function drawStewartall()
f = @(x) kinematicsstep5(x);
theta1 = bisect(f, -0.7, -0.6, 0.5*10^-11);
theta2 = bisect(f, -0.6, -0.4, 0.5*10^-11);
theta3 = bisect(f, 0, 0.1, 0.5*10^-11);
theta4 = bisect(f, 0.4, 0.5, 0.5*10^-11);
theta5 = bisect(f, 0.9, 1, 0.5*10^-11);
theta6 = bisect(f, 2.5, 2.6, 0.5*10^-11);
[out, x, y] = kinematicsstep5(theta1);
u1 = x;
v1 = y;
u2 = u1 + 3*cos(theta1);
v2 = v1 + 3*sin(theta1);
u3 = u1 + 3*sqrt(2)*cos(theta1 + pi/4);
v3 = v1 + 3*sqrt(2)*sin(theta1 + 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
[out, x, y] = kinematicsstep5(theta2);
u1 = x;
v1 = y;
u2 = u1 + 3*cos(theta2);
v2 = v1 + 3*sin(theta2);
u3 = u1 + 3*sqrt(2)*cos(theta2 + pi/4);
v3 = v1 + 3*sqrt(2)*sin(theta2 + 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], 'k'); hold on
plot([5 u2],[0 v2], 'k'); hold on
plot([0 u3],[6 v3], 'k'); hold on
[out, x, y] = kinematicsstep5(theta3);
u1 = x;
v1 = y;
u2 = u1 + 3*cos(theta3);
v2 = v1 + 3*sin(theta3);
u3 = u1 + 3*sqrt(2)*cos(theta3 + pi/4);
v3 = v1 + 3*sqrt(2)*sin(theta3 + 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], 'g'); hold on
plot([5 u2],[0 v2], 'g'); hold on
plot([0 u3],[6 v3], 'g'); hold on
[out, x, y] = kinematicsstep5(theta4);
u1 = x;
v1 = y;
u2 = u1 + 3*cos(theta4);
v2 = v1 + 3*sin(theta4);
u3 = u1 + 3*sqrt(2)*cos(theta4 + pi/4);
v3 = v1 + 3*sqrt(2)*sin(theta4 + 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], 'y'); hold on
plot([5 u2],[0 v2], 'y'); hold on
plot([0 u3],[6 v3], 'y'); hold on
[out, x, y] = kinematicsstep5(theta5);
u1 = x;
v1 = y;
u2 = u1 + 3*cos(theta5);
v2 = v1 + 3*sin(theta5);
u3 = u1 + 3*sqrt(2)*cos(theta5 + pi/4);
v3 = v1 + 3*sqrt(2)*sin(theta5 + 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], 'c'); hold on
plot([5 u2],[0 v2], 'c'); hold on
plot([0 u3],[6 v3], 'c'); hold on
[out, x, y] = kinematicsstep5(theta6);
u1 = x;
v1 = y;
u2 = u1 + 3*cos(theta6);
v2 = v1 + 3*sin(theta6);
u3 = u1 + 3*sqrt(2)*cos(theta6 + pi/4);
v3 = v1 + 3*sqrt(2)*sin(theta6 + 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], 'm'); hold on
plot([5 u2],[0 v2], 'm'); hold on
plot([0 u3],[6 v3], 'm'); hold on
grid
axis normal;