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JacobLFoot.m
112 lines (95 loc) · 451 KB
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JacobLFoot.m
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function [ JacobianP_track ] = JacobLFoot(q )
q1=q(1);
q2=q(2);
q3=q(3);
q4=q(4);
q5=q(5);
q6=q(6);
q7=q(7);
q8=q(8);
q9=q(9);
q10=q(10);
q11=q(11);
q12=q(12);
q13=q(13);
q14=q(14);
q15=q(15);
q16=q(16);
q17=q(17);
q18=q(18);
q19=q(19);
q20=q(20);
q21=q(21);
q22=q(22);
q23=q(23);
JacobianP_track=zeros(3,23);
JacobianP_track(1,1)=0;
JacobianP_track(1,2) = sin(q2)*(cos(q3)*(cos(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0+sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))))-sin(q3)*(sin(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))))+1.0E2))*-1.0-cos(q2)*(sin(q3)*(cos(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0+sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))))+cos(q3)*(sin(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))))+1.0E2)*1.0+1.028999999999069E2)*1.0;
JacobianP_track(1,3) = sin(q2)*(cos(q3)*(cos(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0+sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))))-sin(q3)*(sin(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))))+1.0E2))*-1.0-cos(q2)*(sin(q3)*(cos(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0+sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))))*1.0+cos(q3)*(sin(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))))+1.0E2));
JacobianP_track(1,4) = sin(q2)*(sin(q3)*(sin(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))))-cos(q3)*(cos(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0+sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))))))*1.0-cos(q2)*(cos(q3)*(sin(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))))+sin(q3)*(cos(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0+sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))))*1.0);
JacobianP_track(1,5) = sin(q2)*(cos(q3)*cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0-cos(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1))*1.0-sin(q3)*sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0-cos(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)))*-1.0-cos(q2)*(cos(q3)*sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0-cos(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1))+cos(q4)*sin(q3)*(sin(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0-cos(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)));
JacobianP_track(1,6) = sin(q2)*(sin(q3)*(cos(q4)*(cos(q6)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))+cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-sin(q4)*(sin(q5-7.853981633979856E-1)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716)*1.0+cos(q5-7.853981633979856E-1)*(sin(q6)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))+sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.0289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11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))*1.0)))*1.0-cos(q3)*(cos(q4)*(cos(q6)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))+cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-sin(q4)*(sin(q5-7.853981633979856E-1)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716)*1.0+cos(q5-7.853981633979856E-1)*(sin(q6)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))+sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))*1.0))*1.0));
JacobianP_track(1,7) = sin(q2)*(sin(q3)*(cos(q4)*(sin(q6)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.519000240461901E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716)-cos(q6-1.570796326795971)*cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0)*1.0)+sin(q4)*(cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.519000240461901E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716)+cos(q6-1.570796326795971)*sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0))+sin(q5-7.853981633979856E-1)*sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0)*1.000000053212716))-cos(q3)*(cos(q4)*(cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.519000240461901E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716)+cos(q6-1.570796326795971)*sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0))+sin(q5-7.853981633979856E-1)*sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0)*1.000000053212716)*1.0-sin(q4)*(sin(q6)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.519000240461901E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716)-cos(q6-1.570796326795971)*cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0)*1.0)))*-1.0+cos(q2)*(cos(q3)*(cos(q4)*(sin(q6)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.519000240461901E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716)-cos(q6-1.570796326795971)*cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0)*1.0)+sin(q4)*(cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.519000240461901E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716)+cos(q6-1.570796326795971)*sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0))+sin(q5-7.853981633979856E-1)*sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0)*1.000000053212716))+sin(q3)*(cos(q4)*(cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.519000240461901E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716)+cos(q6-1.570796326795971)*sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0))+sin(q5-7.853981633979856E-1)*sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0)*1.000000053212716)*1.0-sin(q4)*(sin(q6)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.519000240461901E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716)-cos(q6-1.570796326795971)*cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0)*1.0))*1.0);
JacobianP_track(1,8) = cos(q2)*(cos(q3)*(cos(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)-sin(q4)*(cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)-sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)*1.0)*1.0)-sin(q3)*(sin(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)+cos(q4)*(cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)-sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)*1.0))*1.0)-sin(q2)*(sin(q3)*(cos(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)-sin(q4)*(cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)-sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)*1.0)*1.0)+cos(q3)*(sin(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)+cos(q4)*(cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)-sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)*1.0)))*1.0;
