How to solve equation sets with SymPy to find some angles?

Question

I do not quite understand how to solve my equation set with SymPy in Python. I have tried using solve() and nsolve(). solve() gives me no answer, it just stands and goes, nsolve() gives me this error.

ValueError: Could not find root within given tolerance. (7378.8100001153525709 > 2.16840434497100886801e-19) Try another starting point or tweak arguments.

This is what I have written when I tried using solve():

from sympy import *

theta_1, theta_2, theta_3 = symbols('theta_1 theta_2 theta_3')

eq1 = -136.2*sin(theta_2)*sin(theta_3)*cos(theta_1) + 136.2*cos(theta_1)*cos(theta_2)*cos(theta_3) + 222.1*cos(theta_1)*cos(theta_2)

eq2 = -136.2*sin(theta_1)*sin(theta_2)*cos(theta_3) + 136.2*sin(theta_1)*cos(theta_2)*cos(theta_3) + 222.1*sin(theta_1)*cos(theta_2)

eq3 =  136.2*sin(theta_2)*cos(theta_3)+ 222.1*sin(theta_2) + 136.2*sin(theta_3)*cos(theta_2) + 100.9 

eq1 = Eq(eq1, 0)
eq2 = Eq(eq2, (-323.90))
eq3 = Eq(eq3, 176.71)

ans = solve((eq1, eq2, eq3), (theta_1, theta_2, theta_3))

print(ans)

This is what I have written when I tried using nsolve():

from sympy import *

theta_1, theta_2, theta_3 = symbols('theta_1 theta_2 theta_3')

eq1 = -136.2*sin(theta_2)*sin(theta_3)*cos(theta_1) + 136.2*cos(theta_1)*cos(theta_2)*cos(theta_3) + 222.1*cos(theta_1)*cos(theta_2)

eq2 = -136.2*sin(theta_1)*sin(theta_2)*cos(theta_3) + 136.2*sin(theta_1)*cos(theta_2)*cos(theta_3) + 222.1*sin(theta_1)*cos(theta_2)

eq3 =  136.2*sin(theta_2)*cos(theta_3)+ 222.1*sin(theta_2) + 136.2*sin(theta_3)*cos(theta_2) + 100.9 

ans = nsolve((eq1, eq2, eq3), (theta_1, theta_2, theta_3), (0, -323.9, 176.71))

print(ans)

I want to find an expression for theta1, theta2, and theta3. Preferably in the form of arctan2. Does anyone know how I can do this? or why this does not work?