I am 5'9" 160 lbs. about 33 inches inseam (probably not accurate since I did it myself real quickly) Torso length about 26 inches. Arm length about 27.5 inches.
I used this link as my reference:
Bike Fit Guide: Save 35-70% at Sierra Trading Post.
Mtbr's 2016 Winter Biking GearReviews and Roundups
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Thread: Foes FXR - small or medium?