JacobianP_track(1,9) = sin(q2)*(cos(q3)*(cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)*1.0-cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716))-sin(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716))-sin(q3)*(sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)*1.0-cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716))*1.0+cos(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)))*1.0+cos(q2)*(sin(q3)*(cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)*1.0-cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716))-sin(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716))*1.0+cos(q3)*(sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)*1.0-cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716))*1.0+cos(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)));
JacobianP_track(1,10) = sin(q2)*(cos(q3)*(cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716)*1.0-cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.0)+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716))-sin(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.0)-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716))-sin(q3)*(sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716)*1.0-cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.0)+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716))+cos(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.0)-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716)*1.0)*1.0)+cos(q2)*(sin(q3)*(cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716)*1.0-cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.0)+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716))-sin(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.0)-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716))+cos(q3)*(sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716)*1.0-cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.0)+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716))+cos(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.0)-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716)*1.0));
JacobianP_track(1,11) = cos(q2)*(cos(q3)*(sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1)*1.000000053212716)-cos(q5-7.853981633979856E-1)*(cos(q6)*(sin(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.519000240461901E1)*1.0+sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1))))-cos(q4)*(sin(q6)*(sin(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.519000240461901E1)-cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1)))*1.0)+sin(q3)*(cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1)*1.000000053212716)-cos(q5-7.853981633979856E-1)*(cos(q6)*(sin(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.519000240461901E1)*1.0+sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1))))+sin(q4)*(sin(q6)*(sin(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.519000240461901E1)-cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1)))))*1.0-sin(q2)*(sin(q3)*(sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1)*1.000000053212716)-cos(q5-7.853981633979856E-1)*(cos(q6)*(sin(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.519000240461901E1)*1.0+sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1))))-cos(q4)*(sin(q6)*(sin(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.519000240461901E1)-cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1)))*1.0)*1.0-cos(q3)*(cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1)*1.000000053212716)-cos(q5-7.853981633979856E-1)*(cos(q6)*(sin(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.519000240461901E1)*1.0+sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1))))+sin(q4)*(sin(q6)*(sin(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.519000240461901E1)-cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1)))))*1.0;
JacobianP_track(1,12)=0;
JacobianP_track(1,13)=0;
JacobianP_track(1,14)=0;
JacobianP_track(1,15)=0;
JacobianP_track(1,16)=0;
JacobianP_track(1,17)=0;
JacobianP_track(1,18)=0;
JacobianP_track(1,19)=0;
JacobianP_track(1,20)=0;
JacobianP_track(1,21)=0;
JacobianP_track(1,22)=0;
JacobianP_track(1,23)=0;
JacobianP_track(2,1) = sin(q1+1.570796326795971)*(sin(q2)*(cos(q3)*(cos(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0+sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))))-sin(q3)*(sin(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))))+1.0E2))+cos(q2)*(sin(q3)*(cos(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0+sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))))+cos(q3)*(sin(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))))+1.0E2)*1.0+1.028999999999069E2))-cos(q1+1.570796326795971)*(sin(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0-cos(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1));
JacobianP_track(2,2) = cos(q1+1.570796326795971)*(sin(q2)*(sin(q3)*(cos(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0+sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))))+cos(q3)*(sin(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))))+1.0E2)*1.0+1.028999999999069E2)*1.0-cos(q2)*(cos(q3)*(cos(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0+sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))))-sin(q3)*(sin(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))))+1.0E2)))*1.0;
JacobianP_track(2,3) = cos(q1+1.570796326795971)*(sin(q2)*(sin(q3)*(cos(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0+sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))))*1.0+cos(q3)*(sin(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))))+1.0E2))-cos(q2)*(cos(q3)*(cos(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0+sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))))-sin(q3)*(sin(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))))+1.0E2)))*1.0;
JacobianP_track(2,4) = cos(q1+1.570796326795971)*(cos(q2)*(sin(q3)*(sin(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))))-cos(q3)*(cos(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0+sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))))))+sin(q2)*(cos(q3)*(sin(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))))+sin(q3)*(cos(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0+sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))))*1.0))*1.0;
