join(code_lines)
-
-
-def init_printing(pretty_print=True, use_latex=True):
-    if pretty_print:
-        if not use_latex:
-            raise RuntimeError("Only latex is supported for pretty printing")
-        _repr_latex[0] = True
-    else:
-        _repr_latex[0] = False
diff --git a/symengine/sympy_compat.py b/symengine/sympy_compat.py
deleted file mode 100644
index 57e12c78..00000000
--- a/symengine/sympy_compat.py
+++ /dev/null
@@ -1,4 +0,0 @@
-import warnings
-warnings.warn("sympy_compat module is deprecated. Use `import symengine` instead", DeprecationWarning,
-              stacklevel=2)
-from symengine import *
diff --git a/symengine/test_utilities.py b/symengine/test_utilities.py
deleted file mode 100644
index cd3eeaa4..00000000
--- a/symengine/test_utilities.py
+++ /dev/null
@@ -1,95 +0,0 @@
-import sys
-
-try:
-    import py
-    from py.test import skip, raises
-    USE_PYTEST = getattr(sys, '_running_pytest', False)
-except ImportError:
-    USE_PYTEST = False
-
-if not USE_PYTEST:
-    def raises(expectedException, code=None):
-        """
-        Tests that ``code`` raises the exception ``expectedException``.
-
-        ``code`` may be a callable, such as a lambda expression or function
-        name.
-
-        If ``code`` is not given or None, ``raises`` will return a context
-        manager for use in ``with`` statements; the code to execute then
-        comes from the scope of the ``with``.
-
-        ``raises()`` does nothing if the callable raises the expected
-        exception, otherwise it raises an AssertionError.
-
-        Examples
-        ========
-
-        >>> from symengine.pytest import raises
-
-        >>> raises(ZeroDivisionError, lambda: 1/0)
-        >>> raises(ZeroDivisionError, lambda: 1/2)
-        Traceback (most recent call last):
-        ...
-        AssertionError: DID NOT RAISE
-
-        >>> with raises(ZeroDivisionError):
-        ...     n = 1/0
-        >>> with raises(ZeroDivisionError):
-        ...     n = 1/2
-        Traceback (most recent call last):
-        ...
-        AssertionError: DID NOT RAISE
-
-        Note that you cannot test multiple statements via
-        ``with raises``:
-
-        >>> with raises(ZeroDivisionError):
-        ...     n = 1/0    # will execute and raise, aborting the ``with``
-        ...     n = 9999/0 # never executed
-
-        This is just what ``with`` is supposed to do: abort the
-        contained statement sequence at the first exception and let
-        the context manager deal with the exception.
-
-        To test multiple statements, you'll need a separate ``with``
-        for each:
-
-        >>> with raises(ZeroDivisionError):
-        ...     n = 1/0    # will execute and raise
-        >>> with raises(ZeroDivisionError):
-        ...     n = 9999/0 # will also execute and raise
-
-        """
-        if code is None:
-            return RaisesContext(expectedException)
-        elif callable(code):
-            try:
-                code()
-            except expectedException:
-                return
-            raise AssertionError("DID NOT RAISE")
-        elif isinstance(code, str):
-            raise TypeError(
-                '\'raises(xxx, "code")\' has been phased out; '
-                'change \'raises(xxx, "expression")\' '
-                'to \'raises(xxx, lambda: expression)\', '
-                '\'raises(xxx, "statement")\' '
-                'to \'with raises(xxx): statement\'')
-        else:
-            raise TypeError(
-                'raises() expects a callable for the 2nd argument.')
-
-    class RaisesContext:
-        def __init__(self, expectedException):
-            self.expectedException = expectedException
-
-        def __enter__(self):
-            return None
-
-        def __exit__(self, exc_type, exc_value, traceback):
-            if exc_type is None:
-                raise AssertionError("DID NOT RAISE")
-            return issubclass(exc_type, self.expectedException)
-
-
diff --git a/symengine/tests/CMakeLists.txt b/symengine/tests/CMakeLists.txt
deleted file mode 100644
index 4f19093b..00000000
--- a/symengine/tests/CMakeLists.txt
+++ /dev/null
@@ -1,30 +0,0 @@
-set(PY_PATH ${PYTHON_INSTALL_PATH}/symengine/tests)
-install(
-  FILES
-    __init__.py
-    test_arit.py
-    test_cse.py
-    test_dict_basic.py
-    test_eval.py
-    test_expr.py
-    test_functions.py
-    test_lambdify.py
-    test_logic.py
-    test_matrices.py
-    test_ntheory.py
-    test_number.py
-    test_pickling.py
-    test_printing.py
-    test_sage.py
-    test_series_expansion.py
-    test_sets.py
-    test_solve.py
-    test_subs.py
-    test_symbol.py
-    test_sympify.py
-    test_sympy_compat.py
-    test_sympy_conv.py
-    test_var.py
-  DESTINATION
-    ${PY_PATH}
-)
diff --git a/symengine/tests/__init__.py b/symengine/tests/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/symengine/tests/test_arit.py b/symengine/tests/test_arit.py
deleted file mode 100644
index 931b8adb..00000000
--- a/symengine/tests/test_arit.py
+++ /dev/null
@@ -1,261 +0,0 @@
-from symengine.test_utilities import raises
-
-from symengine import (Symbol, Integer, Add, Mul, Pow, Rational, sqrt,
-    symbols, S, I, count_ops, floor)
-
-
-def test_arit1():
-    x = Symbol("x")
-    y = Symbol("y")
-    e = x + y
-    e = x * y
-    e = Integer(2)*x
-    e = 2*x
-    e = x + 1
-    e = 1 + x
-
-
-def test_arit2():
-    x = Symbol("x")
-    y = Symbol("y")
-    assert x+x == Integer(2) * x
-    assert x+x != Integer(3) * x
-    assert x+y == y+x
-    assert x+x == 2*x
-    assert x+x == x*2
-    assert x+x+x == 3*x
-    assert x+y+x+x == 3*x+y
-
-    assert not x+x == 3*x
-    assert not x+x != 2*x
-
-
-def test_arit3():
-    x = Symbol("x")
-    y = Symbol("y")
-    raises(TypeError, lambda: ("x"*x))
-
-
-def test_arit4():
-    x = Symbol("x")
-    y = Symbol("y")
-    assert x*x == x**2
-    assert x*y == y*x
-    assert x*x*x == x**3
-    assert x*y*x*x == x**3*y
-
-
-def test_arit5():
-    x = Symbol("x")
-    y = Symbol("y")
-    e = (x+y)**2
-    f = e.expand()
-    assert e == (x+y)**2
-    assert e != x**2 + 2*x*y + y**2
-    assert isinstance(e, Pow)
-    assert f == x**2 + 2*x*y + y**2
-    assert isinstance(f, Add)
-
-
-def test_arit6():
-    x = Symbol("x")
-    y = Symbol("y")
-    e = x + y
-    assert str(e) == "x + y" or "y + x"
-    e = x * y
-    assert str(e) == "x*y" or "y*x"
-    e = Integer(2)*x
-    assert str(e) == "2*x"
-    e = 2*x
-    assert str(e) == "2*x"
-
-
-def test_arit7():
-    x = Symbol("x")
-    y = Symbol("y")
-    assert x - x == 0
-    assert x - y != y - x
-    assert 2*x - x == x
-    assert 3*x - x == 2*x
-
-    assert 2*x*y - x*y == x*y
-
-
-def test_arit8():
-    x = Symbol("x")
-    y = Symbol("y")
-    z = Symbol("z")
-    assert x**y * x**x == x**(x+y)
-    assert x**y * x**x * x**z == x**(x+y+z)
-    assert x**y - x**y == 0
-
-    assert x**2 / x == x
-    assert y*x**2 / (x*y) == x
-    assert (2 * x**3 * y**2 * z)**3 / 8 == x**9 * y**6 * z**3
-    assert (2*y**(-2*x**2)) * (3*y**(2*x**2)) == 6
-
-
-def test_unary():
-    x = Symbol("x")
-    assert -x == 0 - x
-    assert +x == x
-
-
-def test_expand1():
-    x = Symbol("x")
-    y = Symbol("y")
-    z = Symbol("z")
-    assert ((2*x+y)**2).expand() == 4*x**2 + 4*x*y + y**2
-    assert (x**2)**3 == x**6
-    assert ((2*x**2+3*y)**2).expand() == 4*x**4 + 12*x**2*y + 9*y**2
-    assert ((2*x/3+y/4)**2).expand() == 4*x**2/9 + x*y/3 + y**2/16
-
-
-def test_arit9():
-    x = Symbol("x")
-    y = Symbol("y")
-    assert 1/x == 1/x
-    assert 1/x != 1/y
-
-
-def test_expand2():
-    x = Symbol("x")
-    y = Symbol("y")
-    z = Symbol("z")
-    assert ((1/(y*z) - y*z)*y*z).expand() == 1-(y*z)**2
-    assert (2*(x + 2*(y + z))).expand(deep=False) == 2*x + 4*(y+z)
-    ex = x + 2*(y + z)
-    assert ex.expand(deep=False) == ex
-
-
-def test_expand3():
-    x = Symbol("x")
-    y = Symbol("y")
-    assert ((1/(x*y) - x*y+2)*(1+x*y)).expand() == 3 + 1/(x*y) + x*y - (x*y)**2
-
-
-def test_args():
-    x = Symbol("x")
-    y = Symbol("y")
-    assert (x**2).args == (x, 2)
-    assert (x**2 + 5).args == (5, x**2)
-    assert set((x**2 + 2*x*y + 5).args) == {x**2, 2*x*y, Integer(5)}
-    assert (2*x**2).args == (2, x**2)
-    assert set((2*x**2*y).args) == {Integer(2), x**2, y}
-
-
-def test_atoms():
-    x = Symbol("x")
-    y = Symbol("y")
-    z = Symbol("z")
-    assert (x**2).atoms() == {x}
-    assert (x**2).atoms(Symbol) == {x}
-    assert (x ** y + z).atoms() == {x, y, z}
-    assert (x**y + z).atoms(Symbol) == {x, y, z}
-
-
-def test_free_symbols():
-    x = Symbol("x")
-    y = Symbol("y")
-    z = Symbol("z")
-    assert (x**2).free_symbols == {x}
-    assert (x**y + z).free_symbols == {x, y, z}
-
-
-def test_as_numer_denom():
-    x, y = Rational(17, 26).as_numer_denom()
-    assert x == Integer(17)
-    assert y == Integer(26)
-
-    x, y = Integer(-5).as_numer_denom()
-    assert x == Integer(-5)
-    assert y == Integer(1)
-
-
-def test_floor():
-    exprs = [Symbol("x"), Symbol("y"), Integer(2), Rational(-3, 5), Integer(-3)]
-
-    for x in exprs:
-        for y in exprs:
-            assert x // y == floor(x / y)
-            assert x == y * (x // y) + x % y
-
-
-def test_as_real_imag():
-    x, y = (5 + 6 * I).as_real_imag()
-
-    assert x == 5
-    assert y == 6
-
-
-def test_from_args():
-    x = Symbol("x")
-    y = Symbol("y")
-    
-    assert Add._from_args([]) == 0
-    assert Add._from_args([x]) == x
-    assert Add._from_args([x, y]) == x + y
-
-    assert Mul._from_args([]) == 1
-    assert Mul._from_args([x]) == x
-    assert Mul._from_args([x, y]) == x * y
-
-
-def test_make_args():
-    x = Symbol("x")
-    y = Symbol("y")
-    z = Symbol("z")
-
-    assert Add.make_args(x) == (x,)
-    assert Mul.make_args(x) == (x,)
-
-    assert Add.make_args(x*y*z) == (x*y*z,)
-    assert Mul.make_args(x*y*z) == (x*y*z).args
-
-    assert Add.make_args(x + y + z) == (x + y + z).args
-    assert Mul.make_args(x + y + z) == (x + y + z,)
-
-    assert Add.make_args((x + y)**z) == ((x + y)**z,)
-    assert Mul.make_args((x + y)**z) == ((x + y)**z,)
-
-
-def test_Pow_base_exp():
-    x = Symbol("x")
-    y = Symbol("y")
-    e = Pow(x + y, 2)
-    assert isinstance(e, Pow)
-    assert e.exp == 2
-    assert e.base == x + y
-
-    assert sqrt(x - 1).as_base_exp() == (x - 1, Rational(1, 2))
-
-
-def test_copy():
-    b = Symbol("b")
-    a = b.copy()
-    assert a is b
-    assert type(a) == type(b)
-
-
-def test_special_constants():
-    assert S.Zero == Integer(0)
-    assert S.One == Integer(1)
-    assert S.NegativeOne == Integer(-1)
-    assert S.Half == Rational(1, 2)
-
-
-def test_bool():
-    x = Symbol('x')
-    if (x**2).args[1] > 0:
-        assert True
-    if (x**2).args[1] < 0:
-        assert False
-
-
-def test_count_ops():
-    x, y = symbols("x, y")
-    assert count_ops(x+y) == 1
-    assert count_ops((x+y, x*y)) == 2
-    assert count_ops([[x**y], [x+y-1]]) == 3
-    assert count_ops(x+y, x*y) == 2
-
diff --git a/symengine/tests/test_cse.py b/symengine/tests/test_cse.py
deleted file mode 100644
index 20dcd2a8..00000000
--- a/symengine/tests/test_cse.py
+++ /dev/null
@@ -1,17 +0,0 @@
-from symengine import cse, sqrt, symbols
-
-def test_cse_single():
-    x, y, x0 = symbols("x, y, x0")
-    e = pow(x + y, 2) + sqrt(x + y)
-    substs, reduced = cse([e])
-    assert substs == [(x0, x + y)]
-    assert reduced == [sqrt(x0) + x0**2]
-
-
-def test_multiple_expressions():
-    w, x, y, z, x0 = symbols("w, x, y, z, x0")
-    e1 = (x + y)*z
-    e2 = (x + y)*w
-    substs, reduced = cse([e1, e2])
-    assert substs == [(x0, x + y)]
-    assert reduced == [x0*z, x0*w]
diff --git a/symengine/tests/test_dict_basic.py b/symengine/tests/test_dict_basic.py
deleted file mode 100644
index d1e5ab63..00000000
--- a/symengine/tests/test_dict_basic.py
+++ /dev/null
@@ -1,28 +0,0 @@
-from symengine.test_utilities import raises
-
-from symengine import symbols, DictBasic, sin, Integer
-
-
-def test_DictBasic():
-    x, y, z = symbols("x y z")
-    d = DictBasic({x: 2, y: z})
-
-    assert str(d) == "{x: 2, y: z}" or str(d) == "{y: z, x: 2}"
-    assert d[x] == 2
-
-    raises(KeyError, lambda: d[2*z])
-    if 2*z in d:
-        assert False
-
-    d[2*z] = x
-    assert d[2*z] == x
-    if 2*z not in d:
-        assert False
-    assert set(d.items()) == {(2*z, x), (x, Integer(2)), (y, z)}
-
-    del d[x]
-    assert set(d.keys()) == {2*z, y}
-    assert set(d.values()) == {x, z}
-
-    e = y + sin(2*z)
-    assert e.subs(d) == z + sin(x)
diff --git a/symengine/tests/test_eval.py b/symengine/tests/test_eval.py
deleted file mode 100644
index 24b062f1..00000000
--- a/symengine/tests/test_eval.py
+++ /dev/null
@@ -1,67 +0,0 @@
-from symengine.test_utilities import raises
-from symengine import (Symbol, sin, cos, Integer, Add, I, RealDouble, ComplexDouble, sqrt)
-
-from unittest.case import SkipTest
-
-def test_eval_double1():
-    x = Symbol("x")
-    y = Symbol("y")
-    e = sin(x)**2 + cos(x)**2
-    e = e.subs(x, 7)
-    assert abs(e.n(real=True) - 1) < 1e-9
-    assert abs(e.n() - 1) < 1e-9
-
-
-def test_eval_double2():
-    x = Symbol("x")
-    e = sin(x)**2 + sqrt(2)
-    raises(RuntimeError, lambda: e.n(real=True))
-    assert abs(e.n() - sin(x)**2.0 - 1.414) < 1e-3
-
-def test_n():
-    x = Symbol("x")
-    raises(RuntimeError, lambda: x.n(real=True))
-    assert x.n() == x + 0.0
-
-    x = 2 + I
-    raises(RuntimeError, lambda: (x.n(real=True)))
-
-    x = sqrt(Integer(4))
-    y = RealDouble(2.0)
-    assert x.n(real=True) == y
-
-    x = 1 + 2*I
-    y = 1.0 + 2.0*I
-    assert x.n() == y
-
-
-def test_n_mpfr():
-    x = sqrt(Integer(2))
-    try:
-        from symengine import RealMPFR
-        y = RealMPFR('1.41421356237309504880169', 75)
-        assert x.n(75, real=True) == y
-    except ImportError:
-        raises(ValueError, lambda: (x.n(75, real=True)))
-        raises(ValueError, lambda: (x.n(75)))
-        raise SkipTest("No MPFR support")
-
-
-def test_n_mpc():
-    x = sqrt(Integer(2)) + 3*I
-    try:
-        from symengine import ComplexMPC
-        y = ComplexMPC('1.41421356237309504880169', '3.0', 75)
-        assert x.n(75) == y
-    except ImportError:
-        raises(Exception, lambda: (x.n(75, real=True)))
-        raises(ValueError, lambda: (x.n(75, real=False)))
-        raises(ValueError, lambda: (x.n(75)))
-        raise SkipTest("No MPC support")
-
-
-def test_rel():
-    x = Symbol("x")
-    y = Symbol("y")
-    ex = (x + y < x)
-    assert repr(ex) == "x + y < x"
diff --git a/symengine/tests/test_expr.py b/symengine/tests/test_expr.py
deleted file mode 100644
index 8cbf4ab7..00000000
--- a/symengine/tests/test_expr.py
+++ /dev/null
@@ -1,28 +0,0 @@
-from symengine import Symbol, Integer, oo
-from symengine.test_utilities import raises
-
-
-def test_as_coefficients_dict():
-    x = Symbol('x')
-    y = Symbol('y')
-    check = [x, y, x*y, Integer(1)]
-    assert [(3*x + 2*x + y + 3).as_coefficients_dict()[i] for i in check] == \
-        [5, 1, 0, 3]
-    assert [(3*x*y).as_coefficients_dict()[i] for i in check] == \
-        [0, 0, 3, 0]
-    assert (3.0*x*y).as_coefficients_dict()[3.0*x*y] == 0
-    assert (3.0*x*y).as_coefficients_dict()[x*y] == 3.0
-
-
-def test_as_powers_dict():
-    x = Symbol('x')
-    y = Symbol('y')
-
-    assert (2*x**y).as_powers_dict() == {2: 1, x: y}
-    assert (2*x**2*y**3).as_powers_dict() == {2: 1, x: 2, y: 3}
-    assert (-oo).as_powers_dict() == {Integer(-1): 1, oo: 1}
-    assert (x**y).as_powers_dict() == {x: y}
-    assert ((1/Integer(2))**y).as_powers_dict() == {Integer(2): -y}
-    assert (x*(1/Integer(2))**y).as_powers_dict() == {x: Integer(1), Integer(2): -y}
-    assert (2**y).as_powers_dict() == {2: y}
-    assert (2**-y).as_powers_dict() == {2: -y}
diff --git a/symengine/tests/test_functions.py b/symengine/tests/test_functions.py
deleted file mode 100644
index 207add98..00000000
--- a/symengine/tests/test_functions.py
+++ /dev/null
@@ -1,432 +0,0 @@
-from symengine import (
-    Symbol, sin, cos, sqrt, Add, Mul, function_symbol, Integer, log, E, symbols, I,
-    Rational, EulerGamma, Function, Subs, Derivative, LambertW, zeta, dirichlet_eta,
-    zoo, pi, KroneckerDelta, LeviCivita, erf, erfc, oo, lowergamma, uppergamma, exp,
-    loggamma, beta, polygamma, digamma, trigamma, sign, floor, ceiling, conjugate,
-    nan, Float, UnevaluatedExpr
-)
-from symengine.test_utilities import raises
-
-import unittest
-
-try:
-    import sympy
-    from sympy.core.cache import clear_cache
-    import atexit
-    atexit.register(clear_cache)
-    have_sympy = True
-except ImportError:
-    have_sympy = False
-
-def test_sin():
-    x = Symbol("x")
-    e = sin(x)
-    assert e == sin(x)
-    assert e != cos(x)
-
-    assert sin(x).diff(x) == cos(x)
-    assert cos(x).diff(x) == -sin(x)
-
-    e = sqrt(x).diff(x).diff(x)
-    f = sin(e)
-    g = f.diff(x).diff(x)
-    assert isinstance(g, Add)
-
-
-def test_f():
-    x = Symbol("x")
-    y = Symbol("y")
-    z = Symbol("z")
-    f = function_symbol("f", x)
-    g = function_symbol("g", x)
-    assert f != g
-
-    f = function_symbol("f", x)
-    g = function_symbol("f", x)
-    assert f == g
-
-    f = function_symbol("f", x, y)
-    g = function_symbol("f", y, x)
-    assert f != g
-
-    f = function_symbol("f", x, y)
-    g = function_symbol("f", x, y)
-    assert f == g
-
-
-def test_derivative():
-    x = Symbol("x")
-    y = Symbol("y")
-    f = function_symbol("f", x)
-    assert f.diff(x) == function_symbol("f", x).diff(x)
-    assert f.diff(x).diff(x) == function_symbol("f", x).diff(x).diff(x)
-    assert f.diff(y) == 0
-    assert f.diff(x).args == (f, x)
-    assert f.diff(x).diff(x).args == (f, x, x)
-    assert f.diff(x, 0) == f
-    assert f.diff(x, 0) == Derivative(function_symbol("f", x), x, 0)
-    raises(ValueError, lambda: f.diff(0))
-    raises(ValueError, lambda: f.diff(x, 0, 0))
-    raises(ValueError, lambda: f.diff(x, y, 0, 0, x))
-
-    g = function_symbol("f", y)
-    assert g.diff(x) == 0
-    assert g.diff(y) == function_symbol("f", y).diff(y)
-    assert g.diff(y).diff(y) == function_symbol("f", y).diff(y).diff(y)
-
-    assert f - function_symbol("f", x) == 0
-
-    f = function_symbol("f", x, y)
-    assert f.diff(x).diff(y) == function_symbol("f", x, y).diff(x).diff(y)
-    assert f.diff(Symbol("z")) == 0
-
-    s = Derivative(function_symbol("f", x), x)
-    assert s.expr == function_symbol("f", x)
-    assert s.variables == (x,)
-
-    fxy = Function("f")(x, y)
-    assert (1+fxy).has(fxy)
-    g = Derivative(Function("f")(x, y), x, 2, y, 1)
-    assert g == fxy.diff(x, x, y)
-    assert g == fxy.diff(y, 1, x, 2)
-    assert g == fxy.diff(y, x, 2)
-
-    h = Derivative(Function("f")(x, y), x, 0, y, 1)
-    assert h == fxy.diff(x, 0, y)
-    assert h == fxy.diff(y, x, 0)
-
-    i = Derivative(Function("f")(x, y), x, 0, y, 1, x, 1)
-    assert i == fxy.diff(x, 0, y, x, 1)
-    assert i == fxy.diff(x, 0, y, x)
-    assert i == fxy.diff(y, x)
-    assert i == fxy.diff(y, 1, x, 1)
-    assert i == fxy.diff(y, 1, x)
-
-
-def test_function():
-    x = Symbol("x")
-    fx = Function("f")(x)
-    assert fx == function_symbol("f", x)
-
-    raises(TypeError, lambda: Function("f", "x"))
-    raises(TypeError, lambda: Function("f", x))
-    raises(TypeError, lambda: Function())
-
-    assert fx.name == "f"
-
-
-def test_abs():
-    x = Symbol("x")
-    e = abs(x)
-    assert e == abs(x)
-    assert e != cos(x)
-
-    assert abs(5) == 5
-    assert abs(-5) == 5
-    assert abs(Integer(5)/3) == Integer(5)/3
-    assert abs(-Integer(5)/3) == Integer(5)/3
-    assert abs(Integer(5)/3+x) != Integer(5)/3
-    assert abs(Integer(5)/3+x) == abs(Integer(5)/3+x)
-
-
-def test_abs_diff():
-    x = Symbol("x")
-    y = Symbol("y")
-    e = abs(x)
-    assert e.diff(x) != e
-    assert e.diff(x) != 0
-    assert e.diff(y) == 0
-
-
-def test_Subs():
-    x = Symbol("x")
-    y = Symbol("y")
-    _x = Symbol("_xi_1")
-    f = function_symbol("f", 2*x)
-    assert str(f.diff(x)) == "2*Subs(Derivative(f(_xi_1), _xi_1), (_xi_1), (2*x))"
-    # TODO: fix me
-    # assert f.diff(x) == 2 * Subs(Derivative(function_symbol("f", _x), _x), [_x], [2 * x])
-    assert Subs(Derivative(function_symbol("f", x, y), x), [x, y], [_x, x]) \
-                == Subs(Derivative(function_symbol("f", x, y), x), [y, x], [x, _x])
-
-    s = f.diff(x)/2
-    _xi_1 = Symbol("_xi_1")
-    assert s.expr == Derivative(function_symbol("f", _xi_1), _xi_1)
-    assert s.variables == (_xi_1,)
-    assert s.point == (2*x,)
-
-
-@unittest.skipUnless(have_sympy, "SymPy not installed")
-def test_FunctionWrapper():
-    import sympy
-    n, m, theta, phi = sympy.symbols("n, m, theta, phi")
-    r = sympy.Ynm(n, m, theta, phi)
-    s = Integer(2)*r
-    assert isinstance(s, Mul)
-    assert isinstance(s.args[1]._sympy_(), sympy.Ynm)
-
-    x = symbols("x")
-    e = x + sympy.Mod(x, 2)
-    assert str(e) == "x + Mod(x, 2)"
-    assert isinstance(e, Add)
-    assert e + sympy.Mod(x, 2) == x + 2*sympy.Mod(x, 2)
-
-    f = e.subs({x : 10})
-    assert f == 10
-
-    f = e.subs({x : 2})
-    assert f == 2
-
-    f = e.subs({x : 100});
-    v = f.n(53, real=True);
-    assert abs(float(v) - 100.00000000) < 1e-7
-
-
-def test_log():
-    x = Symbol("x")
-    y = Symbol("y")
-    assert log(E) == 1
-    assert log(x, x) == 1
-    assert log(x, y) == log(x) / log(y)
-
-
-def test_lambertw():
-    assert LambertW(0) == 0
-    assert LambertW(E) == 1
-    assert LambertW(-1/E) == -1
