  t2 = c2*c3;
  t3 = c2*m2;
  t4 = a2+r2cx;
  t5 = c2*s3;
  t6 = c3*s2;
  t7 = d6+r6cz;
  t8 = m2*s2;
  t9 = s2*s3;
  t10 = -r4cy;
  t11 = -t9;
  t12 = d4+t10;
  t13 = t5+t6;
  t14 = m3*t13;
  t15 = t2+t11;
  t16 = m4*s4*t13;
  t17 = m5*s4*t13;
  t18 = s4*s6*t13;
  t19 = c4*c5*t13;
  t20 = c4*m4*t13;
  t21 = c4*s5*t13;
  t22 = c6*s4*t13;
  t23 = c5*t15;
  t24 = m3*t15;
  t25 = m4*t15;
  t26 = s5*t15;
  t27 = -t18;
  t28 = -t21;
  t29 = t19+t26;
  t33 = t23+t28;
  t34 = -m5*(t21-t23);
  t35 = -m6*(t21-t23);
  t40 = m6*r5cx*(t21-t23);
  t41 = m6*r6cy*(t21-t23);
  t54 = -c5*(m5*(t21-t23)+m6*(t21-t23));
  t55 = -r5cx*(m5*(t21-t23)+m6*(t21-t23));
  t56 = -r5cy*(m5*(t21-t23)+m6*(t21-t23));
  t57 = -s5*(m5*(t21-t23)+m6*(t21-t23));
  t58 = r5cy*(m5*(t21-t23)+m6*(t21-t23));
  t59 = s5*(m5*(t21-t23)+m6*(t21-t23));
  t30 = c6*t29;
  t31 = m5*t29;
  t32 = s6*t29;
  t36 = r5cx*t35;
  t37 = r5cy*t35;
  t38 = r6cx*t35;
  t39 = r6cy*t35;
  t53 = t34+t35;
  t42 = t22+t32;
  t43 = t27+t30;
  t48 = -c6*m6*(t18-t30);
  t49 = -m6*r6cy*(t18-t30);
  t50 = -m6*s6*(t18-t30);
  t51 = -m6*t7*(t18-t30);
  t52 = m6*s6*(t18-t30);
  t62 = -c6*(m6*r6cx*(t21-t23)+m6*t7*(t18-t30));
  t64 = -s6*(m6*r6cx*(t21-t23)+m6*t7*(t18-t30));
  t66 = s6*(m6*r6cx*(t21-t23)+m6*t7*(t18-t30));
  t44 = c6*m6*t42;
  t45 = m6*r6cx*t42;
  t46 = m6*s6*t42;
  t47 = m6*t7*t42;
  t60 = t38+t51;
  t61 = t41+t47;
  t67 = t46+t48;
  t68 = t44+t52;
  t63 = c6*t61;
  t65 = s6*t61;
  t69 = r5cy*t67;
  t70 = r5cz*t67;
  t71 = r5cx*t68;
  t73 = r5cz*t68;
  t77 = t17+t68;
  t84 = t31+t67;
  t72 = -t69;
  t74 = -t70;
  t75 = -t71;
  t76 = -t73;
  t78 = r4cx*t77;
  t79 = r4cy*t77;
  t80 = r5cx*t77;
  t81 = r5cz*t77;
  t83 = t16+t77;
  t88 = c5*t84;
  t89 = r5cy*t84;
  t90 = r5cz*t84;
  t91 = s5*t84;
  t82 = -t78;
  t85 = c4*t83;
  t86 = r4cx*t83;
  t87 = s4*t83;
  t93 = t12*t83;
  t94 = t54+t91;
  t95 = r4cx*(t91-c5*(m5*(t21-t23)+m6*(t21-t23)));
  t96 = r4cz*(t91-c5*(m5*(t21-t23)+m6*(t21-t23)));
  t97 = t59+t88;
  t133 = t37+t58+t63+t66+t76+t81;
  t136 = t45+t49+t72+t75+t80+t89;
  t92 = -t85;
  t98 = -t95;
  t99 = -t10*t97;
  t100 = r4cz*t97;
  t102 = t25+t94;
  t103 = t20+t97;
  t134 = c5*t133;
  t135 = s5*t133;
  t137 = c5*t136;
  t138 = s5*t136;
  t101 = -t100;
  t104 = r3cx*t102;
  t105 = r3cy*t102;
  t106 = r4cx*t102;
  t107 = r4cz*t102;
  t108 = c4*t103;
  t109 = r4cz*t103;
  t110 = s4*t103;
  t113 = t12*t103;
  t114 = t24+t102;
  t139 = -t138;
  t111 = -t104;
  t112 = -t107;
  t115 = c3*t114;
  t116 = r3cx*t114;
  t117 = r3cy*t114;
  t118 = s3*t114;
  t121 = t87+t108;
  t124 = t92+t110;
  t144 = t40+t55+t62+t65+t74+t90+t98+t99+t106+t113;
  t119 = -t117;
  t120 = -t118;
  t122 = r3cy*t121;
  t123 = r3cz*t121;
  t127 = t14+t121;
  t145 = c4*t144;
  t146 = s4*t144;
  t148 = t79+t93+t96+t112+t134+t139;
  t125 = -t122;
  t126 = -t123;
  t128 = c3*t127;
  t129 = r3cy*t127;
  t130 = r3cz*t127;
  t131 = s3*t127;
  t147 = -t146;
  t149 = c4*t148;
  t150 = s4*t148;
  t132 = -t128;
  t140 = t115+t131;
  t143 = t8+t120+t128;
  t151 = t82+t86+t101+t109+t125+t129+t135+t137;
  t152 = t105+t119+t147+t149;
  t141 = t118+t132;
  t142 = t3+t140;
  A0[0][0] = g*(c2*(c3*t151+r2cz*t141+r2cz*t143+s3*t152-r2cx*(t85-t110)+t4*(t85-t110))+s2*(c3*t152+r2cz*t140-r2cz*t142-s3*t151));
  A0[0][1] = -g*(t104-t116+t123-t130-t145-t150+r2cx*t140+r2cy*t141+r2cy*t143-t4*t142);
  A0[0][2] = g*(t111+t116+t126+t130+t145+t150);
  A0[0][3] = -g*(t82+t86+t101+t109+t135+t137);
  A0[0][4] = g*(t40+t55+t62+t65+t74+t90);
  A0[0][5] = -g*(t45+t49);