JacobianP_track(2,5) = cos(q1+1.570796326795971)*(sin(q2)*(cos(q3)*sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0-cos(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1))+cos(q4)*sin(q3)*(sin(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0-cos(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)))-cos(q2)*(cos(q3)*cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0-cos(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1))*1.0-sin(q3)*sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0-cos(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1))))*1.0-sin(q1+1.570796326795971)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))))*1.0;
JacobianP_track(2,6) = cos(q1+1.570796326795971)*(cos(q2)*(sin(q3)*(cos(q4)*(cos(q6)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))+cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-sin(q4)*(sin(q5-7.853981633979856E-1)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716)*1.0+cos(q5-7.853981633979856E-1)*(sin(q6)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))+sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))*1.0))*1.0)+cos(q3)*(sin(q4)*(cos(q6)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))+cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))+cos(q4)*(sin(q5-7.853981633979856E-1)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716)*1.0+cos(q5-7.853981633979856E-1)*(sin(q6)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))+sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+s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in(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))*1.0)))*1.0-cos(q3)*(cos(q4)*(cos(q6)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))+cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-sin(q4)*(sin(q5-7.853981633979856E-1)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716)*1.0+cos(q5-7.853981633979856E-1)*(sin(q6)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))+sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))*1.0))*1.0)))*-1.0-sin(q1+1.570796326795971)*(cos(q5-7.853981633979856E-1)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716)-sin(q5-7.853981633979856E-1)*(sin(q6)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))+sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))*1.0));
JacobianP_track(2,7) = sin(q1+1.570796326795971)*(sin(q5-7.853981633979856E-1)*(cos(q6)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.519000240461901E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716)+cos(q6-1.570796326795971)*sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0))-cos(q5-7.853981633979856E-1)*sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0)*1.000000053212716)*-1.0-cos(q1+1.570796326795971)*(sin(q2)*(cos(q3)*(cos(q4)*(sin(q6)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.519000240461901E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716)-cos(q6-1.570796326795971)*cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0)*1.0)+sin(q4)*(cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.519000240461901E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716)+cos(q6-1.570796326795971)*sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0))+sin(q5-7.853981633979856E-1)*sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0)*1.000000053212716))+sin(q3)*(cos(q4)*(cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.519000240461901E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716)+cos(q6-1.570796326795971)*sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0))+sin(q5-7.853981633979856E-1)*sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0)*1.000000053212716)*1.0-sin(q4)*(sin(q6)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.519000240461901E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716)-cos(q6-1.570796326795971)*cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0)*1.0))*1.0)+cos(q2)*(sin(q3)*(cos(q4)*(sin(q6)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.519000240461901E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716)-cos(q6-1.570796326795971)*cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0)*1.0)+sin(q4)*(cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.519000240461901E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716)+cos(q6-1.570796326795971)*sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0))+sin(q5-7.853981633979856E-1)*sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0)*1.000000053212716))-cos(q3)*(cos(q4)*(cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.519000240461901E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716)+cos(q6-1.570796326795971)*sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0))+sin(q5-7.853981633979856E-1)*sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0)*1.000000053212716)*1.0-sin(q4)*(sin(q6)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.519000240461901E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716)-cos(q6-1.570796326795971)*cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0)*1.0))))*1.0;
JacobianP_track(2,8) = cos(q1+1.570796326795971)*(sin(q2)*(cos(q3)*(cos(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)-sin(q4)*(cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)-sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)*1.0)*1.0)-sin(q3)*(sin(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)+cos(q4)*(cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)-sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)*1.0))*1.0)+cos(q2)*(sin(q3)*(cos(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)-sin(q4)*(cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)-sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)*1.0)*1.0)+cos(q3)*(sin(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)+cos(q4)*(cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)-sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)*1.0))))*-1.0+sin(q1+1.570796326795971)*(sin(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)+cos(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716));
JacobianP_track(2,9) = cos(q1+1.570796326795971)*(cos(q2)*(cos(q3)*(cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)*1.0-cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716))-sin(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716))-sin(q3)*(sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)*1.0-cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716))*1.0+cos(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)))-sin(q2)*(sin(q3)*(cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)*1.0-cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716))-sin(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716))*1.0+cos(q3)*(sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)*1.0-cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716))*1.0+cos(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716))))*1.0+sin(q1+1.570796326795971)*(cos(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)+sin(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716));
