full transformation: 
 
Matrix[
[(((((((((cos(θ0)*cos((45.0+θ1)))*cos((177.6141+θ2)))+(((-sin(θ0))*-1.0)*sin((177.6141+θ2))))*cos((2.3859+θ3)))+((((cos(θ0)*cos((45.0+θ1)))*(-sin((177.6141+θ2))))+(((-sin(θ0))*-1.0)*cos((177.6141+θ2))))*sin((2.3859+θ3))))*cos(θ4))+((((((cos(θ0)*cos((45.0+θ1)))*cos((177.6141+θ2)))+(((-sin(θ0))*-1.0)*sin((177.6141+θ2))))*(-sin((2.3859+θ3))))+((((cos(θ0)*cos((45.0+θ1)))*(-sin((177.6141+θ2))))+(((-sin(θ0))*-1.0)*cos((177.6141+θ2))))*cos((2.3859+θ3))))*sin(θ4)))*cos(θ5))+(((cos(θ0)*(-sin((45.0+θ1))))*-1.0)*sin(θ5))), (((((((((cos(θ0)*cos((45.0+θ1)))*cos((177.6141+θ2)))+(((-sin(θ0))*-1.0)*sin((177.6141+θ2))))*cos((2.3859+θ3)))+((((cos(θ0)*cos((45.0+θ1)))*(-sin((177.6141+θ2))))+(((-sin(θ0))*-1.0)*cos((177.6141+θ2))))*sin((2.3859+θ3))))*cos(θ4))+((((((cos(θ0)*cos((45.0+θ1)))*cos((177.6141+θ2)))+(((-sin(θ0))*-1.0)*sin((177.6141+θ2))))*(-sin((2.3859+θ3))))+((((cos(θ0)*cos((45.0+θ1)))*(-sin((177.6141+θ2))))+(((-sin(θ0))*-1.0)*cos((177.6141+θ2))))*cos((2.3859+θ3))))*sin(θ4)))*(-sin(θ5)))+(((cos(θ0)*(-sin((45.0+θ1))))*-1.0)*cos(θ5))), ((((((((cos(θ0)*cos((45.0+θ1)))*cos((177.6141+θ2)))+(((-sin(θ0))*-1.0)*sin((177.6141+θ2))))*cos((2.3859+θ3)))+((((cos(θ0)*cos((45.0+θ1)))*(-sin((177.6141+θ2))))+(((-sin(θ0))*-1.0)*cos((177.6141+θ2))))*sin((2.3859+θ3))))*(-sin(θ4)))+((((((cos(θ0)*cos((45.0+θ1)))*cos((177.6141+θ2)))+(((-sin(θ0))*-1.0)*sin((177.6141+θ2))))*(-sin((2.3859+θ3))))+((((cos(θ0)*cos((45.0+θ1)))*(-sin((177.6141+θ2))))+(((-sin(θ0))*-1.0)*cos((177.6141+θ2))))*cos((2.3859+θ3))))*cos(θ4)))*-1.0), (((((((cos(θ0)*cos((45.0+θ1)))*cos((177.6141+θ2)))+(((-sin(θ0))*-1.0)*sin((177.6141+θ2))))*cos((2.3859+θ3)))+((((cos(θ0)*cos((45.0+θ1)))*(-sin((177.6141+θ2))))+(((-sin(θ0))*-1.0)*cos((177.6141+θ2))))*sin((2.3859+θ3))))*0.1)+((((cos(θ0)*cos((45.0+θ1)))*cos((177.6141+θ2)))+(((-sin(θ0))*-1.0)*sin((177.6141+θ2))))*0.1201))],
 
