clc;
close(winsid());

// długości ramion manipulatora
d1 = 
d2 = 

// konfiguracja podstawowa
t1 = 
t2 = 
// konfiguracja alternatywna
t2p = 
t1p = 

r1 = [d1 * cos(t1), d1 * sin(t1)];
r2 = r1 + [d2 * cos(t1 + t2), d2 * sin(t1 + t2)];
r1p = [d1 * cos(t1p), d1 * sin(t1p)];
r2p = r1p + [d2 * cos(t1p + t2p), d2 * sin(t1p + t2p)];

R = d1 + d2;
r = abs(d1 - d2);
ang = linspace(0, 360, 360) * %pi / 180;
c1x = r * cos(ang);
c1y = r * sin(ang);
c2x = R * cos(ang);
c2y = R * sin(ang);

cr = (d1 + d2) / 100;
mr = 1.1;
xlb = min([-2 * cr, r1(1), r2(1), r1p(1), r2p(1)]);
xub = max([2 * cr, r1(1), r2(1), r1p(1), r2p(1)]);
ylb = min([-2 * cr, r1(2), r2(2), r1p(2), r2p(2)]);
yub = max([2 * cr, r1(2), r2(2), r1p(2), r2p(2)]);

plot(c1x, c1y, c2x, c2y);
plot([0, r1(1), r2(1)], [0, r1(2), r2(2)], ..
    [0, r1p(1), r2p(1)], [0, r1p(2), r2p(2)]);
xfarc(-cr, cr, 2 * cr, 2 * cr, 0, 360 * 64);
xfarc(r1(1) - cr, r1(2) + cr, 2 * cr, 2 * cr, 0, 360 * 64);
xfarc(r1p(1) - cr, r1p(2) + cr, 2 * cr, 2 * cr, 0, 360 * 64);
xfarc(r2(1) - cr, r2(2) + cr, 2 * cr, 2 * cr, 0, 360 * 64);
xfarc(r2p(1) - cr, r2p(2) + cr, 2 * cr, 2 * cr, 0, 360 * 64);
ax = gca();
h1 = ax.children(7).children(2);
h2 = ax.children(7).children(1);
h3 = ax.children(6).children(2);
h4 = ax.children(6).children(1);
h5 = ax.children(4);
h6 = ax.children(3);
h7 = ax.children(2);
h8 = ax.children(1);
h1.foreground = 3;
h2.foreground = 3;
h3.thickness = 3;
h4.thickness = 3;
h5.background = 6;
h6.background = 6;
h7.background = 5;
h8.background = 5;
xgrid;
isoview