solve+K1*cos(θ2)-K2*cos(θ1)+K3=cos(θ1)*cos(θ2)+sin(θ1)*sin(θ2)+for+θ1solve+K1*cos(θ2)-K2*cos(θ1)+K3=cos(θ1)*cos(θ2)+sin(θ1)*sin(θ2)+for+θ1

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