[(((((((((sin(θ0)*cos((45.0+θ1)))*cos((177.6141+θ2)))+((cos(θ0)*-1.0)*sin((177.6141+θ2))))*cos((2.3859+θ3)))+((((sin(θ0)*cos((45.0+θ1)))*(-sin((177.6141+θ2))))+((cos(θ0)*-1.0)*cos((177.6141+θ2))))*sin((2.3859+θ3))))*cos(θ4))+((((((sin(θ0)*cos((45.0+θ1)))*cos((177.6141+θ2)))+((cos(θ0)*-1.0)*sin((177.6141+θ2))))*(-sin((2.3859+θ3))))+((((sin(θ0)*cos((45.0+θ1)))*(-sin((177.6141+θ2))))+((cos(θ0)*-1.0)*cos((177.6141+θ2))))*cos((2.3859+θ3))))*sin(θ4)))*cos(θ5))+(((sin(θ0)*(-sin((45.0+θ1))))*-1.0)*sin(θ5))), (((((((((sin(θ0)*cos((45.0+θ1)))*cos((177.6141+θ2)))+((cos(θ0)*-1.0)*sin((177.6141+θ2))))*cos((2.3859+θ3)))+((((sin(θ0)*cos((45.0+θ1)))*(-sin((177.6141+θ2))))+((cos(θ0)*-1.0)*cos((177.6141+θ2))))*sin((2.3859+θ3))))*cos(θ4))+((((((sin(θ0)*cos((45.0+θ1)))*cos((177.6141+θ2)))+((cos(θ0)*-1.0)*sin((177.6141+θ2))))*(-sin((2.3859+θ3))))+((((sin(θ0)*cos((45.0+θ1)))*(-sin((177.6141+θ2))))+((cos(θ0)*-1.0)*cos((177.6141+θ2))))*cos((2.3859+θ3))))*sin(θ4)))*(-sin(θ5)))+(((sin(θ0)*(-sin((45.0+θ1))))*-1.0)*cos(θ5))), ((((((((sin(θ0)*cos((45.0+θ1)))*cos((177.6141+θ2)))+((cos(θ0)*-1.0)*sin((177.6141+θ2))))*cos((2.3859+θ3)))+((((sin(θ0)*cos((45.0+θ1)))*(-sin((177.6141+θ2))))+((cos(θ0)*-1.0)*cos((177.6141+θ2))))*sin((2.3859+θ3))))*(-sin(θ4)))+((((((sin(θ0)*cos((45.0+θ1)))*cos((177.6141+θ2)))+((cos(θ0)*-1.0)*sin((177.6141+θ2))))*(-sin((2.3859+θ3))))+((((sin(θ0)*cos((45.0+θ1)))*(-sin((177.6141+θ2))))+((cos(θ0)*-1.0)*cos((177.6141+θ2))))*cos((2.3859+θ3))))*cos(θ4)))*-1.0), (((((((sin(θ0)*cos((45.0+θ1)))*cos((177.6141+θ2)))+((cos(θ0)*-1.0)*sin((177.6141+θ2))))*cos((2.3859+θ3)))+((((sin(θ0)*cos((45.0+θ1)))*(-sin((177.6141+θ2))))+((cos(θ0)*-1.0)*cos((177.6141+θ2))))*sin((2.3859+θ3))))*0.1)+((((sin(θ0)*cos((45.0+θ1)))*cos((177.6141+θ2)))+((cos(θ0)*-1.0)*sin((177.6141+θ2))))*0.1201))],
 
[(((((((sin((45.0+θ1))*cos((177.6141+θ2)))*cos((2.3859+θ3)))+((sin((45.0+θ1))*(-sin((177.6141+θ2))))*sin((2.3859+θ3))))*cos(θ4))+((((sin((45.0+θ1))*cos((177.6141+θ2)))*(-sin((2.3859+θ3))))+((sin((45.0+θ1))*(-sin((177.6141+θ2))))*cos((2.3859+θ3))))*sin(θ4)))*cos(θ5))+((cos((45.0+θ1))*-1.0)*sin(θ5))), (((((((sin((45.0+θ1))*cos((177.6141+θ2)))*cos((2.3859+θ3)))+((sin((45.0+θ1))*(-sin((177.6141+θ2))))*sin((2.3859+θ3))))*cos(θ4))+((((sin((45.0+θ1))*cos((177.6141+θ2)))*(-sin((2.3859+θ3))))+((sin((45.0+θ1))*(-sin((177.6141+θ2))))*cos((2.3859+θ3))))*sin(θ4)))*(-sin(θ5)))+((cos((45.0+θ1))*-1.0)*cos(θ5))), ((((((sin((45.0+θ1))*cos((177.6141+θ2)))*cos((2.3859+θ3)))+((sin((45.0+θ1))*(-sin((177.6141+θ2))))*sin((2.3859+θ3))))*(-sin(θ4)))+((((sin((45.0+θ1))*cos((177.6141+θ2)))*(-sin((2.3859+θ3))))+((sin((45.0+θ1))*(-sin((177.6141+θ2))))*cos((2.3859+θ3))))*cos(θ4)))*-1.0), (((((sin((45.0+θ1))*cos((177.6141+θ2)))*cos((2.3859+θ3)))+((sin((45.0+θ1))*(-sin((177.6141+θ2))))*sin((2.3859+θ3))))*0.1)+((sin((45.0+θ1))*cos((177.6141+θ2)))*0.1201))],
 
[0.0, 0.0, 0.0, 1.0]]