The final position and orientation of the cylindrical-RPY robot is given below. Assume that the sequences of cylindrical robot is a translation of r along the x-axis, a rotation of a about the z-axis, and a translation of I along the z-axis, respectively, find all necessary joint variables (i.e., find values of r, a, I, 6, 0, and y). (6 points) 0.354 -0.674 0.649 4.33 0.505 0.722 0.475 2.50 RRPY (0,0,4) -0.788 0.160 0.595 8 1