Is there any way to solve two matrices in SymPy symbolically by comparing them?

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I have two matrices T and T_given. Both of them are symbolic matrices in SymPy as shown below:

T and T_given

I want to solve the equation T = T_given, that is, T - T_given = 0 to get the values (albeit symbolic) for

theta1, theta2, theta4, and d3

I have tried SymPy's solve function but it throws an error saying "Mix of Matrix and Scalar Symbols"

error message

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