-    assert LambertW(-log(2)/2) == -log(2)
-
-
-def test_zeta():
-    x = Symbol("x")
-    assert zeta(1) == zoo
-    assert zeta(1, x) == zoo
-
-    assert zeta(0) == Rational(-1, 2)
-    assert zeta(0, x) == Rational(1, 2) - x
-
-    assert zeta(1, 2) == zoo
-    assert zeta(1, -7) == zoo
-
-    assert zeta(2, 1) == pi**2/6
-
-    assert zeta(2) == pi**2/6
-    assert zeta(4) == pi**4/90
-    assert zeta(6) == pi**6/945
-
-    assert zeta(2, 2) == pi**2/6 - 1
-    assert zeta(4, 3) == pi**4/90 - Rational(17, 16)
-    assert zeta(6, 4) == pi**6/945 - Rational(47449, 46656)
-
-    assert zeta(-1) == -Rational(1, 12)
-    assert zeta(-2) == 0
-    assert zeta(-3) == Rational(1, 120)
-    assert zeta(-4) == 0
-    assert zeta(-5) == -Rational(1, 252)
-
-    assert zeta(-1, 3) == -Rational(37, 12)
-    assert zeta(-1, 7) == -Rational(253, 12)
-    assert zeta(-1, -4) == Rational(119, 12)
-    assert zeta(-1, -9) == Rational(539, 12)
-
-    assert zeta(-4, 3) == -17
-    assert zeta(-4, -8) == 8772
-
-    assert zeta(0, 1) == -Rational(1, 2)
-    assert zeta(0, -1) == Rational(3, 2)
-
-    assert zeta(0, 2) == -Rational(3, 2)
-    assert zeta(0, -2) == Rational(5, 2)
-
-
-def test_dirichlet_eta():
-    assert dirichlet_eta(0) == Rational(1, 2)
-    assert dirichlet_eta(-1) == Rational(1, 4)
-    assert dirichlet_eta(1) == log(2)
-    assert dirichlet_eta(2) == pi**2/12
-    assert dirichlet_eta(4) == pi**4*Rational(7, 720)
-
-
-def test_kronecker_delta():
-    x = Symbol("x")
-    y = Symbol("y")
-    assert KroneckerDelta(1, 1) == 1
-    assert KroneckerDelta(1, 2) == 0
-    assert KroneckerDelta(x, x) == 1
-    assert KroneckerDelta(x**2 - y**2, x**2 - y**2) == 1
-    assert KroneckerDelta(0, 0) == 1
-    assert KroneckerDelta(0, 1) == 0
-
-
-def test_levi_civita():
-    i = Symbol("i")
-    j = Symbol("j")
-    assert LeviCivita(1, 2, 3) == 1
-    assert LeviCivita(1, 3, 2) == -1
-    assert LeviCivita(1, 2, 2) == 0
-    assert LeviCivita(i, j, i) == 0
-    assert LeviCivita(1, i, i) == 0
-    assert LeviCivita(1, 2, 3, 1) == 0
-    assert LeviCivita(4, 5, 1, 2, 3) == 1
-    assert LeviCivita(4, 5, 2, 1, 3) == -1
-
-
-def test_erf():
-    x = Symbol("x")
-    y = Symbol("y")
-    assert erf(nan) == nan
-    assert erf(oo) == 1
-    assert erf(-oo) == -1
-    assert erf(0) == 0
-    assert erf(-2) == -erf(2)
-    assert erf(-x*y) == -erf(x*y)
-    assert erf(-x - y) == -erf(x + y)
-
-
-def test_erfc():
-    assert erfc(nan) == nan
-    assert erfc(oo) == 0
-    assert erfc(-oo) == 2
-    assert erfc(0) == 1
-
-
-def test_lowergamma():
-    assert lowergamma(1, 2) == 1 - exp(-2)
-
-
-def test_uppergamma():
-    assert uppergamma(1, 2) == exp(-2)
-    assert uppergamma(4, 0) == 6
-
-
-def test_loggamma():
-    assert loggamma(-1) == oo
-    assert loggamma(-2) == oo
-    assert loggamma(0) == oo
-    assert loggamma(1) == 0
-    assert loggamma(2) == 0
-    assert loggamma(3) == log(2)
-
-
-def test_beta():
-    assert beta(3, 2) == beta(2, 3)
-
-
-def test_polygamma():
-    assert polygamma(0, -9) == zoo
-    assert polygamma(0, -9) == zoo
-    assert polygamma(0, -1) == zoo
-    assert polygamma(0, 0) == zoo
-    assert polygamma(0, 1) == -EulerGamma
-    assert polygamma(0, 7) == Rational(49, 20) - EulerGamma
-    assert polygamma(1, 1) == pi**2/6
-    assert polygamma(1, 2) == pi**2/6 - 1
-    assert polygamma(1, 3) == pi**2/6 - Rational(5, 4)
-    assert polygamma(3, 1) == pi**4 / 15
-    assert polygamma(3, 5) == 6*(Rational(-22369, 20736) + pi**4/90)
-    assert polygamma(5, 1) == 8 * pi**6 / 63
-
-
-def test_digamma():
-    x = Symbol("x")
-    assert digamma(x) == polygamma(0, x)
-    assert digamma(0) == zoo
-    assert digamma(1) == -EulerGamma
-
-
-def test_trigamma():
-    x = Symbol("x")
-    assert trigamma(-2) == zoo
-    assert trigamma(x) == polygamma(1, x)
-
-
-def test_sign():
-    assert sign(1.2) == 1
-    assert sign(-1.2) == -1
-    assert sign(3*I) == I
-    assert sign(-3*I) == -I
-    assert sign(0) == 0
-    assert sign(nan) == nan
-
-
-def test_floor():
-    x = Symbol("x")
-    y = Symbol("y")
-    assert floor(nan) == nan
-    assert floor(oo) == oo
-    assert floor(-oo) == -oo
-    assert floor(0) == 0
-    assert floor(1) == 1
-    assert floor(-1) == -1
-    assert floor(E) == 2
-    assert floor(pi) == 3
-    assert floor(Rational(1, 2)) == 0
-    assert floor(-Rational(1, 2)) == -1
-    assert floor(Rational(7, 3)) == 2
-    assert floor(-Rational(7, 3)) == -3
-    assert floor(Float(17.0)) == 17
-    assert floor(-Float(17.0)) == -17
-    assert floor(Float(7.69)) == 7
-    assert floor(-Float(7.69)) == -8
-    assert floor(I) == I
-    assert floor(-I) == -I
-    assert floor(2*I) == 2*I
-    assert floor(-2*I) == -2*I
-    assert floor(E + pi) == floor(E + pi)
-    assert floor(I + pi) == floor(I + pi)
-    assert floor(floor(pi)) == 3
-    assert floor(floor(y)) == floor(y)
-    assert floor(floor(x)) == floor(floor(x))
-    assert floor(x) == floor(x)
-    assert floor(2*x) == floor(2*x)
-
-
-def test_ceiling():
-    x = Symbol("x")
-    y = Symbol("y")
-    assert ceiling(nan) == nan
-    assert ceiling(oo) == oo
-    assert ceiling(-oo) == -oo
-    assert ceiling(0) == 0
-    assert ceiling(1) == 1
-    assert ceiling(-1) == -1
-    assert ceiling(E) == 3
-    assert ceiling(pi) == 4
-    assert ceiling(Rational(1, 2)) == 1
-    assert ceiling(-Rational(1, 2)) == 0
-    assert ceiling(Rational(7, 3)) == 3
-    assert ceiling(-Rational(7, 3)) == -2
-    assert ceiling(Float(17.0)) == 17
-    assert ceiling(-Float(17.0)) == -17
-    assert ceiling(Float(7.69)) == 8
-    assert ceiling(-Float(7.69)) == -7
-    assert ceiling(I) == I
-    assert ceiling(-I) == -I
-    assert ceiling(2*I) == 2*I
-    assert ceiling(-2*I) == -2*I
-    assert ceiling(E + pi) == ceiling(E + pi)
-    assert ceiling(I + pi) == ceiling(I + pi)
-    assert ceiling(ceiling(pi)) == 4
-    assert ceiling(ceiling(y)) == ceiling(y)
-    assert ceiling(ceiling(x)) == ceiling(ceiling(x))
-    assert ceiling(x) == ceiling(x)
-    assert ceiling(2*x) == ceiling(2*x)
-
-
-def test_conjugate():
-    assert conjugate(pi) == pi
-    assert conjugate(I) == -I
-
-
-def test_unevaluated_expr():
-    x = Symbol("x")
-    t = UnevaluatedExpr(x)
-    assert x + t != 2 * x
-    assert not t.is_number
-    assert not t.is_integer
-    assert not t.is_finite
-
-    t = UnevaluatedExpr(1)
-    assert t.is_number
-    assert t.is_integer
-    assert t.is_finite
diff --git a/symengine/tests/test_lambdify.py b/symengine/tests/test_lambdify.py
deleted file mode 100644
index fa628a36..00000000
--- a/symengine/tests/test_lambdify.py
+++ /dev/null
@@ -1,863 +0,0 @@
-import array
-import cmath
-from functools import reduce
-import itertools
-from operator import mul
-import math
-
-import symengine as se
-from symengine.test_utilities import raises
-from symengine import have_numpy
-import unittest
-from unittest.case import SkipTest
-
-try:
-    import sympy
-    from sympy.core.cache import clear_cache
-    import atexit
-    atexit.register(clear_cache)
-    have_sympy = True
-except ImportError:
-    have_sympy = False
-
-try:
-    import scipy
-    from scipy import LowLevelCallable
-    have_scipy = True
-except ImportError:
-    have_scipy = False
-
-if have_numpy:
-    import numpy as np
-
-def _size(arr):
-    try:
-        return arr.memview.size
-    except AttributeError:
-        return len(arr)
-
-
-def isclose(a, b, rtol=1e-13, atol=1e-13):
-    discr = a - b
-    toler = (atol + rtol*abs(a))
-    return abs(discr) < toler
-
-
-def allclose(vec1, vec2, rtol=1e-13, atol=1e-13):
-    n1, n2 = _size(vec1), _size(vec2)
-    if n1 != n2:
-        return False
-
-    for idx in range(n1):
-        if not isclose(vec1[idx], vec2[idx], rtol, atol):
-            return False
-    return True
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_ravel():
-    x = se.symbols('x')
-    exprs = [x+1, x+2, x+3, 1/x, 1/(x*x), 1/(x**3.0)]
-    A = se.DenseMatrix(2, 3, exprs)
-    assert np.all(np.ravel(A, order='C') == exprs)
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_Lambdify():
-    n = 7
-    args = x, y, z = se.symbols('x y z')
-    L = se.Lambdify(args, [x+y+z, x**2, (x-y)/z, x*y*z], backend='lambda')
-    assert allclose(L(range(n, n+len(args))),
-                    [3*n+3, n**2, -1/(n+2), n*(n+1)*(n+2)])
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_Lambdify_with_opt_level():
-    args = x, y, z = se.symbols('x y z')
-    raises(TypeError, lambda: se.Lambdify(args, [x+y+z, x**2, (x-y)/z, x*y*z], backend='lambda', opt_level=0))
-
-def _test_Lambdify_Piecewise(Lambdify):
-    x = se.symbols('x')
-    p = se.Piecewise((-x, x<0), (x*x*x, True))
-    f = Lambdify([x], [p])
-    arr = np.linspace(3, 7)
-    assert np.allclose(f(-arr).flat, arr, atol=1e-14, rtol=1e-15)
-    assert np.allclose(f(arr).flat, arr**3, atol=1e-14, rtol=1e-15)
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_Lambdify_Piecewise():
-    _test_Lambdify_Piecewise(lambda *args: se.Lambdify(*args, backend='lambda'))
-    if se.have_llvm:
-        _test_Lambdify_Piecewise(lambda *args: se.Lambdify(*args, backend='llvm'))
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_Lambdify_LLVM():
-    n = 7
-    args = x, y, z = se.symbols('x y z')
-    if not se.have_llvm:
-        raises(ValueError, lambda: se.Lambdify(args, [x+y+z, x**2,
-                                                      (x-y)/z, x*y*z],
-                                               backend='llvm'))
-        raise SkipTest("No LLVM support")
-    L = se.Lambdify(args, [x+y+z, x**2, (x-y)/z, x*y*z], backend='llvm')
-    assert allclose(L(range(n, n+len(args))),
-                    [3*n+3, n**2, -1/(n+2), n*(n+1)*(n+2)])
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_Lambdify_LLVM_with_opt_level():
-    for opt_level in range(4):
-        n = 7
-        args = x, y, z = se.symbols('x y z')
-        if not se.have_llvm:
-            raises(ValueError, lambda: se.Lambdify(args, [x+y+z, x**2,
-                                                          (x-y)/z, x*y*z],
-                                                   backend='llvm', opt_level=opt_level))
-            raise SkipTest("No LLVM support")
-        L = se.Lambdify(args, [x+y+z, x**2, (x-y)/z, x*y*z], backend='llvm', opt_level=opt_level)
-        assert allclose(L(range(n, n+len(args))),
-                        [3*n+3, n**2, -1/(n+2), n*(n+1)*(n+2)])
-
-def _get_2_to_2by2():
-    args = x, y = se.symbols('x y')
-    exprs = np.array([[x+y+1.0, x*y],
-                      [x/y, x**y]])
-    L = se.Lambdify(args, exprs)
-
-    def check(A, inp):
-        X, Y = inp
-        assert abs(A[0, 0] - (X+Y+1.0)) < 1e-15
-        assert abs(A[0, 1] - (X*Y)) < 1e-15
-        assert abs(A[1, 0] - (X/Y)) < 1e-15
-        assert abs(A[1, 1] - (X**Y)) < 1e-13
-    return L, check
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_Lambdify_2dim():
-    lmb, check = _get_2_to_2by2()
-    for inp in [(5, 7), np.array([5, 7]), [5.0, 7.0]]:
-        A = lmb(inp)
-        assert A.shape == (2, 2)
-        check(A, inp)
-
-
-def _get_array():
-    X, Y, Z = inp = array.array('d', [1, 2, 3])
-    args = x, y, z = se.symbols('x y z')
-    exprs = [x+y+z, se.sin(x)*se.log(y)*se.exp(z)]
-    ref = [X+Y+Z, math.sin(X)*math.log(Y)*math.exp(Z)]
-
-    def check(arr):
-        assert all([abs(x1-x2) < 1e-13 for x1, x2 in zip(ref, arr)])
-    return args, exprs, inp, check
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_array():
-    args, exprs, inp, check = _get_array()
-    lmb = se.Lambdify(args, exprs)
-    out = lmb(inp)
-    check(out)
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_numpy_array_out_exceptions():
-    args, exprs, inp, check = _get_array()
-    assert len(args) == 3 and len(exprs) == 2
-    lmb = se.Lambdify(args, exprs)
-
-    all_right = np.empty(len(exprs))
-    lmb(inp, out=all_right)
-
-    too_short = np.empty(len(exprs) - 1)
-    raises(ValueError, lambda: (lmb(inp, out=too_short)))
-
-    wrong_dtype = np.empty(len(exprs), dtype=int)
-    raises(ValueError, lambda: (lmb(inp, out=wrong_dtype)))
-
-    read_only = np.empty(len(exprs))
-    read_only.flags['WRITEABLE'] = False
-    raises(ValueError, lambda: (lmb(inp, out=read_only)))
-
-    all_right_broadcast_C = np.empty((4, len(exprs)), order='C')
-    inp_bcast = [[1, 2, 3], [4, 5, 6], [7, 8, 9], [10, 11, 12]]
-    lmb(np.array(inp_bcast), out=all_right_broadcast_C)
-
-    noncontig_broadcast = np.empty((4, len(exprs), 3)).transpose((1, 2, 0))
-    raises(ValueError, lambda: (lmb(inp_bcast, out=noncontig_broadcast)))
-
-    all_right_broadcast_F = np.empty((len(exprs), 4), order='F')
-    lmb.order = 'F'
-    lmb(np.array(np.array(inp_bcast).T), out=all_right_broadcast_F)
-
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_broadcast():
-    a = np.linspace(-np.pi, np.pi)
-    inp = np.ascontiguousarray(np.vstack((np.cos(a), np.sin(a))).T)  # 50 rows 2 cols
-    assert inp.flags['C_CONTIGUOUS']
-    x, y = se.symbols('x y')
-    distance = se.Lambdify([x, y], [se.sqrt(x**2 + y**2)])
-    assert np.allclose(distance([inp[0, 0], inp[0, 1]]), [1])
-    dists = distance(inp)
-    assert dists.shape == (50, 1)
-    assert np.allclose(dists, 1)
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_broadcast_multiple_extra_dimensions():
-    inp = np.arange(12.).reshape((4, 3, 1))
-    x = se.symbols('x')
-    cb = se.Lambdify([x], [x**2, x**3])
-    assert np.allclose(cb([inp[0, 2]]), [4, 8])
-    out = cb(inp)
-    assert out.shape == (4, 3, 1, 2)
-    out = out.squeeze()
-    assert abs(out[2, 1, 0] - 7**2) < 1e-14
-    assert abs(out[2, 1, 1] - 7**3) < 1e-14
-    assert abs(out[-1, -1, 0] - 11**2) < 1e-14
-    assert abs(out[-1, -1, 1] - 11**3) < 1e-14
-
-
-def _get_cse_exprs():
-    args = x, y = se.symbols('x y')
-    exprs = [x*x + y, y/(x*x), y*x*x+x]
-    inp = [11, 13]
-    ref = [121+13, 13/121, 13*121 + 11]
-    return args, exprs, inp, ref
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_cse():
-    args, exprs, inp, ref = _get_cse_exprs()
-    lmb = se.Lambdify(args, exprs, cse=True)
-    out = lmb(inp)
-    assert allclose(out, ref)
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_cse_gh174():
-    x = se.symbols('x')
-    funcs = [se.cos(x)**i for i in range(5)]
-    f_lmb = se.Lambdify([x], funcs)
-    f_cse = se.Lambdify([x], funcs, cse=True)
-    a = np.array([1, 2, 3])
-    assert np.allclose(f_lmb(a), f_cse(a))
-
-
-def _get_cse_exprs_big():
-    # this is essentially a performance test (can be replaced by a benchmark)
-    x, p = se.symarray('x', 14), se.symarray('p', 14)
-    exp = se.exp
-    exprs = [
-        x[0] + x[1] - x[4] + 36.252574322669, x[0] - x[2] + x[3] + 21.3219379611249,
-        x[3] + x[5] - x[6] + 9.9011158998744, 2*x[3] + x[5] - x[7] + 18.190422234653,
-        3*x[3] + x[5] - x[8] + 24.8679190043357, 4*x[3] + x[5] - x[9] + 29.9336062089226,
-        -x[10] + 5*x[3] + x[5] + 28.5520551531262, 2*x[0] + x[11] - 2*x[4] - 2*x[5] + 32.4401680272417,
-        3*x[1] - x[12] + x[5] + 34.9992934135095, 4*x[1] - x[13] + x[5] + 37.0716199972041,
-        (p[0] - p[1] + 2*p[10] + 2*p[11] - p[12] - 2*p[13] + p[2] + 2*p[5] + 2*p[6] + 2*p[7] +
-         2*p[8] + 2*p[9] - exp(x[0]) + exp(x[1]) - 2*exp(x[10]) - 2*exp(x[11]) + exp(x[12]) +
-         2*exp(x[13]) - exp(x[2]) - 2*exp(x[5]) - 2*exp(x[6]) - 2*exp(x[7]) - 2*exp(x[8]) - 2*exp(x[9])),
-        (-p[0] - p[1] - 15*p[10] - 2*p[11] - 3*p[12] - 4*p[13] - 4*p[2] - 3*p[3] - 2*p[4] - 3*p[6] -
-         6*p[7] - 9*p[8] - 12*p[9] + exp(x[0]) + exp(x[1]) + 15*exp(x[10]) + 2*exp(x[11]) +
-         3*exp(x[12]) + 4*exp(x[13]) + 4*exp(x[2]) + 3*exp(x[3]) + 2*exp(x[4]) + 3*exp(x[6]) +
-         6*exp(x[7]) + 9*exp(x[8]) + 12*exp(x[9])),
-        (-5*p[10] - p[2] - p[3] - p[6] - 2*p[7] - 3*p[8] - 4*p[9] + 5*exp(x[10]) + exp(x[2]) + exp(x[3]) +
-         exp(x[6]) + 2*exp(x[7]) + 3*exp(x[8]) + 4*exp(x[9])),
-        -p[1] - 2*p[11] - 3*p[12] - 4*p[13] - p[4] + exp(x[1]) + 2*exp(x[11]) + 3*exp(x[12]) + 4*exp(x[13]) + exp(x[4]),
-        (-p[10] - 2*p[11] - p[12] - p[13] - p[5] - p[6] - p[7] - p[8] - p[9] + exp(x[10]) +
-         2*exp(x[11]) + exp(x[12]) + exp(x[13]) + exp(x[5]) + exp(x[6]) + exp(x[7]) + exp(x[8]) + exp(x[9]))
-    ]
-    return tuple(x) + tuple(p), exprs, np.ones(len(x) + len(p))
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_cse_big():
-    args, exprs, inp = _get_cse_exprs_big()
-    lmb = se.Lambdify(args, exprs, cse=True)
-    out = lmb(inp)
-    ref = [expr.xreplace(dict(zip(args, inp))) for expr in exprs]
-    assert allclose(out, ref)
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_broadcast_c():
-    n = 3
-    inp = np.arange(2*n).reshape((n, 2))
-    assert inp.flags['C_CONTIGUOUS']
-    lmb, check = _get_2_to_2by2()
-    A = lmb(inp)
-    assert A.shape == (3, 2, 2)
-    for i in range(n):
-        check(A[i, ...], inp[i, :])
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_broadcast_fortran():
-    n = 3
-    inp = np.arange(2*n).reshape((n, 2), order='F')
-    lmb, check = _get_2_to_2by2()
-    A = lmb(inp)
-    assert A.shape == (3, 2, 2)
-    for i in range(n):
-        check(A[i, ...], inp[i, :])
-
-
-def _get_1_to_2by3_matrix(Mtx=se.DenseMatrix):
-    x = se.symbols('x')
-    args = x,
-    exprs = Mtx(2, 3, [x+1, x+2, x+3,
-                       1/x, 1/(x*x), 1/(x**3.0)])
-    L = se.Lambdify(args, exprs)
-
-    def check(A, inp):
-        X, = inp
-        assert abs(A[0, 0] - (X+1)) < 1e-15
-        assert abs(A[0, 1] - (X+2)) < 1e-15
-        assert abs(A[0, 2] - (X+3)) < 1e-15
-        assert abs(A[1, 0] - (1/X)) < 1e-15
-        assert abs(A[1, 1] - (1/(X*X))) < 1e-15
-        assert abs(A[1, 2] - (1/(X**3.0))) < 1e-15
-    return L, check
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_2dim_Matrix():
-    L, check = _get_1_to_2by3_matrix()
-    inp = [7]
-    check(L(inp), inp)
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-@unittest.skipUnless(have_sympy, "SymPy not installed")
-def test_2dim_Matrix__sympy():
-    import sympy as sp
-    L, check = _get_1_to_2by3_matrix(sp.Matrix)
-    inp = [7]
-    check(L(inp), inp)
-
-
-
-def _test_2dim_Matrix_broadcast():
-    L, check = _get_1_to_2by3_matrix()
-    inp = range(1, 5)
-    out = L(inp)
-    for i in range(len(inp)):
-        check(out[i, ...], (inp[i],))
-
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_2dim_Matrix_broadcast():
-    _test_2dim_Matrix_broadcast()
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_2dim_Matrix_broadcast_multiple_extra_dim():
-    L, check = _get_1_to_2by3_matrix()
-    inp = np.arange(1, 4*5*6+1).reshape((4, 5, 6))
-    out = L(inp)
-    assert out.shape == (4, 5, 6, 2, 3)
-    for i, j, k in itertools.product(range(4), range(5), range(6)):
-        check(out[i, j, k, ...], (inp[i, j, k],))
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_jacobian():
-    x, y = se.symbols('x, y')
-    args = se.DenseMatrix(2, 1, [x, y])
-    v = se.DenseMatrix(2, 1, [x**3 * y, (x+1)*(y+1)])
-    jac = v.jacobian(args)
-    lmb = se.Lambdify(args, jac)
-    out = np.empty((2, 2))
-    inp = X, Y = 7, 11
-    lmb(inp, out=out)
-    assert np.allclose(out, [[3 * X**2 * Y, X**3],
-                             [Y + 1, X + 1]])
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_jacobian__broadcast():
-    x, y = se.symbols('x, y')
-    args = se.DenseMatrix(2, 1, [x, y])
-    v = se.DenseMatrix(2, 1, [x**3 * y, (x+1)*(y+1)])
-    jac = v.jacobian(args)
-    lmb = se.Lambdify(args, jac)
-    out = np.empty((3, 2, 2))
-    inp0 = 7, 11
-    inp1 = 8, 13
-    inp2 = 5, 9
-    inp = np.array([inp0, inp1, inp2])
-    lmb(inp, out=out)
-    for idx, (X, Y) in enumerate([inp0, inp1, inp2]):
-        assert np.allclose(out[idx, ...], [[3 * X**2 * Y, X**3],
-                                           [Y + 1, X + 1]])
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_excessive_args():
-    x = se.symbols('x')
-    lmb = se.Lambdify([x], [-x])
-    inp = np.ones(2)
-    out = lmb(inp)
-    assert np.allclose(inp, [1, 1])
-    assert len(out) == 2  # broad casting
-    assert np.allclose(out, -1)
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_excessive_out():
-    x = se.symbols('x')
-    lmb = se.Lambdify([x], [-x])
-    inp = np.ones(1)
-    out = np.ones(2)
-    _ = lmb(inp, out=out[:inp.size])
-    assert np.allclose(inp, [1, 1])
-    assert out[0] == -1
-    assert out[1] == 1
-
-
-def all_indices(shape):
-    return itertools.product(*(range(dim) for dim in shape))
-
-
-def ravelled(A):
-    try:
-        return A.ravel()
-    except AttributeError:
-        L = []
-        for idx in all_indices(A.memview.shape):
-            L.append(A[idx])
-        return L
-
-
-def _get_2_to_2by2_list(real=True):
-    args = x, y = se.symbols('x y')
-    exprs = [[x + y*y, y*y], [x*y*y, se.sqrt(x)+y*y]]
-    L = se.Lambdify(args, exprs, real=real)
-
-    def check(A, inp):
-        X, Y = inp
-        assert A.shape[-2:] == (2, 2)
-        ref = [X + Y*Y, Y*Y, X*Y*Y, cmath.sqrt(X)+Y*Y]
-        ravA = ravelled(A)
-        size = _size(ravA)
-        for i in range(size//4):
-            for j in range(4):
-                assert isclose(ravA[i*4 + j], ref[j])
-    return L, check
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_2_to_2by2():
-    L, check = _get_2_to_2by2_list()
-    inp = [13, 17]
-    A = L(inp)
-    check(A, inp)
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_unsafe_real():
-    L, check = _get_2_to_2by2_list()
-    inp = np.array([13., 17.])
