Depending on the last digit of your matriculation number, formulate the constraints of the following

joints in Figure $1$ on position level.

Last digit of

matriculation

number

Joints

$0$ R$1,$ T$1$

$1$ R$1,$ T$2$

$2$ R$2,$ T$1$

$3$ R$2,$ T$2$

$4$ R$3,$ T$1$

$5$ R$3,$ T$2$

$6$ R$4,$ T$1$

$7$ R$4,$ T$2$

$8$ R$1,$ T$1$

$9$ R$3,$ T$1$