JacobianP_track(2,10) = cos(q1+1.570796326795971)*(cos(q2)*(cos(q3)*(cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716)*1.0-cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.0)+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716))-sin(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.0)-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716))-sin(q3)*(sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716)*1.0-cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.0)+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716))+cos(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.0)-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716)*1.0)*1.0)-sin(q2)*(sin(q3)*(cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716)*1.0-cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.0)+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716))-sin(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.0)-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716))+cos(q3)*(sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716)*1.0-cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.0)+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716))+cos(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.0)-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716)*1.0))*1.0)+sin(q1+1.570796326795971)*(sin(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.0)+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716)+cos(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716))*1.0;
JacobianP_track(2,11) = cos(q1+1.570796326795971)*(sin(q2)*(cos(q3)*(sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1)*1.000000053212716)-cos(q5-7.853981633979856E-1)*(cos(q6)*(sin(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.519000240461901E1)*1.0+sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1))))-cos(q4)*(sin(q6)*(sin(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.519000240461901E1)-cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1)))*1.0)+sin(q3)*(cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1)*1.000000053212716)-cos(q5-7.853981633979856E-1)*(cos(q6)*(sin(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.519000240461901E1)*1.0+sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1))))+sin(q4)*(sin(q6)*(sin(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.519000240461901E1)-cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1)))))*1.0+cos(q2)*(sin(q3)*(sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1)*1.000000053212716)-cos(q5-7.853981633979856E-1)*(cos(q6)*(sin(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.519000240461901E1)*1.0+sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1))))-cos(q4)*(sin(q6)*(sin(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.519000240461901E1)-cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1)))*1.0)*1.0-cos(q3)*(cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1)*1.000000053212716)-cos(q5-7.853981633979856E-1)*(cos(q6)*(sin(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.519000240461901E1)*1.0+sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1))))+sin(q4)*(sin(q6)*(sin(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.519000240461901E1)-cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1))))))*-1.0+sin(q1+1.570796326795971)*(cos(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1)*1.000000053212716)+sin(q5-7.853981633979856E-1)*(cos(q6)*(sin(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.519000240461901E1)*1.0+sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1)))*1.0)*1.0;
JacobianP_track(2,12)=0;
JacobianP_track(2,13)=0;
JacobianP_track(2,14)=0;
JacobianP_track(2,15)=0;
JacobianP_track(2,16)=0;
JacobianP_track(2,17)=0;
JacobianP_track(2,18)=0;
JacobianP_track(2,19)=0;
JacobianP_track(2,20)=0;
JacobianP_track(2,21)=0;
JacobianP_track(2,22)=0;
JacobianP_track(2,23)=0;
JacobianP_track(3,1) = sin(q1+1.570796326795971)*(sin(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0-cos(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1))*1.0+cos(q1+1.570796326795971)*(sin(q2)*(cos(q3)*(cos(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0+sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))))-sin(q3)*(sin(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))))+1.0E2))+cos(q2)*(sin(q3)*(cos(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0+sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))))+cos(q3)*(sin(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))))+1.0E2)*1.0+1.028999999999069E2));
JacobianP_track(3,2) = -sin(q1+1.570796326795971)*(sin(q2)*(sin(q3)*(cos(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0+sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))))+cos(q3)*(sin(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))))+1.0E2)*1.0+1.028999999999069E2)*1.0-cos(q2)*(cos(q3)*(cos(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0+sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))))-sin(q3)*(sin(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))))+1.0E2)));
JacobianP_track(3,3) = -sin(q1+1.570796326795971)*(sin(q2)*(sin(q3)*(cos(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0+sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))))*1.0+cos(q3)*(sin(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))))+1.0E2))-cos(q2)*(cos(q3)*(cos(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0+sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))))-sin(q3)*(sin(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))))+1.0E2)));
JacobianP_track(3,4) = -sin(q1+1.570796326795971)*(cos(q2)*(sin(q3)*(sin(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))))-cos(q3)*(cos(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0+sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))))))+sin(q2)*(cos(q3)*(sin(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))))+sin(q3)*(cos(q4)*(sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)*1.0+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0+sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))))*1.0));
