import math


def forward_kinematics(length1, length2, theta1, theta2):
    """
    :param length1: length of link 1
    :param length2: length of link 2
    :param theta1:  absolute angle made by link 1 and positive x axis (assumed to be right)
    :param theta2:  absolute angle made by link 2 and positive x axis (assumed to be right)
    :return: coordinates of end position of link1, link2
    """
    x1 = length1 * math.cos(math.radians(theta1))
    y1 = length1 * math.sin(math.radians(theta1))

    x2 = x1 + length2 * math.cos(math.radians(theta2))
    y2 = y1 + length2 * math.sin(math.radians(theta2))
    return round(x1, 2), round(y1, 2), round(x2, 2), round(y2, 2)