function drawStewart5(theta)
[out, x, y] = kinematicsstep5(theta);
u1 = x;
v1 = y;
u2 = u1 + 3*cos(theta);
v2 = v1 + 3*sin(theta);
u3 = u1 + 3*sqrt(2)*cos(theta + pi/4);
v3 = v1 + 3*sqrt(2)*sin(theta + pi/4);
plot([u1,u2,u3,u1],[v1,v2,v3,v1], 'r'); hold on
plot([0 5 0], [0 0 6], 'bo')
plot([0 u1],[0 v1], 'b'); hold on
plot([5 u2],[0 v2], 'b'); hold on
plot([0 u3],[6 v3], 'b'); hold on
grid
axis normal;