-    out = np.empty(4)
-    L.unsafe_real(inp, out)
-    check(out.reshape((2, 2)), inp)
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_unsafe_complex():
-    L, check = _get_2_to_2by2_list(real=False)
-    assert not L.real
-    inp = np.array([13+11j, 7+4j], dtype=np.complex128)
-    out = np.empty(4, dtype=np.complex128)
-    L.unsafe_complex(inp, out)
-    check(out.reshape((2, 2)), inp)
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_itertools_chain():
-    args, exprs, inp, check = _get_array()
-    L = se.Lambdify(args, exprs)
-    inp = itertools.chain([inp[0]], (inp[1],), [inp[2]])
-    A = L(inp)
-    check(A)
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_complex_1():
-    x = se.Symbol('x')
-    lmb = se.Lambdify([x], [1j + x], real=False)
-    assert abs(lmb([11+13j])[0] -
-               (11 + 14j)) < 1e-15
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_complex_2():
-    x = se.Symbol('x')
-    lmb = se.Lambdify([x], [3 + x - 1j], real=False)
-    assert abs(lmb([11+13j])[0] -
-               (14 + 12j)) < 1e-15
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_more_than_255_args():
-    # SymPy's lambdify can handle at most 255 arguments
-    # this is a proof of concept that this limitation does
-    # not affect SymEngine's Lambdify class
-    n = 257
-    x = se.symarray('x', n)
-    p, q, r = 17, 42, 13
-    terms = [i*s for i, s in enumerate(x, p)]
-    exprs = [se.add(*terms), r + x[0], -99]
-    callback = se.Lambdify(x, exprs)
-    input_arr = np.arange(q, q + n*n).reshape((n, n))
-    out = callback(input_arr)
-    ref = np.empty((n, 3))
-    coeffs = np.arange(p, p + n, dtype=np.int64)
-    for i in range(n):
-        ref[i, 0] = coeffs.dot(np.arange(q + n*i, q + n*(i+1), dtype=np.int64))
-        ref[i, 1] = q + n*i + r
-    ref[:, 2] = -99
-    assert np.allclose(out, ref)
-
-
-def _Lambdify_heterogeneous_output(Lambdify):
-    x, y = se.symbols('x, y')
-    args = se.DenseMatrix(2, 1, [x, y])
-    v = se.DenseMatrix(2, 1, [x**3 * y, (x+1)*(y+1)])
-    jac = v.jacobian(args)
-    exprs = [jac, x+y, v, (x+1)*(y+1)]
-    lmb = Lambdify(args, *exprs)
-    inp0 = 7, 11
-    inp1 = 8, 13
-    inp2 = 5, 9
-    inp = np.array([inp0, inp1, inp2])
-    o_j, o_xpy, o_v, o_xty = lmb(inp)
-    for idx, (X, Y) in enumerate([inp0, inp1, inp2]):
-        assert np.allclose(o_j[idx, ...], [[3 * X**2 * Y, X**3],
-                                           [Y + 1, X + 1]])
-        assert np.allclose(o_xpy[idx, ...], [X+Y])
-        assert np.allclose(o_v[idx, ...], [[X**3 * Y], [(X+1)*(Y+1)]])
-        assert np.allclose(o_xty[idx, ...], [(X+1)*(Y+1)])
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_Lambdify_heterogeneous_output():
-    _Lambdify_heterogeneous_output(se.Lambdify)
-
-
-def _sympy_lambdify_heterogeneous_output(cb, Mtx):
-    x, y = se.symbols('x, y')
-    args = Mtx(2, 1, [x, y])
-    v = Mtx(2, 1, [x**3 * y, (x+1)*(y+1)])
-    jac = v.jacobian(args)
-    exprs = [jac, x+y, v, (x+1)*(y+1)]
-    lmb = cb(args, exprs)
-    inp0 = 7, 11
-    inp1 = 8, 13
-    inp2 = 5, 9
-    for idx, (X, Y) in enumerate([inp0, inp1, inp2]):
-        o_j, o_xpy, o_v, o_xty = lmb(X, Y)
-        assert np.allclose(o_j, [[3 * X**2 * Y, X**3],
-                                 [Y + 1, X + 1]])
-        assert np.allclose(o_xpy, [X+Y])
-        assert np.allclose(o_v, [[X**3 * Y], [(X+1)*(Y+1)]])
-        assert np.allclose(o_xty, [(X+1)*(Y+1)])
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-@unittest.skipUnless(have_sympy, "SymPy not installed")
-def test_lambdify__sympy():
-    import sympy as sp
-    _sympy_lambdify_heterogeneous_output(se.lambdify, se.DenseMatrix)
-    _sympy_lambdify_heterogeneous_output(sp.lambdify, sp.Matrix)
-
-
-def _test_Lambdify_scalar_vector_matrix(Lambdify):
-    if not have_numpy:
-        return
-    args = x, y = se.symbols('x y')
-    vec = se.DenseMatrix([x+y, x*y])
-    jac = vec.jacobian(se.DenseMatrix(args))
-    f = Lambdify(args, x**y, vec, jac)
-    assert f.n_exprs == 3
-    s, v, m = f([2, 3])
-    assert s == 2**3
-    assert np.allclose(v, [[2+3], [2*3]])
-    assert np.allclose(m, [
-        [1, 1],
-        [3, 2]
-    ])
-
-    for inp in [[2, 3, 5, 7], np.array([[2, 3], [5, 7]])]:
-        s2, v2, m2 = f(inp)
-        assert np.allclose(s2, [2**3, 5**7])
-        assert np.allclose(v2, [
-            [[2+3], [2*3]],
-            [[5+7], [5*7]]
-        ])
-        assert np.allclose(m2, [
-            [
-                [1, 1],
-                [3, 2]
-            ],
-            [
-                [1, 1],
-                [7, 5]
-            ]
-        ])
-
-
-def test_Lambdify_scalar_vector_matrix():
-    _test_Lambdify_scalar_vector_matrix(lambda *args: se.Lambdify(*args, backend='lambda'))
-    if se.have_llvm:
-        _test_Lambdify_scalar_vector_matrix(lambda *args: se.Lambdify(*args, backend='llvm'))
-
-
-def test_Lambdify_scalar_vector_matrix_cse():
-    _test_Lambdify_scalar_vector_matrix(lambda *args: se.Lambdify(*args, backend='lambda', cse=True))
-    if se.have_llvm:
-        _test_Lambdify_scalar_vector_matrix(lambda *args: se.Lambdify(*args, backend='llvm', cse=True))
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_Lambdify_gh174():
-    # Tests array broadcasting if the expressions form an N-dimensional array
-    # of say shape (k, l, m) and it contains 'n' arguments (x1, ... xn), then
-    # if the user provides a Fortran ordered (column-major) input array of shape
-    # (n, o, p, q), then the returned array will be of shape (k, l, m, o, p, q)
-    args = x, y = se.symbols('x y')
-    nargs = len(args)
-    vec1 = se.DenseMatrix([x, x**2, x**3])
-    assert vec1.shape == (3, 1)
-    assert np.asarray(vec1).shape == (3, 1)
-    lmb1 = se.Lambdify([x], vec1)
-    out1 = lmb1(3)
-    assert out1.shape == (3, 1)
-    assert np.all(out1 == [[3], [9], [27]])
-    assert lmb1([2, 3]).shape == (2, 3, 1)
-    lmb1.order = 'F'  # change order
-    out1a = lmb1([2, 3])
-    assert out1a.shape == (3, 1, 2)
-    ref1a_squeeze = [[2, 3],
-                     [4, 9],
-                     [8, 27]]
-    assert np.all(out1a.squeeze() == ref1a_squeeze)
-    assert out1a.flags['F_CONTIGUOUS']
-    assert not out1a.flags['C_CONTIGUOUS']
-
-    lmb2c = se.Lambdify(args, vec1, x+y, order='C')
-    lmb2f = se.Lambdify(args, vec1, x+y, order='F')
-    for out2a in [lmb2c([2, 3]), lmb2f([2, 3])]:
-        assert np.all(out2a[0] == [[2], [4], [8]])
-        assert out2a[0].ndim == 2
-        assert out2a[1] == 5
-        assert out2a[1].ndim == 0
-    inp2b = np.array([
-        [2.0, 3.0],
-        [1.0, 2.0],
-        [0.0, 6.0]
-    ])
-    raises(ValueError, lambda: (lmb2c(inp2b.T)))
-    out2c = lmb2c(inp2b)
-    out2f = lmb2f(np.asfortranarray(inp2b.T))
-    assert out2c[0].shape == (3, 3, 1)
-    assert out2f[0].shape == (3, 1, 3)
-    for idx, (_x, _y) in enumerate(inp2b):
-        assert np.all(out2c[0][idx, ...] == [[_x], [_x**2], [_x**3]])
-
-    assert np.all(out2c[1] == [5, 3, 6])
-    assert np.all(out2f[1] == [5, 3, 6])
-    assert out2c[1].shape == (3,)
-    assert out2f[1].shape == (3,)
-
-    def _mtx3(_x, _y):
-        return [[_x**row_idx + _y**col_idx for col_idx in range(3)]
-                for row_idx in range(4)]
-    mtx3c = np.array(_mtx3(x, y), order='C')
-    mtx3f = np.array(_mtx3(x, y), order='F')
-    lmb3c = se.Lambdify([x, y], x*y, mtx3c, vec1, order='C')
-    lmb3f = se.Lambdify([x, y], x*y, mtx3f, vec1, order='F')
-    inp3c = np.array([[2., 3], [3, 4], [5, 7], [6, 2], [3, 1]])
-    inp3f = np.asfortranarray(inp3c.T)
-    raises(ValueError, lambda: (lmb3c(inp3c.T)))
-    out3c = lmb3c(inp3c)
-    assert out3c[0].shape == (5,)
-    assert out3c[1].shape == (5, 4, 3)
-    assert out3c[2].shape == (5, 3, 1)  # user can apply numpy.squeeze if they want to.
-    for a, b in zip(out3c, lmb3c(np.ravel(inp3c))):
-        assert np.all(a == b)
-
-    out3f = lmb3f(inp3f)
-    assert out3f[0].shape == (5,)
-    assert out3f[1].shape == (4, 3, 5)
-    assert out3f[2].shape == (3, 1, 5)  # user can apply numpy.squeeze if they want to.
-    for a, b in zip(out3f, lmb3f(np.ravel(inp3f, order='F'))):
-        assert np.all(a == b)
-
-    for idx, (_x, _y) in enumerate(inp3c):
-        assert out3c[0][idx] == _x*_y
-        assert out3f[0][idx] == _x*_y
-        assert np.all(out3c[1][idx, ...] == _mtx3(_x, _y))
-        assert np.all(out3f[1][..., idx] == _mtx3(_x, _y))
-        assert np.all(out3c[2][idx, ...] == [[_x],[_x**2],[_x**3]])
-        assert np.all(out3f[2][..., idx] == [[_x],[_x**2],[_x**3]])
-
-
-def _get_Ndim_args_exprs_funcs(order):
-    args = x, y = se.symbols('x y')
-
-    # Higher dimensional inputs
-    def f_a(index, _x, _y):
-        a, b, c, d = index
-        return _x**a + _y**b + (_x+_y)**-d
-
-    nd_exprs_a = np.zeros((3, 5, 1, 4), dtype=object, order=order)
-    for index in np.ndindex(*nd_exprs_a.shape):
-        nd_exprs_a[index] = f_a(index, x, y)
-
-    def f_b(index, _x, _y):
-        a, b, c = index
-        return b/(_x + _y)
-
-    nd_exprs_b = np.zeros((1, 7, 1), dtype=object, order=order)
-    for index in np.ndindex(*nd_exprs_b.shape):
-        nd_exprs_b[index] = f_b(index, x, y)
-    return args, nd_exprs_a, nd_exprs_b, f_a, f_b
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_Lambdify_Ndimensional_order_C():
-    args, nd_exprs_a, nd_exprs_b, f_a, f_b = _get_Ndim_args_exprs_funcs(order='C')
-    lmb4 = se.Lambdify(args, nd_exprs_a, nd_exprs_b, order='C')
-    nargs = len(args)
-
-    inp_extra_shape = (3, 5, 4)
-    inp_shape = inp_extra_shape + (nargs,)
-    inp4 = np.arange(reduce(mul, inp_shape)*1.0).reshape(inp_shape, order='C')
-    out4a, out4b = lmb4(inp4)
-    assert out4a.ndim == 7
-    assert out4a.shape == inp_extra_shape + nd_exprs_a.shape
-    assert out4b.ndim == 6
-    assert out4b.shape == inp_extra_shape + nd_exprs_b.shape
-    raises(ValueError, lambda: (lmb4(inp4.T)))
-    for b, c, d in np.ndindex(inp_extra_shape):
-        _x, _y = inp4[b, c, d, :]
-        for index in np.ndindex(*nd_exprs_a.shape):
-            assert np.isclose(out4a[(b, c, d) + index], f_a(index, _x, _y))
-        for index in np.ndindex(*nd_exprs_b.shape):
-            assert np.isclose(out4b[(b, c, d) + index], f_b(index, _x, _y))
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_Lambdify_Ndimensional_order_F():
-    args, nd_exprs_a, nd_exprs_b, f_a, f_b = _get_Ndim_args_exprs_funcs(order='F')
-    lmb4 = se.Lambdify(args, nd_exprs_a, nd_exprs_b, order='F')
-    nargs = len(args)
-
-    inp_extra_shape = (3, 5, 4)
-    inp_shape = (nargs,)+inp_extra_shape
-    inp4 = np.arange(reduce(mul, inp_shape)*1.0).reshape(inp_shape, order='F')
-    out4a, out4b = lmb4(inp4)
-    assert out4a.ndim == 7
-    assert out4a.shape == nd_exprs_a.shape + inp_extra_shape
-    assert out4b.ndim == 6
-    assert out4b.shape == nd_exprs_b.shape + inp_extra_shape
-    raises(ValueError, lambda: (lmb4(inp4.T)))
-    for b, c, d in np.ndindex(inp_extra_shape):
-        _x, _y = inp4[:, b, c, d]
-        for index in np.ndindex(*nd_exprs_a.shape):
-            assert np.isclose(out4a[index + (b, c, d)], f_a(index, _x, _y))
-        for index in np.ndindex(*nd_exprs_b.shape):
-            assert np.isclose(out4b[index + (b, c, d)], f_b(index, _x, _y))
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_Lambdify_inp_exceptions():
-    args = x, y = se.symbols('x y')
-    lmb1 = se.Lambdify([x], x**2)
-    raises(ValueError, lambda: (lmb1([])))
-    assert lmb1(4) == 16
-    assert np.all(lmb1([4, 2]) == [16, 4])
-
-    lmb2 = se.Lambdify(args, x**2+y**2)
-    assert lmb2([2, 3]) == 13
-    raises(ValueError, lambda: lmb2([]))
-    raises(ValueError, lambda: lmb2([2]))
-    raises(ValueError, lambda: lmb2([2, 3, 4]))
-    assert np.all(lmb2([2, 3, 4, 5]) == [13, 16+25])
-
-    def _mtx(_x, _y):
-        return [
-            [_x-_y, _y**2],
-            [_x+_y, _x**2],
-            [_x*_y, _x**_y]
-        ]
-
-    mtx = np.array(_mtx(x, y), order='F')
-    lmb3 = se.Lambdify(args, mtx, order='F')
-    inp3a = [2, 3]
-    assert np.all(lmb3(inp3a) == _mtx(*inp3a))
-    inp3b = np.array([2, 3, 4, 5, 3, 2, 1, 5])
-    for inp in [inp3b, inp3b.tolist(), inp3b.reshape((2, 4), order='F')]:
-        out3b = lmb3(inp)
-        assert out3b.shape == (3, 2, 4)
-        for i in range(4):
-            assert np.all(out3b[..., i] == _mtx(*inp3b[2*i:2*(i+1)]))
-    raises(ValueError, lambda: lmb3(inp3b.reshape((4, 2))))
-    raises(ValueError, lambda: lmb3(inp3b.reshape((2, 4)).T))
-
-
-@unittest.skipUnless(have_scipy, "Scipy not installed")
-def test_scipy():
-    from scipy import integrate
-    import numpy as np
-    args = t, x = se.symbols('t, x')
-    lmb = se.Lambdify(args, [se.exp(-x*t)/t**5], as_scipy=True)
-    res = integrate.nquad(lmb, [[1, np.inf], [0, np.inf]])
-    assert abs(res[0] - 0.2) < 1e-7
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_as_ctypes():
-    import numpy as np
-    import ctypes
-    x, y, z = se.symbols('x, y, z')
-    l = se.Lambdify([x, y, z], [x+y+z, x*y*z+1])
-    addr1, addr2 = l.as_ctypes()
-    inp = np.array([1,2,3], dtype=np.double)
-    out = np.array([0, 0], dtype=np.double)
-    addr1(out.ctypes.data_as(ctypes.POINTER(ctypes.c_double)), inp.ctypes.data_as(ctypes.POINTER(ctypes.c_double)), addr2)
-    assert np.all(out == [6, 7])
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-@unittest.skipUnless(se.have_llvm, "No LLVM support")
-def test_llvm_float():
-    import numpy as np
-    import ctypes
-    from symengine.lib.symengine_wrapper import LLVMFloat
-    x, y, z = se.symbols('x, y, z')
-    l = se.Lambdify([x, y, z], [se.Min(x, y), se.Max(y, z)], dtype=np.float32, backend='llvm')
-    inp = np.array([1,2,3], dtype=np.float32)
-    exp_out = np.array([1, 3], dtype=np.float32)
-    out = l(inp)
-    assert type(l) == LLVMFloat
-    assert out.dtype == np.float32
-    assert np.allclose(out, exp_out)
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-@unittest.skipUnless(se.have_llvm, "No LLVM support")
-@unittest.skipUnless(se.have_llvm_long_double, "No LLVM IEEE-80 bit support")
-def test_llvm_long_double():
-    import numpy as np
-    import ctypes
-    from symengine.lib.symengine_wrapper import LLVMLongDouble
-    x, y, z = se.symbols('x, y, z')
-    l = se.Lambdify([x, y, z], [2*x, y/z], dtype=np.longdouble, backend='llvm')
-    inp = np.array([1,2,3], dtype=np.longdouble)
-    exp_out = np.array([2, 2.0/3.0], dtype=np.longdouble)
-    out = l(inp)
-    assert type(l) == LLVMLongDouble
-    assert out.dtype == np.longdouble
-    assert np.allclose(out, exp_out)
diff --git a/symengine/tests/test_logic.py b/symengine/tests/test_logic.py
deleted file mode 100644
index 3d0c3391..00000000
--- a/symengine/tests/test_logic.py
+++ /dev/null
@@ -1,124 +0,0 @@
-from symengine.test_utilities import raises
-from symengine.lib.symengine_wrapper import (true, false, Eq, Ne, Ge, Gt, Le, Lt, Symbol,
-                                            I, And, Or, Not, Nand, Nor, Xor, Xnor, Piecewise,
-                                            Contains, Interval, FiniteSet, oo, log)
-
-x = Symbol("x")
-y = Symbol("y")
-z = Symbol("z")
-
-def test_relationals():
-    assert Eq(0) == true
-    assert Eq(1) == false
-    assert Eq(x, x) == true
-    assert Eq(0, 0) == true
-    assert Eq(1, 0) == false
-    assert Ne(0, 0) == false
-    assert Ne(1, 0) == true
-    assert Lt(0, 1) == true
-    assert Lt(1, 0) == false
-    assert Le(0, 1) == true
-    assert Le(1, 0) == false
-    assert Le(0, 0) == true
-    assert Gt(1, 0) == true
-    assert Gt(0, 1) == false
-    assert Ge(1, 0) == true
-    assert Ge(0, 1) == false
-    assert Ge(1, 1) == true
-    assert Eq(I, 2) == false
-    assert Ne(I, 2) == true
-    eq = Eq(x, y)
-    assert eq.func(*eq.args) == eq
-    ne = Ne(x, y)
-    assert ne.func(*ne.args) == ne
-
-
-def test_rich_cmp():
-    assert (x < y) == Lt(x, y)
-    assert (x <= y) == Le(x, y)
-    assert (x > y) == Gt(x, y)
-    assert (x >= y) == Ge(x, y)
-
-
-def test_And():
-    assert And() == true
-    assert And(True) == true
-    assert And(False) == false
-    assert And(True, True ) == true
-    assert And(True, False) == false
-    assert And(False, False) == false
-    assert And(True, True, True) == true
-    raises(TypeError, lambda: x < y and y < 1)
-
-
-def test_Or():
-    assert Or() == false
-    assert Or(True) == true
-    assert Or(False) == false
-    assert Or(True, True ) == true
-    assert Or(True, False) == true
-    assert Or(False, False) == false
-    assert Or(True, False, False) == true
-    raises(TypeError, lambda: x < y or y < 1)
-
-
-def test_Nor():
-    assert Nor() == true
-    assert Nor(True) == false
-    assert Nor(False) == true
-    assert Nor(True, True ) == false
-    assert Nor(True, False) == false
-    assert Nor(False, False) == true
-    assert Nor(True, True, True) == false
-
-
-def test_Nand():
-    assert Nand() == false
-    assert Nand(True) == false
-    assert Nand(False) == true
-    assert Nand(True, True) == false
-    assert Nand(True, False) == true
-    assert Nand(False, False) == true
-    assert Nand(True, True, True) == false
-
-
-def test_Not():
-    assert Not(True) == false
-    assert Not(False) == true
-
-
-def test_Xor():
-    assert Xor() == false
-    assert Xor(True) == true
-    assert Xor(False) == false
-    assert Xor(True, True ) == false
-    assert Xor(True, False) == true
-    assert Xor(False, False) == false
-    assert Xor(True, False, False) == true
-
-
-def test_Xnor():
-    assert Xnor() == true
-    assert Xnor(True) == false
-    assert Xnor(False) == true
-    assert Xnor(True, True ) == true
-    assert Xnor(True, False) == false
-    assert Xnor(False, False) == true
-    assert Xnor(True, False, False) == false
-
-
-def test_Piecewise():
-    assert Piecewise((x, x < 1), (0, True)) == Piecewise((x, x < 1), (0, True))
-    int1 = Interval(1, 2, True, False)
-    int2 = Interval(2, 5, True, False)
-    int3 = Interval(5, 10, True, False)
-    p = Piecewise((x, Contains(x, int1)), (y, Contains(x, int2)), (x + y, Contains(x, int3)))
-    q = Piecewise((1, Contains(x, int1)), (0, Contains(x, int2)), (1, Contains(x, int3)))
-    assert p.diff(x) == q
-
-
-def test_Contains():
-    assert Contains(x, FiniteSet(0)) != false
-    assert Contains(x, Interval(1, 1)) != false
-    assert Contains(oo, Interval(-oo, oo)) == false
-    assert Contains(-oo, Interval(-oo, oo)) == false
diff --git a/symengine/tests/test_matrices.py b/symengine/tests/test_matrices.py
deleted file mode 100644
index 9733e10b..00000000
--- a/symengine/tests/test_matrices.py
+++ /dev/null
@@ -1,757 +0,0 @@
-from symengine import symbols, init_printing
-from symengine.lib.symengine_wrapper import (DenseMatrix, Symbol, Integer,
-    Rational, function_symbol, I, NonSquareMatrixError, ShapeError, zeros,
-    ones, eye, ImmutableMatrix)
-from symengine.test_utilities import raises
-import unittest
-
-
-try:
-    import numpy as np
-    have_numpy = True
-except ImportError:
-    have_numpy = False
-    
-try:
-    import sympy
-    from sympy.core.cache import clear_cache
-    import atexit
-    atexit.register(clear_cache)
-    have_sympy = True
-except ImportError:
-    have_sympy = False
-
-
-def test_init():
-    raises(ValueError, lambda: DenseMatrix(2, 1, [0]*4))
-
-
-def test_get():
-    A = DenseMatrix([[1, 2], [3, 4]])
-
-    assert A.get(0, 0) == 1
-    assert A.get(0, 1) == 2
-    assert A.get(1, 1) == 4
-
-    a = Symbol("a")
-    b = Symbol("b")
-    c = Symbol("c")
-    d = Symbol("d")
-    A = DenseMatrix(2, 2, [a, b, c, d])
-
-    assert A.get(0, 0) == a
-    assert A.get(1, 0) == c
-    assert A.get(1, 1) == d
-
-    assert A.get(-1, 0) == c
-    assert A.get(-1, -1) == d
-
-    raises(IndexError, lambda: A.get(2, 0))
-    raises(IndexError, lambda: A.get(0, 2))
-    raises(IndexError, lambda: A.get(-3, 0))
-
-
-def test_tolist():
-    A = DenseMatrix([2, 3])
-    assert A.shape == (2, 1)
-    assert A.tolist() == [[2], [3]]
-
-
-def test_get_item():
-    A = DenseMatrix(3, 3, [1, 2, 3, 4, 5, 6, 7, 8, 9])
-
-    assert A[5] == 6
-    assert A[-1] == 9
-    assert A[2, 2] == 9
-    assert A[-2, 2] == 6
-
-    assert A[1:2, 0] == DenseMatrix(1, 1, [4])
-    assert A[1:3, 0] == DenseMatrix(2, 1, [4, 7])
-    assert A[1:3, 0] == DenseMatrix(2, 1, [4, 7])
-    assert A[1:3, 1:] == DenseMatrix(2, 2, [5, 6, 8, 9])