JacobianP_track(3,5) = -sin(q1+1.570796326795971)*(sin(q2)*(cos(q3)*sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0-cos(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1))+cos(q4)*sin(q3)*(sin(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0-cos(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)))-cos(q2)*(cos(q3)*cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0-cos(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1))*1.0-sin(q3)*sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))*1.0-cos(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1))))-cos(q1+1.570796326795971)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716+7.071067811874673E1)+cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))))*1.0;
JacobianP_track(3,6) = sin(q1+1.570796326795971)*(cos(q2)*(sin(q3)*(cos(q4)*(cos(q6)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))+cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-sin(q4)*(sin(q5-7.853981633979856E-1)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716)*1.0+cos(q5-7.853981633979856E-1)*(sin(q6)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))+sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))*1.0))*1.0)+cos(q3)*(sin(q4)*(cos(q6)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))+cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))+cos(q4)*(sin(q5-7.853981633979856E-1)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716)*1.0+cos(q5-7.853981633979856E-1)*(sin(q6)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))+sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+s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in(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))*1.0)))*1.0-cos(q3)*(cos(q4)*(cos(q6)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))+cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)-sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))))-sin(q4)*(sin(q5-7.853981633979856E-1)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716)*1.0+cos(q5-7.853981633979856E-1)*(sin(q6)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))+sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))*1.0))*1.0)))-cos(q1+1.570796326795971)*(cos(q5-7.853981633979856E-1)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0))*1.000000053212716)-sin(q5-7.853981633979856E-1)*(sin(q6)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))+sin(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))+sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*-4.519000240461901E1+sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716+7.071068188128993E1)+cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.0-cos(q6-1.570796326795971)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.518999999994412E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)))*1.0));
JacobianP_track(3,7) = sin(q1+1.570796326795971)*(sin(q2)*(cos(q3)*(cos(q4)*(sin(q6)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.519000240461901E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716)-cos(q6-1.570796326795971)*cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0)*1.0)+sin(q4)*(cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.519000240461901E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716)+cos(q6-1.570796326795971)*sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0))+sin(q5-7.853981633979856E-1)*sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0)*1.000000053212716))+sin(q3)*(cos(q4)*(cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.519000240461901E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716)+cos(q6-1.570796326795971)*sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0))+sin(q5-7.853981633979856E-1)*sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0)*1.000000053212716)*1.0-sin(q4)*(sin(q6)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.519000240461901E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716)-cos(q6-1.570796326795971)*cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0)*1.0))*1.0)+cos(q2)*(sin(q3)*(cos(q4)*(sin(q6)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.519000240461901E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716)-cos(q6-1.570796326795971)*cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0)*1.0)+sin(q4)*(cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.519000240461901E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716)+cos(q6-1.570796326795971)*sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0))+sin(q5-7.853981633979856E-1)*sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0)*1.000000053212716))-cos(q3)*(cos(q4)*(cos(q5-7.853981633979856E-1)*(cos(q6)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.519000240461901E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716)+cos(q6-1.570796326795971)*sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0))+sin(q5-7.853981633979856E-1)*sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0)*1.000000053212716)*1.0-sin(q4)*(sin(q6)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.519000240461901E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716)-cos(q6-1.570796326795971)*cos(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0)*1.0))))-cos(q1+1.570796326795971)*(sin(q5-7.853981633979856E-1)*(cos(q6)*(cos(q11+1.570796326795971)*sin(q7+7.853981633979856E-1)*4.519000240461901E1+cos(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716)+cos(q6-1.570796326795971)*sin(q6)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0))-cos(q5-7.853981633979856E-1)*sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*cos(q11+1.570796326795971)*4.518999999994412E1-sin(q7+7.853981633979856E-1)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.0)*1.000000053212716)*1.0;
JacobianP_track(3,8) = sin(q1+1.570796326795971)*(sin(q2)*(cos(q3)*(cos(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)-sin(q4)*(cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)-sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)*1.0)*1.0)-sin(q3)*(sin(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)+cos(q4)*(cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)-sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)*1.0))*1.0)+cos(q2)*(sin(q3)*(cos(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)-sin(q4)*(cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)-sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)*1.0)*1.0)+cos(q3)*(sin(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)+cos(q4)*(cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)-sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)*1.0))))+cos(q1+1.570796326795971)*(sin(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)+cos(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1+1.0E2)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716));
