r1a r1b r2a r2P r3 r4a r4b r5 r6 r6 given 30 given 100 given given 30 given 80 80 cm theta_1a theta_1b theta_2a theta_2P theta_3 theta_4a theta_4b theta_5 theta_6 theta_6 given 90 given theta_2a - 30 theta_3 theta_4b 90 theta_6 theta_5 theta_5 degrees
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