-    assert A[1:3, :1] == DenseMatrix(2, 1, [4, 7])
-    assert A[0, 0:] == DenseMatrix(1, 3, [1, 2, 3])
-    assert A[2, :] == DenseMatrix(1, 3, [7, 8, 9])
-    assert A[:2, -2:] == DenseMatrix(2, 2, [2, 3, 5, 6])
-    assert A[1:, :3] == DenseMatrix(2, 3, [4, 5, 6, 7, 8, 9])
-    assert A[1:] == [2, 3, 4, 5, 6, 7, 8, 9]
-    assert A[-2:] == [8, 9]
-    assert A[[0, 2], 0] == DenseMatrix(2, 1, [1, 7])
-    assert A[[0, 2], [0]] == DenseMatrix(2, 1, [1, 7])
-    assert A[0, [0, 2]] == DenseMatrix(1, 2, [1, 3])
-    assert A[[0], [0, 2]] == DenseMatrix(1, 2, [1, 3])
-
-    raises(IndexError, lambda: A[-10])
-    raises(IndexError, lambda: A[9])
-
-    raises(IndexError, lambda: A[1:3, 3])
-    raises(IndexError, lambda: A[1:3, -4])
-
-    A = zeros(3, 4)
-    assert list(A[0, :]) == [0, 0, 0, 0]
-    assert list(A[:, 0]) == [0, 0, 0]
-
-    A = zeros(4, 3)
-    assert list(A[:, 0]) == [0, 0, 0, 0]
-    assert list(A[0, :]) == [0, 0, 0]
-
-
-def test_set_item():
-    A = DenseMatrix(3, 3, [1, 2, 3, 4, 5, 6, 7, 8, 9])
-
-    A[2] = 7
-    A[2, 2] = 8
-    A[-2] = 3
-    A[-2, -1] = 1
-
-    assert A == DenseMatrix(3, 3, [1, 2, 7, 4, 5, 1, 7, 3, 8])
-
-    A[0, :] = [10, 11, 12]
-    assert A == DenseMatrix(3, 3, [10, 11, 12, 4, 5, 1, 7, 3, 8])
-
-    A[:, 1] = [13, 14, 15]
-    assert A == DenseMatrix(3, 3, [10, 13, 12, 4, 14, 1, 7, 15, 8])
-
-    A[0::2, :] = [[1, 2, 3], [4, 5, 6]]
-    assert A == DenseMatrix(3, 3, [1, 2, 3, 4, 14, 1, 4, 5, 6])
-
-    B = DenseMatrix(A)
-    B[[0, 2], 0] = -1
-    assert B == DenseMatrix(3, 3, [-1, 2, 3, 4, 14, 1, -1, 5, 6])
-
-    B = DenseMatrix(A)
-    B[[0, 2], 0] = [-1, -2]
-    assert B == DenseMatrix(3, 3, [-1, 2, 3, 4, 14, 1, -2, 5, 6])
-
-    B = DenseMatrix(A)
-    B[[0, 2], 0] = [[-1], [-2]]
-    assert B == DenseMatrix(3, 3, [-1, 2, 3, 4, 14, 1, -2, 5, 6])
-
-    B = DenseMatrix(A)
-    B[[0, 2], [0]] = [-1, -2]
-    assert B == DenseMatrix(3, 3, [-1, 2, 3, 4, 14, 1, -2, 5, 6])
-
-    B = DenseMatrix(A)
-    B[[0, 2], [0]] = [[-1], [-2]]
-    assert B == DenseMatrix(3, 3, [-1, 2, 3, 4, 14, 1, -2, 5, 6])
-
-    B = DenseMatrix(A)
-    B[0, [0, 2]] = [-1, -2]
-    assert B == DenseMatrix(3, 3, [-1, 2, -2, 4, 14, 1, 4, 5, 6])
-
-    B = DenseMatrix(A)
-    B[0, [0, 2]] = -1
-    assert B == DenseMatrix(3, 3, [-1, 2, -1, 4, 14, 1, 4, 5, 6])
-
-    B = DenseMatrix(A)
-    B[:, [0, 2]] = -1
-    assert B == DenseMatrix(3, 3, [-1, 2, -1, -1, 14, -1, -1, 5, -1])
-
-    B = DenseMatrix(A)
-    B[[0, 1], [0, 2]] = -1
-    assert B == DenseMatrix(3, 3, [-1, 2, -1, -1, 14, -1, 4, 5, 6])
-
-    A = zeros(3, 4)
-    B = ones(1, 4)
-    A[0, :] = B
-    assert A[0, :] == B
-
-    A = zeros(3, 4)
-    B = ones(3, 1)
-    A[:, 0] = B
-    assert A[:, 0] == B
-
-
-def test_set():
-    i7 = Integer(7)
-    y = Symbol("y")
-    g = function_symbol("g", y)
-    c = 2*I + 3
-    A = DenseMatrix(2, 2,
-                    [Integer(5), Symbol("x"),
-                     function_symbol("f", Symbol("x")), 1 + I])
-
-    A.set(0, 0, i7)
-    assert A.get(0, 0) == i7
-    A.set(0, 1, y)
-    assert A.get(0, 1) == y
-    A.set(1, 0, g)
-    assert A.get(1, 0) == g
-    A.set(1, 1, c)
-    assert A.get(1, 1) == c
-
-
-def test_det():
-    A = DenseMatrix(2, 2, [1, 2, 3, 4])
-    assert A.det() == -2
-
-    a = Symbol("a")
-    b = Symbol("b")
-    c = Symbol("c")
-    d = Symbol("d")
-    A = DenseMatrix(2, 2, [a, b, c, d])
-    assert A.det() == a*d - b*c
-
-    A = DenseMatrix(3, 2, [1, 2, 3, 4, 5, 6])
-    raises(NonSquareMatrixError, lambda: A.det())
-
-
-def test_inv():
-    A = DenseMatrix(2, 2, [1, 0, 0, 1])
-    assert A.inv() == A
-
-    A = DenseMatrix(2, 2, [1, 2, 2, 3])
-    B = DenseMatrix(2, 2, [-3, 2, 2, -1])
-
-    assert A.inv('LU') == B
-    assert A.inv('FFLU') == B
-    assert A.inv('GJ') == B
-
-
-def test_add_matrix():
-    A = DenseMatrix(2, 2, [1, 2, 3, 4])
-    B = DenseMatrix(2, 2, [1, 0, 0, 1])
-
-    assert A.add_matrix(B) == DenseMatrix(2, 2, [2, 2, 3, 5])
-
-    a = Symbol("a")
-    b = Symbol("b")
-    c = Symbol("c")
-    d = Symbol("d")
-    A = DenseMatrix(2, 2, [a + b, a - b, a, b])
-    B = DenseMatrix(2, 2, [a - b, a + b, -a, b])
-
-    assert A.add_matrix(B) == DenseMatrix(2, 2, [2*a, 2*a, 0, 2*b])
-    assert A + B == DenseMatrix(2, 2, [2*a, 2*a, 0, 2*b])
-
-    C = DenseMatrix(1, 2, [a, b])
-    raises(ShapeError, lambda: A + C)
-
-
-def test_mul_matrix():
-    A = DenseMatrix(2, 2, [1, 2, 3, 4])
-    B = DenseMatrix(2, 2, [1, 0, 0, 1])
-
-    assert A.mul_matrix(B) == A
-
-    a = Symbol("a")
-    b = Symbol("b")
-    c = Symbol("c")
-    d = Symbol("d")
-    A = DenseMatrix(2, 2, [a, b, c, d])
-    B = DenseMatrix(2, 2, [1, 0, 1, 0])
-
-    assert A.mul_matrix(B) == DenseMatrix(2, 2, [a + b, 0, c + d, 0])
-    assert A * B == DenseMatrix(2, 2, [a + b, 0, c + d, 0])
-    assert A @ B == DenseMatrix(2, 2, [a + b, 0, c + d, 0])
-    assert (A @ DenseMatrix(2, 1, [0]*2)).shape == (2, 1)
-
-    C = DenseMatrix(2, 3, [1, 2, 3, 2, 3, 4])
-    D = DenseMatrix(3, 2, [3, 4, 4, 5, 5, 6])
-
-    assert C.mul_matrix(D) == DenseMatrix(2, 2, [26, 32, 38, 47])
-
-    raises(ShapeError, lambda: A*D)
-
-
-def test_multiply_elementwise():
-    A = DenseMatrix(2, 2, [1, 2, 3, 4])
-    B = DenseMatrix(2, 2, [1, 0, 0, 1])
-
-    assert A.multiply_elementwise(B) == DenseMatrix(2, 2, [1, 0, 0, 4])
-
-
-def test_add_scalar():
-    A = DenseMatrix(2, 2, [1, 2, 3, 4])
-
-    a = Symbol("a")
-    assert A.add_scalar(a) == DenseMatrix(2, 2, [1 + a, 2 + a, 3 + a, 4 + a])
-
-    i5 = Integer(5)
-    assert A.add_scalar(i5) == DenseMatrix(2, 2, [6, 7, 8, 9])
-    raises(TypeError, lambda: A + 5)
-    raises(TypeError, lambda: 5 + A)
-
-
-def test_mul_scalar():
-    A = DenseMatrix(2, 2, [1, 2, 3, 4])
-
-    a = Symbol("a")
-    assert A.mul_scalar(a) == DenseMatrix(2, 2, [a, 2*a, 3*a, 4*a])
-
-    i5 = Integer(5)
-    assert A.mul_scalar(i5) == DenseMatrix(2, 2, [5, 10, 15, 20])
-    assert A * 5 == DenseMatrix(2, 2, [5, 10, 15, 20])
-    assert 5 * A == DenseMatrix(2, 2, [5, 10, 15, 20])
-    assert a * A == DenseMatrix(2, 2, [a, 2*a, 3*a, 4*a])
-
-
-def test_neg_abs():
-    A = DenseMatrix(2, 3, [1, 2, 3, 4, 5, 6])
-    B = DenseMatrix(2, 3, [-1, -2, -3, -4, -5, -6])
-    assert -A == B
-
-    assert A == abs(B)
-
-
-def test_sub():
-    A = DenseMatrix(2, 2, [1, 2, 3, 4])
-    B = DenseMatrix(2, 2, [0, -1, -2, -3])
-    a = Symbol("a")
-    assert A - B == DenseMatrix(2, 2, [1, 3, 5, 7])
-
-    C = DenseMatrix(2, 1, [1, 2])
-    raises(ShapeError, lambda: A - C)
-    raises(TypeError, lambda: A - 5)
-    raises(TypeError, lambda: 5 - A)
-
-
-def test_div():
-    w, x, y, z = symbols("w, x, y, z")
-    A = DenseMatrix([[w, x], [y, z]])
-    B = DenseMatrix([[1, 1], [1, 0]])
-    C = DenseMatrix([[x, w - x], [z, y - z]])
-
-    assert A / 2 == DenseMatrix([[w/2, x/2], [y/2, z/2]])
-    assert C * B == A
-    assert A / B == C
-
-    raises(TypeError, lambda: 2/A)
-
-
-def test_transpose():
-    A = DenseMatrix(3, 3, [1, 2, 3, 4, 5, 6, 7, 8, 9])
-
-    assert A.transpose() == DenseMatrix(3, 3, [1, 4, 7, 2, 5, 8, 3, 6, 9])
-
-    A = DenseMatrix(2, 2, [1, 2, 2, 1])
-
-    assert A.transpose() == A
-
-
-def test_conjugate():
-    A = DenseMatrix(2, 2, [1, 2, 3, I])
-    assert A.conjugate() == DenseMatrix(2, 2, [1, 2, 3, -I])
-
-
-def test_conjugate_transpose():
-    A = DenseMatrix(2, 2, [1, 2, 3, I])
-    assert A.conjugate_transpose() == DenseMatrix(2, 2, [1, 3, 2, -I])
-
-
-def test_trace():
-    A = DenseMatrix(2, 2, [1, 2, 3, 4])
-    assert A.trace() == 5
-
-
-def test_is_zero_matrix():
-    A = DenseMatrix(2, 2, [1, 2, 3, I])
-    assert not A.is_zero_matrix
-    B = DenseMatrix(1, 1, [Symbol('x')])
-    assert B.is_zero_matrix is None
-    C = DenseMatrix(3, 3, [0, 0, 0, 0, 0, 0, 0, 0, 0])
-    assert C.is_zero_matrix
-
-
-def test_is_real_matrix():
-    A = DenseMatrix(2, 2, [1, 2, 3, I])
-    assert not A.is_real_matrix
-    B = DenseMatrix(1, 1, [Symbol('x')])
-    assert B.is_real_matrix is None
-    C = DenseMatrix(3, 3, [0, 0, 0, 0, 0, 0, 0, 0, 0])
-    assert C.is_real_matrix
-
-
-def test_is_diagonal():
-    A = DenseMatrix(2, 2, [1, 0, 0, I])
-    assert A.is_diagonal
-    B = DenseMatrix(1, 1, [Symbol('x')])
-    assert B.is_diagonal
-    C = DenseMatrix(3, 3, [0, 0, 0, 0, 0, 0, 0, 2, 0])
-    assert not C.is_diagonal
-
-
-def test_is_symmetric():
-    A = DenseMatrix(2, 2, [1, 3, 2, I])
-    assert not A.is_symmetric
-    B = DenseMatrix(1, 1, [Symbol('x')])
-    assert B.is_symmetric
-    C = DenseMatrix(3, 3, [0, 0, 0, 0, 0, 0, 0, 2, 0])
-    assert not C.is_symmetric
-
-
-def test_is_hermitian():
-    A = DenseMatrix(2, 2, [1, 3, 2, I])
-    assert not A.is_hermitian
-    B = DenseMatrix(1, 1, [Symbol('x')])
-    assert B.is_hermitian is None
-    C = DenseMatrix(3, 3, [0, I, 0, 0, 0, 0, 0, 2, 0])
-    assert not C.is_hermitian
-
-
-def test_is_weakly_diagonally_dominant():
-    A = DenseMatrix(2, 2, [2, 1, 1, 2])
-    assert A.is_weakly_diagonally_dominant
-    C = DenseMatrix(3, 3, [Symbol('x'), 0, 0, 0, 3, 0, 0, 0, 4])
-    assert C.is_weakly_diagonally_dominant is None
-
-
-def test_is_strongly_diagonally_dominant():
-    A = DenseMatrix(2, 2, [2, 1, 1, 2])
-    assert A.is_strongly_diagonally_dominant
-    C = DenseMatrix(3, 3, [Symbol('x'), 2, 0, 0, 4, 0, 0, 0, 4])
-    assert C.is_strongly_diagonally_dominant is None
-
-
-def test_is_positive_definite():
-    A = DenseMatrix(2, 2, [2, 1, 1, 2])
-    assert A.is_positive_definite
-    C = DenseMatrix(3, 3, [Symbol('x'), 2, 0, 0, 4, 0, 0, 0, 4])
-    assert C.is_positive_definite is None
-
-
-def test_is_negative_definite():
-    A = DenseMatrix(2, 2, [-2, -1, -1, -2])
-    assert A.is_negative_definite
-    C = DenseMatrix(3, 3, [Symbol('x'), -2, 0, 0, -4, 0, 0, 0, -4])
-    assert C.is_negative_definite is None
-
-
-def test_LU():
-    A = DenseMatrix(3, 3, [1, 3, 5, 2, 5, 6, 8, 3, 1])
-    L, U = A.LU()
-
-    assert L == DenseMatrix(3, 3, [1, 0, 0, 2, 1, 0, 8, 21, 1])
-    assert U == DenseMatrix(3, 3, [1, 3, 5, 0, -1, -4, 0, 0, 45])
-
-
-def test_LDL():
-    A = DenseMatrix(3, 3, [4, 12, -16, 12, 37, -43, -16, -43, 98])
-
-    L, D = A.LDL()
-
-    assert L == DenseMatrix(3, 3, [1, 0, 0, 3, 1, 0, -4, 5, 1])
-    assert D == DenseMatrix(3, 3, [4, 0, 0, 0, 1, 0, 0, 0, 9])
-
-
-def test_solve():
-    A = DenseMatrix(4, 4, [1, 2, 3, 4, 2, 2, 3, 4, 3, 3, 3, 4, 9, 8, 7, 6])
-    b = DenseMatrix(4, 1, [10, 11, 13, 30])
-    y = DenseMatrix(4, 1, [1, 1, 1, 1])
-
-    x = A.solve(b, 'LU')
-    assert x == y
-    x = A.solve(b, 'FFLU')
-    assert x == y
-    x = A.solve(b, 'FFGJ')
-    assert x == y
-
-
-def test_FFLU():
-    A = DenseMatrix(4, 4, [1, 2, 3, 4, 2, 2, 3, 4, 3, 3, 3, 4, 9, 8, 7, 6])
-
-    L, U = A.FFLU()
-    assert L == DenseMatrix(4, 4, [1, 0, 0, 0, 2, -2, 0, -0, 3,
-                                   -3, 3, 0, 9, -10, 10, -10])
-    assert U == DenseMatrix(4, 4, [1, 2, 3, 4, 0, -2, -3, -4,
-                                   0, 0, 3, 4, 0, 0, 0, -10])
-
-
-def test_FFLDU():
-    A = DenseMatrix(3, 3, [1, 2, 3, 5, -3, 2, 6, 2, 1])
-    L, D, U = A.FFLDU()
-
-    assert L == DenseMatrix(3, 3, [1, 0, 0, 5, -13, 0, 6, -10, 1])
-    assert D == DenseMatrix(3, 3, [1, 0, 0, 0, -13, 0, 0, 0, -13])
-    assert U == DenseMatrix(3, 3, [1, 2, 3, 0, -13, -13, 0, 0, 91])
-
-
-def test_QR():
-    A = DenseMatrix(3, 3, [12, -51, 4, 6, 167, -68, -4, 24, -41])
-    Q, R = A.QR()
-
-    assert Q == DenseMatrix(3, 3, [Rational(6, 7), Rational(-69, 175),
-                                   Rational(-58, 175), Rational(3, 7),
-                                   Rational(158, 175), Rational(6, 175),
-                                   Rational(-2, 7), Rational(6, 35),
-                                   Rational(-33, 35)])
-    assert R == DenseMatrix(3, 3, [14, 21, -14, 0, 175, -70, 0, 0, 35])
-
-
-def test_cholesky():
-    A = DenseMatrix(3, 3, [4, 12, -16, 12, 37, -43, -16, -43, 98])
-    L = A.cholesky()
-
-    assert L == DenseMatrix(3, 3, [2, 0, 0, 6, 1, 0, -8, 5, 3])
-
-
-def test_str_repr():
-    d = DenseMatrix(3, 2, [1, 2, 3, 4, 5, 6])
-    assert str(d) == '[1, 2]\n[3, 4]\n[5, 6]\n'
-    assert str(d) == repr(d)
-
-
-def test_DenseMatrix_symbols():
-    x, y, z = symbols("x y z")
-    D = DenseMatrix(4, 4,
-                    [1, 0, 1, 0,
-                     0, z, y, 0,
-                     z, 1, x, 1,
-                     1, 1, 0, 0])
-    assert D.get(1, 2) == y
-
-
-def test_jacobian():
-    x, y, z, t = symbols("x y z t")
-    J_correct = DenseMatrix(4, 4,
-                            [1, 0, 1, 0,
-                             0, z, y, 0,
-                             z, 1, x, 1,
-                             1, 1, 0, 0])
-    D = DenseMatrix(4, 1, [x+z, y*z, z*x+y+t, x+y])
-    x = DenseMatrix(4, 1, [x, y, z, t])
-    J = D.jacobian(x)
-    assert J == J_correct
-
-
-def test_size():
-    A = DenseMatrix(2, 2, [1, 2, 3, 4])
-    assert A.size == 4
-
-
-def test_shape():
-    A = DenseMatrix(2, 2, [1, 2, 3, 4])
-    assert A.shape == (2, 2)
-
-
-def test_reshape():
-    A = DenseMatrix(2, 2, [1, 2, 3, 4])
-    B = DenseMatrix(4, 1, [1, 2, 3, 4])
-    C = A.reshape(4, 1)
-    assert C == B
-    assert C != A
-
-
-@unittest.skipIf(not have_numpy, 'requires numpy')
-def test_dump_real():
-    ref = [1, 2, 3, 4]
-    A = DenseMatrix(2, 2, ref)
-    out = np.empty(4)
-    A.dump_real(out)
-    assert np.allclose(out, ref)
-
-
-
-@unittest.skipIf(not have_numpy, 'requires numpy')
-def test_dump_complex():
-    ref = [1j, 2j, 3j, 4j]
-    A = DenseMatrix(2, 2, ref)
-    out = np.empty(4, dtype=np.complex128)
-    A.dump_complex(out)
-    assert np.allclose(out, ref)
-
-
-def test_col_swap():
-    A = DenseMatrix(2, 2, [1, 2, 3, 4])
-    B = DenseMatrix(2, 2, [2, 1, 4, 3])
-    A.col_swap(0, 1)
-    assert A == B
-
-
-def test_fill():
-    A = zeros(4, 4)
-    A.fill(1)
-    B = ones(4, 4)
-    assert A == B
-    assert A.rows == B.rows
-    assert A.cols == B.cols
-    assert A.shape == B.shape == (4, 4)
-
-
-def test_row_swap():
-    A = DenseMatrix(2, 2, [1, 2, 3, 4])
-    B = DenseMatrix(2, 2, [3, 4, 1, 2])
-    A.row_swap(0, 1)
-    assert A == B
-
-
-def test_row_col_del():
-    e = DenseMatrix(3, 3, [1, 2, 3, 4, 5, 6, 7, 8, 9])
-    raises(IndexError, lambda: e.row_del(5))
-    raises(IndexError, lambda: e.row_del(-5))
-    raises(IndexError, lambda: e.col_del(5))
-    raises(IndexError, lambda: e.col_del(-5))
-
-    assert e.row_del(-1) == DenseMatrix([[1, 2, 3], [4, 5, 6]])
-    assert e.col_del(-1) == DenseMatrix([[1, 2], [4, 5]])
-
-    e = DenseMatrix(3, 3, [1, 2, 3, 4, 5, 6, 7, 8, 9])
-    assert e.row_del(1) == DenseMatrix([[1, 2, 3], [7, 8, 9]])
-    assert e.col_del(1) == DenseMatrix([[1, 3], [7, 9]])
-
-
-def test_row_join():
-    assert eye(3).row_join(DenseMatrix([7, 7, 7])) == \
-           DenseMatrix([[1, 0, 0, 7],
-                        [0, 1, 0, 7],
-                        [0, 0, 1, 7]])
-
-
-def test_col_join():
-    assert eye(3).col_join(DenseMatrix([[7, 7, 7]])) == \
-           DenseMatrix([[1, 0, 0],
-                        [0, 1, 0],
-                        [0, 0, 1],
-                        [7, 7, 7]])
-
-
-def test_row_insert():
-    M = zeros(3)
-    V = ones(1, 3)
-    assert M.row_insert(1, V) == DenseMatrix([[0, 0, 0],
-                                              [1, 1, 1],
-                                              [0, 0, 0],
-                                              [0, 0, 0]])
-
-
-def test_col_insert():
-    M = zeros(3)
-    V = ones(3, 1)
-    assert M.col_insert(1, V) == DenseMatrix([[0, 1, 0, 0],
-                                              [0, 1, 0, 0],
-                                              [0, 1, 0, 0]])
-
-
-def test_rowmul():
-    M = ones(3)
-    assert M.rowmul(2, 2) == DenseMatrix([[1, 1, 1],
-                                          [1, 1, 1],
-                                          [2, 2, 2]])
-
-
-def test_rowadd():
-    M = ones(3)
-    assert M.rowadd(2, 1, 1) == DenseMatrix([[1, 1, 1],
-                                             [1, 1, 1],
-                                             [2, 2, 2]])
-
-
-def test_row_col():
-    m = DenseMatrix(3, 3, [1, 2, 3, 4, 5, 6, 7, 8, 9])
-    assert m.row(0) == DenseMatrix(1, 3, [1, 2, 3])
-    assert m.col(0) == DenseMatrix(3, 1, [1, 4, 7])
-
-
-def test_is_square():
-    m = DenseMatrix([[1],[1]])
-    m2 = DenseMatrix([[2, 2], [2, 2]])
-    assert not m.is_square
-    assert m2.is_square
-
-
-def test_dot():
-    A = DenseMatrix(2, 3, [1, 2, 3, 4, 5, 6])
-    B = DenseMatrix(2, 1, [7, 8])
-    assert A.dot(B) == DenseMatrix(1, 3, [39, 54, 69])
-    assert ones(1, 3).dot(ones(3, 1)) == 3
-
-
-def test_cross():
-    M = DenseMatrix(1, 3, [1, 2, 3])
-    V = DenseMatrix(1, 3, [3, 4, 5])
-    assert M.cross(V) == DenseMatrix(1, 3, [-2, 4, -2])
-    raises(ShapeError, lambda:
-        DenseMatrix(1, 2, [1, 1]).cross(DenseMatrix(1, 2, [1, 1])))
-
-
-def test_diff():
-    x = symbols("x")
-    M = DenseMatrix(1, 2, [x**2, x])
-    result = M.diff(x)
-    assert isinstance(result, DenseMatrix)
-    assert result == DenseMatrix(1, 2, [2*x, 1])
-
-
-def test_immutablematrix():
-    A = ImmutableMatrix([[1, 2, 3], [4, 5, 6], [7, 8, 9]])
-    assert A.shape == (3, 3)
-    assert A[1, 2] == 6
-    assert A[2, 2] == 9
-
-    assert A[1, :] == ImmutableMatrix([[4, 5, 6]])
-    assert A[:2, :2] == ImmutableMatrix([[1, 2], [4, 5]])
-
-    with raises(TypeError):
-        A[2, 2] = 5
-
-    X = DenseMatrix([[1, 2], [3, 4]])
-    assert X.as_immutable() == ImmutableMatrix([[1, 2], [3, 4]])
-
-    assert X.det() == -2
-
-    X = ImmutableMatrix(eye(3))
-    assert isinstance(X + A, ImmutableMatrix)
-    assert isinstance(X * A, ImmutableMatrix)
-    assert isinstance(X * 2, ImmutableMatrix)
-    assert isinstance(2 * X, ImmutableMatrix)
-
-    X = ImmutableMatrix([[1, 2], [3, 4]])
-    Y = ImmutableMatrix([[1], [0]])
-    assert type(X.LUsolve(Y)) == ImmutableMatrix
-
-    x = Symbol("x")
-    X = ImmutableMatrix([[1, 2], [3, 4]])
-    Y = ImmutableMatrix([[1, 2], [x, 4]])
-    assert Y.subs(x, 3) == X
-    assert Y.xreplace(x, 3) == X
-
-    X = ImmutableMatrix([[1, 2], [3, 4]])
-    Y = ImmutableMatrix([[5], [6]])
-    Z = X.row_join(Y)
-    assert isinstance(Z, ImmutableMatrix)
-    assert Z == ImmutableMatrix([[1, 2, 5], [3, 4, 6]])
-
-    X = ImmutableMatrix([[1, 2], [3, 4]])
-    Y = ImmutableMatrix([[5, 6]])
-    Z = X.col_join(Y)
-    assert isinstance(Z, ImmutableMatrix)
-    assert Z == ImmutableMatrix([[1, 2], [3, 4], [5, 6]])
-
-    # Operations of one immutable and one mutable matrix should give immutable result
-    X = ImmutableMatrix([1])
-    Y = DenseMatrix([1])
-    assert type(X + Y) == ImmutableMatrix
-    assert type(Y + X) == ImmutableMatrix
-    assert type(X * Y) == ImmutableMatrix
-    assert type(Y * X) == ImmutableMatrix
-
-
-def test_atoms():
-    a = Symbol("a")
-    b = Symbol("b")
-    X = DenseMatrix([[a, 2], [b, 4]])
-    assert X.atoms(Symbol) == {a, b}
-
-
-def test_LUdecomp():
-    testmat = DenseMatrix([[0, 2, 5, 3],
-                      [3, 3, 7, 4],
-                      [8, 4, 0, 2],
-                      [-2, 6, 3, 4]])
-    L, U, p = testmat.LUdecomposition()
-    res = L*U
-    for orig, new in p:
-        res.row_swap(orig, new)
-    assert res - testmat == zeros(4)
-
-def test_repr_latex():
-    testmat = DenseMatrix([[0, 2]])
-    init_printing(True)
-    latex_string = testmat._repr_latex_()
-    assert isinstance(latex_string, str)
-    init_printing(False)
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_simplify():
-    A = ImmutableMatrix([1])
-    assert type(A.simplify()) == type(A)
diff --git a/symengine/tests/test_ntheory.py b/symengine/tests/test_ntheory.py
deleted file mode 100644
index 68b9a23f..00000000
--- a/symengine/tests/test_ntheory.py
+++ /dev/null
@@ -1,254 +0,0 @@
-from symengine.test_utilities import raises
-
-from symengine.lib.symengine_wrapper import (isprime, nextprime, gcd,
-    lcm, gcd_ext, mod, quotient, quotient_mod, mod_inverse, crt, fibonacci,
-    fibonacci2, lucas, lucas2, binomial, factorial, divides, factor,
-    factor_lehman_method, factor_pollard_pm1_method, factor_pollard_rho_method,
-    prime_factors, prime_factor_multiplicities, Sieve, Sieve_iterator,
-    bernoulli, primitive_root, primitive_root_list, totient, carmichael,
-    multiplicative_order, legendre, jacobi, kronecker, nthroot_mod,
