Can someone please do this ASAP ? THANKS

Given frames: Frame {A}= universe, Frame {B}={BAR=[cos(135)sin(135)sin(135)cos(135)],APBorg=[34]}, Frame {C}={CBR=[cos(30)sin(30)sin(30)cos(30)],BPCorg=[22]}, Frame {D}={DAR=[cos(0)sin(0)sin(0)cos(0)],APDorg=[33]}, Frame {E}={EAR=[cos(60)sin(60)sin(60)cos(60)],APEorg=[00]}, Frame {F}={FAR=[cos(45)sin(45)sin(45)cos(45)],APForg=[11]}, Frame {G}={GFR=[cos(90)sin(90)sin(90)cos(90)],FPGorg=[25]} Given points: AP1=[32],BP2=[86],CP3=[35],DP4=[24],EP5=[.7.7] FP6=[3.142.718],GP7=[34]