JacobianP_track(3,9) = -sin(q1+1.570796326795971)*(cos(q2)*(cos(q3)*(cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)*1.0-cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716))-sin(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716))-sin(q3)*(sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)*1.0-cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716))*1.0+cos(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)))-sin(q2)*(sin(q3)*(cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)*1.0-cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716))-sin(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716))*1.0+cos(q3)*(sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)*1.0-cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716))*1.0+cos(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716))))+cos(q1+1.570796326795971)*(cos(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716)+sin(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)*1.0)+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1)))+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(cos(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)+cos(q8)*(sin(q9)*(sin(q11+1.570796326795971)*cos(q10)*4.518999999994412E1+1.028999999999069E2)+sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716));
JacobianP_track(3,10) = sin(q1+1.570796326795971)*(cos(q2)*(cos(q3)*(cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716)*1.0-cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.0)+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716))-sin(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.0)-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716))-sin(q3)*(sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716)*1.0-cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.0)+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716))+cos(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.0)-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716)*1.0)*1.0)-sin(q2)*(sin(q3)*(cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716)*1.0-cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.0)+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716))-sin(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.0)-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716))+cos(q3)*(sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716)*1.0-cos(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.0)+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716))+cos(q4)*(cos(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.0)-sin(q7+7.853981633979856E-1)*sin(q6)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716)*1.0))*1.0)*-1.0+cos(q1+1.570796326795971)*(sin(q5-7.853981633979856E-1)*(sin(q6)*(sin(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q7+7.853981633979856E-1)*cos(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.0)+sin(q7+7.853981633979856E-1)*cos(q6)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716)+cos(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)-sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q6-1.570796326795971)*(sin(q8)*(sin(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-sin(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(sin(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+sin(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716))*1.0;
JacobianP_track(3,11) = sin(q1+1.570796326795971)*(sin(q2)*(cos(q3)*(sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1)*1.000000053212716)-cos(q5-7.853981633979856E-1)*(cos(q6)*(sin(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.519000240461901E1)*1.0+sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1))))-cos(q4)*(sin(q6)*(sin(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.519000240461901E1)-cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1)))*1.0)+sin(q3)*(cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1)*1.000000053212716)-cos(q5-7.853981633979856E-1)*(cos(q6)*(sin(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.519000240461901E1)*1.0+sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1))))+sin(q4)*(sin(q6)*(sin(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.519000240461901E1)-cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1)))))*1.0+cos(q2)*(sin(q3)*(sin(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1)*1.000000053212716)-cos(q5-7.853981633979856E-1)*(cos(q6)*(sin(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.519000240461901E1)*1.0+sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1))))-cos(q4)*(sin(q6)*(sin(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.519000240461901E1)-cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1)))*1.0)*1.0-cos(q3)*(cos(q4)*(sin(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1)*1.000000053212716)-cos(q5-7.853981633979856E-1)*(cos(q6)*(sin(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.519000240461901E1)*1.0+sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1))))+sin(q4)*(sin(q6)*(sin(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.519000240461901E1)-cos(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1))))))+cos(q1+1.570796326795971)*(cos(q5-7.853981633979856E-1)*(cos(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))*1.000000053212716-sin(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1)*1.000000053212716)+sin(q5-7.853981633979856E-1)*(cos(q6)*(sin(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))*1.000000053212716-cos(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.519000240461901E1)*1.0+sin(q6)*(sin(q6-1.570796326795971)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1)*1.0+cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1))+cos(q6-1.570796326795971)*(cos(q7+7.853981633979856E-1)*(sin(q8)*(cos(q11+1.570796326795971)*cos(q9)*sin(q10)*4.518999999994412E1+cos(q11+1.570796326795971)*cos(q10)*sin(q9)*4.518999999994412E1)-cos(q8)*(cos(q11+1.570796326795971)*cos(q9)*cos(q10)*4.518999999994412E1-cos(q11+1.570796326795971)*sin(q9)*sin(q10)*4.518999999994412E1))+sin(q7+7.853981633979856E-1)*sin(q11+1.570796326795971)*4.518999999994412E1)))*1.0)*1.0;
JacobianP_track(3,12)=0;
JacobianP_track(3,13)=0;
JacobianP_track(3,14)=0;
JacobianP_track(3,15)=0;
JacobianP_track(3,16)=0;
JacobianP_track(3,17)=0;
JacobianP_track(3,18)=0;
JacobianP_track(3,19)=0;
JacobianP_track(3,20)=0;
JacobianP_track(3,21)=0;
JacobianP_track(3,22)=0;
JacobianP_track(3,23)=0;
end