B

function handles = init
close all
handles.axes_arm = axes;
view(handles.axes_arm, [-50 -50 50]);
axis(handles.axes_arm, [-13 10 -8 8 -3 14.5]);
grid on
xlabel('x')
ylabel('y')
zlabel('z')
makeLink0(handles.axes_arm, [.5 .5 .5]);  
handles.user.link1Patch = makeLink1(handles.axes_arm, [.9 .9 .9]);
handles.user.link1Vertices = get(handles.user.link1Patch, 'Vertices')';
handles.user.link1Vertices(4,:) = ones(1, size(handles.user.link1Vertices,2));
handles.user.link2Patch = makeLink2(handles.axes_arm, [.9 .9 .9]);
handles.user.link2Vertices = get(handles.user.link2Patch, 'Vertices')';
handles.user.link2Vertices(4,:) = ones(1, size(handles.user.link2Vertices,2));
handles.user.link3Patch = makeLink3(handles.axes_arm, [.9 .9 .9]);
handles.user.link3Vertices = get(handles.user.link3Patch, 'Vertices')';
handles.user.link3Vertices(4,:) = ones(1, size(handles.user.link3Vertices,2));
handles.user.link4Patch = makeLink4(handles.axes_arm, [.9 .9 .9]);
handles.user.link4Vertices = get(handles.user.link4Patch, 'Vertices')';
handles.user.link4Vertices(4,:) = ones(1, size(handles.user.link4Vertices,2));
handles.user.link5Patch = makeLink5(handles.axes_arm, [.95 .95 0]);
handles.user.link5Vertices = get(handles.user.link5Patch, 'Vertices')';
handles.user.link5Vertices(4,:) = ones(1, size(handles.user.link5Vertices,2));
end