t location</span>
plot(0,2*l,<span class="string">'k+'</span>,<span class="string">'MarkerSize'</span>,20);
plot([xmin, xmax], [-height, -height],<span class="string">'k'</span>,<span class="string">'linewidth'</span>,2)
<span class="comment">% plot inner joint</span>
plot(0,0,<span class="string">'k.'</span>,<span class="string">'markersize'</span>,24)
plot(0,0,<span class="string">'y.'</span>,<span class="string">'markersize'</span>,14)
<span class="comment">% plot outer joint</span>
plot(-l*sth1, l*cth1,