<span class="string">'k.'</span>,<span class="string">'markersize'</span>,24)
plot(-l*sth1, l*cth1,<span class="string">'y.'</span>,<span class="string">'markersize'</span>,14)
<span class="comment">% plot tip of outer joint</span>
plot(-l*(sth1-sth2), l*(cth1+cth2),<span class="string">'k.'</span>,<span class="string">'markersize'</span>,24)
plot(-l*(sth1-sth2), l*(cth1+cth2),<span class="string">'y.'</span>,<span class="string">'markersize'</span>,14)
plot(0,-2*l,<span class="string">'.w'</span>,<span cla