-    nthroot_mod_list, powermod, powermod_list, Integer, sqrt_mod)
-
-
-def test_probab_prime_p():
-    s = set(Sieve.generate_primes(1000))
-    for n in range(1001):
-        assert (n in s) == isprime(n)
-
-
-def test_nextprime():
-    assert nextprime(-3) == 2
-    assert nextprime(5) == 7
-    assert nextprime(9) == 11
-
-
-def test_gcd():
-    assert gcd(10, 14) == 2
-    assert gcd(-5, 3) == 1
-
-
-def test_lcm():
-    assert lcm(10, 14) == 70
-    assert lcm(-5, 3) == 15
-
-
-def test_gcd_ext():
-    (q, r, p) = gcd_ext(6, 9)
-    assert p == q * 6 + r * 9
-    (q, r, p) = gcd_ext(-15, 10)
-    assert p == q * -15 + r * 10
-    (q, r, p) = gcd_ext(2, 3)
-    assert p == q * 2 + r * 3
-    assert p == 1
-    (q, r, p) = gcd_ext(10, 12)
-    assert p == q * 10 + r * 12
-    assert p == 2
-    (q, r, p) = gcd_ext(100, 2004)
-    assert p == q * 100 + r * 2004
-    assert p == 4
-
-
-def test_mod():
-    assert mod(13, 5) == 3
-    assert mod(-4, 7) == 3
-
-
-def test_mod_error():
-    raises(ZeroDivisionError, lambda: mod(2, 0))
-
-
-def test_quotient():
-    assert quotient(13, 5) == 2
-    assert quotient(-4, 7) == -1
-
-
-def test_quotient_error():
-    raises(ZeroDivisionError, lambda: quotient(1, 0))
-
-
-def test_quotient_mod():
-    assert quotient_mod(13, 5) == (2, 3)
-    assert quotient_mod(-4, 7) == (-1, 3)
-
-
-def test_quotient_mod_error():
-    raises(ZeroDivisionError, lambda: quotient_mod(1, 0))
-
-
-def test_mod_inverse():
-    mod_inverse(2, 7) == 4
-    mod_inverse(0, 3) is None
-    mod_inverse(4, 6) is None
-
-
-def test_crt():
-    assert crt([0, 1, 2, 4], [2, 3, 4, 5]) == 34
-    assert crt([3, 5], [6, 21]) is None
-
-
-def test_fibonacci():
-    assert fibonacci(0) == 0
-    assert fibonacci(5) == 5
-
-
-def test_fibonacci_error():
-    raises(NotImplementedError, lambda: fibonacci(-3))
-
-
-def test_fibonacci2():
-    assert fibonacci2(0) == [0, 1]
-    assert fibonacci2(5) == [5, 3]
-
-
-def test_fibonacci2_error():
-    raises(NotImplementedError, lambda: fibonacci2(-1))
-
-
-def test_lucas():
-    assert lucas(2) == 3
-    assert lucas(3) == 4
-
-
-def test_lucas_error():
-    raises(NotImplementedError, lambda: lucas(-1))
-
-
-def test_lucas2():
-    assert lucas2(3) == [4, 3]
-    assert lucas2(5) == [11, 7]
-
-
-def test_lucas2_error():
-    raises(NotImplementedError, lambda: lucas2(-1))
-
-
-def test_binomial():
-    assert binomial(5, 2) == 10
-    assert binomial(5, 7) == 0
-    assert binomial(-5, 2) == 15
-
-
-def test_binomial_error():
-    raises(ArithmeticError, lambda: binomial(5, -1))
-
-
-def test_factorial():
-    assert factorial(5) == 120
-    assert factorial(0) == 1
-
-
-def test_factorial_error():
-    raises(ArithmeticError, lambda: factorial(-1))
-
-
-def test_divides():
-    assert divides(5, 2) is False
-    assert divides(10, 5) is True
-    assert divides(0, 0) is True
-    assert divides(5, 0) is False
-
-
-def test_factor():
-    f = factor(102)
-    assert f is not None and divides(102, f)
-    assert factor(101) is None
-
-
-def test_prime_factors():
-    assert prime_factors(100) == [2, 2, 5, 5]
-    assert prime_factors(1) == []
-
-
-def test_prime_factor_multiplicities():
-    assert prime_factor_multiplicities(90) == \
-           {Integer(2): 1, Integer(3): 2, Integer(5): 1}
-    assert prime_factor_multiplicities(1) == {}
-
-
-def test_sieve():
-    assert Sieve.generate_primes(50) == [2, 3, 5, 7, 11, 13, 17,
-                                         19, 23, 29, 31, 37, 41, 43, 47]
-    assert len(Sieve.generate_primes(1009)) == 169
-
-
-def test_sieve_iterator():
-    it = Sieve_iterator(101)
-    assert len([i for i in it]) == 26
-
-
-def test_primitive_root():
-    assert primitive_root(27) in [2, 5, 11, 14, 20, 23]
-    assert primitive_root(15) is None
-
-
-def test_primitive_root_list():
-    assert primitive_root_list(54) == [5, 11, 23, 29, 41, 47]
-    assert primitive_root_list(12) == []
-
-
-def test_totient():
-    assert totient(1) == 1
-    assert totient(-15) == 8
-
-
-def test_carmichael():
-    assert carmichael(8) == 2
-    assert carmichael(-21) == 6
-
-
-def test_multiplicative_order():
-    assert multiplicative_order(2, 21) == 6
-    assert multiplicative_order(5, 10) is None
-
-
-def test_legendre():
-    assert legendre(-1, 5) == 1
-    assert legendre(0, 5) == 0
-    assert legendre(2, 5) == -1
-
-
-def test_jacobi():
-    assert legendre(-1, 77) == 1
-    assert legendre(14, 15) == -1
-
-
-def test_kronecker():
-    assert kronecker(9, 2) == 1
-    assert kronecker(-5, -1) == -1
-
-
-def test_nthroot_mod():
-    assert nthroot_mod(12, 5, 77) in [3, 31, 38, 45, 59]
-    assert nthroot_mod(3, 2, 5) is None
-
-
-def test_sqrt_mod():
-    assert sqrt_mod(3, 13) == 9
-    assert sqrt_mod(6, 23) == 12
-    assert sqrt_mod(345, 690) == 345
-    assert sqrt_mod(9, 27, True) == [3, 6, 12, 15, 21, 24]
-    assert sqrt_mod(9, 81, True) == [3, 24, 30, 51, 57, 78]
-    assert sqrt_mod(9, 3**5, True) == [3, 78, 84, 159, 165, 240]
-    assert sqrt_mod(81, 3**4, True) == [0, 9, 18, 27, 36, 45, 54, 63, 72]
-    assert sqrt_mod(81, 3**5, True) == [9, 18, 36, 45, 63, 72, 90, 99, 117,\
-            126, 144, 153, 171, 180, 198, 207, 225, 234]
-    assert sqrt_mod(81, 3**6, True) == [9, 72, 90, 153, 171, 234, 252, 315,\
-            333, 396, 414, 477, 495, 558, 576, 639, 657, 720]
-    assert sqrt_mod(81, 3**7, True) == [9, 234, 252, 477, 495, 720, 738, 963,\
-            981, 1206, 1224, 1449, 1467, 1692, 1710, 1935, 1953, 2178]
-
-
-def test_nthroot_mod_list():
-    assert nthroot_mod_list(-4, 4, 65) == [4, 6, 7, 9, 17, 19, 22, 32,
-                                           33, 43, 46, 48, 56, 58, 59, 61]
-    assert nthroot_mod_list(2, 3, 7) == []
-
-
-def test_powermod():
-    assert powermod(3, 8, 7) == 2
-    assert powermod(3, Integer(11)/2, 13) in [3, 10]
-
-
-def test_powermod_list():
-    assert powermod_list(15, Integer(1)/6, 21) == [3, 6, 9, 12, 15, 18]
-    assert powermod_list(2, Integer(5)/2, 11) == []
diff --git a/symengine/tests/test_number.py b/symengine/tests/test_number.py
deleted file mode 100644
index 14b20af4..00000000
--- a/symengine/tests/test_number.py
+++ /dev/null
@@ -1,186 +0,0 @@
-from symengine.test_utilities import raises
-
-from symengine import Integer, I, S, Symbol, pi, Rational
-from symengine.lib.symengine_wrapper import (perfect_power, is_square, integer_nthroot)
-
-
-def test_integer():
-    i = Integer(5)
-    assert str(i) == "5"
-    assert int(i) == 5
-    assert float(i) == 5.0
-    assert complex(i) == 5.0 + 0j
-    assert i.real == i
-    assert i.imag == S.Zero
-
-
-def test_integer_long():
-    py_int = 123434444444444444444
-    i = Integer(py_int)
-    assert str(i) == str(py_int)
-    assert int(i) == py_int
-
-
-def test_integer_string():
-    assert Integer("133") == 133
-
-
-def test_rational():
-    i = Integer(5)/10
-    assert str(i) == "1/2"
-    assert int(i) == 0
-    assert float(i) == 0.5
-    assert complex(i) == 0.5 + 0j
-    assert i.real == i
-    assert i.imag == S.Zero
-
-
-def test_complex():
-    i = Integer(5)/10 + I
-    assert str(i) == "1/2 + I"
-    assert complex(i) == 0.5 + 1j
-    assert i.real == Integer(1)/2
-    assert i.imag == 1
-
-    i = 0.5 + I
-    assert str(i) == "0.5 + 1.0*I"
-    assert complex(i) == 0.5 + 1j
-    assert i.real == 0.5
-    assert i.imag == 1.0
-
-
-def test_smallfloat_valid():
-    i = Integer(7.5)
-    assert str(i) == "7"
-
-
-def test_bigfloat_valid():
-    i = Integer(13333333333333334.5)
-    assert str(i) == "13333333333333334"
-
-
-def test_is_conditions():
-    i = Integer(-123)
-    assert not i.is_zero
-    assert not i.is_positive
-    assert i.is_negative
-    assert i.is_nonzero
-    assert i.is_nonpositive
-    assert not i.is_nonnegative
-    assert not i.is_complex
-
-    i = Integer(123)
-    assert not i.is_zero
-    assert i.is_positive
-    assert not i.is_negative
-    assert i.is_nonzero
-    assert not i.is_nonpositive
-    assert i.is_nonnegative
-    assert not i.is_complex
-
-    i = Integer(0)
-    assert i.is_zero
-    assert not i.is_positive
-    assert not i.is_negative
-    assert not i.is_nonzero
-    assert i.is_nonpositive
-    assert i.is_nonnegative
-    assert not i.is_complex
-
-    i = Integer(1) + I
-    assert not i.is_zero
-    assert not i.is_positive
-    assert not i.is_negative
-    assert not i.is_nonzero
-    assert not i.is_nonpositive
-    assert not i.is_nonnegative
-    assert i.is_complex
-
-    assert pi.is_number
-
-
-def test_perfect_power():
-    assert perfect_power(1) == True
-    assert perfect_power(7) == False
-    assert perfect_power(8) == True
-    assert perfect_power(9) == True
-    assert perfect_power(10) == False
-    assert perfect_power(1024) == True
-    assert perfect_power(1025) == False
-    assert perfect_power(6**7) == True
-    assert perfect_power(-27) == True
-    assert perfect_power(-64) == True
-    assert perfect_power(-32) == True
-
-
-def test_perfect_square():
-    assert is_square(7) == False
-    assert is_square(8) == False
-    assert is_square(9) == True
-    assert is_square(10) == False
-    assert perfect_power(49) == True
-    assert perfect_power(50) == False
-
-
-def test_integer_nthroot():
-    assert integer_nthroot(1, 2) == (1, True)
-    assert integer_nthroot(1, 5) == (1, True)
-    assert integer_nthroot(2, 1) == (2, True)
-    assert integer_nthroot(2, 2) == (1, False)
-    assert integer_nthroot(2, 5) == (1, False)
-    assert integer_nthroot(4, 2) == (2, True)
-    assert integer_nthroot(123**25, 25) == (123, True)
-    assert integer_nthroot(123**25 + 1, 25) == (123, False)
-    assert integer_nthroot(123**25 - 1, 25) == (122, False)
-    assert integer_nthroot(1, 1) == (1, True)
-    assert integer_nthroot(0, 1) == (0, True)
-    assert integer_nthroot(0, 3) == (0, True)
-    assert integer_nthroot(10000, 1) == (10000, True)
-    assert integer_nthroot(4, 2) == (2, True)
-    assert integer_nthroot(16, 2) == (4, True)
-    assert integer_nthroot(26, 2) == (5, False)
-    assert integer_nthroot(1234567**7, 7) == (1234567, True)
-    assert integer_nthroot(1234567**7 + 1, 7) == (1234567, False)
-    assert integer_nthroot(1234567**7 - 1, 7) == (1234566, False)
-    b = 25**1000
-    assert integer_nthroot(b, 1000) == (25, True)
-    assert integer_nthroot(b + 1, 1000) == (25, False)
-    assert integer_nthroot(b - 1, 1000) == (24, False)
-    c = 10**400
-    c2 = c**2
-    assert integer_nthroot(c2, 2) == (c, True)
-    assert integer_nthroot(c2 + 1, 2) == (c, False)
-    assert integer_nthroot(c2 - 1, 2) == (c - 1, False)
-
-
-def test_is_zero():
-    assert Symbol('x').is_zero is None
-
-
-def test_is_positive():
-    assert Rational(1, 2).is_positive
-    assert not Rational(-2, 3).is_positive
-    assert Symbol('x').is_positive is None
-
-
-def test_is_negative():
-    assert not Rational(1, 2).is_negative
-    assert Rational(-2, 3).is_negative
-    assert Symbol('x').is_negative is None
-
-
-def test_is_nonpositive():
-    assert not Rational(1, 2).is_nonpositive
-    assert Rational(-2, 3).is_nonpositive
-    assert Symbol('x').is_nonpositive is None
-
-
-def test_is_nonnegative():
-    assert Rational(1, 2).is_nonnegative
-    assert not Rational(-2, 3).is_nonnegative
-    assert Symbol('x').is_nonnegative is None
-
-
-def test_is_real():
-    assert Rational(1, 2).is_real
-    assert Symbol('x').is_real is None
diff --git a/symengine/tests/test_pickling.py b/symengine/tests/test_pickling.py
deleted file mode 100644
index 5ae64a75..00000000
--- a/symengine/tests/test_pickling.py
+++ /dev/null
@@ -1,59 +0,0 @@
-from symengine import symbols, sin, sinh, have_numpy, have_llvm, cos, Symbol
-from symengine.test_utilities import raises
-import pickle
-import unittest
-
-
-def test_basic():
-    x, y, z = symbols('x y z')
-    expr = sin(cos(x + y)/z)**2
-    s = pickle.dumps(expr)
-    expr2 = pickle.loads(s)
-    assert expr == expr2
-
-
-class MySymbolBase(Symbol):
-    def __init__(self, name, attr):
-        super().__init__(name=name)
-        self.attr = attr
-
-    def __eq__(self, other):
-        if not isinstance(other, MySymbolBase):
-            return False
-        return self.name == other.name and self.attr == other.attr
-
-
-class MySymbol(MySymbolBase):
-    def __reduce__(self):
-        return (self.__class__, (self.name, self.attr))
-
-
-def test_pysymbol():
-    a = MySymbol("hello", attr=1)
-    b = pickle.loads(pickle.dumps(a + 2)) - 2
-    try:
-        assert a == b
-    finally:
-        a._unsafe_reset()
-        b._unsafe_reset()
-
-    a = MySymbolBase("hello", attr=1)
-    try:
-        raises(NotImplementedError, lambda: pickle.dumps(a))
-        raises(NotImplementedError, lambda: pickle.dumps(a + 2))
-    finally:
-        a._unsafe_reset()
-
-
-@unittest.skipUnless(have_llvm, "No LLVM support")
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_llvm_double():
-    import numpy as np
-    from symengine import Lambdify
-    args = x, y, z = symbols('x y z')
-    expr = sin(sinh(x+y) + z)
-    l = Lambdify(args, expr, cse=True, backend='llvm')
-    ss = pickle.dumps(l)
-    ll = pickle.loads(ss)
-    inp = [1, 2, 3]
-    assert np.allclose(l(inp), ll(inp))
diff --git a/symengine/tests/test_printing.py b/symengine/tests/test_printing.py
deleted file mode 100644
index e0c42816..00000000
--- a/symengine/tests/test_printing.py
+++ /dev/null
@@ -1,38 +0,0 @@
-from symengine import (ccode, unicode, Symbol, sqrt, Pow, Max, sin, Integer, MutableDenseMatrix)
-from symengine.test_utilities import raises
-from symengine.printing import CCodePrinter, init_printing
-
-def test_ccode():
-    x = Symbol("x")
-    y = Symbol("y")
-    assert ccode(x) == "x"
-    assert ccode(x**3) == "pow(x, 3)"
-    assert ccode(x**(y**3)) == "pow(x, pow(y, 3))"
-    assert ccode(x**-1.0) == "pow(x, -1.0)"
-    assert ccode(Max(x, x*x)) == "fmax(x, pow(x, 2))"
-    assert ccode(sin(x)) == "sin(x)"
-    assert ccode(Integer(67)) == "67"
-    assert ccode(Integer(-1)) == "-1"
-
-def test_CCodePrinter():
-    x = Symbol("x")
-    y = Symbol("y")
-    myprinter = CCodePrinter()
-
-    assert myprinter.doprint(1+x, "bork") == "bork = 1 + x;"
-    assert myprinter.doprint(1*x) == "x"
-    assert myprinter.doprint(MutableDenseMatrix(1, 2, [x, y]), "larry") == "larry[0] = x;\nlarry[1] = y;"
-    raises(TypeError, lambda: myprinter.doprint(sin(x), Integer))
-    raises(RuntimeError, lambda: myprinter.doprint(MutableDenseMatrix(1, 2, [x, y])))
-
-def test_init_printing():
-    x = Symbol("x")
-    assert x._repr_latex_() is None
-    init_printing()
-    assert x._repr_latex_() == '$x$'
-
-
-def test_unicode():
-    x = Symbol("x")
-    y = Integer(2)
-    assert unicode(x / 2) == "x\n―\n2"
diff --git a/symengine/tests/test_sage.py b/symengine/tests/test_sage.py
deleted file mode 100644
index e364bd6d..00000000
--- a/symengine/tests/test_sage.py
+++ /dev/null
@@ -1,175 +0,0 @@
-from symengine import (Integer, symbols, sin, cos, pi, E, I, oo, zoo,
-    nan, true, false, Add, function_symbol, DenseMatrix,
-    sympify, log, EulerGamma, Catalan, GoldenRatio)
-from symengine.lib.symengine_wrapper import (PyNumber, PyFunction,
-    sage_module, wrap_sage_function, LambertW, KroneckerDelta, erf,
-    lowergamma, uppergamma, loggamma, beta, floor, ceiling, conjugate)
-import unittest
-
-try:
-    import sage.all as sage
-    have_sage = True
-except ImportError:
-    have_sage = False
-
-@unittest.skipUnless(have_sage, "Sage not installed")
-def test_sage_conversions():
-
-    x, y = sage.SR.var('x y')
-    x1, y1 = symbols('x, y')
-
-    # Symbol
-    assert x1._sage_() == x
-    assert x1 == sympify(x)
-
-    # Integer
-    assert Integer(12)._sage_() == sage.Integer(12)
-    assert Integer(12) == sympify(sage.Integer(12))
-
-    # Rational
-    assert (Integer(1) / 2)._sage_() == sage.Integer(1) / 2
-    assert Integer(1) / 2 == sympify(sage.Integer(1) / 2)
-
-    # Operators
-    assert x1 + y == x1 + y1
-    assert x1 * y == x1 * y1
-    assert x1 ** y == x1 ** y1
-    assert x1 - y == x1 - y1
-    assert x1 / y == x1 / y1
-
-    assert x + y1 == x + y
-    assert x * y1 == x * y
-    # Doesn't work in Sage 6.1.1ubuntu2
-    # assert x ** y1 == x ** y
-    assert x - y1 == x - y
-    assert x / y1 == x / y
-
-    # Conversions
-    assert (x1 + y1)._sage_() == x + y
-    assert (x1 * y1)._sage_() == x * y
-    assert (x1 ** y1)._sage_() == x ** y
-    assert (x1 - y1)._sage_() == x - y
-    assert (x1 / y1)._sage_() == x / y
-
-    assert x1 + y1 == sympify(x + y)
-    assert x1 * y1 == sympify(x * y)
-    assert x1 ** y1 == sympify(x ** y)
-    assert x1 - y1 == sympify(x - y)
-    assert x1 / y1 == sympify(x / y)
-
-    # Functions
-    assert sin(x1) == sin(x)
-    assert sin(x1)._sage_() == sage.sin(x)
-    assert sin(x1) == sympify(sage.sin(x))
-
-    assert cos(x1) == cos(x)
-    assert cos(x1)._sage_() == sage.cos(x)
-    assert cos(x1) == sympify(sage.cos(x))
-
-    assert function_symbol('f', x1, y1)._sage_() == sage.function('f')(x, y)
-    assert (function_symbol('f', 2 * x1, x1 + y1).diff(x1)._sage_() ==
-            sage.function('f')(2 * x, x + y).diff(x))
-
-    assert LambertW(x1) == LambertW(x)
-    assert LambertW(x1)._sage_() == sage.lambert_w(x)
-
-    assert KroneckerDelta(x1, y1) == KroneckerDelta(x, y)
-    assert KroneckerDelta(x1, y1)._sage_() == sage.kronecker_delta(x, y)
-
-    assert erf(x1) == erf(x)
-    assert erf(x1)._sage_() == sage.erf(x)
-
-    assert lowergamma(x1, y1) == lowergamma(x, y)
-    assert lowergamma(x1, y1)._sage_() == sage.gamma_inc_lower(x, y)
-
-    assert uppergamma(x1, y1) == uppergamma(x, y)
-    assert uppergamma(x1, y1)._sage_() == sage.gamma_inc(x, y)
-
-    assert loggamma(x1) == loggamma(x)
-    assert loggamma(x1)._sage_() == sage.log_gamma(x)
-
-    assert beta(x1, y1) == beta(x, y)
-    assert beta(x1, y1)._sage_() == sage.beta(x, y)
-
-    assert floor(x1) == floor(x)
-    assert floor(x1)._sage_() == sage.floor(x)
-
-    assert ceiling(x1) == ceiling(x)
-    assert ceiling(x1)._sage_() == sage.ceil(x)
-
-    assert conjugate(x1) == conjugate(x)
-    assert conjugate(x1)._sage_() == sage.conjugate(x)
-
-    # For the following test, sage needs to be modified
-    # assert sage.sin(x) == sage.sin(x1)
-
-    # Constants and Booleans
-    assert pi._sage_() == sage.pi
-    assert E._sage_() == sage.e
-    assert I._sage_() == sage.I
-    assert GoldenRatio._sage_() == sage.golden_ratio
-    assert Catalan._sage_() == sage.catalan
-    assert EulerGamma._sage_() == sage.euler_gamma
-    assert oo._sage_() == sage.oo
-    assert zoo._sage_() == sage.unsigned_infinity
-    assert nan._sage_() == sage.NaN
-    assert true._sage_() == True
-    assert false._sage_() == False
-
-    assert pi == sympify(sage.pi)
-    assert E == sympify(sage.e)
-    assert GoldenRatio == sympify(sage.golden_ratio)
-    assert Catalan == sympify(sage.catalan)
-    assert EulerGamma == sympify(sage.euler_gamma)
-    assert oo == sympify(sage.oo)
-    assert zoo == sympify(sage.unsigned_infinity)
-    assert nan == sympify(sage.NaN)
-
-    # SympyConverter does not support converting the following
-    # assert I == sympify(sage.I)
-
-    # Matrix
-    assert DenseMatrix(1, 2, [x1, y1])._sage_() == sage.matrix([[x, y]])
-
-    # SympyConverter does not support converting the following
-    # assert DenseMatrix(1, 2, [x1, y1]) == sympify(sage.matrix([[x, y]]))
-
-    # Sage Number
-    a = sage.Mod(2, 7)
-    b = PyNumber(a, sage_module)
-
-    a = a + 8
-    b = b + 8
-    assert isinstance(b, PyNumber)
-    assert b._sage_() == a
-    assert str(a) == str(b)
-
-    # Sage Function
-    e = x1 + wrap_sage_function(sage.log_gamma(x))
-    assert str(e) == "x + log_gamma(x)"
-    assert isinstance(e, Add)
-    assert (e + wrap_sage_function(sage.log_gamma(x)) ==
-            x1 + 2*wrap_sage_function(sage.log_gamma(x)))
-
-    f = e.subs({x1: 10})
-    assert f == 10 + log(362880)
-
-    f = e.subs({x1: 2})
-    assert f == 2
-
-    f = e.subs({x1: 100})
-    v = f.n(53, real=True)
-    assert abs(float(v) - 459.13420537) < 1e-7
-
-    f = e.diff(x1)
-    # Enable this once symengine conversions are in
-    #  sage as sage.psi is converted to a sympy function in `e.diff(x1)`
-    # assert f == 1 + wrap_sage_function(sage.psi(x))
-
-
-# This string contains Sage doctests, that execute all the functions above.
