e 'no' prefix.  The
various option sources can toggle an option, the last value encountered is used.

</p>
<h2>Graphical annotations and options</h2>
<p>
The robot is displayed as a basic stick figure robot with annotations
such as:

</p>
<ul>
  <li>shadow on the floor</li>
  <li>XYZ wrist axes and labels</li>
  <li>joint cylinders and axes</li>
</ul>
<p>
which are controlled by <strong>options</strong>.

</p>
<p>
The size of the annotations is determined using a simple heuristic from
the workspace dimensio