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749aa20b836f114223753faa227990b505ad51fa: $$
x_1
f9d0ca3ab0a75ac6debaa4863e8d5d96c41cb50b: $$
x_3
926c24d06945bdea9dd5d5b03a199948aa8b29c8: $$
\theta_2
5396e21a69d50f3c5d62d52d1a54bd2869b472f3: $$
\color{red} M_2