-# When you add a new function, add it here as well.
-"""
-TESTS::
-    sage: test_sage_conversions()
-"""
diff --git a/symengine/tests/test_series_expansion.py b/symengine/tests/test_series_expansion.py
deleted file mode 100644
index 651e3630..00000000
--- a/symengine/tests/test_series_expansion.py
+++ /dev/null
@@ -1,22 +0,0 @@
-from symengine.test_utilities import raises
-from symengine.lib.symengine_wrapper import (series, have_piranha, have_flint,
-    Symbol, Integer, sin, cos, exp, sqrt, E)
-
-
-def test_series_expansion():
-    x = Symbol('x')
-    ex = series(sin(1+x), x, n=10)
-    assert ex.coeff(x, 7) == -cos(1)/5040
-
-    x = Symbol('x')
-    ex = series(1/(1-x), x, n=10)
-    assert ex.coeff(x, 9) == 1
-    ex = series(sin(x)*cos(x), x, n=10)
-    assert ex.coeff(x, 8) == 0
-    assert ex.coeff(x, 9) == Integer(2)/Integer(2835)
-
-    ex = series(E**x, x, n=10)
-    assert ex.coeff(x, 9) == Integer(1)/Integer(362880)
-    ex1 = series(1/sqrt(4-x), x, n=50)
-    ex2 = series((4-x)**(Integer(-1)/Integer(2)), x, n=50)
-    assert ex1.coeff(x, 49) == ex2.coeff(x, 49)
diff --git a/symengine/tests/test_sets.py b/symengine/tests/test_sets.py
deleted file mode 100644
index bfa4ecd4..00000000
--- a/symengine/tests/test_sets.py
+++ /dev/null
@@ -1,118 +0,0 @@
-from symengine.test_utilities import raises
-from symengine.lib.symengine_wrapper import (Interval, EmptySet, UniversalSet,
-    FiniteSet, Union, Complement, ImageSet, ConditionSet, Reals, Rationals,
-    Integers, And, Or, oo, Symbol, true, Ge, Eq, Gt)
-
-
-def test_Interval():
-    assert Interval(0, oo) == Interval(0, oo, False, True)
-    assert Interval(0, oo) == Interval(0, oo, left_open=False, right_open=True)
-    assert Interval(-oo, 0) == Interval(-oo, 0, True, False)
-    assert Interval(-oo, 0) == Interval(-oo, 0, left_open=True, right_open=False)
-    assert Interval(oo, -oo) == EmptySet()
-    assert Interval(oo, oo) == EmptySet()
-    assert Interval(-oo, -oo) == EmptySet()
-    assert isinstance(Interval(1, 1), FiniteSet)
-
-    assert Interval(1, 0) == EmptySet()
-    assert Interval(1, 1, False, True) == EmptySet()
-    assert Interval(1, 1, True, False) == EmptySet()
-    assert Interval(1, 1, True, True) == EmptySet()
-    assert Interval(1, 2).union(Interval(2, 3)) == Interval(1, 3)
-
-    assert Interval(-oo, 0).start == -oo
-    assert Interval(-oo, 0).end == 0
-
-
-def test_EmptySet():
-    E = EmptySet()
-    assert E.intersection(UniversalSet()) == E
-
-
-def test_UniversalSet():
-    U = UniversalSet()
-    x = Symbol("x")
-    assert U.union(Interval(2, 4)) == U
-    assert U.intersection(Interval(2, 4)) == Interval(2, 4)
-    assert U.contains(0) == true
-
-
-def test_Reals():
-    R = Reals()
-    assert R.union(Interval(2, 4)) == R
-    assert R.contains(0) == true
-
-
-def test_Rationals():
-    Q = Rationals()
-    assert Q.union(FiniteSet(2, 3)) == Q
-    assert Q.contains(0) == true
-
-
-def test_Integers():
-    Z = Integers()
-    assert Z.union(FiniteSet(2, 4)) == Z
-    assert Z.contains(0) == true
-
-
-def test_FiniteSet():
-    x = Symbol("x")
-    A = FiniteSet(1, 2, 3)
-    B = FiniteSet(3, 4, 5)
-    AorB = Union(A, B)
-    AandB = A.intersection(B)
-    assert AandB == FiniteSet(3)
-
-    assert FiniteSet(EmptySet()) != EmptySet()
-    assert FiniteSet(FiniteSet(1, 2, 3)) != FiniteSet(1, 2, 3)
-
-
-def test_Union():
-    assert Union(Interval(1, 2), Interval(2, 3)) == Interval(1, 3)
-    assert Union(Interval(1, 2), Interval(2, 3, True)) == Interval(1, 3)
-    assert Union(Interval(1, 3), Interval(2, 4)) == Interval(1, 4)
-    assert Union(Interval(1, 2), Interval(1, 3)) == Interval(1, 3)
-    assert Union(Interval(1, 3), Interval(1, 2)) == Interval(1, 3)
-    assert Union(Interval(1, 3, False, True), Interval(1, 2)) == \
-        Interval(1, 3, False, True)
-    assert Union(Interval(1, 3), Interval(1, 2, False, True)) == Interval(1, 3)
-    assert Union(Interval(1, 2, True), Interval(1, 3)) == Interval(1, 3)
-    assert Union(Interval(1, 2, True), Interval(1, 3, True)) == \
-        Interval(1, 3, True)
-    assert Union(Interval(1, 2, True), Interval(1, 3, True, True)) == \
-        Interval(1, 3, True, True)
-    assert Union(Interval(1, 2, True, True), Interval(1, 3, True)) == \
-        Interval(1, 3, True)
-    assert Union(Interval(1, 3), Interval(2, 3)) == Interval(1, 3)
-    assert Union(Interval(1, 3, False, True), Interval(2, 3)) == \
-        Interval(1, 3)
-    assert Union(Interval(1, 2, False, True), Interval(2, 3, True)) != \
-        Interval(1, 3)
-    assert Union(Interval(1, 2), EmptySet()) == Interval(1, 2)
-    assert Union(EmptySet()) == EmptySet()
-
-
-def test_Complement():
-    assert Complement(Interval(1, 3), Interval(1, 2)) == Interval(2, 3, True)
-    assert Complement(FiniteSet(1, 3, 4), FiniteSet(3, 4)) == FiniteSet(1)
-    assert Complement(Union(Interval(0, 2),
-                            FiniteSet(2, 3, 4)), Interval(1, 3)) == \
-        Union(Interval(0, 1, False, True), FiniteSet(4))
-
-
-def test_ConditionSet():
-    x = Symbol("x")
-    i1 = Interval(-oo, oo)
-    f1 = FiniteSet(0, 1, 2, 4)
-    cond1 = Ge(x**2, 9)
-    assert ConditionSet(x, And(Eq(0, 1), i1.contains(x))) == EmptySet()
-    assert ConditionSet(x, And(Gt(1, 0), i1.contains(x))) == i1
-    assert ConditionSet(x, And(cond1, f1.contains(x))) == FiniteSet(4)
-
-
-def test_ImageSet():
-    x = Symbol("x")
-    i1 = Interval(0, 1)
-    assert ImageSet(x, x**2, EmptySet()) == EmptySet()
-    assert ImageSet(x, 1, i1) == FiniteSet(1)
-    assert ImageSet(x, x, i1) == i1
diff --git a/symengine/tests/test_solve.py b/symengine/tests/test_solve.py
deleted file mode 100644
index 675f1a9f..00000000
--- a/symengine/tests/test_solve.py
+++ /dev/null
@@ -1,25 +0,0 @@
-from symengine.test_utilities import raises
-from symengine import (Interval, EmptySet, FiniteSet, I, oo, Eq, Symbol,
-    linsolve)
-from symengine.lib.symengine_wrapper import solve
-
-def test_solve():
-    x = Symbol("x")
-    reals = Interval(-oo, oo)
-
-    assert solve(1, x, reals) == EmptySet
-    assert solve(0, x, reals) == reals
-    assert solve(x + 3, x, reals) == FiniteSet(-3)
-    assert solve(x + 3, x, Interval(0, oo)) == EmptySet
-    assert solve(x, x, reals) == FiniteSet(0)
-    assert solve(x**2 + 1, x) == FiniteSet(-I, I)
-    assert solve(x**2 - 2*x + 1, x) == FiniteSet(1)
-    assert solve(Eq(x**3 + 3*x**2 + 3*x, -1), x, reals) == FiniteSet(-1)
-    assert solve(x**3 - x, x) == FiniteSet(0, 1, -1)
-
-def test_linsolve():
-    x = Symbol("x")
-    y = Symbol("y")
-    assert linsolve([x - 2], [x]) == (2,)
-    assert linsolve([x - 2, y - 3], [x, y]) == (2, 3)
-    assert linsolve([x + y - 3, x + 2*y - 4], [x, y]) == (2, 1)
diff --git a/symengine/tests/test_subs.py b/symengine/tests/test_subs.py
deleted file mode 100644
index b346659b..00000000
--- a/symengine/tests/test_subs.py
+++ /dev/null
@@ -1,82 +0,0 @@
-import unittest
-
-from symengine.test_utilities import raises
-from symengine import Symbol, sin, cos, sqrt, Add, function_symbol, have_numpy, log
-
-
-def test_basic():
-    x = Symbol("x")
-    y = Symbol("y")
-    z = Symbol("z")
-    e = x+y+z
-    assert e.subs({x: y, z: y}) == 3*y
-
-
-def test_sin():
-    x = Symbol("x")
-    y = Symbol("y")
-    e = sin(x)
-    assert e.subs({x: y}) == sin(y)
-    assert e.subs({x: y}) != sin(x)
-
-    e = cos(x)
-    assert e.subs({x: 0}) == 1
-    assert e.subs(x, 0) == 1
-
-
-def test_subs_exception():
-    x = Symbol("x")
-    expr = sin(log(x))
-    raises(RuntimeError, lambda: expr.subs({x: 0}))
-
-
-def test_args():
-    x = Symbol("x")
-    e = cos(x)
-    raises(TypeError, lambda: e.subs(x, 0, 3))
-
-
-def test_f():
-    x = Symbol("x")
-    y = Symbol("y")
-    f = function_symbol("f", x)
-    g = function_symbol("g", x)
-    assert f.subs({function_symbol("f", x): function_symbol("g", x)}) == g
-    assert ((f+g).subs({function_symbol("f", x): function_symbol("g", x)}) ==
-            2*g)
-
-    e = (f+x)**3
-    assert e.subs({f: y}) == (x+y)**3
-    e = e.expand()
-    assert e.subs({f: y}) == ((x+y)**3).expand()
-
-
-def test_msubs():
-    x = Symbol("x")
-    y = Symbol("y")
-    f = function_symbol("f", x)
-    assert f.msubs({f: y}) == y
-    assert f.diff(x).msubs({f: y}) == f.diff(x)
-
-
-def test_xreplace():
-    x = Symbol("x")
-    y = Symbol("y")
-    f = sin(cos(x))
-    assert f.xreplace({x: y}) == sin(cos(y))
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_float32():
-    import numpy as np
-    x = Symbol("x")
-    expr = x * 2
-    assert expr.subs({x: np.float32(2)}) == 4.0
-
-
-@unittest.skipUnless(have_numpy, "Numpy not installed")
-def test_float16():
-    import numpy as np
-    x = Symbol("x")
-    expr = x * 2
-    assert expr.subs({x: np.float16(2)}) == 4.0
diff --git a/symengine/tests/test_symbol.py b/symengine/tests/test_symbol.py
deleted file mode 100644
index 49825914..00000000
--- a/symengine/tests/test_symbol.py
+++ /dev/null
@@ -1,179 +0,0 @@
-from symengine import Symbol, symbols, symarray, has_symbol, Dummy
-from symengine.test_utilities import raises
-import unittest
-import platform
-
-
-def test_symbol():
-    x = Symbol("x")
-    assert x.name == "x"
-    assert str(x) == "x"
-    assert str(x) != "y"
-    assert repr(x) == str(x)
-
-
-def test_symbols():
-    x = Symbol('x')
-    y = Symbol('y')
-    z = Symbol('z')
-
-    assert symbols('x') == x
-    assert symbols('x ') == x
-    assert symbols(' x ') == x
-    assert symbols('x,') == (x,)
-    assert symbols('x, ') == (x,)
-    assert symbols('x ,') == (x,)
-
-    assert symbols('x , y') == (x, y)
-
-    assert symbols('x,y,z') == (x, y, z)
-    assert symbols('x y z') == (x, y, z)
-
-    assert symbols('x,y,z,') == (x, y, z)
-    assert symbols('x y z ') == (x, y, z)
-
-    xyz = Symbol('xyz')
-    abc = Symbol('abc')
-
-    assert symbols('xyz') == xyz
-    assert symbols('xyz,') == (xyz,)
-    assert symbols('xyz,abc') == (xyz, abc)
-
-    assert symbols(('xyz',)) == (xyz,)
-    assert symbols(('xyz,',)) == ((xyz,),)
-    assert symbols(('x,y,z,',)) == ((x, y, z),)
-    assert symbols(('xyz', 'abc')) == (xyz, abc)
-    assert symbols(('xyz,abc',)) == ((xyz, abc),)
-    assert symbols(('xyz,abc', 'x,y,z')) == ((xyz, abc), (x, y, z))
-
-    assert symbols(('x', 'y', 'z')) == (x, y, z)
-    assert symbols(['x', 'y', 'z']) == [x, y, z]
-    assert symbols({'x', 'y', 'z'}) == {x, y, z}
-
-    raises(ValueError, lambda: symbols(''))
-    raises(ValueError, lambda: symbols(','))
-    raises(ValueError, lambda: symbols('x,,y,,z'))
-    raises(ValueError, lambda: symbols(('x', '', 'y', '', 'z')))
-
-    x0 = Symbol('x0')
-    x1 = Symbol('x1')
-    x2 = Symbol('x2')
-
-    y0 = Symbol('y0')
-    y1 = Symbol('y1')
-
-    assert symbols('x0:0') == ()
-    assert symbols('x0:1') == (x0,)
-    assert symbols('x0:2') == (x0, x1)
-    assert symbols('x0:3') == (x0, x1, x2)
-
-    assert symbols('x:0') == ()
-    assert symbols('x:1') == (x0,)
-    assert symbols('x:2') == (x0, x1)
-    assert symbols('x:3') == (x0, x1, x2)
-
-    assert symbols('x1:1') == ()
-    assert symbols('x1:2') == (x1,)
-    assert symbols('x1:3') == (x1, x2)
-
-    assert symbols('x1:3,x,y,z') == (x1, x2, x, y, z)
-
-    assert symbols('x:3,y:2') == (x0, x1, x2, y0, y1)
-    assert symbols(('x:3', 'y:2')) == ((x0, x1, x2), (y0, y1))
-
-    a = Symbol('a')
-    b = Symbol('b')
-    c = Symbol('c')
-    d = Symbol('d')
-
-    assert symbols('x:z') == (x, y, z)
-    assert symbols('a:d,x:z') == (a, b, c, d, x, y, z)
-    assert symbols(('a:d', 'x:z')) == ((a, b, c, d), (x, y, z))
-
-    aa = Symbol('aa')
-    ab = Symbol('ab')
-    ac = Symbol('ac')
-    ad = Symbol('ad')
-
-    assert symbols('aa:d') == (aa, ab, ac, ad)
-    assert symbols('aa:d,x:z') == (aa, ab, ac, ad, x, y, z)
-    assert symbols(('aa:d', 'x:z')) == ((aa, ab, ac, ad), (x, y, z))
-
-    def sym(s):
-        return str(symbols(s))
-    assert sym('a0:4') == '(a0, a1, a2, a3)'
-    assert sym('a2:4,b1:3') == '(a2, a3, b1, b2)'
-    assert sym('a1(2:4)') == '(a12, a13)'
-    assert sym('a0:2.0:2') == '(a0.0, a0.1, a1.0, a1.1)'
-    assert sym('aa:cz') == '(aaz, abz, acz)'
-    assert sym('aa:c0:2') == '(aa0, aa1, ab0, ab1, ac0, ac1)'
-    assert sym('aa:ba:b') == '(aaa, aab, aba, abb)'
-    assert sym('a:3b') == '(a0b, a1b, a2b)'
-    assert sym('a-1:3b') == '(a-1b, a-2b)'
-    assert sym(r'a:2\,:2' + chr(0)) == '(a0,0%s, a0,1%s, a1,0%s, a1,1%s)' % (
-        (chr(0),)*4)
-    assert sym('x(:a:3)') == '(x(a0), x(a1), x(a2))'
-    assert sym('x(:c):1') == '(xa0, xb0, xc0)'
-    assert sym('x((:a)):3') == '(x(a)0, x(a)1, x(a)2)'
-    assert sym('x(:a:3') == '(x(a0, x(a1, x(a2)'
-    assert sym(':2') == '(0, 1)'
-    assert sym(':b') == '(a, b)'
-    assert sym(':b:2') == '(a0, a1, b0, b1)'
-    assert sym(':2:2') == '(00, 01, 10, 11)'
-    assert sym(':b:b') == '(aa, ab, ba, bb)'
-
-    raises(ValueError, lambda: symbols(':'))
-    raises(ValueError, lambda: symbols('a:'))
-    raises(ValueError, lambda: symbols('::'))
-    raises(ValueError, lambda: symbols('a::'))
-    raises(ValueError, lambda: symbols(':a:'))
-    raises(ValueError, lambda: symbols('::a'))
-
-
-def test_symarray():
-    try:
-        import numpy as np
-    except ImportError:
-        return
-    x0, x1, x2 = arr = symarray('x', 3)
-    assert arr.shape == (3,)
-
-    assert symarray('y', (2, 3)).shape == (2, 3)
-
-
-def test_has_symbol():
-    a = Symbol('a')
-    b = Symbol('b')
-    c = Symbol('c')
-
-    assert not has_symbol(2, a)
-    assert not has_symbol(c, a)
-    assert has_symbol(a+b, b)
-
-
-def test_dummy():
-    x1 = Symbol('x')
-    x2 = Symbol('x')
-    xdummy1 = Dummy('x')
-    xdummy2 = Dummy('x')
-
-    assert x1 == x2
-    assert x1 != xdummy1
-    assert xdummy1 == (xdummy1 + 1) - 1
-    assert xdummy1 != xdummy2
-    assert Dummy() != Dummy()
-    assert Dummy('x') != Dummy('x')
-
-# Cython cdef classes on PyPy has a __dict__ attribute always
-# __slots__ on PyPy are useless anyways. https://stackoverflow.com/a/23077685/4768820
-@unittest.skipUnless(platform.python_implementation()=="CPython", "__slots__ are useless on PyPy")
-def test_slots():
-    x = Dummy('x')
-    # Verify the successful use of slots.
-    assert not hasattr(x, "__dict__")
-    assert not hasattr(x, "__weakref__")
-
-    x1 = Symbol('x')
-    # Verify the successful use of slots.
