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-Add an axis to current rectangle

-Draw both piece of arm

-rotate object first axis 20 degree

--redraw.

-then, rotate 2nd part about 2nd axis to -30degree

my current code for rectangle is

%RECTANGLE('Position', [x y w h])

w=4.5;

%width

h=.5;

%height

x=1.75;y=2.75;

%corner position

xv=[x x+w x+w x x];yv=[y y y+h y+h y];

p1=patch(xv,yv,[0 0 0]);

% original rectangle

T=[-2 -2 -2 -2 -2;-3 -3 -3 -3 -3];

axis equal;

grid on;

R(1,:)=xv;R(2,:)=yv;

p=R+T;

%Translation

alpha=pi/9;

XY=[cos(alpha) -sin(alpha);sin(alpha) cos(alpha)]*p;

Y=patch(p(1,:),p(2,:),'k');

F=patch(XY(1,:),XY(2,:),'k');

T3=[2 2 2 2 2;3 3 3 3 3];

B=XY+T3

y=patch(B(1,:),B(2,:),'k');

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# Matlab rectangle

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