-    assert not hasattr(x, "__dict__")
-    assert not hasattr(x, "__weakref__")
diff --git a/symengine/tests/test_sympify.py b/symengine/tests/test_sympify.py
deleted file mode 100644
index 86c59785..00000000
--- a/symengine/tests/test_sympify.py
+++ /dev/null
@@ -1,63 +0,0 @@
-from symengine.test_utilities import raises
-
-from symengine import (Symbol, Integer, sympify, SympifyError, true, false, pi, nan, oo,
-                       zoo, E, I, GoldenRatio, Catalan, Rational, sqrt, Eq)
-from symengine.lib.symengine_wrapper import _sympify, S, One, polygamma
-
-
-def test_sympify1():
-    assert sympify(1) == Integer(1)
-    assert sympify(2) != Integer(1)
-    assert sympify(-5) == Integer(-5)
-    assert sympify(Integer(3)) == Integer(3)
-    assert sympify(('0', '0')) == (0, 0)
-    assert sympify(['0', '0']) == [0, 0]
-    assert sympify("3+5") == Integer(8)
-    assert true == sympify(True)
-    assert false == sympify(False)
-
-
-def test_S():
-    assert S(0) == Integer(0)
-    assert S(1) == Integer(1)
-    assert S(-1) == Integer(-1)
-    assert S(1) / 2 == Rational(1, 2)
-    assert S.One is S(1)
-    assert S.Zero is S(0)
-    assert S.NegativeOne is S(-1)
-    assert S.Half is S(1) / 2
-    assert S.Pi is pi
-    assert S.NaN is S(0) / 0
-    assert S.Infinity is -oo * -10
-    assert S.NegativeInfinity is oo * (-3)
-    assert S.ComplexInfinity is zoo
-    assert S.Exp1 is (E + 1 - 1)
-    assert S.ImaginaryUnit is sqrt(-1)
-    assert S.GoldenRatio * 2 / 2 is GoldenRatio
-    assert S.Catalan * 1 is Catalan
-    assert S.EulerGamma is polygamma(0, 1) * -1
-    assert S.true is Eq(2, 2)
-    assert S.false is Eq(2, 3)
-    assert S(1) / 0 is zoo
-    assert S.Pi * 1 is pi
-    assert type(S.One) == One
-
-
-def test_sympify_error1a():
-    class Test:
-        pass
-    raises(SympifyError, lambda: sympify(Test()))
-
-
-def test_sympify_error1b():
-    assert not _sympify("1***2", raise_error=False)
-
-
-def test_error1():
-    # _sympify doesn't parse strings
-    raises(SympifyError, lambda: _sympify("x"))
-
-
-def test_sympify_pow():
-    # https://github.com/symengine/symengine.py/issues/251
-    assert sympify('y*pow(x, -1)') == Symbol('y')/Symbol('x')
diff --git a/symengine/tests/test_sympy_compat.py b/symengine/tests/test_sympy_compat.py
deleted file mode 100644
index 6316d548..00000000
--- a/symengine/tests/test_sympy_compat.py
+++ /dev/null
@@ -1,200 +0,0 @@
-from symengine.sympy_compat import (Integer, Rational, S, Basic, Add, Mul,
-    Pow, symbols, Symbol, log, sin, cos, sech, csch, zeros, atan2, nan, Number, Float,
-    Min, Max, RealDouble, have_mpfr, Abs)
-from symengine.test_utilities import raises
-
-
-def test_Integer():
-    i = Integer(5)
-    assert isinstance(i, Integer)
-    assert isinstance(i, Rational)
-    assert isinstance(i, Number)
-    assert isinstance(i, Basic)
-    assert i.p == 5
-    assert i.q == 1
-
-
-def test_Rational():
-    i = S(1)/2
-    assert isinstance(i, Rational)
-    assert isinstance(i, Number)
-    assert isinstance(i, Basic)
-    assert i.p == 1
-    assert i.q == 2
-    x = symbols("x")
-    assert not isinstance(x, Rational)
-    assert not isinstance(x, Number)
-
-
-def test_Float():
-    A = Float("1.23", precision = 53)
-    B = Float("1.23")
-    C = Float(A)
-    assert A == B == C
-    assert isinstance(A, Float)
-    assert isinstance(B, Float)
-    assert isinstance(C, Float)
-    assert isinstance(A, RealDouble)
-    assert isinstance(B, RealDouble)
-    assert isinstance(C, RealDouble)
-    raises(ValueError, lambda: Float("1.23", dps = 3, precision = 10))
-    raises(ValueError, lambda: Float(A, dps = 3, precision = 16))
-    if have_mpfr:
-        from symengine.sympy_compat import RealMPFR
-        A = Float("1.23", dps = 16)
-        B = Float("1.23", precision = 56)
-        assert A == B
-        assert isinstance(A, Float)
-        assert isinstance(B, Float)
-        assert isinstance(A, RealMPFR)
-        assert isinstance(B, RealMPFR)
-        A = Float(C, dps = 16)
-        assert A == B
-        assert isinstance(A, Float)
-        assert isinstance(A, RealMPFR)
-        A = Float(A, precision = 53)
-        assert A == C
-        assert isinstance(A, Float)
-        assert isinstance(A, RealDouble)
-    if not have_mpfr:
-        raises(ValueError, lambda: Float("1.23", precision = 58))        
-
-
-def test_Add():
-    x, y = symbols("x y")
-    i = Add(x, x)
-    assert isinstance(i, Mul)
-    i = Add(x, y)
-    assert isinstance(i, Add)
-    assert isinstance(i, Basic)
-    assert i.func(y, x) == i
-
-
-def test_Mul():
-    x, y = symbols("x y")
-    i = Mul(x, x)
-    assert isinstance(i, Pow)
-    i = Mul(x, y)
-    assert isinstance(i, Mul)
-    assert isinstance(i, Basic)
-    assert i.func(y, x) == i
-
-
-def test_Pow():
-    x = symbols("x")
-    i = Pow(x, 1)
-    assert isinstance(i, Symbol)
-    i = Pow(x, 2)
-    assert isinstance(i, Pow)
-    assert isinstance(i, Basic)
-    assert i.func(x, 2) == i
-
-
-def test_Max():
-    x = Symbol("x")
-    y = Symbol("y")
-    z = Symbol("z")
-    assert Max(Integer(6)/3, 1) == 2
-    assert Max(-2, 2) == 2
-    assert Max(2, 2) == 2
-    assert Max(0.2, 0.3) == 0.3
-    assert Max(x, x) == x
-    assert Max(x, y) == Max(y, x)
-    assert Max(x, y, z) == Max(z, y, x)
-    assert Max(x, Max(y, z)) == Max(z, y, x)
-    assert Max(1000, 100, -100, x, y, z) == Max(x, y, z, 1000)
-    assert Max(cos(x), sin(x)) == Max(sin(x), cos(x))
-
-
-def test_Min():
-    x = Symbol("x")
-    y = Symbol("y")
-    z = Symbol("z")
-    assert Min(Integer(6)/3, 1) == 1
-    assert Min(-2, 2) == -2
-    assert Min(2, 2) == 2
-    assert Min(0.2, 0.3) == 0.2
-    assert Min(x, x) == x
-    assert Min(x, y) == Min(y, x)
-    assert Min(x, y, z) == Min(z, y, x)
-    assert Min(x, Min(y, z)) == Min(z, y, x)
-    assert Min(1000, 100, -100, x, y, z) == Min(x, y, z, -100)
-    assert Min(cos(x), sin(x)) == Min(cos(x), sin(x))
-
-
-def test_NaN():
-    type(nan)() == nan
-
-
-def test_sin():
-    x = symbols("x")
-    i = sin(0)
-    assert isinstance(i, Integer)
-    i = sin(x)
-    assert isinstance(i, sin)
-
-
-def test_sech():
-    x = symbols("x")
-    i = sech(0)
-    assert isinstance(i, Integer)
-    i = sech(x)
-    assert isinstance(i, sech)
-
-
-def test_csch():
-    x = symbols("x")
-    i = csch(x)
-    assert isinstance(i, csch)
-    i = csch(-1)
-    j = csch(1)
-    assert i == -j
-
-
-def test_log():
-    x, y = symbols("x y")
-    i = log(x, y)
-    assert isinstance(i, Mul)
-    i = log(x)
-    assert isinstance(i, log)
-
-
-def test_ATan2():
-    x, y = symbols("x y")
-    i = atan2(x, y)
-    assert isinstance(i, atan2)
-    i = atan2(0, 1)
-    assert i == 0
-
-
-def test_zeros():
-    assert zeros(3, c=2).shape == (3, 2)
-
-
-def test_has_functions_module():
-    import symengine.sympy_compat as sp
-    assert sp.functions.sin(0) == 0
-
-
-def test_subclass_symbol():
-    # Subclass of Symbol with an extra attribute
-    class Wrapper(Symbol):
-        def __new__(cls, name, extra_attribute):
-            return Symbol.__new__(cls, name)
-
-        def __init__(self, name, extra_attribute):
-            super().__init__(name)
-            self.extra_attribute = extra_attribute
-
-    # Instantiate the subclass
-    x = Wrapper("x", extra_attribute=3)
-    assert x.extra_attribute == 3
-    two_x = 2 * x
-    # Check that after arithmetic, same subclass is returned
-    assert two_x.args[1] is x
-    del two_x
-    x._unsafe_reset()
-
-def test_Abs():
-    x = symbols("x")
-    assert Abs(x) == Abs(-x)
diff --git a/symengine/tests/test_sympy_conv.py b/symengine/tests/test_sympy_conv.py
deleted file mode 100644
index 5d173dc4..00000000
--- a/symengine/tests/test_sympy_conv.py
+++ /dev/null
@@ -1,835 +0,0 @@
-from symengine import (Symbol, Integer, sympify, SympifyError, log,
-        function_symbol, I, E, pi, oo, zoo, nan, true, false,
-        exp, gamma, have_mpfr, have_mpc, DenseMatrix, sin, cos, tan, cot,
-        csc, sec, asin, acos, atan, acot, acsc, asec, sinh, cosh, tanh, coth,
-        asinh, acosh, atanh, acoth, atan2, Add, Mul, Pow, diff, GoldenRatio,
-        Catalan, EulerGamma, UnevaluatedExpr, RealDouble)
-from symengine.lib.symengine_wrapper import (Subs, Derivative, RealMPFR,
-        ComplexMPC, PyNumber, Function, LambertW, zeta, dirichlet_eta,
-        KroneckerDelta, LeviCivita, erf, erfc, lowergamma, uppergamma,
-        loggamma, beta, polygamma, sign, floor, ceiling, conjugate, And,
-        Or, Not, Xor, Piecewise, Interval, EmptySet, FiniteSet, Contains,
-        Union, Complement, UniversalSet, Reals, Rationals, Integers)
-import unittest
-
-# Note: We test _sympy_() for SymEngine -> SymPy conversion, as those are
-# methods that are implemented in this library. Users can simply use
-# sympy.sympify(...). To do this conversion, as this function will call
-# our _sympy_() methods under the hood.
-#
-# For SymPy -> SymEngine, we test symengine.sympify(...) which
-# does the conversion.
-
-try:
-    import sympy
-    from sympy.core.cache import clear_cache
-    import atexit
-    atexit.register(clear_cache)
-    have_sympy = True
-except ImportError:
-    have_sympy = False
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_conv1():
-    x = Symbol("x")
-    assert x._sympy_() == sympy.Symbol("x")
-    assert x._sympy_() != sympy.Symbol("y")
-    x = Symbol("y")
-    assert x._sympy_() != sympy.Symbol("x")
-    assert x._sympy_() == sympy.Symbol("y")
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_conv1b():
-    x = sympy.Symbol("x")
-    assert sympify(x) == Symbol("x")
-    assert sympify(x) != Symbol("y")
-    x = sympy.Symbol("y")
-    assert sympify(x) != Symbol("x")
-    assert sympify(x) == Symbol("y")
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_conv2():
-    x = Symbol("x")
-    y = Symbol("y")
-    z = Symbol("z")
-    e = x*y
-    assert e._sympy_() == sympy.Symbol("x")*sympy.Symbol("y")
-    e = x*y*z
-    assert e._sympy_() == sympy.Symbol("x")*sympy.Symbol("y")*sympy.Symbol("z")
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_conv2b():
-    x = sympy.Symbol("x")
-    y = sympy.Symbol("y")
-    z = sympy.Symbol("z")
-    e = x*y
-    assert sympify(e) == Symbol("x")*Symbol("y")
-    e = x*y*z
-    assert sympify(e) == Symbol("x")*Symbol("y")*Symbol("z")
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_conv3():
-    x = Symbol("x")
-    y = Symbol("y")
-    z = Symbol("z")
-    e = x+y
-    assert e._sympy_() == sympy.Symbol("x")+sympy.Symbol("y")
-    e = x+y+z
-    assert e._sympy_() == sympy.Symbol("x")+sympy.Symbol("y")+sympy.Symbol("z")
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_conv3b():
-    x = sympy.Symbol("x")
-    y = sympy.Symbol("y")
-    z = sympy.Symbol("z")
-    e = x+y
-    assert sympify(e) == Symbol("x")+Symbol("y")
-    e = x+y+z
-    assert sympify(e) == Symbol("x")+Symbol("y")+Symbol("z")
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_conv4():
-    x = Symbol("x")
-    y = Symbol("y")
-    z = Symbol("z")
-    e = x**y
-    assert e._sympy_() == sympy.Symbol("x")**sympy.Symbol("y")
-    e = (x+y)**z
-    assert (e._sympy_() ==
-            (sympy.Symbol("x")+sympy.Symbol("y"))**sympy.Symbol("z"))
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_conv4b():
-    x = sympy.Symbol("x")
-    y = sympy.Symbol("y")
-    z = sympy.Symbol("z")
-    e = x**y
-    assert sympify(e) == Symbol("x")**Symbol("y")
-    e = (x+y)**z
-    assert sympify(e) == (Symbol("x")+Symbol("y"))**Symbol("z")
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_conv5():
-    x = Integer(5)
-    y = Integer(6)
-    assert x._sympy_() == sympy.Integer(5)
-    assert (x/y)._sympy_() == sympy.Integer(5) / sympy.Integer(6)
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_conv5b():
-    x = sympy.Integer(5)
-    y = sympy.Integer(6)
-    assert sympify(x) == Integer(5)
-    assert sympify(x/y) == Integer(5) / Integer(6)
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_conv6():
-    x = Symbol("x")
-    y = Symbol("y")
-    assert (x/3)._sympy_() == sympy.Symbol("x") / 3
-    assert (3*x)._sympy_() == 3*sympy.Symbol("x")
-    assert (3+x)._sympy_() == 3+sympy.Symbol("x")
-    assert (3-x)._sympy_() == 3-sympy.Symbol("x")
-    assert (x/y)._sympy_() == sympy.Symbol("x") / sympy.Symbol("y")
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_conv6b():
-    x = sympy.Symbol("x")
-    y = sympy.Symbol("y")
-    assert sympify(x/3) == Symbol("x") / 3
-    assert sympify(3*x) == 3*Symbol("x")
-    assert sympify(3+x) == 3+Symbol("x")
-    assert sympify(3-x) == 3-Symbol("x")
-    assert sympify(x/y) == Symbol("x") / Symbol("y")
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_conv7():
-    x = Symbol("x")
-    y = Symbol("y")
-    assert sin(x/3) == sin(sympy.Symbol("x") / 3)
-    assert cos(x/3) == cos(sympy.Symbol("x") / 3)
-    assert tan(x/3) == tan(sympy.Symbol("x") / 3)
-    assert cot(x/3) == cot(sympy.Symbol("x") / 3)
-    assert csc(x/3) == csc(sympy.Symbol("x") / 3)
-    assert sec(x/3) == sec(sympy.Symbol("x") / 3)
-    assert asin(x/3) == asin(sympy.Symbol("x") / 3)
-    assert acos(x/3) == acos(sympy.Symbol("x") / 3)
-    assert atan(x/3) == atan(sympy.Symbol("x") / 3)
-    assert acot(x/3) == acot(sympy.Symbol("x") / 3)
-    assert acsc(x/3) == acsc(sympy.Symbol("x") / 3)
-    assert asec(x/3) == asec(sympy.Symbol("x") / 3)
-    assert atan2(x/3, y) == atan2(sympy.Symbol("x") / 3, sympy.Symbol("y"))
-
-    assert sin(x/3)._sympy_() == sympy.sin(sympy.Symbol("x") / 3)
-    assert sin(x/3)._sympy_() != sympy.cos(sympy.Symbol("x") / 3)
-    assert cos(x/3)._sympy_() == sympy.cos(sympy.Symbol("x") / 3)
-    assert tan(x/3)._sympy_() == sympy.tan(sympy.Symbol("x") / 3)
-    assert cot(x/3)._sympy_() == sympy.cot(sympy.Symbol("x") / 3)
-    assert csc(x/3)._sympy_() == sympy.csc(sympy.Symbol("x") / 3)
-    assert sec(x/3)._sympy_() == sympy.sec(sympy.Symbol("x") / 3)
-    assert asin(x/3)._sympy_() == sympy.asin(sympy.Symbol("x") / 3)
-    assert acos(x/3)._sympy_() == sympy.acos(sympy.Symbol("x") / 3)
-    assert atan(x/3)._sympy_() == sympy.atan(sympy.Symbol("x") / 3)
-    assert acot(x/3)._sympy_() == sympy.acot(sympy.Symbol("x") / 3)
-    assert acsc(x/3)._sympy_() == sympy.acsc(sympy.Symbol("x") / 3)
-    assert asec(x/3)._sympy_() == sympy.asec(sympy.Symbol("x") / 3)
-    assert atan2(x/3, y)._sympy_() == sympy.atan2(sympy.Symbol("x") / 3, sympy.Symbol("y"))
-
-    assert sympy.sympify(sin(x/3)) == sympy.sin(sympy.Symbol("x") / 3)
-    assert sympy.sympify(sin(x/3)) != sympy.cos(sympy.Symbol("x") / 3)
-    assert sympy.sympify(cos(x/3)) == sympy.cos(sympy.Symbol("x") / 3)
-    assert sympy.sympify(tan(x/3)) == sympy.tan(sympy.Symbol("x") / 3)
-    assert sympy.sympify(cot(x/3)) == sympy.cot(sympy.Symbol("x") / 3)
-    assert sympy.sympify(csc(x/3)) == sympy.csc(sympy.Symbol("x") / 3)
-    assert sympy.sympify(sec(x/3)) == sympy.sec(sympy.Symbol("x") / 3)
-    assert sympy.sympify(asin(x/3)) == sympy.asin(sympy.Symbol("x") / 3)
-    assert sympy.sympify(acos(x/3)) == sympy.acos(sympy.Symbol("x") / 3)
-    assert sympy.sympify(atan(x/3)) == sympy.atan(sympy.Symbol("x") / 3)
-    assert sympy.sympify(acot(x/3)) == sympy.acot(sympy.Symbol("x") / 3)
-    assert sympy.sympify(acsc(x/3)) == sympy.acsc(sympy.Symbol("x") / 3)
-    assert sympy.sympify(asec(x/3)) == sympy.asec(sympy.Symbol("x") / 3)
-    assert sympy.sympify(atan2(x/3, y)) == sympy.atan2(sympy.Symbol("x") / 3, sympy.Symbol("y"))
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_conv7b():
-    x = sympy.Symbol("x")
-    y = sympy.Symbol("y")
-    assert sympify(sympy.sin(x/3)) == sin(Symbol("x") / 3)
-    assert sympify(sympy.sin(x/3)) != cos(Symbol("x") / 3)
-    assert sympify(sympy.cos(x/3)) == cos(Symbol("x") / 3)
-    assert sympify(sympy.tan(x/3)) == tan(Symbol("x") / 3)
-    assert sympify(sympy.cot(x/3)) == cot(Symbol("x") / 3)
-    assert sympify(sympy.csc(x/3)) == csc(Symbol("x") / 3)
-    assert sympify(sympy.sec(x/3)) == sec(Symbol("x") / 3)
-    assert sympify(sympy.asin(x/3)) == asin(Symbol("x") / 3)
-    assert sympify(sympy.acos(x/3)) == acos(Symbol("x") / 3)
-    assert sympify(sympy.atan(x/3)) == atan(Symbol("x") / 3)
-    assert sympify(sympy.acot(x/3)) == acot(Symbol("x") / 3)
-    assert sympify(sympy.acsc(x/3)) == acsc(Symbol("x") / 3)
-    assert sympify(sympy.asec(x/3)) == asec(Symbol("x") / 3)
-    assert sympify(sympy.atan2(x/3, y)) == atan2(Symbol("x") / 3, Symbol("y"))
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_conv8():
-    e1 = function_symbol("f", Symbol("x"))
-    e2 = function_symbol("g", Symbol("x"), Symbol("y"))
-    assert e1._sympy_() == sympy.Function("f")(sympy.Symbol("x"))
-    assert e2._sympy_() != sympy.Function("f")(sympy.Symbol("x"))
-    assert (e2._sympy_() ==
-            sympy.Function("g")(sympy.Symbol("x"), sympy.Symbol("y")))
-
-    e3 = function_symbol("q", Symbol("t"))
-    assert e3._sympy_() == sympy.Function("q")(sympy.Symbol("t"))
-    assert e3._sympy_() != sympy.Function("f")(sympy.Symbol("t"))
-    assert (e3._sympy_() !=
-            sympy.Function("q")(sympy.Symbol("t"), sympy.Symbol("t")))
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_conv8b():
-    e1 = sympy.Function("f")(sympy.Symbol("x"))
-    e2 = sympy.Function("g")(sympy.Symbol("x"), sympy.Symbol("y"))
-    assert sympify(e1) == function_symbol("f", Symbol("x"))
-    assert sympify(e2) != function_symbol("f", Symbol("x"))
-    assert sympify(e2) == function_symbol("g", Symbol("x"), Symbol("y"))
-
-    e3 = sympy.Function("q")(sympy.Symbol("t"))
-    assert sympify(e3) == function_symbol("q", Symbol("t"))
-    assert sympify(e3) != function_symbol("f", Symbol("t"))
-    assert sympify(e3) != function_symbol("q", Symbol("t"), Symbol("t"))
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_conv9():
-    x = Symbol("x")
-    y = Symbol("y")
-    assert (I)._sympy_() == sympy.I
-    assert (2*I+3)._sympy_() == 2*sympy.I+3
-    assert (2*I/5+Integer(3)/5)._sympy_() == 2*sympy.I/5+sympy.S(3)/5
-    assert (x*I+3)._sympy_() == sympy.Symbol("x")*sympy.I + 3
-    assert (x+I*y)._sympy_() == sympy.Symbol("x") + sympy.I*sympy.Symbol("y")
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_conv9b():
-    x = Symbol("x")
-    y = Symbol("y")
-    assert sympify(sympy.I) == I
-    assert sympify(2*sympy.I+3) == 2*I+3
-    assert sympify(2*sympy.I/5+sympy.S(3)/5) == 2*I/5+Integer(3)/5
-    assert sympify(sympy.Symbol("x")*sympy.I + 3) == x*I+3
-    assert sympify(sympy.Symbol("x") + sympy.I*sympy.Symbol("y")) == x+I*y
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_conv10():
-    A = DenseMatrix(1, 4, [Integer(1), Integer(2), Integer(3), Integer(4)])
-    assert (A._sympy_() == sympy.Matrix(1, 4,
-                                        [sympy.Integer(1), sympy.Integer(2),
-                                         sympy.Integer(3), sympy.Integer(4)]))
-
-    B = DenseMatrix(4, 1, [Symbol("x"), Symbol("y"), Symbol("z"), Symbol("t")])
-    assert (B._sympy_() == sympy.Matrix(4, 1,
-                                        [sympy.Symbol("x"), sympy.Symbol("y"),
-                                         sympy.Symbol("z"), sympy.Symbol("t")])
-            )
-
-    C = DenseMatrix(2, 2,
-                    [Integer(5), Symbol("x"),
-                     function_symbol("f", Symbol("x")), 1 + I])
-
-    assert (C._sympy_() ==
-            sympy.Matrix([[5, sympy.Symbol("x")],
-                          [sympy.Function("f")(sympy.Symbol("x")),
-                           1 + sympy.I]]))
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_conv10b():
-    A = sympy.Matrix([[sympy.Symbol("x"), sympy.Symbol("y")],
-                     [sympy.Symbol("z"), sympy.Symbol("t")]])
-    assert sympify(A) == DenseMatrix(2, 2, [Symbol("x"), Symbol("y"),
-                                            Symbol("z"), Symbol("t")])
-
-    B = sympy.Matrix([[1, 2], [3, 4]])
-    assert sympify(B) == DenseMatrix(2, 2, [Integer(1), Integer(2), Integer(3),
-                                            Integer(4)])
-
-    C = sympy.Matrix([[7, sympy.Symbol("y")],
-                     [sympy.Function("g")(sympy.Symbol("z")), 3 + 2*sympy.I]])
-    assert sympify(C) == DenseMatrix(2, 2, [Integer(7), Symbol("y"),
-                                            function_symbol("g",
-                                                            Symbol("z")),
-                                            3 + 2*I])
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_conv11():
-    x = sympy.Symbol("x")
-    y = sympy.Symbol("y")
-    x1 = Symbol("x")
-    y1 = Symbol("y")
-    f = sympy.Function("f")
-    f1 = Function("f")
-
-    e1 = diff(f(2*x, y), x)
-    e2 = diff(f1(2*x1, y1), x1)
-    e3 = diff(f1(2*x1, y1), y1)
-
-    assert sympify(e1) == e2
-    assert sympify(e1) != e3
-
-    assert e2._sympy_() == e1
-    assert e3._sympy_() != e1
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_conv12():
-    x = Symbol("x")
-    y = Symbol("y")
-    assert sinh(x/3) == sinh(sympy.Symbol("x") / 3)
-    assert cosh(x/3) == cosh(sympy.Symbol("x") / 3)
-    assert tanh(x/3) == tanh(sympy.Symbol("x") / 3)
-    assert coth(x/3) == coth(sympy.Symbol("x") / 3)
-    assert asinh(x/3) == asinh(sympy.Symbol("x") / 3)
-    assert acosh(x/3) == acosh(sympy.Symbol("x") / 3)
-    assert atanh(x/3) == atanh(sympy.Symbol("x") / 3)
-    assert acoth(x/3) == acoth(sympy.Symbol("x") / 3)
-
-    assert sinh(x/3)._sympy_() == sympy.sinh(sympy.Symbol("x") / 3)
-    assert cosh(x/3)._sympy_() == sympy.cosh(sympy.Symbol("x") / 3)
-    assert tanh(x/3)._sympy_() == sympy.tanh(sympy.Symbol("x") / 3)
-    assert coth(x/3)._sympy_() == sympy.coth(sympy.Symbol("x") / 3)
-    assert asinh(x/3)._sympy_() == sympy.asinh(sympy.Symbol("x") / 3)
-    assert acosh(x/3)._sympy_() == sympy.acosh(sympy.Symbol("x") / 3)
-    assert atanh(x/3)._sympy_() == sympy.atanh(sympy.Symbol("x") / 3)
-    assert acoth(x/3)._sympy_() == sympy.acoth(sympy.Symbol("x") / 3)
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_conv12b():
-    x = sympy.Symbol("x")
-    y = sympy.Symbol("y")
-    assert sympify(sympy.sinh(x/3)) == sinh(Symbol("x") / 3)
-    assert sympify(sympy.cosh(x/3)) == cosh(Symbol("x") / 3)
-    assert sympify(sympy.tanh(x/3)) == tanh(Symbol("x") / 3)
-    assert sympify(sympy.coth(x/3)) == coth(Symbol("x") / 3)
-    assert sympify(sympy.asinh(x/3)) == asinh(Symbol("x") / 3)
-    assert sympify(sympy.acosh(x/3)) == acosh(Symbol("x") / 3)
-    assert sympify(sympy.atanh(x/3)) == atanh(Symbol("x") / 3)
-    assert sympify(sympy.acoth(x/3)) == acoth(Symbol("x") / 3)
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_tuples_lists():
-    x = sympy.Symbol("x")
-    y = sympy.Symbol("y")
-    z = sympy.Symbol("z")
-    L = [x, y, z, x*y, z**y]
-    t = (x, y, z, x*y, z**y)
-    x = Symbol("x")
-    y = Symbol("y")
-    z = Symbol("z")
-    l2 = [x, y, z, x*y, z**y]
-    t2 = (x, y, z, x*y, z**y)
-    assert sympify(L) == l2
-    assert sympify(t) == t2
-    assert sympify(L) != t2
-    assert sympify(t) != l2
-
-    assert L == l2
-    assert t == t2
-    assert L != t2
-    assert t != l2
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_exp():
-    x = Symbol("x")
-    e1 = sympy.exp(sympy.Symbol("x"))
-    e2 = exp(x)
-    assert sympify(e1) == e2
-    assert e1 == e2._sympy_()
-
-    e1 = sympy.exp(sympy.Symbol("x")).diff(sympy.Symbol("x"))
-    e2 = exp(x).diff(x)
-    assert sympify(e1) == e2
-    assert e1 == e2._sympy_()
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_gamma():
-    x = Symbol("x")
-    e1 = sympy.gamma(sympy.Symbol("x"))
-    e2 = gamma(x)
-    assert sympify(e1) == e2
-    assert e1 == e2._sympy_()
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_constants():
-    assert sympify(sympy.E) == E
-    assert sympy.E == E._sympy_()
-
-    assert sympify(sympy.pi) == pi
-    assert sympy.pi == pi._sympy_()
-
-    assert sympify(sympy.GoldenRatio) == GoldenRatio
-    assert sympy.GoldenRatio == GoldenRatio._sympy_()
-
-    assert sympify(sympy.Catalan) == Catalan
-    assert sympy.Catalan == Catalan._sympy_()
-
-    assert sympify(sympy.EulerGamma) == EulerGamma
-    assert sympy.EulerGamma == EulerGamma._sympy_()
-
-    assert sympify(sympy.oo) == oo
-    assert sympy.oo == oo._sympy_()
-
-    assert sympify(sympy.zoo) == zoo
-    assert sympy.zoo == zoo._sympy_()
-
-    assert sympify(sympy.nan) == nan
-    assert sympy.nan == nan._sympy_()
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_booleans():
-    assert sympify(sympy.S.true) == true
-    assert sympy.S.true == true._sympy_()
-
-    assert sympify(sympy.S.false) == false
-    assert sympy.S.false == false._sympy_()
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_abs():
-    x = Symbol("x")
-    e1 = abs(sympy.Symbol("x"))
-    e2 = abs(x)
-    assert sympify(e1) == e2
-    assert e1 == e2._sympy_()
-
-    e1 = abs(2*sympy.Symbol("x"))
-    e2 = 2*abs(x)
-    assert sympify(e1) == e2
-    assert e1 == e2._sympy_()
-
-    y = Symbol("y")
-    e1 = abs(sympy.Symbol("y")*sympy.Symbol("x"))
-    e2 = abs(y*x)
-    assert sympify(e1) == e2
-    assert e1 == e2._sympy_()
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_mpfr():
-    if have_mpfr:
-        a = RealMPFR('100', 100)
-        b = sympy.Float('100', 29)
-        assert sympify(b) == a
-        assert b == a._sympy_()
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_mpc():
-    if have_mpc:
-        a = ComplexMPC('1', '2', 100)
-        b = sympy.Float(1, 29) + sympy.Float(2, 29) * sympy.I
-        assert sympify(b) == a
-        assert b == a._sympy_()
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_log():
-    x = Symbol("x")
-    x1 = sympy.Symbol("x")
-
-    assert log(x) == log(x1)
-    assert log(x)._sympy_() == sympy.log(x1)
-    assert sympify(sympy.log(x1)) == log(x)
-
-    y = Symbol("y")
-    y1 = sympy.Symbol("y")
-
-    assert log(x, y) == log(x, y1)
-    assert log(x1, y) == log(x1, y1)
-    assert log(x, y)._sympy_() == sympy.log(x1, y1)
-    assert sympify(sympy.log(x1, y1)) == log(x, y)
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_lambertw():
-    x = Symbol("x")
-    e1 = sympy.LambertW(sympy.Symbol("x"))
-    e2 = LambertW(x)
-    assert sympify(e1) == e2
-    assert e2._sympy_() == e1
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_zeta():
-    x = Symbol("x")
-    y = Symbol("y")
-    e1 = sympy.zeta(sympy.Symbol("x"))
-    e2 = zeta(x)
-    assert sympify(e1) == e2
-    assert e2._sympy_() == e1
-    e1 = sympy.zeta(sympy.Symbol("x"), sympy.Symbol("y"))
-    e2 = zeta(x, y)
-    assert sympify(e1) == e2
-    assert e2._sympy_() == e1
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_dirichlet_eta():
-    x = Symbol("x")
-    e1 = sympy.dirichlet_eta(sympy.Symbol("x"))
-    e2 = dirichlet_eta(x)
-    assert sympify(e1) == e2
-    assert e2._sympy_() == e1
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_kronecker_delta():
-    x = Symbol("x")
-    y = Symbol("y")
-    e1 = sympy.KroneckerDelta(sympy.Symbol("x"), sympy.Symbol("y"))
-    e2 = KroneckerDelta(x, y)
-    assert sympify(e1) == e2
-    assert e2._sympy_() == e1
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_levi_civita():
-    x = Symbol("x")
-    y = Symbol("y")
-    z = Symbol("z")
-    e1 = sympy.LeviCivita(sympy.Symbol("x"), sympy.Symbol("y"), sympy.Symbol("z"))
-    e2 = LeviCivita(x, y, z)
-    assert sympify(e1) == e2
-    assert e2._sympy_() == e1
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_erf():
-    x = Symbol("x")
-    e1 = sympy.erf(sympy.Symbol("x"))
-    e2 = erf(x)
-    assert sympify(e1) == e2
-    assert e2._sympy_() == e1
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_erfc():
-    x = Symbol("x")
-    e1 = sympy.erfc(sympy.Symbol("x"))
-    e2 = erfc(x)
-    assert sympify(e1) == e2
-    assert e2._sympy_() == e1
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_lowergamma():
-    x = Symbol("x")
-    y = Symbol("y")
-    e1 = sympy.lowergamma(sympy.Symbol("x"), sympy.Symbol("y"))
-    e2 = lowergamma(x, y)
-    assert sympify(e1) == e2
-    assert e2._sympy_() == e1
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_uppergamma():
-    x = Symbol("x")
-    y = Symbol("y")
-    e1 = sympy.uppergamma(sympy.Symbol("x"), sympy.Symbol("y"))
-    e2 = uppergamma(x, y)
-    assert sympify(e1) == e2
-    assert e2._sympy_() == e1
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_loggamma():
-    x = Symbol("x")
-    e1 = sympy.loggamma(sympy.Symbol("x"))
-    e2 = loggamma(x)
-    assert sympify(e1) == e2
-    assert e2._sympy_() == e1
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_beta():
-    x = Symbol("x")
-    y = Symbol("y")
-    e1 = sympy.beta(sympy.Symbol("y"), sympy.Symbol("x"))
-    e2 = beta(y, x)
-    assert sympify(e1) == e2
-    assert e2._sympy_() == e1
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_polygamma():
-    x = Symbol("x")
-    y = Symbol("y")
-    e1 = sympy.polygamma(sympy.Symbol("x"), sympy.Symbol("y"))
-    e2 = polygamma(x, y)
-    assert sympify(e1) == e2
-    assert e2._sympy_() == e1
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_sign():
-    x = Symbol("x")
-    e1 = sympy.sign(sympy.Symbol("x"))
-    e2 = sign(x)
-    assert sympify(e1) == e2
-    assert e2._sympy_() == e1
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_floor():
-    x = Symbol("x")
-    e1 = sympy.floor(sympy.Symbol("x"))
-    e2 = floor(x)
-    assert sympify(e1) == e2
-    assert e2._sympy_() == e1
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_ceiling():
-    x = Symbol("x")
-    e1 = sympy.ceiling(sympy.Symbol("x"))
-    e2 = ceiling(x)
-    assert sympify(e1) == e2
-    assert e2._sympy_() == e1
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_conjugate():
-    x = Symbol("x")
-    e1 = sympy.conjugate(sympy.Symbol("x"))
-    e2 = conjugate(x)
-    assert sympify(e1) == e2
-    assert e2._sympy_() == e1
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_unevaluated_expr():
-    x = Symbol("x")
-    e1 = sympy.UnevaluatedExpr(sympy.Symbol("x"))
-    e2 = UnevaluatedExpr(x)
-    assert sympify(e1) == e2
-    assert e2._sympy_() == e1
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_logic():
-    x = true
-    y = false
-    x1 = sympy.true
-    y1 = sympy.false
-
-    assert And(x, y) == And(x1, y1)
-    assert And(x1, y) == And(x1, y1)
-    assert And(x, y)._sympy_() == sympy.And(x1, y1)
-    assert sympify(sympy.And(x1, y1)) == And(x, y)
-
-    assert Or(x, y) == Or(x1, y1)
-    assert Or(x1, y) == Or(x1, y1)
-    assert Or(x, y)._sympy_() == sympy.Or(x1, y1)
-    assert sympify(sympy.Or(x1, y1)) == Or(x, y)
-
-    assert Not(x) == Not(x1)
-    assert Not(x1) == Not(x1)
-    assert Not(x)._sympy_() == sympy.Not(x1)
-    assert sympify(sympy.Not(x1)) == Not(x)
-
-    assert Xor(x, y) == Xor(x1, y1)
-    assert Xor(x1, y) == Xor(x1, y1)
-    assert Xor(x, y)._sympy_() == sympy.Xor(x1, y1)
-    assert sympify(sympy.Xor(x1, y1)) == Xor(x, y)
-
-    x = Symbol("x")
-    x1 = sympy.Symbol("x")
-
-    assert Piecewise((x, x < 1), (0, True)) == Piecewise((x1, x1 < 1), (0, True))
-    assert Piecewise((x, x1 < 1), (0, True)) == Piecewise((x1, x1 < 1), (0, True))
-    assert Piecewise((x, x < 1), (0, True))._sympy_() == sympy.Piecewise((x1, x1 < 1), (0, True))
-    assert sympify(sympy.Piecewise((x1, x1 < 1), (0, True))) == Piecewise((x, x < 1), (0, True))
-
-    assert Contains(x, Interval(1, 1)) == Contains(x1, Interval(1, 1))
-    assert Contains(x, Interval(1, 1))._sympy_() == sympy.Contains(x1, Interval(1, 1))
-    assert sympify(sympy.Contains(x1, Interval(1, 1))) == Contains(x, Interval(1, 1))
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_sets():
-    x = Integer(2)
-    y = Integer(3)
-    x1 = sympy.Integer(2)
-    y1 = sympy.Integer(3)
-
-    assert Interval(x, y) == Interval(x1, y1)
-    assert Interval(x1, y) == Interval(x1, y1)
-    assert Interval(x, y)._sympy_() == sympy.Interval(x1, y1)
-    assert sympify(sympy.Interval(x1, y1)) == Interval(x, y)
-
-    assert sympify(sympy.S.EmptySet) == EmptySet()
-    assert sympy.S.EmptySet == EmptySet()._sympy_()
-
-    assert sympify(sympy.S.UniversalSet) == UniversalSet()
-    assert sympy.S.UniversalSet == UniversalSet()._sympy_()
-
-    assert sympify(sympy.S.Reals) == Reals()
-    assert sympy.S.Reals == Reals()._sympy_()
-
-    assert sympify(sympy.S.Rationals) == Rationals()
-    assert sympy.S.Rationals == Rationals()._sympy_()
-
-    assert sympify(sympy.S.Integers) == Integers()
-    assert sympy.S.Integers == Integers()._sympy_()
-
-    assert FiniteSet(x, y) == FiniteSet(x1, y1)
-    assert FiniteSet(x1, y) == FiniteSet(x1, y1)
-    assert FiniteSet(x, y)._sympy_() == sympy.FiniteSet(x1, y1)
-    assert sympify(sympy.FiniteSet(x1, y1)) == FiniteSet(x, y)
-
-    x = Interval(1, 2)
-    y = Interval(2, 3)
-    x1 = sympy.Interval(1, 2)
-    y1 = sympy.Interval(2, 3)
-
-    assert Union(x, y) == Union(x1, y1)
-    assert Union(x1, y) == Union(x1, y1)
-    assert Union(x, y)._sympy_() == sympy.Union(x1, y1)
-    assert sympify(sympy.Union(x1, y1)) == Union(x, y)
-
-    assert Complement(x, y) == Complement(x1, y1)
-    assert Complement(x1, y) == Complement(x1, y1)
-    assert Complement(x, y)._sympy_() == sympy.Complement(x1, y1)
-    assert sympify(sympy.Complement(x1, y1)) == Complement(x, y)
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_pynumber():
-    a = sympy.FF(7)(3)
-    b = sympify(a)
-
-    assert isinstance(b, PyNumber)
-
-    a = a + 1
-    b = b + 1
-    assert isinstance(b, PyNumber)
-    assert b == a                  # Check equality via SymEngine
-    assert a == b                  # Check equality via SymPy
-    assert str(a) == str(b)
-
-    a = 1 - a
-    b = 1 - b
-    assert isinstance(b, PyNumber)
-    assert b == a                  # Check equality via SymEngine
-    assert a == b                  # Check equality via SymPy
-
-    a = 2 * a
-    b = 2 * b
-    assert isinstance(b, PyNumber)
-    assert b == a                  # Check equality via SymEngine
-    assert a == b                  # Check equality via SymPy
-
-    if sympy.__version__ != '1.2':
-        a = 2 / a
-        b = 2 / b
-        assert isinstance(b, PyNumber)
-        assert b == a                  # Check equality via SymEngine
-        assert a == b                  # Check equality via SymPy
-
-    x = Symbol("x")
-    b = x * sympy.FF(7)(3)
-    assert isinstance(b, Mul)
-
-    b = b / x
-    assert isinstance(b, PyNumber)
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_construct_dense_matrix():
-    # Test for issue #347
-    A = sympy.Matrix([[1, 2], [3, 5]])
-    B = DenseMatrix(A)
-    assert B.shape == (2, 2)
-    assert list(B) == [1, 2, 3, 5]
-
-
-@unittest.skipIf(not have_sympy, "SymPy not installed")
-def test_conv_doubles():
-    f = 4.347249999999999
-    a = sympify(f)
-    assert isinstance(a, RealDouble)
-    assert sympify(a._sympy_()) == a
-    assert float(a) == f
-    assert float(a._sympy_()) == f
-
-def test_conv_large_integers():
-    a = Integer(10)**10000
-    # check that convert to python int does not throw
-    b = int(a)
-    # check that convert to sympy int does not throw
-    if have_sympy:
-        c = a._sympy_()
-        d = sympify(c)
diff --git a/symengine/tests/test_var.py b/symengine/tests/test_var.py
deleted file mode 100644
index d82d4fab..00000000
--- a/symengine/tests/test_var.py
+++ /dev/null
@@ -1,68 +0,0 @@
-# Tests for var are in their own file, because var pollutes global namespace.
-
-from symengine import Symbol, var
-from symengine.test_utilities import raises
-# make z1 with call-depth = 1
-
-
-def _make_z1():
-    var("z1")
-
-# make z2 with call-depth = 2
-
-
-def __make_z2():
-    var("z2")
-
-
-def _make_z2():
-    __make_z2()
-
-
-def test_var():
-    var("a")
-    assert a == Symbol("a")
-
-    var("b bb cc zz _x")
-    assert b == Symbol("b")
-    assert bb == Symbol("bb")
-    assert cc == Symbol("cc")
-    assert zz == Symbol("zz")
-    assert _x == Symbol("_x")
-
-    v = var(['d', 'e', 'fg'])
-    assert d == Symbol('d')
-    assert e == Symbol('e')
-    assert fg == Symbol('fg')
-
-    # check return value
-    assert v == [d, e, fg]
-
-
-def test_var_global_namespace():
-    # see if var() really injects into global namespace
-    raises(NameError, lambda: z1)
-    _make_z1()
-    assert z1 == Symbol("z1")
-
-    raises(NameError, lambda: z2)
-    _make_z2()
-    assert z2 == Symbol("z2")
-
-
-def test_var_return():
-    raises(ValueError, lambda: var(''))
-    v2 = var('q')
-    v3 = var('q p')
-
-    assert v2 == Symbol('q')
-    assert v3 == (Symbol('q'), Symbol('p'))
-
-
-def test_var_accepts_comma():
-    v1 = var('x y z')
-    v2 = var('x,y,z')
-    v3 = var('x,y z')
-
-    assert v1 == v2
-    assert v1 == v3
diff --git a/symengine/utilities.py b/symengine/utilities.py
deleted file mode 100644
index a64ea15e..00000000
--- a/symengine/utilities.py
+++ /dev/null
@@ -1,280 +0,0 @@
-from .lib.symengine_wrapper import Symbol, Basic
-from itertools import combinations, permutations, product, product as cartes
-import re as _re
-import string
-import sys
-
-
-_range = _re.compile('([0-9]*:[0-9]+|[a-zA-Z]?:[a-zA-Z])')
-
-
-def symbols(names, **args):
-    r"""
-    Transform strings into instances of :class:`Symbol` class.
-    :func:`symbols` function returns a sequence of symbols with names taken
-    from ``names`` argument, which can be a comma or whitespace delimited
-    string, or a sequence of strings::
-        >>> from symengine import symbols
-        >>> x, y, z = symbols('x,y,z')
-        >>> a, b, c = symbols('a b c')
-    The type of output is dependent on the properties of input arguments::
-        >>> symbols('x')
-        x
-        >>> symbols('x,')
-        (x,)
-        >>> symbols('x,y')
-        (x, y)
-        >>> symbols(('a', 'b', 'c'))
-        (a, b, c)
-        >>> symbols(['a', 'b', 'c'])
-        [a, b, c]
-        >>> symbols(set(['a', 'b', 'c']))
-        set([a, b, c])
-    If an iterable container is needed for a single symbol, set the ``seq``
-    argument to ``True`` or terminate the symbol name with a comma::
-        >>> symbols('x', seq=True)
-        (x,)
-    To reduce typing, range syntax is supported to create indexed symbols.
-    Ranges are indicated by a colon and the type of range is determined by
-    the character to the right of the colon. If the character is a digit
-    then all contiguous digits to the left are taken as the nonnegative
-    starting value (or 0 if there is no digit left of the colon) and all
-    contiguous digits to the right are taken as 1 greater than the ending
-    value::
-        >>> symbols('x:10')
-        (x0, x1, x2, x3, x4, x5, x6, x7, x8, x9)
-        >>> symbols('x5:10')
-        (x5, x6, x7, x8, x9)
-        >>> symbols('x5(:2)')
-        (x50, x51)
-        >>> symbols('x5:10,y:5')
-        (x5, x6, x7, x8, x9, y0, y1, y2, y3, y4)
-        >>> symbols(('x5:10', 'y:5'))
-        ((x5, x6, x7, x8, x9), (y0, y1, y2, y3, y4))
-    If the character to the right of the colon is a letter, then the single
-    letter to the left (or 'a' if there is none) is taken as the start
-    and all characters in the lexicographic range *through* the letter to
-    the right are used as the range::
-        >>> symbols('x:z')
-        (x, y, z)
-        >>> symbols('x:c')  # null range
-        ()
-        >>> symbols('x(:c)')
-        (xa, xb, xc)
-        >>> symbols(':c')
-        (a, b, c)
-        >>> symbols('a:d, x:z')
-        (a, b, c, d, x, y, z)
-        >>> symbols(('a:d', 'x:z'))
-        ((a, b, c, d), (x, y, z))
-    Multiple ranges are supported; contiguous numerical ranges should be
-    separated by parentheses to disambiguate the ending number of one
-    range from the starting number of the next::
-        >>> symbols('x:2(1:3)')
-        (x01, x02, x11, x12)
-        >>> symbols(':3:2')  # parsing is from left to right
-        (00, 01, 10, 11, 20, 21)
-    Only one pair of parentheses surrounding ranges are removed, so to
-    include parentheses around ranges, double them. And to include spaces,
-    commas, or colons, escape them with a backslash::
-        >>> symbols('x((a:b))')
-        (x(a), x(b))
-        >>> symbols('x(:1\,:2)')  # or 'x((:1)\,(:2))'
-        (x(0,0), x(0,1))
-    """
-    result = []
-
-    if isinstance(names, str):
-        marker = 0
-        literals = [r'\,', r'\:', r'\ ']
-        for i in range(len(literals)):
-            lit = literals.pop(0)
-            if lit in names:
-                while chr(marker) in names:
-                    marker += 1
-                lit_char = chr(marker)
-                marker += 1
-                names = names.replace(lit, lit_char)
-                literals.append((lit_char, lit[1:]))
-
-        def literal(s):
-            if literals:
-                for c, l in literals:
-                    s = s.replace(c, l)
-            return s
-
-        names = names.strip()
-        as_seq = names.endswith(',')
-        if as_seq:
-            names = names[:-1].rstrip()
-        if not names:
-            raise ValueError('no symbols given')
-
-        # split on commas
-        names = [n.strip() for n in names.split(',')]
-        if not all(n for n in names):
-            raise ValueError('missing symbol between commas')
-        # split on spaces
-        for i in range(len(names) - 1, -1, -1):
-            names[i: i + 1] = names[i].split()
-
-        cls = args.pop('cls', Symbol)
-        seq = args.pop('seq', as_seq)
-
-        for name in names:
-            if not name:
-                raise ValueError('missing symbol')
-
-            if ':' not in name:
-                symbol = cls(literal(name), **args)
-                result.append(symbol)
-                continue
-
-            split = _range.split(name)
-            # remove 1 layer of bounding parentheses around ranges
-            for i in range(len(split) - 1):
-                if i and ':' in split[i] and split[i] != ':' and \
-                        split[i - 1].endswith('(') and \
-                        split[i + 1].startswith(')'):
-                    split[i - 1] = split[i - 1][:-1]
-                    split[i + 1] = split[i + 1][1:]
-            for i, s in enumerate(split):
-                if ':' in s:
-                    if s[-1].endswith(':'):
-                        raise ValueError('missing end range')
-                    a, b = s.split(':')
-                    if b[-1] in string.digits:
-                        a = 0 if not a else int(a)
-                        b = int(b)
-                        split[i] = [str(c) for c in range(a, b)]
-                    else:
-                        a = a or 'a'
-                        split[i] = [string.ascii_letters[c] for c in range(
-                            string.ascii_letters.index(a),
-                            string.ascii_letters.index(b) + 1)]  # inclusive
-                    if not split[i]:
-                        break
-                else:
-                    split[i] = [s]
-            else:
-                seq = True
-                if len(split) == 1:
-                    names = split[0]
-                else:
-                    names = [''.join(s) for s in cartes(*split)]
-                if literals:
-                    result.extend([cls(literal(s), **args) for s in names])
-                else:
-                    result.extend([cls(s, **args) for s in names])
-
-        if not seq and len(result) <= 1:
-            if not result:
-                return ()
-            return result[0]
-
-        return tuple(result)
-    else:
-        for name in names:
-            result.append(symbols(name, **args))
-
-        return type(names)(result)
-
-
-def var(names, **args):
-    """
-    Create symbols and inject them into the global namespace.
-
-    INPUT:
--            s -- a string, either a single variable name, or
--                 a space separated list of variable names, or
--                 a list of variable names.
-
-    This calls :func:`symbols` with the same arguments and puts the results
-    into the *global* namespace. It's recommended not to use :func:`var` in
-    library code, where :func:`symbols` has to be used::
-
-    Examples
-    ========
-
-    >>> from symengine import var
-
-    >>> var('x')
-    x
-    >>> x
-    x
-
-    >>> var('a,ab,abc')
-    (a, ab, abc)
-    >>> abc
-    abc
-
-    See :func:`symbols` documentation for more details on what kinds of
-    arguments can be passed to :func:`var`.
-
-    """
-    def traverse(symbols, frame):
-        """Recursively inject symbols to the global namespace. """
-        for symbol in symbols:
-            if isinstance(symbol, Basic):
-                frame.f_globals[symbol.__str__()] = symbol
-            # Once we hace an undefined function class
-            # implemented, put a check for function here
-            else:
-                traverse(symbol, frame)
-
-    from inspect import currentframe
-    frame = currentframe().f_back
-
-    try:
-        syms = symbols(names, **args)
-
-        if syms is not None:
-            if isinstance(syms, Basic):
-                frame.f_globals[syms.__str__()] = syms
-            # Once we hace an undefined function class
-            # implemented, put a check for function here
-            else:
-                traverse(syms, frame)
-    finally:
-        del frame  # break cyclic dependencies as stated in inspect docs
-
-    return syms
-
-
-class NotIterable:
-    """
-    Use this as mixin when creating a class which is not supposed to return
-    true when iterable() is called on its instances. I.e. avoid infinite loop
-    when calling e.g. list() on the instance
-    """
-    pass
-
-
-def iterable(i, exclude=(str, dict, NotIterable)):
-    """
-    Return a boolean indicating whether ``i`` is SymPy iterable.
-    True also indicates that the iterator is finite, i.e. you e.g.
-    call list(...) on the instance.
-
-    When SymPy is working with iterables, it is almost always assuming
-    that the iterable is not a string or a mapping, so those are excluded
-    by default. If you want a pure Python definition, make exclude=None. To
-    exclude multiple items, pass them as a tuple.
-    """
-    try:
-        iter(i)
-    except TypeError:
-        return False
-    if exclude:
-        return not isinstance(i, exclude)
-    return True
-
-
-def is_sequence(i):
-    """
-    Return a boolean indicating whether ``i`` is a sequence in the SymPy
-    sense. If anything that fails the test below should be included as
-    being a sequence for your application, set 'include' to that object's
-    type; multiple types should be passed as a tuple of types.
-    """
-    return hasattr(i, '__getitem__') and iterable(i)
diff --git a/symengine_version.txt b/symengine_version.txt
deleted file mode 100644
index e49372be..00000000
--- a/symengine_version.txt
+++ /dev/null
@@ -1 +0,0 @@
-c9510fb4b5c30b84adb993573a51f2a9a38a4cfe